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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 *
******************************************************************************/
#include <sofa/component/controller/LCPForceFeedback.h>
#include <sofa/core/ObjectFactory.h>
#include <sofa/component/mastersolver/MasterContactSolver.h>
#include <sofa/helper/LCPcalc.h>
using namespace std;
using namespace sofa::defaulttype;
namespace sofa
{
namespace component
{
namespace controller
{
void LCPForceFeedback::init()
{
this->ForceFeedback::init();
// BaseObject* object2 = static_cast<BaseObject*>(context->getObject(classid(sofa::component::odesolver::MasterContactSolver)));
mastersolver = context->get<sofa::component::odesolver::MasterContactSolver>();
mState = dynamic_cast<MechanicalState<Rigid3dTypes> *> (this->getContext()->getMechanicalState());
if (!mState)
serr << "LCPForceFeedback has no binding MechanicalState" << sendl;
if (!mastersolver)
serr << "LCPForceFeedback has no binding MasterContactSolver" << sendl;
lcp = mastersolver->getLCP();
sout << "init LCPForceFeedback done " << sendl;
};
void LCPForceFeedback::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())
{
return;
}
static double mx = (*mState->getX())[0].getCenter()[0];
static double my = (*mState->getX())[0].getCenter()[1];
static double mz = (*mState->getX())[0].getCenter()[2];
static component::odesolver::LCP* lcp_buf = NULL;
static RigidTypes::VecConst c;
static std::vector<int> id_buf;
if (lcp_buf == NULL)
{
lcp_buf = mastersolver->getLCP();
mx = (*mState->getX())[0].getCenter()[0];
my = (*mState->getX())[0].getCenter()[1];
mz = (*mState->getX())[0].getCenter()[2];
}
lcp = mastersolver->getLCP();
if (lcp_buf!=lcp)
{
//////////////////// NEW LCP //////////////////////
//sout<<"new LCP detected"<<sendl;
mx = (*mState->getX())[0].getCenter()[0];
my = (*mState->getX())[0].getCenter()[1];
mz = (*mState->getX())[0].getCenter()[2];
// copy of the constraints that correspond to the lcp in vecConst c
c.clear();
id_buf.clear();
for(unsigned int c1 = 0; c1 < mState->getC()->size(); c1++)
{
int indexC1 = mState->getConstraintId()[c1];
id_buf.push_back(indexC1);
RigidTypes::SparseVecDeriv v;
std::map<unsigned int, RigidTypes::Deriv>::const_iterator itConstraint;
for(itConstraint=(*mState->getC())[c1].getData().begin();itConstraint!=(*mState->getC())[c1].getData().end();itConstraint++)
{
v.insert(itConstraint->first, itConstraint->second);
}
c.push_back(v);
}
}
else
{
//sout<<"old LCP "<<sendl;
}
lcp_buf = lcp;
//lcp->wait();
//lcp->lock();
/////// Copy the constraint buffer /////////
RigidTypes::VecConst* constraints = &c;
///////////////////////////////////////////
/////// Fordebug /////////
// if(lcp)
// sout<<"numConst" <<constraints->size()<<sendl;
// else
// sout<<"WARNING : LCP is null"<<sendl;
/////////////////////////
// sout << "LCPForceFeedback::computeForce " << constraints->size() << sendl;
if(lcp)
{
if ((lcp)->getMu() > 0.0 && constraints->size())
{
//RigidTypes::VecDeriv DX;
//DX.resize(3);
const unsigned int numConstraints = constraints->size();
RigidTypes::VecDeriv force;
if(!force.size())
force.resize((*mState->getX()).size());
//DX[0][0] = x - mx;
//DX[1][0] = y - my;
//DX[2][0] = z - mz;
double dx = (x - mx);
double dy = (y - my);
double dz = (z - mz);
//sout << "two !" << endl;
for(unsigned int c1 = 0; c1 < numConstraints; c1++)
{
int indexC1 = id_buf[c1];
std::map<unsigned int, RigidTypes::Deriv>::const_iterator itConstraint;
for(itConstraint=(*constraints)[c1].getData().begin();itConstraint!=(*constraints)[c1].getData().end();itConstraint++)
{
//sout << "constraint ID : " << indexC1 << endl;
(lcp)->getDfree()[indexC1] += itConstraint->second[0] * dx;
(lcp)->getDfree()[indexC1] += itConstraint->second[1] * dy;
(lcp)->getDfree()[indexC1] += itConstraint->second[2] * dz;
//sout << "data : " << constraints[c1][i].data[0] << " " << constraints[c1][i].data[1] << " " << constraints[c1][i].data[2] << endl;
}
}
//sout << "three !" << endl;
double tol = lcp->getTolerance();
int max = 100;
tol *= 0.001;
//helper::nlcp_gaussseidel((lcp)->getNbConst(), (lcp)->getDfree(), (lcp)->getW(), (lcp)->getF(), (lcp)->getMu(), tol, max, true);
helper::nlcp_gaussseidelTimed((lcp)->getNbConst(), (lcp)->getDfree(), (lcp)->getW(), (lcp)->getF(), (lcp)->getMu(), tol, max, true, 0.0008);
//helper::afficheLCP((lcp)->getDfree(), (lcp)->getW(), (lcp)->getF(),(lcp)->getNbConst());
//sout << "four !" << endl;
for(unsigned int c1 = 0; c1 < numConstraints; c1++)
{
int indexC1 = id_buf[c1];
std::map<unsigned int, RigidTypes::Deriv>::const_iterator itConstraint;
for(itConstraint=(*constraints)[c1].getData().begin();itConstraint!=(*constraints)[c1].getData().end();itConstraint++)
{
(lcp)->getDfree()[indexC1] -= itConstraint->second[0] * dx;
(lcp)->getDfree()[indexC1] -= itConstraint->second[1] * dy;
(lcp)->getDfree()[indexC1] -= itConstraint->second[2] * dz;
}
}
//sout << "five !" << endl;
for(unsigned int c1 = 0; c1 < numConstraints; c1++)
{
int indexC1 = id_buf[c1];
if ((lcp)->getF()[indexC1] != 0.0)
{
std::map<unsigned int, RigidTypes::Deriv>::const_iterator itConstraint;
for(itConstraint=(*constraints)[c1].getData().begin();itConstraint!=(*constraints)[c1].getData().end();itConstraint++)
{
force[0] += itConstraint->second * (lcp)->getF()[indexC1];
}
}
}
//sout << "six !" << endl;
fx = force[0][0]*forceCoef.getValue() ;//0.0003;
fy = force[0][1]*forceCoef.getValue() ;//0.0003;
fz = force[0][2]*forceCoef.getValue();//0.0003;
//sout << "seven !" << endl;
//sout << "haptic forces : " << fx << " " << fy << " " << fz << endl;
//sout << "forces : " << force << end;
//sout << "haptic diff : " << DX[0][0] << " " << DX[1][0] << " " << DX[2][0] << endl;
}
//sout << "eight" << endl;
}
//sout << "nine !" << endl;
//lcp->unlock();
};
int lCPForceFeedbackClass = sofa::core::RegisterObject("LCP force feedback for the omni")
.add< LCPForceFeedback >();
SOFA_DECL_CLASS(LCPForceFeedback)
} // namespace controller
} // namespace component
} // namespace sofa
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