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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_FORCEFIELD_INTERACTION_ELLIPSOIDFORCEFIELD_H
#define SOFA_COMPONENT_FORCEFIELD_INTERACTION_ELLIPSOIDFORCEFIELD_H
#include <sofa/core/componentmodel/behavior/MixedInteractionForceField.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/objectmodel/Data.h>
#include <sofa/defaulttype/RigidTypes.h>
namespace sofa
{
namespace component
{
namespace interactionforcefield
{
using namespace sofa::defaulttype;
/// This class can be overridden if needed for additionnal storage within template specializations.
template<class DataTypes1, class DataTypes2>
class InteractionEllipsoidForceFieldInternalData
{
public:
};
template<class DataTypes1, class DataTypes2>
class InteractionEllipsoidForceField : public core::componentmodel::behavior::MixedInteractionForceField<DataTypes1, DataTypes2>, public virtual core::objectmodel::BaseObject
{
public:
typedef core::componentmodel::behavior::MixedInteractionForceField<DataTypes1, DataTypes2> Inherit;
typedef typename DataTypes1::VecCoord VecCoord1;
typedef typename DataTypes1::VecDeriv VecDeriv1;
typedef typename DataTypes1::Coord Coord1;
typedef typename DataTypes1::Deriv Deriv1;
typedef typename Coord1::value_type Real1;
typedef typename DataTypes2::VecCoord VecCoord2;
typedef typename DataTypes2::VecDeriv VecDeriv2;
typedef typename DataTypes2::Coord Coord2;
typedef typename DataTypes2::Deriv Deriv2;
typedef typename Coord2::value_type Real2;
enum { N=Coord1::static_size };
typedef defaulttype::Mat<N,N,Real1> Mat;
protected:
class Contact
{
public:
int index;
Deriv1 pos;
Vec<3,SReal> bras_levier;
Mat m;
Contact( int index=0, const Mat& m=Mat())
: index(index), m(m)
{
}
inline friend std::istream& operator >> ( std::istream& in, Contact& c ){
in>>c.index>>c.m;
return in;
}
inline friend std::ostream& operator << ( std::ostream& out, const Contact& c ){
out << c.index << " " << c.m ;
return out;
}
};
Data<sofa::helper::vector<Contact> > contacts;
InteractionEllipsoidForceFieldInternalData<DataTypes1, DataTypes2> data;
bool calcF(const Coord1& p1, const Deriv1 &v1, Deriv1& f1,Mat& dfdx);
void initCalcF();
public:
Data<Coord1> center;
Data<Coord1> vradius;
Data<Real1> stiffness;
Data<Real1> damping;
Data<defaulttype::Vec3f> color;
Data<bool> bDraw;
Data<int> object2_dof_index;
InteractionEllipsoidForceField()
: contacts(initData(&contacts,"contacts", "Contacts"))
, center(initData(¢er, "center", "ellipsoid center"))
, vradius(initData(&vradius, "vradius", "ellipsoid radius"))
, stiffness(initData(&stiffness, (Real1)500, "stiffness", "force stiffness (positive to repulse outward, negative inward)"))
, damping(initData(&damping, (Real1)5, "damping", "force damping"))
, color(initData(&color, defaulttype::Vec3f(0.0f,0.5f,1.0f), "color", "ellipsoid color"))
, bDraw(initData(&bDraw, true, "draw", "enable/disable drawing of the ellipsoid"))
, object2_dof_index(initData(&object2_dof_index, (int)0, "object2_dof_index", "Dof index of object 2 where the forcefield is attached"))
{
_update_pos_relative = true;
vars.center =center.getValue();
// printf("\n vars.center : %f %f %f",vars.center.x(),vars.center.y(),vars.center.z());
_orientation.clear();
}
void setStiffness(Real1 stiff)
{
stiffness.setValue( stiff );
}
void setDamping(Real1 damp)
{
damping.setValue( damp );
}
virtual void addForce(VecDeriv1& f1, VecDeriv2& f2, const VecCoord1& p1, const VecCoord2& p2, const VecDeriv1& v1, const VecDeriv2& v2);
virtual void addForce2(VecDeriv1& f1, VecDeriv2& f2, const VecCoord1& p1, const VecCoord2& p2, const VecDeriv1& v1, const VecDeriv2& v2);
virtual void addDForce(VecDeriv1& df1, VecDeriv2& df2, const VecDeriv1& dx1, const VecDeriv2& dx2);
virtual double getPotentialEnergy(const VecCoord1& x1, const VecCoord2& x2);
void reinit() {_update_pos_relative = true;}
void draw();
protected:
struct TempVars {
Coord1 center; // center in the local frame ;
Coord1 r;
Real1 stiffness;
Real1 stiffabs;
Coord1 inv_r2;
Coord2 pos6D;
} vars;
bool _update_pos_relative;
VecCoord1 X1;
VecCoord2 X2;
Quat _orientation;
};
} // namespace interactionforcefield
} // namespace component
} // namespace sofa
#endif
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