BarycentricPenalityContact.h

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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 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 *
* 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.                                                           *
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* You should have received a copy of the GNU Lesser General Public License    *
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* 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_BARYCENTRICPENALITYCONTACT_H
#define SOFA_COMPONENT_COLLISION_BARYCENTRICPENALITYCONTACT_H

#include <sofa/core/componentmodel/collision/Contact.h>
#include <sofa/core/componentmodel/collision/Intersection.h>
#include <sofa/component/mapping/BarycentricMapping.h>
#ifdef SOFA_TEST_FRICTION
#include <sofa/component/forcefield/PenalityContactFrictionForceField.h>
#else
#include <sofa/component/forcefield/PenalityContactForceField.h>
#endif
#include <sofa/helper/Factory.h>
#include <sofa/component/collision/BarycentricContactMapper.h>


namespace sofa
{

  namespace component
  {

    namespace collision
    {

      using namespace sofa::defaulttype;

      template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes = sofa::defaulttype::Vec3Types >
    class BarycentricPenalityContact : public core::componentmodel::collision::Contact
    {
    public:
    typedef TCollisionModel1 CollisionModel1;
    typedef TCollisionModel2 CollisionModel2;
    typedef core::componentmodel::collision::Intersection Intersection;
    typedef core::componentmodel::collision::DetectionOutputVector OutputVector;
    typedef core::componentmodel::collision::TDetectionOutputVector<CollisionModel1,CollisionModel2> TOutputVector;
    typedef ResponseDataTypes DataTypes1;
    typedef ResponseDataTypes DataTypes2;
    typedef core::componentmodel::behavior::MechanicalState<DataTypes1> MechanicalState1;
    typedef core::componentmodel::behavior::MechanicalState<DataTypes2> MechanicalState2;
    typedef typename CollisionModel1::Element CollisionElement1;
    typedef typename CollisionModel2::Element CollisionElement2;
#ifdef SOFA_TEST_FRICTION
    typedef forcefield::PenalityContactFrictionForceField<ResponseDataTypes> ResponseForceField;
#else
    typedef forcefield::PenalityContactForceField<ResponseDataTypes> ResponseForceField;
#endif
    protected:
    CollisionModel1* model1;
    CollisionModel2* model2;
    Intersection* intersectionMethod;

    ContactMapper<CollisionModel1,DataTypes1> mapper1;
    ContactMapper<CollisionModel2,DataTypes2> mapper2;

    ResponseForceField* ff;
    core::objectmodel::BaseContext* parent;
    
    typedef std::map<core::componentmodel::collision::DetectionOutput::ContactId,int> ContactIndexMap;
    ContactIndexMap contactIndex;
    public:
    BarycentricPenalityContact(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod);
    ~BarycentricPenalityContact();
    
    void cleanup();
    
    std::pair<core::CollisionModel*,core::CollisionModel*> getCollisionModels() { return std::make_pair(model1,model2); }
    
    void setDetectionOutputs(OutputVector* outputs);
    
    void createResponse(core::objectmodel::BaseContext* group);
    
    void removeResponse();
    
    void draw();
    
    
    void getCorrespondingCollisionModels( const core::componentmodel::behavior::InteractionForceField *_ff, 
        core::CollisionModel* &_model1, core::CollisionModel* &_model2) 
    {
      if (static_cast< core::componentmodel::behavior::InteractionForceField * >(ff) == _ff)
      {     
        _model1 = static_cast< core::CollisionModel *>(model1);
        _model2 = static_cast< core::CollisionModel *>(model2);
      }
    };
    };

    } // namespace collision

  } // namespace component

} // namespace sofa

#endif