LMLConstraint.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 program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 ***************************************************************************/

//-------------------------------------------------------------------------
//                      --   Description   --
//  LMLConstraint imports from a LML file (see LMLReader class) imposed displacements,
//  including translations and fixed points, and traduces it to sofa constraints.
//  It inherits from Constraint sofa core class.
//-------------------------------------------------------------------------

#ifndef LMLCONSTRAINT_H
#define LMLCONSTRAINT_H


#include "sofa/core/componentmodel/behavior/Constraint.h"
#include "sofa/core/componentmodel/behavior/MechanicalState.h"
#include "sofa/core/VisualModel.h"

#include <vector>
#include <map>

#include <Loads.h>


namespace sofa
{

namespace filemanager
{

namespace pml
{

using namespace sofa::core;
using namespace sofa::core::componentmodel::behavior;
using namespace std;

template<class DataTypes>
class LMLConstraint : public Constraint<DataTypes>, public VisualModel
{
public :    
    typedef typename DataTypes::VecCoord VecCoord;
    typedef typename DataTypes::VecDeriv VecDeriv;
    typedef typename DataTypes::VecCoord::iterator VecCoordIterator;
    typedef typename DataTypes::VecDeriv::iterator VecDerivIterator;
    typedef typename DataTypes::Coord Coord;
    typedef typename DataTypes::Deriv Deriv;

    LMLConstraint(Loads* loadsList, const map<unsigned int, unsigned int> &atomIndexToDOFIndex, MechanicalState<DataTypes> *mm);

    ~LMLConstraint(){ /*delete loads;*/}

    std::vector<unsigned int> getTargets() {return targets;}

    LMLConstraint<DataTypes>* addConstraint(unsigned int index, Deriv trans);
    LMLConstraint<DataTypes>* removeConstraint(int index);

    void projectResponse(VecDeriv& dx); 
    virtual void projectVelocity(VecDeriv& ){} 
    virtual void projectPosition(VecCoord& x); 

    void draw();
    void initTextures() { }
    void update() { }

private:

    void fixDOF(int index, int axe);

    MechanicalState<DataTypes> * mmodel;
    std::vector<unsigned int> targets; 
    VecDeriv translations;
    VecDeriv directionsNULLs;
    VecDeriv initPos;

    Loads * loads;
    map<unsigned int, unsigned int> atomToDOFIndexes;
};

}
}
}
#endif //LMLCONSTRAINT_H