UniformMass.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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* for more details.                                                           *
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*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
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#ifndef SOFA_COMPONENT_MASS_UNIFORMMASS_H
#define SOFA_COMPONENT_MASS_UNIFORMMASS_H

#include <sofa/defaulttype/VecTypes.h>
#include <sofa/core/componentmodel/behavior/Mass.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/component/contextobject/CoordinateSystem.h>
#include <sofa/defaulttype/BaseVector.h>

namespace sofa
{

namespace component
{

namespace mass
{

using namespace sofa::defaulttype;

template <class DataTypes, class MassType>
class UniformMass : public core::componentmodel::behavior::Mass<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
    typedef core::componentmodel::behavior::Mass<DataTypes> Inherited;
    typedef typename DataTypes::VecCoord VecCoord;
    typedef typename DataTypes::VecDeriv VecDeriv;
    typedef typename DataTypes::Coord Coord;
    typedef typename DataTypes::Deriv Deriv;
    typedef typename Coord::value_type Real;
//protected:
    Data<MassType> mass;    
    Data<double> totalMass; 

    Data< bool > showCenterOfGravity;
    Data< float > showAxisSize;

public:
    UniformMass();

    ~UniformMass();

    void setMass(const MassType& mass);
    const MassType& getMass() const { return mass.getValue(); }

    double getTotalMass() const { return totalMass.getValue(); }
    void setTotalMass(double m);

    // -- Mass interface

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

    void addMDx(VecDeriv& f, const VecDeriv& dx, double factor = 1.0);

    void accFromF(VecDeriv& a, const VecDeriv& f);

    void addForce(VecDeriv& f, const VecCoord& x, const VecDeriv& v);

    double getKineticEnergy(const VecDeriv& v);  

    double getPotentialEnergy(const VecCoord& x);   

    void addMDxToVector(defaulttype::BaseVector *resVect, const VecDeriv *dx, SReal mFact, unsigned int& offset);

    void addGravityToV(double dt);

    void addMToMatrix(defaulttype::BaseMatrix * mat, double mFact, unsigned int &offset);

    double getElementMass(unsigned int index);

    void draw();

    bool addBBox(double* minBBox, double* maxBBox);
};

} // namespace mass

} // namespace component

} // namespace sofa

#endif