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odeImplicitSolver.h

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#ifndef OdeImplicitSolver_h_____________________________
#define OdeImplicitSolver_h_____________________________

#include "odeSolver.h"
#include <animal/container_traits.h>

namespace animal
{

template<
    class t_Positions,
    class t_Vector,
    class t_Real>
class OdeImplicitSolver
    : public OdeSolver<t_Positions,t_Vector,t_Real>
{
public:
    typedef t_Positions Positions;  
    typedef t_Vector Vector; 
    typedef t_Real Real;     
  static const int IMPLICIT_EULER = 5; 
    
    OdeImplicitSolver();
    
    virtual void solveODE( Positions& pos, Vector& vel, Real dt );
    
    void setDampingRatio( Real d ){ _dampingRatio = d; }
    
    Real dampingRatio() const { return _dampingRatio; }
    
    void setMaxCGiterations( int n ){ _maxIter = n; }

    int maxCGiterations() const { return _maxIter; }
    
    void setSmallDenominatorThreshold( Real s ){ _smallDenominatorThreshold = s; }

    Real smallDenominatorThreshold() const { return _smallDenominatorThreshold; }
    
    

//protected:    

    Real _dampingRatio; 
    int _maxIter;       
    Real _smallDenominatorThreshold; 

    typedef typename container_traits<Vector>::value_type Vec;  

//  /** Compute the force applied to the particles and update the gradient matrix.
//  \param f force vector
//  \param p current positions
//  \param v current velocities
//  */
//  virtual void computeForce( Vector& f, const Positions& p, const Vector& v )=0;

    virtual void applyForces( Vector& a, const Vector& f)=0;

    virtual void computeAccelerations( Vector& a, const Positions& p, const Vector& v)=0;

    virtual void computeAccelerationsAndStiffness( Vector& a, const Positions& p, const Vector& v)=0;

    virtual void v_eq_h_dfdx_x( Vector& v, Real h, const Vector& x )=0;
    
    virtual void v_peq_h_dfdx_x( Vector& v, Real h, const Vector& x )=0;
    
    void compute_implicit_euler_step( Positions& dpos, Vector& dvel, const Positions& pos, const Vector& vel, Real dt );

    void implicit_euler( Positions& pos, Vector& vel, Real dt );

    void multImplicitMatrix( Vector& y, const Vector& x, Real h);
    
private:

};  
/* \example odeImplicitSolver_test.cpp
*/

    





}//animal

#endif

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