RayModel.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.                                                           *
*                                                                             *
* 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_RAYMODEL_H
#define SOFA_COMPONENT_COLLISION_RAYMODEL_H

#include <sofa/core/CollisionModel.h>
#include <sofa/component/MechanicalObject.h>
#include <sofa/defaulttype/Vec3Types.h>
#include <set>


namespace sofa
{

namespace component
{

namespace collision
{

using namespace sofa::defaulttype;

class RayModel;

class Ray : public core::TCollisionElementIterator<RayModel>
{
  public:
    Ray(RayModel* model, int index);

    explicit Ray(core::CollisionElementIterator& i);

    const Vector3& origin() const;
    const Vector3& direction() const;
    SReal l() const;

    Vector3& origin();
    Vector3& direction();
    SReal& l();
};

class BaseRayContact;

class RayModel : public component::MechanicalObject<Vec3Types>, public core::CollisionModel
{
protected:
    sofa::helper::vector<SReal> length;

    Data<SReal> defaultLength;

    std::set<BaseRayContact*> contacts;
public:
    typedef Vec3Types InDataTypes;
    typedef Vec3Types DataTypes;
    typedef Ray Element;
    friend class Ray;
    
    RayModel(SReal defaultLength=1);

    int addRay(const Vector3& origin, const Vector3& direction, SReal length);
    
    int getNbRay() const { return size; }
    
    void setNbRay(int n) { resize(2*n); }
    
    Ray getRay(int index) { return Ray(this, index); }
    
    virtual void addContact(BaseRayContact* contact) { contacts.insert(contact); }
    
    virtual void removeContact(BaseRayContact* contact) { contacts.erase(contact); }

    virtual void resize(int size);

    // -- CollisionModel interface

    virtual void computeBoundingTree(int maxDepth);
    
    void draw(int index);
    
    void applyTranslation(const double dx,const double dy,const double dz);
    
    void draw();
};

inline Ray::Ray(RayModel* model, int index)
: core::TCollisionElementIterator<RayModel>(model, index)
{}

inline Ray::Ray(core::CollisionElementIterator& i)
: core::TCollisionElementIterator<RayModel>(static_cast<RayModel*>(i.getCollisionModel()), i.getIndex())
{
}

inline const Vector3& Ray::origin() const
{
    return (*model->getX())[2*index+0];
}

inline const Vector3& Ray::direction() const
{
    return (*model->getX())[2*index+1];
}

inline Vector3::value_type Ray::l() const
{
    return model->length[index];
}

inline Vector3& Ray::origin()
{
    return (*model->getX())[2*index+0];
}

inline Vector3& Ray::direction()
{
    return (*model->getX())[2*index+1];
}

inline Vector3::value_type& Ray::l()
{
    return model->length[index];
}

} // namespace collision

} // namespace component

} // namespace sofa

#endif