CenterOfMassMapping.h

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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 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    *
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* your option) any later version.                                             *
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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)          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_MAPPING_CENTEROFMASSMAPPING_H
#define SOFA_COMPONENT_MAPPING_CENTEROFMASSMAPPING_H

#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/componentmodel/behavior/BaseMass.h>
#include <sofa/defaulttype/RigidTypes.h>

namespace sofa
{

namespace component
{

namespace mapping
{

    using namespace sofa::core::componentmodel::behavior;


template <class BasicMapping>
class CenterOfMassMapping : public BasicMapping, public virtual core::objectmodel::BaseObject
{
  public:
    typedef BasicMapping Inherit;
    typedef typename Inherit::In In;
    typedef typename Inherit::Out Out;
    typedef typename Out::Coord OutCoord;
    typedef typename Out::Deriv OutDeriv;
    typedef typename In::Coord InCoord;
    typedef typename In::Deriv InDeriv;
    typedef typename OutCoord::value_type Real;

    CenterOfMassMapping ( In* from, Out* to ): Inherit ( from, to )
    {}

    virtual ~CenterOfMassMapping()
    {}

    void init();
    
    virtual void apply ( typename Out::VecCoord& childPositions, const typename In::VecCoord& parentPositions );

    virtual void applyJ ( typename Out::VecDeriv& childForces, const typename In::VecDeriv& parentForces );

    virtual void applyJT ( typename In::VecDeriv& parentForces, const typename Out::VecDeriv& childForces );

    void draw();


  protected :
    BaseMass * masses;

    double totalMass;

};

} // namespace mapping

} // namespace component

} // namespace sofa

#endif