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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_CORE_COMPONENTMODEL_COLLISION_CONTACTCORRECTION_H
#define SOFA_CORE_COMPONENTMODEL_COLLISION_CONTACTCORRECTION_H
#include <sofa/core/componentmodel/behavior/BaseConstraintCorrection.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/component/forcefield/TetrahedronFEMForceField.h>
#include <sofa/defaulttype/Mat.h>
#include <sofa/defaulttype/Vec.h>
namespace sofa
{
namespace component
{
namespace constraint
{
using namespace sofa::core;
using namespace sofa::core::componentmodel;
using namespace sofa::defaulttype;
/**
* \brief Component computing contact forces within a simulated body using the compliance method.
*/
template<class TDataTypes>
class PrecomputedConstraintCorrection : public componentmodel::behavior::BaseConstraintCorrection
{
public:
typedef TDataTypes DataTypes;
typedef typename componentmodel::behavior::BaseConstraintCorrection Inherit;
typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::VecDeriv VecDeriv;
typedef typename DataTypes::VecConst VecConst;
typedef typename DataTypes::Coord Coord;
typedef typename DataTypes::Deriv Deriv;
typedef typename std::map<unsigned int, Deriv>::const_iterator ConstraintIterator;
typedef typename DataTypes::SparseVecDeriv Const;
/// element rotation matrix
typedef typename Coord::value_type Real;
typedef MatNoInit<3, 3, Real> Transformation;
bool _rotations;
DataPtr<bool> f_rotations;
bool _restRotations;
DataPtr<bool> f_restRotations;
PrecomputedConstraintCorrection(behavior::MechanicalState<DataTypes> *mm = NULL);
virtual ~PrecomputedConstraintCorrection();
virtual void init();
/// Retrieve the associated MechanicalState
behavior::MechanicalState<DataTypes>* getMState() { return mstate; }
virtual void getCompliance(defaulttype::BaseMatrix* W);
virtual void applyContactForce(const defaulttype::BaseVector *f);
virtual void rotateConstraints();
virtual void rotateResponse();
virtual void resetContactForce();
/// Pre-construction check method called by ObjectFactory.
/// Check that DataTypes matches the MechanicalState.
template<class T>
static bool canCreate(T*& obj, objectmodel::BaseContext* context, objectmodel::BaseObjectDescription* arg)
{
if (dynamic_cast<behavior::MechanicalState<DataTypes>*>(context->getMechanicalState()) == NULL)
return false;
return BaseObject::canCreate(obj, context, arg);
}
virtual std::string getTemplateName() const
{
return templateName(this);
}
static std::string templateName(const PrecomputedConstraintCorrection<DataTypes>* = NULL)
{
return DataTypes::Name();
}
protected:
behavior::MechanicalState<DataTypes> *mstate;
//Vec3DTypes specific menber !
Real* appCompliance;
unsigned int nbRows, nbCols, dof_on_node, nbNodes;
int *_indexNodeSparseCompliance;
std::vector<Deriv> _sparseCompliance;
Real Fbuf[6], DXbuf;
/* optimization : buf of result = Compliance * VecConst on a sparse structure
typedef struct {
Deriv Cn;
int nodeId;
int constraintId;
}SparseCompliance;
SparseCompliance _sparseCompliance[10000];
*/
//Deriv **_sparseCompliance;
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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