SphereTreeModel.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_SPHERETREEMODEL_H
#define SOFA_COMPONENT_COLLISION_SPHERETREEMODEL_H

#include <sofa/core/CollisionModel.h>
#include <sofa/component/MechanicalObject.h>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <sofa/defaulttype/Vec3Types.h>
#include <vector>
#include <iostream>
#include <fstream>




namespace sofa
{

namespace component
{

namespace collision
{

using namespace sofa::defaulttype;

class SphereTreeModel;

class SingleSphere : public core::TCollisionElementIterator<SphereTreeModel>
{
public:
    typedef Vec3Types DataTypes;
    typedef DataTypes::Real Real;
    typedef DataTypes::Coord Coord;
    typedef DataTypes::Deriv Deriv;
    SingleSphere(SphereTreeModel* model, int index);

    explicit SingleSphere(core::CollisionElementIterator& i);

    const Vector3& center() const;

    void setCenter( double x, double y, double z );
    
    const Vector3& v() const;

    double r() const;
    
};

class SphereTreeModel : public component::MechanicalObject<Vec3Types>, public core::CollisionModel
{
public:
    typedef component::MechanicalObject<Vec3Types> Inherit;
    typedef Vec3Types InDataTypes;
    typedef Vec3Types DataTypes;
    typedef SingleSphere Element;
    friend class SingleSphere;
    DataTypes::VecCoord VecCoord;

    SphereTreeModel(double radius = 1.0);
        
    int addSphere(const Vector3& pos, SReal radius);

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

    bool load(const char* filename);

    void applyScale (const double s);

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

    // -- CollisionModel interface

    // remove ambiguity
    int getSize() const { return Inherit::getSize(); }

    /* @brief It "resizes" the vector of DOF's of the collision model. It is normally used after
        adding a new element to the tree*/
    virtual void resize(int size);

    virtual void computeBoundingTree(int maxDepth=0);

    virtual std::pair<core::CollisionElementIterator,core::CollisionElementIterator> getInternalChildren(int index) const;

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

    void draw(int index);
    
    int levels;

    int degree;

    bool loadSphereTree( const char *fileName );
    
    virtual bool isLeaf( int index ) const;

    void draw();

protected:

    sofa::helper::vector<double> radius;    

    Data<double> defaultRadius;     

};


inline SingleSphere::SingleSphere(SphereTreeModel* model, int index)
: core::TCollisionElementIterator<SphereTreeModel>(model, index)
{
}

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

inline const Vector3& SingleSphere::center() const
{
    return (*model->getX())[index]; 
}

inline const Vector3& SingleSphere::v() const
{
    return (*model->getV())[index];
}

inline void SingleSphere::setCenter( double x, double y, double z ) 
{
    (*model->getX())[index] = Vector3((SReal)x, (SReal)y, (SReal)z);
}

inline double SingleSphere::r() const
{
    return model->radius[index];
}


} // namespace collision

} // namespace component

} // namespace sofa

#endif