/usr/include/sofa/component/mapping/RigidRigidMapping.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_MAPPING_RIGIDRIGIDMAPPING_H
#define SOFA_COMPONENT_MAPPING_RIGIDRIGIDMAPPING_H
#include <sofa/component/mapping/RigidMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/defaulttype/Vec.h>
#include <sofa/core/objectmodel/DataFileName.h>
#include <vector>
using namespace sofa::defaulttype;
namespace sofa
{
namespace component
{
namespace mapping
{
template <class BasicMapping>
class RigidRigidMapping : public BasicMapping, public virtual core::objectmodel::BaseObject
{
public:
typedef BasicMapping Inherit;
typedef typename Inherit::In In;
typedef typename Inherit::Out Out;
typedef typename Out::VecCoord VecCoord;
typedef typename Out::VecDeriv VecDeriv;
typedef typename Out::Coord Coord;
typedef typename Out::Deriv Deriv;
typedef typename std::map<unsigned int, Deriv>::const_iterator OutConstraintIterator;
typedef typename In::Coord InCoord;
typedef typename In::Deriv InDeriv;
typedef typename Coord::value_type Real;
enum { N=Coord::static_size };
typedef defaulttype::Mat<N,N,Real> Mat;
typedef Vec<N,Real> Vector ;
protected:
Data < VecCoord > points;
VecCoord pointsR0;
Mat rotation;
class Loader;
void load(const char* filename);
Data<sofa::helper::vector<unsigned int> > repartition;
public:
Data<unsigned> index;
sofa::core::objectmodel::DataFileName fileRigidRigidMapping;
//axis length for display
Data<double> axisLength;
Data< bool > indexFromEnd;
RigidRigidMapping(In* from, Out* to)
: Inherit(from, to),
points(initData(&points, "initialPoints", "Initial position of the points")),
repartition(initData(&repartition,"repartition","number of dest dofs per entry dof")),
index(initData(&index,(unsigned)0,"index","input DOF index")),
fileRigidRigidMapping(initData(&fileRigidRigidMapping,"fileRigidRigidMapping","Filename")),
axisLength(initData( &axisLength, 0.7, "axisLength", "axis length for display")),
indexFromEnd( initData ( &indexFromEnd,false,"indexFromEnd","input DOF index starts from the end of input DOFs vector") )
{
addAlias(&fileRigidRigidMapping,"filename");
}
virtual ~RigidRigidMapping()
{
}
void init();
// void disable(); //useless now that points are saved in a Data
void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
//void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );
void computeAccFromMapping( typename Out::VecDeriv& acc_out, const typename In::VecDeriv& v_in, const typename In::VecDeriv& acc_in);
void draw();
void clear();
sofa::helper::vector<unsigned int> getRepartition() {return repartition.getValue(); }
void setRepartition(unsigned int value);
void setRepartition(sofa::helper::vector<unsigned int> values);
protected:
bool getShow(const core::objectmodel::BaseObject* m) const { return m->getContext()->getShowMappings(); }
bool getShow(const core::componentmodel::behavior::BaseMechanicalMapping* m) const { return m->getContext()->getShowMechanicalMappings(); }
};
using core::Mapping;
using core::componentmodel::behavior::MechanicalMapping;
using core::componentmodel::behavior::MappedModel;
using core::componentmodel::behavior::State;
using core::componentmodel::behavior::MechanicalState;
using sofa::defaulttype::Vec2dTypes;
using sofa::defaulttype::Vec3dTypes;
using sofa::defaulttype::Vec2fTypes;
using sofa::defaulttype::Vec3fTypes;
using sofa::defaulttype::ExtVec2fTypes;
using sofa::defaulttype::ExtVec3fTypes;
using sofa::defaulttype::Rigid2dTypes;
using sofa::defaulttype::Rigid3dTypes;
using sofa::defaulttype::Rigid2fTypes;
using sofa::defaulttype::Rigid3fTypes;
#if defined(WIN32) && !defined(SOFA_COMPONENT_MAPPING_RIGIDRIGIDMAPPING_CPP)
#pragma warning(disable : 4231)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< MechanicalMapping<MechanicalState<Rigid3dTypes>, MechanicalState<Rigid3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< Mapping< State<Rigid3dTypes>, MechanicalState<Rigid3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< Mapping< State<Rigid3dTypes>, MappedModel<Rigid3dTypes> > >;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< MechanicalMapping<MechanicalState<Rigid3fTypes>, MechanicalState<Rigid3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< Mapping< State<Rigid3fTypes>, MechanicalState<Rigid3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< Mapping< State<Rigid3fTypes>, MappedModel<Rigid3fTypes> > >;
#endif
#ifndef SOFA_FLOAT
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< Mapping< State<Rigid3dTypes>, MechanicalState<Rigid3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< Mapping< State<Rigid3fTypes>, MechanicalState<Rigid3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< Mapping< State<Rigid3dTypes>, MappedModel<Rigid3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< Mapping< State<Rigid3fTypes>, MappedModel<Rigid3dTypes> > >;
#endif
#endif
#endif
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
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