SOFA API  5224e26c
Open source framework for multi-physics simuation
sofa::component::animationloop::ConstraintAnimationLoop Class Reference

#include <ConstraintAnimationLoop.h>

Inheritance diagram for sofa::component::animationloop::ConstraintAnimationLoop:

Public Types

typedef sofa::simulation::CollisionAnimationLoop Inherit
 
- Public Types inherited from sofa::simulation::CollisionAnimationLoop
typedef sofa::core::behavior::BaseAnimationLoop Inherit
 
typedef sofa::core::objectmodel::BaseContext BaseContext
 
typedef sofa::core::objectmodel::BaseObjectDescription BaseObjectDescription
 
- Public Types inherited from sofa::core::objectmodel::BaseObject
typedef MultiLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK|BaseLink::FLAG_STRONGLINKLinkSlaves
 
typedef LinkSlaves::Container VecSlaves
 
- Public Types inherited from sofa::core::objectmodel::Base
typedef BasePtr
 
using SPtr = sptr< Base >
 
typedef TClass< Base, void > MyClass
 
typedef helper::vector< BaseData * > VecData
 
typedef std::multimap< std::string, BaseData * > MapData
 
typedef helper::vector< BaseLink * > VecLink
 
typedef std::multimap< std::string, BaseLink * > MapLink
 

Public Member Functions

 SOFA_CLASS (ConstraintAnimationLoop, sofa::simulation::CollisionAnimationLoop)
 
virtual void step (const core::ExecParams *params, SReal dt) override
 
virtual void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
ConstraintProblemgetConstraintProblem (void)
 
- Public Member Functions inherited from sofa::core::behavior::BaseAnimationLoop
 SOFA_ABSTRACT_CLASS (BaseAnimationLoop, objectmodel::BaseObject)
 
SReal getResetTime () const
 Returns starting time of the simulation. More...
 
virtual bool insertInNode (objectmodel::BaseNode *node) override
 
virtual bool removeInNode (objectmodel::BaseNode *node) override
 
- Public Member Functions inherited from sofa::core::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
virtual void draw (const core::visual::VisualParams *)
 Render internal data of this object, for debugging purposes. More...
 
virtual void computeBBox (const core::ExecParams *, bool=false)
 
void setSrc (const std::string &v, std::vector< std::string > *attributeList=0)
 Sets a source Object and parses it to collect dependent Data. More...
 
void setSrc (const std::string &v, const BaseObject *loader, std::vector< std::string > *attributeList=0)
 
void * findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const
 Return the full path name of this object. More...
 
ComponentState getComponentState () const
 
bool isComponentStateValid () const
 
template<class T >
T::SPtr searchLocal () const
 Local search of an object of the given type. More...
 
template<class T >
T::SPtr searchUp () const
 Upward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchDown () const
 Downward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchFromRoot () const
 
template<class T >
T::SPtr searchInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal () const
 Local search of all objects of the given type. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp () const
 Upward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown () const
 Downward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot () const
 Search of all objects of the given type, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const Tag &t) const
 Local search of all objects of the given type with a given Tag. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const Tag &t) const
 Upward search of all objects of the given type with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const Tag &t) const
 Downward search of all objects of the given typee with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const Tag &t) const
 Search of all objects of the given typee with a given Tag, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const Tag &t) const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const TagSet &t) const
 Local search of all objects of the given type with a given TagSet. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const TagSet &t) const
 Upward search of all objects of the given type with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const TagSet &t) const
 Downward search of all objects of the given typee with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const TagSet &t) const
 Search of all objects of the given typee with a given TagSet, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const TagSet &t) const
 
SReal getTime () const
 Current time. More...
 
const BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (const std::string &name) const
 
virtual void addSlave (BaseObject::SPtr s)
 
virtual void removeSlave (BaseObject::SPtr s)
 
virtual void copyAspect (int destAspect, int srcAspect) override
 Copy the source aspect to the destination aspect for each Data in the component. More...
 
virtual void releaseAspect (int aspect) override
 Release memory allocated for the specified aspect. More...
 
virtual void handleEvent (Event *)
 Handle an event. More...
 
virtual void handleTopologyChange ()
 
virtual void handleTopologyChange (core::topology::Topology *t)
 Handle topological Changes from a given Topology. More...
 
virtual void parse (BaseObjectDescription *arg) override
 Parse the given description to assign values to this object's fields and potentially other parameters. More...
 
virtual void bwdInit ()
 Initialization method called at graph creation and modification, during bottom-up traversal. More...
 
virtual void reinit ()
 Update method called when variables used in precomputation are modified. More...
 
virtual void reset ()
 Reset to initial state. More...
 
virtual void cleanup ()
 
- Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClassgetClass () const
 
const std::string & getName () const
 Accessor to the object name. More...
 
void setName (const std::string &n)
 Set the name of this object. More...
 
void setName (const std::string &n, int counter)
 Set the name of this object, adding an integer counter. More...
 
virtual std::string getTypeName () const
 Get the type name of this object (i.e. class and template types) More...
 
virtual std::string getClassName () const
 Get the class name of this object. More...
 
virtual std::string getTemplateName () const
 Get the template type names (if any) used to instantiate this object. More...
 
const std::string getWarnings () const
 
const std::string getOutputs () const
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearWarnings ()
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearOutputs ()
 use clearLoggedMessages() instead More...
 
void processStream (std::ostream &out)
 use clearLoggedMessages() instead More...
 
void addMessage (const sofa::helper::logging::Message &m) const
 
size_t countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
const std::deque< sofa::helper::logging::Message > & getLoggedMessages () const
 
const std::string getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
void clearLoggedMessages () const
 
bool notMuted () const
 
const sofa::core::objectmodel::TagSetgetTags () const
 Represents the subsets the object belongs to. More...
 
bool hasTag (Tag t) const
 Return true if the object belong to the given subset. More...
 
void addTag (Tag t)
 Add a subset qualification to the object. More...
 
void removeTag (Tag t)
 Remove a subset qualification to the object. More...
 
virtual bool parseField (const std::string &attribute, const std::string &value)
 Assign one field value (Data or Link) More...
 
virtual bool hasField (const std::string &attribute) const
 Check if a given Data field or Link exists. More...
 
void parseFields (const std::list< std::string > &str)
 Assign the field values stored in the given list of name + value pairs of strings. More...
 
virtual void parseFields (const std::map< std::string, std::string * > &str)
 Assign the field values stored in the given map of name -> value pairs. More...
 
void writeDatas (std::map< std::string, std::string * > &str)
 Write the current field values to the given map of name -> value pairs. More...
 
void writeDatas (std::ostream &out, const std::string &separator=" ")
 
BaseDatafindData (const std::string &name) const
 
std::vector< BaseData * > findGlobalField (const std::string &name) const
 Find data fields given a name: several can be found as we look into the alias map. More...
 
BaseLinkfindLink (const std::string &name) const
 
std::vector< BaseLink * > findLinks (const std::string &name) const
 Find link fields given a name: several can be found as we look into the alias map. More...
 
virtual void updateLinks (bool logErrors=true)
 Update pointers in case the pointed-to objects have appeared. More...
 
template<class T >
BaseData::BaseInitData initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
template<class T >
Data< T >::InitData initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
void addData (BaseData *f, const std::string &name)
 
void addData (BaseData *f)
 
void removeData (BaseData *f)
 Remove a data field. More...
 
void addAlias (BaseData *field, const char *alias)
 Add an alias to a Data. More...
 
void addLink (BaseLink *l)
 Add a link. More...
 
void removeLink (BaseLink *l)
 Remove a link. More...
 
void addAlias (BaseLink *link, const char *alias)
 Add an alias to a Link. More...
 
const VecDatagetDataFields () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapDatagetDataAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
const VecLinkgetLinks () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapLinkgetLinkAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
virtual bool findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link)
 
template<class T >
bool findLinkDest (T *&ptr, const std::string &path, const BaseLink *link)
 

Static Public Member Functions

template<class T >
static T::SPtr create (T *, BaseContext *context, BaseObjectDescription *arg)
 Construction method called by ObjectFactory. More...
 
- Static Public Member Functions inherited from sofa::simulation::CollisionAnimationLoop
template<class T >
static T::SPtr create (T *, BaseContext *context, BaseObjectDescription *arg)
 Construction method called by ObjectFactory. More...
 
- Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool canCreate (T *, BaseContext *, BaseObjectDescription *)
 Pre-construction check method called by ObjectFactory. More...
 
template<class T >
static T::SPtr create (T *, BaseContext *context, BaseObjectDescription *arg)
 Construction method called by ObjectFactory. More...
 
- Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const MyClassGetClass ()
 
template<class T >
static void dynamicCast (T *&ptr, Base *b)
 
template<class T >
static std::string typeName (const T *ptr=NULL)
 
template<class T >
static std::string className (const T *ptr=NULL)
 
template<class T >
static std::string namespaceName (const T *ptr=NULL)
 
template<class T >
static std::string templateName (const T *ptr=NULL)
 
template<class T >
static std::string shortName (const T *ptr=NULL, BaseObjectDescription *=NULL)
 

Public Attributes

Data< bool > displayTime
 Display time for each important step of ConstraintAnimationLoop. More...
 
Data< double > _tol
 Tolerance of the Gauss-Seidel. More...
 
Data< int > _maxIt
 Maximum number of iterations of the Gauss-Seidel. More...
 
Data< bool > doCollisionsFirst
 Compute the collisions first (to support penality-based contacts) More...
 
Data< bool > doubleBuffer
 Buffer the constraint problem in a double buffer to be accessible with an other thread. More...
 
Data< bool > scaleTolerance
 Scale the error tolerance with the number of constraints. More...
 
Data< bool > _allVerified
 All contraints must be verified (each constraint's error < tolerance) More...
 
Data< double > _sor
 Successive Over Relaxation parameter (0-2) More...
 
Data< bool > schemeCorrection
 Apply new scheme where compliance is progressively corrected. More...
 
Data< bool > _realTimeCompensation
 If the total computational time T < dt, sleep(dt-T) More...
 
Data< bool > activateSubGraph
 
Data< std::map< std::string, sofa::helper::vector< double > > > _graphErrors
 Sum of the constraints' errors at each iteration. More...
 
Data< std::map< std::string, sofa::helper::vector< double > > > _graphConstraints
 Graph of each constraint's error at the end of the resolution. More...
 
Data< std::map< std::string, sofa::helper::vector< double > > > _graphForces
 Graph of each constraint's force at each step of the resolution. More...
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool > f_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
helper::system::SofaOStream< helper::logging::Message::Warningserr
 
helper::system::SofaOStream< helper::logging::Message::Infosout
 
helper::system::SofaEndl< Basesendl
 runs the stream processing More...
 
Data< std::string > name
 Name of the object. More...
 
Data< bool > f_printLog
 if true, emits extra messages at runtime. More...
 
Data< sofa::core::objectmodel::TagSetf_tags
 list of the subsets the objet belongs to More...
 
Data< sofa::defaulttype::BoundingBoxf_bbox
 this object bounding box More...
 

Protected Member Functions

 ConstraintAnimationLoop (simulation::Node *gnode=NULL)
 
virtual ~ConstraintAnimationLoop ()
 
void launchCollisionDetection (const core::ExecParams *params)
 
void freeMotion (const core::ExecParams *params, simulation::Node *context, SReal &dt)
 
void setConstraintEquations (const core::ExecParams *params, simulation::Node *context)
 
void correctiveMotion (const core::ExecParams *params, simulation::Node *context)
 
void debugWithContact (int numConstraints)
 
void writeAndAccumulateAndCountConstraintDirections (const core::ExecParams *params, simulation::Node *context, unsigned int &numConstraints)
 Specific procedures that are called for setting the constraints: More...
 
void getIndividualConstraintViolations (const core::ExecParams *params, simulation::Node *context)
 
void getIndividualConstraintSolvingProcess (const core::ExecParams *params, simulation::Node *context)
 3.calling getConstraintResolution: each constraint provides a method that is used to solve it during GS iterations More...
 
virtual void computeComplianceInConstraintSpace ()
 4.calling addComplianceInConstraintSpace projected in the contact space => getDelassusOperator(_W) = H*C*Ht More...
 
void computePredictiveForce (int dim, double *force, std::vector< core::behavior::ConstraintResolution * > &res)
 method for predictive scheme: More...
 
void gaussSeidelConstraint (int dim, double *dfree, double **w, double *force, double *d, std::vector< core::behavior::ConstraintResolution * > &res, double *df)
 
virtual ConstraintProblemgetCP ()
 
- Protected Member Functions inherited from sofa::simulation::CollisionAnimationLoop
 CollisionAnimationLoop (simulation::Node *gnode)
 
virtual ~CollisionAnimationLoop ()
 
virtual void computeCollision (const core::ExecParams *params=core::ExecParams::defaultInstance())
 Activate collision pipeline. More...
 
virtual void integrate (const core::ExecParams *params, SReal dt)
 Activate OdeSolvers. More...
 
const SolversgetSolverSequence ()
 
- Protected Member Functions inherited from sofa::core::behavior::BaseAnimationLoop
 BaseAnimationLoop ()
 
virtual ~BaseAnimationLoop ()
 
virtual void storeResetState () override
 Save the initial state for later uses in reset() More...
 
- Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
 BaseObject ()
 
virtual ~BaseObject ()
 
void changeContextLink (BaseContext *before, BaseContext *&after)
 
void changeSlavesLink (BaseObject::SPtr ptr, unsigned int, bool add)
 This method insures that slaves objects have master and context links set correctly. More...
 
- Protected Member Functions inherited from sofa::core::objectmodel::Base
 Base ()
 
virtual ~Base ()
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, BaseData::DataFlags dataFlags)
 Helper method used by initData() More...
 
template<class T >
void initData0 (Data< T > *field, typename Data< T >::InitData &res, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 

Protected Attributes

std::vector< core::behavior::BaseConstraintCorrection * > constraintCorrections
 
sofa::helper::system::thread::CTimetimer
 
SReal timeScale
 
SReal time
 
unsigned int numConstraints
 
bool bufCP1
 
SReal compTime
 
SReal iterationTime
 
- Protected Attributes inherited from sofa::simulation::CollisionAnimationLoop
simulation::Nodegnode
 
- Protected Attributes inherited from sofa::core::behavior::BaseAnimationLoop
SReal m_resetTime
 Stores starting time of the simulation. More...
 
- Protected Attributes inherited from sofa::core::objectmodel::BaseObject
ComponentState m_componentstate { ComponentState::Undefined }
 
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINKl_context
 
LinkSlaves l_slaves
 
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINKl_master
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
VecData m_vecData
 List of fields (Data instances) More...
 
MapData m_aliasData
 name -> Data multi-map (includes names and aliases) More...
 
VecLink m_vecLink
 List of links. More...
 
MapLink m_aliasLink
 name -> Link multi-map (includes names and aliases) More...
 

Additional Inherited Members

- Protected Types inherited from sofa::simulation::CollisionAnimationLoop
typedef simulation::Node::Sequence< core::behavior::OdeSolverSolvers
 
typedef core::collision::Pipeline Pipeline
 

Member Typedef Documentation

Constructor & Destructor Documentation

sofa::component::animationloop::ConstraintAnimationLoop::ConstraintAnimationLoop ( simulation::Node gnode = NULL)
protected
sofa::component::animationloop::ConstraintAnimationLoop::~ConstraintAnimationLoop ( )
protectedvirtual

Member Function Documentation

void sofa::component::animationloop::ConstraintAnimationLoop::computeComplianceInConstraintSpace ( )
protectedvirtual

4.calling addComplianceInConstraintSpace projected in the contact space => getDelassusOperator(_W) = H*C*Ht

calling getCompliance => getDelassusOperator(_W) = H*C*Ht

void sofa::component::animationloop::ConstraintAnimationLoop::computePredictiveForce ( int  dim,
double *  force,
std::vector< core::behavior::ConstraintResolution * > &  res 
)
protected

method for predictive scheme:

void sofa::component::animationloop::ConstraintAnimationLoop::correctiveMotion ( const core::ExecParams params,
simulation::Node context 
)
protected
template<class T >
static T::SPtr sofa::component::animationloop::ConstraintAnimationLoop::create ( T *  ,
BaseContext context,
BaseObjectDescription arg 
)
inlinestatic

Construction method called by ObjectFactory.

void sofa::component::animationloop::ConstraintAnimationLoop::debugWithContact ( int  numConstraints)
protected
void sofa::component::animationloop::ConstraintAnimationLoop::freeMotion ( const core::ExecParams params,
simulation::Node context,
SReal dt 
)
protected

(optional) PREDICTIVE CONSTRAINT FORCES /////////////////////////////////////////////////////////////////////////////////////////// When scheme Correction is used, the constraint forces computed at the previous time-step are applied during the first motion, so which is no more a "free" motion but a "predictive" motion

void sofa::component::animationloop::ConstraintAnimationLoop::gaussSeidelConstraint ( int  dim,
double *  dfree,
double **  w,
double *  force,
double *  d,
std::vector< core::behavior::ConstraintResolution * > &  res,
double *  df = NULL 
)
protected

display a graph with the force of each constraint dimension at each iteration

ConstraintProblem* sofa::component::animationloop::ConstraintAnimationLoop::getConstraintProblem ( void  )
inline
virtual ConstraintProblem* sofa::component::animationloop::ConstraintAnimationLoop::getCP ( )
inlineprotectedvirtual
void sofa::component::animationloop::ConstraintAnimationLoop::getIndividualConstraintSolvingProcess ( const core::ExecParams params,
simulation::Node context 
)
protected

3.calling getConstraintResolution: each constraint provides a method that is used to solve it during GS iterations

calling getConstraintResolution: each constraint provides a method that is used to solve it during GS iterations

void sofa::component::animationloop::ConstraintAnimationLoop::getIndividualConstraintViolations ( const core::ExecParams params,
simulation::Node context 
)
protected

2.calling GetConstraintViolationVisitor: each constraint provides its present violation for a given state (by default: free_position TODO: add VecId to make this method more generic)

void sofa::component::animationloop::ConstraintAnimationLoop::init ( void  )
overridevirtual

Initialization method called at graph creation and modification, during top-down traversal.

Reimplemented from sofa::core::objectmodel::BaseObject.

void sofa::component::animationloop::ConstraintAnimationLoop::launchCollisionDetection ( const core::ExecParams params)
protected
void sofa::component::animationloop::ConstraintAnimationLoop::setConstraintEquations ( const core::ExecParams params,
simulation::Node context 
)
protected

calling resetConstraint & setConstraint & accumulateConstraint visitors and resize the constraint problem that will be solved

calling GetConstraintViolationVisitor: each constraint provides its present violation for a given state (by default: free_position TODO: add VecId to make this method more generic)

calling getConstraintResolution: each constraint provides a method that is used to solve it during GS iterations

calling getCompliance projected in the contact space => getDelassusOperator(_W) = H*C*Ht

sofa::component::animationloop::ConstraintAnimationLoop::SOFA_CLASS ( ConstraintAnimationLoop  ,
sofa::simulation::CollisionAnimationLoop   
)
void sofa::component::animationloop::ConstraintAnimationLoop::step ( const core::ExecParams params,
SReal  dt 
)
overridevirtual

Main computation method.

Specify and execute all computations for computing a timestep, such as one or more collisions and integrations stages.

COLLISION

FREE MOTION

COLLISION

CONSTRAINT SPACE & COMPLIANCE COMPUTATION

CORRECTIVE MOTION

Implements sofa::core::behavior::BaseAnimationLoop.

void sofa::component::animationloop::ConstraintAnimationLoop::writeAndAccumulateAndCountConstraintDirections ( const core::ExecParams params,
simulation::Node context,
unsigned int &  numConstraints 
)
protected

Specific procedures that are called for setting the constraints:

1.calling resetConstraint & setConstraint & accumulateConstraint visitors and resize the constraint problem that will be solved

Member Data Documentation

Data<bool> sofa::component::animationloop::ConstraintAnimationLoop::_allVerified

All contraints must be verified (each constraint's error < tolerance)

Data<std::map < std::string, sofa::helper::vector<double> > > sofa::component::animationloop::ConstraintAnimationLoop::_graphConstraints

Graph of each constraint's error at the end of the resolution.

Data<std::map < std::string, sofa::helper::vector<double> > > sofa::component::animationloop::ConstraintAnimationLoop::_graphErrors

Sum of the constraints' errors at each iteration.

Data<std::map < std::string, sofa::helper::vector<double> > > sofa::component::animationloop::ConstraintAnimationLoop::_graphForces

Graph of each constraint's force at each step of the resolution.

Data<int> sofa::component::animationloop::ConstraintAnimationLoop::_maxIt

Maximum number of iterations of the Gauss-Seidel.

Data<bool> sofa::component::animationloop::ConstraintAnimationLoop::_realTimeCompensation

If the total computational time T < dt, sleep(dt-T)

Data<double> sofa::component::animationloop::ConstraintAnimationLoop::_sor

Successive Over Relaxation parameter (0-2)

Data<double> sofa::component::animationloop::ConstraintAnimationLoop::_tol

Tolerance of the Gauss-Seidel.

Data<bool> sofa::component::animationloop::ConstraintAnimationLoop::activateSubGraph
bool sofa::component::animationloop::ConstraintAnimationLoop::bufCP1
protected
SReal sofa::component::animationloop::ConstraintAnimationLoop::compTime
protected
std::vector<core::behavior::BaseConstraintCorrection*> sofa::component::animationloop::ConstraintAnimationLoop::constraintCorrections
protected
Data<bool> sofa::component::animationloop::ConstraintAnimationLoop::displayTime

Display time for each important step of ConstraintAnimationLoop.

Data<bool> sofa::component::animationloop::ConstraintAnimationLoop::doCollisionsFirst

Compute the collisions first (to support penality-based contacts)

Data<bool> sofa::component::animationloop::ConstraintAnimationLoop::doubleBuffer

Buffer the constraint problem in a double buffer to be accessible with an other thread.

SReal sofa::component::animationloop::ConstraintAnimationLoop::iterationTime
protected
unsigned int sofa::component::animationloop::ConstraintAnimationLoop::numConstraints
protected
Data<bool> sofa::component::animationloop::ConstraintAnimationLoop::scaleTolerance

Scale the error tolerance with the number of constraints.

Data<bool> sofa::component::animationloop::ConstraintAnimationLoop::schemeCorrection

Apply new scheme where compliance is progressively corrected.

SReal sofa::component::animationloop::ConstraintAnimationLoop::time
protected
sofa::helper::system::thread::CTime* sofa::component::animationloop::ConstraintAnimationLoop::timer
protected
SReal sofa::component::animationloop::ConstraintAnimationLoop::timeScale
protected

The documentation for this class was generated from the following files: