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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 *
******************************************************************************/
//
// C++ Implementation: ArticulatedHierarchyBVHController
//
// Description:
//
//
// Author: The SOFA team </www.sofa-framework.org>, (C) 2008
//
// Copyright: See COPYING file that comes with this distribution
//
//
#include <sofa/component/controller/ArticulatedHierarchyBVHController.h>
#include <sofa/helper/system/FileRepository.h>
#include <sofa/core/ObjectFactory.h>
namespace sofa
{
namespace component
{
namespace controller
{
void ArticulatedHierarchyBVHController::init()
{
sofa::simulation::Node* curNode = dynamic_cast<sofa::simulation::Node*>(this->getContext());
if (curNode)
{
curNode->getTreeObjects<ArticulatedHierarchyContainer::ArticulationCenter, ArtCenterVec >(&m_artCenterVec);
curNode->getTreeObject(ahc);
frame = 0;
n=0;
}
}
void ArticulatedHierarchyBVHController::reset()
{
frame = 0;
n=0;
}
void ArticulatedHierarchyBVHController::applyController(void)
{
double ndiv = 1.0/ahc->dtbvh;
int frameInc = 1;
if (ndiv < 1.0)
frameInc = int(ahc->numOfFrames/(ahc->numOfFrames/ahc->dtbvh));
for (unsigned int i=0; i<m_artCenterVec.size(); i++)
{
ArtCenterVecIt artCenterIt = m_artCenterVec.begin();
ArtCenterVecIt artCenterItEnd = m_artCenterVec.end();
while ((artCenterIt != artCenterItEnd))
{
ArtVecIt it = (*artCenterIt)->articulations.begin();
ArtVecIt itEnd = (*artCenterIt)->articulations.end();
while (it != itEnd)
{
std::vector< MechanicalState<sofa::defaulttype::Vec1dTypes>* > articulatedObjects;
sofa::simulation::Node* curNode = dynamic_cast<sofa::simulation::Node*>(this->getContext());
if (curNode)
curNode->getTreeObjects<MechanicalState<sofa::defaulttype::Vec1dTypes>, std::vector< MechanicalState<sofa::defaulttype::Vec1dTypes>* > >(&articulatedObjects);
if (!articulatedObjects.empty())
{
// Reference potential initial articulations value for interaction springs
// and Current articulation value at the coresponding artculation
std::vector< MechanicalState<sofa::defaulttype::Vec1dTypes>* >::iterator articulatedObjIt = articulatedObjects.begin();
std::vector< MechanicalState<sofa::defaulttype::Vec1dTypes>* >::iterator articulatedObjItEnd = articulatedObjects.end();
// while (articulatedObjIt != articulatedObjItEnd)
if ((*it)->translation.getValue())
{
double diffMotions = (*it)->motion[frame+1] - (*it)->motion[frame];
(*(*articulatedObjIt)->getX())[(*it)->articulationIndex.getValue()] = (*it)->motion[frame] + (n/ndiv)*diffMotions;
(*(*articulatedObjIt)->getXfree())[(*it)->articulationIndex.getValue()] = (*it)->motion[frame] + (n/ndiv)*diffMotions;
}
else
{
double diffMotions = (((*it)->motion[frame+1]/180.0)*3.14) - (((*it)->motion[frame]/180.0)*3.14);
(*(*articulatedObjIt)->getX())[(*it)->articulationIndex.getValue()] = (((*it)->motion[frame]/180.0)*3.14) + (n/ndiv)*diffMotions;
(*(*articulatedObjIt)->getXfree())[(*it)->articulationIndex.getValue()] = (((*it)->motion[frame]/180.0)*3.14) + (n/ndiv)*diffMotions;
}
}
++it;
}
++artCenterIt;
}
}
if (frame<(ahc->numOfFrames-2))
{
if (n<ndiv-1)
{
n++;
}
else
{
if((frame+frameInc) <= (ahc->numOfFrames-2))
frame+=frameInc;
n=0;
}
}
}
SOFA_DECL_CLASS(ArticulatedHierarchyBVHController)
// Register in the Factory
int ArticulatedHierarchyBVHControllerClass = core::RegisterObject("Implements a handler that controls the values of the articulations of an articulated hierarchy container using a .bvh file.")
.add< ArticulatedHierarchyBVHController >()
;
} // namespace controller
} // namespace component
} // namespace sofa
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