CollisionPairInserterBase.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:
 * National Institute of Advanced Industrial Science and Technology (AIST)
 * General Robotix Inc. 
 */

#ifndef HRPCOLLISION_COLLISION_PAIR_INSERTER_BASE_H_INCLUDED
#define HRPCOLLISION_COLLISION_PAIR_INSERTER_BASE_H_INCLUDED

#include "CollisionData.h"
#include <boost/intrusive_ptr.hpp>
#include <vector>

namespace Opcode {

    class AABBCollisionNode;
    class MeshInterface;
}
    
namespace hrp {
    class ColdetModelSharedDataSet;

    class CollisionPairInserterBase
    {
      public:
        CollisionPairInserterBase() : normalVectorCorrection(true) {}
        virtual ~CollisionPairInserterBase(){}
        void clear(){
            cdContact.clear();
        }

        virtual int detectTriTriOverlap(
            const Vector3& P1,
            const Vector3& P2,
            const Vector3& P3,
            const Vector3& Q1,
            const Vector3& Q2,
            const Vector3& Q3,
            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,
                  Vector3 i_points[4],
                  Vector3& n_vector,
                  double depth,
                  Vector3& n1,
                  Vector3& m1,
                  int ctype,
                  Opcode::MeshInterface* mesh1,
                  Opcode::MeshInterface* mesh2)=0;

        std::vector<collision_data>& collisions() {
            return cdContact;
        }

        void set(ColdetModelSharedDataSet* model0, 
                 ColdetModelSharedDataSet* model1){
            models[0] = model0;
            models[1] = model1;
        }

        Matrix33 CD_Rot1;       
        Vector3 CD_Trans1;      
        double CD_s1;           

        Matrix33 CD_Rot2;       
        Vector3 CD_Trans2;      
        double CD_s2;           

        std::vector<collision_data> cdContact; 
        
        ColdetModelSharedDataSet *models[2];

        bool normalVectorCorrection;
    };
}
#endif