Mass.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    *
* 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_MASS_H
#define SOFA_CORE_COMPONENTMODEL_BEHAVIOR_MASS_H

#include <sofa/core/componentmodel/behavior/BaseMass.h>
#include <sofa/core/componentmodel/behavior/ForceField.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/defaulttype/Vec.h>
namespace sofa
{

namespace core
{

namespace componentmodel
{

namespace behavior
{

template<class DataTypes>
class Mass : virtual public ForceField<DataTypes>, public BaseMass 
{
public:
    typedef typename DataTypes::VecCoord VecCoord;
    typedef typename DataTypes::VecDeriv VecDeriv;
    typedef typename DataTypes::Coord Coord;
    typedef typename DataTypes::Deriv Deriv;

    Mass(MechanicalState<DataTypes> *mm = NULL);

    virtual ~Mass();


    virtual void addMDx(double factor = 1.0);

    virtual void accFromF();

    virtual void addMDx(VecDeriv& f, const VecDeriv& dx, double factor = 1.0) = 0;

    virtual void accFromF(VecDeriv& a, const VecDeriv& f) = 0;

    virtual void addDForce(VecDeriv& /*df*/, const VecDeriv& /*dx*/, double /*kFactor*/, double /*bFactor*/)
    {}

    virtual double getKineticEnergy();

    //virtual double getPotentialEnergy();

    virtual double getKineticEnergy( const VecDeriv& v )=0;

    virtual void addMBKdx(double mFactor, double bFactor, double kFactor);

    virtual void addMBKv(double mFactor, double bFactor, double kFactor);

    virtual void addMBKToMatrix(sofa::defaulttype::BaseMatrix * matrix, double mFact, double bFact, double kFact, unsigned int &offset);

    virtual void initGnuplot(const std::string path);   

    virtual void exportGnuplot(double time);    

    virtual void addGravityToV(double dt)=0;


protected:
    std::ofstream* m_gnuplotFileEnergy;

};

template<class Coord, class Deriv, class Vec, class M, class SV>
Deriv inertiaForce( const SV& /*sv*/, const Vec& /*a*/, const M& /*m*/, const Coord& /*x*/, const Deriv& /*v*/ )
{
    return Deriv();
    //const Deriv& omega=sv.getAngularVelocity();
    //return -( a + omega.cross( omega.cross(x) + v*2 ))*m;
}

} // namespace behavior

} // namespace componentmodel

} // namespace core

} // namespace sofa

#endif