OdeSolverImpl.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.                                             *
*                                                                             *
* 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                             *
******************************************************************************/
#ifndef SOFA_SIMULATION_ODESOLVERIMPL_H
#define SOFA_SIMULATION_ODESOLVERIMPL_H

#include <sofa/core/componentmodel/behavior/OdeSolver.h>
#include <sofa/core/componentmodel/behavior/LinearSolver.h>

namespace sofa
{

namespace simulation
{


class SolverImpl : public virtual sofa::core::objectmodel::BaseObject
{
public:
    typedef sofa::core::componentmodel::behavior::BaseMechanicalState::VecId VecId;

    SolverImpl();

    virtual ~SolverImpl();



    virtual double finish();

    virtual VecId v_alloc(VecId::Type t);
    virtual void v_free(VecId v);

    virtual void v_clear(VecId v); 
    virtual void v_eq(VecId v, VecId a); 
    virtual void v_peq(VecId v, VecId a, double f=1.0); 
    virtual void v_teq(VecId v, double f); 
    virtual void v_op(VecId v, VecId a, VecId b, double f=1.0); 
    virtual void v_dot(VecId a, VecId b); 
    virtual void v_threshold(VecId a, double threshold); 

    virtual void propagateDx(VecId dx);
    virtual void propagateDxAndResetDf(VecId dx, VecId df);
    virtual void projectResponse(VecId dx, double **W=NULL);
    virtual void addMdx(VecId res, VecId dx=VecId(), double factor = 1.0); 
    virtual void integrateVelocity(VecId res, VecId x, VecId v, double dt); 
    virtual void accFromF(VecId a, VecId f); 

    virtual void computeForce(VecId result, bool clear = true, bool accumulate = true);
    virtual void computeDf(VecId df, bool clear = true, bool accumulate = true);
    virtual void computeDfV(VecId df, bool clear = true, bool accumulate = true);
    virtual void addMBKdx(VecId df, double m, double b, double k, bool clear = true, bool accumulate = true);
    virtual void addMBKv(VecId df, double m, double b, double k, bool clear = true, bool accumulate = true);
    virtual void addSeparateGravity(double dt);

    virtual void computeContactForce(VecId result);
    virtual void computeContactDf(VecId df);




    // BaseMatrix & BaseVector Computations
    virtual void addMBK_ToMatrix(defaulttype::BaseMatrix *A, double mFact=1.0, double bFact=1.0, double kFact=1.0, unsigned int offset=0);
    //virtual void addMBKdx_ToVector(defaulttype::BaseVector *V, VecId dx, double mFact=1.0, double bFact=1.0, double kFact=1.0, unsigned int offset=0);
    virtual void getMatrixDimension(unsigned int * const, unsigned int * const);
    virtual void multiVector2BaseVector(VecId src, defaulttype::BaseVector *dest=NULL, unsigned int offset=0);
    virtual void multiVectorPeqBaseVector(VecId dest, defaulttype::BaseVector *src=NULL, unsigned int offset=0);



    virtual void print( VecId v, std::ostream& out );
    virtual void printWithElapsedTime( VecId v,  unsigned time, std::ostream& out=std::cerr );



protected:

    double result;

};

class OdeSolverImpl : public sofa::core::componentmodel::behavior::OdeSolver, public SolverImpl
{
public:
    typedef sofa::core::componentmodel::behavior::BaseMechanicalState::VecId VecId;
    typedef sofa::core::componentmodel::behavior::MultiVector<OdeSolverImpl> MultiVector;
    typedef sofa::core::componentmodel::behavior::MultiMatrix<OdeSolverImpl> MultiMatrix;
    typedef sofa::core::componentmodel::behavior::MechanicalMatrix MechanicalMatrix;

    virtual void propagatePositionAndVelocity(double t, VecId x, VecId v);
    virtual void computeAcc(double t, VecId a, VecId x, VecId v);
    virtual void computeContactAcc(double t, VecId a, VecId x, VecId v);
    
    
    virtual void m_resetSystem();
    virtual void m_setSystemMBKMatrix(double mFact, double bFact, double kFact);
    virtual void m_setSystemRHVector(VecId v);
    virtual void m_setSystemLHVector(VecId v);
    virtual void m_solveSystem();
    virtual void m_print( std::ostream& out );
    
};

} // namespace simulation

} // namespace sofa

#endif