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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/simulation/common/CollisionVisitor.h>
#include <sofa/simulation/common/Node.h>
namespace sofa
{
namespace simulation
{
Visitor::Result CollisionVisitor::processNodeTopDown(simulation::Node* node)
{
for_each(this, node, node->collisionPipeline, &CollisionVisitor::processCollisionPipeline);
return RESULT_CONTINUE;
}
void CollisionVisitor::processCollisionPipeline(simulation::Node*
#ifdef DUMP_VISITOR_INFO
node
#endif
, core::componentmodel::collision::Pipeline* obj)
{
//std::cerr<<"CollisionVisitor::processCollisionPipeline"<<std::endl;
#ifdef DUMP_VISITOR_INFO
printComment("computeCollisionReset");
ctime_t t0=begin(node, obj);
#endif
obj->computeCollisionReset();
#ifdef DUMP_VISITOR_INFO
end(node, obj,t0);
#endif
#ifdef DUMP_VISITOR_INFO
printComment("computeCollisionDetection");
t0=begin(node, obj);
#endif
obj->computeCollisionDetection();
#ifdef DUMP_VISITOR_INFO
end(node, obj,t0);
#endif
#ifdef DUMP_VISITOR_INFO
printComment("computeCollisionResponse");
t0=begin(node, obj);
#endif
obj->computeCollisionResponse();
#ifdef DUMP_VISITOR_INFO
end(node, obj,t0);
#endif
}
void CollisionResetVisitor::processCollisionPipeline(simulation::Node*
#ifdef DUMP_VISITOR_INFO
node
#endif
, core::componentmodel::collision::Pipeline* obj)
{
#ifdef DUMP_VISITOR_INFO
printComment("computeCollisionReset");
ctime_t t0=begin(node, obj);
#endif
obj->computeCollisionReset();
#ifdef DUMP_VISITOR_INFO
end(node, obj,t0);
#endif
}
void CollisionDetectionVisitor::processCollisionPipeline(simulation::Node*
#ifdef DUMP_VISITOR_INFO
node
#endif
, core::componentmodel::collision::Pipeline* obj)
{
#ifdef DUMP_VISITOR_INFO
printComment("computeCollisionDetection");
ctime_t t0=begin(node, obj);
#endif
obj->computeCollisionDetection();
#ifdef DUMP_VISITOR_INFO
end(node, obj,t0);
#endif
}
void CollisionResponseVisitor::processCollisionPipeline(simulation::Node*
#ifdef DUMP_VISITOR_INFO
node
#endif
, core::componentmodel::collision::Pipeline* obj)
{
#ifdef DUMP_VISITOR_INFO
printComment("computeCollisionResponse");
ctime_t t0=begin(node, obj);
#endif
obj->computeCollisionResponse();
#ifdef DUMP_VISITOR_INFO
end(node, obj,t0);
#endif
}
} // namespace simulation
} // namespace sofa
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