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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 *
******************************************************************************/
/***************************************************************************
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
***************************************************************************/
//-------------------------------------------------------------------------
// -- Description --
// LMLForce imports from a LML file (see LMLReader class) the forces
// applied on DOFs, and traduces it to sofa Forcefield.
// It inherits from ForceField sofa core class.
//-------------------------------------------------------------------------
#ifndef LMLFORCE_H
#define LMLFORCE_H
#include <Loads.h>
#include <sofa/core/componentmodel/behavior/ForceField.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/VisualModel.h>
#include "sofapml.h"
#include <map>
namespace sofa
{
namespace filemanager
{
namespace pml
{
using namespace sofa::core;
using namespace sofa::core::componentmodel::behavior;
using namespace std;
template<class DataTypes>
class LMLForce : public ForceField<DataTypes>, public VisualModel
{
public :
///template types
typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::VecDeriv VecDeriv;
typedef typename DataTypes::VecCoord::iterator VecCoordIterator;
typedef typename DataTypes::VecDeriv::iterator VecDerivIterator;
typedef typename DataTypes::Coord Coord;
typedef typename DataTypes::Deriv Deriv;
///constructors
LMLForce(MechanicalState<DataTypes> *mm = NULL)
: ForceField<DataTypes>(mm)
{}
LMLForce(Loads* loadsList, const map<unsigned int, unsigned int> &atomIndexToDOFIndex, MechanicalState<DataTypes> *mm);
~LMLForce(){ /*delete loads;*/}
/// return targets list
std::vector<unsigned int> getTargets() {return targets;}
///add a new target (dof index)
void addTarget(unsigned int i) { targets.push_back(i); forces.push_back(Deriv() ); }
/// -- ForceField Inherits
virtual void addForce (VecDeriv& f, const VecCoord& x, const VecDeriv& v);
virtual void addDForce (VecDeriv& , const VecDeriv& ){}
virtual double getPotentialEnergy(const VecCoord& ){return 0;}
/// -- VisualModel interface
void draw();
void initTextures() { }
void update() { }
protected:
MechanicalState<DataTypes> * mmodel;
/// list of forces targets
std::vector<unsigned int> targets;
/// list of force directions
VecDeriv forces;
/// LML loads
Loads* loads;
/// link between PML object indexes and sofa dofs indexs
map<unsigned int, unsigned int> atomToDOFIndexes;
};
#if defined(WIN32) && !defined(SOFA_BUILD_FILEMANAGER_PML)
extern template class SOFA_BUILD_FILEMANAGER_PML_API LMLForce<Vec3Types>;
#endif
}
}
}
#endif
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