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CentralDifferenceSolver.h
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CentralDifferenceSolver.h
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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture *
* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
* *
* This program 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 program 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 program. If not, see <http://www.gnu.org/licenses/>. *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#pragma once
#include <sofa/component/odesolver/forward/config.h>
#include <sofa/core/behavior/OdeSolver.h>
namespace sofa::component::odesolver::forward
{
/** Explicit time integrator using central difference (also known as Verlet of Leap-frop).
*
* @see http://www.dynasupport.com/support/tutorial/users.guide/time.integration
* @see http://en.wikipedia.org/wiki/Leapfrog_method
*
*/
class SOFA_COMPONENT_ODESOLVER_FORWARD_API CentralDifferenceSolver : public sofa::core::behavior::OdeSolver
{
public:
SOFA_CLASS(CentralDifferenceSolver, sofa::core::behavior::OdeSolver);
protected:
CentralDifferenceSolver();
public:
void solve (const core::ExecParams* params, SReal dt, sofa::core::MultiVecCoordId xResult, sofa::core::MultiVecDerivId vResult) override;
SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA()
Data<SReal> f_rayleighMass;
Data<SReal> d_rayleighMass; ///< Rayleigh damping coefficient related to mass
Data<bool> d_threadSafeVisitor; ///< If true, do not use realloc and free visitors in fwdInteractionForceField.
/// Given an input derivative order (0 for position, 1 for velocity, 2 for acceleration),
/// how much will it affect the output derivative of the given order.
SReal getIntegrationFactor(int inputDerivative, int outputDerivative) const override
{
const SReal dt = getContext()->getDt();
const SReal matrix[3][3] =
{
{ 1, dt, dt*dt},
{ 0, 1, dt},
{ 0, 0, 0}
};
if (inputDerivative >= 3 || outputDerivative >= 3)
return 0;
else
return matrix[outputDerivative][inputDerivative];
}
/// Given a solution of the linear system,
/// how much will it affect the output derivative of the given order.
///
SReal getSolutionIntegrationFactor(int outputDerivative) const override
{
const SReal dt = getContext()->getDt();
const SReal vect[3] = { dt*dt, dt, 1};
if (outputDerivative >= 3)
return 0;
else
return vect[outputDerivative];
}
};
} // namespace sofa::component::odesolver::forward