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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/EulerKaapiSolver.h>
#include <sofa/core/ObjectFactory.h>
#include <math.h>
#include <iostream>
#include <sofa/simulation/common/MechanicalKaapiAction.h>
#include <sofa/simulation/common/MechanicalVPrintAction.h>
using
std::cerr;
using
std::endl;
using namespace sofa::simulation::tree;
using namespace sofa::simulation;
namespace
sofa
{
namespace
component
{
namespace
odesolver
{
using namespace
sofa::defaulttype;
using namespace
core::componentmodel::behavior;
int
EulerKaapiSolverClass =
core::RegisterObject ("A simple explicit time integrator with kaapi").
add < EulerKaapiSolver > ().addAlias ("EulerKaapi");
SOFA_DECL_CLASS (EulerKaapi);
EulerKaapiSolver::EulerKaapiSolver ():
symplectic (dataField
(&symplectic, true, "symplectic",
"If true, the velocities are updated before the velocities and the method is symplectic (more robust). If false, the positions are updated before the velocities (standard Euler, less robust)."))
{
}
EulerKaapiSolver::VecId EulerKaapiSolver::v_alloc(VecId::Type t)
{
VecId v(t, vectors[t].alloc());
MechanicalVAllocAction(v).execute( getContext() );
return v;
}
void EulerKaapiSolver::v_clear(VecId v) ///< v=0
{
MechanicalVOpAction(v).execute( getContext() );
}
void EulerKaapiSolver::v_free(VecId v)
{
if (vectors[v.type].free(v.index))
MechanicalVFreeAction(v).execute( getContext() );
}
void EulerKaapiSolver::v_peq(VecId v, VecId a, double f) ///< v+=f*a
{
std::cout<<"ve peque"<<std::endl;
MechanicalVOpAction(v,v,a,f).execute( getContext() );
}
void EulerKaapiSolver::projectResponse(VecId dx, double **W)
{
MechanicalApplyConstraintsAction(dx, W).execute( getContext() );
}
void EulerKaapiSolver::accFromF(VecId a, VecId f)
{
MechanicalAccFromFAction(a,f).execute( getContext() );
}
void EulerKaapiSolver::propagatePositionAndVelocity(double t, VecId x, VecId v)
{
MechanicalPropagatePositionAndVelocityAction(t,x,v).execute( getContext() );
}
void EulerKaapiSolver::computeForce(VecId result)
{
MechanicalResetForceAction(result).execute( getContext() );
finish();
MechanicalComputeForceAction(result).execute( getContext() );
}
void EulerKaapiSolver::computeAcc (double t, VecId a, VecId x, VecId v)
{
MultiVector
f (this, VecId::force ());
std::cout<<"kaapi solver"<<std::endl;
propagatePositionAndVelocity (t, x, v);
computeForce (f);
if (this->f_printLog.getValue () == true)
{
cerr << "OdeSolver::computeAcc, f = " << f << endl;
}
accFromF (a, f);
projectResponse (a);
}
void
EulerKaapiSolver::solve (double dt)
{
//objectmodel::BaseContext* group = getContext();
OdeSolver *
group = this;
MultiVector
pos (group, VecId::position ());
MultiVector
vel (group, VecId::velocity ());
MultiVector
acc (group, VecId::dx ());
bool
printLog = 1;
// f_printLog.getValue();
if (printLog)
{
cerr << "EulerKaapiSolver, dt = " << dt << endl;
cerr << "EulerKaapiSolver, initial x = " << pos << endl;
cerr << "EulerKaapiSolver, initial v = " << vel << endl;
}
computeAcc (getTime (), acc, pos, vel);
// update state
if (symplectic.getValue ())
{
vel.peq (acc, dt);
#ifdef SOFA_HAVE_LAPACK
if (constraintVel.getValue())
{
solveConstraint(VecId::velocity());
}
#endif
pos.peq (vel, dt);
#ifdef SOFA_HAVE_LAPACK
if (constraintPos.getValue())
{
solveConstraint(VecId::position(),!constraintVel.getValue());
}
#endif
}
else
{
pos.peq (vel, dt);
#ifdef SOFA_HAVE_LAPACK
if (constraintPos.getValue())
{
solveConstraint(VecId::position(),!constraintVel.getValue());
}
#endif
vel.peq (acc, dt);
#ifdef SOFA_HAVE_LAPACK
if (constraintVel.getValue())
{
solveConstraint(VecId::velocity());
}
#endif
}
if (printLog)
{
cerr << "EulerKaapiSolver, acceleration = " << acc << endl;
cerr << "EulerKaapiSolver, final x = " << pos << endl;
cerr << "EulerKaapiSolver, final v = " << vel << endl;
}
}
} // namespace odesolver
} // namespace component
} // namespace sofa
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