/usr/include/sofa/component/collision/RayTraceDetection.h is in libsofa1-dev 1.0~beta4-9.
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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_OCTREEDETECTION_H
#define SOFA_COMPONENT_COLLISION_OCTREEDETECTION_H
#include <sofa/core/componentmodel/collision/BroadPhaseDetection.h>
#include <sofa/core/componentmodel/collision/NarrowPhaseDetection.h>
#include <sofa/core/CollisionElement.h>
#include <sofa/defaulttype/Vec.h>
#include <set>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
/**
* \brief It is a Ray Trace based collision detection algorithm
*
* For each point in one object, we trace a ray following de oposite of the point's normal
* up to find a triangle in the other object. Both triangles are tested to evaluate if they are in
* colliding state. It must be used with a TriangleOctreeModel,as an octree is used to traverse the object.
*/
class SOFA_COMPONENT_COLLISION_API RayTraceDetection :public core::componentmodel::collision::
BroadPhaseDetection,
public core::componentmodel::collision::NarrowPhaseDetection
{
private:
sofa::helper::vector < core::CollisionModel * >collisionModels;
Data < bool > bDraw;
public:
typedef sofa::helper::vector<sofa::core::componentmodel::collision::DetectionOutput> OutputVector;
RayTraceDetection ();
void setDraw (bool val)
{
bDraw.setValue (val);
}
void selfCollision (TriangleOctreeModel * cm1);
void addCollisionModel (core::CollisionModel * cm);
void addCollisionPair (const std::pair < core::CollisionModel *,
core::CollisionModel * >&cmPair);
void findPairsVolume (CubeModel * cm1,
CubeModel * cm2);
virtual void beginBroadPhase()
{
core::componentmodel::collision::BroadPhaseDetection::beginBroadPhase();
collisionModels.clear();
}
void draw ();
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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