graspit: material.cpp Source File

00001 //######################################################################
00002 //
00003 // GraspIt!
00004 // Copyright (C) 2002-2009  Columbia University in the City of New York.
00005 // All rights reserved.
00006 //
00007 // GraspIt! is free software: you can redistribute it and/or modify
00008 // it under the terms of the GNU General Public License as published by
00009 // the Free Software Foundation, either version 3 of the License, or
00010 // (at your option) any later version.
00011 //
00012 // GraspIt! is distributed in the hope that it will be useful,
00013 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00014 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015 // GNU General Public License for more details.
00016 //
00017 // You should have received a copy of the GNU General Public License
00018 // along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
00019 //
00020 // Author(s): Andrew T. Miller 
00021 //
00022 // $Id: material.cpp,v 1.3 2009/03/25 22:10:04 cmatei Exp $
00023 //
00024 //######################################################################
00025 
00026 #include <stdio.h>
00027 #include <string.h>
00028 
00029 #include "material.h"
00030 
00031 double Cof[NUM_MATERIAL][NUM_MATERIAL];
00032 double KineticCof[NUM_MATERIAL][NUM_MATERIAL];
00033 char matNameList[NUM_MATERIAL][30] = {"frictionless","glass","metal","wood",
00034                                    "plastic","rubber","stone","invalid"};
00035 
00036 materialT readMaterial(const char *matStr)
00037 {
00038   if (!strcmp(matStr,"frictionless")) return(frictionless);
00039   if (!strcmp(matStr,"glass")) return(glass);
00040   if (!strcmp(matStr,"metal")) return(metal);
00041   if (!strcmp(matStr,"wood")) return(wood);
00042   if (!strcmp(matStr,"plastic")) return(plastic);
00043   if (!strcmp(matStr,"rubber")) return(rubber);
00044   if (!strcmp(matStr,"stone")) return(stone);
00045   return(invalid);
00046 }
00047 
00048 void getMaterialStr(materialT mat,char *str){
00049   switch (mat) {
00050   case frictionless:
00051     strcpy(str,"frictionless");
00052     break;
00053   case glass:
00054     strcpy(str,"glass");
00055     break;
00056   case metal:
00057     strcpy(str,"metal");
00058     break;
00059   case wood:
00060     strcpy(str,"wood");
00061     break;
00062   case plastic:
00063     strcpy(str,"plastic");
00064     break;
00065   case rubber:
00066     strcpy(str,"rubber");
00067     break;
00068   case stone:
00069     strcpy(str,"stone");
00070     break;
00071   case invalid:
00072     strcpy(str,"invalid");
00073     break;
00074   }
00075 }
00076 
00077 const char *
00078 getMaterialStr(materialT mat){
00079   switch (mat) {
00080   case frictionless:
00081     return "frictionless";
00082   case glass:
00083     return "glass";
00084   case metal:
00085     return "metal";
00086   case wood:
00087     return "wood";
00088   case plastic:
00089     return "plastic";
00090   case rubber:
00091     return "rubber";
00092   case stone:
00093           return "stone";
00094   case invalid:
00095     break;
00096   }
00097   return "invalid";
00098 }
00099 
00100 void initCof(){
00101   int i,j;
00102   for (i = 0; i < NUM_MATERIAL; i++)
00103     for (j = 0; j < NUM_MATERIAL; j++) {
00104       Cof[i][j] = 0.0;
00105       KineticCof[i][j] = 0.0;
00106     }
00107 
00108   /* from CRC handbook of chemistry and physics */
00109   /* assuming room temperature contact */
00110 
00111   /* Metal on Metal ?guess?: 0.2 */
00112   KineticCof[metal][metal] = 0.1;
00113 
00114   /* Wood on Wood -Dry-: 0.25-0.5 */
00115   KineticCof[wood][wood] = 0.3;
00116 
00117   /* Wood on Metal -Dry-: 0.2-0.6 */
00118   KineticCof[wood][metal] = KineticCof[metal][wood] = 0.2;
00119 
00120   /* Plastic on Plastic ?guess?: 0.3 */
00121   KineticCof[plastic][plastic] = 0.2;
00122 
00123   /* Plastic on Metal ?guess?: 0.2 */
00124   KineticCof[plastic][metal] = KineticCof[metal][plastic] = 0.1;
00125 
00126   /* Plastic on Wood ?guess?: 0.4 */
00127   KineticCof[plastic][wood] = KineticCof[wood][plastic] = 0.3;
00128 
00129   /* Rubber on Solids:  1-4 */
00130   KineticCof[rubber][rubber] = 1.9;  
00131   KineticCof[rubber][metal] = KineticCof[metal][rubber] = 0.9;
00132   KineticCof[rubber][wood] = KineticCof[wood][rubber] = 0.9;
00133   KineticCof[rubber][plastic] = KineticCof[plastic][rubber] = 0.9;
00134 
00135   /* for now we simply copy metal values for glass */
00136   KineticCof[glass][glass] = 0.1;
00137   KineticCof[glass][metal] = KineticCof[metal][glass] = 0.1;
00138   KineticCof[glass][wood] = KineticCof[wood][glass] = 0.2;
00139   KineticCof[glass][plastic] = KineticCof[plastic][glass] = 0.1;
00140   KineticCof[glass][rubber] = KineticCof[rubber][glass] = 0.9;
00141 
00142   /* guessed values for stone */
00143   KineticCof[stone][stone] = 0.6;
00144   KineticCof[stone][glass] = KineticCof[glass][stone] = 0.3;
00145   KineticCof[stone][metal] = KineticCof[metal][stone] = 0.3;
00146   KineticCof[stone][wood] = KineticCof[wood][stone] = 0.5;
00147   KineticCof[stone][plastic] = KineticCof[plastic][glass] = 0.5;
00148   KineticCof[glass][rubber] = KineticCof[rubber][glass] = 1.4;
00149 
00150   /* Metal on Metal ?guess?: 0.2 */
00151   Cof[metal][metal] = 0.2;
00152 
00153   /* Wood on Wood -Dry-: 0.25-0.5 */
00154   Cof[wood][wood] = 0.4;
00155 
00156   /* Wood on Metal -Dry-: 0.2-0.6 */
00157   Cof[wood][metal] = Cof[metal][wood] = 0.3;
00158 
00159   /* Plastic on Plastic ?guess?: 0.3 */
00160   Cof[plastic][plastic] = 0.3;
00161 
00162   /* Plastic on Metal ?guess?: 0.2 */
00163   Cof[plastic][metal] = Cof[metal][plastic] = 0.2;
00164 
00165   /* Plastic on Wood ?guess?: 0.4 */
00166   Cof[plastic][wood] = Cof[wood][plastic] = 0.4;
00167 
00168   /* Rubber on Solids:  1-4 */
00169   Cof[rubber][rubber] = 2.0;  
00170   Cof[rubber][metal] = Cof[metal][rubber] = 1.0;
00171   Cof[rubber][wood] = Cof[wood][rubber] = 1.0;
00172   Cof[rubber][plastic] = Cof[plastic][rubber] = 1.0;
00173 
00174   /* for now we simply copy metal values for glass */
00175   Cof[glass][glass] = 0.2;
00176   Cof[glass][metal] = Cof[metal][glass] = 0.2;
00177   Cof[glass][wood] = Cof[wood][glass] = 0.3;
00178   Cof[glass][plastic] = Cof[plastic][glass] = 0.2;
00179   Cof[glass][rubber] = Cof[rubber][glass] = 1.0;
00180 
00181   /* guessed values for stone */
00182   Cof[stone][stone] = 0.7;
00183   Cof[stone][glass] = Cof[glass][stone] = 0.4;
00184   Cof[stone][metal] = Cof[metal][stone] = 0.4;
00185   Cof[stone][wood] = Cof[wood][stone] = 0.6;
00186   Cof[stone][plastic] = Cof[plastic][stone] = 0.6;
00187   Cof[stone][rubber] = Cof[rubber][stone] = 1.5;
00188 
00189 }  
00190   
00191