AddMToMatrixFunctor.h

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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
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* 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    *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details.                                                           *
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*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
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******************************************************************************/
#ifndef SOFA_COMPONENT_MASS_ADDMTOMATRIXFUNCTOR_H
#define SOFA_COMPONENT_MASS_ADDMTOMATRIXFUNCTOR_H

#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/defaulttype/DataTypeInfo.h>

namespace sofa
{

namespace component
{

namespace mass
{

template<class Deriv, class MassType>
class AddMToMatrixFunctor
//;
//template<int N, typename Real>
//class AddMToMatrixFunctor< defaulttype::Vec<N,Real>, Real >
{
public:
    //void operator()(defaulttype::BaseMatrix * mat, const Real& mass, int pos, double fact)
    void operator()(defaulttype::BaseMatrix * mat, const MassType& mass, int pos, double fact)
    {
        const double m = mass*fact;
        for (unsigned int i=0;i<Deriv::size();++i)
            mat->add(pos+i, pos+i, m);
    }
};

template<int N, typename Real>
class AddMToMatrixFunctor< defaulttype::Vec<N,Real>, defaulttype::Mat<N,N,Real> >
{
public:
    void operator()(defaulttype::BaseMatrix * mat, const defaulttype::Mat<N,N,Real>& mass, int pos, double fact)
    {
        for (int i=0;i<N;++i)
            for (int j=0;j<N;++j)
        {
            mat->add(pos+i, pos+j, mass[i][j]*fact);
        }
    }
};

template<typename Real>
class AddMToMatrixFunctor< defaulttype::RigidDeriv<3,Real>, defaulttype::RigidMass<3,Real> >
{
public:
    enum { N=3 };
    void operator()(defaulttype::BaseMatrix * mat, const defaulttype::RigidMass<N,Real>& mass, int pos, double fact)
    {
        const double m = mass.mass*fact;
        for (int i=0;i<N;++i)
            mat->add(pos+i, pos+i, m);
        for (int i=0;i<N;++i)
            for (int j=0;j<N;++j)
        {
            mat->add(pos+N+i, pos+N+j, mass.inertiaMassMatrix[i][j]*fact);
        }
    }
};

template<typename Real>
class AddMToMatrixFunctor< defaulttype::RigidDeriv<2,Real>, defaulttype::RigidMass<2,Real> >
{
public:
    enum { N=2 };
    void operator()(defaulttype::BaseMatrix * mat, const defaulttype::RigidMass<N,Real>& mass, int pos, double fact)
    {
        const double m = mass.mass*fact;
        for (int i=0;i<N;++i)
            mat->add(pos+i, pos+i, m);
        mat->add(pos+N, pos+N, mass.inertiaMassMatrix*fact);
    }
};

} // namespace mass

} // namespace component

} // namespace sofa

#endif