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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_VECTORSPRINGFORCEFIELD_H
#define SOFA_COMPONENT_FORCEFIELD_VECTORSPRINGFORCEFIELD_H
#include <sofa/component/forcefield/SpringForceField.h>
#include <sofa/core/componentmodel/behavior/ForceField.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/Mat.h>
#include <sofa/component/topology/EdgeData.h>
#include <sofa/component/topology/TopologyChangedEvent.h>
#include <sofa/core/objectmodel/DataFileName.h>
#include <sofa/component/topology/EdgeSetGeometryAlgorithms.h>
#include <sofa/component/topology/EdgeSetTopologyModifier.h>
namespace sofa
{
namespace component
{
namespace forcefield
{
using namespace sofa::defaulttype;
using sofa::core::objectmodel::Event;
template<class DataTypes>
class VectorSpringForceField
: public core::componentmodel::behavior::PairInteractionForceField<DataTypes>, public virtual core::objectmodel::BaseObject
//: public core::componentmodel::behavior::ForceField<DataTypes>
{
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;
enum { N=Coord::static_size };
struct Spring
{
Real ks; ///< spring stiffness
Real kd; ///< damping factor
Deriv restVector; ///< rest vector of the spring
Spring(Real _ks, Real _kd, Deriv _rl) : ks(_ks), kd(_kd), restVector(_rl)
{
}
Spring() : ks(1.0), kd(1.0)
{
}
/// Output stream
inline friend std::ostream& operator<< ( std::ostream& os, const Spring& /*s*/ )
{
return os;
}
/// Input stream
inline friend std::istream& operator>> ( std::istream& in, Spring& /*s*/ )
{
return in;
}
};
protected:
double m_potentialEnergy;
/// true if the springs are initialized from the topology
bool useTopology;
/// indices in case we don't use the topology
sofa::helper::vector<topology::Edge> edgeArray;
/// where the springs information are stored
sofa::component::topology::EdgeData<Spring> springArray;
/// the filename where to load the spring information
sofa::core::objectmodel::DataFileName m_filename;
/// By default, assume that all edges have the same stiffness
Data<double> m_stiffness;
/// By default, assume that all edges have the same viscosity
Data<double> m_viscosity;
void resizeArray(unsigned int n);
static void springCreationFunction(int /*index*/,
void* param, Spring& t,
const topology::Edge& e,
const sofa::helper::vector< unsigned int > &ancestors,
const sofa::helper::vector< double >& coefs);
public:
sofa::core::componentmodel::topology::BaseMeshTopology* _topology;
sofa::component::topology::EdgeSetTopologyContainer* edgeCont;
sofa::component::topology::EdgeSetGeometryAlgorithms<DataTypes>* edgeGeo;
sofa::component::topology::EdgeSetTopologyModifier* edgeMod;
VectorSpringForceField(MechanicalState* _object=NULL);
VectorSpringForceField(MechanicalState* _object1, MechanicalState* _object2);
bool load(const char *filename);
core::componentmodel::behavior::MechanicalState<DataTypes>* getObject1() { return this->mstate1; }
core::componentmodel::behavior::MechanicalState<DataTypes>* getObject2() { return this->mstate2; }
virtual void init();
virtual void bwdInit();
void createDefaultSprings();
virtual void handleEvent( Event* e );
virtual void addForce(VecDeriv& f1, VecDeriv& f2, const VecCoord& x1, const VecCoord& x2, const VecDeriv& v1, const VecDeriv& v2);
//virtual void addForce (VecDeriv& f, const VecCoord& x, const VecDeriv& v);
virtual void addDForce(VecDeriv& df1, VecDeriv& df2, const VecDeriv& dx1, const VecDeriv& dx2, double kFactor, double bFactor);
//virtual void addDForce (VecDeriv& df, const VecDeriv& dx);
//virtual double getPotentialEnergy(const VecCoord& )
virtual double getPotentialEnergy(const VecCoord&, const VecCoord&)
{ return m_potentialEnergy; }
Real getStiffness() const
{
return (Real)(m_stiffness.getValue());
}
const Real getViscosity() const
{
return (Real)(m_viscosity.getValue());
}
const topology::EdgeData<Spring>& getSpringArray() const
{
return springArray;
}
void draw();
// -- Modifiers
void clear(int reserve=0)
{
helper::vector<Spring>& springArrayData = *(springArray.beginEdit());
springArrayData.clear();
if (reserve) springArrayData.reserve(reserve);
springArray.endEdit();
}
void addSpring(int m1, int m2, SReal ks, SReal kd, Coord restVector);
/// forward declaration of the loader class used to read spring information from file
class Loader;
friend class Loader;
};
#if defined(WIN32) && !defined(SOFA_COMPONENT_FORCEFIELD_VECTORSPRINGFORCEFIELD_CPP)
#pragma warning(disable : 4231)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_FORCEFIELD_API VectorSpringForceField<defaulttype::Vec3dTypes>;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_FORCEFIELD_API VectorSpringForceField<defaulttype::Vec3fTypes>;
#endif
#endif
} // namespace forcefield
} // namespace component
} // namespace sofa
#endif
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