Fem3DRepresentation.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013-2016, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef SURGSIM_PHYSICS_FEM3DREPRESENTATION_H
#define SURGSIM_PHYSICS_FEM3DREPRESENTATION_H

#include <memory>
#include <string>
#include <unordered_map>

#include "SurgSim/Framework/FrameworkConvert.h"
#include "SurgSim/Math/Matrix.h"
#include "SurgSim/Math/RigidTransform.h"
#include "SurgSim/Math/Vector.h"
#include "SurgSim/Physics/Fem3D.h"
#include "SurgSim/Physics/FemRepresentation.h"

namespace SurgSim
{
namespace DataStructures
{
struct IndexedLocalCoordinate;
struct Location;
}
namespace Framework
{
class Asset;
}
namespace Math
{
class MeshShape;
class OdeState;
}

namespace Physics
{
class Localization;

SURGSIM_STATIC_REGISTRATION(Fem3DRepresentation);

class Fem3DRepresentation : public FemRepresentation
{
public:
    explicit Fem3DRepresentation(const std::string& name);

    virtual ~Fem3DRepresentation();

    SURGSIM_CLASSNAME(SurgSim::Physics::Fem3DRepresentation);

    void loadFem(const std::string& fileName) override;

    void setFem(std::shared_ptr<SurgSim::Framework::Asset> mesh);

    std::shared_ptr<Fem3D> getFem() const;

    void addExternalGeneralizedForce(std::shared_ptr<Localization> localization,
            const SurgSim::Math::Vector& generalizedForce,
            const SurgSim::Math::Matrix& K = SurgSim::Math::Matrix(),
            const SurgSim::Math::Matrix& D = SurgSim::Math::Matrix()) override;

    std::shared_ptr<Localization> createLocalization(const SurgSim::DataStructures::Location& location) override;

protected:
    bool doWakeUp() override;

    void transformState(std::shared_ptr<SurgSim::Math::OdeState> state,
            const SurgSim::Math::RigidTransform3d& transform) override;

    bool doInitialize() override;

private:
    std::unordered_map<size_t, size_t> createTriangleIdToElementIdMap(
            std::shared_ptr<const SurgSim::Math::MeshShape> mesh);

    std::shared_ptr<Localization> createNodeLocalization(size_t nodeId);

    std::shared_ptr<Localization> createTriangleLocalization(
        const SurgSim::DataStructures::IndexedLocalCoordinate& location);

    std::shared_ptr<Localization> createElementLocalization(
        const SurgSim::DataStructures::IndexedLocalCoordinate& location);

    std::unordered_map<size_t, size_t> m_triangleIdToElementIdMap;

    std::shared_ptr<Fem3D> m_fem;
};

} // namespace Physics
} // namespace SurgSim

#endif // SURGSIM_PHYSICS_FEM3DREPRESENTATION_H