SOFA API  38ecbea1
Open source framework for multi-physics simuation
sofa::component::animationloop::ConstraintAnimationLoop Class Reference

#include <ConstraintAnimationLoop.h>

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

Public Attributes

Data< boold_displayTime
 Display time for each important step of ConstraintAnimationLoop. More...
 
Data< SReal > d_tol
 Tolerance of the Gauss-Seidel. More...
 
Data< int > d_maxIt
 Maximum number of iterations of the Gauss-Seidel. More...
 
Data< boold_doCollisionsFirst
 Compute the collisions first (to support penality-based contacts) More...
 
Data< boold_doubleBuffer
 Double the buffer dedicated to the constraint problem to make it accessible to another thread. More...
 
Data< boold_scaleTolerance
 Scale the error tolerance with the number of constraints. More...
 
Data< boold_allVerified
 All contraints must be verified (each constraint's error < tolerance) More...
 
Data< SReal > d_sor
 Successive Over Relaxation parameter (0-2) More...
 
Data< boold_schemeCorrection
 Apply new scheme where compliance is progressively corrected. More...
 
Data< boold_realTimeCompensation
 If the total computational time T < dt, sleep(dt-T) More...
 
Data< boold_activateSubGraph
 
Data< std::map< std::string, sofa::type::vector< SReal > > > d_graphErrors
 Sum of the constraints' errors at each iteration. More...
 
Data< std::map< std::string, sofa::type::vector< SReal > > > d_graphConstraints
 Graph of each constraint's error at the end of the resolution. More...
 
Data< std::map< std::string, sofa::type::vector< SReal > > > d_graphForces
 Graph of each constraint's force at each step of the resolution. More...
 
- Public Attributes inherited from sofa::core::behavior::BaseAnimationLoop
SingleLink< BaseAnimationLoop, core::objectmodel::BaseNode, BaseLink::FLAG_STOREPATHl_node
 
Data< boold_computeBoundingBox
 If true, compute the global bounding box of the scene at each time step. Used mostly for rendering. More...
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< boolf_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * > m_oldAttributes
 
Data< int > d_messageLogCount
 
Data< std::string > name
 Name of the object. More...
 
Data< boolf_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::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

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::core::behavior::BaseAnimationLoop
SReal m_resetTime
 Stores starting time of the simulation. More...
 
- Protected Attributes inherited from sofa::core::objectmodel::BaseObject
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
std::map< std::string, sofa::core::DataTrackerCallbackm_internalEngine
 
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...
 

Public Member Functions

 SOFA_CLASS (ConstraintAnimationLoop, sofa::simulation::CollisionAnimationLoop)
 
void step (const core::ExecParams *params, SReal dt) override
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
ConstraintProblemgetConstraintProblem ()
 
- Public Member Functions inherited from sofa::core::behavior::BaseAnimationLoop
 SOFA_ABSTRACT_CLASS (BaseAnimationLoop, objectmodel::BaseObject)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
SReal getResetTime () const
 Returns starting time of the simulation. More...
 
bool insertInNode (objectmodel::BaseNode *node) override
 
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=nullptr)
 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=nullptr)
 
BasefindLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const override
 Return the full path name of this object. More...
 
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 handleEvent (Event *)
 Handle an event. More...
 
virtual void handleTopologyChange ()
 
virtual void handleTopologyChange (core::topology::Topology *t)
 
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...
 
void updateInternal ()
 Update method called when variables (used to compute other internal variables) 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
 
void addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)
 
void addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)
 
void addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)
 
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...
 
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 final
 Get the template type names (if any) used to instantiate this object. More...
 
std::string getNameSpaceName () const
 Get the template type names (if any) used to instantiate this object. More...
 
void setDefinitionSourceFileName (const std::string &sourceFileName)
 Set the source filename (where the component is implemented) More...
 
const std::string & getDefinitionSourceFileName () const
 Get the source filename (where the component is implemented) More...
 
void setDefinitionSourceFilePos (const int)
 Set the source location (where the component is implemented) More...
 
int getDefinitionSourceFilePos () const
 Get the source location (where the component is implemented) More...
 
void setInstanciationSourceFileName (const std::string &sourceFileName)
 
const std::string & getInstanciationSourceFileName () const
 
void setInstanciationSourceFilePos (const int)
 
int getInstanciationSourceFilePos () const
 
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...
 
ComponentState getComponentState () const
 
bool isComponentStateValid () const
 
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 (::sofa::core::objectmodel::Data< T > *field, const char *name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
 Helper method used to initialize a data field containing a value of type T. 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 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)
 

Protected Member Functions

 ConstraintAnimationLoop ()
 
 ~ConstraintAnimationLoop () override
 
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, SReal *force, std::vector< core::behavior::ConstraintResolution * > &res)
 method for predictive scheme: More...
 
void gaussSeidelConstraint (int dim, SReal *dfree, SReal **w, SReal *force, SReal *d, std::vector< core::behavior::ConstraintResolution * > &res, SReal *df)
 
virtual ConstraintProblemgetCP ()
 
- Protected Member Functions inherited from sofa::simulation::CollisionAnimationLoop
 CollisionAnimationLoop ()
 
 ~CollisionAnimationLoop () override
 
virtual void preCollisionComputation (const core::ExecParams *params=core::execparams::defaultInstance())
 Function meant to be called before the actual collision computation. More...
 
virtual void internalCollisionComputation (const core::ExecParams *params=core::execparams::defaultInstance())
 Function performing the actual collision computation. More...
 
virtual void postCollisionComputation (const core::ExecParams *params=core::execparams::defaultInstance())
 Function meant to be called after the actual collision computation. More...
 
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 ()
 
 ~BaseAnimationLoop () override
 
void storeResetState () override
 Save the initial state for later uses in reset() More...
 
- Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
 BaseObject ()
 
 ~BaseObject () override
 
virtual void doUpdateInternal ()
 Implementation of the internal update. More...
 
void changeContextLink (BaseContext *before, BaseContext *&after)
 
void changeSlavesLink (BaseObject::SPtr ptr, std::size_t, bool add)
 This method insures that slaves objects have master and context links set correctly. More...
 
void trackInternalData (const BaseData &data)
 Method called to add the Data to the DataTracker (listing the Data to track) More...
 
void cleanTracker ()
 
bool hasDataChanged (const BaseData &data)
 Method called to know if a tracked Data has changed. 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...
 

Additional Inherited Members

- 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 BaseClassGetClass ()
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

◆ bufCP1

bool sofa::component::animationloop::ConstraintAnimationLoop::bufCP1
protected

◆ compTime

SReal sofa::component::animationloop::ConstraintAnimationLoop::compTime
protected

◆ constraintCorrections

std::vector<core::behavior::BaseConstraintCorrection*> sofa::component::animationloop::ConstraintAnimationLoop::constraintCorrections
protected

◆ d_activateSubGraph

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

◆ d_allVerified

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

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

◆ d_displayTime

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

Display time for each important step of ConstraintAnimationLoop.

◆ d_doCollisionsFirst

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

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

◆ d_doubleBuffer

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

Double the buffer dedicated to the constraint problem to make it accessible to another thread.

◆ d_graphConstraints

Data<std::map < std::string, sofa::type::vector<SReal> > > sofa::component::animationloop::ConstraintAnimationLoop::d_graphConstraints

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

◆ d_graphErrors

Data<std::map < std::string, sofa::type::vector<SReal> > > sofa::component::animationloop::ConstraintAnimationLoop::d_graphErrors

Sum of the constraints' errors at each iteration.

◆ d_graphForces

Data<std::map < std::string, sofa::type::vector<SReal> > > sofa::component::animationloop::ConstraintAnimationLoop::d_graphForces

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

◆ d_maxIt

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

Maximum number of iterations of the Gauss-Seidel.

◆ d_realTimeCompensation

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

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

◆ d_scaleTolerance

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

Scale the error tolerance with the number of constraints.

◆ d_schemeCorrection

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

Apply new scheme where compliance is progressively corrected.

◆ d_sor

Data<SReal> sofa::component::animationloop::ConstraintAnimationLoop::d_sor

Successive Over Relaxation parameter (0-2)

◆ d_tol

Data<SReal> sofa::component::animationloop::ConstraintAnimationLoop::d_tol

Tolerance of the Gauss-Seidel.

◆ iterationTime

SReal sofa::component::animationloop::ConstraintAnimationLoop::iterationTime
protected

◆ numConstraints

unsigned int sofa::component::animationloop::ConstraintAnimationLoop::numConstraints
protected

◆ time

SReal sofa::component::animationloop::ConstraintAnimationLoop::time
protected

◆ timer

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

◆ timeScale

SReal sofa::component::animationloop::ConstraintAnimationLoop::timeScale
protected

Constructor details

◆ ConstraintAnimationLoop()

sofa::component::animationloop::ConstraintAnimationLoop::ConstraintAnimationLoop ( )
protected

◆ ~ConstraintAnimationLoop()

sofa::component::animationloop::ConstraintAnimationLoop::~ConstraintAnimationLoop ( )
overrideprotected

Function details

◆ computeComplianceInConstraintSpace()

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

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

◆ computePredictiveForce()

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

method for predictive scheme:

◆ correctiveMotion()

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

◆ debugWithContact()

void sofa::component::animationloop::ConstraintAnimationLoop::debugWithContact ( int  numConstraints)
protected

◆ freeMotion()

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

◆ gaussSeidelConstraint()

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

◆ getConstraintProblem()

ConstraintProblem* sofa::component::animationloop::ConstraintAnimationLoop::getConstraintProblem ( )
inline

◆ getCP()

ConstraintProblem * sofa::component::animationloop::ConstraintAnimationLoop::getCP ( )
protectedvirtual

◆ getIndividualConstraintSolvingProcess()

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

◆ getIndividualConstraintViolations()

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)

◆ init()

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.

◆ launchCollisionDetection()

void sofa::component::animationloop::ConstraintAnimationLoop::launchCollisionDetection ( const core::ExecParams params)
protected

◆ setConstraintEquations()

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

◆ SOFA_CLASS()

sofa::component::animationloop::ConstraintAnimationLoop::SOFA_CLASS ( ConstraintAnimationLoop  ,
sofa::simulation::CollisionAnimationLoop   
)

◆ step()

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.

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

◆ writeAndAccumulateAndCountConstraintDirections()

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