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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_SPHEREFORCEFIELD_H
#define SOFA_COMPONENT_FORCEFIELD_SPHEREFORCEFIELD_H
#include <sofa/core/componentmodel/behavior/ForceField.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/objectmodel/Data.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/component/component.h>
namespace sofa
{
namespace component
{
namespace forcefield
{
/// This class can be overridden if needed for additionnal storage within template specializations.
template<class DataTypes>
class SphereForceFieldInternalData
{
public:
};
template<class DataTypes>
class SphereForceField : public core::componentmodel::behavior::ForceField<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
typedef core::componentmodel::behavior::ForceField<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:
class Contact
{
public:
int index;
Coord normal;
Real fact;
Contact( int index=0, Coord normal=Coord(),Real fact=Real(0))
: index(index),normal(normal),fact(fact)
{
}
inline friend std::istream& operator >> ( std::istream& in, Contact& c ){
in>>c.index>>c.normal>>c.fact;
return in;
}
inline friend std::ostream& operator << ( std::ostream& out, const Contact& c ){
out << c.index << " " << c.normal << " " << c.fact ;
return out;
}
};
Data<sofa::helper::vector<Contact> > contacts;
SphereForceFieldInternalData<DataTypes> data;
public:
Data<Coord> sphereCenter;
Data<Real> sphereRadius;
Data<Real> stiffness;
Data<Real> damping;
Data<defaulttype::Vec3f> color;
Data<bool> bDraw;
/// optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning)
Data< defaulttype::Vec<2,int> > localRange;
SphereForceField()
: contacts(initData(&contacts,"contacts", "Contacts"))
, sphereCenter(initData(&sphereCenter, "center", "sphere center"))
, sphereRadius(initData(&sphereRadius, (Real)1, "radius", "sphere radius"))
, stiffness(initData(&stiffness, (Real)500, "stiffness", "force stiffness"))
, damping(initData(&damping, (Real)5, "damping", "force damping"))
, color(initData(&color, defaulttype::Vec3f(0.0f,0.0f,1.0f), "color", "sphere color"))
, bDraw(initData(&bDraw, true, "draw", "enable/disable drawing of the sphere"))
, localRange( initData(&localRange, defaulttype::Vec<2,int>(-1,-1), "localRange", "optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning)" ) )
{
}
void setSphere(const Coord& center, Real radius)
{
sphereCenter.setValue( center );
sphereRadius.setValue( radius );
}
void setStiffness(Real stiff)
{
stiffness.setValue( stiff );
}
void setDamping(Real damp)
{
damping.setValue( damp );
}
virtual void addForce (VecDeriv& f, const VecCoord& x, const VecDeriv& v);
virtual void addDForce (VecDeriv& df, const VecDeriv& dx, double kFactor, double bFactor);
virtual double getPotentialEnergy(const VecCoord& x);
virtual void updateStiffness( const VecCoord& x );
virtual void addKToMatrix(sofa::defaulttype::BaseMatrix *, SReal, unsigned int &);
void draw();
};
#if defined(WIN32) && !defined(SOFA_COMPONENT_FORCEFIELD_SPHEREFORCEFIELD_CPP)
#pragma warning(disable : 4231)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_FORCEFIELD_API SphereForceField<defaulttype::Vec3dTypes>;
extern template class SOFA_COMPONENT_FORCEFIELD_API SphereForceField<defaulttype::Vec2dTypes>;
extern template class SOFA_COMPONENT_FORCEFIELD_API SphereForceField<defaulttype::Vec1dTypes>;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_FORCEFIELD_API SphereForceField<defaulttype::Vec3fTypes>;
extern template class SOFA_COMPONENT_FORCEFIELD_API SphereForceField<defaulttype::Vec2fTypes>;
extern template class SOFA_COMPONENT_FORCEFIELD_API SphereForceField<defaulttype::Vec1fTypes>;
#endif
#endif
} // namespace forcefield
} // namespace component
} // namespace sofa
#endif
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