RayContact.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.                                                           *
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* 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                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_COLLISION_RAYCONTACT_H
#define SOFA_COMPONENT_COLLISION_RAYCONTACT_H

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

namespace sofa
{

namespace component
{

namespace collision
{

using namespace sofa::defaulttype;

class RayModel;

class BaseRayContact : public core::componentmodel::collision::Contact
{
public:
    typedef RayModel CollisionModel1;

protected:
    CollisionModel1* model1;
    sofa::helper::vector<core::componentmodel::collision::DetectionOutput*> collisions;

public:
    BaseRayContact(CollisionModel1* model1, core::componentmodel::collision::Intersection* instersectionMethod);

    ~BaseRayContact();

    const sofa::helper::vector<core::componentmodel::collision::DetectionOutput*>& getDetectionOutputs() const { return collisions; }

    void createResponse(core::objectmodel::BaseContext* /*group*/)
    {
    }

    void removeResponse()
    {
    }
};

template<class CM2>
class RayContact : public BaseRayContact
{
public:
    typedef RayModel CollisionModel1;
    typedef CM2 CollisionModel2;
    typedef core::componentmodel::collision::Intersection Intersection;
    typedef core::componentmodel::collision::TDetectionOutputVector<CollisionModel1, CollisionModel2> OutputVector;
protected:
    CollisionModel2* model2;
    core::objectmodel::BaseContext* parent;
public:
    RayContact(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod)
    : BaseRayContact(model1, intersectionMethod), model2(model2)
    {
    }

    void setDetectionOutputs(core::componentmodel::collision::DetectionOutputVector* outputs)
    {
        OutputVector* o = static_cast<OutputVector*>(outputs);
        //collisions = outputs;
        collisions.resize(o->size());
        for (unsigned int i=0; i< o->size(); ++i)
            collisions[i] = &(*o)[i];
    }

    std::pair<core::CollisionModel*,core::CollisionModel*> getCollisionModels() { return std::make_pair(model1,model2); }
};

} // namespace collision

} // namespace component

} // namespace sofa

#endif