/usr/include/sofa/component/constraint/FixedPlaneConstraint.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_FIXEDPLANECONSTRAINT_H
#define SOFA_COMPONENT_CONSTRAINT_FIXEDPLANECONSTRAINT_H
#include <sofa/core/componentmodel/behavior/Constraint.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <set>
#include <sofa/component/topology/PointSubset.h>
namespace sofa
{
namespace component
{
namespace constraint
{
template <class DataTypes>
class FixedPlaneConstraint : public core::componentmodel::behavior::Constraint<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
typedef core::componentmodel::behavior::Constraint<DataTypes> Inherit;
typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::VecDeriv VecDeriv;
typedef typename DataTypes::Coord Coord;
typedef typename DataTypes::Deriv Deriv;
typedef topology::PointSubset SetIndex;
typedef typename Coord::value_type Real ;
protected:
Data<SetIndex> indices; // the set of vertex indices
/// direction on which the constraint applies
Data<Coord> direction;
/// whether vertices should be selected from 2 parallel planes
bool selectVerticesFromPlanes;
Data<Real> dmin; // coordinates min of the plane for the vertex selection
Data<Real> dmax;// coordinates max of the plane for the vertex selection
public:
FixedPlaneConstraint();
~FixedPlaneConstraint();
FixedPlaneConstraint<DataTypes>* addConstraint(int index);
FixedPlaneConstraint<DataTypes>* removeConstraint(int index);
// Handle topological changes
virtual void handleTopologyChange();
// -- Constraint interface
void projectResponse(VecDeriv& dx);
virtual void projectVelocity(VecDeriv& /*dx*/){} ///< project dx to constrained space (dx models a velocity)
virtual void projectPosition(VecCoord& /*x*/){} ///< project x to constrained space (x models a position)
virtual void init();
void setDirection (Coord dir);
void selectVerticesAlongPlane();
void setDminAndDmax(const Real _dmin,const Real _dmax){dmin=_dmin;dmax=_dmax;selectVerticesFromPlanes=true;}
void draw();
protected:
sofa::core::componentmodel::topology::BaseMeshTopology* topology;
// Define TestNewPointFunction
static bool FPCTestNewPointFunction(int, void*, const helper::vector< unsigned int > &, const helper::vector< double >& );
// Define RemovalFunction
static void FPCRemovalFunction ( int , void*);
bool isPointInPlane(Coord p) {
Real d=dot(p,direction.getValue());
if ((d>dmin.getValue())&& (d<dmax.getValue()))
return true;
else
return false;
}
};
#if defined(WIN32) && !defined(SOFA_COMPONENT_CONSTRAINT_FIXEDPLANECONSTRAINT_CPP)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_CONSTRAINT_API FixedPlaneConstraint<Rigid3dTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API FixedPlaneConstraint<Vec3dTypes>;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_CONSTRAINT_API FixedPlaneConstraint<Rigid3fTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API FixedPlaneConstraint<Vec3fTypes>;
#endif
#endif
} // namespace constraint
} // namespace component
} // namespace sofa
#endif
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