/usr/include/sofa/component/collision/SphereModel.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_SPHEREMODEL_H
#define SOFA_COMPONENT_COLLISION_SPHEREMODEL_H
#include <sofa/core/CollisionModel.h>
#include <sofa/component/container/MechanicalObject.h>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <sofa/core/objectmodel/DataFileName.h>
#include <sofa/component/component.h>
#include <sofa/defaulttype/VecTypes.h>
#include <vector>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
class SphereModel;
class Sphere : public core::TCollisionElementIterator<SphereModel>
{
public:
typedef SReal Real;
typedef Vector3 Coord;
Sphere(SphereModel* model, int index);
explicit Sphere(core::CollisionElementIterator& i);
const Coord& center() const;
const Coord& p() const;
const Coord& pFree() const;
const Coord& v() const;
Real r() const;
};
class SOFA_COMPONENT_COLLISION_API SphereModel : public core::CollisionModel
{
public:
typedef Vec3Types InDataTypes;
typedef Vec3Types DataTypes;
typedef DataTypes::VecCoord VecCoord;
typedef DataTypes::VecDeriv VecDeriv;
typedef DataTypes::Coord Coord;
typedef DataTypes::Deriv Deriv;
typedef DataTypes::Real Real;
typedef DataTypes::VecReal VecReal;
typedef Sphere Element;
friend class Sphere;
SphereModel();
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();
core::componentmodel::behavior::MechanicalState<Vec3Types>* getMechanicalState() { return mstate; }
virtual bool load(const char* filename);
int addSphere(const Vector3& pos, Real r);
void setSphere(int i, const Vector3& pos, Real r);
Real getRadius(const int i) const;
void setRadius(const int i, const Real r);
void setRadius(const Real r);
protected:
core::componentmodel::behavior::MechanicalState<Vec3Types>* mstate;
Data< VecReal > radius;
Data< SReal > defaultRadius;
sofa::core::objectmodel::DataFileName filename;
class Loader;
};
inline Sphere::Sphere(SphereModel* model, int index)
: core::TCollisionElementIterator<SphereModel>(model, index)
{}
inline Sphere::Sphere(core::CollisionElementIterator& i)
: core::TCollisionElementIterator<SphereModel>(static_cast<SphereModel*>(i.getCollisionModel()), i.getIndex())
{
}
inline const Sphere::Coord& Sphere::center() const { return (*model->mstate->getX())[index]; }
inline const Sphere::Coord& Sphere::p() const { return (*model->mstate->getX())[index]; }
inline const Sphere::Coord& Sphere::pFree() const { return (*model->mstate->getXfree())[index]; }
inline const Sphere::Coord& Sphere::v() const { return (*model->mstate->getV())[index]; }
inline Sphere::Real Sphere::r() const { return (Real) model->getRadius((unsigned)index); }
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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