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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_COLLISION_BARYCENTRICPENALITYCONTACT_H
#define SOFA_COMPONENT_COLLISION_BARYCENTRICPENALITYCONTACT_H
#include <sofa/core/componentmodel/collision/Contact.h>
#include <sofa/core/componentmodel/collision/Intersection.h>
#include <sofa/component/mapping/BarycentricMapping.h>
#ifdef SOFA_TEST_FRICTION
#include <sofa/component/forcefield/PenalityContactFrictionForceField.h>
#else
#include <sofa/component/forcefield/PenalityContactForceField.h>
#endif
#include <sofa/helper/Factory.h>
#include <sofa/component/collision/BarycentricContactMapper.h>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes = sofa::defaulttype::Vec3Types >
class BarycentricPenalityContact : public core::componentmodel::collision::Contact
{
public:
typedef TCollisionModel1 CollisionModel1;
typedef TCollisionModel2 CollisionModel2;
typedef core::componentmodel::collision::Intersection Intersection;
typedef core::componentmodel::collision::DetectionOutputVector OutputVector;
typedef core::componentmodel::collision::TDetectionOutputVector<CollisionModel1,CollisionModel2> TOutputVector;
typedef ResponseDataTypes DataTypes1;
typedef ResponseDataTypes DataTypes2;
typedef core::componentmodel::behavior::MechanicalState<DataTypes1> MechanicalState1;
typedef core::componentmodel::behavior::MechanicalState<DataTypes2> MechanicalState2;
typedef typename CollisionModel1::Element CollisionElement1;
typedef typename CollisionModel2::Element CollisionElement2;
#ifdef SOFA_TEST_FRICTION
typedef forcefield::PenalityContactFrictionForceField<ResponseDataTypes> ResponseForceField;
#else
typedef forcefield::PenalityContactForceField<ResponseDataTypes> ResponseForceField;
#endif
protected:
CollisionModel1* model1;
CollisionModel2* model2;
Intersection* intersectionMethod;
ContactMapper<CollisionModel1,DataTypes1> mapper1;
ContactMapper<CollisionModel2,DataTypes2> mapper2;
ResponseForceField* ff;
core::objectmodel::BaseContext* parent;
typedef std::map<core::componentmodel::collision::DetectionOutput::ContactId,int> ContactIndexMap;
/// Mapping of contactids to force element (+1, so that 0 means not active).
/// This allows to ignore duplicate contacts, and preserve information associated with each contact point over time
ContactIndexMap contactIndex;
public:
BarycentricPenalityContact(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod);
~BarycentricPenalityContact();
void cleanup();
std::pair<core::CollisionModel*,core::CollisionModel*> getCollisionModels() { return std::make_pair(model1,model2); }
void setDetectionOutputs(OutputVector* outputs);
void createResponse(core::objectmodel::BaseContext* group);
void removeResponse();
void draw();
void getCorrespondingCollisionModels( const core::componentmodel::behavior::InteractionForceField *_ff,
core::CollisionModel* &_model1, core::CollisionModel* &_model2)
{
if (static_cast< core::componentmodel::behavior::InteractionForceField * >(ff) == _ff)
{
_model1 = static_cast< core::CollisionModel *>(model1);
_model2 = static_cast< core::CollisionModel *>(model2);
}
};
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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