DefaultMasterSolver.cpp

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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 :: Modules                               *
00020 *                                                                             *
00021 * Authors: The SOFA Team and external contributors (see Authors.txt)          *
00022 *                                                                             *
00023 * Contact information: contact@sofa-framework.org                             *
00024 ******************************************************************************/
00025 #include <sofa/component/mastersolver/DefaultMasterSolver.h>
00026 #include <sofa/core/ObjectFactory.h>
00027 #include <math.h>
00028 #include <iostream>
00029 
00030 using std::cerr;
00031 using std::endl;
00032 
00033 namespace sofa
00034 {
00035 
00036 namespace component
00037 {
00038 
00039 namespace mastersolver
00040 {
00041 
00042 int DefaultMasterSolverClass = core::RegisterObject("The simplest master solver, equivalent to the default behavior when no master solver is used.")
00043 .add< DefaultMasterSolver >()
00044 ;
00045 
00046 SOFA_DECL_CLASS(DefaultMasterSolver);
00047 
00048 DefaultMasterSolver::DefaultMasterSolver()
00049 {
00050 }
00051 
00052 void DefaultMasterSolver::step(double dt)
00053 {
00054     // First do collision detection and response creation
00055     if (this->f_printLog.getValue()) std::cout << "DefaultMasterSolver::step, begin collision" << std::endl;
00056     computeCollision();
00057     if (this->f_printLog.getValue()) std::cout << "DefaultMasterSolver::step, end collision" << std::endl;
00058     // Then integrate the time step
00059     if (this->f_printLog.getValue()) std::cout << "DefaultMasterSolver::step, begin integration" << std::endl;
00060     integrate(dt);
00061     if (this->f_printLog.getValue()) std::cout << "DefaultMasterSolver::step, end integration" << std::endl;
00062 }
00063 
00064 } // namespace mastersolver
00065 
00066 } // namespace component
00067 
00068 } // namespace sofa
00069