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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_RULEBASEDCONTACTMANAGER_H
#define SOFA_COMPONENT_COLLISION_RULEBASEDCONTACTMANAGER_H
#include <sofa/component/collision/DefaultContactManager.h>
namespace sofa
{
namespace component
{
namespace collision
{
class SOFA_COMPONENT_COLLISION_API RuleBasedContactManager : public DefaultContactManager
{
public:
class Rule
{
public:
std::string name1;
int group1;
std::string name2;
int group2;
std::string response;
inline friend std::istream& operator >> ( std::istream& in, Rule& r ){
in >> r.name1 >> r.name2 >> r.response;
if (!r.name1.empty() && r.name1.find_first_not_of("-0123456789") == std::string::npos)
{
r.group1 = atoi(r.name1.c_str());
r.name1.clear();
}
else
r.group1 = 0;
if (!r.name2.empty() && r.name2.find_first_not_of("-0123456789") == std::string::npos)
{
r.group2 = atoi(r.name2.c_str());
r.name2.clear();
}
else
r.group2 = 0;
return in;
}
inline friend std::ostream& operator << ( std::ostream& out, const Rule& r ){
if (r.name1.empty())
out << r.group1;
else
out << r.name1;
out << ' ';
if (r.name2.empty())
out << r.group2;
else
out << r.name2;
out << ' ';
out << r.response<<'\n';
return out;
}
bool match(core::CollisionModel* model1, core::CollisionModel* model2) const
{
if (!name1.empty())
{
if (name1 != "*" && name1 != model1->getName())
return false;
}
else
{
if (group1 != model1->getGroup())
return false;
}
if (!name2.empty())
{
if (name2 != "*" && name2 != model2->getName())
return false;
}
else
{
if (group2 != model2->getGroup())
return false;
}
return true;
}
};
Data< helper::vector<Rule> > rules;
RuleBasedContactManager();
~RuleBasedContactManager();
virtual std::string getContactResponse(core::CollisionModel* model1, core::CollisionModel* model2);
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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