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SceneUtils.cpp
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SceneUtils.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 "SceneCreator.h"
#include "SceneUtils.h"
#include <sofa/simulation/graph/DAGSimulation.h>
#include "GetVectorVisitor.h"
#include "GetAssembledSizeVisitor.h"
#include <sofa/defaulttype/VecTypes.h>
using sofa::defaulttype::Vec3Types ;
#include <sofa/component/statecontainer/MechanicalObject.h>
typedef sofa::component::statecontainer::MechanicalObject<Vec3Types> MechanicalObject3;
#include <sofa/helper/system/FileRepository.h>
using sofa::helper::system::DataRepository ;
#include <sofa/core/ObjectFactory.h>
using sofa::core::ObjectFactory ;
#include <sofa/linearalgebra/FullVector.h>
namespace sofa::modeling
{
using sofa::defaulttype::Vec3Types;
/////////////////// IMPORTING THE DEPENDENCIES INTO THE NAMESPACE ///////////////////////////
using namespace sofa::defaulttype ;
typedef linearalgebra::FullVector<SReal> FullVector ;
using type::vector;
using sofa::simulation::graph::DAGSimulation ;
using sofa::simulation::GetAssembledSizeVisitor ;
using sofa::simulation::GetVectorVisitor ;
using sofa::simulation::Node ;
Vector getVector( core::ConstVecId id, bool indep )
{
GetAssembledSizeVisitor getSizeVisitor;
getSizeVisitor.setIndependentOnly(indep);
sofa::modeling::getRoot()->execute(getSizeVisitor);
unsigned size;
if (id.type == sofa::core::V_COORD)
size = getSizeVisitor.positionSize();
else
size = getSizeVisitor.velocitySize();
FullVector v(size);
GetVectorVisitor getVec( sofa::core::mechanicalparams::castToExecParams(core::mechanicalparams::defaultInstance()), &v, id);
getVec.setIndependentOnly(indep);
sofa::modeling::getRoot()->execute(getVec);
Vector ve(size);
for(size_t i=0; i<size; i++)
ve(i)=v[i];
return ve;
}
}