/**
* @brief More complex graph:
R__
/ \ |
A B |
\ / |
C /
\ /
D
|
E
Expected output: RABCDEEDCBAR
*/
void traverse_complex()
{
Node::SPtr root = clearScene();
root->setName("R");
Node::SPtr A = root->createChild("A");
Node::SPtr B = root->createChild("B");
Node::SPtr C = A->createChild("C");
B->addChild(C);
Node::SPtr D = C->createChild("D");
root->addChild(D);
Node::SPtr E = D->createChild("E");
traverse_test( root, "RACDEEDCABBR", "RACDEEDCABCDEEDCBDEEDR", "RACDEEDCABCCBDDR", "RABCDE" );
}
/**
* @brief Even more complex graph:
R__
/ \ |
A B C
\/ \|
D E
| |
F G
Expected output: RABCDEEDCBAR
*/
void traverse_morecomplex()
{
Node::SPtr root = clearScene();
root->setName("R");
Node::SPtr A = root->createChild("A");
Node::SPtr B = root->createChild("B");
Node::SPtr C = root->createChild("C");
Node::SPtr D = A->createChild("D");
B->addChild(D);
Node::SPtr E = B->createChild("E");
C->addChild(E);
Node::SPtr F = D->createChild("F");
Node::SPtr G = E->createChild("G");
traverse_test( root, "RADFFDABEGGEBCCR", "RADFFDABDFFDEGGEBCEGGECR", "RADFFDABDDEGGEBCEECR", "RABDFCEG" );
}
/**
* @brief Diamond-shaped graph:
\f$
\begin{array}{ccc}
& R & \\
\diagup & & \diagdown \\
A & & B \\
\diagdown & & \diagup \\
& C
\end{array}
\f$
Expected output: RABCCBAR
*/
void traverse_simple_diamond()
{
Node::SPtr root = clearScene();
root->setName("R");
Node::SPtr A = root->createChild("A");
Node::SPtr B = root->createChild("B");
Node::SPtr C = A->createChild("C");
B->addChild(C);
traverse_test( root, "RACCABBR", "RACCABCCBR", "RACCABCCBR", "RABC" );
}
/**
* @brief another complex case
R______
/ \ \ \ \
A B C D E
\/__/_/_/
F
|\
G |
|/
H
*/
void traverse_morecomplex2()
{
Node::SPtr root = clearScene();
root->setName("R");
Node::SPtr A = root->createChild("A");
Node::SPtr B = root->createChild("B");
Node::SPtr C = root->createChild("C");
Node::SPtr D = root->createChild("D");
Node::SPtr E = root->createChild("E");
Node::SPtr F = A->createChild("F");
B->addChild(F);
C->addChild(F);
D->addChild(F);
E->addChild(F);
Node::SPtr G = F->createChild("G");
Node::SPtr H = G->createChild("H");
F->addChild(H);
traverse_test( root, "RAFGHHGFABBCCDDEER",
"RAFGHHGHHFABFGHHGHHFBCFGHHGHHFCDFGHHGHHFDEFGHHGHHFER",
"RAFGHHGHHFABFFBCFFCDFFDEFFER",
"RABCDEFGH" );
}
/// Create an assembly of a siff hexahedral grid with other objects
simulation::Node::SPtr createGridScene(Vec3 startPoint, Vec3 endPoint, unsigned numX, unsigned numY, unsigned numZ, double totalMass/*, double stiffnessValue, double dampingRatio=0.0*/ )
{
using helper::vector;
// The graph root node
Node::SPtr root = simulation::getSimulation()->createNewGraph("root");
root->setGravity( Coord3(0,-10,0) );
root->setAnimate(false);
root->setDt(0.01);
addVisualStyle(root)->setShowVisual(false).setShowCollision(false).setShowMapping(true).setShowBehavior(true);
Node::SPtr simulatedScene = root->createChild("simulatedScene");
EulerImplicitSolver::SPtr eulerImplicitSolver = New<EulerImplicitSolver>();
simulatedScene->addObject( eulerImplicitSolver );
CGLinearSolver::SPtr cgLinearSolver = New<CGLinearSolver>();
simulatedScene->addObject(cgLinearSolver);
// The rigid object
Node::SPtr rigidNode = simulatedScene->createChild("rigidNode");
MechanicalObjectRigid3::SPtr rigid_dof = addNew<MechanicalObjectRigid3>(rigidNode, "dof");
UniformMassRigid3::SPtr rigid_mass = addNew<UniformMassRigid3>(rigidNode,"mass");
FixedConstraintRigid3::SPtr rigid_fixedConstraint = addNew<FixedConstraintRigid3>(rigidNode,"fixedConstraint");
// Particles mapped to the rigid object
Node::SPtr mappedParticles = rigidNode->createChild("mappedParticles");
MechanicalObject3::SPtr mappedParticles_dof = addNew< MechanicalObject3>(mappedParticles,"dof");
RigidMappingRigid3_to_3::SPtr mappedParticles_mapping = addNew<RigidMappingRigid3_to_3>(mappedParticles,"mapping");
mappedParticles_mapping->setModels( rigid_dof.get(), mappedParticles_dof.get() );
// The independent particles
Node::SPtr independentParticles = simulatedScene->createChild("independentParticles");
MechanicalObject3::SPtr independentParticles_dof = addNew< MechanicalObject3>(independentParticles,"dof");
// The deformable grid, connected to its 2 parents using a MultiMapping
Node::SPtr deformableGrid = independentParticles->createChild("deformableGrid"); // first parent
mappedParticles->addChild(deformableGrid); // second parent
RegularGridTopology::SPtr deformableGrid_grid = addNew<RegularGridTopology>( deformableGrid, "grid" );
deformableGrid_grid->setNumVertices(numX,numY,numZ);
deformableGrid_grid->setPos(startPoint[0],endPoint[0],startPoint[1],endPoint[1],startPoint[2],endPoint[2]);
MechanicalObject3::SPtr deformableGrid_dof = addNew< MechanicalObject3>(deformableGrid,"dof");
SubsetMultiMapping3_to_3::SPtr deformableGrid_mapping = addNew<SubsetMultiMapping3_to_3>(deformableGrid,"mapping");
deformableGrid_mapping->addInputModel(independentParticles_dof.get()); // first parent
deformableGrid_mapping->addInputModel(mappedParticles_dof.get()); // second parent
deformableGrid_mapping->addOutputModel(deformableGrid_dof.get());
UniformMass3::SPtr mass = addNew<UniformMass3>(deformableGrid,"mass" );
mass->mass.setValue( totalMass/(numX*numY*numZ) );
HexahedronFEMForceField3::SPtr hexaFem = addNew<HexahedronFEMForceField3>(deformableGrid, "hexaFEM");
hexaFem->f_youngModulus.setValue(1000);
hexaFem->f_poissonRatio.setValue(0.4);
// ====== Set up the multimapping and its parents, based on its child
deformableGrid_grid->init(); // initialize the grid, so that the particles are located in space
deformableGrid_dof->init(); // create the state vectors
MechanicalObject3::ReadVecCoord xgrid = deformableGrid_dof->readPositions(); // cerr<<"xgrid = " << xgrid << endl;
// create the rigid frames and their bounding boxes
unsigned numRigid = 2;
vector<BoundingBox> boxes(numRigid);
vector< vector<unsigned> > indices(numRigid); // indices of the particles in each box
double eps = (endPoint[0]-startPoint[0])/(numX*2);
// first box, x=xmin
boxes[0] = BoundingBox(Vec3d(startPoint[0]-eps, startPoint[1]-eps, startPoint[2]-eps),
Vec3d(startPoint[0]+eps, endPoint[1]+eps, endPoint[2]+eps));
// second box, x=xmax
boxes[1] = BoundingBox(Vec3d(endPoint[0]-eps, startPoint[1]-eps, startPoint[2]-eps),
Vec3d(endPoint[0]+eps, endPoint[1]+eps, endPoint[2]+eps));
rigid_dof->resize(numRigid);
MechanicalObjectRigid3::WriteVecCoord xrigid = rigid_dof->writePositions();
xrigid[0].getCenter()=Vec3d(startPoint[0], 0.5*(startPoint[1]+endPoint[1]), 0.5*(startPoint[2]+endPoint[2]));
xrigid[1].getCenter()=Vec3d( endPoint[0], 0.5*(startPoint[1]+endPoint[1]), 0.5*(startPoint[2]+endPoint[2]));
// find the particles in each box
vector<bool> isFree(xgrid.size(),true);
unsigned numMapped = 0;
for(unsigned i=0; i<xgrid.size(); i++){
for(unsigned b=0; b<numRigid; b++ )
{
if( isFree[i] && boxes[b].contains(xgrid[i]) )
{
indices[b].push_back(i); // associate the particle with the box
isFree[i] = false;
numMapped++;
}
}
}
// distribution of the grid particles to the different parents (independent particle or solids.
vector< pair<MechanicalObject3*,unsigned> > parentParticles(xgrid.size());
// Copy the independent particles to their parent DOF
independentParticles_dof->resize( numX*numY*numZ - numMapped );
MechanicalObject3::WriteVecCoord xindependent = independentParticles_dof->writePositions(); // parent positions
unsigned independentIndex=0;
for( unsigned i=0; i<xgrid.size(); i++ ){
if( isFree[i] ){
parentParticles[i]=make_pair(independentParticles_dof.get(),independentIndex);
xindependent[independentIndex] = xgrid[i];
independentIndex++;
}
}
// Mapped particles. The RigidMapping requires to cluster the particles based on their parent frame.
mappedParticles_dof->resize(numMapped);
MechanicalObject3::WriteVecCoord xmapped = mappedParticles_dof->writePositions(); // parent positions
mappedParticles_mapping->globalToLocalCoords.setValue(true); // to define the mapped positions in world coordinates
vector<unsigned>* pointsPerFrame = mappedParticles_mapping->pointsPerFrame.beginEdit(); // to set how many particles are attached to each frame
unsigned mappedIndex=0;
for( unsigned b=0; b<numRigid; b++ )
{
const vector<unsigned>& ind = indices[b];
pointsPerFrame->push_back((unsigned)ind.size()); // Tell the mapping the number of points associated with this frame. One box per frame
for(unsigned i=0; i<ind.size(); i++)
{
parentParticles[ind[i]]=make_pair(mappedParticles_dof.get(),mappedIndex);
xmapped[mappedIndex] = xgrid[ ind[i] ];
mappedIndex++;
}
}
mappedParticles_mapping->pointsPerFrame.endEdit();
// Declare all the particles to the multimapping
for( unsigned i=0; i<xgrid.size(); i++ )
{
deformableGrid_mapping->addPoint( parentParticles[i].first, parentParticles[i].second );
}
return root;
}
