/usr/include/sofa/component/odesolver/EulerKaapiSolver.h is in libsofa1-dev 1.0~beta4-10ubuntu2.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 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_COMPONENT_ODESOLVER_EULERKAAPISOLVER_H
#define SOFA_COMPONENT_ODESOLVER_EULERKAAPISOLVER_H
#include <sofa/core/componentmodel/behavior/OdeSolver.h>
#include <sofa/component/odesolver/OdeSolverImpl.h>
namespace sofa
{
namespace component
{
namespace odesolver
{
/** The simplest time integration.
Two variants are available, depending on the value of field "symplectic".
If true (the default), the symplectic variant of Euler's method is applied:
If false, the basic Euler's method is applied (less robust)
*/
class SOFA_COMPONENT_ODESOLVER_API EulerKaapiSolver : public sofa::component::odesolver::OdeSolverImpl
{
public:
EulerKaapiSolver();
void solve (double dt);
void computeAcc (double t, VecId a, VecId x, VecId v);
DataField<bool> symplectic;
void v_free(VecId v);
void v_clear(VecId v); ///< v=0
VecId v_alloc(VecId::Type t);
void propagatePositionAndVelocity(double t, VecId x, VecId v);
void computeForce(VecId result);
void accFromF(VecId a, VecId f);
void projectResponse(VecId dx, double **W=NULL);
void v_peq(VecId v, VecId a, double f); ///< v+=f*a
};
} // namespace odesolver
} // namespace component
} // namespace sofa
#endif
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