TAPsModelDefBasedOnFEMTet_CD.cpp

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/******************************************************************************
TAPsModelDefBasedOnFEMTet_CD.cpp
******************************************************************************/
/******************************************************************************
SUKITTI PUNAK   (04/15/2010)
UPDATE          (12/05/2010)
******************************************************************************/
#include "TAPsModelDefBasedOnFEMTet_CD.hpp"
// Using Inclusion Model (i.e. definitions are included in declarations)
//                       (this name.cpp is included in name.hpp)
// Each friend is defined directly inside its declaration.

BEGIN_NAMESPACE_TAPs__FEM
//=============================================================================
//-----------------------------------------------------------------------------
template <typename T>
ModelDefBasedOnFEMTet_CD<T>::ModelDefBasedOnFEMTet_CD ()
    : ModelDefBasedOnFEM_CD()
{}
//-----------------------------------------------------------------------------
//template <typename T>
//ModelDefBasedOnFEMTet_CD<T>::ModelDefBasedOnFEMTet_CD ( ModelDefBasedOnFEMTet_CD<T> const &orig )
//  :
//{}
//-----------------------------------------------------------------------------
template <typename T>
ModelDefBasedOnFEMTet_CD<T>::~ModelDefBasedOnFEMTet_CD ()
{}
//-----------------------------------------------------------------------------
template <typename T>
std::string ModelDefBasedOnFEMTet_CD<T>::StrInfo () const
{
    std::ostringstream ss;
    ss << "ModelDefBasedOnFEMTet_CD<" << typeid(T).name() << ">";
    ss << "\n";
    return ss.str();
}
//-----------------------------------------------------------------------------
//=============================================================================
// Assignment Operator
//-----------------------------------------------------------------------------
//template <typename T>
//inline ModelDefBasedOnFEMTet_CD<T> & ModelDefBasedOnFEMTet_CD<T>::operator= ( ModelDefBasedOnFEMTet_CD<T> const &orig )
//{ 
//    return *this;
//}
//-----------------------------------------------------------------------------
//=============================================================================

//-----------------------------------------------------------------------------
template <typename T>
bool ModelDefBasedOnFEMTet_CD<T>::Init (
    OpenGL::OpenGLHalfEdgeTrigonalModel<T> * pHEModel,  
    FEM::MeshTetrahedra<T> * pFEMMesh                   
)
{
    ModelDefBasedOnFEM_CD<T>::Init( pHEModel );
    m_pFEMMesh = pFEMMesh;
    return true;
}

//-----------------------------------------------------------------------------
template <typename T>
bool ModelDefBasedOnFEMTet_CD<T>::CDRwith (
    MultiBoundingVolume<T> * const pMBVObj      
)
{
    // CD
    bool bResult = CORE_CDwith( pMBVObj );
    // CR
    if ( bResult ) {
        CORE_CR();
    }
    return bResult;
}

//-----------------------------------------------------------------------------
template <typename T>
bool ModelDefBasedOnFEMTet_CD<T>::CDRwith (
    MultiBoundingVolume<T> * const pMBVObj,     
    TransformationSupport<T> * const pTransform 
)
{
    TransformationSupport<T> trx = pMBVObj->GetTransform();
    pMBVObj->GetTransform().RefToMatrixTransform() = pTransform->RefToMatrixTransform() * pMBVObj->GetTransform().RefToMatrixTransform();
    // CD
    bool bResult = CORE_CDwith( pMBVObj );
    // CR
    if ( bResult ) {
        CORE_CR();
    }
    pMBVObj->GetTransform() = trx;
    return bResult;
}

//-----------------------------------------------------------------------------
template <typename T>
bool ModelDefBasedOnFEMTet_CD<T>::CORE_CDwith (
    MultiBoundingVolume<T> * const pMBVObj      
)
{
    // [07/07/2010]
    // ClearCollidedParts() has been moved out.
    // Without resetting collided parts, 
    // this collision detection fn will not affect previous collision tests.
    // So that we can do collision test of this object with more than one MBV object.
    // But ClearCollidedParts() has to be explicitly called 
    // to clear the collided parts before each main collision detection test.
    //
    return ModelDefBasedOnFEM_CD<T>::CORE_CDwith( pMBVObj, &m_ListOfCDObjs );
}

//-----------------------------------------------------------------------------
template <typename T>
void ModelDefBasedOnFEMTet_CD<T>::CORE_CR ()
{
    for ( unsigned int i = 0; i < m_ListOfCDObjs.size(); ++i ) {
        GenCDForcesOnFEMMeshByCDObj( m_ListOfCDObjs[i] );
    }
}

//-----------------------------------------------------------------------------
template <typename T>
void ModelDefBasedOnFEMTet_CD<T>::ClearCollidedParts ()
{
    m_pFEMMesh->ClearAllCDLoads();
    //for ( unsigned int i = 0; i < m_ListOfCDObjs.size(); ++i ) {
    //  ClearFEMMeshAdjustmentFromCDObj( m_ListOfCDObjs[i] );
    //}
    m_ListOfCDObjs.clear();
}

//-----------------------------------------------------------------------------
template <typename T>
void ModelDefBasedOnFEMTet_CD<T>::GenCDForcesOnFEMMeshByCDObj ( CDObj<T> & cdObj )
{
    // Set collision (i.e. point) force
    cdObj.PtForce.SetID( cdObj.pHEVertex->GetID() );
    cdObj.PtForce.RefToPosition() = cdObj.pHEVertex->GetBarycentricPtr()->RetGenBaryCoords();
    cdObj.PtForce.RefToForce() = cdObj.PosAdj * m_tCDForceScale;
    // Add the collision force to the FEM mesh
    // The force referred in cdObj is in FEM local coordinates.
    // Therefore no coordinates conversion is needed.
    m_pFEMMesh->AddCDForceInLocalCoordinates( &cdObj.PtForce );
}

//-----------------------------------------------------------------------------
template <typename T>
void ModelDefBasedOnFEMTet_CD<T>::GenGrabbedForcesOnFEMMeshByCDObj (
    CDObj<T> & cdObj,                       
    Vector3<T> const & grabbingObjPos_LS    
)
{
    // Set collision (i.e. point) force
    cdObj.PtForce.SetID( cdObj.pHEVertex->GetID() );
    cdObj.PtForce.RefToPosition() = cdObj.pHEVertex->GetBarycentricPtr()->RetGenBaryCoords();

    //cdObj.PtForce.RefToForce() = cdObj.PosAdj * -m_tGrabbedForceScale;
    Vector3<T> dv = grabbingObjPos_LS - cdObj.pHEVertex->GetPosition();
    cdObj.PtForce.RefToForce() = dv * m_tGrabbedForceScale;
    cdObj.PosAdj = grabbingObjPos_LS;

    // Add the collision force to the FEM mesh
    // The force referred in cdObj is in FEM local coordinates.
    // Therefore no coordinates conversion is needed.
    m_pFEMMesh->AddCDForceInLocalCoordinates( &cdObj.PtForce );
}

//-----------------------------------------------------------------------------
template <typename T>
void ModelDefBasedOnFEMTet_CD<T>::AdjustSurfaceMeshByCDObjs ()
{
    for ( unsigned int i = 0; i < m_ListOfCDObjs.size(); ++i ) {
        AdjustSurfaceMeshVertexPositionByCDObj( m_ListOfCDObjs[i] );
    }
}

//-----------------------------------------------------------------------------
template <typename T>
void ModelDefBasedOnFEMTet_CD<T>::AdjustSurfaceMeshVertexPositionByCDObj ( CDObj<T> & cdObj )
{
    // Move the vertex position
    //cdObj.pHEVertex->GetProtectedPosition() = cdObj.PosAdj;
    cdObj.pHEVertex->GetProtectedPosition() += cdObj.PosAdj;
}

//-----------------------------------------------------------------------------
template <typename T>
void ModelDefBasedOnFEMTet_CD<T>::AdjustSurfaceMeshVertexPositionDueToGrabbedVertex ( CDObj<T> & cdObj )
{
    // Move the vertex position
    cdObj.pHEVertex->GetProtectedPosition() = cdObj.PosAdj;
}

//template <typename T>
//void ModelDefBasedOnFEMTet_CD<T>::ClearFEMMeshAdjustmentFromCDObj ( CDObj<T> & cdObj )
//{
//  cdObj.pHEVertex->SetMarkedStatus( false );
//}




//=============================================================================
// Grabbing
//-----------------------------------------------------------------------------
template <typename T>
void ModelDefBasedOnFEMTet_CD<T>::MoveGrabbedPart ( int grabbedPartID )
{
    // Check against invalid range
    if ( grabbedPartID < 0 || grabbedPartID >= MAX_NUMBER_OF_GRABBED_PARTS )    return;

    // Move the grabbed part
    if ( m_ListOfGrabbedParts_IsGrabbedStatus[ grabbedPartID ] ) {
        Matrix4x4<T> invTrx = m_pHEModel->GetTransform().GetInverseMatrixTransform();
        for ( std::vector< GrabbedPartData >::iterator it = m_ListOfGrabbedParts.begin(); it != m_ListOfGrabbedParts.end(); ++it ) {
            if ( grabbedPartID == it->ID ) {
                Vector3<T> grabbingPos = invTrx * *it->pGrabbingPosition;
                for ( std::vector< CDObj<T> >::iterator data = it->GrabbedVertices.begin(); data != it->GrabbedVertices.end(); ++data ) {
                    GenGrabbedForcesOnFEMMeshByCDObj( *data, grabbingPos );
                }
                break;
            }
        }
    }
}
//-----------------------------------------------------------------------------
template <typename T>
void ModelDefBasedOnFEMTet_CD<T>::MoveAllGrabbedParts ()
{
    Matrix4x4<T> invTrx = m_pHEModel->GetTransform().GetInverseMatrixTransform();
    for ( std::vector< GrabbedPartData >::iterator it = m_ListOfGrabbedParts.begin(); it != m_ListOfGrabbedParts.end(); ++it ) {
        Vector3<T> grabbingPos = invTrx * *it->pGrabbingPosition;
        for ( std::vector< CDObj<T> >::iterator data = it->GrabbedVertices.begin(); data != it->GrabbedVertices.end(); ++data ) {
            GenGrabbedForcesOnFEMMeshByCDObj( *data, grabbingPos );
        }
    }
}
//-----------------------------------------------------------------------------
// Grabbing
//=============================================================================




//=============================================================================
#if defined(__gl_h_) || defined(__GL_H__)
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
#endif // #if defined(__gl_h_) || defined(__GL_H__)
//=============================================================================

//=============================================================================
END_NAMESPACE_TAPs__FEM
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