/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, development version     *
*                (c) 2006-2017 INRIA, USTL, UJF, CNRS, MGH                    *
*                                                                             *
* This program 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 program 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 program. If not, see <http://www.gnu.org/licenses/>.        *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef PLUGINEXAMPLE_MYPROJECTIVECONSTRAINTSET_H
#define PLUGINEXAMPLE_MYPROJECTIVECONSTRAINTSET_H

#include <PluginExample/config.h>

#include <sofa/core/behavior/ProjectiveConstraintSet.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/defaulttype/VecTypes.h>


namespace sofa
{

namespace component
{

namespace projectiveconstraintset
{


template <class DataTypes>
class MyProjectiveConstraintSet: public core::behavior::ProjectiveConstraintSet<DataTypes>
{
public:
    SOFA_CLASS(SOFA_TEMPLATE(MyProjectiveConstraintSet, DataTypes), SOFA_TEMPLATE(core::behavior::ProjectiveConstraintSet, DataTypes));
    typedef core::behavior::ProjectiveConstraintSet<DataTypes> Inherit;
    typedef typename Inherit::DataVecCoord DataVecCoord;
    typedef typename Inherit::DataVecDeriv DataVecDeriv;
    typedef typename Inherit::DataMatrixDeriv DataMatrixDeriv;
    typedef typename DataTypes::VecDeriv VecDeriv;
    typedef typename DataTypes::MatrixDeriv MatrixDeriv;
    typedef typename DataTypes::MatrixDeriv::RowType MatrixDerivRowType;
    typedef typename DataTypes::VecCoord VecCoord;

protected:
    MyProjectiveConstraintSet();
    ~MyProjectiveConstraintSet();

public:
    void init();

    void reinit();

    void projectResponse(const core::MechanicalParams* /* mparams */, DataVecDeriv& /* dx */) {};
    void projectVelocity(const core::MechanicalParams* /* mparams */, DataVecDeriv& /* v */) {};
    void projectPosition(const core::MechanicalParams* /* mparams */, DataVecCoord& /* x */) {};
    void projectJacobianMatrix(const core::MechanicalParams* /* mparams */, DataMatrixDeriv& /* cData */) {};
};


} // namespace projectiveconstraintset

} // namespace component

} // namespace sofa

#endif // PLUGINEXAMPLE_MYPROJECTIVECONSTRAINTSET_H
