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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/OscillatorConstraint.inl>
#include <sofa/core/componentmodel/behavior/Constraint.inl>
#include <sofa/core/ObjectFactory.h>
#include <sofa/defaulttype/Vec3Types.h>
#include <sofa/defaulttype/RigidTypes.h>
//#include <sofa/helper/gl/Axis.h>
#include <sstream>
namespace sofa
{
namespace component
{
namespace constraint
{
using namespace sofa::defaulttype;
using namespace sofa::helper;
//template <>
//void OscillatorConstraint<RigidTypes>::draw()
//{
///* if (!getContext()->getShowBehaviorModels()) return;
// VecCoord& x = *mstate->getX();
// for (std::set<int>::const_iterator it = this->indices.begin(); it != this->indices.end(); ++it)
// {
// int i = *it;
// Quat orient = x[i].getOrientation();
// RigidTypes::Vec3& center = x[i].getCenter();
// orient[3] = -orient[3];
//
// static GL::Axis *axis = new GL::Axis(center, orient, 5);
//
// axis->update(center, orient);
// axis->draw();
// }*/
// if (!getContext()->getShowBehaviorModels()) return;
// VecCoord& x = *mstate->getX();
// glDisable (GL_LIGHTING);
// glPointSize(10);
// glColor4f (1,0.5,0.5,1);
// glBegin (GL_POINTS);
// for (std::set<int>::const_iterator it = this->indices.begin(); it != this->indices.end(); ++it)
// {
// helper::gl::glVertexT(x[0].getCenter());
// }
// glEnd();
//}
//
//template <>
// void OscillatorConstraint<RigidTypes>::projectResponse(VecDeriv& res)
//{
// res[0] = Deriv();
//}
SOFA_DECL_CLASS(OscillatorConstraint)
int OscillatorConstraintClass = core::RegisterObject("Apply a sinusoidal trajectory to given points")
#ifndef SOFA_FLOAT
.add< OscillatorConstraint<Vec3dTypes> >()
.add< OscillatorConstraint<Rigid3dTypes> >()
#endif
#ifndef SOFA_DOUBLE
.add< OscillatorConstraint<Vec3fTypes> >()
.add< OscillatorConstraint<Rigid3fTypes> >()
#endif
;
#ifndef SOFA_FLOAT
template class OscillatorConstraint<Rigid3dTypes>;
template class OscillatorConstraint<Vec3dTypes>;
#endif
#ifndef SOFA_DOUBLE
template class OscillatorConstraint<Rigid3fTypes>;
template class OscillatorConstraint<Vec3fTypes>;
#endif
} // namespace constraint
} // namespace component
} // namespace sofa
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