MeshSpringForceField.inl

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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
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* This library is free software; you can redistribute it and/or modify it     *
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*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
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#ifndef SOFA_COMPONENT_FORCEFIELD_MESHSPRINGFORCEFIELD_INL
#define SOFA_COMPONENT_FORCEFIELD_MESHSPRINGFORCEFIELD_INL

#include <sofa/component/forcefield/MeshSpringForceField.h>
#include <sofa/component/forcefield/StiffSpringForceField.inl>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <iostream>
using std::cerr;
using std::endl;

namespace sofa
{

namespace component
{

namespace forcefield
{

template <class DataTypes> 
    double MeshSpringForceField<DataTypes>::getPotentialEnergy()
    {
        cerr<<"MeshSpringForceField::getPotentialEnergy-not-implemented !!!"<<endl;
        return 0;
    }

template<class DataTypes>
void MeshSpringForceField<DataTypes>::addSpring(std::set<std::pair<int,int> >& sset, int m1, int m2, Real stiffness, Real damping)
{
    if (m1<m2)
    {
        if (sset.count(std::make_pair(m1,m2))>0) return;
        sset.insert(std::make_pair(m1,m2));
    }
    else
    {
        if (sset.count(std::make_pair(m2,m1))>0) return;
        sset.insert(std::make_pair(m2,m1));
    }
    Real l = ((*this->mstate2->getX0())[m2] - (*this->mstate1->getX0())[m1]).norm();
        this->springs.beginEdit()->push_back(typename SpringForceField<DataTypes>::Spring(m1,m2,stiffness/l, damping/l, l));
        this->springs.endEdit();
}

template<class DataTypes>
void MeshSpringForceField<DataTypes>::init()
{
    this->StiffSpringForceField<DataTypes>::clear();
    if(!(this->mstate1) || !(this->mstate2))
        this->mstate2 = this->mstate1 = dynamic_cast<sofa::core::componentmodel::behavior::MechanicalState<DataTypes> *>(this->getContext()->getMechanicalState());
    
    if (this->mstate1==this->mstate2)
    {
        sofa::core::componentmodel::topology::BaseMeshTopology* topology = this->mstate1->getContext()->getMeshTopology();
        
                
        if (topology != NULL)
        {
            std::set< std::pair<int,int> > sset;
            int n;
            Real s, d;
            if (this->linesStiffness.getValue() != 0.0 || this->linesDamping.getValue() != 0.0)
            {
                s = this->linesStiffness.getValue();
                d = this->linesDamping.getValue();
                n = topology->getNbLines();
                for (int i=0;i<n;++i)
                {
                    sofa::core::componentmodel::topology::BaseMeshTopology::Line e = topology->getLine(i);
                    this->addSpring(sset, e[0], e[1], s, d);
                }
            }
            if (this->trianglesStiffness.getValue() != 0.0 || this->trianglesDamping.getValue() != 0.0)
            {
                s = this->trianglesStiffness.getValue();
                d = this->trianglesDamping.getValue();
                n = topology->getNbTriangles();
                for (int i=0;i<n;++i)
                {
                    sofa::core::componentmodel::topology::BaseMeshTopology::Triangle e = topology->getTriangle(i);
                    this->addSpring(sset, e[0], e[1], s, d);
                    this->addSpring(sset, e[0], e[2], s, d);
                    this->addSpring(sset, e[1], e[2], s, d);
                }
            }
            if (this->quadsStiffness.getValue() != 0.0 || this->quadsDamping.getValue() != 0.0)
            {
                s = this->quadsStiffness.getValue();
                d = this->quadsDamping.getValue();
                n = topology->getNbQuads();
                for (int i=0;i<n;++i)
                {
                    sofa::core::componentmodel::topology::BaseMeshTopology::Quad e = topology->getQuad(i);
                    this->addSpring(sset, e[0], e[1], s, d);
                    this->addSpring(sset, e[0], e[2], s, d);
                    this->addSpring(sset, e[0], e[3], s, d);
                    this->addSpring(sset, e[1], e[2], s, d);
                    this->addSpring(sset, e[1], e[3], s, d);
                    this->addSpring(sset, e[2], e[3], s, d);
                }
            }
            if (this->tetrasStiffness.getValue() != 0.0 || this->tetrasDamping.getValue() != 0.0)
            {
                s = this->tetrasStiffness.getValue();
                d = this->tetrasDamping.getValue();
                n = topology->getNbTetras();
                for (int i=0;i<n;++i)
                {
                    sofa::core::componentmodel::topology::BaseMeshTopology::Tetra e = topology->getTetra(i);
                    this->addSpring(sset, e[0], e[1], s, d);
                    this->addSpring(sset, e[0], e[2], s, d);
                    this->addSpring(sset, e[0], e[3], s, d);
                    this->addSpring(sset, e[1], e[2], s, d);
                    this->addSpring(sset, e[1], e[3], s, d);
                    this->addSpring(sset, e[2], e[3], s, d);
                }
            }
            
            if (this->cubesStiffness.getValue() != 0.0 || this->cubesDamping.getValue() != 0.0)
            {
                s = this->cubesStiffness.getValue();
                d = this->cubesDamping.getValue();
#ifdef SOFA_NEW_HEXA
                n = topology->getNbHexas();
                for (int i=0;i<n;++i)
                {
                    if (!topology->isCubeActive(i)) continue;
                    sofa::core::componentmodel::topology::BaseMeshTopology::Hexa e = topology->getHexa(i);
#else
                n = topology->getNbCubes();
                for (int i=0;i<n;++i)
                {
                    if (!topology->isCubeActive(i)) continue;
                    sofa::core::componentmodel::topology::BaseMeshTopology::Cube e = topology->getCube(i);
#endif
                    for (int i=0;i<8;i++)
                        for (int j=i+1;j<8;j++)
                    {
                            this->addSpring(sset, e[i], e[j], s, d);
                    }
                }
            }
        }
    }
    this->StiffSpringForceField<DataTypes>::init();
}

template<class DataTypes>
void MeshSpringForceField<DataTypes>::parse(core::objectmodel::BaseObjectDescription* arg)
{
    this->StiffSpringForceField<DataTypes>::parse(arg);
    if (arg->getAttribute("stiffness"))          this->setStiffness         ((Real)atof(arg->getAttribute("stiffness")));
    if (arg->getAttribute("damping"))            this->setDamping           ((Real)atof(arg->getAttribute("damping")));
}

} // namespace forcefield

} // namespace component

} // namespace sofa

#endif