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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_INTERSECTION_INL
#define SOFA_CORE_COMPONENTMODEL_COLLISION_INTERSECTION_INL
#include <sofa/core/componentmodel/collision/Intersection.h>
#include <sofa/helper/Factory.h>
namespace sofa
{
namespace core
{
namespace componentmodel
{
namespace collision
{
using namespace sofa::defaulttype;
using namespace sofa::helper;
template<class Elem1, class Elem2, class T>
class MemberElementIntersector : public ElementIntersector
{
public:
typedef typename Elem1::Model Model1;
typedef typename Elem2::Model Model2;
MemberElementIntersector(T* ptr) : impl(ptr) {}
/// Test if 2 elements can collide. Note that this can be conservative (i.e. return true even when no collision is present)
bool canIntersect(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2)
{
Elem1 e1(elem1);
Elem2 e2(elem2);
return impl->testIntersection(e1, e2);
}
/// Begin intersection tests between two collision models. Return the number of contacts written in the contacts vector.
/// If the given contacts vector is NULL, then this method should allocate it.
int beginIntersect(core::CollisionModel* model1, core::CollisionModel* model2, DetectionOutputVector*& contacts)
{
Model1* m1 = static_cast<Model1*>(model1);
Model2* m2 = static_cast<Model2*>(model2);
if (contacts == NULL)
{
contacts = impl->createOutputVector(m1,m2);
}
return impl->beginIntersection(m1, m2, impl->getOutputVector(m1, m2, contacts));
}
/// Compute the intersection between 2 elements.
int intersect(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2, DetectionOutputVector* contacts)
{
Elem1 e1(elem1);
Elem2 e2(elem2);
return impl->computeIntersection(e1, e2, impl->getOutputVector(e1.getCollisionModel(), e2.getCollisionModel(), contacts));
}
std::string name() const
{
return gettypename(typeid(Elem1))+std::string("-")+gettypename(typeid(Elem2));
}
/// End intersection tests between two collision models. Return the number of contacts written in the contacts vector.
int endIntersect(core::CollisionModel* model1, core::CollisionModel* model2, DetectionOutputVector* contacts)
{
Model1* m1 = static_cast<Model1*>(model1);
Model2* m2 = static_cast<Model2*>(model2);
return impl->endIntersection(m1, m2, impl->getOutputVector(m1, m2, contacts));
}
protected:
T* impl;
};
template<class Model1, class Model2, class T>
void IntersectorMap::add(T* ptr)
{
const objectmodel::ClassInfo* c1 = &classid(Model1);
const objectmodel::ClassInfo* c2 = &classid(Model2);
classes.insert(c1);
classes.insert(c2);
castMap.clear();
// rebuild castMap
for (std::set<const objectmodel::ClassInfo* >::iterator it = classes.begin(); it != classes.end(); ++it)
castMap.insert(std::make_pair((*it)->type(),(*it)->type()));
(*this)[std::make_pair(c1->type(),c2->type())] =
new MemberElementIntersector<typename Model1::Element, typename Model2::Element, T>(ptr);
}
template<class Model1, class Model2>
void IntersectorMap::ignore()
{
const objectmodel::ClassInfo* c1 = &classid(Model1);
const objectmodel::ClassInfo* c2 = &classid(Model2);
classes.insert(c1);
classes.insert(c2);
castMap.clear();
// rebuild castMap
for (std::set<const objectmodel::ClassInfo* >::iterator it = classes.begin(); it != classes.end(); ++it)
castMap.insert(std::make_pair((*it)->type(),(*it)->type()));
(*this)[std::make_pair(c1->type(),c2->type())] =
NULL;
}
} // namespace collision
} // namespace componentmodel
} // namespace core
} // namespace sofa
#endif
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