PipelineImpl.cpp

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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 :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#include <sofa/simulation/common/PipelineImpl.h>
#include <sofa/core/ObjectFactory.h>
#include <sofa/simulation/common/Node.h>
namespace sofa
{

namespace simulation
{


using namespace sofa::core;
using namespace sofa::core::objectmodel;
using namespace sofa::core::componentmodel::behavior;
using namespace sofa::core::componentmodel::collision;

PipelineImpl::PipelineImpl()
{
}

PipelineImpl::~PipelineImpl()
{
}

void PipelineImpl::init()
{
    simulation::Node* root = dynamic_cast<simulation::Node*>(getContext());
    if(root == NULL) return;
    intersectionMethods.clear();
    root->getTreeObjects<Intersection>(&intersectionMethods);
    intersectionMethod = (intersectionMethods.empty() ? NULL : intersectionMethods[0]);
    broadPhaseDetections.clear();
    root->getTreeObjects<BroadPhaseDetection>(&broadPhaseDetections);
    broadPhaseDetection = (broadPhaseDetections.empty() ? NULL : broadPhaseDetections[0]);
    narrowPhaseDetections.clear();
    root->getTreeObjects<NarrowPhaseDetection>(&narrowPhaseDetections);
    narrowPhaseDetection = (narrowPhaseDetections.empty() ? NULL : narrowPhaseDetections[0]);
    contactManagers.clear();
    root->getTreeObjects<ContactManager>(&contactManagers);
    contactManager = (contactManagers.empty() ? NULL : contactManagers[0]);
    groupManagers.clear();
    root->getTreeObjects<CollisionGroupManager>(&groupManagers);
    groupManager = (groupManagers.empty() ? NULL : groupManagers[0]);

    if (intersectionMethod==NULL)
    {
        std::cerr << "WARNING(Pipeline): no intersectionMethod defined. Using DiscreteIntersection.\n";
        sofa::core::objectmodel::BaseObjectDescription discreteIntersectionDesc("Default Intersection","DiscreteIntersection");
        intersectionMethod = dynamic_cast<Intersection*>(sofa::core::ObjectFactory::CreateObject(getContext(), &discreteIntersectionDesc));
        //intersectionMethod = new sofa::component::collision::DiscreteIntersection;
    }
}

void PipelineImpl::reset()
{
    computeCollisionReset();
}

void PipelineImpl::computeCollisionReset()
{
    simulation::Node* root = dynamic_cast<simulation::Node*>(getContext());
    if(root == NULL) return;
    if (broadPhaseDetection!=NULL && broadPhaseDetection->getIntersectionMethod()!=intersectionMethod)
        broadPhaseDetection->setIntersectionMethod(intersectionMethod);
    if (narrowPhaseDetection!=NULL && narrowPhaseDetection->getIntersectionMethod()!=intersectionMethod)
        narrowPhaseDetection->setIntersectionMethod(intersectionMethod);
    if (contactManager!=NULL && contactManager->getIntersectionMethod()!=intersectionMethod)
        contactManager->setIntersectionMethod(intersectionMethod);
    doCollisionReset();
}

void PipelineImpl::computeCollisionDetection()
{
    simulation::Node* root = dynamic_cast<simulation::Node*>(getContext());
    if(root == NULL) return;
    std::vector<CollisionModel*> collisionModels;
    root->getTreeObjects<CollisionModel>(&collisionModels);
    doCollisionDetection(collisionModels);
}

void PipelineImpl::computeCollisionResponse()
{
    simulation::Node* root = dynamic_cast<simulation::Node*>(getContext());
    if(root == NULL) return;
    doCollisionResponse();
}

} // namespace simulation

} // namespace sofa