StaticBoundary.cpp

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#include "StaticBoundary.h"
#include "Log.h"
#include "Node.h"
 
#include "Module/BoundaryConstraint.h"
 
#include "Topology/DistanceField3D.h"
#include "Topology/TriangleSet.h"
 
namespace dyno
{
    IMPLEMENT_TCLASS(StaticBoundary, TDataType)
 
    template<typename TDataType>
    StaticBoundary<TDataType>::StaticBoundary()
        : Node()
    {
        this->varNormalFriction()->setValue(0.95);
        this->varTangentialFriction()->setValue(0.0);
    }
 
    template<typename TDataType>
    StaticBoundary<TDataType>::~StaticBoundary()
    {
    }
 
//  template<typename TDataType>
//  bool StaticBoundary<TDataType>::addRigidBody(std::shared_ptr<RigidBody<TDataType>> child)
//  {
//      this->addChild(child);
//      m_rigids.push_back(child);
//      return true;
//  }
 
//  template<typename TDataType>
//  bool StaticBoundary<TDataType>::addParticleSystem(std::shared_ptr<ParticleSystem<TDataType>> child)
//  {
//      this->addChild(child);
//      m_particleSystems.push_back(child);
// 
//      this->inportParticleSystems()->addNode(child);
// 
//      return true;
//  }
 
    template<typename TDataType>
    void StaticBoundary<TDataType>::updateStates()
    {
 
        
        Real dt = this->stateTimeStep()->getData();
 
        auto pSys = this->getParticleSystems();
 
        for (size_t t = 0; t < m_obstacles.size(); t++)
        {
            for (int i = 0; i < pSys.size(); i++)
            {
                auto posFd = pSys[i]->statePosition();
                auto velFd = pSys[i]->stateVelocity();
                if (!posFd->isEmpty() && !velFd->isEmpty())
                {
                    m_obstacles[t]->varNormalFriction()->setValue(this->varNormalFriction()->getValue());
                    m_obstacles[t]->varTangentialFriction()->setValue(this->varTangentialFriction()->getValue());
                    m_obstacles[t]->constrain(posFd->getData(), velFd->getData(), dt);
                }
 
            }
        } 
    }
 
    template<typename TDataType>
    void StaticBoundary<TDataType>::loadSDF(std::string filename, bool bOutBoundary)
    {
        auto boundary = std::make_shared<BoundaryConstraint<TDataType>>();
        boundary->load(filename, bOutBoundary);
 
        this->varNormalFriction()->connect(boundary->varNormalFriction());
        this->varTangentialFriction()->connect(boundary->varTangentialFriction());
 
        m_obstacles.push_back(boundary);
    }
 
 
    template<typename TDataType>
    std::shared_ptr<Node> StaticBoundary<TDataType>::loadCube(Coord lo, Coord hi, Real distance, bool bOutBoundary /*= false*/)
    {
        auto boundary = std::make_shared<BoundaryConstraint<TDataType>>();
        boundary->setCube(lo, hi, distance, bOutBoundary);
 
        this->varNormalFriction()->connect(boundary->varNormalFriction());
        this->varTangentialFriction()->connect(boundary->varTangentialFriction());
 
        m_obstacles.push_back(boundary);
 
        //Note: the size of standard cube is 2m*2m*2m
        Coord scale = (hi - lo) / 2;
        Coord center = (hi + lo) / 2;
 
        return nullptr;
    }
 
    template<typename TDataType>
    void StaticBoundary<TDataType>::loadShpere(Coord center, Real r, Real distance, bool bOutBoundary /*= false*/, bool bVisible)
    {
        auto boundary = std::make_shared<BoundaryConstraint<TDataType>>();
        boundary->setSphere(center, r, distance, bOutBoundary);
 
        this->varNormalFriction()->connect(boundary->varNormalFriction());
        this->varTangentialFriction()->connect(boundary->varTangentialFriction());
 
        m_obstacles.push_back(boundary);
    }
 
 
    template<typename TDataType>
    void StaticBoundary<TDataType>::scale(Real s)
    {
        for (int i = 0; i < m_obstacles.size(); i++)
        {
            m_obstacles[i]->m_cSDF->scale(s);
        }
    }
 
    template<typename TDataType>
    void StaticBoundary<TDataType>::translate(Coord t)
    {
        for (int i = 0; i < m_obstacles.size(); i++)
        {
            m_obstacles[i]->m_cSDF->translate(t);
        }
    }
 
 
 
    template<typename TDataType>
    void StaticBoundary<TDataType>::resetStates()
    {
        auto filename = this->varFileName()->getData();
    }
 
    DEFINE_CLASS(StaticBoundary);
}