OdeSolverLinearEulerImplicit.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_ODESOLVERLINEAREULERIMPLICIT_H
#define SURGSIM_MATH_ODESOLVERLINEAREULERIMPLICIT_H

#include "SurgSim/Math/OdeSolverEulerImplicit.h"
#include "SurgSim/Math/SparseMatrix.h"

namespace SurgSim
{

namespace Math
{

class OdeSolverLinearEulerImplicit : public OdeSolverEulerImplicit
{
public:
    explicit OdeSolverLinearEulerImplicit(OdeEquation* equation);

    void setNewtonRaphsonMaximumIteration(size_t maximumIteration) override;

    void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) override;

private:
    SparseMatrix m_constantK;

    bool m_initialized;
};

}; // namespace Math

}; // namespace SurgSim

#endif // SURGSIM_MATH_ODESOLVERLINEAREULERIMPLICIT_H