/usr/include/sofa/component/collision/TetrahedronModel.h 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_TETRAHEDRONMODEL_H
#define SOFA_COMPONENT_COLLISION_TETRAHEDRONMODEL_H
#include <sofa/core/CollisionModel.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <sofa/component/component.h>
#include <sofa/defaulttype/Vec3Types.h>
#include <map>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
class TetrahedronModel;
class Tetrahedron : public core::TCollisionElementIterator<TetrahedronModel>
{
public:
Tetrahedron(TetrahedronModel* model, int index);
Tetrahedron(){};
explicit Tetrahedron(core::CollisionElementIterator& i);
const Vector3& p1() const;
const Vector3& p2() const;
const Vector3& p3() const;
const Vector3& p4() const;
int p1Index() const;
int p2Index() const;
int p3Index() const;
int p4Index() const;
const Vector3& p1Free() const;
const Vector3& p2Free() const;
const Vector3& p3Free() const;
const Vector3& p4Free() const;
const Vector3& v1() const;
const Vector3& v2() const;
const Vector3& v3() const;
const Vector3& v4() const;
Vector3 getBary(const Vector3& p) const;
Vector3 getDBary(const Vector3& v) const;
Vector3 getCoord(const Vector3& b) const;
Vector3 getDCoord(const Vector3& b) const;
};
class SOFA_COMPONENT_COLLISION_API TetrahedronModel : public core::CollisionModel
{
public:
typedef Vec3Types InDataTypes;
typedef Vec3Types DataTypes;
typedef DataTypes::VecCoord VecCoord;
typedef DataTypes::VecDeriv VecDeriv;
typedef DataTypes::Coord Coord;
typedef DataTypes::Deriv Deriv;
typedef Tetrahedron Element;
friend class Tetrahedron;
protected:
struct TetrahedronInfo
{
Vector3 coord0;
Matrix3 coord2bary;
Matrix3 bary2coord;
};
sofa::helper::vector<TetrahedronInfo> elems;
const sofa::core::componentmodel::topology::BaseMeshTopology::SeqTetras* tetra;
core::componentmodel::behavior::MechanicalState<Vec3Types>* mstate;
sofa::core::componentmodel::topology::BaseMeshTopology* _topology;
public:
TetrahedronModel();
virtual void init();
// -- CollisionModel interface
virtual void resize(int size);
virtual void computeBoundingTree(int maxDepth=0);
//virtual void computeContinuousBoundingTree(double dt, int maxDepth=0);
void draw(int index);
void draw();
virtual void handleTopologyChange();
core::componentmodel::behavior::MechanicalState<Vec3Types>* getMechanicalState() { return mstate; }
};
inline Tetrahedron::Tetrahedron(TetrahedronModel* model, int index)
: core::TCollisionElementIterator<TetrahedronModel>(model, index)
{}
inline Tetrahedron::Tetrahedron(core::CollisionElementIterator& i)
: core::TCollisionElementIterator<TetrahedronModel>(static_cast<TetrahedronModel*>(i.getCollisionModel()), i.getIndex())
{}
inline const Vector3& Tetrahedron::p1() const { return (*model->mstate->getX())[(*(model->tetra))[index][0]]; }
inline const Vector3& Tetrahedron::p2() const { return (*model->mstate->getX())[(*(model->tetra))[index][1]]; }
inline const Vector3& Tetrahedron::p3() const { return (*model->mstate->getX())[(*(model->tetra))[index][2]]; }
inline const Vector3& Tetrahedron::p4() const { return (*model->mstate->getX())[(*(model->tetra))[index][3]]; }
inline const Vector3& Tetrahedron::p1Free() const { return (*model->mstate->getXfree())[(*(model->tetra))[index][0]]; }
inline const Vector3& Tetrahedron::p2Free() const { return (*model->mstate->getXfree())[(*(model->tetra))[index][1]]; }
inline const Vector3& Tetrahedron::p3Free() const { return (*model->mstate->getXfree())[(*(model->tetra))[index][2]]; }
inline const Vector3& Tetrahedron::p4Free() const { return (*model->mstate->getXfree())[(*(model->tetra))[index][3]]; }
inline int Tetrahedron::p1Index() const { return (*(model->tetra))[index][0]; }
inline int Tetrahedron::p2Index() const { return (*(model->tetra))[index][1]; }
inline int Tetrahedron::p3Index() const { return (*(model->tetra))[index][2]; }
inline int Tetrahedron::p4Index() const { return (*(model->tetra))[index][3]; }
inline const Vector3& Tetrahedron::v1() const { return (*model->mstate->getV())[(*(model->tetra))[index][0]]; }
inline const Vector3& Tetrahedron::v2() const { return (*model->mstate->getV())[(*(model->tetra))[index][1]]; }
inline const Vector3& Tetrahedron::v3() const { return (*model->mstate->getV())[(*(model->tetra))[index][2]]; }
inline const Vector3& Tetrahedron::v4() const { return (*model->mstate->getV())[(*(model->tetra))[index][3]]; }
inline Vector3 Tetrahedron::getBary(const Vector3& p) const { return model->elems[index].coord2bary*(p-model->elems[index].coord0); }
inline Vector3 Tetrahedron::getDBary(const Vector3& v) const { return model->elems[index].coord2bary*(v); }
inline Vector3 Tetrahedron::getCoord(const Vector3& b) const { return model->elems[index].bary2coord*b + model->elems[index].coord0; }
inline Vector3 Tetrahedron::getDCoord(const Vector3& b) const { return model->elems[index].bary2coord*b; }
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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