/usr/include/SurgSim/Physics/Fem3DRepresentation.h is in libopensurgsim-dev 0.7.0-5.
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// Copyright 2013-2016, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_PHYSICS_FEM3DREPRESENTATION_H
#define SURGSIM_PHYSICS_FEM3DREPRESENTATION_H
#include <memory>
#include <string>
#include <unordered_map>
#include "SurgSim/Framework/FrameworkConvert.h"
#include "SurgSim/Math/Matrix.h"
#include "SurgSim/Math/RigidTransform.h"
#include "SurgSim/Math/Vector.h"
#include "SurgSim/Physics/Fem3D.h"
#include "SurgSim/Physics/FemRepresentation.h"
namespace SurgSim
{
namespace DataStructures
{
struct IndexedLocalCoordinate;
struct Location;
}
namespace Framework
{
class Asset;
}
namespace Math
{
class MeshShape;
class OdeState;
}
namespace Physics
{
class Localization;
SURGSIM_STATIC_REGISTRATION(Fem3DRepresentation);
/// Finite Element Model 3D is a fem built with 3D FemElement
class Fem3DRepresentation : public FemRepresentation
{
public:
/// Constructor
/// \param name The name of the Fem3DRepresentation
explicit Fem3DRepresentation(const std::string& name);
/// Destructor
virtual ~Fem3DRepresentation();
SURGSIM_CLASSNAME(SurgSim::Physics::Fem3DRepresentation);
void loadFem(const std::string& fileName) override;
/// Sets the fem mesh asset
/// \param mesh The fem mesh to assign to this representation
/// \exception SurgSim::Framework::AssertionFailure if mesh is nullptr or it's actual type is not Fem3D
void setFem(std::shared_ptr<SurgSim::Framework::Asset> mesh);
/// \return The fem mesh asset as a Fem3D
std::shared_ptr<Fem3D> getFem() const;
void addExternalGeneralizedForce(std::shared_ptr<Localization> localization,
const SurgSim::Math::Vector& generalizedForce,
const SurgSim::Math::Matrix& K = SurgSim::Math::Matrix(),
const SurgSim::Math::Matrix& D = SurgSim::Math::Matrix()) override;
std::shared_ptr<Localization> createLocalization(const SurgSim::DataStructures::Location& location) override;
protected:
bool doWakeUp() override;
void transformState(std::shared_ptr<SurgSim::Math::OdeState> state,
const SurgSim::Math::RigidTransform3d& transform) override;
bool doInitialize() override;
private:
/// Produces a mapping from the provided mesh's triangle ids to this object's fem element ids. The mesh's vertices
/// must be identical to this object's fem element nodes.
/// \param mesh The mesh used to produce the mapping.
/// \return A map from the mesh's triangle ids to this object's fem elements.
std::unordered_map<size_t, size_t> createTriangleIdToElementIdMap(
std::shared_ptr<const SurgSim::Math::MeshShape> mesh);
/// Helper method: create a localization for a node
/// \param nodeId The node index
/// \return Localization of the node for this representation
std::shared_ptr<Localization> createNodeLocalization(size_t nodeId);
/// Helper method: create a localization for an triangle-based IndexedLocalCoordinate
/// \param location The IndexedLocalCoordinate defining a point on the triangle mesh
/// \return Localization of the point for this representation
std::shared_ptr<Localization> createTriangleLocalization(
const SurgSim::DataStructures::IndexedLocalCoordinate& location);
/// Helper method: create a localization for an element-based IndexedLocalCoordinate (tetrahedron or cube)
/// \param location The IndexedLocalCoordinate defining a point on the element mesh
/// \return Localization of the point for this representation
std::shared_ptr<Localization> createElementLocalization(
const SurgSim::DataStructures::IndexedLocalCoordinate& location);
/// Mapping from collision triangle's id to fem element id.
std::unordered_map<size_t, size_t> m_triangleIdToElementIdMap;
/// The Fem3DRepresentation's asset as a Fem3D
std::shared_ptr<Fem3D> m_fem;
};
} // namespace Physics
} // namespace SurgSim
#endif // SURGSIM_PHYSICS_FEM3DREPRESENTATION_H
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