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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 *
******************************************************************************/
#define SOFA_COMPONENT_MASS_DIAGONALMASS_CPP
#include <sofa/component/mass/DiagonalMass.inl>
#include <sofa/core/componentmodel/behavior/Mass.inl>
#include <sofa/core/ObjectFactory.h>
#include <sofa/helper/gl/Axis.h>
namespace sofa
{
namespace component
{
namespace mass
{
using namespace sofa::defaulttype;
#ifndef SOFA_FLOAT
template <>
double DiagonalMass<Rigid3dTypes, Rigid3dMass>::getPotentialEnergy( const VecCoord& x )
{
double e = 0;
const MassVector &masses= f_mass.getValue();
// gravity
Vec3d g ( this->getContext()->getLocalGravity() );
Deriv theGravity;
DataTypes::set
( theGravity, g[0], g[1], g[2]);
for (unsigned int i=0;i<x.size();i++)
{
e -= theGravity.getVCenter()*masses[i].mass*x[i].getCenter();
}
return e;
}
template <>
double DiagonalMass<Rigid2dTypes, Rigid2dMass>::getPotentialEnergy( const VecCoord& x )
{
double e = 0;
const MassVector &masses= f_mass.getValue();
// gravity
Vec3d g ( this->getContext()->getLocalGravity() );
Deriv theGravity;
DataTypes::set
( theGravity, g[0], g[1], g[2]);
for (unsigned int i=0;i<x.size();i++)
{
e -= theGravity.getVCenter()*masses[i].mass*x[i].getCenter();
}
return e;
}
template <>
double DiagonalMass<Rigid3dTypes, Rigid3dMass>::getElementMass(unsigned int index)
{
return (f_mass.getValue()[index].mass);
}
template <>
double DiagonalMass<Rigid2dTypes, Rigid2dMass>::getElementMass(unsigned int index)
{
return (f_mass.getValue()[index].mass);
}
/*
template <>
void MassEdgeDestroyFunction<Rigid3dTypes, Rigid3dMass>(const sofa::helper::vector<unsigned int> &,
void* , vector<Rigid3dMass> &){
}
template <>
void MassEdgeCreationFunction<Rigid3dTypes, Rigid3dMass>(const sofa::helper::vector<unsigned int> &,
void* , vector<Rigid3dMass> &){
}*/
template <>
void DiagonalMass<Rigid3dTypes, Rigid3dMass>::draw()
{
const MassVector &masses= f_mass.getValue();
if (!getContext()->getShowBehaviorModels()) return;
VecCoord& x = *mstate->getX();
Real totalMass=0;
RigidTypes::Vec3 gravityCenter;
for (unsigned int i=0; i<x.size(); i++)
{
const Quat& orient = x[i].getOrientation();
//orient[3] = -orient[3];
const RigidTypes::Vec3& center = x[i].getCenter();
RigidTypes::Vec3 len;
// The moment of inertia of a box is:
// m->_I(0,0) = M/REAL(12.0) * (ly*ly + lz*lz);
// m->_I(1,1) = M/REAL(12.0) * (lx*lx + lz*lz);
// m->_I(2,2) = M/REAL(12.0) * (lx*lx + ly*ly);
// So to get lx,ly,lz back we need to do
// lx = sqrt(12/M * (m->_I(1,1)+m->_I(2,2)-m->_I(0,0)))
// Note that RigidMass inertiaMatrix is already divided by M
double m00 = masses[i].inertiaMatrix[0][0];
double m11 = masses[i].inertiaMatrix[1][1];
double m22 = masses[i].inertiaMatrix[2][2];
len[0] = sqrt(m11+m22-m00);
len[1] = sqrt(m00+m22-m11);
len[2] = sqrt(m00+m11-m22);
helper::gl::Axis::draw(center, orient, len*showAxisSize.getValue());
gravityCenter += (center * masses[i].mass);
totalMass += masses[i].mass;
}
if(showCenterOfGravity.getValue()){
glColor3f (1,1,0);
glBegin (GL_LINES);
gravityCenter /= totalMass;
helper::gl::glVertexT(gravityCenter - RigidTypes::Vec3(showAxisSize.getValue(),0,0) );
helper::gl::glVertexT(gravityCenter + RigidTypes::Vec3(showAxisSize.getValue(),0,0) );
helper::gl::glVertexT(gravityCenter - RigidTypes::Vec3(0,showAxisSize.getValue(),0) );
helper::gl::glVertexT(gravityCenter + RigidTypes::Vec3(0,showAxisSize.getValue(),0) );
helper::gl::glVertexT(gravityCenter - RigidTypes::Vec3(0,0,showAxisSize.getValue()) );
helper::gl::glVertexT(gravityCenter + RigidTypes::Vec3(0,0,showAxisSize.getValue()) );
glEnd();
}
}
template <>
void DiagonalMass<Rigid3dTypes, Rigid3dMass>::reinit(){
Inherited::reinit();
}
template <>
void DiagonalMass<Rigid2dTypes, Rigid2dMass>::reinit(){
Inherited::reinit();
}
template <>
void DiagonalMass<Rigid3dTypes, Rigid3dMass>::init(){
Inherited::init();
}
template <>
void DiagonalMass<Rigid2dTypes, Rigid2dMass>::init(){
Inherited::init();
}
template <>
void DiagonalMass<Rigid2dTypes, Rigid2dMass>::draw()
{
const MassVector &masses= f_mass.getValue();
if (!getContext()->getShowBehaviorModels()) return;
VecCoord& x = *mstate->getX();
for (unsigned int i=0; i<x.size(); i++)
{
Vec3d len;
len[0] = len[1] = sqrt(masses[i].inertiaMatrix);
len[2] = 0;
Quat orient(Vec3d(0,0,1), x[i].getOrientation());
Vec3d center; center = x[i].getCenter();
helper::gl::Axis::draw(center, orient, len);
}
}
#endif
#ifndef SOFA_DOUBLE
template <>
double DiagonalMass<Rigid3fTypes, Rigid3fMass>::getPotentialEnergy( const VecCoord& x )
{
double e = 0;
const MassVector &masses= f_mass.getValue();
// gravity
Vec3d g ( this->getContext()->getLocalGravity() );
Deriv theGravity;
DataTypes::set
( theGravity, g[0], g[1], g[2]);
for (unsigned int i=0;i<x.size();i++)
{
e -= theGravity.getVCenter()*masses[i].mass*x[i].getCenter();
}
return e;
}
template <>
double DiagonalMass<Rigid2fTypes, Rigid2fMass>::getPotentialEnergy( const VecCoord& x )
{
double e = 0;
const MassVector &masses= f_mass.getValue();
// gravity
Vec3d g ( this->getContext()->getLocalGravity() );
Deriv theGravity;
DataTypes::set
( theGravity, g[0], g[1], g[2]);
for (unsigned int i=0;i<x.size();i++)
{
e -= theGravity.getVCenter()*masses[i].mass*x[i].getCenter();
}
return e;
}
template <>
double DiagonalMass<Rigid3fTypes, Rigid3fMass>::getElementMass(unsigned int index)
{
return (double)(f_mass.getValue()[index].mass);
}
template <>
double DiagonalMass<Rigid2fTypes, Rigid2fMass>::getElementMass(unsigned int index)
{
return (double)(f_mass.getValue()[index].mass);
}
template <>
void DiagonalMass<Rigid3fTypes, Rigid3fMass>::draw()
{
const MassVector &masses= f_mass.getValue();
if (!getContext()->getShowBehaviorModels()) return;
VecCoord& x = *mstate->getX();
Real totalMass=0;
RigidTypes::Vec3 gravityCenter;
for (unsigned int i=0; i<x.size(); i++)
{
const Quat& orient = x[i].getOrientation();
//orient[3] = -orient[3];
const RigidTypes::Vec3& center = x[i].getCenter();
RigidTypes::Vec3 len;
// The moment of inertia of a box is:
// m->_I(0,0) = M/REAL(12.0) * (ly*ly + lz*lz);
// m->_I(1,1) = M/REAL(12.0) * (lx*lx + lz*lz);
// m->_I(2,2) = M/REAL(12.0) * (lx*lx + ly*ly);
// So to get lx,ly,lz back we need to do
// lx = sqrt(12/M * (m->_I(1,1)+m->_I(2,2)-m->_I(0,0)))
// Note that RigidMass inertiaMatrix is already divided by M
double m00 = masses[i].inertiaMatrix[0][0];
double m11 = masses[i].inertiaMatrix[1][1];
double m22 = masses[i].inertiaMatrix[2][2];
len[0] = sqrt(m11+m22-m00);
len[1] = sqrt(m00+m22-m11);
len[2] = sqrt(m00+m11-m22);
helper::gl::Axis::draw(center, orient, len*showAxisSize.getValue());
gravityCenter += (center * masses[i].mass);
totalMass += masses[i].mass;
}
if(showCenterOfGravity.getValue()){
glColor3f (1,1,0);
glBegin (GL_LINES);
gravityCenter /= totalMass;
helper::gl::glVertexT(gravityCenter - RigidTypes::Vec3(showAxisSize.getValue(),0,0) );
helper::gl::glVertexT(gravityCenter + RigidTypes::Vec3(showAxisSize.getValue(),0,0) );
helper::gl::glVertexT(gravityCenter - RigidTypes::Vec3(0,showAxisSize.getValue(),0) );
helper::gl::glVertexT(gravityCenter + RigidTypes::Vec3(0,showAxisSize.getValue(),0) );
helper::gl::glVertexT(gravityCenter - RigidTypes::Vec3(0,0,showAxisSize.getValue()) );
helper::gl::glVertexT(gravityCenter + RigidTypes::Vec3(0,0,showAxisSize.getValue()) );
glEnd();
}
}
template <>
void DiagonalMass<Rigid3fTypes, Rigid3fMass>::reinit(){
Inherited::init();
}
template <>
void DiagonalMass<Rigid2fTypes, Rigid2fMass>::reinit(){
Inherited::init();
}
template <>
void DiagonalMass<Rigid3fTypes, Rigid3fMass>::init(){
Inherited::init();
}
template <>
void DiagonalMass<Rigid2fTypes, Rigid2fMass>::init(){
Inherited::init();
}
template <>
void DiagonalMass<Rigid2fTypes, Rigid2fMass>::draw()
{
const MassVector &masses= f_mass.getValue();
if (!getContext()->getShowBehaviorModels()) return;
VecCoord& x = *mstate->getX();
for (unsigned int i=0; i<x.size(); i++)
{
Vec3d len;
len[0] = len[1] = sqrt(masses[i].inertiaMatrix);
len[2] = 0;
Quat orient(Vec3d(0,0,1), x[i].getOrientation());
Vec3d center; center = x[i].getCenter();
helper::gl::Axis::draw(center, orient, len);
}
}
#endif
SOFA_DECL_CLASS(DiagonalMass)
// Register in the Factory
int DiagonalMassClass = core::RegisterObject("Define a specific mass for each particle")
#ifndef SOFA_FLOAT
.add< DiagonalMass<Vec3dTypes,double> >()
.add< DiagonalMass<Vec2dTypes,double> >()
.add< DiagonalMass<Vec1dTypes,double> >()
.add< DiagonalMass<Rigid3dTypes,Rigid3dMass> >()
.add< DiagonalMass<Rigid2dTypes,Rigid2dMass> >()
#endif
#ifndef SOFA_DOUBLE
.add< DiagonalMass<Vec3fTypes,float> >()
.add< DiagonalMass<Vec2fTypes,float> >()
.add< DiagonalMass<Vec1fTypes,float> >()
.add< DiagonalMass<Rigid3fTypes,Rigid3fMass> >()
.add< DiagonalMass<Rigid2fTypes,Rigid2fMass> >()
#endif
;
#ifndef SOFA_FLOAT
template class SOFA_COMPONENT_MASS_API DiagonalMass<Vec3dTypes,double>;
template class SOFA_COMPONENT_MASS_API DiagonalMass<Vec2dTypes,double>;
template class SOFA_COMPONENT_MASS_API DiagonalMass<Vec1dTypes,double>;
template class SOFA_COMPONENT_MASS_API DiagonalMass<Rigid3dTypes,Rigid3dMass>;
template class SOFA_COMPONENT_MASS_API DiagonalMass<Rigid2dTypes,Rigid2dMass>;
#endif
#ifndef SOFA_DOUBLE
template class SOFA_COMPONENT_MASS_API DiagonalMass<Vec3fTypes,float>;
template class SOFA_COMPONENT_MASS_API DiagonalMass<Vec2fTypes,float>;
template class SOFA_COMPONENT_MASS_API DiagonalMass<Vec1fTypes,float>;
template class SOFA_COMPONENT_MASS_API DiagonalMass<Rigid3fTypes,Rigid3fMass>;
template class SOFA_COMPONENT_MASS_API DiagonalMass<Rigid2fTypes,Rigid2fMass>;
#endif
} // namespace mass
} // namespace component
} // namespace sofa
|
