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[SofaUserInteraction] Minor cleaning of RayTraceDetection #2009

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Apr 19, 2021
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[SofaUserInteraction] Minor cleaning of RayTraceDetection #2009

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15 changes: 8 additions & 7 deletions modules/SofaUserInteraction/src/SofaUserInteraction/RayTraceDetection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,11 @@ RayTraceDetection ():bDraw (initData
{
}

void RayTraceDetection::beginBroadPhase()
{
core::collision::BroadPhaseDetection::beginBroadPhase();
collisionModels.clear();
}

void RayTraceDetection::findPairsVolume (CubeCollisionModel * cm1, CubeCollisionModel * cm2)
{
Expand Down Expand Up @@ -240,10 +245,8 @@ void RayTraceDetection::addCollisionModel (core::CollisionModel * cm)
{
if (cm->empty ())
return;
for (sofa::helper::vector < core::CollisionModel * >::iterator it =
collisionModels.begin (); it != collisionModels.end (); ++it)
for (auto* cm2 : collisionModels)
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auto* will not be deduced as core::CollisionModel** ? (as collisionModels is a vector of CollisionModel*)

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No, I don't think so. See https://stackoverflow.com/a/34560387

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👍

{
core::CollisionModel * cm2 = *it;
if (!cm->isSimulated() && !cm2->isSimulated())
continue;
if (!cm->canCollideWith (cm2))
Expand All @@ -257,11 +260,9 @@ void RayTraceDetection::addCollisionModel (core::CollisionModel * cm)
core::CollisionModel* cm1 = (swapModels?cm2:cm);
cm2 = (swapModels?cm:cm2);


// Here we assume a single root element is present in both models
if (intersector->canIntersect (cm1->begin (), cm2->begin ()))
{

cmPairs.push_back (std::make_pair (cm1, cm2));
}
}
Expand Down Expand Up @@ -314,8 +315,8 @@ void RayTraceDetection::draw (const core::visual::VisualParams* vparams)
TriangleOctreeModel >::iterator it2 = (outputs)->begin ();
it2 != outputs->end (); ++it2)
{
vertices.push_back(sofa::defaulttype::Vector3(it2->point[0][0], it2->point[0][1],it2->point[0][2]));
vertices.push_back(sofa::defaulttype::Vector3(it2->point[1][0], it2->point[1][1],it2->point[1][2]));
vertices.push_back(it2->point[0]);
vertices.push_back(it2->point[1]);

msg_error() << it2->point[0] << " " << it2->point[0];

Expand Down
31 changes: 19 additions & 12 deletions modules/SofaUserInteraction/src/SofaUserInteraction/RayTraceDetection.h
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Expand Up @@ -51,28 +51,35 @@ class SOFA_SOFAUSERINTERACTION_API RayTraceDetection :public core::collision::Br

public:
typedef sofa::helper::vector<sofa::core::collision::DetectionOutput> OutputVector;

protected:
RayTraceDetection ();

public:
void setDraw (bool val)
{
bDraw.setValue (val);
}
void selfCollision (TriangleOctreeModel * cm1);

/////////////////////////////
/// BROAD PHASE interface ///
/////////////////////////////

void beginBroadPhase() override;

void addCollisionModel (core::CollisionModel * cm) override;

//////////////////////////////
/// NARROW PHASE interface ///
//////////////////////////////

void addCollisionPair (const std::pair < core::CollisionModel *,
core::CollisionModel * >&cmPair) override;

void findPairsVolume (CubeCollisionModel * cm1,
CubeCollisionModel * cm2);
public:
void findPairsVolume (CubeCollisionModel * cm1, CubeCollisionModel * cm2);

void beginBroadPhase() override
void draw (const core::visual::VisualParams* vparams) override;
void setDraw (bool val)
{
core::collision::BroadPhaseDetection::beginBroadPhase();
collisionModels.clear();
bDraw.setValue (val);
}

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

} // namespace sofa::component::collision