MechanicalMapping.inl

Go to the documentation of this file.

/******************************************************************************
*       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_INL
#define SOFA_CORE_COMPONENTMODEL_BEHAVIOR_MECHANICALMAPPING_INL

#include <sofa/core/Mapping.h>
#include <sofa/core/Mapping.inl>
#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <iostream>

using std::cerr;
using std::endl;

namespace sofa
{

namespace core
{

namespace componentmodel
{

namespace behavior
{

template <class In, class Out>
MechanicalMapping<In,Out>::MechanicalMapping(In* from, Out* to)
: Mapping<In,Out>(from, to)
, f_isMechanical( initData( &f_isMechanical, true, "isMechanical", "set to false if this mapping should only be used as a regular mapping instead of a mechanical mapping" ) )
{
}
    
template <class In, class Out>
MechanicalMapping<In,Out>::~MechanicalMapping()
{
}

template <class In, class Out>
BaseMechanicalState* MechanicalMapping<In,Out>::getMechFrom()
{
    return this->fromModel;
}

template <class In, class Out>
BaseMechanicalState* MechanicalMapping<In,Out>::getMechTo()
{
    return this->toModel;
}

template <class In, class Out>
bool MechanicalMapping<In,Out>::isMechanical()
{
    return this->f_isMechanical.getValue();
}

template <class In, class Out>
void MechanicalMapping<In,Out>::init()
{
    this->updateMapping();
    propagateXfree();
}

template <class In, class Out>
void MechanicalMapping<In,Out>::propagateX()
{
    if (this->fromModel!=NULL && this->toModel->getX()!=NULL && this->fromModel->getX()!=NULL)
        apply(*this->toModel->getX(), *this->fromModel->getX());
}

template <class In, class Out>
void MechanicalMapping<In,Out>::propagateV()
{
    if (this->fromModel!=NULL && this->toModel->getV()!=NULL && this->fromModel->getV()!=NULL)
        applyJ(*this->toModel->getV(), *this->fromModel->getV());
}

template <class In, class Out>
void MechanicalMapping<In,Out>::propagateDx()
{
    if (this->fromModel!=NULL && this->toModel->getDx()!=NULL && this->fromModel->getDx()!=NULL)
        applyJ(*this->toModel->getDx(), *this->fromModel->getDx());
}

template <class In, class Out>
void MechanicalMapping<In,Out>::propagateXfree()
{
    if (this->fromModel!=NULL && this->toModel->getXfree()!=NULL && this->fromModel->getXfree()!=NULL)
        apply(*this->toModel->getXfree(), *this->fromModel->getXfree());
}


template <class In, class Out>
void MechanicalMapping<In,Out>::accumulateForce()
{
/*    if( this->fromModel==NULL ) cerr<<"MechanicalMapping<In,Out>::accumulateForce, toModel is NULL"<<endl;
    else if( this->toModel==NULL ) cerr<<"MechanicalMapping<In,Out>::accumulateForce, toModel is NULL"<<endl;
    else cerr<<"MechanicalMapping<In,Out>::accumulateForce() OK"<<endl;*/
    if (this->fromModel!=NULL && this->toModel->getF()!=NULL && this->fromModel->getF()!=NULL)
        applyJT(*this->fromModel->getF(), *this->toModel->getF());
}

template <class In, class Out>
void MechanicalMapping<In,Out>::accumulateDf()
{
    if (this->fromModel!=NULL && this->toModel->getF()!=NULL && this->fromModel->getF()!=NULL)
        applyJT(*this->fromModel->getF(), *this->toModel->getF());
}

template <class In, class Out>
void MechanicalMapping<In,Out>::accumulateConstraint()
{
    if (this->fromModel!=NULL && this->toModel->getC()!=NULL && this->fromModel->getC()!=NULL)
    {
        applyJT(*this->fromModel->getC(), *this->toModel->getC());

        // Accumulate contacts indices through the MechanicalMapping
        std::vector<unsigned int>::iterator it = this->toModel->getConstraintId().begin();
        std::vector<unsigned int>::iterator itEnd = this->toModel->getConstraintId().end();

        while (it != itEnd)
        {
            this->fromModel->setConstraintId(*it);
            it++;
        }
    }
}

} // namespace behavior

} // namespace componentmodel

} // namespace core

} // namespace sofa

#endif