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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/LinearMovementConstraint.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/simulation/common/Node.h>
#include <sofa/component/mass/UniformMass.h>
namespace sofa
{
namespace component
{
namespace constraint
{
using namespace sofa::defaulttype;
using namespace sofa::helper;
//display specialisation for rigid types
#ifndef SOFA_FLOAT
template <>
void LinearMovementConstraint<Rigid3dTypes>::draw()
{
const SetIndexArray & indices = m_indices.getValue().getArray();
if (!getContext()->getShowBehaviorModels()) return;
glDisable (GL_LIGHTING);
glPointSize(10);
glColor4f (1,0.5,0.5,1);
glBegin (GL_LINES);
for (unsigned int i=0 ; i<m_keyMovements.getValue().size()-1 ; i++) {
for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it)
{
gl::glVertexT(x0[*it].getCenter()+m_keyMovements.getValue()[i].getVCenter());
gl::glVertexT(x0[*it].getCenter()+m_keyMovements.getValue()[i+1].getVCenter());
}
}
glEnd();
}
#endif
#ifndef SOFA_DOUBLE
template <>
void LinearMovementConstraint<Rigid3fTypes>::draw()
{
const SetIndexArray & indices = m_indices.getValue().getArray();
if (!getContext()->getShowBehaviorModels()) return;
glDisable (GL_LIGHTING);
glPointSize(10);
glColor4f (1,0.5,0.5,1);
glBegin (GL_LINES);
for (unsigned int i=0 ; i<m_keyMovements.getValue().size()-1 ; i++) {
for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it)
{
gl::glVertexT(x0[*it].getCenter()+m_keyMovements.getValue()[i].getVCenter());
gl::glVertexT(x0[*it].getCenter()+m_keyMovements.getValue()[i+1].getVCenter());
}
}
glEnd();
}
#endif
//declaration of the class, for the factory
SOFA_DECL_CLASS(LinearMovementConstraint)
int LinearMovementConstraintClass = core::RegisterObject("translate given particles")
#ifndef SOFA_FLOAT
.add< LinearMovementConstraint<Vec3dTypes> >()
.add< LinearMovementConstraint<Vec2dTypes> >()
.add< LinearMovementConstraint<Vec1dTypes> >()
.add< LinearMovementConstraint<Vec6dTypes> >()
.add< LinearMovementConstraint<Rigid3dTypes> >()
#endif
#ifndef SOFA_DOUBLE
.add< LinearMovementConstraint<Vec3fTypes> >()
.add< LinearMovementConstraint<Vec2fTypes> >()
.add< LinearMovementConstraint<Vec1fTypes> >()
.add< LinearMovementConstraint<Vec6fTypes> >()
.add< LinearMovementConstraint<Rigid3fTypes> >()
#endif
;
#ifndef SOFA_FLOAT
template class LinearMovementConstraint<Vec3dTypes>;
template class LinearMovementConstraint<Vec2dTypes>;
template class LinearMovementConstraint<Vec1dTypes>;
template class LinearMovementConstraint<Vec6dTypes>;
template class LinearMovementConstraint<Rigid3dTypes>;
#endif
#ifndef SOFA_DOUBLE
template class LinearMovementConstraint<Vec3fTypes>;
template class LinearMovementConstraint<Vec2fTypes>;
template class LinearMovementConstraint<Vec1fTypes>;
template class LinearMovementConstraint<Vec6fTypes>;
template class LinearMovementConstraint<Rigid3fTypes>;
#endif
} // namespace constraint
} // namespace component
} // namespace sofa
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