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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 *
******************************************************************************/
#include <sofa/component/collision/RayModel.h>
#include <sofa/component/collision/CubeModel.h>
#include <sofa/core/ObjectFactory.h>
#include <sofa/helper/gl/template.h>
#include <sofa/helper/system/glut.h>
namespace sofa
{
namespace component
{
namespace collision
{
SOFA_DECL_CLASS(Ray)
int RayModelClass = core::RegisterObject("Collision model representing a ray in space, e.g. a mouse click")
.add< RayModel >()
.addAlias("Ray")
;
using namespace sofa::defaulttype;
RayModel::RayModel(Real length)
: defaultLength(initData(&defaultLength, length, "", "TODO"))
{
this->contactResponse.setValue("ray"); // use RayContact response class
}
void RayModel::resize(int size)
{
this->component::MechanicalObject<Vec3Types>::resize(size);
this->core::CollisionModel::resize(size/2);
if ((int)length.size() < size/2)
{
length.reserve(size/2);
while ((int)length.size() < size/2)
length.push_back(defaultLength.getValue());
}
else
{
length.resize(size/2);
}
}
int RayModel::addRay(const Vector3& origin, const Vector3& direction, Real length)
{
int i = size;
resize(2*(i+1));
Ray r = getRay(i);
r.origin() = origin;
r.direction() = direction;
r.l() = length;
return i;
}
void RayModel::draw(int index)
{
Ray r(this, index);
const Vector3& p1 = r.origin();
const Vector3 p2 = p1 + r.direction()*r.l();
glBegin(GL_LINES);
helper::gl::glVertexT(p1);
helper::gl::glVertexT(p2);
glEnd();
}
void RayModel::draw()
{
if (getContext()->getShowCollisionModels())
{
glDisable(GL_LIGHTING);
glColor4fv(getColor4f());
for (int i=0;i<size;i++)
{
draw(i);
}
}
if (getPrevious()!=NULL && getContext()->getShowBoundingCollisionModels())
getPrevious()->draw();
}
void RayModel::computeBoundingTree(int maxDepth)
{
CubeModel* cubeModel = createPrevious<CubeModel>();
if (!isMoving() && !cubeModel->empty()) return; // No need to recompute BBox if immobile
Vector3 minElem, maxElem;
cubeModel->resize(size);
if (!empty())
{
for (int i=0;i<size;i++)
{
Ray r(this, i);
const Vector3& o = r.origin();
const Vector3& d = r.direction();
const Real l = r.l();
for (int c=0;c<3;c++)
{
if (d[c]<0)
{
minElem[c] = o[c] + d[c]*l;
maxElem[c] = o[c];
}
else
{
minElem[c] = o[c];
maxElem[c] = o[c] + d[c]*l;
}
}
cubeModel->setParentOf(i, minElem, maxElem);
}
cubeModel->computeBoundingTree(maxDepth);
}
}
void RayModel::applyTranslation(double dx, double dy, double dz)
{
Vector3 d(dx,dy,dz);
for (int i = 0; i < getNbRay(); i++)
getRay(i).origin() += d;
}
} // namespace collision
} // namespace component
} // namespace sofa
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