1 |
#ifndef _CONSTRAINTALGORITHM_H_ |
2 |
#define _CONSTRAINTALGORITHM_H_ |
3 |
|
4 |
#include <iostream> |
5 |
#include <map> |
6 |
#include "CallbackFunctor.hpp" |
7 |
#include "TypeInfo.hpp" |
8 |
#include "ConstraintIterator.hpp" |
9 |
using namespace std; |
10 |
|
11 |
class ConstraintManager; |
12 |
class ConstraintPair; |
13 |
class JointConstraintPair; |
14 |
class DistanceConstraintPair; |
15 |
class SimInfo; |
16 |
|
17 |
enum ConsAlgoStatus{ |
18 |
consPairHandlerFail = -3, |
19 |
consElemHandlerFail = -2, |
20 |
consFail = -1, |
21 |
consSuccess = 0, |
22 |
consAlready = 1}; |
23 |
|
24 |
//////////////////////////////////////////////////////////////////////////////// |
25 |
//Declaration of ConstraintAlgorithm |
26 |
//////////////////////////////////////////////////////////////////////////////// |
27 |
//base class of constraint algorithm |
28 |
//Actuallly we encount a triple dispatch problem here, something like |
29 |
//ConstrainPair(ConsPairType*, ConsElementType1*, ConsElementType2*) |
30 |
//To solve this problem, we apply visitor pattern and standard double dispatch technique |
31 |
class ConstraintAlgorithm{ |
32 |
|
33 |
public: |
34 |
~ConstraintAlgorithm(); |
35 |
virtual void doConstrain(); |
36 |
|
37 |
//using RTTI (Run Time Type Information) to dispatch |
38 |
int doConstrainPair(ConstraintPair* consPair); |
39 |
void registerCallback(const TypeInfo& ti, CallbackFunctor* functor); |
40 |
void unRegister(TypeInfo& ti); |
41 |
bool haveError() { return error;} |
42 |
protected: |
43 |
ConstraintAlgorithm(SimInfo* rhs); |
44 |
|
45 |
SimInfo* info; |
46 |
ConstraintPairIterator* cpIter; |
47 |
ConstraintElementIterator* ceIter; |
48 |
|
49 |
map<TypeInfo, CallbackFunctor*> callbackMap; |
50 |
|
51 |
bool error; |
52 |
}; |
53 |
|
54 |
//////////////////////////////////////////////////////////////////////////////// |
55 |
//Declaration of ConsAlgoFramework |
56 |
//////////////////////////////////////////////////////////////////////////////// |
57 |
class ConsAlgoFramework{ |
58 |
public: |
59 |
~ConsAlgoFramework(); |
60 |
|
61 |
void doPreConstraint(); |
62 |
|
63 |
protected: |
64 |
ConsAlgoFramework(SimInfo* rhs); |
65 |
|
66 |
private: |
67 |
ConstraintElementIterator* ceIter; |
68 |
|
69 |
}; |
70 |
|
71 |
#endif //endif _CONSTRAINTALGORITHM_H_ |