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
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
|
/******************************************************************************
* 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 *
******************************************************************************/
//
// C++ Interface: ConicalForceField
//
// Description:
//
//
// Author: The SOFA team </www.sofa-framework.org>, (C) 2007
//
// Copyright: See COPYING file that comes with this distribution
//
//
#ifndef SOFA_COMPONENT_FORCEFIELD_CONICALFORCEFIELD_H
#define SOFA_COMPONENT_FORCEFIELD_CONICALFORCEFIELD_H
#include <sofa/core/componentmodel/behavior/ForceField.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/objectmodel/Data.h>
namespace sofa
{
namespace component
{
namespace forcefield
{
/// This class can be overridden if needed for additionnal storage within template specializations.
template<class DataTypes>
class ConicalForceFieldInternalData
{
public:
};
template<class DataTypes>
class ConicalForceField : public core::componentmodel::behavior::ForceField<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
typedef core::componentmodel::behavior::ForceField<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;
protected:
class Contact
{
public:
int index;
Coord normal;
Coord pos;
Contact( int index=0, Coord normal=Coord(),Coord pos=Coord())
: index(index),normal(normal),pos(pos)
{
}
inline friend std::istream& operator >> ( std::istream& in, Contact& c ){
in>>c.index>>c.normal>>c.pos;
return in;
}
inline friend std::ostream& operator << ( std::ostream& out, const Contact& c ){
out << c.index << " " << c.normal << " " << c.pos ;
return out;
}
};
Data<sofa::helper::vector<Contact> > contacts;
ConicalForceFieldInternalData<DataTypes> data;
public:
Data<Coord> coneCenter;
Data<Coord> coneHeight;
Data<Real> coneAngle;
Data<Real> stiffness;
Data<Real> damping;
Data<defaulttype::Vec3f> color;
Data<bool> bDraw;
ConicalForceField()
: coneCenter(initData(&coneCenter, "coneCenter", "cone center"))
, coneHeight(initData(&coneHeight, "coneHeight", "cone height"))
, coneAngle(initData(&coneAngle, (Real)10, "coneAngle", "cone angle"))
, stiffness(initData(&stiffness, (Real)500, "stiffness", "force stiffness"))
, damping(initData(&damping, (Real)5, "damping", "force damping"))
, color(initData(&color, defaulttype::Vec3f(0.0f,0.0f,1.0f), "color", "cone color"))
, bDraw(initData(&bDraw, true, "draw", "enable/disable drawing of the cone"))
{
}
void setCone(const Coord& center, Coord height, Real angle)
{
coneCenter.setValue( center );
coneHeight.setValue( height );
coneAngle.setValue( angle );
}
void setStiffness(Real stiff)
{
stiffness.setValue( stiff );
}
void setDamping(Real damp)
{
damping.setValue( damp );
}
virtual void addForce (VecDeriv& f, const VecCoord& x, const VecDeriv& v);
virtual void addDForce (VecDeriv& df, const VecDeriv& dx);
virtual double getPotentialEnergy(const VecCoord& x);
virtual void updateStiffness( const VecCoord& x );
virtual bool isIn(Coord p);
void draw();
};
} // namespace forcefield
} // namespace component
} // namespace sofa
#endif
|
