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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 *
******************************************************************************/
#ifndef SOFA_COMPONENT_ODESOLVER_ODESOLVERIMPL_H
#define SOFA_COMPONENT_ODESOLVER_ODESOLVERIMPL_H
#include <sofa/simulation/common/SolverImpl.h>
#include <sofa/core/componentmodel/behavior/OdeSolver.h>
#include <sofa/core/componentmodel/behavior/LinearSolver.h>
#include <sofa/component/linearsolver/FullMatrix.h>
#include <sofa/simulation/common/MechanicalVisitor.h>
namespace sofa
{
namespace component
{
namespace odesolver
{
class SOFA_COMPONENT_ODESOLVER_API OdeSolverImpl : public sofa::core::componentmodel::behavior::OdeSolver, public simulation::SolverImpl
{
public:
typedef sofa::core::componentmodel::behavior::BaseMechanicalState::VecId VecId;
typedef sofa::core::componentmodel::behavior::MultiVector<OdeSolverImpl> MultiVector;
typedef sofa::core::componentmodel::behavior::MultiMatrix<OdeSolverImpl> MultiMatrix;
typedef sofa::core::componentmodel::behavior::MechanicalMatrix MechanicalMatrix;
typedef sofa::simulation::MechanicalAccumulateLMConstraint::ConstraintData ConstraintData;
OdeSolverImpl();
virtual void init();
/// Propagate the given state (time, position and velocity) through all mappings
virtual void propagatePositionAndVelocity(double t, VecId x, VecId v);
/// Compute the acceleration corresponding to the given state (time, position and velocity)
virtual void computeAcc(double t, VecId a, VecId x, VecId v);
virtual void computeContactAcc(double t, VecId a, VecId x, VecId v);
/// @name Matrix operations using LinearSolver components
/// @{
virtual void m_resetSystem();
virtual void m_setSystemMBKMatrix(double mFact, double bFact, double kFact);
virtual void m_setSystemRHVector(VecId v);
virtual void m_setSystemLHVector(VecId v);
virtual void m_solveSystem();
virtual void m_print( std::ostream& out );
/// @}
//Constraint resolution using Lapack
#ifdef SOFA_HAVE_LAPACK
/// Apply the constraints on the position and velocity.
void applyConstraints();
/** Find all the LMConstraint present in the scene graph and solve a part of them
* @param Id nature of the constraint to be solved
* @param propagateVelocityToPosition need to update the velocity once we modified the position
**/
void solveConstraint(VecId Id, bool propagateVelocityFromPosition=false);
protected:
/// Construct the Right hand term of the system
void buildRightHandTerm(VecId &Id, sofa::simulation::MechanicalAccumulateLMConstraint &LMConstraintVisitor, linearsolver::FullVector<double> &c);
/** Apply the correction to the state corresponding
* @param id nature of the constraint, and correction to apply
* @param dof MechanicalState to correct
* @param invM_Jtrans matrix M^-1.J^T to apply the correction from the independant dofs through the mapping
* @param c correction vector
* @param propageVelocityChange need to propagate the correction done to the velocity for the position
**/
void constraintStateCorrection(VecId &id, sofa::core::componentmodel::behavior::BaseMechanicalState* dof,
linearsolver::FullMatrix<double> &invM_Jtrans, linearsolver::FullVector<double> &c, bool propageVelocityChange=false);
#endif
};
} // namespace odesolver
} // namespace component
} // namespace sofa
#endif
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