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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/RuleBasedContactManager.h>
#include <sofa/core/ObjectFactory.h>
namespace sofa
{
namespace component
{
namespace collision
{
SOFA_DECL_CLASS(RuleBasedContactManager)
int RuleBasedContactManagerClass = core::RegisterObject("Create different response to the collisions based on a set of rules")
.add< RuleBasedContactManager >()
.addAlias("RuleBasedCollisionResponse")
;
RuleBasedContactManager::RuleBasedContactManager()
: rules(initData(&rules, "rules", "Ordered list of rules, each with a triplet of strings.\n"
"The first two define either the name of the collision model, its group number, or * meaning any model.\n"
"The last string define the response algorithm to use for contacts matched by this rule.\n"
"Rules are applied in the order they are specified. If none match a given contact, the default response is used.\n"))
{
}
RuleBasedContactManager::~RuleBasedContactManager()
{
}
std::string RuleBasedContactManager::getContactResponse(core::CollisionModel* model1, core::CollisionModel* model2)
{
// Response locally defined on a given CollisionModel takes priority (necessary for the mouse for instance)
std::string response1 = model1->getContactResponse();
std::string response2 = model2->getContactResponse();
if (!response1.empty()) return response1;
else if (!response2.empty()) return response2;
const helper::vector<Rule>& r = rules.getValue();
for (helper::vector<Rule>::const_iterator it = r.begin(), itend = r.end(); it != itend; ++it)
{
if (it->match(model1, model2) || it->match(model2, model1))
return it->response; // rule it matched
}
// no rule matched
return DefaultContactManager::getContactResponse(model1, model2);
}
} // namespace collision
} // namespace component
} // namespace sofa
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