PlaneForceField.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.                                             *
*                                                                             *
* 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_INTERACTIONFORCEFIELD_PLANEFORCEFIELD_H
#define SOFA_COMPONENT_INTERACTIONFORCEFIELD_PLANEFORCEFIELD_H

#include <sofa/core/componentmodel/behavior/ForceField.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/objectmodel/Data.h>

namespace sofa
{

namespace component
{

namespace forcefield
{

template<class DataTypes>
class PlaneForceFieldInternalData
{
public:
};

template<class DataTypes>
class PlaneForceField : public core::componentmodel::behavior::ForceField<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
    typedef core::componentmodel::behavior::ForceField<DataTypes> Inherit;
    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;
    
protected:
    sofa::helper::vector<unsigned int> contacts;
    
    PlaneForceFieldInternalData<DataTypes> data;
    
public:
    
    Data<Deriv> planeNormal;
    Data<Real> planeD;
    Data<Real> stiffness;
    Data<Real> damping;
    Data<defaulttype::Vec3f> color;
    Data<bool> bDraw;
    
    PlaneForceField()
    : planeNormal(initData(&planeNormal, "normal", "plane normal"))
    , planeD(initData(&planeD, (Real)0, "d", "plane d coef"))
    , stiffness(initData(&stiffness, (Real)500, "stiffness", "force stiffness"))
    , damping(initData(&damping, (Real)5, "damping", "force damping"))
    , color(initData(&color, defaulttype::Vec3f(0.0f,.5f,.2f), "color", "plane color"))
    , bDraw(initData(&bDraw, false, "draw", "enable/disable drawing of plane"))
    {
       Deriv n;
       DataTypes::set(n, 0, 1, 0);
       planeNormal.setValue(n);
    }
    
    void setPlane(const Deriv& normal, Real d)
    {
        Real n = normal.norm();
        planeNormal.setValue( normal / n);
        planeD.setValue( d / n );
    }
    
    void setMState(  core::componentmodel::behavior::MechanicalState<DataTypes>* mstate ){ this->mstate = mstate; }
    
    void setStiffness(Real stiff)
    {
        stiffness.setValue( stiff );
    }
    
    void setDamping(Real damp)
    {
        damping.setValue( damp );
    }
    
    void rotate( Deriv axe, Real angle ); // around the origin (0,0,0)
    
    virtual void addForce (VecDeriv& f, const VecCoord& x, const VecDeriv& v);
    
    virtual void addDForce (VecDeriv& df, const VecDeriv& dx, double kFactor, double bFactor);
    
    virtual double getPotentialEnergy(const VecCoord& x);
    
    virtual void updateStiffness( const VecCoord& x );
    
    void draw();
    void drawPlane(float size=1000.0f);
    bool addBBox(double* minBBox, double* maxBBox);

};

} // namespace forcefield

} // namespace component

} // namespace sofa

#endif