/usr/include/sofa/component/collision/TetrahedronModel.h is in libsofa1-dev 1.0~beta4-12.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 | /******************************************************************************
* 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
|