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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_MISC_DEVANGLECOLLISIONMONITOR_H
#define SOFA_COMPONENT_MISC_DEVANGLECOLLISIONMONITOR_H
#include <sofa/helper/vector.h>
#include <sofa/core/objectmodel/Event.h>
#include <sofa/simulation/common/AnimateEndEvent.h>
#include <sofa/component/misc/DevMonitor.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/component/collision/PointModel.h>
#include <sofa/component/collision/TriangleModel.h>
#include <sofa/component/collision/NewProximityIntersection.h>
#include <sofa/component/collision/BruteForceDetection.h>
namespace sofa
{
namespace component
{
namespace misc
{
template <class TDataTypes>
class DevAngleCollisionMonitor: public virtual DevMonitor<sofa::defaulttype::Vec1dTypes>
{
public:
typedef TDataTypes DataTypes;
typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::Coord Coord;
typedef typename DataTypes::Real Real;
Data < Real > maxDist;
DevAngleCollisionMonitor();
virtual ~DevAngleCollisionMonitor() { };
void init();
void eval();
/// Retrieve the associated MechanicalState (First model)
core::componentmodel::behavior::MechanicalState<DataTypes>* getMState1() { return mstate1; }
core::componentmodel::behavior::BaseMechanicalState* getMechModel1() { return mstate1; }
/// Retrieve the associated MechanicalState (Second model)
core::componentmodel::behavior::MechanicalState<defaulttype::Vec3dTypes>* getMState2() { return mstate2; }
core::componentmodel::behavior::BaseMechanicalState* getMechModel2() { return mstate2; }
/// Pre-construction check method called by ObjectFactory.
/// Check that DataTypes matches the MechanicalState.
template<class T>
static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
{
if (arg->getAttribute("object1") || arg->getAttribute("object2"))
{
if (dynamic_cast<core::componentmodel::behavior::MechanicalState<DataTypes>*>(arg->findObject(arg->getAttribute("object1",".."))) == NULL)
return false;
if (dynamic_cast<core::componentmodel::behavior::MechanicalState<defaulttype::Vec3dTypes>*>(arg->findObject(arg->getAttribute("object2",".."))) == NULL)
return false;
}
else
{
if (dynamic_cast<core::componentmodel::behavior::MechanicalState<DataTypes>*>(context->getMechanicalState()) == NULL)
return false;
}
return core::objectmodel::BaseObject::canCreate(obj, context, arg);
}
/// Construction method called by ObjectFactory.
template<class T>
static void create(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
{
core::objectmodel::BaseObject::create(obj, context, arg);
if (arg && (arg->getAttribute("object1") || arg->getAttribute("object2")))
{
obj->mstate1 = dynamic_cast<core::componentmodel::behavior::MechanicalState<DataTypes>*>(arg->findObject(arg->getAttribute("object1","..")));
obj->mstate2 = dynamic_cast<core::componentmodel::behavior::MechanicalState<defaulttype::Vec3dTypes>*>(arg->findObject(arg->getAttribute("object2","..")));
}
else if (context)
{
/* obj->mstate1 =
obj->mstate2 =
dynamic_cast<core::componentmodel::behavior::MechanicalState<DataTypes>*>(context->getMechanicalState());*/
}
}
virtual std::string getTemplateName() const
{
return templateName(this);
}
static std::string templateName(const DevAngleCollisionMonitor<DataTypes>* = NULL)
{
return DataTypes::Name();
}
protected:
/// First model mechanical state
core::componentmodel::behavior::MechanicalState<DataTypes> *mstate1;
/// Second model mechanical state
core::componentmodel::behavior::MechanicalState<defaulttype::Vec3dTypes> *mstate2;
/// Point model of first object
sofa::component::collision::PointModel *pointsCM;
/// Surface model of second object
sofa::component::collision::TriangleModel *surfaceCM;
sofa::component::collision::NewProximityIntersection * intersection;
sofa::component::collision::BruteForceDetection* detection;
typedef core::componentmodel::collision::TDetectionOutputVector< sofa::component::collision::TriangleModel, sofa::component::collision::PointModel> ContactVector;
};
} // namespace misc
} // namespace component
} // namespace sofa
#endif
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