FixedConstraint.h

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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     *
* under the terms of the GNU Lesser General Public License as published by    *
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*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
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#ifndef SOFA_COMPONENT_CONSTRAINT_FIXEDCONSTRAINT_H
#define SOFA_COMPONENT_CONSTRAINT_FIXEDCONSTRAINT_H

#include <sofa/core/componentmodel/behavior/Constraint.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <sofa/core/objectmodel/Event.h>
#include <sofa/defaulttype/BaseMatrix.h>
#include <sofa/defaulttype/BaseVector.h>
#include <sofa/helper/vector.h>
#include <sofa/component/topology/PointSubset.h>
#include <set>

namespace sofa
{

namespace component
{

namespace constraint
{

using helper::vector;
using core::objectmodel::Data;
using namespace sofa::core::objectmodel;

template <class DataTypes>
class FixedConstraintInternalData
{
};

template <class DataTypes>
class FixedConstraint : public core::componentmodel::behavior::Constraint<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
        typedef typename DataTypes::VecCoord VecCoord;
        typedef typename DataTypes::VecDeriv VecDeriv;
    typedef typename DataTypes::Coord Coord;
    typedef typename DataTypes::Deriv Deriv;
    typedef topology::PointSubset SetIndex;
    typedef helper::vector<unsigned int> SetIndexArray;


protected:
    FixedConstraintInternalData<DataTypes> data;
    friend class FixedConstraintInternalData<DataTypes>;
    
public:
    Data<SetIndex> f_indices;
    Data<bool> f_fixAll;

    FixedConstraint();

    virtual ~FixedConstraint();

    void clearConstraints();
    void addConstraint(unsigned int index);
    void removeConstraint(unsigned int index);

    // -- Constraint interface
    void init();
    void projectResponse(VecDeriv& dx);
    virtual void projectVelocity(VecDeriv& /*dx*/){} 
    virtual void projectPosition(VecCoord& /*x*/){} 

    void applyConstraint(defaulttype::BaseMatrix *mat, unsigned int &offset);
    void applyConstraint(defaulttype::BaseVector *vect, unsigned int &offset);
    
    // Handle topological changes
    virtual void handleTopologyChange();

    virtual void draw();
        
    bool isHolonomic() {return true;}

protected :

    sofa::core::componentmodel::topology::BaseMeshTopology* topology;
    
    // Define TestNewPointFunction
    static bool FCTestNewPointFunction(int, void*, const sofa::helper::vector< unsigned int > &, const sofa::helper::vector< double >& );

    // Define RemovalFunction
    static void FCRemovalFunction ( int , void*);

};

} // namespace constraint

} // namespace component

} // namespace sofa


#endif