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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_CORE_COMPONENTMODEL_COLLISION_CONTACTMANAGER_H
#define SOFA_CORE_COMPONENTMODEL_COLLISION_CONTACTMANAGER_H
#include <sofa/core/componentmodel/collision/CollisionAlgorithm.h>
#include <sofa/core/componentmodel/collision/Contact.h>
#include <sofa/core/componentmodel/collision/NarrowPhaseDetection.h>
#include <vector>
namespace sofa
{
namespace core
{
namespace componentmodel
{
namespace collision
{
/**
* @brief Given a set of detected contact points, create contact response components
*/
class ContactManager : public virtual CollisionAlgorithm
{
public:
typedef NarrowPhaseDetection::DetectionOutputMap DetectionOutputMap;
typedef sofa::helper::vector<Contact*> ContactVector;
/// Constructor
ContactManager()
: intersectionMethod(NULL)
{
}
/// Destructor
virtual ~ContactManager() { }
virtual void createContacts(DetectionOutputMap& outputs) = 0;
virtual const ContactVector& getContacts() { return contacts; }
/// virtual methods used for cleaning the pipeline after a dynamic graph node deletion.
/**
* Contacts can be attached to a deleted node and their deletion is a problem for the pipeline.
* @param c is the list of deleted contacts.
*/
virtual void removeContacts(const ContactVector &/*c*/) { }
/// virtual because subclasses might do precomputations based on intersection algorithms
virtual void setIntersectionMethod(Intersection* v) { intersectionMethod = v; }
Intersection* getIntersectionMethod() const { return intersectionMethod; }
protected:
/// Current intersection method
Intersection* intersectionMethod;
ContactVector contacts;
/// All intersection methods
std::map<Instance,Intersection*> storedIntersectionMethod;
std::map<Instance,ContactVector> storedContacts;
virtual void changeInstance(Instance inst)
{
storedIntersectionMethod[instance] = intersectionMethod;
intersectionMethod = storedIntersectionMethod[inst];
storedContacts[instance].swap(contacts);
contacts.swap(storedContacts[inst]);
}
};
} // namespace collision
} // namespace componentmodel
} // namespace core
} // namespace sofa
#endif
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