/usr/include/sofa/component/mapping/BeamLinearMapping.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_MAPPING_BEAMLINEARMAPPING_INL
#define SOFA_COMPONENT_MAPPING_BEAMLINEARMAPPING_INL
#include <sofa/component/mapping/BeamLinearMapping.h>
#include <sofa/simulation/common/Simulation.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/helper/io/MassSpringLoader.h>
#include <sofa/helper/io/SphereLoader.h>
#include <sofa/helper/io/Mesh.h>
#include <sofa/helper/gl/template.h>
#include <sofa/core/componentmodel/behavior/MechanicalMapping.inl>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <string>
namespace sofa
{
namespace component
{
namespace mapping
{
using namespace sofa::defaulttype;
template <class BasicMapping>
void BeamLinearMapping<BasicMapping>::init()
{
bool local = localCoord.getValue();
if (this->points.empty() && this->toModel!=NULL)
{
typename In::VecCoord& xfrom = *this->fromModel->getX();
beamLength.resize(xfrom.size());
for (unsigned int i=0;i<xfrom.size()-1;i++)
beamLength[i] = (Real)((xfrom[i]-xfrom[i+1]).norm());
if (xfrom.size()>=2)
beamLength[xfrom.size()-1] = beamLength[xfrom.size()-2];
VecCoord& x = *this->toModel->getX();
sout << "BeamLinearMapping: init "<<x.size()<<" points."<<sendl;
points.resize(x.size());
if (local)
{
for (unsigned int i=0;i<x.size();i++)
points[i] = x[i];
}
else
{
for (unsigned int i=0;i<x.size();i++)
{
Coord p = xfrom[0].getOrientation().inverseRotate(x[i]-xfrom[0].getCenter());
unsigned int j=0;
while(j<beamLength.size() && p[0]>=beamLength[j])
{
p[0] -= beamLength[j];
++j;
}
p/=beamLength[j];
p[0]+=j;
points[i] = p;
}
}
}
this->BasicMapping::init();
}
template <class BasicMapping>
void BeamLinearMapping<BasicMapping>::apply( typename Out::VecCoord& out, const typename In::VecCoord& in )
{
//translation = in[index.getValue()].getCenter();
//in[index.getValue()].writeRotationMatrix(rotation);
rotatedPoints0.resize(points.size());
rotatedPoints1.resize(points.size());
out.resize(points.size());
for(unsigned int i=0;i<points.size();i++)
{
Coord inpos = points[i];
int in0 = helper::rfloor(inpos[0]);
if (in0<0) in0 = 0; else if (in0 > (int)in.size()-2) in0 = in.size()-2;
inpos[0] -= in0;
rotatedPoints0[i] = in[in0].getOrientation().rotate(inpos) * beamLength[in0];
Coord out0 = in[in0].getCenter() + rotatedPoints0[i];
Coord inpos1 = inpos; inpos1[0] -= 1;
rotatedPoints1[i] = in[in0+1].getOrientation().rotate(inpos1) * beamLength[in0];
Coord out1 = in[in0+1].getCenter() + rotatedPoints1[i];
Real fact = (Real)inpos[0];
fact = 3*(fact*fact)-2*(fact*fact*fact);
out[i] = out0 * (1-fact) + out1 * (fact);
}
}
template <class BasicMapping>
void BeamLinearMapping<BasicMapping>::applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in )
{
//const typename In::VecCoord& x = *this->fromModel->getX();
//Deriv v,omega;
//v = in[index.getValue()].getVCenter();
//omega = in[index.getValue()].getVOrientation();
out.resize(points.size());
for(unsigned int i=0;i<points.size();i++)
{
// out = J in
// J = [ I -OM^ ]
//out[i] = v - cross(rotatedPoints[i],omega);
defaulttype::Vec<N, typename In::Real> inpos = points[i];
int in0 = helper::rfloor(inpos[0]);
if (in0<0) in0 = 0; else if (in0 > (int)in.size()-2) in0 = in.size()-2;
inpos[0] -= in0;
Deriv omega0 = in[in0].getVOrientation();
Deriv out0 = in[in0].getVCenter() - cross(rotatedPoints0[i], omega0);
Deriv omega1 = in[in0+1].getVOrientation();
Deriv out1 = in[in0+1].getVCenter() - cross(rotatedPoints1[i], omega1);
Real fact = (Real)inpos[0];
fact = 3*(fact*fact)-2*(fact*fact*fact);
out[i] = out0 * (1-fact) + out1 * (fact);
}
}
template <class BasicMapping>
void BeamLinearMapping<BasicMapping>::applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in )
{
//Deriv v,omega;
for(unsigned int i=0;i<points.size();i++)
{
// out = Jt in
// Jt = [ I ]
// [ -OM^t ]
// -OM^t = OM^
//Deriv f = in[i];
//v += f;
//omega += cross(rotatedPoints[i],f);
defaulttype::Vec<N, typename In::Real> inpos = points[i];
int in0 = helper::rfloor(inpos[0]);
if (in0<0) in0 = 0; else if (in0 > (int)out.size()-2) in0 = out.size()-2;
inpos[0] -= in0;
Deriv f = in[i];
Real fact = (Real)inpos[0];
fact = 3*(fact*fact)-2*(fact*fact*fact);
out[in0].getVCenter() += f * (1-fact);
out[in0].getVOrientation() += cross(rotatedPoints0[i], f) * (1-fact);
out[in0+1].getVCenter() += f * (fact);
out[in0+1].getVOrientation() += cross(rotatedPoints1[i], f) * (fact);
}
//out[index.getValue()].getVCenter() += v;
//out[index.getValue()].getVOrientation() += omega;
}
// BeamLinearMapping::applyJT( typename In::VecConst& out, const typename Out::VecConst& in ) //
// this function propagate the constraint through the rigid mapping :
// if one constraint along (vector n) with a value (v) is applied on the childModel (like collision model)
// then this constraint is transformed by (Jt.n) with value (v) for the rigid model
// There is a specificity of this propagateConstraint: we have to find the application point on the childModel
// in order to compute the right constaint on the rigidModel.
template <class BasicMapping>
void BeamLinearMapping<BasicMapping>::applyJT( typename In::VecConst& out, const typename Out::VecConst& in )
{
const typename In::VecCoord& x = *this->fromModel->getX();
int outSize = out.size();
out.resize(in.size() + outSize); // we can accumulate in "out" constraints from several mappings
for(unsigned int i=0; i<in.size(); i++)
{
// computation of (Jt.n) //
// in[i].size() = num node involved in the constraint
OutConstraintIterator itOut;
for (itOut=in[i].getData().begin();itOut!=in[i].getData().end();itOut++)
{
unsigned int indexIn = itOut->first;
Deriv data = (Deriv) itOut->second;
// interpolation//////////
defaulttype::Vec<N, typename In::Real> inpos = points[indexIn];
int in0 = helper::rfloor(inpos[0]);
if (in0<0) in0 = 0; else if (in0 > (int)x.size()-2) in0 = x.size()-2;
inpos[0] -= in0;
Real fact = (Real)inpos[0];
fact = 3*(fact*fact)-2*(fact*fact*fact);
/////////////////////////
Deriv w_n = data; // weighted value of the constraint direction
// Compute the mapped Constraint on the beam nodes ///
InDeriv direction0;
direction0.getVCenter() = w_n * (1-fact);
direction0.getVOrientation() = cross(rotatedPoints0[indexIn], w_n) * (1-fact);
InDeriv direction1;
direction1.getVCenter() = w_n * (fact);
direction1.getVOrientation() = cross(rotatedPoints1[indexIn], w_n) * (fact);
out[outSize+i].insert(in0, direction0);
out[outSize+i].insert(in0+1, direction1);
}
}
}
template <class BasicMapping>
void BeamLinearMapping<BasicMapping>::draw()
{
if (!this->getShow()) return;
std::vector< Vector3 > points;
Vector3 point;
unsigned int sizePoints= (Coord::static_size <=3)?Coord::static_size:3;
const typename Out::VecCoord& x = *this->toModel->getX();
for (unsigned int i=0; i<x.size(); i++)
{
for (unsigned int s=0;s<sizePoints;++s) point[s] = x[i][s];
points.push_back(point);
}
simulation::getSimulation()->DrawUtility.drawPoints(points, 7, Vec<4,float>(1,1,0,1));
}
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
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