/usr/include/sofa/component/mapping/SkinningMapping.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_MAPPING_SKINNINGMAPPING_INL
#define SOFA_COMPONENT_MAPPING_SKINNINGMAPPING_INL
#include <sofa/component/mapping/SkinningMapping.h>
#include <sofa/helper/io/MassSpringLoader.h>
#include <sofa/helper/io/SphereLoader.h>
#include <sofa/helper/io/Mesh.h>
#include <sofa/helper/gl/template.h>
#include <sofa/helper/gl/Axis.h>
#include <sofa/core/componentmodel/behavior/MechanicalMapping.inl>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <string>
#include <iostream>
namespace sofa
{
namespace component
{
namespace mapping
{
using namespace sofa::defaulttype;
template <class BasicMapping>
class SkinningMapping<BasicMapping>::Loader : public helper::io::MassSpringLoader, public helper::io::SphereLoader
{
public:
SkinningMapping<BasicMapping>* dest;
Loader ( SkinningMapping<BasicMapping>* dest ) : dest ( dest ) {}
virtual void addMass ( SReal /*px*/, SReal /*py*/, SReal /*pz*/, SReal, SReal, SReal, SReal, SReal, bool, bool )
{
}
virtual void addSphere ( SReal /*px*/, SReal /*py*/, SReal /*pz*/, SReal )
{
}
};
template <class BasicMapping>
SkinningMapping<BasicMapping>::SkinningMapping ( In* from, Out* to )
: Inherit ( from, to )
, repartition ( initData ( &repartition,"repartition","repartition between input DOFs and skinned vertices" ) )
, coefs ( initData ( &coefs,"coefs","weights list for the influences of the references Dofs" ) )
, nbRefs ( initData ( &nbRefs, ( unsigned ) 3,"nbRefs","nb references for skinning" ) )
, computeWeights ( true )
, wheighting ( WEIGHT_INVDIST )
, interpolation ( INTERPOLATION_LINEAR )
{
}
template <class BasicMapping>
SkinningMapping<BasicMapping>::~SkinningMapping ()
{
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::load ( const char * /*filename*/ )
{
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::computeInitPos ( )
{
VecCoord& xto = *this->toModel->getX();
const VecInCoord& xfrom = *this->fromModel->getX();
initPosDOFs.resize ( xfrom.size() );
initPos.resize ( xto.size() * nbRefs.getValue() );
sofa::helper::vector<double> m_coefs = coefs.getValue();
sofa::helper::vector<unsigned int> m_reps = repartition.getValue();
for ( unsigned int i = 0; i < xfrom.size(); i++ )
{
initPosDOFs[i] = xfrom[i];
}
switch ( interpolation )
{
case INTERPOLATION_LINEAR:
{
for ( unsigned int i = 0; i < xto.size(); i++ )
{
for ( unsigned int m = 0; m < nbRefs.getValue(); m++ )
{
initPos[nbRefs.getValue() *i+m] = xfrom[m_reps[nbRefs.getValue() *i+m]].getOrientation().inverseRotate ( xto[i] - xfrom[m_reps[nbRefs.getValue() *i+m]].getCenter() );
}
}
break;
}
default:{}
}
repartition.setValue ( m_reps );
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::sortReferences ()
{
Coord posTo;
VecCoord& xto = *this->toModel->getX();
VecInCoord& xfrom = *this->fromModel->getX();
sofa::helper::vector<unsigned int> m_reps = repartition.getValue();
m_reps.clear();
m_reps.resize ( nbRefs.getValue() *xto.size() );
sofa::helper::vector<double> m_coefs = coefs.getValue();
m_coefs.clear();
m_coefs.resize ( nbRefs.getValue() *xto.size() );
for ( unsigned int i=0;i<xto.size();i++ )
{
posTo = xto[i];
for ( unsigned int h=0 ; h<nbRefs.getValue() ; h++ )
m_coefs[nbRefs.getValue() *i+h] = 9999999. ;
//search the nbRefs nearest "from" dofs of each "to" point
for ( unsigned int j=0;j<xfrom.size();j++ )
{
Real dist2 = ( posTo - xfrom[j].getCenter() ).norm();
unsigned int k=0;
while ( k<nbRefs.getValue() )
{
if ( dist2 < m_coefs[nbRefs.getValue() *i+k] )
{
for ( unsigned int m=nbRefs.getValue()-1 ; m>k ; m-- )
{
m_coefs[nbRefs.getValue() *i+m] = m_coefs[nbRefs.getValue() *i+m-1];
m_reps[nbRefs.getValue() *i+m] = m_reps[nbRefs.getValue() *i+m-1];
}
m_coefs[nbRefs.getValue() *i+k] = dist2;
m_reps[nbRefs.getValue() *i+k] = j;
k=nbRefs.getValue();
}
k++;
}
}
}
repartition.setValue ( m_reps );
coefs.setValue ( m_coefs );
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::init()
{
if ( this->initPos.empty() && this->toModel!=NULL && computeWeights==true && coefs.getValue().size() ==0 )
{
sortReferences ();
updateWeights ();
computeInitPos ();
}
else if ( computeWeights == false || coefs.getValue().size() !=0 )
{
computeInitPos();
}
this->BasicMapping::init();
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::parse ( core::objectmodel::BaseObjectDescription* arg )
{
if ( arg->getAttribute ( "filename" ) )
this->load ( arg->getAttribute ( "filename" ) );
this->Inherit::parse ( arg );
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::clear()
{
this->initPos.clear();
this->initPosDOFs.clear();
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::setWeightsToHermite()
{
wheighting = WEIGHT_HERMITE;
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::setWeightsToLinear()
{
wheighting = WEIGHT_LINEAR;
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::setWieghtsToInvDist()
{
wheighting = WEIGHT_INVDIST;
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::setInterpolationToLinear()
{
interpolation = INTERPOLATION_LINEAR;
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::setInterpolationToDualQuaternion()
{
interpolation = INTERPOLATION_DUAL_QUATERNION;
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::updateWeights ()
{
VecCoord& xto = *this->toModel->getX();
VecInCoord& xfrom = *this->fromModel->getX();
sofa::helper::vector<double> m_coefs = coefs.getValue();
sofa::helper::vector<unsigned int> m_reps = repartition.getValue();
switch ( wheighting )
{
case WEIGHT_LINEAR:
{
for ( unsigned int i=0;i<xto.size();i++ )
{
Vec3d r1r2, r1p;
if ( nbRefs.getValue() == 1 )
{
m_coefs[nbRefs.getValue() *i] = 1;
}
else
{
double wi;
r1r2 = xfrom[m_reps[nbRefs.getValue() *i+1]].getCenter() - xfrom[m_reps[nbRefs.getValue() *i+0]].getCenter();
r1p = xto[i] - xfrom[m_reps[nbRefs.getValue() *i+0]].getCenter();
wi = ( r1r2*r1p ) / ( r1r2.norm() *r1r2.norm() );
// Abscisse curviligne
m_coefs[nbRefs.getValue() *i+0] = ( 1 - wi );
m_coefs[nbRefs.getValue() *i+1] = wi;
}
}
break;
}
case WEIGHT_INVDIST:
{
for ( unsigned int i=0;i<xto.size();i++ )
{
for ( unsigned int k=0;k<nbRefs.getValue();k++ )
{
m_coefs[nbRefs.getValue() *i+k] = 1 / m_coefs[nbRefs.getValue() *i+k];
}
//m_coefs.normalize();
//normalize the coefs vector such as the sum is equal to 1
double norm=0.0;
for ( unsigned int h=0 ; h<nbRefs.getValue(); h++ )
norm += m_coefs[nbRefs.getValue() *i+h]*m_coefs[nbRefs.getValue() *i+h];
norm = helper::rsqrt ( norm );
for ( unsigned int g=0 ; g<nbRefs.getValue(); g++ )
m_coefs[nbRefs.getValue() *i+g] /= norm;
for ( unsigned int m=0;m<nbRefs.getValue();m++ )
m_coefs[nbRefs.getValue() *i+m] = m_coefs[nbRefs.getValue() *i+m]*m_coefs[nbRefs.getValue() *i+m];
}
break;
}
case WEIGHT_HERMITE:
{
for ( unsigned int i=0;i<xto.size();i++ )
{
Vec3d r1r2, r1p;
if ( nbRefs.getValue() == 1 )
{
m_coefs[nbRefs.getValue() *i] = 1;
}
else
{
double wi;
r1r2 = xfrom[m_reps[nbRefs.getValue() *i+1]].getCenter() - xfrom[m_reps[nbRefs.getValue() *i+0]].getCenter();
r1p = xto[i] - xfrom[m_reps[nbRefs.getValue() *i+0]].getCenter();
wi = ( r1r2*r1p ) / ( r1r2.norm() *r1r2.norm() );
// Fonctions d'Hermite
m_coefs[nbRefs.getValue() *i+0] = 1-3*wi*wi+2*wi*wi*wi;
m_coefs[nbRefs.getValue() *i+1] = 3*wi*wi-2*wi*wi*wi;
}
}
break;
}
default:{}
}
coefs.setValue ( m_coefs );
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::setWeightCoefs ( sofa::helper::vector<double> &weights )
{
sofa::helper::vector<double> * m_coefs = coefs.beginEdit();
m_coefs->clear();
m_coefs->insert ( m_coefs->begin(), weights.begin(), weights.end() );
coefs.endEdit();
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::setRepartition ( sofa::helper::vector<unsigned int> &rep )
{
sofa::helper::vector<unsigned int> * m_reps = repartition.beginEdit();
m_reps->clear();
m_reps->insert ( m_reps->begin(), rep.begin(), rep.end() );;
repartition.endEdit();
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::apply ( typename Out::VecCoord& out, const typename In::VecCoord& in )
{
const sofa::helper::vector<unsigned int>& m_reps = repartition.getValue();
const sofa::helper::vector<double>& m_coefs = coefs.getValue();
out.resize ( initPos.size() / nbRefs.getValue() );
rotatedPoints.resize ( initPos.size() );
switch ( interpolation )
{
case INTERPOLATION_LINEAR:
{
for ( unsigned int i=0 ; i<out.size(); i++ )
{
out[i] = Coord();
for ( unsigned int m=0 ; m<nbRefs.getValue(); m++ )
{
// Save rotated points for applyJ/JT
rotatedPoints[nbRefs.getValue() *i+m] = in[m_reps[nbRefs.getValue() *i+m] ].getOrientation().rotate ( initPos[nbRefs.getValue() *i+m] );
// And add each reference frames contributions to the new position out[i]
out[i] += ( in[m_reps[nbRefs.getValue() *i+m] ].getCenter() + rotatedPoints[nbRefs.getValue() *i+m] ) * m_coefs[nbRefs.getValue() *i+m];
}
}
break;
}
default:{}
}
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::applyJ ( typename Out::VecDeriv& out, const typename In::VecDeriv& in )
{
const sofa::helper::vector<unsigned int>& m_reps = repartition.getValue();
const sofa::helper::vector<double>& m_coefs = coefs.getValue();
Deriv v,omega;
out.resize ( initPos.size() / nbRefs.getValue() );
for ( unsigned int i=0;i<out.size();i++ )
{
out[i] = Deriv();
for ( unsigned int m=0 ; m<nbRefs.getValue(); m++ )
{
v = in[m_reps[nbRefs.getValue() *i+m]].getVCenter();
omega = in[m_reps[nbRefs.getValue() *i+m]].getVOrientation();
out[i] += ( v - cross ( rotatedPoints[nbRefs.getValue() *i+m],omega ) ) * m_coefs[nbRefs.getValue() *i+m];
}
}
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::applyJT ( typename In::VecDeriv& out, const typename Out::VecDeriv& in )
{
const sofa::helper::vector<unsigned int>& m_reps = repartition.getValue();
const sofa::helper::vector<double>& m_coefs = coefs.getValue();
Deriv v,omega;
for ( unsigned int i=0;i<in.size();i++ )
{
for ( unsigned int m=0 ; m<nbRefs.getValue(); m++ )
{
Deriv f = in[i];
v = f;
omega = cross ( rotatedPoints[nbRefs.getValue() *i+m],f );
out[m_reps[nbRefs.getValue() *i+m] ].getVCenter() += v * m_coefs[nbRefs.getValue() *i+m];
out[m_reps[nbRefs.getValue() *i+m] ].getVOrientation() += omega * m_coefs[nbRefs.getValue() *i+m];
}
}
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::applyJT ( typename In::VecConst& out, const typename Out::VecConst& in )
{
const sofa::helper::vector<unsigned int>& m_reps = repartition.getValue();
const sofa::helper::vector<double>& m_coefs = coefs.getValue();
const unsigned int nbr = nbRefs.getValue();
const unsigned int nbi = this->fromModel->getX()->size();
Deriv omega;
typename In::VecDeriv v;
sofa::helper::vector<bool> flags;
int outSize = out.size();
out.resize ( in.size() + outSize ); // we can accumulate in "out" constraints from several mappings
for ( unsigned int i=0;i<in.size();i++ )
{
v.clear();
v.resize ( nbi );
flags.clear();
flags.resize ( nbi );
OutConstraintIterator itOut;
for (itOut=in[i].getData().begin();itOut!=in[i].getData().end();itOut++)
{
unsigned int indexIn = itOut->first;
Deriv data = (Deriv) itOut->second;
Deriv f = data;
for ( unsigned int m=0 ; m<nbr; m++ )
{
omega = cross ( rotatedPoints[nbr*indexIn+m],f );
flags[m_reps[nbr*indexIn+m] ] = true;
v[m_reps[nbr*indexIn+m] ].getVCenter() += f * m_coefs[nbr*indexIn+m];
v[m_reps[nbr*indexIn+m] ].getVOrientation() += omega * m_coefs[nbr*indexIn+m];
}
}
for ( unsigned int j=0 ; j<nbi; j++ )
{
//if (!(v[i] == typename In::Deriv()))
if ( flags[j] )
out[outSize+i].insert (j,v[j] );
}
}
}
template <class BasicMapping>
void SkinningMapping<BasicMapping>::draw()
{
if ( !this->getShow() ) return;
const typename Out::VecCoord& xOut = *this->toModel->getX();
const typename In::VecCoord& xIn = *this->fromModel->getX();
sofa::helper::vector<unsigned int> m_reps = repartition.getValue();
sofa::helper::vector<double> m_coefs = coefs.getValue();
if ( interpolation != INTERPOLATION_DUAL_QUATERNION )
{
glDisable ( GL_LIGHTING );
glPointSize ( 1 );
glColor4f ( 1,1,0,1 );
glBegin ( GL_LINES );
for ( unsigned int i=0; i<xOut.size(); i++ )
{
for ( unsigned int m=0 ; m<nbRefs.getValue(); m++ )
{
if ( m_coefs[nbRefs.getValue() *i+m] > 0.0 )
{
glColor4d ( m_coefs[nbRefs.getValue() *i+m],m_coefs[nbRefs.getValue() *i+m],0,1 );
helper::gl::glVertexT ( xIn[m_reps[nbRefs.getValue() *i+m] ].getCenter() );
helper::gl::glVertexT ( xOut[i] );
}
}
}
glEnd();
}
}
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
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