/usr/include/sofa/filemanager/sofapml/PMLBody.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 *
******************************************************************************/
/***************************************************************************
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
***************************************************************************/
//-------------------------------------------------------------------------
// -- Description --
// PMLBody is an abstract class representing an object and its structure,
// imported from a PML file, to create the sofa scene graph.
// it is inherited by PMLRigidBody and PML(ForcefieldName) classes.
//-------------------------------------------------------------------------
#ifndef PMLBODY_H
#define PMLBODY_H
#include <StructuralComponent.h>
#include "sofa/core/componentmodel/behavior/BaseMechanicalState.h"
#include "sofa/core/BaseMapping.h"
#include "sofa/core/componentmodel/topology/Topology.h"
#include "sofa/core/componentmodel/behavior/BaseMass.h"
#include "sofa/core/componentmodel/behavior/ForceField.h"
#include "sofa/component/visualmodel/OglModel.h"
#include "sofa/core/CollisionModel.h"
#include <sofa/core/componentmodel/behavior/OdeSolver.h>
#include "sofa/defaulttype/Vec3Types.h"
#include <sofa/simulation/tree/GNode.h>
#include "sofapml.h"
//#include "sofa/component/StiffSpringForceField.h"
#include <map>
namespace sofa
{
namespace filemanager
{
namespace pml
{
using namespace sofa::core;
using namespace sofa::core::componentmodel::behavior;
using namespace sofa::core::componentmodel::topology;
using namespace sofa::component::visualmodel;
using namespace sofa::component;
using namespace sofa::defaulttype;
using namespace sofa::simulation::tree;
using namespace std;
class SOFA_BUILD_FILEMANAGER_PML_API PMLBody
{
public :
PMLBody();
virtual ~PMLBody();
string getName() {return name;}
virtual string isTypeOf() =0;
/// accessors
BaseMechanicalState* getMechanicalState() { return mmodel; }
BaseMass* getMass() { return mass; }
Topology* getTopology() { return topology; }
ForceField<Vec3Types>* getForcefield() { return forcefield; }
bool hasCollisions() { return collisionsON; }
virtual GNode* getPointsNode()=0;
///merge 2 bodies
virtual bool FusionBody(PMLBody*)=0;
virtual Vector3 getDOF(unsigned int index)=0;
//link between atoms indexes (physical model) and DOFs indexes (sofa)
map<unsigned int, unsigned int> AtomsToDOFsIndexes;
///the node from which the body is created
GNode * parentNode;
protected :
///creation of the scene graph
virtual void createMechanicalState(StructuralComponent* body) =0;
virtual void createTopology(StructuralComponent* body) =0;
virtual void createMass(StructuralComponent* body) =0;
virtual void createVisualModel(StructuralComponent* body) =0;
virtual void createForceField() =0;
virtual void createCollisionModel() =0;
void createSolver();
//name of the object
string name;
///is collisions detection activated
bool collisionsON;
///objects structure
BaseMechanicalState * mmodel;
BaseMass * mass;
Topology * topology;
ForceField<Vec3Types> * forcefield;
OdeSolver * solver;
std::string solverName;
};
}
}
}
#endif //PMLBODY_H
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