/usr/include/sofa/component/constraint/UnilateralInteractionConstraint.h is in libsofa1-dev 1.0~beta4-10ubuntu2.
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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_CONSTRAINT_UNILATERALINTERACTIONCONSTRAINT_H
#define SOFA_COMPONENT_CONSTRAINT_UNILATERALINTERACTIONCONSTRAINT_H
#include <sofa/core/componentmodel/behavior/InteractionConstraint.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/component/component.h>
#include <sofa/defaulttype/VecTypes.h>
#include <iostream>
#include <deque>
namespace sofa
{
namespace component
{
namespace constraint
{
template<class DataTypes>
class UnilateralInteractionConstraint : public core::componentmodel::behavior::InteractionConstraint
{
public:
typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::VecDeriv VecDeriv;
typedef typename DataTypes::VecConst VecConst;
typedef typename DataTypes::SparseVecDeriv SparseVecDeriv;
typedef typename DataTypes::Coord Coord;
typedef typename DataTypes::Deriv Deriv;
typedef typename Coord::value_type Real;
typedef typename core::componentmodel::behavior::MechanicalState<DataTypes> MechanicalState;
protected:
MechanicalState* object1;
MechanicalState* object2;
struct Contact
{
int m1, m2; ///< the two extremities of the spring: masses m1 and m2
Deriv norm; ///< contact normal, from m1 to m2
Deriv t; ///< added for friction
Deriv s; ///< added for friction
Real dt;
Real delta; ///< QP * normal - contact distance
Real dfree; ///< QPfree * normal - contact distance
Real dfree_t; ///< QPfree * t
Real dfree_s; ///< QPfree * s
unsigned int id;
long contactId;
double mu; ///< angle for friction
// for visu
Coord P, Q;
Coord Pfree, Qfree;
};
sofa::helper::vector<Contact> contacts;
Real epsilon;
bool yetIntegrated;
std::deque<double> prevForces;
public:
unsigned int constraintId;
UnilateralInteractionConstraint(MechanicalState* object1, MechanicalState* object2)
: object1(object1), object2(object2), epsilon(Real(0.001)),yetIntegrated(false)
{
}
UnilateralInteractionConstraint(MechanicalState* object)
: object1(object), object2(object), epsilon(Real(0.001)),yetIntegrated(false)
{
}
UnilateralInteractionConstraint()
: object1(NULL), object2(NULL), epsilon(Real(0.001)),yetIntegrated(false)
{
}
virtual ~UnilateralInteractionConstraint()
{
}
MechanicalState* getObject1() { return object1; }
MechanicalState* getObject2() { return object2; }
core::componentmodel::behavior::BaseMechanicalState* getMechModel1() { return object1; }
core::componentmodel::behavior::BaseMechanicalState* getMechModel2() { return object2; }
void clear(int reserve = 0)
{
contacts.clear();
if (reserve)
contacts.reserve(reserve);
}
virtual void applyConstraint(unsigned int & /*contactId*/);
virtual void addContact(double mu, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, Coord Pfree = Coord(), Coord Qfree = Coord(), long id=0);
virtual void getConstraintValue(defaulttype::BaseVector *, bool freeMotion);
virtual void getConstraintId(long* id, unsigned int &offset);
// Previous Constraint Interface
virtual void projectResponse(){}
virtual void projectVelocity(){}
virtual void projectPosition(){}
virtual void projectFreeVelocity(){}
virtual void projectFreePosition(){}
/// Pre-construction check method called by ObjectFactory.
template<class T>
static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
{
if (arg->getAttribute("object1") || arg->getAttribute("object2"))
{
if (dynamic_cast<MechanicalState*>(arg->findObject(arg->getAttribute("object1",".."))) == NULL)
return false;
if (dynamic_cast<MechanicalState*>(arg->findObject(arg->getAttribute("object2",".."))) == NULL)
return false;
}
else
{
if (dynamic_cast<MechanicalState*>(context->getMechanicalState()) == NULL)
return false;
}
return core::componentmodel::behavior::InteractionConstraint::canCreate(obj, context, arg);
}
/// Construction method called by ObjectFactory.
template<class T>
static void create(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
{
core::componentmodel::behavior::InteractionConstraint::create(obj, context, arg);
if (arg && (arg->getAttribute("object1") || arg->getAttribute("object2")))
{
obj->object1 = dynamic_cast<MechanicalState*>(arg->findObject(arg->getAttribute("object1","..")));
obj->object2 = dynamic_cast<MechanicalState*>(arg->findObject(arg->getAttribute("object2","..")));
}
else if (context)
{
obj->object1 =
obj->object2 =
dynamic_cast<MechanicalState*>(context->getMechanicalState());
}
}
virtual std::string getTemplateName() const
{
return templateName(this);
}
static std::string templateName(const UnilateralInteractionConstraint<DataTypes>* = NULL)
{
return DataTypes::Name();
}
void draw();
/// this constraint is NOT holonomic
bool isHolonomic() {return false;}
};
#if defined(WIN32) && !defined(SOFA_COMPONENT_CONSTRAINT_UNILATERALINTERACTIONCONSTRAINT_CPP)
#pragma warning(disable : 4231)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_CONSTRAINT_API UnilateralInteractionConstraint<defaulttype::Vec3dTypes>;
//extern template class SOFA_COMPONENT_CONSTRAINT_API UnilateralInteractionConstraint<defaulttype::Vec2dTypes>;
//extern template class SOFA_COMPONENT_CONSTRAINT_API UnilateralInteractionConstraint<defaulttype::Vec1dTypes>;
//extern template class SOFA_COMPONENT_CONSTRAINT_API UnilateralInteractionConstraint<defaulttype::Vec6dTypes>;
//extern template class SOFA_COMPONENT_CONSTRAINT_API UnilateralInteractionConstraint<defaulttype::Rigid3dTypes>;
//extern template class SOFA_COMPONENT_CONSTRAINT_API UnilateralInteractionConstraint<defaulttype::Rigid2dTypes>;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_CONSTRAINT_API UnilateralInteractionConstraint<defaulttype::Vec3fTypes>;
//extern template class SOFA_COMPONENT_CONSTRAINT_API UnilateralInteractionConstraint<defaulttype::Vec2fTypes>;
//extern template class SOFA_COMPONENT_CONSTRAINT_API UnilateralInteractionConstraint<defaulttype::Vec1fTypes>;
//extern template class SOFA_COMPONENT_CONSTRAINT_API UnilateralInteractionConstraint<defaulttype::Vec6fTypes>;
//extern template class SOFA_COMPONENT_CONSTRAINT_API UnilateralInteractionConstraint<defaulttype::Rigid3fTypes>;
//extern template class SOFA_COMPONENT_CONSTRAINT_API UnilateralInteractionConstraint<defaulttype::Rigid2fTypes>;
#endif
#endif
} // namespace constraint
} // namespace component
} // namespace sofa
#endif // SOFA_COMPONENT_CONSTRAINT_UNILATERALINTERACTIONCONSTRAINT_H
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