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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 :: 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_COMPONENT_COLLISION_NARROWPHASEDETECTION_H
#define SOFA_COMPONENT_COLLISION_NARROWPHASEDETECTION_H
#include <sofa/core/componentmodel/collision/Detection.h>
#include <vector>
#include <map>
#include <algorithm>
namespace sofa
{
namespace core
{
namespace componentmodel
{
namespace collision
{
/**
* @brief Given a set of potentially colliding pairs of models, compute set of contact points
*/
class NarrowPhaseDetection : virtual public Detection
{
public:
typedef std::map< std::pair<core::CollisionModel*, core::CollisionModel* >, DetectionOutputVector* > DetectionOutputMap;
/// Destructor
virtual ~NarrowPhaseDetection() { }
/// Clear all the potentially colliding pairs detected in the previous simulation step
virtual void beginNarrowPhase()
{
for (DetectionOutputMap::iterator it = outputsMap.begin(); it!=outputsMap.end(); it++)
{
if (it->second)
it->second->clear();
}
}
/// Add a new potentially colliding pairs of models
virtual void addCollisionPair (const std::pair<core::CollisionModel*, core::CollisionModel*>& cmPair) = 0;
/// Add a new list of potentially colliding pairs of models
virtual void addCollisionPairs(const sofa::helper::vector< std::pair<core::CollisionModel*, core::CollisionModel*> >& v)
{
for (sofa::helper::vector< std::pair<core::CollisionModel*, core::CollisionModel*> >::const_iterator it = v.begin(); it!=v.end(); it++)
addCollisionPair(*it);
}
virtual void endNarrowPhase()
{
DetectionOutputMap::iterator it = outputsMap.begin();
while(it!=outputsMap.end())
{
if (!it->second || it->second->empty())
{
DetectionOutputMap::iterator it2 = it;
++it2;
delete it->second;
outputsMap.erase(it);
it = it2;
}
else
{
++it;
}
}
}
//sofa::helper::vector<std::pair<core::CollisionElementIterator, core::CollisionElementIterator> >& getCollisionElementPairs() { return elemPairs; }
DetectionOutputMap& getDetectionOutputs()
{
return outputsMap;
}
protected:
DetectionOutputMap outputsMap;
std::map<Instance, DetectionOutputMap> storedOutputsMap;
virtual void changeInstanceNP(Instance inst)
{
storedOutputsMap[instance].swap(outputsMap);
outputsMap.swap(storedOutputsMap[inst]);
}
};
} // namespace collision
} // namespace componentmodel
} // namespace core
} // namespace sofa
#endif
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