/usr/include/sofa/component/collision/RayModel.h is in libsofa1-dev 1.0~beta4-6.
This file is owned by root:root, with mode 0o644.
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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_RAYMODEL_H
#define SOFA_COMPONENT_COLLISION_RAYMODEL_H
#include <sofa/core/CollisionModel.h>
#include <sofa/component/container/MechanicalObject.h>
#include <sofa/defaulttype/Vec3Types.h>
#include <set>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
class RayModel;
class Ray : public core::TCollisionElementIterator<RayModel>
{
public:
Ray(RayModel* model, int index);
explicit Ray(core::CollisionElementIterator& i);
const Vector3& origin() const;
const Vector3& direction() const;
SReal l() const;
Vector3& origin();
Vector3& direction();
SReal& l();
};
class BaseRayContact;
class SOFA_COMPONENT_COLLISION_API RayModel : public component::MechanicalObject<Vec3Types>, public core::CollisionModel
{
protected:
sofa::helper::vector<SReal> length;
Data<SReal> defaultLength;
std::set<BaseRayContact*> contacts;
public:
typedef Vec3Types InDataTypes;
typedef Vec3Types DataTypes;
typedef Ray Element;
friend class Ray;
RayModel(SReal defaultLength=1);
int addRay(const Vector3& origin, const Vector3& direction, SReal length);
int getNbRay() const { return size; }
void setNbRay(int n) { resize(2*n); }
Ray getRay(int index) { return Ray(this, index); }
virtual void addContact(BaseRayContact* contact) { contacts.insert(contact); }
virtual void removeContact(BaseRayContact* contact) { contacts.erase(contact); }
virtual void resize(int size);
// -- CollisionModel interface
virtual void computeBoundingTree(int maxDepth);
void draw(int index);
void applyTranslation(const double dx,const double dy,const double dz);
void draw();
};
inline Ray::Ray(RayModel* model, int index)
: core::TCollisionElementIterator<RayModel>(model, index)
{}
inline Ray::Ray(core::CollisionElementIterator& i)
: core::TCollisionElementIterator<RayModel>(static_cast<RayModel*>(i.getCollisionModel()), i.getIndex())
{
}
inline const Vector3& Ray::origin() const
{
return (*model->getX())[2*index+0];
}
inline const Vector3& Ray::direction() const
{
return (*model->getX())[2*index+1];
}
inline Vector3::value_type Ray::l() const
{
return model->length[index];
}
inline Vector3& Ray::origin()
{
return (*model->getX())[2*index+0];
}
inline Vector3& Ray::direction()
{
return (*model->getX())[2*index+1];
}
inline Vector3::value_type& Ray::l()
{
return model->length[index];
}
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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