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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_COLLISION_RAYPICKINTERACTOR_INL
#define SOFA_COMPONENT_COLLISION_RAYPICKINTERACTOR_INL
#include <sofa/component/collision/RayPickInteractor.h>
#include <sofa/component/collision/RayContact.h>
#include <sofa/component/collision/SphereModel.h>
#include <sofa/component/collision/TriangleModel.h>
#include <sofa/component/collision/TetrahedronModel.h>
#include <sofa/component/collision/SphereTreeModel.h>
#include <sofa/component/collision/DistanceGridCollisionModel.h>
#include <sofa/component/mapping/BarycentricMapping.h>
#include <sofa/component/mapping/RigidMapping.h>
#include <sofa/component/mapping/SkinningMapping.h>
#include <sofa/component/forcefield/StiffSpringForceField.h>
#include <sofa/component/forcefield/VectorSpringForceField.h>
#include <sofa/component/container/MechanicalObject.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/helper/system/gl.h>
namespace sofa
{
namespace component
{
namespace collision
{
typedef mapping::SkinningMapping<core::componentmodel::behavior::MechanicalMapping<core::componentmodel::behavior::MechanicalState<defaulttype::Rigid3Types>, core::componentmodel::behavior::MechanicalState<defaulttype::Vec3Types> > > MySkinningMapping;
using namespace sofa::defaulttype;
template<class DataTypes, class ContactForceField>
DefaultPickingManager<DataTypes,ContactForceField>::DefaultPickingManager()
: button( initData( &button, 0, "button", "mouse button which this manager responds to (0 = Left, 1 = Right)" ) ) //", 2 = Middle" has been removed as, in the current state, middle is hard coded for cutting
, mechanicalObject(NULL)
{
}
template<class DataTypes, class ContactForceField>
void DefaultPickingManager<DataTypes,ContactForceField>::release()
{
// release the attached body
for (unsigned int i=0; i<forcefields.size(); i++)
{
sout << "DefaultPickingManager: Deleting "<<forcefields[i]->getClassName()<<" "<<forcefields[i]->getName()<<sendl;
forcefields[i]->cleanup();
forcefields[i]->getContext()->removeObject(forcefields[i]);
delete forcefields[i];
}
forcefields.clear();
for (unsigned int i=0;i<mappers.size();i++)
{
mappers[i]->cleanup();
delete mappers[i];
}
mappers.clear();
attachedPoints.clear();
}
template<class DataTypes, class ContactForceField>
void DefaultPickingManager<DataTypes,ContactForceField>::update()
{
if (mechanicalObject!=NULL && !attachedPoints.empty())
{
typename DataTypes::VecCoord& x = *mechanicalObject->getX();
for (unsigned int i=0;i<attachedPoints.size();i++)
{
Ray& ray = attachedPoints[i].first;
x[i] = ray.origin()+ray.direction()*attachedPoints[i].second;
}
}
}
template<class DataTypes, class ContactForceField>
void DefaultPickingManager<DataTypes,ContactForceField>::draw()
{
if (!forcefields.empty())
{
glColor4f(1,1,1,1);
glLineWidth(3);
for (unsigned int i=0;i<forcefields.size();i++)
{
if (forcefields[i] != NULL && forcefields[i]->getContext() != NULL)
{
// Hack to make forcefields visible
bool b = forcefields[i]->getContext()->getShowInteractionForceFields();
forcefields[i]->getContext()->setShowInteractionForceFields(true);
forcefields[i]->draw();
forcefields[i]->getContext()->setShowInteractionForceFields(b);
}
}
glLineWidth(1);
}
}
template<class DataTypes, class ContactForceField>
component::MechanicalObject<DataTypes>* DefaultPickingManager<DataTypes,ContactForceField>::getMState(core::objectmodel::BaseContext* context)
{
if (mechanicalObject == NULL)
{
mechanicalObject = new component::MechanicalObject<DataTypes>();
simulation::Node* parent = dynamic_cast<simulation::Node*>(context);
if (parent != NULL)
{
std::string name = "contactMouse";
name += DataTypes::Name();
simulation::Node* child = simulation::getSimulation()->newNode(name);
parent->addChild(child);
child->updateContext();
child->addObject(mechanicalObject);
if (parent->get<sofa::core::componentmodel::behavior::OdeSolver>()) // we are below a solver, use a VoidMapping to indicate that it should not touch this object
child->addObject(new component::mapping::VoidMapping);
}
else
{
context->addObject(mechanicalObject);
//mechanicalObject->setContext(context);
}
mechanicalObject->init();
}
return mechanicalObject;
}
template<class DataTypes, class ContactForceField>
bool DefaultPickingManager<DataTypes,ContactForceField>::attach(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2, double dist, Vector3 p1, Vector3 p2)
{
core::CollisionModel* model1 = elem1.getCollisionModel();
core::CollisionModel* model2 = elem2.getCollisionModel();
RayModel* rayModel = dynamic_cast<RayModel*>(model1);
if (rayModel == NULL) return false;
BaseContactMapper<DataTypes>* mapper2 = BaseContactMapper<DataTypes>::Create(model2);
if (mapper2 == NULL)
{
serr << "DefaultPickingManager: ContactMapper from "<<model2->getClassName()<<"<"<<model2->getTemplateName()<<"> to "<<DataTypes::Name()<<" not found."<<sendl;
//sofa::helper::printFactoryLog();
return false;
}
component::MechanicalObject<DataTypes>* mstate1 = getMState(rayModel->getContext());
std::string name = "contactMouse";
name += DataTypes::Name();
MechanicalState<DataTypes>* mstate2 = mapper2->createMapping(name.c_str());
ContactForceField* ff = new ContactForceField(mstate1, mstate2);
name = this->getName();
name += "-";
name += model2->getClassName();
ff->setName(name);
ff->clear(1);
mapper2->resize(1);
int index1 = attachedPoints.size();
mstate1->resize(index1+1);
int index2 = elem2.getIndex();
Real r1 = 0.0;
Real r2 = 0.0;
// Create mapping for second point
Coord p; p = p2;
index2 = mapper2->addPoint(p, index2, r2);
mapper2->update();
p2 = (*mstate2->getX())[index2];
double stiffness = (elem1.getContactStiffness() * elem2.getContactStiffness());
double mu_v = (elem1.getContactFriction() + elem2.getContactFriction());
addContact(ff, index1, index2, stiffness, mu_v, r1+r2, p1, p2);
mstate2->getContext()->addObject(ff);
ff->init();
forcefields.push_back(ff);
mappers.push_back(mapper2);
attachedPoints.push_back(std::make_pair(Ray(rayModel,elem1.getIndex()), dist));
return true;
}
template<class DataTypes, class ContactForceField>
bool DefaultPickingManager<DataTypes,ContactForceField>::attach(core::CollisionElementIterator elem1, core::componentmodel::behavior::BaseMechanicalState* model2, int elem2, double dist, Vector3 p1, Vector3 p2)
{
core::CollisionModel* model1 = elem1.getCollisionModel();
RayModel* rayModel = dynamic_cast<RayModel*>(model1);
if (rayModel == NULL) return false;
MechanicalState<DataTypes>* mstate2 = dynamic_cast<MechanicalState<DataTypes>*>(model2);
if (mstate2 == NULL)
{
serr << "DefaultPickingManager: MechanicalState "<<model2->getClassName()<<"<"<<model2->getTemplateName()<<"> not supported."<<sendl;
return false;
}
component::MechanicalObject<DataTypes>* mstate1 = getMState(rayModel->getContext());
std::string name = "contactMouse";
name += DataTypes::Name();
ContactForceField* ff = new ContactForceField(mstate1, mstate2);
name = this->getName();
name += "-";
name += model2->getClassName();
ff->setName(name);
ff->clear(1);
int index1 = attachedPoints.size();
mstate1->resize(index1+1);
int index2 = elem2;
Real r1 = 0.0;
Real r2 = 0.0;
// Create mapping for second point
Coord p; p = p2;
p2 = (*mstate2->getX())[index2];
double stiffness = (elem1.getContactStiffness());
double mu_v = (elem1.getContactFriction());
addContact(ff, index1, index2, stiffness, mu_v, r1+r2, p1, p2);
mstate2->getContext()->addObject(ff);
ff->init();
forcefields.push_back(ff);
attachedPoints.push_back(std::make_pair(Ray(rayModel,elem1.getIndex()), dist));
return true;
}
template<>
void DefaultPickingManager<defaulttype::Vec3Types,forcefield::VectorSpringForceField<defaulttype::Vec3Types> >::addContact(forcefield::VectorSpringForceField<defaulttype::Vec3Types>* ff, int index1, int index2, double stiffness, double mu_v, double /*length*/, const Vector3& p1, const Vector3& p2);
template<>
void DefaultPickingManager<defaulttype::Vec3Types,forcefield::StiffSpringForceField<defaulttype::Vec3Types> >::addContact(forcefield::StiffSpringForceField<defaulttype::Vec3Types>* ff, int index1, int index2, double stiffness, double mu_v, double length, const Vector3& /*p1*/, const Vector3& /*p2*/);
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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