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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/HermiteSplineConstraint.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;
#ifndef SOFA_FLOAT
template <>
void HermiteSplineConstraint<Rigid3dTypes>::projectPosition(VecCoord& x)
{
Real t = (Real) getContext()->getTime();
if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue() )
{
Real DT = m_tEnd.getValue() - m_tBegin.getValue();
const SetIndexArray & indices = m_indices.getValue().getArray();
t -= m_tBegin.getValue();
Real u = t/DT;
Real H00, H10, H01, H11;
computeHermiteCoefs( u, H00, H10, H01, H11);
for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it)
{
x[*it].getCenter() = m_x0.getValue()*H00 + m_dx0.getValue()*H10 + m_x1.getValue()*H01 + m_dx1.getValue()*H11;
}
}
}
template <>
void HermiteSplineConstraint<Rigid3dTypes>::projectVelocity(VecDeriv& dx)
{
Real t = (Real) getContext()->getTime();
if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue() )
{
Real DT = m_tEnd.getValue() - m_tBegin.getValue();
const SetIndexArray & indices = m_indices.getValue().getArray();
t -= m_tBegin.getValue();
Real u = t/DT;
Real dH00, dH10, dH01, dH11;
computeDerivateHermiteCoefs( u, dH00, dH10, dH01, dH11);
for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it)
{
dx[*it].getVCenter() = m_x0.getValue()*dH00 + m_dx0.getValue()*dH10 + m_x1.getValue()*dH01 + m_dx1.getValue()*dH11;
}
}
}
#endif
#ifndef SOFA_DOUBLE
template <>
void HermiteSplineConstraint<Rigid3fTypes>::projectPosition(VecCoord& x)
{
Real t = (Real) getContext()->getTime();
if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue() )
{
Real DT = m_tEnd.getValue() - m_tBegin.getValue();
const SetIndexArray & indices = m_indices.getValue().getArray();
t -= m_tBegin.getValue();
Real u = t/DT;
Real H00, H10, H01, H11;
computeHermiteCoefs( u, H00, H10, H01, H11);
for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it)
{
x[*it].getCenter() = m_x0.getValue()*H00 + m_dx0.getValue()*H10 + m_x1.getValue()*H01 + m_dx1.getValue()*H11;
}
}
}
template <>
void HermiteSplineConstraint<Rigid3fTypes>::projectVelocity(VecDeriv& dx)
{
Real t = (Real) getContext()->getTime();
if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue() )
{
Real DT = m_tEnd.getValue() - m_tBegin.getValue();
const SetIndexArray & indices = m_indices.getValue().getArray();
t -= m_tBegin.getValue();
Real u = t/DT;
Real dH00, dH10, dH01, dH11;
computeDerivateHermiteCoefs( u, dH00, dH10, dH01, dH11);
for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it)
{
dx[*it].getVCenter() = m_x0.getValue()*dH00 + m_dx0.getValue()*dH10 + m_x1.getValue()*dH01 + m_dx1.getValue()*dH11;
}
}
}
#endif
SOFA_DECL_CLASS(HermiteSplineConstraint)
int HermiteSplineConstraintClass = core::RegisterObject("Apply a hermite cubic spline trajectory to given points")
#ifndef SOFA_FLOAT
.add< HermiteSplineConstraint<Vec3dTypes> >()
.add< HermiteSplineConstraint<Rigid3dTypes> >()
#endif
#ifndef SOFA_DOUBLE
.add< HermiteSplineConstraint<Vec3fTypes> >()
.add< HermiteSplineConstraint<Rigid3fTypes> >()
#endif
;
#ifndef SOFA_FLOAT
template class HermiteSplineConstraint<Rigid3dTypes>;
template class HermiteSplineConstraint<Vec3dTypes>;
#endif
#ifndef SOFA_DOUBLE
template class HermiteSplineConstraint<Rigid3fTypes>;
template class HermiteSplineConstraint<Vec3fTypes>;
#endif
} // namespace constraint
} // namespace component
} // namespace sofa
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