PrecomputedConstraintCorrection.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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* 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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* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_CORE_COMPONENTMODEL_COLLISION_CONTACTCORRECTION_H
#define SOFA_CORE_COMPONENTMODEL_COLLISION_CONTACTCORRECTION_H

#include <sofa/core/componentmodel/behavior/BaseConstraintCorrection.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/component/forcefield/TetrahedronFEMForceField.h>

#include <sofa/defaulttype/Mat.h>
#include <sofa/defaulttype/Vec.h>

namespace sofa
{

namespace component
{

namespace constraint
{

using namespace sofa::core;
using namespace sofa::core::componentmodel;
using namespace sofa::defaulttype;
template<class TDataTypes>
class PrecomputedConstraintCorrection : public componentmodel::behavior::BaseConstraintCorrection
{
public:
    typedef TDataTypes DataTypes;
    typedef typename componentmodel::behavior::BaseConstraintCorrection Inherit;
    typedef typename DataTypes::VecCoord VecCoord;
    typedef typename DataTypes::VecDeriv VecDeriv;
    typedef typename DataTypes::VecConst VecConst;
    typedef typename DataTypes::Coord Coord;
    typedef typename DataTypes::Deriv Deriv;
    typedef typename DataTypes::SparseVecDeriv Const;

    typedef typename Coord::value_type Real;
    typedef MatNoInit<3, 3, Real> Transformation;

    bool   _rotations;
    DataPtr<bool> f_rotations;
    bool   _restRotations;
    DataPtr<bool> f_restRotations;

    PrecomputedConstraintCorrection(behavior::MechanicalState<DataTypes> *mm = NULL);

    virtual ~PrecomputedConstraintCorrection();

    virtual void init();

    behavior::MechanicalState<DataTypes>* getMState() { return mstate; }

    virtual void getCompliance(defaulttype::BaseMatrix* W);
    virtual void applyContactForce(const defaulttype::BaseVector *f);


    virtual void rotateConstraints();
    virtual void rotateResponse();


    virtual void resetContactForce();

    template<class T>
    static bool canCreate(T*& obj, objectmodel::BaseContext* context, objectmodel::BaseObjectDescription* arg)
    {
        if (dynamic_cast<behavior::MechanicalState<DataTypes>*>(context->getMechanicalState()) == NULL)
            return false;
        return BaseObject::canCreate(obj, context, arg);
    }

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

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

   virtual void parse(core::objectmodel::BaseObjectDescription* arg);


protected:
    behavior::MechanicalState<DataTypes> *mstate;
    //Vec3DTypes specific menber !
    Real* appCompliance;
    unsigned int nbRows, nbCols, dof_on_node, nbNodes;
    int *_indexNodeSparseCompliance;
    std::vector<Deriv> _sparseCompliance;
    Real Fbuf[6], DXbuf;


/* optimization : buf of result = Compliance * VecConst on a sparse structure
    typedef struct {
        Deriv Cn;
        int nodeId;
        int constraintId;
    }SparseCompliance;

    SparseCompliance _sparseCompliance[10000];
    */

    //Deriv **_sparseCompliance;



    



};

} // namespace collision

} // namespace component

} // namespace sofa

#endif