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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_SPARSEGRIDSPRINGFORCEFIELD_H
#define SOFA_COMPONENT_FORCEFIELD_SPARSEGRIDSPRINGFORCEFIELD_H
#include <sofa/component/forcefield/StiffSpringForceField.h>
#include <sofa/component/topology/MultiResSparseGridTopology.h>
namespace sofa
{
namespace component
{
namespace forcefield
{
template<class DataTypes>
class SparseGridSpringForceField : public StiffSpringForceField<DataTypes>
{
/// make the spring force field of a sparsegrid
public:
typedef StiffSpringForceField<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;
protected:
DataField< Real > linesStiffness;
DataField< Real > linesDamping;
DataField< Real > quadsStiffness;
DataField< Real > quadsDamping;
DataField< Real > cubesStiffness;
DataField< Real > cubesDamping;
DataField< std::string > filename;
typedef topology::MultiResSparseGridTopology::SparseGrid Voxels;
typedef topology::MultiResSparseGridTopology::SparseGrid::Index3D Index3D;
public:
SparseGridSpringForceField(core::componentmodel::behavior::MechanicalState<DataTypes>* object1, core::componentmodel::behavior::MechanicalState<DataTypes>* object2)
: StiffSpringForceField<DataTypes>(object1, object2),
linesStiffness (dataField(&linesStiffness,Real(100),"linesStiffness","Lines Stiffness"))
, linesDamping (dataField(&linesDamping ,Real(5),"linesDamping" ,"Lines Damping"))
, quadsStiffness(dataField(&quadsStiffness,Real(100),"quadsStiffness","Quads Stiffness"))
, quadsDamping (dataField(&quadsDamping ,Real(5),"quadsDamping" ,"Quads Damping"))
, cubesStiffness(dataField(&cubesStiffness,Real(100),"cubesStiffness","Cubes Stiffness"))
, cubesDamping (dataField(&cubesDamping ,Real(5),"cubesDamping" ,"Cubes Damping"))
{
addAlias(&linesStiffness, "stiffness");addAlias(&linesDamping, "damping");
addAlias(&quadsStiffness, "stiffness");addAlias(&quadsDamping, "damping");
addAlias(&cubesStiffness, "stiffness");addAlias(&cubesDamping, "damping");
}
SparseGridSpringForceField()
:
linesStiffness (dataField(&linesStiffness,Real(100),"linesStiffness","Lines Stiffness"))
, linesDamping (dataField(&linesDamping ,Real(5),"linesDamping" ,"Lines Damping"))
, quadsStiffness(dataField(&quadsStiffness,Real(100),"quadsStiffness","Quads Stiffness"))
, quadsDamping (dataField(&quadsDamping ,Real(5),"quadsDamping" ,"Quads Damping"))
, cubesStiffness(dataField(&cubesStiffness,Real(100),"cubesStiffness","Cubes Stiffness"))
, cubesDamping (dataField(&cubesDamping ,Real(5),"cubesDamping" ,"Cubes Damping"))
{
addAlias(&linesStiffness, "stiffness");addAlias(&linesDamping, "damping");
addAlias(&quadsStiffness, "stiffness");addAlias(&quadsDamping, "damping");
addAlias(&cubesStiffness, "stiffness");addAlias(&cubesDamping, "damping");
}
Real getStiffness() const { return linesStiffness.getValue(); }
Real getLinesStiffness() const { return linesStiffness.getValue(); }
Real getQuadsStiffness() const { return quadsStiffness.getValue(); }
Real getCubesStiffness() const { return cubesStiffness.getValue(); }
void setStiffness(Real val)
{
linesStiffness.setValue(val);
quadsStiffness.setValue(val);
cubesStiffness.setValue(val);
}
void setLinesStiffness(Real val)
{
linesStiffness.setValue(val);
}
void setQuadsStiffness(Real val)
{
quadsStiffness.setValue(val);
}
void setCubesStiffness(Real val)
{
cubesStiffness.setValue(val);
}
Real getDamping() const { return linesDamping.getValue(); }
Real getLinesDamping() const { return linesDamping.getValue(); }
Real getQuadsDamping() const { return quadsDamping.getValue(); }
Real getCubesDamping() const { return cubesDamping.getValue(); }
void setDamping(Real val)
{
linesDamping.setValue(val);
quadsDamping.setValue(val);
cubesDamping.setValue(val);
}
void setLinesDamping(Real val)
{
linesDamping.setValue(val);
}
void setQuadsDamping(Real val)
{
quadsDamping.setValue(val);
}
void setCubesDamping(Real val)
{
cubesDamping.setValue(val);
}
virtual void addForce(VecDeriv& f1, VecDeriv& f2, const VecCoord& x1, const VecCoord& x2, const VecDeriv& v1, const VecDeriv& v2);
virtual void addDForce(VecDeriv& df1, VecDeriv& df2, const VecDeriv& dx1, const VecDeriv& dx2, double kFactor, double bFactor);
virtual void draw();
void setFileName(char* name)
{
filename.setValue( std::string(name) );
}
char * getFileName()const{return filename.getValue();}
};
} // namespace forcefield
} // namespace component
} // namespace sofa
#endif
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