-
Notifications
You must be signed in to change notification settings - Fork 298
/
CollisionAnimationLoop.h
90 lines (71 loc) · 4.02 KB
/
CollisionAnimationLoop.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
/******************************************************************************
* SOFA, Simulation Open-Framework Architecture *
* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
* *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This program 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 Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this program. If not, see <http://www.gnu.org/licenses/>. *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_SIMULATION_TREE_COLLISIONANIMATIONLOOP_H
#define SOFA_SIMULATION_TREE_COLLISIONANIMATIONLOOP_H
#include <sofa/helper/AdvancedTimer.h>
#include <sofa/core/objectmodel/BaseObject.h>
#include <sofa/core/behavior/BaseAnimationLoop.h>
#include <sofa/simulation/config.h>
#include <sofa/simulation/Node.h>
namespace sofa::simulation
{
/**
* \brief Component responsible for main simulation algorithms, managing how
* and when collisions and integrations computations happen.
*
* This class can optionally replace the default computation scheme of computing
* collisions then doing an integration step.
*
* Note that it is in a preliminary stage, hence its fonctionnalities and API will
* certainly change soon.
*
*/
class SOFA_SIMULATION_CORE_API CollisionAnimationLoop : public sofa::core::behavior::BaseAnimationLoop
{
public:
typedef sofa::core::behavior::BaseAnimationLoop Inherit;
typedef sofa::core::objectmodel::BaseContext BaseContext;
typedef sofa::core::objectmodel::BaseObjectDescription BaseObjectDescription;
protected:
CollisionAnimationLoop();
~CollisionAnimationLoop() override;
protected:
/// @name Visitors
/// These methods provides an abstract view of the mechanical system to animate.
/// They are implemented by executing Visitors in the subtree of the scene-graph below this solver.
/// @{
/// Function meant to be called before the actual collision computation
virtual void preCollisionComputation(const core::ExecParams* params = core::execparams::defaultInstance());
/// Function performing the actual collision computation
virtual void internalCollisionComputation(const core::ExecParams* params = core::execparams::defaultInstance());
/// Function meant to be called after the actual collision computation
virtual void postCollisionComputation(const core::ExecParams* params = core::execparams::defaultInstance());
/// Activate collision pipeline
virtual void computeCollision(const core::ExecParams* params = core::execparams::defaultInstance());
/// Activate OdeSolvers
virtual void integrate(const core::ExecParams* params, SReal dt);
typedef simulation::Node::Sequence<core::behavior::OdeSolver> Solvers;
typedef core::collision::Pipeline Pipeline;
const Solvers& getSolverSequence();
};
} // namespace sofa::simulation
#endif /* SOFA_SIMULATION_TREE_COLLISIONANIMATIONLOOP_H */