/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/dynamics/mbd/collision_detection/collision_handlers/mbd_sdf_sdf_handler.h

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#ifndef OPENTISSUE_DYNAMICS_MBD_COLLISION_DETECTION_COLLISION_HANDLERS_MBD_SDF_SDF_HANDLER_H
#define OPENTISSUE_DYNAMICS_MBD_COLLISION_DETECTION_COLLISION_HANDLERS_MBD_SDF_SDF_HANDLER_H
//
// OpenTissue Template Library
// - A generic toolbox for physics-based modeling and simulation.
// Copyright (C) 2008 Department of Computer Science, University of Copenhagen.
//
// OTTL is licensed under zlib: http://opensource.org/licenses/zlib-license.php
//
#include <OpenTissue/configuration.h>

#include <OpenTissue/collision/collision_sdf_sdf.h>

namespace OpenTissue
{
  namespace mbd
  {
    namespace collision_detection
    {

      template<typename mbd_types>
      struct SDFSDFHandler
      {
        typedef typename mbd_types::math_policy      math_policy;

        typedef typename math_policy::real_type           real_type;
        typedef typename math_policy::vector3_type        vector3_type;
        typedef typename math_policy::quaternion_type     quaternion_type;
        typedef typename math_policy::coordsys_type       coordsys_type;

        typedef typename mbd_types::body_type                        body_type;
        typedef typename mbd_types::material_type                    material_type;
        typedef typename mbd_types::contact_container                contact_container;
        typedef typename mbd_types::contact_type                     contact_type;
        typedef typename mbd_types::node_traits                      node_traits;

        typedef OpenTissue::polymesh::PolyMesh<math_policy>     mesh_type;
        typedef OpenTissue::grid::Grid<float,math_policy>       grid_type;
        typedef OpenTissue::sdf::Geometry<mesh_type,grid_type>  sdf_geometry_type;

        typedef typename mbd_types::collision_info_type   collision_info_type;

        static bool test(
             sdf_geometry_type & sdfA
           , sdf_geometry_type & sdfB
           , collision_info_type & info
          )
        {
          coordsys_type BtoWCS;
          coordsys_type AtoWCS;
          vector3_type r_a;
          vector3_type r_b;
          quaternion_type Q_a;
          quaternion_type Q_b;
          info.get_body_A()->get_position( r_a );
          info.get_body_A()->get_orientation( Q_a );
          info.get_body_B()->get_position( r_b );
          info.get_body_B()->get_orientation( Q_b );
          BtoWCS = coordsys_type( r_b, Q_b );
          AtoWCS = coordsys_type( r_a, Q_a );

          info.get_contacts()->clear();

          bool collision = OpenTissue::collision::sdf_sdf(AtoWCS,sdfA,BtoWCS,sdfB, *(info.get_contacts()) ,info.get_envelope() );

          for(typename contact_container::iterator cp = info.get_contacts()->begin();cp!=info.get_contacts()->end();++cp)
          {
            cp->init( info.get_body_A(), info.get_body_B(), cp->m_p, cp->m_n, cp->m_distance, info.get_material() );
          }
          return collision;
        }


      };

    } // namespace collision_detection
  } // namespace mbd
} // namespace OpenTissue

// OPENTISSUE_DYNAMICS_MBD_COLLISION_DETECTION_COLLISION_HANDLERS_MBD_SDF_SDF_HANDLER_H
#endif