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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 *
******************************************************************************/
// Author: François Faure, INRIA-UJF, (C) 2006
//
// Copyright: See COPYING file that comes with this distribution
#ifndef SOFA_COMPONENT_FORCEFIELD_SPRINGFORCEFIELD_H
#define SOFA_COMPONENT_FORCEFIELD_SPRINGFORCEFIELD_H
#include <sofa/core/componentmodel/behavior/PairInteractionForceField.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/helper/vector.h>
#include <sofa/component/component.h>
namespace sofa
{
namespace component
{
namespace forcefield
{
using namespace sofa::defaulttype;
/// This class contains the description of one linear spring
template<class T>
class LinearSpring
{
public:
typedef T Real;
int m1, m2; ///< the two extremities of the spring: masses m1 and m2
Real ks; ///< spring stiffness
Real kd; ///< damping factor
Real initpos; ///< rest length of the spring
LinearSpring(int m1=0, int m2=0, double ks=0.0, double kd=0.0, double initpos=0.0)
: m1(m1), m2(m2), ks((Real)ks), kd((Real)kd), initpos((Real)initpos)
{
}
LinearSpring(int m1, int m2, float ks, float kd=0, float initpos=0)
: m1(m1), m2(m2), ks((Real)ks), kd((Real)kd), initpos((Real)initpos)
{
}
inline friend std::istream& operator >> ( std::istream& in, LinearSpring<Real>& s ){
in>>s.m1>>s.m2>>s.ks>>s.kd>>s.initpos;
return in;
}
inline friend std::ostream& operator << ( std::ostream& out, const LinearSpring<Real>& s ){
out<<s.m1<<" "<<s.m2<<" "<<s.ks<<" "<<s.kd<<" "<<s.initpos<<"\n";
return out;
}
};
/// This class can be overridden if needed for additionnal storage within template specializations.
template<class DataTypes>
class SpringForceFieldInternalData
{
public:
};
/// Set of simple springs between particles
template<class DataTypes>
class SpringForceField : public core::componentmodel::behavior::PairInteractionForceField<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
typedef typename core::componentmodel::behavior::PairInteractionForceField<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;
typedef core::componentmodel::behavior::MechanicalState<DataTypes> MechanicalState;
typedef LinearSpring<Real> Spring;
protected:
SReal m_potentialEnergy;
Data<SReal> ks;
Data<SReal> kd;
Data<sofa::helper::vector<Spring> > springs;
class Loader;
SpringForceFieldInternalData<DataTypes> data;
friend class SpringForceFieldInternalData<DataTypes>;
void addSpringForce(SReal& potentialEnergy, VecDeriv& f1, const VecCoord& p1, const VecDeriv& v1, VecDeriv& f2, const VecCoord& p2, const VecDeriv& v2, int i, const Spring& spring);
public:
SpringForceField(MechanicalState* object1, MechanicalState* object2, SReal _ks=100.0, SReal _kd=5.0);
SpringForceField(SReal _ks=100.0, SReal _kd=5.0);
virtual void parse(core::objectmodel::BaseObjectDescription* arg);
bool load(const char *filename);
core::componentmodel::behavior::MechanicalState<DataTypes>* getObject1() { return this->mstate1; }
core::componentmodel::behavior::MechanicalState<DataTypes>* getObject2() { return this->mstate2; }
sofa::helper::vector< Spring > getSprings(){return springs.getValue();}
virtual void reinit();
virtual void init();
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);
virtual double getPotentialEnergy(const VecCoord&, const VecCoord&) { return m_potentialEnergy; }
virtual void addKToMatrix(sofa::defaulttype::BaseMatrix * /*mat*/, double /*kFact*/, unsigned int &/*offset*/);
SReal getStiffness() { return ks.getValue(); }
SReal getDamping(){ return kd.getValue(); }
void setStiffness(SReal _ks){ ks.setValue(_ks); }
void setDamping(SReal _kd){ kd.setValue(_kd); }
void draw();
// -- Modifiers
void clear(int reserve=0)
{
sofa::helper::vector<Spring>& springs = *this->springs.beginEdit();
springs.clear();
if (reserve) springs.reserve(reserve);
this->springs.endEdit();
}
void addSpring(int m1, int m2, SReal ks, SReal kd, SReal initlen)
{
springs.beginEdit()->push_back(Spring(m1,m2,ks,kd,initlen));
springs.endEdit();
}
virtual void handleTopologyChange(core::componentmodel::topology::Topology *topo);
};
#if defined(WIN32) && !defined(SOFA_COMPONENT_FORCEFIELD_SPRINGFORCEFIELD_CPP)
#pragma warning(disable : 4231)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_FORCEFIELD_API SpringForceField<defaulttype::Vec3dTypes>;
extern template class SOFA_COMPONENT_FORCEFIELD_API SpringForceField<defaulttype::Vec2dTypes>;
extern template class SOFA_COMPONENT_FORCEFIELD_API SpringForceField<defaulttype::Vec1dTypes>;
extern template class SOFA_COMPONENT_FORCEFIELD_API SpringForceField<defaulttype::Vec6dTypes>;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_FORCEFIELD_API SpringForceField<defaulttype::Vec3fTypes>;
extern template class SOFA_COMPONENT_FORCEFIELD_API SpringForceField<defaulttype::Vec2fTypes>;
extern template class SOFA_COMPONENT_FORCEFIELD_API SpringForceField<defaulttype::Vec1fTypes>;
extern template class SOFA_COMPONENT_FORCEFIELD_API SpringForceField<defaulttype::Vec6fTypes>;
#endif
#endif
} // namespace forcefield
} // namespace component
} // namespace sofa
#endif
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