capytaine 2.3__cp312-cp312-macosx_14_0_arm64.whl → 3.0.0a1__cp312-cp312-macosx_14_0_arm64.whl

capytaine/bodies/bodies.py

@@ -1,33 +1,35 @@
 """Floating bodies to be used in radiation-diffraction problems."""
 # Copyright (C) 2017-2024 Matthieu Ancellin
 # See LICENSE file at <https://github.com/capytaine/capytaine>
+from __future__ import annotations
 
 import logging
 import copy
-from itertools import chain, accumulate, zip_longest
-from functools import cached_property, lru_cache
+from functools import lru_cache
+from typing import Literal
 
 import numpy as np
 import xarray as xr
 
-from capytaine.meshes.mesh_like_protocol import MeshLike
-from capytaine.meshes.collections import CollectionOfMeshes
-from capytaine.meshes.geometry import Abstract3DObject, ClippableMixin, Plane, inplace_transformation
-from capytaine.meshes.properties import connected_components, connected_components_of_waterline
+from capytaine.meshes.abstract_meshes import AbstractMesh
 from capytaine.meshes.meshes import Mesh
-from capytaine.meshes.symmetric import build_regular_array_of_meshes
-from capytaine.bodies.dofs import RigidBodyDofsPlaceholder
-
-from capytaine.tools.optional_imports import silently_import_optional_dependency
-meshio = silently_import_optional_dependency("meshio")
+from capytaine.meshes.geometry import connected_components, connected_components_of_waterline
+from capytaine.bodies.dofs import (
+        AbstractDof,
+        TranslationDof,
+        RotationDof,
+        DofOnSubmesh,
+        normalize_name,
+        rigid_body_dofs,
+        add_dofs_labels_to_vector,
+        add_dofs_labels_to_matrix
+        )
+from capytaine.bodies.hydrostatics import _HydrostaticsMixin
 
 LOG = logging.getLogger(__name__)
 
-TRANSLATION_DOFS_DIRECTIONS = {"surge": (1, 0, 0), "sway": (0, 1, 0), "heave": (0, 0, 1)}
-ROTATION_DOFS_AXIS = {"roll": (1, 0, 0), "pitch": (0, 1, 0), "yaw": (0, 0, 1)}
-
 
-class FloatingBody(ClippableMixin, Abstract3DObject):
+class FloatingBody(_HydrostaticsMixin):
     """A floating body described as a mesh and some degrees of freedom.
 
     The mesh structure is stored as a Mesh from capytaine.mesh.mesh or a
@@ -40,55 +42,65 @@ class FloatingBody(ClippableMixin, Abstract3DObject):
 
     Parameters
     ----------
-    mesh : MeshLike, optional
+    mesh : AbstractMesh, optional
         the mesh describing the geometry of the hull of the floating body.
         If none is given, a empty one is created.
-    lid_mesh : MeshLike or None, optional
-        a mesh of an internal lid for irregular frequencies removal.
-        Unlike the mesh of the hull, no dof is defined on the lid_mesh.
-        If none is given, none is used when solving the Boundary Integral Equation.
     dofs : dict, optional
         the degrees of freedom of the body.
         If none is given, a empty dictionary is initialized.
+    lid_mesh : AbstractMesh or None, optional
+        a mesh of an internal lid for irregular frequencies removal.
+        Unlike the mesh of the hull, no dof is defined on the lid_mesh.
+        If none is given, none is used when solving the Boundary Integral Equation.
+    center_of_mass: 3-element array, optional
+        the position of the center of mass.
+        Required only for some hydrostatics computation.
     mass : float or None, optional
         the mass of the body in kilograms.
         Required only for some hydrostatics computation.
         If None, the mass is implicitly assumed to be the mass of displaced water.
-    center_of_mass: 3-element array, optional
-        the position of the center of mass.
-        Required only for some hydrostatics computation.
     name : str, optional
         a name for the body.
         If none is given, the one of the mesh is used.
+
+    Attributes
+    ----------
+    mesh_including_lid: AbstractMesh
+        The hull mesh joined with the lid mesh
+    hull_mask: np.array
+        The indices of the faces in mesh_including_lid that are part of the hull
     """
 
-    def __init__(self, mesh=None, dofs=None, mass=None, center_of_mass=None, name=None, *, lid_mesh=None):
+    def __init__(self, mesh=None, dofs=None, *, lid_mesh=None, center_of_mass=None, mass=None, name=None):
         if mesh is None:
             self.mesh = Mesh(name="dummy_mesh")
-
-        elif meshio is not None and isinstance(mesh, meshio._mesh.Mesh):
-            from capytaine.io.meshio import load_from_meshio
-            self.mesh = load_from_meshio(mesh)
-
-        elif isinstance(mesh, MeshLike):
+        elif isinstance(mesh, AbstractMesh):
             self.mesh = mesh
-
         else:
             raise TypeError("Unrecognized `mesh` object passed to the FloatingBody constructor.")
 
-        if lid_mesh is not None:
+        if lid_mesh is None:
+            self.lid_mesh = None
+        elif isinstance(mesh, AbstractMesh):
             if lid_mesh.nb_faces == 0:
                 LOG.warning("Lid mesh %s provided for body initialization is empty. The lid mesh is ignored.", lid_mesh)
                 self.lid_mesh = None
             else:
                 self.lid_mesh = lid_mesh.with_normal_vector_going_down(inplace=False)
         else:
-            self.lid_mesh = None
+            raise TypeError("Unrecognized `lid_mesh` object passed to the FloatingBody constructor.")
+
+        if self.lid_mesh is None:
+            self.mesh_including_lid = self.mesh
+            self.hull_mask = np.full((self.mesh.nb_faces,), True)
+        else:
+            self.mesh_including_lid, masks = self.mesh.join_meshes(self.lid_mesh, return_masks=True)
+            self.hull_mask = masks[0]
 
         if name is None and mesh is None:
             self.name = "dummy_body"
         elif name is None:
-            if hasattr(self.mesh, "name"):
+            if hasattr(self.mesh, "name") and self.mesh.name is not None:
                 self.name = self.mesh.name
             else:
                 self.name = "anonymous_body"
@@ -101,27 +113,24 @@ class FloatingBody(ClippableMixin, Abstract3DObject):
         else:
             self.center_of_mass = None
 
-        if hasattr(self.mesh, "heal_mesh") and self.mesh.nb_vertices > 0 and self.mesh.nb_faces > 0:
-            self.mesh.heal_mesh()
-
         if dofs is None:
             self.dofs = {}
-        elif isinstance(dofs, RigidBodyDofsPlaceholder):
-            if dofs.rotation_center is not None:
-                self.rotation_center = np.asarray(dofs.rotation_center, dtype=float)
-            self.dofs = {}
-            self.add_all_rigid_body_dofs()
         else:
-            self.dofs = dofs
-
-        LOG.info(f"New floating body: {self.__str__()}.")
+            self.dofs = {
+                    k: v if isinstance(v, AbstractDof) else np.asarray(v)
+                    for k, v in dofs.items()
+                    }
 
         self._check_dofs_shape_consistency()
 
+        LOG.debug(f"New floating body: {self.__str__()}.")
+
     @staticmethod
     def from_meshio(mesh, name=None) -> 'FloatingBody':
         """Create a FloatingBody from a meshio mesh object.
         Kinda deprecated, use cpt.load_mesh instead."""
+        LOG.warning("Deprecation warning: The method FloatingBody.from_meshio(...) is deprecated. "
+                    "Please prefer FloatingBody(mesh=cpt.load_mesh(...), ...)")
         from capytaine.io.meshio import load_from_meshio
         return FloatingBody(mesh=load_from_meshio(mesh, name), name=name)
 
@@ -129,8 +138,11 @@ class FloatingBody(ClippableMixin, Abstract3DObject):
     def from_file(filename: str, file_format=None, name=None) -> 'FloatingBody':
         """Create a FloatingBody from a mesh file using meshmagick.
         Kinda deprecated, use cpt.load_mesh instead."""
+        LOG.warning("Deprecation warning: The method FloatingBody.from_file(...) is deprecated. "
+                    "Please prefer FloatingBody(mesh=cpt.load_mesh(...), ...)")
         from capytaine.io.mesh_loaders import load_mesh
-        if name is None: name = filename
+        if name is None:
+            name = filename
         mesh = load_mesh(filename, file_format, name=f"{name}_mesh")
         return FloatingBody(mesh, name=name)
 
@@ -138,13 +150,6 @@ class FloatingBody(ClippableMixin, Abstract3DObject):
         """Arbitrary order. The point is to sort together the problems involving the same body."""
         return self.name < other.name
 
-    @cached_property
-    def mesh_including_lid(self):
-        if self.lid_mesh is not None:
-            return self.mesh.join_meshes(self.lid_mesh)
-        else:
-            return self.mesh
-
     ##########
     #  Dofs  #
     ##########
@@ -154,7 +159,7 @@ class FloatingBody(ClippableMixin, Abstract3DObject):
         """Number of degrees of freedom."""
         return len(self.dofs)
 
-    def add_translation_dof(self, direction=None, name=None, amplitude=1.0) -> None:
+    def add_translation_dof(self, direction=None, name=None) -> None:
         """Add a new translation dof (in place).
         If no direction is given, the code tries to infer it from the name.
 
@@ -164,672 +169,116 @@ class FloatingBody(ClippableMixin, Abstract3DObject):
             the direction of the translation
         name : str, optional
             a name for the degree of freedom
-        amplitude : float, optional
-            amplitude of the dof (default: 1.0 m/s)
         """
-        if direction is None:
-            if name is not None and name.lower() in TRANSLATION_DOFS_DIRECTIONS:
-                direction = TRANSLATION_DOFS_DIRECTIONS[name.lower()]
-            else:
-                raise ValueError("A direction needs to be specified for the dof.")
-
         if name is None:
             name = f"dof_{self.nb_dofs}_translation"
+        if direction is None and normalize_name(name) in {"Surge", "Sway", "Heave"}:
+            self.dofs[name] = rigid_body_dofs()[normalize_name(name)]
+        else:
+            self.dofs[name] = TranslationDof(
+                direction=direction,
+            )
 
-        direction = np.asarray(direction)
-        assert direction.shape == (3,)
-
-        motion = np.empty((self.mesh.nb_faces, 3))
-        motion[:, :] = direction
-        self.dofs[name] = amplitude * motion
-
-    def add_rotation_dof(self, axis=None, name=None, amplitude=1.0) -> None:
+    def add_rotation_dof(self, rotation_center=None, direction=None, name=None) -> None:
         """Add a new rotation dof (in place).
         If no axis is given, the code tries to infer it from the name.
 
         Parameters
         ----------
-        axis: Axis, optional
-            the axis of the rotation
+        rotation_center: array of shape (3,), optional
+            One point on the rotation axis
+        direction: array of shape (3,), optional
+            The direction of the rotation axis
         name : str, optional
             a name for the degree of freedom
-        amplitude : float, optional
-            amplitude of the dof (default: 1.0)
         """
-        if axis is None:
-            if name is not None and name.lower() in ROTATION_DOFS_AXIS:
-                axis_direction = ROTATION_DOFS_AXIS[name.lower()]
-                for point_attr in ('rotation_center', 'center_of_mass', 'geometric_center'):
-                    if hasattr(self, point_attr) and getattr(self, point_attr) is not None:
-                        axis_point = getattr(self, point_attr)
-                        LOG.info(f"The rotation dof {name} has been initialized around the point: "
-                                 f"{self.__short_str__()}.{point_attr} = {getattr(self, point_attr)}")
-                        break
-                else:
-                    axis_point = np.array([0, 0, 0])
-                    LOG.warning(f"The rotation dof {name} has been initialized "
-                                f"around the origin of the domain (0, 0, 0).")
-            else:
-                raise ValueError("A direction needs to be specified for the dof.")
-        else:
-            axis_point = axis.point
-            axis_direction = axis.vector
-
         if name is None:
             name = f"dof_{self.nb_dofs}_rotation"
-
-        if self.mesh.nb_faces == 0:
-            self.dofs[name] = np.empty((self.mesh.nb_faces, 3))
+        if rotation_center is None:
+            for point_attr in ('rotation_center', 'center_of_mass'):
+                if hasattr(self, point_attr) and getattr(self, point_attr) is not None:
+                    rotation_center = getattr(self, point_attr)
+                    LOG.info(f"The rotation dof {name} has been initialized around the point: "
+                             f"{self.__short_str__()}.{point_attr} = {getattr(self, point_attr)}")
+                    break
+        if direction is None and normalize_name(name) in {"Roll", "Pitch", "Yaw"}:
+            self.dofs[name] = rigid_body_dofs(rotation_center=rotation_center)[normalize_name(name)]
         else:
-            motion = np.cross(axis_point - self.mesh.faces_centers, axis_direction)
-            self.dofs[name] = amplitude * motion
+            self.dofs[name] = RotationDof(
+                    rotation_center=rotation_center,
+                    direction=direction,
+                    )
 
-    def add_all_rigid_body_dofs(self) -> None:
+    def add_all_rigid_body_dofs(self, rotation_center=None) -> None:
         """Add the six degrees of freedom of rigid bodies (in place)."""
         self.add_translation_dof(name="Surge")
         self.add_translation_dof(name="Sway")
         self.add_translation_dof(name="Heave")
-        self.add_rotation_dof(name="Roll")
-        self.add_rotation_dof(name="Pitch")
-        self.add_rotation_dof(name="Yaw")
+        self.add_rotation_dof(rotation_center=rotation_center, name="Roll")
+        self.add_rotation_dof(rotation_center=rotation_center, name="Pitch")
+        self.add_rotation_dof(rotation_center=rotation_center, name="Yaw")
 
     def integrate_pressure(self, pressure):
         forces = {}
         for dof_name in self.dofs:
+            if isinstance(self.dofs[dof_name], AbstractDof):
+                dof = self.dofs[dof_name].evaluate_motion(self.mesh)
+            else:
+                dof = self.dofs[dof_name]
             # Scalar product on each face:
-            normal_dof_amplitude_on_face = - np.sum(self.dofs[dof_name] * self.mesh.faces_normals, axis=1)
+            normal_dof_amplitude_on_face = - np.sum(dof * self.mesh.faces_normals, axis=1)
             # The minus sign in the above line is because we want the force of the fluid on the body and not the force of the body on the fluid.
             # Sum over all faces:
             forces[dof_name] = np.sum(pressure * normal_dof_amplitude_on_face * self.mesh.faces_areas)
         return forces
 
-    @inplace_transformation
-    def keep_only_dofs(self, dofs):
-        for dof in list(self.dofs.keys()):
-            if dof not in dofs:
-                del self.dofs[dof]
+    def keep_only_dofs(self, *args, **kwargs):
+        raise NotImplementedError("`keep_only_dofs` has been removed. Consider using `body = body.with_only_dofs(['dof_name'])` instead.")
+
+    def with_only_dofs(self, dofs):
+        body = FloatingBody(mesh=self.mesh,
+                            lid_mesh=self.lid_mesh,
+                            dofs={k: v for k, v in self.dofs.items() if k in dofs},
+                            mass=self.mass,
+                            center_of_mass=self.center_of_mass,
+                            name=self.name)
 
         if hasattr(self, 'inertia_matrix'):
-            self.inertia_matrix = self.inertia_matrix.sel(radiating_dof=dofs, influenced_dof=dofs)
+            body.inertia_matrix = self.inertia_matrix.sel(radiating_dof=dofs, influenced_dof=dofs)
         if hasattr(self, 'hydrostatic_stiffness'):
-            self.hydrostatic_stiffness = self.hydrostatic_stiffness.sel(radiating_dof=dofs, influenced_dof=dofs)
+            body.hydrostatic_stiffness = self.hydrostatic_stiffness.sel(radiating_dof=dofs, influenced_dof=dofs)
 
-        return self
+        return body
 
     def add_dofs_labels_to_vector(self, vector):
         """Helper function turning a bare vector into a vector labelled by the name of the dofs of the body,
         to be used for instance for the computation of RAO."""
-        return xr.DataArray(data=np.asarray(vector), dims=['influenced_dof'],
-                            coords={'influenced_dof': list(self.dofs)},
-                            )
+        return add_dofs_labels_to_vector(self.dofs.keys(), vector)
 
     def add_dofs_labels_to_matrix(self, matrix):
         """Helper function turning a bare matrix into a matrix labelled by the name of the dofs of the body,
         to be used for instance for the computation of RAO."""
-        return xr.DataArray(data=np.asarray(matrix), dims=['influenced_dof', 'radiating_dof'],
-                            coords={'influenced_dof': list(self.dofs), 'radiating_dof': list(self.dofs)},
-                            )
+        return add_dofs_labels_to_matrix(self.dofs.keys(), matrix)
 
     def _check_dofs_shape_consistency(self):
         for dof_name, dof in self.dofs.items():
-            if np.array(dof).shape != (self.mesh.nb_faces, 3):
-                raise ValueError(f"The array defining the dof {dof_name} of body {self.name} does not have the expected shape.\n"
+            if (not isinstance(dof, AbstractDof) and
+                    (np.array(dof).shape != (self.mesh.nb_faces, 3))):
+                raise ValueError(f"The array defining the dof {dof_name} of {self.__short_str__()} does not have the expected shape.\n"
                                  f"Expected shape: ({self.mesh.nb_faces}, 3)\n"
                                  f"  Actual shape: {dof.shape}")
 
 
-    ###################
-    # Hydrostatics #
-    ###################
-
-    def surface_integral(self, data, **kwargs):
-        """Returns integral of given data along wet surface area."""
-        return self.mesh.surface_integral(data, **kwargs)
-
-    def waterplane_integral(self, data, **kwargs):
-        """Returns integral of given data along water plane area."""
-        return self.mesh.waterplane_integral(data, **kwargs)
-
-    @property
-    def wet_surface_area(self):
-        """Returns wet surface area."""
-        return self.mesh.wet_surface_area
-
-    @property
-    def volumes(self):
-        """Returns volumes using x, y, z components of the FloatingBody."""
-        return self.mesh.volumes
-
-    @property
-    def volume(self):
-        """Returns volume of the FloatingBody."""
-        return self.mesh.volume
-
-    def disp_mass(self, *, rho=1000.0):
-        return self.mesh.disp_mass(rho=rho)
-
-    @property
-    def center_of_buoyancy(self):
-        """Returns center of buoyancy of the FloatingBody."""
-        return self.mesh.center_of_buoyancy
-
-    @property
-    def waterplane_area(self):
-        """Returns water plane area of the FloatingBody."""
-        return self.mesh.waterplane_area
-
-    @property
-    def waterplane_center(self):
-        """Returns water plane center of the FloatingBody.
-
-        Note: Returns None if the FloatingBody is full submerged.
-        """
-        return self.mesh.waterplane_center
-
-    @property
-    def transversal_metacentric_radius(self):
-        """Returns transversal metacentric radius of the mesh."""
-        inertia_moment = -self.waterplane_integral(self.mesh.faces_centers[:,1]**2)
-        return inertia_moment / self.volume
-
-    @property
-    def longitudinal_metacentric_radius(self):
-        """Returns longitudinal metacentric radius of the mesh."""
-        inertia_moment = -self.waterplane_integral(self.mesh.faces_centers[:,0]**2)
-        return inertia_moment / self.volume
-
-    @property
-    def transversal_metacentric_height(self):
-        """Returns transversal metacentric height of the mesh."""
-        gb = self.center_of_mass - self.center_of_buoyancy
-        return self.transversal_metacentric_radius - gb[2]
-
-    @property
-    def longitudinal_metacentric_height(self):
-        """Returns longitudinal metacentric height of the mesh."""
-        gb = self.center_of_mass - self.center_of_buoyancy
-        return self.longitudinal_metacentric_radius - gb[2]
-
-    def dof_normals(self, dof):
-        """Returns dot product of the surface face normals and DOF"""
-        return np.sum(self.mesh.faces_normals * dof, axis=1)
-
-    def _infer_rotation_center(self):
-        """Hacky way to infer the point around which the rotation dofs are defined.
-        (Assuming all three rotation dofs are defined around the same point).
-        In the future, should be replaced by something more robust.
-        """
-        if hasattr(self, "rotation_center"):
-            return np.asarray(self.rotation_center)
-
-        else:
-            try:
-                xc1 = self.dofs["Pitch"][:, 2] + self.mesh.faces_centers[:, 0]
-                xc2 = -self.dofs["Yaw"][:, 1] + self.mesh.faces_centers[:, 0]
-                yc1 = self.dofs["Yaw"][:, 0] + self.mesh.faces_centers[:, 1]
-                yc2 = -self.dofs["Roll"][:, 2] + self.mesh.faces_centers[:, 1]
-                zc1 = -self.dofs["Pitch"][:, 0] + self.mesh.faces_centers[:, 2]
-                zc2 = self.dofs["Roll"][:, 1] + self.mesh.faces_centers[:, 2]
-
-                # All items should be identical in a given vector
-                assert np.isclose(xc1, xc1[0]).all()
-                assert np.isclose(yc1, yc1[0]).all()
-                assert np.isclose(zc1, zc1[0]).all()
-
-                # Both vector should be identical
-                assert np.allclose(xc1, xc2)
-                assert np.allclose(yc1, yc2)
-                assert np.allclose(zc1, zc2)
-
-                return np.array([xc1[0], yc1[0], zc1[0]])
-
-            except Exception as e:
-                raise ValueError(
-                        f"Failed to infer the rotation center of {self.name} to compute rigid body hydrostatics.\n"
-                        f"Possible fix: add a `rotation_center` attribute to {self.name}.\n"
-                        "Note that rigid body hydrostatic methods currently assume that the three rotation dofs have the same rotation center."
-                        ) from e
-
-    def each_hydrostatic_stiffness(self, influenced_dof_name, radiating_dof_name, *,
-                                         influenced_dof_div=0.0, rho=1000.0, g=9.81):
-        r"""
-        Return the hydrostatic stiffness for a pair of DOFs.
-
-        :math:`C_{ij} = \rho g\iint_S (\hat{n} \cdot V_j) (w_i + z D_i) dS`
-
-        where :math:`\hat{n}` is surface normal,
-
-        :math:`V_i = u_i \hat{n}_x + v_i \hat{n}_y + w_i \hat{n}_z` is DOF vector and
-
-        :math:`D_i = \nabla \cdot V_i` is the divergence of the DOF.
-
-        Parameters
-        ----------
-        influenced_dof_name : str
-            Name of influenced DOF vector of the FloatingBody
-        radiating_dof_name: str
-            Name of radiating DOF vector of the FloatingBody
-        influenced_dof_div: np.ndarray (Face_count), optional
-            Influenced DOF divergence of the FloatingBody, by default 0.0.
-        rho: float, optional
-            water density, by default 1000.0
-        g: float, optional
-            Gravity acceleration, by default 9.81
-
-        Returns
-        -------
-        hs_ij: xarray.variable
-            hydrostatic_stiffness of ith DOF and jth DOF.
-
-        Note
-        ----
-            This function computes the hydrostatic stiffness assuming :math:`D_{i} = 0`.
-            If :math:`D_i \neq 0`, input the divergence interpolated to face centers.
-
-            General integral equations are used for the rigid body modes and
-            Neumann (1994) method is used for flexible modes.
-
-        References
-        ----------
-            Newman, John Nicholas. "Wave effects on deformable bodies."Applied ocean
-            research" 16.1 (1994): 47-59.
-            http://resolver.tudelft.nl/uuid:0adff84c-43c7-43aa-8cd8-d4c44240bed8
-
-        """
-        # Newman (1994) formula is not 'complete' as recovering the rigid body
-        # terms is not possible. https://doi.org/10.1115/1.3058702.
-
-        # Alternative is to use the general equation of hydrostatic and
-        # restoring coefficient for rigid modes and use Newman equation for elastic
-        # modes.
-
-        rigid_dof_names = ("Surge", "Sway", "Heave", "Roll", "Pitch", "Yaw")
-        dof_pair = (influenced_dof_name, radiating_dof_name)
-
-        if set(dof_pair).issubset(set(rigid_dof_names)):
-            if self.center_of_mass is None:
-                raise ValueError(f"Trying to compute rigid-body hydrostatic stiffness for {self.name}, but no center of mass has been defined.\n"
-                                 f"Suggested solution: define a `center_of_mass` attribute for the FloatingBody {self.name}.")
-            mass = self.disp_mass(rho=rho) if self.mass is None else self.mass
-            xc, yc, zc = self._infer_rotation_center()
-
-            if dof_pair == ("Heave", "Heave"):
-                norm_hs_stiff = self.waterplane_area
-            elif dof_pair in [("Heave", "Roll"), ("Roll", "Heave")]:
-                norm_hs_stiff = -self.waterplane_integral(self.mesh.faces_centers[:,1] - yc)
-            elif dof_pair in [("Heave", "Pitch"), ("Pitch", "Heave")]:
-                norm_hs_stiff = self.waterplane_integral(self.mesh.faces_centers[:,0] - xc)
-            elif dof_pair == ("Roll", "Roll"):
-                norm_hs_stiff = (
-                        -self.waterplane_integral((self.mesh.faces_centers[:,1] - yc)**2)
-                        + self.volume*(self.center_of_buoyancy[2] - zc) - mass/rho*(self.center_of_mass[2] - zc)
-                )
-            elif dof_pair in [("Roll", "Pitch"), ("Pitch", "Roll")]:
-                norm_hs_stiff = self.waterplane_integral((self.mesh.faces_centers[:,0] - xc)
-                                                          * (self.mesh.faces_centers[:,1] - yc))
-            elif dof_pair == ("Roll", "Yaw"):
-                norm_hs_stiff = - self.volume*(self.center_of_buoyancy[0] - xc) + mass/rho*(self.center_of_mass[0] - xc)
-            elif dof_pair == ("Pitch", "Pitch"):
-                norm_hs_stiff = (
-                        -self.waterplane_integral((self.mesh.faces_centers[:,0] - xc)**2)
-                        + self.volume*(self.center_of_buoyancy[2] - zc) - mass/rho*(self.center_of_mass[2] - zc)
-                        )
-            elif dof_pair == ("Pitch", "Yaw"):
-                norm_hs_stiff = - self.volume*(self.center_of_buoyancy[1] - yc) + mass/rho*(self.center_of_mass[1] - yc)
-            else:
-                norm_hs_stiff = 0.0
-        else:
-            if self.mass is not None and not np.isclose(self.mass, self.disp_mass(rho=rho), rtol=1e-4):
-                raise NotImplementedError(
-                        f"Trying to compute the hydrostatic stiffness for dofs {radiating_dof_name} and {influenced_dof_name}"
-                        f"of body {self.name}, which is not neutrally buoyant (mass={self.mass}, disp_mass={self.disp_mass(rho=rho)}).\n"
-                        f"This case has not been implemented in Capytaine. You need either a single rigid body or a neutrally buoyant body."
-                        )
-
-            # Newman (1994) formula for flexible DOFs
-            influenced_dof = np.array(self.dofs[influenced_dof_name])
-            radiating_dof = np.array(self.dofs[radiating_dof_name])
-            influenced_dof_div_array = np.array(influenced_dof_div)
-
-            radiating_dof_normal = self.dof_normals(radiating_dof)
-            z_influenced_dof_div = influenced_dof[:,2] + self.mesh.faces_centers[:,2] * influenced_dof_div_array
-            norm_hs_stiff = self.surface_integral( -radiating_dof_normal * z_influenced_dof_div)
-
-        hs_stiff = rho * g * norm_hs_stiff
-
-        return xr.DataArray([[hs_stiff]],
-                            dims=['influenced_dof', 'radiating_dof'],
-                            coords={'influenced_dof': [influenced_dof_name],
-                            'radiating_dof': [radiating_dof_name]},
-                            name="hydrostatic_stiffness"
-                            )
-
-    def compute_hydrostatic_stiffness(self, *, divergence=None, rho=1000.0, g=9.81):
-        r"""
-        Compute hydrostatic stiffness matrix for all DOFs of the body.
-
-        :math:`C_{ij} = \rho g\iint_S (\hat{n} \cdot V_j) (w_i + z D_i) dS`
-
-        where :math:`\hat{n}` is surface normal,
-
-        :math:`V_i = u_i \hat{n}_x + v_i \hat{n}_y + w_i \hat{n}_z` is DOF vector and
-
-        :math:`D_i = \nabla \cdot V_i` is the divergence of the DOF.
-
-        Parameters
-        ----------
-        divergence : dict mapping a dof name to an array of shape (nb_faces) or
-                        xarray.DataArray of shape (nb_dofs × nb_faces), optional
-            Divergence of the DOFs, by default None
-        rho : float, optional
-            Water density, by default 1000.0
-        g: float, optional
-            Gravity acceleration, by default 9.81
-
-        Returns
-        -------
-        xr.DataArray
-            Matrix of hydrostatic stiffness
-
-        Note
-        ----
-            This function computes the hydrostatic stiffness assuming :math:`D_{i} = 0`.
-            If :math:`D_i \neq 0`, input the divergence interpolated to face centers.
-
-            General integral equations are used for the rigid body modes and
-            Neumann (1994) method is used for flexible modes.
-
-        References
-        ----------
-            Newman, John Nicholas. "Wave effects on deformable bodies."Applied ocean
-            research" 16.1 (1994): 47-59.
-            http://resolver.tudelft.nl/uuid:0adff84c-43c7-43aa-8cd8-d4c44240bed8
-
-        """
-        if len(self.dofs) == 0:
-            raise AttributeError("Cannot compute hydrostatics stiffness on {} since no dof has been defined.".format(self.name))
-
-        def divergence_dof(influenced_dof):
-            if influenced_dof.lower() in [*TRANSLATION_DOFS_DIRECTIONS, *ROTATION_DOFS_AXIS]:
-                return 0.0  # Dummy value that is not actually used afterwards.
-            elif divergence is None:
-                return 0.0
-            elif isinstance(divergence, dict) and influenced_dof in divergence.keys():
-                return divergence[influenced_dof]
-            elif isinstance(divergence, xr.DataArray) and influenced_dof in divergence.coords["influenced_dof"]:
-                return divergence.sel(influenced_dof=influenced_dof).values
-            else:
-                LOG.warning("Computing hydrostatic stiffness without the divergence of {}".format(influenced_dof))
-                return 0.0
-
-        hs_set =  xr.merge([
-            self.each_hydrostatic_stiffness(
-                influenced_dof_name, radiating_dof_name,
-                influenced_dof_div = divergence_dof(influenced_dof_name),
-                rho=rho, g=g
-                )
-            for radiating_dof_name in self.dofs
-            for influenced_dof_name in self.dofs
-            ])
-
-        # Reorder dofs
-        K = hs_set.hydrostatic_stiffness.sel(influenced_dof=list(self.dofs.keys()), radiating_dof=list(self.dofs.keys()))
-        return K
-
-    def compute_rigid_body_inertia(self, *, rho=1000.0, output_type="body_dofs"):
-        """
-        Inertia Mass matrix of the body for 6 rigid DOFs.
-
-        Parameters
-        ----------
-        rho : float, optional
-            Density of water, by default 1000.0
-        output_type : {"body_dofs", "rigid_dofs", "all_dofs"}
-            Type of DOFs for mass mat output, by default "body_dofs".
-
-        Returns
-        -------
-        xarray.DataArray
-            Inertia matrix
-
-        Raises
-        ------
-        ValueError
-            If output_type is not in {"body_dofs", "rigid_dofs", "all_dofs"}.
-        """
-        if self.center_of_mass is None:
-            raise ValueError(f"Trying to compute rigid-body inertia matrix for {self.name}, but no center of mass has been defined.\n"
-                             f"Suggested solution: define a `center_of_mass` attribute for the FloatingBody {self.name}.")
-
-        rc = self._infer_rotation_center()
-        fcs = (self.mesh.faces_centers - rc).T
-        combinations = np.array([fcs[0]**2, fcs[1]**2, fcs[2]**2, fcs[0]*fcs[1],
-                                 fcs[1]*fcs[2], fcs[2]*fcs[0]])
-        integrals = np.array([
-            [np.sum(normal_i * fcs[axis] * combination * self.mesh.faces_areas)
-            for combination in combinations]
-            for axis, normal_i in enumerate(self.mesh.faces_normals.T)])
-
-
-        inertias = np.array([
-            (integrals[0,1]   + integrals[0,2]   + integrals[1,1]/3
-             + integrals[1,2]   + integrals[2,1] + integrals[2,2]/3)/3,
-            (integrals[0,0]/3 + integrals[0,2]   + integrals[1,0]
-             + integrals[1,2]   + integrals[2,0] + integrals[2,2]/3)/3,
-            (integrals[0,0]/3 + integrals[0,1]   + integrals[1,0]
-             + integrals[1,1]/3 + integrals[2,0] + integrals[2,1]  )/3,
-            integrals[2,3],
-            integrals[0,4],
-            integrals[1,5]
-        ])
-
-        cog = self.center_of_mass - rc
-        volume = self.volume
-        volumic_inertia_matrix = np.array([
-            [ volume        , 0              , 0               ,
-              0             , volume*cog[2]  , -volume*cog[1]  ],
-            [ 0             , volume         , 0               ,
-             -volume*cog[2] , 0              , volume*cog[0]   ],
-            [ 0             , 0              , volume          ,
-              volume*cog[1] , -volume*cog[0] , 0 ]             ,
-            [ 0             , -volume*cog[2] , volume*cog[1]   ,
-              inertias[0]   , -inertias[3]   , -inertias[5]    ],
-            [ volume*cog[2] , 0              , -volume*cog[0]  ,
-             -inertias[3]   , inertias[1]    , -inertias[4]    ],
-            [-volume*cog[1] , volume*cog[0]  , 0               ,
-             -inertias[5]   , -inertias[4]   , inertias[2]     ],
-        ])
-
-        density = rho if self.mass is None else self.mass/volume
-        inertia_matrix = density * volumic_inertia_matrix
-
-        # Rigid DOFs
-        rigid_dof_names = ["Surge", "Sway", "Heave", "Roll", "Pitch", "Yaw"]
-        rigid_inertia_matrix_xr = xr.DataArray(data=np.asarray(inertia_matrix),
-                            dims=['influenced_dof', 'radiating_dof'],
-                            coords={'influenced_dof': rigid_dof_names,
-                                    'radiating_dof': rigid_dof_names},
-                            name="inertia_matrix")
-
-        # Body DOFs (Default as np.nan)
-        body_dof_names = list(self.dofs)
-        body_dof_count = len(body_dof_names)
-        other_dofs_inertia_matrix_xr = xr.DataArray(np.nan * np.zeros([body_dof_count, body_dof_count]),
-                                    dims=['influenced_dof', 'radiating_dof'],
-                                    coords={'influenced_dof': body_dof_names,
-                                            'radiating_dof': body_dof_names},
-                                    name="inertia_matrix")
-
-        total_mass_xr = xr.merge([rigid_inertia_matrix_xr, other_dofs_inertia_matrix_xr], compat="override").inertia_matrix
-
-        non_rigid_dofs = set(body_dof_names) - set(rigid_dof_names)
-
-        if output_type == "body_dofs":
-            if len(non_rigid_dofs) > 0:
-                LOG.warning(f"Non-rigid dofs {non_rigid_dofs} detected: their \
-inertia coefficients are assigned as NaN.")
-
-            inertia_matrix_xr = total_mass_xr.sel(influenced_dof=body_dof_names,
-                                                  radiating_dof=body_dof_names)
-        elif output_type == "rigid_dofs":
-            inertia_matrix_xr = total_mass_xr.sel(influenced_dof=rigid_dof_names,
-                                                  radiating_dof=rigid_dof_names)
-        elif output_type == "all_dofs":
-            if len(non_rigid_dofs) > 0:
-                LOG.warning("Non-rigid dofs: {non_rigid_dofs} are detected and \
-respective inertia coefficients are assigned as NaN.")
-
-            inertia_matrix_xr = total_mass_xr
-        else:
-            raise ValueError(f"output_type should be either 'body_dofs', \
-'all_dofs' or 'rigid_dofs'. Given output_type = '{output_type}'.")
-
-        return inertia_matrix_xr
-
-
-    def compute_hydrostatics(self, *, rho=1000.0, g=9.81, divergence=None):
-        """Compute hydrostatics of the FloatingBody.
-
-        Parameters
-        ----------
-        rho : float, optional
-            Density of Water. The default is 1000.
-        g: float, optional
-            Gravity acceleration. The default is 9.81.
-        divergence : np.ndarray, optional
-            Divergence of the DOFs.
-
-        Returns
-        -------
-        hydrostatics : dict
-            All hydrostatics values of the FloatingBody.
-        """
-        if self.center_of_mass is None:
-            raise ValueError(f"Trying to compute hydrostatics for {self.name}, but no center of mass has been defined.\n"
-                             f"Suggested solution: define a `center_of_mass` attribute for the FloatingBody {self.name}.")
-
-        immersed_self = self.immersed_part()
-
-        full_mesh_vertices = self.mesh.vertices
-        coord_max = full_mesh_vertices.max(axis=0)
-        coord_min = full_mesh_vertices.min(axis=0)
-        full_length, full_breadth, depth = full_mesh_vertices.max(axis=0) - full_mesh_vertices.min(axis=0)
-
-        vertices = immersed_self.mesh.vertices
-        sub_length, sub_breadth, _ = vertices.max(axis=0) - vertices.min(axis=0)
-
-        if abs(immersed_self.waterplane_area) > 1e-10:
-            water_plane_idx = np.isclose(vertices[:,2], 0.0)
-            water_plane = vertices[water_plane_idx][:,:-1]
-            wl_length, wl_breadth = water_plane.max(axis=0) - water_plane.min(axis=0)
-        else:
-            wl_length, wl_breadth = 0.0, 0.0
-
-        hydrostatics = {}
-        hydrostatics["g"] = g
-        hydrostatics["rho"] = rho
-        hydrostatics["center_of_mass"] = self.center_of_mass
-
-        hydrostatics["wet_surface_area"] = immersed_self.wet_surface_area
-        hydrostatics["disp_volumes"] = immersed_self.volumes
-        hydrostatics["disp_volume"] = immersed_self.volume
-        hydrostatics["disp_mass"] = immersed_self.disp_mass(rho=rho)
-        hydrostatics["center_of_buoyancy"] = immersed_self.center_of_buoyancy
-        hydrostatics["waterplane_center"] = np.append(immersed_self.waterplane_center, 0.0)
-        hydrostatics["waterplane_area"] = immersed_self.waterplane_area
-        hydrostatics["transversal_metacentric_radius"] = immersed_self.transversal_metacentric_radius
-        hydrostatics["longitudinal_metacentric_radius"] = immersed_self.longitudinal_metacentric_radius
-        hydrostatics["transversal_metacentric_height"] = immersed_self.transversal_metacentric_height
-        hydrostatics["longitudinal_metacentric_height"] = immersed_self.longitudinal_metacentric_height
-        self.hydrostatic_stiffness = hydrostatics["hydrostatic_stiffness"] = immersed_self.compute_hydrostatic_stiffness(
-            divergence=divergence, rho=rho, g=g)
-
-        hydrostatics["length_overall"] = full_length
-        hydrostatics["breadth_overall"] = full_breadth
-        hydrostatics["depth"] = depth
-        hydrostatics["draught"] = np.abs(coord_min[2])
-        hydrostatics["length_at_waterline"] = wl_length
-        hydrostatics["breadth_at_waterline"] = wl_breadth
-        hydrostatics["length_overall_submerged"] = sub_length
-        hydrostatics["breadth_overall_submerged"] = sub_breadth
-        if any(dof.lower() in {"surge", "sway", "heave", "roll", "pitch", "yaw"}
-               for dof in self.dofs) > 0: # If there is at least one rigid body dof:
-            self.inertia_matrix = hydrostatics["inertia_matrix"] = self.compute_rigid_body_inertia(rho=rho)
-
-        return hydrostatics
-
-
     ###################
     # Transformations #
     ###################
 
-    def __add__(self, body_to_add: 'FloatingBody') -> 'FloatingBody':
+    def __add__(self, body_to_add: 'FloatingBody'):
         return self.join_bodies(body_to_add)
 
-    def join_bodies(*bodies, name=None) -> 'FloatingBody':
-        if name is None:
-            name = "+".join(body.name for body in bodies)
-        meshes = CollectionOfMeshes(
-                [body.mesh.copy() for body in bodies],
-                name=f"{name}_mesh"
-                )
-        if all(body.lid_mesh is None for body in bodies):
-            lid_meshes = None
-        else:
-            lid_meshes = CollectionOfMeshes(
-                    [body.lid_mesh.copy() for body in bodies if body.lid_mesh is not None],
-                    name=f"{name}_lid_mesh"
-                    )
-        dofs = FloatingBody.combine_dofs(bodies)
-
-        if all(body.mass is not None for body in bodies):
-            new_mass = sum(body.mass for body in bodies)
-        else:
-            new_mass = None
-
-        if (all(body.mass is not None for body in bodies)
-                and all(body.center_of_mass is not None for body in bodies)):
-            new_cog = sum(body.mass*np.asarray(body.center_of_mass) for body in bodies)/new_mass
-        else:
-            new_cog = None
-
-        joined_bodies = FloatingBody(
-            mesh=meshes, lid_mesh=lid_meshes, dofs=dofs,
-            mass=new_mass, center_of_mass=new_cog, name=name
-            )
-
-        for matrix_name in ["inertia_matrix", "hydrostatic_stiffness"]:
-            if all(hasattr(body, matrix_name) for body in bodies):
-                from scipy.linalg import block_diag
-                setattr(joined_bodies, matrix_name, joined_bodies.add_dofs_labels_to_matrix(
-                        block_diag(*[getattr(body, matrix_name) for body in bodies])
-                        ))
-
-        return joined_bodies
-
-    @staticmethod
-    def combine_dofs(bodies) -> dict:
-        """Combine the degrees of freedom of several bodies."""
-        for body in bodies:
-            body._check_dofs_shape_consistency()
-        dofs = {}
-        cum_nb_faces = accumulate(chain([0], (body.mesh.nb_faces for body in bodies)))
-        total_nb_faces = sum(body.mesh.nb_faces for body in bodies)
-        for body, nbf in zip(bodies, cum_nb_faces):
-            # nbf is the cumulative number of faces of the previous subbodies,
-            # that is the offset of the indices of the faces of the current body.
-            for name, dof in body.dofs.items():
-                new_dof = np.zeros((total_nb_faces, 3))
-                new_dof[nbf:nbf+len(dof), :] = dof
-                if '__' not in name:
-                    new_dof_name = '__'.join([body.name, name])
-                else:
-                    # The body is probably a combination of bodies already.
-                    # So for the associativity of the + operation,
-                    # it is better to keep the same name.
-                    new_dof_name = name
-                dofs[new_dof_name] = new_dof
-        return dofs
+    def join_bodies(*bodies, name=None):
+        from capytaine.bodies.multibodies import Multibody
+        return Multibody(bodies, name=name)
 
     def copy(self, name=None) -> 'FloatingBody':
         """Return a deep copy of the body.
@@ -866,173 +315,185 @@ respective inertia coefficients are assigned as NaN.")
         """
         bodies = (self.translated((i*distance, j*distance, 0), name=f"{i}_{j}") for j in range(nb_bodies[1]) for i in range(nb_bodies[0]))
         array = FloatingBody.join_bodies(*bodies)
-        array.mesh = build_regular_array_of_meshes(self.mesh, distance, nb_bodies)
         array.name = f"array_of_{self.name}"
         return array
 
     def assemble_arbitrary_array(self, locations:np.ndarray):
-
         if not isinstance(locations, np.ndarray):
             raise TypeError('locations must be of type np.ndarray')
         assert locations.shape[1] == 2, 'locations must be of shape nx2, received {:}'.format(locations.shape)
 
         fb_list = []
         for idx, li in enumerate(locations):
-            fb1 = self.copy()
-            fb1.translate(np.append(li,0))
-            fb1.name = 'arbitrary_array_body{:02d}'.format(idx)
-            fb_list.append(fb1)
-
-        arbitrary_array = fb_list[0].join_bodies(*fb_list[1:])
+            fb_list.append(self.translated(np.append(li, 0), name='arbitrary_array_body{:02d}'.format(idx)))
+        arbitrary_array = FloatingBody.join_bodies(*fb_list)
 
         return arbitrary_array
 
-    def extract_faces(self, id_faces_to_extract, return_index=False):
-        """Create a new FloatingBody by extracting some faces from the mesh.
-        The dofs evolve accordingly.
-        The lid_mesh, center_of_mass, mass and hydrostatics data are discarded.
-        """
-        if isinstance(self.mesh, CollectionOfMeshes):
-            raise NotImplementedError  # TODO
-
-        if return_index:
-            new_mesh, id_v = self.mesh.extract_faces(id_faces_to_extract, return_index)
-        else:
-            new_mesh = self.mesh.extract_faces(id_faces_to_extract, return_index)
-        new_body = FloatingBody(new_mesh)
-        LOG.info(f"Extract floating body from {self.name}.")
-
-        new_body.dofs = {}
-        for name, dof in self.dofs.items():
-            new_body.dofs[name] = dof[id_faces_to_extract, :]
-
-        if return_index:
-            return new_body, id_v
+    def mirrored(self, plane: Literal['xOz', 'yOz']) -> "FloatingBody":
+        if plane == "xOz":
+            mirrored_coord = 1
+        elif plane == "yOz":
+            mirrored_coord = 0
         else:
-            return new_body
+            raise ValueError(f"Unsupported value for plane: {plane}")
+        def mirror(p):
+            if isinstance(p, TranslationDof):
+                return TranslationDof(
+                    direction=mirror(p.direction),
+                )
+            if isinstance(p, RotationDof):
+                return RotationDof(
+                    rotation_center=mirror(p.rotation_center),
+                    direction=mirror(p.direction),
+                )
+            elif isinstance(p, np.ndarray):
+                mirrored_p = p.copy()
+                mirrored_p[..., mirrored_coord] *= -1
+                return p
+        mirrored_dofs = {k: mirror(v) for k,v in self.dofs.items()}
+        mirrored_self = FloatingBody(
+            mesh=self.mesh.mirrored(plane),
+            lid_mesh=self.lid_mesh.mirrored(plane) if self.lid_mesh is not None else None,
+            dofs=mirrored_dofs,
+            center_of_mass=mirror(self.center_of_mass) if self.center_of_mass is not None else None,
+            mass=self.mass,
+            )
+        if hasattr(self, 'rotation_center'):
+            mirrored_self.rotation_center = mirror(self.rotation_center)
+        return mirrored_self
+
+    def translated(self, shift, *, name=None) -> "FloatingBody":
+        shift = np.asarray(shift)
+        def translate_dof(d):
+            if isinstance(d, RotationDof):
+                return RotationDof(
+                    rotation_center=d.rotation_center + shift,
+                    direction=d.direction,
+                )
+            else:
+                return d
+
+        translated_self = FloatingBody(
+            mesh=self.mesh.translated(shift),
+            lid_mesh=self.lid_mesh.translated(shift) if self.lid_mesh is not None else None,
+            dofs={k: translate_dof(v) for k, v in self.dofs.items()},
+            center_of_mass=self.center_of_mass + shift if self.center_of_mass is not None else None,
+            mass=self.mass,
+            name=name
+            )
+        if hasattr(self, 'rotation_center'):
+            translated_self.rotation_center = self.rotation_center + shift
+        return translated_self
 
-    def sliced_by_plane(self, plane):
-        """Return the same body, but replace the mesh by a set of two meshes
-        corresponding to each sides of the plane."""
-        return FloatingBody(mesh=self.mesh.sliced_by_plane(plane),
-                            lid_mesh=self.lid_mesh.sliced_by_plane(plane)
-                                        if self.lid_mesh is not None else None,
-                            dofs=self.dofs, name=self.name)
+    def translated_x(self, dx: float, *, name=None) -> "FloatingBody":
+        return self.translated([dx, 0.0, 0.0], name=name)
 
-    def minced(self, nb_slices=(8, 8, 4)):
-        """Experimental method decomposing the mesh as a hierarchical structure.
+    def translated_y(self, dy: float, *, name=None) -> "FloatingBody":
+        return self.translated([0.0, dy, 0.0], name=name)
 
-        Parameters
-        ----------
-        nb_slices: Tuple[int, int, int]
-            The number of slices in each of the x, y and z directions.
-            Only powers of 2 are supported at the moment.
+    def translated_z(self, dz: float, *, name=None) -> "FloatingBody":
+        return self.translated([0.0, 0.0, dz], name=name)
 
-        Returns
-        -------
-        FloatingBody
-        """
-        minced_body = self.copy()
-
-        # Extreme points of the mesh in each directions.
-        x_min, x_max, y_min, y_max, z_min, z_max = self.mesh.axis_aligned_bbox
-        sizes = [(x_min, x_max), (y_min, y_max), (z_min, z_max)]
-
-        directions = [np.array(d) for d in [(1, 0, 0), (0, 1, 0), (0, 0, 1)]]
-
-        def _slice_positions_at_depth(i):
-            """Helper function.
-
-            Returns a list of floats as follows:
-            i=1 -> [1/2]
-            i=2 -> [1/4, 3/4]
-            i=3 -> [1/8, 3/8, 5/8, 7/8]
-                   ...
-            """
-            denominator = 2**i
-            return [numerator/denominator for numerator in range(1, denominator, 2)]
-
-        # GENERATE ALL THE PLANES THAT WILL BE USED TO MINCE THE MESH
-        planes = []
-        for direction, nb_slices_in_dir, (min_coord, max_coord) in zip(directions, nb_slices, sizes):
-            planes_in_dir = []
-
-            depth_of_treelike_structure = int(np.log2(nb_slices_in_dir))
-            for i_depth in range(1, depth_of_treelike_structure+1):
-                planes_in_dir_at_depth = []
-                for relative_position in _slice_positions_at_depth(i_depth):
-                    slice_position = (min_coord + relative_position*(max_coord-min_coord))*direction
-                    plane = Plane(normal=direction, point=slice_position)
-                    planes_in_dir_at_depth.append(plane)
-                planes_in_dir.append(planes_in_dir_at_depth)
-            planes.append(planes_in_dir)
-
-        # SLICE THE MESH
-        intermingled_x_y_z = chain.from_iterable(zip_longest(*planes))
-        for planes in intermingled_x_y_z:
-            if planes is not None:
-                for plane in planes:
-                    minced_body = minced_body.sliced_by_plane(plane)
-        return minced_body
-
-    @inplace_transformation
-    def mirror(self, plane):
-        self.mesh.mirror(plane)
-        if self.lid_mesh is not None:
-            self.lid_mesh.mirror(plane)
-        for dof in self.dofs:
-            self.dofs[dof] -= 2 * np.outer(np.dot(self.dofs[dof], plane.normal), plane.normal)
-        for point_attr in ('geometric_center', 'rotation_center', 'center_of_mass'):
-            if point_attr in self.__dict__ and self.__dict__[point_attr] is not None:
-                point = np.array(self.__dict__[point_attr])
-                shift = - 2 * (np.dot(point, plane.normal) - plane.c) * plane.normal
-                self.__dict__[point_attr] = point + shift
-        return self
-
-    @inplace_transformation
-    def translate(self, vector, *args, **kwargs):
-        self.mesh.translate(vector, *args, **kwargs)
-        if self.lid_mesh is not None:
-            self.lid_mesh.translate(vector, *args, **kwargs)
-        for point_attr in ('geometric_center', 'rotation_center', 'center_of_mass'):
-            if point_attr in self.__dict__ and self.__dict__[point_attr] is not None:
-                self.__dict__[point_attr] = np.array(self.__dict__[point_attr]) + vector
-        return self
-
-    @inplace_transformation
-    def rotate(self, axis, angle):
-        self.mesh.rotate(axis, angle)
-        if self.lid_mesh is not None:
-            self.lid_mesh.rotate(axis, angle)
-        for point_attr in ('geometric_center', 'rotation_center', 'center_of_mass'):
-            if point_attr in self.__dict__ and self.__dict__[point_attr] is not None:
-                self.__dict__[point_attr] = axis.rotate_points([self.__dict__[point_attr]], angle)[0, :]
-        for dof in self.dofs:
-            self.dofs[dof] = axis.rotate_vectors(self.dofs[dof], angle)
-        return self
-
-    @inplace_transformation
-    def clip(self, plane):
-        self._check_dofs_shape_consistency()
+    def rotated_with_matrix(self, R, *, name=None) -> "FloatingBody":
+        def rotate_dof(d):
+            if isinstance(d, TranslationDof):
+                return TranslationDof(
+                    direction=d.direction @ R.T,
+                        )
+            elif isinstance(d, RotationDof):
+                return RotationDof(
+                    rotation_center=d.rotation_center @ R.T,
+                    direction=d.direction @ R.T,
+                )
+            else:
+                return d
+        rotated_self = FloatingBody(
+            mesh=self.mesh.rotated_with_matrix(R),
+            lid_mesh=self.lid_mesh.rotated_with_matrix(R) if self.lid_mesh is not None else None,
+            dofs={k: rotate_dof(v) for k, v in self.dofs.items()},
+            center_of_mass=self.center_of_mass @ R.T if self.center_of_mass is not None else None,
+            mass=self.mass,
+            name=name
+            )
+        if hasattr(self, 'rotation_center'):
+            rotated_self.rotation_center = self.rotation_center @ R.T
+        return rotated_self
+
+    def rotated_x(self, angle: float, *, name=None) -> "FloatingBody":
+        c, s = np.cos(angle), np.sin(angle)
+        R = np.array([[1, 0, 0], [0, c, -s], [0, s, c]])
+        return self.rotated_with_matrix(R, name=name)
+
+    def rotated_y(self, angle: float, *, name=None) -> "FloatingBody":
+        c, s = np.cos(angle), np.sin(angle)
+        R = np.array([[c, 0, s], [0, 1, 0], [-s, 0, c]])
+        return self.rotated_with_matrix(R, name=name)
+
+    def rotated_z(self, angle: float, *, name=None) -> "FloatingBody":
+        c, s = np.cos(angle), np.sin(angle)
+        R = np.array([[c, -s, 0], [s, c, 0], [0, 0, 1]])
+        return self.rotated_with_matrix(R, name=name)
+
+    def _apply_on_mesh(self, func, args, kwargs):
+        mesh_with_ids = self.mesh.with_metadata(origin_panel=np.arange(self.mesh.nb_faces))
+        transformed_mesh = func(mesh_with_ids, *args, **kwargs)
+        transformed_mesh, faces_ids = transformed_mesh.pop_metadata("origin_panel")
 
-        # Clip mesh
-        LOG.info(f"Clipping {self.name} with respect to {plane}")
-        self.mesh.clip(plane)
         if self.lid_mesh is not None:
-            self.lid_mesh.clip(plane)
-            if self.lid_mesh.nb_faces == 0:
-                LOG.warning("Lid mesh %s is empty after clipping. The lid mesh is removed.", self.lid_mesh)
-                self.lid_mesh = None
+            transformed_lid_mesh = func(self.lid_mesh, *args, **kwargs)
+            if transformed_lid_mesh.nb_faces == 0:
+                LOG.warning("Empty lid mesh %s has been removed.", self.lid_mesh)
+                transformed_lid_mesh = None
+        else:
+            transformed_lid_mesh = None
 
-        # Clip dofs
-        ids = self.mesh._clipping_data['faces_ids']
-        for dof in self.dofs:
-            if len(ids) > 0:
-                self.dofs[dof] = np.array(self.dofs[dof])[ids]
+        new_dofs = {}
+        for name, dof in self.dofs.items():
+            if isinstance(dof, DofOnSubmesh):
+                former_mask = np.zeros(self.mesh.nb_faces, dtype=bool)
+                former_mask[dof.faces] = True
+                new_mask = former_mask[faces_ids]
+                new_dofs[name] = DofOnSubmesh(dof.dof, np.where(new_mask)[0])
+            elif isinstance(dof, AbstractDof):
+                new_dofs[name] = dof
             else:
-                self.dofs[dof] = np.empty((0, 3))
-        return self
+                # dof is an array or array-like
+                new_dofs[name] = np.asarray(dof)[faces_ids]
+
+        return transformed_mesh, transformed_lid_mesh, new_dofs
 
+    def clipped(self, *, origin, normal, name=None) -> "FloatingBody":
+        clipped_mesh, clipped_lid_mesh, updated_dofs = self._apply_on_mesh(
+            self.mesh.__class__.clipped,
+            (),
+            {'origin': origin, 'normal': normal}
+        )
+        if name is None:
+            name = self.name
+        return FloatingBody(
+            mesh=clipped_mesh,
+            lid_mesh=clipped_lid_mesh,
+            dofs=updated_dofs,
+            name=name
+        )
+
+    def immersed_part(self, free_surface=0.0, *, sea_bottom=None, water_depth=None, name=None) -> "FloatingBody":
+        clipped_mesh, clipped_lid_mesh, updated_dofs = self._apply_on_mesh(
+            self.mesh.__class__.immersed_part,
+            (free_surface,),
+            {'sea_bottom': sea_bottom, 'water_depth': water_depth}
+        )
+        if name is None:
+            name = self.name
+        return FloatingBody(
+            mesh=clipped_mesh,
+            lid_mesh=clipped_lid_mesh,
+            dofs=updated_dofs,
+            center_of_mass=self.center_of_mass,
+            mass=self.mass,
+            name=name
+        )
 
     #############
     #  Display  #
@@ -1085,12 +546,11 @@ respective inertia coefficients are assigned as NaN.")
             yield "center_of_mass", tuple(self.center_of_mass)
         yield "name", self.name
 
-    def show(self, **kwargs):
-        from capytaine.ui.vtk.body_viewer import FloatingBodyViewer
-        viewer = FloatingBodyViewer()
-        viewer.add_body(self, **kwargs)
-        viewer.show()
-        viewer.finalize()
+    def show(self, *args, **kwargs):
+        return self.mesh.show(*args, **kwargs)
+
+    def show_pyvista(self, *args, **kwargs):
+        return self.mesh.show_pyvista(*args, **kwargs)
 
     def show_matplotlib(self, *args, **kwargs):
         return self.mesh.show_matplotlib(*args, **kwargs)
@@ -1119,6 +579,10 @@ respective inertia coefficients are assigned as NaN.")
         animation._add_actor(self.mesh.merged(), faces_motion=sum(motion[dof_name] * dof for dof_name, dof in self.dofs.items() if dof_name in motion))
         return animation
 
+    #################################
+    # Irregular frequencies removal #
+    #################################
+
     @property
     def minimal_computable_wavelength(self):
         """For accuracy of the resolution, wavelength should not be smaller than this value."""
@@ -1164,50 +628,3 @@ respective inertia coefficients are assigned as NaN.")
                 omega_comp = np.sqrt(np.pi*g*p/(np.tanh(np.pi*draft*p)))
                 omega = min(omega, omega_comp)
         return omega
-
-    def cluster_bodies(*bodies, name=None):
-        """
-        Builds a hierarchical clustering from a group of bodies
-
-        Parameters
-        ----------
-        bodies: list
-            a list of bodies
-        name: str, optional
-            a name for the new body
-
-        Returns
-        -------
-        FloatingBody
-            Array built from the provided bodies
-        """
-        from scipy.cluster.hierarchy import linkage
-        nb_buoys = len(bodies)
-
-        if any(body.center_of_buoyancy is None for body in bodies):
-            raise ValueError("The center of buoyancy of each body needs to be known for clustering")
-        buoys_positions = np.stack([body.center_of_buoyancy for body in bodies])[:,:2]
-
-        ln_matrix = linkage(buoys_positions, method='centroid', metric='euclidean')
-
-        node_list = list(bodies)  # list of nodes of the tree: the first nodes are single bodies
-
-        # Join the bodies, with an ordering consistent with the dendrogram.
-        # Done by reading the linkage matrix: its i-th row contains the labels
-        # of the two nodes that are merged to form the (n + i)-th node
-        for ii in range(len(ln_matrix)):
-            node_tag = ii + nb_buoys # the first nb_buoys tags are already taken
-            merge_left = int(ln_matrix[ii,0])
-            merge_right = int(ln_matrix[ii,1])
-            # The new node is the parent of merge_left and merge_right
-            new_node_ls = [node_list[merge_left], node_list[merge_right]]
-            new_node = FloatingBody.join_bodies(*new_node_ls, name='node_{:d}'.format(node_tag))
-            node_list.append(new_node)
-
-        # The last node is the parent of all others
-        all_buoys = new_node
-
-        if name is not None:
-            all_buoys.name = name
-
-        return all_buoys