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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/odesolver/DampVelocitySolver.h>
#include <sofa/core/ObjectFactory.h>
#include <math.h>
#include <iostream>
namespace sofa
{
namespace component
{
namespace odesolver
{
using namespace sofa::defaulttype;
using namespace core::componentmodel::behavior;
int DampVelocitySolverClass = core::RegisterObject("Reduce the velocities")
.add< DampVelocitySolver >()
.addAlias("DampVelocity")
;
SOFA_DECL_CLASS(DampVelocity);
DampVelocitySolver::DampVelocitySolver()
: rate( initData( &rate, 0.99, "rate", "Factor used to reduce the velocities. Typically between 0 and 1.") )
, threshold( initData( &threshold, 0.0, "threshold", "Threshold under which the velocities are canceled.") )
{}
void DampVelocitySolver::solve(double dt)
{
MultiVector vel(this, VecId::velocity());
bool printLog = f_printLog.getValue();
if( printLog )
{
serr<<"DampVelocitySolver, dt = "<< dt <<sendl;
serr<<"DampVelocitySolver, initial v = "<< vel <<sendl;
}
addSeparateGravity(dt); // v += dt*g . Used if mass wants to added G separately from the other forces to v.
vel.teq( exp(-rate.getValue()*dt) );
if( threshold.getValue() != 0.0 )
vel.threshold( threshold.getValue() );
if( printLog )
{
serr<<"DampVelocitySolver, final v = "<< vel <<sendl;
}
}
} // namespace odesolver
} // namespace component
} // namespace sofa
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