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StateChangeVisitor.cpp
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StateChangeVisitor.cpp
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/******************************************************************************
* 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 *
******************************************************************************/
#include <sofa/simulation/StateChangeVisitor.h>
#include <sofa/simulation/Node.h>
#include <sofa/core/topology/TopologicalMapping.h>
#include <sofa/core/BaseMapping.h>
#include <sofa/core/behavior/BaseMechanicalState.h>
namespace sofa::simulation
{
StateChangeVisitor::StateChangeVisitor(const sofa::core::ExecParams* params, sofa::core::topology::Topology* source)
: Visitor(params), root(true), m_source(source)
{
}
void StateChangeVisitor::processStateChange(sofa::core::behavior::BaseMechanicalState* obj)
{
obj->handleStateChange(m_source);
}
Visitor::Result StateChangeVisitor::processNodeTopDown(simulation::Node* node)
{
if (!root && node->mechanicalMapping)
{
if (!node->mechanicalMapping->sameTopology())
{
// stop all topological computations
return RESULT_PRUNE;
}
}
if (node->mechanicalState && testTags(node->mechanicalState))
{
this->processStateChange(node->mechanicalState);
}
// TODO 2019-01-04: epernod remove this hack when mechanicalMapping could be updated directly form MechanicalObject through Data link
// search for mechanical mapping,
for (simulation::Node::ObjectIterator it = node->object.begin(); it != node->object.end(); ++it)
{
sofa::core::BaseMapping* obj = dynamic_cast<sofa::core::BaseMapping*>(it->get());
if (obj != nullptr)
{
const ctime_t t0=begin(node,obj);
obj->handleTopologyChange(); // update the specific TopologicalMapping
end(node,obj,t0);
}
}
root = false; // now we process child nodes
return RESULT_CONTINUE; // continue the propagation of state changes
}
} // namespace sofa::simulation