BoxConstraint.inl

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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
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* This library is free software; you can redistribute it and/or modify it     *
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*******************************************************************************
*                               SOFA :: Modules                               *
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* Authors: The SOFA Team and external contributors (see Authors.txt)          *
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#ifndef SOFA_COMPONENT_CONSTRAINT_BOXCONSTRAINT_INL
#define SOFA_COMPONENT_CONSTRAINT_BOXCONSTRAINT_INL

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

//#include <sofa/component/constraint/FixedConstraint.inl>
#include <sofa/component/constraint/BoxConstraint.h>
#include <sofa/helper/gl/template.h>


namespace sofa
{

namespace component
{

namespace constraint
{

using std::cout;
using std::cerr;
using std::endl;

using namespace sofa::helper;
using namespace sofa::defaulttype;

template <class DataTypes>
BoxConstraint<DataTypes>::BoxConstraint()
: boxes( initData( &boxes, "box", "DOFs in the box defined by xmin,ymin,zmin, xmax,ymax,zmax are fixed") )
{
    boxes.beginEdit()->push_back(Vec6(0,0,0,1,1,1));
    boxes.endEdit();
}

template <class DataTypes>
void BoxConstraint<DataTypes>::init()
{
    Inherited::init();
    const helper::vector<Vec6>& vb=boxes.getValue();
    vector <unsigned> indices;
    this->clearConstraints();
    for (unsigned int bi=0;bi<vb.size();++bi)
    {
        const Vec6& b=vb[bi];
        indices.clear();
        this->mstate->getIndicesInSpace( indices, b[0],b[3],b[1],b[4],b[2],b[5] );
        for(unsigned int i = 0; i < indices.size(); i++)
        {
            this->addConstraint(indices[i]);
        }
    }
}



template <class DataTypes>
BoxConstraint<DataTypes>::~BoxConstraint()
{}


template <class DataTypes>
void BoxConstraint<DataTypes>::draw()
{
    if (!this->getContext()->getShowBehaviorModels())
        return;
    const VecCoord& x = *this->mstate->getX();
    glDisable (GL_LIGHTING);
    glPointSize(10);
    glColor4f (1,0.5,0.5,1);
    glBegin (GL_POINTS);
    const SetIndex& indices = this->f_indices.getValue();
    for (typename SetIndex::const_iterator it = indices.begin();
        it != indices.end();
        ++it)
    {
        gl::glVertexT(x[*it]);
    }
    glEnd();
    
    glBegin(GL_LINES);
    const helper::vector<Vec6>& vb=boxes.getValue();
    for (unsigned int bi=0;bi<vb.size();++bi)
    {
        const Vec6& b=vb[bi];
        //const Vec6& b=box.getValue();
        const Real& Xmin=b[0];
        const Real& Xmax=b[3];
        const Real& Ymin=b[1];
        const Real& Ymax=b[4];
        const Real& Zmin=b[2];
        const Real& Zmax=b[5];
        glVertex3d(Xmin,Ymin,Zmin);
        glVertex3d(Xmin,Ymin,Zmax);
        glVertex3d(Xmin,Ymin,Zmin);
        glVertex3d(Xmax,Ymin,Zmin);
        glVertex3d(Xmin,Ymin,Zmin);
        glVertex3d(Xmin,Ymax,Zmin);
        glVertex3d(Xmin,Ymax,Zmin);
        glVertex3d(Xmax,Ymax,Zmin);
        glVertex3d(Xmin,Ymax,Zmin);
        glVertex3d(Xmin,Ymax,Zmax);
        glVertex3d(Xmin,Ymax,Zmax);
        glVertex3d(Xmin,Ymin,Zmax);
        glVertex3d(Xmin,Ymin,Zmax);
        glVertex3d(Xmax,Ymin,Zmax);
        glVertex3d(Xmax,Ymin,Zmax);
        glVertex3d(Xmax,Ymax,Zmax);
        glVertex3d(Xmax,Ymin,Zmax);
        glVertex3d(Xmax,Ymin,Zmin);
        glVertex3d(Xmin,Ymax,Zmax);
        glVertex3d(Xmax,Ymax,Zmax);
        glVertex3d(Xmax,Ymax,Zmin);
        glVertex3d(Xmax,Ymin,Zmin);
        glVertex3d(Xmax,Ymax,Zmin);
        glVertex3d(Xmax,Ymax,Zmax);
    }
    glEnd();
}

template <class DataTypes>
    bool BoxConstraint<DataTypes>::addBBox(double* minBBox, double* maxBBox)
{
    const helper::vector<Vec6>& vb=boxes.getValue();
    for (unsigned int bi=0;bi<vb.size();++bi)
    {
        const Vec6& b=vb[bi];
        //const Vec6& b=box.getValue();
        if (b[0] < minBBox[0]) minBBox[0] = b[0];
        if (b[1] < minBBox[1]) minBBox[1] = b[1];
        if (b[2] < minBBox[2]) minBBox[2] = b[2];
        if (b[3] > maxBBox[0]) maxBBox[0] = b[3];
        if (b[4] > maxBBox[1]) maxBBox[1] = b[4];
        if (b[5] > maxBBox[2]) maxBBox[2] = b[5];
    }
    return true;
}

} // namespace constraint

} // namespace component

} // namespace sofa

#endif