RigidRigidMapping.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_RIGIDRIGIDMAPPING_H
#define SOFA_COMPONENT_MAPPING_RIGIDRIGIDMAPPING_H

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

using namespace sofa::defaulttype;

namespace sofa
{

namespace component
{

namespace mapping
{

template <class BasicMapping>
class RigidRigidMapping : 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::Coord InCoord;
    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;
    typedef Vec<N,Real> Vector ;
    
protected:
    Data < VecCoord > points;
    VecCoord pointsR0;
    Mat rotation;
    class Loader;
    void load(const char* filename);
    Data<sofa::helper::vector<unsigned int> >  repartition;

public:
    Data<unsigned> index;
    Data< std::string > filename;
    //axis length for display
    Data<double> axisLength;
    
    RigidRigidMapping(In* from, Out* to)
      : Inherit(from, to),    
      points(initData(&points, "initialPoints", "Initial position of the points")),
      repartition(initData(&repartition,"repartition","number of dest dofs per entry dof")),
      index(initData(&index,(unsigned)0,"index","input DOF index")),
      filename(initData(&filename,"filename","Filename")),
      axisLength(initData( &axisLength, 0.7, "axisLength", "axis length for display"))
    {
    }
    
    virtual ~RigidRigidMapping()
    {
    }
    
    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);
    }
    
    void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
    
    void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
    
    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();

    sofa::helper::vector<unsigned int> getRepartition() {return repartition.getValue(); }

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

protected:

    bool getShow(const core::objectmodel::BaseObject* m) const { return m->getContext()->getShowMappings(); }

    bool getShow(const core::componentmodel::behavior::BaseMechanicalMapping* m) const { return m->getContext()->getShowMechanicalMappings(); }
};

} // namespace mapping

} // namespace component

} // namespace sofa

#endif