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

Go to the documentation of this file.

#ifndef OPENTISSUE_DYNAMICS_MBD_COLLISION_DETECTION_COLLISION_HANDLERS_MBD_SPHERE_BOX_HANDLER_H
#define OPENTISSUE_DYNAMICS_MBD_COLLISION_DETECTION_COLLISION_HANDLERS_MBD_SPHERE_BOX_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_box_sphere.h>

namespace OpenTissue
{
  namespace mbd
  {
    namespace collision_detection
    {
      template<typename mbd_types>
      struct SphereBoxHandler
      {
        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::geometry::OBB<math_policy>        box_type;

        typedef typename mbd_types::collision_info_type   collision_info_type;


        static bool test(
             sphere_type & sphere
           , box_type & box
           , 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 );

          vector3_type p,n;
          real_type distance;

          info.get_contacts()->clear();
          
          if(OpenTissue::collision::box_sphere(BtoWCS,AtoWCS,box,sphere,info.get_envelope(),p,n,distance) )
          {
            contact_type contact;
            contact.init( info.get_body_B(), info.get_body_A(), p, n, distance, info.get_material() );
            info.get_contacts()->push_back(contact);
            return (  distance  <  -info.get_envelope() );
          }
          return false;
        }


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

      };


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

// OPENTISSUE_DYNAMICS_MBD_COLLISION_DETECTION_COLLISION_HANDLERS_MBD_SPHERE_BOX_HANDLER_H
#endif