/usr/include/sofa/component/mapping/SkinningMapping.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_SKINNINGMAPPING_H
#define SOFA_COMPONENT_MAPPING_SKINNINGMAPPING_H
#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/core/componentmodel/behavior/MappedModel.h>
#include <vector>
#include <sofa/component/component.h>
namespace sofa
{
namespace component
{
namespace mapping
{
typedef enum {
WEIGHT_LINEAR, WEIGHT_INVDIST, WEIGHT_HERMITE
} WeightingType;
typedef enum {
INTERPOLATION_LINEAR, INTERPOLATION_DUAL_QUATERNION
} InterpolationType;
template <class BasicMapping>
class SkinningMapping : 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 In::VecCoord VecInCoord;
typedef typename Coord::value_type Real;
enum { N=Coord::static_size };
typedef defaulttype::Mat<N,N,Real> Mat;
protected:
sofa::helper::vector<InCoord> initPosDOFs; // translation and rotation of the blended reference frame i, where i=0..n.
sofa::helper::vector<Coord> initPos; // pos: point coord in the reference frame i, where i=0..n ( + 1 for the blended reference frame)
sofa::helper::vector<Coord> initBlendedPos; // pos: point coord in the blended reference frames, where i=0..n ( + 1 for the blended reference frame)
sofa::helper::vector<Coord> rotatedPoints;
Data<sofa::helper::vector<unsigned int> > repartition;
Data<sofa::helper::vector<double> > coefs;
Data<unsigned int> nbRefs;
bool computeWeights;
WeightingType wheighting;
InterpolationType interpolation;
class Loader;
void load ( const char* filename );
inline void computeInitPos();
inline void sortReferences();
public:
SkinningMapping ( In* from, Out* to );
virtual ~SkinningMapping();
void init();
void parse ( core::objectmodel::BaseObjectDescription* arg );
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 draw();
void clear();
// Weights
void setWeightsToHermite();
void setWieghtsToInvDist();
void setWeightsToLinear();
inline void updateWeights();
// Interpolations
void setInterpolationToLinear();
void setInterpolationToDualQuaternion();
// Accessors
void setNbRefs ( unsigned int nb ) { nbRefs.setValue ( nb ); }
void setWeightCoefs ( sofa::helper::vector<double> &weights );
void setRepartition ( sofa::helper::vector<unsigned int> &rep );
void setComputeWeights ( bool val ) {computeWeights=val;}
unsigned int getNbRefs() { return nbRefs.getValue(); }
const sofa::helper::vector<double>& getWeightCoefs() { return coefs.getValue(); }
const sofa::helper::vector<unsigned int>& getRepartition() { return repartition.getValue(); }
bool getComputeWeights() { return computeWeights; }
};
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_SKINNINGMAPPING_CPP)
#pragma warning(disable : 4231)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< MechanicalMapping< MechanicalState<Rigid3dTypes>, MechanicalState<Vec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< Mapping< State<Rigid3dTypes>, MappedModel<Vec3dTypes> > >;
// template class SOFA_COMPONENT_MAPPING_API SkinningMapping< Mapping< State<Rigid3dTypes>, MappedModel<ExtVec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< Mapping< State<Rigid3dTypes>, MappedModel<ExtVec3fTypes> > >;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< MechanicalMapping< MechanicalState<Rigid3fTypes>, MechanicalState<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< Mapping< State<Rigid3fTypes>, MappedModel<Vec3fTypes> > >;
// template class SOFA_COMPONENT_MAPPING_API SkinningMapping< Mapping< State<Rigid3fTypes>, MappedModel<ExtVec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< Mapping< State<Rigid3fTypes>, MappedModel<ExtVec3fTypes> > >;
#endif
#ifndef SOFA_FLOAT
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< MechanicalMapping< MechanicalState<Rigid3dTypes>, MechanicalState<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< MechanicalMapping< MechanicalState<Rigid3fTypes>, MechanicalState<Vec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< Mapping< State<Rigid3dTypes>, MappedModel<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< Mapping< State<Rigid3fTypes>, MappedModel<Vec3dTypes> > >;
#endif
#endif
#endif
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
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