/usr/include/sofa/component/mapping/BeamLinearMapping.inl 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 | /******************************************************************************
* 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_MAPPING_BEAMLINEARMAPPING_INL
#define SOFA_COMPONENT_MAPPING_BEAMLINEARMAPPING_INL
#include <sofa/component/mapping/BeamLinearMapping.h>
#include <sofa/simulation/common/Simulation.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/helper/io/MassSpringLoader.h>
#include <sofa/helper/io/SphereLoader.h>
#include <sofa/helper/io/Mesh.h>
#include <sofa/helper/gl/template.h>
#include <sofa/core/componentmodel/behavior/MechanicalMapping.inl>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <string>
namespace sofa
{
namespace component
{
namespace mapping
{
using namespace sofa::defaulttype;
template <class BasicMapping>
void BeamLinearMapping<BasicMapping>::init()
{
bool local = localCoord.getValue();
if (this->points.empty() && this->toModel!=NULL)
{
typename In::VecCoord& xfrom = *this->fromModel->getX();
beamLength.resize(xfrom.size());
for (unsigned int i=0;i<xfrom.size()-1;i++)
beamLength[i] = (Real)((xfrom[i]-xfrom[i+1]).norm());
if (xfrom.size()>=2)
beamLength[xfrom.size()-1] = beamLength[xfrom.size()-2];
VecCoord& x = *this->toModel->getX();
sout << "BeamLinearMapping: init "<<x.size()<<" points."<<sendl;
points.resize(x.size());
if (local)
{
for (unsigned int i=0;i<x.size();i++)
points[i] = x[i];
}
else
{
for (unsigned int i=0;i<x.size();i++)
{
Coord p = xfrom[0].getOrientation().inverseRotate(x[i]-xfrom[0].getCenter());
unsigned int j=0;
while(j<beamLength.size() && p[0]>=beamLength[j])
{
p[0] -= beamLength[j];
++j;
}
p/=beamLength[j];
p[0]+=j;
points[i] = p;
}
}
}
this->BasicMapping::init();
}
template <class BasicMapping>
void BeamLinearMapping<BasicMapping>::apply( typename Out::VecCoord& out, const typename In::VecCoord& in )
{
//translation = in[index.getValue()].getCenter();
//in[index.getValue()].writeRotationMatrix(rotation);
rotatedPoints0.resize(points.size());
rotatedPoints1.resize(points.size());
out.resize(points.size());
for(unsigned int i=0;i<points.size();i++)
{
Coord inpos = points[i];
int in0 = helper::rfloor(inpos[0]);
if (in0<0) in0 = 0; else if (in0 > (int)in.size()-2) in0 = in.size()-2;
inpos[0] -= in0;
rotatedPoints0[i] = in[in0].getOrientation().rotate(inpos) * beamLength[in0];
Coord out0 = in[in0].getCenter() + rotatedPoints0[i];
Coord inpos1 = inpos; inpos1[0] -= 1;
rotatedPoints1[i] = in[in0+1].getOrientation().rotate(inpos1) * beamLength[in0];
Coord out1 = in[in0+1].getCenter() + rotatedPoints1[i];
Real fact = (Real)inpos[0];
fact = 3*(fact*fact)-2*(fact*fact*fact);
out[i] = out0 * (1-fact) + out1 * (fact);
}
}
template <class BasicMapping>
void BeamLinearMapping<BasicMapping>::applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in )
{
//const typename In::VecCoord& x = *this->fromModel->getX();
//Deriv v,omega;
//v = in[index.getValue()].getVCenter();
//omega = in[index.getValue()].getVOrientation();
out.resize(points.size());
for(unsigned int i=0;i<points.size();i++)
{
// out = J in
// J = [ I -OM^ ]
//out[i] = v - cross(rotatedPoints[i],omega);
defaulttype::Vec<N, typename In::Real> inpos = points[i];
int in0 = helper::rfloor(inpos[0]);
if (in0<0) in0 = 0; else if (in0 > (int)in.size()-2) in0 = in.size()-2;
inpos[0] -= in0;
Deriv omega0 = in[in0].getVOrientation();
Deriv out0 = in[in0].getVCenter() - cross(rotatedPoints0[i], omega0);
Deriv omega1 = in[in0+1].getVOrientation();
Deriv out1 = in[in0+1].getVCenter() - cross(rotatedPoints1[i], omega1);
Real fact = (Real)inpos[0];
fact = 3*(fact*fact)-2*(fact*fact*fact);
out[i] = out0 * (1-fact) + out1 * (fact);
}
}
template <class BasicMapping>
void BeamLinearMapping<BasicMapping>::applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in )
{
//Deriv v,omega;
for(unsigned int i=0;i<points.size();i++)
{
// out = Jt in
// Jt = [ I ]
// [ -OM^t ]
// -OM^t = OM^
//Deriv f = in[i];
//v += f;
//omega += cross(rotatedPoints[i],f);
defaulttype::Vec<N, typename In::Real> inpos = points[i];
int in0 = helper::rfloor(inpos[0]);
if (in0<0) in0 = 0; else if (in0 > (int)out.size()-2) in0 = out.size()-2;
inpos[0] -= in0;
Deriv f = in[i];
Real fact = (Real)inpos[0];
fact = 3*(fact*fact)-2*(fact*fact*fact);
out[in0].getVCenter() += f * (1-fact);
out[in0].getVOrientation() += cross(rotatedPoints0[i], f) * (1-fact);
out[in0+1].getVCenter() += f * (fact);
out[in0+1].getVOrientation() += cross(rotatedPoints1[i], f) * (fact);
}
//out[index.getValue()].getVCenter() += v;
//out[index.getValue()].getVOrientation() += omega;
}
// BeamLinearMapping::applyJT( typename In::VecConst& out, const typename Out::VecConst& in ) //
// this function propagate the constraint through the rigid mapping :
// if one constraint along (vector n) with a value (v) is applied on the childModel (like collision model)
// then this constraint is transformed by (Jt.n) with value (v) for the rigid model
// There is a specificity of this propagateConstraint: we have to find the application point on the childModel
// in order to compute the right constaint on the rigidModel.
template <class BasicMapping>
void BeamLinearMapping<BasicMapping>::applyJT( typename In::VecConst& out, const typename Out::VecConst& in )
{
const typename In::VecCoord& x = *this->fromModel->getX();
int outSize = out.size();
out.resize(in.size() + outSize); // we can accumulate in "out" constraints from several mappings
for(unsigned int i=0; i<in.size(); i++)
{
// computation of (Jt.n) //
// in[i].size() = num node involved in the constraint
OutConstraintIterator itOut;
for (itOut=in[i].getData().begin();itOut!=in[i].getData().end();itOut++)
{
unsigned int indexIn = itOut->first;
Deriv data = (Deriv) itOut->second;
// interpolation//////////
defaulttype::Vec<N, typename In::Real> inpos = points[indexIn];
int in0 = helper::rfloor(inpos[0]);
if (in0<0) in0 = 0; else if (in0 > (int)x.size()-2) in0 = x.size()-2;
inpos[0] -= in0;
Real fact = (Real)inpos[0];
fact = 3*(fact*fact)-2*(fact*fact*fact);
/////////////////////////
Deriv w_n = data; // weighted value of the constraint direction
// Compute the mapped Constraint on the beam nodes ///
InDeriv direction0;
direction0.getVCenter() = w_n * (1-fact);
direction0.getVOrientation() = cross(rotatedPoints0[indexIn], w_n) * (1-fact);
InDeriv direction1;
direction1.getVCenter() = w_n * (fact);
direction1.getVOrientation() = cross(rotatedPoints1[indexIn], w_n) * (fact);
out[outSize+i].insert(in0, direction0);
out[outSize+i].insert(in0+1, direction1);
}
}
}
template <class BasicMapping>
void BeamLinearMapping<BasicMapping>::draw()
{
if (!this->getShow()) return;
std::vector< Vector3 > points;
Vector3 point;
unsigned int sizePoints= (Coord::static_size <=3)?Coord::static_size:3;
const typename Out::VecCoord& x = *this->toModel->getX();
for (unsigned int i=0; i<x.size(); i++)
{
for (unsigned int s=0;s<sizePoints;++s) point[s] = x[i][s];
points.push_back(point);
}
simulation::getSimulation()->DrawUtility.drawPoints(points, 7, Vec<4,float>(1,1,0,1));
}
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
|