TetrahedronModel.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.                                             *
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* 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    *
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* 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_TETRAHEDRONMODEL_H
#define SOFA_COMPONENT_COLLISION_TETRAHEDRONMODEL_H

#include <sofa/core/CollisionModel.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <sofa/defaulttype/Vec3Types.h>

#include <map>

namespace sofa
{

namespace component
{

namespace collision
{

using namespace sofa::defaulttype;

class TetrahedronModel;

class Tetrahedron : public core::TCollisionElementIterator<TetrahedronModel>
{
public:
    Tetrahedron(TetrahedronModel* model, int index);
    Tetrahedron(){};
    explicit Tetrahedron(core::CollisionElementIterator& i);

    const Vector3& p1() const;
    const Vector3& p2() const;
    const Vector3& p3() const;
    const Vector3& p4() const;
    int p1Index() const;
    int p2Index() const;
    int p3Index() const;
    int p4Index() const;

    const Vector3& p1Free() const;
    const Vector3& p2Free() const;
    const Vector3& p3Free() const;
    const Vector3& p4Free() const;

    const Vector3& v1() const;
    const Vector3& v2() const;
    const Vector3& v3() const;
    const Vector3& v4() const;

    Vector3 getBary(const Vector3& p) const;
    Vector3 getDBary(const Vector3& v) const;

    Vector3 getCoord(const Vector3& b) const;
    Vector3 getDCoord(const Vector3& b) const;

};

class TetrahedronModel : public core::CollisionModel
{
public:
    typedef Vec3Types InDataTypes;
    typedef Vec3Types DataTypes;
    typedef DataTypes::VecCoord VecCoord;
    typedef DataTypes::VecDeriv VecDeriv;
    typedef DataTypes::Coord Coord;
    typedef DataTypes::Deriv Deriv;
    typedef Tetrahedron Element;
    friend class Tetrahedron;

protected:
    struct TetrahedronInfo
    {
    Vector3 coord0;
        Matrix3 coord2bary;
    Matrix3 bary2coord;
    };

    sofa::helper::vector<TetrahedronInfo> elems;
    const sofa::core::componentmodel::topology::BaseMeshTopology::SeqTetras* tetra;

    core::componentmodel::behavior::MechanicalState<Vec3Types>* mstate;

    sofa::core::componentmodel::topology::BaseMeshTopology* _topology;

public:

    TetrahedronModel();

    virtual void init();

    // -- CollisionModel interface

    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();

    virtual void handleTopologyChange();

    core::componentmodel::behavior::MechanicalState<Vec3Types>* getMechanicalState() { return mstate; }

};

inline Tetrahedron::Tetrahedron(TetrahedronModel* model, int index)
: core::TCollisionElementIterator<TetrahedronModel>(model, index)
{}

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

inline const Vector3& Tetrahedron::p1() const { return (*model->mstate->getX())[(*(model->tetra))[index][0]]; }
inline const Vector3& Tetrahedron::p2() const { return (*model->mstate->getX())[(*(model->tetra))[index][1]]; }
inline const Vector3& Tetrahedron::p3() const { return (*model->mstate->getX())[(*(model->tetra))[index][2]]; }
inline const Vector3& Tetrahedron::p4() const { return (*model->mstate->getX())[(*(model->tetra))[index][3]]; }

inline const Vector3& Tetrahedron::p1Free() const { return (*model->mstate->getXfree())[(*(model->tetra))[index][0]]; }
inline const Vector3& Tetrahedron::p2Free() const { return (*model->mstate->getXfree())[(*(model->tetra))[index][1]]; }
inline const Vector3& Tetrahedron::p3Free() const { return (*model->mstate->getXfree())[(*(model->tetra))[index][2]]; }
inline const Vector3& Tetrahedron::p4Free() const { return (*model->mstate->getXfree())[(*(model->tetra))[index][3]]; }

inline int Tetrahedron::p1Index() const { return (*(model->tetra))[index][0]; }
inline int Tetrahedron::p2Index() const { return (*(model->tetra))[index][1]; }
inline int Tetrahedron::p3Index() const { return (*(model->tetra))[index][2]; }
inline int Tetrahedron::p4Index() const { return (*(model->tetra))[index][3]; }

inline const Vector3& Tetrahedron::v1() const { return (*model->mstate->getV())[(*(model->tetra))[index][0]]; }
inline const Vector3& Tetrahedron::v2() const { return (*model->mstate->getV())[(*(model->tetra))[index][1]]; }
inline const Vector3& Tetrahedron::v3() const { return (*model->mstate->getV())[(*(model->tetra))[index][2]]; }
inline const Vector3& Tetrahedron::v4() const { return (*model->mstate->getV())[(*(model->tetra))[index][3]]; }

inline Vector3 Tetrahedron::getBary(const Vector3& p) const { return model->elems[index].coord2bary*(p-model->elems[index].coord0); }
inline Vector3 Tetrahedron::getDBary(const Vector3& v) const { return model->elems[index].coord2bary*(v); }
inline Vector3 Tetrahedron::getCoord(const Vector3& b) const { return model->elems[index].bary2coord*b + model->elems[index].coord0; }
inline Vector3 Tetrahedron::getDCoord(const Vector3& b) const { return model->elems[index].bary2coord*b; }
    
} // namespace collision

} // namespace component

} // namespace sofa

#endif