libsofa1-dev 1.0~beta4-9 / usr / include / sofa / component / mass / DiagonalMass.h

/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4      *
*                (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS                    *
*                                                                             *
* This library is free software; you can redistribute it and/or modify it     *
* under the terms of the GNU Lesser General Public License as published by    *
* the Free Software Foundation; either version 2.1 of the License, or (at     *
* your option) any later version.                                             *
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* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details.                                                           *
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* You should have received a copy of the GNU Lesser General Public License    *
* along with this library; if not, write to the Free Software Foundation,     *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_MASS_DIAGONALMASS_H
#define SOFA_COMPONENT_MASS_DIAGONALMASS_H

#if !defined(__GNUC__) || (__GNUC__ > 3 || (_GNUC__ == 3 && __GNUC_MINOR__ > 3))
#pragma once
#endif

#include <sofa/defaulttype/VecTypes.h>
#include <sofa/core/componentmodel/behavior/Mass.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/objectmodel/Event.h>
#include <sofa/component/topology/PointData.h>
#include <sofa/helper/vector.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>

#include <sofa/component/topology/EdgeSetGeometryAlgorithms.h>
#include <sofa/component/topology/TriangleSetGeometryAlgorithms.h>
#include <sofa/component/topology/TetrahedronSetGeometryAlgorithms.h>
#include <sofa/component/topology/QuadSetGeometryAlgorithms.h>
#include <sofa/component/topology/HexahedronSetGeometryAlgorithms.h>

namespace sofa
{

namespace component
{

namespace mass
{

// template<class Vec> void readVec1(Vec& vec, const char* str);

template <class DataTypes, class MassType>
class DiagonalMass : public core::componentmodel::behavior::Mass<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
    typedef core::componentmodel::behavior::Mass<DataTypes> Inherited;
    typedef typename DataTypes::VecCoord VecCoord;
    typedef typename DataTypes::VecDeriv VecDeriv;
    typedef typename DataTypes::Coord Coord;
    typedef typename DataTypes::Deriv Deriv;
    typedef typename DataTypes::Real Real;

	typedef sofa::component::topology::PointData<MassType> VecMass;
	typedef helper::vector<MassType> MassVector;


	typedef enum {
		TOPOLOGY_UNKNOWN=0,
		TOPOLOGY_EDGESET=1,
		TOPOLOGY_TRIANGLESET=2,
		TOPOLOGY_TETRAHEDRONSET=3,
		TOPOLOGY_QUADSET=4,
		TOPOLOGY_HEXAHEDRONSET=5
	} TopologyType;

    VecMass f_mass;
    /// the mass density used to compute the mass from a mesh topology and geometry
    Data< Real > m_massDensity;

	/// to display the center of gravity of the system
	Data< bool > showCenterOfGravity;
	Data< float > showAxisSize;

protected:
    //VecMass masses;

    class Loader;
	/// The type of topology to build the mass from the topology
	TopologyType topologyType;	

public:

	sofa::core::componentmodel::topology::BaseMeshTopology* _topology;

	sofa::component::topology::EdgeSetGeometryAlgorithms<DataTypes>* edgeGeo; 	
	sofa::component::topology::TriangleSetGeometryAlgorithms<DataTypes>* triangleGeo; 
	sofa::component::topology::QuadSetGeometryAlgorithms<DataTypes>* quadGeo; 
	sofa::component::topology::TetrahedronSetGeometryAlgorithms<DataTypes>* tetraGeo; 
	sofa::component::topology::HexahedronSetGeometryAlgorithms<DataTypes>* hexaGeo; 

    DiagonalMass();

    ~DiagonalMass();

    //virtual const char* getTypeName() const { return "DiagonalMass"; }
    
    bool load(const char *filename);

    void clear();

    virtual void reinit();
    virtual void init();
    virtual void parse(core::objectmodel::BaseObjectDescription* arg);

    TopologyType getMassTopologyType() const {
        return topologyType;
    }
     Real getMassDensity() const {
         return m_massDensity.getValue();
     }


   // handle topological changes
   virtual void handleTopologyChange();

   void setMassDensity(Real m) {
	   m_massDensity.setValue(m);
   }


    void addMass(const MassType& mass);

    void resize(int vsize);

    // -- Mass interface
    void addMDx(VecDeriv& f, const VecDeriv& dx, double factor = 1.0);

    void accFromF(VecDeriv& a, const VecDeriv& f);

    void addForce(VecDeriv& f, const VecCoord& x, const VecDeriv& v);

    double getKineticEnergy(const VecDeriv& v);  ///< vMv/2 using dof->getV()

    double getPotentialEnergy(const VecCoord& x);   ///< Mgx potential in a uniform gravity field, null at origin

    void addGravityToV(double dt/*, defaulttype::BaseVector& v*/);

    /// Add Mass contribution to global Matrix assembling
    void addMToMatrix(defaulttype::BaseMatrix * mat, double mFact, unsigned int &offset);

    double getElementMass(unsigned int index);

    void draw();

    bool addBBox(double* minBBox, double* maxBBox);
};

#if defined(WIN32) && !defined(SOFA_COMPONENT_MASS_DIAGONALMASS_CPP)
#pragma warning(disable : 4231)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_MASS_API DiagonalMass<defaulttype::Vec3dTypes,double>;
extern template class SOFA_COMPONENT_MASS_API DiagonalMass<defaulttype::Vec2dTypes,double>;
extern template class SOFA_COMPONENT_MASS_API DiagonalMass<defaulttype::Vec1dTypes,double>;
extern template class SOFA_COMPONENT_MASS_API DiagonalMass<defaulttype::Rigid3dTypes,defaulttype::Rigid3dMass>;
extern template class SOFA_COMPONENT_MASS_API DiagonalMass<defaulttype::Rigid2dTypes,defaulttype::Rigid2dMass>;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_MASS_API DiagonalMass<defaulttype::Vec3fTypes,float>;
extern template class SOFA_COMPONENT_MASS_API DiagonalMass<defaulttype::Vec2fTypes,float>;
extern template class SOFA_COMPONENT_MASS_API DiagonalMass<defaulttype::Vec1fTypes,float>;
extern template class SOFA_COMPONENT_MASS_API DiagonalMass<defaulttype::Rigid3fTypes,defaulttype::Rigid3fMass>;
extern template class SOFA_COMPONENT_MASS_API DiagonalMass<defaulttype::Rigid2fTypes,defaulttype::Rigid2fMass>;
#endif
#endif

} // namespace mass

} // namespace component

} // namespace sofa

#endif