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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_PENALITYCONTACTFORCEFIELD_H
#define SOFA_COMPONENT_FORCEFIELD_PENALITYCONTACTFORCEFIELD_H
#include <sofa/core/componentmodel/behavior/PairInteractionForceField.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/CollisionModel.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/component/component.h>
#include <vector>
namespace sofa
{
namespace component
{
namespace forcefield
{
template<class DataTypes>
class PenalityContactForceField : public core::componentmodel::behavior::PairInteractionForceField<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
typedef typename core::componentmodel::behavior::PairInteractionForceField<DataTypes> Inherit;
typedef DataTypes DataTypes1;
typedef DataTypes DataTypes2;
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;
typedef core::componentmodel::behavior::MechanicalState<DataTypes> MechanicalState;
protected:
class Contact
{
public:
int m1, m2; ///< the two extremities of the spring: masses m1 and m2
int index1, index2; ///< the index of the two collision elements
Deriv norm; ///< contact normal, from m1 to m2
Real dist; ///< minimum distance between the points
Real ks; ///< spring stiffness
Real mu_s; ///< coulomb friction coefficient (currently unused)
Real mu_v; ///< viscous friction coefficient
Real pen; ///< current penetration
int age; ///< how old is this contact
Contact(int _m1=0, int _m2=0, int _index1=0, int _index2=0, Deriv _norm=Deriv(), Real _dist=Real(), Real _ks=Real(), Real _mu_s=Real(), Real _mu_v=Real(), Real _pen=Real(), int _age=0)
: m1(_m1),m2(_m2),index1(_index1),index2(_index2),norm(_norm),dist(_dist),ks(_ks),mu_s(_mu_s),mu_v(_mu_v),pen(_pen),age(_age)
{
}
inline friend std::istream& operator >> ( std::istream& in, Contact& c ){
in>>c.m1>>c.m2>>c.index1>>c.index2>>c.norm>>c.dist>>c.ks>>c.mu_s>>c.mu_v>>c.pen>>c.age;
return in;
}
inline friend std::ostream& operator << ( std::ostream& out, const Contact& c ){
out << c.m1<< " " <<c.m2<< " " << c.index1<< " " <<c.index2<< " " <<c.norm<< " " <<c.dist<<" " <<c.ks<<" " <<c.mu_s<<" " <<c.mu_v<<" " <<c.pen<<" " <<c.age;
return out;
}
};
Data<sofa::helper::vector<Contact> > contacts;
// contacts from previous frame
sofa::helper::vector<Contact> prevContacts;
public:
PenalityContactForceField(MechanicalState* object1, MechanicalState* object2)
: Inherit(object1, object2), contacts(initData(&contacts,"contacts", "Contacts"))
{
}
PenalityContactForceField()
{
}
void clear(int reserve = 0);
void addContact(int m1, int m2, int index1, int index2, const Deriv& norm, Real dist, Real ks, Real mu_s = 0.0f, Real mu_v = 0.0f, int oldIndex = 0);
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 double getPotentialEnergy(const VecCoord&, const VecCoord&);
// -- tool grabing utility
void grabPoint( const core::componentmodel::behavior::MechanicalState<defaulttype::Vec3Types> *tool,
const helper::vector< unsigned int > &index,
helper::vector< std::pair< core::objectmodel::BaseObject*, defaulttype::Vec3f> > &result,
helper::vector< unsigned int > &triangle,
helper::vector< unsigned int > &index_point) ;
void draw();
};
#if defined(WIN32) && !defined(SOFA_COMPONENT_FORCEFIELD_PENALITYCONTACTFORCEFIELD_CPP)
#pragma warning(disable : 4231)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_FORCEFIELD_API PenalityContactForceField<defaulttype::Vec3dTypes>;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_FORCEFIELD_API PenalityContactForceField<defaulttype::Vec3fTypes>;
#endif
#endif
} // namespace forcefield
} // namespace component
} // namespace sofa
#endif
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