RigidMapping.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 :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_MAPPING_RIGIDMAPPING_H
#define SOFA_COMPONENT_MAPPING_RIGIDMAPPING_H

#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <vector>

namespace sofa
{

    namespace component
    {

        namespace mapping
        {

            template<class InDataTypes, class OutDataTypes>
            class RigidMappingInternalData
            {
                public:
            };


            template <class BasicMapping>
            class RigidMapping : public BasicMapping, public virtual core::objectmodel::BaseObject
            {
                public:
                    typedef BasicMapping Inherit;
                    typedef typename Inherit::In In;
                    typedef typename Inherit::Out Out;
                    typedef typename Out::VecCoord VecCoord;
                    typedef typename Out::VecDeriv VecDeriv;
                    typedef typename Out::Coord Coord;
                    typedef typename Out::Deriv Deriv;
                    typedef typename In::Deriv InDeriv;
                    typedef typename In::SparseDeriv InSparseDeriv;
                    typedef typename Coord::value_type Real;
                    enum { N=Coord::static_size };
                    typedef defaulttype::Mat<N,N,Real> Mat;
                    
                    Data< VecCoord > points;
                    VecCoord rotatedPoints;
                    RigidMappingInternalData<typename In::DataTypes, typename Out::DataTypes> data;
                    Data<unsigned int> index;
                    Data< std::string > filename;
                    Data< bool > useX0;

                    RigidMapping ( In* from, Out* to )
                            : Inherit ( from, to ),
                            points ( initData ( &points,"initialPoints", "Local Coordinates of the points" ) ),
                            index ( initData ( &index, ( unsigned ) 0,"index","input DOF index" ) ),
                            filename ( initData ( &filename,"filename","Filename" ) ),
                            useX0( initData ( &useX0,false,"useX0","Use x0 instead of local copy of initial positions (to support topo changes)") ),
                            repartition ( initData ( &repartition,"repartition","number of dest dofs per entry dof" ) )
                    {
                    }

                    virtual ~RigidMapping()
                    {}

                    int addPoint ( const Coord& c );
                    int addPoint ( const Coord& c, int indexFrom );

                    void init();

                    //void disable(); //useless now that points are saved in a Data

                    void parse ( core::objectmodel::BaseObjectDescription* arg )
                    {
                        if ( !filename.getValue().empty() ) this->load ( filename.getValue().c_str() );
                        this->Inherit::parse ( arg );
                    }

                    virtual void apply ( typename Out::VecCoord& out, const typename In::VecCoord& in );

                    virtual void applyJ ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );

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

                    void applyJT ( typename In::VecConst& out, const typename Out::VecConst& in );

                    void draw();

                    void clear ( int reserve=0 );

                    void setRepartition ( unsigned int value );
                    void setRepartition ( sofa::helper::vector<unsigned int> values );

                protected:
                    class Loader;
                    void load ( const char* filename );
                    Data<sofa::helper::vector<unsigned int> >  repartition;
                    const VecCoord& getPoints();
            };

        } // namespace mapping

    } // namespace component

} // namespace sofa

#endif