CollisionPairInserter.h

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#ifndef CNOID_AIST_COLLISION_DETECTOR_COLLISION_PAIR_INSERTER_H
#define CNOID_AIST_COLLISION_DETECTOR_COLLISION_PAIR_INSERTER_H
 
#include "CollisionData.h"
#include <vector>
 
namespace cnoid {
class ColdetModelInternalModel;
}
 
namespace Opcode {
 
class AABBCollisionNode;
class MeshInterface;
 
class CollisionPairInserter
{
public:
    virtual ~CollisionPairInserter(){}
    void clear(){
        cdContact.clear();
    }
 
    virtual int detectTriTriOverlap(
        const cnoid::Vector3& P1,
        const cnoid::Vector3& P2,
        const cnoid::Vector3& P3,
        const cnoid::Vector3& Q1,
        const cnoid::Vector3& Q2,
        const cnoid::Vector3& Q3,
        cnoid::collision_data* col_p)=0;
 
    virtual int apply(const Opcode::AABBCollisionNode* b1,
                      const Opcode::AABBCollisionNode* b2,
                      int id1, int id2,
                      int num_of_i_points,
                      cnoid::Vector3 i_points[4],
                      cnoid::Vector3& n_vector,
                      double depth,
                      cnoid::Vector3& n1,
                      cnoid::Vector3& m1,
                      int ctype,
                      Opcode::MeshInterface* mesh1,
                      Opcode::MeshInterface* mesh2)=0;
 
    std::vector<cnoid::collision_data>& collisions() {
        return cdContact;
    }
 
    void set(cnoid::ColdetModelInternalModel* model0, 
             cnoid::ColdetModelInternalModel* model1){
        models[0] = model0;
        models[1] = model1;
    }
 
    cnoid::Matrix3 CD_Rot1;     
    cnoid::Vector3 CD_Trans1;   
    double CD_s1;               
 
    cnoid::Matrix3 CD_Rot2;     
    cnoid::Vector3 CD_Trans2;   
    double CD_s2;               
 
    std::vector<cnoid::collision_data> cdContact; 
        
    cnoid::ColdetModelInternalModel* models[2];
};
 
}
 
#endif