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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/DefaultPipeline.h>
#include <sofa/core/CollisionModel.h>
#include <sofa/simulation/common/Node.h>
#include <sofa/core/ObjectFactory.h>
#include <sofa/helper/system/gl.h>
#define VERBOSE(a) if (bVerbose.getValue()) a; else {}
namespace sofa
{
namespace component
{
namespace collision
{
using namespace core;
using namespace core::objectmodel;
using namespace core::componentmodel::collision;
using namespace sofa::defaulttype;
SOFA_DECL_CLASS(DefaultPipeline)
int DefaultPipelineClass = core::RegisterObject("The default collision detection and modeling pipeline")
.add< DefaultPipeline >()
.addAlias("CollisionPipeline")
;
DefaultPipeline::DefaultPipeline()
: bVerbose(initData(&bVerbose, false, "verbose","Display current step information"))
, bDraw(initData(&bDraw, false, "draw","Draw detected collisions"))
, depth(initData(&depth, 6, "depth","Max depth of bounding trees"))
{
}
typedef simulation::Node::ctime_t ctime_t;
void DefaultPipeline::doCollisionReset()
{
core::objectmodel::BaseContext* scene = getContext();
simulation::Node* node = dynamic_cast<simulation::Node*>(scene);
if (node && !node->getLogTime()) node=NULL; // Only use node for time logging
ctime_t t0 = 0;
const std::string category = "collision";
VERBOSE(sout << "DefaultPipeline::doCollisionReset, Reset collisions"<<sendl);
// clear all contacts
if (contactManager!=NULL)
{
const sofa::helper::vector<Contact*>& contacts = contactManager->getContacts();
for (sofa::helper::vector<Contact*>::const_iterator it = contacts.begin(); it!=contacts.end(); it++)
{
(*it)->removeResponse();
}
}
// clear all collision groups
if (groupManager!=NULL)
{
if (node) t0 = node->startTime();
groupManager->clearGroups(scene);
if (node) t0 = node->endTime(t0, category, groupManager, this);
}
}
void DefaultPipeline::doCollisionDetection(const sofa::helper::vector<core::CollisionModel*>& collisionModels)
{
//serr<<"DefaultPipeline::doCollisionDetection"<<sendl;
core::objectmodel::BaseContext* scene = getContext();
simulation::Node* node = dynamic_cast<simulation::Node*>(scene);
if (node && !node->getLogTime()) node=NULL; // Only use node for time logging
ctime_t t0 = 0;
const std::string category = "collision";
VERBOSE(sout << "DefaultPipeline::doCollisionDetection, Compute Bounding Trees"<<sendl);
// First, we compute a bounding volume for the collision model (for example bounding sphere)
// or we have loaded a collision model that knows its other model
sofa::helper::vector<CollisionModel*> vectBoundingVolume;
{
if (node) t0 = node->startTime();
const bool continuous = intersectionMethod->useContinuous();
const double dt = getContext()->getDt();
sofa::helper::vector<CollisionModel*>::const_iterator it = collisionModels.begin();
sofa::helper::vector<CollisionModel*>::const_iterator itEnd = collisionModels.end();
int nActive = 0;
for (; it != itEnd; it++)
{
VERBOSE(sout << "DefaultPipeline::doCollisionDetection, consider model "<<(*it)->getName()<<sendl);
if (!(*it)->isActive()) continue;
if (continuous)
(*it)->computeContinuousBoundingTree(dt, depth.getValue());
else
(*it)->computeBoundingTree(depth.getValue());
vectBoundingVolume.push_back ((*it)->getFirst());
++nActive;
}
if (node) t0 = node->endTime(t0, "collision/bbox", this);
VERBOSE(sout << "DefaultPipeline::doCollisionDetection, Computed "<<nActive<<" BBoxs"<<sendl);
}
// then we start the broad phase
if (broadPhaseDetection==NULL) return; // can't go further
VERBOSE(sout << "DefaultPipeline::doCollisionDetection, BroadPhaseDetection "<<broadPhaseDetection->getName()<<sendl);
if (node) t0 = node->startTime();
intersectionMethod->beginBroadPhase();
broadPhaseDetection->beginBroadPhase();
broadPhaseDetection->addCollisionModels(vectBoundingVolume); // detection is done there
broadPhaseDetection->endBroadPhase();
intersectionMethod->endBroadPhase();
if (node) t0 = node->endTime(t0, category, broadPhaseDetection, this);
// then we start the narrow phase
if (narrowPhaseDetection==NULL) return; // can't go further
VERBOSE(sout << "DefaultPipeline::doCollisionDetection, NarrowPhaseDetection "<<narrowPhaseDetection->getName()<<sendl);
if (node) t0 = node->startTime();
intersectionMethod->beginNarrowPhase();
narrowPhaseDetection->beginNarrowPhase();
sofa::helper::vector<std::pair<CollisionModel*, CollisionModel*> >& vectCMPair = broadPhaseDetection->getCollisionModelPairs();
VERBOSE(sout << "DefaultPipeline::doCollisionDetection, "<< vectCMPair.size()<<" colliding model pairs"<<sendl);
narrowPhaseDetection->addCollisionPairs(vectCMPair);
narrowPhaseDetection->endNarrowPhase();
intersectionMethod->endNarrowPhase();
if (node) t0 = node->endTime(t0, category, narrowPhaseDetection, this);
}
void DefaultPipeline::doCollisionResponse()
{
core::objectmodel::BaseContext* scene = getContext();
simulation::Node* node = dynamic_cast<simulation::Node*>(scene);
if (node && !node->getLogTime()) node=NULL; // Only use node for time logging
ctime_t t0 = 0;
const std::string category = "collision";
// then we start the creation of contacts
if (contactManager==NULL) return; // can't go further
VERBOSE(sout << "Create Contacts "<<contactManager->getName()<<sendl);
if (node) t0 = node->startTime();
contactManager->createContacts(narrowPhaseDetection->getDetectionOutputs());
if (node) t0 = node->endTime(t0, category, contactManager, this);
// finally we start the creation of collisionGroup
const sofa::helper::vector<Contact*>& contacts = contactManager->getContacts();
// First we remove all contacts with non-simulated objects and directly add them
sofa::helper::vector<Contact*> notStaticContacts;
for (sofa::helper::vector<Contact*>::const_iterator it = contacts.begin(); it!=contacts.end(); it++)
{
Contact* c = *it;
if (!c->getCollisionModels().first->isSimulated())
{
c->createResponse(c->getCollisionModels().second->getContext());
}
else if (!c->getCollisionModels().second->isSimulated())
{
c->createResponse(c->getCollisionModels().first->getContext());
}
else
notStaticContacts.push_back(c);
}
if (groupManager==NULL)
{
VERBOSE(sout << "Linking all contacts to Scene"<<sendl);
for (sofa::helper::vector<Contact*>::const_iterator it = notStaticContacts.begin(); it!=notStaticContacts.end(); it++)
{
(*it)->createResponse(scene);
}
}
else
{
VERBOSE(sout << "Create Groups "<<groupManager->getName()<<sendl);
if (node) t0 = node->startTime();
groupManager->createGroups(scene, notStaticContacts);
if (node) t0 = node->endTime(t0, category, groupManager, this);
}
}
void DefaultPipeline::draw()
{
if (!bDraw.getValue()) return;
if (!narrowPhaseDetection) return;
#if 0
glDisable(GL_LIGHTING);
glLineWidth(2);
glBegin(GL_LINES);
DetectionOutputMap& outputsMap = narrowPhaseDetection->getDetectionOutputs();
for (DetectionOutputMap::iterator it = outputsMap.begin(); it!=outputsMap.end(); it++)
{
/*
DetectionOutputVector& outputs = it->second;
for (DetectionOutputVector::iterator it2 = outputs.begin(); it2!=outputs.end(); it2++)
{
DetectionOutput* d = &*it2;
if (d->distance<0)
glColor3f(1.0f,0.5f,0.5f);
else
glColor3f(0.5f,1.0f,0.5f);
glVertex3dv(d->point[0].ptr());
glVertex3dv(d->point[1].ptr());
}
*/
}
glEnd();
glLineWidth(1);
#endif
}
} // namespace collision
} // namespace component
} // namespace sofa
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