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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_CORE_COMPONENTMODEL_COLLISION_LINEARSOLVERCONTACTCORRECTION_H
#define SOFA_CORE_COMPONENTMODEL_COLLISION_LINEARSOLVERCONTACTCORRECTION_H
#include <sofa/core/componentmodel/behavior/BaseConstraintCorrection.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/core/componentmodel/behavior/OdeSolver.h>
#include <sofa/core/componentmodel/behavior/LinearSolver.h>
#include <sofa/defaulttype/Mat.h>
#include <sofa/defaulttype/Vec.h>
#include <sofa/component/linearsolver/SparseMatrix.h>
#include <sofa/component/linearsolver/FullMatrix.h>
namespace sofa
{
namespace component
{
namespace constraint
{
using namespace sofa::core;
using namespace sofa::core::componentmodel;
using namespace sofa::defaulttype;
/// to avoid compilation problem under gcc3.3
extern inline behavior::OdeSolver* getOdeSolver(objectmodel::BaseContext* context)
{
return context->get<behavior::OdeSolver>();
}
extern inline behavior::LinearSolver* getLinearSolver(objectmodel::BaseContext* context)
{
return context->get<behavior::LinearSolver>();
}
/**
* \brief Component computing contact forces within a simulated body using the compliance method.
*/
template<class TDataTypes>
class LinearSolverConstraintCorrection : public componentmodel::behavior::BaseConstraintCorrection
{
public:
typedef TDataTypes DataTypes;
typedef typename DataTypes::Real Real;
typedef typename componentmodel::behavior::BaseConstraintCorrection Inherit;
typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::VecDeriv VecDeriv;
typedef typename DataTypes::VecConst VecConst;
typedef typename DataTypes::VecConst::iterator VecConstIt;
typedef typename DataTypes::Coord Coord;
typedef typename DataTypes::Deriv Deriv;
typedef typename std::map<unsigned int, Deriv>::const_iterator ConstraintIterator;
typedef std::list<int> ListIndex;
typedef typename DataTypes::SparseVecDeriv Const;
LinearSolverConstraintCorrection(behavior::MechanicalState<DataTypes> *mm = NULL);
virtual ~LinearSolverConstraintCorrection();
virtual void init();
/// Retrieve the associated MechanicalState
behavior::MechanicalState<DataTypes>* getMState() { return mstate; }
virtual void getCompliance(defaulttype::BaseMatrix* W);
virtual void applyContactForce(const defaulttype::BaseVector *f);
virtual void resetContactForce();
// new API for non building the constraint system during solving process //
Data< bool > wire_optimization;
void verify_constraints();
virtual bool hasConstraintNumber(int index) ; // virtual ???
virtual void resetForUnbuiltResolution(double * f, std::list<int>& renumbering);
virtual void addConstraintDisplacement(double *d, int begin,int end) ;
virtual void setConstraintDForce(double *df, int begin, int end, bool update) ;
virtual void getBlockDiagonalCompliance(defaulttype::BaseMatrix* W, int begin, int end) ;
/////////////////////////////////////////////////////////////////////////////////
/// Pre-construction check method called by ObjectFactory.
/// Check that DataTypes matches the MechanicalState.
template<class T>
static bool canCreate(T*& obj, objectmodel::BaseContext* context, objectmodel::BaseObjectDescription* arg)
{
if (dynamic_cast<behavior::MechanicalState<DataTypes>*>(context->getMechanicalState()) == NULL)
return false;
if( getOdeSolver(context)==NULL )
return false;
if( getLinearSolver(context)==NULL )
return false;
// if (context->get<behavior::OdeSolver>() == NULL)
// return false;
// if (context->get<behavior::LinearSolver>() == NULL)
// return false;
return BaseObject::canCreate(obj, context, arg);
}
virtual std::string getTemplateName() const
{
return templateName(this);
}
static std::string templateName(const LinearSolverConstraintCorrection<DataTypes>* = NULL)
{
return DataTypes::Name();
}
protected:
behavior::MechanicalState<DataTypes> *mstate;
behavior::OdeSolver* odesolver;
behavior::LinearSolver* linearsolver;
linearsolver::SparseMatrix<SReal> J; ///< constraint matrix
linearsolver::FullVector<SReal> F; ///< forces computed from the constraints
linearsolver::FullMatrix<SReal> refMinv; ///< reference inverse matrix
private:
// new : for non building the constraint system during solving process //
VecDeriv constraint_disp, constraint_force;
std::list<int> constraint_dofs; // list of indices of each point which is involve with constraint // TODO : verify if useful !!
std::vector<int> id_to_localIndex; // table that gives the local index of a constraint given its id
defaulttype::BaseMatrix* systemMatrix_buf;
defaulttype::BaseVector* systemRHVector_buf;
defaulttype::BaseVector* systemLHVector_buf;
// remplacer ces listes (construite à chaque fois)
std::list<int> I_last_Dforce;
std::list<int> I_last_Disp;
// par un vecteur de listes précaclulés pour chaque contrainte
std::vector< ListIndex > Vec_I_list_dof; // vecteur donnant la liste des indices par block de contrainte
int last_force, last_disp;
bool _new_force;
// et un indice permettant de pointer dans le vecteur
};
} // namespace collision
} // namespace component
} // namespace sofa
#endif
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