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
100
101
102
103
|
/******************************************************************************
* 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_COLLISIONGROUPMANAGER_H
#define SOFA_CORE_COMPONENTMODEL_COLLISION_COLLISIONGROUPMANAGER_H
#include <sofa/core/componentmodel/collision/CollisionAlgorithm.h>
#include <sofa/core/componentmodel/collision/Contact.h>
#include <vector>
namespace sofa
{
namespace core
{
namespace componentmodel
{
namespace collision
{
//class Scene;
/**
* @brief Given a set of contacts, create integration groups
*
* For each pair of objects in contacts :
*
* - Look which mechanical integration algorithm is used
*
* - If they are “compatible”, create a algorithm merging them
*
* -# Often simply the most stable of the two
*
* Explicit Euler + Explicit Runge Kutta -> Explicit Runge Kutta
*
* Explicit * + Implicit Euler -> Implicit Euler
*
*
*/
class CollisionGroupManager : public virtual CollisionAlgorithm
{
protected:
/// integration groups
sofa::helper::vector<core::objectmodel::BaseContext*> groups;
public:
/// Destructor
virtual ~CollisionGroupManager() { }
/// Create the integration groups
virtual void createGroups(objectmodel::BaseContext* scene, const sofa::helper::vector<Contact*>& contacts) = 0;
/// Clear de integration groups
virtual void clearGroups(objectmodel::BaseContext* scene) = 0;
/// Get de integration groups
virtual const sofa::helper::vector<objectmodel::BaseContext*>& getGroups() { return groups; };
protected:
std::map<Instance,sofa::helper::vector<core::objectmodel::BaseContext*> > storedGroups;
virtual void changeInstance(Instance inst)
{
storedGroups[instance].swap(groups);
groups.swap(storedGroups[inst]);
}
};
} // namespace collision
} // namespace componentmodel
} // namespace core
} // namespace sofa
#endif
|
