LinearMovementConstraint.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_LINEARMOVEMENTCONSTRAINT_H
#define SOFA_COMPONENT_CONSTRAINT_LINEARMOVEMENTCONSTRAINT_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;
using namespace sofa::defaulttype;

template <class DataTypes>
class LinearMovementConstraint : 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 typename DataTypes::Real Real;
    typedef topology::PointSubset SetIndex;
    typedef helper::vector<unsigned int> SetIndexArray;

public :
    Data<SetIndex> m_indices;
    Data<helper::vector<Real> > m_keyTimes;
    Data<VecDeriv > m_keyMovements;

    Real prevT, nextT;
    Deriv prevM, nextM;
    VecCoord x0;

    LinearMovementConstraint();

    virtual ~LinearMovementConstraint();

    void clearIndices();
    void addIndex(unsigned int index);
    void removeIndex(unsigned int index);
    void clearKeyMovements();
    void addKeyMovement(Real time, Deriv movement);


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

    virtual void handleTopologyChange();

    virtual void draw();

    bool isHolonomic() {return true;}

protected:

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

    static void FCRemovalFunction ( int , void*);

};

} // namespace constraint

} // namespace component

} // namespace sofa


#endif