libsofa1-dev 1.0~beta4-9 / usr / include / sofa / component / constraint / HermiteSplineConstraint.inl

/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4      *
*                (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS                    *
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*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
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* Contact information: contact@sofa-framework.org                             *
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#ifndef SOFA_COMPONENT_CONSTRAINT_HERMITESPLINECONSTRAINT_INL
#define SOFA_COMPONENT_CONSTRAINT_HERMITESPLINECONSTRAINT_INL

#include <sofa/component/constraint/HermiteSplineConstraint.h>
#include <sofa/helper/gl/template.h>

namespace sofa
{

namespace component
{

namespace constraint
{

using namespace sofa::defaulttype;
using namespace sofa::helper;

template <class DataTypes>
HermiteSplineConstraint<DataTypes>::HermiteSplineConstraint()
:core::componentmodel::behavior::Constraint<DataTypes>(NULL)
, m_indices( initData(&m_indices,"indices","Indices of the constrained points") )
, m_tBegin(initData(&m_tBegin,"BeginTime","Begin Time of the motion") )
, m_tEnd(initData(&m_tEnd,"EndTime","End Time of the motion") )
, m_x0(initData(&m_x0,"X0","first control point") )
, m_dx0(initData(&m_dx0,"dX0","first control tangente") )
, m_x1(initData(&m_x1,"X1","second control point") )
, m_dx1(initData(&m_dx1,"dX1","second control tangente") )
, m_sx0(initData(&m_sx0,"SX0","first interpolation vector") )
, m_sx1(initData(&m_sx1,"SX1","second interpolation vector") )
{
}


template <class DataTypes>
HermiteSplineConstraint<DataTypes>::HermiteSplineConstraint(core::componentmodel::behavior::MechanicalState<DataTypes>* mstate)
: core::componentmodel::behavior::Constraint<DataTypes>(mstate)
, m_indices( initData(&m_indices,"indices","Indices of the constrained points") )
, m_tBegin(initData(&m_tBegin,"BeginTime","Begin Time of the motion") )
, m_tEnd(initData(&m_tEnd,"EndTime","End Time of the motion") )
, m_x0(initData(&m_x0,"X0","first control point") )
, m_dx0(initData(&m_dx0,"dX0","first control tangente") )
, m_x1(initData(&m_x1,"X1","second control point") )
, m_dx1(initData(&m_dx1,"dX1","sceond control tangente") )
, m_sx0(initData(&m_sx0,"SX0","first interpolation vector") )
, m_sx1(initData(&m_sx1,"SX1","second interpolation vector") )
{
}

template <class DataTypes>
HermiteSplineConstraint<DataTypes>::~HermiteSplineConstraint()
{
}

template <class DataTypes>
void HermiteSplineConstraint<DataTypes>::clearConstraints()
{
    m_indices.beginEdit()->clear();
    m_indices.endEdit();
}

template <class DataTypes>
void  HermiteSplineConstraint<DataTypes>::addConstraint(unsigned index)
{
	m_indices.beginEdit()->push_back(index);
    m_indices.endEdit();
}


template <class DataTypes>
void HermiteSplineConstraint<DataTypes>::init()
{
	this->core::componentmodel::behavior::Constraint<DataTypes>::init();
}

template <class DataTypes>
void HermiteSplineConstraint<DataTypes>::reinit()
{
	init();
}


template <class DataTypes>
void HermiteSplineConstraint<DataTypes>::computeHermiteCoefs( const Real u, Real &H00, Real &H10, Real &H01, Real &H11)
{
	//-- time interpolation --> acceleration is itself computed from hemite 
	Real u2 = u*u;
	Real u3 = u*u*u;
	//Real uH00 = 2*u3 -3*u2 +1 ;		//hermite coefs
	Real uH10 = u3 -2*u2 +u;
	Real uH01 = -2*u3 + 3*u2;
	Real uH11 = u3 -u2;
	Vec2R pu = m_sx0.getValue()*uH10 + Vec2R(1,1)*uH01 + m_sx1.getValue()*uH11;
	Real su = pu.y();

	Real su2 = su*su;
	Real su3 = su*su*su;
	H00 = 2*su3 -3*su2 +1 ;
	H10 = su3 -2*su2 +su;
	H01 = -2*su3 + 3*su2;
	H11 = su3 -su2;
}

template <class DataTypes>
void HermiteSplineConstraint<DataTypes>::computeDerivateHermiteCoefs( const Real u, Real &dH00, Real &dH10, Real &dH01, Real &dH11)
{
	//-- time interpolation --> acceleration is itself computed from hemite 
	Real u2 = u*u;
	Real u3 = u*u*u;
	//Real uH00 = 2*u3 -3*u2 +1 ;		//hermite coefs
	Real uH10 = u3 -2*u2 +u;
	Real uH01 = -2*u3 + 3*u2;
	Real uH11 = u3 -u2;
	Vec2R pu = m_sx0.getValue()*uH10 + Vec2R(1,1)*uH01 + m_sx1.getValue()*uH11; 
	Real su = pu.y();

	Real su2 = su*su;
	dH00 = 6*su2 -6*su ;
	dH10 = 3*su2 -4*su +1;
	dH01 = -6*su2 + 6*su;
	dH11 = 3*su2 -2*su;
}


template <class DataTypes>
void HermiteSplineConstraint<DataTypes>::projectResponse(VecDeriv& dx)
{
	Real t = (Real) getContext()->getTime();
	if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue())
	{
		const SetIndexArray & indices = m_indices.getValue().getArray();
		for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it)
			dx[*it] = Deriv();
	}
}

template <class DataTypes>
void HermiteSplineConstraint<DataTypes>::projectVelocity(VecDeriv& dx)
{
	Real t = (Real) getContext()->getTime();

	if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue()	)
	{
		Real DT = m_tEnd.getValue() - m_tBegin.getValue();
		const SetIndexArray & indices = m_indices.getValue().getArray();

		t -= m_tBegin.getValue();
		Real u = t/DT;

		Real dH00, dH10, dH01, dH11;
		computeDerivateHermiteCoefs( u, dH00, dH10, dH01, dH11);

		for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it)
		{
			dx[*it] = m_x0.getValue()*dH00 + m_dx0.getValue()*dH10 + m_x1.getValue()*dH01 + m_dx1.getValue()*dH11;
		}
	}
}

template <class DataTypes>
void HermiteSplineConstraint<DataTypes>::projectPosition(VecCoord& x)
{
	Real t = (Real) getContext()->getTime();

	if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue()	)
	{
		Real DT = m_tEnd.getValue() - m_tBegin.getValue();
		const SetIndexArray & indices = m_indices.getValue().getArray();

		t -= m_tBegin.getValue();
		Real u = t/DT;

		Real H00, H10, H01, H11;
		computeHermiteCoefs( u, H00, H10, H01, H11);

		for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it)
		{
			x[*it] = m_x0.getValue()*H00 + m_dx0.getValue()*H10 + m_x1.getValue()*H01 + m_dx1.getValue()*H11;
		}
	}
}


template <class DataTypes>
void HermiteSplineConstraint<DataTypes>::draw()
{
    if (!getContext()->getShowBehaviorModels()) return;

	Real dt = (Real) getContext()->getDt();
	Real DT = m_tEnd.getValue() - m_tBegin.getValue();

    glDisable (GL_LIGHTING);
    glPointSize(2);
    glColor4f (1,0.5,0.5,1);

	glBegin (GL_LINE_STRIP);
	for (Real t=0.0 ; t< DT ; t+= dt){
		Real u = t/DT;

		Real H00, H10, H01, H11;
		computeHermiteCoefs( u, H00, H10, H01, H11);

		Vec3R p = m_x0.getValue()*H00 + m_dx0.getValue()*H10 + m_x1.getValue()*H01 + m_dx1.getValue()*H11;
		gl::glVertexT(p);
	}
	glEnd();

	
	glColor4f (1,0.0,0.0,1);
	glPointSize(5);
	//display control point
	glBegin(GL_POINTS);
	gl::glVertexT(m_x0.getValue());
	gl::glVertexT(m_x1.getValue());
	glEnd();
	//display control tangeantes
	glBegin(GL_LINES);
	gl::glVertexT(m_x0.getValue());
	gl::glVertexT(m_x0.getValue()+m_dx0.getValue()*0.1);
	gl::glVertexT(m_x1.getValue());
	gl::glVertexT(m_x1.getValue()+m_dx1.getValue()*0.1);
	glEnd();


}


} // namespace constraint

} // namespace component

} // namespace sofa

#endif