LMLForce.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     *
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*                               SOFA :: Modules                               *
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/***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 ***************************************************************************/

//-------------------------------------------------------------------------
//                      --   Description   --
//  LMLForce imports from a LML file (see LMLReader class) the forces 
//  applied on DOFs, and traduces it to sofa Forcefield.
//  It inherits from ForceField sofa core class.
//-------------------------------------------------------------------------
 
#ifndef LMLFORCE_H
#define LMLFORCE_H

#include <Loads.h>

#include "sofa/core/componentmodel/behavior/ForceField.h"
#include "sofa/core/componentmodel/behavior/MechanicalState.h"
#include "sofa/core/VisualModel.h"

#include <map>


namespace sofa
{

namespace filemanager
{

namespace pml
{

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

template<class DataTypes>
class LMLForce : public ForceField<DataTypes>, public VisualModel
{
public :    
    typedef typename DataTypes::VecCoord VecCoord;
    typedef typename DataTypes::VecDeriv VecDeriv;
    typedef typename DataTypes::VecCoord::iterator VecCoordIterator;
    typedef typename DataTypes::VecDeriv::iterator VecDerivIterator;
    typedef typename DataTypes::Coord Coord;
    typedef typename DataTypes::Deriv Deriv;

    LMLForce(MechanicalState<DataTypes> *mm = NULL)
    : ForceField<DataTypes>(mm)
    {}
    LMLForce(Loads* loadsList, const map<unsigned int, unsigned int> &atomIndexToDOFIndex, MechanicalState<DataTypes> *mm);

    ~LMLForce(){ /*delete loads;*/}

    std::vector<unsigned int> getTargets() {return targets;}

    void addTarget(unsigned int i) { targets.push_back(i); forces.push_back(Deriv() ); }

    virtual void addForce (VecDeriv& f, const VecCoord& x, const VecDeriv& v);
    virtual void addDForce (VecDeriv& , const VecDeriv& ){}
    virtual double getPotentialEnergy(const VecCoord& ){return 0;}

    void draw();
    void initTextures() { }
    void update() { }

protected:

    MechanicalState<DataTypes> * mmodel;
    std::vector<unsigned int> targets;
    VecDeriv forces;
    Loads* loads;
    map<unsigned int, unsigned int> atomToDOFIndexes;

};

}
}
}
#endif