-
Notifications
You must be signed in to change notification settings - Fork 299
/
WriteState.h
159 lines (132 loc) · 6.43 KB
/
WriteState.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
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
/******************************************************************************
* 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/playback/config.h>
#include <sofa/core/behavior/ForceField.h>
#include <sofa/core/behavior/BaseMechanicalState.h>
#include <sofa/core/objectmodel/BaseObject.h>
#include <sofa/core/objectmodel/Event.h>
#include <sofa/simulation/AnimateBeginEvent.h>
#include <sofa/simulation/AnimateEndEvent.h>
#include <sofa/defaulttype/DataTypeInfo.h>
#include <sofa/simulation/Visitor.h>
#include <sofa/core/objectmodel/DataFileName.h>
#if SOFA_COMPONENT_PLAYBACK_HAVE_ZLIB
#include <zlib.h>
#endif
#include <fstream>
namespace sofa::component::playback
{
/** Write State vectors to file at a given set of time instants
* A period can be etablished at the last time instant
* The DoFs to print can be chosen using DOFsX and DOFsV
* Stop to write the state if the kinematic energy reach a given threshold (stopAt)
* The energy will be measured at each period determined by keperiod
*/
class SOFA_COMPONENT_PLAYBACK_API WriteState: public core::objectmodel::BaseObject
{
public:
SOFA_CLASS(WriteState,core::objectmodel::BaseObject);
sofa::core::objectmodel::DataFileName d_filename;
Data < bool > d_writeX; ///< flag enabling output of X vector
Data < bool > d_writeX0; ///< flag enabling output of X0 vector
Data < bool > d_writeV; ///< flag enabling output of V vector
Data < bool > d_writeF; ///< flag enabling output of F vector
Data < type::vector<double> > d_time; ///< set time to write outputs
Data < double > d_period; ///< period between outputs
Data < type::vector<unsigned int> > d_DOFsX; ///< set the position DOFs to write
Data < type::vector<unsigned int> > d_DOFsV; ///< set the velocity DOFs to write
Data < double > d_stopAt; ///< stop the simulation when the given threshold is reached
Data < double > d_keperiod; ///< set the period to measure the kinetic energy increase
protected:
core::behavior::BaseMechanicalState* mmodel;
std::ofstream* outfile;
#if SOFA_COMPONENT_PLAYBACK_HAVE_ZLIB
gzFile gzfile;
#endif
unsigned int nextIteration;
double lastTime;
bool kineticEnergyThresholdReached;
double timeToTestEnergyIncrease;
double savedKineticEnergy;
bool firstExport;
bool periodicExport;
bool validInit;
WriteState();
~WriteState() override;
public:
void init() override;
void reinit() override;
void reset() override;
void handleEvent(sofa::core::objectmodel::Event* event) override;
/// Pre-construction check method called by ObjectFactory.
/// Check that DataTypes matches the MechanicalState.
template<class T>
static bool canCreate(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
{
if (context->getMechanicalState() == nullptr)
{
arg->logError("No mechanical state found in the context node.");
return false;
}
return BaseObject::canCreate(obj, context, arg);
}
};
///Create WriteState component in the graph each time needed
class SOFA_COMPONENT_PLAYBACK_API WriteStateCreator: public simulation::Visitor
{
public:
WriteStateCreator(const core::ExecParams* params);
WriteStateCreator(const core::ExecParams* params, const std::string &_sceneName, bool _recordX, bool _recordV, bool _recordF, bool _createInMapping, int _counterState=0);
Result processNodeTopDown( simulation::Node* ) override;
void setSceneName(std::string &n) { sceneName = n; }
void setRecordX(bool b) {recordX=b;}
void setRecordV(bool b) {recordV=b;}
void setRecordF(bool b) {recordF=b;}
void setCreateInMapping(bool b) { createInMapping=b; }
void setCounter(int c) { counterWriteState = c; }
const char* getClassName() const override { return "WriteStateCreator"; }
void setExportTimes(const type::vector<double>& times) { m_times = times; }
void setPeriod(double period) { m_period = period; }
protected:
std::string sceneName;
std::string extension;
type::vector<double> m_times;
bool recordX,recordV,recordF;
bool createInMapping;
int counterWriteState; //avoid to have two same files if two mechanical objects has the same name
double m_period = 0.0;
void addWriteState(sofa::core::behavior::BaseMechanicalState*ms, simulation::Node* gnode);
};
class SOFA_COMPONENT_PLAYBACK_API WriteStateActivator: public simulation::Visitor
{
public:
WriteStateActivator( const core::ExecParams* params, bool active) : Visitor(params), state(active) {}
Result processNodeTopDown( simulation::Node* ) override;
bool getState() const { return state; }
void setState(bool active) { state=active; }
const char* getClassName() const override { return "WriteStateActivator"; }
protected:
void changeStateWriter(sofa::component::playback::WriteState *ws);
bool state;
};
} // namespace sofa::component::playback