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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_CONSTANTFORCEFIELD_H
#define SOFA_COMPONENT_CONSTANTFORCEFIELD_H
#include <sofa/core/componentmodel/behavior/ForceField.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/objectmodel/Data.h>
#include <sofa/helper/vector.h>
namespace sofa
{
namespace component
{
namespace forcefield
{
/** Apply constant forces to given degrees of freedom. */
template<class DataTypes>
class RestShapeSpringsForceField : public core::componentmodel::behavior::ForceField<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
typedef core::componentmodel::behavior::ForceField<DataTypes> Inherit;
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;
typedef helper::vector<unsigned int> VecIndex;
typedef helper::vector<Real> VecReal;
public:
Data< VecIndex > points;
Data< VecReal > stiffness;
RestShapeSpringsForceField();
///
void init();
/// Add the forces
virtual void addForce (VecDeriv& f, const VecCoord& x, const VecDeriv& v);
/// Constant force has null variation
virtual void addDForce (VecDeriv& df, const VecDeriv& dx, double kFactor, double );
virtual double getPotentialEnergy(const VecCoord& )
{
sout << "getPotentialEnergy not implemented" << sendl;
return 0.0;
};
virtual void addKToMatrix(sofa::defaulttype::BaseMatrix * /*mat*/, double /*kFact*/, unsigned int &/*offset*/);
void draw();
bool addBBox(double* minBBox, double* maxBBox);
};
} // namespace forcefield
} // namespace component
} // namespace sofa
#endif
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