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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_MAPPING_BARYCENTRICMAPPING_H
#define SOFA_COMPONENT_MAPPING_BARYCENTRICMAPPING_H
#include <sofa/helper/vector.h>
#include <sofa/component/topology/PointData.h>
#include <sofa/component/topology/HexahedronData.h>
#include <sofa/component/topology/RegularGridTopology.h>
#include <sofa/core/Mapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MappedModel.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
// forward declarations
namespace sofa {
namespace core {
namespace componentmodel {
namespace topology {
class BaseMeshTopology;
}
}
}
namespace component {
namespace topology {
class MeshTopology;
class RegularGridTopology;
class SparseGridTopology;
class EdgeSetTopologyContainer;
template <class T>
class EdgeSetGeometryAlgorithms;
class TriangleSetTopologyContainer;
template <class T>
class TriangleSetGeometryAlgorithms;
class QuadSetTopologyContainer;
template <class T>
class QuadSetGeometryAlgorithms;
class TetrahedronSetTopologyContainer;
template <class T>
class TetrahedronSetGeometryAlgorithms;
class HexahedronSetTopologyContainer;
template <class T>
class HexahedronSetGeometryAlgorithms;
}
}
}
namespace sofa
{
namespace component
{
namespace mapping
{
/// Base class for barycentric mapping topology-specific mappers
template<class In, class Out>
class BarycentricMapper
{
public:
typedef typename In::Real Real;
typedef typename Out::Real OutReal;
typedef typename In::VecDeriv InVecDeriv;
typedef typename In::Deriv InDeriv;
typedef typename std::map<unsigned int, InDeriv>::const_iterator InConstraintIterator;
typedef typename Out::VecDeriv OutVecDeriv;
typedef typename Out::Deriv OutDeriv;
typedef typename std::map<unsigned int, OutDeriv>::const_iterator OutConstraintIterator;
protected:
template< int NC, int NP>
class MappingData
{
public:
int in_index;
//unsigned int points[NP];
Real baryCoords[NC];
inline friend std::istream& operator >> ( std::istream& in, MappingData< NC, NP> &m )
{
in>>m.in_index;
for (int i=0;i<NC;i++) in >> m.baryCoords[i];
return in;
}
inline friend std::ostream& operator << ( std::ostream& out, const MappingData< NC , NP > & m ){
out << m.in_index;
for (int i=0;i<NC;i++)
out << " " << m.baryCoords[i];
out << "\n";
return out;
}
};
public:
typedef MappingData<1,2> LineData;
typedef MappingData<2,3> TriangleData;
typedef MappingData<2,4> QuadData;
typedef MappingData<3,4> TetraData;
typedef MappingData<3,8> CubeData;
typedef MappingData<1,0> MappingData1D;
typedef MappingData<2,0> MappingData2D;
typedef MappingData<3,0> MappingData3D;
virtual ~BarycentricMapper(){}
virtual void init(const typename Out::VecCoord& out, const typename In::VecCoord& in) = 0;
virtual void apply( typename Out::VecCoord& out, const typename In::VecCoord& in ) = 0;
virtual void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in ) = 0;
virtual void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in ) = 0;
virtual void applyJT( typename In::VecConst& out, const typename Out::VecConst& in ) = 0;
virtual void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in) = 0;
virtual void clear( int reserve=0 ) =0;
// TODO: make it pure virtual. Get the barycentric coefficients and the coordinates of the parents of a given mapped dof.
virtual void getJ(unsigned int /*Idx*/, sofa::helper::vector< double > &/*factor*/, sofa::helper::vector< unsigned int > &/*indices*/)
{std::cerr<< "getJ NOT implemented yet\n"; };
//Nothing to do
inline friend std::istream& operator >> ( std::istream& in, BarycentricMapper< In, Out > & ) {return in;}
inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapper< In, Out > & ){ return out; }
};
/// Template class for barycentric mapping topology-specific mappers.
template<class In, class Out>
class TopologyBarycentricMapper : public BarycentricMapper<In,Out>
{
public:
typedef BarycentricMapper<In,Out> Inherit;
typedef typename Inherit::Real Real;
virtual ~TopologyBarycentricMapper() {}
virtual int addPointInLine(const int /*lineIndex*/, const SReal* /*baryCoords*/) {return 0;}
virtual int setPointInLine(const int /*pointIndex*/, const int /*lineIndex*/, const SReal* /*baryCoords*/) {return 0;}
virtual int createPointInLine(const typename Out::Coord& /*p*/, int /*lineIndex*/, const typename In::VecCoord* /*points*/) {return 0;}
virtual int addPointInTriangle(const int /*triangleIndex*/, const SReal* /*baryCoords*/) {return 0;}
virtual int setPointInTriangle(const int /*pointIndex*/, const int /*triangleIndex*/, const SReal* /*baryCoords*/) {return 0;}
virtual int createPointInTriangle(const typename Out::Coord& /*p*/, int /*triangleIndex*/, const typename In::VecCoord* /*points*/) {return 0;}
virtual int addPointInQuad(const int /*quadIndex*/, const SReal* /*baryCoords*/) {return 0;}
virtual int setPointInQuad(const int /*pointIndex*/, const int /*quadIndex*/, const SReal* /*baryCoords*/) {return 0;}
virtual int createPointInQuad(const typename Out::Coord& /*p*/, int /*quadIndex*/, const typename In::VecCoord* /*points*/) {return 0;}
virtual int addPointInTetra(const int /*tetraIndex*/, const SReal* /*baryCoords*/) {return 0;}
virtual int setPointInTetra(const int /*pointIndex*/, const int /*tetraIndex*/, const SReal* /*baryCoords*/) {return 0;}
virtual int createPointInTetra(const typename Out::Coord& /*p*/, int /*tetraIndex*/, const typename In::VecCoord* /*points*/) {return 0;}
virtual int addPointInCube(const int /*cubeIndex*/, const SReal* /*baryCoords*/) {return 0;}
virtual int setPointInCube(const int /*pointIndex*/, const int /*cubeIndex*/, const SReal* /*baryCoords*/) {return 0;}
virtual int createPointInCube(const typename Out::Coord& /*p*/, int /*cubeIndex*/, const typename In::VecCoord* /*points*/) {return 0;}
protected:
TopologyBarycentricMapper(core::componentmodel::topology::BaseMeshTopology* topology)
: topology(topology)
{}
protected:
core::componentmodel::topology::BaseMeshTopology* topology;
};
/// Class allowing barycentric mapping computation on a MeshTopology
template<class In, class Out>
class BarycentricMapperMeshTopology : public TopologyBarycentricMapper<In,Out>
{
public:
typedef TopologyBarycentricMapper<In,Out> Inherit;
typedef typename Inherit::Real Real;
typedef typename Inherit::OutReal OutReal;
typedef typename Inherit::OutConstraintIterator OutConstraintIterator;
typedef typename Inherit::OutDeriv OutDeriv;
typedef typename Inherit::InConstraintIterator InConstraintIterator;
typedef typename Inherit::InDeriv InDeriv;
typedef typename Inherit::MappingData1D MappingData1D;
typedef typename Inherit::MappingData2D MappingData2D;
typedef typename Inherit::MappingData3D MappingData3D;
protected:
sofa::helper::vector< MappingData1D > map1d;
sofa::helper::vector< MappingData2D > map2d;
sofa::helper::vector< MappingData3D > map3d;
public:
BarycentricMapperMeshTopology(core::componentmodel::topology::BaseMeshTopology* topology)
: TopologyBarycentricMapper<In,Out>(topology)
{}
virtual ~BarycentricMapperMeshTopology(){}
void clear(int reserve=0);
int addPointInLine(const int lineIndex, const SReal* baryCoords);
int createPointInLine(const typename Out::Coord& p, int lineIndex, const typename In::VecCoord* points);
int addPointInTriangle(const int triangleIndex, const SReal* baryCoords);
int createPointInTriangle(const typename Out::Coord& p, int triangleIndex, const typename In::VecCoord* points);
int addPointInQuad(const int quadIndex, const SReal* baryCoords);
int createPointInQuad(const typename Out::Coord& p, int quadIndex, const typename In::VecCoord* points);
int addPointInTetra(const int tetraIndex, const SReal* baryCoords);
int addPointInCube(const int cubeIndex, const SReal* baryCoords);
void init(const typename Out::VecCoord& out, const typename In::VecCoord& in);
void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in);
void getJ(unsigned int Idx, sofa::helper::vector< double > &factor, sofa::helper::vector< unsigned int > &indices);
inline friend std::istream& operator >> ( std::istream& in, BarycentricMapperMeshTopology<In, Out> &b )
{
unsigned int size_vec;
in >> size_vec;
b.map1d.clear();
MappingData1D value1d;
for (unsigned int i=0;i<size_vec;i++)
{
in >> value1d;
b.map1d.push_back(value1d);
}
in >> size_vec;
b.map2d.clear();
MappingData2D value2d;
for (unsigned int i=0;i<size_vec;i++)
{
in >> value2d;
b.map2d.push_back(value2d);
}
in >> size_vec;
b.map3d.clear();
MappingData3D value3d;
for (unsigned int i=0;i<size_vec;i++)
{
in >> value3d;
b.map3d.push_back(value3d);
}
return in;
}
inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapperMeshTopology<In, Out> & b ){
out << b.map1d.size();
out << " " ;
out << b.map1d;
out << " " ;
out << b.map2d.size();
out << " " ;
out << b.map2d;
out << " " ;
out << b.map3d.size();
out << " " ;
out << b.map3d;
return out;
}
private:
void clear1d(int reserve=0);
void clear2d(int reserve=0);
void clear3d(int reserve=0);
};
/// Class allowing barycentric mapping computation on a RegularGridTopology
template<class In, class Out>
class BarycentricMapperRegularGridTopology : public TopologyBarycentricMapper<In,Out>
{
public:
typedef TopologyBarycentricMapper<In,Out> Inherit;
typedef typename Inherit::Real Real;
typedef typename Inherit::OutReal OutReal;
typedef typename Inherit::OutConstraintIterator OutConstraintIterator;
typedef typename Inherit::OutDeriv OutDeriv;
typedef typename Inherit::InConstraintIterator InConstraintIterator;
typedef typename Inherit::InDeriv InDeriv;
typedef typename Inherit::CubeData CubeData;
protected:
sofa::helper::vector<CubeData> map;
topology::RegularGridTopology* topology;
public:
BarycentricMapperRegularGridTopology(topology::RegularGridTopology* topology)
: Inherit(topology),topology(topology)
{}
virtual ~BarycentricMapperRegularGridTopology(){}
void clear(int reserve=0);
bool isEmpty(){return this->map.size() == 0;}
void setTopology(topology::RegularGridTopology* _topology){this->topology = _topology;}
topology::RegularGridTopology *getTopology(){return dynamic_cast<topology::RegularGridTopology *>(this->topology);}
int addPointInCube(const int cubeIndex, const SReal* baryCoords);
void init(const typename Out::VecCoord& out, const typename In::VecCoord& in);
void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in);
inline friend std::istream& operator >> ( std::istream& in, BarycentricMapperRegularGridTopology<In, Out> &b )
{
in >> b.map;
return in;
}
inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapperRegularGridTopology<In, Out> & b )
{
out << b.map;
return out;
}
};
/// Class allowing barycentric mapping computation on a SparseGridTopology
template<class In, class Out>
class BarycentricMapperSparseGridTopology : public TopologyBarycentricMapper<In,Out>
{
public:
typedef TopologyBarycentricMapper<In,Out> Inherit;
typedef typename Inherit::Real Real;
typedef typename Inherit::OutReal OutReal;
typedef typename Inherit::OutConstraintIterator OutConstraintIterator;
typedef typename Inherit::OutDeriv OutDeriv;
typedef typename Inherit::InConstraintIterator InConstraintIterator;
typedef typename Inherit::InDeriv InDeriv;
typedef typename Inherit::CubeData CubeData;
protected:
sofa::helper::vector<CubeData> map;
topology::SparseGridTopology* topology;
public:
BarycentricMapperSparseGridTopology(topology::SparseGridTopology* topology)
: TopologyBarycentricMapper<In,Out>(topology),
topology(topology)
{}
virtual ~BarycentricMapperSparseGridTopology(){}
void clear(int reserve=0);
int addPointInCube(const int cubeIndex, const SReal* baryCoords);
void init(const typename Out::VecCoord& out, const typename In::VecCoord& in);
void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in);
inline friend std::istream& operator >> ( std::istream& in, BarycentricMapperSparseGridTopology<In, Out> &b )
{
in >> b.map;
return in;
}
inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapperSparseGridTopology<In, Out> & b )
{
out << b.map;
return out;
}
};
/// Base class for barycentric mapping topology-specific mappers. Enables topological changes.
class BarycentricMapperDynamicTopology
{
public:
virtual ~BarycentricMapperDynamicTopology() {}
// handle topology changes in the From topology
virtual void handleTopologyChange()=0;
// handle topology changes in the To topology
virtual void handlePointEvents(std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator,
std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator )=0;
protected:
BarycentricMapperDynamicTopology() {}
};
/// Class allowing barycentric mapping computation on a EdgeSetTopology
template<class In, class Out>
class BarycentricMapperEdgeSetTopology : public TopologyBarycentricMapper<In,Out>,
public BarycentricMapperDynamicTopology
{
public:
typedef TopologyBarycentricMapper<In,Out> Inherit;
typedef typename Inherit::Real Real;
typedef typename Inherit::OutReal OutReal;
typedef typename Inherit::OutConstraintIterator OutConstraintIterator;
typedef typename Inherit::OutDeriv OutDeriv;
typedef typename Inherit::InConstraintIterator InConstraintIterator;
typedef typename Inherit::InDeriv InDeriv;
typedef typename Inherit::MappingData1D MappingData;
protected:
topology::PointData< MappingData > map;
topology::EdgeSetTopologyContainer* _container;
topology::EdgeSetGeometryAlgorithms<In>* _geomAlgo;
public:
BarycentricMapperEdgeSetTopology(topology::EdgeSetTopologyContainer* topology)
: TopologyBarycentricMapper<In,Out>(topology),
_container(topology),
_geomAlgo(NULL)
{}
virtual ~BarycentricMapperEdgeSetTopology(){}
void clear(int reserve=0);
int addPointInLine(const int edgeIndex, const SReal* baryCoords);
int createPointInLine(const typename Out::Coord& p, int edgeIndex, const typename In::VecCoord* points);
void init(const typename Out::VecCoord& out, const typename In::VecCoord& in);
void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in);
// handle topology changes in the From topology
virtual void handleTopologyChange();
// handle topology changes in the To topology
virtual void handlePointEvents(std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator,
std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator);
inline friend std::istream& operator >> ( std::istream& in, BarycentricMapperEdgeSetTopology<In, Out> &b )
{
unsigned int size_vec;
in >> size_vec;
sofa::helper::vector<MappingData>& m = *(b.map.beginEdit());
m.clear();
MappingData value;
for (unsigned int i=0;i<size_vec;i++)
{
in >> value;
m.push_back(value);
}
b.map.endEdit();
return in;
}
inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapperEdgeSetTopology<In, Out> & b ){
out << b.map.getValue().size();
out << " " ;
out << b.map;
return out;
}
};
/// Class allowing barycentric mapping computation on a TriangleSetTopology
template<class In, class Out>
class BarycentricMapperTriangleSetTopology : public TopologyBarycentricMapper<In,Out>,
public BarycentricMapperDynamicTopology
{
public:
typedef TopologyBarycentricMapper<In,Out> Inherit;
typedef typename Inherit::Real Real;
typedef typename Inherit::OutReal OutReal;
typedef typename Inherit::OutConstraintIterator OutConstraintIterator;
typedef typename Inherit::OutDeriv OutDeriv;
typedef typename Inherit::InConstraintIterator InConstraintIterator;
typedef typename Inherit::InDeriv InDeriv;
typedef typename Inherit::MappingData2D MappingData;
protected:
topology::PointData< MappingData > map;
topology::TriangleSetTopologyContainer* _container;
topology::TriangleSetGeometryAlgorithms<In>* _geomAlgo;
public:
BarycentricMapperTriangleSetTopology(topology::TriangleSetTopologyContainer* topology)
: TopologyBarycentricMapper<In,Out>(topology),
_container(topology),
_geomAlgo(NULL)
{}
virtual ~BarycentricMapperTriangleSetTopology(){}
void clear(int reserve=0);
int addPointInTriangle(const int triangleIndex, const SReal* baryCoords);
int createPointInTriangle(const typename Out::Coord& p, int triangleIndex, const typename In::VecCoord* points);
void init(const typename Out::VecCoord& out, const typename In::VecCoord& in);
void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in);
// handle topology changes in the From topology
virtual void handleTopologyChange();
// handle topology changes in the To topology
virtual void handlePointEvents(std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator,
std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator);
inline friend std::istream& operator >> ( std::istream& in, BarycentricMapperTriangleSetTopology<In, Out> &b )
{
unsigned int size_vec;
in >> size_vec;
sofa::helper::vector<MappingData>& m = *(b.map.beginEdit());
m.clear();
MappingData value;
for (unsigned int i=0;i<size_vec;i++)
{
in >> value;
m.push_back(value);
}
b.map.endEdit();
return in;
}
inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapperTriangleSetTopology<In, Out> & b ){
out << b.map.getValue().size();
out << " " ;
out << b.map;
return out;
}
};
/// Class allowing barycentric mapping computation on a QuadSetTopology
template<class In, class Out>
class BarycentricMapperQuadSetTopology : public TopologyBarycentricMapper<In,Out>,
public BarycentricMapperDynamicTopology
{
public:
typedef TopologyBarycentricMapper<In,Out> Inherit;
typedef typename Inherit::Real Real;
typedef typename Inherit::OutReal OutReal;
typedef typename Inherit::OutConstraintIterator OutConstraintIterator;
typedef typename Inherit::OutDeriv OutDeriv;
typedef typename Inherit::InConstraintIterator InConstraintIterator;
typedef typename Inherit::InDeriv InDeriv;
typedef typename Inherit::MappingData2D MappingData;
protected:
topology::PointData< MappingData > map;
topology::QuadSetTopologyContainer* _container;
topology::QuadSetGeometryAlgorithms<In>* _geomAlgo;
public:
BarycentricMapperQuadSetTopology(topology::QuadSetTopologyContainer* topology)
: TopologyBarycentricMapper<In,Out>(topology),
_container(topology),
_geomAlgo(NULL)
{}
virtual ~BarycentricMapperQuadSetTopology(){}
void clear(int reserve=0);
int addPointInQuad(const int index, const SReal* baryCoords);
int createPointInQuad(const typename Out::Coord& p, int index, const typename In::VecCoord* points);
void init(const typename Out::VecCoord& out, const typename In::VecCoord& in);
void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in);
// handle topology changes in the From topology
virtual void handleTopologyChange();
// handle topology changes in the To topology
virtual void handlePointEvents(std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator,
std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator);
inline friend std::istream& operator >> ( std::istream& in, BarycentricMapperQuadSetTopology<In, Out> &b )
{
unsigned int size_vec;
in >> size_vec;
sofa::helper::vector<MappingData>& m = *(b.map.beginEdit());
m.clear();
MappingData value;
for (unsigned int i=0;i<size_vec;i++)
{
in >> value;
m.push_back(value);
}
b.map.endEdit();
return in;
}
inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapperQuadSetTopology<In, Out> & b ){
out << b.map.getValue().size();
out << " " ;
out << b.map;
return out;
}
};
/// Class allowing barycentric mapping computation on a TetrehedronSetTopology
template<class In, class Out>
class BarycentricMapperTetrahedronSetTopology : public TopologyBarycentricMapper<In,Out>,
public BarycentricMapperDynamicTopology
{
public:
typedef TopologyBarycentricMapper<In,Out> Inherit;
typedef typename Inherit::Real Real;
typedef typename Inherit::OutReal OutReal;
typedef typename Inherit::OutConstraintIterator OutConstraintIterator;
typedef typename Inherit::OutDeriv OutDeriv;
typedef typename Inherit::InConstraintIterator InConstraintIterator;
typedef typename Inherit::InDeriv InDeriv;
typedef typename Inherit::MappingData3D MappingData;
protected:
topology::PointData< MappingData > map;
topology::TetrahedronSetTopologyContainer* _container;
topology::TetrahedronSetGeometryAlgorithms<In>* _geomAlgo;
public:
BarycentricMapperTetrahedronSetTopology(topology::TetrahedronSetTopologyContainer* topology)
: TopologyBarycentricMapper<In,Out>(topology),
_container(topology),
_geomAlgo(NULL)
{}
virtual ~BarycentricMapperTetrahedronSetTopology(){}
void clear(int reserve=0);
int addPointInTetra(const int index, const SReal* baryCoords);
void init(const typename Out::VecCoord& out, const typename In::VecCoord& in);
void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in);
// handle topology changes in the From topology
virtual void handleTopologyChange();
// handle topology changes in the To topology
virtual void handlePointEvents(std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator,
std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator);
inline friend std::istream& operator >> ( std::istream& in, BarycentricMapperTetrahedronSetTopology<In, Out> &b )
{
unsigned int size_vec;
in >> size_vec;
sofa::helper::vector<MappingData>& m = *(b.map.beginEdit());
m.clear();
MappingData value;
for (unsigned int i=0;i<size_vec;i++)
{
in >> value;
m.push_back(value);
}
b.map.endEdit();
return in;
}
inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapperTetrahedronSetTopology<In, Out> & b ){
out << b.map.getValue().size();
out << " " ;
out << b.map;
return out;
}
};
/// Class allowing barycentric mapping computation on a HexahedronSetTopology
template<class In, class Out>
class BarycentricMapperHexahedronSetTopology : public TopologyBarycentricMapper<In,Out>,
public BarycentricMapperDynamicTopology
{
public:
typedef TopologyBarycentricMapper<In,Out> Inherit;
typedef typename Inherit::Real Real;
typedef typename Inherit::OutReal OutReal;
typedef typename Inherit::OutConstraintIterator OutConstraintIterator;
typedef typename Inherit::OutDeriv OutDeriv;
typedef typename Inherit::InConstraintIterator InConstraintIterator;
typedef typename Inherit::InDeriv InDeriv;
typedef typename Inherit::MappingData3D MappingData;
protected:
topology::PointData< MappingData > map;
topology::HexahedronSetTopologyContainer* _container;
topology::HexahedronSetGeometryAlgorithms<In>* _geomAlgo;
public:
BarycentricMapperHexahedronSetTopology()
: TopologyBarycentricMapper<In,Out>(NULL),_container(NULL),_geomAlgo(NULL)
{}
BarycentricMapperHexahedronSetTopology(topology::HexahedronSetTopologyContainer* topology)
: TopologyBarycentricMapper<In,Out>(topology),
_container(topology),
_geomAlgo(NULL)
{}
virtual ~BarycentricMapperHexahedronSetTopology(){}
void clear(int reserve=0);
int addPointInCube(const int index, const SReal* baryCoords);
int setPointInCube(const int pointIndex, const int cubeIndex, const SReal* baryCoords);
void init(const typename Out::VecCoord& out, const typename In::VecCoord& in);
void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
void draw( const typename Out::VecCoord& out, const typename In::VecCoord& in);
// handle topology changes in the From topology
virtual void handleTopologyChange();
// handle topology changes in the To topology
virtual void handlePointEvents(std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator,
std::list< const core::componentmodel::topology::TopologyChange *>::const_iterator);
bool isEmpty(){return this->map.getValue().empty();}
void setTopology(topology::HexahedronSetTopologyContainer* _topology){this->topology = _topology; _container=_topology;}
inline friend std::istream& operator >> ( std::istream& in, BarycentricMapperHexahedronSetTopology<In, Out> &b )
{
unsigned int size_vec;
in >> size_vec;
sofa::helper::vector<MappingData>& m = *(b.map.beginEdit());
m.clear();
MappingData value;
for (unsigned int i=0;i<size_vec;i++)
{
in >> value;
m.push_back(value);
}
b.map.endEdit();
return in;
}
inline friend std::ostream& operator << ( std::ostream& out, const BarycentricMapperHexahedronSetTopology<In, Out> & b ){
out << b.map.getValue().size();
out << " " ;
out << b.map;
return out;
}
};
template <class BasicMapping>
class BarycentricMapping : public BasicMapping
{
public:
typedef BasicMapping Inherit;
typedef typename Inherit::In In;
typedef typename Inherit::Out Out;
typedef typename In::DataTypes InDataTypes;
typedef typename InDataTypes::VecCoord InVecCoord;
typedef typename InDataTypes::VecDeriv InVecDeriv;
typedef typename InDataTypes::Coord InCoord;
typedef typename InDataTypes::Deriv InDeriv;
typedef typename InDataTypes::SparseVecDeriv InSparseVecDeriv;
typedef typename InDataTypes::Real Real;
typedef typename Out::DataTypes OutDataTypes;
typedef typename OutDataTypes::VecCoord OutVecCoord;
typedef typename OutDataTypes::VecDeriv OutVecDeriv;
typedef typename OutDataTypes::Coord OutCoord;
typedef typename OutDataTypes::Deriv OutDeriv;
typedef typename OutDataTypes::SparseVecDeriv OutSparseVecDeriv;
typedef typename OutDataTypes::Real OutReal;
typedef core::componentmodel::topology::BaseMeshTopology BaseMeshTopology;
using Inherit::sout;
using Inherit::serr;
using Inherit::sendl;
protected:
typedef TopologyBarycentricMapper<InDataTypes,OutDataTypes> Mapper;
typedef BarycentricMapperRegularGridTopology<InDataTypes, OutDataTypes> RegularGridMapper;
typedef BarycentricMapperHexahedronSetTopology<InDataTypes, OutDataTypes> HexaMapper;
Mapper* mapper;
DataPtr< RegularGridMapper >* f_grid;
DataPtr< HexaMapper >* f_hexaMapper;
public:
BarycentricMapping(In* from, Out* to)
: Inherit(from, to), mapper(NULL)
, f_grid (new DataPtr< RegularGridMapper >( new RegularGridMapper( NULL ),"Regular Grid Mapping"))
, f_hexaMapper (new DataPtr< HexaMapper >( new HexaMapper( ),"Hexahedron Mapper"))
{
this->addField( f_grid, "gridmap"); f_grid->beginEdit();
this->addField( f_hexaMapper, "hexamap"); f_hexaMapper->beginEdit();
}
BarycentricMapping(In* from, Out* to, Mapper* mapper)
: Inherit(from, to), mapper(mapper)
{
if (RegularGridMapper* m = dynamic_cast< RegularGridMapper* >(mapper))
{
f_grid = new DataPtr< RegularGridMapper >( m,"Regular Grid Mapping");
this->addField( f_grid, "gridmap"); f_grid->beginEdit();
}
else if (HexaMapper* m = dynamic_cast< HexaMapper* >(mapper))
{
f_hexaMapper = new DataPtr< HexaMapper >( m,"Hexahedron Mapper");
this->addField( f_hexaMapper, "hexamap"); f_hexaMapper->beginEdit();
}
}
BarycentricMapping(In* from, Out* to, BaseMeshTopology * topology );
virtual ~BarycentricMapping()
{
if (mapper!=NULL)
delete mapper;
}
void init();
void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
void draw();
void getJ(unsigned int Idx, sofa::helper::vector< double > &factor, sofa::helper::vector< unsigned int > &indices){mapper->getJ(Idx,factor,indices);}
// handle topological changes
virtual void handleTopologyChange();
// handle topology changes depending on the topology
virtual void handleTopologyChange(core::componentmodel::topology::Topology* t);
TopologyBarycentricMapper<InDataTypes,OutDataTypes>* getMapper() {return mapper;}
protected:
sofa::core::componentmodel::topology::BaseMeshTopology* topology_from;
sofa::core::componentmodel::topology::BaseMeshTopology* topology_to;
private:
void createMapperFromTopology(BaseMeshTopology * topology);
};
using sofa::defaulttype::Vec1dTypes;
using sofa::defaulttype::Vec2dTypes;
using sofa::defaulttype::Vec3dTypes;
using sofa::defaulttype::Vec1fTypes;
using sofa::defaulttype::Vec2fTypes;
using sofa::defaulttype::Vec3fTypes;
using sofa::defaulttype::ExtVec1fTypes;
using sofa::defaulttype::ExtVec2fTypes;
using sofa::defaulttype::ExtVec3fTypes;
using core::Mapping;
using core::componentmodel::behavior::MechanicalMapping;
using core::componentmodel::behavior::MappedModel;
using core::componentmodel::behavior::State;
using core::componentmodel::behavior::MechanicalState;
#if defined(WIN32) && !defined(SOFA_COMPONENT_MAPPING_BARYCENTRICMAPPING_CPP)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< MechanicalMapping< MechanicalState<Vec3dTypes>, MechanicalState<Vec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< Mapping< State<Vec3dTypes>, MappedModel<Vec3dTypes> > >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< Mapping< State<Vec3dTypes>, MappedModel<ExtVec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< Mapping< State<Vec3dTypes>, MappedModel<ExtVec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapper<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapper<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapper<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API TopologyBarycentricMapper<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API TopologyBarycentricMapper<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API TopologyBarycentricMapper<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperRegularGridTopology<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperRegularGridTopology<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperRegularGridTopology<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperSparseGridTopology<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperSparseGridTopology<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperSparseGridTopology<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperMeshTopology<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperMeshTopology<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperMeshTopology<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperEdgeSetTopology<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperEdgeSetTopology<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperEdgeSetTopology<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTriangleSetTopology<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTriangleSetTopology<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTriangleSetTopology<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperQuadSetTopology<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperQuadSetTopology<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperQuadSetTopology<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTetrahedronSetTopology<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTetrahedronSetTopology<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTetrahedronSetTopology<Vec3dTypes, ExtVec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperHexahedronSetTopology<Vec3dTypes, Vec3dTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperHexahedronSetTopology<Vec3dTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperHexahedronSetTopology<Vec3dTypes, ExtVec3fTypes >;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< MechanicalMapping< MechanicalState<Vec3fTypes>, MechanicalState<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< Mapping< State<Vec3fTypes>, MappedModel<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< Mapping< State<Vec3fTypes>, MappedModel<ExtVec3fTypes> > >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< Mapping< State<Vec3fTypes>, MappedModel<ExtVec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapper<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapper<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapper<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API TopologyBarycentricMapper<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API TopologyBarycentricMapper<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API TopologyBarycentricMapper<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperRegularGridTopology<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperRegularGridTopology<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperRegularGridTopology<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperSparseGridTopology<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperSparseGridTopology<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperSparseGridTopology<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperMeshTopology<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperMeshTopology<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperMeshTopology<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperEdgeSetTopology<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperEdgeSetTopology<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperEdgeSetTopology<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTriangleSetTopology<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTriangleSetTopology<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTriangleSetTopology<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperQuadSetTopology<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperQuadSetTopology<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperQuadSetTopology<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTetrahedronSetTopology<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTetrahedronSetTopology<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTetrahedronSetTopology<Vec3fTypes, ExtVec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperHexahedronSetTopology<Vec3fTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperHexahedronSetTopology<Vec3fTypes, ExtVec3fTypes >;
// extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperHexahedronSetTopology<Vec3fTypes, ExtVec3dTypes >;
#endif
#ifndef SOFA_FLOAT
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< MechanicalMapping< MechanicalState<Vec3dTypes>, MechanicalState<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< MechanicalMapping< MechanicalState<Vec3fTypes>, MechanicalState<Vec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< Mapping< State<Vec3dTypes>, MappedModel<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapping< Mapping< State<Vec3fTypes>, MappedModel<Vec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapper<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapper<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API TopologyBarycentricMapper<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API TopologyBarycentricMapper<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperRegularGridTopology<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperRegularGridTopology<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperSparseGridTopology<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperSparseGridTopology<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperMeshTopology<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperMeshTopology<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperEdgeSetTopology<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperEdgeSetTopology<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTriangleSetTopology<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTriangleSetTopology<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperQuadSetTopology<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperQuadSetTopology<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTetrahedronSetTopology<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperTetrahedronSetTopology<Vec3fTypes, Vec3dTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperHexahedronSetTopology<Vec3dTypes, Vec3fTypes >;
extern template class SOFA_COMPONENT_MAPPING_API BarycentricMapperHexahedronSetTopology<Vec3fTypes, Vec3dTypes >;
#endif
#endif
#endif
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
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