/usr/include/sofa/component/mapping/RigidRigidMapping.h is in libsofa1-dev 1.0~beta4-10ubuntu2.
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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 | /******************************************************************************
* 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_RIGIDRIGIDMAPPING_H
#define SOFA_COMPONENT_MAPPING_RIGIDRIGIDMAPPING_H
#include <sofa/component/mapping/RigidMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/defaulttype/Vec.h>
#include <sofa/core/objectmodel/DataFileName.h>
#include <vector>
using namespace sofa::defaulttype;
namespace sofa
{
namespace component
{
namespace mapping
{
template <class BasicMapping>
class RigidRigidMapping : 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 std::map<unsigned int, Deriv>::const_iterator OutConstraintIterator;
typedef typename In::Coord InCoord;
typedef typename In::Deriv InDeriv;
typedef typename Coord::value_type Real;
enum { N=Coord::static_size };
typedef defaulttype::Mat<N,N,Real> Mat;
typedef Vec<N,Real> Vector ;
protected:
Data < VecCoord > points;
VecCoord pointsR0;
Mat rotation;
class Loader;
void load(const char* filename);
Data<sofa::helper::vector<unsigned int> > repartition;
public:
Data<unsigned> index;
sofa::core::objectmodel::DataFileName fileRigidRigidMapping;
//axis length for display
Data<double> axisLength;
Data< bool > indexFromEnd;
RigidRigidMapping(In* from, Out* to)
: Inherit(from, to),
points(initData(&points, "initialPoints", "Initial position of the points")),
repartition(initData(&repartition,"repartition","number of dest dofs per entry dof")),
index(initData(&index,(unsigned)0,"index","input DOF index")),
fileRigidRigidMapping(initData(&fileRigidRigidMapping,"fileRigidRigidMapping","Filename")),
axisLength(initData( &axisLength, 0.7, "axisLength", "axis length for display")),
indexFromEnd( initData ( &indexFromEnd,false,"indexFromEnd","input DOF index starts from the end of input DOFs vector") )
{
addAlias(&fileRigidRigidMapping,"filename");
}
virtual ~RigidRigidMapping()
{
}
void init();
// void disable(); //useless now that points are saved in a Data
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 computeAccFromMapping( typename Out::VecDeriv& acc_out, const typename In::VecDeriv& v_in, const typename In::VecDeriv& acc_in);
void draw();
void clear();
sofa::helper::vector<unsigned int> getRepartition() {return repartition.getValue(); }
void setRepartition(unsigned int value);
void setRepartition(sofa::helper::vector<unsigned int> values);
protected:
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(); }
};
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_RIGIDRIGIDMAPPING_CPP)
#pragma warning(disable : 4231)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< MechanicalMapping<MechanicalState<Rigid3dTypes>, MechanicalState<Rigid3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< Mapping< State<Rigid3dTypes>, MechanicalState<Rigid3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< Mapping< State<Rigid3dTypes>, MappedModel<Rigid3dTypes> > >;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< MechanicalMapping<MechanicalState<Rigid3fTypes>, MechanicalState<Rigid3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< Mapping< State<Rigid3fTypes>, MechanicalState<Rigid3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< Mapping< State<Rigid3fTypes>, MappedModel<Rigid3fTypes> > >;
#endif
#ifndef SOFA_FLOAT
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< Mapping< State<Rigid3dTypes>, MechanicalState<Rigid3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< Mapping< State<Rigid3fTypes>, MechanicalState<Rigid3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< Mapping< State<Rigid3dTypes>, MappedModel<Rigid3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API RigidRigidMapping< Mapping< State<Rigid3fTypes>, MappedModel<Rigid3dTypes> > >;
#endif
#endif
#endif
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
|