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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 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_MASS_ADDMTOMATRIXFUNCTOR_H
#define SOFA_COMPONENT_MASS_ADDMTOMATRIXFUNCTOR_H
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/defaulttype/DataTypeInfo.h>
namespace sofa
{
namespace component
{
namespace mass
{
template<class Deriv, class MassType>
class AddMToMatrixFunctor
//;
//template<int N, typename Real>
//class AddMToMatrixFunctor< defaulttype::Vec<N,Real>, Real >
{
public:
//void operator()(defaulttype::BaseMatrix * mat, const Real& mass, int pos, double fact)
void operator()(defaulttype::BaseMatrix * mat, const MassType& mass, int pos, double fact)
{
const double m = mass*fact;
for (unsigned int i=0;i<Deriv::size();++i)
mat->add(pos+i, pos+i, m);
}
};
template<int N, typename Real>
class AddMToMatrixFunctor< defaulttype::Vec<N,Real>, defaulttype::Mat<N,N,Real> >
{
public:
void operator()(defaulttype::BaseMatrix * mat, const defaulttype::Mat<N,N,Real>& mass, int pos, double fact)
{
for (int i=0;i<N;++i)
for (int j=0;j<N;++j)
{
mat->add(pos+i, pos+j, mass[i][j]*fact);
}
}
};
template<typename Real>
class AddMToMatrixFunctor< defaulttype::RigidDeriv<3,Real>, defaulttype::RigidMass<3,Real> >
{
public:
enum { N=3 };
void operator()(defaulttype::BaseMatrix * mat, const defaulttype::RigidMass<N,Real>& mass, int pos, double fact)
{
const double m = mass.mass*fact;
for (int i=0;i<N;++i)
mat->add(pos+i, pos+i, m);
for (int i=0;i<N;++i)
for (int j=0;j<N;++j)
{
mat->add(pos+N+i, pos+N+j, mass.inertiaMassMatrix[i][j]*fact);
}
}
};
template<typename Real>
class AddMToMatrixFunctor< defaulttype::RigidDeriv<2,Real>, defaulttype::RigidMass<2,Real> >
{
public:
enum { N=2 };
void operator()(defaulttype::BaseMatrix * mat, const defaulttype::RigidMass<N,Real>& mass, int pos, double fact)
{
const double m = mass.mass*fact;
for (int i=0;i<N;++i)
mat->add(pos+i, pos+i, m);
mat->add(pos+N, pos+N, mass.inertiaMassMatrix*fact);
}
};
} // namespace mass
} // namespace component
} // namespace sofa
#endif
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