1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
|
/******************************************************************************
* 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 :: Framework *
* *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza, *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_CORE_COMPONENTMODEL_COLLISION_BROADPHASEDETECTION_H
#define SOFA_CORE_COMPONENTMODEL_COLLISION_BROADPHASEDETECTION_H
#include <sofa/core/componentmodel/collision/Detection.h>
#include <vector>
#include <algorithm>
namespace sofa
{
namespace core
{
namespace componentmodel
{
namespace collision
{
/**
* @brief given a set of root collision models, computes potentially colliding pairs.
*/
class BroadPhaseDetection : virtual public Detection
{
public:
/// Destructor
virtual ~BroadPhaseDetection() { }
/// Clear all the potentially colliding pairs detected in the previous simulation step
virtual void beginBroadPhase()
{
cmPairs.clear();
}
/// Add a new collision model to the set of root collision models managed by this class
virtual void addCollisionModel(core::CollisionModel *cm) = 0;
/// Add a list of collision models to the set of root collision models managed by this class
virtual void addCollisionModels(const sofa::helper::vector<core::CollisionModel *> v)
{
for (sofa::helper::vector<core::CollisionModel *>::const_iterator it = v.begin(); it<v.end(); it++)
addCollisionModel(*it);
}
/// Actions to accomplish when the broadPhase is finished. By default do nothing.
virtual void endBroadPhase()
{
}
/// Get the potentially colliding pairs detected
sofa::helper::vector<std::pair<core::CollisionModel*, core::CollisionModel*> >& getCollisionModelPairs() { return cmPairs; }
protected:
/// Potentially colliding pairs
sofa::helper::vector< std::pair<core::CollisionModel*, core::CollisionModel*> > cmPairs;
std::map<Instance,sofa::helper::vector< std::pair<core::CollisionModel*, core::CollisionModel*> > > storedCmPairs;
virtual void changeInstanceBP(Instance inst)
{
storedCmPairs[instance].swap(cmPairs);
cmPairs.swap(storedCmPairs[inst]);
}
};
} // namespace collision
} // namespace componentmodel
} // namespace core
} // namespace sofa
#endif
|
