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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 *
******************************************************************************/
#define SOFA_COMPONENT_CONSTRAINT_FIXEDPLANECONSTRAINT_CPP
#include <sofa/component/constraint/FixedPlaneConstraint.inl>
#include <sofa/core/componentmodel/behavior/Constraint.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;
SOFA_DECL_CLASS(FixedPlaneConstraint)
int FixedPlaneConstraintClass = core::RegisterObject("Project particles on a given plane")
#ifndef SOFA_FLOAT
.add< FixedPlaneConstraint<Vec3dTypes> >()
.add< FixedPlaneConstraint<Rigid3dTypes> >()
#endif
#ifndef SOFA_DOUBLE
.add< FixedPlaneConstraint<Vec3fTypes> >()
.add< FixedPlaneConstraint<Rigid3fTypes> >()
#endif
;
#ifndef SOFA_FLOAT
template class SOFA_COMPONENT_CONSTRAINT_API FixedPlaneConstraint<Rigid3dTypes>;
template class SOFA_COMPONENT_CONSTRAINT_API FixedPlaneConstraint<Vec3dTypes>;
#endif
#ifndef SOFA_DOUBLE
template class SOFA_COMPONENT_CONSTRAINT_API FixedPlaneConstraint<Rigid3fTypes>;
template class SOFA_COMPONENT_CONSTRAINT_API FixedPlaneConstraint<Vec3fTypes>;
#endif
#ifndef SOFA_FLOAT
template <>
void FixedPlaneConstraint<Rigid3dTypes>::projectResponse(Rigid3dTypes::VecDeriv& res)
{
const int N=Coord::static_size;
Vec<N,Real> dir=direction.getValue().getCenter();
for (helper::vector< unsigned int > ::const_iterator it = this->indices.getValue().begin(); it != this->indices.getValue().end(); ++it)
{
res[*it].getVCenter() -= dir*(dir*(res[*it].getVCenter()));
}
}
template <>
bool FixedPlaneConstraint<Rigid3dTypes>::isPointInPlane(Rigid3dTypes::Coord p)
{
const int N=Coord::static_size;
Vec<N,Real> pos = p.getCenter();
Real d=pos*direction.getValue().getCenter();
if ((d>dmin.getValue())&& (d<dmax.getValue()))
return true;
else
return false;
}
#endif
#ifndef SOFA_DOUBLE
template <>
void FixedPlaneConstraint<Rigid3fTypes>::projectResponse(VecDeriv& res)
{
const int N=Coord::static_size;
Vec<N,Real> dir=direction.getValue().getCenter();
for (helper::vector< unsigned int > ::const_iterator it = this->indices.getValue().begin(); it != this->indices.getValue().end(); ++it)
{
res[*it].getVCenter() -= dir*(dir*(res[*it].getVCenter()));
}
}
template <>
bool FixedPlaneConstraint<Rigid3fTypes>::isPointInPlane(Coord p)
{
const int N=Coord::static_size;
Vec<N,Real> pos = p.getCenter();
Real d=pos*direction.getValue().getCenter();
if ((d>dmin.getValue())&& (d<dmax.getValue()))
return true;
else
return false;
}
#endif
} // namespace constraint
} // namespace component
} // namespace sofa
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