void init(std::string fileName) {
xmin_ = -2.5f;
ymin_ = -2.5f;
zmin_ = -4.5f;
xmax_ = 2.5f;
ymax_ = 2.5f;
zmax_ = 1.5f;
size_t pos = fileName.find(".");
std::string ending = fileName.substr(pos);
std::transform(ending.begin(), ending.end(), ending.begin(), ::tolower);
if (ending == ".txt")
{
Reader myReader;
//Get the name of the mesh file from the
//configuration data file.
myReader.readParameters(fileName, this->dataFileParams_);
}//end if
else if (ending == ".xml")
{
FileParserXML myReader;
//Get the name of the mesh file from the
//configuration data file.
myReader.parseDataXML(this->dataFileParams_, fileName);
}//end if
else
{
std::cerr << "Invalid data file ending: " << ending << std::endl;
exit(1);
}//end else
if (hasMeshFile_)
{
std::string fileName;
grid_.initMeshFromFile(fileName.c_str());
}
else
{
if (dataFileParams_.hasExtents_)
{
grid_.initCube(dataFileParams_.extents_[0], dataFileParams_.extents_[2],
dataFileParams_.extents_[4], dataFileParams_.extents_[1],
dataFileParams_.extents_[3], dataFileParams_.extents_[5]);
}
else
grid_.initCube(xmin_, ymin_, zmin_, xmax_, ymax_, zmax_);
}
//initialize rigid body parameters and
//placement in the domain
configureRigidBodies();
configureCylinderBoundary();
//assign the rigid body ids
for (int j = 0; j<myWorld_.rigidBodies_.size(); j++)
myWorld_.rigidBodies_[j]->iID_ = j;
configureTimeDiscretization();
//link the boundary to the world
myWorld_.setBoundary(&myBoundary_);
//set the time control
myWorld_.setTimeControl(&myTimeControl_);
//set the gravity
myWorld_.setGravity(dataFileParams_.gravity_);
//Set the collision epsilon
myPipeline_.setEPS(0.02);
//initialize the collision pipeline
myPipeline_.init(&myWorld_, dataFileParams_.solverType_, dataFileParams_.maxIterations_, dataFileParams_.pipelineIterations_);
//set the broad phase to simple spatialhashing
myPipeline_.setBroadPhaseHSpatialHash();
if (dataFileParams_.solverType_ == 2)
{
//set which type of rigid motion we are dealing with
myMotion_ = new MotionIntegratorSI(&myWorld_);
}
else
{
//set which type of rigid motion we are dealing with
myMotion_ = new RigidBodyMotion(&myWorld_);
}
//set the integrator in the pipeline
myPipeline_.integrator_ = myMotion_;
myWorld_.densityMedium_ = dataFileParams_.densityMedium_;
myPipeline_.response_->m_pGraph = myPipeline_.graph_;
}
void init(std::string fileName) {
using namespace std;
xmin_ = -2.5f;
ymin_ = -2.5f;
zmin_ = -4.5f;
xmax_ = 2.5f;
ymax_ = 2.5f;
zmax_ = 1.5f;
FileParserXML myReader;
//Get the name of the mesh file from the
//configuration data file.
myReader.parseDataXML(this->dataFileParams_, fileName);
if (hasMeshFile_)
{
std::string fileName;
grid_.initMeshFromFile(fileName.c_str());
}
else
{
if (dataFileParams_.hasExtents_)
{
grid_.initCube(dataFileParams_.extents_[0], dataFileParams_.extents_[2],
dataFileParams_.extents_[4], dataFileParams_.extents_[1],
dataFileParams_.extents_[3], dataFileParams_.extents_[5]);
}
else
grid_.initCube(xmin_, ymin_, zmin_, xmax_, ymax_, zmax_);
}
cout<<"startType = "<<dataFileParams_.startType_<<endl;
cout<<"solution = "<<dataFileParams_.solutionFile_<<endl;
cout<<"nBodies = "<<dataFileParams_.bodies_<<endl;
cout<<"bodyInit = "<<dataFileParams_.bodyInit_<<endl;
cout<<"bodyFile = "<<dataFileParams_.bodyConfigurationFile_<<endl;
cout<<"defaultDensity = "<<dataFileParams_.defaultDensity_<<endl;
cout<<"defaultRadius = "<<dataFileParams_.defaultRadius_<<endl;
cout<<"gravity = "<<dataFileParams_.gravity_;
cout<<"totalTimesteps = "<<dataFileParams_.nTimesteps_<<endl;
cout<<"lcpSolverIterations = "<<dataFileParams_.maxIterations_<<endl;
cout<<"collPipelineIterations = "<<dataFileParams_.pipelineIterations_<<endl;
if(dataFileParams_.hasExtents_)
{
cout << "domain extents = " << dataFileParams_.extents_[0] << " " << dataFileParams_.extents_[1] << " " << dataFileParams_.extents_[2] << " "
<< dataFileParams_.extents_[3] << " " << dataFileParams_.extents_[4] << " " << dataFileParams_.extents_[5] << endl;
}
if(dataFileParams_.bodies_ > 0)
{
cout<<"type = "<< dataFileParams_.rigidBodies_[0].shapeId_ <<endl;
cout<<"position = "<< dataFileParams_.rigidBodies_[0].com_ <<endl;
cout<<"velocity = "<< dataFileParams_.rigidBodies_[0].velocity_ <<endl;
cout<<"density = "<< dataFileParams_.rigidBodies_[0].density_ <<endl;
cout<<"meshfile = "<< dataFileParams_.rigidBodies_[0].fileName_ <<endl;
}
bull.init();
std::ostringstream name;
std::ostringstream name2;
int step = 0;
name << "output/line." << std::setfill('0') << std::setw(5) << step << ".vtk";
name2 << "output/head." << std::setfill('0') << std::setw(5) << step << ".vtk";
CVtkWriter writer;
writer.WriteParamLine(bull.geom_[0], name.str().c_str());
writer.WriteParamLine(bull.geom_[1], name2.str().c_str());
}