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BruteForceBroadPhase.cpp
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BruteForceBroadPhase.cpp
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/******************************************************************************
* 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 *
******************************************************************************/
#include <sofa/component/collision/detection/algorithm/BruteForceBroadPhase.h>
#include <sofa/core/ObjectFactory.h>
#include <sofa/core/collision/Intersection.h>
namespace sofa::component::collision::detection::algorithm
{
int BruteForceBroadPhaseClass = core::RegisterObject("Broad phase collision detection using extensive pair-wise tests")
.add< BruteForceBroadPhase >()
;
BruteForceBroadPhase::BruteForceBroadPhase()
: d_box(initData(&d_box, "box", "if not empty, objects that do not intersect this bounding-box will be ignored"))
{
box.setParent (&d_box);
}
void BruteForceBroadPhase::init()
{
reinit();
}
void BruteForceBroadPhase::reinit()
{
if (d_box.getValue()[0][0] >= d_box.getValue()[1][0])
{
boxModel.reset();
}
else
{
if (!boxModel) boxModel = sofa::core::objectmodel::New<collision::geometry::CubeCollisionModel>();
boxModel->resize(1);
boxModel->setParentOf(0, d_box.getValue()[0], d_box.getValue()[1]);
}
}
void BruteForceBroadPhase::beginBroadPhase()
{
core::collision::BroadPhaseDetection::beginBroadPhase();
m_collisionModels.clear();
}
void BruteForceBroadPhase::addCollisionModel (core::CollisionModel *cm)
{
if (cm == nullptr || cm->empty())
return;
assert(intersectionMethod != nullptr);
dmsg_info() << "CollisionModel " << cm->getName() << "(" << cm << ") of class " << cm->getClassName()
<< " is added in broad phase (" << m_collisionModels.size() << " collision models)";
// If a box is defined, check that the collision model intersects the box
// If the collision model does not intersect the box, it is ignored from the collision detection
if (boxModel && !intersectWithBoxModel(cm))
{
return;
}
if (doesSelfCollide(cm))
{
// add the collision model to be tested against itself
cmPairs.emplace_back(cm, cm);
}
core::CollisionModel* finalCollisionModel = cm->getLast();
// Browse all other collision models to check if there is a potential collision (conservative check)
for (const auto& model : m_collisionModels)
{
auto* cm2 = model.firstCollisionModel;
auto* finalCm2 = model.lastCollisionModel;
// ignore this pair if both are NOT simulated (inactive)
if (!cm->isSimulated() && !cm2->isSimulated())
{
continue;
}
if (!keepCollisionBetween(finalCollisionModel, finalCm2))
continue;
bool swapModels = false;
core::collision::ElementIntersector* intersector = intersectionMethod->findIntersector(cm, cm2, swapModels);
if (intersector == nullptr)
continue;
core::CollisionModel* cm1 = cm;
if (swapModels)
{
std::swap(cm1, cm2);
}
// Here we assume a single root element is present in both models
if (intersector->canIntersect(cm1->begin(), cm2->begin(), intersectionMethod))
{
//both collision models will be further examined in the narrow phase
cmPairs.emplace_back(cm1, cm2);
}
}
//accumulate CollisionModel's in a vector so the next CollisionModel can be tested against all previous ones
m_collisionModels.emplace_back(cm, finalCollisionModel);
}
bool BruteForceBroadPhase::keepCollisionBetween(core::CollisionModel *cm1, core::CollisionModel *cm2)
{
return cm1->canCollideWith(cm2) && cm2->canCollideWith(cm1);
}
bool BruteForceBroadPhase::doesSelfCollide(core::CollisionModel *cm) const
{
if (cm->isSimulated() && cm->getLast()->canCollideWith(cm->getLast()))
{
// self collision
bool swapModels = false;
core::collision::ElementIntersector* intersector = intersectionMethod->findIntersector(cm, cm, swapModels);
if (intersector != nullptr)
{
return intersector->canIntersect(cm->begin(), cm->begin(), intersectionMethod);
}
}
return false;
}
bool BruteForceBroadPhase::intersectWithBoxModel(core::CollisionModel *cm) const
{
bool swapModels = false;
core::collision::ElementIntersector* intersector = intersectionMethod->findIntersector(cm, boxModel.get(), swapModels);
if (intersector)
{
core::CollisionModel* cm1 = (swapModels?boxModel.get():cm);
core::CollisionModel* cm2 = (swapModels?cm:boxModel.get());
// Here we assume a single root element is present in both models
return intersector->canIntersect(cm1->begin(), cm2->begin(), intersectionMethod);
}
return true;
}
}