OdeState.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013-2016, 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_ODESTATE_H
#define SURGSIM_MATH_ODESTATE_H

#include <memory>

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

namespace SurgSim
{

namespace Math
{

class OdeState
{
public:
    OdeState();

    virtual ~OdeState();

    bool operator ==(const OdeState& state) const;

    bool operator !=(const OdeState& state) const;

    virtual void reset();

    virtual void setNumDof(size_t numDofPerNode, size_t numNodes);

    size_t getNumDof() const;

    size_t getNumNodes() const;

    SurgSim::Math::Vector& getPositions();

    const SurgSim::Math::Vector& getPositions() const;

    const SurgSim::Math::Vector3d getPosition(size_t nodeId) const;

    SurgSim::Math::Vector& getVelocities();

    const SurgSim::Math::Vector& getVelocities() const;

    const SurgSim::Math::Vector3d getVelocity(size_t nodeId) const;

    void addBoundaryCondition(size_t nodeId);

    void addBoundaryCondition(size_t nodeId, size_t nodeDofId);

    size_t getNumBoundaryConditions() const;

    const std::vector<size_t>& getBoundaryConditions() const;

    bool isBoundaryCondition(size_t dof) const;

    Vector* applyBoundaryConditionsToVector(Vector* vector) const;

    void applyBoundaryConditionsToMatrix(Matrix* matrix, bool hasCompliance = true) const;

    void applyBoundaryConditionsToMatrix(SparseMatrix* matrix, bool hasCompliance = true) const;

    void addBoundaryConditionStaticDof(size_t nodeId, double value);

    size_t getNumBoundaryConditionsStaticDof() const;

    const std::vector<std::pair<size_t, double>>& getBoundaryConditionsStaticDof() const;

    void setBoundaryConditionsStaticDof(const std::vector<std::pair<size_t, double>>& staticDof);

    void changeBoundaryConditionStaticDof(size_t nodeId, double value);

    virtual bool isValid() const;

    OdeState interpolate(const OdeState& other, double t) const;

private:

    size_t m_numDofPerNode, m_numNodes;

    SurgSim::Math::Vector m_x;

    SurgSim::Math::Vector m_v;

    std::vector<size_t> m_boundaryConditionsAsDofIds;

    Eigen::Matrix<bool, Eigen::Dynamic, 1> m_boundaryConditionsPerDof;

    std::vector<std::pair<size_t, double>> m_boundaryConditionsStaticDof;
};

}; // namespace Math

}; // namespace SurgSim

#endif // SURGSIM_MATH_ODESTATE_H