/usr/include/sofa/component/mapping/RigidMapping.h is in libsofa1-dev 1.0~beta4-12.
This file is owned by root:root, with mode 0o644.
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* 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_RIGIDMAPPING_H
#define SOFA_COMPONENT_MAPPING_RIGIDMAPPING_H
#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/componentmodel/behavior/MappedModel.h>
#include <sofa/component/component.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/core/objectmodel/DataFileName.h>
#include <vector>
namespace sofa
{
namespace component
{
namespace mapping
{
/// This class can be overridden if needed for additionnal storage within template specializations.
template<class InDataTypes, class OutDataTypes>
class RigidMappingInternalData
{
public:
};
template <class BasicMapping>
class RigidMapping : 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 VecCoord;
typedef typename Out::VecDeriv VecDeriv;
typedef typename Out::Coord Coord;
typedef typename Out::Deriv Deriv;
typedef typename In::Deriv InDeriv;
typedef typename std::map<unsigned int, Deriv>::const_iterator OutConstraintIterator;
typedef typename Coord::value_type Real;
enum { N=Coord::static_size };
typedef defaulttype::Mat<N,N,Real> Mat;
Data< VecCoord > points;
VecCoord rotatedPoints;
RigidMappingInternalData<typename In::DataTypes, typename Out::DataTypes> data;
Data<unsigned int> index;
sofa::core::objectmodel::DataFileName fileRigidMapping;
Data< bool > useX0;
Data< bool > indexFromEnd;
RigidMapping ( In* from, Out* to )
: Inherit ( from, to ),
points ( initData ( &points,"initialPoints", "Local Coordinates of the points" ) ),
index ( initData ( &index, ( unsigned ) 0,"index","input DOF index" ) ),
fileRigidMapping ( initData ( &fileRigidMapping,"fileRigidMapping","Filename" ) ),
useX0( initData ( &useX0,false,"useX0","Use x0 instead of local copy of initial positions (to support topo changes)") ),
indexFromEnd( initData ( &indexFromEnd,false,"indexFromEnd","input DOF index starts from the end of input DOFs vector") ),
repartition ( initData ( &repartition,"repartition","number of dest dofs per entry dof" ) )
{
addAlias(&fileRigidMapping,"filename");
}
virtual ~RigidMapping()
{}
int addPoint ( const Coord& c );
int addPoint ( const Coord& c, int indexFrom );
void init();
//void disable(); //useless now that points are saved in a Data
virtual void apply ( typename Out::VecCoord& out, const typename In::VecCoord& in );
virtual void applyJ ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
virtual void applyJT ( typename In::VecDeriv& out, const typename Out::VecDeriv& in );
void applyJT ( typename In::VecConst& out, const typename Out::VecConst& in );
void draw();
void clear ( int reserve=0 );
void setRepartition ( unsigned int value );
void setRepartition ( sofa::helper::vector<unsigned int> values );
protected:
class Loader;
void load ( const char* filename );
Data<sofa::helper::vector<unsigned int> > repartition;
const VecCoord& getPoints();
};
using core::Mapping;
using core::componentmodel::behavior::MechanicalMapping;
using core::componentmodel::behavior::MappedModel;
using core::componentmodel::behavior::State;
using core::componentmodel::behavior::MechanicalState;
using sofa::defaulttype::Vec2dTypes;
using sofa::defaulttype::Vec3dTypes;
using sofa::defaulttype::Vec2fTypes;
using sofa::defaulttype::Vec3fTypes;
using sofa::defaulttype::ExtVec2fTypes;
using sofa::defaulttype::ExtVec3fTypes;
using sofa::defaulttype::Rigid2dTypes;
using sofa::defaulttype::Rigid3dTypes;
using sofa::defaulttype::Rigid2fTypes;
using sofa::defaulttype::Rigid3fTypes;
#if defined(WIN32) && !defined(SOFA_COMPONENT_MAPPING_RIGIDMAPPING_CPP)
#pragma warning(disable : 4231)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_MAPPING_API RigidMapping< MechanicalMapping<MechanicalState<Rigid3dTypes>, MechanicalState<Vec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidMapping< MechanicalMapping<MechanicalState<Rigid2dTypes>, MechanicalState<Vec2dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidMapping< Mapping< State<Rigid3dTypes>, MappedModel<Vec3dTypes> > >;
// extern template class SOFA_COMPONENT_MAPPING_API RigidMapping< Mapping< State<Rigid3dTypes>, MappedModel<ExtVec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidMapping< Mapping< State<Rigid3dTypes>, MappedModel<ExtVec3fTypes> > >;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MAPPING_API RigidMapping< MechanicalMapping<MechanicalState<Rigid3fTypes>, MechanicalState<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidMapping< MechanicalMapping<MechanicalState<Rigid2fTypes>, MechanicalState<Vec2fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidMapping< Mapping< State<Rigid3fTypes>, MappedModel<Vec3fTypes> > >;
// extern template class SOFA_COMPONENT_MAPPING_API RigidMapping< Mapping< State<Rigid3fTypes>, MappedModel<ExtVec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidMapping< Mapping< State<Rigid3fTypes>, MappedModel<ExtVec3fTypes> > >;
#endif
#ifndef SOFA_FLOAT
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MAPPING_API RigidMapping< MechanicalMapping<MechanicalState<Rigid3dTypes>, MechanicalState<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidMapping< MechanicalMapping<MechanicalState<Rigid3fTypes>, MechanicalState<Vec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidMapping< MechanicalMapping<MechanicalState<Rigid2dTypes>, MechanicalState<Vec2fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidMapping< MechanicalMapping<MechanicalState<Rigid2fTypes>, MechanicalState<Vec2dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidMapping< Mapping< State<Rigid3dTypes>, MappedModel<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidMapping< Mapping< State<Rigid3fTypes>, MappedModel<Vec3dTypes> > >;
#endif
#endif
#endif
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
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