/usr/include/SurgSim/Physics/Fem.h is in libopensurgsim-dev 0.7.0-6ubuntu1.
This file is owned by root:root, with mode 0o644.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 | // This file is a part of the OpenSurgSim project.
// Copyright 2015, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_PHYSICS_FEM_H
#define SURGSIM_PHYSICS_FEM_H
#include "SurgSim/DataStructures/Vertices.h"
#include "SurgSim/Framework/Asset.h"
#include "SurgSim/Physics/FemElementStructs.h"
namespace SurgSim
{
namespace Physics
{
/// Base class for a data structure for holding FEM mesh data of different dimensions
///
/// Fem itself should not be used directly itself as it contains no override for doLoad since the implementation is
/// dependent on the dimension of the FEM you are trying to load. Each dimension overrides the doLoad function present
/// in Asset using its own version of an FemPlyReaderDelegate. Each dimension supports loading both linear and
/// corotational models.
///
/// \tparam VertexData Type of extra data stored in each vertex
/// \tparam Element Type of FEM element the mesh will be storing
/// \sa TriangleMesh
template <class VertexData, class Element>
class Fem : public SurgSim::DataStructures::Vertices<VertexData>, public SurgSim::Framework::Asset,
public std::enable_shared_from_this<Fem<VertexData, Element>>
{
public:
/// Default constructor
Fem();
/// Adds FEM element to mesh of Element template type
/// \param element A shared pointer of the Element template type
/// \return The new size of the vector of elements
size_t addElement(std::shared_ptr<Element> element);
/// Gets number of FEM elements in the mesh
/// \return The number of FEM elements stored
size_t getNumElements() const;
/// Gets entire FEM element vector
/// \return A const vector of all FEM elements stored in the mesh
const std::vector<std::shared_ptr<Element>>& getElements() const;
/// Gets entire FEM element vector (non-const)
/// \return A vector of all FEM elements stored in the mesh
std::vector<std::shared_ptr<Element>>& getElements();
/// Retrieve a specific element from the mesh
/// \param id The id in the element vector
/// \return A shared pointer to the element
std::shared_ptr<Element> getElement(size_t id) const;
/// Add boundary condition to mesh
/// \param boundaryCondition A vertex id that has a boundary condition
/// \return The new size of the vector of boundary conditions
size_t addBoundaryCondition(size_t boundaryCondition);
/// Gets entire vector of boundary conditions
/// \return A vector of boundary conditions
const std::vector<size_t>& getBoundaryConditions() const;
/// Gets entire vector of boundary conditions (non-const)
/// \return A vector of boundary conditions
std::vector<size_t>& getBoundaryConditions();
/// Retrieves a specific boundary condition
/// \param id The id of the boundary condition in the vector
/// \return The vertex id which has a boundary condition
size_t getBoundaryCondition(size_t id) const;
protected:
/// Shared loading method for all 3 dimensions
/// \note Assign template class to the proper dimension PlyReaderDelegate
template <class PlyType, class FemType>
bool loadFemFile(const std::string& filename);
/// Vector of individual elements
std::vector<std::shared_ptr<Element>> m_elements;
/// Vector of vertex ids that have boundary conditions
std::vector<size_t> m_boundaryConditions;
};
} // namespace Physics
} // namespace SurgSim
#include "SurgSim/Physics/Fem-inl.h"
#endif // SURGSIM_PHYSICS_FEM_H
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