/usr/include/sofa/component/collision/BarycentricPenalityContact.inl is in libsofa1-dev 1.0~beta4-9.
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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_COLLISION_BARYCENTRICPENALITYCONTACT_INL
#define SOFA_COMPONENT_COLLISION_BARYCENTRICPENALITYCONTACT_INL
#include <sofa/component/collision/BarycentricPenalityContact.h>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
using namespace core::componentmodel::collision;
template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes >
BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::BarycentricPenalityContact(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod)
: model1(model1), model2(model2), intersectionMethod(intersectionMethod), ff(NULL), parent(NULL)
{
mapper1.setCollisionModel(model1);
mapper2.setCollisionModel(model2);
}
template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes >
BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::~BarycentricPenalityContact()
{
}
template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes >
void BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::cleanup()
{
if (ff!=NULL)
{
ff->cleanup();
if (parent!=NULL) parent->removeObject(ff);
delete ff;
parent = NULL;
ff = NULL;
mapper1.cleanup();
mapper2.cleanup();
}
}
template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes >
void BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::setDetectionOutputs(OutputVector* o)
{
TOutputVector& outputs = *static_cast<TOutputVector*>(o);
const bool printLog = this->f_printLog.getValue();
if (ff==NULL)
{
MechanicalState1* mstate1 = mapper1.createMapping();
MechanicalState2* mstate2 = mapper2.createMapping();
ff = new ResponseForceField(mstate1,mstate2);
ff->setName( getName() );
}
int insize = outputs.size();
// old index for each contact
// >0 indicate preexisting contact
// 0 indicate new contact
// -1 indicate ignored duplicate contact
std::vector<int> oldIndex(insize);
int nbnew = 0;
for (int i=0; i<insize; i++)
{
DetectionOutput* o = &outputs[i];
// find this contact in contactIndex, possibly creating a new entry initialized by 0
int& index = contactIndex[o->id];
if (index < 0) // duplicate contact
{
int i2 = -1-index;
DetectionOutput* o2 = &outputs[i2];
if (o2->value <= o->value)
{
// current contact is ignored
oldIndex[i] = -1;
continue;
}
else
{
// previous contact is replaced
oldIndex[i] = oldIndex[i2];
oldIndex[i2] = -1;
}
}
else
{
oldIndex[i] = index;
if (!index)
{
++nbnew;
if (printLog) sout << "BarycentricPenalityContact: New contact "<<o->id<<sendl;
}
}
index = -1-i; // save this index as a negative value in contactIndex map.
}
// compute new index of each contact
std::vector<int> newIndex(insize);
// number of final contacts used in the response
int size = 0;
for (int i=0; i<insize; i++)
{
if (oldIndex[i] >= 0)
{
++size;
newIndex[i] = size;
}
}
// update contactMap
for (ContactIndexMap::iterator it = contactIndex.begin(), itend = contactIndex.end(); it != itend; )
{
int& index = it->second;
if (index >= 0)
{
if (printLog) sout << "BarycentricPenalityContact: Removed contact "<<it->first<<sendl;
ContactIndexMap::iterator oldit = it;
++it;
contactIndex.erase(oldit);
}
else
{
index = newIndex[-1-index]; // write the final contact index
++it;
}
}
if (printLog) sout << "BarycentricPenalityContact: "<<insize<<" input contacts, "<<size<<" contacts used for response ("<<nbnew<<" new)."<<sendl;
//int size = contacts.size();
ff->clear(size);
mapper1.resize(size);
mapper2.resize(size);
//int i = 0;
const double d0 = intersectionMethod->getContactDistance() + model1->getProximity() + model2->getProximity(); // - 0.001;
//for (std::vector<DetectionOutput>::iterator it = outputs.begin(); it!=outputs.end(); it++)
//{
// DetectionOutput* o = &*it;
for (int i=0; i<insize; i++)
{
int index = oldIndex[i];
if (index < 0) continue; // this contact is ignored
DetectionOutput* o = &outputs[i];
CollisionElement1 elem1(o->elem.first);
CollisionElement2 elem2(o->elem.second);
int index1 = elem1.getIndex();
int index2 = elem2.getIndex();
typename DataTypes1::Real r1 = 0.0;
typename DataTypes2::Real r2 = 0.0;
// Create mapping for first point
index1 = mapper1.addPoint(o->point[0], index1, r1);
// Create mapping for second point
index2 = mapper2.addPoint(o->point[1], index2, r2);
double distance = d0 + r1 + r2;
double stiffness = (elem1.getContactStiffness() * elem2.getContactStiffness());
if (distance != 0.0) stiffness /= distance;
double mu_v = (elem1.getContactFriction() + elem2.getContactFriction());
ff->addContact(index1, index2, elem1.getIndex(), elem2.getIndex(), o->normal, distance, stiffness, mu_v/* *distance */, mu_v, index);
}
// Update mappings
mapper1.update();
mapper2.update();
}
template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes >
void BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::createResponse(core::objectmodel::BaseContext* group)
{
if (ff!=NULL)
{
if (parent!=NULL)
{
parent->removeObject(this);
parent->removeObject(ff);
}
parent = group;
if (parent!=NULL)
{
//sout << "Attaching contact response to "<<parent->getName()<<sendl;
parent->addObject(this);
parent->addObject(ff);
}
}
}
template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes >
void BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::removeResponse()
{
if (ff!=NULL)
{
if (parent!=NULL)
{
//sout << "Removing contact response from "<<parent->getName()<<sendl;
parent->removeObject(this);
parent->removeObject(ff);
}
parent = NULL;
}
}
template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes >
void BarycentricPenalityContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::draw()
{
// if (ff!=NULL)
// ff->draw();
}
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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