/usr/include/sofa/filemanager/sofapml/PMLRigidBody.h is in libsofa1-dev 1.0~beta4-12.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 | /******************************************************************************
* 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 --
// PMLRigidBody translate an indeformable object from Physical Model structure
// to sofa structure.
// It inherits from PMLBody abstract class.
//-------------------------------------------------------------------------
#ifndef PMLRIGIDBODY_H
#define PMLRIGIDBODY_H
#include "PMLBody.h"
#include "sofapml.h"
#include <StructuralComponent.h>
#include "sofa/component/container/MechanicalObject.h"
#include "sofa/defaulttype/RigidTypes.h"
#include "sofa/defaulttype/Quat.h"
#include <map>
namespace sofa
{
namespace filemanager
{
namespace pml
{
using namespace sofa::defaulttype;
using namespace std;
class SOFA_BUILD_FILEMANAGER_PML_API PMLRigidBody: public PMLBody
{
public :
PMLRigidBody(StructuralComponent* body, GNode * parent);
~PMLRigidBody();
string isTypeOf() { return "rigid"; }
///merge the body with current object
bool FusionBody(PMLBody*);
Vector3 getDOF(unsigned int index);
GNode* getPointsNode() {return VisualNode;}
MechanicalObject<RigidTypes> * getRefDOF() { return refDOF;}
///is the body totally fixed?
bool bodyFixed;
private :
///creation of the scene graph
void createMechanicalState(StructuralComponent* body);
void createTopology(StructuralComponent* body);
void createMass(StructuralComponent* body);
void createVisualModel(StructuralComponent* body);
void createForceField(){}
void createCollisionModel();
///initialization of properties
void initMass(string m);
void initInertiaMatrix(string m);
void initPosition(string m);
void initVelocity(string m);
///mechanical model containing the reference node (gravity center)
MechanicalObject<RigidTypes> * refDOF;
///mapping between refDof and mesh points
BaseMapping * mapping;
///GNode containing the visual model
GNode * VisualNode;
///GNode containing the collision models
GNode * CollisionNode;
///barycenter coordinates of the solid
Vector3 bary;
//members for the mass (only one of the 2 vectors is filled)
std::vector<SReal> massList;
std::vector<SReal> inertiaMatrix;
//members coding for the position
Vector3 transPos;
Quat rotPos;
//members coding for the velocity
Vector3 transVel;
Vector3 rotVel;
};
}
}
}
#endif
|