/usr/include/sofa/component/collision/DefaultContactManager.h is in libsofa1-dev 1.0~beta4-6.
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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_DEFAULTCONTACTMANAGER_H
#define SOFA_COMPONENT_COLLISION_DEFAULTCONTACTMANAGER_H
#include <sofa/core/componentmodel/collision/ContactManager.h>
#include <sofa/simulation/common/Node.h>
#include <sofa/component/component.h>
#include <vector>
namespace sofa
{
namespace component
{
namespace collision
{
class SOFA_COMPONENT_COLLISION_API DefaultContactManager : public core::componentmodel::collision::ContactManager
{
protected:
typedef std::map<std::pair<core::CollisionModel*,core::CollisionModel*>,core::componentmodel::collision::Contact*> ContactMap;
ContactMap contactMap;
void clear();
public:
Data<std::string> response;
DefaultContactManager();
~DefaultContactManager();
void createContacts(DetectionOutputMap& outputs);
void draw();
virtual std::string getContactResponse(core::CollisionModel* model1, core::CollisionModel* model2);
/// virtual methods used for cleaning the pipeline after a dynamic graph node deletion.
/**
* Contacts can be attached to a deleted node and their deletion is a problem for the pipeline.
* @param c is the list of deleted contacts.
*/
virtual void removeContacts(const ContactVector &/*c*/);
protected:
std::map<Instance,ContactMap> storedContactMap;
virtual void changeInstance(Instance inst)
{
core::componentmodel::collision::ContactManager::changeInstance(inst);
storedContactMap[instance].swap(contactMap);
contactMap.swap(storedContactMap[inst]);
}
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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