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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 :: Framework *
* *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza, *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_CORE_OBJECTMODEL_CONTEXT_H
#define SOFA_CORE_OBJECTMODEL_CONTEXT_H
#include <sofa/core/objectmodel/BaseObject.h>
#include <sofa/core/objectmodel/BaseContext.h>
#include <sofa/core/objectmodel/Data.h>
#include <iostream>
#include <map>
namespace sofa
{
namespace core
{
namespace objectmodel
{
/**
* \brief Implementation of BaseContext, storing all shared parameters in Datas.
*
*/
class SOFA_CORE_API Context : public BaseContext
{
public:
typedef BaseContext::Frame Frame;
typedef BaseContext::Vec3 Vec3;
typedef BaseContext::Quat Quat;
typedef BaseContext::SpatialVector SpatialVector;
Data<bool> is_activated;
Data<Vec3> worldGravity_; ///< Gravity IN THE WORLD COORDINATE SYSTEM.
Data<double> dt_;
Data<double> time_;
Data<bool> animate_;
Data<int> showVisualModels_;
Data<int> showBehaviorModels_;
Data<int> showCollisionModels_;
Data<int> showBoundingCollisionModels_;
Data<int> showMappings_;
Data<int> showMechanicalMappings_;
Data<int> showForceFields_;
Data<int> showInteractionForceFields_;
Data<int> showWireFrame_;
Data<int> showNormals_;
Data<bool> multiThreadSimulation_;
/// @name For multiresolution (UNSTABLE)
/// @{
Data<int> currentLevel_;
Data<int> coarsestLevel_;
Data<int> finestLevel_;
/// @}
Frame localFrame_;
SpatialVector spatialVelocityInWorld_;
Vec3 velocityBasedLinearAccelerationInWorld_;
Context();
virtual ~Context()
{}
/// @name Parameters
/// @{
/// The Context is active
virtual bool isActive() const;
/// State of the context
virtual void setActive(bool val);
/// Gravity in the local coordinate system
virtual Vec3 getLocalGravity() const;
/// Gravity in the local coordinate system
//virtual void setGravity(const Vec3& );
/// Gravity in world coordinates
virtual const Vec3& getGravityInWorld() const;
/// Gravity in world coordinates
virtual void setGravityInWorld( const Vec3& );
/// Simulation timestep
virtual double getDt() const;
/// Simulation time
virtual double getTime() const;
/// Animation flag
virtual bool getAnimate() const;
/// MultiThreading activated
virtual bool getMultiThreadSimulation() const;
/// Display flags: Collision Models
virtual bool getShowCollisionModels() const;
/// Display flags: Bounding Collision Models
virtual bool getShowBoundingCollisionModels() const;
/// Display flags: Behavior Models
virtual bool getShowBehaviorModels() const;
/// Display flags: Visual Models
virtual bool getShowVisualModels() const;
/// Display flags: Mappings
virtual bool getShowMappings() const;
/// Display flags: Mechanical Mappings
virtual bool getShowMechanicalMappings() const;
/// Display flags: ForceFields
virtual bool getShowForceFields() const;
/// Display flags: InteractionForceFields
virtual bool getShowInteractionForceFields() const;
/// Display flags: WireFrame
virtual bool getShowWireFrame() const;
/// Display flags: Normals
virtual bool getShowNormals() const;
/// Multiresolution support (UNSTABLE)
virtual int getCurrentLevel() const;
/// Multiresolution support (UNSTABLE)
virtual int getCoarsestLevel() const;
/// Multiresolution support (UNSTABLE)
virtual int getFinestLevel() const;
/// @}
/// @name Local Coordinate System
/// @{
/// Projection from the local coordinate system to the world coordinate system.
virtual const Frame& getPositionInWorld() const;
/// Projection from the local coordinate system to the world coordinate system.
virtual void setPositionInWorld(const Frame&);
/// Spatial velocity (linear, angular) of the local frame with respect to the world
virtual const SpatialVector& getVelocityInWorld() const;
/// Spatial velocity (linear, angular) of the local frame with respect to the world
virtual void setVelocityInWorld(const SpatialVector&);
/// Linear acceleration of the origin induced by the angular velocity of the ancestors
virtual const Vec3& getVelocityBasedLinearAccelerationInWorld() const;
/// Linear acceleration of the origin induced by the angular velocity of the ancestors
virtual void setVelocityBasedLinearAccelerationInWorld(const Vec3& );
/// @}
/// @name Parameters Setters
/// @{
/// Simulation timestep
virtual void setDt( double dt );
/// Simulation time
virtual void setTime( double t );
/// Animation flag
virtual void setAnimate(bool val);
/// MultiThreading activated
virtual void setMultiThreadSimulation(bool val);
/// Display flags: Collision Models
virtual void setShowCollisionModels(bool val);
/// Display flags: Behavior Models
virtual void setShowBehaviorModels(bool val);
/// Display flags: Bounding Collision Models
virtual void setShowBoundingCollisionModels(bool val);
/// Display flags: Visual Models
virtual void setShowVisualModels(bool val);
/// Display flags: Mappings
virtual void setShowMappings(bool val);
/// Display flags: Mechanical Mappings
virtual void setShowMechanicalMappings(bool val);
/// Display flags: ForceFields
virtual void setShowForceFields(bool val);
/// Display flags: InteractionForceFields
virtual void setShowInteractionForceFields(bool val);
/// Display flags: WireFrame
virtual void setShowWireFrame(bool val);
/// Display flags: Normals
virtual void setShowNormals(bool val);
/// Multiresolution support (UNSTABLE) : Set the current level, return false if l >= coarsestLevel
virtual bool setCurrentLevel(int l);
/// Multiresolution support (UNSTABLE)
virtual void setCoarsestLevel(int l);
/// Multiresolution support (UNSTABLE)
virtual void setFinestLevel(int l);
/// @}
/// Copy the context variables from the given instance
void copyContext(const Context& c);
/// Copy the context variables of visualization from the given instance
void copySimulationContext(const Context& c);
/// Copy the context variables of visualization from the given instance
void copyVisualContext(const Context& c);
/// Fusion the context variables of visualization from the given instance with the current instance
void fusionVisualContext(const Context& c);
};
} // namespace objectmodel
} // namespace core
} // namespace sofa
#endif
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