-
Notifications
You must be signed in to change notification settings - Fork 299
/
FreeMotionAnimationLoop.h
74 lines (61 loc) · 3.95 KB
/
FreeMotionAnimationLoop.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
/******************************************************************************
* SOFA, Simulation Open-Framework Architecture *
* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
* *
* This program 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 program 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 program. If not, see <http://www.gnu.org/licenses/>. *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#pragma once
#include <sofa/component/animationloop/config.h>
#include <sofa/simulation/CollisionAnimationLoop.h>
#include <sofa/core/MultiVecId.h>
namespace sofa::core::behavior
{
class ConstraintSolver;
}
namespace sofa::component::animationloop
{
class SOFA_COMPONENT_ANIMATIONLOOP_API FreeMotionAnimationLoop : public sofa::simulation::CollisionAnimationLoop
{
public:
SOFA_CLASS(FreeMotionAnimationLoop, sofa::simulation::CollisionAnimationLoop);
public:
void step (const sofa::core::ExecParams* params, SReal dt) override;
void init() override;
SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA()
Data<bool> m_solveVelocityConstraintFirst;
Data<bool> d_solveVelocityConstraintFirst; ///< solve separately velocity constraint violations before position constraint violations
Data<bool> d_threadSafeVisitor; ///< If true, do not use realloc and free visitors in fwdInteractionForceField.
Data<bool> d_parallelCollisionDetectionAndFreeMotion; ///<If true, executes free motion and collision detection in parallel
Data<bool> d_parallelODESolving; ///<If true, executes all free motions in parallel
protected:
FreeMotionAnimationLoop();
~FreeMotionAnimationLoop() override ;
///< The ConstraintSolver used in this animation loop (required)
SingleLink<FreeMotionAnimationLoop, sofa::core::behavior::ConstraintSolver, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> l_constraintSolver;
void computeFreeMotionAndCollisionDetection(const sofa::core::ExecParams* params, const core::ConstraintParams& cparams, SReal dt,
sofa::core::MultiVecId pos,
sofa::core::MultiVecId freePos,
sofa::core::MultiVecDerivId freeVel,
simulation::common::MechanicalOperations* mop);
void computeFreeMotion(const sofa::core::ExecParams* params, const core::ConstraintParams& cparams, SReal dt,
sofa::core::MultiVecId pos,
sofa::core::MultiVecId freePos,
sofa::core::MultiVecDerivId freeVel,
simulation::common::MechanicalOperations* mop);
};
} // namespace sofa::component::animationloop