/usr/include/sofa/component/constraint/LinearMovementConstraint.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_LINEARMOVEMENTCONSTRAINT_H
#define SOFA_COMPONENT_CONSTRAINT_LINEARMOVEMENTCONSTRAINT_H
#include <sofa/core/componentmodel/behavior/Constraint.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/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;
using namespace sofa::defaulttype;
/** impose a motion to given DOFs (translation and rotation)
The motion between 2 key times is linearly interpolated
*/
template <class DataTypes>
class LinearMovementConstraint : 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;
public :
/// indices of the DOFs the constraint is applied to
Data<SetIndex> m_indices;
/// the key frames when the motion is defined by the user
Data<helper::vector<Real> > m_keyTimes;
/// the motions corresponding to the key frames
Data<VecDeriv > m_keyMovements;
/// the key times surrounding the current simulation time (for interpolation)
Real prevT, nextT;
///the motions corresponding to the surrouding key times
Deriv prevM, nextM;
///initial constrained DOFs position
VecCoord x0;
LinearMovementConstraint();
virtual ~LinearMovementConstraint();
///methods to add/remove some indices, keyTimes, keyMovement
void clearIndices();
void addIndex(unsigned int index);
void removeIndex(unsigned int index);
void clearKeyMovements();
/**add a new key movement
@param time : the simulation time you want to set a movement (in sec)
@param movement : the corresponding motion
for instance, addKeyMovement(1.0, Deriv(5,0,0) ) will set a translation of 5 in x direction a time 1.0s
**/
void addKeyMovement(Real time, Deriv movement);
/// -- Constraint interface
void init();
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)
/// Handle topological changes
virtual void handleTopologyChange();
virtual void draw();
/// this constraint is holonomic
bool isHolonomic() {return true;}
protected:
sofa::core::componentmodel::topology::BaseMeshTopology* topology;
/// Define TestNewPointFunction (for topology changes)
static bool FCTestNewPointFunction(int, void*, const sofa::helper::vector< unsigned int > &, const sofa::helper::vector< double >& );
/// Define RemovalFunction (for topology changes)
static void FCRemovalFunction ( int , void*);
};
} // namespace constraint
} // namespace component
} // namespace sofa
#endif
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