/usr/include/sofa/component/mapping/SkinningMapping.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 | /******************************************************************************
* 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_SKINNINGMAPPING_H
#define SOFA_COMPONENT_MAPPING_SKINNINGMAPPING_H
#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/core/componentmodel/behavior/MappedModel.h>
#include <vector>
#include <sofa/component/component.h>
namespace sofa
{
namespace component
{
namespace mapping
{
typedef enum {
WEIGHT_LINEAR, WEIGHT_INVDIST, WEIGHT_HERMITE
} WeightingType;
typedef enum {
INTERPOLATION_LINEAR, INTERPOLATION_DUAL_QUATERNION
} InterpolationType;
template <class BasicMapping>
class SkinningMapping : 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 In::VecCoord VecInCoord;
typedef typename Coord::value_type Real;
enum { N=Coord::static_size };
typedef defaulttype::Mat<N,N,Real> Mat;
protected:
sofa::helper::vector<InCoord> initPosDOFs; // translation and rotation of the blended reference frame i, where i=0..n.
sofa::helper::vector<Coord> initPos; // pos: point coord in the reference frame i, where i=0..n ( + 1 for the blended reference frame)
sofa::helper::vector<Coord> initBlendedPos; // pos: point coord in the blended reference frames, where i=0..n ( + 1 for the blended reference frame)
sofa::helper::vector<Coord> rotatedPoints;
Data<sofa::helper::vector<unsigned int> > repartition;
Data<sofa::helper::vector<double> > coefs;
Data<unsigned int> nbRefs;
bool computeWeights;
WeightingType wheighting;
InterpolationType interpolation;
class Loader;
void load ( const char* filename );
inline void computeInitPos();
inline void sortReferences();
public:
SkinningMapping ( In* from, Out* to );
virtual ~SkinningMapping();
void init();
void parse ( core::objectmodel::BaseObjectDescription* arg );
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 draw();
void clear();
// Weights
void setWeightsToHermite();
void setWieghtsToInvDist();
void setWeightsToLinear();
inline void updateWeights();
// Interpolations
void setInterpolationToLinear();
void setInterpolationToDualQuaternion();
// Accessors
void setNbRefs ( unsigned int nb ) { nbRefs.setValue ( nb ); }
void setWeightCoefs ( sofa::helper::vector<double> &weights );
void setRepartition ( sofa::helper::vector<unsigned int> &rep );
void setComputeWeights ( bool val ) {computeWeights=val;}
unsigned int getNbRefs() { return nbRefs.getValue(); }
const sofa::helper::vector<double>& getWeightCoefs() { return coefs.getValue(); }
const sofa::helper::vector<unsigned int>& getRepartition() { return repartition.getValue(); }
bool getComputeWeights() { return computeWeights; }
};
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_SKINNINGMAPPING_CPP)
#pragma warning(disable : 4231)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< MechanicalMapping< MechanicalState<Rigid3dTypes>, MechanicalState<Vec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< Mapping< State<Rigid3dTypes>, MappedModel<Vec3dTypes> > >;
// template class SOFA_COMPONENT_MAPPING_API SkinningMapping< Mapping< State<Rigid3dTypes>, MappedModel<ExtVec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< Mapping< State<Rigid3dTypes>, MappedModel<ExtVec3fTypes> > >;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< MechanicalMapping< MechanicalState<Rigid3fTypes>, MechanicalState<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< Mapping< State<Rigid3fTypes>, MappedModel<Vec3fTypes> > >;
// template class SOFA_COMPONENT_MAPPING_API SkinningMapping< Mapping< State<Rigid3fTypes>, MappedModel<ExtVec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< Mapping< State<Rigid3fTypes>, MappedModel<ExtVec3fTypes> > >;
#endif
#ifndef SOFA_FLOAT
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< MechanicalMapping< MechanicalState<Rigid3dTypes>, MechanicalState<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< MechanicalMapping< MechanicalState<Rigid3fTypes>, MechanicalState<Vec3dTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< Mapping< State<Rigid3dTypes>, MappedModel<Vec3fTypes> > >;
extern template class SOFA_COMPONENT_MAPPING_API SkinningMapping< Mapping< State<Rigid3fTypes>, MappedModel<Vec3dTypes> > >;
#endif
#endif
#endif
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
|