PMLInteractionForceField.cpp

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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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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details.                                                           *
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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)          *
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******************************************************************************/

/***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 ***************************************************************************/

#include "PMLInteractionForceField.h"

#include "sofa/component/MechanicalObject.h"
#include "sofa/component/forcefield/StiffSpringForceField.h"
using namespace sofa::component::forcefield;

#include <PhysicalModel.h>
#include <MultiComponent.h>
#include <CellProperties.h>


namespace sofa
{

namespace filemanager
{

namespace pml
{

PMLInteractionForceField::PMLInteractionForceField(StructuralComponent* body, PMLBody* b1, PMLBody* b2, GNode * parent)
{
    parentNode = parent;

    //get the parameters
    collisionsON = false;
    name = body->getProperties()->getName();

    body1 = b1;
    body2 = b2;

    ks = body->getProperties()->getDouble("stiffness");
    kd = body->getProperties()->getDouble("damping");

    //create the structure
    createForceField();
    createSprings(body);
}

PMLInteractionForceField::~PMLInteractionForceField()
{ 
    if(mmodel) delete mmodel; 
    if (Sforcefield) delete Sforcefield;
}


//create a TetrahedronFEMForceField
void PMLInteractionForceField::createForceField()
{
    Sforcefield = new StiffSpringForceField<Vec3Types>((MechanicalObject<Vec3Types>*)body1->getMechanicalState(), (MechanicalObject<Vec3Types>*)body2->getMechanicalState());
    parentNode->addObject(Sforcefield);
}


void PMLInteractionForceField::createSprings(StructuralComponent * body)
{
    Vec3Types::VecCoord& P1 = *((MechanicalObject<Vec3Types>*)body1->getMechanicalState())->getX();
    Vec3Types::VecCoord& P2 = *((MechanicalObject<Vec3Types>*)body2->getMechanicalState())->getX();
    if (kd==0.0)kd=5.0;
    if (ks==0.0)ks=500.0;
    for (unsigned int i=0; i<body->getNumberOfCells() ; i++)
    {
        Cell * cell = body->getCell(i);
        if (cell->getType() == StructureProperties::LINE){
            unsigned int dof1 = body1->AtomsToDOFsIndexes[cell->getStructure(0)->getIndex()];
            unsigned int dof2 = body2->AtomsToDOFsIndexes[cell->getStructure(1)->getIndex()];
            Vec3Types::Deriv gap = P1[dof1] - P2[dof2];
            Sforcefield->addSpring(dof1, dof2, ks, kd, sqrt(dot(gap,gap)));
        }
    }
}


}
}
}