TubularMapping.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_MAPPING_TUBULARMAPPING_INL
#define SOFA_COMPONENT_MAPPING_TUBULARMAPPING_INL

#include <sofa/component/mapping/TubularMapping.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/core/componentmodel/behavior/MechanicalMapping.inl>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>


namespace sofa
{

namespace component
{

namespace mapping
{

template <class BasicMapping>
void TubularMapping<BasicMapping>::init()
{   
    this->BasicMapping::init();
    
}



template <class BasicMapping>
void TubularMapping<BasicMapping>::apply ( typename Out::VecCoord& out, const typename In::VecCoord& in )
{
    // Propagation of positions from the input DOFs to the output DOFs

    //std::cout << "TubularMapping<BasicMapping>::apply\n";

    if(out.size() != rotatedPoints.size()){
        rotatedPoints.resize(out.size());
    }

    unsigned int N = m_nbPointsOnEachCircle.getValue();
    double rho = m_radius.getValue();
    
    out.resize(in.size() * N);
    rotatedPoints.resize(in.size() * N);

    Vec Y0;
    Vec Z0;
    Y0[0] = (Real) (0.0); Y0[1] = (Real) (1.0); Y0[2] = (Real) (0.0);
    Z0[0] = (Real) (0.0); Z0[1] = (Real) (0.0); Z0[2] = (Real) (1.0);

    for (unsigned int i=0; i<in.size(); i++)
    {       
        Vec curPos = in[i].getCenter();
        
        Mat rotation;
        in[i].writeRotationMatrix(rotation);

        Vec Y; 
        Vec Z;

        Y = rotation * Y0;
        Z = rotation * Z0;      

        for(unsigned int j=0; j<N; ++j){

            rotatedPoints[i*N+j] = (Y*cos((Real) (2.0*j*M_PI/N)) + Z*sin((Real) (2.0*j*M_PI/N)))*((Real) rho);
            Vec x = curPos + rotatedPoints[i*N+j];
            //std::cout << "INFO_print : TubularMapping  DO move point - j = " << j << " , curPos = " << curPos <<  " , x = " << x << std::endl;

            out[i*N+j] = x;         
        }   
    }
}



template <class BasicMapping>
void TubularMapping<BasicMapping>::applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in )
{
    
    // Propagation of velocities from the input DOFs to the output DOFs

    if(out.size() != rotatedPoints.size()){
        rotatedPoints.resize(out.size());
    }

    unsigned int N = m_nbPointsOnEachCircle.getValue();
    
    out.resize(in.size() * N);
    Deriv v,omega;

    for (unsigned int i=0; i<in.size(); i++)
    {
        v = in[i].getVCenter();
        omega = in[i].getVOrientation();        

        for(unsigned int j=0; j<N; ++j){

            out[i*N+j] = v - cross(rotatedPoints[i*N+j],omega);     
            //std::cout << "INFO_print : TubularMapping  DO moveJ point - j = " << j << " , curPos = " << v <<  " , x = " << out[i*N+j] << std::endl;
        }   
    }
}


template <class BasicMapping>
void TubularMapping<BasicMapping>::applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in )
{   
    // usefull for a Mechanical Mapping that propagates forces from the output DOFs to the input DOFs

    //std::cout << "INFO_print : pass HERE applyJT !!!" << std::endl;
    
    if(in.size() != rotatedPoints.size()){
        rotatedPoints.resize(in.size());
    }
    
    unsigned int N = m_nbPointsOnEachCircle.getValue();

    Deriv v,omega;  

    for (unsigned int i=0; i<out.size(); i++)
    {
        for(unsigned int j=0; j<N; j++){

            Deriv f = in[i*N+j];
            v += f;
            omega += cross(rotatedPoints[i*N+j],f);
        }

            out[i].getVCenter() += v;   
            out[i].getVOrientation() += omega;  
            //std::cout << "INFO_print : TubularMapping  DO moveJT point - i = " << i << std::endl;         
    }
    
}

/*
template <class BasicMapping>
void TubularMapping<BasicMapping>::applyJT( typename In::VecConst& out, const typename Out::VecConst& in )
{   
    std::cout << "INFO_print : pass HERE applyJT CONST !!!" << std::endl;

    Deriv v0;
    v0[0] = (Real) (0.0); v0[1] = (Real) (0.0); v0[2] = (Real) (0.0);

    for (unsigned int i=0; i<out.size(); i++)
    {
            out[i].getVCenter() = v0;   
            out[i].getVOrientation() = v0;  
            std::cout << "INFO_print : TubularMapping  DO moveJT point - i = " << i << std::endl;           
    }
}
*/

} // namespace mapping

} // namespace component

} // namespace sofa

#endif // SOFA_COMPONENT_MAPPING_TUBULARMAPPING_INL