/usr/include/sofa/component/constraint/LinearMovementConstraint.h is in libsofa1-dev 1.0~beta4-10ubuntu2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 | /******************************************************************************
* 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 *
******************************************************************************/
#ifndef SOFA_COMPONENT_CONSTRAINT_LINEARMOVEMENTCONSTRAINT_H
#define SOFA_COMPONENT_CONSTRAINT_LINEARMOVEMENTCONSTRAINT_H
#include <sofa/core/componentmodel/behavior/Constraint.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <sofa/core/objectmodel/Event.h>
#include <sofa/defaulttype/BaseMatrix.h>
#include <sofa/defaulttype/BaseVector.h>
#include <sofa/helper/vector.h>
#include <sofa/component/topology/PointSubset.h>
#include <set>
namespace sofa
{
namespace component
{
namespace constraint
{
using helper::vector;
using core::objectmodel::Data;
using namespace sofa::core::objectmodel;
using namespace sofa::defaulttype;
/** impose a motion to given DOFs (translation and rotation)
The motion between 2 key times is linearly interpolated
*/
template <class DataTypes>
class LinearMovementConstraint : public core::componentmodel::behavior::Constraint<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::VecDeriv VecDeriv;
typedef typename DataTypes::Coord Coord;
typedef typename DataTypes::Deriv Deriv;
typedef typename DataTypes::Real Real;
typedef topology::PointSubset SetIndex;
typedef helper::vector<unsigned int> SetIndexArray;
public :
/// indices of the DOFs the constraint is applied to
Data<SetIndex> m_indices;
/// the key frames when the motion is defined by the user
Data<helper::vector<Real> > m_keyTimes;
/// the motions corresponding to the key frames
Data<VecDeriv > m_keyMovements;
/// the key times surrounding the current simulation time (for interpolation)
Real prevT, nextT;
///the motions corresponding to the surrouding key times
Deriv prevM, nextM;
///initial constrained DOFs position
VecCoord x0;
LinearMovementConstraint();
virtual ~LinearMovementConstraint();
///methods to add/remove some indices, keyTimes, keyMovement
void clearIndices();
void addIndex(unsigned int index);
void removeIndex(unsigned int index);
void clearKeyMovements();
/**add a new key movement
@param time : the simulation time you want to set a movement (in sec)
@param movement : the corresponding motion
for instance, addKeyMovement(1.0, Deriv(5,0,0) ) will set a translation of 5 in x direction a time 1.0s
**/
void addKeyMovement(Real time, Deriv movement);
/// -- Constraint interface
void init();
void projectResponse(VecDeriv& dx);
virtual void projectVelocity(VecDeriv& dx); ///< project dx to constrained space (dx models a velocity)
virtual void projectPosition(VecCoord& x); ///< project x to constrained space (x models a position)
/// Handle topological changes
virtual void handleTopologyChange();
virtual void draw();
/// this constraint is holonomic
bool isHolonomic() {return true;}
protected:
sofa::core::componentmodel::topology::BaseMeshTopology* topology;
/// Define TestNewPointFunction (for topology changes)
static bool FCTestNewPointFunction(int, void*, const sofa::helper::vector< unsigned int > &, const sofa::helper::vector< double >& );
/// Define RemovalFunction (for topology changes)
static void FCRemovalFunction ( int , void*);
};
} // namespace constraint
} // namespace component
} // namespace sofa
#endif
|