MechanicalMapping.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_MECHANICALMAPPING_H
#define SOFA_CORE_COMPONENTMODEL_BEHAVIOR_MECHANICALMAPPING_H

#include <sofa/core/Mapping.h>
#include <sofa/core/componentmodel/behavior/BaseMechanicalMapping.h>

namespace sofa
{

namespace core
{

namespace componentmodel
{

namespace behavior
{

template <class In, class Out>
class MechanicalMapping : public Mapping<In,Out>, public BaseMechanicalMapping
{
public:
    Data<bool> f_isMechanical;
    
    MechanicalMapping(In* from, Out* to);

    virtual ~MechanicalMapping();

    virtual void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in ) = 0;

    virtual void applyJT( typename In::VecConst& /*out*/, const typename Out::VecConst& /*in*/ ) {}

    virtual BaseMechanicalState* getMechFrom();

    virtual BaseMechanicalState* getMechTo();

    virtual bool isMechanical();

    virtual void init();

    virtual void propagateX();

    virtual void propagateXfree();

    virtual void propagateV();

    virtual void propagateDx();

    virtual void accumulateForce();

    virtual void accumulateDf();

    virtual void accumulateConstraint();

    static std::string templateName(const MechanicalMapping<In, Out>* = NULL)
    {
      return std::string("MechanicalMapping[")+In::DataTypes::Name() + std::string(",") + Out::DataTypes::Name() + std::string("]");
    }

protected:
    bool getShow() const { return this->getContext()->getShowMechanicalMappings(); }

};

} // namespace behavior

} // namespace componentmodel

} // namespace core

} // namespace sofa

#endif