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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_GRIDMODEL_H
#define SOFA_COMPONENT_COLLISION_GRIDMODEL_H
#include <sofa/core/CollisionModel.h>
#include <sofa/component/container/MechanicalObject.h>
#include <sofa/defaulttype/Vec3Types.h>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
class GridModel;
class GridCell : public core::TCollisionElementIterator<GridModel>
{
public:
GridCell(GridModel* model=NULL, int index=0);
explicit GridCell(const core::CollisionElementIterator& i);
const Vector3& minVect() const;
const Vector3& maxVect() const;
//const std::pair<GridCell,GridCell>& subcells() const;
};
class GridModel : public core::CollisionModel
{
protected:
public:
typedef core::CollisionElementIterator ChildIterator;
typedef Vec3Types DataTypes;
typedef GridCell Element;
friend class GridCell;
GridModel();
virtual void resize(int size);
// -- CollisionModel interface
virtual void computeBoundingTree(int maxDepth=0);
virtual std::pair<core::CollisionElementIterator,core::CollisionElementIterator> getInternalChildren(int index) const;
virtual std::pair<core::CollisionElementIterator,core::CollisionElementIterator> getExternalChildren(int index) const;
virtual bool isLeaf( int index ) const;
void draw(int index);
void draw();
};
inline GridCell::GridCell(GridModel* model, int index)
: core::TCollisionElementIterator<GridModel>(model, index)
{
}
inline GridCell::GridCell(const core::CollisionElementIterator& i)
: core::TCollisionElementIterator<GridModel>(static_cast<GridModel*>(i.getCollisionModel()), i.getIndex())
{
}
//inline const Vector3& GridCell::minVect() const
//{
// return model->elems[index].minBBox;
//}
//inline const Vector3& GridCell::maxVect() const
//{
// return model->elems[index].maxBBox;
//}
//inline const std::pair<GridCell,GridCell>& GridCell::subcells() const
//{
// return model->elems[index].subcells;
//}
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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