/usr/include/sofa/component/collision/PointModel.h is in libsofa1-dev 1.0~beta4-9.
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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_POINTMODEL_H
#define SOFA_COMPONENT_COLLISION_POINTMODEL_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 <vector>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
class PointModel;
class Point : public core::TCollisionElementIterator<PointModel>
{
public:
Point(PointModel* model, int index);
explicit Point(core::CollisionElementIterator& i);
const Vector3& p() const;
const Vector3& pFree() const;
const Vector3& v() const;
Vector3 n() const;
bool testLMD(const Vector3 &, double &, double &);
};
class SOFA_COMPONENT_COLLISION_API PointModel : 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 Point Element;
friend class Point;
PointModel();
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 bool canCollideWithElement(int index, CollisionModel* model2, int index2);
core::componentmodel::behavior::MechanicalState<Vec3Types>* getMechanicalState() { return mstate; }
//virtual const char* getTypeName() const { return "Point"; }
protected:
core::componentmodel::behavior::MechanicalState<Vec3Types>* mstate;
Data<bool> computeNormals;
VecDeriv normals;
void updateNormals();
};
inline Point::Point(PointModel* model, int index)
: core::TCollisionElementIterator<PointModel>(model, index)
{}
inline Point::Point(core::CollisionElementIterator& i)
: core::TCollisionElementIterator<PointModel>(static_cast<PointModel*>(i.getCollisionModel()), i.getIndex())
{
}
inline const Vector3& Point::p() const { return (*model->mstate->getX())[index]; }
inline const Vector3& Point::pFree() const { return (*model->mstate->getXfree())[index]; }
inline const Vector3& Point::v() const { return (*model->mstate->getV())[index]; }
inline Vector3 Point::n() const { return ((unsigned)index<model->normals.size()) ? model->normals[index] : Vector3(); }
//bool Point::testLMD(const Vector3 &PQ, double &coneFactor, double &coneExtension);
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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