/usr/include/sofa/component/collision/FrictionContact.h is in libsofa1-dev 1.0~beta4-6.
This file is owned by root:root, with mode 0o644.
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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_COLLISION_FRICTIONCONTACT_H
#define SOFA_COMPONENT_COLLISION_FRICTIONCONTACT_H
#include <sofa/core/componentmodel/collision/Contact.h>
#include <sofa/core/componentmodel/collision/Intersection.h>
#include <sofa/component/mapping/BarycentricMapping.h>
#include <sofa/component/constraint/UnilateralInteractionConstraint.h>
#include <sofa/helper/Factory.h>
#include <sofa/component/collision/BarycentricContactMapper.h>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
class Identifier
{
public:
Identifier()
{
if (!availableId.empty())
{
id = availableId.front();
availableId.pop_front();
}
else
id = cpt++;
// sout << id << sendl;
}
virtual ~Identifier()
{
availableId.push_back(id);
}
protected:
static unsigned int cpt;
unsigned int id;
static std::list<unsigned int> availableId;
};
template <class TCollisionModel1, class TCollisionModel2>
class FrictionContact : public core::componentmodel::collision::Contact, public Identifier
{
public:
typedef TCollisionModel1 CollisionModel1;
typedef TCollisionModel2 CollisionModel2;
typedef core::componentmodel::collision::Intersection Intersection;
typedef typename CollisionModel1::DataTypes DataTypes1;
typedef typename CollisionModel2::DataTypes DataTypes2;
typedef core::componentmodel::behavior::MechanicalState<DataTypes1> MechanicalState1;
typedef core::componentmodel::behavior::MechanicalState<DataTypes2> MechanicalState2;
typedef typename CollisionModel1::Element CollisionElement1;
typedef typename CollisionModel2::Element CollisionElement2;
typedef core::componentmodel::collision::DetectionOutputVector OutputVector;
typedef core::componentmodel::collision::TDetectionOutputVector<CollisionModel1,CollisionModel2> TOutputVector;
protected:
CollisionModel1* model1;
CollisionModel2* model2;
Intersection* intersectionMethod;
ContactMapper<CollisionModel1,DataTypes1> mapper1;
ContactMapper<CollisionModel2,DataTypes2> mapper2;
constraint::UnilateralInteractionConstraint<Vec3Types>* c;
core::objectmodel::BaseContext* parent;
double mu;
public:
FrictionContact(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod);
virtual ~FrictionContact();
void cleanup();
std::pair<core::CollisionModel*,core::CollisionModel*> getCollisionModels() { return std::make_pair(model1,model2); }
void setDetectionOutputs(OutputVector* outputs);
void createResponse(core::objectmodel::BaseContext* group);
void removeResponse();
};
long cantorPolynomia(unsigned long x, unsigned long y)
{
// Polynome de Cantor de N� sur N bijectif f(x,y)=((x+y)^2+3x+y)/2
return ((x+y)*(x+y)+3*x+y)/2;
}
} // collision
} // component
} // sofa
#endif // SOFA_COMPONENT_COLLISION_FRICTIONCONTACT_H
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