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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: Fran�is Faure, INRIA-UJF, (C) 2006
//
// Copyright: See COPYING file that comes with this distribution
#include <sofa/component/contextobject/CoordinateSystem.h>
#include <sofa/core/ObjectFactory.h>
#include <sofa/simulation/common/Node.h>
#include <iostream>
#include <sofa/helper/system/gl.h>
namespace sofa
{
namespace component
{
namespace contextobject
{
CoordinateSystem::CoordinateSystem()
: origin(initData(&origin,defaulttype::Vec3f(),"origin", "Position of the local frame"))
, orientation(initData(&orientation,defaulttype::Vec3f(),"orientation", "Orientation of the local frame"))
, positionInParent_( Frame::identity() )
//, velocity_( Vec(0,0,0), Vec(0,0,0) )
{}
// CoordinateSystem::Frame CoordinateSystem::getPositionInWorld() const
// {
// return core::objectmodel::BaseObject::getContext()->getPositionInWorld() * positionInParent_;
// }
const CoordinateSystem::Frame& CoordinateSystem::getTransform() const
{
return positionInParent_;
}
void CoordinateSystem::setTransform( const Frame& f )
{
positionInParent_ = f;
}
// CoordinateSystem* CoordinateSystem::setOrigin( const Vec& v )
// {
// positionInParent_ = Frame( v, this->getOrientation() );
// return this;
// }
//
CoordinateSystem::Vec CoordinateSystem::getOrigin() const
{
return positionInParent_.getOrigin();
}
//
// CoordinateSystem* CoordinateSystem::setOrientation( const Rot& r )
// {
// positionInParent_ = Frame( this->getOrigin(), r );
// return this;
// }
//
CoordinateSystem::Rot CoordinateSystem::getOrientation( ) const
{
return positionInParent_.getOrientation();
}
//
// CoordinateSystem* CoordinateSystem::set( const Vec& v, const Rot& r )
// {
// positionInParent_ = Frame( v, r );
// return this;
// }
/*const CoordinateSystem::SpatialVector& CoordinateSystem::getVelocity() const
{
return velocity_;
}*/
/*CoordinateSystem::SpatialVector CoordinateSystem::getVelocityInWorld() const
{
return core::objectmodel::BaseObject::getContext()->getVelocityInWorld() + getPositionInWorld() * velocity__;
}*/
// CoordinateSystem* CoordinateSystem::setVelocity( const SpatialVector& f )
// {
// velocity_ = f;
// return this;
// }
void CoordinateSystem::apply()
{
//serr<<"CoordinateSystem::apply(), frame = "<< getName() <<", t="<<getContext()->getTime() << endl;
core::objectmodel::BaseContext* context = getContext();
//serr<<"CoordinateSystem::apply, current position = "<<context->getPositionInWorld()<<sendl;
//serr<<"CoordinateSystem::apply, transform = "<<this->getTransform()<<sendl;
// store parent position and velocity
Frame parentToWorld = context->getPositionInWorld();
SpatialVector parentSpatialVelocity = context->getVelocityInWorld();
Vec parentLinearVelocity = parentSpatialVelocity.getLinearVelocity() ;
Vec parentAngularVelocity = parentSpatialVelocity.getAngularVelocity() ;
Vec parentLinearAcceleration = context->getVelocityBasedLinearAccelerationInWorld() ;
// Velocity induced by the rotation of the parent frame. Local origin is defined in parent frame.
Vec originInParentProjected = parentToWorld.projectVector(getOrigin());
Vec vinduced = parentAngularVelocity.cross( originInParentProjected );
// Acceleration induced by the rotation of the parent frame. Local origin is defined in parent frame.
Vec ainduced = parentAngularVelocity.cross( vinduced );
// update context
defaulttype::Vec3d newLinearAcceleration = parentLinearAcceleration + ainduced;
Frame newLocalToWorld = parentToWorld * getTransform();
SpatialVector newSpatialVelocity ( parentSpatialVelocity /*+ newLocalToWorld * getVelocity()*/ );
context->setVelocityBasedLinearAccelerationInWorld( newLinearAcceleration );
context->setPositionInWorld( newLocalToWorld );
context->setVelocityInWorld( newSpatialVelocity );
//serr<<"CoordinateSystem::apply, new position = "<<context->getPositionInWorld()<<sendl;
}
void CoordinateSystem::draw()
{
/*
glPushAttrib(GL_COLOR_BUFFER_BIT | GL_LIGHTING_BIT);
glDisable(GL_LIGHTING);
glBegin( GL_LINES );
glColor3f( 1.f,0.f,0.f );
glVertex3f( 0.f,0.f,0.f );
glVertex3f( 1.f,0.f,0.f );
glColor3f( 0.f,1.f,0.f );
glVertex3f( 0.f,0.f,0.f );
glVertex3f( 0.f,1.f,0.f );
glColor3f( 0.f,0.f,1.f );
glVertex3f( 0.f,0.f,0.f );
glVertex3f( 0.f,0.f,1.f );
glEnd();
glPopAttrib();
*/
}
using namespace sofa::defaulttype;
void CoordinateSystem::reinit()
{
typedef CoordinateSystem::Frame Frame;
typedef CoordinateSystem::Vec Vec;
typedef CoordinateSystem::Rot Rot;
setTransform( Frame( origin.getValue(), Rot::createFromRotationVector( orientation.getValue() ) ));
}
void CoordinateSystem::init()
{
reinit();
}
SOFA_DECL_CLASS(CoordinateSystem)
int CoordinateSystemClass = core::RegisterObject("Translation and orientation of the local reference frame with respect to its parent")
.add< CoordinateSystem >()
;
} // namespace contextobject
} // namespace component
} // namespace sofa
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