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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_SPRINGEDGEDATAFORCEFIELD_H
#define SOFA_COMPONENT_FORCEFIELD_SPRINGEDGEDATAFORCEFIELD_H
#include <sofa/core/componentmodel/behavior/ForceField.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/component/topology/EdgeData.h>
#include <sofa/component/topology/EdgeData.inl>
#include <sofa/defaulttype/Vec.h>
#include <vector>
namespace sofa
{
namespace component
{
namespace forcefield
{
using namespace sofa::defaulttype;
//using namespace sofa::core::objectmodel;
template<class DataTypes>
class SpringEdgeDataForceField : public core::componentmodel::behavior::ForceField<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
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;
class Mat3 : public fixed_array<Deriv,3>
{
public:
Deriv operator*(const Deriv& v) const
{
return Deriv((*this)[0]*v,(*this)[1]*v,(*this)[2]*v);
}
};
struct Spring {
Real ks; // spring stiffness
Real kd; // damping factor
Real restLength; // rest length of the spring
Mat3 dfdx; // the edge stiffness matrix
Spring(Real _ks, Real _kd, Real _rl) : ks(_ks), kd(_kd), restLength(_rl) {
}
Spring() : ks(1.0),kd(1.0),restLength(0.0) {
}
};
protected:
double m_potentialEnergy;
/// if the edge matrices should be updated
bool updateMatrix;
/// where the springs information are stored
component::topology::EdgeData<Spring> springArray;
core::componentmodel::behavior::MechanicalState<DataTypes>* object;
/// the EdgeSet topology used to get the list of edges
component::topology::EdgeSetTopology<DataTypes> *topology;
/// the filename where to load the spring information
DataField<std::string> m_filename;
/// By default, assume that all edges have the same stiffness
DataField<double> m_stiffness;
/// By default, assume that all edges have the same viscosity
DataField<double> m_viscosity;
//void addSpringForce(double& potentialEnergy, VecDeriv& f1, const VecCoord& p1, const VecDeriv& v1, VecDeriv& f2, const VecCoord& p2, const VecDeriv& v2, int i, const Spring& spring);
z void addSpring(int m1, int m2, SReal ks, SReal kd, SReal initlen);
void resizeArray(unsigned int n);
public:
SpringEdgeDataForceField(core::componentmodel::behavior::MechanicalState<DataTypes>* _object);
bool load(const char *filename);
core::componentmodel::behavior::MechanicalState<DataTypes>* getObject() { return object; }
virtual void init();
void createDefaultSprings();
virtual void handleEvent( Event* e );
virtual void addForce (VecDeriv& f, const VecCoord& x, const VecDeriv& v);
virtual void addDForce (VecDeriv& df, const VecDeriv& dx);
virtual double getPotentialEnergy(const VecCoord& ) { return m_potentialEnergy; }
Real getStiffness() const {
return (Real)(m_stiffness.getValue());
}
const Real getViscosity() const {
return (Real)(m_viscosity.getValue());
}
const component::topology::EdgeData<Spring> &getSpringArray() const{
return springArray;
}
void draw();
// -- Modifiers
void clear(int reserve=0)
{
springArray.clear();
if (reserve) springArray.reserve(reserve);
}
/// forward declaration of the loader class used to read spring information from file
class Loader;
friend class Loader;
};
} // namespace forcefield
} // namespace component
} // namespace sofa
#endif
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