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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Framework *
* *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza, *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_CORE_COMPONENTMODEL_COLLISION_DETECTIONOUTPUT_H
#define SOFA_CORE_COMPONENTMODEL_COLLISION_DETECTIONOUTPUT_H
#include <sofa/helper/system/config.h>
#include <sofa/core/CollisionElement.h>
#include <sofa/defaulttype/Vec.h>
#include <sofa/helper/vector.h>
#include <iostream>
namespace sofa
{
namespace core
{
namespace componentmodel
{
namespace collision
{
using sofa::defaulttype::Vector3;
// uncomment if you want to use the freePoint information
#define DETECTIONOUTPUT_FREEMOTION
/**
* \brief Abstract description of a set of contact point.
*/
class DetectionOutputVector
{
public:
virtual ~DetectionOutputVector() {}
/// Clear the content of this vector
virtual void clear() = 0;
/// Current size (number of detected contacts
virtual unsigned int size() const = 0;
/// Test if the vector is empty
bool empty() const { return size()==0; }
};
/**
* \brief Generic description of a contact point, used for most collision models except special cases such as GPU-based collisions.
*
* Each contact point is described by :
*
* \item elem: pair of colliding elements.
* \item id: unique id of the contact for the given pair of collision models.
* \item point: contact points on the surface of each model.
* \item normal: normal of the contact, pointing outward from the first model.
* \item value: signed distance (negative if objects are interpenetrating).
* \item deltaT: estimated of time of contact.
*
* The contact id is used to filter redundant contacts (only the contact with
* the smallest distance is kept), and to store persistant data over time for
* the response.
*
*/
class DetectionOutput
{
public:
/// Pair of colliding elements.
std::pair<core::CollisionElementIterator, core::CollisionElementIterator> elem;
typedef int64_t ContactId;
/// Unique id of the contact for the given pair of collision models.
ContactId id;
/// Contact points on the surface of each model. They are expressed in the local coordinate system of the model if any is defined..
Vector3 point[2];
#ifdef DETECTIONOUTPUT_FREEMOTION
Vector3 freePoint[2]; ///< free Point in contact on each element
#endif
/// Normal of the contact, pointing outward from the first model
Vector3 normal;
/*
/// Signed distance (negative if objects are interpenetrating). If using a proximity-based detection, this is the actual distance between the objets minus the specified contact distance.
*/
/// Store information for the collision Response. Depending on the kind of contact, can be a distance, or a pression, ...
double value;
/// If using a continuous collision detection, estimated of time of contact.
double deltaT;
DetectionOutput()
: elem(NULL, NULL), id(0), value(0.0), deltaT(0.0)
{
}
};
/**
* \brief Generic description of a set of contact point between two specific collision models
*/
template<class CM1, class CM2>
class TDetectionOutputVector : public DetectionOutputVector, public sofa::helper::vector<DetectionOutput>
{
public:
typedef sofa::helper::vector<DetectionOutput> Vector;
virtual ~TDetectionOutputVector() {}
/// Clear the content of this vector
virtual void clear()
{
return this->Vector::clear();
}
/// Current size (number of detected contacts)
virtual unsigned int size() const
{
return this->Vector::size();
}
};
} // namespace collision
} // namespace componentmodel
} // namespace core
} // namespace sofa
#endif
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