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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 *
******************************************************************************/
#include <sofa/core/componentmodel/collision/Intersection.inl>
#include <sofa/core/componentmodel/collision/DetectionOutput.h>
#include <sofa/helper/FnDispatcher.h>
namespace sofa
{
namespace core
{
namespace componentmodel
{
namespace collision
{
using namespace sofa::defaulttype;
helper::TypeInfo IntersectorMap::getType(core::CollisionModel* model)
{
helper::TypeInfo t(typeid(*model));
const std::map<helper::TypeInfo,helper::TypeInfo>::iterator it = castMap.find(t);
if (it == castMap.end())
{
helper::TypeInfo t2 = t;
for (std::set<const objectmodel::ClassInfo* >::iterator it = classes.begin(); it != classes.end(); ++it)
if ((*it)->isInstance(model))
{
t2 = (*it)->type();
break;
}
castMap.insert(std::make_pair(t,t2));
return t2;
}
else return it->second;
}
ElementIntersector* IntersectorMap::get(core::CollisionModel* model1, core::CollisionModel* model2, bool& swapModels)
{
helper::TypeInfo t1 = getType(model1);
helper::TypeInfo t2 = getType(model2);
iterator it =
this->find(std::make_pair(t1,t2));
if (it != this->end())
{
swapModels = false;
return it->second;
}
it = this->find(std::make_pair(t2,t1));
if (it != this->end())
{
swapModels = true;
return it->second;
}
std::cerr << "ERROR: Element Intersector "
<< gettypename(t1) << "-"
<< gettypename(t2) << " NOT FOUND." << std::endl;
(*this)[std::make_pair(t1,t2)] = NULL;
return NULL;
}
Intersection::~Intersection()
{
}
/// Test if intersection between 2 types of elements is supported, i.e. an intersection test is implemented for this combinaison of types.
/// Note that this method is deprecated in favor of findIntersector
bool Intersection::isSupported(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2)
{
bool swap;
ElementIntersector* i = findIntersector(elem1.getCollisionModel(), elem2.getCollisionModel(), swap);
return i != NULL;
}
} // namespace collision
} // namespace componentmodel
} // namespace core
} // namespace sofa
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