/usr/include/sofa/filemanager/sofapml/PMLBody.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 | /******************************************************************************
* 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 *
******************************************************************************/
/***************************************************************************
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
***************************************************************************/
//-------------------------------------------------------------------------
// -- Description --
// PMLBody is an abstract class representing an object and its structure,
// imported from a PML file, to create the sofa scene graph.
// it is inherited by PMLRigidBody and PML(ForcefieldName) classes.
//-------------------------------------------------------------------------
#ifndef PMLBODY_H
#define PMLBODY_H
#include <StructuralComponent.h>
#include "sofa/core/componentmodel/behavior/BaseMechanicalState.h"
#include "sofa/core/BaseMapping.h"
#include "sofa/core/componentmodel/topology/Topology.h"
#include "sofa/core/componentmodel/behavior/BaseMass.h"
#include "sofa/core/componentmodel/behavior/ForceField.h"
#include "sofa/component/visualmodel/OglModel.h"
#include "sofa/core/CollisionModel.h"
#include <sofa/core/componentmodel/behavior/OdeSolver.h>
#include "sofa/defaulttype/Vec3Types.h"
#include <sofa/simulation/tree/GNode.h>
#include "sofapml.h"
//#include "sofa/component/StiffSpringForceField.h"
#include <map>
namespace sofa
{
namespace filemanager
{
namespace pml
{
using namespace sofa::core;
using namespace sofa::core::componentmodel::behavior;
using namespace sofa::core::componentmodel::topology;
using namespace sofa::component::visualmodel;
using namespace sofa::component;
using namespace sofa::defaulttype;
using namespace sofa::simulation::tree;
using namespace std;
class SOFA_BUILD_FILEMANAGER_PML_API PMLBody
{
public :
PMLBody();
virtual ~PMLBody();
string getName() {return name;}
virtual string isTypeOf() =0;
/// accessors
BaseMechanicalState* getMechanicalState() { return mmodel; }
BaseMass* getMass() { return mass; }
Topology* getTopology() { return topology; }
ForceField<Vec3Types>* getForcefield() { return forcefield; }
bool hasCollisions() { return collisionsON; }
virtual GNode* getPointsNode()=0;
///merge 2 bodies
virtual bool FusionBody(PMLBody*)=0;
virtual Vector3 getDOF(unsigned int index)=0;
//link between atoms indexes (physical model) and DOFs indexes (sofa)
map<unsigned int, unsigned int> AtomsToDOFsIndexes;
///the node from which the body is created
GNode * parentNode;
protected :
///creation of the scene graph
virtual void createMechanicalState(StructuralComponent* body) =0;
virtual void createTopology(StructuralComponent* body) =0;
virtual void createMass(StructuralComponent* body) =0;
virtual void createVisualModel(StructuralComponent* body) =0;
virtual void createForceField() =0;
virtual void createCollisionModel() =0;
void createSolver();
//name of the object
string name;
///is collisions detection activated
bool collisionsON;
///objects structure
BaseMechanicalState * mmodel;
BaseMass * mass;
Topology * topology;
ForceField<Vec3Types> * forcefield;
OdeSolver * solver;
std::string solverName;
};
}
}
}
#endif //PMLBODY_H
|