solver.h Source File

00001 /*
00002     Dynamics/Kinematics modeling and simulation library.
00003     Copyright (C) 1999 by Michael Alexander Ewert
00004 
00005     This library is free software; you can redistribute it and/or
00006     modify it under the terms of the GNU Library General Public
00007     License as published by the Free Software Foundation; either
00008     version 2 of the License, or (at your option) any later version.
00009 
00010     This library is distributed in the hope that it will be useful,
00011     but WITHOUT ANY WARRANTY; without even the implied warranty of
00012     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00013     Library General Public License for more details.
00014 
00015     You should have received a copy of the GNU Library General Public
00016     License along with this library; if not, write to the Free
00017     Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00018 
00019 */
00020 
00021 #ifndef __CT_SOLVER_H__
00022 #define __CT_SOLVER_H__
00023 
00024 #include "csphyzik/phyztype.h"
00025 #include "csphyzik/ctvector.h"
00026 
00028 
00029 class ctDynamicEntity;
00030 
00031 // abstract classes
00032 
00039 class ctSolver
00040 {
00041 public:
00042   virtual void solve ( real t ) = 0;
00043   virtual void init () {};
00044 
00045 };
00046 
00047 
00049 class ctSimpleDynamicsSolver : public ctSolver
00050 {
00051 public:
00052   ctSimpleDynamicsSolver ( ctDynamicEntity &pde )
00053     : de( pde ) {};
00054   virtual void solve ( real t );
00055 
00056 protected:
00058   ctDynamicEntity &de;
00059 
00060 };
00061 
00063 class ctArticulatedSolver : public ctSolver
00064 {
00065 public:
00067   virtual ctVector3 get_linear_a () = 0;
00068   virtual ctVector3 get_angular_a () = 0;
00069   virtual void apply_impulse ( ctVector3 impulse_point,
00070                               ctVector3 impulse_vector ) = 0;
00071 
00072   virtual void get_impulse_m_and_I_inv ( real *pm, ctMatrix3 *pI_inv,
00073                                          const ctVector3 &impulse_point,
00074                               const ctVector3 &unit_length_impulse_vector ) = 0;
00075 
00076 };
00077 
00078 
00080 class ctGoalSolver : public ctSolver
00081 {
00082 public:
00083   void set_goal ( const ctVector3 &pgoal ){ goal = pgoal; }
00084 
00085 protected:
00086   ctVector3 goal;
00087 
00088 };
00089 
00091 class ctArticulatedGoalSolver : public ctArticulatedSolver
00092 {
00093 public:
00094   void set_goal ( const ctVector3 &pgoal ){ goal = pgoal; }
00095 
00096 protected:
00097   ctVector3 goal;
00098 };
00099 
00100 #endif // __CT_SOLVER_H__