SphereModel.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_SPHEREMODEL_H
#define SOFA_COMPONENT_COLLISION_SPHEREMODEL_H

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

namespace sofa
{

namespace component
{

namespace collision
{

using namespace sofa::defaulttype;

template<class DataTypes>
class TSphereModel;

template<class DataTypes>
class TSphere;

typedef TSphereModel<Vec3Types> SphereModel;
typedef TSphere<Vec3Types> Sphere;

template<class DataTypes>
class TSphere : public core::TCollisionElementIterator<TSphereModel<DataTypes> >
{
public:
    typedef typename DataTypes::Real Real;
    typedef typename DataTypes::Coord Coord;
    typedef typename DataTypes::Deriv Deriv;
    TSphere(TSphereModel<DataTypes>* model, int index);

    explicit TSphere(core::CollisionElementIterator& i);

    const Coord& center() const;

    const Deriv& v() const;

    Real r() const;
};

template<class TDataTypes>
class TSphereModel : public component::MechanicalObject<TDataTypes>, public core::CollisionModel
{
public:
    typedef TDataTypes InDataTypes;
    typedef component::MechanicalObject<InDataTypes> Inherit;
        typedef typename InDataTypes::Real Real;
    typedef typename InDataTypes::VecReal VecReal;
        
    typedef TDataTypes DataTypes;
    typedef TSphere<DataTypes> Element;
    friend class TSphere<DataTypes>;

protected:
    Data< VecReal > radius;
    
    Data< SReal > defaultRadius;
    class Loader;
public:
    
    TSphereModel();
    
    TSphereModel(SReal radius);

    int addSphere(const Vector3& pos, SReal radius);
    void setSphere(int index, const Vector3& pos, SReal radius);

    virtual bool load(const char* filename);
    void applyScale (const SReal s);

        sofa::core::componentmodel::behavior::MechanicalState<InDataTypes>* getMechanicalState() { return this; }

    Real getRadius(int i) const { return this->radius.getValue()[i]; }
    void setRadius(int i, Real r) { (*this->radius.beginEdit())[i] = r; }

        const VecReal& getR() const { return this->radius.getValue(); }

    virtual void init();
    
    // -- CollisionModel interface
    
    // remove ambiguity
    int getSize() const { return this->Inherit::getSize(); }

    virtual void resize(int size);

    virtual void computeBoundingTree(int maxDepth=0);

    virtual void computeContinuousBoundingTree(double dt, int maxDepth=0);
    
    void draw(int index);
    
    void draw();
};

template<class TDataTypes>
inline TSphere<TDataTypes>::TSphere(TSphereModel<TDataTypes>* model, int index)
: core::TCollisionElementIterator<TSphereModel<TDataTypes> >(model, index)
{}

template<class TDataTypes>
inline TSphere<TDataTypes>::TSphere(core::CollisionElementIterator& i)
: core::TCollisionElementIterator<TSphereModel<TDataTypes> >(static_cast<TSphereModel<TDataTypes>*>(i.getCollisionModel()), i.getIndex())
{
}

template<class TDataTypes>
inline const typename TDataTypes::Coord& TSphere<TDataTypes>::center() const
{
    return (*this->model->getX())[this->index];
}

template<class TDataTypes>
inline const typename TDataTypes::Deriv& TSphere<TDataTypes>::v() const
{
    return (*this->model->getV())[this->index];
}

template<class TDataTypes>
inline typename TDataTypes::Real TSphere<TDataTypes>::r() const
{
    return this->model->getRadius(this->index);
}

} // namespace collision

} // namespace component

} // namespace sofa

#endif