Laboratoire RDP » Biophysics Team » AFM_plane

/******************************************************************************

*       SOFA, Simulation Open-Framework Architecture, version 1.0 RC 1        *

*                (c) 2006-2011 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_MYDEFAULTCONTACTMANAGER_H

#define SOFA_COMPONENT_COLLISION_MYDEFAULTCONTACTMANAGER_H

#include <sofa/core/collision/ContactManager.h>

#include <sofa/simulation/common/Node.h>

#include <sofa/component/component.h>

#include <sofa/helper/OptionsGroup.h>

#include <sofa/helper/map_ptr_stable_compare.h>

#include <vector>

#include "initAFM_plane.h"

namespace sofa

{

namespace component

{

namespace collision

{

class SOFA_AFM_plane_API MyDefaultContactManager : public core::collision::ContactManager

{

public :

    SOFA_CLASS(MyDefaultContactManager,sofa::core::collision::ContactManager);

protected:

    typedef sofa::helper::map_ptr_stable_compare<std::pair<core::CollisionModel*,core::CollisionModel*>,core::collision::Contact::SPtr> ContactMap;

    ContactMap contactMap;

    //typedef struct MaProfondeur{bool aTouche; double origine[3];} Profondeur;

    void cleanup();

public:

    //typedef struct MaProfondeur{bool aTouche; double origine[3];} Profondeur;

    Data<double> deepInMeristem;

    Data<bool> aTouche;

    Data<sofa::helper::vector<double> > origine;

    Data<sofa::helper::OptionsGroup> response;

    Data<std::string> responseParams;

protected:

    MyDefaultContactManager();

    ~MyDefaultContactManager();

    void setContactTags(core::CollisionModel* model1, core::CollisionModel* model2, core::collision::Contact::SPtr contact);

    //double deepInMeristem;

    //Profondeur penetration;

public:

//        bool CollisionDetected(){return penetration.aTouche;}

//        double getDepth(){return deepInMeristem;}

    bool CollisionDetected(){return aTouche.getValue();}

    double getDepth(){return deepInMeristem.getValue();}

    /// outputsVec fixes the reproducibility problems by storing contacts in the collision detection saved order

    /// if not given, it is still working but with eventual reproducibility problems

    void createContacts(const DetectionOutputMap& outputs);

    void init();

    void draw(const core::visual::VisualParams* vparams);

    template<class T>

    static typename T::SPtr create(T*, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)

    {

        typename T::SPtr obj = sofa::core::objectmodel::New<T>();

        if (context)

        {

            context->addObject(obj);

            core::collision::Pipeline *pipeline = static_cast<simulation::Node*>(context)->collisionPipeline;

            sofa::helper::OptionsGroup options = initializeResponseOptions(pipeline);

            obj->response.setValue(options);

        }

        if (arg)

            obj->parse(arg);

        return obj;

    }

    virtual std::string getContactResponse(core::CollisionModel* model1, core::CollisionModel* model2);

    /// virtual methods used for cleaning the pipeline after a dynamic graph node deletion.

    /**

     * Contacts can be attached to a deleted node and their deletion is a problem for the pipeline.

     * @param c is the list of deleted contacts.

     */

    virtual void removeContacts(const ContactVector &/*c*/);

    void setDefaultResponseType(const std::string &responseT)

    {

        if (response.getValue().size() == 0)

        {

            helper::vector<std::string> listResponse(1,responseT);

            sofa::helper::OptionsGroup responseOptions(listResponse);

            response.setValue(responseOptions);

        }

        else

        {

            sofa::helper::OptionsGroup* options = response.beginEdit();

            options->setSelectedItem(responseT);

            response.endEdit();

        }

    }

    std::string getDefaultResponseType() const { return response.getValue().getSelectedItem(); }

protected:

    static sofa::helper::OptionsGroup initializeResponseOptions(core::collision::Pipeline *pipeline);

    std::map<Instance,ContactMap> storedContactMap;

    virtual void changeInstance(Instance inst)

    {

        core::collision::ContactManager::changeInstance(inst);

        storedContactMap[instance].swap(contactMap);

        contactMap.swap(storedContactMap[inst]);

    }

    // count failure messages, so we don't continuously repeat them

    std::map<std::pair<std::string,std::pair<std::string,std::string> >, int> errorMsgCount;

};

} // namespace collision

} // namespace component

} // namespace sofa

#endif