UncoupledConstraintCorrection.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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* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_CONSTRAINT_UNCOUPLEDCONSTRAINTCORRECTION_H
#define SOFA_COMPONENT_CONSTRAINT_UNCOUPLEDCONSTRAINTCORRECTION_H

#include <sofa/core/componentmodel/behavior/BaseConstraintCorrection.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>


namespace sofa
{

namespace component
{

namespace constraint
{

using namespace sofa::core;
using namespace sofa::core::componentmodel;
template<class TDataTypes>
class UncoupledConstraintCorrection : public componentmodel::behavior::BaseConstraintCorrection
{
public:
    typedef TDataTypes DataTypes;
    typedef typename DataTypes::VecCoord VecCoord;
    typedef typename DataTypes::VecDeriv VecDeriv;
    typedef typename DataTypes::VecConst VecConst;
    typedef typename DataTypes::Coord Coord;
    typedef typename DataTypes::Deriv Deriv;

    UncoupledConstraintCorrection(behavior::MechanicalState<DataTypes> *mm = NULL);

    virtual ~UncoupledConstraintCorrection();

    virtual void init();

    behavior::MechanicalState<DataTypes>* getMState() { return mstate; }

    virtual void getCompliance(defaulttype::BaseMatrix *W);

    virtual void applyContactForce(const defaulttype::BaseVector *f);

    virtual void resetContactForce();

    template<class T>
    static bool canCreate(T*& obj, objectmodel::BaseContext* context, objectmodel::BaseObjectDescription* arg)
    {
        if (dynamic_cast<behavior::MechanicalState<DataTypes>*>(context->getMechanicalState()) == NULL)
            return false;
        return BaseObject::canCreate(obj, context, arg);
    }

    virtual std::string getTemplateName() const
    {
        return templateName(this);
    }

    static std::string templateName(const UncoupledConstraintCorrection<DataTypes>* = NULL)
    {
        return DataTypes::Name();
    }

protected:
    behavior::MechanicalState<DataTypes> *mstate;
};

} // namespace collision

} // namespace component

} // namespace sofa

#endif