/usr/include/sofa/component/constraint/HermiteSplineConstraint.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_HERMITESPLINECONSTRAINT_H
#define SOFA_COMPONENT_CONSTRAINT_HERMITESPLINECONSTRAINT_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;
/**
Impose a trajectory to given Dofs following a Hermite cubic spline constraint.
Control parameters are :
- begin and end points
- derivates at this points
- acceleration curve on the trajectory
*/
template <class DataTypes>
class HermiteSplineConstraint : 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 defaulttype::Vec<2, Real> Vec2R;
typedef typename helper::Quater<Real> QuatR;
public:
///indices of the DOFs constraints
Data<SetIndex> m_indices;
/// the time steps defining the duration of the constraint
Data<Real> m_tBegin;
Data<Real> m_tEnd;
/// control parameters :
/// first control point
Data<Vec3R> m_x0;
/// first derivated control point
Data<Vec3R> m_dx0;
/// second control point
Data<Vec3R> m_x1;
/// second derivated control point
Data<Vec3R> m_dx1;
/// acceleration parameters : the accaleration curve is itself a hermite spline, with first point at (0,0) and second at (1,1)
/// and derivated on this points are :
Data<Vec2R> m_sx0;
Data<Vec2R> m_sx1;
public:
HermiteSplineConstraint();
HermiteSplineConstraint(core::componentmodel::behavior::MechanicalState<DataTypes>* mstate);
~HermiteSplineConstraint();
void clearConstraints();
void addConstraint(unsigned index );
void setBeginTime(const Real &t){m_tBegin.setValue(t);}
void setEndTime(const Real &t){m_tEnd.setValue(t);}
Real getBeginTime() {return m_tBegin.getValue();}
Real getEndTime() {return m_tEnd.getValue();}
void computeHermiteCoefs( const Real u, Real &H00, Real &H10, Real &H01, Real &H11);
void computeDerivateHermiteCoefs( const Real u, Real &dH00, Real &dH10, Real &dH01, Real &dH11);
/// -- Constraint interface
void init();
void reinit();
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)
void draw();
};
} // namespace constraint
} // namespace component
} // namespace sofa
#endif
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