CenterOfMassMapping.inl

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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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*                               SOFA :: Modules                               *
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* Authors: The SOFA Team and external contributors (see Authors.txt)          *
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#ifndef SOFA_COMPONENT_MAPPING_CENTEROFMASSMAPPING_INL
#define SOFA_COMPONENT_MAPPING_CENTEROFMASSMAPPING_INL

#include <sofa/component/mapping/CenterOfMassMapping.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/helper/gl/template.h>
#include <sofa/core/componentmodel/behavior/MechanicalMapping.inl>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <string>
#include <iostream>

using std::cerr;
using std::endl;


namespace sofa
{

namespace component
{

namespace mapping
{

using namespace sofa::defaulttype;




template <class BasicMapping>
void CenterOfMassMapping<BasicMapping>::init()
{
    masses = dynamic_cast<BaseMass*> (this->fromModel->getContext()->getMass());
    if(!masses)
        return;

    totalMass = 0.0;

    for (unsigned int i=0 ; i<this->fromModel->getX()->size() ; i++)
        totalMass += masses->getElementMass(i);

}


template <class BasicMapping>
void CenterOfMassMapping<BasicMapping>::apply ( typename Out::VecCoord& childPositions, const typename In::VecCoord& parentPositions )
{
    if(!masses || totalMass==0.0){
        cerr<<"Error in CenterOfMassMapping : no mass found corresponding to the DOFs"<<endl;
        return;
    }

    OutCoord outX;

    for (unsigned int i=0 ; i<parentPositions.size() ; i++){
        outX += parentPositions[i].getCenter() * masses->getElementMass(i);
    }

    childPositions[0] = outX / totalMass;
}


template <class BasicMapping>
void CenterOfMassMapping<BasicMapping>::applyJ ( typename Out::VecDeriv& childForces, const typename In::VecDeriv& parentForces )
{
    if(!masses || totalMass==0.0){
        cerr<<"Error in CenterOfMassMapping : no mass found corresponding to the DOFs"<<endl;
        return;
    }

    OutDeriv outF;

    for (unsigned int i=0 ; i<parentForces.size() ; i++){
        outF += parentForces[i].getVCenter() * masses->getElementMass(i);
    }

    childForces[0] = outF / totalMass;
    
}


template <class BasicMapping>
void CenterOfMassMapping<BasicMapping>::applyJT ( typename In::VecDeriv& parentForces, const typename Out::VecDeriv& childForces )
{
    if(!masses || totalMass==0.0){
        cerr<<"Error in CenterOfMassMapping : no mass found corresponding to the DOFs"<<endl;
        return;
    }

    for (unsigned int i=0 ; i<parentForces.size() ; i++)
        parentForces[i].getVCenter() += childForces[0] * (masses->getElementMass(i) / totalMass);
}



template <class BasicMapping>
void CenterOfMassMapping<BasicMapping>::draw()
{
    const typename Out::VecCoord &X = *this->toModel->getX();
    glBegin (GL_LINES);
        glColor4f (1,1,0,1);
        for(unsigned int i=0 ; i<OutCoord::static_size ; i++){
            OutCoord v;
            v[i] = (Real)0.1;
            helper::gl::glVertexT(X[0] -v);
            helper::gl::glVertexT(X[0] +v);
        }
    glEnd();
}


} // namespace mapping

} // namespace component

} // namespace sofa

#endif