CubeModel.h

Go to the documentation of this file.

/******************************************************************************
*       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_CUBEMODEL_H
#define SOFA_COMPONENT_COLLISION_CUBEMODEL_H

#include <sofa/core/CollisionModel.h>
#include <sofa/component/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 CubeModel : public core::CollisionModel
{
protected:
    
    struct CubeData
    {
        Vector3 minBBox, maxBBox;
        std::pair<Cube,Cube> subcells;
        std::pair<core::CollisionElementIterator,core::CollisionElementIterator> children; 
    };
    
    class CubeSortPredicate;
    
    sofa::helper::vector<CubeData> elems;
    sofa::helper::vector<int> parentOf; 
    
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, 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