CGImplicitSolver.h

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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 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    *
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* for more details.                                                           *
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*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
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* Contact information: contact@sofa-framework.org                             *
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// Author: François Faure, INRIA-UJF, (C) 2006
//
// Copyright: See COPYING file that comes with this distribution
#ifndef SOFA_COMPONENT_ODESOLVER_CGIMPLICITSOLVER_H
#define SOFA_COMPONENT_ODESOLVER_CGIMPLICITSOLVER_H

#include <sofa/core/componentmodel/behavior/OdeSolver.h>
#include <sofa/simulation/common/OdeSolverImpl.h>

namespace sofa
{

namespace component
{

namespace odesolver
{

using namespace sofa::defaulttype;

class CGImplicitSolver : public sofa::simulation::OdeSolverImpl
{
public:

    CGImplicitSolver();
        
        void solve (double dt);
    //CGImplicitSolver* setMaxIter( int maxiter );
        
        Data<unsigned> f_maxIter;
        Data<double> f_tolerance;
        Data<double> f_smallDenominatorThreshold;
        Data<double> f_rayleighStiffness;
        Data<double> f_rayleighMass;
        Data<double> f_velocityDamping;
        Data<bool> f_verbose;

    double getIntegrationFactor(int inputDerivative, int outputDerivative) const 
    {
        const double dt = getContext()->getDt();
        double matrix[3][3] = {
            { 1, dt, 0},
            { 0, 1, 0},
            { 0, 0, 0}};
        if (inputDerivative >= 3 || outputDerivative >= 3)
            return 0;
        else
            return matrix[outputDerivative][inputDerivative];
    }

    double getSolutionIntegrationFactor(int outputDerivative) const
    {
        const double dt = getContext()->getDt();
        double vect[3] = { dt, 1, 1/dt};
        if (outputDerivative >= 3)
            return 0;
        else
            return vect[outputDerivative];
    }

    protected:
        
/*  unsigned maxCGIter;
    double smallDenominatorThreshold;
    double tolerance;
    double rayleighStiffness;
    double rayleighMass;
    double velocityDamping;*/
};

} // namespace odesolver

} // namespace component

} // namespace sofa

#endif