/usr/include/sofa/component/constraint/AttachConstraint.h is in libsofa1-dev 1.0~beta4-9.
This file is owned by root:root, with mode 0o644.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 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_ATTACHCONSTRAINT_H
#define SOFA_COMPONENT_CONSTRAINT_ATTACHCONSTRAINT_H
#include <sofa/core/componentmodel/behavior/PairInteractionConstraint.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/defaulttype/Vec3Types.h>
#include <sofa/defaulttype/RigidTypes.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;
/// This class can be overridden if needed for additionnal storage within template specializations.
template <class DataTypes>
class AttachConstraintInternalData
{
};
/** Attach given pair of particles, projecting the positions of the second particles to the first ones.
*/
template <class DataTypes>
class AttachConstraint : public core::componentmodel::behavior::PairInteractionConstraint<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;
protected:
AttachConstraintInternalData<DataTypes> data;
sofa::core::componentmodel::topology::BaseMeshTopology* topology;
public:
Data<SetIndex> f_indices1;
Data<SetIndex> f_indices2;
Data<Real> f_radius;
Data<bool> f_twoWay;
Data<bool> f_freeRotations;
Data<bool> f_lastFreeRotation;
Data<bool> f_restRotations;
Data<defaulttype::Vector3> f_lastPos;
Data<defaulttype::Vector3> f_lastDir;
Data<bool> f_clamp;
Data<Real> f_minDistance;
helper::vector<bool> activeFlags;
helper::vector<bool> constraintReleased;
helper::vector<Real> lastDist;
helper::vector<defaulttype::Quat> restRotations;
AttachConstraint();
virtual ~AttachConstraint();
void clearConstraints();
void addConstraint(unsigned int index1, unsigned int index2);
// -- Constraint interface
void init();
void projectResponse(VecDeriv& dx1, VecDeriv& dx2);
virtual void projectVelocity(VecDeriv& v1, VecDeriv& v2);
virtual void projectPosition(VecCoord& x1, VecCoord& x2);
void applyConstraint(defaulttype::BaseMatrix *mat, unsigned int &offset);
void applyConstraint(defaulttype::BaseVector *vect, unsigned int &offset);
// Handle topological changes
//virtual void handleTopologyChange();
virtual void draw();
// this constraint is holonomic
bool isHolonomic() {return true;}
protected :
void projectPosition(Coord& x1, Coord& x2, bool /*freeRotations*/, unsigned index) {
// do nothing if distance between x2 & x1 is bigger than f_minDistance
if (f_minDistance.getValue() != -1 &&
(x2 - x1).norm() > f_minDistance.getValue())
{
constraintReleased[index] = true;
return;
}
constraintReleased[index] = false;
x2 = x1;
}
void projectVelocity(Deriv& x1, Deriv& x2, bool /*freeRotations*/, unsigned index) {
// do nothing if distance between x2 & x1 is bigger than f_minDistance
if (constraintReleased[index]) return;
x2 = x1;
}
void projectResponse(Deriv& dx1, Deriv& dx2, bool /*freeRotations*/, bool twoway, unsigned index)
{
// do nothing if distance between x2 & x1 is bigger than f_minDistance
if (constraintReleased[index]) return;
if (!twoway)
{
dx2 = Deriv();
}
else
{
dx1 += dx2;
dx2 = dx1;
}
}
static unsigned int DerivConstrainedSize(bool /*freeRotations*/) { return Deriv::size(); }
void calcRestRotations();
// Define TestNewPointFunction
//static bool FCTestNewPointFunction(int, void*, const sofa::helper::vector< unsigned int > &, const sofa::helper::vector< double >& );
// Define RemovalFunction
//static void FCRemovalFunction ( int , void*);
};
#if defined(WIN32) && !defined(SOFA_COMPONENT_CONSTRAINT_ATTACHCONSTRAINT_CPP)
#pragma warning(disable : 4231)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_CONSTRAINT_API AttachConstraint<defaulttype::Vec3dTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API AttachConstraint<defaulttype::Vec2dTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API AttachConstraint<defaulttype::Vec1dTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API AttachConstraint<defaulttype::Rigid3dTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API AttachConstraint<defaulttype::Rigid2dTypes>;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_CONSTRAINT_API AttachConstraint<defaulttype::Vec3fTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API AttachConstraint<defaulttype::Vec2fTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API AttachConstraint<defaulttype::Vec1fTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API AttachConstraint<defaulttype::Rigid3fTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API AttachConstraint<defaulttype::Rigid2fTypes>;
#endif
#endif
} // namespace constraint
} // namespace component
} // namespace sofa
#endif
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