/usr/include/sofa/component/mapping/CenterOfMassMapping.inl 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_MAPPING_CENTEROFMASSMAPPING_INL
#define SOFA_COMPONENT_MAPPING_CENTEROFMASSMAPPING_INL
#include <sofa/component/mapping/CenterOfMassMapping.h>
#include <sofa/simulation/common/Simulation.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/helper/gl/template.h>
#include <sofa/core/componentmodel/behavior/MechanicalMapping.inl>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <string>
#include <iostream>
namespace sofa
{
namespace component
{
namespace mapping
{
using namespace sofa::defaulttype;
template <class BasicMapping>
void CenterOfMassMapping<BasicMapping>::init()
{
//get the pointer on the input dofs mass
masses = dynamic_cast<BaseMass*> (this->fromModel->getContext()->getMass());
if(!masses)
return;
totalMass = 0.0;
//compute the total mass of the object
for (unsigned int i=0 ; i<this->fromModel->getX()->size() ; i++)
totalMass += masses->getElementMass(i);
}
template <class BasicMapping>
void CenterOfMassMapping<BasicMapping>::apply ( typename Out::VecCoord& childPositions, const typename In::VecCoord& parentPositions )
{
if(!masses || totalMass==0.0){
serr<<"Error in CenterOfMassMapping : no mass found corresponding to the DOFs"<<sendl;
return;
}
OutCoord outX;
//compute the center of mass position with the relation X = sum(Xi*Mi)/Mt
//with Xi: position of the dof i, Mi: mass of the dof i, and Mt : total mass of the object
for (unsigned int i=0 ; i<parentPositions.size() ; i++){
outX += parentPositions[i].getCenter() * masses->getElementMass(i);
}
childPositions[0] = outX / totalMass;
}
template <class BasicMapping>
void CenterOfMassMapping<BasicMapping>::applyJ ( typename Out::VecDeriv& childForces, const typename In::VecDeriv& parentForces )
{
if(!masses || totalMass==0.0){
serr<<"Error in CenterOfMassMapping : no mass found corresponding to the DOFs"<<sendl;
return;
}
OutDeriv outF;
//compute the forces applied on the center of mass with the relation F = sum(Fi*Mi)/Mt
//with Fi: force of the dof i, Mi: mass of the dof i, and Mt : total mass of the object
for (unsigned int i=0 ; i<parentForces.size() ; i++){
outF += parentForces[i].getVCenter() * masses->getElementMass(i);
}
childForces[0] = outF / totalMass;
}
template <class BasicMapping>
void CenterOfMassMapping<BasicMapping>::applyJT ( typename In::VecDeriv& parentForces, const typename Out::VecDeriv& childForces )
{
if(!masses || totalMass==0.0){
serr<<"Error in CenterOfMassMapping : no mass found corresponding to the DOFs"<<sendl;
return;
}
//compute the force applied on each object Dof from the force applied on the center of mass
//the force on a dof is proportional to its mass
//relation is Fi = Fc * (Mi/Mt), with Fc: force of center of mass, Mi: dof mass, Mt: total mass
for (unsigned int i=0 ; i<parentForces.size() ; i++)
parentForces[i].getVCenter() += childForces[0] * (masses->getElementMass(i) / totalMass);
}
template <class BasicMapping>
void CenterOfMassMapping<BasicMapping>::draw()
{
const typename Out::VecCoord &X = *this->toModel->getX();
std::vector< Vector3 > points;
Vector3 point1,point2;
unsigned int sizePoints= (OutCoord::static_size <=3)?OutCoord::static_size:3;
for(unsigned int i=0 ; i<OutCoord::static_size ; i++){
OutCoord v;
v[i] = (Real)0.1;
for (unsigned int s=0;s<sizePoints;++s)
{
point1[s] = (X[0] -v)[s];
point2[s] = (X[0] +v)[s];
}
points.push_back(point1);
points.push_back(point2);
}
simulation::getSimulation()->DrawUtility.drawLines(points, 1, Vec<4,float>(1,1,0,1));
}
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
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