TranslationConstraint.h

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#ifndef SIMULATOR_SIMULATORS_SOFA_TRANSLATIONCONSTRAINT_H
#define SIMULATOR_SIMULATORS_SOFA_TRANSLATIONCONSTRAINT_H
 
 
#include "sofa/core/behavior/ProjectiveConstraintSet.h"
#include "sofa/core/behavior/MechanicalState.h"
//#include "sofa/core/VisualModel.h"
 
#include <vector>
#include <map>
 
#include <Loads.h>
 
template<class DataTypes>
 
class TranslationConstraint : public sofa::core::behavior::ProjectiveConstraintSet<DataTypes> { //, public VisualModel
public :
    typedef typename DataTypes::VecCoord VecCoord;
    typedef typename DataTypes::VecDeriv VecDeriv;
    typedef typename DataTypes::VecCoord::iterator VecCoordIterator;
    typedef typename DataTypes::VecDeriv::iterator VecDerivIterator;
    typedef typename DataTypes::Coord Coord;
    typedef typename DataTypes::Deriv Deriv;
 
    typedef typename DataTypes::MatrixDeriv::RowType MatrixDerivRowType;
 
    TranslationConstraint(Loads* loadsList, const std::map<unsigned int, unsigned int>& atomIndexToDOFIndex, sofa::core::behavior::MechanicalState<DataTypes>* mm);
 
    ~TranslationConstraint() { }
 
    std::vector<unsigned int> getTargets() {
        return targets;
    }
 
    TranslationConstraint<DataTypes>* addConstraint(unsigned int index, Deriv trans);
    TranslationConstraint<DataTypes>* removeConstraint(int index);
 
    void projectResponse(VecDeriv& dx); 
    virtual void projectVelocity(VecDeriv& v); 
    virtual void projectPosition(VecCoord& x); 
 
    void projectResponse(MatrixDerivRowType& dx) {}
 
    void draw();
    void initTextures() { }
    void update() { }
 
    void setInitTime(double time);
 
    //TODO need to define which getclass to choose because of double inherance...
    //sofa::core::objectmodel::BaseClass* getClass() const {return nullptr;}
 
private:
 
    void fixDOF(int index, int axe);
    sofa::core::behavior::MechanicalState<DataTypes>* mmodel;
    std::vector<unsigned int> targets;
    VecDeriv translations;
    VecDeriv directionsNULLs;
    VecDeriv initPos;
    double initTime;
    std::vector<Load*> loads;
    std::map<unsigned int, unsigned int> atomToDOFIndexes;
};
 
#endif // SIMULATOR_SIMULATORS_SOFA_TRANSLATIONCONSTRAINT_H