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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/AnimateVisitor.h>
#include <sofa/simulation/common/MechanicalVisitor.h>
#include <sofa/simulation/common/CollisionVisitor.h>
//#include "MechanicalIntegration.h"
namespace sofa
{
namespace simulation
{
void AnimateVisitor::processMasterSolver(simulation::Node*, core::componentmodel::behavior::MasterSolver* obj)
{
obj->step(getDt());
}
void AnimateVisitor::processBehaviorModel(simulation::Node*, core::BehaviorModel* obj)
{
obj->updatePosition(getDt());
}
void AnimateVisitor::fwdInteractionForceField(simulation::Node*, core::componentmodel::behavior::InteractionForceField* obj)
{
obj->addForce();
}
void AnimateVisitor::processCollisionPipeline(simulation::Node* node, core::componentmodel::collision::Pipeline*)
{
CollisionVisitor act;
node->execute(&act);
}
void AnimateVisitor::processOdeSolver(simulation::Node* /*node*/, core::componentmodel::behavior::OdeSolver* solver)
{
/* MechanicalIntegrationVisitor act(getDt());
node->execute(&act);*/
cerr<<"AnimateVisitor::processOdeSolver "<<solver->getName()<<endl;
solver->solve(getDt());
}
Visitor::Result AnimateVisitor::processNodeTopDown(simulation::Node* node)
{
//cerr<<"AnimateVisitor::process Node "<<node->getName()<<endl;
if (!node->is_activated.getValue()) return Visitor::RESULT_PRUNE;
if (dt == 0) setDt(node->getDt());
// for_each(this, node, node->behaviorModel, &AnimateVisitor::processBehaviorModel);
if (node->masterSolver != NULL)
{
ctime_t t0 = begin(node, node->masterSolver);
processMasterSolver(node, node->masterSolver);
end(node, node->masterSolver, t0);
return RESULT_PRUNE;
}
if (node->collisionPipeline != NULL)
{
//ctime_t t0 = begin(node, node->collisionPipeline);
processCollisionPipeline(node, node->collisionPipeline);
//end(node, node->collisionPipeline, t0);
}
/* if (node->solver != NULL)
{
ctime_t t0 = begin(node, node->solver);
processOdeSolver(node, node->solver);
end(node, node->solver, t0);
return RESULT_PRUNE;
}*/
if (!node->solver.empty() )
{
double nextTime = node->getTime() + dt;
MechanicalBeginIntegrationVisitor beginVisitor(dt);
node->execute(&beginVisitor);
for( unsigned i=0; i<node->solver.size(); i++ ){
ctime_t t0 = begin(node, node->solver[i]);
//cerr<<"AnimateVisitor::processNodeTpDown solver "<<node->solver[i]->getName()<<endl;
node->solver[i]->solve(getDt());
end(node, node->solver[i], t0);
}
MechanicalPropagatePositionAndVelocityVisitor(nextTime,core::componentmodel::behavior::OdeSolver::VecId::position(),core::componentmodel::behavior::OdeSolver::VecId::velocity()).execute( node );
MechanicalEndIntegrationVisitor endVisitor(dt);
node->execute(&endVisitor);
return RESULT_PRUNE;
}
/*
if (node->mechanicalModel != NULL)
{
std::cerr << "Graph Error: MechanicalState without solver." << std::endl;
return RESULT_PRUNE;
}
*/
{
// process InteractionForceFields
for_each(this, node, node->interactionForceField, &AnimateVisitor::fwdInteractionForceField);
return RESULT_CONTINUE;
}
}
// void AnimateVisitor::processNodeBottomUp(simulation::Node* node)
// {
// node->setTime( node->getTime() + node->getDt() );
// }
} // namespace simulation
} // namespace sofa
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