PenalityContactForceField.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    *
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* for more details.                                                           *
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*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
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* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_FORCEFIELD_PENALITYCONTACTFORCEFIELD_H
#define SOFA_COMPONENT_FORCEFIELD_PENALITYCONTACTFORCEFIELD_H

#include <sofa/core/componentmodel/behavior/PairInteractionForceField.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/CollisionModel.h>
#include <sofa/defaulttype/VecTypes.h>
#include <vector>


namespace sofa
{

namespace component
{

namespace forcefield
{

template<class DataTypes>
class PenalityContactForceField : public core::componentmodel::behavior::PairInteractionForceField<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
    typedef typename core::componentmodel::behavior::PairInteractionForceField<DataTypes> Inherit;
    typedef DataTypes DataTypes1;
    typedef DataTypes DataTypes2;
    typedef typename DataTypes::VecCoord VecCoord;
    typedef typename DataTypes::VecDeriv VecDeriv;
    typedef typename DataTypes::Coord Coord;
    typedef typename DataTypes::Deriv Deriv;
    typedef typename Coord::value_type Real;
    typedef core::componentmodel::behavior::MechanicalState<DataTypes> MechanicalState;
protected:
    
    class Contact
    {
    public:
      
      int m1, m2;   
      int index1, index2; 
      Deriv norm;   
      Real dist;    
      Real ks;      
      Real mu_s;    
      Real mu_v;    
      Real pen;     
      int age;      


      Contact(int _m1=0, int _m2=0, int _index1=0, int _index2=0, Deriv _norm=Deriv(), Real _dist=Real(), Real _ks=Real(), Real _mu_s=Real(), Real _mu_v=Real(), Real _pen=Real(), int _age=0)
        : m1(_m1),m2(_m2),index1(_index1),index2(_index2),norm(_norm),dist(_dist),ks(_ks),mu_s(_mu_s),mu_v(_mu_v),pen(_pen),age(_age)
        {
        }


        inline friend std::istream& operator >> ( std::istream& in, Contact& c ){
      in>>c.m1>>c.m2>>c.index1>>c.index2>>c.norm>>c.dist>>c.ks>>c.mu_s>>c.mu_v>>c.pen>>c.age;
            return in;
        }

        inline friend std::ostream& operator << ( std::ostream& out, const Contact& c ){
      out << c.m1<< " " <<c.m2<< " " << c.index1<< " " <<c.index2<< " " <<c.norm<< " " <<c.dist<<" " <<c.ks<<" " <<c.mu_s<<" " <<c.mu_v<<" " <<c.pen<<" " <<c.age;
      return out;
        }
    };
    
    Data<sofa::helper::vector<Contact> > contacts;
    
    // contacts from previous frame
    sofa::helper::vector<Contact> prevContacts;
    
public:

    PenalityContactForceField(MechanicalState* object1, MechanicalState* object2)
      : Inherit(object1, object2), contacts(initData(&contacts,"contacts", "Contacts"))
    {
    }
    
    PenalityContactForceField()
    {
    }
    
    void clear(int reserve = 0);

    void addContact(int m1, int m2, int index1, int index2, const Deriv& norm, Real dist, Real ks, Real mu_s = 0.0f, Real mu_v = 0.0f, int oldIndex = 0);
    
    virtual void addForce(VecDeriv& f1, VecDeriv& f2, const VecCoord& x1, const VecCoord& x2, const VecDeriv& v1, const VecDeriv& v2);
    
    virtual void addDForce(VecDeriv& df1, VecDeriv& df2, const VecDeriv& dx1, const VecDeriv& dx2, double kFactor, double bFactor);
    
        virtual double getPotentialEnergy(const VecCoord&, const VecCoord&);
     
    // -- tool grabing utility
    void grabPoint( const core::componentmodel::behavior::MechanicalState<defaulttype::Vec3Types> *tool, 
            const helper::vector< unsigned int > &index, 
                        helper::vector< std::pair< core::objectmodel::BaseObject*, defaulttype::Vec3f> > &result, 
            helper::vector< unsigned int > &triangle,
                helper::vector< unsigned int > &index_point) ;
    
    
    void draw();
};

} // namespace forcefield

} // namespace component

} // namespace sofa

#endif