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TAPs 0.7.7.3
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TAPs 0.7.7.3
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00001 /****************************************************************************** 00002 TAPsListOfAvailableModelsForSurgery.hpp 00003 00004 SUKITTI PUNAK (08/06/2008) 00005 UPDATE (09/03/2010) 00006 ******************************************************************************/ 00007 00012 #include "TAPsListOfAvailableModelsForSurgery.hpp" 00013 00014 BEGIN_NAMESPACE_TAPs 00015 //============================================================================= 00016 template <typename T> 00017 std::vector< ModelForSurgery<T> * > SetupModelsForSurgery ( std::string setupFile ) 00018 { 00019 // Get current directory 00020 std::string strPath( "" ); 00021 #if defined (_WINDOWS) || !defined (__WINDOWS__) 00022 size_t found = setupFile.find_last_of( "/\\" ); 00023 if ( found != std::string::npos ) { 00024 char path[256]; 00025 _getcwd( path, 256 ); 00026 // If a drive letter is not included 00027 if ( setupFile.find_last_of( ":" ) == std::string::npos ) { 00028 strPath += std::string( path ) + "/"; 00029 } 00030 strPath += setupFile.substr(0,found) + "/"; 00031 // Example output: 00032 //std::cout << "Current Directory: " << path << std::endl; 00033 // Current Directory: G:\spunak_xp\Works\TAPs\Applications\SutureApp 00034 } 00035 #endif 00036 00037 //--------------------------------------------------------------- 00038 // List of Models for Surgery 00039 00040 /* 00041 // Organs 00042 ModelForSurgery<T> * pOrgan_Heart = NULL; 00043 ModelForSurgery<T> * pOrgan_LeftKidney = NULL; 00044 ModelForSurgery<T> * pOrgan_RightKidney = NULL; 00045 ModelForSurgery<T> * pOrgan_Liver = NULL; 00046 ModelForSurgery<T> * pOrgan_LeftLung = NULL; 00047 ModelForSurgery<T> * pOrgan_RightLung = NULL; 00048 ModelForSurgery<T> * pOrgan_Stomach = NULL; 00049 00050 // For Practice 00051 ModelForSurgery<T> * pTissueBox01 = NULL; 00052 ModelForSurgery<T> * pTissueTwoTubes01 = NULL; 00053 //*/ 00054 00055 //--------------------------------------------------------------- 00056 00057 // 00058 bool bModelInclusionList[256]; 00059 for ( int i = 0; i < 256; ++i ) { 00060 bModelInclusionList[i] = false; 00061 } 00062 std::vector< ModelForSurgery<T> * > pModels; 00063 00064 // Open the setup file 00065 std::ifstream ifs( setupFile.c_str(), std::ifstream::in ); 00066 if ( !ifs.is_open() ) { 00067 std::cout << "Error opening the setup file (\"" << setupFile << "\") for Models for Surgery!" << std::endl; 00068 return pModels; 00069 } 00070 else { 00071 std::cout << "Open the setup file (\"" << setupFile << "\") for Models for Surgery!" << std::endl; 00072 } 00073 00074 //* 00075 // Read the setup file 00076 const std::string delims( " ,\t" ); 00077 std::string::size_type begIdx, endIdx; 00078 std::string strName; 00079 char line[256]; 00080 00081 // The first line 00082 ifs.getline( line, 256 ); 00083 while ( !ifs.eof() ) { 00084 std::string parameter( line ); 00085 00086 //std::cout << "READ LINE: " << parameter << "\n"; 00087 00088 // Search beginning of the first word 00089 begIdx = parameter.find_first_not_of( delims ); 00090 // While beginning of a word found 00091 while ( begIdx != std::string::npos ) { 00092 // Search end of the actual word 00093 endIdx = parameter.find_first_of( delims, begIdx ); 00094 if ( endIdx == std::string::npos ) { 00095 // End of word is end of line 00096 endIdx = parameter.length(); 00097 } 00098 00099 // Treat # as comment 00100 if ( !(parameter[begIdx] == '#') ) { 00101 strName = parameter.substr( begIdx, endIdx ); 00102 00103 // Check for an model inclusion 00104 00105 // START: List of Organs 00106 if ( strName.substr( begIdx, strlen("ORGAN_") ).compare( "ORGAN_" ) == 0 ) { 00107 00108 if ( strName.compare( "ORGAN_HEART" ) == 0 ) { 00109 begIdx = parameter.find_first_not_of( delims, endIdx ); 00110 endIdx = parameter.find_first_of( delims, begIdx ); 00111 if ( parameter.substr( begIdx, endIdx ).compare( "ON" ) == 0 ) { 00112 bModelInclusionList[ ModelForSurgery<T>::HEART ] = true; 00113 } 00114 } 00115 else if ( strName.compare( "ORGAN_LEFT_KIDNEY" ) == 0 ) { 00116 begIdx = parameter.find_first_not_of( delims, endIdx ); 00117 endIdx = parameter.find_first_of( delims, begIdx ); 00118 if ( parameter.substr( begIdx, endIdx ).compare( "ON" ) == 0 ) { 00119 bModelInclusionList[ ModelForSurgery<T>::LEFT_KIDNEY ] = true; 00120 } 00121 } 00122 else if ( strName.compare( "ORGAN_RIGHT_KIDNEY" ) == 0 ) { 00123 begIdx = parameter.find_first_not_of( delims, endIdx ); 00124 endIdx = parameter.find_first_of( delims, begIdx ); 00125 if ( parameter.substr( begIdx, endIdx ).compare( "ON" ) == 0 ) { 00126 bModelInclusionList[ ModelForSurgery<T>::RIGHT_KIDNEY ] = true; 00127 } 00128 } 00129 else if ( strName.compare( "ORGAN_LIVER" ) == 0 ) { 00130 begIdx = parameter.find_first_not_of( delims, endIdx ); 00131 endIdx = parameter.find_first_of( delims, begIdx ); 00132 if ( parameter.substr( begIdx, endIdx ).compare( "ON" ) == 0 ) { 00133 bModelInclusionList[ ModelForSurgery<T>::LIVER ] = true; 00134 } 00135 } 00136 else if ( strName.compare( "ORGAN_LEFT_LUNG" ) == 0 ) { 00137 begIdx = parameter.find_first_not_of( delims, endIdx ); 00138 endIdx = parameter.find_first_of( delims, begIdx ); 00139 if ( parameter.substr( begIdx, endIdx ).compare( "ON" ) == 0 ) { 00140 bModelInclusionList[ ModelForSurgery<T>::LEFT_LUNG ] = true; 00141 } 00142 } 00143 else if ( strName.compare( "ORGAN_RIGHT_LUNG" ) == 0 ) { 00144 begIdx = parameter.find_first_not_of( delims, endIdx ); 00145 endIdx = parameter.find_first_of( delims, begIdx ); 00146 if ( parameter.substr( begIdx, endIdx ).compare( "ON" ) == 0 ) { 00147 bModelInclusionList[ ModelForSurgery<T>::RIGHT_LUNG ] = true; 00148 } 00149 } 00150 else if ( strName.compare( "ORGAN_STOMACH" ) == 0 ) { 00151 begIdx = parameter.find_first_not_of( delims, endIdx ); 00152 endIdx = parameter.find_first_of( delims, begIdx ); 00153 if ( parameter.substr( begIdx, endIdx ).compare( "ON" ) == 0 ) { 00154 bModelInclusionList[ ModelForSurgery<T>::STOMACH ] = true; 00155 } 00156 } 00157 00158 } // END: List of Organs 00159 00160 //* 00161 // START: List of Tissues for Practice 00162 else if ( strName.substr( begIdx, strlen("TISSUE_") ).compare( "TISSUE_" ) == 0 ) { 00163 if ( strName.compare( "TISSUE_BOX_01" ) == 0 ) { 00164 begIdx = parameter.find_first_not_of( delims, endIdx ); 00165 endIdx = parameter.find_first_of( delims, begIdx ); 00166 if ( parameter.substr( begIdx, endIdx ).compare( "ON" ) == 0 ) { 00167 bModelInclusionList[ ModelForSurgery<T>::TISSUE_BOX_01 ] = true; 00168 } 00169 } 00170 else if ( strName.compare( "TISSUE_TWO_TUBES_01" ) == 0 ) { 00171 begIdx = parameter.find_first_not_of( delims, endIdx ); 00172 endIdx = parameter.find_first_of( delims, begIdx ); 00173 if ( parameter.substr( begIdx, endIdx ).compare( "ON" ) == 0 ) { 00174 bModelInclusionList[ ModelForSurgery<T>::TISSUE_TWO_TUBES_01 ] = true; 00175 } 00176 } 00177 else if ( strName.compare( "TISSUE_HIATUS_HERNIA_01" ) == 0 ) { 00178 begIdx = parameter.find_first_not_of( delims, endIdx ); 00179 endIdx = parameter.find_first_of( delims, begIdx ); 00180 if ( parameter.substr( begIdx, endIdx ).compare( "ON" ) == 0 ) { 00181 bModelInclusionList[ ModelForSurgery<T>::TISSUE_HIATUS_HERNIA_01 ] = true; 00182 } 00183 } 00184 //ADD A MODEL HERE 00185 /* 00186 else if ( strName.compare( "MODEL_CALL_NAME" ) == 0 ) { 00187 begIdx = parameter.find_first_not_of( delims, endIdx ); 00188 endIdx = parameter.find_first_of( delims, begIdx ); 00189 if ( parameter.substr( begIdx, endIdx ).compare( "ON" ) == 0 ) { 00190 bModelInclusionList[ ModelForSurgery<T>::MODEL_CALL_NAME ] = true; 00191 } 00192 } 00193 */ 00194 00195 } // END: List of Tissues for Practice 00196 //*/ 00197 00198 //* 00199 // START: List of Rigid Objects for Practice 00200 else if ( strName.substr( begIdx, strlen("RIGID_") ).compare( "RIGID_" ) == 0 ) { 00201 if ( strName.compare( "RIGID_TORUS_01" ) == 0 ) { 00202 begIdx = parameter.find_first_not_of( delims, endIdx ); 00203 endIdx = parameter.find_first_of( delims, begIdx ); 00204 if ( parameter.substr( begIdx, endIdx ).compare( "ON" ) == 0 ) { 00205 bModelInclusionList[ ModelForSurgery<T>::RIGID_TORUS_01 ] = true; 00206 } 00207 } 00208 //ADD A MODEL HERE 00209 /* 00210 else if ( strName.compare( "MODEL_CALL_NAME" ) == 0 ) { 00211 begIdx = parameter.find_first_not_of( delims, endIdx ); 00212 endIdx = parameter.find_first_of( delims, begIdx ); 00213 if ( parameter.substr( begIdx, endIdx ).compare( "ON" ) == 0 ) { 00214 bModelInclusionList[ ModelForSurgery<T>::MODEL_CALL_NAME ] = true; 00215 } 00216 } 00217 */ 00218 00219 } // END: List of Rigid Objects for Practice 00220 //*/ 00221 00222 // Check for a model inclusion 00223 else if ( strName.compare( "*MODEL" ) == 0 ) { 00224 ModelForSurgery<T> * pModelForSurgery = ProcessSetupModelForSurgery<T>( ifs, bModelInclusionList, strPath ); 00225 if ( pModelForSurgery ) { 00226 pModels.push_back( pModelForSurgery ); 00227 } 00228 } 00229 } 00230 // Set the beginning index to the last position in the input line 00231 begIdx = std::string::npos; 00232 } 00233 00234 // Next line 00235 ifs.getline( line, 256 ); 00236 } 00237 00238 // Close the setup file 00239 ifs.close(); 00240 //*/ 00241 00242 return pModels; 00243 } 00244 00245 //----------------------------------------------------------------------------- 00246 template <typename T> 00247 ModelForSurgery<T> * ProcessSetupModelForSurgery ( std::ifstream & ifs, bool bModelInclusionList[256], std::string path ) 00248 { 00249 //--------------------------------------------------------------- 00250 // For Handling Transformations 00251 enum ModelForSurgery<T>::ModelType model_type; 00252 std::string name( "" ); 00253 std::string data_location( "" ); 00254 bool bSimOn = true; 00255 bool bColDetOn = true; 00256 bool bRenderOn = true; 00257 bool bTransformOn = false; 00258 std::vector< std::string > vTransformName; 00259 std::vector< T > vTransformValue; 00260 T tPointMass = 1.0; 00261 T tKstiffness = 500.0; 00262 T tKdamper = 100.0; 00263 T tHomeKstiffness = 2500.0; 00264 T tHomeKdamper = 250.0; 00265 int iRigidity = 1; 00266 00267 T predefinedTimeStep = 0.01; 00268 int numSimSubSteps = 10; 00269 00270 // Read the setup file 00271 const std::string delims( " ,\t" ); 00272 std::string::size_type begIdx, endIdx; 00273 std::string strName, strValue; 00274 char line[256]; 00275 00276 // The first line 00277 ifs.getline( line, 256 ); 00278 while ( line[0] != '}' ) { 00279 std::string parameter( line ); 00280 00281 // Search beginning of the first word 00282 begIdx = parameter.find_first_not_of( delims ); 00283 // While beginning of a word found 00284 while ( begIdx != std::string::npos ) { 00285 // Search end of the actual word 00286 endIdx = parameter.find_first_of( delims, begIdx ); 00287 if ( endIdx == std::string::npos ) { 00288 // End of word is end of line 00289 endIdx = parameter.length(); 00290 } 00291 00292 // Treat # as comment 00293 if ( !(parameter[begIdx] == '#') ) { 00294 strName = parameter.substr( begIdx, endIdx-begIdx ); 00295 00296 //std::cout << strName << "\n"; 00297 00298 // Process Model Type -- ORGAN 00299 if ( strName.compare( "*ORGAN_TYPE" ) == 0 ) { 00300 begIdx = parameter.find_first_not_of( delims, endIdx ); 00301 endIdx = parameter.find_first_of( delims, begIdx ); 00302 if ( begIdx != std::string::npos ) { 00303 if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "HEART" ) == 0 ) model_type = ModelForSurgery<T>::HEART; 00304 else if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "LEFT_KIDNEY" ) == 0 ) model_type = ModelForSurgery<T>::LEFT_KIDNEY; 00305 else if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "RIGHT_KIDNEY" ) == 0 ) model_type = ModelForSurgery<T>::RIGHT_KIDNEY; 00306 else if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "LIVER" ) == 0 ) model_type = ModelForSurgery<T>::LIVER; 00307 else if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "LEFT_LUNG" ) == 0 ) model_type = ModelForSurgery<T>::LEFT_LUNG; 00308 else if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "RIGHT_LUNG" ) == 0 ) model_type = ModelForSurgery<T>::RIGHT_LUNG; 00309 else if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "STOMACH" ) == 0 ) model_type = ModelForSurgery<T>::STOMACH; 00310 else { 00311 std::cout << "ERROR: *ORGAN_TYPE is not supported! -- " << parameter << "\n"; 00312 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00313 return NULL; 00314 } 00315 if ( bModelInclusionList[ model_type ] == false ) { 00316 std::cout << "*ORGAN_TYPE is not included! -- " << parameter << "\n"; 00317 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00318 return NULL; 00319 } 00320 } 00321 else { 00322 std::cout << "ERROR: *ORGAN_TYPE is not specified! -- " << parameter << "\n"; 00323 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00324 return NULL; 00325 } 00326 //std::cout << parameter.substr( begIdx, endIdx-begIdx ) << " -- " << model_type << "\n"; 00327 } 00328 00329 // Process Model Type -- TISSUE 00330 else if ( strName.compare( "*TISSUE_TYPE" ) == 0 ) { 00331 begIdx = parameter.find_first_not_of( delims, endIdx ); 00332 endIdx = parameter.find_first_of( delims, begIdx ); 00333 if ( begIdx != std::string::npos ) { 00334 if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "TISSUE_BOX_01" ) == 0 ) model_type = ModelForSurgery<T>::TISSUE_BOX_01; 00335 else if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "TISSUE_TWO_TUBES_01" ) == 0 ) model_type = ModelForSurgery<T>::TISSUE_TWO_TUBES_01; 00336 else if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "TISSUE_HIATUS_HERNIA_01" ) == 0 ) model_type = ModelForSurgery<T>::TISSUE_HIATUS_HERNIA_01; 00337 // ADD A MODEL HERE 00338 //else if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "MODEL_CALL_NAME" ) == 0 ) model_type = ModelForSurgery<T>::MODEL_CALL_NAME; 00339 else { 00340 std::cout << "ERROR: *TISSUE_TYPE is not supported! -- " << parameter << "\n"; 00341 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00342 return NULL; 00343 } 00344 if ( bModelInclusionList[ model_type ] == false ) { 00345 std::cout << "*TISSUE_TYPE is not included! -- " << parameter << "\n"; 00346 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00347 return NULL; 00348 } 00349 } 00350 else { 00351 std::cout << "ERROR: *TISSUE_TYPE is not specified! -- " << parameter << "\n"; 00352 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00353 return NULL; 00354 } 00355 //std::cout << parameter.substr( begIdx, endIdx-begIdx ) << " -- " << model_type << "\n"; 00356 } 00357 00358 // Process Model Type -- RIGID 00359 else if ( strName.compare( "*RIGID_TYPE" ) == 0 ) { 00360 begIdx = parameter.find_first_not_of( delims, endIdx ); 00361 endIdx = parameter.find_first_of( delims, begIdx ); 00362 if ( begIdx != std::string::npos ) { 00363 if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "RIGID_TORUS_01" ) == 0 ) model_type = ModelForSurgery<T>::RIGID_TORUS_01; 00364 // ADD A MODEL HERE 00365 //else if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "MODEL_CALL_NAME" ) == 0 ) model_type = ModelForSurgery<T>::MODEL_CALL_NAME; 00366 else { 00367 std::cout << "ERROR: *RIGID_TYPE is not supported! -- " << parameter << "\n"; 00368 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00369 return NULL; 00370 } 00371 if ( bModelInclusionList[ model_type ] == false ) { 00372 std::cout << "*RIGID_TYPE is not included! -- " << parameter << "\n"; 00373 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00374 return NULL; 00375 } 00376 } 00377 else { 00378 std::cout << "ERROR: *RIGID_TYPE is not specified! -- " << parameter << "\n"; 00379 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00380 return NULL; 00381 } 00382 //std::cout << parameter.substr( begIdx, endIdx-begIdx ) << " -- " << model_type << "\n"; 00383 } 00384 00385 // Process Model Name 00386 else if ( strName.compare( "*NAME" ) == 0 ) { 00387 begIdx = parameter.find_first_not_of( delims, endIdx ); 00388 //endIdx = parameter.find_first_of( delims, begIdx ); 00389 endIdx = parameter.size(); 00390 if ( begIdx != std::string::npos ) { 00391 name = parameter.substr( begIdx, endIdx-begIdx ); 00392 if ( name.compare( "\"\"" ) == 0 ) name = ""; 00393 } 00394 else { 00395 std::cout << "ERROR: *NAME is not specified! -- " << parameter << "\n"; 00396 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00397 return NULL; 00398 } 00399 //std::cout << "Name: " << " -- " << name << "\n"; 00400 } 00401 00402 // Process Model Data Location 00403 else if ( strName.compare( "*DATA_LOCATION" ) == 0 ) { 00404 begIdx = parameter.find_first_not_of( delims, endIdx ); 00405 endIdx = parameter.find_first_of( delims, begIdx ); 00406 if ( begIdx != std::string::npos ) { 00407 data_location = parameter.substr( begIdx, endIdx-begIdx ); 00408 if ( data_location.compare( "\"\"" ) == 0 ) data_location = ""; 00409 } 00410 else { 00411 std::cout << "ERROR: *DATA_LOCATION is not specified! -- " << parameter << "\n"; 00412 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00413 return NULL; 00414 } 00415 //std::cout << "Data Location: " << " -- " << data_location << "\n"; 00416 } 00417 00418 // Process Model Simulation ON/OFF 00419 else if ( strName.compare( "*SIMULATION" ) == 0 ) { 00420 begIdx = parameter.find_first_not_of( delims, endIdx ); 00421 endIdx = parameter.find_first_of( delims, begIdx ); 00422 if ( begIdx != std::string::npos ) { 00423 if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "ON" ) == 0 ) bSimOn = true; 00424 else if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "OFF" ) == 0 ) bSimOn = false; 00425 else { 00426 std::cout << "ERROR: *SIMULATION has to be set to either ON or OFF! -- " << parameter << "\n"; 00427 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00428 return NULL; 00429 } 00430 } 00431 else { 00432 std::cout << "ERROR: *SIMULATION has to be set to either ON or OFF! -- " << parameter << "\n"; 00433 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00434 return NULL; 00435 } 00436 } 00437 00438 // Process Model Collision Detection ON/OFF 00439 else if ( strName.compare( "*COLLISION" ) == 0 ) { 00440 begIdx = parameter.find_first_not_of( delims, endIdx ); 00441 endIdx = parameter.find_first_of( delims, begIdx ); 00442 if ( begIdx != std::string::npos ) { 00443 if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "ON" ) == 0 ) bColDetOn = true; 00444 else if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "OFF" ) == 0 ) bColDetOn = false; 00445 else { 00446 std::cout << "ERROR: *COLLISION has to be set to either ON or OFF! -- " << parameter << "\n"; 00447 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00448 return NULL; 00449 } 00450 } 00451 else { 00452 std::cout << "ERROR: *COLLISION has to be set to either ON or OFF! -- " << parameter << "\n"; 00453 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00454 return NULL; 00455 } 00456 } 00457 00458 // Process Model Render ON/OFF 00459 else if ( strName.compare( "*RENDER" ) == 0 ) { 00460 begIdx = parameter.find_first_not_of( delims, endIdx ); 00461 endIdx = parameter.find_first_of( delims, begIdx ); 00462 if ( begIdx != std::string::npos ) { 00463 if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "ON" ) == 0 ) bRenderOn = true; 00464 else if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "OFF" ) == 0 ) bRenderOn = false; 00465 else { 00466 std::cout << "ERROR: *RENDER has to be set to either ON or OFF! -- " << parameter << "\n"; 00467 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00468 return NULL; 00469 } 00470 } 00471 else { 00472 std::cout << "ERROR: *RENDER has to be set to either ON or OFF! -- " << parameter << "\n"; 00473 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00474 return NULL; 00475 } 00476 } 00477 00478 // Process Model Transformation ON/OFF 00479 else if ( strName.compare( "*TRANSFORMATION" ) == 0 ) { 00480 begIdx = parameter.find_first_not_of( delims, endIdx ); 00481 endIdx = parameter.find_first_of( delims, begIdx ); 00482 if ( begIdx != std::string::npos ) { 00483 if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "ON" ) == 0 ) bTransformOn = true; 00484 else if ( parameter.substr( begIdx, endIdx-begIdx ).compare( "OFF" ) == 0 ) bTransformOn = false; 00485 else { 00486 std::cout << "ERROR: *TRANSFORMATION has to be set to either ON or OFF! -- " << parameter << "\n"; 00487 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00488 return NULL; 00489 } 00490 } 00491 else { 00492 std::cout << "ERROR: *TRANSFORMATION has to be set to either ON or OFF! -- " << parameter << "\n"; 00493 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00494 return NULL; 00495 } 00496 } 00497 00498 // Process Model Translation 00499 else if ( strName.compare( "*TRANSLATION" ) == 0 ) { 00500 vTransformName.push_back( "TRANSLATION" ); 00501 bool isOK = true; 00502 // x 00503 begIdx = parameter.find_first_not_of( delims, endIdx ); 00504 endIdx = parameter.find_first_of( delims, begIdx ); 00505 if ( begIdx == std::string::npos ) isOK = false; 00506 if ( isOK ) vTransformValue.push_back( atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ) ); 00507 // y 00508 begIdx = parameter.find_first_not_of( delims, endIdx ); 00509 endIdx = parameter.find_first_of( delims, begIdx ); 00510 if ( begIdx == std::string::npos ) isOK = false; 00511 if ( isOK ) vTransformValue.push_back( atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ) ); 00512 // z 00513 begIdx = parameter.find_first_not_of( delims, endIdx ); 00514 endIdx = parameter.find_first_of( delims, begIdx ); 00515 if ( begIdx == std::string::npos ) isOK = false; 00516 if ( isOK ) vTransformValue.push_back( atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ) ); 00517 // error 00518 if ( !isOK ) { 00519 std::cout << "ERROR: *TRANSLATION does not contain three values for xyz! -- " << parameter << "\n"; 00520 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00521 return NULL; 00522 } 00523 } 00524 00525 // Process Model Rotation 00526 else if ( strName.compare( "*ROTATION_AXIS_AND_ANGLE" ) == 0 ) { 00527 vTransformName.push_back( "ROTATION_AXIS_AND_ANGLE" ); 00528 bool isOK = true; 00529 // x 00530 begIdx = parameter.find_first_not_of( delims, endIdx ); 00531 endIdx = parameter.find_first_of( delims, begIdx ); 00532 if ( begIdx == std::string::npos ) isOK = false; 00533 if ( isOK ) vTransformValue.push_back( atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ) ); 00534 // y 00535 begIdx = parameter.find_first_not_of( delims, endIdx ); 00536 endIdx = parameter.find_first_of( delims, begIdx ); 00537 if ( begIdx == std::string::npos ) isOK = false; 00538 if ( isOK ) vTransformValue.push_back( atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ) ); 00539 // z 00540 begIdx = parameter.find_first_not_of( delims, endIdx ); 00541 endIdx = parameter.find_first_of( delims, begIdx ); 00542 if ( begIdx == std::string::npos ) isOK = false; 00543 if ( isOK ) vTransformValue.push_back( atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ) ); 00544 // angle in degree 00545 begIdx = parameter.find_first_not_of( delims, endIdx ); 00546 endIdx = parameter.find_first_of( delims, begIdx ); 00547 if ( begIdx == std::string::npos ) isOK = false; 00548 if ( isOK ) vTransformValue.push_back( atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ) ); 00549 // error 00550 if ( !isOK ) { 00551 std::cout << "ERROR: *ROTATION_AXIS_AND_ANGLE does not contain four values for xyz and angle (in degree)! -- " << parameter << "\n"; 00552 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00553 return NULL; 00554 } 00555 } 00556 00557 // Process Model Scale 00558 else if ( strName.compare( "*SCALE" ) == 0 ) { 00559 vTransformName.push_back( "SCALE" ); 00560 bool isOK = true; 00561 // x 00562 begIdx = parameter.find_first_not_of( delims, endIdx ); 00563 endIdx = parameter.find_first_of( delims, begIdx ); 00564 if ( begIdx == std::string::npos ) isOK = false; 00565 if ( isOK ) vTransformValue.push_back( atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ) ); 00566 // y 00567 begIdx = parameter.find_first_not_of( delims, endIdx ); 00568 endIdx = parameter.find_first_of( delims, begIdx ); 00569 if ( begIdx == std::string::npos ) isOK = false; 00570 if ( isOK ) vTransformValue.push_back( atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ) ); 00571 // z 00572 begIdx = parameter.find_first_not_of( delims, endIdx ); 00573 endIdx = parameter.find_first_of( delims, begIdx ); 00574 if ( begIdx == std::string::npos ) isOK = false; 00575 if ( isOK ) vTransformValue.push_back( atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ) ); 00576 // error 00577 if ( !isOK ) { 00578 std::cout << "ERROR: *SCALE does not contain three values for xyz! -- " << parameter << "\n"; 00579 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00580 return NULL; 00581 } 00582 } 00583 00584 // Process Model Point Mass 00585 else if ( strName.compare( "*POINT_MASS" ) == 0 ) { 00586 vTransformName.push_back( "POINT_MASS" ); 00587 begIdx = parameter.find_first_not_of( delims, endIdx ); 00588 endIdx = parameter.find_first_of( delims, begIdx ); 00589 if ( begIdx != std::string::npos ) { 00590 tPointMass = atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ); 00591 } 00592 else { 00593 std::cout << "ERROR: *POINT_MASS does not contain a value! -- " << parameter << "\n"; 00594 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00595 return NULL; 00596 } 00597 } 00598 // Process Model Spring Stiffness 00599 else if ( strName.compare( "*K_STIFFNESS" ) == 0 ) { 00600 vTransformName.push_back( "K_STIFFNESS" ); 00601 begIdx = parameter.find_first_not_of( delims, endIdx ); 00602 endIdx = parameter.find_first_of( delims, begIdx ); 00603 if ( begIdx != std::string::npos ) { 00604 tKstiffness = atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ); 00605 } 00606 else { 00607 std::cout << "ERROR: *K_STIFFNESS does not contain a value! -- " << parameter << "\n"; 00608 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00609 return NULL; 00610 } 00611 } 00612 // Process Model Spring Damper 00613 else if ( strName.compare( "*K_DAMPER" ) == 0 ) { 00614 vTransformName.push_back( "K_DAMPER" ); 00615 begIdx = parameter.find_first_not_of( delims, endIdx ); 00616 endIdx = parameter.find_first_of( delims, begIdx ); 00617 if ( begIdx != std::string::npos ) { 00618 tKdamper = atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ); 00619 } 00620 else { 00621 std::cout << "ERROR: *K_DAMPER does not contain a value! -- " << parameter << "\n"; 00622 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00623 return NULL; 00624 } 00625 } 00626 // Process Model Home Spring Stiffness 00627 else if ( strName.compare( "*HOME_K_STIFFNESS" ) == 0 ) { 00628 vTransformName.push_back( "HOME_K_STIFFNESS" ); 00629 begIdx = parameter.find_first_not_of( delims, endIdx ); 00630 endIdx = parameter.find_first_of( delims, begIdx ); 00631 if ( begIdx != std::string::npos ) { 00632 tHomeKstiffness = atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ); 00633 } 00634 else { 00635 std::cout << "ERROR: *HOME_K_STIFFNESS does not contain a value! -- " << parameter << "\n"; 00636 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00637 return NULL; 00638 } 00639 } 00640 // Process Model Home Spring Damper 00641 else if ( strName.compare( "*HOME_K_DAMPER" ) == 0 ) { 00642 vTransformName.push_back( "HOME_K_DAMPER" ); 00643 begIdx = parameter.find_first_not_of( delims, endIdx ); 00644 endIdx = parameter.find_first_of( delims, begIdx ); 00645 if ( begIdx != std::string::npos ) { 00646 tHomeKdamper = atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ); 00647 } 00648 else { 00649 std::cout << "ERROR: *HOME_K_DAMPER does not contain a value! -- " << parameter << "\n"; 00650 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00651 return NULL; 00652 } 00653 } 00654 00655 00656 // Process Model Predefined Time Step 00657 else if ( strName.compare( "*PREDEFINED_TIME_STEP" ) == 0 ) { 00658 vTransformName.push_back( "PREDEFINED_TIME_STEP" ); 00659 begIdx = parameter.find_first_not_of( delims, endIdx ); 00660 endIdx = parameter.find_first_of( delims, begIdx ); 00661 if ( begIdx != std::string::npos ) { 00662 predefinedTimeStep = atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ); 00663 } 00664 else { 00665 std::cout << "ERROR: *PREDEFINED_TIME_STEP does not contain a value! -- " << parameter << "\n"; 00666 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00667 return NULL; 00668 } 00669 } 00670 // Process Model Number of Simulation Sub-Steps 00671 else if ( strName.compare( "*NUM_SIM_SUB_STEPS" ) == 0 ) { 00672 vTransformName.push_back( "NUM_SIM_SUB_STEPS" ); 00673 begIdx = parameter.find_first_not_of( delims, endIdx ); 00674 endIdx = parameter.find_first_of( delims, begIdx ); 00675 if ( begIdx != std::string::npos ) { 00676 numSimSubSteps = static_cast<int>( atof( parameter.substr( begIdx, endIdx-begIdx ).c_str() ) ); 00677 } 00678 else { 00679 std::cout << "ERROR: *NUM_SIM_SUB_STEPS does not contain a value! -- " << parameter << "\n"; 00680 while ( line[0] != '}' ) ifs.getline( line, 256 ); 00681 return NULL; 00682 } 00683 } 00684 } 00685 00686 // Set the beginning index to the last position in the input line 00687 begIdx = std::string::npos; 00688 } 00689 // Next line 00690 ifs.getline( line, 256 ); 00691 } 00692 00693 std::cout << "tPointMass: " << tPointMass << "\n"; 00694 std::cout << "tKstiffness: " << tKstiffness << "\n"; 00695 std::cout << "tKdamper: " << tKdamper << "\n"; 00696 std::cout << "tHomeKstiffness: " << tHomeKstiffness << "\n"; 00697 std::cout << "tHomeKdamper: " << tHomeKdamper << "\n"; 00698 00699 ModelForSurgery<T> * pModelForSurgery = NULL; 00700 data_location = path + data_location; 00701 //std::cout << "PATH: " << data_location + path << "\n"; 00702 switch ( model_type ) { 00703 00704 // Organs 00705 case ModelForSurgery<T>::HEART: 00706 pModelForSurgery = new ModelOrganHeart<T>( data_location, tPointMass, tKstiffness, tKdamper, tHomeKstiffness, tHomeKdamper, iRigidity, predefinedTimeStep, numSimSubSteps ); 00707 break; 00708 case ModelForSurgery<T>::LEFT_KIDNEY: 00709 pModelForSurgery = new ModelOrganLeftKidney<T>( data_location, tPointMass, tKstiffness, tKdamper, tHomeKstiffness, tHomeKdamper, iRigidity, predefinedTimeStep, numSimSubSteps ); 00710 break; 00711 case ModelForSurgery<T>::RIGHT_KIDNEY: 00712 pModelForSurgery = new ModelOrganRightKidney<T>( data_location, tPointMass, tKstiffness, tKdamper, tHomeKstiffness, tHomeKdamper, iRigidity, predefinedTimeStep, numSimSubSteps ); 00713 break; 00714 case ModelForSurgery<T>::LIVER: 00715 pModelForSurgery = new ModelOrganLiver<T>( data_location, tPointMass, tKstiffness, tKdamper, tHomeKstiffness, tHomeKdamper, iRigidity, predefinedTimeStep, numSimSubSteps ); 00716 break; 00717 //case ModelForSurgery<T>::LEFT_LUNG: pModelForSurgery = new ModelOrganLeftLung<T>( data_location, tPointMass, tKstiffness, tKdamper, tHomeKstiffness, tHomeKdamper, iRigidity, predefinedTimeStep, numSimSubSteps ); break; 00718 //case ModelForSurgery<T>::RIGHT_LUNG: pModelForSurgery = new ModelOrganRightLung<T>( data_location, tPointMass, tKstiffness, tKdamper, tHomeKstiffness, tHomeKdamper, iRigidity, predefinedTimeStep, numSimSubSteps ); break; 00719 case ModelForSurgery<T>::STOMACH: 00720 pModelForSurgery = new ModelOrganStomach<T>( data_location, tPointMass, tKstiffness, tKdamper, tHomeKstiffness, tHomeKdamper, iRigidity, predefinedTimeStep, numSimSubSteps ); 00721 break; 00722 00723 // For Practice 00724 case ModelForSurgery<T>::TISSUE_BOX_01: 00725 pModelForSurgery = new ModelTissueBox01<T>( data_location, tPointMass, tKstiffness, tKdamper, tHomeKstiffness, tHomeKdamper, iRigidity, predefinedTimeStep, numSimSubSteps ); 00726 break; 00727 case ModelForSurgery<T>::TISSUE_TWO_TUBES_01: 00728 pModelForSurgery = new ModelTissueTwoTubes01<T>( data_location, tPointMass, tKstiffness, tKdamper, tHomeKstiffness, tHomeKdamper, iRigidity, predefinedTimeStep, numSimSubSteps ); 00729 break; 00730 case ModelForSurgery<T>::TISSUE_HIATUS_HERNIA_01: 00731 pModelForSurgery = new ModelTissueHiatusHernia01<T>( data_location, tPointMass, tKstiffness, tKdamper, tHomeKstiffness, tHomeKdamper, iRigidity, predefinedTimeStep, numSimSubSteps ); 00732 break; 00733 00734 case ModelForSurgery<T>::RIGID_TORUS_01: 00735 pModelForSurgery = new ModelRigidTorus01<T>( data_location, tPointMass, tKstiffness, tKdamper, tHomeKstiffness, tHomeKdamper, iRigidity, predefinedTimeStep, numSimSubSteps ); 00736 break; 00737 00738 // ADD A MODEL HERE 00739 /* 00740 case ModelForSurgery<T>::MODEL_CALL_NAME: 00741 pModelForSurgery = new Model_NAME<T>( data_location, tPointMass, tKstiffness, tKdamper, tHomeKstiffness, tHomeKdamper, iRigidity, predefinedTimeStep, numSimSubSteps ); 00742 break; 00743 */ 00744 } 00745 00746 if ( !pModelForSurgery ) std::cout << "A model of type " << model_type << "is NOT successfully set!\n"; 00747 00748 //--------------------------------------------------------------- 00749 // Set properties 00750 pModelForSurgery->SetName( name ); 00751 if ( bSimOn ) pModelForSurgery->SetOperationFlag( ModelForSurgery<T>::SIMULATION_ON ); 00752 else pModelForSurgery->ClearOperationFlag( ModelForSurgery<T>::SIMULATION_ON ); 00753 if ( bColDetOn ) pModelForSurgery->SetOperationFlag( ModelForSurgery<T>::COLLISION_ON ); 00754 else pModelForSurgery->ClearOperationFlag( ModelForSurgery<T>::COLLISION_ON ); 00755 if ( bRenderOn ) pModelForSurgery->SetOperationFlag( ModelForSurgery<T>::RENDER_ON ); 00756 else pModelForSurgery->ClearOperationFlag( ModelForSurgery<T>::RENDER_ON ); 00757 00758 //--------------------------------------------------------------- 00759 // Apply Transformations 00760 TransformationSupport<T> * transform = &(pModelForSurgery->GetTransform()); 00761 int nextPos = 0; 00762 for ( int i = 0; i < static_cast<int>( vTransformName.size() ); ++i ) { 00763 if ( vTransformName[i].compare( "TRANSLATION" ) == 0 ) { 00764 transform->ApplyTranslation( vTransformValue[nextPos], vTransformValue[nextPos+1], vTransformValue[nextPos+2] ); 00765 nextPos += 3; 00766 } 00767 else if ( vTransformName[i].compare( "ROTATION_AXIS_AND_ANGLE" ) == 0 ) { 00768 transform->ApplyRotationAxisAndAngle( vTransformValue[nextPos], vTransformValue[nextPos+1], vTransformValue[nextPos+2], vTransformValue[nextPos+3] ); 00769 nextPos += 4; 00770 } 00771 else if ( vTransformName[i].compare( "SCALE" ) == 0 ) { 00772 transform->ApplyScale( vTransformValue[nextPos], vTransformValue[nextPos+1], vTransformValue[nextPos+2] ); 00773 nextPos += 3; 00774 } 00775 } 00776 //--------------------------------------------------------------- 00777 00778 std::cout << *pModelForSurgery << " is successfully set.\n"; 00779 00780 return pModelForSurgery; 00781 } 00782 00783 //============================================================================= 00784 END_NAMESPACE_TAPs 00785 //----------------------------------------------------------------------------- 00786 //34567890123456789012345678901234567890123456789012345678901234567890123456789 00787 //--+----1----+----2----+----3----+----4----+----5----+----6----+----7----+----
1.7.4 
