int GUIManager::MainLoop(sofa::simulation::Node::SPtr groot, const char* filename)
{
int ret = 0;
if (!currentGUI)
{
createGUI(groot, filename);
}
ret = currentGUI->mainLoop();
if (ret)
{
dmsg_error("GUIManager") << " GUI '"<<currentGUI->GetGUIName()<<"' main loop failed (code "<<ret<<").";
return ret;
}
return ret;
}
component::collision::BodyPicked PickHandler::findCollisionUsingBruteForce(const defaulttype::Vector3& origin,
const defaulttype::Vector3& direction,
double maxLength, core::objectmodel::BaseNode* rootNode)
{
BodyPicked result;
// Look for particles hit by this ray
// msg_info()<<"PickHandler::findCollisionUsingBruteForce" << std::endl;
simulation::MechanicalPickParticlesVisitor picker(sofa::core::ExecParams::defaultInstance(), origin, direction, maxLength, 0 );
//core::objectmodel::BaseNode* rootNode = mouseNode->getRoot(); //sofa::simulation::getSimulation()->getContext()->toBaseNode();
if (rootNode) picker.execute(rootNode->getContext());
else
dmsg_error("PickHandler") << "Root node not found.";
picker.getClosestParticle( result.mstate, result.indexCollisionElement, result.point, result.rayLength );
return result;
}
void InciseAlongPathPerformer::PerformCompleteIncision()
{
if (firstIncisionBody.body == NULL || startBody.body == NULL)
{
msg_error("InciseAlongPathPerformer") << "One picked body is null." ;
return;
}
if (firstIncisionBody.indexCollisionElement == startBody.indexCollisionElement)
{
msg_error("InciseAlongPathPerformer") << "Picked body are the same." ;
return;
}
// Initial point could have move due to gravity: looking for new coordinates of first incision point and triangle index.
bool findTri = false;
sofa::helper::vector <unsigned int> triAroundVertex = startBody.body->getMeshTopology()->getTrianglesAroundVertex(initialNbPoints);
// Check if point index and triangle index are consistent.
for (unsigned int j = 0; j<triAroundVertex.size(); ++j)
if (triAroundVertex[j] == initialNbTriangles)
{
findTri = true;
break;
}
if (!findTri)
{
dmsg_error("InciseAlongPathPerformer") << " initial point of incision has not been found." ;
return;
}
// Get new coordinate of first incision point:
sofa::component::container::MechanicalObject<defaulttype::Vec3Types>* MechanicalObject=NULL;
startBody.body->getContext()->get(MechanicalObject, sofa::core::objectmodel::BaseContext::SearchRoot);
const sofa::defaulttype::Vector3& the_point = (MechanicalObject->read(core::ConstVecCoordId::position())->getValue())[initialNbPoints];
// Get triangle index that will be incise
// - Creating direction of incision
sofa::defaulttype::Vector3 dir = startBody.point - the_point;
// - looking for triangle in this direction
sofa::component::topology::TriangleSetGeometryAlgorithms<defaulttype::Vec3Types>* triangleGeometry;
startBody.body->getContext()->get(triangleGeometry);
int the_triangle = triangleGeometry->getTriangleInDirection(initialNbPoints, dir);
if (the_triangle == -1)
{
msg_error("InciseAlongPathPerformer") << " initial triangle of incision has not been found." ;
return;
}
sofa::core::topology::TopologyModifier* topologyModifier;
startBody.body->getContext()->get(topologyModifier);
// Handle Removing of topological element (from any type of topology)
if(topologyModifier)
{
topologyChangeManager.incisionCollisionModel(startBody.body, startBody.indexCollisionElement, startBody.point,
firstIncisionBody.body, (unsigned int)the_triangle, the_point,
snapingValue, snapingBorderValue );
}
startBody = firstIncisionBody;
firstIncisionBody.body = NULL;
finishIncision = false; //Incure no second cut
}
component::collision::BodyPicked PickHandler::findCollisionUsingPipeline()
{
BodyPicked result;
if (!mouseCollision) {
dmsg_error("PickHandler") << "No mouseCollision.";
return result;
}
const defaulttype::Vector3& origin = mouseCollision->getRay(0).origin();
const defaulttype::Vector3& direction = mouseCollision->getRay(0).direction();
const double& maxLength = mouseCollision->getRay(0).l();
const std::set< sofa::component::collision::BaseRayContact*> &contacts = mouseCollision->getContacts();
for (std::set< sofa::component::collision::BaseRayContact*>::const_iterator it=contacts.begin(); it != contacts.end(); ++it)
{
const sofa::helper::vector<core::collision::DetectionOutput*>& output = (*it)->getDetectionOutputs();
sofa::core::CollisionModel *modelInCollision;
for (unsigned int i=0; i<output.size(); ++i)
{
if (output[i]->elem.first.getCollisionModel() == mouseCollision)
{
modelInCollision = output[i]->elem.second.getCollisionModel();
if (!modelInCollision->isSimulated()) continue;
const double d = (output[i]->point[1]-origin)*direction;
if (d<0.0 || d>maxLength) continue;
if (result.body == NULL || d < result.rayLength)
{
result.body=modelInCollision;
result.indexCollisionElement = output[i]->elem.second.getIndex();
result.point = output[i]->point[1];
#ifdef DETECTIONOUTPUT_BARYCENTRICINFO
result.baryCoords = output[i]->baryCoords[1];
#endif
result.dist = (output[i]->point[1]-output[i]->point[0]).norm();
result.rayLength = d;
}
}
else if (output[i]->elem.second.getCollisionModel() == mouseCollision)
{
modelInCollision = output[i]->elem.first.getCollisionModel();
if (!modelInCollision->isSimulated()) continue;
const double d = (output[i]->point[0]-origin)*direction;
if (d<0.0 || d>maxLength) continue;
if (result.body == NULL || d < result.rayLength)
{
result.body=modelInCollision;
result.indexCollisionElement = output[i]->elem.first.getIndex();
result.point = output[i]->point[0];
#ifdef DETECTIONOUTPUT_BARYCENTRICINFO
result.baryCoords = output[i]->baryCoords[0];
#endif
result.dist = (output[i]->point[1]-output[i]->point[0]).norm();
result.rayLength = d;
}
}
}
}
return result;
}
