Intersection.inl

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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_INL
#define SOFA_CORE_COMPONENTMODEL_COLLISION_INTERSECTION_INL

#include <sofa/core/componentmodel/collision/Intersection.h>
#include <sofa/helper/Factory.h>

namespace sofa
{

namespace core
{

namespace componentmodel
{

namespace collision
{

using namespace sofa::defaulttype;
using namespace sofa::helper;

template<class Elem1, class Elem2, class T>
class MemberElementIntersector : public ElementIntersector
{
public:
    typedef typename Elem1::Model Model1;
    typedef typename Elem2::Model Model2;
    MemberElementIntersector(T* ptr) : impl(ptr) {}
    bool canIntersect(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2)
    {
        Elem1 e1(elem1);
        Elem2 e2(elem2);
        return impl->testIntersection(e1, e2);
    }
    
    int beginIntersect(core::CollisionModel* model1, core::CollisionModel* model2, DetectionOutputVector*& contacts)
    {
        Model1* m1 = static_cast<Model1*>(model1);
        Model2* m2 = static_cast<Model2*>(model2);
        if (contacts == NULL)
        {
            contacts = impl->createOutputVector(m1,m2);
        }
        return impl->beginIntersection(m1, m2, impl->getOutputVector(m1, m2, contacts));
    }

    int intersect(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2,  DetectionOutputVector* contacts)
    {
        Elem1 e1(elem1);
        Elem2 e2(elem2);
        return impl->computeIntersection(e1, e2, impl->getOutputVector(e1.getCollisionModel(), e2.getCollisionModel(), contacts));
    }

    std::string name() const
    {
        return gettypename(typeid(Elem1))+std::string("-")+gettypename(typeid(Elem2));
    }

    int endIntersect(core::CollisionModel* model1, core::CollisionModel* model2, DetectionOutputVector* contacts)
    {
        Model1* m1 = static_cast<Model1*>(model1);
        Model2* m2 = static_cast<Model2*>(model2);
        return impl->endIntersection(m1, m2, impl->getOutputVector(m1, m2, contacts));
    }

protected:
    T* impl;
};

template<class Model1, class Model2, class T>
void IntersectorMap::add(T* ptr)
{
    const objectmodel::ClassInfo* c1 = &classid(Model1);
    const objectmodel::ClassInfo* c2 = &classid(Model2);
    classes.insert(c1);
    classes.insert(c2);
    castMap.clear();
    // rebuild castMap
    for (std::set<const objectmodel::ClassInfo* >::iterator it = classes.begin(); it != classes.end(); ++it)
        castMap.insert(std::make_pair((*it)->type(),(*it)->type()));
    (*this)[std::make_pair(c1->type(),c2->type())] =
        new MemberElementIntersector<typename Model1::Element, typename Model2::Element, T>(ptr);
}

template<class Model1, class Model2>
void IntersectorMap::ignore()
{
    const objectmodel::ClassInfo* c1 = &classid(Model1);
    const objectmodel::ClassInfo* c2 = &classid(Model2);
    classes.insert(c1);
    classes.insert(c2);
    castMap.clear();
    // rebuild castMap
    for (std::set<const objectmodel::ClassInfo* >::iterator it = classes.begin(); it != classes.end(); ++it)
        castMap.insert(std::make_pair((*it)->type(),(*it)->type()));
    (*this)[std::make_pair(c1->type(),c2->type())] = 
        NULL;
}

} // namespace collision

} // namespace componentmodel

} // namespace core

} // namespace sofa

#endif