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[SofaBaseCollision] CLEAN CylinderModel #847

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merged 3 commits into from
Dec 12, 2018
Merged

[SofaBaseCollision] CLEAN CylinderModel #847

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b35e5e3
Cleaning of CylinderModel
ChristianDuriez Nov 30, 2018
228d2ce
Merge branch 'master' into CleanCylinderModel
epernod Dec 4, 2018
ae4dca3
[SofaBaseCollision] change all Data of CylinderModel to have d_ prefi…
epernod Dec 11, 2018
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18 changes: 7 additions & 11 deletions SofaKernel/modules/SofaBaseCollision/CylinderModel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,32 +35,28 @@ using namespace sofa::defaulttype;
using namespace sofa::core::collision;
using namespace helper;

int RigidCylinderModelClass = core::RegisterObject("Collision model which represents a set of rigid cylinders")
static int RigidCylinderModelClass = core::RegisterObject("Collision model which represents a set of rigid cylinders")
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#ifndef SOFA_FLOAT
.add< TCylinderModel<defaulttype::Rigid3dTypes> >()
.add< TCylinderModel<Rigid3dTypes> >()
#endif
#ifndef SOFA_DOUBLE
.add < TCylinderModel<defaulttype::Rigid3fTypes> >()
.add < TCylinderModel<Rigid3fTypes> >()
#endif
//TODO(dmarchal): Fix deprecated management...
.addAlias("Cylinder")
.addAlias("CylinderModel")
//.addAlias("CylinderMesh")
//.addAlias("CylinderSet")
;

#ifndef SOFA_FLOAT
template class SOFA_BASE_COLLISION_API TCylinder<defaulttype::Rigid3dTypes>;
template class SOFA_BASE_COLLISION_API TCylinderModel<defaulttype::Rigid3dTypes>;
template class SOFA_BASE_COLLISION_API TCylinder<Rigid3dTypes>;
template class SOFA_BASE_COLLISION_API TCylinderModel<Rigid3dTypes>;
#endif
#ifndef SOFA_DOUBLE
template class SOFA_BASE_COLLISION_API TCylinder<defaulttype::Rigid3fTypes>;
template class SOFA_BASE_COLLISION_API TCylinderModel<defaulttype::Rigid3fTypes>;
template class SOFA_BASE_COLLISION_API TCylinder<Rigid3fTypes>;
template class SOFA_BASE_COLLISION_API TCylinderModel<Rigid3fTypes>;
#endif




}
}
}
65 changes: 26 additions & 39 deletions SofaKernel/modules/SofaBaseCollision/CylinderModel.h
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Expand Up @@ -46,14 +46,14 @@ class TCylinder;
*A Cylinder can be viewed as a segment with a radius, here the segment is
*defined by its apexes.
*/
template< class MyReal>
class TCylinder<sofa::defaulttype::StdRigidTypes<3,MyReal> > : public core::TCollisionElementIterator< TCylinderModel<sofa::defaulttype::StdRigidTypes<3,MyReal> > >
template< class TDataTypes>
class TCylinder: public core::TCollisionElementIterator< TCylinderModel< TDataTypes > >
{
public:
typedef sofa::defaulttype::StdRigidTypes<3,MyReal> DataTypes;
typedef TDataTypes DataTypes;
typedef typename DataTypes::Real Real;
typedef typename DataTypes::Deriv Deriv;
typedef typename DataTypes::CPos Coord;
typedef typename TDataTypes::CPos Coord;
typedef typename TDataTypes::Deriv Deriv;
typedef typename DataTypes::VecCoord VecCoord;

typedef TCylinderModel<DataTypes> ParentModel;
Expand All @@ -76,14 +76,13 @@ class TCylinder<sofa::defaulttype::StdRigidTypes<3,MyReal> > : public core::TCol
/**
*CylinderModel templated by RigidTypes (frames), direction is given by Y direction of the frame.
*/
template< class MyReal>
class TCylinderModel<sofa::defaulttype::StdRigidTypes<3,MyReal> > : public core::CollisionModel
template< class TDataTypes>
class TCylinderModel : public core::CollisionModel
{
public:
SOFA_CLASS(SOFA_TEMPLATE(TCylinderModel, SOFA_TEMPLATE2(sofa::defaulttype::StdRigidTypes, 3, MyReal)), core::CollisionModel);

SOFA_CLASS(SOFA_TEMPLATE(TCylinderModel, TDataTypes), core::CollisionModel);

typedef sofa::defaulttype::StdRigidTypes<3,MyReal> DataTypes;
typedef TDataTypes DataTypes;
typedef DataTypes InDataTypes;
typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::VecDeriv VecDeriv;
Expand All @@ -95,34 +94,33 @@ class TCylinderModel<sofa::defaulttype::StdRigidTypes<3,MyReal> > : public core:

typedef TCylinder<DataTypes> Element;
friend class TCylinder<DataTypes>;
protected:
Data<VecReal> _cylinder_radii; ///< Radius of each cylinder
Data<VecReal> _cylinder_heights; ///< The cylinder heights
Data<VecAxisCoord> _cylinder_local_axes;

Data<Real> _default_radius; ///< The default radius
Data<Real> _default_height; ///< The default height
Data<Coord> _default_local_axis; ///< The default local axis cylinder is modeled around
Data<VecReal> d_cylinder_radii; ///< Radius of each cylinder
Data<VecReal> d_cylinder_heights; ///< The cylinder heights
Data<VecAxisCoord> d_cylinder_local_axes;

Data<Real> d_default_radius; ///< The default radius
Data<Real> d_default_height; ///< The default height
Data<Coord> d_default_local_axis; ///< The default local axis cylinder is modeled around

protected:
TCylinderModel();
TCylinderModel(core::behavior::MechanicalState<DataTypes>* mstate );

public:
virtual void init() override;

// -- CollisionModel interface

virtual void resize(int size) override;

virtual void computeBoundingTree(int maxDepth=0) override;

//virtual void computeContinuousBoundingTree(SReal dt, int maxDepth=0);

void draw(const core::visual::VisualParams* vparams,int index) override;

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


core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return _mstate; }
core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return m_mstate; }

Real radius(int index) const;

Expand All @@ -145,17 +143,6 @@ class TCylinderModel<sofa::defaulttype::StdRigidTypes<3,MyReal> > : public core:

const Coord & velocity(int index)const;

/// Pre-construction check method called by ObjectFactory.
/// Check that DataTypes matches the MechanicalState.
template<class T>
static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
{
if (dynamic_cast<core::behavior::MechanicalState<DataTypes>*>(context->getMechanicalState()) == NULL && context->getMechanicalState() != NULL)
return false;

return BaseObject::canCreate(obj, context, arg);
}

virtual std::string getTemplateName() const override
{
return templateName(this);
Expand All @@ -171,25 +158,26 @@ class TCylinderModel<sofa::defaulttype::StdRigidTypes<3,MyReal> > : public core:
Data<VecAxisCoord>& writeLocalAxes();

protected:
core::behavior::MechanicalState<DataTypes>* _mstate;
core::behavior::MechanicalState<DataTypes>* m_mstate;
};


template<class MyReal>
inline TCylinder<sofa::defaulttype::StdRigidTypes<3,MyReal> >::TCylinder(ParentModel* model, int index)
template<class DataTypes>
inline TCylinder<DataTypes>::TCylinder(ParentModel* model, int index)
: core::TCollisionElementIterator<ParentModel>(model, index)
{}

template<class MyReal>
inline TCylinder<sofa::defaulttype::StdRigidTypes<3,MyReal> >::TCylinder(const core::CollisionElementIterator& i)
template<class DataTypes>
inline TCylinder<DataTypes>::TCylinder(const core::CollisionElementIterator& i)
: core::TCollisionElementIterator<ParentModel>(static_cast<ParentModel*>(i.getCollisionModel()), i.getIndex())
{
}


typedef TCylinderModel<sofa::defaulttype::Rigid3Types> CylinderModel;
typedef TCylinder<sofa::defaulttype::Rigid3Types> Cylinder;

#if !defined(SOFA_COMPONENT_COLLISION_CYLINDERMODEL_CPP)
#if !defined(SOFA_COMPONENT_COLLISION_CYLINDERMODEL_CPP)
#ifndef SOFA_FLOAT
extern template class SOFA_BASE_COLLISION_API TCylinder<defaulttype::Rigid3dTypes>;
extern template class SOFA_BASE_COLLISION_API TCylinderModel<defaulttype::Rigid3dTypes>;
Expand All @@ -199,7 +187,6 @@ extern template class SOFA_BASE_COLLISION_API TCylinder<defaulttype::Rigid3fType
extern template class SOFA_BASE_COLLISION_API TCylinderModel<defaulttype::Rigid3fTypes>;
#endif
#endif

} // namespace collision

} // namespace component
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