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VoidMapping.h
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VoidMapping.h
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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture *
* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
* *
* This program 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 program 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 program. If not, see <http://www.gnu.org/licenses/>. *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#pragma once
#include <sofa/component/mapping/linear/config.h>
#include <sofa/component/mapping/linear/LinearMapping.h>
#include <sofa/core/behavior/BaseMechanicalState.h>
#include <sofa/core/BaseMapping.h>
#include <sofa/type/vector.h>
namespace sofa::component::mapping::linear
{
class VoidMapping : public LinearBaseMapping
{
public:
SOFA_CLASS(VoidMapping, LinearBaseMapping);
typedef LinearBaseMapping Inherit;
typedef sofa::core::behavior::BaseMechanicalState In;
typedef sofa::core::behavior::BaseMechanicalState Out;
void init() override
{
fromModel = dynamic_cast<In*>(this->getContext()->getMechanicalState());
toModel = dynamic_cast<Out*>(this->getContext()->getMechanicalState());
}
/// Accessor to the input model of this mapping
virtual type::vector<core::BaseState*> getFrom() override
{
type::vector<core::BaseState*> vec(1,fromModel);
return vec;
}
/// Accessor to the output model of this mapping
virtual type::vector<core::BaseState*> getTo() override
{
type::vector<core::BaseState*> vec(1,toModel);
return vec;
}
/// Disable the mapping to get the original coordinates of the mapped model.
void disable() override
{
}
/// Get the source (upper) model.
virtual type::vector<sofa::core::behavior::BaseMechanicalState*> getMechFrom() override
{
type::vector<sofa::core::behavior::BaseMechanicalState*> vec(1, fromModel);
return vec;
}
/// Get the destination (lower, mapped) model.
virtual type::vector<sofa::core::behavior::BaseMechanicalState*> getMechTo() override
{
type::vector<sofa::core::behavior::BaseMechanicalState*> vec(1, toModel);
return vec;
}
void apply (const core::MechanicalParams* /* mparams */, core::MultiVecCoordId /* outPos */, core::ConstMultiVecCoordId /* inPos */) override
{
}
void applyJ(const core::MechanicalParams* /* mparams */, core::MultiVecDerivId /* outVel */, core::ConstMultiVecDerivId /* inVel */) override
{
}
void applyJT(const core::MechanicalParams* /* mparams */, core::MultiVecDerivId /* inForce */, core::ConstMultiVecDerivId /* outForce */) override
{
}
void applyDJT(const core::MechanicalParams* /*mparams*/, core::MultiVecDerivId /*inForce*/, core::ConstMultiVecDerivId /*outForce*/) override {}
void applyJT(const core::ConstraintParams * /*cparams*/, core::MultiMatrixDerivId /* inConst */, core::ConstMultiMatrixDerivId /* outConst */) override
{
}
void computeAccFromMapping(const core::MechanicalParams* /*mparams */, core::MultiVecDerivId /* outAcc */, core::ConstMultiVecDerivId /* inVel */, core::ConstMultiVecDerivId /* inAcc */) override
{
}
protected:
In* fromModel;
Out* toModel;
VoidMapping():Inherit(),fromModel(nullptr),toModel(nullptr)
{
this->f_mapForces.setValue(false);
this->f_mapConstraints.setValue(false);
this->f_mapMasses.setValue(false);
}
~VoidMapping() override
{
}
};
} // namespace sofa::component::mapping::linear