/usr/include/sofa/component/mapping/CenterOfMassMapping.h is in libsofa1-dev 1.0~beta4-10ubuntu2.
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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_CENTEROFMASSMAPPING_H
#define SOFA_COMPONENT_MAPPING_CENTEROFMASSMAPPING_H
#include <sofa/core/componentmodel/behavior/MechanicalMapping.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/componentmodel/behavior/BaseMass.h>
#include <sofa/defaulttype/RigidTypes.h>
namespace sofa
{
namespace component
{
namespace mapping
{
using namespace sofa::core::componentmodel::behavior;
/** mapping computing the center of mass of an object.
the output of the mapping has to be a single dof.
Its position is then set from the input DOFs, proportionally to their mass.
This allow to control an object by setting forces on its center of mass.
*/
template <class BasicMapping>
class CenterOfMassMapping : public BasicMapping, public virtual core::objectmodel::BaseObject
{
public:
typedef BasicMapping Inherit;
typedef typename Inherit::In In;
typedef typename Inherit::Out Out;
typedef typename Out::Coord OutCoord;
typedef typename Out::Deriv OutDeriv;
typedef typename In::Coord InCoord;
typedef typename In::Deriv InDeriv;
typedef typename OutCoord::value_type Real;
CenterOfMassMapping ( In* from, Out* to ): Inherit ( from, to )
{}
virtual ~CenterOfMassMapping()
{}
void init();
virtual void apply ( typename Out::VecCoord& childPositions, const typename In::VecCoord& parentPositions );
virtual void applyJ ( typename Out::VecDeriv& childForces, const typename In::VecDeriv& parentForces );
virtual void applyJT ( typename In::VecDeriv& parentForces, const typename Out::VecDeriv& childForces );
void draw();
protected :
///pointer on the input DOFs mass
BaseMass * masses;
/// the total mass of the input object
double totalMass;
};
} // namespace mapping
} // namespace component
} // namespace sofa
#endif
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