BoxConstraint.h

Go to the documentation of this file.

/******************************************************************************
*       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 :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_CONSTRAINT_BOXCONSTRAINT_H
#define SOFA_COMPONENT_CONSTRAINT_BOXCONSTRAINT_H

#if !defined(__GNUC__) || (__GNUC__ > 3 || (_GNUC__ == 3 && __GNUC_MINOR__ > 3))
#pragma once
#endif

#include <sofa/component/constraint/FixedConstraint.h>
#include <sofa/defaulttype/Vec.h>
//#include <sofa/component/topology/MultiResSparseGridTopology.h>

namespace sofa
{

namespace component
{

namespace constraint
{

template <class DataTypes>
class BoxConstraint : public FixedConstraint<DataTypes>
{
public:
    typedef FixedConstraint<DataTypes> Inherited;
    typedef typename DataTypes::VecCoord VecCoord;
    typedef typename DataTypes::VecDeriv VecDeriv;
    typedef typename DataTypes::Coord Coord;
    typedef typename DataTypes::Deriv Deriv;
        typedef typename DataTypes::Real Real;
        typedef typename Inherited::SetIndex SetIndex;
        typedef defaulttype::Vec<6,Real> Vec6;
protected:
    
    //float Xmin,Xmax,Ymin,Ymax,Zmin,Zmax;

public:
    BoxConstraint();
    
    ~BoxConstraint();
    
    void init();
        
        //virtual const char* getTypeName() const { return "BoxConstraint"; }
        Data< helper::vector<Vec6> > boxes;
    
    
    // -- VisualModel interface
    
    void draw();
    
    bool addBBox(double* minBBox, double* maxBBox);

    bool isHolonomic() {return true;}


};

} // namespace constraint

} // namespace component

} // namespace sofa

#endif