1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
|
/******************************************************************************
* 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 *
******************************************************************************/
#define SOFA_COMPONENT_MAPPING_RIGIDMAPPING_CPP
#include <sofa/component/mapping/RigidMapping.inl>
#include <sofa/core/ObjectFactory.h>
#include <sofa/core/componentmodel/behavior/MappedModel.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/componentmodel/behavior/MechanicalMapping.inl>
#include <sofa/core/Mapping.inl>
namespace sofa
{
namespace component
{
namespace mapping
{
SOFA_DECL_CLASS(RigidMapping)
using namespace defaulttype;
using namespace core;
using namespace core::componentmodel::behavior;
// Register in the Factory
int RigidMappingClass = core::RegisterObject("Set the positions and velocities of points attached to a rigid parent")
#ifndef SOFA_FLOAT
.add< RigidMapping< MechanicalMapping< MechanicalState<Rigid3dTypes>, MechanicalState<Vec3dTypes> > > >()
.add< RigidMapping< MechanicalMapping< MechanicalState<Rigid2dTypes>, MechanicalState<Vec2dTypes> > > >()
.add< RigidMapping< Mapping< State<Rigid3dTypes>, MappedModel<Vec3dTypes> > > >()
.add< RigidMapping< Mapping< State<Rigid3dTypes>, MappedModel<ExtVec3fTypes> > > >()
// .add< RigidMapping< Mapping< State<Rigid3dTypes>, MappedModel<ExtVec3dTypes> > > >()
#endif
#ifndef SOFA_DOUBLE
.add< RigidMapping< MechanicalMapping< MechanicalState<Rigid3fTypes>, MechanicalState<Vec3fTypes> > > >()
.add< RigidMapping< MechanicalMapping< MechanicalState<Rigid2fTypes>, MechanicalState<Vec2fTypes> > > >()
.add< RigidMapping< Mapping< State<Rigid3fTypes>, MappedModel<Vec3fTypes> > > >()
.add< RigidMapping< Mapping< State<Rigid3fTypes>, MappedModel<ExtVec3fTypes> > > >()
// .add< RigidMapping< Mapping< State<Rigid3fTypes>, MappedModel<ExtVec3dTypes> > > >()
#endif
#ifndef SOFA_FLOAT
#ifndef SOFA_DOUBLE
.add< RigidMapping< MechanicalMapping< MechanicalState<Rigid3dTypes>, MechanicalState<Vec3fTypes> > > >()
.add< RigidMapping< MechanicalMapping< MechanicalState<Rigid3fTypes>, MechanicalState<Vec3dTypes> > > >()
.add< RigidMapping< MechanicalMapping< MechanicalState<Rigid2dTypes>, MechanicalState<Vec2fTypes> > > >()
.add< RigidMapping< MechanicalMapping< MechanicalState<Rigid2fTypes>, MechanicalState<Vec2dTypes> > > >()
.add< RigidMapping< Mapping< State<Rigid3dTypes>, MappedModel<Vec3fTypes> > > >()
.add< RigidMapping< Mapping< State<Rigid3fTypes>, MappedModel<Vec3dTypes> > > >()
#endif
#endif
;
/// Template specialization for 2D rigids
/// \TODO Find a clean way not to replicate the code 4 times...
#ifndef SOFA_FLOAT
template<>
void RigidMapping< core::componentmodel::behavior::MechanicalMapping< core::componentmodel::behavior::MechanicalState< defaulttype::Rigid2dTypes >, core::componentmodel::behavior::MechanicalState< defaulttype::Vec2dTypes > > >::applyJ( Out::VecDeriv& out, const In::VecDeriv& in )
{
const VecCoord& pts = this->getPoints();
Deriv v;
Real omega;
v = in[0].getVCenter();
omega = (Real)in[0].getVOrientation();
out.resize(pts.size());
for(unsigned int i=0;i<pts.size();i++)
{
out[i] = v + Deriv(-rotatedPoints[i][1],rotatedPoints[i][0])*omega;
}
}
template<>
void RigidMapping< core::componentmodel::behavior::MechanicalMapping< core::componentmodel::behavior::MechanicalState< defaulttype::Rigid2dTypes >, core::componentmodel::behavior::MechanicalState< defaulttype::Vec2dTypes > > >::applyJT( In::VecDeriv& out, const Out::VecDeriv& in )
{
const VecCoord& pts = this->getPoints();
Deriv v;
Real omega = (Real)0;
for(unsigned int i=0;i<pts.size();i++)
{
Deriv f = in[i];
v += f;
omega += cross(rotatedPoints[i],f);
}
out[0].getVCenter() += v;
out[0].getVOrientation() += (In::Real)omega;
}
template<>
void RigidMapping< core::componentmodel::behavior::MechanicalMapping< core::componentmodel::behavior::MechanicalState< defaulttype::Rigid2dTypes >, core::componentmodel::behavior::MechanicalState< defaulttype::Vec2dTypes > > >::applyJT( In::VecConst& out, const Out::VecConst& in )
{
out.resize(in.size());
/// \TODO !!!
}
#endif
#ifndef SOFA_DOUBLE
template<>
void RigidMapping< core::componentmodel::behavior::MechanicalMapping< core::componentmodel::behavior::MechanicalState< defaulttype::Rigid2fTypes >, core::componentmodel::behavior::MechanicalState< defaulttype::Vec2fTypes > > >::applyJ( Out::VecDeriv& out, const In::VecDeriv& in )
{
const VecCoord& pts = this->getPoints();
Deriv v;
Real omega;
v = in[0].getVCenter();
omega = (Real)in[0].getVOrientation();
out.resize(pts.size());
for(unsigned int i=0;i<pts.size();i++)
{
out[i] = v + Deriv(-rotatedPoints[i][1],rotatedPoints[i][0])*omega;
}
}
template<>
void RigidMapping< core::componentmodel::behavior::MechanicalMapping< core::componentmodel::behavior::MechanicalState< defaulttype::Rigid2fTypes >, core::componentmodel::behavior::MechanicalState< defaulttype::Vec2fTypes > > >::applyJT( In::VecDeriv& out, const Out::VecDeriv& in )
{
const VecCoord& pts = this->getPoints();
Deriv v;
Real omega = (Real)0;
for(unsigned int i=0;i<pts.size();i++)
{
Deriv f = in[i];
v += f;
omega += cross(rotatedPoints[i],f);
}
out[0].getVCenter() += v;
out[0].getVOrientation() += (In::Real)omega;
}
template<>
void RigidMapping< core::componentmodel::behavior::MechanicalMapping< core::componentmodel::behavior::MechanicalState< defaulttype::Rigid2fTypes >, core::componentmodel::behavior::MechanicalState< defaulttype::Vec2fTypes > > >::applyJT( In::VecConst& out, const Out::VecConst& in )
{
out.resize(in.size());
/// \TODO !!!
}
#endif
#ifndef SOFA_FLOAT
#ifndef SOFA_DOUBLE
template<>
void RigidMapping< core::componentmodel::behavior::MechanicalMapping< core::componentmodel::behavior::MechanicalState< defaulttype::Rigid2fTypes >, core::componentmodel::behavior::MechanicalState< defaulttype::Vec2dTypes > > >::applyJ( Out::VecDeriv& out, const In::VecDeriv& in )
{
const VecCoord& pts = this->getPoints();
Deriv v;
Real omega;
v = in[0].getVCenter();
omega = (Real)in[0].getVOrientation();
out.resize(pts.size());
for(unsigned int i=0;i<pts.size();i++)
{
out[i] = v + Deriv(-rotatedPoints[i][1],rotatedPoints[i][0])*omega;
}
}
template<>
void RigidMapping< core::componentmodel::behavior::MechanicalMapping< core::componentmodel::behavior::MechanicalState< defaulttype::Rigid2fTypes >, core::componentmodel::behavior::MechanicalState< defaulttype::Vec2dTypes > > >::applyJT( In::VecDeriv& out, const Out::VecDeriv& in )
{
const VecCoord& pts = this->getPoints();
Deriv v;
Real omega = (Real)0;
for(unsigned int i=0;i<pts.size();i++)
{
Deriv f = in[i];
v += f;
omega += cross(rotatedPoints[i],f);
}
out[0].getVCenter() += v;
out[0].getVOrientation() += (In::Real)omega;
}
template<>
void RigidMapping< core::componentmodel::behavior::MechanicalMapping< core::componentmodel::behavior::MechanicalState< defaulttype::Rigid2fTypes >, core::componentmodel::behavior::MechanicalState< defaulttype::Vec2dTypes > > >::applyJT( In::VecConst& out, const Out::VecConst& in )
{
out.resize(in.size());
/// \TODO !!!
}
template<>
void RigidMapping< core::componentmodel::behavior::MechanicalMapping< core::componentmodel::behavior::MechanicalState< defaulttype::Rigid2dTypes >, core::componentmodel::behavior::MechanicalState< defaulttype::Vec2fTypes > > >::applyJ( Out::VecDeriv& out, const In::VecDeriv& in )
{
const VecCoord& pts = this->getPoints();
Deriv v;
Real omega;
v = in[0].getVCenter();
omega = (Real)in[0].getVOrientation();
out.resize(pts.size());
for(unsigned int i=0;i<pts.size();i++)
{
out[i] = v + Deriv(-rotatedPoints[i][1],rotatedPoints[i][0])*omega;
}
}
template<>
void RigidMapping< core::componentmodel::behavior::MechanicalMapping< core::componentmodel::behavior::MechanicalState< defaulttype::Rigid2dTypes >, core::componentmodel::behavior::MechanicalState< defaulttype::Vec2fTypes > > >::applyJT( In::VecDeriv& out, const Out::VecDeriv& in )
{
const VecCoord& pts = this->getPoints();
Deriv v;
Real omega = (Real)0;
for(unsigned int i=0;i<pts.size();i++)
{
Deriv f = in[i];
v += f;
omega += cross(rotatedPoints[i],f);
}
out[0].getVCenter() += v;
out[0].getVOrientation() += (In::Real)omega;
}
template<>
void RigidMapping< core::componentmodel::behavior::MechanicalMapping< core::componentmodel::behavior::MechanicalState< defaulttype::Rigid2dTypes >, core::componentmodel::behavior::MechanicalState< defaulttype::Vec2fTypes > > >::applyJT( In::VecConst& out, const Out::VecConst& in )
{
out.resize(in.size());
/// \TODO !!!
}
#endif
#endif
#ifndef SOFA_FLOAT
template class SOFA_COMPONENT_MAPPING_API RigidMapping< MechanicalMapping<MechanicalState<Rigid3dTypes>, MechanicalState<Vec3dTypes> > >;
template class SOFA_COMPONENT_MAPPING_API RigidMapping< MechanicalMapping<MechanicalState<Rigid2dTypes>, MechanicalState<Vec2dTypes> > >;
template class SOFA_COMPONENT_MAPPING_API RigidMapping< Mapping< State<Rigid3dTypes>, MappedModel<Vec3dTypes> > >;
// template class SOFA_COMPONENT_MAPPING_API RigidMapping< Mapping< State<Rigid3dTypes>, MappedModel<ExtVec3dTypes> > >;
template class SOFA_COMPONENT_MAPPING_API RigidMapping< Mapping< State<Rigid3dTypes>, MappedModel<ExtVec3fTypes> > >;
#endif
#ifndef SOFA_DOUBLE
template class SOFA_COMPONENT_MAPPING_API RigidMapping< MechanicalMapping<MechanicalState<Rigid3fTypes>, MechanicalState<Vec3fTypes> > >;
template class SOFA_COMPONENT_MAPPING_API RigidMapping< MechanicalMapping<MechanicalState<Rigid2fTypes>, MechanicalState<Vec2fTypes> > >;
template class SOFA_COMPONENT_MAPPING_API RigidMapping< Mapping< State<Rigid3fTypes>, MappedModel<Vec3fTypes> > >;
// template class SOFA_COMPONENT_MAPPING_API RigidMapping< Mapping< State<Rigid3fTypes>, MappedModel<ExtVec3dTypes> > >;
template class SOFA_COMPONENT_MAPPING_API RigidMapping< Mapping< State<Rigid3fTypes>, MappedModel<ExtVec3fTypes> > >;
#endif
#ifndef SOFA_FLOAT
#ifndef SOFA_DOUBLE
template class SOFA_COMPONENT_MAPPING_API RigidMapping< MechanicalMapping<MechanicalState<Rigid3dTypes>, MechanicalState<Vec3fTypes> > >;
template class SOFA_COMPONENT_MAPPING_API RigidMapping< MechanicalMapping<MechanicalState<Rigid3fTypes>, MechanicalState<Vec3dTypes> > >;
template class SOFA_COMPONENT_MAPPING_API RigidMapping< MechanicalMapping<MechanicalState<Rigid2dTypes>, MechanicalState<Vec2fTypes> > >;
template class SOFA_COMPONENT_MAPPING_API RigidMapping< MechanicalMapping<MechanicalState<Rigid2fTypes>, MechanicalState<Vec2dTypes> > >;
template class SOFA_COMPONENT_MAPPING_API RigidMapping< Mapping< State<Rigid3dTypes>, MappedModel<Vec3fTypes> > >;
template class SOFA_COMPONENT_MAPPING_API RigidMapping< Mapping< State<Rigid3fTypes>, MappedModel<Vec3dTypes> > >;
#endif
#endif
} // namespace mapping
} // namespace component
} // namespace sofa
|
