NewProximityIntersection.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_NEWPROXIMITYINTERSECTION_H
00026 #define SOFA_COMPONENT_COLLISION_NEWPROXIMITYINTERSECTION_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 NewProximityIntersection : public DiscreteIntersection
00047 {
00048 public:
00049     Data<double> alarmDistance;
00050     Data<double> contactDistance;
00051 
00052     NewProximityIntersection();
00053 
00054     virtual void init();
00055 
00057     virtual bool useProximity() const { return true; }
00058 
00060     double getAlarmDistance() const { return alarmDistance.getValue(); }
00061 
00063     double getContactDistance() const { return contactDistance.getValue(); }
00064 
00065     void setAlarmDistance(double v) { alarmDistance.setValue(v); }
00066 
00067     void setContactDistance(double v) { contactDistance.setValue(v); }
00068 
00069     bool testIntersection(Cube& ,Cube&);
00070     bool testIntersection(Point&, Point&);
00071     template<class Sphere>
00072     bool testIntersection(Sphere&, Point&);
00073     template<class Sphere>
00074     bool testIntersection(Sphere&, Sphere&);
00075     bool testIntersection(Line&, Point&);
00076     template<class Sphere>
00077     bool testIntersection(Line&, Sphere&);
00078     bool testIntersection(Line&, Line&);
00079     bool testIntersection(Triangle&, Point&);
00080     template<class Sphere>
00081     bool testIntersection(Triangle&, Sphere&);
00082     bool testIntersection(Triangle&, Line&);
00083     bool testIntersection(Triangle&, Triangle&);
00084     bool testIntersection(Ray&, Triangle&);
00085 
00086     int computeIntersection(Cube&, Cube&, OutputVector*);
00087     int computeIntersection(Point&, Point&, OutputVector*);
00088     template<class Sphere>
00089     int computeIntersection(Sphere&, Point&, OutputVector*);
00090     template<class Sphere>
00091     int computeIntersection(Sphere&, Sphere&, OutputVector*);
00092     int computeIntersection(Line&, Point&, OutputVector*);
00093     template<class Sphere>
00094     int computeIntersection(Line&, Sphere&, OutputVector*);
00095     int computeIntersection(Line&, Line&, OutputVector*);
00096     int computeIntersection(Triangle&, Point&, OutputVector*);
00097     template<class Sphere>
00098     int computeIntersection(Triangle&, Sphere&, OutputVector*);
00099     int computeIntersection(Triangle&, Line&, OutputVector*);
00100     int computeIntersection(Triangle&, Triangle&, OutputVector*);
00101     int computeIntersection(Ray&, Triangle&, OutputVector*);
00102 
00103     static inline int doIntersectionLineLine(double dist2, const Vector3& p1, const Vector3& p2, const Vector3& q1, const Vector3& q2, OutputVector* contacts, int id);
00104 
00105     static inline int doIntersectionLinePoint(double dist2, const Vector3& p1, const Vector3& p2, const Vector3& q, OutputVector* contacts, int id, bool swapElems = false);
00106 
00107     static inline int doIntersectionPointPoint(double dist2, const Vector3& p, const Vector3& q, OutputVector* contacts, int id);
00108 
00109     static inline int doIntersectionTrianglePoint(double dist2, int flags, const Vector3& p1, const Vector3& p2, const Vector3& p3, const Vector3& n, const Vector3& q, OutputVector* contacts, int id, bool swapElems = false);
00110 
00111 protected:
00112 };
00113 
00114 } // namespace collision
00115 
00116 } // namespace component
00117 
00118 } // namespace sofa
00119 
00120 #endif