libsofa1-dev 1.0~beta4-12 / usr / include / sofa / component / collision / CubeModel.h

/******************************************************************************
*       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.                                             *
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* This library is distributed in the hope that it will be useful, but WITHOUT *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details.                                                           *
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* 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_CUBEMODEL_H
#define SOFA_COMPONENT_COLLISION_CUBEMODEL_H

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

namespace sofa
{

namespace component
{

namespace collision
{

using namespace sofa::defaulttype;

class CubeModel;

class Cube : public core::TCollisionElementIterator<CubeModel>
{
public:
	Cube(CubeModel* model=NULL, int index=0);

	explicit Cube(const core::CollisionElementIterator& i);

	const Vector3& minVect() const;

	const Vector3& maxVect() const;

	const std::pair<Cube,Cube>& subcells() const;
};

class SOFA_COMPONENT_COLLISION_API CubeModel : public core::CollisionModel
{
protected:

	struct CubeData
	{
		Vector3 minBBox, maxBBox;
		std::pair<Cube,Cube> subcells;
	    std::pair<core::CollisionElementIterator,core::CollisionElementIterator> children; ///< Note that children is only meaningfull if subcells in empty
	};

	class CubeSortPredicate;

	sofa::helper::vector<CubeData> elems;
	sofa::helper::vector<int> parentOf; ///< Given the index of a child leaf element, store the index of the parent cube

public:
	typedef core::CollisionElementIterator ChildIterator;
	typedef Vec3Types DataTypes;
	typedef Cube Element;
	friend class Cube;

	CubeModel();

	virtual void resize(int size);

	void setParentOf(int childIndex, const Vector3& min, const Vector3& max);
    void setLeafCube(int cubeIndex, int childIndex);
    void setLeafCube(int cubeIndex, std::pair<core::CollisionElementIterator,core::CollisionElementIterator> children, const Vector3& min, const Vector3& max);


	unsigned int getNumberCells(){ return elems.size();};

	void getBoundingTree ( sofa::helper::vector< std::pair< Vector3, Vector3> > &bounding )
	{
		bounding.resize(elems.size());
		for (unsigned int index=0; index<elems.size(); index++)
		{
			bounding[index] = std::make_pair( elems[index].minBBox, elems[index].maxBBox);
		}
	}

    int getLeafIndex(int index) const
    {
	return elems[index].children.first.getIndex();
    }

    int getLeafEndIndex(int index) const
    {
	return elems[index].children.second.getIndex();
    }

	// -- CollisionModel interface

	virtual void computeBoundingTree(int maxDepth=0);

	virtual std::pair<core::CollisionElementIterator,core::CollisionElementIterator> getInternalChildren(int index) const;

	virtual std::pair<core::CollisionElementIterator,core::CollisionElementIterator> getExternalChildren(int index) const;

	virtual bool isLeaf( int index ) const;

	void draw(int index);

	void draw();

	int addCube(Cube subcellsBegin, Cube subcellsEnd);
	void updateCube(int index);
	void updateCubes();
};

inline Cube::Cube(CubeModel* model, int index)
: core::TCollisionElementIterator<CubeModel>(model, index)
{}

inline Cube::Cube(const core::CollisionElementIterator& i)
: core::TCollisionElementIterator<CubeModel>(static_cast<CubeModel*>(i.getCollisionModel()), i.getIndex())
{
}

inline const Vector3& Cube::minVect() const
{
	return model->elems[index].minBBox;
}

inline const Vector3& Cube::maxVect() const
{
	return model->elems[index].maxBBox;
}


inline const std::pair<Cube,Cube>& Cube::subcells() const
{
	return model->elems[index].subcells;
}

} // namespace collision

} // namespace component

} // namespace sofa

#endif