1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
|
/******************************************************************************
* 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 *
******************************************************************************/
#include <sofa/component/controller/EnslavementForceFeedback.h>
#include <sofa/core/ObjectFactory.h>
#include <sofa/core/CollisionModel.h>
using namespace std;
using namespace sofa::defaulttype;
namespace sofa
{
namespace component
{
namespace controller
{
EnslavementForceFeedback::EnslavementForceFeedback()
: ForceFeedback(),
stiffness(initData(&stiffness, 1.0, "stiffness", "Penalty stiffness"))
{}
EnslavementForceFeedback::~EnslavementForceFeedback()
{}
void EnslavementForceFeedback::init()
{
this->ForceFeedback::init();
mState = dynamic_cast<MechanicalState<Rigid3dTypes> *> (context->getMechanicalState());
if (!mState)
serr << "EnslavementForceFeedback has no binding MechanicalState" << sendl;
// fetch all collision models in the scene starting from this node
simulation::Node* context = dynamic_cast<simulation::Node*>(getContext());
if(context)
context->getTreeObjects<core::CollisionModel>(&collisionModels);
}
void EnslavementForceFeedback::computeForce(double x, double y, double z,
double /*u*/, double /*v*/, double /*w*/, double /*q*/,
double& fx, double& fy, double& fz)
{
if (f_activate.getValue())
{
for (unsigned int i=0; i<collisionModels.size(); i++)
{
// find first contact and generate a force proportional to the difference of Phantom position and
// contact position on object surface
if (collisionModels[i]->getNumberOfContacts() > 0)
{
double mx = (*mState->getX())[0].getCenter()[0];
double my = (*mState->getX())[0].getCenter()[1];
double mz = (*mState->getX())[0].getCenter()[2];
const double& s = stiffness.getValue();
fx = s * (mx - x);
fy = s * (my - y);
fz = s * (mz - z);
return;
}
}
}
fx = 0.0;
fy = 0.0;
fz = 0.0;
}
int enslavementForceFeedbackClass = sofa::core::RegisterObject("Eslavement force feedback for the omni")
.add< EnslavementForceFeedback >();
SOFA_DECL_CLASS(EnslavementForceFeedback)
} // namespace controller
} // namespace component
} // namespace sofa
|
