/usr/include/sofa/component/collision/VoxelGrid.h is in libsofa1-dev 1.0~beta4-6.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 | /******************************************************************************
* 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_VOXELGRID_H
#define SOFA_COMPONENT_COLLISION_VOXELGRID_H
#include <sofa/core/componentmodel/collision/BroadPhaseDetection.h>
#include <sofa/component/collision/NarrowPhaseDetection.h>
#include <sofa/defaulttype/Vec.h>
#include <sofa/simulation/common/Node.h>
#include <vector>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
class VoxelGrid;
class GridCell
{
private:
//Vector3 minVect, maxVect; // minx, miny, minz; maxx, maxy, maxz
sofa::helper::vector<core::CollisionElementIterator> collisElems; // elements wich are added at each iteration
sofa::helper::vector<core::CollisionElementIterator> collisElemsImmobile[2]; // elements which are added only once
Vector3 minCell, maxCell;
int timeStamp;
public:
// Adding a sphere in a cell of the voxel grid.
// When adding a sphere, we test if there are collision with the sphere in the cell
// then we add it in the vector sphere
void add(VoxelGrid* grid, core::CollisionElementIterator collElem, sofa::helper::vector<core::CollisionElementIterator> &vectCollis, int phase);
void eraseAll(int timeStampMethod);
GridCell();
void draw(int timeStampMethod);
void setMinMax(const Vector3 &minimum, const Vector3& maximum);
};
class VoxelGrid : public BroadPhaseDetection, public NarrowPhaseDetection
{
private:
Vector3 nbSubDiv;
GridCell ***grid;
bool bDraw;
Vector3 minVect, maxVect, step;
void posToIdx (const Vector3& pos, Vector3 &indices);
simulation::Node* timeLogger;
simulation::Node::ctime_t timeInter;
friend class GridCell;
public:
VoxelGrid (Vector3 minVect = Vector3(-20.0, -20.0, -20.0), Vector3 maxVect = Vector3(-20.0, -20.0, -20.0), Vector3 nbSubdivision = Vector3(5.0, 5.0, 5.0), bool draw=false)
{
createVoxelGrid (minVect, maxVect, nbSubdivision);
timeStamp = 0;
bDraw = draw;
timeLogger = NULL;
timeInter = 0;
}
~VoxelGrid () {}
// Create a voxel grid define by minx, miny, minz, maxx, maxy, maxz and the number of subdivision on x, y, z
void createVoxelGrid (const Vector3 &min, const Vector3 &max, const Vector3 &nbSubdivision);
void draw();
void add(core::CollisionModel *cm, int phase);
void addCollisionModel(core::CollisionModel *cm);
void addCollisionPair(const std::pair<core::CollisionModel*, core::CollisionModel*>& cmPair);
void add (core::CollisionModel *cm);
void clearBroadPhase()
{
BroadPhaseDetection::clearBroadPhase();
timeStamp++;
}
void clearNarrowPhase()
{
NarrowPhaseDetection::clearNarrowPhase();
timeStamp++;
}
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif
|