#include <GenericConstraintCorrection.h>

Inheritance diagram for sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection:

Public Attributes
SingleLink< GenericConstraintCorrection, sofa::core::behavior::LinearSolver, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	l_linearSolver
	Link towards the linear solver used to compute the compliance matrix, requiring the inverse of the linear system matrix. More...

SingleLink< GenericConstraintCorrection, sofa::core::behavior::OdeSolver, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	l_ODESolver
	Link towards the ODE solver used to recover the integration factors. More...

Data< SReal >	d_complianceFactor
	Factor applied to the position factor and velocity factor used to calculate compliance matrix. 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
std::vector< lifecycle::DeprecatedData * >	m_oldAttributes

Data< int >	d_messageLogCount

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::TagSet >	f_tags
	list of the subsets the objet belongs to More...

Data< sofa::type::BoundingBox >	f_bbox
	this object bounding box More...

Data< sofa::core::objectmodel::ComponentState >	d_componentState
	the object state More...

std::string	m_definitionSourceFileName {""}

int	m_definitionSourceFilePos {-1}

std::string	m_instanciationSourceFileName {""}

int	m_instanciationSourceFilePos {-1}

Protected Attributes
std::list< core::behavior::ConstraintSolver * >	constraintsolvers

Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK >	l_context

LinkSlaves	l_slaves

SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK >	l_master

Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallback >	m_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 (GenericConstraintCorrection, core::behavior::BaseConstraintCorrection)

void	bwdInit () override
	Initialization method called at graph creation and modification, during bottom-up traversal. More...

void	cleanup () override

void	addConstraintSolver (core::behavior::ConstraintSolver *s) override

void	removeConstraintSolver (core::behavior::ConstraintSolver *s) override

void	computeMotionCorrectionFromLambda (const core::ConstraintParams cparams, core::MultiVecDerivId dx, const linearalgebra::BaseVector lambda) override

void	addComplianceInConstraintSpace (const core::ConstraintParams cparams, linearalgebra::BaseMatrix W) override

void	getComplianceMatrix (linearalgebra::BaseMatrix *) const override
	Fill the matrix m with the full Compliance Matrix. More...

void	applyMotionCorrection (const core::ConstraintParams *cparams, core::MultiVecCoordId x, core::MultiVecDerivId v, core::MultiVecDerivId dx, core::ConstMultiVecDerivId correction) override

void	applyPositionCorrection (const core::ConstraintParams *cparams, core::MultiVecCoordId x, core::MultiVecDerivId dx, core::ConstMultiVecDerivId correction) override

void	applyVelocityCorrection (const core::ConstraintParams *cparams, core::MultiVecDerivId v, core::MultiVecDerivId dv, core::ConstMultiVecDerivId correction) override

void	applyPredictiveConstraintForce (const core::ConstraintParams cparams, core::MultiVecDerivId f, const linearalgebra::BaseVector lambda) override

void	rebuildSystem (SReal massFactor, SReal forceFactor) override

void	applyContactForce (const linearalgebra::BaseVector *f) override

void	resetContactForce () override

void	computeResidual (const core::ExecParams params, linearalgebra::BaseVector lambda) override

Public Member Functions inherited from sofa::core::behavior::BaseConstraintCorrection
	SOFA_ABSTRACT_CLASS (BaseConstraintCorrection, objectmodel::BaseObject)

virtual bool	isActive ()

virtual void	getComplianceWithConstraintMerge (linearalgebra::BaseMatrix *, std::vector< int > &)
	For multigrid approach => constraints are merged. More...

virtual bool	hasConstraintNumber (int)

virtual void	resetForUnbuiltResolution (SReal *, std::list< unsigned int > &)

virtual void	addConstraintDisplacement (SReal *, int, int)

virtual void	setConstraintDForce (SReal *, int, int, bool)

virtual void	getBlockDiagonalCompliance (linearalgebra::BaseMatrix *, int, int)

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)

Base *	findLinkDestClass (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...

virtual bool	insertInNode (BaseNode *)

virtual bool	removeInNode (BaseNode *)

SReal	getTime () const
	Current time. More...

const BaseContext *	getContext () const

BaseContext *	getContext ()

const BaseObject *	getMaster () const

BaseObject *	getMaster ()

const VecSlaves &	getSlaves () const

BaseObject *	getSlave (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	init ()
	Initialization method called at graph creation and modification, during top-down 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	storeResetState ()
	Save the initial state for later uses in reset() More...

virtual void	reset ()
	Reset to initial state. More...

Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClass *	getClass () 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::TagSet &	getTags () 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=" ")

BaseData *	findData (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...

BaseLink *	findLink (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 VecData &	getDataFields () const
	Accessor to the vector containing all the fields of this object. More...

const MapData &	getDataAliases () const
	Accessor to the map containing all the aliases of this object. More...

const VecLink &	getLinks () const
	Accessor to the vector containing all the fields of this object. More...

const MapLink &	getLinkAliases () 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
	GenericConstraintCorrection ()

	~GenericConstraintCorrection () override

void	applyMotionCorrection (const core::ConstraintParams *cparams, core::MultiVecCoordId xId, core::MultiVecDerivId vId, core::MultiVecDerivId dxId, core::ConstMultiVecDerivId correction, SReal positionFactor, SReal velocityFactor)

Protected Member Functions inherited from sofa::core::behavior::BaseConstraintCorrection
	BaseConstraintCorrection ()

	~BaseConstraintCorrection () override

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 BaseClass *	GetClass ()

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

Attribute details

◆ constraintsolvers

std::list<core::behavior::ConstraintSolver*> sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::constraintsolvers

protected

◆ d_complianceFactor

Data< SReal > sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::d_complianceFactor

Factor applied to the position factor and velocity factor used to calculate compliance matrix.

◆ l_linearSolver

SingleLink<GenericConstraintCorrection, sofa::core::behavior::LinearSolver, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::l_linearSolver

Link towards the linear solver used to compute the compliance matrix, requiring the inverse of the linear system matrix.

◆ l_ODESolver

SingleLink<GenericConstraintCorrection, sofa::core::behavior::OdeSolver, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::l_ODESolver

Link towards the ODE solver used to recover the integration factors.

Constructor details

◆ GenericConstraintCorrection()

sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::GenericConstraintCorrection ( )

protected

◆ ~GenericConstraintCorrection()

sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::~GenericConstraintCorrection ( )

overrideprotected

Function details

◆ addComplianceInConstraintSpace()

void sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::addComplianceInConstraintSpace	(	const core::ConstraintParams *	cparams,
		linearalgebra::BaseMatrix *	W
	)

overridevirtual

Implements sofa::core::behavior::BaseConstraintCorrection.

◆ addConstraintSolver()

void sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::addConstraintSolver ( core::behavior::ConstraintSolver * s )

overridevirtual

Keeps track of the constraint solver

Parameters

s	is the constraint solver

Implements sofa::core::behavior::BaseConstraintCorrection.

◆ applyContactForce()

void sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::applyContactForce ( const linearalgebra::BaseVector * f )

overridevirtual

Implements sofa::core::behavior::BaseConstraintCorrection.

◆ applyMotionCorrection() [1/2]

void sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::applyMotionCorrection	(	const core::ConstraintParams *	cparams,
		core::MultiVecCoordId	x,
		core::MultiVecDerivId	v,
		core::MultiVecDerivId	dx,
		core::ConstMultiVecDerivId	correction
	)

overridevirtual

Compute motion correction from the constraint resolution (LCP) calculated force

Parameters

cparams
x	is the position result VecId
v	is the velocity result VecId
dx	if the corrective motion result VecId

Implements sofa::core::behavior::BaseConstraintCorrection.

◆ applyMotionCorrection() [2/2]

void sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::applyMotionCorrection	(	const core::ConstraintParams *	cparams,
		core::MultiVecCoordId	xId,
		core::MultiVecDerivId	vId,
		core::MultiVecDerivId	dxId,
		core::ConstMultiVecDerivId	correction,
		SReal	positionFactor,
		SReal	velocityFactor
	)

protected

◆ applyPositionCorrection()

void sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::applyPositionCorrection	(	const core::ConstraintParams *	cparams,
		core::MultiVecCoordId	x,
		core::MultiVecDerivId	dx,
		core::ConstMultiVecDerivId	correction
	)

overridevirtual

Compute position correction from the constraint resolution (LCP) calculated force

Parameters

cparams
x	is the position result VecId
v	is the velocity result VecId
dx	if the corrective position result VecId

Implements sofa::core::behavior::BaseConstraintCorrection.

◆ applyPredictiveConstraintForce()

void sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::applyPredictiveConstraintForce	(	const core::ConstraintParams *	cparams,
		core::MultiVecDerivId	f,
		const linearalgebra::BaseVector *	lambda
	)

overridevirtual

Apply predictive constraint force

Parameters

cparams
f	is the motion space force vector
lambda	is the constraint space force vector

Implements sofa::core::behavior::BaseConstraintCorrection.

◆ applyVelocityCorrection()

void sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::applyVelocityCorrection	(	const core::ConstraintParams *	cparams,
		core::MultiVecDerivId	v,
		core::MultiVecDerivId	dv,
		core::ConstMultiVecDerivId	correction
	)

overridevirtual

Compute velocity correction from the constraint resolution (LCP) calculated force

Parameters

cparams
x	is the position result VecId
v	is the velocity result VecId
dv	if the corrective velocity result VecId
correction	is the corrective motion computed from the constraint lambda

Implements sofa::core::behavior::BaseConstraintCorrection.

◆ bwdInit()

void sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::bwdInit ( )

overridevirtual

Initialization method called at graph creation and modification, during bottom-up traversal.

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

◆ cleanup()

void sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::cleanup ( )

overridevirtual

Called just before deleting this object Any object in the tree bellow this object that are to be removed will be removed only after this call, so any references this object holds should still be valid.

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

◆ computeMotionCorrectionFromLambda()

void sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::computeMotionCorrectionFromLambda	(	const core::ConstraintParams *	cparams,
		core::MultiVecDerivId	dx,
		const linearalgebra::BaseVector *	lambda
	)

overridevirtual

Compute the corrective motion from the constraint space lambda

Parameters

cparams	the ConstraintParams relative to the constraint solver
dx	the VecId where to store the corrective motion
lambda	is the constraint space force vector

Implements sofa::core::behavior::BaseConstraintCorrection.

◆ computeResidual()

void sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::computeResidual	(	const core::ExecParams *	,
		linearalgebra::BaseVector *
	)

overridevirtual

Compute the residual in the newton iterations due to the constraints forces i.e. compute Vecid::force() += J^t lambda the result is accumulated in Vecid::force()

Reimplemented from sofa::core::behavior::BaseConstraintCorrection.

◆ getComplianceMatrix()

void sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::getComplianceMatrix ( linearalgebra::BaseMatrix * m ) const

overridevirtual

Fill the matrix m with the full Compliance Matrix.

Implements sofa::core::behavior::BaseConstraintCorrection.

◆ rebuildSystem()

void sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::rebuildSystem	(	SReal	,
		SReal
	)

overridevirtual

Rebuild the system using a mass and force factor Experimental API used to investigate convergence issues.

Reimplemented from sofa::core::behavior::BaseConstraintCorrection.

◆ removeConstraintSolver()

void sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::removeConstraintSolver ( core::behavior::ConstraintSolver * s )

overridevirtual

Remove reference to constraint solver

Parameters

s	is the constraint solver

Implements sofa::core::behavior::BaseConstraintCorrection.

◆ resetContactForce()

void sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::resetContactForce ( )

overridevirtual

Implements sofa::core::behavior::BaseConstraintCorrection.

◆ SOFA_CLASS()

sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection::SOFA_CLASS	(	GenericConstraintCorrection	,
		core::behavior::BaseConstraintCorrection
	)

Public Attributes

Protected Attributes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ constraintsolvers

◆ d_complianceFactor

◆ l_linearSolver

◆ l_ODESolver

Constructor details

◆ GenericConstraintCorrection()

◆ ~GenericConstraintCorrection()

Function details

◆ addComplianceInConstraintSpace()

◆ addConstraintSolver()

◆ applyContactForce()

◆ applyMotionCorrection() [1/2]

◆ applyMotionCorrection() [2/2]

◆ applyPositionCorrection()

◆ applyPredictiveConstraintForce()

◆ applyVelocityCorrection()

◆ bwdInit()

◆ cleanup()

◆ computeMotionCorrectionFromLambda()

◆ computeResidual()

◆ getComplianceMatrix()

◆ rebuildSystem()

◆ removeConstraintSolver()

◆ resetContactForce()

◆ SOFA_CLASS()