OdeSolverRungeKutta4.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_ODESOLVERRUNGEKUTTA4_H
#define SURGSIM_MATH_ODESOLVERRUNGEKUTTA4_H

#include <array>

#include "SurgSim/Math/OdeSolver.h"

namespace SurgSim
{

namespace Math
{

class OdeSolverRungeKutta4 : public OdeSolver
{
public:
    explicit OdeSolverRungeKutta4(OdeEquation* equation);

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

protected:
    void assembleLinearSystem(double dt, const OdeState& state, const OdeState& newState,
        bool computeRHS = true) override;

    struct RungeKuttaDerivedState
    {
        RungeKuttaDerivedState(){}
        RungeKuttaDerivedState(const Vector& v, const Vector& a) : velocity(v), acceleration(a) {}
        Vector velocity;
        Vector acceleration;
    };

    RungeKuttaDerivedState m_k1, m_k2, m_k3, m_k4;
};

}; // namespace Math

}; // namespace SurgSim

#endif // SURGSIM_MATH_ODESOLVERRUNGEKUTTA4_H