#include <GenericConstraintSolver.h>

Inheritance diagram for sofa::component::constraint::lagrangian::solver::GenericConstraintSolver:

Public Attributes
Data< ResolutionMethod >	d_resolutionMethod
	Method used to solve the constraint problem, among: "ProjectedGaussSeidel", "UnbuiltGaussSeidel" or "for NonsmoothNonlinearConjugateGradient". More...

Data< int >	d_maxIt
	maximal number of iterations of the Gauss-Seidel algorithm More...

Data< SReal >	d_tolerance
	residual error threshold for termination of the Gauss-Seidel algorithm More...

Data< SReal >	d_sor
	Successive Over Relaxation parameter (0-2) More...

Data< SReal >	d_regularizationTerm
	add regularization*Id to W when solving for constraints More...

Data< bool >	d_scaleTolerance
	Scale the error tolerance with the number of constraints. More...

Data< bool >	d_allVerified
	All constraints must be verified (each constraint's error < tolerance) More...

Data< int >	d_newtonIterations
	Maximum iteration number of Newton (for the NonsmoothNonlinearConjugateGradient solver only) More...

Data< bool >	d_multithreading
	Build compliances concurrently. More...

Data< bool >	d_computeGraphs
	Compute graphs of errors and forces during resolution. More...

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...

Data< std::map< std::string, sofa::type::vector< SReal > > >	d_graphViolations
	Graph of each constraint's violation at each step of the resolution. More...

Data< int >	d_currentNumConstraints
	OUTPUT: current number of constraints. More...

Data< int >	d_currentNumConstraintGroups
	OUTPUT: current number of constraints. More...

Data< int >	d_currentIterations
	OUTPUT: current number of constraint groups. More...

Data< SReal >	d_currentError
	OUTPUT: current error. More...

Data< bool >	d_reverseAccumulateOrder
	True to accumulate constraints from nodes in reversed order (can be necessary when using multi-mappings or interaction constraints not following the node hierarchy) More...

Data< type::vector< SReal > >	d_constraintForces
	OUTPUT: constraint forces (stored only if computeConstraintForces=True) More...

Data< bool >	d_computeConstraintForces
	The indices of the constraintForces to store in the constraintForce data field. More...

Public Attributes inherited from sofa::core::behavior::ConstraintSolver
	SReal

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 object belongs to More...

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

Data< sofa::core::objectmodel::ComponentState >	d_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
sofa::type::fixed_array< GenericConstraintProblem, CP_BUFFER_SIZE >	m_cpBuffer

sofa::type::fixed_array< bool, CP_BUFFER_SIZE >	m_cpIsLocked

GenericConstraintProblem *	current_cp

GenericConstraintProblem *	last_cp

sofa::core::MultiVecDerivId	m_lambdaId

sofa::core::MultiVecDerivId	m_dxId

Protected Attributes inherited from sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl
MultiLink< ConstraintSolverImpl, core::behavior::BaseConstraintCorrection, BaseLink::FLAG_STOREPATH >	l_constraintCorrections

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...

Static Protected Attributes
static constexpr auto	CP_BUFFER_SIZE = 10

Public Member Functions
	SOFA_CLASS (GenericConstraintSolver, ConstraintSolverImpl)

void	init () override
	Initialization method called at graph creation and modification, during top-down traversal. More...

void	cleanup () override

bool	prepareStates (const core::ConstraintParams *, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override

bool	buildSystem (const core::ConstraintParams *, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override

void	rebuildSystem (SReal massFactor, SReal forceFactor) override

void	addRegularization (linearalgebra::BaseMatrix &W)

bool	solveSystem (const core::ConstraintParams *, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override

bool	applyCorrection (const core::ConstraintParams *, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override

void	computeResidual (const core::ExecParams *) override

ConstraintProblem *	getConstraintProblem () override

void	lockConstraintProblem (sofa::core::objectmodel::BaseObject from, ConstraintProblem p1, ConstraintProblem *p2=nullptr) override

	MAKE_SELECTABLE_ITEMS (ResolutionMethod, sofa::helper::Item{"ProjectedGaussSeidel", "Projected Gauss-Seidel"}, sofa::helper::Item{"UnbuiltGaussSeidel", "Gauss-Seidel where the matrix is not assembled"}, sofa::helper::Item{"NonsmoothNonlinearConjugateGradient", "Non-smooth non-linear conjugate gradient"})

sofa::core::MultiVecDerivId	getLambda () const override

sofa::core::MultiVecDerivId	getDx () const override

Public Member Functions inherited from sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl
	ConstraintSolverImpl ()

	~ConstraintSolverImpl () override

void	removeConstraintCorrection (core::behavior::BaseConstraintCorrection *s) override

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

virtual void	solveConstraint (const ConstraintParams *, MultiVecId res1, MultiVecId res2=MultiVecId::null())

	SOFA_ATTRIBUTE_DEPRECATED__REBUILDSYSTEM () virtual void rebuildSystem(SReal

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)

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...

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	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	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

bool	isComponentStateInvalid () const

	SOFA_ATTRIBUTE_DEPRECATED__TOBASECONSTRAINT () virtual const behavior

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)=delete
	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
	GenericConstraintSolver ()

	~GenericConstraintSolver () override

void	clearConstraintProblemLocks ()

void	buildSystem_matrixFree (unsigned int numConstraints)

void	buildSystem_matrixAssembly (const core::ConstraintParams *cParams)

Protected Member Functions inherited from sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl
void	postBuildSystem (const core::ConstraintParams *cParams) override

void	postSolveSystem (const core::ConstraintParams *cParams) override

void	clearConstraintCorrections ()

void	resetConstraints (const core::ConstraintParams *cParams)

void	buildLocalConstraintMatrix (const core::ConstraintParams *cparams, unsigned int &constraintId)
	Call the method buildConstraintMatrix on all the BaseConstraintSet. More...

void	accumulateMatrixDeriv (const core::ConstraintParams *cparams)

unsigned int	buildConstraintMatrix (const core::ConstraintParams *cparams)

void	applyProjectiveConstraintOnConstraintMatrix (const core::ConstraintParams *cparams)

void	getConstraintViolation (const core::ConstraintParams cparams, sofa::linearalgebra::BaseVector v)

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

	~ConstraintSolver () override

bool	prepareStatesTask (const ConstraintParams *, MultiVecId res1, MultiVecId res2)

bool	buildSystemTask (const ConstraintParams *, MultiVecId res1, MultiVecId res2)

bool	solveSystemTask (const ConstraintParams *, MultiVecId res1, MultiVecId res2)

bool	applyCorrectionTask (const ConstraintParams *, MultiVecId res1, MultiVecId res2)

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...

Protected Member Functions inherited from sofa::core::IntrusiveObject
virtual	~IntrusiveObject ()=default

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

◆ CP_BUFFER_SIZE

constexpr auto sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::CP_BUFFER_SIZE = 10

staticconstexprprotected

◆ current_cp

GenericConstraintProblem* sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::current_cp

protected

◆ d_allVerified

Data<bool> sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_allVerified

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

◆ d_computeConstraintForces

Data<bool> sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_computeConstraintForces

The indices of the constraintForces to store in the constraintForce data field.

◆ d_computeGraphs

Data<bool> sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_computeGraphs

Compute graphs of errors and forces during resolution.

◆ d_constraintForces

Data<type::vector< SReal > > sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_constraintForces

OUTPUT: constraint forces (stored only if computeConstraintForces=True)

◆ d_currentError

Data<SReal> sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_currentError

OUTPUT: current error.

◆ d_currentIterations

Data<int> sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_currentIterations

OUTPUT: current number of constraint groups.

◆ d_currentNumConstraintGroups

Data<int> sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_currentNumConstraintGroups

OUTPUT: current number of constraints.

◆ d_currentNumConstraints

Data<int> sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_currentNumConstraints

OUTPUT: current number of constraints.

◆ d_graphConstraints

Data<std::map < std::string, sofa::type::vector<SReal> > > sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::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::constraint::lagrangian::solver::GenericConstraintSolver::d_graphErrors

Sum of the constraints' errors at each iteration.

◆ d_graphForces

Data<std::map < std::string, sofa::type::vector<SReal> > > sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_graphForces

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

◆ d_graphViolations

Data<std::map < std::string, sofa::type::vector<SReal> > > sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_graphViolations

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

◆ d_maxIt

Data<int> sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_maxIt

maximal number of iterations of the Gauss-Seidel algorithm

◆ d_multithreading

Data<bool> sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_multithreading

Build compliances concurrently.

◆ d_newtonIterations

Data<int> sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_newtonIterations

Maximum iteration number of Newton (for the NonsmoothNonlinearConjugateGradient solver only)

◆ d_regularizationTerm

Data< SReal > sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_regularizationTerm

add regularization*Id to W when solving for constraints

◆ d_resolutionMethod

Data< ResolutionMethod > sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_resolutionMethod

Method used to solve the constraint problem, among: "ProjectedGaussSeidel", "UnbuiltGaussSeidel" or "for NonsmoothNonlinearConjugateGradient".

◆ d_reverseAccumulateOrder

Data<bool> sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_reverseAccumulateOrder

True to accumulate constraints from nodes in reversed order (can be necessary when using multi-mappings or interaction constraints not following the node hierarchy)

◆ d_scaleTolerance

Data<bool> sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_scaleTolerance

Scale the error tolerance with the number of constraints.

◆ d_sor

Data<SReal> sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_sor

Successive Over Relaxation parameter (0-2)

◆ d_tolerance

Data<SReal> sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::d_tolerance

residual error threshold for termination of the Gauss-Seidel algorithm

◆ last_cp

GenericConstraintProblem * sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::last_cp

protected

◆ m_cpBuffer

sofa::type::fixed_array<GenericConstraintProblem, CP_BUFFER_SIZE> sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::m_cpBuffer

protected

◆ m_cpIsLocked

sofa::type::fixed_array<bool, CP_BUFFER_SIZE> sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::m_cpIsLocked

protected

◆ m_dxId

sofa::core::MultiVecDerivId sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::m_dxId

protected

◆ m_lambdaId

sofa::core::MultiVecDerivId sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::m_lambdaId

protected

Constructor details

◆ GenericConstraintSolver()

sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::GenericConstraintSolver ( )

protected

◆ ~GenericConstraintSolver()

sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::~GenericConstraintSolver ( )

overrideprotected

Function details

◆ addRegularization()

void sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::addRegularization ( linearalgebra::BaseMatrix & W )

◆ applyCorrection()

bool sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::applyCorrection	(	const core::ConstraintParams *	,
		MultiVecId	res1,
		MultiVecId	res2 = `MultiVecId::null()`
	)

overridevirtual

Correct the Mechanical State with the solution found

Implements sofa::core::behavior::ConstraintSolver.

◆ buildSystem()

bool sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::buildSystem	(	const core::ConstraintParams *	,
		MultiVecId	res1,
		MultiVecId	res2 = `MultiVecId::null()`
	)

overridevirtual

Create the system corresponding to the constraints

Implements sofa::core::behavior::ConstraintSolver.

◆ buildSystem_matrixAssembly()

void sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::buildSystem_matrixAssembly ( const core::ConstraintParams * cParams )

protected

◆ buildSystem_matrixFree()

void sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::buildSystem_matrixFree ( unsigned int numConstraints )

protected

◆ cleanup()

void sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::cleanup ( )

overridevirtual

Called just before deleting this object Any object in the tree below 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::component::constraint::lagrangian::solver::ConstraintSolverImpl.

◆ clearConstraintProblemLocks()

void sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::clearConstraintProblemLocks ( )

protected

◆ computeResidual()

void sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::computeResidual ( const core::ExecParams * )

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::ConstraintSolver.

◆ getConstraintProblem()

ConstraintProblem * sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::getConstraintProblem ( )

overridevirtual

Implements sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl.

◆ getDx()

sofa::core::MultiVecDerivId sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::getDx ( ) const

overridevirtual

Reimplemented from sofa::core::behavior::ConstraintSolver.

◆ getLambda()

sofa::core::MultiVecDerivId sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::getLambda ( ) const

overridevirtual

Reimplemented from sofa::core::behavior::ConstraintSolver.

◆ init()

void sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::init ( void )

overridevirtual

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

Reimplemented from sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl.

◆ lockConstraintProblem()

void sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::lockConstraintProblem	(	sofa::core::objectmodel::BaseObject *	from,
		ConstraintProblem *	p1,
		ConstraintProblem *	p2 = `nullptr`
	)

overridevirtual

Do not use the following LCPs until the next call to this function. This is used to prevent concurrent access to the LCP when using a LCPForceFeedback through an haptic thread.

Implements sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl.

◆ MAKE_SELECTABLE_ITEMS()

sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::MAKE_SELECTABLE_ITEMS	(	ResolutionMethod	,
		sofa::helper::Item{"ProjectedGaussSeidel", "Projected Gauss-Seidel"}	,
		sofa::helper::Item{"UnbuiltGaussSeidel", "Gauss-Seidel where the matrix is not assembled"}	,
		sofa::helper::Item{"NonsmoothNonlinearConjugateGradient", "Non-smooth non-linear conjugate gradient"}
	)

◆ prepareStates()

bool sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::prepareStates	(	const core::ConstraintParams *	,
		MultiVecId	res1,
		MultiVecId	res2 = `MultiVecId::null()`
	)

overridevirtual

Do the precomputation: compute free state, or propagate the states to the mapped mechanical states, where the constraint can be expressed

Implements sofa::core::behavior::ConstraintSolver.

◆ rebuildSystem()

void sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::rebuildSystem	(	SReal	massFactor,
		SReal	forceFactor
	)

override

◆ SOFA_CLASS()

sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::SOFA_CLASS	(	GenericConstraintSolver	,
		ConstraintSolverImpl
	)

◆ solveSystem()

bool sofa::component::constraint::lagrangian::solver::GenericConstraintSolver::solveSystem	(	const core::ConstraintParams *	,
		MultiVecId	res1,
		MultiVecId	res2 = `MultiVecId::null()`
	)

override

Public Attributes

Protected Attributes

Static Protected Attributes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ CP_BUFFER_SIZE

◆ current_cp

◆ d_allVerified

◆ d_computeConstraintForces

◆ d_computeGraphs

◆ d_constraintForces

◆ d_currentError

◆ d_currentIterations

◆ d_currentNumConstraintGroups

◆ d_currentNumConstraints

◆ d_graphConstraints

◆ d_graphErrors

◆ d_graphForces

◆ d_graphViolations

◆ d_maxIt

◆ d_multithreading

◆ d_newtonIterations

◆ d_regularizationTerm

◆ d_resolutionMethod

◆ d_reverseAccumulateOrder

◆ d_scaleTolerance

◆ d_sor

◆ d_tolerance

◆ last_cp

◆ m_cpBuffer

◆ m_cpIsLocked

◆ m_dxId

◆ m_lambdaId

Constructor details

◆ GenericConstraintSolver()

◆ ~GenericConstraintSolver()

Function details

◆ addRegularization()

◆ applyCorrection()

◆ buildSystem()

◆ buildSystem_matrixAssembly()

◆ buildSystem_matrixFree()

◆ cleanup()

◆ clearConstraintProblemLocks()

◆ computeResidual()

◆ getConstraintProblem()

◆ getDx()

◆ getLambda()

◆ init()

◆ lockConstraintProblem()

◆ MAKE_SELECTABLE_ITEMS()

◆ prepareStates()

◆ rebuildSystem()

◆ SOFA_CLASS()

◆ solveSystem()