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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_RAYPICKINTERACTOR_H
#define SOFA_COMPONENT_COLLISION_RAYPICKINTERACTOR_H
#include <sofa/component/collision/RayModel.h>
#include <sofa/core/BehaviorModel.h>
#include <sofa/component/container/MechanicalObject.h>
#include <sofa/simulation/common/Node.h>
#include <sofa/component/collision/BarycentricContactMapper.h>
#include <sofa/component/mapping/VoidMapping.h>
#include <sofa/defaulttype/Vec.h>
#include <sofa/defaulttype/Mat.h>
#include <sofa/defaulttype/Quat.h>
#include <sofa/core/componentmodel/collision/DetectionOutput.h>
#include <sofa/component/collision/TopologicalChangeManager.h>
#include <sofa/helper/Factory.h>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
struct PickPoints
{
core::CollisionModel* model1;
int elem1;
core::CollisionModel* model2;
core::componentmodel::behavior::BaseMechanicalState* mstate2;
int elem2;
double dist;
Vector3 p1, p2;
PickPoints() : model1(NULL), elem1(0), model2(NULL), mstate2(NULL), elem2(0), dist(0) {}
};
class SOFA_COMPONENT_COLLISION_API BasePickingManager : public virtual sofa::core::objectmodel::BaseObject
{
public:
virtual ~BasePickingManager();
virtual bool attach(int /*button*/, core::CollisionElementIterator /*elem1*/, core::CollisionElementIterator /*elem2*/, double /*dist*/, Vector3 /*p1*/, Vector3 /*p2*/)
{
return false;
}
virtual bool attach(int button, PickPoints& a)
{
if (a.model1 && a.model2)
return attach(button, core::CollisionElementIterator(a.model1, a.elem1), core::CollisionElementIterator(a.model2, a.elem2), a.dist, a.p1, a.p2);
else
return false;
}
virtual bool isAttached() = 0;
virtual void release() = 0;
virtual void update() = 0;
typedef helper::Factory<std::string, BasePickingManager, core::objectmodel::BaseContext*> PickingManagerFactory;
static BasePickingManager* Create(std::string name, core::objectmodel::BaseContext* context);
static int CreateAll(std::vector<BasePickingManager*>& instances, core::objectmodel::BaseContext* context);
template <class RealObject>
static bool canCreate( RealObject*& /*obj*/, core::objectmodel::BaseContext* /*context*/)
{
return true;
}
template <class RealObject>
static void create( RealObject*& obj, core::objectmodel::BaseContext* context)
{
if (RealObject::canCreate(obj, context))
{
obj = new RealObject;
//if (context != NULL)
// context->addObject(obj);
}
}
};
class SOFA_COMPONENT_COLLISION_API RayPickInteractor : public RayModel, public core::BehaviorModel, public mapping::VoidMapping
{
public:
RayPickInteractor();
~RayPickInteractor();
virtual void init();
virtual bool isActive();
virtual bool pickParticles(double /*rayOx*/, double /*rayOy*/, double /*rayOz*/, double /*rayDx*/, double /*rayDy*/, double /*rayDz*/, double /*radius0*/, double /*dRadius*/,
std::multimap< double, std::pair<sofa::core::componentmodel::behavior::BaseMechanicalState*, int> >& /*particles*/)
{
return false;
}
/// Computation of a new simulation step.
virtual void updatePosition(double dt);
/// Interactor interface
virtual void newPosition(const Vector3& translation, const Quat& rotation, const Mat4x4d& transformation);
virtual void newEvent(const std::string& command);
/// Set ray radius, at positions (0,0,0) and (0,0,1) in last transmitted transformation
virtual void setRayRadius(double r0, double r1);
virtual void draw();
virtual bool isAttached();
Data<bool> useCollisions;
protected:
void pickBody();
void releaseBody();
bool findFirstCollision(const Ray& ray, PickPoints& result, bool create = false);
// TODO: remove the FIRST_INPUT, SECOND_INPUT, IS_CUT states
enum { DISABLED, PRESENT, ACTIVE, ATTACHED, FIRST_INPUT, SECOND_INPUT, IS_CUT } state; // FIRST_INPUT and SECOND_INPUT are states to control inputs points for incision in a triangular mesh
int button; // index of activated button (only valid in ACTIVE state)
Mat4x4d transform;
Real rayRadius0, rayRadius1;
helper::vector<BasePickingManager*> pickManagers;
helper::vector<PickPoints*> pickPoints;
// TopologicalChangeManager object to handle topological changes
TopologicalChangeManager topo_changeManager;
};
template<class TDataTypes, class ContactForceField>
class DefaultPickingManager : public BasePickingManager
{
public:
typedef TDataTypes DataTypes;
typedef typename DataTypes::Real Real;
typedef typename DataTypes::Coord Coord;
Data<int> button;
DefaultPickingManager();
virtual bool attach(int button, PickPoints& a)
{
if (button == this->button.getValue())
{
if (a.model1 && a.model2)
return attach(core::CollisionElementIterator(a.model1, a.elem1), core::CollisionElementIterator(a.model2, a.elem2), a.dist, a.p1, a.p2);
else if (a.model1 && a.mstate2)
return attach(core::CollisionElementIterator(a.model1, a.elem1), a.mstate2, a.elem2, a.dist, a.p1, a.p2);
}
return false;
}
virtual bool isAttached()
{
return !attachedPoints.empty();
}
virtual void release();
virtual void update();
virtual void draw();
template <class RealObject>
static bool canCreate( RealObject*& obj, core::objectmodel::BaseContext* context)
{
if (context != NULL)
{
core::componentmodel::behavior::MechanicalState<DataTypes>* p = NULL;
context->get(p, core::objectmodel::BaseContext::SearchRoot);
if (p == NULL)
return false;
}
return BasePickingManager::canCreate(obj, context);
}
protected:
virtual component::MechanicalObject<DataTypes>* getMState(core::objectmodel::BaseContext* context);
virtual bool attach(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2, double dist, Vector3 p1, Vector3 p2);
virtual bool attach(core::CollisionElementIterator elem1, core::componentmodel::behavior::BaseMechanicalState* mstate2, int elem2, double dist, Vector3 p1, Vector3 p2);
virtual void addContact(ContactForceField* ff, int index1, int index2, double stiffness, double mu_v, double length, const Vector3& p1, const Vector3& p2);
sofa::helper::vector< std::pair<Ray,double> > attachedPoints;
component::MechanicalObject<DataTypes>* mechanicalObject;
sofa::helper::vector<core::componentmodel::behavior::BaseForceField*> forcefields;
sofa::helper::vector<BaseContactMapper<DataTypes>*> mappers;
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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