ParabolicConstraint.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_PARABOLICCONSTRAINT_H
#define SOFA_COMPONENT_CONSTRAINT_PARABOLICCONSTRAINT_H

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


namespace sofa
{

namespace component
{

namespace constraint
{

using core::objectmodel::Data;
using namespace sofa::core::objectmodel;
using namespace sofa::defaulttype;

template <class DataTypes>
class ParabolicConstraint : 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;
    typedef typename defaulttype::Vec<3, Real> Vec3R;
    typedef typename  helper::Quater<Real> QuatR;

protected:
    Data<SetIndex> m_indices;

    Data<Vec3R> m_P1;
    Data<Vec3R> m_P2;
    Data<Vec3R> m_P3;

    Data<Real> m_tBegin;
    Data<Real> m_tEnd;

    Vec3R m_locP1;
    Vec3R m_locP2;
    Vec3R m_locP3;

    QuatR m_projection;



public:
    ParabolicConstraint();
    
    ParabolicConstraint(core::componentmodel::behavior::MechanicalState<DataTypes>* mstate);
    
    ~ParabolicConstraint();
    
    void addConstraint(unsigned index );
    
    void setP1(const Vec3R &p) {m_P1.setValue(p);}
    void setP2(const Vec3R &p) {m_P2.setValue(p);}
    void setP3(const Vec3R &p) {m_P3.setValue(p);}

    void setBeginTime(const Real &t){m_tBegin.setValue(t);}
    void setEndTime(const Real &t){m_tEnd.setValue(t);}

    Vec3R getP1() {return m_P1.getValue();}
    Vec3R getP2() {return m_P2.getValue();}
    Vec3R getP3() {return m_P3.getValue();}

    Real getBeginTime() {return m_tBegin.getValue();}
    Real getEndTime() {return m_tEnd.getValue();}
    
    void init();
    void reinit();
    void projectResponse(VecDeriv& dx);
    virtual void projectVelocity(VecDeriv& dx); 
    virtual void projectPosition(VecCoord& x); 
    
    void draw();
};

} // namespace constraint

} // namespace component

} // namespace sofa

#endif