libsofa1-dev 1.0~beta4-12 / usr / include / sofa / component / mapping / LineSetSkinningMapping.h

/******************************************************************************
*       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_LINESETSKINNINGMAPPING_H
#define SOFA_COMPONENT_MAPPING_LINESETSKINNINGMAPPING_H

#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/helper/gl/template.h>
#include <sofa/defaulttype/Vec3Types.h>
#include <vector>

namespace sofa
{

namespace component
{

namespace mapping
{

using namespace sofa::defaulttype;

template <class BasicMapping>
class LineSetSkinningMapping : public BasicMapping, public virtual core::objectmodel::BaseObject
{
public:
    typedef BasicMapping Inherit;
    typedef typename Inherit::In In;
    typedef typename Inherit::Out Out;
    typedef typename Out::VecCoord OutVecCoord;
    typedef typename Out::VecDeriv OutVecDeriv;
    typedef typename Out::Coord OutCoord;
    typedef typename Out::Deriv OutDeriv;
    typedef typename Out::SparseVecDeriv OutSparseVecDeriv;
    typedef typename std::map<unsigned int, OutDeriv>::const_iterator OutConstraintIterator;        

    typedef typename In::VecCoord InVecCoord;
    typedef typename In::VecDeriv InVecDeriv;
    typedef typename In::Coord InCoord;
    typedef typename In::Deriv InDeriv;
    typedef typename In::SparseVecDeriv InSparseVecDeriv;
    typedef typename In::Real Real;
    typedef typename OutCoord::value_type OutReal;

	
	LineSetSkinningMapping(In* from, Out* to)
	: Inherit(from, to)
	, nvNeighborhood(initData(&nvNeighborhood,(unsigned int)3,"neighborhoodLevel","Set the neighborhood line level"))
	, numberInfluencedLines(initData(&numberInfluencedLines,(unsigned int)4,"numberInfluencedLines","Set the number of most influenced lines by each vertice"))
	, weightCoef(initData(&weightCoef, (int) 4,"weightCoef","Set the coefficient used to compute the weight of lines"))
	{
	}
	
	virtual ~LineSetSkinningMapping()
	{
	}

	void init();

	void reinit();

	void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
	
	void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
	
	void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );

	void applyJT( typename In::VecConst& out, const typename Out::VecConst& in );

	void draw();

protected:

	sofa::core::componentmodel::topology::BaseMeshTopology* t;

	/*!
		Set the neighborhood line level
	*/
	Data<unsigned int> nvNeighborhood;

	/*!
		Set the number of most influenced lines by each vertice
	*/
	Data<unsigned int> numberInfluencedLines;

	/*!
		Set the coefficient used to compute the weight of lines
	*/
	Data<int> weightCoef;

    bool getShow(const core::objectmodel::BaseObject* m) const { return m->getContext()->getShowMappings(); }

    bool getShow(const core::componentmodel::behavior::BaseMechanicalMapping* m) const { return m->getContext()->getShowMechanicalMappings(); }

private:

	/*!
		Class to store the index, local weight, and local position of a line
	*/
	class influencedLineType
	{
	public:
		influencedLineType()
		{
			weight = 0.0;
		};
		~influencedLineType(){};
		int lineIndex;
		double weight;
		OutCoord position;
	};

	/*!
		Class to store the index, local weight, and local position of a vertice
	*/
	class influencedVerticeType
	{
	public:
		influencedVerticeType()
		{
			weight = 0.0;
		};
		~influencedVerticeType(){};
		int verticeIndex;
		double weight;
		OutCoord position;
	};

	/*!
		Compute the perpendicular distance from a vertice to a line
	*/
	Vec<3,double> projectToSegment(Vec<3,Real>& first, Vec<3,Real>& last, OutCoord& vertice);

	/*!
		Compute the weight betwewen a vertice and a line
	*/
	double convolutionSegment(Vec<3,Real>& first, Vec<3,Real>& last, OutCoord& vertice);

	/*!
		Stores the lines influenced by each vertice
	*/
	vector<vector<influencedLineType> > linesInfluencedByVertice; 

	/*!
		Stores the vertices influenced by each line
	*/
	vector<vector<influencedVerticeType> > verticesInfluencedByLine;

	/*!
		Stores the first level line neighborhood
	*/
	vector<std::set<int> > neighborhoodLinesSet;

	/*!
		Stores the n level line neighborhood
	*/
	vector<std::set<int> > neighborhood;	
};

} // namespace mapping

} // namespace component

} // namespace sofa

#endif