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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_SIMULATION_CONSTRAINTVISITOR_H
#define SOFA_SIMULATION_CONSTRAINTVISITOR_H
#include <sofa/simulation/common/Visitor.h>
#include <sofa/core/componentmodel/behavior/BaseMechanicalState.h>
#include <sofa/core/componentmodel/behavior/BaseLMConstraint.h>
#include <iostream>
namespace sofa
{
namespace simulation
{
/** Visitor used to apply constraint
*/
class SOFA_SIMULATION_COMMON_API ConstraintVisitor : public Visitor
{
public:
typedef sofa::core::componentmodel::behavior::BaseMechanicalState::VecId VecId;
ConstraintVisitor(VecId id, bool _propagateVelocityFromPosition):Id(id), propagateVelocityFromPosition(_propagateVelocityFromPosition), isEnd(RESULT_CONTINUE){}
ConstraintVisitor():Id(VecId::position()), propagateVelocityFromPosition(false), isEnd(RESULT_CONTINUE){}
virtual void processOdeSolver(simulation::Node* node, core::componentmodel::behavior::OdeSolver* obj);
virtual Result processNodeTopDown(simulation::Node* node);
//virtual void processNodeBottomUp(simulation::Node* node);
/// Specify whether this action can be parallelized.
virtual bool isThreadSafe() const { return true; }
void setId(VecId id){Id=id;}
void setPropagateVelocityFromPosition(bool b){propagateVelocityFromPosition=b;}
/// Return a category name for this action.
/// Only used for debugging / profiling purposes
virtual const char* getCategoryName() const { return "constraint"; }
virtual const char* getClassName() const { return "ConstraintVisitor"; }
virtual std::string getInfos() const { std::string name="[" + Id.getName() + "]"; return name; }
protected:
VecId Id;
bool propagateVelocityFromPosition;
Result isEnd;
};
class SOFA_SIMULATION_COMMON_API ConstraintErrorVisitor : public Visitor
{
public:
typedef sofa::core::componentmodel::behavior::BaseMechanicalState::VecId VecId;
ConstraintErrorVisitor():error(0){}
virtual void processLMConstraint(simulation::Node* node, core::componentmodel::behavior::BaseLMConstraint* obj);
virtual Result processNodeTopDown(simulation::Node* node);
/// Specify whether this action can be parallelized.
virtual bool isThreadSafe() const { return true; }
/// Return a category name for this action.
/// Only used for debugging / profiling purposes
virtual const char* getCategoryName() const { return "constraint"; }
virtual const char* getClassName() const { return "ConstraintErrorVisitor"; }
double getError() const {return error;}
protected:
double error;
};
}
}
#endif
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