/usr/include/sofa/component/mass/MatrixMass.h is in libsofa1-dev 1.0~beta4-10ubuntu2.
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* 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. *
* *
* 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. *
* *
* 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_MATRIXMASS_H
#define SOFA_COMPONENT_MASS_MATRIXMASS_H
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/core/componentmodel/behavior/Mass.h>
#include <sofa/core/objectmodel/Event.h>
#include <sofa/component/topology/PointData.h>
#include <sofa/helper/vector.h>
namespace sofa
{
namespace component
{
namespace mass
{
/**
Mass Matrices. By default a diagonal matrix is created with diagonal to _defaultValue. Else matrices have to be given in the .scn file.
It is possible to use lumped matrices.
*/
template <class DataTypes, class MassType>
class MatrixMass : public core::componentmodel::behavior::Mass<DataTypes>
{
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;
using Inherited::sout;
using Inherited::serr;
using Inherited::sendl;
typedef helper::vector<MassType> VecMass;
Data< VecMass > f_mass;
Data< bool > _lumped;
Data< Real > _defaultValue;
VecMass _lumpedMasses; ///< lumped mass matrices
const VecMass* _usedMassMatrices; ///< what VecMass is used to represent matrices ? f_mass.getValue() or _lumpedMasses ?
MatrixMass()
: f_mass( this->initData(&f_mass, "massMatrices", "values of the particles masses") )
, _defaultValue( this->initData(&_defaultValue, (Real)1.0,"defaultValue", "real default value") )
,_usingDefaultDiagonalMatrices(false)
{
_lumped = this->initData( &this->_lumped, false, "lumped", "");
};
~MatrixMass();
void clear();
//void addMass(const MassType& mass);
void resize(int vsize);
virtual void init();
virtual void reinit();
// -- 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);
void addGravityToV(double dt/*, defaulttype::BaseVector& 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
/// Add Mass contribution to global Matrix assembling
void addMToMatrix(defaulttype::BaseMatrix * mat, double mFact, unsigned int &offset);
double getElementMass(unsigned int index);
protected:
MassType diagonalMass( const Real& m ); ///< return a diagonal matrix mass with value m on all the diagonal
MassType lump( const MassType& m ); ///< lump the matrix m, ie sum line on diagonal
void lumpMatrices( ); ///< lump all mass matrices
void defaultDiagonalMatrices( ); ///< compute default diagonal matrices
bool _usingDefaultDiagonalMatrices; ///< default diagonal matrices are used
};
} // namespace mass
} // namespace component
} // namespace sofa
#endif
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