/usr/include/sofa/component/constraint/FixedConstraint.h is in libsofa1-dev 1.0~beta4-10ubuntu2.
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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_FIXEDCONSTRAINT_H
#define SOFA_COMPONENT_CONSTRAINT_FIXEDCONSTRAINT_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/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.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;
/// This class can be overridden if needed for additionnal storage within template specializations.
template <class DataTypes>
class FixedConstraintInternalData
{
};
/** Attach given particles to their initial positions.
*/
template <class DataTypes>
class FixedConstraint : 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 topology::PointSubset SetIndex;
typedef helper::vector<unsigned int> SetIndexArray;
protected:
FixedConstraintInternalData<DataTypes> data;
friend class FixedConstraintInternalData<DataTypes>;
public:
Data<SetIndex> f_indices;
Data<bool> f_fixAll;
Data<double> _drawSize;
FixedConstraint();
virtual ~FixedConstraint();
void clearConstraints();
void addConstraint(unsigned int index);
void removeConstraint(unsigned int index);
// -- 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)
void applyConstraint(defaulttype::BaseMatrix *mat, unsigned int &offset);
void applyConstraint(defaulttype::BaseVector *vect, unsigned int &offset);
void applyInvMassConstraint(defaulttype::BaseVector *, unsigned int &);
// 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
static bool FCTestNewPointFunction(int, void*, const sofa::helper::vector< unsigned int > &, const sofa::helper::vector< double >& );
// Define RemovalFunction
static void FCRemovalFunction ( int , void*);
};
#if defined(WIN32) && !defined(SOFA_COMPONENT_CONSTRAINT_FIXEDCONSTRAINT_CPP)
#ifndef SOFA_FLOAT
extern template class SOFA_COMPONENT_CONSTRAINT_API FixedConstraint<defaulttype::Vec3dTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API FixedConstraint<defaulttype::Vec2dTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API FixedConstraint<defaulttype::Vec1dTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API FixedConstraint<defaulttype::Vec6dTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API FixedConstraint<defaulttype::Rigid3dTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API FixedConstraint<defaulttype::Rigid2dTypes>;
#endif
#ifndef SOFA_DOUBLE
extern template class SOFA_COMPONENT_CONSTRAINT_API FixedConstraint<defaulttype::Vec3fTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API FixedConstraint<defaulttype::Vec2fTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API FixedConstraint<defaulttype::Vec1fTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API FixedConstraint<defaulttype::Vec6fTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API FixedConstraint<defaulttype::Rigid3fTypes>;
extern template class SOFA_COMPONENT_CONSTRAINT_API FixedConstraint<defaulttype::Rigid2fTypes>;
#endif
#endif
} // namespace constraint
} // namespace component
} // namespace sofa
#endif
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