MatrixMass.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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* for more details.                                                           *
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*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
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#ifndef SOFA_COMPONENT_MASS_MATRIXMASS_H
#define SOFA_COMPONENT_MASS_MATRIXMASS_H



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

namespace sofa
{

    
    
namespace component
{

namespace mass
{


template <class DataTypes, class MassType>
class MatrixMass : public core::componentmodel::behavior::Mass<DataTypes>
{
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 helper::vector<MassType> VecMass;


    Data< VecMass > f_mass;
    Data< bool >    _lumped;
    Data< Real >    _defaultValue;
    
    VecMass _lumpedMasses; 
    
    const VecMass* _usedMassMatrices; 
    
    

    MatrixMass()
        :  f_mass( initData(&f_mass, "massMatrices", "values of the particles masses") )
            , _defaultValue( initData(&_defaultValue, (Real)1.0,"defaultValue", "real default value") )
        ,_usingDefaultDiagonalMatrices(false)
    {
        _lumped = initData( &this->_lumped, false, "lumped", "");
    };

    ~MatrixMass();


    void clear();
    //void addMass(const MassType& mass);
    void resize(int vsize);
    
    
    virtual void init();
    virtual void reinit();
    
    
    // -- 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);

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

    double getKineticEnergy(const VecDeriv& v);  

    double getPotentialEnergy(const VecCoord& x);   

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

    double getElementMass(unsigned int index);

    protected:
        MassType diagonalMass( const Real& m ); 
        MassType lump( const MassType& m ); 
        void lumpMatrices( ); 
        void defaultDiagonalMatrices( ); 
        bool _usingDefaultDiagonalMatrices; 
    
};

} // namespace mass

} // namespace component

} // namespace sofa

#endif