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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 :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#include <sofa/component/collision/BruteForceDetection.h>
#include <sofa/component/collision/Sphere.h>
#include <sofa/component/collision/Triangle.h>
#include <sofa/component/collision/Line.h>
#include <sofa/component/collision/Point.h>
#include <sofa/helper/FnDispatcher.h>
#include <sofa/core/ObjectFactory.h>
#include <sofa/simulation/common/Node.h>
#include <map>
#include <queue>
#include <stack>
#include <sofa/helper/system/gl.h>
#include <sofa/helper/system/glut.h>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
using namespace sofa::helper;
using namespace collision;
SOFA_DECL_CLASS(BruteForce)
int BruteForceDetectionClass = core::RegisterObject("Collision detection using extensive pair-wise tests")
.add< BruteForceDetection >()
;
using namespace core::objectmodel;
BruteForceDetection::BruteForceDetection()
: bDraw(initData(&bDraw, false, "draw", "enable/disable display of results"))
{
}
void BruteForceDetection::addCollisionModel(core::CollisionModel *cm)
{
//sout<<"--------- add Collision Model : "<<cm->getLast()->getName()<<" -------"<<sendl;
if (cm->empty())
return;
if (cm->isSimulated() && cm->getLast()->canCollideWith(cm->getLast()))
{ // self collision
//sout << "Test broad phase Self "<<cm->getLast()->getName()<<sendl;
bool swapModels = false;
core::componentmodel::collision::ElementIntersector* intersector = intersectionMethod->findIntersector(cm, cm, swapModels);
if (intersector != NULL)
if (intersector->canIntersect(cm->begin(), cm->begin()))
{
//sout << "Broad phase Self "<<cm->getLast()->getName()<<sendl;
cmPairs.push_back(std::make_pair(cm, cm));
}
}
for (sofa::helper::vector<core::CollisionModel*>::iterator it = collisionModels.begin(); it != collisionModels.end(); ++it)
{
core::CollisionModel* cm2 = *it;
//sout<<"make pair with Collision Model ? :"<<cm2->getLast()->getName();
if (!cm->isSimulated() && !cm2->isSimulated())
{
//sout<<" - No : case 1"<<sendl;
continue;
}
/*
if (!cm->canCollideWith(cm2))
{
sout<<" - No : case 2"<<sendl;
continue;
}
*/
if (!cm->getLast()->canCollideWith(cm2->getLast()))
{
//sout<<" - No : case 3"<<sendl;
continue;
}
//sout<<" - Yes !"<<sendl;
bool swapModels = false;
core::componentmodel::collision::ElementIntersector* intersector = intersectionMethod->findIntersector(cm, cm2, swapModels);
if (intersector == NULL)
continue;
core::CollisionModel* cm1 = (swapModels?cm2:cm);
cm2 = (swapModels?cm:cm2);
// // Here we assume multiple root elements are present in both models
// bool collisionDetected = false;
// core::CollisionElementIterator begin1 = cm->begin();
// core::CollisionElementIterator end1 = cm->end();
// core::CollisionElementIterator begin2 = cm2->begin();
// core::CollisionElementIterator end2 = cm2->end();
// for (core::CollisionElementIterator it1 = begin1; it1 != end1; ++it1)
// {
// for (core::CollisionElementIterator it2 = begin2; it2 != end2; ++it2)
// {
// //if (!it1->canCollideWith(it2)) continue;
// if (intersector->canIntersect(it1, it2))
// {
// collisionDetected = true;
// break;
// }
// }
// if (collisionDetected) break;
// }
// if (collisionDetected)
// Here we assume a single root element is present in both models
if (intersector->canIntersect(cm1->begin(), cm2->begin()))
{
//sout << "Broad phase "<<cm1->getLast()->getName()<<" - "<<cm2->getLast()->getName()<<sendl;
cmPairs.push_back(std::make_pair(cm1, cm2));
}
}
collisionModels.push_back(cm);
}
class MirrorIntersector : public core::componentmodel::collision::ElementIntersector
{
public:
core::componentmodel::collision::ElementIntersector* intersector;
/// Test if 2 elements can collide. Note that this can be conservative (i.e. return true even when no collision is present)
virtual bool canIntersect(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2)
{
return intersector->canIntersect(elem2, elem1);
}
/// Begin intersection tests between two collision models. Return the number of contacts written in the contacts vector.
/// If the given contacts vector is NULL, then this method should allocate it.
virtual int beginIntersect(core::CollisionModel* model1, core::CollisionModel* model2, core::componentmodel::collision::DetectionOutputVector*& contacts)
{
return intersector->beginIntersect(model2, model1, contacts);
}
/// Compute the intersection between 2 elements. Return the number of contacts written in the contacts vector.
virtual int intersect(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2, core::componentmodel::collision::DetectionOutputVector* contacts)
{
return intersector->intersect(elem2, elem1, contacts);
}
/// End intersection tests between two collision models. Return the number of contacts written in the contacts vector.
virtual int endIntersect(core::CollisionModel* model1, core::CollisionModel* model2, core::componentmodel::collision::DetectionOutputVector* contacts)
{
return intersector->endIntersect(model2, model1, contacts);
}
virtual std::string name() const
{
return intersector->name() + std::string("<SWAP>");
}
};
void BruteForceDetection::addCollisionPair(const std::pair<core::CollisionModel*, core::CollisionModel*>& cmPair)
{
typedef std::pair< std::pair<core::CollisionElementIterator,core::CollisionElementIterator>, std::pair<core::CollisionElementIterator,core::CollisionElementIterator> > TestPair;
core::CollisionModel *cm1 = cmPair.first; //->getNext();
core::CollisionModel *cm2 = cmPair.second; //->getNext();
//int size0 = elemPairs.size();
//sout << "Narrow phase "<<cm1->getLast()->getName()<<" - "<<cm2->getLast()->getName()<<sendl;
if (!cm1->isSimulated() && !cm2->isSimulated())
return;
if (cm1->empty() || cm2->empty())
return;
core::CollisionModel *finalcm1 = cm1->getLast();
core::CollisionModel *finalcm2 = cm2->getLast();
//sout << "Final phase "<<gettypename(typeid(*finalcm1))<<" - "<<gettypename(typeid(*finalcm2))<<sendl;
bool swapModels = false;
core::componentmodel::collision::ElementIntersector* finalintersector = intersectionMethod->findIntersector(finalcm1, finalcm2, swapModels);
if (finalintersector == NULL)
return;
if (swapModels)
{
core::CollisionModel* tmp;
tmp = cm1; cm1 = cm2; cm2 = tmp;
tmp = finalcm1; finalcm1 = finalcm2; finalcm2 = tmp;
}
const bool self = (finalcm1->getContext() == finalcm2->getContext());
//if (self)
// sout << "SELF: Final intersector " << finalintersector->name() << " for "<<finalcm1->getName()<<" - "<<finalcm2->getName()<<sendl;
sofa::core::componentmodel::collision::DetectionOutputVector*& outputs = outputsMap[std::make_pair(finalcm1, finalcm2)];
finalintersector->beginIntersect(finalcm1, finalcm2, outputs);
if (finalcm1 == cm1 || finalcm2 == cm2)
{
// The last model also contains the root element -> it does not only contains the final level of the tree
finalcm1 = NULL;
finalcm2 = NULL;
finalintersector = NULL;
}
simulation::Node* node = dynamic_cast<simulation::Node*>(getContext());
if (node && !node->getLogTime()) node=NULL; // Only use node for time logging
simulation::Node::ctime_t t0=0, t=0;
simulation::Node::ctime_t ft=0;
std::queue< TestPair > externalCells;
std::pair<core::CollisionElementIterator,core::CollisionElementIterator> internalChildren1 = cm1->begin().getInternalChildren();
std::pair<core::CollisionElementIterator,core::CollisionElementIterator> internalChildren2 = cm2->begin().getInternalChildren();
std::pair<core::CollisionElementIterator,core::CollisionElementIterator> externalChildren1 = cm1->begin().getExternalChildren();
std::pair<core::CollisionElementIterator,core::CollisionElementIterator> externalChildren2 = cm2->begin().getExternalChildren();
if (internalChildren1.first != internalChildren1.second)
{
if (internalChildren2.first != internalChildren2.second)
externalCells.push(std::make_pair(internalChildren1,internalChildren2));
if (externalChildren2.first != externalChildren2.second)
externalCells.push(std::make_pair(internalChildren1,externalChildren2));
}
if (externalChildren1.first != externalChildren1.second)
{
if (internalChildren2.first != internalChildren2.second)
externalCells.push(std::make_pair(externalChildren1,internalChildren2));
if (externalChildren2.first != externalChildren2.second)
externalCells.push(std::make_pair(externalChildren1,externalChildren2));
}
//externalCells.push(std::make_pair(std::make_pair(cm1->begin(),cm1->end()),std::make_pair(cm2->begin(),cm2->end())));
//core::componentmodel::collision::ElementIntersector* intersector = intersectionMethod->findIntersector(cm1, cm2);
core::componentmodel::collision::ElementIntersector* intersector = NULL;
MirrorIntersector mirror;
cm1 = NULL; // force later init of intersector
cm2 = NULL;
while (!externalCells.empty())
{
TestPair root = externalCells.front();
externalCells.pop();
if (cm1 != root.first.first.getCollisionModel() || cm2 != root.second.first.getCollisionModel())
{
cm1 = root.first.first.getCollisionModel();
cm2 = root.second.first.getCollisionModel();
intersector = intersectionMethod->findIntersector(cm1, cm2, swapModels);
if (intersector == NULL)
{
sout << "BruteForceDetection: Error finding intersector " << intersectionMethod->getName() << " for "<<gettypename(typeid(*cm1))<<" - "<<gettypename(typeid(*cm2))<<sendl;
}
//else sout << "BruteForceDetection: intersector " << intersector->name() << " for " << intersectionMethod->getName() << " for "<<gettypename(typeid(*cm1))<<" - "<<gettypename(typeid(*cm2))<<sendl;
if (swapModels)
{
mirror.intersector = intersector; intersector = &mirror;
}
}
if (intersector == NULL)
continue;
std::stack< TestPair > internalCells;
internalCells.push(root);
simulation::Node::ctime_t it=0,it0=0;
if (node) it0 = node->startTime();
while (!internalCells.empty())
{
TestPair current = internalCells.top();
internalCells.pop();
core::CollisionElementIterator begin1 = current.first.first;
core::CollisionElementIterator end1 = current.first.second;
core::CollisionElementIterator begin2 = current.second.first;
core::CollisionElementIterator end2 = current.second.second;
if (begin1.getCollisionModel() == finalcm1 && begin2.getCollisionModel() == finalcm2)
{
// Final collision pairs
if (node) t0 = node->startTime();
for (core::CollisionElementIterator it1 = begin1; it1 != end1; ++it1)
{
for (core::CollisionElementIterator it2 = begin2; it2 != end2; ++it2)
{
if (!self || it1.canCollideWith(it2))
intersector->intersect(it1,it2,outputs);
}
}
}
else
{
for (core::CollisionElementIterator it1 = begin1; it1 != end1; ++it1)
{
for (core::CollisionElementIterator it2 = begin2; it2 != end2; ++it2)
{
//if (self && !it1.canCollideWith(it2)) continue;
//if (!it1->canCollideWith(it2)) continue;
bool b = intersector->canIntersect(it1,it2);
if (b)
{
// Need to test recursively
// Note that an element cannot have both internal and external children
TestPair newInternalTests(it1.getInternalChildren(),it2.getInternalChildren());
TestPair newExternalTests(it1.getExternalChildren(),it2.getExternalChildren());
if (newInternalTests.first.first != newInternalTests.first.second)
{
if (newInternalTests.second.first != newInternalTests.second.second)
{
internalCells.push(newInternalTests);
}
else
{
newInternalTests.second.first = it2;
newInternalTests.second.second = it2;
++newInternalTests.second.second;
internalCells.push(newInternalTests);
}
}
else
{
if (newInternalTests.second.first != newInternalTests.second.second)
{
newInternalTests.first.first = it1;
newInternalTests.first.second = it1;
++newInternalTests.first.second;
internalCells.push(newInternalTests);
}
else
{
// end of both internal tree of elements.
// need to test external children
if (newExternalTests.first.first != newExternalTests.first.second)
{
if (newExternalTests.second.first != newExternalTests.second.second)
{
if (newExternalTests.first.first.getCollisionModel() == finalcm1 && newExternalTests.second.first.getCollisionModel() == finalcm2)
{
core::CollisionElementIterator begin1 = newExternalTests.first.first;
core::CollisionElementIterator end1 = newExternalTests.first.second;
core::CollisionElementIterator begin2 = newExternalTests.second.first;
core::CollisionElementIterator end2 = newExternalTests.second.second;
if (node) t0 = node->startTime();
for (core::CollisionElementIterator it1 = begin1; it1 != end1; ++it1)
{
for (core::CollisionElementIterator it2 = begin2; it2 != end2; ++it2)
{
//if (!it1->canCollideWith(it2)) continue;
// Final collision pair
if (!self || it1.canCollideWith(it2))
finalintersector->intersect(it1,it2,outputs);
}
}
if (node) ft += node->startTime() - t0;
}
else
externalCells.push(newExternalTests);
}
else
{
// only first element has external children
// test them against the second element
newExternalTests.second.first = it2;
newExternalTests.second.second = it2;
++newExternalTests.second.second;
externalCells.push(std::make_pair(newExternalTests.first, newInternalTests.second));
}
}
else if (newExternalTests.second.first != newExternalTests.second.second)
{
// only first element has external children
// test them against the first element
newExternalTests.first.first = it1;
newExternalTests.first.second = it1;
++newExternalTests.first.second;
externalCells.push(std::make_pair(newExternalTests.first, newExternalTests.second));
}
else
{
// No child -> final collision pair
if (!self || it1.canCollideWith(it2))
intersector->intersect(it1,it2, outputs);
}
}
}
}
}
}
}
}
if (node)
{
it += node->startTime() - it0 - ft;
std::string name = "collision/";
name += intersector->name();
node->addTime(it, name, intersectionMethod);
t += it;
}
}
if (node && finalintersector!=NULL)
{
std::string name = "collision/";
name += finalintersector->name();
node->addTime(ft, name, intersectionMethod);
t += ft;
node->addTime(t, "collision", intersectionMethod, this);
}
//sout << "Narrow phase "<<cm1->getLast()->getName()<<"("<<gettypename(typeid(*cm1->getLast()))<<") - "<<cm2->getLast()->getName()<<"("<<gettypename(typeid(*cm2->getLast()))<<"): "<<elemPairs.size()-size0<<" contacts."<<sendl;
}
void BruteForceDetection::draw()
{
if (!bDraw.getValue()) return;
/*
glDisable(GL_LIGHTING);
glColor3f(1.0, 0.0, 1.0);
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
glLineWidth(3);
glPointSize(5);
for (DetectionOutputMap::iterator it = outputsMap.begin(); it!=outputsMap.end(); it++)
{
core::componentmodel::collision::DetectionOutputVector& outputs = it->second;
for (core::componentmodel::collision::DetectionOutputVector::iterator it2 = outputs.begin(); it2!=outputs.end(); it2++)
{
it2->elem.first.draw();
it2->elem.second.draw();
}
}
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
glLineWidth(1);
glPointSize(1);
*/
}
} // namespace collision
} // namespace component
} // namespace sofa
|
