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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/MechanicalMatrixVisitor.h>
#include <sofa/simulation/common/Node.h>
#include <iostream>
using std::cerr;
using std::endl;
namespace sofa
{
namespace simulation
{
Visitor::Result MechanicalMatrixVisitor::processNodeTopDown(simulation::Node* node)
{
Result res = RESULT_CONTINUE;
for (unsigned i=0; i<node->solver.size() && res!=RESULT_PRUNE; i++ ) {
ctime_t t0 = begin(node, node->solver[i]);
res = this->fwdOdeSolver(node, node->solver[i]);
end(node, node->solver[i], t0);
}
if (res != RESULT_PRUNE) {
if (node->mechanicalState != NULL) {
if (node->mechanicalMapping != NULL) {
//cerr<<"MechanicalAction::processNodeTopDown, node "<<node->getName()<<" is a mapped model"<<endl;
Result res2;
ctime_t t0 = begin(node, node->mechanicalMapping);
res = this->fwdMechanicalMapping(node, node->mechanicalMapping);
end(node, node->mechanicalMapping, t0);
t0 = begin(node, node->mechanicalState);
res2 = this->fwdMappedMechanicalState(node, node->mechanicalState);
end(node, node->mechanicalState, t0);
if (res2 == RESULT_PRUNE)
res = res2;
} else {
//cerr<<"MechanicalAction::processNodeTopDown, node "<<node->getName()<<" is a no-map model"<<endl;
ctime_t t0 = begin(node, node->mechanicalState);
res = this->fwdMechanicalState(node, node->mechanicalState);
end(node, node->mechanicalState, t0);
}
}
}
if (res != RESULT_PRUNE) {
if (node->mass != NULL) {
ctime_t t0 = begin(node, node->mass);
res = this->fwdMass(node, node->mass);
end(node, node->mass, t0);
}
}
if (res != RESULT_PRUNE) {
res = for_each_r(this, node, node->forceField, &MechanicalMatrixVisitor::fwdForceField);
}
if (res != RESULT_PRUNE) {
res = for_each_r(this, node, node->interactionForceField, &MechanicalMatrixVisitor::fwdInteractionForceField);
}
if (res != RESULT_PRUNE) {
res = for_each_r(this, node, node->constraint, &MechanicalMatrixVisitor::fwdConstraint);
}
offsetOnEnter = offsetOnExit;
return res;
}
void MechanicalMatrixVisitor::processNodeBottomUp(simulation::Node* node)
{
if (node->mechanicalState != NULL) {
if (node->mechanicalMapping != NULL) {
ctime_t t0 = begin(node, node->mechanicalState);
this->bwdMappedMechanicalState(node, node->mechanicalState);
end(node, node->mechanicalState, t0);
t0 = begin(node, node->mechanicalMapping);
this->bwdMechanicalMapping(node, node->mechanicalMapping);
end(node, node->mechanicalMapping, t0);
} else {
ctime_t t0 = begin(node, node->mechanicalState);
this->bwdMechanicalState(node, node->mechanicalState);
end(node, node->mechanicalState, t0);
}
}
/* if (node->solver != NULL) {
ctime_t t0 = begin(node, node->solver);
this->bwdOdeSolver(node, node->solver);
end(node, node->solver, t0);
}*/
for (unsigned i=0; i<node->solver.size(); i++ ) {
ctime_t t0 = begin(node, node->solver[i]);
this->bwdOdeSolver(node, node->solver[i]);
end(node, node->solver[i], t0);
}
}
} // namespace simulation
} // namespace sofa
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