TAPsModelForInstrument.hpp

Go to the documentation of this file.

/******************************************************************************
TAPsModelForInstrument.hpp
******************************************************************************/
/******************************************************************************
SUKITTI PUNAK   (08/06/2008)
UPDATE          (09/03/2010)
******************************************************************************/
#ifndef TAPs_MODEL_FOR_SURGERY_HPP
#define TAPs_MODEL_FOR_SURGERY_HPP

#include <TAPs/DataStructure/TAPsFlag.hpp>
#include <TAPs/Support/TAPsTransformationSupport.hpp>

#include <TAPs/OpenGLModel/TAPsHETriMeshOneModelMultiParts.hpp>
#include <TAPs/CD/TAPsColDetFns.hpp>

#if defined(__gl_h_) || defined(__GL_H__)
    #include <TAPs/OpenGLModel/TAPsOpenGLHETriMeshOneModelMultiParts.hpp>
#else
#endif

BEGIN_NAMESPACE_TAPs
//=============================================================================
template <typename T>
class ModelForSurgery {
//=============================================================================
public:

    enum Operation {
        SIMULATION_ON   = 1,
        COLLISION_ON    = 1 << 1,
        RENDER_ON       = 1 << 2,
        //FIXED         = 1 << 3,
        //DEFORMABLE        = 1 << 4,
    };

    enum ModelType {

        // Organs
        HEART = 0,
        LEFT_KIDNEY,
        RIGHT_KIDNEY,
        LIVER,
        LEFT_LUNG,
        RIGHT_LUNG,
        STOMACH,

        // For Practice
        TISSUE_BOX_01,
        TISSUE_TWO_TUBES_01,

        UNDEFINED
    };

    friend std::ostream & operator<< ( std::ostream &output, ModelForSurgery<T> const &obj )
    {
        output << obj.StrInfo();
        return output;
    }

    // Member Functions -------------------------------------------------------

    virtual ~ModelForSurgery ();

    virtual std::string StrInfo () const;

    inline int  GetID () const
    { return m_iId; }
    inline void SetID ( int id )
    { m_iId = id; }

    inline std::string const & GetName () const
    { return m_strName; }
    inline void SetName ( std::string const & name )
    { m_strName = name; }

    enum ModelType GetModelType () const
    { return m_eModelType; }

    inline TransformationSupport<T> const & GetTransform () const   { return m_Transform; }
    inline TransformationSupport<T> &       GetTransform ()         { return m_Transform; }
    inline void SetTransform ( TransformationSupport<T> const & trx )   { m_Transform = trx; }

    virtual void ApplyAndResetTransform ();

    inline TAPs::DS::Flag< enum Operation, 8 > &    GetOperationFlags ()
    { return m_OperationFlags; }

    void SetOperationFlag ( enum Operation flag );

    void ClearOperationFlag ( enum Operation flag );

    inline bool CheckOperationFlag ( enum Operation flag )
    { return m_OperationFlags.CheckFlag( flag ); }

    T   GetKPointMass () const  { return m_tPtMass; }

    T   GetKStiffness () const  { return m_tKStiffness; }

    T   GetKDamper ()    const  { return m_tKDamper; }

    T   GetHomeKStiffness () const  { return m_tHomeKStiffness; }

    T   GetHomeKDamper ()    const  { return m_tHomeKDamper; }

    T GetPredefinedTimeStep () const  { return m_tPredefinedTimeStep; }
    // NEED TO APPLY TO ALL PARTS
    void SetPredefinedTimeStep ( T ts ) { m_tPredefinedTimeStep = ts; }

    int GetNumSimSubSteps () const  { return m_iNumSimSubSteps; }
    // NEED TO APPLY TO ALL PARTS
    void SetNumSimSubSteps ( int i ) { m_iNumSimSubSteps = i; }


    // NEED TO APPLY TO ALL PARTS
    virtual void SetKPointMass ( T val )        { m_tPtMass = val; }
    virtual void SetKStiffness ( T val )        { m_tKStiffness = val; }
    virtual void SetKDamper ( T val )           { m_tKDamper = val; }
    virtual void SetHomeKStiffness ( T val )    { m_tKStiffness = val; }
    virtual void SetHomeKDamper ( T val )       { m_tKDamper = val; }

    //===============================================================
    // For simulation
    //---------------------------------------------------------------
    virtual void AdvanceSimulation ( T tCurrent, T tNext );
    virtual void AdvanceSimulation ( T tCurrent );
    virtual void AdvanceSimulation ( Simulation::SimClock<T> & simClock );
    //---------------------------------------------------------------

    //===============================================================
    // For collision detection
    //---------------------------------------------------------------

    bool CDR ( 
        TAPs::BoundingVolume<T> const * const pBVObj    
        , TAPs::Vector3<T> * totalForce = NULL          
        , T gain = 1.0                                  
    );

    bool CDR ( 
        TAPs::MultiBoundingVolume<T> const * const pMBVObj  
        , TAPs::Vector3<T> * totalForce = NULL              
        , T gain = 1.0                                      
    );

    bool CDR ( 
        ModelForSurgery<T> * const pModel,  
        T deformRatio = 0.5                 
    );

    //---------------------------------------------------------------


#if defined(__gl_h_) || defined(__GL_H__)
    virtual void DisplayGL ( OpenGL::Enum::DrawMode DM = OpenGL::Enum::POLYGON );

    int GetNumberOfParts ()
    { return static_cast<int>( m_Parts.size() ); }

    std::vector< OpenGL::OpenGLHETriMeshOneModelMultiParts<T> * > & GetListOfParts ()
    { return m_Parts; }

    OpenGL::OpenGLHETriMeshOneModelMultiParts<T> *  GetPtrToPartNo ( unsigned int i )
    {
        if ( i < static_cast<unsigned int>( m_Parts.size() ) )  return m_Parts[i];
        else                                                    return NULL;
    }
#else
#endif

    // Data Members -----------------------------------------------------------
//=============================================================================
protected:
    // Member Functions -------------------------------------------------------

    ModelForSurgery ( 
        std::string data_location,      
        enum ModelType  = UNDEFINED,    
        T Kpointmass    = 1.0,          
        T Kstiffness    = 1.0,          
        T Kdamper       = 1.0,          
        T HomeKstiffness    = 1.0,      
        T HomeKdamper       = 1.0,      
        T predefinedTimeStep    = 0.01, 
        int numSimSubSteps      = 10    
    );

    // Data Members -----------------------------------------------------------

    std::string     m_strDataLocation;  

    //-----------------------------------------------------
    // Not Finish Yet!!!
    // These values have to be set into the springs
    // !!!
    T   m_tPtMass;          
    T   m_tKStiffness;      
    T   m_tKDamper;         
    T   m_tHomeKStiffness;  
    T   m_tHomeKDamper;     

    // For advancing the simulation step
    T   m_tPredefinedTimeStep;  
    int m_iNumSimSubSteps;      

    //-----------------------------------------------------
    // Model Identification
    static int      m_iTotal;       
    int             m_iId;          
    std::string     m_strName;      
    enum ModelType  m_eModelType;   

    TransformationSupport<T>    m_Transform;    
    TAPs::DS::Flag< enum Operation, 8 > m_OperationFlags;   

#if defined(__gl_h_) || defined(__GL_H__)
    std::vector< OpenGL::OpenGLHETriMeshOneModelMultiParts<T> * >   m_Parts;    
#else
#endif
//=============================================================================
private:
    // Member Functions -------------------------------------------------------
    // Data Members -----------------------------------------------------------
//=============================================================================

//=============================================================================
}; // END CLASS ModelForSurgery
//=============================================================================
//-----------------------------------------------------------------------------
typedef ModelForSurgery<int>    ModelForSurgeryi;
typedef ModelForSurgery<float>  ModelForSurgeryf;
typedef ModelForSurgery<double> ModelForSurgeryd;
//=============================================================================
END_NAMESPACE_TAPs

//-----------------------------------------------------------------------------
// Include definition if TAPs_USE_EXPORT is not defined

// If the class is template, use this
//#if !defined( TAPs_USE_EXPORT )
    #include "TAPsModelForInstrument.cpp"
//#endif

// If the class is NOT template, use this
//#if !defined( TAPs_USE_EXPORT )
//  #include "TAPsModelForInstrument.cpp"
//#endif

//-----------------------------------------------------------------------------
#endif
//34567890123456789012345678901234567890123456789012345678901234567890123456789
//--+----1----+----2----+----3----+----4----+----5----+----6----+----7----+----