26 #ifndef SIMULATOR_SIMULATORS_SOFA_TRANSLATIONCONSTRAINT_H
27 #define SIMULATOR_SIMULATORS_SOFA_TRANSLATIONCONSTRAINT_H
30 #include "sofa/core/behavior/ProjectiveConstraintSet.h"
31 #include "sofa/core/behavior/MechanicalState.h"
39 template<
class DataTypes>
56 typedef typename DataTypes::Coord
Coord;
57 typedef typename DataTypes::Deriv
Deriv;
62 TranslationConstraint(
Loads* loadsList,
const std::map<unsigned int, unsigned int> &atomIndexToDOFIndex, sofa::core::behavior::MechanicalState<DataTypes> *mm);
94 void fixDOF(
int index,
int axe);
96 sofa::core::behavior::MechanicalState<DataTypes> *
mmodel;
113 #endif // SIMULATOR_SIMULATORS_SOFA_TRANSLATIONCONSTRAINT_H
VecDeriv translations
list of translations
Definition: TranslationConstraint.h:100
std::vector< unsigned int > targets
the set of vertex targets
Definition: TranslationConstraint.h:98
void update()
Definition: TranslationConstraint.h:83
DataTypes::VecCoord VecCoord
template types
Definition: TranslationConstraint.h:52
void setInitTime(double time)
set initial time (context->getTime() remind the same when simulation is rewind)
void initTextures()
Definition: TranslationConstraint.h:82
void projectResponse(VecDeriv &dx)
Constraint inherits.
DataTypes::VecDeriv::iterator VecDerivIterator
Definition: TranslationConstraint.h:55
TranslationConstraint< DataTypes > * removeConstraint(int index)
TranslationConstraint< DataTypes > * addConstraint(unsigned int index, Deriv trans)
fix or translate a point
void projectResponse(MatrixDerivRowType &dx)
Definition: TranslationConstraint.h:78
This class makes it possible to manage a list of "Load".
Definition: Loads.h:70
virtual void projectPosition(VecCoord &x)
project x to constrained space (x models a position)
void draw()
– VisualModel interface
VecDeriv initPos
initial positions
Definition: TranslationConstraint.h:104
DataTypes::Deriv Deriv
Definition: TranslationConstraint.h:57
std::map< unsigned int, unsigned int > atomToDOFIndexes
link between PML object indexes and sofa Dofs Indexes
Definition: TranslationConstraint.h:110
sofa::core::behavior::MechanicalState< DataTypes > * mmodel
the mechanical model
Definition: TranslationConstraint.h:96
double initTime
initial time
Definition: TranslationConstraint.h:106
~TranslationConstraint()
Definition: TranslationConstraint.h:64
TODO Comment class here.
Definition: TranslationConstraint.h:48
std::vector< unsigned int > getTargets()
return the targets list
Definition: TranslationConstraint.h:67
virtual void projectVelocity(VecDeriv &v)
project dx to constrained space (dx models a velocity)
std::vector< Load * > loads
the lml loads
Definition: TranslationConstraint.h:108
DataTypes::VecCoord::iterator VecCoordIterator
Definition: TranslationConstraint.h:54
TranslationConstraint(Loads *loadsList, const std::map< unsigned int, unsigned int > &atomIndexToDOFIndex, sofa::core::behavior::MechanicalState< DataTypes > *mm)
constructor
DataTypes::Coord Coord
Definition: TranslationConstraint.h:56
DataTypes::VecDeriv VecDeriv
Definition: TranslationConstraint.h:53
VecDeriv directionsNULLs
list of fixed directions
Definition: TranslationConstraint.h:102
void fixDOF(int index, int axe)
fix a point on the axe specified (0=x, 1=y, 2=z)
DataTypes::MatrixDeriv::RowType MatrixDerivRowType
Definition: TranslationConstraint.h:59