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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/mastersolver/MultiStepMasterSolver.h>
#include <sofa/core/ObjectFactory.h>
#include <math.h>
#include <iostream>
namespace sofa
{
namespace component
{
namespace mastersolver
{
int MultiStepMasterSolverClass = core::RegisterObject("The simplest master solver, equivalent to the default behavior when no master solver is used.")
.add< MultiStepMasterSolver >()
;
SOFA_DECL_CLASS(MultiStepMasterSolver);
MultiStepMasterSolver::MultiStepMasterSolver()
: collisionSteps( initData(&collisionSteps,1,"collisionSteps", "number of collision steps between each frame rendering") )
, integrationSteps( initData(&integrationSteps,1,"integrationSteps", "number of integration steps between each collision detection") )
{
}
MultiStepMasterSolver::~MultiStepMasterSolver()
{
}
void MultiStepMasterSolver::step(double dt)
{
const int ncollis = collisionSteps.getValue();
const int ninteg = integrationSteps.getValue();
dt /= (ncollis*ninteg);
for (int c=0;c<ncollis;++c)
{
// First do collision detection and response creation
sout << "collision" << sendl;
computeCollision();
for (int i=0;i<ninteg;++i)
{
// Then integrate the time step
sout << "integration" << sendl;
integrate(dt);
}
}
}
} // namespace mastersolver
} // namespace component
} // namespace sofa
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