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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 *
******************************************************************************/
#ifndef SOFA_COMPONENT_COLLISION_LOCALMINDISTANCE_H
#define SOFA_COMPONENT_COLLISION_LOCALMINDISTANCE_H
#include <sofa/component/collision/DiscreteIntersection.h>
#include <sofa/helper/FnDispatcher.h>
#include <sofa/component/collision/SphereModel.h>
#include <sofa/component/collision/TriangleModel.h>
#include <sofa/component/collision/LineModel.h>
#include <sofa/component/collision/PointModel.h>
#include <sofa/component/collision/CubeModel.h>
#include <sofa/component/collision/RayModel.h>
namespace sofa
{
namespace component
{
namespace collision
{
class SOFA_COMPONENT_COLLISION_API LocalMinDistance : public DiscreteIntersection
{
public:
// Data<bool> useSphereTriangle;
// Data<bool> usePointPoint;
Data<double> alarmDistance;
Data<double> contactDistance;
//Data<bool> filterIntersection;
Data<double> angleCone;
Data<double> coneFactor;
LocalMinDistance();
virtual void init();
/// returns true if algorithm uses proximity
virtual bool useProximity() const { return true; }
/// Return the alarm distance (must return 0 if useMinProximity() is false)
double getAlarmDistance() const { return alarmDistance.getValue(); }
/// Return the contact distance (must return 0 if useMinProximity() is false)
double getContactDistance() const { return contactDistance.getValue(); }
void setAlarmDistance(double v) { alarmDistance.setValue(v); }
void setContactDistance(double v) { contactDistance.setValue(v); }
bool testIntersection(Cube& ,Cube&);
bool testIntersection(Point&, Point&);
bool testIntersection(Sphere&, Point&);
bool testIntersection(Sphere&, Sphere&);
bool testIntersection(Line&, Point&);
bool testIntersection(Line&, Sphere&);
bool testIntersection(Line&, Line&);
bool testIntersection(Triangle&, Point&);
bool testIntersection(Triangle&, Sphere&);
bool testIntersection(Ray&, Sphere&);
bool testIntersection(Ray&, Triangle&);
int computeIntersection(Cube&, Cube&, OutputVector*);
int computeIntersection(Point&, Point&, OutputVector*);
int computeIntersection(Sphere&, Point&, OutputVector*);
int computeIntersection(Sphere&, Sphere&, OutputVector*);
int computeIntersection(Line&, Point&, OutputVector*);
int computeIntersection(Line&, Sphere&, OutputVector*);
int computeIntersection(Line&, Line&, OutputVector*);
int computeIntersection(Triangle&, Point&, OutputVector*);
int computeIntersection(Triangle&, Sphere&, OutputVector*);
int computeIntersection(Ray&, Sphere&, OutputVector*);
int computeIntersection(Ray&, Triangle&, OutputVector*);
/// These methods check the validity of a found intersection.
/// According to the local configuration around the found intersected primitive,
/// we build a "Region Of Interest" geometric cone.
/// Pertinent intersections have to belong to this cone, others are not taking into account anymore.
bool testValidity(Point&, const Vector3&);
bool testValidity(Line&, const Vector3&);
bool testValidity(Triangle&, const Vector3&);
void draw();
/// Actions to accomplish when the broadPhase is started. By default do nothing.
virtual void beginBroadPhase(){}
private:
double mainAlarmDistance;
double mainContactDistance;
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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