/usr/include/sofa/component/collision/MinProximityIntersection.h is in libsofa1-dev 1.0~beta4-10ubuntu2.
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 | /******************************************************************************
* 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_MINPROXIMITYINTERSECTION_H
#define SOFA_COMPONENT_COLLISION_MINPROXIMITYINTERSECTION_H
#include <sofa/component/collision/DiscreteIntersection.h>
#include <sofa/helper/FnDispatcher.h>
#include <sofa/component/collision/SphereModel.h>
#include <sofa/component/collision/TriangleModel.h>
#include <sofa/component/collision/LineModel.h>
#include <sofa/component/collision/PointModel.h>
#include <sofa/component/collision/CubeModel.h>
#include <sofa/component/collision/RayModel.h>
namespace sofa
{
namespace component
{
namespace collision
{
class SOFA_COMPONENT_COLLISION_API MinProximityIntersection : public DiscreteIntersection
{
public:
Data<bool> useSphereTriangle;
Data<bool> usePointPoint;
Data<double> alarmDistance;
Data<double> contactDistance;
MinProximityIntersection();
virtual void init();
/// returns true if algorithm uses proximity
virtual bool useProximity() const { return true; }
/// Return the alarm distance (must return 0 if useMinProximity() is false)
double getAlarmDistance() const { return alarmDistance.getValue(); }
/// Return the contact distance (must return 0 if useMinProximity() is false)
double getContactDistance() const { return contactDistance.getValue(); }
void setAlarmDistance(double v) { alarmDistance.setValue(v); }
void setContactDistance(double v) { contactDistance.setValue(v); }
bool testIntersection(Cube& ,Cube&);
bool testIntersection(Point&, Point&);
bool testIntersection(Sphere&, Point&);
bool testIntersection(Sphere&, Sphere&);
bool testIntersection(Line&, Point&);
bool testIntersection(Line&, Sphere&);
bool testIntersection(Line&, Line&);
bool testIntersection(Triangle&, Point&);
bool testIntersection(Triangle&, Sphere&);
//bool testIntersection(Ray&, Triangle&);
int computeIntersection(Cube&, Cube&, OutputVector*);
int computeIntersection(Point&, Point&, OutputVector*);
int computeIntersection(Sphere&, Point&, OutputVector*);
int computeIntersection(Sphere&, Sphere&, OutputVector*);
int computeIntersection(Line&, Point&, OutputVector*);
int computeIntersection(Line&, Sphere&, OutputVector*);
int computeIntersection(Line&, Line&, OutputVector*);
int computeIntersection(Triangle&, Point&, OutputVector*);
int computeIntersection(Triangle&, Sphere&, OutputVector*);
//int computeIntersection(Ray&, Triangle&, OutputVector*);
void draw();
private:
double mainAlarmDistance;
double mainContactDistance;
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif
|