OdeEquation.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef SURGSIM_MATH_ODEEQUATION_H
#define SURGSIM_MATH_ODEEQUATION_H

#include <memory>

#include "SurgSim/Math/SparseMatrix.h"
#include "SurgSim/Math/Matrix.h"
#include "SurgSim/Math/Vector.h"

namespace SurgSim
{

namespace Math
{

class OdeState;

enum OdeEquationUpdate
{
    ODEEQUATIONUPDATE_F = 1<<0,
    ODEEQUATIONUPDATE_M = 1<<1,
    ODEEQUATIONUPDATE_D = 1<<2,
    ODEEQUATIONUPDATE_K = 1<<3,
    ODEEQUATIONUPDATE_FMDK = ODEEQUATIONUPDATE_F | ODEEQUATIONUPDATE_M | ODEEQUATIONUPDATE_D | ODEEQUATIONUPDATE_K
};

class OdeEquation
{
public:

    OdeEquation() : m_initState(0)
    {

    }
    virtual ~OdeEquation() {}

    const std::shared_ptr<OdeState> getInitialState() const;

    virtual Matrix applyCompliance(const OdeState& state, const Matrix& b) = 0;

    virtual void updateFMDK(const OdeState& state, int options);

    const Vector& getF() const;

    const SparseMatrix& getM() const;

    const SparseMatrix& getD() const;

    const SparseMatrix& getK() const;

    bool hasF()const;

    bool hasM()const;

    bool hasK()const;

    bool hasD()const;

protected:
    virtual void computeF(const OdeState& state) = 0;

    virtual void computeM(const OdeState& state) = 0;

    virtual void computeD(const OdeState& state) = 0;

    virtual void computeK(const OdeState& state) = 0;

    virtual void computeFMDK(const OdeState& state) = 0;

    std::shared_ptr<OdeState> m_initialState;

    unsigned int m_initState;

    Vector m_f;

    SparseMatrix m_M;

    SparseMatrix m_D;

    SparseMatrix m_K;
};

}; // namespace Math

}; // namespace SurgSim

#endif // SURGSIM_MATH_ODEEQUATION_H