MassSpringRepresentation.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, 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_MASSSPRINGREPRESENTATION_H
#define SURGSIM_PHYSICS_MASSSPRINGREPRESENTATION_H

#include <memory>

#include "SurgSim/DataStructures/IndexedLocalCoordinate.h"
#include "SurgSim/Math/Matrix.h"
#include "SurgSim/Math/Vector.h"
#include "SurgSim/Physics/DeformableRepresentation.h"

namespace SurgSim
{
namespace Framework
{
class Asset;
}

namespace Physics
{
class Mass;
class MassSpringModel;
class Spring;

SURGSIM_STATIC_REGISTRATION(MassSpringRepresentation);

class MassSpringRepresentation : public DeformableRepresentation
{
public:
    explicit MassSpringRepresentation(const std::string& name);

    virtual ~MassSpringRepresentation();

    SURGSIM_CLASSNAME(SurgSim::Physics::MassSpringRepresentation);

    void addMass(const std::shared_ptr<Mass> mass);

    void addSpring(const std::shared_ptr<Spring> spring);

    size_t getNumMasses() const;

    size_t getNumSprings() const;

    size_t getNumElements() const;

    std::shared_ptr<Mass> getMass(size_t nodeId);

    std::shared_ptr<Spring> getSpring(size_t springId);

    double getTotalMass() const;

    double getRayleighDampingStiffness() const;

    double getRayleighDampingMass() const;

    void setRayleighDampingStiffness(double stiffnessCoef);

    void setRayleighDampingMass(double massCoef);

    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;

    void beforeUpdate(double dt) override;

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

    void loadMassSpringModel(const std::string & filename);

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

    std::shared_ptr<MassSpringModel> getMassSpringModel() const;

    bool isValidCoordinate(const SurgSim::Math::Vector& naturalCoordinate) const;

    bool isValidCoordinate(const SurgSim::DataStructures::IndexedLocalCoordinate& localCoordinate) const;

    Math::Vector3d computeCartesianCoordinate(const Math::OdeState& state,
        const DataStructures::IndexedLocalCoordinate& localCoordinate) const;

    const std::vector<size_t>& getNodeIds(size_t index) const;

    bool saveMassSpringModel(const std::string& fileName, double physicsLength = 0.0) const;

protected:
    void addRayleighDampingForce(SurgSim::Math::Vector* f, const SurgSim::Math::OdeState& state,
                                 bool useGlobalStiffnessMatrix = false, bool useGlobalMassMatrix = false,
                                 double scale = 1.0);

    void addSpringsForce(SurgSim::Math::Vector* f, const SurgSim::Math::OdeState& state, double scale = 1.0);

    void addGravityForce(SurgSim::Math::Vector* f, const SurgSim::Math::OdeState& state, double scale = 1.0);

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

    bool doInitialize() override;

    void computeF(const SurgSim::Math::OdeState& state) override;

    void computeM(const SurgSim::Math::OdeState& state) override;

    void computeD(const SurgSim::Math::OdeState& state) override;

    void computeK(const SurgSim::Math::OdeState& state) override;

    void computeFMDK(const SurgSim::Math::OdeState& state) override;

private:
    std::vector<std::shared_ptr<Mass>> m_masses;

    std::vector<std::shared_ptr<Spring>> m_springs;

    struct
    {
        double massCoefficient;
        double stiffnessCoefficient;
    } m_rayleighDamping;

    std::shared_ptr<MassSpringModel> m_mesh;
};

} // namespace Physics

} // namespace SurgSim

#endif // SURGSIM_PHYSICS_MASSSPRINGREPRESENTATION_H