proximity.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_PROXIMITY_H
#define SOFA_COMPONENT_COLLISION_PROXIMITY_H

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

namespace sofa
{

namespace component
{

namespace collision
{

//-----------------------------------------------------------------------------
//--DistanceTriTri--
//------------------
// this class computes the shortest distance between a triangle P and a triangle Q
//-----------------------------------------------------------------------------
class DistanceTriTri
{
public:
    DistanceTriTri(); // start a Proximity solver
    ~DistanceTriTri();

    // init the solver with the new coordinates of the triangle & the segment
    // solve the lcp
    void NewComputation(Triangle *triP, Triangle *triQ, Vector3 &Presult, Vector3 &Qresult);

    //double getAlphaP(){return _result[6];}
    //double getBetaP(){return _result[7];}
    //double getAlphaQ(){return _result[8];}
    //double getBetaQ(){return _result[9];}


private:
    //double **_A;
    //double *_b; 
    //double *_result;
};

//-----------------------------------------------------------------------------
//--DistanceSegTri--
//------------------
// this class compute the shortest distance between a triangle and a segment
//-----------------------------------------------------------------------------
class DistanceSegTri
{
public:
    DistanceSegTri(); // start a Proximity solver
    ~DistanceSegTri();

    // init the solver with the new coordinates of the triangle & the segment
    // solve the lcp
    void NewComputation(Triangle *tri, const Vector3 &Q1, const Vector3 &Q2, Vector3 &Presult, Vector3 &Qresult);

    // we should add the same procedure using with AAB
    //double distanceBSphere(Triangle &tri, Vector3 &Q1, Vector3&Q2);

    //double distanceBBox(Triangle &tri, Vector3 &Q1, Vector3&Q2);

    //double getAlpha(){return _result[5];}
    //double getBeta(){return _result[6];}
    //double getGamma(){return _result[7];}

private:
    //double **_A;
    //double *_b; 
    //double *_result;
};

//-----------------------------------------------------------------------------
//--DistancePointTri--
//------------------
// this class compute the shortest distance between a triangle and a Point
//-----------------------------------------------------------------------------
class DistancePointTri
{
public:
    DistancePointTri(); // start a Proximity solver
    ~DistancePointTri();

    // init the solver with the new coordinates of the triangle & the segment
    // solve the lcp
    void NewComputation(Triangle *tri, const Vector3 &Q, Vector3 &Presult);

    // distance using bbox precomputed on the triangle
    //double distanceBBox(Triangle &tri, const Vector3 &Q);

    //double getAlpha(){return _result[4];}
    //double getBeta(){return _result[5];}


private:
    //double **_A;
    //double *_b; 
    //double *_result;
};

} // namespace collision

} // namespace component

} // namespace sofa

#endif