/usr/include/sofa/component/collision/BarycentricContactMapper.inl is in libsofa1-dev 1.0~beta4-10ubuntu2.
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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_COLLISION_BARYCENTRICCONTACTMAPPER_INL
#define SOFA_COMPONENT_COLLISION_BARYCENTRICCONTACTMAPPER_INL
#include <sofa/component/collision/BarycentricContactMapper.h>
#include <sofa/simulation/common/Node.h>
#include <sofa/simulation/common/Simulation.h>
#include <iostream>
namespace sofa
{
namespace component
{
namespace collision
{
template < class TCollisionModel, class DataTypes >
void BarycentricContactMapper<TCollisionModel,DataTypes>::cleanup()
{
if (mapping!=NULL)
{
simulation::Node* parent = dynamic_cast<simulation::Node*>(model->getContext());
if (parent!=NULL)
{
simulation::Node* child = dynamic_cast<simulation::Node*>(mapping->getContext());
child->removeObject(mapping->getTo());
child->removeObject(mapping);
parent->removeChild(child);
delete mapping->getTo();
delete mapping;
delete child;
mapping = NULL;
}
}
}
template < class TCollisionModel, class DataTypes >
typename BarycentricContactMapper<TCollisionModel,DataTypes>::MMechanicalState* BarycentricContactMapper<TCollisionModel,DataTypes>::createMapping(const char* name)
{
if (model==NULL) return NULL;
simulation::Node* parent = dynamic_cast<simulation::Node*>(model->getContext());
if (parent==NULL)
{
std::cerr << "ERROR: BarycentricContactMapper only works for scenegraph scenes.\n";
return NULL;
}
simulation::Node* child = simulation::getSimulation()->newNode(name);
parent->addChild(child); child->updateSimulationContext();
MMechanicalState* mstate = new MMechanicalObject; child->addObject(mstate);
//mapping = new MMapping(model->getMechanicalState(), mstate, model->getMeshTopology());
//mapper = mapping->getMapper();
mapper = new mapping::BarycentricMapperMeshTopology<InDataTypes, typename BarycentricContactMapper::DataTypes>(model->getMeshTopology());
mapping = new MMapping(model->getMechanicalState(), mstate, mapper);
child->addObject(mapping);
return mstate;
}
template < class TCollisionModel, class DataTypes >
void IdentityContactMapper<TCollisionModel,DataTypes>::cleanup()
{
if (mapping!=NULL)
{
simulation::Node* parent = dynamic_cast<simulation::Node*>(model->getContext());
if (parent!=NULL)
{
simulation::Node* child = dynamic_cast<simulation::Node*>(mapping->getContext());
child->removeObject(mapping->getTo());
child->removeObject(mapping);
parent->removeChild(child);
delete mapping->getTo();
delete mapping;
delete child;
mapping = NULL;
}
}
}
template < class TCollisionModel, class DataTypes >
typename IdentityContactMapper<TCollisionModel,DataTypes>::MMechanicalState* IdentityContactMapper<TCollisionModel,DataTypes>::createMapping(const char* name)
{
if (model==NULL) return NULL;
simulation::Node* parent = dynamic_cast<simulation::Node*>(model->getContext());
if (parent==NULL)
{
std::cerr << "ERROR: IdentityContactMapper only works for scenegraph scenes.\n";
return NULL;
}
simulation::Node* child = simulation::getSimulation()->newNode(name);
parent->addChild(child); child->updateSimulationContext();
MMechanicalState* mstate = new MMechanicalObject; child->addObject(mstate);
mapping = new MMapping(model->getMechanicalState(), mstate); child->addObject(mapping);
return mstate;
}
template < class TCollisionModel, class DataTypes >
void RigidContactMapper<TCollisionModel,DataTypes>::cleanup()
{
if (child!=NULL)
{
simulation::getSimulation()->unload(child);
child = NULL;
}
}
template < class TCollisionModel, class DataTypes >
typename RigidContactMapper<TCollisionModel,DataTypes>::MMechanicalState* RigidContactMapper<TCollisionModel,DataTypes>::createMapping(const char* name)
{
if (model==NULL) return NULL;
InMechanicalState* instate = model->getMechanicalState();
if (instate!=NULL)
{
simulation::Node* parent = dynamic_cast<simulation::Node*>(instate->getContext());
if (parent==NULL)
{
std::cerr << "ERROR: RigidContactMapper only works for scenegraph scenes.\n";
return NULL;
}
child = simulation::getSimulation()->newNode(name);
parent->addChild(child); child->updateSimulationContext();
outmodel = new MMechanicalObject; child->addObject(outmodel);
mapping = new MMapping(instate, outmodel); child->addObject(mapping);
}
else
{
simulation::Node* parent = dynamic_cast<simulation::Node*>(model->getContext());
if (parent==NULL)
{
std::cerr << "ERROR: RigidContactMapper only works for scenegraph scenes.\n";
return NULL;
}
child = simulation::getSimulation()->newNode(name);
parent->addChild(child); child->updateSimulationContext();
outmodel = new MMechanicalObject; child->addObject(outmodel);
mapping = NULL;
}
return outmodel;
}
template < class TCollisionModel, class DataTypes >
void SubsetContactMapper<TCollisionModel,DataTypes>::cleanup()
{
if (child!=NULL)
{
simulation::getSimulation()->unload(child);
child = NULL;
}
}
template < class TCollisionModel, class DataTypes >
typename SubsetContactMapper<TCollisionModel,DataTypes>::MMechanicalState* SubsetContactMapper<TCollisionModel,DataTypes>::createMapping(const char* name)
{
if (model==NULL) return NULL;
InMechanicalState* instate = model->getMechanicalState();
if (instate!=NULL)
{
simulation::Node* parent = dynamic_cast<simulation::Node*>(instate->getContext());
if (parent==NULL)
{
std::cerr << "ERROR: SubsetContactMapper only works for scenegraph scenes.\n";
return NULL;
}
child = simulation::getSimulation()->newNode(name);
parent->addChild(child); child->updateSimulationContext();
outmodel = new MMechanicalObject; child->addObject(outmodel);
mapping = new MMapping(instate, outmodel); child->addObject(mapping);
}
else
{
simulation::Node* parent = dynamic_cast<simulation::Node*>(model->getContext());
if (parent==NULL)
{
std::cerr << "ERROR: SubsetContactMapper only works for scenegraph scenes.\n";
return NULL;
}
child = simulation::getSimulation()->newNode(name);
parent->addChild(child); child->updateSimulationContext();
outmodel = new MMechanicalObject; child->addObject(outmodel);
mapping = NULL;
}
return outmodel;
}
template <class DataTypes>
typename ContactMapper<RigidDistanceGridCollisionModel,DataTypes>::MMechanicalState* ContactMapper<RigidDistanceGridCollisionModel,DataTypes>::createMapping(const char* name)
{
MMechanicalState* outmodel = Inherit::createMapping(name);
if (this->child!=NULL && this->mapping==NULL)
{
// add velocity visualization
sofa::component::visualmodel::DrawV* visu = new sofa::component::visualmodel::DrawV;
this->child->addObject(visu);
visu->useAlpha.setValue(true);
visu->vscale.setValue(this->model->getContext()->getDt());
sofa::component::mapping::IdentityMapping< core::Mapping< core::componentmodel::behavior::State<DataTypes>, core::componentmodel::behavior::MappedModel< ExtVectorTypes< Vec<3,GLfloat>, Vec<3,GLfloat> > > > >* map = new sofa::component::mapping::IdentityMapping< core::Mapping< core::componentmodel::behavior::State<DataTypes> , core::componentmodel::behavior::MappedModel< ExtVectorTypes< Vec<3,GLfloat>, Vec<3,GLfloat> > > > > ( outmodel, visu );
this->child->addObject(map);
visu->init();
map->init();
}
return outmodel;
}
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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