StiffSpringForceField.h

Go to the documentation of this file.
00001 /******************************************************************************
00002 *       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
00003 *                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
00004 *                                                                             *
00005 * This library is free software; you can redistribute it and/or modify it     *
00006 * under the terms of the GNU Lesser General Public License as published by    *
00007 * the Free Software Foundation; either version 2.1 of the License, or (at     *
00008 * your option) any later version.                                             *
00009 *                                                                             *
00010 * This library is distributed in the hope that it will be useful, but WITHOUT *
00011 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
00012 * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
00013 * for more details.                                                           *
00014 *                                                                             *
00015 * You should have received a copy of the GNU Lesser General Public License    *
00016 * along with this library; if not, write to the Free Software Foundation,     *
00017 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
00018 *******************************************************************************
00019 *                               SOFA :: Modules                               *
00020 *                                                                             *
00021 * Authors: The SOFA Team and external contributors (see Authors.txt)          *
00022 *                                                                             *
00023 * Contact information: contact@sofa-framework.org                             *
00024 ******************************************************************************/
00025 // Author: François Faure, INRIA-UJF, (C) 2006
00026 //
00027 // Copyright: See COPYING file that comes with this distribution
00028 #ifndef SOFA_COMPONENT_FORCEFIELD_STIFFSPRINGFORCEFIELD_H
00029 #define SOFA_COMPONENT_FORCEFIELD_STIFFSPRINGFORCEFIELD_H
00030 
00031 #include <sofa/component/forcefield/SpringForceField.h>
00032 #include <sofa/defaulttype/Mat.h>
00033 
00034 namespace sofa
00035 {
00036 
00037 namespace component
00038 {
00039 
00040 namespace forcefield
00041 {
00042 
00048 template<class DataTypes>
00049 class StiffSpringForceField : public SpringForceField<DataTypes>
00050 {
00051 public:
00052     typedef SpringForceField<DataTypes> Inherit;
00053     typedef typename DataTypes::VecCoord VecCoord;
00054     typedef typename DataTypes::VecDeriv VecDeriv;
00055     typedef typename DataTypes::Coord Coord;
00056     typedef typename DataTypes::Deriv Deriv;
00057     typedef typename Coord::value_type Real;
00058     typedef typename Inherit::Spring Spring;
00059     typedef core::componentmodel::behavior::MechanicalState<DataTypes> MechanicalState;
00060     enum { N=Coord::static_size };
00061     typedef defaulttype::Mat<N,N,Real> Mat;
00062     
00063 protected:
00064     sofa::helper::vector<Mat>  dfdx;
00065     double m_potentialEnergy;
00066     
00068     void addSpringForce(double& potentialEnergy, VecDeriv& f1, const VecCoord& p1, const VecDeriv& v1, VecDeriv& f2, const VecCoord& p2, const VecDeriv& v2, int i, const Spring& spring);
00069     
00071     void addSpringDForce(VecDeriv& df1, const VecDeriv& dx1, VecDeriv& df2, const VecDeriv& dx2, int i, const Spring& spring, double kFactor, double bFactor);
00072     
00073 public:
00074     StiffSpringForceField(MechanicalState* object1, MechanicalState* object2, double ks=100.0, double kd=5.0)
00075       : SpringForceField<DataTypes>(object1, object2, ks, kd)
00076     {
00077     }
00078     
00079     StiffSpringForceField(double ks=100.0, double kd=5.0)
00080     : SpringForceField<DataTypes>(ks, kd)
00081     {
00082     }
00083     
00084     virtual void init();
00085     
00087     virtual void addForce(VecDeriv& f1, VecDeriv& f2, const VecCoord& x1, const VecCoord& x2, const VecDeriv& v1, const VecDeriv& v2);
00088     
00090     virtual void addDForce(VecDeriv& df1, VecDeriv& df2, const VecDeriv& dx1, const VecDeriv& dx2, double kFactor, double bFactor);
00091 };
00092 
00093 } // namespace forcefield
00094 
00095 } // namespace component
00096 
00097 } // namespace sofa
00098 
00099 #endif