TAPsModelDefBasedOnFEM_CD.hpp

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/******************************************************************************
TAPsModelDefBasedOnFEM_CD.hpp
******************************************************************************/
/******************************************************************************
SUKITTI PUNAK   (04/15/2010)
UPDATE          (12/05/2010)
******************************************************************************/
#ifndef TAPs_MODEL_DEF_BASED_ON_FEM_CD_HPP
#define TAPs_MODEL_DEF_BASED_ON_FEM_CD_HPP

#include "../../Physics/TAPsForces.hpp"

BEGIN_NAMESPACE_TAPs__FEM
//=============================================================================
template <typename T>
class ModelDefBasedOnFEM_CD {
//=============================================================================
public:
    // Member Functions -------------------------------------------------------
    friend std::ostream & operator<< ( std::ostream &output, ModelDefBasedOnFEM_CD<T> const &obj )
    {
        output << obj.StrInfo();
        return output;
    }
    //-------------------------------------------------------------------------
    ModelDefBasedOnFEM_CD ();
    //ModelDefBasedOnFEM_CD ( ModelDefBasedOnFEM_CD<T,DATA> const &orig );
    virtual ~ModelDefBasedOnFEM_CD ();
    //-------------------------------------------------------------------------
    virtual std::string StrInfo () const;
    //-------------------------------------------------------------------------
    //inline ModelDefBasedOnFEM_CD<T,DATA> & operator= ( ModelDefBasedOnFEM_CD<T,DATA> const &orig );
    //-------------------------------------------------------------------------

    void Reset ();

    bool GetCollisionStatus () const    { return m_bCollisionStatus; }
    void SetCollisionStatus ( bool b )  { m_bCollisionStatus = b; }

    inline T    GetCDForceScale () const    { return m_tCDForceScale; }
    inline void SetCDForceScale ( T s ) { m_tCDForceScale = s; }

    inline T    GetGrabbedForceScale () const   { return m_tGrabbedForceScale; }
    inline void SetGrabbedForceScale ( T s )    { m_tGrabbedForceScale = s; }

    virtual bool Init ( 
        OpenGL::OpenGLHalfEdgeTrigonalModel<T> * pHEModel   
    );

    inline virtual void ClearCollidedParts () = 0;

    inline virtual bool CDRwith (
        MultiBoundingVolume<T> * const pMBVObj      
    ) = 0;

    inline virtual bool CDRwith (
        MultiBoundingVolume<T> * const pMBVObj,     
        TransformationSupport<T> * const pTransform 
    ) = 0;

    // Data Members -----------------------------------------------------------
//=============================================================================
protected:

    template <typename T>
    class CDObj {
    public:
        // Member functions -----------------------------------------
        CDObj ( HEVertex<T> * _pHEVertex, Vector3<T> const & _PosAdj )
            : pHEVertex( _pHEVertex ), PosAdj( _PosAdj ), PtForce()
        {}

        CDObj ( CDObj const & O )
            : pHEVertex( O.pHEVertex ), PosAdj( O.PosAdj ), PtForce( O.PtForce )
        {}

        CDObj & operator= ( CDObj const & O )
        {
            pHEVertex = O.pHEVertex;
            PosAdj = O.PosAdj;
            PtForce = O.PtForce;
            return *this;
        }
        
        // Data members ---------------------------------------------
        HEVertex<T> *   pHEVertex;  
        Vector3<T>      PosAdj;     
        PointForce<T>   PtForce;    
    };

    // Member Functions -------------------------------------------------------

public:
    // HAVE TO BE HERE, SINCE CDObj IS DECLARED HERE (ABOVE).
    std::vector< CDObj<T> > const & RefToCollidedMeshParts () const { return m_ListOfCDObjs; }
    std::vector< CDObj<T> > &       RefToCollidedMeshParts ()       { return m_ListOfCDObjs; }


    //=========================================================================
    // Grabbing
    //-------------------------------------------------------------------------

    inline int GrabbedBy (
        Vector3<T> *    pSpherePos,     
        T               sphereRadius    
    );

    //inline int GrabbedBy (
    //  MultiBoundingVolume<T> * const pMBVObj      //!< a multi bounding volume object
    //);

    //inline int GrabbedBy (
    //  MultiBoundingVolume<T> * const pMBVObj,     //!< a multi bounding volume object
    //  TransformationSupport<T> * const pTransform //!< an extra transformation for the MBV object
    //);

    inline void ReleaseGrabbedPart ( int grabbedPartID );

    inline virtual void MoveGrabbedPart ( int grabbedPartID ) = 0;

    inline virtual void MoveAllGrabbedParts () = 0;

    int GetNumOfGrabbedParts () const   { return static_cast<int>( m_ListOfGrabbedParts.size() ); }

    int GetMaxNumOfGrabbedPartsAllowed () const { return MAX_NUMBER_OF_GRABBED_PARTS; }

protected:
    static const int    MAX_NUMBER_OF_GRABBED_PARTS = 32;           
    bool    m_ListOfGrabbedParts_IsGrabbedStatus[MAX_NUMBER_OF_GRABBED_PARTS];  
    class GrabbedPartData {
    public:
        GrabbedPartData () : ID(-1), pGrabbingPosition( NULL ) {}

        GrabbedPartData & operator= ( GrabbedPartData const & orig )
        {
            GrabbedVertices = orig.GrabbedVertices;
            ID = orig.ID;
            pGrabbingPosition = orig.pGrabbingPosition;
            return *this;
        }

        void Clear ()
        {
            GrabbedVertices.clear();
            ID = -1;
        }

        std::vector< CDObj<T> > GrabbedVertices;    
        int                     ID;                 
        Vector3<T> *            pGrabbingPosition;  
    };
    std::vector< GrabbedPartData >  m_ListOfGrabbedParts;   

    inline virtual bool GrabbedBy (
        MultiBoundingVolume<T> * const pMBVObj,     
        std::vector< CDObj<T> > *   pListOfCDObj    
    );

    //-------------------------------------------------------------------------
    // Grabbing
    //=========================================================================



protected:

    inline virtual bool CORE_CDwith (
        MultiBoundingVolume<T> * const pMBVObj,     
        std::vector< CDObj<T> > *   pListOfCDObj    
    );

    // Data Members -----------------------------------------------------------
    OpenGL::OpenGLHalfEdgeTrigonalModel<T> *    m_pHEModel; 
    bool    m_bCollisionStatus;     
    std::vector< CDObj<T> > m_ListOfCDObjs; 

    T   m_tCDForceScale;        
    T   m_tGrabbedForceScale;   




    // DEBUG
    void PrintListOfCDObjs ()
    {
        for ( unsigned int i = 0; i < m_ListOfCDObjs.size(); ++i ) {
            std::cout << i << "\tHEVertex *: " << m_ListOfCDObjs[i].pHEVertex
                << "\t" << *(m_ListOfCDObjs[i].pHEVertex->GetBarycentricPtr())
                //<< "\t" << m_ListOfCDObjs[i].pHEVertex->GetBarycentricPtr()->GetElementID()
                //<< "\t" << m_ListOfCDObjs[i].pHEVertex->GetBarycentricPtr()->RetVertexPtr()
                //<< "\t" << *(m_ListOfCDObjs[i].pHEVertex->GetBarycentricPtr()->RetVertexPtr())
                //<< "\t" << &(m_ListOfCDObjs[i].pHEVertex->GetBarycentricPtr()->RetGenBaryCoords())
                //<< "\t" << m_ListOfCDObjs[i].pHEVertex->GetBarycentricPtr()->RetGenBaryCoords()
                << "\tID: " << m_ListOfCDObjs[i].pHEVertex->GetID() 
                << "\t" << m_ListOfCDObjs[i].PosAdj 
                << "\t" << m_ListOfCDObjs[i].PtForce 
                << "\n";

            //TetBarycentricCoordsForVertexRef<T> * ptr = dynamic_cast< TetBarycentricCoordsForVertexRef<T> * >( m_ListOfCDObjs[i].pHEVertex->GetBarycentricPtr() );
            //if ( ptr ) {
            //  std::cout << "YES\n";
            //}
        }
    }

//=============================================================================
private:
    // Member Functions -------------------------------------------------------
    // Data Members -----------------------------------------------------------
//=============================================================================

#if defined(__gl_h_) || defined(__GL_H__)
public:
#endif

//=============================================================================
}; // END CLASS ModelDefBasedOnFEM_CD
//=============================================================================
END_NAMESPACE_TAPs__FEM
//-----------------------------------------------------------------------------
#include "TAPsModelDefBasedOnFEM_CD.cpp"

// Include definition if TAPs_USE_EXPORT is not defined
//#if !defined( TAPs_USE_EXPORT )
//  #include "TAPsModelDefBasedOnFEM_CD.cpp"
//#endif
//-----------------------------------------------------------------------------
#endif
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