/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/dynamics/mbd/mbd_get_limit_vectors.h

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#ifndef OPENTISSUE_DYNAMICS_MBD_UTIL_MBD_GET_LIMIT_VECTORS_H
#define OPENTISSUE_DYNAMICS_MBD_UTIL_MBD_GET_LIMIT_VECTORS_H
//
// OpenTissue Template Library
// - A generic toolbox for physics-based modeling and simulation.
// Copyright (C) 2008 Department of Computer Science, University of Copenhagen.
//
// OTTL is licensed under zlib: http://opensource.org/licenses/zlib-license.php
//
#include <OpenTissue/configuration.h>

namespace OpenTissue
{
  namespace mbd
  {
    namespace detail
    {
      template<typename group_type,typename vector_type>
      void get_limit_vectors(  
          group_type const & group  
        , size_t const & m  
        , vector_type & lo
        , vector_type & hi  
        )
      {
        typedef typename group_type::math_policy                                math_policy;
        typedef typename group_type::const_indirect_constraint_iterator         const_indirect_constraint_iterator;
        typedef typename group_type::const_indirect_contact_iterator            const_indirect_contact_iterator;
        typedef typename vector_type::size_type                                 size_type;
        typedef typename math_policy::vector_range                              vector_range;

        math_policy::resize( lo, m);
        math_policy::resize( hi, m);

        for(const_indirect_constraint_iterator constraint = group.constraint_begin();constraint!=group.constraint_end();++constraint)
        {
          if(constraint->is_active())
          {
            size_type const start = constraint->get_jacobian_index();
            size_type const end = start + constraint->get_number_of_jacobian_rows();
            vector_range low_vector_range = math_policy::subrange(lo,start,end);
            constraint->get_low_limits( low_vector_range );
            vector_range high_vector_range = math_policy::subrange(hi,start,end);
            constraint->get_high_limits( high_vector_range );
          }
        }
        for(const_indirect_contact_iterator contact = group.contact_begin();contact!=group.contact_end();++contact)
        {
          if(contact->is_active())
          {
            size_type const start = contact->get_jacobian_index();
            size_type const end = start + contact->get_number_of_jacobian_rows();
            vector_range low_vector_range = math_policy::subrange(lo,start,end);
            contact->get_low_limits( low_vector_range );
            vector_range high_vector_range = math_policy::subrange(hi,start,end);
            contact->get_high_limits( high_vector_range );
          }
        }
      }

    } //--- end of namespace detail
  } //--- end of namespace mbd
} //--- end of namespace OpenTissue
// OPENTISSUE_DYNAMICS_MBD_UTIL_MBD_GET_LIMIT_VECTORS_H
#endif