FixedPlaneConstraint.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                               *
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* Authors: The SOFA Team and external contributors (see Authors.txt)          *
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#ifndef SOFA_COMPONENT_CONSTRAINT_FIXEDPLANECONSTRAINT_H
#define SOFA_COMPONENT_CONSTRAINT_FIXEDPLANECONSTRAINT_H

#include <sofa/core/componentmodel/behavior/Constraint.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <set>
#include <sofa/component/topology/PointSubset.h>


namespace sofa
{

namespace component
{

namespace constraint
{

template <class DataTypes>
class FixedPlaneConstraint : public core::componentmodel::behavior::Constraint<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
    typedef core::componentmodel::behavior::Constraint<DataTypes> Inherit;
    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 typename Coord::value_type   Real    ;

protected:
    Data<SetIndex> indices; // the set of vertex indices
    Data<Coord> direction;
    bool selectVerticesFromPlanes;

    Data<Real> dmin; // coordinates min of the plane for the vertex selection
    Data<Real> dmax;// coordinates max of the plane for the vertex selection
public:
    FixedPlaneConstraint();
    
    ~FixedPlaneConstraint();
    
    FixedPlaneConstraint<DataTypes>* addConstraint(int index);
    
    FixedPlaneConstraint<DataTypes>* removeConstraint(int index);
    // Handle topological changes
    virtual void handleTopologyChange();
    // -- Constraint interface
    void projectResponse(VecDeriv& dx);
    virtual void projectVelocity(VecDeriv& /*dx*/){} 
    virtual void projectPosition(VecCoord& /*x*/){} 

    virtual void init();
    
    void setDirection (Coord dir);
    void selectVerticesAlongPlane();
    void setDminAndDmax(const Real _dmin,const Real _dmax){dmin=_dmin;dmax=_dmax;selectVerticesFromPlanes=true;}

    void draw();
protected:
    
    sofa::core::componentmodel::topology::BaseMeshTopology* topology;

    // Define TestNewPointFunction
    static bool FPCTestNewPointFunction(int, void*, const helper::vector< unsigned int > &, const helper::vector< double >& );

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

    bool isPointInPlane(Coord p) {
        Real d=dot(p,direction.getValue());
        if ((d>dmin.getValue())&& (d<dmax.getValue())) 
            return true;
        else
            return false;
    }
};

} // namespace constraint

} // namespace component

} // namespace sofa

#endif