BaseConstraint.h

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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 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 :: Framework                              *
*                                                                             *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza,  *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_CORE_COMPONENTMODEL_BEHAVIOR_BASECONSTRAINT_H
#define SOFA_CORE_COMPONENTMODEL_BEHAVIOR_BASECONSTRAINT_H

#include <sofa/core/objectmodel/BaseObject.h>
#include <sofa/core/componentmodel/behavior/BaseMechanicalState.h>

#include <sofa/defaulttype/BaseMatrix.h>
#include <sofa/defaulttype/BaseVector.h>

#include <vector>

namespace sofa
{

namespace core
{

namespace componentmodel
{

namespace behavior
{

class BaseConstraint : public virtual objectmodel::BaseObject
{
public:
    virtual ~BaseConstraint() { }


    virtual void projectResponse() = 0;

    virtual void projectVelocity() = 0;

    virtual void projectPosition() = 0;

    virtual void projectFreeVelocity() = 0;

    virtual void projectFreePosition() = 0;



    virtual void projectResponse(double **);


    virtual void applyConstraint(unsigned int&, double&);

    virtual void applyConstraint(defaulttype::BaseMatrix *, unsigned int & /*offset*/);

    virtual void applyConstraint(defaulttype::BaseVector *, unsigned int & /*offset*/);

    virtual void getConstraintValue(defaulttype::BaseVector *) {};
    virtual void getConstraintValue(double *) {};
    virtual void getConstraintId(long * /*id*/, unsigned int & /*offset*/) {}


    virtual bool isHolonomic() {return false; }

};

} // namespace behavior

} // namespace componentmodel

} // namespace core

} // namespace sofa

#endif