Spring.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_PHYSICS_SPRING_H
#define SURGSIM_PHYSICS_SPRING_H

#include <vector>

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

namespace SurgSim
{

namespace Math
{
class OdeState;
};

namespace Physics
{

class Spring
{
public:
    virtual ~Spring();

    virtual void initialize(const SurgSim::Math::OdeState& state);

    size_t getNumNodes() const;

    size_t getNodeId(size_t springNodeId) const;

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

    virtual void addForce(const SurgSim::Math::OdeState& state, SurgSim::Math::Vector* F,
                          double scale = 1.0) = 0;

    virtual void addDamping(const SurgSim::Math::OdeState& state, SurgSim::Math::SparseMatrix* D,
                            double scale = 1.0) = 0;

    virtual void addStiffness(const SurgSim::Math::OdeState& state, SurgSim::Math::SparseMatrix* K,
                              double scale = 1.0) = 0;

    virtual void addFDK(const SurgSim::Math::OdeState& state, SurgSim::Math::Vector* F,
                        SurgSim::Math::SparseMatrix* D, SurgSim::Math::SparseMatrix* K) = 0;

    virtual void addMatVec(const SurgSim::Math::OdeState& state, double alphaD, double alphaK,
                           const SurgSim::Math::Vector& x, SurgSim::Math::Vector* F) = 0;

protected:
    std::vector<size_t> m_nodeIds;
};

} // namespace Physics

} // namespace SurgSim

#endif // SURGSIM_PHYSICS_SPRING_H