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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_RAYMODEL_H
#define SOFA_COMPONENT_COLLISION_RAYMODEL_H

#include <sofa/core/CollisionModel.h>
#include <sofa/component/container/MechanicalObject.h>
#include <sofa/defaulttype/Vec3Types.h>
#include <set>


namespace sofa
{

namespace component
{

namespace collision
{

using namespace sofa::defaulttype;

class RayModel;

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

	explicit Ray(core::CollisionElementIterator& i);

	const Vector3& origin() const;
	const Vector3& direction() const;
	SReal l() const;

	Vector3& origin();
	Vector3& direction();
	SReal& l();
};

class BaseRayContact;

class SOFA_COMPONENT_COLLISION_API RayModel : public component::MechanicalObject<Vec3Types>, public core::CollisionModel
{
protected:
	sofa::helper::vector<SReal> length;

	Data<SReal> defaultLength;

	std::set<BaseRayContact*> contacts;
public:
	typedef Vec3Types InDataTypes;
	typedef Vec3Types DataTypes;
	typedef Ray Element;
	friend class Ray;
	
	RayModel(SReal defaultLength=1);

	int addRay(const Vector3& origin, const Vector3& direction, SReal length);
	
	int getNbRay() const { return size; }
	
	void setNbRay(int n) { resize(2*n); }
	
	Ray getRay(int index) { return Ray(this, index); }
	
	virtual void addContact(BaseRayContact* contact) { contacts.insert(contact); }
	
	virtual void removeContact(BaseRayContact* contact) { contacts.erase(contact); }

	virtual void resize(int size);

	// -- CollisionModel interface

	virtual void computeBoundingTree(int maxDepth);
	
	void draw(int index);
	
	void applyTranslation(const double dx,const double dy,const double dz);
	
	void draw();
};

inline Ray::Ray(RayModel* model, int index)
: core::TCollisionElementIterator<RayModel>(model, index)
{}

inline Ray::Ray(core::CollisionElementIterator& i)
: core::TCollisionElementIterator<RayModel>(static_cast<RayModel*>(i.getCollisionModel()), i.getIndex())
{
}

inline const Vector3& Ray::origin() const
{
	return (*model->getX())[2*index+0];
}

inline const Vector3& Ray::direction() const
{
	return (*model->getX())[2*index+1];
}

inline Vector3::value_type Ray::l() const
{
	return model->length[index];
}

inline Vector3& Ray::origin()
{
	return (*model->getX())[2*index+0];
}

inline Vector3& Ray::direction()
{
	return (*model->getX())[2*index+1];
}

inline Vector3::value_type& Ray::l()
{
	return model->length[index];
}

} // namespace collision

} // namespace component

} // namespace sofa

#endif