BruteForceDetection.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.                                             *
*                                                                             *
* 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_BRUTEFORCEDETECTION_H
#define SOFA_COMPONENT_COLLISION_BRUTEFORCEDETECTION_H

#include <sofa/core/componentmodel/collision/BroadPhaseDetection.h>
#include <sofa/core/componentmodel/collision/NarrowPhaseDetection.h>
#include <sofa/core/CollisionElement.h>
#include <sofa/defaulttype/Vec.h>
#include <set>


namespace sofa
{

namespace component
{

namespace collision
{

using namespace sofa::defaulttype;

class BruteForceDetection :
    public core::componentmodel::collision::BroadPhaseDetection,
    public core::componentmodel::collision::NarrowPhaseDetection
{
private:
    sofa::helper::vector<core::CollisionModel*> collisionModels;
    Data<bool> bDraw;

public:

    BruteForceDetection();
    
    void setDraw(bool val) { bDraw.setValue(val); }

    void addCollisionModel (core::CollisionModel *cm);
    void addCollisionPair (const std::pair<core::CollisionModel*, core::CollisionModel*>& cmPair);
    
    virtual void beginBroadPhase()
    {
        core::componentmodel::collision::BroadPhaseDetection::beginBroadPhase();
        collisionModels.clear();
    }
    
    /* for debugging */
    void draw();
};

} // namespace collision

} // namespace component

} // namespace sofa

#endif