LocalMinDistance.h

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00001 /******************************************************************************
00002 *       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
00003 *                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
00004 *                                                                             *
00005 * This library is free software; you can redistribute it and/or modify it     *
00006 * under the terms of the GNU Lesser General Public License as published by    *
00007 * the Free Software Foundation; either version 2.1 of the License, or (at     *
00008 * your option) any later version.                                             *
00009 *                                                                             *
00010 * This library is distributed in the hope that it will be useful, but WITHOUT *
00011 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
00012 * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
00013 * for more details.                                                           *
00014 *                                                                             *
00015 * You should have received a copy of the GNU Lesser General Public License    *
00016 * along with this library; if not, write to the Free Software Foundation,     *
00017 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
00018 *******************************************************************************
00019 *                               SOFA :: Modules                               *
00020 *                                                                             *
00021 * Authors: The SOFA Team and external contributors (see Authors.txt)          *
00022 *                                                                             *
00023 * Contact information: contact@sofa-framework.org                             *
00024 ******************************************************************************/
00025 #ifndef SOFA_COMPONENT_COLLISION_LOCALMINDISTANCE_H
00026 #define SOFA_COMPONENT_COLLISION_LOCALMINDISTANCE_H
00027 
00028 #include <sofa/component/collision/DiscreteIntersection.h>
00029 #include <sofa/helper/FnDispatcher.h>
00030 #include <sofa/component/collision/SphereModel.h>
00031 #include <sofa/component/collision/TriangleModel.h>
00032 #include <sofa/component/collision/LineModel.h>
00033 #include <sofa/component/collision/PointModel.h>
00034 #include <sofa/component/collision/CubeModel.h>
00035 #include <sofa/component/collision/RayModel.h>
00036 
00037 namespace sofa
00038 {
00039 
00040 namespace component
00041 {
00042 
00043 namespace collision
00044 {
00045 
00046 class LocalMinDistance : public DiscreteIntersection
00047 {
00048 public:
00049    // Data<bool> useSphereTriangle;
00050    // Data<bool> usePointPoint;
00051     Data<double> alarmDistance;
00052     Data<double> contactDistance;
00053     //Data<bool> filterIntersection;
00054     Data<double> angleCone;
00055     Data<double> coneFactor;
00056 
00057 
00058     LocalMinDistance();
00059     
00060     virtual void init();
00061 
00063     virtual bool useProximity() const { return true; }
00064 
00066     double getAlarmDistance() const { return alarmDistance.getValue(); }
00067 
00069     double getContactDistance() const { return contactDistance.getValue(); }
00070 
00071     void setAlarmDistance(double v) { alarmDistance.setValue(v); }
00072 
00073     void setContactDistance(double v) { contactDistance.setValue(v); }
00074 
00075     bool testIntersection(Cube& ,Cube&);
00076 
00077     bool testIntersection(Point&, Point&);
00078     bool testIntersection(Sphere&, Point&);
00079     bool testIntersection(Sphere&, Sphere&);
00080     bool testIntersection(Line&, Point&);
00081     bool testIntersection(Line&, Sphere&);
00082     bool testIntersection(Line&, Line&);
00083     bool testIntersection(Triangle&, Point&);
00084     bool testIntersection(Triangle&, Sphere&);
00085     bool testIntersection(Ray&, Sphere&);
00086     bool testIntersection(Ray&, Triangle&);
00087 
00088     int computeIntersection(Cube&, Cube&, OutputVector*);
00089     int computeIntersection(Point&, Point&, OutputVector*);
00090     int computeIntersection(Sphere&, Point&, OutputVector*);
00091     int computeIntersection(Sphere&, Sphere&, OutputVector*);
00092     int computeIntersection(Line&, Point&, OutputVector*);
00093     int computeIntersection(Line&, Sphere&, OutputVector*);
00094     int computeIntersection(Line&, Line&, OutputVector*);
00095     int computeIntersection(Triangle&, Point&, OutputVector*);
00096     int computeIntersection(Triangle&, Sphere&, OutputVector*);
00097     int computeIntersection(Ray&, Sphere&, OutputVector*);
00098     int computeIntersection(Ray&, Triangle&, OutputVector*);
00099 
00104     bool testValidity(Point&, const Vector3&);
00105     bool testValidity(Line&, const Vector3&);
00106     bool testValidity(Triangle&, const Vector3&);
00107 
00108     void draw();
00109 
00110 private:
00111     double mainAlarmDistance;
00112     double mainContactDistance;
00113 };
00114 
00115 } // namespace collision
00116 
00117 } // namespace component
00118 
00119 } // namespace sofa
00120 
00121 #endif