X-Git-Url: http://git.megacz.com/?p=anneal.git;a=blobdiff_plain;f=src%2Fedu%2Fberkeley%2Fqfat%2Fgeom%2FHasBindingGroup.java;h=65d581f9d5cce15645948c31a8fb6070a79fc8d7;hp=cf72a08a125168808b024c484e385b577354acb9;hb=30607e6bf4827d90fc055c8db1e7f363ef2693e6;hpb=bebc4007cb48fe93ca03f97047d3445a881afe9e

diff --git a/src/edu/berkeley/qfat/geom/HasBindingGroup.java b/src/edu/berkeley/qfat/geom/HasBindingGroup.java
index cf72a08..65d581f 100644
--- a/src/edu/berkeley/qfat/geom/HasBindingGroup.java
+++ b/src/edu/berkeley/qfat/geom/HasBindingGroup.java
@@ -1,33 +1,96 @@
 package edu.berkeley.qfat.geom;
 import javax.media.opengl.*;
 import java.util.*;
+import edu.berkeley.qfat.Mesh;
 
 public abstract class HasBindingGroup {
 
-    BindingGroup bindingGroup;
+    public BindingGroup bindingGroup;
 
     // know:      self   = bindingGroup[self] * master
     // know:      other  = other.bindingGroup[other] * other.bindingGroup.master
     // want:      self   = bindingMatrix * other
     // therefore: master = bindingGroup[self]^-1 * bindingMatrix * other
     // therefore:        = bindingGroup[self]^-1 * bindingMatrix * other.bindingGroup[other] * other.bindingGroup.master
-    public void bindTo(HasBindingGroup other, Matrix bindingMatrix) {
-        if (other.bindingGroup == this.bindingGroup)
-            throw new Error("rebind attempt");
+    public void bindTo(Matrix bindingMatrix, HasBindingGroup other) {
+        if (bindingGroup == null) bindingGroup = new BindingGroup(this);
+        if (other.bindingGroup == null) other.bindingGroup = new BindingGroup(other);
+
+        if (other.bindingGroup == this.bindingGroup) {
+            if (getBindingMatrix(other).equals(bindingMatrix))
+                return;
+            /*
+            if (this instanceof Mesh.E)
+                throw new Error("rebind attempt: "+this+" and "+other+" with "
+                                + bindingMatrix
+                                + "; expected "
+                                + getBindingMatrix(other));
+            */
+            setConstraint(bindingMatrix);
+            /*
+              System.err.println("WARNING: discarding rebind attempt: "+this+" and "+other+m);
+            */
+            //" with "
+            //+ bindingMatrix
+            //+ "; expected "
+            //+ getBindingMatrix(other));
+            return;
+        }
+
 
         bindingMatrix =
-            getBindingMatrix()
+            getBindingMatrix().inverse()
             .times(bindingMatrix)
             .times(other.getBindingMatrix());
         other.bindingGroup.merge(bindingGroup, bindingMatrix);
     }
 
+    public int bindingGroupSize() {
+        if (bindingGroup == null) return 1;
+        return bindingGroup.size();
+    }
+
+
     public Matrix getBindingMatrix() {
+        if (bindingGroup==null) return Matrix.ONE;
         return bindingGroup.getMatrix(this);
     }
 
+    public Matrix getBindingMatrix(HasBindingGroup other) {
+        if (other==this) return Matrix.ONE;
+        return bindingGroup.getMatrix(this, other);
+    }
+
     public HasBindingGroup getMaster() {
+        if (bindingGroup==null) return this;
         return bindingGroup.getMaster();
     }
 
+    public Matrix getConstraint() {
+        if (bindingGroup==null) return Matrix.ONE;
+        Matrix v = getBindingMatrix(getMaster());
+        return v.inverse().times(bindingGroup.krank).times(v);
+    }
+    public void setConstraint(Matrix m) {
+        if (bindingGroup==null) bindingGroup = new BindingGroup(this);
+        Matrix v = getBindingMatrix(getMaster());
+        bindingGroup.krank = bindingGroup.krank.times(v.inverse().times(m).times(v));
+    }
+
+    public void unbind() {
+        if (bindingGroup==null) return;
+        bindingGroup.unbind(this);
+        bindingGroup = null;
+        bindingGroupChanged(bindingGroup);
+    }
+
+    public boolean isBoundTo(HasBindingGroup t) {
+        return t==this || (bindingGroup!=null && bindingGroup.contains(t));
+    }
+
+    public Iterable getBoundPeers() {
+        if (bindingGroup==null) bindingGroup = new BindingGroup(this);
+        return bindingGroup;
+    }
+    public void bindingGroupChanged(BindingGroup newBindingGroup) { }
 }