TriangleOctree.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_TRIANGLEOCTREE_H
#define SOFA_COMPONENT_COLLISION_TRIANGLEOCTREE_H

#include <sofa/component/collision/TriangleOctreeModel.h>

#include <sofa/core/CollisionModel.h>
#include <sofa/component/MechanicalObject.h>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <sofa/defaulttype/Vec3Types.h>
/*THIS STATIC CUBE SIZE MUST BE CHANGE, it represents the size of the occtree cube*/
#define CUBE_SIZE 200
#define bb_max(a,b) (((a)>(b))?(a):(b))
#define bb_max3(a,b,c) bb_max((bb_max(a,b)),c)

#define bb_min(a,b) (((a)<(b))?(a):(b))
#define bb_min3(a,b,c) bb_min(bb_min(a,b),c)

namespace sofa
{

  namespace component
  {

    namespace collision
    {

      using namespace sofa::defaulttype;

     class TriangleOctreeModel;
      class TriangleOctree
      {
      public:
    class vertexData
    {
    public:
      TriangleOctree * parent;
      int childId;
        vertexData (TriangleOctree * _parent,
            int _childId):parent (_parent), childId (_childId)
      {
      }
    };
    class traceResult{
        public:
            traceResult():t(0),u(0),v(0){}
            double t,u,v;
    };
    double x, y, z;
    bool visited;

    double size;
    bool val;
    bool is_leaf;
    bool internal;
    TriangleOctreeModel *tm;
      vector < int >objects;
    TriangleOctree *childVec[8];


        ~TriangleOctree ();
    /*the default cube has xmin=-CUBE_SIZE xmax=CUBE_SIZE, ymin=-CUBE_SIZE, ymax=CUBE_SIZE, zmin=-CUBE_SIZE,zmax=CUBE_SIZE*/
        TriangleOctree (TriangleOctreeModel * _tm, double _x = (double)-CUBE_SIZE, double _y = (double)-CUBE_SIZE, double _z =(double) -CUBE_SIZE, double _size = 2 * CUBE_SIZE):x (_x), y (_y), z (_z), size (_size),
      tm
      (_tm)
    {
      is_leaf = true;
      internal = false;
      for (int i = 0; i < 8; i++)
        childVec[i] = NULL;
    }
    void draw ();
    int nearestTriangle (int minIndex, const Vector3 & origin,
                 const Vector3 & direction,traceResult &result);
    void insert (double _x, double _y, double _z, double _inc, int t);
    int trace (Vector3 origin, Vector3 direction, traceResult &result);
    int trace (const Vector3 & origin, const Vector3 & direction,
           double tx0, double ty0, double tz0, double tx1, double ty1,
           double tz1, unsigned int a, unsigned int b,Vector3 &origin1,Vector3 &direction1, traceResult &result);
    
      };

    }               // namespace collision

  }             // namespace component

}               // namespace sofa

#endif