swiftcollisiondetector.h

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/*
    Sheep - A Rigid Body Dynamics Engine
    Copyright (C) 2001-2004 Francois Beaune
    Contact: http://toxicengine.sourceforge.net/

    This file is part of Sheep.

    Sheep is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    Sheep is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with Sheep; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef SHEEP_GEOMETRY_SWIFTCOLLISIONDETECTOR_H
#define SHEEP_GEOMETRY_SWIFTCOLLISIONDETECTOR_H

#include "engine/dynamics/contact.h"
#include "icollisiondetector.h"

#include "SWIFT.h"

#include <map>

namespace sheep {

    class RigidObject;
    class RigidModel;

    class SWIFTCollisionDetector : public ICollisionDetector {
    public:
        SWIFTCollisionDetector();
        virtual ~SWIFTCollisionDetector();

        virtual void Insert(RigidObject *object);
        virtual void Remove(RigidObject *object);

        //! This method must be called (before proceeding to any query)
        //! every time bodies transformation have changed or every time
        //! bodies have been inserted to or removed from the system.
        virtual void RefreshTransformations();

        virtual bool AreObjectsDisjoint() const;
        virtual bool AreObjectHullsDisjoint() const;

        virtual void FindContacts(ContactList *contacts);

    private:
        SWIFT_Scene *m_scene;

        //!\todo Consider using a hash_map container for faster lookup.
        typedef std::map<int, RigidObject *> id_to_object_map;
        typedef std::map<RigidObject *, int> object_to_id_map;
        typedef std::map<RigidModel *, int> model_to_id_map;

        id_to_object_map m_id_to_object;
        object_to_id_map m_object_to_id;
        model_to_id_map m_model_to_id;

        bool m_are_disjoint;    //!< Are objects disjoints?
        int m_num_pairs;
        int *m_oids;            //!< Colliding pairs.
        int *m_pids;
        int *m_feature_types;
        int *m_feature_ids;
        SWIFT_Real *m_distances;
    };

#include "swiftcollisiondetector.inl"

}

#endif  // !SHEEP_GEOMETRY_SWIFTCOLLISIONDETECTOR_H

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