static void cfunbody(JF, js_Ast *name, js_Ast *params, js_Ast *body)
{
F->lightweight = 1;
F->arguments = 0;
if (F->script)
F->lightweight = 0;
if (body)
analyze(J, F, body);
cparams(J, F, params);
if (name) {
emit(J, F, OP_CURRENT);
if (F->lightweight) {
addlocal(J, F, name, 0);
emit(J, F, OP_INITLOCAL);
emitraw(J, F, findlocal(J, F, name->string));
} else {
emitstring(J, F, OP_INITVAR, name->string);
}
}
if (body) {
cvardecs(J, F, body);
cfundecs(J, F, body);
}
if (F->script) {
emit(J, F, OP_UNDEF);
cstmlist(J, F, body);
emit(J, F, OP_RETURN);
} else {
cstmlist(J, F, body);
emit(J, F, OP_UNDEF);
emit(J, F, OP_RETURN);
}
}
Visitor::Result AnimateVisitor::processNodeTopDown(simulation::Node* node)
{
if (!node->isActive()) return Visitor::RESULT_PRUNE;
if (node->isSleeping()) return Visitor::RESULT_PRUNE;
if (!firstNodeVisited)
{
firstNodeVisited=true;
sofa::core::ConstraintParams cparams(*this->params);
MechanicalResetConstraintVisitor resetConstraint(&cparams);
node->execute(&resetConstraint);
}
if (dt == 0) setDt(node->getDt());
else node->setDt(dt);
if (node->collisionPipeline != NULL)
{
processCollisionPipeline(node, node->collisionPipeline);
}
if (!node->solver.empty() )
{
sofa::helper::AdvancedTimer::StepVar timer("Mechanical",node);
SReal nextTime = node->getTime() + dt;
{
IntegrateBeginEvent evBegin;
PropagateEventVisitor eventPropagation( this->params, &evBegin);
eventPropagation.execute(node);
}
MechanicalBeginIntegrationVisitor beginVisitor(this->params, dt);
node->execute(&beginVisitor);
sofa::core::MechanicalParams m_mparams(*this->params);
m_mparams.setDt(dt);
{
unsigned int constraintId=0;
core::ConstraintParams cparams;
simulation::MechanicalAccumulateConstraint(&cparams, core::MatrixDerivId::constraintJacobian(),constraintId).execute(node);
}
for( unsigned i=0; i<node->solver.size(); i++ )
{
ctime_t t0 = begin(node, node->solver[i]);
node->solver[i]->solve(params, getDt());
end(node, node->solver[i], t0);
}
MechanicalProjectPositionAndVelocityVisitor(&m_mparams, nextTime,
sofa::core::VecCoordId::position(), sofa::core::VecDerivId::velocity()
).execute( node );
MechanicalPropagateOnlyPositionAndVelocityVisitor(&m_mparams, nextTime,VecCoordId::position(),VecDerivId::velocity(),
#ifdef SOFA_SUPPORT_MAPPED_MASS
VecDerivId::dx(),
#endif
true).execute( node );
MechanicalEndIntegrationVisitor endVisitor(this->params, dt);
node->execute(&endVisitor);
{
IntegrateEndEvent evBegin;
PropagateEventVisitor eventPropagation(this->params, &evBegin);
eventPropagation.execute(node);
}
return RESULT_PRUNE;
}
{
// process InteractionForceFields
for_each(this, node, node->interactionForceField, &AnimateVisitor::fwdInteractionForceField);
return RESULT_CONTINUE;
}
}
