libsofa1-dev 1.0~beta4-10ubuntu2 / usr / include / sofa / component / controller / EdgeSetController.inl

/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4      *
*                (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS                    *
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*                               SOFA :: Modules                               *
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//
// C++ Models: EdgeSetController
//
// Description:
//
//
// Author: Pierre-Jean Bensoussan, Digital Trainers (2008)
//
// Copyright: See COPYING file that comes with this distribution
//
//

#ifndef SOFA_COMPONENT_CONTROLLER_EDGESETCONTROLLER_INL
#define SOFA_COMPONENT_CONTROLLER_EDGESETCONTROLLER_INL

#include <sofa/component/controller/EdgeSetController.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/objectmodel/MouseEvent.h>
#include <sofa/core/objectmodel/KeypressedEvent.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/Quat.h>
#include <sofa/helper/system/gl.h>
#include <sofa/helper/gl/template.h>
#include <sofa/simulation/common/Node.h>
#include <sofa/simulation/common/MechanicalVisitor.h>
#include <sofa/simulation/common/UpdateMappingVisitor.h>
#include <sofa/component/topology/EdgeSetGeometryAlgorithms.h>

namespace sofa
{

namespace component
{

namespace controller
{

template <class DataTypes>
EdgeSetController<DataTypes>::EdgeSetController()
: step(initData(&step,(Real)0.1,"step","base step when changing beam length"))
, minLength(initData(&minLength,(Real)1.0,"minLength","min beam length"))
, maxLength(initData(&maxLength,(Real)200.0,"maxLength","max beam length"))
, maxDepl(initData(&maxDepl,(Real)0.5,"maxDepl","max depl when changing beam length"))
, speed(initData(&speed,(Real)0.0,"speed","continuous beam length increase/decrease"))
, reversed(initData(&reversed,false,"reversed","Extend or retract edgeSet from end"))
, startingIndex(initData(&startingIndex,0,"startingIndex","index of the edge where a topological change occurs"))
, depl(0.0)
{

}



template <class DataTypes>
void EdgeSetController<DataTypes>::init()
{
	_topology = this->getContext()->getMeshTopology();
	this->getContext()->get(edgeGeo);
	this->getContext()->get(edgeMod);

	if (edgeGeo == NULL)
		serr << "EdgeSetController has no binding EdgeSetGeometryAlgorithms" << sendl;

	if (edgeMod == NULL)
		serr << "EdgeSetController has no binding EdgeSetTopologyModifier" << sendl;

	Inherit::init();


	if (reversed.getValue() && startingIndex.getValue() >0)
		serr<<"WARNING : startingIndex different from 0 is not implemented for reversed case "<<sendl;



	/*
	if (_topology->getNbEdges()>0)
	{
		edge0RestedLength = edgeGeo->computeRestEdgeLength(0);
	}
	*/

	computeVertexT();

	if (!reversed.getValue())
	{
		if (vertexT.size() >= 2)
			edgeTLength = fabs(vertexT[1]-vertexT[0]);
		else
			edgeTLength = 1;
	}
	else
	{  /// useful here ??
		int n = this->mState->getSize();
		if (n > 1)
		{
			if (vertexT.size() >= 2)
				edgeTLength = fabs(vertexT[n-2] - vertexT[n-1]);
			else
				edgeTLength = 1;
		}
	}
}



template <class DataTypes>
void EdgeSetController<DataTypes>::computeVertexT()
{
	int n = this->mState->getSize();
	const VecCoord& x0 = * this->mState->getX0();

	vertexT.resize(n);

	if (!reversed.getValue())
	{
		for (int i = 0; i < n; ++i)
		{
			if (i == 0)
				vertexT[0] = 0;
			else
				vertexT[i] = vertexT[i-1] + ((x0[i] - x0[i-1]).norm());
		}

		if (n > 0)
			refPos = x0[0];
	}
	else
	{
		if (n > 0)
		{
			for (int i = n-1; i >= 0; i--)
			{
				if (i == n-1)
					vertexT[i] = 0;
				else
					vertexT[i] = vertexT[i+1] + ((x0[i+1] - x0[i]).norm());
			}

			refPos = x0[n-1];
		}
	}
}



template <class DataTypes>
void EdgeSetController<DataTypes>::onMouseEvent(core::objectmodel::MouseEvent *mev)
{
	switch (mev->getState())
	{
		case sofa::core::objectmodel::MouseEvent::Wheel :
			this->mouseMode = Inherit::Wheel;
			if (mev->getWheelDelta() != 0.0)
				depl += step.getValue() * (Real)(abs(mev->getWheelDelta()) / mev->getWheelDelta());
			break;

		default:
			break;
	}
}



template <class DataTypes>
void EdgeSetController<DataTypes>::onKeyPressedEvent(core::objectmodel::KeypressedEvent *kev)
{
    switch(kev->getKey())
    {
		case '+':
			this->mouseMode = Inherit::Wheel;
			depl += 2*step.getValue();
			break;

		case '-':
			this->mouseMode = Inherit::Wheel;
			depl -= 2*step.getValue();
			break;

		case '*':
			this->mouseMode = Inherit::Wheel;
			speed.setValue(speed.getValue() + 10*step.getValue());
			break;

		case '/':
			this->mouseMode = Inherit::Wheel;
			speed.setValue(speed.getValue() - 10*step.getValue());
			break;

		case '0':
			this->mouseMode = Inherit::None;
			speed.setValue(0);
			break;
    }
}



template <class DataTypes>
void EdgeSetController<DataTypes>::onBeginAnimationStep()
{
	applyController();
}



template <class DataTypes>
void EdgeSetController<DataTypes>::applyController()
{
	using sofa::defaulttype::Quat;
	using sofa::defaulttype::Vec;

	if (depl != 0 || speed.getValue() != 0)
	{
	    depl += (Real)(speed.getValue() * this->getContext()->getDt());
		this->mouseMode = Inherit::None;

		if (this->mState)
		{
			if (!reversed.getValue())
			{
				if (startingIndex.getValue() != 0)
				{
					for(int index_it = 0; index_it <= startingIndex.getValue(); index_it++)
					{
						Coord& pos = (*this->mState->getX0())[index_it];

						pos =  getNewRestPos(pos, vertexT[index_it], -depl);
						vertexT[index_it] -= depl;
					}
					depl = 0;
				}
				else
				{
					Coord& pos = (*this->mState->getX0())[0];
					Real d;

					if (maxDepl.getValue() == 0 || fabs(depl) < maxDepl.getValue())
					{
						d = depl;
						depl = 0;
					}
					else
					{
						d = (depl < 0) ? -maxDepl.getValue() : maxDepl.getValue();
						depl -= d; //?
					}

					Real endT = vertexT[vertexT.size() - 1];
					Real newT = vertexT[0];
					Real sign = (endT > newT) ? 1.0f : -1.0f;
					newT -= d;
					//sout << "length = " << sign*(endT-newT) << sendl;

					if (sign*(endT-newT) > maxLength.getValue())
					{
						//sout << "max length" << sendl;
						newT = endT - sign*maxLength.getValue();   // Edge is too long : A new Edge will be introduced
						d = vertexT[0] - newT;
					}
					else if (sign*(endT-newT) < minLength.getValue())
					{
						//sout << "min length" << sendl;
						newT = endT - sign*minLength.getValue();   // Edge is too small : An Edge will be removed
						d = vertexT[0] - newT;
					}

					if (newT != vertexT[0])							// if no displacement (d=0) then newT == vertexT[0]
					{
						pos = getNewRestPos(pos, vertexT[0], (Real)-d);
						vertexT[0] = (Real)newT;
					}
					else
						return;

				}



			}
			else // reversed  !
			{
				int n = this->mState->getSize();

				if (n > 0)
				{
					Coord& pos = (*this->mState->getX0())[n-1];
					Real d;

					if (maxDepl.getValue() == 0 || fabs(depl) < maxDepl.getValue())
					{
						d = depl;
						depl = 0;
					}
					else
					{
						d = (depl < 0) ? -maxDepl.getValue() : maxDepl.getValue();
						depl -= d;
					}

					Real endT = vertexT[0];
					Real newT = vertexT[n-1];
					Real sign = (endT > newT) ? 1.0f : -1.0f;

					newT -= d;

					if (sign*(endT-newT) > maxLength.getValue())
					{
						newT = endT - sign*maxLength.getValue();
						d = vertexT[n-1] - newT;
					}
					else if (sign*(endT-newT) < minLength.getValue())
					{
						newT = endT - sign*minLength.getValue();
						d = vertexT[n-1] - newT;
					}

					if (newT != vertexT[n-1])
					{
						pos = getNewRestPos(pos, vertexT[n-1], (Real)-d);
						vertexT[n-1] = (Real)newT;
					}
					else
						return;

				}

			}
		}

		sofa::simulation::Node *node = static_cast<sofa::simulation::Node*> (this->getContext());
		sofa::simulation::MechanicalPropagatePositionAndVelocityVisitor mechaVisitor; mechaVisitor.execute(node);
		sofa::simulation::UpdateMappingVisitor updateVisitor; updateVisitor.execute(node);

		modifyTopology();
	}
	//serr<<"applyController ended"<<sendl;
}



template <class DataTypes>
void EdgeSetController<DataTypes>::modifyTopology(void)
{
	assert(edgeGeo != 0);

	// Split

	if (!reversed.getValue())
	{
		sofa::helper::vector< unsigned int > baseEdge(0);
		baseEdge = _topology->getEdgeVertexShell(startingIndex.getValue());
		/// if the startingIndex is not on the base or on the tip of the wire, then we choose the second edge shared by the starting point.
		if (baseEdge.size() == 2)
		{
			unsigned int startingEdge = baseEdge[1];
			baseEdge.pop_back();
			baseEdge[0] = startingEdge;
		}

		if (baseEdge.size() == 1)
		{
			if (fabs(vertexT[startingIndex.getValue()+1] - vertexT[startingIndex.getValue()]) > ( 2 * edgeTLength ))
			{
				// First Edge makes 2
				sofa::helper::vector<unsigned int> indices(0);
				indices.push_back(baseEdge[0]);

				edgeMod->splitEdges(indices);
				// pos = pos of the last point of the wire
				Coord& pos = (*this->mState->getX0())[this->mState->getSize() - 1];

				// point placed in the middle of the edge
				pos = getNewRestPos((	*this->mState->getX0())[startingIndex.getValue()],
										vertexT[startingIndex.getValue()], 
										(vertexT[startingIndex.getValue() + 1] - vertexT[startingIndex.getValue()]) / static_cast<Real>(2.0));

				// Update vertexT
				vertexT.insert(	vertexT.begin()+ startingIndex.getValue() + 1,
								(vertexT[startingIndex.getValue()] + vertexT[startingIndex.getValue() + 1]) / static_cast<Real>(2.0));

				// Renumber vertices
				int numPoints = _topology->getNbPoints();

				// Last created vertex must come on the startingIndex.getValue() + 1 position of the position vector.
				sofa::helper::vector<unsigned int> permutations(numPoints);
				for (int i = 0 ; i <= startingIndex.getValue(); i++)
					permutations[i] = i;

				permutations[numPoints - 1] = startingIndex.getValue()+1;

				for ( int i = startingIndex.getValue()+1; i < numPoints - 1; i++)
					permutations[i] = i + 1;

				sofa::helper::vector<unsigned int> inverse_permutations(numPoints);
				for ( int i = 0; i < numPoints; i++)
					inverse_permutations[permutations[i]] = i;

				edgeMod->renumberPoints((const sofa::helper::vector<unsigned int> &) inverse_permutations, (const sofa::helper::vector<unsigned int> &) permutations);
			}
		}
	}
	else // reversed case // TODO implementation for startingIndex.getValue() !=0
	{
		int n = this->mState->getSize();

		if (n > 1)
		{
			sofa::helper::vector< unsigned int > baseEdge(0);
			baseEdge = _topology->getEdgeVertexShell(n - 1);

			if (baseEdge.size() == 1)
			{
				if (fabs(vertexT[n-2] - vertexT[n-1]) > ( 2 * edgeTLength ))
				{
					// First Edge makes 2
					sofa::helper::vector<unsigned int> indices(0);
					indices.push_back(baseEdge[0]);

					edgeMod->splitEdges(indices);

					// update vertexT
					vertexT.insert(vertexT.end() - 1, (vertexT[n-1] + vertexT[n-2])/static_cast<Real>(2.0));

					// Renumber Vertices
					unsigned int numPoints = _topology->getNbPoints();

					// Last created vertex must come on the last but one position of the position vector.
					sofa::helper::vector<unsigned int> permutations(numPoints);
					for (unsigned int i = 0; i < numPoints - 2; i++)
						permutations[i] = i;
					permutations[numPoints - 2] = numPoints - 1;
					permutations[numPoints - 1] = numPoints - 2;

					sofa::helper::vector<unsigned int> inverse_permutations(numPoints);
					for (unsigned int i = 0; i < numPoints; i++)
						inverse_permutations[permutations[i]] = i;

					edgeMod->renumberPoints((const sofa::helper::vector<unsigned int> &) permutations, (const sofa::helper::vector<unsigned int> &) inverse_permutations);
				}
			}
		}
	}

	// Fuse

	if (!reversed.getValue())
	{
		sofa::helper::vector< unsigned int > baseEdge;
		baseEdge = _topology->getEdgeVertexShell(startingIndex.getValue()+1);

		if (baseEdge.size()==1)
		{
			serr<<"Warning nothing to be removed"<<sendl;
		}

		if (baseEdge.size() == 2)
		{
			if (fabs(vertexT[startingIndex.getValue()+1] - vertexT[startingIndex.getValue()]) < ( 0.5 * edgeTLength ))
			{

				// Fuse Edges (0-1)
				sofa::helper::vector< sofa::helper::vector<unsigned int> > edges_fuse(0);
				sofa::helper::vector<unsigned int> v(0);
				v.push_back(baseEdge[0]);
				v.push_back(baseEdge[1]);
				edges_fuse.push_back(v);
				edgeMod->fuseEdges(edges_fuse, true);


				// update vertexT
				vertexT.erase(vertexT.begin()+startingIndex.getValue()+1);

				// Renumber Vertices
				 int numPoints = _topology->getNbPoints();

				// The vertex to delete has to be set to the last position of the position vector.
				sofa::helper::vector<unsigned int> permutations(numPoints);
				for ( int i = 0; i <= startingIndex.getValue() ; i++)
				{
					permutations[i]=i;
				}

				permutations[startingIndex.getValue()+1] = numPoints - 1;

				for ( int i = startingIndex.getValue()+2; i < numPoints; i++)
					permutations[i] = i-1;

				std::cerr<<"permutations"<<std::endl;

				sofa::helper::vector<unsigned int> inverse_permutations(numPoints);
				for ( int i = 0; i < numPoints; i++)
					inverse_permutations[permutations[i]] = i;

				edgeMod->renumberPoints((const sofa::helper::vector<unsigned int> &) inverse_permutations, (const sofa::helper::vector<unsigned int> &) permutations);
			}
		}
	}
	else // reversed // TODO implementation for startingIndex.getValue() !=0
	{
		int n = this->mState->getSize();

		if (n > 1)
		{
			sofa::helper::vector< unsigned int > baseEdge;
			baseEdge = _topology->getEdgeVertexShell(n - 2);

			if (baseEdge.size() == 2)
			{
				if (fabs(vertexT[n-2] - vertexT[n-1]) < ( 0.5 * edgeTLength ))
				{
					// Fuse Edges (n-2, n-1)
					sofa::helper::vector< sofa::helper::vector<unsigned int> > edges_fuse(0);
					sofa::helper::vector< unsigned int > v(0);

					v.push_back(baseEdge[0]);
					v.push_back(baseEdge[1]);
					edges_fuse.push_back(v);
					edgeMod->fuseEdges(edges_fuse, true);

					// update vertexT
					vertexT.erase(vertexT.end() - 2);

					// Renumber Vertices
					unsigned int numPoints = _topology->getNbPoints();

					// The vertex to delete has to be set to the last position of the position vector.
					sofa::helper::vector<unsigned int> permutations(numPoints);
					for (unsigned int i = 0; i < numPoints; i++)
						permutations[i] = i;

					sofa::helper::vector<unsigned int> inverse_permutations(numPoints);
					for (unsigned int i = 0; i < numPoints; i++)
						inverse_permutations[permutations[i]] = i;

					edgeMod->renumberPoints((const sofa::helper::vector<unsigned int> &) permutations, (const sofa::helper::vector<unsigned int> &) inverse_permutations);
				}
			}
		}
	}
}


template <class DataTypes>
void EdgeSetController<DataTypes>::draw()
{
	if (!this->getContext()->getShowBehaviorModels()) return;

	glDisable(GL_LIGHTING);

	if (edgeGeo)
	{
		glBegin(GL_LINES);
		for (int i=0; i<_topology->getNbEdges(); i++)
		{
			glColor4f(1.0,1.0,0.0,1.0);
			helper::gl::glVertexT((*this->mState->getX())[_topology->getEdge(i)[0]]);
			helper::gl::glVertexT((*this->mState->getX())[_topology->getEdge(i)[1]]);
		}
		glEnd();

		glPointSize(10);
		glBegin(GL_POINTS);
		for (int i=0; i<_topology->getNbEdges(); i++)
		{
			glColor4f(1.0,0.0,0.0,1.0);
			helper::gl::glVertexT((*this->mState->getX())[_topology->getEdge(i)[0]]);
			helper::gl::glVertexT((*this->mState->getX())[_topology->getEdge(i)[1]]);
		}
		glEnd();
		glPointSize(1);
	}
}


} // namespace controller

} // namespace component

} // namespace sofa

#endif // SOFA_COMPONENT_CONTROLLER_EDGESETCONTROLLER_INL