/usr/include/sofa/component/mapping/VoidMapping.h is in libsofa1-dev 1.0~beta4-6.
This file is owned by root:root, with mode 0o644.
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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_MAPPING_VOIDMAPPING_H
#define SOFA_COMPONENT_MAPPING_VOIDMAPPING_H
#include <sofa/core/componentmodel/behavior/BaseMechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/BaseMechanicalState.h>
#include <sofa/core/BaseMapping.h>
#include <vector>
namespace sofa
{
namespace component
{
namespace mapping
{
class VoidMapping : public sofa::core::componentmodel::behavior::BaseMechanicalMapping, public sofa::core::BaseMapping
{
public:
typedef sofa::core::componentmodel::behavior::BaseMechanicalMapping Inherit;
typedef sofa::core::componentmodel::behavior::BaseMechanicalState In;
typedef sofa::core::componentmodel::behavior::BaseMechanicalState Out;
Data<bool> f_isMechanical;
VoidMapping()
: f_isMechanical( initData( &f_isMechanical, true, "isMechanical", "set to false if this mapping should only be used as a regular mapping instead of a mechanical mapping" ) )
, fromModel(NULL), toModel(NULL)
{
}
virtual ~VoidMapping()
{
}
void init()
{
fromModel = dynamic_cast<In*>(this->getContext()->getMechanicalState());
toModel = dynamic_cast<Out*>(this->getContext()->getMechanicalState());
}
/// Apply the transformation from the input model to the output model (like apply displacement from BehaviorModel to VisualModel)
virtual void updateMapping()
{
}
/// Accessor to the input model of this mapping
virtual sofa::core::objectmodel::BaseObject* getFrom()
{
return fromModel;
}
/// Accessor to the output model of this mapping
virtual sofa::core::objectmodel::BaseObject* getTo()
{
return toModel;
}
/// Disable the mapping to get the original coordinates of the mapped model.
virtual void disable()
{
}
/// Get the source (upper) model.
virtual sofa::core::componentmodel::behavior::BaseMechanicalState* getMechFrom()
{
return fromModel;
}
/// Get the destination (lower, mapped) model.
virtual sofa::core::componentmodel::behavior::BaseMechanicalState* getMechTo()
{
return toModel;
}
/// Return false if this mapping should only be used as a regular mapping instead of a mechanical mapping.
bool isMechanical()
{
return this->f_isMechanical.getValue();
}
/// Propagate position from the source model to the destination model.
///
/// If the MechanicalMapping can be represented as a matrix J, this method computes
/// $ x_out = J x_in $
virtual void propagateX()
{
}
/// Propagate free-motion position from the source model to the destination model.
virtual void propagateXfree()
{
}
/// Propagate velocity from the source model to the destination model.
virtual void propagateV()
{
}
protected:
In* fromModel;
Out* toModel;
};
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
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