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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 *
******************************************************************************/
/***************************************************************************
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
***************************************************************************/
#include "PMLInteractionForceField.h"
#include "sofa/component/container/MechanicalObject.h"
#include "sofa/component/forcefield/StiffSpringForceField.h"
using namespace sofa::component::forcefield;
#include <PhysicalModel.h>
#include <MultiComponent.h>
#include <CellProperties.h>
namespace sofa
{
namespace filemanager
{
namespace pml
{
PMLInteractionForceField::PMLInteractionForceField(StructuralComponent* body, PMLBody* b1, PMLBody* b2, GNode * parent)
{
parentNode = parent;
//get the parameters
collisionsON = false;
name = body->getProperties()->getName();
body1 = b1;
body2 = b2;
ks = body->getProperties()->getDouble("stiffness");
kd = body->getProperties()->getDouble("damping");
//create the structure
createForceField();
createSprings(body);
}
PMLInteractionForceField::~PMLInteractionForceField()
{
if(mmodel) delete mmodel;
if (Sforcefield) delete Sforcefield;
}
//create a TetrahedronFEMForceField
void PMLInteractionForceField::createForceField()
{
Sforcefield = new StiffSpringForceField<Vec3Types>((MechanicalObject<Vec3Types>*)body1->getMechanicalState(), (MechanicalObject<Vec3Types>*)body2->getMechanicalState());
parentNode->addObject(Sforcefield);
}
void PMLInteractionForceField::createSprings(StructuralComponent * body)
{
Vec3Types::VecCoord& P1 = *((MechanicalObject<Vec3Types>*)body1->getMechanicalState())->getX();
Vec3Types::VecCoord& P2 = *((MechanicalObject<Vec3Types>*)body2->getMechanicalState())->getX();
if (kd==0.0)kd=5.0;
if (ks==0.0)ks=500.0;
for (unsigned int i=0; i<body->getNumberOfCells() ; i++)
{
Cell * cell = body->getCell(i);
if (cell->getType() == StructureProperties::LINE){
unsigned int dof1 = body1->AtomsToDOFsIndexes[cell->getStructure(0)->getIndex()];
unsigned int dof2 = body2->AtomsToDOFsIndexes[cell->getStructure(1)->getIndex()];
Vec3Types::Deriv gap = P1[dof1] - P2[dof2];
Sforcefield->addSpring(dof1, dof2, ks, kd, sqrt(dot(gap,gap)));
}
}
}
}
}
}
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