/usr/include/sofa/component/constraint/DistanceConstraint.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_CONSTRAINT_DISTANCECONSTRAINT_INL
#define SOFA_COMPONENT_CONSTRAINT_DISTANCECONSTRAINT_INL
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <sofa/core/componentmodel/behavior/BaseLMConstraint.h>
#include <sofa/component/constraint/DistanceConstraint.h>
#include <sofa/simulation/common/Simulation.h>
#include <sofa/simulation/common/Node.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/helper/vector.h>
#include <sofa/helper/gl/template.h>
#include <iostream>
namespace sofa
{
namespace component
{
namespace constraint
{
using namespace core::componentmodel::topology;
using namespace sofa::defaulttype;
using namespace sofa::helper;
using namespace sofa::core::componentmodel::behavior;
template <class DataTypes>
void DistanceConstraint<DataTypes>::init()
{
LMConstraint<DataTypes,DataTypes>::init();
topology = this->getContext()->getMeshTopology();
if (vecConstraint.getValue().size() == 0 && (this->object1==this->object2) ) vecConstraint.setValue(this->topology->getEdges());
}
template <class DataTypes>
void DistanceConstraint<DataTypes>::reinit()
{
updateRestLength();
}
template <class DataTypes>
double DistanceConstraint<DataTypes>::lengthEdge(const Edge &e, const VecCoord &x1, const VecCoord &x2)
{
return (x2[e[1]] - x1[e[0]]).norm();
}
template <class DataTypes>
void DistanceConstraint<DataTypes>::updateRestLength()
{
const VecCoord &x0_1=*this->object1->getX();
const VecCoord &x0_2=*this->object2->getX();
const SeqEdges &edges = vecConstraint.getValue();
this->l0.resize(edges.size());
for (unsigned int i=0;i<edges.size();++i)
{
this->l0[i] = lengthEdge(edges[i],x0_1,x0_2);
}
}
#ifndef SOFA_FLOAT
template<>
Rigid3dTypes::Deriv DistanceConstraint<Rigid3dTypes>::getDirection(const Edge &e, const VecCoord &x1, const VecCoord &x2);
#endif
#ifndef SOFA_DOUBLE
template<>
Rigid3fTypes::Deriv DistanceConstraint<Rigid3fTypes>::getDirection(const Edge &e, const VecCoord &x1, const VecCoord &x2);
#endif
template<class DataTypes>
typename DataTypes::Deriv DistanceConstraint<DataTypes>::getDirection(const Edge &e, const VecCoord &x1, const VecCoord &x2)
{
Deriv V12 = (x2[e[1]] - x1[e[0]]);
V12.normalize();
return V12;
}
template<class DataTypes>
void DistanceConstraint<DataTypes>::writeConstraintEquations()
{
const VecCoord &x1=*(this->object1->getX());
const VecCoord &x2=*(this->object2->getX());
VecConst& c1 = *this->object1->getC();
VecConst& c2 = *this->object2->getC();
this->clear();
const SeqEdges &edges = vecConstraint.getValue();
if (this->l0.size() != edges.size()) updateRestLength();
for (unsigned int i=0;i<edges.size();++i)
{
unsigned int idx1=edges[i][0];
unsigned int idx2=edges[i][1];
double length = lengthEdge(edges[i],x1,x2);
double restLength = this->l0[i];
Deriv V12 = getDirection(edges[i], x1, x2);
//VecConst interface:
//index where the direction will be found
const unsigned int idxInVecConst[2]={c1.size(), c2.size()};
SparseVecDeriv V1;
V1.insert(idx1,V12); c1.push_back(V1);
if (this->object1 != this->object2)
{
SparseVecDeriv V2;
V2.insert(idx2,V12);c2.push_back(V2);
}
core::componentmodel::behavior::BaseLMConstraint::constraintGroup *constraintAcc = this->addGroupConstraint(this->ACC);
core::componentmodel::behavior::BaseLMConstraint::constraintGroup *constraintVel = this->addGroupConstraint(this->VEL);
core::componentmodel::behavior::BaseLMConstraint::constraintGroup *constraintPos = this->addGroupConstraint(this->POS);
//BaseLMConstraint interface
constraintAcc->addConstraint(idxInVecConst[0], idxInVecConst[1],
0, this->FINAL); //0 in acceleration along V12
constraintVel->addConstraint( idxInVecConst[0], idxInVecConst[1],
0, this->FINAL); //0 in velocity along V12
constraintPos->addConstraint( idxInVecConst[0], idxInVecConst[1],
restLength-length, this->CORRECTION); //we apply a constraint to correct the current length to the rest length
}
}
template <class DataTypes>
double DistanceConstraint<DataTypes>::getError()
{
double error=0.0;
const VecCoord &x1=*(this->object1->getX());
const VecCoord &x2=*(this->object2->getX());
const SeqEdges &edges = vecConstraint.getValue();
for (unsigned int i=0;i<edges.size();++i)
{
double length = lengthEdge(edges[i],x1,x2);
double restLength = this->l0[i];//lengthEdge(edges[i],x0);
double deformation = fabs(length - restLength);
{
error += pow(deformation,2);
}
}
return error;
}
#ifndef SOFA_FLOAT
template <>
void DistanceConstraint<defaulttype::Rigid3dTypes>::draw();
#endif
#ifndef SOFA_DOUBLE
template <>
void DistanceConstraint<defaulttype::Rigid3fTypes>::draw();
#endif
template <class DataTypes>
void DistanceConstraint<DataTypes>::draw()
{
if (this->l0.size() != vecConstraint.getValue().size()) updateRestLength();
sout << getError() << " Error" << sendl;
if (this->getContext()->getShowBehaviorModels())
{
const VecCoord &x1=*(this->object1->getX());
const VecCoord &x2=*(this->object2->getX());
std::vector< Vector3 > points;
const SeqEdges &edges = vecConstraint.getValue();
for (unsigned int i=0;i<edges.size();++i)
{
// double length = lengthEdge(edges[i],x1,x2);
// double restLength = this->l0[i];
// double factor = fabs(length - restLength)/length;
points.push_back(x1[edges[i][0]]);
points.push_back(x2[edges[i][1]]);
}
simulation::getSimulation()->DrawUtility.drawLines(points, 1, Vec<4,float>(0.0,1.0,0.0f,1.0f));
}
}
} // namespace constraint
} // namespace component
} // namespace sofa
#endif
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