OscillatorConstraint.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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* for more details.                                                           *
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*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
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#ifndef SOFA_COMPONENT_CONSTRAINT_OSCILLATORCONSTRAINT_H
#define SOFA_COMPONENT_CONSTRAINT_OSCILLATORCONSTRAINT_H

#include <sofa/core/componentmodel/behavior/Constraint.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/helper/vector.h>


namespace sofa
{

namespace component
{

namespace constraint
{

template <class DataTypes>
class OscillatorConstraint : 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;

protected:
    struct Oscillator {
                unsigned int index;
        Coord mean;
        Deriv amplitude;
        Real pulsation;
        Real phase;
                
                Oscillator(){}
              
        Oscillator( unsigned int i, const Coord& m, const Deriv& a, const Real& w, const Real& p )
            : index(i), mean(m), amplitude(a), pulsation(w), phase(p) {}
  
                inline friend std::istream& operator >> ( std::istream& in, Oscillator& o ){
                  in>>o.index>>o.mean>>o.amplitude>>o.pulsation>>o.phase;
                  return in;
                }

                inline friend std::ostream& operator << ( std::ostream& out, const Oscillator& o ){
                  out << o.index<< " " <<o.mean<< " " <<o.amplitude<< " " <<o.pulsation<< " " <<o.phase<<"\n";
                  return out;
                }              
    };
        
    Data< helper::vector< Oscillator > > constraints; 


public:
    OscillatorConstraint();
    
    OscillatorConstraint(core::componentmodel::behavior::MechanicalState<DataTypes>* mstate);
    
    ~OscillatorConstraint();
    
    OscillatorConstraint<DataTypes>* addConstraint(unsigned index, const Coord& mean, const Deriv& amplitude, Real pulsation, Real phase);
    
    // -- Constraint interface
    void projectResponse(VecDeriv& dx);
    virtual void projectVelocity(VecDeriv& /*dx*/); 
    virtual void projectPosition(VecCoord& /*x*/); 
    
    void draw(){}

    bool isHolonomic() {return true;}
};

} // namespace constraint

} // namespace component

} // namespace sofa

#endif