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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 *
******************************************************************************/
#include <sofa/component/constraint/DistanceConstraint.inl>
#include <sofa/core/componentmodel/behavior/LMConstraint.inl>
#include <sofa/core/ObjectFactory.h>
#include <sofa/defaulttype/Vec3Types.h>
#include <sofa/defaulttype/RigidTypes.h>
namespace sofa
{
namespace component
{
namespace constraint
{
using namespace sofa::defaulttype;
using namespace sofa::helper;
///TODO: handle combinaison of Rigid and Deformable bodies.
SOFA_DECL_CLASS(DistanceConstraint)
int DistanceConstraintClass = core::RegisterObject("Maintain constant the length of some edges of a pair of objects")
#ifndef SOFA_FLOAT
.add< DistanceConstraint<Vec3dTypes> >()
.add< DistanceConstraint<Rigid3dTypes> >()
#endif
#ifndef SOFA_DOUBLE
.add< DistanceConstraint<Vec3fTypes> >()
.add< DistanceConstraint<Rigid3fTypes> >()
#endif
;
#ifndef SOFA_FLOAT
template class DistanceConstraint<Vec3dTypes>;
template class DistanceConstraint<Rigid3dTypes>;
#endif
#ifndef SOFA_DOUBLE
template class DistanceConstraint<Vec3fTypes>;
template class DistanceConstraint<Rigid3fTypes>;
#endif
#ifndef SOFA_FLOAT
template<>
Rigid3dTypes::Deriv DistanceConstraint<Rigid3dTypes>::getDirection(const Edge &e, const VecCoord &x1, const VecCoord &x2)
{
Vector3 V12=(x2[e[1]].getCenter() - x1[e[0]].getCenter()); V12.normalize();
return Deriv(V12, Vector3());
}
template<>
void DistanceConstraint<Rigid3dTypes>::draw()
{
if (this->l0.size() != vecConstraint.getValue().size()) updateRestLength();
if (this->getContext()->getShowBehaviorModels())
{
const VecCoord &x1=*(this->object1->getX());
const VecCoord &x2=*(this->object2->getX());
std::vector< Vector3 > points;
const SeqEdges &edges = vecConstraint.getValue();
for (unsigned int i=0;i<edges.size();++i)
{
// double length = lengthEdge(edges[i],x1,x2);
// double restLength = this->l0[i];
// double factor = fabs(length - restLength)/length;
points.push_back(x1[edges[i][0]].getCenter());
points.push_back(x2[edges[i][1]].getCenter());
}
simulation::getSimulation()->DrawUtility.drawLines(points, 1, Vec<4,float>(0.0,1.0,0.0f,1.0f));
}
}
#endif
#ifndef SOFA_DOUBLE
template<>
Rigid3fTypes::Deriv DistanceConstraint<Rigid3fTypes>::getDirection(const Edge &e, const VecCoord &x1, const VecCoord &x2)
{
Vector3 V12=(x2[e[1]].getCenter() - x1[e[0]].getCenter()); V12.normalize();
return Deriv(V12, Vector3());
}
template<>
void DistanceConstraint<Rigid3fTypes>::draw()
{
if (this->l0.size() != vecConstraint.getValue().size()) updateRestLength();
if (this->getContext()->getShowBehaviorModels())
{
const VecCoord &x1=*(this->object1->getX());
const VecCoord &x2=*(this->object2->getX());
std::vector< Vector3 > points;
const SeqEdges &edges = vecConstraint.getValue();
for (unsigned int i=0;i<edges.size();++i)
{
// double length = lengthEdge(edges[i],x1,x2);
// double restLength = this->l0[i];
// double factor = fabs(length - restLength)/length;
points.push_back(x1[edges[i][0]].getCenter());
points.push_back(x2[edges[i][1]].getCenter());
}
simulation::getSimulation()->DrawUtility.drawLines(points, 1, Vec<4,float>(0.0,1.0,0.0f,1.0f));
}
}
#endif
} // namespace constraint
} // namespace component
} // namespace sofa
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