/usr/include/sofa/component/constraint/DistanceConstraint.h is in libsofa1-dev 1.0~beta4-9.
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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_DISTANCECONSTRAINT_H
#define SOFA_COMPONENT_CONSTRAINT_DISTANCECONSTRAINT_H
#include <sofa/core/componentmodel/behavior/BaseMass.h>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <sofa/core/componentmodel/behavior/LMConstraint.h>
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 DistanceConstraintInternalData
{
};
/** Keep two particules at an initial distance
*/
template <class DataTypes>
class DistanceConstraint : public core::componentmodel::behavior::LMConstraint<DataTypes,DataTypes>
{
public:
typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::VecDeriv VecDeriv;
typedef typename DataTypes::Coord Coord;
typedef typename DataTypes::Deriv Deriv;
typedef typename DataTypes::VecConst VecConst;
typedef typename DataTypes::SparseVecDeriv SparseVecDeriv;
typedef typename core::componentmodel::behavior::MechanicalState<DataTypes> MechanicalState;
typedef typename sofa::core::componentmodel::topology::BaseMeshTopology::SeqEdges SeqEdges;
typedef typename sofa::core::componentmodel::topology::BaseMeshTopology::Edge Edge;
typedef typename core::componentmodel::behavior::BaseMechanicalState::VecId VecId;
using core::componentmodel::behavior::LMConstraint<DataTypes,DataTypes>::sout;
using core::componentmodel::behavior::LMConstraint<DataTypes,DataTypes>::serr;
using core::componentmodel::behavior::LMConstraint<DataTypes,DataTypes>::sendl;
protected:
DistanceConstraintInternalData<DataTypes> data;
friend class DistanceConstraintInternalData<DataTypes>;
public:
DistanceConstraint( MechanicalState * /*dof*/):
vecConstraint(Base::initData(&vecConstraint, "vecConstraint", "List of the edges to constrain"))
{};
DistanceConstraint( MechanicalState * /*dof1*/, MechanicalState * /* dof2 */):
vecConstraint(Base::initData(&vecConstraint, "vecConstraint", "List of the edges to constrain"))
{};
DistanceConstraint():
vecConstraint(Base::initData(&vecConstraint, "vecConstraint", "List of the edges to constrain")){}
~DistanceConstraint(){};
// -- Constraint interface
void init();
void reinit();
void writeConstraintEquations();
double getError();
virtual void draw();
virtual std::string getTemplateName() const
{
return templateName(this);
}
static std::string templateName(const DistanceConstraint<DataTypes>* = NULL)
{
return DataTypes::Name();
}
protected :
///Compute the length of an edge given the vector of coordinates corresponding
double lengthEdge(const Edge &e, const VecCoord &x1,const VecCoord &x2);
///Compute the direction of the constraint
Deriv getDirection(const Edge &e, const VecCoord &x1, const VecCoord &x2);
void updateRestLength();
// Base Components of the current context
core::componentmodel::topology::BaseMeshTopology *topology;
//Edges involving a distance constraint
Data< SeqEdges > vecConstraint;
// rest length pre-computated
sofa::helper::vector< double > l0;
};
} // namespace constraint
} // namespace component
} // namespace sofa
#endif
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