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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/Pipeline.h>
//#include <sofa/component/collision/DiscreteIntersection.h>
//#include <sofa/simulation/tree/GNode.h>
namespace sofa
{
namespace core
{
namespace componentmodel
{
namespace collision
{
//using namespace core::objectmodel;
//using namespace core::componentmodel::behavior;
Pipeline::Pipeline()
: intersectionMethod(NULL),
broadPhaseDetection(NULL),
narrowPhaseDetection(NULL),
contactManager(NULL),
groupManager(NULL)
{
}
Pipeline::~Pipeline()
{
}
#if 0
void Pipeline::init()
{
simulation::tree::GNode* root = dynamic_cast<simulation::tree::GNode*>(getContext());
if(root == NULL) return;
intersectionMethods.clear();
root->getTreeObjects<Intersection>(&intersectionMethods);
intersectionMethod = (intersectionMethods.empty() ? NULL : intersectionMethods[0]);
broadPhaseDetections.clear();
root->getTreeObjects<BroadPhaseDetection>(&broadPhaseDetections);
broadPhaseDetection = (broadPhaseDetections.empty() ? NULL : broadPhaseDetections[0]);
narrowPhaseDetections.clear();
root->getTreeObjects<NarrowPhaseDetection>(&narrowPhaseDetections);
narrowPhaseDetection = (narrowPhaseDetections.empty() ? NULL : narrowPhaseDetections[0]);
contactManagers.clear();
root->getTreeObjects<ContactManager>(&contactManagers);
contactManager = (contactManagers.empty() ? NULL : contactManagers[0]);
groupManagers.clear();
root->getTreeObjects<CollisionGroupManager>(&groupManagers);
groupManager = (groupManagers.empty() ? NULL : groupManagers[0]);
if (intersectionMethod==NULL)
intersectionMethod = new sofa::component::collision::DiscreteIntersection;
}
void Pipeline::reset()
{
computeCollisionReset();
}
void Pipeline::computeCollisionReset()
{
simulation::tree::GNode* root = dynamic_cast<simulation::tree::GNode*>(getContext());
if(root == NULL) return;
if (broadPhaseDetection!=NULL && broadPhaseDetection->getIntersectionMethod()!=intersectionMethod)
broadPhaseDetection->setIntersectionMethod(intersectionMethod);
if (narrowPhaseDetection!=NULL && narrowPhaseDetection->getIntersectionMethod()!=intersectionMethod)
narrowPhaseDetection->setIntersectionMethod(intersectionMethod);
if (contactManager!=NULL && contactManager->getIntersectionMethod()!=intersectionMethod)
contactManager->setIntersectionMethod(intersectionMethod);
doCollisionReset();
}
void Pipeline::computeCollisionDetection()
{
simulation::tree::GNode* root = dynamic_cast<simulation::tree::GNode*>(getContext());
if(root == NULL) return;
sofa::helper::vector<CollisionModel*> collisionModels;
root->getTreeObjects<CollisionModel>(&collisionModels);
doCollisionDetection(collisionModels);
}
void Pipeline::computeCollisionResponse()
{
simulation::tree::GNode* root = dynamic_cast<simulation::tree::GNode*>(getContext());
if(root == NULL) return;
doCollisionResponse();
}
#endif
} // namespace collision
} // namespace componentmodel
} // namespace core
} // namespace sofa
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