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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/simulation/common/PipelineImpl.h>
#include <sofa/core/ObjectFactory.h>
#include <sofa/simulation/common/Node.h>
namespace sofa
{
namespace simulation
{
using namespace sofa::core;
using namespace sofa::core::objectmodel;
using namespace sofa::core::componentmodel::behavior;
using namespace sofa::core::componentmodel::collision;
PipelineImpl::PipelineImpl()
{
}
PipelineImpl::~PipelineImpl()
{
}
void PipelineImpl::init()
{
simulation::Node* root = dynamic_cast<simulation::Node*>(getContext());
if(root == NULL) return;
intersectionMethods.clear();
root->getTreeObjects<Intersection>(&intersectionMethods);
intersectionMethod = (intersectionMethods.empty() ? NULL : intersectionMethods[0]);
broadPhaseDetections.clear();
root->getTreeObjects<BroadPhaseDetection>(&broadPhaseDetections);
broadPhaseDetection = (broadPhaseDetections.empty() ? NULL : broadPhaseDetections[0]);
narrowPhaseDetections.clear();
root->getTreeObjects<NarrowPhaseDetection>(&narrowPhaseDetections);
narrowPhaseDetection = (narrowPhaseDetections.empty() ? NULL : narrowPhaseDetections[0]);
contactManagers.clear();
root->getTreeObjects<ContactManager>(&contactManagers);
contactManager = (contactManagers.empty() ? NULL : contactManagers[0]);
groupManagers.clear();
root->getTreeObjects<CollisionGroupManager>(&groupManagers);
groupManager = (groupManagers.empty() ? NULL : groupManagers[0]);
if (intersectionMethod==NULL)
{
serr <<"no intersectionMethod defined. Using DiscreteIntersection" << sendl;
sofa::core::objectmodel::BaseObjectDescription discreteIntersectionDesc("Default Intersection","DiscreteIntersection");
intersectionMethod = dynamic_cast<Intersection*>(sofa::core::ObjectFactory::CreateObject(getContext(), &discreteIntersectionDesc));
//intersectionMethod = new sofa::component::collision::DiscreteIntersection;
}
}
void PipelineImpl::reset()
{
computeCollisionReset();
}
void PipelineImpl::computeCollisionReset()
{
simulation::Node* root = dynamic_cast<simulation::Node*>(getContext());
if(root == NULL) return;
if (broadPhaseDetection!=NULL && broadPhaseDetection->getIntersectionMethod()!=intersectionMethod)
broadPhaseDetection->setIntersectionMethod(intersectionMethod);
if (narrowPhaseDetection!=NULL && narrowPhaseDetection->getIntersectionMethod()!=intersectionMethod)
narrowPhaseDetection->setIntersectionMethod(intersectionMethod);
if (contactManager!=NULL && contactManager->getIntersectionMethod()!=intersectionMethod)
contactManager->setIntersectionMethod(intersectionMethod);
doCollisionReset();
}
void PipelineImpl::computeCollisionDetection()
{
simulation::Node* root = dynamic_cast<simulation::Node*>(getContext());
if(root == NULL) return;
std::vector<CollisionModel*> collisionModels;
root->getTreeObjects<CollisionModel>(&collisionModels);
doCollisionDetection(collisionModels);
}
void PipelineImpl::computeCollisionResponse()
{
simulation::Node* root = dynamic_cast<simulation::Node*>(getContext());
if(root == NULL) return;
doCollisionResponse();
}
} // namespace simulation
} // namespace sofa
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