diff --git a/Collision/PlaneToMeshCollision.cpp b/Collision/PlaneToMeshCollision.cpp
index 0b13d3f049174296af10a127962ef5d338d2b993..2799d8770dcaff24074dca13cd057b08866eed12 100644
--- a/Collision/PlaneToMeshCollision.cpp
+++ b/Collision/PlaneToMeshCollision.cpp
@@ -34,30 +34,28 @@
void PlaneToMeshCollision::doComputeCollision(std::shared_ptr<CollisionPair> pair)
{
- auto mesh = std::static_pointer_cast<MeshCollisionModel>(pair->getFirst());
- auto plane = std::static_pointer_cast<PlaneCollisionModel>(pair->getSecond());
+ auto meshModel = std::static_pointer_cast<MeshCollisionModel>(pair->getFirst());
+ auto planeModel = std::static_pointer_cast<PlaneCollisionModel>(pair->getSecond());
- if (!mesh || !plane)
+ if (!meshModel || !planeModel)
{
return;
}
- double d;
- core::Vec3d planeNormal = plane->getPlaneModel()->getUnitNormal();
- core::Vec3d planePos = plane->getPlaneModel()->getPoint();
+ core::Vec3d normal = planeModel->getPlaneModel()->getUnitNormal();
+ core::Vec3d contactPoint = planeModel->getPlaneModel()->getPoint();
- core::Vec3d vert;
pair->clearContacts();
- for (size_t i = 0; i < mesh->getVertices().size(); i++)//const auto& vertex : mesh->getVertices()
+ const auto &vertices = meshModel->getVertices();
+ for (size_t i = 0, end = vertices.size(); i < end; ++i)
{
- vert = mesh->getVertices()[i];
- d = planeNormal.dot(vert - planePos);
+ auto vertex = vertices[i];
+ auto d = normal.dot(vertex - contactPoint);
if (d < std::numeric_limits<float>::epsilon())
{
- pair->addContact(d, vert, i, planeNormal);// Create contact
+ pair->addContact(meshModel, d, vertex, i, normal);// Create contact
+ pair->addContact(planeModel, d, contactPoint, i, -normal);// Create contact
}
}
- /*std::cout << "@ Collision detection\n";
- pair->printCollisionPairs();*/
}
diff --git a/ContactHandling/PenaltyContactFemToStatic.cpp b/ContactHandling/PenaltyContactFemToStatic.cpp
index 04b09d775fc98d2f5fa2279dd532072ffb0fdc7d..4fab3cdbc78700f06a0c73ed367c528f5ce71b88 100644
--- a/ContactHandling/PenaltyContactFemToStatic.cpp
+++ b/ContactHandling/PenaltyContactFemToStatic.cpp
@@ -44,35 +44,8 @@ PenaltyContactFemToStatic::~PenaltyContactFemToStatic()
void PenaltyContactFemToStatic::computeUnilateralContactForces()
{
- int nodeDofID;
- const double stiffness = 1.0e4, damping = 1.0e5;
- core::Vec3d velocityProjection;
-
- std::vector<std::shared_ptr<Contact>> contactInfo = this->getCollisionPairs()->getContacts();
-
- if (this->getSecondSceneObject()->getType() == core::ClassType::VegaFemSceneObject
- && this->getFirstSceneObject()->getType() == core::ClassType::StaticSceneObject)
- {
- auto femSceneObject = std::static_pointer_cast<VegaFemSceneObject>(this->getSecondSceneObject());
-
- femSceneObject->setContactForcesToZero();
- core::Vec3d force;
- for (size_t i = 0; i < contactInfo.size(); i++)
- {
- nodeDofID = 3 * contactInfo[i]->index;
- velocityProjection = femSceneObject->getVelocityOfNodeWithDofID(nodeDofID);
- velocityProjection = contactInfo[i]->normal.dot(velocityProjection) * contactInfo[i]->normal;
-
- force = stiffness * -contactInfo[i]->depth * contactInfo[i]->normal - damping * velocityProjection;
-
- femSceneObject->setContactForceOfNodeWithDofID(nodeDofID, contactInfo[i]->point, force);
-
- }
- }
- else
- {
- std::cout << "Error: Scene objects don't match the required types in 'PenaltyContactFemToStatic' \n";
- }
+ auto femSceneObject = std::static_pointer_cast<VegaFemSceneObject>(this->getSecondSceneObject());
+ this->computeForces(femSceneObject);
}
void PenaltyContactFemToStatic::computeBilateralContactForces()
diff --git a/ContactHandling/PenaltyContactHandling.cpp b/ContactHandling/PenaltyContactHandling.cpp
index d6e0e291d3dd052a74f4e5c5066300f5e6e91714..3caa1d494550b4c4d22684dc3e7844bb76d770ab 100644
--- a/ContactHandling/PenaltyContactHandling.cpp
+++ b/ContactHandling/PenaltyContactHandling.cpp
@@ -25,14 +25,20 @@
#include "Simulators/VegaFemSceneObject.h"
#include "Core/CollisionPair.h"
-PenaltyContactHandling::PenaltyContactHandling(bool typeBilateral) : ContactHandling(typeBilateral)
+PenaltyContactHandling::PenaltyContactHandling(bool typeBilateral) :
+ ContactHandling(typeBilateral),
+ stiffness(1e4),
+ damping(1e5)
+
{
}
-PenaltyContactHandling::PenaltyContactHandling( bool typeBilateral,
- const std::shared_ptr<SceneObject>& sceneObjFirst,
- const std::shared_ptr<SceneObject>& sceneObjSecond)
- : ContactHandling(typeBilateral,sceneObjFirst,sceneObjSecond)
+PenaltyContactHandling::PenaltyContactHandling(bool typeBilateral,
+ const std::shared_ptr<SceneObject>& sceneObjFirst,
+ const std::shared_ptr<SceneObject>& sceneObjSecond) :
+ ContactHandling(typeBilateral,sceneObjFirst,sceneObjSecond),
+ stiffness(1e4),
+ damping(1e5)
{
}
diff --git a/ContactHandling/PenaltyContactHandling.h b/ContactHandling/PenaltyContactHandling.h
index 1ac597166d1dbb51a4a3c52288794525e5cb2407..444f61ebd064a4a4f9a12b861b82b6e5445f1271 100644
--- a/ContactHandling/PenaltyContactHandling.h
+++ b/ContactHandling/PenaltyContactHandling.h
@@ -26,6 +26,8 @@
// SimMedTK includes
#include "Core/ContactHandling.h"
+#include "Core/CollisionPair.h"
+
/// \brief Penalty based for contact handling
class PenaltyContactHandling : public ContactHandling
{
@@ -33,8 +35,8 @@ public:
PenaltyContactHandling(bool typeBilateral);
PenaltyContactHandling(bool typeBilateral,
- const std::shared_ptr<SceneObject>& sceneObjFirst,
- const std::shared_ptr<SceneObject>& sceneObjSecond);
+ const std::shared_ptr<SceneObject>& sceneObjFirst,
+ const std::shared_ptr<SceneObject>& sceneObjSecond);
virtual ~PenaltyContactHandling();
@@ -45,6 +47,73 @@ public:
/// \brief Get the forces on both the scene objects using penalty method
virtual void computeBilateralContactForces() = 0;
+
+ /// \brief Get the forces on both the scene objects using penalty method
+ virtual void computeForces(std::shared_ptr<SceneObject> sceneObject)
+ {
+ if(sceneObject->computeContactForce())
+ {
+ auto model = sceneObject->getModel();
+ if(!model)
+ {
+ return;
+ }
+
+ auto contactInfo = this->getCollisionPairs()->getContacts(model);
+ sceneObject->setContactForcesToZero();
+ core::Vec3d force;
+ core::Vec3d velocityProjection;
+ int nodeDofID;
+
+ for(size_t i = 0; i < contactInfo.size(); ++i)
+ {
+ nodeDofID = 3 * contactInfo[i]->index;
+ velocityProjection = sceneObject->getVelocity(nodeDofID);
+ velocityProjection = contactInfo[i]->normal.dot(velocityProjection) * contactInfo[i]->normal;
+
+ force = -stiffness * contactInfo[i]->depth * contactInfo[i]->normal - damping * velocityProjection;
+
+ sceneObject->setContactForce(nodeDofID, contactInfo[i]->point, force);
+ }
+ return;
+ }
+ }
+
+ ///
+ /// \brief Set stiffness coefficient
+ ///
+ void setStiffness(const double stiffnessCoeff)
+ {
+ this->stiffness = stiffnessCoeff;
+ }
+
+ ///
+ /// \brief Get the stiffness coefficient
+ ///
+ double getStiffness() const
+ {
+ return this->stiffness;
+ }
+
+ ///
+ /// \brief Set stiffness coefficient
+ ///
+ void setDamping(const double dampingValue)
+ {
+ this->damping = dampingValue;
+ }
+
+ ///
+ /// \brief Get the stiffness coefficient
+ ///
+ double getDamping() const
+ {
+ return this->damping;
+ }
+
+private:
+ double stiffness;
+ double damping;
};
#endif // SMPENALTY_CONTACTHANDLING_H
diff --git a/ContactHandling/UnitTests/PenaltyContactHandlingSpec.cpp b/ContactHandling/UnitTests/PenaltyContactHandlingSpec.cpp
index 42e2e409b9125010dd5006d4173f440f1fa928bd..140cf9d7e763bffd27e58e54a97c6665bca13a10 100644
--- a/ContactHandling/UnitTests/PenaltyContactHandlingSpec.cpp
+++ b/ContactHandling/UnitTests/PenaltyContactHandlingSpec.cpp
@@ -107,7 +107,7 @@ go_bandit([]() {
f.push_back(0);
f.push_back(0);
- fem->setContactForceOfNodeWithDofID(0,core::Vec3d(0,0,0));
+ fem->setContactForce(0,core::Vec3d(0,0,0));
auto &contactForce = fem->getContactForces();
handler->resolveContacts();
diff --git a/Core/CollisionPair.cpp b/Core/CollisionPair.cpp
index f5a7a859e9ab780dc369726f834c936360449fcb..a93d8bccce6227a61f3ac0cfa852f37e2d1681c9 100644
--- a/Core/CollisionPair.cpp
+++ b/Core/CollisionPair.cpp
@@ -22,65 +22,114 @@
//---------------------------------------------------------------------------
#include "Core/CollisionPair.h"
+#include "Core/Model.h"
CollisionPair::CollisionPair() {}
+
+//---------------------------------------------------------------------------
CollisionPair::~CollisionPair() {}
-void CollisionPair::setModels(const std::shared_ptr< Model >& first,
- const std::shared_ptr< Model >& second)
+//---------------------------------------------------------------------------
+void CollisionPair::setModels(std::shared_ptr<Model> first,
+ std::shared_ptr<Model> second)
{
this->modelRepresentations.first = first;
this->modelRepresentations.second = second;
}
-void CollisionPair::addContact(const double& penetrationDepth, const core::Vec3d& vert, const int index, const core::Vec3d& contactNornmal)
+//---------------------------------------------------------------------------
+void CollisionPair::addContact(const double& penetrationDepth,
+ const core::Vec3d& vert,
+ const int index,
+ const core::Vec3d& contactNornmal)
{
- auto contact = std::make_shared<Contact>(penetrationDepth, vert, index, contactNornmal);
- //std::shared_ptr<Contact> contact(new Contact(penetrationDepth, vert, index, contactNornmal));
+ auto contact = std::make_shared<Contact>(penetrationDepth,
+ vert,
+ index,
+ contactNornmal);
this->contacts.emplace_back(contact);
}
-const std::pair< std::shared_ptr< Model >, std::shared_ptr< Model > >&
+//---------------------------------------------------------------------------
+void CollisionPair::addContact(std::shared_ptr<Model> model,
+ const double& penetrationDepth,
+ const core::Vec3d& vert,
+ const int index,
+ const core::Vec3d& contactNornmal)
+{
+ auto contact = std::make_shared<Contact>(penetrationDepth,
+ vert,
+ index,
+ contactNornmal);
+ this->contacts.emplace_back(contact);
+ this->modelContacts[model].emplace_back(contact);
+}
+
+//---------------------------------------------------------------------------
+const std::pair< std::shared_ptr<Model>, std::shared_ptr<Model> >&
CollisionPair::getModels() const
{
- return modelRepresentations;
+ return this->modelRepresentations;
}
+//---------------------------------------------------------------------------
void CollisionPair::clearContacts()
{
- contacts.clear();
+ this->contacts.clear();
}
+//---------------------------------------------------------------------------
int CollisionPair::getNumberOfContacts()
{
- return contacts.size();
+ return this->contacts.size();
}
-std::shared_ptr< Model > CollisionPair::getFirst()
+//---------------------------------------------------------------------------
+std::shared_ptr<Model> CollisionPair::getFirst()
{
return this->modelRepresentations.first;
}
-std::shared_ptr< Model > CollisionPair::getSecond()
+//---------------------------------------------------------------------------
+std::shared_ptr<Model> CollisionPair::getSecond()
{
return this->modelRepresentations.second;
}
+//---------------------------------------------------------------------------
bool CollisionPair::hasContacts()
{
return !this->contacts.empty();
}
+//---------------------------------------------------------------------------
std::vector< std::shared_ptr< Contact > >& CollisionPair::getContacts()
{
- return contacts;
+ return this->contacts;
}
-const std::vector< std::shared_ptr< Contact > >& CollisionPair::getContacts() const
+//---------------------------------------------------------------------------
+const std::vector< std::shared_ptr< Contact > >&
+CollisionPair::getContacts() const
{
- return contacts;
+ return this->contacts;
}
+//---------------------------------------------------------------------------
+std::vector< std::shared_ptr< Contact > >&
+CollisionPair::getContacts(const std::shared_ptr<Model> &model)
+{
+ return this->modelContacts.at(model);
+}
+
+//---------------------------------------------------------------------------
+const std::vector< std::shared_ptr< Contact > >&
+CollisionPair::getContacts(const std::shared_ptr<Model> &model) const
+{
+ return this->contacts;
+}
+
+//---------------------------------------------------------------------------
void CollisionPair::printCollisionPairs()
{
std::cout << "# Contacts: " << this->contacts.size() << std::endl;
diff --git a/Core/CollisionPair.h b/Core/CollisionPair.h
index e50f01de8f19d45fe56ecaba7fde44485c760771..a257fad8af7bb284ccc1442ebb9d371163066fd3 100644
--- a/Core/CollisionPair.h
+++ b/Core/CollisionPair.h
@@ -32,6 +32,7 @@
#include <memory>
#include <vector>
#include <iostream>
+#include <map>
class Model;
@@ -45,7 +46,21 @@ public:
const core::Vec3d& p,
const int ind,
const core::Vec3d& contactNornmal) :
- depth(penetrationDepth), point(p), normal(contactNornmal), index(ind){}
+ depth(penetrationDepth),
+ point(p),
+ normal(contactNornmal),
+ index(ind),
+ model(nullptr){}
+ Contact (std::shared_ptr<Model> m,
+ const double penetrationDepth,
+ const core::Vec3d& p,
+ const int ind,
+ const core::Vec3d& contactNornmal) :
+ depth(penetrationDepth),
+ point(p),
+ normal(contactNornmal),
+ index(ind),
+ model(m){}
void printInfo()
{
@@ -59,6 +74,7 @@ public:
core::Vec3d point;
core::Vec3d normal;
int index;
+ std::shared_ptr<Model> model;
};
///
@@ -74,8 +90,8 @@ public:
///
/// @brief Set the pair of collision models
///
- void setModels(const std::shared_ptr<Model>& first,
- const std::shared_ptr<Model>& second );
+ void setModels(std::shared_ptr<Model> first,
+ std::shared_ptr<Model> second );
///
/// @brief Get the pair of collision models
@@ -91,6 +107,15 @@ public:
const int index,
const core::Vec3d& contactNornmal);
+ ///
+ /// @brief Add contact between the models
+ ///
+ void addContact( std::shared_ptr<Model> model,
+ const double& penetrationDepth,
+ const core::Vec3d& vert,
+ const int index,
+ const core::Vec3d& contactNornmal);
+
///
/// @brief Clear contact list
///
@@ -122,6 +147,12 @@ public:
std::vector<std::shared_ptr<Contact>> &getContacts();
const std::vector<std::shared_ptr<Contact>> &getContacts() const;
+ ///
+ /// @brief Returns contact array for a particular model
+ ///
+ std::vector<std::shared_ptr<Contact>> &getContacts(const std::shared_ptr<Model> &model);
+ const std::vector<std::shared_ptr<Contact>> &getContacts(const std::shared_ptr<Model> &model) const;
+
///
/// @brief Returns contact array for these two models
///
@@ -129,9 +160,10 @@ public:
private:
std::pair<std::shared_ptr<Model>,
- std::shared_ptr<Model>> modelRepresentations; // Models
-
- std::vector<std::shared_ptr<Contact>> contacts; // List of contacts
+ std::shared_ptr<Model>> modelRepresentations; //!< Models
+ std::vector<std::shared_ptr<Contact>> contacts; //!< List of contacts
+ std::map<std::shared_ptr<Model>,
+ std::vector<std::shared_ptr<Contact>>> modelContacts; //!< Contacts per model
};
#endif // SMCOLLISIONPAIR_H
diff --git a/Core/ContactHandling.cpp b/Core/ContactHandling.cpp
index 83f259e13df58c5b0884ce5a605b7700cff41765..bb14610d18b9810a067d5e94411d4c76b5271fba 100644
--- a/Core/ContactHandling.cpp
+++ b/Core/ContactHandling.cpp
@@ -23,6 +23,8 @@
#include "Core/ContactHandling.h"
+#include "Core/CollisionPair.h"
+
ContactHandling::ContactHandling(const bool typeBilateral)
{
if (typeBilateral)
@@ -69,12 +71,12 @@ void ContactHandling::setSceneObjects(const std::shared_ptr< SceneObject > first
void ContactHandling::setCollisionPairs(const std::shared_ptr< CollisionPair > colPair)
{
- collisionPairs = colPair;
+ collisionPair = colPair;
}
std::shared_ptr<CollisionPair> ContactHandling::getCollisionPairs() const
{
- return collisionPairs;
+ return collisionPair;
}
ContactHandlingType ContactHandling::getContactHandlingType() const
diff --git a/Core/ContactHandling.h b/Core/ContactHandling.h
index 848f9cb4aa52770008f36e8c2d69712b4fd2247b..31cce97d7389f4801ceb2c491e9dcd705279d9dc 100644
--- a/Core/ContactHandling.h
+++ b/Core/ContactHandling.h
@@ -81,6 +81,7 @@ public:
/// \brief Implementation of how the contacts between colliding
/// objects is resolved
virtual void resolveContacts() = 0;
+
protected:
ContactHandlingType type;
@@ -89,7 +90,7 @@ protected:
std::pair<std::shared_ptr<SceneObject>, std::shared_ptr<SceneObject>> collidingSceneObjects;
- std::shared_ptr<CollisionPair> collisionPairs;
+ std::shared_ptr<CollisionPair> collisionPair;
};
#endif //SMCONTACTHANDLING_H
diff --git a/Core/SceneObject.cpp b/Core/SceneObject.cpp
index 812466d562ce65121bc07fdc3f2bbfc73273df54..5aac7010a367eaf7bf529e3e4668eeed747db067 100644
--- a/Core/SceneObject.cpp
+++ b/Core/SceneObject.cpp
@@ -35,6 +35,7 @@ SceneObject::SceneObject()
flags.isViewerInit = false;
flags.isSimulatorInit = false;
name = "SceneObject" + std::to_string(this->getUniqueId()->getId());
+ hasContactForces = false;
}
SceneObject::~SceneObject()
diff --git a/Core/SceneObject.h b/Core/SceneObject.h
index 9e3b4aa21929f1671157f55ed3f3a17b7adf9e74..e97f95b4b103c2e9a8e32a8401ace83fa0e9bb36 100644
--- a/Core/SceneObject.h
+++ b/Core/SceneObject.h
@@ -24,9 +24,10 @@
#ifndef SMSCENEOBJECT_H
#define SMSCENEOBJECT_H
-// STD includes
+// STL includes
#include <vector>
#include <memory>
+#include <unordered_map>
// SimMedTK includes
#include "Core/Vector.h"
@@ -122,14 +123,102 @@ public:
/// \brief print information related the scene object
virtual void printInfo() const = 0;
+ ///
+ /// \brief Set to compute contact forces
+ ///
+ bool computeContactForce()
+ {
+ return this->hasContactForces;
+ }
+
+ ///
+ /// \brief Set to not compute contact forces
+ ///
+ void setContactForcesOff()
+ {
+ this->hasContactForces = false;
+ }
+
+ ///
+ /// \brief Set to not compute contact forces
+ ///
+ void setContactForcesOn()
+ {
+ this->hasContactForces = true;
+ }
+
+ // Get contact forces vector
+ std::unordered_map<int,core::Vec3d> &getContactForces()
+ {
+ return this->contactForces;
+ }
+
+ const std::unordered_map<int,core::Vec3d> &getContactForces() const
+ {
+ return this->contactForces;
+ }
+
+ // Get contact forces vector
+ std::unordered_map<int,core::Vec3d> &getContactPoints()
+ {
+ return this->contactPoints;
+ }
+
+ const std::unordered_map<int,core::Vec3d> &getContactPoints() const
+ {
+ return this->contactPoints;
+ }
+
+ /// \brief returns velocity of at a given location
+ /// (not given node) in contact force vector
+ virtual core::Vec3d getVelocity(const int) const
+ {
+ return core::Vec3d::Zero();
+ }
+
+ /// \brief Set all contact forces to zero (if any)
+ void setContactForcesToZero()
+ {
+ this->contactForces.clear();
+ }
+
+ void setContactForce(const int dofID,const core::Vec3d &force)
+ {
+ this->contactForces[dofID] = force;
+ }
+
+ void setContactForce(const int dofID,
+ const core::Vec3d &point,
+ const core::Vec3d &force)
+ {
+ this->contactPoints[dofID] = point;
+ this->contactForces[dofID] = force;
+ }
+
+
+ void setModel(std::shared_ptr<Model> m)
+ {
+ this->model = m;
+ }
+
+ std::shared_ptr<Model> getModel()
+ {
+ return this->model;
+ }
+
protected:
bool isActive;
private:
- std::shared_ptr<ObjectSimulator> objectSim; // object simulator that will simulate the object
+ std::shared_ptr<ObjectSimulator> objectSim; //!< object simulator that will simulate the object
std::shared_ptr<CustomRenderer> customRender;
- std::vector<core::Vec3d> localVertices; // local copy of vertices
+ std::vector<core::Vec3d> localVertices; //!< local copy of vertices
ObjectInitFlags flags;
+ bool hasContactForces;
+ std::unordered_map<int,core::Vec3d> contactForces;
+ std::unordered_map<int,core::Vec3d> contactPoints;
+
+ std::shared_ptr<Model> model; //!< model attached to this scene object
};
#endif
diff --git a/Core/StaticSceneObject.cpp b/Core/StaticSceneObject.cpp
index 7d6bbbbc8996ea3b252306d170bd9c8cabf9f8a0..19724c22ee49112eb857fac2bc65ff4350d7b115 100644
--- a/Core/StaticSceneObject.cpp
+++ b/Core/StaticSceneObject.cpp
@@ -66,16 +66,6 @@ std::shared_ptr<SceneObject> StaticSceneObject::clone()
return safeDownCast<SceneObject>();
}
-void StaticSceneObject::setModel(std::shared_ptr<Model> model)
-{
- this->staticModel = model;
-}
-
-std::shared_ptr<Model> StaticSceneObject::getModel()
-{
- return staticModel;
-}
-
void StaticSceneObject::printInfo() const
{
std::cout << "\t-------------------------------------\n";
diff --git a/Core/StaticSceneObject.h b/Core/StaticSceneObject.h
index 283872761f51c7579ccbb4f9f89ba94537d5577c..eab0587609ae6b27362baa324f762d8f21089945 100644
--- a/Core/StaticSceneObject.h
+++ b/Core/StaticSceneObject.h
@@ -24,9 +24,6 @@
#ifndef SMSTATICSCENEOBJECT_H
#define SMSTATICSCENEOBJECT_H
-// STL includes
-#include <unordered_map>
-
// SimMedTK includes
#include "Core/Config.h"
#include "Core/Model.h"
@@ -73,37 +70,6 @@ public:
void printInfo() const override;
virtual void handleEvent(std::shared_ptr<core::Event>) override {}
-
- void setModel(std::shared_ptr<Model> model);
-
- std::shared_ptr<Model> getModel();
-
- // Get contact forces vector
- std::unordered_map<int,core::Vec3d> &getContactForces()
- {
- return this->contactForces;
- }
-
- const std::unordered_map<int,core::Vec3d> &getContactForces() const
- {
- return this->contactForces;
- }
-
- // Get contact forces vector
- std::unordered_map<int,core::Vec3d> &getContactPoints()
- {
- return this->contactPoints;
- }
-
- const std::unordered_map<int,core::Vec3d> &getContactPoints() const
- {
- return this->contactPoints;
- }
-public:
- /// \brief static scene object contains a mesh
- std::shared_ptr<Model> staticModel;
- std::unordered_map<int,core::Vec3d> contactForces;
- std::unordered_map<int,core::Vec3d> contactPoints;
};
#endif
diff --git a/Examples/vegaFem/CMakeLists.txt b/Examples/vegaFem/CMakeLists.txt
index ac36b6a40d6b05accbf6b22a0b341bf92b18c168..0c54649d67cb0b5afa81320d1a57c4d8a7cad179 100644
--- a/Examples/vegaFem/CMakeLists.txt
+++ b/Examples/vegaFem/CMakeLists.txt
@@ -13,6 +13,8 @@ target_link_libraries(${APP}
ContactHandling
Event
IO
+ Devices
+ VirtualTools
)
set_target_properties(${APP}
diff --git a/Examples/vegaFem/main.cpp b/Examples/vegaFem/main.cpp
index e1981ccb84762df30ad61f71448d58a8a009ea79..a29edf6f7727930b59dd15aa077e312d76b37563 100644
--- a/Examples/vegaFem/main.cpp
+++ b/Examples/vegaFem/main.cpp
@@ -67,19 +67,19 @@ int main(int ac, char** av)
// 3. Create default scene (scene 0)
//-------------------------------------------------------
auto sdk = SDK::createStandardSDK();
- auto client = std::make_shared<VRPNForceDevice>();
- //get some user input and setup device url
- std::string input = "navigator@localhost";
- std::cout << "Enter the VRPN device URL(" << client->getDeviceURL() << "): ";
- std::getline(std::cin, input);
- if(!input.empty())
- {
- client->setDeviceURL(input);
- }
- auto controller = std::make_shared<ToolCoupler>(client);
- controller->setScalingFactor(5.0);
- sdk->registerModule(client);
- sdk->registerModule(controller);
+// auto client = std::make_shared<VRPNForceDevice>();
+// //get some user input and setup device url
+// std::string input = "navigator@localhost";
+// std::cout << "Enter the VRPN device URL(" << client->getDeviceURL() << "): ";
+// std::getline(std::cin, input);
+// if(!input.empty())
+// {
+// client->setDeviceURL(input);
+// }
+// auto controller = std::make_shared<ToolCoupler>(client);
+// controller->setScalingFactor(5.0);
+// sdk->registerModule(client);
+// sdk->registerModule(controller);
//-------------------------------------------------------
// Create scene actor 1: fem scene object + fem simulator
@@ -87,11 +87,12 @@ int main(int ac, char** av)
// create a FEM simulator
auto femSimulator = std::make_shared<VegaFemSimulator>(sdk->getErrorLog());
- femSimulator->setHapticTool(controller);
+// femSimulator->setHapticTool(controller);
// create a Vega based FEM object and attach it to the fem simulator
auto femObject = std::make_shared<VegaFemSceneObject>(
sdk->getErrorLog(),configFile);
+ femObject->setContactForcesOn();
auto meshRenderDetail = std::make_shared<RenderDetail>(SIMMEDTK_RENDER_WIREFRAME |
//| SIMMEDTK_RENDER_VERTICES
@@ -131,21 +132,21 @@ int main(int ac, char** av)
// Create scene actor 2: loli tool
// create a static object to hold the lolitool scene object of given normal and position
//-------------------------------------------------------
- auto loliSceneObject = std::make_shared<StaticSceneObject>();
-
- auto loliCollisionModel = std::make_shared<MeshCollisionModel>();
- loliCollisionModel->loadTriangleMesh("./loli.vtk");
- loliSceneObject->setModel(loliCollisionModel);
-
- auto loliMesh = loliCollisionModel->getMesh();
- Core::BaseMesh::TransformType transform = Eigen::Translation3d(core::Vec3d(0,5,0))*Eigen::Scaling(.5);
-
- loliMesh->transform(transform);
- loliMesh->updateInitialVertices();
-
- auto loliSimulator = std::make_shared<DefaultSimulator>(sdk->getErrorLog());
- sdk->addSceneActor(loliSceneObject, loliSimulator);
- controller->setMesh(loliCollisionModel->getMesh());
+// auto loliSceneObject = std::make_shared<StaticSceneObject>();
+//
+// auto loliCollisionModel = std::make_shared<MeshCollisionModel>();
+// loliCollisionModel->loadTriangleMesh("./loli.vtk");
+// loliSceneObject->setModel(loliCollisionModel);
+//
+// auto loliMesh = loliCollisionModel->getMesh();
+// Core::BaseMesh::TransformType transform = Eigen::Translation3d(core::Vec3d(0,5,0))*Eigen::Scaling(.5);
+//
+// loliMesh->transform(transform);
+// loliMesh->updateInitialVertices();
+//
+// auto loliSimulator = std::make_shared<DefaultSimulator>(sdk->getErrorLog());
+// sdk->addSceneActor(loliSceneObject, loliSimulator);
+// controller->setMesh(loliCollisionModel->getMesh());
//-------------------------------------------------------
// Register both object simulators
diff --git a/Simulators/SceneObjectDeformable.cpp b/Simulators/SceneObjectDeformable.cpp
index b706630fd974d14ca237892abd391d884ccbc202..be957d55b9c575c28cf66e794d40b65076757d56 100644
--- a/Simulators/SceneObjectDeformable.cpp
+++ b/Simulators/SceneObjectDeformable.cpp
@@ -45,7 +45,7 @@ SceneObjectDeformable::~SceneObjectDeformable()
void SceneObjectDeformable::applyContactForces()
{
- for(const auto &cf : contactForces)
+ for(const auto &cf : this->getContactForces())
{
int i = cf.first;
f_ext[i] += cf.second[0];
@@ -54,27 +54,8 @@ void SceneObjectDeformable::applyContactForces()
}
}
-void SceneObjectDeformable::setContactForcesToZero()
-{
- contactForces.clear();
- contactPoints.clear();
-}
-
-void SceneObjectDeformable::setContactForceOfNodeWithDofID(const int dofID,
- const core::Vec3d &force)
-{
- contactForces[dofID] = force;
-}
-
-void SceneObjectDeformable::setContactForceOfNodeWithDofID(const int dofID,
- const core::Vec3d &point,
- const core::Vec3d &force)
-{
- contactPoints[dofID] = point;
- contactForces[dofID] = force;
-}
-core::Vec3d SceneObjectDeformable::getVelocityOfNodeWithDofID(const int dofID) const
+core::Vec3d SceneObjectDeformable::getVelocity(const int dofID) const
{
core::Vec3d vel(uvel[dofID], uvel[dofID + 1], uvel[dofID + 2]);
diff --git a/Simulators/SceneObjectDeformable.h b/Simulators/SceneObjectDeformable.h
index 16f244f8f2d659e9fddab739358c75e64929debe..2a21bdbed4e7914b01abafc503b9a5b7905b99bf 100644
--- a/Simulators/SceneObjectDeformable.h
+++ b/Simulators/SceneObjectDeformable.h
@@ -72,25 +72,13 @@ public:
/// \brief Append the contact forces (if any) to external forces
void applyContactForces();
- /// \brief Set all contact forces to zero (if any)
- void setContactForcesToZero();
-
- /// \brief Sets the contact force at a given location
- /// (not given node) in contact force vector
- void setContactForceOfNodeWithDofID(const int dofID, const core::Vec3d &force);
-
- /// \brief Sets the contact force at a given location
- /// (not given node) in contact force vector
- void setContactForceOfNodeWithDofID(const int dofID, const core::Vec3d &contactPoint,
- const core::Vec3d &force);
-
/// \brief returns displacement of at a given location
/// (not given node) in contact force vector
core::Vec3d getDisplacementOfNodeWithDofID(const int dofID) const;
/// \brief returns velocity of at a given location
/// (not given node) in contact force vector
- core::Vec3d getVelocityOfNodeWithDofID(const int dofID) const;
+ core::Vec3d getVelocity(const int dofID) const;
/// \brief returns acceleration of at a given location
/// (not given node) in contact force vector
@@ -150,28 +138,6 @@ public:
return this->f_ext;
}
- // Get contact forces vector
- std::unordered_map<int,core::Vec3d> &getContactForces()
- {
- return this->contactForces;
- }
-
- const std::unordered_map<int,core::Vec3d> &getContactForces() const
- {
- return this->contactForces;
- }
-
- // Get contact forces vector
- std::unordered_map<int,core::Vec3d> &getContactPoints()
- {
- return this->contactPoints;
- }
-
- const std::unordered_map<int,core::Vec3d> &getContactPoints() const
- {
- return this->contactPoints;
- }
-
protected:
friend class SceneObjectDeformableRenderDelegate;
@@ -205,8 +171,6 @@ protected:
std::shared_ptr<SurfaceMesh> primarySurfaceMesh;
std::shared_ptr<SurfaceMesh> secondarySurfaceMesh;
- std::unordered_map<int,core::Vec3d> contactForces;
- std::unordered_map<int,core::Vec3d> contactPoints;
};
#endif // SMVEGAFEMSCENEOBJECT_DEFORMABLE_H
diff --git a/Simulators/VegaFemSceneObject.cpp b/Simulators/VegaFemSceneObject.cpp
index 5811ebca915123f14d149ed5d517882c2a56677b..452e832a6988f461fbcb9c2fa8da3275e979b7ea 100644
--- a/Simulators/VegaFemSceneObject.cpp
+++ b/Simulators/VegaFemSceneObject.cpp
@@ -1002,7 +1002,7 @@ void VegaFemSceneObject::printInfo() const
std::cout << "\t-------------------------------------\n";
}
-core::Vec3d VegaFemSceneObject::getVelocityOfNodeWithDofID(const int dofID) const
+core::Vec3d VegaFemSceneObject::getVelocity(const int dofID) const
{
core::Vec3d vel(uvel[dofID], uvel[dofID + 1], uvel[dofID + 2]);
diff --git a/Simulators/VegaFemSceneObject.h b/Simulators/VegaFemSceneObject.h
index 8bb0a65132f5fe8c971a2ff1026f1ca05305db70..9d4c6f6b940c8b79c75657cf8e058209f49dd434 100644
--- a/Simulators/VegaFemSceneObject.h
+++ b/Simulators/VegaFemSceneObject.h
@@ -152,7 +152,7 @@ public:
/// \brief returns velocity given the
/// localtion in the global velocity vector
- core::Vec3d getVelocityOfNodeWithDofID(const int dofID) const;
+ core::Vec3d getVelocity(const int dofID) const;
/// \brief returns displacement given the
/// localtion in the global displacement vector
diff --git a/VirtualTools/CMakeLists.txt b/VirtualTools/CMakeLists.txt
index d8dc747daf60fd75a5854dbb46a50d840b605a6b..ba2c38d45b896f22aa6a41523c0386b8933381a9 100644
--- a/VirtualTools/CMakeLists.txt
+++ b/VirtualTools/CMakeLists.txt
@@ -12,7 +12,6 @@ target_link_libraries(VirtualTools
PRIVATE
Core
Mesh
- Simulators
Event
Devices
)