PMLRigidBody.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.                                             *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details.                                                           *
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*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
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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   --
//  PMLRigidBody translate an indeformable object from Physical Model structure 
//  to sofa structure. 
//  It inherits from PMLBody abstract class.
//-------------------------------------------------------------------------


#ifndef PMLRIGIDBODY_H
#define PMLRIGIDBODY_H

#include "PMLBody.h"

#include <StructuralComponent.h>

#include "sofa/component/MechanicalObject.h"
#include "sofa/defaulttype/RigidTypes.h"
#include "sofa/defaulttype/Quat.h"


#include <map>


namespace sofa
{

namespace filemanager
{

namespace pml
{

using namespace sofa::defaulttype;
using namespace std;

class PMLRigidBody: public PMLBody
{
public :

    PMLRigidBody(StructuralComponent* body, GNode * parent);

    ~PMLRigidBody();

    string isTypeOf() { return "rigid"; }

    bool FusionBody(PMLBody*);

    Vector3 getDOF(unsigned int index);

    GNode* getPointsNode() {return VisualNode;}

    MechanicalObject<RigidTypes> * getRefDOF() { return refDOF;}

    bool bodyFixed;


private :

    void createMechanicalState(StructuralComponent* body);
    void createTopology(StructuralComponent* body);
    void createMass(StructuralComponent* body);
    void createVisualModel(StructuralComponent* body);
    void createForceField(){}
    void createCollisionModel();

    void initMass(string m);
    void initInertiaMatrix(string m);
    void initPosition(string m);
    void initVelocity(string m);


    MechanicalObject<RigidTypes> * refDOF;
    BaseMapping * mapping;
    GNode * VisualNode;
    GNode * CollisionNode;
    Vector3 bary;

    //members for the mass (only one of the 2 vectors is filled)
    std::vector<SReal> massList;
    std::vector<SReal> inertiaMatrix;
     
    //members coding for the position 
    Vector3 transPos;
    Quat rotPos;

    //members coding for the velocity
    Vector3 transVel;
    Vector3 rotVel;

};

}
}
}

#endif