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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 "CudaSphereModel.h"
#include <sofa/core/ObjectFactory.h>
#include <sofa/component/collision/CubeModel.h>
#include <fstream>
#include <sofa/helper/system/gl.h>
#include <sofa/helper/system/glut.h>
namespace sofa
{
namespace gpu
{
namespace cuda
{
SOFA_DECL_CLASS(CudaSphereModel)
int CudaSphereModelClass = core::RegisterObject("GPU-based sphere collision model using CUDA")
.add< CudaSphereModel >()
.addAlias("CudaSphere")
;
using namespace defaulttype;
CudaSphereModel::CudaSphereModel()
: mstate(NULL)
, radius( initData(&radius, "listRadius", "Radius of each sphere"))
, defaultRadius( initData(&defaultRadius,(SReal)(1.0), "radius", "Default Radius"))
{
}
void CudaSphereModel::init()
{
this->CollisionModel::init();
mstate = dynamic_cast< core::componentmodel::behavior::MechanicalState<InDataTypes>*> (getContext()->getMechanicalState());
if (mstate==NULL)
{
serr << "ERROR: CudaSphereModel requires a CudaVec3f Mechanical Model.\n";
return;
}
const int npoints = mstate->getX()->size();
resize(npoints);
}
CudaSphereModel::Real CudaSphereModel::getRadius(const int i) const
{
if (i < (int) this->radius.getValue().size())
{
return radius.getValue()[i];
}
else
{
return defaultRadius.getValue();
}
}
void CudaSphereModel::draw(int index)
{
CudaSphere t(this,index);
Coord p = t.p();
glPushMatrix();
glTranslated(p[0], p[1], p[2]);
glutSolidSphere(t.r(), 32, 16);
glPopMatrix();
}
void CudaSphereModel::draw()
{
/* serr<<"CudaSphereModel::draw()"<<endl; */
if(getContext()->getShowCollisionModels())
{
/* serr<<"CudaSphereModel::draw : yes"<<endl; */
glEnable(GL_LIGHTING);
glEnable(GL_COLOR_MATERIAL);
glColor4fv(getColor4f());
const int npoints = mstate->getX()->size();
for (int i=0;i<npoints;i++)
{
draw(i);
}
glDisable(GL_LIGHTING);
glDisable(GL_COLOR_MATERIAL);
}
if (getPrevious()!=NULL && getContext()->getShowBoundingCollisionModels())
{
getPrevious()->draw();
}
}
using sofa::component::collision::CubeModel;
void CudaSphereModel::computeBoundingTree(int maxDepth)
{
CubeModel* cubeModel = createPrevious<CubeModel>();
const int npoints = mstate->getX()->size();
bool updated = false;
if (npoints != size)
{
resize(npoints);
updated = true;
cubeModel->resize(0);
}
if (!isMoving() && !cubeModel->empty() && !updated)
{
return; // No need to recompute BBox if immobile
}
cubeModel->resize(size);
if (!empty())
{
for (int i=0; i<size; i++)
{
CudaSphere p(this,i);
const CudaSphere::Real r = p.r();
const Vector3 minElem = p.center() - Vector3(r, r, r);
const Vector3 maxElem = p.center() + Vector3(r, r, r);
cubeModel->setParentOf(i, minElem, maxElem);
}
cubeModel->computeBoundingTree(maxDepth);
}
}
void CudaSphereModel::resize(int size)
{
this->core::CollisionModel::resize(size);
if((int) radius.getValue().size() < size)
{
radius.beginEdit()->reserve(size);
while((int)radius.getValue().size() < size)
radius.beginEdit()->push_back(defaultRadius.getValue());
}
else
{
radius.beginEdit()->resize(size);
}
}
} // namespace cuda
} // namespace gpu
} // namespace sofa
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