DefaultContactManager.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_DEFAULTCONTACTMANAGER_H
#define SOFA_COMPONENT_COLLISION_DEFAULTCONTACTMANAGER_H

#include <sofa/core/componentmodel/collision/ContactManager.h>
#include <sofa/simulation/tree/GNode.h>
#include <vector>


namespace sofa
{

namespace component
{

namespace collision
{

class DefaultContactManager : public core::componentmodel::collision::ContactManager
{
protected:
    typedef std::map<std::pair<core::CollisionModel*,core::CollisionModel*>,core::componentmodel::collision::Contact*> ContactMap;
    ContactMap contactMap;
    
    void clear();
public:
    Data<std::string> response;
    
    DefaultContactManager();
    ~DefaultContactManager();
    
    void createContacts(DetectionOutputMap& outputs);
    
    void draw();

protected:

    std::map<Instance,ContactMap> storedContactMap;

    virtual void changeInstance(Instance inst)
    {
        core::componentmodel::collision::ContactManager::changeInstance(inst);
        storedContactMap[instance].swap(contactMap);
        contactMap.swap(storedContactMap[inst]);
    }
};

} // namespace collision

} // namespace component

} // namespace sofa

#endif