/usr/include/sofa/component/collision/DefaultCollisionGroupManager.h is in libsofa1-dev 1.0~beta4-10ubuntu2.
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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_DEFAULTCOLLISIONGROUPMANAGER_H
#define SOFA_COMPONENT_COLLISION_DEFAULTCOLLISIONGROUPMANAGER_H
#include <sofa/core/componentmodel/collision/CollisionGroupManager.h>
#include <sofa/simulation/common/Node.h>
#include <sofa/simulation/tree/GNode.h>
#include <sofa/component/component.h>
#include <set>
namespace sofa
{
namespace component
{
namespace collision
{
class SOFA_COMPONENT_COLLISION_API DefaultCollisionGroupManager : public core::componentmodel::collision::CollisionGroupManager
{
public:
typedef std::set<simulation::Node*> GroupSet;
GroupSet groupSet;
public:
DefaultCollisionGroupManager();
virtual ~DefaultCollisionGroupManager();
virtual void createGroups(core::objectmodel::BaseContext* scene, const sofa::helper::vector<core::componentmodel::collision::Contact*>& contacts);
virtual void clearGroups(core::objectmodel::BaseContext* scene);
/** Overload this if yo want to design your collision group, e.g. with a MasterSolver.
Otherwise, an empty Node is returned.
The OdeSolver is added afterwards.
*/
virtual simulation::Node* buildCollisionGroup();
protected:
virtual simulation::tree::GNode* getIntegrationNode(core::CollisionModel* model);
std::map<Instance,GroupSet> storedGroupSet;
virtual void changeInstance(Instance inst)
{
core::componentmodel::collision::CollisionGroupManager::changeInstance(inst);
storedGroupSet[instance].swap(groupSet);
groupSet.swap(storedGroupSet[inst]);
}
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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