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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_RAYCONTACT_H
#define SOFA_COMPONENT_COLLISION_RAYCONTACT_H
#include <sofa/core/componentmodel/collision/Contact.h>
#include <sofa/component/component.h>
#include <sofa/helper/Factory.h>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
class RayModel;
class SOFA_COMPONENT_COLLISION_API BaseRayContact : public core::componentmodel::collision::Contact
{
public:
typedef RayModel CollisionModel1;
protected:
CollisionModel1* model1;
sofa::helper::vector<core::componentmodel::collision::DetectionOutput*> collisions;
public:
BaseRayContact(CollisionModel1* model1, core::componentmodel::collision::Intersection* instersectionMethod);
~BaseRayContact();
const sofa::helper::vector<core::componentmodel::collision::DetectionOutput*>& getDetectionOutputs() const { return collisions; }
void createResponse(core::objectmodel::BaseContext* /*group*/)
{
}
void removeResponse()
{
}
};
template<class CM2>
class RayContact : public BaseRayContact
{
public:
typedef RayModel CollisionModel1;
typedef CM2 CollisionModel2;
typedef core::componentmodel::collision::Intersection Intersection;
typedef core::componentmodel::collision::TDetectionOutputVector<CollisionModel1, CollisionModel2> OutputVector;
protected:
CollisionModel2* model2;
core::objectmodel::BaseContext* parent;
public:
RayContact(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod)
: BaseRayContact(model1, intersectionMethod), model2(model2)
{
}
void setDetectionOutputs(core::componentmodel::collision::DetectionOutputVector* outputs)
{
OutputVector* o = static_cast<OutputVector*>(outputs);
//collisions = outputs;
collisions.resize(o->size());
for (unsigned int i=0; i< o->size(); ++i)
collisions[i] = &(*o)[i];
}
std::pair<core::CollisionModel*,core::CollisionModel*> getCollisionModels() { return std::make_pair(model1,model2); }
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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