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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 LMLFORCE_INL
#define LMLFORCE_INL
#include "LMLForce.h"
#include <sofa/core/componentmodel/behavior/ForceField.inl>
#include <sofa/helper/gl/template.h>
using namespace sofa::helper::gl;
namespace sofa
{
namespace filemanager
{
namespace pml
{
template<class DataTypes>
LMLForce<DataTypes>::LMLForce(Loads* loadsList, const map<unsigned int, unsigned int> &atomIndexToDOFIndex, MechanicalState<DataTypes> *mm)
: ForceField<DataTypes>(mm), atomToDOFIndexes(atomIndexToDOFIndex)
{
mmodel = mm;
loads = new Loads();
Load * load;
SReal dirX, dirY, dirZ;
Deriv ve;
this->setName("loads");
//for each load, we search which ones are forces applied on the body nodes
for (unsigned int i=0 ; i<loadsList->numberOfLoads() ; i++) {
load = loadsList->getLoad(i);
if (load->getType() == "Force") {
//set the direction
if (load->getDirection().isToward()) {
std::map<unsigned int, unsigned int>::const_iterator titi = atomIndexToDOFIndex.find(load->getDirection().getToward());
if (titi != atomIndexToDOFIndex.end()){
unsigned int dofInd = titi->second;
dirX = (*mm->getX())[dofInd].x();
dirY = (*mm->getX())[dofInd].y();
dirZ = (*mm->getX())[dofInd].z();
}
}
else
load->getDirection(dirX, dirY, dirZ);
//set the target
unsigned int cpt=0;
for (unsigned int j=0 ; j<load->numberOfTargets(); j++) {
std::map<unsigned int, unsigned int>::const_iterator result = atomIndexToDOFIndex.find(load->getTarget(j));
if (result != atomIndexToDOFIndex.end()) {
cpt++;
if (load->getDirection().isToward())
ve = Deriv(dirX-(*mm->getX())[result->second].x(), dirY-(*mm->getX())[result->second].y(), dirZ - (*mm->getX())[result->second].z());
else
ve = Deriv(dirX, dirY, dirZ);
ve.normalize();
forces.push_back(ve);
targets.push_back(result->second);
}
}
if (cpt > 0)
loads->addLoad(load);
}
}
}
template<class DataTypes>
void LMLForce<DataTypes>::addForce (VecDeriv& f, const VecCoord& x, const VecDeriv& /*v*/)
{
//for each points, update the force vector f
SReal time = getContext()->getTime();
f.resize(x.size());
Load * load;
std::vector<unsigned int>::iterator it1 = targets.begin();
VecDerivIterator it2 = forces.begin();
SReal dirX, dirY, dirZ;
for (unsigned int i=0 ; i<loads->numberOfLoads() ; i++) {
load = loads->getLoad(i);
SReal val = load->getValue(time);
for (unsigned int j=0 ; j<load->numberOfTargets() ; j++) {
if ( atomToDOFIndexes.find(load->getTarget(j)) != atomToDOFIndexes.end() ) {
// if force value == 0, then there's no force !
if (val == 0)
(*it2) = Deriv(0,0,0);
else {
//if force direction is defined by a toward index, then it must be updated each step time
if (load->getDirection().isToward()) {
std::map<unsigned int, unsigned int>::const_iterator titi = atomToDOFIndexes.find(load->getDirection().getToward());
if (titi != atomToDOFIndexes.end()){
unsigned int dofInd = titi->second;
(*it2) = (*mmodel->getX())[dofInd] - (*mmodel->getX())[*it1];
(*it2).normalize();
}
}
else {
// if there is new force, then update the direction
if( (*it2)[0]==0 && (*it2)[1]==0 && (*it2)[2]==0 ){
load->getDirection(dirX, dirY, dirZ);
(*it2) = Deriv(dirX, dirY, dirZ);
(*it2).normalize();
}
}
//put the force in f
f[*it1] += (*it2) * val;
}
it1++;
it2++;
}
}
}
}
// -- VisualModel interface
template<class DataTypes>
void LMLForce<DataTypes>::draw()
{
//display a little green segment with force direction
if (!getContext()->getShowForceFields()) return;
VecCoord& x = *mmodel->getX();
glDisable (GL_LIGHTING);
glPointSize(10);
glColor4f (0.5,1,0.5,1);
glBegin (GL_LINES);
VecDerivIterator it2 = forces.begin();
for (std::vector<unsigned int>::const_iterator it = this->targets.begin(); it != this->targets.end(); ++it)
{
glVertexT(x[*it]);
glVertexT(x[*it]+(*it2));
it2++;
}
glEnd();
}
}
}
}
#endif
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