InteractionEllipsoidForceField.h

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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 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.                                             *
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* 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.                                                           *
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* You should have received a copy of the GNU Lesser General Public License    *
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* 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_FORCEFIELD_INTERACTION_ELLIPSOIDFORCEFIELD_H
#define SOFA_COMPONENT_FORCEFIELD_INTERACTION_ELLIPSOIDFORCEFIELD_H

#include <sofa/core/componentmodel/behavior/MixedInteractionForceField.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/objectmodel/Data.h>
#include <sofa/defaulttype/RigidTypes.h>



namespace sofa
{

namespace component
{

namespace interactionforcefield
{
using namespace sofa::defaulttype;

template<class DataTypes1, class DataTypes2>
class InteractionEllipsoidForceFieldInternalData
{
public:
};

template<class DataTypes1, class DataTypes2>
class InteractionEllipsoidForceField : public core::componentmodel::behavior::MixedInteractionForceField<DataTypes1, DataTypes2>, public virtual core::objectmodel::BaseObject
{
public:
    typedef core::componentmodel::behavior::MixedInteractionForceField<DataTypes1, DataTypes2> Inherit;
    typedef typename DataTypes1::VecCoord VecCoord1;
    typedef typename DataTypes1::VecDeriv VecDeriv1;
    typedef typename DataTypes1::Coord Coord1;
    typedef typename DataTypes1::Deriv Deriv1;
    typedef typename Coord1::value_type Real1;
    typedef typename DataTypes2::VecCoord VecCoord2;
    typedef typename DataTypes2::VecDeriv VecDeriv2;
    typedef typename DataTypes2::Coord Coord2;
    typedef typename DataTypes2::Deriv Deriv2;
    typedef typename Coord2::value_type Real2;

    enum { N=Coord1::static_size };
    typedef defaulttype::Mat<N,N,Real1> Mat;
protected:
    class Contact
    {
    public:
        int index;
        Deriv1 pos;
        Vec<3,SReal> bras_levier;
        Mat m;
    Contact( int index=0, const Mat& m=Mat())
      : index(index), m(m)
      {
      }

        inline friend std::istream& operator >> ( std::istream& in, Contact& c ){
      in>>c.index>>c.m;
            return in;
        }

        inline friend std::ostream& operator << ( std::ostream& out, const Contact& c ){
      out << c.index << " " << c.m ;
      return out;
        }

    };

    Data<sofa::helper::vector<Contact> > contacts;

    InteractionEllipsoidForceFieldInternalData<DataTypes1, DataTypes2> data;
    
    bool calcF(const Coord1& p1, const Deriv1 &v1, Deriv1& f1,Mat& dfdx);
    void initCalcF();

public:

    Data<Coord1> center;
    Data<Coord1> vradius;
    Data<Real1> stiffness;
    Data<Real1> damping;
    Data<defaulttype::Vec3f> color;
    Data<bool> bDraw;
    Data<int> object2_dof_index;

    InteractionEllipsoidForceField()
      : contacts(initData(&contacts,"contacts", "Contacts"))
      , center(initData(&center, "center", "ellipsoid center"))
      , vradius(initData(&vradius, "vradius", "ellipsoid radius"))
      , stiffness(initData(&stiffness, (Real1)500, "stiffness", "force stiffness (positive to repulse outward, negative inward)"))
      , damping(initData(&damping, (Real1)5, "damping", "force damping"))
      , color(initData(&color, defaulttype::Vec3f(0.0f,0.5f,1.0f), "color", "ellipsoid color"))
      , bDraw(initData(&bDraw, true, "draw", "enable/disable drawing of the ellipsoid"))
      , object2_dof_index(initData(&object2_dof_index, (int)0, "object2_dof_index", "Dof index of object 2 where the forcefield is attached"))
    {
        _update_pos_relative = true;
        vars.center =center.getValue();
//      printf("\n vars.center : %f %f %f",vars.center.x(),vars.center.y(),vars.center.z());
        _orientation.clear();
    }

    void setStiffness(Real1 stiff)
    {
        stiffness.setValue( stiff );
    }

    void setDamping(Real1 damp)
    {
        damping.setValue( damp );
    }

    virtual void addForce(VecDeriv1& f1, VecDeriv2& f2, const VecCoord1& p1, const VecCoord2& p2, const VecDeriv1& v1, const VecDeriv2& v2);

    virtual void addForce2(VecDeriv1& f1, VecDeriv2& f2, const VecCoord1& p1, const VecCoord2& p2, const VecDeriv1& v1, const VecDeriv2& v2);
    
    virtual void addDForce(VecDeriv1& df1, VecDeriv2& df2, const VecDeriv1& dx1, const VecDeriv2& dx2);
    
    virtual double getPotentialEnergy(const VecCoord1& x1, const VecCoord2& x2);

    void reinit() {_update_pos_relative = true;}

    void draw();

protected:
    struct TempVars {
        Coord1 center; // center in the local frame ;
        Coord1 r;
        Real1 stiffness;
        Real1 stiffabs;
        Coord1 inv_r2;
        Coord2 pos6D;
    } vars;

    bool _update_pos_relative;
    VecCoord1 X1;
    VecCoord2 X2;
    Quat _orientation;
};

} // namespace interactionforcefield

} // namespace component

} // namespace sofa


#endif