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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_TOPOLOGICALCHANGEMANAGER_H
#define SOFA_COMPONENT_COLLISION_TOPOLOGICALCHANGEMANAGER_H
#include <sofa/core/CollisionElement.h>
#include <sofa/core/BehaviorModel.h>
#include <sofa/defaulttype/Vec.h>
#include <sofa/defaulttype/Vec3Types.h>
#include <sofa/component/container/MechanicalObject.h>
#include <sofa/simulation/common/Node.h>
/** a class to manage the handling of topological changes which have been requested from the Collision Model */
namespace sofa
{
namespace component
{
namespace collision{
class TriangleModel;
class SphereModel;
}
}
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
class TopologicalChangeManager
{
public:
TopologicalChangeManager();
~TopologicalChangeManager();
/// Handles Removing of topological element (from any type of topology)
void removeItemsFromCollisionModel(sofa::core::CollisionElementIterator) const;
void removeItemsFromCollisionModel(sofa::core::CollisionModel* model, const std::vector<int>& indices) const;
/// Handles Cutting (activated only for a triangular topology), using global variables to register the two last input points
bool incisionCollisionModel(sofa::core::CollisionElementIterator, Vector3&, bool, bool);
/// Temporary solution to allow consecutif cuts
void initiateIncision();
protected:
private:
bool incisionTriangleModel(sofa::core::CollisionElementIterator, Vector3&, bool, bool);
/// Intermediate method to handle cutting
bool incisionTriangleSetTopology(sofa::core::componentmodel::topology::BaseMeshTopology*);
bool incisionTriangleSetTopology(sofa::core::CollisionElementIterator, Vector3&, bool, bool, sofa::core::componentmodel::topology::BaseMeshTopology*);
void removeItemsFromTriangleModel(sofa::component::collision::TriangleModel* model, const std::vector<int>& indices) const;
void removeItemsFromSphereModel(sofa::component::collision::SphereModel* model, const std::vector<int>& indices) const;
private:
/// Global variables to register the two last input points (for incision along one segment in a triangular mesh)
struct Incision{
Vec<3,double> a_init;
Vec<3,double> b_init;
unsigned int ind_ta_init;
unsigned int ind_tb_init;
bool is_first_cut;
unsigned int b_last_init;
sofa::helper::vector< unsigned int > b_p12_last_init;
sofa::helper::vector< unsigned int > b_i123_last_init;
unsigned int a_last_init;
sofa::helper::vector< unsigned int > a_p12_last_init;
sofa::helper::vector< unsigned int > a_i123_last_init;
} incision;
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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