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

#if !defined(__GNUC__) || (__GNUC__ > 3 || (_GNUC__ == 3 && __GNUC_MINOR__ > 3))
#pragma once
#endif

#include <sofa/defaulttype/VecTypes.h>
#include <sofa/core/componentmodel/behavior/Mass.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/objectmodel/Event.h>
#include <sofa/component/topology/PointData.h>
#include <sofa/helper/vector.h>

#include <sofa/component/topology/EdgeSetGeometryAlgorithms.h>
#include <sofa/component/topology/TriangleSetGeometryAlgorithms.h>
#include <sofa/component/topology/TetrahedronSetGeometryAlgorithms.h>
#include <sofa/component/topology/QuadSetGeometryAlgorithms.h>
#include <sofa/component/topology/HexahedronSetGeometryAlgorithms.h>

namespace sofa
{

namespace component
{

namespace mass
{

// template<class Vec> void readVec1(Vec& vec, const char* str);

template <class DataTypes, class MassType>
class DiagonalMass : public core::componentmodel::behavior::Mass<DataTypes>, public virtual core::objectmodel::BaseObject
{
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;

    typedef sofa::component::topology::PointData<MassType> VecMass;
    typedef helper::vector<MassType> MassVector;


    typedef enum {
        TOPOLOGY_UNKNOWN=0,
        TOPOLOGY_EDGESET=1,
        TOPOLOGY_TRIANGLESET=2,
        TOPOLOGY_TETRAHEDRONSET=3,
        TOPOLOGY_QUADSET=4,
        TOPOLOGY_HEXAHEDRONSET=5
    } TopologyType;

    Data< VecMass > f_mass;
    Data< Real > m_massDensity;

    Data< bool > showCenterOfGravity;
    Data< float > showAxisSize;

protected:
    //VecMass masses;

    class Loader;
    TopologyType topologyType;  

public:

    sofa::core::componentmodel::topology::BaseMeshTopology* _topology;

    sofa::component::topology::EdgeSetGeometryAlgorithms<DataTypes>* edgeGeo;   
    sofa::component::topology::TriangleSetGeometryAlgorithms<DataTypes>* triangleGeo; 
    sofa::component::topology::QuadSetGeometryAlgorithms<DataTypes>* quadGeo; 
    sofa::component::topology::TetrahedronSetGeometryAlgorithms<DataTypes>* tetraGeo; 
    sofa::component::topology::HexahedronSetGeometryAlgorithms<DataTypes>* hexaGeo; 

    DiagonalMass();

    ~DiagonalMass();

    //virtual const char* getTypeName() const { return "DiagonalMass"; }
    
    bool load(const char *filename);

    void clear();

    virtual void reinit();
    virtual void init();
    virtual void parse(core::objectmodel::BaseObjectDescription* arg);

    TopologyType getMassTopologyType() const {
        return topologyType;
    }
     Real getMassDensity() const {
         return m_massDensity.getValue();
     }


   // handle topological changes
   virtual void handleTopologyChange();

   void setMassDensity(Real m) {
       m_massDensity.setValue(m);
   }


    void addMass(const MassType& mass);

    void resize(int vsize);

    // -- 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);

    double getKineticEnergy(const VecDeriv& v);  

    double getPotentialEnergy(const VecCoord& x);   

    void addGravityToV(double dt/*, defaulttype::BaseVector& v*/);

    void addMToMatrix(defaulttype::BaseMatrix * mat, double mFact, unsigned int &offset);

    double getElementMass(unsigned int index);

    void draw();

    bool addBBox(double* minBBox, double* maxBBox);
};

} // namespace mass

} // namespace component

} // namespace sofa

#endif