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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 *
******************************************************************************/
//
// C++ Interface: TriangularBendingSprings
//
// Description:
//
//
// Author: The SOFA team </www.sofa-framework.org>, (C) 2007
//
// Copyright: See COPYING file that comes with this distribution
//
//
#ifndef SOFA_COMPONENT_FORCEFIELD_TRIANGULARBENDINGSPRINGS_H
#define SOFA_COMPONENT_FORCEFIELD_TRIANGULARBENDINGSPRINGS_H
#if !defined(__GNUC__) || (__GNUC__ > 3 || (_GNUC__ == 3 && __GNUC_MINOR__ > 3))
#pragma once
#endif
//#include <sofa/component/forcefield/StiffSpringForceField.h>
#include <sofa/component/container/MechanicalObject.h>
#include <map>
#include <sofa/core/componentmodel/behavior/ForceField.h> // or "BaseForceField.h" ?
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <sofa/defaulttype/Vec.h>
#include <sofa/defaulttype/Mat.h>
#include <sofa/defaulttype/Mat.h>
#include <sofa/component/topology/EdgeData.h>
namespace sofa
{
namespace component
{
namespace forcefield
{
using namespace sofa::helper;
using namespace sofa::defaulttype;
using namespace sofa::component::topology;
/**
Bending springs added between vertices of triangles sharing a common edge.
The springs connect the vertices not belonging to the common edge. It compresses when the surface bends along the common edge.
@author The SOFA team </www.sofa-framework.org>
*/
template<class DataTypes>
class TriangularBendingSprings : public core::componentmodel::behavior::ForceField<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
typedef core::componentmodel::behavior::ForceField<DataTypes> Inherited;
//typedef typename DataTypes::Real Real;
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;
enum { N=Coord::static_size };
typedef defaulttype::Mat<N,N,Real> Mat;
class Mat3 : public fixed_array<Deriv,3>
{
public:
Deriv operator*(const Deriv& v)
{
return Deriv((*this)[0]*v,(*this)[1]*v,(*this)[2]*v);
}
Deriv transposeMultiply(const Deriv& v)
{
return Deriv(v[0]*((*this)[0])[0]+v[1]*((*this)[1])[0]+v[2]*((*this)[2][0]),
v[0]*((*this)[0][1])+v[1]*((*this)[1][1])+v[2]*((*this)[2][1]),
v[0]*((*this)[0][2])+v[1]*((*this)[1][2])+v[2]*((*this)[2][2]));
}
};
protected:
//Data<double> ks;
//Data<double> kd;
class EdgeInformation
{
public:
Mat3 DfDx; /// the edge stiffness matrix
int m1, m2; /// the two extremities of the spring: masses m1 and m2
double ks; /// spring stiffness (initialized to the default value)
double kd; /// damping factor (initialized to the default value)
double restlength; /// rest length of the spring
bool is_activated;
bool is_initialized;
EdgeInformation(int m1=0, int m2=0, /* double ks=getKs(), double kd=getKd(), */ double restlength=0.0, bool is_activated=false, bool is_initialized=false)
: m1(m1), m2(m2), /* ks(ks), kd(kd), */ restlength(restlength), is_activated(is_activated), is_initialized(is_initialized)
{
}
/// Output stream
inline friend std::ostream& operator<< ( std::ostream& os, const EdgeInformation& /*ei*/ )
{
return os;
}
/// Input stream
inline friend std::istream& operator>> ( std::istream& in, EdgeInformation& /*ei*/ )
{
return in;
}
};
EdgeData<EdgeInformation> edgeInfo;
sofa::core::componentmodel::topology::BaseMeshTopology* _topology;
bool updateMatrix;
Data<double> f_ks;
Data<double> f_kd;
public:
TriangularBendingSprings(/*double _ks, double _kd*/); //component::MechanicalObject<DataTypes>* m_dof = NULL);
//TriangularBendingSprings(); //MechanicalState<DataTypes> *mm1 = NULL, MechanicalState<DataTypes> *mm2 = NULL);
virtual ~TriangularBendingSprings();
virtual double getPotentialEnergy(const VecCoord& x);
/// Searches triangle topology and creates the bending springs
virtual void init();
virtual void addForce(VecDeriv& f, const VecCoord& x, const VecDeriv& v);
virtual void addDForce(VecDeriv& df, const VecDeriv& dx);
virtual double getKs() const { return f_ks.getValue();}
virtual double getKd() const { return f_kd.getValue();}
void setKs(const double ks) {
f_ks.setValue((double)ks);
}
void setKd(const double kd) {
f_kd.setValue((double)kd);
}
// handle topological changes
virtual void handleTopologyChange();
void draw();
protected:
EdgeData<EdgeInformation> &getEdgeInfo() {return edgeInfo;}
static void TriangularBSEdgeCreationFunction(int edgeIndex, void* param,
EdgeInformation &ei,
const Edge& , const sofa::helper::vector< unsigned int > &,
const sofa::helper::vector< double >&);
static void TriangularBSTriangleCreationFunction(const sofa::helper::vector<unsigned int> &triangleAdded,
void* param, vector<EdgeInformation> &edgeData);
static void TriangularBSTriangleDestructionFunction ( const sofa::helper::vector<unsigned int> &triangleRemoved,
void* param, vector<EdgeInformation> &edgeData);
double m_potentialEnergy;
//public:
//Data<double> ks;
//Data<double> kd;
};
} // namespace forcefield
} // namespace component
} // namespace sofa
#endif
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