PairInteractionForceField.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_PAIRINTERACTIONFORCEFIELD_H
#define SOFA_CORE_COMPONENTMODEL_BEHAVIOR_PAIRINTERACTIONFORCEFIELD_H

#include <sofa/core/componentmodel/behavior/InteractionForceField.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>

#include <sofa/core/objectmodel/Data.h>
#include <sofa/defaulttype/Vec.h>

namespace sofa
{

namespace core
{

namespace componentmodel
{

namespace behavior
{

template<class TDataTypes>
class PairInteractionForceField : public InteractionForceField
{
public:
    
    typedef TDataTypes DataTypes;
    typedef typename DataTypes::VecCoord VecCoord;
    typedef typename DataTypes::VecDeriv VecDeriv;
    typedef typename DataTypes::Coord Coord;
    typedef typename DataTypes::Deriv Deriv;
//     using sofa::core::objectmodel::Data;
    
    PairInteractionForceField(MechanicalState<DataTypes> *mm1 = NULL, MechanicalState<DataTypes> *mm2 = NULL);

    virtual ~PairInteractionForceField();

    virtual void init();
    
    MechanicalState<DataTypes>* getMState1() { return mstate1; }
    BaseMechanicalState* getMechModel1() { return mstate1; }
    MechanicalState<DataTypes>* getMState2() { return mstate2; }
    BaseMechanicalState* getMechModel2() { return mstate2; }

    
    
    
    BaseMechanicalState* getMState(sofa::core::objectmodel::BaseContext* context, std::string path);
    

    virtual void addForce();

    virtual void addDForce(double kFactor, double bFactor);

    virtual void addDForceV(double kFactor, double bFactor);

    virtual double getPotentialEnergy();

    virtual void addForce(VecDeriv& f1, VecDeriv& f2, const VecCoord& x1, const VecCoord& x2, const VecDeriv& v1, const VecDeriv& v2) = 0;

    virtual void addDForce(VecDeriv& df1, VecDeriv& df2, const VecDeriv& dx1, const VecDeriv& dx2);

    virtual void addDForce(VecDeriv& df1, VecDeriv& df2, const VecDeriv& dx1, const VecDeriv& dx2, double kFactor, double bFactor);

    virtual double getPotentialEnergy(const VecCoord& x1, const VecCoord& x2) =0;


    template<class T>
    static bool canCreate(T*& obj, objectmodel::BaseContext* context, objectmodel::BaseObjectDescription* arg)
    {
        // BUGFIX(Jeremie A.): We need to test dynamic casts with the right
        // DataTypes otherwise the factory don't know which template to
        // instanciate or make sure that the right template is used.
        // This means that InteractionForceFields in scene files
        // still need to appear after the affected objects...
        if (arg->getAttribute("object1") || arg->getAttribute("object2"))
        {
      //if (!arg->getAttribute("template")) //if a template is specified, the interaction forcefield can be created. If during init, no corresponding MechanicalState is found, it will be erased. It allows the saving of scenes containing PairInteractionForceField
      //{
            //return InteractionForceField::canCreate(obj, context, arg);
            if (dynamic_cast<MechanicalState<DataTypes>*>(arg->findObject(arg->getAttribute("object1",".."))) == NULL)
                return false;    
            if (dynamic_cast<MechanicalState<DataTypes>*>(arg->findObject(arg->getAttribute("object2",".."))) == NULL)   
                return false;
      //}
        }
        else
        {
            //if (context->getMechanicalState() == NULL) return false;
            if (dynamic_cast<MechanicalState<DataTypes>*>(context->getMechanicalState()) == NULL)
                 return false;
        }
        return InteractionForceField::canCreate(obj, context, arg);
    }

    template<class T>
    static void create(T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg)
    {
        core::componentmodel::behavior::InteractionForceField::create(obj, context, arg);
        if (arg && (arg->getAttribute("object1") || arg->getAttribute("object2")))
        {     
      obj->_object1.setValue(arg->getAttribute("object1",".."));
      obj->_object2.setValue(arg->getAttribute("object2",".."));
      obj->mstate1 = dynamic_cast<MechanicalState<DataTypes>*>(arg->findObject(arg->getAttribute("object1","..")));
      obj->mstate2 = dynamic_cast<MechanicalState<DataTypes>*>(arg->findObject(arg->getAttribute("object2","..")));
        }
        else if (context)
    {
            obj->mstate1 =
            obj->mstate2 =
                dynamic_cast<MechanicalState<DataTypes>*>(context->getMechanicalState());
        }
    }

    virtual std::string getTemplateName() const
    {
        return templateName(this);
    }

    static std::string templateName(const PairInteractionForceField<DataTypes>* = NULL)
    {
        return DataTypes::Name();
    }

protected:
    sofa::core::objectmodel::Data< std::string > _object1;
    sofa::core::objectmodel::Data< std::string > _object2;
    MechanicalState<DataTypes> *mstate1;
    MechanicalState<DataTypes> *mstate2;
};

} // namespace behavior

} // namespace componentmodel

} // namespace core

} // namespace sofa

#endif