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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/simulation/common/MasterSolverImpl.h>
#include <sofa/simulation/common/MechanicalVisitor.h>
#include <sofa/simulation/common/CollisionVisitor.h>
#include <stdlib.h>
#include <math.h>
namespace sofa
{
namespace simulation
{
MasterSolverImpl::MasterSolverImpl()
{}
MasterSolverImpl::~MasterSolverImpl()
{}
void MasterSolverImpl::computeCollision()
{
if (this->f_printLog.getValue()) std::cerr<<"MasterSolverImpl::computeCollision()"<<endl;
CollisionVisitor act;
act.setTags(this->getTags());
act.execute( getContext() );
}
void MasterSolverImpl::integrate(double dt)
{
MechanicalIntegrationVisitor act(dt);
act.setTags(this->getTags());
act.execute( getContext() );
}
const MasterSolverImpl::Solvers& MasterSolverImpl::getSolverSequence()
{
simulation::Node* gnode = dynamic_cast<simulation::Node*>( getContext() );
assert( gnode );
return gnode->solver;
}
// MasterSolverImpl::Pipeline* MasterSolverImpl::getPipeline()
// {
// simulation::Node* gnode = dynamic_cast<simulation::Node*>( getContext() );
// assert( gnode );
// return gnode->collisionPipeline;
// }
} // namespace simulation
} // namespace sofa
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