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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 *
******************************************************************************/
/***************************************************************************
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
***************************************************************************/
//-------------------------------------------------------------------------
// -- Description --
// PMLInteractionForceField create an interaction Forcefield (stiffSprings)
// between 2 other pml Bodies. The sofa structure is translated from pml,
// specifying the 2 bodies and the list of springs (LINES)
// It inherits from PMLBody abstract class.
//-------------------------------------------------------------------------
#ifndef PMLINTERACTIONFORCEFIELD_H
#define PMLINTERACTIONFORCEFIELD_H
#include "PMLBody.h"
#include "sofa/component/forcefield/StiffSpringForceField.h"
#include "sofapml.h"
#include <map>
namespace sofa
{
namespace filemanager
{
namespace pml
{
using namespace sofa::component::forcefield;
using namespace std;
class SOFA_BUILD_FILEMANAGER_PML_API PMLInteractionForceField: public PMLBody
{
public :
PMLInteractionForceField(StructuralComponent* body, PMLBody* b1, PMLBody* b2, GNode * parent);
~PMLInteractionForceField();
string isTypeOf() { return "interaction"; }
///Inherit methods
GNode* getPointsNode(){return NULL;}
bool FusionBody(PMLBody*){return false;}
Vector3 getDOF(unsigned int ){return Vector3();}
private :
/// creation of the scene graph
/// only a forcefield is created
void createForceField();
void createMechanicalState(StructuralComponent* ){}
void createTopology(StructuralComponent* ){}
void createMass(StructuralComponent* ){}
void createVisualModel(StructuralComponent* ){}
void createCollisionModel(){}
void createSprings(StructuralComponent * body);
//structure
StiffSpringForceField<Vec3Types> *Sforcefield;
PMLBody * body1;
PMLBody * body2;
//properties
SReal ks; // spring stiffness
SReal kd; // damping factor
};
}
}
}
#endif
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