DetectionOutput.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 :: Framework                              *
*                                                                             *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza,  *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_CORE_COMPONENTMODEL_COLLISION_DETECTIONOUTPUT_H
#define SOFA_CORE_COMPONENTMODEL_COLLISION_DETECTIONOUTPUT_H

#include <sofa/helper/system/config.h>
#include <sofa/core/CollisionElement.h>
#include <sofa/defaulttype/Vec.h>
#include <sofa/helper/vector.h>
#include <iostream>

namespace sofa
{

namespace core
{

namespace componentmodel
{

namespace collision
{

using sofa::defaulttype::Vector3;

// uncomment if you want to use the freePoint information
#define DETECTIONOUTPUT_FREEMOTION



class DetectionOutputVector
{
public:
    virtual ~DetectionOutputVector() {}
    virtual void clear() = 0;
    virtual unsigned int size() const = 0;
    bool empty() const { return size()==0; }
};


class DetectionOutput
{
public:
    std::pair<core::CollisionElementIterator, core::CollisionElementIterator> elem;
    typedef int64_t ContactId;
    ContactId id;
    Vector3 point[2];
#ifdef DETECTIONOUTPUT_FREEMOTION
    Vector3 freePoint[2]; 
#endif
    Vector3 normal;
/*    
*/
    double value;
    double deltaT;
    DetectionOutput()
    : elem(NULL, NULL), id(0), value(0.0), deltaT(0.0)
    {
    }
};



template<class CM1, class CM2>
class TDetectionOutputVector : public DetectionOutputVector, public sofa::helper::vector<DetectionOutput>
{
public:
    typedef sofa::helper::vector<DetectionOutput> Vector;
    virtual ~TDetectionOutputVector() {}
    virtual void clear()
    {
        return this->Vector::clear();
    }
    virtual unsigned int size() const
    {
        return this->Vector::size();
    }
};

} // namespace collision

} // namespace componentmodel

} // namespace core

} // namespace sofa

#endif