EulerImplicitSolver.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    *
* the Free Software Foundation; either version 2.1 of the License, or (at     *
* your option) any later version.                                             *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details.                                                           *
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* You should have received a copy of the GNU Lesser General Public License    *
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
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* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_ODESOLVER_EULERIMPLICITSOLVER_H
#define SOFA_COMPONENT_ODESOLVER_EULERIMPLICITSOLVER_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 EulerImplicitSolver : public sofa::simulation::OdeSolverImpl
{
public:
    
    Data<double> f_rayleighStiffness;
    Data<double> f_rayleighMass;
    Data<double> f_velocityDamping;
    Data<bool> f_verbose;

    EulerImplicitSolver();
    
    void solve (double dt);
    
    virtual double getVelocityIntegrationFactor() const
    {
        return 1.0; // getContext()->getDt();
    }
    
    virtual double getPositionIntegrationFactor() const
    {
        return getContext()->getDt(); //*getContext()->getDt());
    }

    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];
    }

};

} // namespace odesolver

} // namespace component

} // namespace sofa

#endif