ForceField.inl

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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    *
* the Free Software Foundation; either version 2.1 of the License, or (at     *
* your option) any later version.                                             *
*                                                                             *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details.                                                           *
*                                                                             *
* You should have received a copy of the GNU Lesser General Public License    *
* along with this library; if not, write to the Free Software Foundation,     *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
*******************************************************************************
*                              SOFA :: Framework                              *
*                                                                             *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza,  *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_CORE_COMPONENTMODEL_BEHAVIOR_FORCEFIELD_INL
#define SOFA_CORE_COMPONENTMODEL_BEHAVIOR_FORCEFIELD_INL

#include <sofa/core/objectmodel/DataPtr.h>
#include "ForceField.h"

namespace sofa
{

namespace core
{

namespace componentmodel
{

namespace behavior
{

template<class DataTypes>
ForceField<DataTypes>::ForceField(MechanicalState<DataTypes> *mm)
: mstate(mm)
{
}

template<class DataTypes>
ForceField<DataTypes>::~ForceField()
{
}

template<class DataTypes>
void ForceField<DataTypes>::init()
{
    BaseForceField::init();
    mstate = dynamic_cast< MechanicalState<DataTypes>* >(getContext()->getMechanicalState());
}

template<class DataTypes>
void ForceField<DataTypes>::addForce()
{
    if (mstate)
        addForce(*mstate->getF(), *mstate->getX(), *mstate->getV()); 
}

template<class DataTypes>
void ForceField<DataTypes>::addDForce(double kFactor, double bFactor)
{
    if (mstate)
        addDForce(*mstate->getF(), *mstate->getDx(), kFactor, bFactor);
}

template<class DataTypes>
void ForceField<DataTypes>::addDForceV(double kFactor, double bFactor)
{
    if (mstate)
        addDForce(*mstate->getF(), *mstate->getV(), kFactor, bFactor);
}
template<class DataTypes>
void ForceField<DataTypes>::addDForce(VecDeriv& /*df*/, const VecDeriv& /*dx*/)
{
    std::cerr << "ERROR("<<getClassName()<<"): addDForce not implemented.\n";
}

template<class DataTypes>
void ForceField<DataTypes>::addDForce(VecDeriv& df, const VecDeriv& dx, double kFactor, double /*bFactor*/)
{
    if (kFactor == 1.0)
        addDForce(df, dx);
    else if (kFactor != 0.0)
    {
    BaseMechanicalState::VecId vtmp(BaseMechanicalState::VecId::V_DERIV,BaseMechanicalState::VecId::V_FIRST_DYNAMIC_INDEX);
    mstate->vAvail(vtmp);
    mstate->vAlloc(vtmp);
    BaseMechanicalState::VecId vdx(BaseMechanicalState::VecId::V_DERIV,0);
    for (vdx.index=0;vdx.index<vtmp.index;++vdx.index)
        if (mstate->getVecDeriv(vdx.index) == &dx)
        break;
    mstate->vOp(vtmp,BaseMechanicalState::VecId::null(),vdx,kFactor);
        addDForce(df, *mstate->getVecDeriv(vtmp.index));
    mstate->vFree(vtmp);
    }
}

template<class DataTypes>
double ForceField<DataTypes>::getPotentialEnergy()
{
    if (mstate)
        return getPotentialEnergy(*mstate->getX());
    else return 0;
}

} // namespace behavior

} // namespace componentmodel

} // namespace core

} // namespace sofa

#endif