inline void _collisonInstrumentTissue( //Input parameters:
const bool hastopologychange, //Topology change?
const double &cur_time, //current time, in mili-sec
CSceneGraph &tissue, //The scene graph with tissue objects in
CSceneGraph &instrument, //instruments
const Vector3d*fortDeformedVert,//the deformed vertices, in fortran array (starting at 1, 0 is for omit the adding 1)
const int BUFFERLIMIT, //Output buffer size limit
int &nBufferLength, //
int indexbuffer[], //
Vector3d dispbuffer[]) //
{
int nTotalFace;
if (objs.m_nObjects==0){
const bool updateonly = false;
const int ntool = addInstrumentObjects(instrument, objs, updateonly);
if (ntool<=0) return;
const int ntissue = addTissueObjects(fortDeformedVert, tissue, objs, hastopologychange, updateonly, nTotalFace);
if (ntissue<=0) return;
}
else{
const bool updateonly = true;
addInstrumentObjects(instrument, objs, updateonly);
addTissueObjects(fortDeformedVert, tissue, objs, hastopologychange, updateonly, nTotalFace);
}
//do collsion detection
if (nTotalFace==0){//If there is no object boundary surface in the scene, no need
printf("SCENE EMPTY! HALT!\n");
exit(0);
nBufferLength = 0;
}
else{
printf("Total %d triangles for CD!\n", nTotalFace);
runCollisionDetection(objs);
parseCollisionResults(objs, fortDeformedVert, BUFFERLIMIT, nBufferLength, indexbuffer, dispbuffer);
}
//----report buffer info.
//printf("Collision buffer size %d.\n", nBufferLength);
for (int i=0; i<nBufferLength; i++){
const int vv = indexbuffer[i];
const double x = dispbuffer[i].x;
const double y = dispbuffer[i].y;
const double z = dispbuffer[i].z;
printf("VID %d, %lg %lg %lg\n", vv, x, y, z);
}
//nBufferLength = 0;
if (USE_INTERNAL_SIMULATOR){
const int nv=nBufferLength;
const int *pVertexID = indexbuffer;
const Vector3d *pVertexPos = dispbuffer;
CSimuEngine *peng = CSimuEngine::getInstance();
const double inputTimeInterval=200.00; //33 milisec (30hz) impluse contraint
peng->updateCollisionConstraint(pVertexPos, pVertexID, nv, cur_time, inputTimeInterval);
}
}
void display ( void )
{
if ( debugOpt != DRAW_WITHOUT_SHADERS &&
debugOpt != DRAW_WITHOUT_PHYSICS )
{
runCollisionDetection () ;
runPhysics () ;
}
/* Now render the scene using the results */
glViewport ( 0, 0, win_width, win_height ) ;
drawCubes () ;
/* All done! */
glutSwapBuffers () ;
glutPostRedisplay () ;
}