TAPsModelSurgicalSutureWithHeadNeedle_CD.hpp

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/******************************************************************************
TAPsModelSurgicalSutureWithHeadNeedle_CD.hpp
******************************************************************************/
/******************************************************************************
SUKITTI PUNAK   (08/12/2010)
UPDATE          (08/12/2010)
******************************************************************************/
#ifndef TAPs_MODEL_SURGICAL_SUTURE_WITH_HEAD_NEEDLE__CD_HPP
#define TAPs_MODEL_SURGICAL_SUTURE_WITH_HEAD_NEEDLE__CD_HPP

// For collision detection
#include "../../CD/TAPsBVHTree.hpp"
#include "../../CD/TAPsMultiBoundingVolume.hpp" // for collision detection by bounding volumes


BEGIN_NAMESPACE_TAPs
//=============================================================================
template <typename T>
class ModelSurgicalSutureWithHeadNeedle_CD {

public:
    //-------------------------------------------------------------------------
    ModelSurgicalSutureWithHeadNeedle_CD ();

    virtual ~ModelSurgicalSutureWithHeadNeedle_CD ();

    void CreateCD ( 
        RigidBodyDynamics<T> *  pHeadNeedle,                
        InteractionPoint<T> *   pNeedleSharpPt,             
        InteractionPoint<T> *   pNeedleSutureConnectingPt   
    );

    void DeleteCD ();

    void BuildBVHTree ();

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

    //inline virtual bool CDRwith (
    //  TAPs::OpenGL::HETriMeshOneModelMultiParts<T> * pObj,    //!< a HETriMeshOneModelMultiParts object
    //  TransformationSupport<T> * const pTransform = NULL      //!< an extra transformation for the HETriMeshOneModelMultiParts object
    //);

    //-------------------------------------------------------------------------
    // Operations

    BVHTree<T> * GetBVHTree ()  { return m_BVHTree; }

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

    BVHTree<T> * BuildBVHTreeRecursively (
        int startID,                    
        BVHNode<T> ** childNodeList,    
        int numOfChildNodes             
    );

    void UpdateBVHTree ();
    void UpdateBVHNodeRecursively ( BVHNode<T> * node );

    // Data Members -----------------------------------------------------------

    BVHTree<T> *    m_BVHTree;  

    TransformationSupport<T>    m_DummyTransform;   

    RigidBodyDynamics<T> *      m_pHeadNeedle;                  
    InteractionPoint<T> *   m_pNeedleSharpPt;               
    InteractionPoint<T> *   m_pNeedleSutureConnectingPt;    

    Vector3<T> *    m_pHeadNeedleTranslation;   
    Quaternion<T> * m_pHeadNeedleRotation;      

//=============================================================================
private:
    // Member Functions -------------------------------------------------------
//=============================================================================

//OpenGL
//-----------------------------------------------------------------------------
//#define __GL_H__
//#define   TAPs_USE_GLSL
//-----------------------------------------------------------------------------
#if defined(__gl_h_) || defined(__GL_H__)
public:
    inline virtual void Draw () const;
    
    //OpenGL::OpenGLObj Rendering;  //!< OpenGL Object has material color properties
#endif//defined(__gl_h_) || defined(__GL_H__)
//-----------------------------------------------------------------------------
//=============================================================================
}; // CLASS END: ModelSurgicalSutureWithHeadNeedle_CD
//=============================================================================
END_NAMESPACE_TAPs
//-----------------------------------------------------------------------------
#include "TAPsModelSurgicalSutureWithHeadNeedle_CD.cpp"
//-----------------------------------------------------------------------------
#endif
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