Intersection.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_INTERSECTION_H
#define SOFA_CORE_COMPONENTMODEL_COLLISION_INTERSECTION_H

#include <sofa/core/CollisionModel.h>
#include <sofa/core/componentmodel/collision/DetectionOutput.h>
#include <sofa/helper/FnDispatcher.h>

namespace sofa
{

namespace core
{

namespace componentmodel
{

namespace collision
{

class ElementIntersector
{
protected:
    virtual ~ElementIntersector() {}
public:

    virtual bool canIntersect(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2) = 0;

    virtual int beginIntersect(core::CollisionModel* model1, core::CollisionModel* model2, DetectionOutputVector*& contacts) = 0;

    virtual int intersect(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2, DetectionOutputVector* contacts) = 0;

    virtual int endIntersect(core::CollisionModel* model1, core::CollisionModel* model2, DetectionOutputVector* contacts) = 0;

    virtual std::string name() const = 0;
};

class IntersectorMap : public std::map< std::pair< helper::TypeInfo, helper::TypeInfo >, ElementIntersector* >
{
public:

    template<class Model1, class Model2, class T>
    void add(T* ptr);

    template<class Model1, class Model2>
    void ignore();

    helper::TypeInfo getType(core::CollisionModel* model);

    ElementIntersector* get(core::CollisionModel* model1, core::CollisionModel* model2, bool& swapModels);

protected:
    std::map< helper::TypeInfo, helper::TypeInfo > castMap;
    std::set< const objectmodel::ClassInfo* > classes;
};

class Intersection : public virtual objectmodel::BaseObject
{
public:

    virtual ~Intersection();

    virtual ElementIntersector* findIntersector(core::CollisionModel* object1, core::CollisionModel* object2, bool& swapModels) = 0;

    virtual bool isSupported(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2);

    virtual bool useProximity() const { return false; }

    virtual bool useContinuous() const { return false; }

    virtual double getAlarmDistance() const { return 0.0; }

    virtual double getContactDistance() const { return 0.0; }

};

} // namespace collision

} // namespace componentmodel

} // namespace core

} // namespace sofa

#endif