kernel/Scene.h

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00001 #ifndef SCENE_H
00002 #define SCENE_H
00003 
00004 #include <iostream>
00005 #include <string>
00006 #include <vector>
00007 #include <set>
00008 #include <map>
00009 #include <stdlib.h>
00010 #include <stdio.h>
00011 
00012 #include "Part.h"
00013 #include "Curve.h"
00014 #include "Surface.h"
00015 #include "Loft.h"
00016 #include "Assembly.h"
00017 #include "Connection.h"
00018 
00019 #include "DH_Chain.h"
00020 
00021 //#define SCENE_DEBUG_ON
00022 
00023 template <class DataType, int dim>
00024 class SceneBase {
00025   typedef SceneBase<DataType,dim> base;
00026 public:
00027   typedef Assembly<DataType,dim> AssemblyType;
00028   typedef Part<DataType,dim> PartType;
00029   typedef Curve<DataType,dim> CurveType;
00030   typedef Surface<DataType> SurfaceType;
00031   typedef Loft<DataType> LoftType;
00032   typedef Segment<DataType,dim> SegmentType;
00033   typedef Facet<DataType> FacetType;
00034 
00035   typedef Joint<DataType,dim> JointType;
00036   typedef DH_Link<DataType,dim> LinkType;
00037   typedef DH_Chain<DataType,dim> ChainType;
00038 
00039   typedef ads::FixedArray<dim,DataType> point_type;
00040   typedef ads::FixedArray<dim,int> multi_index_type;
00041 
00042   friend class DH_Link<DataType,dim>;
00043 
00044   // Constructors
00045   SceneBase() {
00046     idTag.clear();
00047     idTag.push_back(-1);
00048 
00049     assemblies.resize(0);
00050     surfaces.resize(0);
00051     lofts.resize(0);
00052 
00053     DH_Joints.resize(0);
00054     DH_Links.resize(0);
00055     DH_Chains.resize(0);
00056     PType o(0.), z(0.), x(0.);
00057     z(2) = 1.;  x(1) = 1.;
00058     int t=0;
00059     CoordFrame = JointType(o,z,x,t,idTag);
00060     CoordFrame.setId(0);
00061     edges.resize(0);
00062     component = -1;
00063     backedge = -1;
00064     gdistance = -1;
00065 
00066     name_size = 0;
00067     idTag_size = 0;
00068 
00069   }
00070 
00071   // Destructor
00072   ~SceneBase() {}
00073 
00074   virtual std::string Name()  { return name; }
00075   virtual void setName(std::string val) { name = val; }
00076 
00077   virtual std::vector<int>& IdTag() { return idTag; }
00078 
00079   virtual void AddSurface( SurfaceType& v) {
00080     std::vector<int> tmpId;
00081     tmpId = idTag;
00082     tmpId.push_back( -(surfaces.size()+1) );
00083     v.setIdTag(tmpId);
00084     v.setIdTag(tmpId);
00085     printID(v.IdTag());
00086     base::surfaces.push_back(v);
00087   }
00088 
00089   virtual int GetNumSurfaces() {
00090     return ((int) surfaces.size());
00091   }
00092   virtual SurfaceType * GetNthSurface(int n) {
00093     return (&surfaces[n]);
00094   }
00095 
00096   virtual void AddAssembly( AssemblyType * v) {
00097     std::vector<int> tmpId;
00098     tmpId.push_back( assemblies.size() );
00099     v->setIdTag(tmpId);
00100     //v->setLog(MSlog);
00101     assemblies.push_back(*v);
00102     //assemblies[assemblies.size()-1].setLog(MSlog);//&log() );
00103   }
00104 
00105   virtual void AddAssembly( AssemblyType& v) {
00106     std::vector<int> tmpId;
00107     tmpId.push_back( assemblies.size() );
00108     v.setIdTag(tmpId);
00109     //v.setLog(&log());//MSlog);
00110     assemblies.push_back(v);
00111     //std::cout << " \t= " << Name() << " added an Assembly. assemblies.size() " << assemblies.size() << std::endl;
00112     ( mklog() << " \t== " << Name() << " added an Assembly. assemblies.size() " << assemblies.size() << std::endl).flush();
00113 #ifdef SCENE_DEBUG_ON
00114     ( mklog() << " \t= " << Name() << " added an Assembly. assemblies.size() " << assemblies.size() << std::endl).flush();
00115 #endif
00116   }
00117   virtual int GetNumAssemblies()  { return ((int) assemblies.size()); }
00118   virtual AssemblyType& GetNthSceneAssembly(int n) {
00119     return (assemblies[n]);
00120   }
00121   virtual AssemblyType * GetNthAssembly(int n) {
00122     return &(assemblies[n]);
00123   }
00124 
00125   virtual void addJoint( JointType * joint) {
00126     joint->id = DH_Joints.size();
00127     DH_Joints.push_back(*joint);
00128   }
00129   virtual void addJoint( JointType& joint) { addJoint(&joint);  }
00130   virtual int GetNumJoints()  { return ((int) DH_Joints.size()); }
00131   virtual JointType * GetNthJoint(int n) { return (&DH_Joints[n]); }
00132   JointType * GetCoordFrame() { return &CoordFrame; }
00133 
00134   virtual void addLink( LinkType * cLink) {
00135     cLink->id = DH_Links.size();
00136     DH_Links.push_back(*cLink);
00137   }
00138   virtual void addLink( LinkType& cLink) { addLink(&cLink);  }
00139   virtual int GetNumLinks()  { return ((int) DH_Links.size()); }
00140   virtual LinkType * GetNthLink(int n) { return (&DH_Links[n]); }
00141 
00142   virtual void AddChain( ChainType * chain) {
00143     DH_Chains.push_back(*chain);
00144     DH_Chains[DH_Chains.size()-1].setId(DH_Chains.size()-1);
00145   }
00146   virtual void AddChain( ChainType& chain) { AddChain(&chain); }
00147   virtual int GetNumChains()  { return ((int) DH_Chains.size()); }
00148   virtual ChainType * GetNthChain(int n) { return (&DH_Chains[n]); }
00149 
00150   void updateScene(DataType dt, DataType time) {
00151     MType transform(dim+1,dim+1);
00152     int level = -1;
00153     transform.assign(imatrix(dim+1));
00154     for (register int a = 0; a < GetNumAssemblies(); a++) {
00155 #ifdef SCENE_DEBUG_ON
00156       printf("///// Updating Assembly %d %s NumParts %d\n",a,GetNthSceneAssembly(a).Name().c_str(),GetNthSceneAssembly(a).GetNumParts() );
00157 #endif
00158       GetNthSceneAssembly(a).updateAssembly(dt,time, transform, level);
00159     }
00160   }
00161 
00162   void resetScene() {
00163     for (register int a = 0; a < GetNumAssemblies(); a++) {
00164 #ifdef SCENE_DEBUG_ON
00165       printf("///// Reseting Assembly %d %s NumParts %d\n",a,GetNthSceneAssembly(a).Name().c_str(),GetNthSceneAssembly(a).GetNumParts() );
00166 #endif
00167       GetNthSceneAssembly(a).resetAssembly();
00168     }
00169   }
00170 
00171   int GetNumPoints() {
00172     int count = 0;
00173     for (register int a = 0; a < GetNumAssemblies(); a++) {
00174 #ifdef SCENE_DEBUG_ON
00175       printf("///// Counting Assembly %d %s NumParts %d\n",a,GetNthSceneAssembly(a).Name().c_str(),GetNthSceneAssembly(a).GetNumParts() );
00176 #endif
00177       count += GetNthSceneAssembly(a).GetNumPoints();
00178     }
00179     return count;
00180   }
00181 
00182   void GetNumPC(int& pcount, int& ccount) {
00183     pcount = 0;
00184     ccount = 0;
00185     for (register int a = 0; a < GetNumAssemblies(); a++) {
00186 #ifdef SCENE_DEBUG_ON
00187       printf("///// Counting Assembly %d %s NumParts %d\n",a,GetNthSceneAssembly(a).Name().c_str(),GetNthSceneAssembly(a).GetNumParts() );
00188 #endif
00189       GetNthSceneAssembly(a).GetNumPC(pcount,ccount);
00190     }
00191   }
00192 
00193   virtual AssemblyType * GetAssembly(std::vector<int> AidTag) {
00194     AssemblyType * assemTmp;
00195     assemTmp = &assemblies[AidTag[0]];
00196 
00197     for (register int i = 1; i < int(AidTag.size()); i++) {
00198       assemTmp = assemTmp->GetNthSubAssembly(AidTag[i]);
00199     }
00200 
00201     return assemTmp;
00202   }
00203 
00204   virtual PartType * GetPart(std::vector<int> PidTag) {
00205     AssemblyType * assemTmp;
00206     PartType * partTmp;
00207     assemTmp = &assemblies[PidTag[0]];
00208 
00209     if (PidTag[1]>=0) {
00210       for (int i = 1; i < int(PidTag.size())-1; i++) {
00211         if (PidTag[i]<0) break;
00212         assemTmp = assemTmp->GetNthSubAssembly(PidTag[i]);
00213       }
00214     }
00215     partTmp = assemTmp->GetNthPart(-PidTag[PidTag.size()-1]-1);
00216     return partTmp;
00217   }
00218 
00219   void poseChain(int n) {
00220     ChainType * ctmp, * cParent;
00221     ctmp = &DH_Chains[n];
00222     LinkType * childLink, * parentLink;
00223     std::vector<int> childIdTag;
00224     MType DHMatTmp(dim+1,dim+1), iTmp(dim+1,dim+1) ;
00225     DHMatTmp.assign(imatrix(dim+1));
00226     iTmp.assign(imatrix(dim+1));
00227     int ternary = 0;
00228 #ifdef SCENE_DEBUG_ON
00229     ( mklog() << "\n===========\n POSE CHAIN # " << n << "\n===========\n"
00230               << " ctmp->links.size() " << ctmp->links.size() << std::endl
00231               << " ctmp->terNlinks.size() " << ctmp->terNlinks.size() << std::endl).flush();
00232 #endif
00233 
00234     for (register int i = 0; i < int(ctmp->links.size()); i ++) {
00235       childIdTag = ctmp->links[i]->child->CFidTag;
00236 #ifdef SCENE_DEBUG_ON
00237       ( mklog() << " link " << i << " childIdTag " ).flush();
00238       printID(childIdTag);
00239       ( mklog() << std::endl ).flush();
00240 #endif
00241       if ( i == 0) {
00242         if (ctmp->getParentChain() >= 0) {
00243           cParent = &DH_Chains[ctmp->getParentChain()];
00244           DHMatTmp = prod(DHMatTmp, cParent->tipDHMat);
00245         }
00246         else {
00247           DHMatTmp = DH_Links[-ctmp->getParentChain()-1].DHMat;
00248         }
00249       }
00250       DHMatTmp = prod(DHMatTmp, ctmp->links[i]->DHMat);
00251 
00253       for (register int j = 0; j < int(ctmp->terNlinks.size()); j ++) {
00255         if ( ctmp->terNlinks[j][0] == ctmp->links[i]->id ) {
00256           ternary = 1;
00257           childIdTag = ctmp->natives[ ctmp->terNlinks[j][1] ]->child->CFidTag;
00258           childLink = ctmp->natives[ ctmp->terNlinks[j][1] ];
00260           if ( childIdTag[childIdTag.size()-1] < 0 ) {
00261             GetPart(childIdTag)->setDHMat( prod(DHMatTmp, childLink->DHMat) );
00262           }
00263           else {
00264           }
00265         }
00266       }
00268       if (ternary == 0) {
00269         if (i == int(ctmp->links.size())-1) {
00270           ctmp->tipDHMat = DHMatTmp;
00271         }
00272         childIdTag = ctmp->links[i]->child->CFidTag;
00274         if ( childIdTag[childIdTag.size()-1] < 0 ) {
00275           childLink = ctmp->links[i];
00276           if (i > 0) {
00277             GetPart(childIdTag)->setDHMat( DHMatTmp );
00278           }
00279           else {
00280             if (ctmp->getParentChain() >= 0) {
00281               cParent = &DH_Chains[ctmp->getParentChain()];
00282               ( mklog() << cParent->id << std::endl).flush();
00283               parentLink = cParent->GetNthLink(ctmp->GetNumLinks());
00284               GetPart(childIdTag)->setDHMat( parentLink->DHMat );
00285             }
00286             else {
00287               childIdTag = ctmp->links[i]->parent->CFidTag;
00288               GetPart(childIdTag)->setDHMat( DH_Links[-ctmp->getParentChain()-1].DHMat);// iTmp );
00289             }
00290           }
00291         }
00292         else {
00293           childLink = ctmp->links[i];
00294           GetAssembly(childIdTag)->setDHMat( prod(DHMatTmp, childLink->DHMat) );
00295         }
00296       }
00297 
00298       ternary = 0;
00299     }
00300   }
00301 
00303   virtual void outputScene(int type, DataType time, std::string file) {
00304     // enum IOType { pointList, VTK_curve, Brep2D, VTK_PL, Brep3D, STL };
00305 #ifdef SCENE_DEBUG_ON
00306     printf("Output %s type = %d dim = %d\n",file.c_str(),type,dim);
00307 #endif
00308     switch(type) {
00309     case PartType::pointList: {
00310 
00311       break;
00312     }
00313     case PartType::VTK_curve: {
00314 
00315       break;
00316     }
00317     case PartType::Brep2D: {
00318 
00319       break;
00320     }
00321     case PartType::VTK_PL: {
00322 
00323       break;
00324     }
00325     case PartType::Brep3D: {
00326       FILE * fout;
00327       fout = fopen (file.c_str(),"w");
00328       if (fout == NULL) { printf("%s could not be opened.\n",file.c_str() ); return; }
00329 
00330       int totPoints=0, totSegs=0, pp=0;
00331 
00332       const FacetType * facetTmp;
00333       const PartType * partTmp;
00334 #ifdef SCENE_DEBUG_ON
00335       printf("Writing Brep3D\n");
00336 #endif
00337       for (register int a = 0; a < GetNumAssemblies(); a++) {
00338 #ifdef SCENE_DEBUG_ON
00339         printf("Assembly %d %s NumParts %d\n",a,GetNthSceneAssembly(a).Name().c_str(),GetNthSceneAssembly(a).GetNumParts() );
00340 #endif
00341         pp += GetNthSceneAssembly(a).GetNumParts();
00342         for (register int sa = 0; sa < GetNthSceneAssembly(a).GetNumSubAssemblies(); sa++) {
00343 #ifdef SCENE_DEBUG_ON
00344           printf("Assembly %d %s NumSubAssemblies %d\n",a,GetNthSceneAssembly(a).Name().c_str(),GetNthSceneAssembly(a).GetNumSubAssemblies() );
00345 #endif
00346           pp += GetNthSceneAssembly(a).GetNthSubAssembly(sa)->GetNumParts();
00347         }
00348       }
00349 #ifdef SCENE_DEBUG_ON
00350       printf("Total number of Parts = %d\n",pp);
00351 #endif
00352       int pointCount[pp];
00353 
00354       pp = 0;
00355       for (register int a = 0; a < GetNumAssemblies(); a++) {
00356         for (register int p = 0; p < GetNthSceneAssembly(a).GetNumParts(); p++) {
00357           partTmp = GetNthSceneAssembly(a).GetNthPart(p);
00358           pointCount[pp] = totPoints;
00359           totPoints += partTmp->GetNumPoints();
00360           totSegs += partTmp->GetNumConnections();
00361 
00362           //printf("pointCount[%d]=%d\n",pp,pointCount[pp]);
00363           pp++;
00364         }
00365         for (register int sa = 0; sa < GetNthSceneAssembly(a).GetNumSubAssemblies(); sa++) {
00366           //printf("Assembly %d %s NumSubAssemblies %d\n",a,GetNthSceneAssembly(a).Name().c_str(),GetNthSceneAssembly(a).GetNumSubAssemblies() );
00367 
00368           for (register int p = 0; p < GetNthSceneAssembly(a).GetNthSubAssembly(sa)->GetNumParts(); p++) {
00369             partTmp = GetNthSceneAssembly(a).GetNthSubAssembly(sa)->GetNthPart(p);
00370             pointCount[pp] = totPoints;
00371             totPoints += partTmp->GetNumPoints();
00372             totSegs += partTmp->GetNumConnections();
00373 
00374             //printf("pointCount[%d]=%d\n",pp,pointCount[pp]);
00375             pp++;
00376           }
00377           //pp ++;// GetNthSceneAssembly(a).GetNthSubAssembly(sa)->GetNumParts();
00378         }
00379 
00380       }
00381 
00382       pp=0;
00383       fprintf(fout,"3 2\n%d\n",totPoints );
00384       for (register int a = 0; a < GetNumAssemblies(); a++) {
00385         //printf("Assembly %d %s NumParts %d\n",a,GetNthSceneAssembly(a).Name().c_str(),GetNthSceneAssembly(a).GetNumParts() );
00386         GetNthSceneAssembly(a).outputAssembly_Brep3D(time,0,pointCount,pp,fout);
00387         for (register int p = 0; p < GetNthSceneAssembly(a).GetNumParts(); p++) {
00388 #ifdef SCENE_DEBUG_ON
00389           printf("Part %d %s numPoints %d\n",p,GetNthSceneAssembly(a).GetNthPart(p)->Name().c_str(),GetNthSceneAssembly(a).GetNthPart(p)->GetNumPoints() );
00390 #endif
00391           partTmp = GetNthSceneAssembly(a).GetNthPart(p);
00392           for (register int j=0; j < partTmp->GetNumPoints(); j ++) {
00393             /*printf("%d : %8.5e %8.5e %8.5e\n",j,
00394  partTmp->GetNthPoint(j)(0),partTmp->GetNthPoint(j)(1),partTmp->GetNthPoint(j)(2) );*/
00395             fprintf(fout,"%10d %8.5e %8.5e %8.5e\n",j,
00396                     partTmp->GetNthPoint(j)(0),partTmp->GetNthPoint(j)(1),partTmp->GetNthPoint(j)(2) );
00397           }
00398         }
00399         for (register int sa = 0; sa < GetNthSceneAssembly(a).GetNumSubAssemblies(); sa++) {
00400           //printf("Assembly %d %s NumSubAssemblies %d\n",a,GetNthSceneAssembly(a).Name().c_str(),GetNthSceneAssembly(a).GetNumSubAssemblies() );
00401           for (register int p = 0; p < GetNthSceneAssembly(a).GetNthSubAssembly(sa)->GetNumParts(); p++) {
00402             partTmp = GetNthSceneAssembly(a).GetNthSubAssembly(sa)->GetNthPart(p);
00403             //printf("SubAssembly %d %s part %d %s\n",sa,GetNthSceneAssembly(a).GetNthSubAssembly(sa)->Name().c_str(),p,partTmp->Name().c_str() );
00404             for (register int j=0; j < partTmp->GetNumPoints(); j ++) {
00405               fprintf(fout,"%10d %8.5e %8.5e %8.5e\n",j,
00406                       partTmp->GetNthPoint(j)(0),partTmp->GetNthPoint(j)(1),partTmp->GetNthPoint(j)(2) );
00407             }
00408           }
00409         }
00410       }
00411 
00412       fprintf(fout,"%d\n",totSegs );
00413       pp=0;
00414       for (register int a = 0; a < GetNumAssemblies(); a++) {
00415         //printf("Assembly %d %s NumParts %d\n",a,GetNthSceneAssembly(a).Name().c_str(),GetNthSceneAssembly(a).GetNumParts() );
00416         GetNthSceneAssembly(a).outputAssembly_Brep3D(time,1,pointCount,pp,fout);
00417         for (register int p = 0; p < GetNthSceneAssembly(a).GetNumParts(); p++) {
00418           //printf("Part %d %s numConnections %d\n",p,GetNthSceneAssembly(a).GetNthPart(p)->Name().c_str(),GetNthSceneAssembly(a).GetNthPart(p)->GetNumConnections() );
00419           partTmp = GetNthSceneAssembly(a).GetNthPart(p);
00420           for (register int j = 0; j < partTmp->GetNumConnections(); j++) {
00421             facetTmp = (partTmp->GetNthFacet(j));
00422             fprintf(fout,"%d\t%d\t%d\n",
00423                     facetTmp->getNthCon(0)+pointCount[pp],facetTmp->getNthCon(1)+pointCount[pp],
00424                     facetTmp->getNthCon(2)+pointCount[pp] );
00425           }
00426           pp++;
00427         }
00428         for (register int sa = 0; sa < GetNthSceneAssembly(a).GetNumSubAssemblies(); sa++) {
00429           //printf("Assembly %d %s NumSubAssemblies %d\n",a,GetNthSceneAssembly(a).Name().c_str(),GetNthSceneAssembly(a).GetNumSubAssemblies() );
00430           for (register int p = 0; p < GetNthSceneAssembly(a).GetNthSubAssembly(sa)->GetNumParts(); p++) {
00431             partTmp = GetNthSceneAssembly(a).GetNthSubAssembly(sa)->GetNthPart(p);
00432             //printf("SubAssembly %d %s part %d %s\n",sa,GetNthSceneAssembly(a).GetNthSubAssembly(sa)->Name().c_str(),p,partTmp->Name().c_str() );
00433             for (register int j = 0; j < partTmp->GetNumConnections(); j++) {
00434               facetTmp = (partTmp->GetNthFacet(j));
00435               fprintf(fout,"%d\t%d\t%d\n",
00436                       facetTmp->getNthCon(0)+pointCount[pp],facetTmp->getNthCon(1)+pointCount[pp],
00437                       facetTmp->getNthCon(2)+pointCount[pp] );
00438             }
00439             pp++;
00440           }
00441         }
00442 
00443       }
00444 
00445       fclose (fout);
00446       break;
00447     }
00448     case PartType::STL: {
00449       FILE * fout;
00450       fout = fopen (file.c_str(),"w");
00451       if (fout == NULL) return;
00452 #ifdef SCENE_DEBUG_ON
00453       ( mklog() << "write STL\n").flush();
00454 #endif
00455       for (register int a = 0; a < GetNumAssemblies(); a++) {
00456         //printf("Assembly %d %s NumParts %d\n",a,GetNthSceneAssembly(a).Name().c_str(),GetNthSceneAssembly(a).GetNumParts() );
00457         GetNthSceneAssembly(a).outputAssembly_STL(time,fout);
00458       }
00459       fclose (fout);
00460       break;
00461     }
00462     case PartType::VelDat: {
00463       FILE * fout;
00464       fout = fopen (file.c_str(),"w");
00465       if (fout == NULL) return;
00466 
00467 #ifdef SCENE_DEBUG_ON
00468       ( mklog() << "___WRITE VELDAT___\n" << " GetNumAssemblies() = " << GetNumAssemblies() << std::endl).flush();
00469 #endif
00470       for (register int a = 0; a < GetNumAssemblies(); a++) {
00471         //printf("Assembly %d %s NumParts %d\n",a,GetNthSceneAssembly(a).Name().c_str(),GetNthSceneAssembly(a).GetNumParts() );
00472         //GetNthSceneAssembly(a).outputAssembly_VelDat(PartType::VelDat,time,fout);
00473       }
00474       fclose (fout);
00475       break;
00476     }
00477     }
00478   }
00480 
00481   void partPressureForces( multi_index_type* cons, DataType* press, DataType scale ) {
00482 #ifdef SCENE_DEBUG_ON
00483     printf("SCENE: CALC PART PRESSURE FORCES\n");
00484 #endif
00485     //std::cout << std::endl;
00486     for (register int a = 0; a < GetNumAssemblies(); a++) {
00487       GetNthSceneAssembly(a).partPressureForces(cons, press, scale );
00488 
00489     }
00490     //std::cout << std::endl;
00491 
00492   }
00493 
00494   void send2CPT_4(point_type* vertices, multi_index_type* connections, DataType scale) { //, int numvertices, int numConnections ) {
00495     //point_type* ptmp;
00496     //PartType * partTmp;
00497 #ifdef SCENE_DEBUG_ON
00498     printf("Sending Brep3D 4+++++++++++\n");
00499 #endif
00500     int totPoints = 0, totConnections = 0;
00501     //int it=0, it0=0, it1=0, it2=0, it3=0;
00502     for (register int a = 0; a < GetNumAssemblies(); a++) {
00503       //printf("Assembly %d %s NumParts %d\n",a,GetNthSceneAssembly(a).Name().c_str(),GetNthSceneAssembly(a).GetNumParts() );
00504       GetNthSceneAssembly(a).send2CPT(totPoints, totConnections, vertices, connections, scale);
00505       //std::cout << " TOTPOINTS " << totPoints << " TOTCONNECTIONS " << totConnections << std::endl;
00506 
00507     }
00508 
00509     //std::cout << "totPoints " << totPoints << " totConnections " << totConnections << std::endl;
00510 
00511   }
00512 
00513   void vel2CPT_2(point_type* velocities, DataType scale) { //, int numvertices, int numConnections ) {
00514     int totPoints = 0;
00515     for (register int a = 0; a < GetNumAssemblies(); a++) {
00516       GetNthSceneAssembly(a).vel2CPT(totPoints, velocities, scale);
00517     }
00518   }
00519 
00520   virtual void Restart(std::ifstream& ifs, int& pos, double& t, double& dt) {
00521     ( mklog() << "\nRestarting SCENE " << Name() << " time= "<< t << " dt = " << dt << std::endl).flush();
00522     ifs.seekg(pos);
00523     ifs.read((char*)&num_assemblies,sizeof(int));
00524 
00525     ifs.read((char*)&num_chains,sizeof(int));
00526     pos = ifs.tellg();
00527 
00528     ( mklog() << "num_curves " << num_curves << " num_surfaces " << num_surfaces
00529               << " num_lofts " << num_lofts << " num_assemblies " << num_assemblies
00530               << " num_joints " << num_joints << " num_chains " << num_chains << std::endl).flush();
00531 
00532     for (register int i=0; i<num_assemblies; i++) {
00533       assemblies[i].Restart(ifs,pos,t,dt);
00534       pos = ifs.tellg();
00535     }
00536     for (register int i=0; i<num_chains; i++) {
00537       DH_Chains[i].Restart(ifs,pos,t,dt);
00538       pos = ifs.tellg();
00539     }
00540 #ifdef CHECKRESTART_DEBUG_ON
00541     ( mklog() << "\nDone Restarting Scene " << Name() << " t = " << t << " dt = " << dt << " pos = " << pos << std::endl).flush();
00542 #endif
00543   }
00544 
00545   virtual void Checkpointing(std::ofstream& ofs) {
00546 #ifdef CHECKRESTART_DEBUG_ON
00547     ( mklog() << "\nCHECKPOINTING SCENE " << std::endl).flush();
00548 #endif
00549     name_size=name.size();
00550     idTag_size=idTag.size();
00551 
00552     num_curves = curves.size();
00553     num_surfaces = surfaces.size();
00554     num_lofts = lofts.size();
00555     num_assemblies = assemblies.size();
00556 
00557     ofs.write((char*)&num_assemblies,sizeof(int));
00558 
00559     num_joints = DH_Joints.size();
00560     num_links = DH_Links.size();
00561     num_chains = DH_Chains.size();
00562 
00563     ofs.write((char*)&num_chains,sizeof(int));
00564 #ifdef CHECKRESTART_DEBUG_ON
00565     ( mklog() << "num_curves " << num_curves << " num_surfaces " << num_surfaces
00566               << " num_lofts " << num_lofts << " num_assemblies " << num_assemblies
00567               << " num_joints " << num_joints << " num_chains " << num_chains << std::endl).flush();
00568 #endif
00569     for (register int i=0; i<num_assemblies; i++) {
00570       assemblies[i].Checkpointing(ofs);
00571     }
00572 
00573     for (register int i=0; i<num_chains; i++) {
00574       DH_Chains[i].Checkpointing(ofs);
00575     }
00576 
00577   }
00578 
00579   virtual void logPartLoads( std::ofstream& ofs, DataType time_, int steps ) {
00580 #ifdef SCENE_DEBUG_ON
00581     printf("SCENE: logPartLoads()\n");
00582 #endif
00583     for (register int a = 0; a < GetNumAssemblies(); a++) {
00584       GetNthSceneAssembly(a).logPartLoads( ofs, time_, steps );
00585     }
00586   }
00587 
00588   virtual void printSummary() {
00589 #ifdef SCENE_DEBUG_ON
00590     printf("SCENE: printSummary()\n");
00591 #endif
00592     std::cout << "Scene " << name << " has " << GetNumAssemblies() << " assemblies\n";
00593     ( mklog() << "Scene " << name << " has " << GetNumAssemblies() << " assemblies\n").flush();
00594     for (register int a = 0; a < GetNumAssemblies(); a++) {
00595       GetNthSceneAssembly(a).printSummary(1);
00596     }
00597   }
00598 
00599 protected:
00600   std::vector<int> idTag; 
00601   std::string name;
00602   std::vector<CurveType > curves;
00603   std::vector<SurfaceType > surfaces;
00604   std::vector<LoftType > lofts;
00605   std::vector<AssemblyType > assemblies;
00606 
00607   int num_curves, num_surfaces, num_lofts, num_assemblies;
00608   int num_joints, num_links, num_chains;
00609 
00610   // For Denavit-Hartenberg Kinematic Chain
00611   std::vector<JointType > DH_Joints;
00612   std::vector<LinkType > DH_Links;
00613   std::vector<ChainType > DH_Chains;
00614   JointType CoordFrame;
00615 
00616   // For relative position determination through Breadth-first-search of Layout graph.
00617   std::vector<int> edges;
00618   int component;
00619   int backedge;
00620   int gdistance;
00621 
00622   int name_size, idTag_size;
00623   //std::ostream* MSlog;
00624 
00625 };
00626 
00627 template <class DataType, int dim>
00628 class Scene : public SceneBase<DataType,dim> {
00629 public:
00630   typedef SceneBase<DataType,dim> base;
00631   Scene() { base(); }
00632   ~Scene() {}
00633 
00634 protected:
00635 
00636 };
00637 
00638 template <class DataType>
00639 class Scene<DataType,2> : public SceneBase<DataType,2> {
00640 
00641 public:
00642   typedef SceneBase<DataType,2> base;
00643 
00644   Scene() { base(); }
00645   ~Scene() {}
00646 
00647 protected:
00648 
00649 };
00650 
00651 template <class DataType>
00652 class Scene<DataType,3> : public SceneBase<DataType,3> {
00653 
00654 public:
00655   typedef SceneBase<DataType,3> base;
00656 
00657   Scene() { base(); }
00658   ~Scene() {}
00659 
00660 protected:
00661 
00662 };
00663 
00664 #endif // SCENE_H
Generated on Thu Jun 30 02:18:58 2016 for Motion - rigid body dynamics solver by 1.6.3