CollisionFilterBase.h

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#ifndef COLLISION_FILTER_BASE_H
#define COLLISION_FILTER_BASE_H

#include <vreckoDP/PHANToM/PHANToM_Device.h>

#ifdef COMPILE_PHANTOM_DEVICE


#if 0
    #define PH_LOG_WRITECOUNTER(name, value) logger.writeBMCounter(name, value)
#else
    #define PH_LOG_WRITECOUNTER(name, value) {}
#endif



namespace vreckoDP_PHANToM {


class CollisionFilterBase : public PHANToMFilter {
public:
    CollisionFilterBase(const char* abName);
    ~CollisionFilterBase() {};

    virtual bool loadXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *parameters);

    enum ForceCalcType {
        // Probably in the order of complexity. The first ones may not support all features
        // (such as negative distances, torque, multiple objects handling etc.)

// This group is basically obsolete - no support for negative distances, torque or object sub-transforms (i.e. multiple held objects)
        SimpleAverage,      // average the forces
        WeightedAverage,    // average the forces, but give priority to the stronger ones
        LargestOnly,        // ONLY the largest force
        SumAndClip,         // Sum all the forces, clip to the largest one
// Methods below add support for negative distances and torque (which is calculated even for multiple objects),
//                   ignoring the held objects in intra-collision
        SumNoClip,          // Sum the forces, no clipping
        SumByVoxels,        // [NOT WORKING YET] (Similar to SumNoClip) Assume that the forces are generated using a VoxelGrid
                            //  -> i.e. get the size of the VoxelGrid cell and calculate each force using this information
        Envelope,           // Create an envelope of the contact forces and use it to calculate the final one
    };

    bool collisionsToForce(ForceCalcType calcType, CollisionParams *params, COLLISIONS_INFO_VECTOR *colInfo, osg::Vec3 *force, osg::Vec3 *torque, bool *bIntersection);
        // Converts collision pairs into the force and torque.
    
protected:
    struct ForceCalcParams {
    public:
        float maxDistance;
        float maxSingleForce;
        float maxTotalForce;

        float forceScale;
        float torqueScale;
    };

    bool clusterizeContacts(COLLISIONS_INFO_VECTOR *colInfo);
    string convertInt(int number);

    ForceCalcParams forceCalcParams;
};


}

#endif

#endif