/usr/include/sofa/component/collision/SpatialGridPointModel.h is in libsofa1-dev 1.0~beta4-10ubuntu2.
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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_SPATIALGRIDPOINTMODEL_H
#define SOFA_COMPONENT_COLLISION_SPATIALGRIDPOINTMODEL_H
#include <sofa/component/collision/PointModel.h>
#include <sofa/component/container/SpatialGridContainer.h>
#include <sofa/defaulttype/Vec3Types.h>
#include <vector>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
class SpatialGridPointModel : public PointModel
{
public:
typedef container::SpatialGridContainer<Vec3Types> GridContainer;
typedef GridContainer::Grid Grid;
Data<int> d_leafScale;
SpatialGridPointModel();
virtual void init();
// -- CollisionModel interface
virtual void computeBoundingTree(int maxDepth=0);
Grid* getGrid() { return grid->getGrid(); }
protected:
GridContainer* grid;
class OctreeCell
{
public:
Grid::Key k;
int pfirst;
int plast;
OctreeCell( Grid::Key k = Grid::Key(), int pfirst = 0, int plast = -1)
: k(k), pfirst(pfirst), plast(plast)
{
}
};
class OctreeSorter
{
public:
int root_shift;
OctreeSorter(int root_shift=8) : root_shift(root_shift) {}
bool operator()(const Grid::Key& k1, const Grid::Key &k2);
bool operator()(const OctreeCell& c1, const OctreeCell &c2)
{
return (*this)(c1.k,c2.k);
}
};
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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