/usr/include/sofa/component/mapping/TubularMapping.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_TUBULARMAPPING_INL
#define SOFA_COMPONENT_MAPPING_TUBULARMAPPING_INL
#include <sofa/component/mapping/TubularMapping.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/core/componentmodel/behavior/MechanicalMapping.inl>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
namespace sofa
{
namespace component
{
namespace mapping
{
template <class BasicMapping>
void TubularMapping<BasicMapping>::init()
{
this->BasicMapping::init();
}
template <class BasicMapping>
void TubularMapping<BasicMapping>::apply ( typename Out::VecCoord& out, const typename In::VecCoord& in )
{
// Propagation of positions from the input DOFs to the output DOFs
//sout << "TubularMapping<BasicMapping>::apply"<<sendl;
if(out.size() != rotatedPoints.size()){
rotatedPoints.resize(out.size());
}
unsigned int N = m_nbPointsOnEachCircle.getValue();
double rho = m_radius.getValue();
out.resize(in.size() * N);
rotatedPoints.resize(in.size() * N);
Vec Y0;
Vec Z0;
Y0[0] = (Real) (0.0); Y0[1] = (Real) (1.0); Y0[2] = (Real) (0.0);
Z0[0] = (Real) (0.0); Z0[1] = (Real) (0.0); Z0[2] = (Real) (1.0);
for (unsigned int i=0; i<in.size(); i++)
{
Vec curPos = in[i].getCenter();
Mat rotation;
in[i].writeRotationMatrix(rotation);
Vec Y;
Vec Z;
Y = rotation * Y0;
Z = rotation * Z0;
for(unsigned int j=0; j<N; ++j){
rotatedPoints[i*N+j] = (Y*cos((Real) (2.0*j*M_PI/N)) + Z*sin((Real) (2.0*j*M_PI/N)))*((Real) rho);
Vec x = curPos + rotatedPoints[i*N+j];
//sout << "INFO_print : TubularMapping DO move point - j = " << j << " , curPos = " << curPos << " , x = " << x << sendl;
out[i*N+j] = x;
}
}
}
template <class BasicMapping>
void TubularMapping<BasicMapping>::applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in )
{
// Propagation of velocities from the input DOFs to the output DOFs
if(out.size() != rotatedPoints.size()){
rotatedPoints.resize(out.size());
}
unsigned int N = m_nbPointsOnEachCircle.getValue();
out.resize(in.size() * N);
Deriv v,omega;
for (unsigned int i=0; i<in.size(); i++)
{
v = in[i].getVCenter();
omega = in[i].getVOrientation();
for(unsigned int j=0; j<N; ++j){
out[i*N+j] = v - cross(rotatedPoints[i*N+j],omega);
//sout << "INFO_print : TubularMapping DO moveJ point - j = " << j << " , curPos = " << v << " , x = " << out[i*N+j] << sendl;
}
}
}
template <class BasicMapping>
void TubularMapping<BasicMapping>::applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in )
{
// usefull for a Mechanical Mapping that propagates forces from the output DOFs to the input DOFs
//sout << "INFO_print : pass HERE applyJT !!!" << sendl;
if(in.size() != rotatedPoints.size()){
rotatedPoints.resize(in.size());
}
unsigned int N = m_nbPointsOnEachCircle.getValue();
Deriv v,omega;
for (unsigned int i=0; i<out.size(); i++)
{
for(unsigned int j=0; j<N; j++){
Deriv f = in[i*N+j];
v += f;
omega += cross(rotatedPoints[i*N+j],f);
}
out[i].getVCenter() += v;
out[i].getVOrientation() += omega;
//sout << "INFO_print : TubularMapping DO moveJT point - i = " << i << sendl;
}
}
/*
template <class BasicMapping>
void TubularMapping<BasicMapping>::applyJT( typename In::VecConst& out, const typename Out::VecConst& in )
{
sout << "INFO_print : pass HERE applyJT CONST !!!" << sendl;
Deriv v0;
v0[0] = (Real) (0.0); v0[1] = (Real) (0.0); v0[2] = (Real) (0.0);
for (unsigned int i=0; i<out.size(); i++)
{
out[i].getVCenter() = v0;
out[i].getVOrientation() = v0;
sout << "INFO_print : TubularMapping DO moveJT point - i = " << i << sendl;
}
}
*/
} // namespace mapping
} // namespace component
} // namespace sofa
#endif // SOFA_COMPONENT_MAPPING_TUBULARMAPPING_INL
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