/usr/include/sofa/component/constraint/UnilateralInteractionConstraint.inl is in libsofa1-dev 1.0~beta4-9.
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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_CONSTRAINT_UNILATERALINTERACTIONCONSTRAINT_INL
#define SOFA_COMPONENT_CONSTRAINT_UNILATERALINTERACTIONCONSTRAINT_INL
#include <sofa/component/constraint/UnilateralInteractionConstraint.h>
#include <sofa/defaulttype/Vec.h>
#include <sofa/helper/gl/template.h>
namespace sofa
{
namespace component
{
namespace constraint
{
template<class DataTypes>
void UnilateralInteractionConstraint<DataTypes>::addContact(double mu, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, Coord Pfree, Coord Qfree, long id)
{
// compute dt and delta
Real delta = dot(P-Q, norm) - contactDistance;
Real deltaFree = dot(Pfree-Qfree, norm) - contactDistance;
Real dt;
int i = contacts.size();
contacts.resize(i+1);
Contact& c = contacts[i];
//sout<<"delta : "<<delta<<" - deltaFree : "<<deltaFree <<sendl;
//sout<<"P : "<<P<<" - PFree : "<<Pfree <<sendl;
//sout<<"Q : "<<Q<<" - QFree : "<<Qfree <<sendl;
// for visu
c.P = P;
c.Q = Q;
c.Pfree = Pfree;
c.Qfree = Qfree;
//
c.m1 = m1;
c.m2 = m2;
c.norm = norm;
c.delta = delta;
c.t = Deriv(norm.z(), norm.x(), norm.y());
c.s = cross(norm,c.t);
c.s = c.s / c.s.norm();
c.t = cross((-norm), c.s);
c.mu = mu;
c.contactId = id;
if (helper::rabs(delta - deltaFree) > 0.001 * delta)
{
dt = delta / (delta - deltaFree);
if (dt > 0.0 && dt < 1.0 ){
sofa::defaulttype::Vector3 Qt, Pt;
Qt = Q*(1-dt) + Qfree*dt;
Pt = P*(1-dt) + Pfree*dt;
c.dfree = deltaFree;// dot(Pfree-Pt, c.norm) - dot(Qfree-Qt, c.norm);
c.dfree_t = dot(Pfree-Pt, c.t) - dot(Qfree-Qt, c.t);
c.dfree_s = dot(Pfree-Pt, c.s) - dot(Qfree-Qt, c.s);
//printf("\n ! dt = %f, c.dfree = %f, deltaFree=%f, delta = %f", dt, c.dfree, deltaFree, delta);
}
else
{
if (deltaFree < 0.0)
{
dt=0.0;
c.dfree = deltaFree; // dot(Pfree-P, c.norm) - dot(Qfree-Q, c.norm);
//printf("\n dt = %f, c.dfree = %f, deltaFree=%f, delta = %f", dt, c.dfree, deltaFree, delta);
c.dfree_t = dot(Pfree-P, c.t) - dot(Qfree-Q, c.t);
c.dfree_s = dot(Pfree-P, c.s) - dot(Qfree-Q, c.s);
}
else
{
dt=1.0;
c.dfree = deltaFree;
c.dfree_t = 0;
c.dfree_s = 0;
}
}
}
else
{
dt = 0;
c.dfree = deltaFree;
c.dfree_t = 0;
c.dfree_s = 0;
//printf("\n dt = %f, c.dfree = %f, deltaFree=%f, delta = %f", dt, c.dfree, deltaFree, delta);
}
//sout<<"R_nts = ["<<c.norm<<" ; "<<c.t<<" ; "<<c.s<<" ];"<<sendl;
}
template<class DataTypes>
void UnilateralInteractionConstraint<DataTypes>::applyConstraint(unsigned int &contactId)
{
assert(this->object1);
assert(this->object2);
VecConst& c1 = *this->object1->getC();
VecConst& c2 = *this->object2->getC();
for (unsigned int i=0; i<contacts.size(); i++)
{
Contact& c = contacts[i];
//mu = c.mu;
//c.mu = mu;
c.id = contactId++;
SparseVecDeriv svd1;
SparseVecDeriv svd2;
this->object1->setConstraintId(c.id);
svd1.insert(c.m1, -c.norm);
c1.push_back(svd1);
this->object2->setConstraintId(c.id);
svd2.insert(c.m2, c.norm);
c2.push_back(svd2);
if (c.mu > 0.0)
{
contactId += 2;
this->object1->setConstraintId(c.id+1);
svd1.set(c.m1, -c.t);
c1.push_back(svd1);
this->object1->setConstraintId(c.id+2);
svd1.set(c.m1, -c.s);
c1.push_back(svd1);
this->object2->setConstraintId(c.id+1);
svd2.set(c.m2, c.t);
c2.push_back(svd2);
this->object2->setConstraintId(c.id+2);
svd2.set(c.m2, c.s);
c2.push_back(svd2);
}
}
}
template<class DataTypes>
void UnilateralInteractionConstraint<DataTypes>::getConstraintValue(defaulttype::BaseVector * v, bool freeMotion)
{
if (!freeMotion)
sout<<"WARNING Not Implemented for resolution non based on freeMotion"<<sendl;
for (unsigned int i=0; i<contacts.size(); i++)
{
Contact& c = contacts[i]; // get each contact detected
v->set(c.id,c.dfree);
if (c.mu > 0.0)
{
v->set(c.id+1,c.dfree_t); // dfree_t & dfree_s are added to v to compute the friction
v->set(c.id+2,c.dfree_s);
}
}
}
template<class DataTypes>
void UnilateralInteractionConstraint<DataTypes>::getConstraintId(long* id, unsigned int &offset)
{
if (!yetIntegrated)
{
for (unsigned int i=0; i<contacts.size(); i++)
{
Contact& c = contacts[i];
id[offset++] = -c.contactId;
}
yetIntegrated = true;
}
else
{
for (unsigned int i=0; i<contacts.size(); i++)
{
Contact& c = contacts[i];
id[offset++] = c.contactId;
}
}
}
template<class DataTypes>
void UnilateralInteractionConstraint<DataTypes>::draw()
{
if (!getContext()->getShowInteractionForceFields()) return;
glDisable(GL_LIGHTING);
glBegin(GL_LINES);
glColor4f(1,0,0,1);
for (unsigned int i=0; i<contacts.size(); i++)
{
glLineWidth(1);
glColor4f(1,0,0,1);
const Contact& c = contacts[i];
helper::gl::glVertexT(c.P);
helper::gl::glVertexT(c.Q);
glColor4f(1,1,0,1);
helper::gl::glVertexT(c.P);
helper::gl::glVertexT(c.P+c.norm*(c.dfree));
helper::gl::glVertexT(c.Q);
helper::gl::glVertexT(c.Q-c.norm*(c.dfree));
if (c.dfree < 0)
{
glLineWidth(5);
glColor4f(0,1,0,1);
helper::gl::glVertexT(c.Pfree);
helper::gl::glVertexT(c.Qfree);
}
}
glEnd();
}
} // namespace constraint
} // namespace component
} // namespace sofa
#endif
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