libsofa1-dev 1.0~beta4-10ubuntu2 / usr / include / sofa / component / collision / LineModel.h

/******************************************************************************
*       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_LINEMODEL_H
#define SOFA_COMPONENT_COLLISION_LINEMODEL_H

#include <sofa/core/CollisionModel.h>
#include <sofa/component/container/MechanicalObject.h>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <sofa/defaulttype/Vec3Types.h>
#include <sofa/component/collision/PointModel.h>

namespace sofa
{

namespace component
{

namespace collision
{

using namespace sofa::defaulttype;

class LineModel;

class Line : public core::TCollisionElementIterator<LineModel>
{
public:
	Line(LineModel* model, int index);

	explicit Line(core::CollisionElementIterator& i);
    
    unsigned i1() const;
    unsigned i2() const;
    
	const Vector3& p1() const;
	const Vector3& p2() const;

	const Vector3& p1Free() const;
	const Vector3& p2Free() const;

	const Vector3& v1() const;
	const Vector3& v2() const;

	// Return respectively the Vertex composing the neighbor Rigt and Left Triangle
//	const Vector3* tRight() const;
//	const Vector3* tLeft() const;
};

class SOFA_COMPONENT_COLLISION_API LineModel : public core::CollisionModel
{
protected:
	struct LineData
	{
		int i1,i2;
		// Triangles neighborhood
//		int tRight, tLeft;
	};

	sofa::helper::vector<LineData> elems;
	bool needsUpdate;
	virtual void updateFromTopology();

	
public:
	typedef Vec3Types InDataTypes;
	typedef Vec3Types DataTypes;
	typedef DataTypes::VecCoord VecCoord;
	typedef DataTypes::VecDeriv VecDeriv;
	typedef DataTypes::Coord Coord;
	typedef DataTypes::Deriv Deriv;
	typedef Line Element;
	
	friend class Line;
	
	LineModel();

	virtual void init();

	// -- CollisionModel interface

	virtual void resize(int size);

	virtual void computeBoundingTree(int maxDepth=0);

	virtual void computeContinuousBoundingTree(double dt, int maxDepth=0);

	void draw(int index);
	
	void draw();

	virtual void handleTopologyChange();
    
    bool canCollideWithElement(int index, CollisionModel* model2, int index2);
    
	core::componentmodel::behavior::MechanicalState<Vec3Types>* getMechanicalState() { return mstate; }

	//virtual const char* getTypeName() const { return "Line"; }

protected:

	core::componentmodel::behavior::MechanicalState<Vec3Types>* mstate;
	Topology* topology;
    PointModel* mpoints;
    int meshRevision;
};

inline Line::Line(LineModel* model, int index)
: core::TCollisionElementIterator<LineModel>(model, index)
{}

inline Line::Line(core::CollisionElementIterator& i)
: core::TCollisionElementIterator<LineModel>(static_cast<LineModel*>(i.getCollisionModel()), i.getIndex())
{
}
    
inline unsigned Line::i1() const { return model->elems[index].i1; }
inline unsigned Line::i2() const { return model->elems[index].i2; }

inline const Vector3& Line::p1() const { return (*model->mstate->getX())[model->elems[index].i1]; }
inline const Vector3& Line::p2() const { return (*model->mstate->getX())[model->elems[index].i2]; }
    
inline const Vector3& Line::p1Free() const { return (*model->mstate->getXfree())[model->elems[index].i1]; }
inline const Vector3& Line::p2Free() const { return (*model->mstate->getXfree())[model->elems[index].i2]; }

inline const Vector3& Line::v1() const { return (*model->mstate->getV())[model->elems[index].i1]; }
inline const Vector3& Line::v2() const { return (*model->mstate->getV())[model->elems[index].i2]; }

//inline const Vector3* Line::tRight() const {
//	if (model->elems[index].tRight != -1)
//		return &(*model->mstate->getX())[model->elems[index].tRight]; 
//	else
//		return NULL;
//}

//inline const Vector3* Line::tLeft() const {
//	if (model->elems[index].tLeft != -1)
//		return &(*model->mstate->getX())[model->elems[index].tLeft]; 
//	else
//		return NULL;
//}

//class LineMeshModel : public LineModel
//{
//protected:
//    int meshRevision;
//    void updateFromTopology();
//    
//public:
//    typedef topology::MeshTopology Topology;
//    
//    LineMeshModel();
//    
//    virtual void init();
//    
//    Topology* getMeshTopology() { return mesh; }
//    
//protected:
//    Topology* mesh;
//};

//class LineSetModel : public LineModel
//{
//public:
//    
//    LineSetModel();
//
//    ///\Todo
//    virtual void init();
//
//    Topology* getMeshTopology() { return mesh; }
//
//protected:
//    
//    Topology* mesh;
//
//    void updateFromTopology();
//};

} // namespace collision

} // namespace component

} // namespace sofa

#endif