/usr/include/sofa/simulation/common/MasterSolverImpl.h is in libsofa1-dev 1.0~beta4-9.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_SIMULATION_TREE_MASTERSOLVERIMPL_H
#define SOFA_SIMULATION_TREE_MASTERSOLVERIMPL_H
#include <sofa/core/componentmodel/behavior/MasterSolver.h>
#include <sofa/simulation/common/common.h>
#include <sofa/simulation/common/Node.h>
namespace sofa
{
namespace simulation
{
/**
* \brief Implementation of MasterSolver relying on simulation::Node.
*
* Note that it is in a preliminary stage, hence its fonctionnalities and API will
* certainly change soon.
*
*/
class SOFA_SIMULATION_COMMON_API MasterSolverImpl : public sofa::core::componentmodel::behavior::MasterSolver
{
public:
MasterSolverImpl();
virtual ~MasterSolverImpl();
/// @name Visitors
/// These methods provides an abstract view of the mechanical system to animate.
/// They are implemented by executing Visitors in the subtree of the scene-graph below this solver.
/// @{
/// Activate collision pipeline
virtual void computeCollision();
/// Activate OdeSolvers
virtual void integrate(double dt);
protected:
typedef simulation::Node::Sequence<core::componentmodel::behavior::OdeSolver> Solvers;
typedef core::componentmodel::collision::Pipeline Pipeline;
const Solvers& getSolverSequence();
// Pipeline* getPipeline();
/// @}
};
} // namespace simulation
} // namespace sofa
#endif
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