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

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#ifndef OPENTISSUE_DYNAMICS_MBD_COLLISION_DETECTION_COLLISION_HANDLERS_MBD_SDF_SPHERE_HANDLER_H
#define OPENTISSUE_DYNAMICS_MBD_COLLISION_DETECTION_COLLISION_HANDLERS_MBD_SDF_SPHERE_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/sdf/sdf.h>
#include <OpenTissue/core/geometry/geometry_sphere.h>
#include <OpenTissue/collision/collision_sphere_sdf.h>

namespace OpenTissue
{
  namespace mbd
  {
    namespace collision_detection
    {
      template<typename mbd_types>
      struct SDFSphereHandler
      {
        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::geometry::Sphere<math_policy>       sphere_type;
        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 & sdf
           , sphere_type & sphere
           , collision_info_type & info
           )
        {
          coordsys_type BtoWCS;
          vector3_type r_b;
          quaternion_type Q_b;
          info.get_body_B()->get_position( r_b );
          info.get_body_B()->get_orientation( Q_b );
          BtoWCS = coordsys_type( r_b, Q_b );

          coordsys_type AtoWCS;
          vector3_type r_a;
          quaternion_type Q_a;
          info.get_body_A()->get_position( r_a );
          info.get_body_A()->get_orientation( Q_a );
          AtoWCS = coordsys_type( r_a, Q_a );
         
          info.get_contacts()->clear();

          bool collision = OpenTissue::collision::sphere_sdf(BtoWCS,sphere,AtoWCS,sdf,*( 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;
        }

        static bool mirrowed_test(
             sphere_type & sphere
           , sdf_geometry_type & sdf
           , collision_info_type & info
           )
        {
          info.flip_bodies();
          return test( sdf, sphere, info);
        }


      };

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

// OPENTISSUE_DYNAMICS_MBD_COLLISION_DETECTION_COLLISION_HANDLERS_MBD_SDF_SPHERE_HANDLER_H
#endif