libsofa1-dev 1.0~beta4-12 / usr / include / sofa / filemanager / sofapml / LMLConstraint.inl

/******************************************************************************
*       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 LMLCONSTRAINT_INL
#define LMLCONSTRAINT_INL

#include "sofa/core/componentmodel/behavior/Constraint.inl"
#include "LMLConstraint.h"
#include "sofa/helper/gl/template.h"

namespace sofa
{

namespace filemanager
{

namespace pml
{


template<class DataTypes>
LMLConstraint<DataTypes>::LMLConstraint(Loads* loadsList, const map<unsigned int, unsigned int> &atomIndexToDOFIndex, MechanicalState<DataTypes> *mm)
: Constraint<DataTypes>(mm), atomToDOFIndexes(atomIndexToDOFIndex)
{
	mmodel = mm;
	loads = new Loads();
	Load * load;
	SReal dirX, dirY, dirZ;
	this->setName("loads");

	//for each load, we search which ones are translations applied on the body nodes
	for (unsigned int i=0 ; i<loadsList->numberOfLoads() ; i++) {
		load = loadsList->getLoad(i);
		if (load->getType() == "Translation") {
			if (load->getDirection().isToward()) {
				std::map<unsigned int, unsigned int>::const_iterator titi = atomIndexToDOFIndex.find(load->getDirection().getToward());
				if (titi != atomIndexToDOFIndex.end()){
					unsigned int dofInd = titi->second;
					dirX = (*mm->getX())[dofInd].x();
					dirY = (*mm->getX())[dofInd].y();
					dirZ = (*mm->getX())[dofInd].z();
				}
			}
			else
				load->getDirection(dirX, dirY, dirZ);
			unsigned int cpt=0;
			for (unsigned int j=0 ; j<load->numberOfTargets(); j++) {
				std::map<unsigned int, unsigned int>::const_iterator result = atomIndexToDOFIndex.find(load->getTarget(j));
				if (result != atomIndexToDOFIndex.end()) {
					cpt++;
					if (load->getDirection().isToward())
						addConstraint(result->second, Deriv(dirX-(*mm->getX())[result->second].x(),dirY-(*mm->getX())[result->second].y(),dirZ-(*mm->getX())[result->second].z()) );
					else
						addConstraint(result->second, Deriv(dirX,dirY,dirZ) );
                    // fix targets on the X axe
					if (load->getDirection().isXNull() && load->getValue(0) != 0)
						fixDOF(result->second, 0);
					if (load->getDirection().isYNull() && load->getValue(0) != 0) // fix targets on the Y axe
						fixDOF(result->second, 1);
					if (load->getDirection().isZNull() && load->getValue(0) != 0) // fix targets on the Z axe
						fixDOF(result->second, 2);
				}
			}
			if (cpt > 0)
				loads->addLoad(load);
		}
	}
}
	

template<class DataTypes>
LMLConstraint<DataTypes>*  LMLConstraint<DataTypes>::addConstraint(unsigned int index, Deriv trans)
{
	this->targets.push_back(index);
	trans.normalize();
	this->translations.push_back(trans);
	this->directionsNULLs.push_back(Deriv(1,1,1));
	this->initPos.push_back(Deriv(0,0,0));
	return this;
}

template<class DataTypes>
LMLConstraint<DataTypes>*  LMLConstraint<DataTypes>::removeConstraint(int index)
{
	std::vector<unsigned int>::iterator it1=targets.begin();
	VecDerivIterator it2=translations.begin();
	VecDerivIterator it3=directionsNULLs.begin();
	while(it1 != targets.end() && *it1!=(unsigned)index) {
		it1++;
		it2++;
		it3++;
	}

	targets.erase(it1);
	translations.erase(it2);
	directionsNULLs.erase(it3);

	return this;
}


template<class DataTypes>
void LMLConstraint<DataTypes>::fixDOF(int index, int axe) 
{
	//set the value to 1 on the corrects vector component
	std::vector<unsigned int>::iterator it1=targets.begin();
	VecDerivIterator it2 = directionsNULLs.begin();
	while(it1 != targets.end() && *it1!=(unsigned)index) {
		it1++;
		it2++;
	}

	(*it2)[axe] = 0;
}


template<class DataTypes>
void LMLConstraint<DataTypes>::projectResponse(VecDeriv& dx)
{
	//VecCoord& x = *this->mmodel->getX();
	//dx.resize(x.size());
	SReal time = this->getContext()->getTime();
	SReal prevTime = time - this->getContext()->getDt();

	std::vector<unsigned int>::iterator it1=targets.begin();
	VecDerivIterator it2=translations.begin();
	VecDerivIterator it3=directionsNULLs.begin();
	Load * load;
	SReal valTime, prevValTime;

	for (unsigned int i=0 ; i<loads->numberOfLoads() ; i++) {
		load = loads->getLoad(i);
		valTime = load->getValue(time);
		prevValTime = load->getValue(prevTime);
		for(unsigned int j=0 ; j<load->numberOfTargets();j++) {
			if ( atomToDOFIndexes.find(load->getTarget(j)) != atomToDOFIndexes.end() ) 
			{
				//Deriv dirVec(0,0,0);
				if (load->getDirection().isXNull() && valTime != 0) 
					(*it3)[0]=0;	// fix targets on the X axe
				if (load->getDirection().isYNull() && valTime != 0) 
					(*it3)[1]=0;	// fix targets on the Y axe
				if (load->getDirection().isZNull() && valTime != 0) 
					(*it3)[2]=0;	// fix targets on the Z axe

				if (valTime == 0)
					(*it3) = Deriv(1,1,1);
				else{
					if (load->getDirection().isToward()) {
						std::map<unsigned int, unsigned int>::const_iterator titi = atomToDOFIndexes.find(load->getDirection().getToward());
						if (titi != atomToDOFIndexes.end()){
							(*it2) = (*mmodel->getX())[titi->second] - (*mmodel->getX())[*it1];
							it2->normalize();
						}
					}
					//cancel the dx value on the axes fixed (where directionNULLs value is equal to 1)
					//Or apply the translation vector (where directionNULLs value is equal to 0)
					dx[*it1][0] = ((*it2)[0]*valTime)-((*it2)[0]*prevValTime)*(*it3)[0];
					dx[*it1][1] = ((*it2)[1]*valTime)-((*it2)[1]*prevValTime)*(*it3)[1];
					dx[*it1][2] = ((*it2)[2]*valTime)-((*it2)[2]*prevValTime)*(*it3)[2];
				}

				it1++;
				it2++;
				it3++;
			}
		}
	}
}

template<class DataTypes>
void LMLConstraint<DataTypes>::projectPosition(VecCoord& x)
{
	SReal time = getContext()->getTime();

	std::vector<unsigned int>::iterator it1=targets.begin();
	VecDerivIterator it2=translations.begin();
	VecDerivIterator it3=initPos.begin();
	Load * load;

	for (unsigned int i=0 ; i<loads->numberOfLoads() ; i++) 
	{
		load = loads->getLoad(i);
		for(unsigned int j=0 ; j<load->numberOfTargets();j++) 
		{
			if ( atomToDOFIndexes.find(load->getTarget(j)) != atomToDOFIndexes.end() ) {
				if ( (*it3)[0]==0.0 && (*it3)[1]==0.0 && (*it3)[2]==0.0)
					*it3 = x[*it1];
				if(  load->getDirection().isXNull() && load->getDirection().isYNull() && load->getDirection().isZNull() )
					*it3 = x[*it1];

				if (load->getValue(time) != 0.0){
					if (load->getDirection().isToward()) {
						std::map<unsigned int, unsigned int>::const_iterator titi = atomToDOFIndexes.find(load->getDirection().getToward());
						if (titi != atomToDOFIndexes.end()){
							(*it2) = (*mmodel->getX())[titi->second] - (*mmodel->getX())[*it1];
							it2->normalize();
						}
					}
					x[*it1] = (*it3) + (*it2)*load->getValue(time);
				}
			
				it1++;
				it2++;
				it3++;
			}
		}
	}
}



// -- VisualModel interface
template<class DataTypes>
void LMLConstraint<DataTypes>::draw()
{
	
	if (!getContext()->getShowBehaviorModels()) return;

	VecCoord& x = *mmodel->getX();
	glDisable (GL_LIGHTING);
	glColor4f (1,0.5,0.5,1);

	glPointSize(10);

	//for Fixed points, display a big red point
	glBegin (GL_POINTS);
	VecDerivIterator it2 = directionsNULLs.begin();
	for (std::vector<unsigned int>::const_iterator it = this->targets.begin(); it != this->targets.end(); ++it)
	{
		if ((*it2)[0]==0 && (*it2)[1]==0 && (*it2)[2]==0 )
			helper::gl::glVertexT(x[*it]);
		it2++;
	}
	glEnd();

	//for translated points, display a little red segment with translation direction
	glPointSize(1);
	glBegin( GL_LINES );
	VecDerivIterator it3 = translations.begin();
	it2 = directionsNULLs.begin();
	for (std::vector<unsigned int>::const_iterator it = this->targets.begin(); it != this->targets.end(); ++it)
	{
		if ((*it2)[0]==1 || (*it2)[1]==1 || (*it2)[2]==1 ) {
			helper::gl::glVertexT(x[*it]);
			helper::gl::glVertexT(x[*it]+*it3);
		}
		it3++;
		it2++;
	}
	glEnd();


}

}
}
}

#endif //LMLCONSTRAINT_INL