colinfo.h

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/*
 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
 * All rights reserved. This program is made available under the terms of the
 * Eclipse Public License v1.0 which accompanies this distribution, and is
 * available at http://www.eclipse.org/legal/epl-v10.html
 * Contributors:
 * The University of Tokyo
 */
#ifndef __COLINFO_H__
#define __COLINFO_H__

#include <chain.h>
//#include <tList.h>

class ColPair
{
        friend class ColInfo;
public:
        ColPair(Chain* chain, const char* jointname1, const char* charname1, const char* jointname2, const char* charname2) {
        }
        
        ~ColPair() {
        }

        Joint* GetJoint(int i) {
                return joints[i];
        }

private:
        Joint* joints[2];
};

class ColInfo
{
        friend class ColPair;
        friend class ColModel;
public:
        ColInfo() {
                n_pairs = 0;
                n_allocated_pairs = 0;
                n_models = 0;
                n_allocated_models = 0;
                n_total_tri = 0;
                pairs = 0;
                models = 0;
        }
        ~ColInfo() {
                if(pairs)
                {
                        for(int i=0; i<n_pairs; i++) delete pairs[i];
                        delete[] pairs;
                }
                if(models)
                {
                        for(int i=0; i<n_models; i++) delete models[i];
                        delete[] models;
                }
        }

        /*
         * add collision pairs by character name
         */
        int AddCharPairs(const char* char1, const char* char2,
                                         Chain* chain, SceneGraph* sg);
        /*
         * add collision pairs by joint name
         */
        int AddJointPair(const char* joint1, const char* joint2,
                                         Chain* chain, SceneGraph* sg);

        /*
         * query information
         */
        int NumPairs() {
                return n_pairs;
        }
        int NumModels() {
                return n_models;
        }
        int NumTriangles() {
                return n_total_tri;
        }
        ColPair* Pair(int i) {
                return pairs[i];
        }
        ColModel* Model(int i) {
                return models[i];
        }
        ColModel* Model(Joint* jref) {
                for(int i=0; i<n_models; i++)
                {
                        if(models[i]->joint == jref) return models[i];
                }
                return 0;
        }
        ColPair* Pair(Joint* jref1, Joint* jref2) {
                for(int i=0; i<n_pairs; i++)
                {
                        if(pairs[i]->models[0]->joint == jref1 && pairs[i]->models[1]->joint == jref2) return pairs[i];
                        else if(pairs[i]->models[1]->joint == jref1 && pairs[i]->models[0]->joint == jref2) return pairs[i];
                }
                return 0;
        }
        ColModel* AddModel(Joint* jref, SceneGraph* sg);

private:
        void allocate_pair(int n_new_alloc) {
                ColPair** tmp = pairs;
                pairs = new ColPair* [n_new_alloc];
                if(tmp)
                {
                        for(int i=0; i<n_allocated_pairs; i++) pairs[i] = tmp[i];
                        delete[] tmp;
                }
                n_allocated_pairs = n_new_alloc;
        }
        void allocate_model(int n_new_alloc) {
                ColModel** tmp = models;
                models = new ColModel* [n_new_alloc];
                if(tmp)
                {
                        for(int i=0; i<n_allocated_models; i++) models[i] = tmp[i];
                        delete[] tmp;
                }
                n_allocated_models = n_new_alloc;
        }
        void add_pair(ColPair* p);
        void add_model(ColModel* m);

        int add_char_pairs(Joint* cur, const char* char1, const char* char2, Chain* chain, SceneGraph* sg);
        int add_char_pairs(Joint* j1, Joint* j2, const char* char2, SceneGraph* sg);
        int add_joint_pair(Joint* j1, Joint* j2, SceneGraph* sg);
        
        int n_pairs;
        int n_allocated_pairs;
        ColPair** pairs;

        int n_models;
        int n_allocated_models;
        ColModel** models;
        int n_total_tri;
};


#endif