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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/DefaultContactManager.h>
#include <sofa/core/ObjectFactory.h>
namespace sofa
{
namespace component
{
namespace collision
{
SOFA_DECL_CLASS(DefaultContactManager)
int DefaultContactManagerClass = core::RegisterObject("Default class to create reactions to the collisions")
.add< DefaultContactManager >()
.addAlias("CollisionResponse")
;
DefaultContactManager::DefaultContactManager()
: response(initData(&response, std::string("default"), "response", "contact response class"))
{
}
DefaultContactManager::~DefaultContactManager()
{
// Contacts are now attached to the graph.
// So they will be deleted by the DeleteVisitor
// FIX crash on unload bug. -- J. Allard
//clear();
}
void DefaultContactManager::clear()
{
for (sofa::helper::vector<core::componentmodel::collision::Contact*>::iterator it=contacts.begin(); it!=contacts.end(); ++it)
{
(*it)->removeResponse();
(*it)->cleanup();
delete *it;
}
contacts.clear();
contactMap.clear();
}
void DefaultContactManager::createContacts(DetectionOutputMap& outputsMap)
{
//serr<<"DefaultContactManager::createContacts"<<sendl;
//outputsMap.clear();
//for (sofa::helper::vector<core::componentmodel::collision::DetectionOutput*>::const_iterator it = outputs.begin(); it!=outputs.end(); ++it)
//{
// core::componentmodel::collision::DetectionOutput* o = *it;
// outputsMap[std::make_pair(o->elem.first.getCollisionModel(),o->elem.second.getCollisionModel())].push_back(o);
//}
// Remove any inactive contacts or add any new contact
DetectionOutputMap::iterator outputsIt = outputsMap.begin();
std::map< std::pair<core::CollisionModel*,core::CollisionModel*>, core::componentmodel::collision::Contact* >::iterator contactIt = contactMap.begin();
int nbContact = 0;
//static DetectionOutputVector emptyContacts;
while (outputsIt!=outputsMap.end() || contactIt!=contactMap.end())
{
if (outputsIt!=outputsMap.end() && (contactIt == contactMap.end() || outputsIt->first < contactIt->first))
{ // new contact
//sout << "Creation new "<<contacttype<<" contact"<<sendl;
core::CollisionModel* model1 = outputsIt->first.first;
core::CollisionModel* model2 = outputsIt->first.second;
std::string responseUsed = getContactResponse(model1, model2);
core::componentmodel::collision::Contact* contact = core::componentmodel::collision::Contact::Create(responseUsed, model1, model2, intersectionMethod);
if (contact == NULL) serr << "Contact "<<responseUsed<<" between " << model1->getClassName()<<" and "<<model2->getClassName() << " creation failed"<<sendl;
else
{
contactMap[std::make_pair(model1, model2)] = contact;
contact->setName(model1->getName()+std::string("-")+model2->getName());
contact->f_printLog.setValue(this->f_printLog.getValue());
contact->init();
contact->setDetectionOutputs(outputsIt->second);
++nbContact;
}
++outputsIt;
}
else if (contactIt!=contactMap.end() && (outputsIt == outputsMap.end() || contactIt->first < outputsIt->first))
{ // inactive contact
//sout << "Deleting inactive "<<contacttype<<" contact"<<sendl;
if (contactIt->second->keepAlive())
{
contactIt->second->setDetectionOutputs(NULL);
++nbContact;
++contactIt;
}
else
{
std::map< std::pair<core::CollisionModel*,core::CollisionModel*>, core::componentmodel::collision::Contact* >::iterator contactIt2 = contactIt;
++contactIt2;
contactIt->second->removeResponse();
contactIt->second->cleanup();
delete contactIt->second;
contactMap.erase(contactIt);
contactIt = contactIt2;
}
}
else
{ // corresponding contact and outputs
contactIt->second->setDetectionOutputs(outputsIt->second);
++nbContact;
++outputsIt;
++contactIt;
}
}
// now update contactVec
contacts.clear();
contacts.reserve(nbContact);
contactIt = contactMap.begin();
while (contactIt!=contactMap.end())
{
contacts.push_back(contactIt->second);
++contactIt;
}
// compute number of contacts attached to each collision model
std::map<core::CollisionModel*,int> nbContactsMap;
for (unsigned int i=0;i<contacts.size();++i)
{
std::pair< core::CollisionModel*, core::CollisionModel* > cms = contacts[i]->getCollisionModels();
nbContactsMap[cms.first]++;
if (cms.second != cms.first)
nbContactsMap[cms.second]++;
}
sofa::helper::vector<core::CollisionModel*> collisionModels;
simulation::Node* context = dynamic_cast<simulation::Node*>(getContext());
context->getTreeObjects<core::CollisionModel>(&collisionModels);
for (unsigned int i=0;i<collisionModels.size();++i)
{
collisionModels[i]->setNumberOfContacts(nbContactsMap[collisionModels[i]]);
}
}
std::string DefaultContactManager::getContactResponse(core::CollisionModel* model1, core::CollisionModel* model2)
{
std::string responseUsed = response.getValue();
std::string response1 = model1->getContactResponse();
std::string response2 = model2->getContactResponse();
if (!response1.empty()) responseUsed = response1;
else if (!response2.empty()) responseUsed = response2;
return responseUsed;
}
void DefaultContactManager::draw()
{
for (sofa::helper::vector<core::componentmodel::collision::Contact*>::iterator it = contacts.begin(); it!=contacts.end(); it++)
{
if ((*it)!=NULL)
(*it)->draw();
}
}
void DefaultContactManager::removeContacts(const ContactVector &c)
{
ContactVector::const_iterator remove_it = c.begin();
ContactVector::const_iterator remove_itEnd = c.end();
ContactVector::iterator it;
ContactVector::iterator itEnd;
ContactMap::iterator map_it;
ContactMap::iterator map_itEnd;
while (remove_it != remove_itEnd)
{
// Whole scene contacts
it = contacts.begin();
itEnd = contacts.end();
while (it != itEnd)
{
if (*it == *remove_it)
{
contacts.erase(it);
break;
}
++it;
}
// Stored contacts (keeping alive)
map_it = contactMap.begin();
map_itEnd = contactMap.end();
while (map_it != map_itEnd)
{
if (map_it->second == *remove_it)
{
ContactMap::iterator erase_it = map_it;
++map_it;
contactMap.erase(erase_it);
}
else
{
++map_it;
}
}
++remove_it;
}
}
} // namespace collision
} // namespace component
} // namespace sofa
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