sofa::component::topology::SparseGridTopology Class Reference

#include <SparseGridTopology.h>

Inheritance diagram for sofa::component::topology::SparseGridTopology:

Collaboration diagram for sofa::component::topology::SparseGridTopology:


Public Types
enum	Type { OUTSIDE, INSIDE, BOUNDARY }
enum	{ UP, DOWN, RIGHT, LEFT, BEFORE, BEHIND, NUM_CONNECTED_NODES }
typedef fixed_array< Vector3, 8 >	CubeCorners
typedef Vec< 3, int >	Vec3i
typedef std::map< Vector3, int >	MapBetweenCornerPositionAndIndice
	a vertex indice for a given vertex position in space
typedef std::vector < fixed_array< int, 8 > >	HierarchicalCubeMap
	connexion between several coarsened levels
typedef helper::vector< int >	InverseHierarchicalCubeMap
	a fine cube indice -> corresponding coarser cube indice
typedef std::map< int, float >	AHierarchicalPointMap
typedef helper::vector < AHierarchicalPointMap >	HierarchicalPointMap
	a point indice -> corresponding 27 child indices on the potential _finerSparseGrid with corresponding weight
typedef helper::vector < AHierarchicalPointMap >	InverseHierarchicalPointMap
	a fine point indice -> corresponding some parent points for interpolation
typedef helper::vector< int >	PointMap
typedef helper::vector < helper::fixed_array< int, NUM_CONNECTED_NODES > >	NodeAdjacency
	a node -> its 6 neighboors
typedef helper::vector < helper::vector< int > >	NodeCubesAdjacency
	a node -> its 8 neighboor cells
typedef helper::vector < helper::vector< int > >	NodeCornersAdjacency
	a node -> its 8 corners of neighboor cells
Public Member Functions
	SparseGridTopology (bool _isVirtual=false)
bool	load (const char *filename)
	Load the topology from a file.
virtual void	init ()
	Initialization method called at graph modification, during bottom-up traversal.
void	buildAsFinest ()
	building from a mesh file
void	buildFromFiner ()
	building by condensating a finer sparse grid (used if setFinerSparseGrid has initializated _finerSparseGrid before calling init() )
void	buildVirtualFinerLevels ()
	building eventual virtual finer levels (cf _nbVirtualFinerLevels)
Vec< 3, int >	getN () const
int	getNx () const
int	getNy () const
int	getNz () const
void	setN (Vec3i _n)
void	setNx (int _n)
void	setNy (int _n)
void	setNz (int _n)
int	getNbVirtualFinerLevels () const
void	setNbVirtualFinerLevels (int n)
void	setMin (Vector3 val)
void	setXmin (SReal val)
void	setYmin (SReal val)
void	setZmin (SReal val)
void	setMax (Vector3 val)
void	setXmax (SReal val)
void	setYmax (SReal val)
void	setZmax (SReal val)
Vector3	getMin ()
SReal	getXmin ()
SReal	getYmin ()
SReal	getZmin ()
Vector3	getMax ()
SReal	getXmax ()
SReal	getYmax ()
SReal	getZmax ()
bool	hasPos () const
virtual int	findCube (const Vector3 &pos, SReal &fx, SReal &fy, SReal &fz)
	return the cube containing the given point (or -1 if not found), as well as deplacements from its first corner in terms of dx, dy, dz (i.e.
virtual int	findNearestCube (const Vector3 &pos, SReal &fx, SReal &fy, SReal &fz)
	return the cube containing the given point (or -1 if not found), as well as deplacements from its first corner in terms of dx, dy, dz (i.e.
virtual helper::fixed_array < int, 6 >	findneighboorCubes (int indice)
	return indices of 6 neighboor cubes
virtual Type	getType (int i)
	return the type of the i-th cube
SparseGridTopology *	getFinerSparseGrid () const
void	setFinerSparseGrid (SparseGridTopology *fsp)
SparseGridTopology *	getCoarserSparseGrid () const
void	setCoarserSparseGrid (SparseGridTopology *csp)
void	updateMesh ()
Vector3	getPointPos (int i)
void	getMesh (sofa::helper::io::Mesh &m)
void	setDimVoxels (int a, int b, int c)
void	setSizeVoxel (float a, float b, float c)
bool	getVoxel (unsigned int x, unsigned int y, unsigned int z)
bool	getVoxel (unsigned int index) const
virtual const SeqCubes &	getHexas ()
virtual int	getNbPoints () const
virtual int	getNbHexas ()
Data Fields
HierarchicalCubeMap	_hierarchicalCubeMap
InverseHierarchicalCubeMap	_inverseHierarchicalCubeMap
HierarchicalPointMap	_hierarchicalPointMap
InverseHierarchicalPointMap	_inverseHierarchicalPointMap
PointMap	_pointMap
	a coarse point indice -> corresponding point in finer level
PointMap	_inversePointMap
	a fine point indice -> corresponding point in coarser level
NodeAdjacency	_nodeAdjacency
NodeCubesAdjacency	_nodeCubesAdjacency
NodeCornersAdjacency	_nodeCornersAdjacency
helper::vector < SparseGridTopology * >	_virtualFinerLevels
	saving the virtual levels (cf _nbVirtualFinerLevels)
RegularGridTopology	_regularGrid
	based on a corresponding RegularGrid
vector< int >	_indicesOfRegularCubeInSparseGrid
	to redirect an indice of a cube in the regular grid to its indice in the sparse grid
vector< int >	_indicesOfCubeinRegularGrid
	to redirect an indice of a cube in the sparse grid to its indice in the regular grid
Static Public Attributes
static const float	WEIGHT27 [8][27]
static const int	cornerIndicesFromFineToCoarse [8][8]
Protected Member Functions
virtual void	updateEdges ()
virtual void	updateQuads ()
virtual void	updateHexas ()
void	propagateFrom (const int i, const int j, const int k, RegularGridTopology &regularGrid, vector< Type > &regularGridTypes, vector< bool > &alreadyTested) const
	start from a seed cell (i,j,k) the OUTSIDE filling is propagated to neighboor cells until meet a BOUNDARY cell (this function is called from all border cells of the RegularGrid)
void	computeBoundingBox (const helper::vector< Vector3 > &vertices, SReal &xmin, SReal &xmax, SReal &ymin, SReal &ymax, SReal &zmin, SReal &zmax) const
void	voxelizeTriangleMesh (helper::io::Mesh *mesh, RegularGridTopology &regularGrid, vector< Type > &regularGridTypes) const
void	buildFromTriangleMesh (const std::string &filename)
void	buildFromRegularGridTypes (RegularGridTopology &regularGrid, const vector< Type > &regularGridTypes)
void	buildFromVoxelFile (const std::string &filename)
	Create a sparse grid from a .voxel file .voxel file format (ascii): 512 // num voxels x 512 // num voxels y 246 // num voxels z 0.7 // voxels size x [mm] 0.7 // voxels size y [mm] 2 // voxels size z [mm] 0 0 255 0 0 .
void	buildFromRawVoxelFile (const std::string &filename)
template<class T >
void	constructCollisionModels (const sofa::helper::vector< sofa::core::componentmodel::topology::BaseMeshTopology * > &list_mesh, const sofa::helper::vector< sofa::helper::vector< Vec< 3, T > > * > &list_X) const
void	setVoxel (int index, unsigned char value)
Protected Attributes
bool	isVirtual
Data< Vec< 3, int > >	n
	cutting number in all directions
Data< Vector3 >	_min
Data< Vector3 >	_max
Data< int >	_nbVirtualFinerLevels
	create virtual (not in the animation tree) finer sparse grids in order to dispose of finest information (usefull to compute better mechanical properties for example)
Data< Vec3i >	dataResolution
Data< Vector3 >	voxelSize
Data< unsigned int >	marchingCubeStep
Data< unsigned int >	convolutionSize
MarchingCubeUtility	marchingCubes
Data< vector< unsigned char > >	dataVoxels
bool	_usingMC
sofa::helper::vector< Type >	_types
	BOUNDARY or FULL filled cells.
SparseGridTopology *	_finerSparseGrid
	an eventual finer sparse grid that can be used to built this coarser sparse grid
SparseGridTopology *	_coarserSparseGrid
	an eventual coarser sparse grid
bool	_alreadyInit

Detailed Description

A sparse grid topology.

Like a sparse FFD building from the bounding box of the object. Starting from a RegularGrid, only valid cells containing matter (ie intersecting the original surface mesh or totally inside the object) are considered. Valid cells are tagged by a Type BOUNDARY or INSIDE WARNING: the corresponding node in the XML file has to be placed BEFORE the MechanicalObject node, in order to excute its init() before the MechanicalObject one in order to be able to give dofs

Definition at line 53 of file SparseGridTopology.h.

Member Typedef Documentation

typedef std::map<int,float> sofa::component::topology::SparseGridTopology::AHierarchicalPointMap

Definition at line 84 of file SparseGridTopology.h.

typedef fixed_array<Vector3,8> sofa::component::topology::SparseGridTopology::CubeCorners

Definition at line 57 of file SparseGridTopology.h.

typedef std::vector<fixed_array<int,8> > sofa::component::topology::SparseGridTopology::HierarchicalCubeMap

connexion between several coarsened levels

a cube indice -> corresponding 8 child indices on the potential _finerSparseGrid

Definition at line 79 of file SparseGridTopology.h.

typedef helper::vector< AHierarchicalPointMap > sofa::component::topology::SparseGridTopology::HierarchicalPointMap

a point indice -> corresponding 27 child indices on the potential _finerSparseGrid with corresponding weight

Definition at line 86 of file SparseGridTopology.h.

typedef helper::vector<int> sofa::component::topology::SparseGridTopology::InverseHierarchicalCubeMap

a fine cube indice -> corresponding coarser cube indice

Definition at line 81 of file SparseGridTopology.h.

typedef helper::vector< AHierarchicalPointMap > sofa::component::topology::SparseGridTopology::InverseHierarchicalPointMap

a fine point indice -> corresponding some parent points for interpolation

Definition at line 88 of file SparseGridTopology.h.

typedef std::map<Vector3,int> sofa::component::topology::SparseGridTopology::MapBetweenCornerPositionAndIndice

a vertex indice for a given vertex position in space

Definition at line 76 of file SparseGridTopology.h.

typedef helper::vector< helper::fixed_array<int,NUM_CONNECTED_NODES> > sofa::component::topology::SparseGridTopology::NodeAdjacency

a node -> its 6 neighboors

Definition at line 96 of file SparseGridTopology.h.

typedef helper::vector< helper::vector<int> > sofa::component::topology::SparseGridTopology::NodeCornersAdjacency

a node -> its 8 corners of neighboor cells

Definition at line 100 of file SparseGridTopology.h.

typedef helper::vector< helper::vector<int> > sofa::component::topology::SparseGridTopology::NodeCubesAdjacency

a node -> its 8 neighboor cells

Definition at line 98 of file SparseGridTopology.h.

typedef helper::vector< int > sofa::component::topology::SparseGridTopology::PointMap

Definition at line 90 of file SparseGridTopology.h.

typedef Vec<3, int> sofa::component::topology::SparseGridTopology::Vec3i

Definition at line 60 of file SparseGridTopology.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

UP
DOWN
RIGHT
LEFT
BEFORE
BEHIND
NUM_CONNECTED_NODES

Definition at line 95 of file SparseGridTopology.h.

enum sofa::component::topology::SparseGridTopology::Type

Enumerator:

OUTSIDE
INSIDE
BOUNDARY

Definition at line 58 of file SparseGridTopology.h.

Constructor & Destructor Documentation

sofa::component::topology::SparseGridTopology::SparseGridTopology ( bool _isVirtual = false )

Definition at line 101 of file SparseGridTopology.cpp.

References _alreadyInit, _coarserSparseGrid, _finerSparseGrid, _usingMC, and isVirtual.

Referenced by buildVirtualFinerLevels().

Member Function Documentation

void sofa::component::topology::SparseGridTopology::buildAsFinest ( )

building from a mesh file

Definition at line 216 of file SparseGridTopology.cpp.

References _usingMC, buildFromRawVoxelFile(), buildFromTriangleMesh(), buildFromVoxelFile(), sofa::core::componentmodel::topology::BaseMeshTopology::d_filename, sofa::helper::system::DataRepository, and sofa::core::objectmodel::Data< T >::getValue().

Referenced by init().

void sofa::component::topology::SparseGridTopology::buildFromFiner ( )

building by condensating a finer sparse grid (used if setFinerSparseGrid has initializated _finerSparseGrid before calling init() )

Definition at line 756 of file SparseGridTopology.cpp.

Referenced by init().

void sofa::component::topology::SparseGridTopology::buildFromRawVoxelFile ( const std::string & filename ) [protected]

void sofa::component::topology::SparseGridTopology::buildFromRegularGridTypes	(	RegularGridTopology &	regularGrid,
		const vector< Type > &	regularGridTypes
	)			`[protected]`

Definition at line 657 of file SparseGridTopology.cpp.

References _indicesOfCubeinRegularGrid, _indicesOfRegularCubeInSparseGrid, _regularGrid, _types, sofa::core::objectmodel::Data< T >::beginEdit(), BOUNDARY, sofa::core::objectmodel::Data< T >::endEdit(), sofa::component::topology::GridTopology::getHexaCopy(), sofa::component::topology::GridTopology::getNbHexas(), sofa::component::topology::RegularGridTopology::getPoint(), INSIDE, sofa::component::topology::MeshTopology::nbPoints, sofa::component::topology::MeshTopology::seqHexas, and sofa::component::topology::MeshTopology::seqPoints.

Referenced by buildFromRawVoxelFile(), buildFromTriangleMesh(), and buildFromVoxelFile().

void sofa::component::topology::SparseGridTopology::buildFromTriangleMesh ( const std::string & filename ) [protected]

void sofa::component::topology::SparseGridTopology::buildFromVoxelFile ( const std::string & filename ) [protected]

Create a sparse grid from a .voxel file .voxel file format (ascii): 512 // num voxels x 512 // num voxels y 246 // num voxels z 0.7 // voxels size x [mm] 0.7 // voxels size y [mm] 2 // voxels size z [mm] 0 0 255 0 0 .

.. // data

Definition at line 255 of file SparseGridTopology.cpp.

References _indicesOfRegularCubeInSparseGrid, _max, _min, _regularGrid, sofa::core::objectmodel::Data< T >::beginEdit(), buildFromRegularGridTypes(), dataVoxels, sofa::component::topology::GridTopology::getNbHexas(), getNx(), getNy(), getNz(), sofa::core::objectmodel::Data< T >::getValue(), getXmax(), getXmin(), getYmax(), getYmin(), getZmax(), getZmin(), INSIDE, n, OUTSIDE, sofa::component::topology::RegularGridTopology::setPos(), sofa::component::topology::GridTopology::setSize(), sofa::core::objectmodel::Data< T >::setValue(), and setVoxel().

Referenced by buildAsFinest().

void sofa::component::topology::SparseGridTopology::buildVirtualFinerLevels ( )

building eventual virtual finer levels (cf _nbVirtualFinerLevels)

Definition at line 1012 of file SparseGridTopology.cpp.

References _nbVirtualFinerLevels, _virtualFinerLevels, sofa::core::componentmodel::topology::BaseMeshTopology::d_filename, sofa::core::objectmodel::Base::getName(), sofa::core::objectmodel::Data< T >::getValue(), n, setFinerSparseGrid(), and SparseGridTopology().

Referenced by init().

void sofa::component::topology::SparseGridTopology::computeBoundingBox	(	const helper::vector< Vector3 > &	vertices,
		SReal &	xmin,
		SReal &	xmax,
		SReal &	ymin,
		SReal &	ymax,
		SReal &	zmin,
		SReal &	zmax
	)			const `[protected]`

Referenced by buildFromTriangleMesh().

template<class T >

void sofa::component::topology::SparseGridTopology::constructCollisionModels	(	const sofa::helper::vector< sofa::core::componentmodel::topology::BaseMeshTopology * > &	list_mesh,
		const sofa::helper::vector< sofa::helper::vector< Vec< 3, T > > * > &	list_X
	)			const `[inline, protected]`

Definition at line 469 of file SparseGridTopology.cpp.

References dataVoxels, sofa::core::objectmodel::Data< T >::getValue(), marchingCubes, and sofa::helper::MarchingCubeUtility::run().

Referenced by updateMesh().

virtual int sofa::component::topology::SparseGridTopology::findCube	(	const Vector3 &	pos,
		SReal &	fx,
		SReal &	fy,
		SReal &	fz
	)			`[virtual]`

return the cube containing the given point (or -1 if not found), as well as deplacements from its first corner in terms of dx, dy, dz (i.e.

barycentric coordinates).

Referenced by sofa::component::mapping::BarycentricMapperSparseGridTopology< In, Out >::init().

virtual int sofa::component::topology::SparseGridTopology::findNearestCube	(	const Vector3 &	pos,
		SReal &	fx,
		SReal &	fy,
		SReal &	fz
	)			`[virtual]`

return the cube containing the given point (or -1 if not found), as well as deplacements from its first corner in terms of dx, dy, dz (i.e.

barycentric coordinates).

Referenced by sofa::component::mapping::BarycentricMapperSparseGridTopology< In, Out >::init().

helper::fixed_array< int, 6 > sofa::component::topology::SparseGridTopology::findneighboorCubes ( int indice ) [virtual]

return indices of 6 neighboor cubes

Definition at line 1132 of file SparseGridTopology.cpp.

References _indicesOfCubeinRegularGrid, _indicesOfRegularCubeInSparseGrid, _regularGrid, sofa::component::topology::RegularGridTopology::getCubeCoordinate(), sofa::component::topology::RegularGridTopology::getCubeIndex(), getNx(), getNy(), and getNz().

SparseGridTopology* sofa::component::topology::SparseGridTopology::getCoarserSparseGrid ( ) const [inline]

Definition at line 161 of file SparseGridTopology.h.

References _coarserSparseGrid.

SparseGridTopology* sofa::component::topology::SparseGridTopology::getFinerSparseGrid ( ) const [inline]

Definition at line 159 of file SparseGridTopology.h.

References _finerSparseGrid.

virtual const SeqCubes& sofa::component::topology::SparseGridTopology::getHexas ( ) [inline, virtual]

Reimplemented from sofa::component::topology::MeshTopology.

Definition at line 319 of file SparseGridTopology.h.

References _alreadyInit, and init().

Referenced by getNbHexas().

Vector3 sofa::component::topology::SparseGridTopology::getMax ( ) [inline]

Definition at line 137 of file SparseGridTopology.h.

References _max, and sofa::core::objectmodel::Data< T >::getValue().

void sofa::component::topology::SparseGridTopology::getMesh ( sofa::helper::io::Mesh & m )

Definition at line 462 of file SparseGridTopology.cpp.

References dataVoxels, sofa::core::objectmodel::Data< T >::getValue(), marchingCubes, and sofa::helper::MarchingCubeUtility::run().

Vector3 sofa::component::topology::SparseGridTopology::getMin ( ) [inline]

Definition at line 132 of file SparseGridTopology.h.

References _min, and sofa::core::objectmodel::Data< T >::getValue().

Referenced by buildFromFiner().

Vec<3, int> sofa::component::topology::SparseGridTopology::getN ( ) const [inline]

Definition at line 107 of file SparseGridTopology.h.

References n.

virtual int sofa::component::topology::SparseGridTopology::getNbHexas ( ) [inline, virtual]

Reimplemented from sofa::component::topology::MeshTopology.

Definition at line 331 of file SparseGridTopology.h.

References getHexas().

virtual int sofa::component::topology::SparseGridTopology::getNbPoints ( ) const [inline, virtual]

Reimplemented from sofa::component::topology::MeshTopology.

Definition at line 325 of file SparseGridTopology.h.

References _alreadyInit, and init().

int sofa::component::topology::SparseGridTopology::getNbVirtualFinerLevels ( ) const [inline]

Definition at line 117 of file SparseGridTopology.h.

References _nbVirtualFinerLevels, and sofa::core::objectmodel::Data< T >::getValue().

int sofa::component::topology::SparseGridTopology::getNx ( ) const [inline]

Definition at line 108 of file SparseGridTopology.h.

References n.

Referenced by buildFromFiner(), buildFromRawVoxelFile(), buildFromTriangleMesh(), buildFromVoxelFile(), and findneighboorCubes().

int sofa::component::topology::SparseGridTopology::getNy ( ) const [inline]

Definition at line 109 of file SparseGridTopology.h.

References n.

Referenced by buildFromFiner(), buildFromRawVoxelFile(), buildFromTriangleMesh(), buildFromVoxelFile(), and findneighboorCubes().

int sofa::component::topology::SparseGridTopology::getNz ( ) const [inline]

Definition at line 110 of file SparseGridTopology.h.

References n.

Referenced by buildFromFiner(), buildFromRawVoxelFile(), buildFromTriangleMesh(), buildFromVoxelFile(), and findneighboorCubes().

Vector3 sofa::component::topology::SparseGridTopology::getPointPos ( int i ) [inline]

Definition at line 170 of file SparseGridTopology.h.

References sofa::component::topology::MeshTopology::seqPoints.

SparseGridTopology::Type sofa::component::topology::SparseGridTopology::getType ( int i ) [virtual]

return the type of the i-th cube

Definition at line 1150 of file SparseGridTopology.cpp.

References _types.

Referenced by sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::accumulateForceLarge(), sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::accumulateForcePolar(), buildFromFiner(), sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::draw(), sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::initLarge(), and sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::initPolar().

bool sofa::component::topology::SparseGridTopology::getVoxel ( unsigned int index ) const [inline]

Definition at line 183 of file SparseGridTopology.h.

References dataVoxels, and sofa::core::objectmodel::Data< T >::getValue().

bool sofa::component::topology::SparseGridTopology::getVoxel	(	unsigned int	x,
		unsigned int	y,
		unsigned int	z
	)			`[inline]`

Definition at line 178 of file SparseGridTopology.h.

References dataResolution.

SReal sofa::component::topology::SparseGridTopology::getXmax ( ) [inline]

Definition at line 138 of file SparseGridTopology.h.

References _max, and sofa::core::objectmodel::Data< T >::getValue().

Referenced by buildFromFiner(), buildFromRawVoxelFile(), buildFromTriangleMesh(), and buildFromVoxelFile().

SReal sofa::component::topology::SparseGridTopology::getXmin ( ) [inline]

Definition at line 133 of file SparseGridTopology.h.

References _min, and sofa::core::objectmodel::Data< T >::getValue().

Referenced by buildFromFiner(), buildFromRawVoxelFile(), buildFromTriangleMesh(), and buildFromVoxelFile().

SReal sofa::component::topology::SparseGridTopology::getYmax ( ) [inline]

Definition at line 139 of file SparseGridTopology.h.

References _max, and sofa::core::objectmodel::Data< T >::getValue().

Referenced by buildFromFiner(), buildFromRawVoxelFile(), buildFromTriangleMesh(), and buildFromVoxelFile().

SReal sofa::component::topology::SparseGridTopology::getYmin ( ) [inline]

Definition at line 134 of file SparseGridTopology.h.

References _min, and sofa::core::objectmodel::Data< T >::getValue().

Referenced by buildFromFiner(), buildFromRawVoxelFile(), buildFromTriangleMesh(), and buildFromVoxelFile().

SReal sofa::component::topology::SparseGridTopology::getZmax ( ) [inline]

Definition at line 140 of file SparseGridTopology.h.

References _max, and sofa::core::objectmodel::Data< T >::getValue().

Referenced by buildFromFiner(), buildFromRawVoxelFile(), buildFromTriangleMesh(), and buildFromVoxelFile().

SReal sofa::component::topology::SparseGridTopology::getZmin ( ) [inline]

Definition at line 135 of file SparseGridTopology.h.

References _min, and sofa::core::objectmodel::Data< T >::getValue().

Referenced by buildFromFiner(), buildFromRawVoxelFile(), buildFromTriangleMesh(), and buildFromVoxelFile().

bool sofa::component::topology::SparseGridTopology::hasPos ( ) const [inline, virtual]

Reimplemented from sofa::component::topology::MeshTopology.

Definition at line 142 of file SparseGridTopology.h.

void sofa::component::topology::SparseGridTopology::init ( void ) [virtual]

Initialization method called at graph modification, during bottom-up traversal.

Reimplemented from sofa::component::topology::MeshTopology.

Definition at line 131 of file SparseGridTopology.cpp.

References _alreadyInit, _finerSparseGrid, _nbVirtualFinerLevels, _nodeAdjacency, _nodeCubesAdjacency, BEFORE, BEHIND, buildAsFinest(), buildFromFiner(), buildVirtualFinerLevels(), DOWN, sofa::core::objectmodel::Data< T >::getValue(), sofa::component::topology::MeshTopology::invalidate(), LEFT, n, RIGHT, sofa::component::topology::MeshTopology::seqHexas, sofa::component::topology::MeshTopology::seqPoints, and UP.

Referenced by getHexas(), and getNbPoints().

bool sofa::component::topology::SparseGridTopology::load ( const char * filename ) [virtual]

Load the topology from a file.

The default implementation supports the following formats: obj, gmsh, mesh (custom simple text file), xs3 (deprecated description of mass-springs networks).

Reimplemented from sofa::core::componentmodel::topology::BaseMeshTopology.

Definition at line 120 of file SparseGridTopology.cpp.

References sofa::core::componentmodel::topology::BaseMeshTopology::d_filename, sofa::helper::system::DataRepository, and sofa::core::objectmodel::Data< T >::setValue().

void sofa::component::topology::SparseGridTopology::propagateFrom	(	const int	i,
		const int	j,
		const int	k,
		RegularGridTopology &	regularGrid,
		vector< Type > &	regularGridTypes,
		vector< bool > &	alreadyTested
	)			const `[protected]`

start from a seed cell (i,j,k) the OUTSIDE filling is propagated to neighboor cells until meet a BOUNDARY cell (this function is called from all border cells of the RegularGrid)

Definition at line 1297 of file SparseGridTopology.cpp.

References BOUNDARY, sofa::component::topology::GridTopology::cube(), sofa::component::topology::GridTopology::getNx(), sofa::component::topology::GridTopology::getNy(), sofa::component::topology::GridTopology::getNz(), and OUTSIDE.

Referenced by voxelizeTriangleMesh().

void sofa::component::topology::SparseGridTopology::setCoarserSparseGrid ( SparseGridTopology * csp ) [inline]

Definition at line 162 of file SparseGridTopology.h.

References _coarserSparseGrid.

void sofa::component::topology::SparseGridTopology::setDimVoxels	(	int	a,
		int	b,
		int	c
	)			`[inline]`

Definition at line 175 of file SparseGridTopology.h.

References dataResolution.

void sofa::component::topology::SparseGridTopology::setFinerSparseGrid ( SparseGridTopology * fsp ) [inline]

Definition at line 160 of file SparseGridTopology.h.

References _finerSparseGrid.

Referenced by buildVirtualFinerLevels().

void sofa::component::topology::SparseGridTopology::setMax ( Vector3 val ) [inline]

Definition at line 126 of file SparseGridTopology.h.

References _min, and sofa::core::objectmodel::Data< T >::setValue().

void sofa::component::topology::SparseGridTopology::setMin ( Vector3 val ) [inline]

Definition at line 120 of file SparseGridTopology.h.

References _min, and sofa::core::objectmodel::Data< T >::setValue().

Referenced by buildFromFiner().

void sofa::component::topology::SparseGridTopology::setN ( Vec3i _n ) [inline]

Definition at line 112 of file SparseGridTopology.h.

References n.

void sofa::component::topology::SparseGridTopology::setNbVirtualFinerLevels ( int n ) [inline]

Definition at line 118 of file SparseGridTopology.h.

References _nbVirtualFinerLevels, and sofa::core::objectmodel::Data< T >::setValue().

void sofa::component::topology::SparseGridTopology::setNx ( int _n ) [inline]

Definition at line 113 of file SparseGridTopology.h.

References n.

Referenced by buildFromFiner().

void sofa::component::topology::SparseGridTopology::setNy ( int _n ) [inline]

Definition at line 114 of file SparseGridTopology.h.

References n.

Referenced by buildFromFiner().

void sofa::component::topology::SparseGridTopology::setNz ( int _n ) [inline]

Definition at line 115 of file SparseGridTopology.h.

References n.

Referenced by buildFromFiner().

void sofa::component::topology::SparseGridTopology::setSizeVoxel	(	float	a,
		float	b,
		float	c
	)			`[inline]`

Definition at line 176 of file SparseGridTopology.h.

References sofa::core::objectmodel::Data< T >::setValue(), and voxelSize.

void sofa::component::topology::SparseGridTopology::setVoxel	(	int	index,
		unsigned char	value
	)			`[inline, protected]`

Definition at line 253 of file SparseGridTopology.h.

References sofa::core::objectmodel::Data< T >::beginEdit(), and dataVoxels.

Referenced by buildFromRawVoxelFile(), and buildFromVoxelFile().

void sofa::component::topology::SparseGridTopology::setXmax ( SReal val ) [inline]

Definition at line 128 of file SparseGridTopology.h.

References _max, sofa::core::objectmodel::Data< T >::getValue(), and sofa::core::objectmodel::Data< T >::setValue().

Referenced by buildFromFiner().

void sofa::component::topology::SparseGridTopology::setXmin ( SReal val ) [inline]

Definition at line 121 of file SparseGridTopology.h.

References _min, sofa::core::objectmodel::Data< T >::getValue(), and sofa::core::objectmodel::Data< T >::setValue().

void sofa::component::topology::SparseGridTopology::setYmax ( SReal val ) [inline]

Definition at line 129 of file SparseGridTopology.h.

References _max, sofa::core::objectmodel::Data< T >::getValue(), and sofa::core::objectmodel::Data< T >::setValue().

Referenced by buildFromFiner().

void sofa::component::topology::SparseGridTopology::setYmin ( SReal val ) [inline]

Definition at line 122 of file SparseGridTopology.h.

References _min, sofa::core::objectmodel::Data< T >::getValue(), and sofa::core::objectmodel::Data< T >::setValue().

void sofa::component::topology::SparseGridTopology::setZmax ( SReal val ) [inline]

Definition at line 130 of file SparseGridTopology.h.

References _max, sofa::core::objectmodel::Data< T >::getValue(), and sofa::core::objectmodel::Data< T >::setValue().

Referenced by buildFromFiner().

void sofa::component::topology::SparseGridTopology::setZmin ( SReal val ) [inline]

Definition at line 123 of file SparseGridTopology.h.

References _min, sofa::core::objectmodel::Data< T >::getValue(), and sofa::core::objectmodel::Data< T >::setValue().

void sofa::component::topology::SparseGridTopology::updateEdges ( ) [protected, virtual]

Reimplemented from sofa::component::topology::MeshTopology.

Definition at line 1161 of file SparseGridTopology.cpp.

References sofa::core::objectmodel::Data< T >::getValue(), sofa::component::topology::MeshTopology::seqEdges, and sofa::component::topology::MeshTopology::seqHexas.

void sofa::component::topology::SparseGridTopology::updateHexas ( ) [protected, virtual]

Reimplemented from sofa::component::topology::MeshTopology.

Definition at line 1223 of file SparseGridTopology.cpp.

void sofa::component::topology::SparseGridTopology::updateMesh ( )

void sofa::component::topology::SparseGridTopology::updateQuads ( ) [protected, virtual]

Reimplemented from sofa::component::topology::MeshTopology.

Definition at line 1193 of file SparseGridTopology.cpp.

References sofa::core::objectmodel::Data< T >::getValue(), sofa::component::topology::MeshTopology::seqHexas, and sofa::component::topology::MeshTopology::seqQuads.

void sofa::component::topology::SparseGridTopology::voxelizeTriangleMesh	(	helper::io::Mesh *	mesh,
		RegularGridTopology &	regularGrid,
		vector< Type > &	regularGridTypes
	)			const `[protected]`

Definition at line 538 of file SparseGridTopology.cpp.

References BOUNDARY, sofa::helper::polygon_cube_intersection::fast_polygon_intersects_cube(), sofa::helper::polygon_cube_intersection::get_polygon_normal(), sofa::helper::io::Mesh::getFacets(), sofa::component::topology::GridTopology::getHexaCopy(), sofa::component::topology::GridTopology::getNbHexas(), sofa::component::topology::GridTopology::getNx(), sofa::component::topology::GridTopology::getNy(), sofa::component::topology::GridTopology::getNz(), sofa::component::topology::RegularGridTopology::getPoint(), sofa::helper::io::Mesh::getVertices(), INSIDE, and propagateFrom().

Referenced by buildFromTriangleMesh().

Field Documentation

bool sofa::component::topology::SparseGridTopology::_alreadyInit [protected]

Definition at line 264 of file SparseGridTopology.h.

Referenced by getHexas(), getNbPoints(), init(), and SparseGridTopology().

SparseGridTopology* sofa::component::topology::SparseGridTopology::_coarserSparseGrid [protected]

an eventual coarser sparse grid

Definition at line 251 of file SparseGridTopology.h.

Referenced by buildFromFiner(), getCoarserSparseGrid(), setCoarserSparseGrid(), and SparseGridTopology().

SparseGridTopology* sofa::component::topology::SparseGridTopology::_finerSparseGrid [protected]

an eventual finer sparse grid that can be used to built this coarser sparse grid

Definition at line 250 of file SparseGridTopology.h.

Referenced by buildFromFiner(), getFinerSparseGrid(), init(), setFinerSparseGrid(), and SparseGridTopology().

HierarchicalCubeMap sofa::component::topology::SparseGridTopology::_hierarchicalCubeMap

Definition at line 80 of file SparseGridTopology.h.

Referenced by buildFromFiner().

HierarchicalPointMap sofa::component::topology::SparseGridTopology::_hierarchicalPointMap

Definition at line 87 of file SparseGridTopology.h.

Referenced by buildFromFiner().

vector< int > sofa::component::topology::SparseGridTopology::_indicesOfCubeinRegularGrid

to redirect an indice of a cube in the sparse grid to its indice in the regular grid

Definition at line 168 of file SparseGridTopology.h.

Referenced by buildFromFiner(), buildFromRegularGridTypes(), and findneighboorCubes().

vector< int > sofa::component::topology::SparseGridTopology::_indicesOfRegularCubeInSparseGrid

to redirect an indice of a cube in the regular grid to its indice in the sparse grid

Definition at line 167 of file SparseGridTopology.h.

Referenced by buildFromFiner(), buildFromRawVoxelFile(), buildFromRegularGridTypes(), buildFromVoxelFile(), and findneighboorCubes().

InverseHierarchicalCubeMap sofa::component::topology::SparseGridTopology::_inverseHierarchicalCubeMap

Definition at line 82 of file SparseGridTopology.h.

Referenced by buildFromFiner().

InverseHierarchicalPointMap sofa::component::topology::SparseGridTopology::_inverseHierarchicalPointMap

Definition at line 89 of file SparseGridTopology.h.

Referenced by buildFromFiner().

PointMap sofa::component::topology::SparseGridTopology::_inversePointMap

a fine point indice -> corresponding point in coarser level

Definition at line 92 of file SparseGridTopology.h.

Referenced by buildFromFiner().

Data< Vector3 > sofa::component::topology::SparseGridTopology::_max [protected]

Definition at line 196 of file SparseGridTopology.h.

Referenced by buildFromRawVoxelFile(), buildFromTriangleMesh(), buildFromVoxelFile(), getMax(), getXmax(), getYmax(), getZmax(), setXmax(), setYmax(), setZmax(), and updateMesh().

Data< Vector3 > sofa::component::topology::SparseGridTopology::_min [protected]

Definition at line 195 of file SparseGridTopology.h.

Referenced by buildFromRawVoxelFile(), buildFromTriangleMesh(), buildFromVoxelFile(), getMin(), getXmin(), getYmin(), getZmin(), setMax(), setMin(), setXmin(), setYmin(), setZmin(), and updateMesh().

Data< int > sofa::component::topology::SparseGridTopology::_nbVirtualFinerLevels [protected]

create virtual (not in the animation tree) finer sparse grids in order to dispose of finest information (usefull to compute better mechanical properties for example)

Definition at line 197 of file SparseGridTopology.h.

Referenced by buildVirtualFinerLevels(), getNbVirtualFinerLevels(), init(), and setNbVirtualFinerLevels().

NodeAdjacency sofa::component::topology::SparseGridTopology::_nodeAdjacency

Definition at line 97 of file SparseGridTopology.h.

Referenced by init().

NodeCornersAdjacency sofa::component::topology::SparseGridTopology::_nodeCornersAdjacency

Definition at line 101 of file SparseGridTopology.h.

NodeCubesAdjacency sofa::component::topology::SparseGridTopology::_nodeCubesAdjacency

Definition at line 99 of file SparseGridTopology.h.

Referenced by init().

PointMap sofa::component::topology::SparseGridTopology::_pointMap

a coarse point indice -> corresponding point in finer level

Definition at line 91 of file SparseGridTopology.h.

Referenced by buildFromFiner().

RegularGridTopology sofa::component::topology::SparseGridTopology::_regularGrid

based on a corresponding RegularGrid

Definition at line 166 of file SparseGridTopology.h.

Referenced by buildFromFiner(), buildFromRawVoxelFile(), buildFromRegularGridTypes(), buildFromTriangleMesh(), buildFromVoxelFile(), and findneighboorCubes().

sofa::helper::vector<Type> sofa::component::topology::SparseGridTopology::_types [protected]

BOUNDARY or FULL filled cells.

Definition at line 212 of file SparseGridTopology.h.

Referenced by buildFromFiner(), buildFromRegularGridTypes(), and getType().

bool sofa::component::topology::SparseGridTopology::_usingMC [protected]

Definition at line 210 of file SparseGridTopology.h.

Referenced by buildAsFinest(), SparseGridTopology(), and updateMesh().

helper::vector<SparseGridTopology*> sofa::component::topology::SparseGridTopology::_virtualFinerLevels

saving the virtual levels (cf _nbVirtualFinerLevels)

Definition at line 104 of file SparseGridTopology.h.

Referenced by buildVirtualFinerLevels().

Data< unsigned int > sofa::component::topology::SparseGridTopology::convolutionSize [protected]

Definition at line 202 of file SparseGridTopology.h.

Referenced by updateMesh().

const int sofa::component::topology::SparseGridTopology::cornerIndicesFromFineToCoarse [static]

Initial value:

      {
          
          {  0,  9,  3, 12,  1, 10,  4, 13},  
          {  9, 18, 12, 21, 10, 19, 13, 22},
          {  3, 12,  6, 15,  4, 13,  7, 16},
          { 12, 21, 15, 24, 13, 22, 16, 25},
          {  1, 10,  4, 13,  2, 11,  5, 14},
          { 10, 19, 13, 22, 11, 20, 14, 23},
          {  4, 13,  7, 16,  5, 14,  8, 17},
          { 13, 22, 16, 25, 14, 23, 17, 26} 
      }

Definition at line 68 of file SparseGridTopology.h.

Referenced by buildFromFiner().

Data< Vec3i > sofa::component::topology::SparseGridTopology::dataResolution [protected]

Definition at line 199 of file SparseGridTopology.h.

Referenced by buildFromRawVoxelFile(), getVoxel(), setDimVoxels(), and updateMesh().

Data< vector< unsigned char > > sofa::component::topology::SparseGridTopology::dataVoxels [protected]

Definition at line 209 of file SparseGridTopology.h.

Referenced by buildFromRawVoxelFile(), buildFromVoxelFile(), constructCollisionModels(), getMesh(), getVoxel(), setVoxel(), and updateMesh().

bool sofa::component::topology::SparseGridTopology::isVirtual [protected]

Definition at line 188 of file SparseGridTopology.h.

Referenced by buildFromRawVoxelFile(), and SparseGridTopology().

MarchingCubeUtility sofa::component::topology::SparseGridTopology::marchingCubes [protected]

Definition at line 208 of file SparseGridTopology.h.

Referenced by constructCollisionModels(), getMesh(), and updateMesh().

Data< unsigned int > sofa::component::topology::SparseGridTopology::marchingCubeStep [protected]

Definition at line 201 of file SparseGridTopology.h.

Referenced by updateMesh().

Data< Vec<3, int> > sofa::component::topology::SparseGridTopology::n [protected]

cutting number in all directions

Definition at line 194 of file SparseGridTopology.h.

Referenced by buildFromVoxelFile(), buildVirtualFinerLevels(), getN(), getNx(), getNy(), getNz(), init(), setN(), setNx(), setNy(), and setNz().

Data< Vector3 > sofa::component::topology::SparseGridTopology::voxelSize [protected]

Definition at line 200 of file SparseGridTopology.h.

Referenced by buildFromRawVoxelFile(), setSizeVoxel(), and updateMesh().

const float sofa::component::topology::SparseGridTopology::WEIGHT27 [static]

Initial value:

      {
      
      {1.0, 0.5, 0.0, 0.5, 0.25, 0.0, 0.0, 0.0, 0.0, 0.5, 0.25, 0.0, 0.25, 0.125, 0.0,  0.0, 0.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  0.0, 0.0, 0.0, 0.0}, 
      {0.0, 0.0, 0.0, 0.0, 0.0,  0.0, 0.0, 0.0, 0.0, 0.5, 0.25, 0.0, 0.25, 0.125, 0.0,  0.0, 0.0,  0.0, 1.0, 0.5, 0.0, 0.5, 0.25, 0.0, 0.0, 0.0, 0.0},
      {0.0, 0.0, 0.0, 0.5, 0.25, 0.0, 1.0, 0.5, 0.0, 0.0, 0.0,  0.0, 0.25, 0.125, 0.0,  0.5, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  0.0, 0.0, 0.0, 0.0},
      {0.0, 0.0, 0.0, 0.0, 0.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  0.0, 0.25, 0.125, 0.0,  0.5, 0.25, 0.0, 0.0, 0.0, 0.0, 0.5, 0.25, 0.0, 1.0, 0.5, 0.0},
      {0.0, 0.5, 1.0, 0.0, 0.25, 0.5, 0.0, 0.0, 0.0, 0.0, 0.25, 0.5, 0.0,  0.125, 0.25, 0.0, 0.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  0.0, 0.0, 0.0, 0.0},
      {0.0, 0.0, 0.0, 0.0, 0.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.5, 0.0,  0.125, 0.25, 0.0, 0.0,  0.0, 0.0, 0.5, 1.0, 0.0, 0.25, 0.5, 0.0, 0.0, 0.0},
      {0.0, 0.0, 0.0, 0.0, 0.25, 0.5, 0.0, 0.5, 1.0, 0.0, 0.0,  0.0, 0.0,  0.125, 0.25, 0.0, 0.25, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0,  0.0, 0.0, 0.0, 0.0},
      {0.0, 0.0, 0.0, 0.0, 0.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  0.0, 0.0,  0.125, 0.25, 0.0, 0.25, 0.5, 0.0, 0.0, 0.0, 0.0, 0.25, 0.5, 0.0, 0.5, 1.0}
      }

Definition at line 67 of file SparseGridTopology.h.

Referenced by buildFromFiner().

The documentation for this class was generated from the following files:

modules/sofa/component/topology/SparseGridTopology.h
modules/sofa/component/topology/SparseGridTopology.cpp

sofa::component::topology::SparseGridTopology Class Reference

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