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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_DEFAULTCONTACTMANAGER_H
#define SOFA_COMPONENT_COLLISION_DEFAULTCONTACTMANAGER_H

#include <sofa/core/componentmodel/collision/ContactManager.h>
#include <sofa/simulation/common/Node.h>
#include <sofa/component/component.h>
#include <vector>


namespace sofa
{

namespace component
{

namespace collision
{

class SOFA_COMPONENT_COLLISION_API DefaultContactManager : public core::componentmodel::collision::ContactManager
{
protected:
	typedef std::map<std::pair<core::CollisionModel*,core::CollisionModel*>,core::componentmodel::collision::Contact*> ContactMap;
	ContactMap contactMap;

	void clear();
public:
	Data<std::string> response;

	DefaultContactManager();
	~DefaultContactManager();

	void createContacts(DetectionOutputMap& outputs);

	void draw();

	virtual std::string getContactResponse(core::CollisionModel* model1, core::CollisionModel* model2);

	/// virtual methods used for cleaning the pipeline after a dynamic graph node deletion.
	/** 
	 * Contacts can be attached to a deleted node and their deletion is a problem for the pipeline.
	 * @param c is the list of deleted contacts.
	 */
	virtual void removeContacts(const ContactVector &/*c*/);


protected:

	std::map<Instance,ContactMap> storedContactMap;

	virtual void changeInstance(Instance inst)
	{
		core::componentmodel::collision::ContactManager::changeInstance(inst);
		storedContactMap[instance].swap(contactMap);
		contactMap.swap(storedContactMap[inst]);
	}
};

} // namespace collision

} // namespace component

} // namespace sofa

#endif