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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 "CarvingManager.h"
#include <sofa/core/ObjectFactory.h>
#include <sofa/core/componentmodel/collision/DetectionOutput.h>
#include <sofa/core/objectmodel/KeypressedEvent.h>
#include <sofa/core/objectmodel/KeyreleasedEvent.h>
#include <sofa/simulation/common/AnimateBeginEvent.h>
#include <sofa/simulation/common/AnimateEndEvent.h>
#include <sofa/core/componentmodel/topology/TopologicalMapping.h>
#include <sofa/helper/gl/template.h>
#include <sofa/component/collision/TopologicalChangeManager.h>
namespace sofa
{
namespace component
{
namespace collision
{
SOFA_DECL_CLASS(CarvingManager)
int CarvingManagerClass = core::RegisterObject("Manager handling carving operations between a tool and an object.")
.add< CarvingManager >()
;
CarvingManager::CarvingManager()
: f_modelTool( initData(&f_modelTool, "modelTool", "Tool model path"))
, f_modelSurface( initData(&f_modelSurface, "modelSurface", "TriangleSetModel or SphereModel path"))
, active( initData(&active, false, "active", "Activate this object.\nNote that this can be dynamically controlled by using a key") )
, keyEvent( initData(&keyEvent, '1', "key", "key to press to activate this object until the key is released") )
, keySwitchEvent( initData(&keySwitchEvent, '4', "keySwitch", "key to activate this object until the key is pressed again") )
, modelTool(NULL)
, modelSurface(NULL)
, intersectionMethod(NULL)
, detectionNP(NULL)
{
this->f_listening.setValue(true);
}
CarvingManager::~CarvingManager()
{
}
void CarvingManager::init()
{
if (f_modelTool.getValue().empty())
modelTool = getContext()->get<ToolModel>(core::objectmodel::BaseContext::SearchDown);
else
modelTool = getContext()->get<ToolModel>(f_modelTool.getValue());
if (f_modelSurface.getValue().empty())
{
// we look for a CollisionModel relying on a TetrahedronSetTopology.
//modelSurface = getContext()->get<TriangleSetModel>(core::objectmodel::BaseContext::SearchDown);
std::vector<core::CollisionModel*> models;
getContext()->get<core::CollisionModel>(&models, core::objectmodel::BaseContext::SearchRoot);
sofa::core::componentmodel::topology::TopologicalMapping * topoMapping;
for (unsigned int i=0;i<models.size();++i)
{
core::CollisionModel* m = models[i];
m->getContext()->get(topoMapping);
if (topoMapping == NULL) continue;
modelSurface = m; // we found a good object
break;
}
}
else
{
modelSurface = getContext()->get<core::CollisionModel>(f_modelSurface.getValue());
}
intersectionMethod = getContext()->get<core::componentmodel::collision::Intersection>();
detectionNP = getContext()->get<core::componentmodel::collision::NarrowPhaseDetection>();
bool error = false;
if (modelTool == NULL) { serr << "CarvingManager: modelTool not found"<<sendl; error = true; }
if (modelSurface == NULL) { serr << "CarvingManager: modelSurface not found"<<sendl; error = true; }
if (intersectionMethod == NULL) { serr << "CarvingManager: intersectionMethod not found"<<sendl; error = true; }
if (detectionNP == NULL) { serr << "CarvingManager: NarrowPhaseDetection not found"<<sendl; error = true; }
if (!error)
sout << "CarvingManager: init OK." << sendl;
}
void CarvingManager::reset()
{
}
void CarvingManager::doCarve()
{
if (modelTool==NULL || modelSurface==NULL || intersectionMethod == NULL || detectionNP == NULL) return;
// do collision detection
//sout << "CarvingManager: build bounding trees" << sendl;
{
const bool continuous = intersectionMethod->useContinuous();
const double dt = getContext()->getDt();
const int depth = 6;
if (continuous)
modelTool->computeContinuousBoundingTree(dt, depth);
else
modelTool->computeBoundingTree(depth);
if (continuous)
modelSurface->computeContinuousBoundingTree(dt, depth);
else
modelSurface->computeBoundingTree(depth);
}
sofa::helper::vector<std::pair<core::CollisionModel*, core::CollisionModel*> > vectCMPair;
//vectCMPair = broadPhaseDetection->getCollisionModelPairs();
//vectCMPair.push_back(std::make_pair(modelSurface,modelTool));
vectCMPair.push_back(std::make_pair(modelSurface->getFirst(),modelTool->getFirst()));
//sout << "CarvingManager: narrow phase" << sendl;
detectionNP->setInstance(this);
detectionNP->setIntersectionMethod(intersectionMethod);
detectionNP->beginNarrowPhase();
detectionNP->addCollisionPairs(vectCMPair);
detectionNP->endNarrowPhase();
const core::componentmodel::collision::NarrowPhaseDetection::DetectionOutputMap& detectionOutputs = detectionNP->getDetectionOutputs();
//sout << "CarvingManager: process contacts" << sendl;
const ContactVector* contacts = NULL;
core::componentmodel::collision::NarrowPhaseDetection::DetectionOutputMap::const_iterator it = detectionOutputs.begin(); //find(std::make_pair(modelSurface,modelTool));
if (it != detectionOutputs.end())
{
#ifndef NDEBUG
sout << "Contacts available..." << sendl;
#endif
contacts = dynamic_cast<const ContactVector*>(it->second);
}
unsigned int ncontacts = 0;
if (contacts != NULL)
{
ncontacts = contacts->size();
#ifndef NDEBUG
sout << contacts->size() << " contacts detected." << sendl;
#endif
}
std::vector<int> elemsToRemove;
for (unsigned int j=0; j < ncontacts; ++j)
{
const ContactVector::value_type& c = (*contacts)[j];
int triangleIdx = (c.elem.first.getCollisionModel()==modelSurface ? c.elem.first.getIndex():c.elem.second.getIndex());
elemsToRemove.push_back(triangleIdx);
}
if (!elemsToRemove.empty())
{
#ifndef NDEBUG
sout << elemsToRemove.size() << " elements to remove"<<sendl;
#endif
static TopologicalChangeManager manager;
manager.removeItemsFromCollisionModel(modelSurface, elemsToRemove);
}
detectionNP->setInstance(NULL);
//sout << "CarvingManager: carve done" << sendl;
}
void CarvingManager::handleEvent(sofa::core::objectmodel::Event* event)
{
if (sofa::core::objectmodel::KeypressedEvent* ev = dynamic_cast<sofa::core::objectmodel::KeypressedEvent*>(event))
{
sout << "GET KEY "<<ev->getKey()<<sendl;
if (ev->getKey() == keyEvent.getValue())
{
active.setValue(true);
}
else if (ev->getKey() == keySwitchEvent.getValue())
{
active.setValue(!active.getValue());
}
}
else if (sofa::core::objectmodel::KeyreleasedEvent* ev = dynamic_cast<sofa::core::objectmodel::KeyreleasedEvent*>(event))
{
if (ev->getKey() == keyEvent.getValue())
{
active.setValue(false);
}
}
else if (/* simulation::AnimateEndEvent* ev = */ dynamic_cast<simulation::AnimateEndEvent*>(event))
{
if (active.getValue())
doCarve();
}
}
} // namespace collision
} // namespace component
} // namespace sofa
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