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

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#ifndef OPENTISSUE_DYNAMICS_MBD_COLLISION_DETECTION_COLLISION_HANDLERS_MBD_SPHERE_SPHERE_HANDLER_H
#define OPENTISSUE_DYNAMICS_MBD_COLLISION_DETECTION_COLLISION_HANDLERS_MBD_SPHERE_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/collision_sphere_sphere.h>

namespace OpenTissue
{
  namespace mbd
  {
    namespace collision_detection
    {
      template<typename mbd_types>
      struct SphereSphereHandler
      {
        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 typename mbd_types::collision_info_type   collision_info_type;

        static bool test(
             sphere_type & sphereA
           , sphere_type & sphereB
           , 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::sphere_sphere(AtoWCS.T(),sphereA.radius(),BtoWCS.T(),sphereB.radius(), info.get_envelope() ,p,n,distance) )
          {
            contact_type contact;
            contact.init( info.get_body_A(), info.get_body_B(), p, n, distance, info.get_material() );
            info.get_contacts()->push_back(contact);
            return (distance < -info.get_envelope() );
          }
          return false;
        }
      };

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

// OPENTISSUE_DYNAMICS_MBD_COLLISION_DETECTION_COLLISION_HANDLERS_MBD_SPHERE_SPHERE_HANDLER_H
#endif