DefaultCollisionGroupManager.h

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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
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* 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    *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details.                                                           *
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*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
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* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_COLLISION_DEFAULTCOLLISIONGROUPMANAGER_H
#define SOFA_COMPONENT_COLLISION_DEFAULTCOLLISIONGROUPMANAGER_H

#include <sofa/core/componentmodel/collision/CollisionGroupManager.h>
#include <sofa/simulation/common/Node.h>
#include <sofa/simulation/tree/GNode.h>
#include <set>


namespace sofa
{

namespace component
{

namespace collision
{

class DefaultCollisionGroupManager : public core::componentmodel::collision::CollisionGroupManager
{
public:
    typedef std::set<simulation::tree::GNode*> GroupSet;
    GroupSet groupSet;
public:
    DefaultCollisionGroupManager();
    
    virtual ~DefaultCollisionGroupManager();
    
    virtual void createGroups(core::objectmodel::BaseContext* scene, const sofa::helper::vector<core::componentmodel::collision::Contact*>& contacts);
    
    virtual void clearGroups(core::objectmodel::BaseContext* scene);
    
    virtual simulation::tree::GNode* buildCollisionGroup();

protected:
    virtual simulation::tree::GNode* getIntegrationNode(core::CollisionModel* model);

    std::map<Instance,GroupSet> storedGroupSet;

    virtual void changeInstance(Instance inst)
    {
        core::componentmodel::collision::CollisionGroupManager::changeInstance(inst);
        storedGroupSet[instance].swap(groupSet);
        groupSet.swap(storedGroupSet[inst]);
    }
    
};

} // namespace collision

} // namespace component

} // namespace sofa

#endif