ArticulatedSystemMapping.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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* Contact information: contact@sofa-framework.org                             *
******************************************************************************/

#ifndef SOFA_COMPONENT_MAPPING_ARTICULATEDSYSTEMMAPPING_H
#define SOFA_COMPONENT_MAPPING_ARTICULATEDSYSTEMMAPPING_H

#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/helper/gl/template.h>
#include <sofa/helper/gl/Axis.h>
#include <sofa/defaulttype/VecTypes.h>
#include <vector>
#include <sofa/component/container/ArticulatedHierarchyContainer.h>
#include <sofa/simulation/tree/GNode.h>

namespace sofa
{

namespace component
{

namespace mapping
{

using namespace sofa::defaulttype;
using namespace sofa::component::container;
using namespace sofa::simulation::tree;

template <class BasicMapping>
class ArticulatedSystemMapping : public BasicMapping, public virtual core::objectmodel::BaseObject
{
public:
    typedef BasicMapping Inherit;
    typedef typename Inherit::In In;
    typedef typename Inherit::Out Out;
    typedef typename Out::VecCoord OutVecCoord;
    typedef typename Out::VecDeriv OutVecDeriv;
    typedef typename Out::Coord OutCoord;
    typedef typename Out::Deriv OutDeriv;
    typedef typename Out::SparseVecDeriv OutSparseVecDeriv;
    typedef typename Out::SparseDeriv OutSparseDeriv;
    typedef typename In::VecCoord InVecCoord;
    typedef typename In::VecDeriv InVecDeriv;
    typedef typename In::Coord InCoord;
    typedef typename In::Deriv InDeriv;
    typedef typename In::SparseVecDeriv InSparseVecDeriv;
    typedef typename In::SparseDeriv InSparseDeriv;
    typedef typename In::Real Real;
    typedef typename OutCoord::value_type OutReal;
    
    typedef sofa::core::componentmodel::behavior::MechanicalState<typename Out::DataTypes> InRoot;
    
    InRoot* rootModel;

    ArticulatedSystemMapping(In* from, Out* to)
    : Inherit(from, to), rootModel(NULL), ahc(NULL)
    {
    }
    
    virtual ~ArticulatedSystemMapping()
    {
    }

    void init();
    void reset();
    

    //void applyOld( typename Out::VecCoord& out, const typename In::VecCoord& in );
    
    void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );

    void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in, const typename InRoot::VecDeriv* inroot );
    
    void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in, typename InRoot::VecDeriv* outroot );

    void applyJT( typename In::VecConst& out, const typename Out::VecConst& in, typename InRoot::VecConst* outroot );
    

    void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in )
    {
        applyJ(out,in, NULL);
    }
    
    void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in )
    {
        applyJT(out,in, NULL);
    }

    void applyJT( typename In::VecConst& out, const typename Out::VecConst& in )
    {
        applyJT(out,in, NULL);
    }


    void propagateV();

    void propagateDx();

    void accumulateForce();

    void accumulateDf();

    void accumulateConstraint();


    void draw();

    vector<ArticulatedHierarchyContainer::ArticulationCenter*> articulationCenters;

    ArticulatedHierarchyContainer* ahc;

private:
    Vec<1,Quat> Buf_Rotation;
    std::vector< Vec<3,OutReal> > ArticulationAxis;
    std::vector< Vec<3,OutReal> > ArticulationPos;
    InVecCoord CoordinateBuf;
    InVecDeriv dxVec1Buf;
    OutVecDeriv dxRigidBuf;
};


} // namespace mapping

} // namespace component

} // namespace sofa

#endif