/usr/include/sofa/component/constraint/ParabolicConstraint.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_PARABOLICCONSTRAINT_H
#define SOFA_COMPONENT_CONSTRAINT_PARABOLICCONSTRAINT_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;
/** Apply a parabolic trajectory to particles going through 3 points specified by the user.
The DOFs set in the "indices" list follow the computed parabol from "tBegin" to "tEnd".
*/
template <class DataTypes>
class ParabolicConstraint : 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 helper::Quater<Real> QuatR;
protected:
///indices of the DOFs constraints
Data<SetIndex> m_indices;
/// the three points defining the parabol
Data<Vec3R> m_P1;
Data<Vec3R> m_P2;
Data<Vec3R> m_P3;
/// the time steps defining the velocity of the movement
Data<Real> m_tBegin;
Data<Real> m_tEnd;
/// the 3 points projected in the parabol plan
Vec3R m_locP1;
Vec3R m_locP2;
Vec3R m_locP3;
/// the quaternion doing the projection
QuatR m_projection;
public:
ParabolicConstraint();
ParabolicConstraint(core::componentmodel::behavior::MechanicalState<DataTypes>* mstate);
~ParabolicConstraint();
void addConstraint(unsigned index );
void setP1(const Vec3R &p) {m_P1.setValue(p);}
void setP2(const Vec3R &p) {m_P2.setValue(p);}
void setP3(const Vec3R &p) {m_P3.setValue(p);}
void setBeginTime(const Real &t){m_tBegin.setValue(t);}
void setEndTime(const Real &t){m_tEnd.setValue(t);}
Vec3R getP1() {return m_P1.getValue();}
Vec3R getP2() {return m_P2.getValue();}
Vec3R getP3() {return m_P3.getValue();}
Real getBeginTime() {return m_tBegin.getValue();}
Real getEndTime() {return m_tEnd.getValue();}
/// -- 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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