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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/ConstraintVisitor.h>
namespace sofa
{
namespace simulation
{
void ConstraintVisitor::processOdeSolver(simulation::Node* /*node*/, core::componentmodel::behavior::OdeSolver* solver)
{
solver->solveConstraint(Id, propagateVelocityFromPosition);
isEnd=RESULT_PRUNE;
}
Visitor::Result ConstraintVisitor::processNodeTopDown(simulation::Node* node)
{
for_each(this, node, node->solver, &ConstraintVisitor::processOdeSolver);
return isEnd;
}
void ConstraintErrorVisitor::processLMConstraint(simulation::Node* /*node*/, core::componentmodel::behavior::BaseLMConstraint* c)
{
error += c->getError();
}
Visitor::Result ConstraintErrorVisitor::processNodeTopDown(simulation::Node* node)
{
for_each(this, node, node->LMConstraint, &ConstraintErrorVisitor::processLMConstraint);
return RESULT_CONTINUE;
}
} // namespace simulation
} // namespace sofa
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