/usr/include/sofa/component/collision/SphereTreeModel.h is in libsofa1-dev 1.0~beta4-12.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 | /******************************************************************************
* 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 *
******************************************************************************/
/** @file SphereTreeModel.h
* @brief Definition of the class SphereTreeModel and SingleSphere;
*
* Recommended: Put SingleSphere out of this file
*
* @author Cesar Mendoza
* @bug Not known so far
*
*/
#ifndef SOFA_COMPONENT_COLLISION_SPHERETREEMODEL_H
#define SOFA_COMPONENT_COLLISION_SPHERETREEMODEL_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>
#include <iostream>
#include <fstream>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
class SphereTreeModel;
/** @class SingleSphere
@brief Define a "glorious" pointer to an element (sphere) in the SphereTreeModel.
It should not contain any data information. We are trying not to store
virtual classes for each element. In this way we avoid overheading
*/
class SingleSphere : public core::TCollisionElementIterator<SphereTreeModel>
{
public:
typedef Vec3Types DataTypes;
typedef DataTypes::Real Real;
typedef DataTypes::Coord Coord;
typedef DataTypes::Deriv Deriv;
/** @brief Constructor. */
SingleSphere(SphereTreeModel* model, int index);
/** @brief Constructor */
explicit SingleSphere(core::CollisionElementIterator& i);
/** @brief Returns center of the sphere. It points (according to the index "i")
to the DOF's of the collision model i.e. the centers of the spheres*/
const Vector3& center() const;
/** @brief Set center of sphere. It modifies the center of the sphere with index "i"
i.e. it modifies one element of the DOF's of the collision model*/
void setCenter( double x, double y, double z );
const Vector3& v() const;
/** @brief Returns the radius of the sphere "i" */
double r() const;
};
/** @class SphereTreeModel
@brief A Sphere Tree based collision object: No tool to generation .sph file are provided by Sofa.
Tools can be found at http://isg.cs.tcd.ie/spheretree/ . If you manage to integrate an automatic generation tool to provide .sph files from .obj, don't hesitate to share it to the Sofa's comunity.
*/
class SOFA_COMPONENT_COLLISION_API SphereTreeModel : public component::MechanicalObject<Vec3Types>, public core::CollisionModel
{
public:
typedef component::MechanicalObject<Vec3Types> Inherit;
typedef Vec3Types InDataTypes;
typedef Vec3Types DataTypes;
typedef SingleSphere Element;
friend class SingleSphere;
DataTypes::VecCoord VecCoord;
/** @brief Constructor */
SphereTreeModel(double radius = 1.0);
/** @brief Add a new sphere to the tree. It actually increases the size of the DOF's of the
model setting the radius and the center*/
int addSphere(const Vector3& pos, SReal radius);
/** @brief */
void setSphere(int index, const Vector3& pos, SReal radius);
/** @brief Load SphereTree Model. The file is generated offline using a medial axis approximation
Windows executables to obtain the file are available at cesarmendoza_serrano@yahoo.fr*/
bool load(const char* filename);
void applyScale (const double s);
sofa::core::componentmodel::behavior::MechanicalState<InDataTypes>* getMechanicalState() { return this; }
// -- CollisionModel interface
// remove ambiguity
int getSize() const { return Inherit::getSize(); }
/* @brief It "resizes" the vector of DOF's of the collision model. It is normally used after
adding a new element to the tree*/
virtual void resize(int size);
/** @brief It updates the hierarchical bounding tree*/
virtual void computeBoundingTree(int maxDepth=0);
/** @brief Returns a pair of iterators. The first corresponds to the first child of iterator given by the index.
The second element of the pair corresponds to the last children of collisionElementIterator index*/
virtual std::pair<core::CollisionElementIterator,core::CollisionElementIterator> getInternalChildren(int index) const;
/** @brief To do */
virtual void computeContinuousBoundingTree(double dt, int maxDepth=0);
void draw(int index);
/** @brief Levels of the tree of the collision model */
int levels;
/** @brief Branching factor of the KTree (number of children for each node) */
int degree;
/** @brief Load sphere tree given a filename. To obtain executables (win32) to
obtain this sphere tree files hierarchies, please email: cesarmendoza_serrano@yahoo.fr */
bool loadSphereTree( const char *fileName );
/** @brief It returns true is the element iterator is a leaf of the spheretree collision model*/
virtual bool isLeaf( int index ) const;
void draw();
protected:
/** @brief vector of radii of spheres in the model */
sofa::helper::vector<double> radius;
/** @brief default radius */
Data<double> defaultRadius;
};
/// Inline definitions of class SingleSphere
/// Constructor
inline SingleSphere::SingleSphere(SphereTreeModel* model, int index)
: core::TCollisionElementIterator<SphereTreeModel>(model, index)
{
}
inline SingleSphere::SingleSphere(core::CollisionElementIterator& i)
: core::TCollisionElementIterator<SphereTreeModel>(static_cast<SphereTreeModel*>(i.getCollisionModel()), i.getIndex())
{
}
inline const Vector3& SingleSphere::center() const
{
return (*model->getX())[index];
}
inline const Vector3& SingleSphere::v() const
{
return (*model->getV())[index];
}
inline void SingleSphere::setCenter( double x, double y, double z )
{
(*model->getX())[index] = Vector3((SReal)x, (SReal)y, (SReal)z);
}
inline double SingleSphere::r() const
{
return model->radius[index];
}
} // namespace collision
} // namespace component
} // namespace sofa
#endif
|