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CenterOfMassMulti2Mapping.h
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CenterOfMassMulti2Mapping.h
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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 *
******************************************************************************/
#pragma once
#include <sofa/component/mapping/linear/config.h>
#include <sofa/component/mapping/linear/LinearMapping.h>
#include <sofa/core/Multi2Mapping.h>
#include <sofa/core/behavior/BaseMass.h>
#include <sofa/core/VecId.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
namespace sofa::component::mapping::linear
{
template <class TIn1, class TIn2, class TOut>
class CenterOfMassMulti2Mapping : public LinearMulti2Mapping<TIn1, TIn2, TOut>
{
public:
SOFA_CLASS(SOFA_TEMPLATE3(CenterOfMassMulti2Mapping, TIn1, TIn2, TOut),
SOFA_TEMPLATE3(LinearMulti2Mapping, TIn1, TIn2, TOut) );
typedef LinearMulti2Mapping<TIn1, TIn2, TOut> Inherit;
typedef TIn1 In1;
typedef TIn2 In2;
typedef TOut Out;
typedef In1 In1DataTypes;
typedef typename In1::Coord In1Coord;
typedef typename In1::Deriv In1Deriv;
typedef typename In1::VecCoord In1VecCoord;
typedef typename In1::VecDeriv In1VecDeriv;
typedef In2 In2DataTypes;
typedef typename In2::Coord In2Coord;
typedef typename In2::Deriv In2Deriv;
typedef typename In2::VecCoord In2VecCoord;
typedef typename In2::VecDeriv In2VecDeriv;
typedef Out OutDataTypes;
typedef typename Out::Coord OutCoord;
typedef typename Out::Deriv OutDeriv;
typedef typename Out::VecCoord OutVecCoord;
typedef typename Out::VecDeriv OutVecDeriv;
typedef typename OutCoord::value_type Real;
typedef typename In1::MatrixDeriv In1MatrixDeriv;
typedef Data<In1VecCoord> In1DataVecCoord;
typedef Data<In1VecDeriv> In1DataVecDeriv;
typedef Data<In1MatrixDeriv> In1DataMatrixDeriv;
typedef typename In2::MatrixDeriv In2MatrixDeriv;
typedef Data<In2VecCoord> In2DataVecCoord;
typedef Data<In2VecDeriv> In2DataVecDeriv;
typedef Data<In2MatrixDeriv> In2DataMatrixDeriv;
typedef typename Out::MatrixDeriv OutMatrixDeriv;
typedef Data<OutVecCoord> OutDataVecCoord;
typedef Data<OutVecDeriv> OutDataVecDeriv;
typedef Data<OutMatrixDeriv> OutDataMatrixDeriv;
void apply(
const core::MechanicalParams* mparams, const type::vector<OutDataVecCoord*>& dataVecOutPos,
const type::vector<const In1DataVecCoord*>& dataVecIn1Pos ,
const type::vector<const In2DataVecCoord*>& dataVecIn2Pos) override;
void applyJ(
const core::MechanicalParams* mparams, const type::vector< OutDataVecDeriv*>& dataVecOutVel,
const type::vector<const In1DataVecDeriv*>& dataVecIn1Vel,
const type::vector<const In2DataVecDeriv*>& dataVecIn2Vel) override;
void applyJT(
const core::MechanicalParams* mparams, const type::vector< In1DataVecDeriv*>& dataVecOut1Force,
const type::vector< In2DataVecDeriv*>& dataVecOut2Force,
const type::vector<const OutDataVecDeriv*>& dataVecInForce) override;
void applyJT(
const core::ConstraintParams* /*cparams*/, const type::vector< In1DataMatrixDeriv*>& /* dataMatOut1Const */ ,
const type::vector< In2DataMatrixDeriv*>& /*dataMatOut2Const*/ ,
const type::vector<const OutDataMatrixDeriv*>& /*dataMatInConst*/) override
{
msg_warning() << "This object only support Direct Solving but an Indirect Solver in the scene is calling method applyJT(constraint) which is not implemented. This will produce un-expected behavior.";
}
void applyDJT(const core::MechanicalParams* /*mparams*/, core::MultiVecDerivId /*inForce*/, core::ConstMultiVecDerivId /*outForce*/) override {}
void init() override;
void draw(const core::visual::VisualParams* vparams) override;
protected:
CenterOfMassMulti2Mapping()
{
}
virtual ~CenterOfMassMulti2Mapping()
{}
type::vector<const core::behavior::BaseMass*> inputBaseMass1;
type::vector<In1Coord> inputWeightedCOM1;
type::vector<In1Deriv> inputWeightedForce1;
type::vector<double> inputTotalMass1;
type::vector<const core::behavior::BaseMass*> inputBaseMass2;
type::vector<In2Coord> inputWeightedCOM2;
type::vector<In2Deriv> inputWeightedForce2;
type::vector<double> inputTotalMass2;
double invTotalMass;
};
#if !defined(SOFA_COMPONENT_MAPPING_CENTEROFMASSMULTI2MAPPING_CPP)
extern template class SOFA_COMPONENT_MAPPING_LINEAR_API CenterOfMassMulti2Mapping< defaulttype::Vec3Types, defaulttype::Rigid3Types, defaulttype::Vec3Types >;
#endif
} // namespace sofa::component::mapping::linear