00001 /****************************************************************************** 00002 * SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3 * 00003 * (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS * 00004 * * 00005 * This library is free software; you can redistribute it and/or modify it * 00006 * under the terms of the GNU Lesser General Public License as published by * 00007 * the Free Software Foundation; either version 2.1 of the License, or (at * 00008 * your option) any later version. * 00009 * * 00010 * This library is distributed in the hope that it will be useful, but WITHOUT * 00011 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * 00012 * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * 00013 * for more details. * 00014 * * 00015 * You should have received a copy of the GNU Lesser General Public License * 00016 * along with this library; if not, write to the Free Software Foundation, * 00017 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. * 00018 ******************************************************************************* 00019 * SOFA :: Framework * 00020 * * 00021 * Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,* 00022 * H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza, * 00023 * M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy * 00024 * * 00025 * Contact information: contact@sofa-framework.org * 00026 ******************************************************************************/ 00027 #ifndef SOFA_CORE_COMPONENTMODEL_BEHAVIOR_BASECONSTRAINTCORRECTION_H 00028 #define SOFA_CORE_COMPONENTMODEL_BEHAVIOR_BASECONSTRAINTCORRECTION_H 00029 00030 #include <sofa/core/objectmodel/BaseObject.h> 00031 #include <sofa/defaulttype/BaseMatrix.h> 00032 #include <sofa/defaulttype/BaseVector.h> 00033 00034 namespace sofa 00035 { 00036 00037 namespace core 00038 { 00039 00040 namespace componentmodel 00041 { 00042 00043 namespace behavior 00044 { 00045 00047 00051 class BaseConstraintCorrection : public virtual objectmodel::BaseObject 00052 { 00053 public: 00054 virtual ~BaseConstraintCorrection() {} 00055 00056 virtual void getCompliance(defaulttype::BaseMatrix* W) = 0; 00057 00058 virtual void CudaGetCompliance(defaulttype::BaseMatrix* W) { 00059 std::cout << "warning : CudaGetCompliance(defaulttype::BaseMatrix* W) is not implemented in " << this->getTypeName() << std::endl; 00060 getCompliance(W); // par defaut si la methode cuda n'est pas implementé on resoud sur CPU 00061 } 00062 00063 virtual void applyContactForce(const defaulttype::BaseVector *f) = 0; 00064 00065 virtual void resetContactForce() = 0; 00066 00067 }; 00068 00069 } // namespace behavior 00070 00071 } // namespace componentmodel 00072 00073 } // namespace core 00074 00075 } // namespace sofa 00076 00077 #endif
1.5.7.1