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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 *
******************************************************************************/
#include <sofa/core/ObjectFactory.h>
#define SOFA_COMPONENT_CONTAINER_MECHANICALOBJECT_CPP
#include <sofa/component/container/MechanicalObject.inl>
#include <sofa/helper/Quater.h>
namespace sofa
{
namespace component
{
using namespace core::componentmodel::behavior;
using namespace defaulttype;
SOFA_DECL_CLASS(MechanicalObject)
int MechanicalObjectClass = core::RegisterObject("mechanical state vectors")
#ifdef SOFA_FLOAT
.add< MechanicalObject<Vec3fTypes> >(true) // default template
#else
.add< MechanicalObject<Vec3dTypes> >(true) // default template
#ifndef SOFA_DOUBLE
.add< MechanicalObject<Vec3fTypes> >() // default template
#endif
#endif
#ifndef SOFA_FLOAT
.add< MechanicalObject<Vec2dTypes> >()
.add< MechanicalObject<Vec1dTypes> >()
.add< MechanicalObject<Vec6dTypes> >()
.add< MechanicalObject<Rigid3dTypes> >()
.add< MechanicalObject<Rigid2dTypes> >()
#endif
#ifndef SOFA_DOUBLE
.add< MechanicalObject<Vec2fTypes> >()
.add< MechanicalObject<Vec1fTypes> >()
.add< MechanicalObject<Vec6fTypes> >()
.add< MechanicalObject<Rigid3fTypes> >()
.add< MechanicalObject<Rigid2fTypes> >()
#endif
.add< MechanicalObject<LaparoscopicRigid3Types> >()
;
// template specialization must be in the same namespace as original namespace for GCC 4.1
// g++ 4.1 requires template instantiations to be declared on a parent namespace from the template class.
#ifndef SOFA_FLOAT
template class SOFA_COMPONENT_CONTAINER_API MechanicalObject<Vec3dTypes>;
template class SOFA_COMPONENT_CONTAINER_API MechanicalObject<Vec2dTypes>;
template class SOFA_COMPONENT_CONTAINER_API MechanicalObject<Vec1dTypes>;
template class SOFA_COMPONENT_CONTAINER_API MechanicalObject<Vec6dTypes>;
template class SOFA_COMPONENT_CONTAINER_API MechanicalObject<Rigid3dTypes>;
template class SOFA_COMPONENT_CONTAINER_API MechanicalObject<Rigid2dTypes>;
#endif
#ifndef SOFA_DOUBLE
template class SOFA_COMPONENT_CONTAINER_API MechanicalObject<Vec3fTypes>;
template class SOFA_COMPONENT_CONTAINER_API MechanicalObject<Vec2fTypes>;
template class SOFA_COMPONENT_CONTAINER_API MechanicalObject<Vec1fTypes>;
template class SOFA_COMPONENT_CONTAINER_API MechanicalObject<Vec6fTypes>;
template class SOFA_COMPONENT_CONTAINER_API MechanicalObject<Rigid3fTypes>;
template class SOFA_COMPONENT_CONTAINER_API MechanicalObject<Rigid2fTypes>;
#endif
template class SOFA_COMPONENT_CONTAINER_API MechanicalObject<LaparoscopicRigid3Types>;
#ifndef SOFA_FLOAT
template<> SOFA_COMPONENT_CONTAINER_API
void MechanicalObject<defaulttype::Rigid3dTypes>::applyRotation (const defaulttype::Quat q)
{
VecCoord& x = *this->getX();
for (unsigned int i = 0; i < x.size(); i++)
{
x[i].getCenter() = q.rotate(x[i].getCenter());
x[i].getOrientation() *= q;
}
}
template <> SOFA_COMPONENT_CONTAINER_API
void MechanicalObject<defaulttype::Rigid3dTypes>::addBaseVectorToState(VecId dest, defaulttype::BaseVector *src, unsigned int &offset)
{
if (dest.type == VecId::V_COORD)
{
VecCoord* vDest = getVecCoord(dest.index);
const unsigned int coordDim = DataTypeInfo<Coord>::size();
for (unsigned int i=0; i<vDest->size(); i++)
{
for (unsigned int j=0; j<3; j++)
{
Real tmp;
DataTypeInfo<Coord>::getValue((*vDest)[i],j,tmp);
DataTypeInfo<Coord>::setValue((*vDest)[i],j,tmp + src->element(offset + i * coordDim + j));
}
helper::Quater<double> q_src;
helper::Quater<double> q_dest;
for (unsigned int j=0; j<4; j++)
{
Real tmp;
DataTypeInfo<Coord>::getValue((*vDest)[i],j+3,tmp);
q_dest[j]=tmp;
q_src[j]=src->element(offset + i * coordDim + j+3);
}
//q_dest = q_dest*q_src;
q_dest = q_src*q_dest;
for (unsigned int j=0; j<4; j++)
{
Real tmp=q_dest[j];
DataTypeInfo<Coord>::setValue((*vDest)[i], j+3, tmp);
}
}
offset += vDest->size() * coordDim;
}
else
{
VecDeriv* vDest = getVecDeriv(dest.index);
const unsigned int derivDim = DataTypeInfo<Deriv>::size();
for (unsigned int i=0; i<vDest->size(); i++)
{
for (unsigned int j=0; j<derivDim; j++)
{
Real tmp;
DataTypeInfo<Deriv>::getValue((*vDest)[i],j,tmp);
DataTypeInfo<Deriv>::setValue((*vDest)[i], j, tmp + src->element(offset + i * derivDim + j));
}
}
offset += vDest->size() * derivDim;
}
};
// template <>
// bool MechanicalObject<Vec1dTypes>::addBBox(double* /*minBBox*/, double* /*maxBBox*/)
// {
// return false; // ignore 1D DOFs for 3D bbox
// }
#endif
#ifndef SOFA_DOUBLE
template<> SOFA_COMPONENT_CONTAINER_API
void MechanicalObject<defaulttype::Rigid3fTypes>::applyRotation (const defaulttype::Quat q)
{
VecCoord& x = *this->getX();
for (unsigned int i = 0; i < x.size(); i++)
{
x[i].getCenter() = q.rotate(x[i].getCenter());
x[i].getOrientation() *= q;
}
}
template <> SOFA_COMPONENT_CONTAINER_API
void MechanicalObject<defaulttype::Rigid3fTypes>::addBaseVectorToState(VecId dest, defaulttype::BaseVector *src, unsigned int &offset)
{
if (dest.type == VecId::V_COORD)
{
VecCoord* vDest = getVecCoord(dest.index);
const unsigned int coordDim = DataTypeInfo<Coord>::size();
for (unsigned int i=0; i<vDest->size(); i++)
{
for (unsigned int j=0; j<3; j++)
{
Real tmp;
DataTypeInfo<Coord>::getValue((*vDest)[i],j,tmp);
DataTypeInfo<Coord>::setValue((*vDest)[i],j,tmp + src->element(offset + i * coordDim + j));
}
helper::Quater<double> q_src;
helper::Quater<double> q_dest;
for (unsigned int j=0; j<4; j++)
{
Real tmp;
DataTypeInfo<Coord>::getValue((*vDest)[i],j+3,tmp);
q_dest[j]=tmp;
q_src[j]=src->element(offset + i * coordDim + j+3);
}
//q_dest = q_dest*q_src;
q_dest = q_src*q_dest;
for (unsigned int j=0; j<4; j++)
{
Real tmp=q_dest[j];
DataTypeInfo<Coord>::setValue((*vDest)[i], j+3, tmp);
}
}
offset += vDest->size() * coordDim;
}
else
{
VecDeriv* vDest = getVecDeriv(dest.index);
const unsigned int derivDim = DataTypeInfo<Deriv>::size();
for (unsigned int i=0; i<vDest->size(); i++)
{
for (unsigned int j=0; j<derivDim; j++)
{
Real tmp;
DataTypeInfo<Deriv>::getValue((*vDest)[i],j,tmp);
DataTypeInfo<Deriv>::setValue((*vDest)[i], j, tmp + src->element(offset + i * derivDim + j));
}
}
offset += vDest->size() * derivDim;
}
};
// template <>
// bool MechanicalObject<Vec1fTypes>::addBBox(double* /*minBBox*/, double* /*maxBBox*/)
// {
// return false; // ignore 1D DOFs for 3D bbox
// }
#endif
template <>
void MechanicalObject<defaulttype::LaparoscopicRigid3Types>::buildConstraintMatrix(const sofa::helper::vector<unsigned int> &, const double , defaulttype::BaseMatrix&,unsigned int , unsigned int ){}
template <>
void MechanicalObject<defaulttype::LaparoscopicRigid3Types>::computeConstraintProjection(const sofa::helper::vector<unsigned int> &, VecId , defaulttype::BaseVector&, unsigned int ){};
} // namespace component
} // namespace sofa
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