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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_COMPONENT_FORCEFIELD_ELLIPSOIDFORCEFIELD_H
#define SOFA_COMPONENT_FORCEFIELD_ELLIPSOIDFORCEFIELD_H
#include <sofa/core/componentmodel/behavior/ForceField.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/objectmodel/Data.h>
namespace sofa
{
namespace component
{
namespace forcefield
{
/// This class can be overridden if needed for additionnal storage within template specializations.
template<class DataTypes>
class EllipsoidForceFieldInternalData
{
public:
};
template<class DataTypes>
class EllipsoidForceField : public core::componentmodel::behavior::ForceField<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
typedef core::componentmodel::behavior::ForceField<DataTypes> Inherit;
typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::VecDeriv VecDeriv;
typedef typename DataTypes::Coord Coord;
typedef typename DataTypes::Deriv Deriv;
typedef typename Coord::value_type Real;
enum { N=Coord::static_size };
typedef defaulttype::Mat<N,N,Real> Mat;
protected:
class Contact
{
public:
int index;
Mat m;
Contact( int index=0, const Mat& m=Mat())
: index(index), m(m)
{
}
inline friend std::istream& operator >> ( std::istream& in, Contact& c ){
in>>c.index>>c.m;
return in;
}
inline friend std::ostream& operator << ( std::ostream& out, const Contact& c ){
out << c.index << " " << c.m ;
return out;
}
};
Data<sofa::helper::vector<Contact> > contacts;
EllipsoidForceFieldInternalData<DataTypes> data;
public:
Data<Coord> center;
Data<Coord> vradius;
Data<Real> stiffness;
Data<Real> damping;
Data<defaulttype::Vec3f> color;
Data<bool> bDraw;
EllipsoidForceField()
: contacts(initData(&contacts,"contacts", "Contacts"))
, center(initData(¢er, "center", "ellipsoid center"))
, vradius(initData(&vradius, "vradius", "ellipsoid radius"))
, stiffness(initData(&stiffness, (Real)500, "stiffness", "force stiffness (positive to repulse outward, negative inward)"))
, damping(initData(&damping, (Real)5, "damping", "force damping"))
, color(initData(&color, defaulttype::Vec3f(0.0f,0.5f,1.0f), "color", "ellipsoid color"))
, bDraw(initData(&bDraw, true, "draw", "enable/disable drawing of the ellipsoid"))
{
}
void setStiffness(Real stiff)
{
stiffness.setValue( stiff );
}
void setDamping(Real damp)
{
damping.setValue( damp );
}
virtual void addForce (VecDeriv& f, const VecCoord& x, const VecDeriv& v);
virtual void addDForce (VecDeriv& df, const VecDeriv& dx, double kFactor, double bFactor);
virtual double getPotentialEnergy(const VecCoord& x);
void draw();
};
} // namespace forcefield
} // namespace component
} // namespace sofa
#endif
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