#include <LCPConstraintSolver.h>

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

Public Attributes
Data< bool >	displayDebug
	Display debug information. More...

Data< bool >	initial_guess
	activate LCP results history to improve its resolution performances. More...

Data< bool >	build_lcp
	LCP is not fully built to increase performance in some case. More...

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

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

Data< SReal >	mu
	Friction coefficient. More...

Data< SReal >	minW
	If not zero, constraints whose self-compliance (i.e. the corresponding value on the diagonal of W) is smaller than this threshold will be ignored. More...

Data< SReal >	maxF
	If not zero, constraints whose response force becomes larger than this threshold will be ignored. More...

Data< bool >	multi_grid
	activate multi_grid resolution (NOT STABLE YET) More...

Data< int >	multi_grid_levels
	if multi_grid is active: how many levels to create (>=2) More...

Data< int >	merge_method
	if multi_grid is active: which method to use to merge constraints (0 = compliance-based, 1 = spatial coordinates) More...

Data< int >	merge_spatial_step
	if merge_method is 1: grid size reduction between multigrid levels More...

Data< int >	merge_local_levels
	if merge_method is 1: up to the specified level of the multigrid, constraints are grouped locally, i.e. separately within each contact pairs, while on upper levels they are grouped globally independently of contact pairs. More...

Data< type::vector< SReal > >	d_constraintForces
	OUTPUT: The Data constraintForces is used to provide the intensities of constraint forces in the simulation. The user can easily check the constraint forces from the GenericConstraint component interface. More...

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

Data< std::set< int > >	constraintGroups
	list of ID of groups of constraints to be handled by this solver. More...

Data< std::map< std::string, sofa::type::vector< SReal > > >	f_graph
	Graph of residuals at each iteration. More...

Data< int >	showLevels
	Number of constraint levels to display. More...

Data< SReal >	showCellWidth
	Distance between each constraint cells. More...

Data< type::Vec3 >	showTranslation
	Position of the first cell. More...

Data< type::Vec3 >	showLevelTranslation
	Translation between levels. 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}

Public Member Functions
	SOFA_CLASS (LCPConstraintSolver, ConstraintSolverImpl)

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

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

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	draw (const core::visual::VisualParams *vparams) override
	Render internal data of this object, for debugging purposes. More...

ConstraintProblem *	getConstraintProblem () override

void	lockConstraintProblem (sofa::core::objectmodel::BaseObject from, ConstraintProblem p1, ConstraintProblem *p2=nullptr) override
	Do not use the following LCPs until the next call to this function. This is used to prevent concurent access to the LCP when using a LCPForceFeedback through an haptic thread. More...

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

	~ConstraintSolverImpl () override

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

void	cleanup () 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())

virtual void	rebuildSystem (SReal, SReal)

virtual void	computeResidual (const core::ExecParams *)

bool	insertInNode (objectmodel::BaseNode *node) override

bool	removeInNode (objectmodel::BaseNode *node) override

virtual MultiVecDerivId	getLambda () const

virtual MultiVecDerivId	getDx () const

Public Member Functions inherited from sofa::core::objectmodel::BaseObject
	SOFA_CLASS (BaseObject, Base)

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

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
	LCPConstraintSolver ()
	Default Constructor. More...

	~LCPConstraintSolver () override
	Default Destructor. More...

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...

Additional Inherited Members
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 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

◆ build_lcp

Data<bool> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::build_lcp

LCP is not fully built to increase performance in some case.

◆ constraintGroups

Data< std::set<int> > sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::constraintGroups

list of ID of groups of constraints to be handled by this solver.

◆ d_computeConstraintForces

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

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

◆ d_constraintForces

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

OUTPUT: The Data constraintForces is used to provide the intensities of constraint forces in the simulation. The user can easily check the constraint forces from the GenericConstraint component interface.

◆ displayDebug

Data<bool> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::displayDebug

Display debug information.

◆ f_graph

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

Graph of residuals at each iteration.

◆ initial_guess

Data<bool> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::initial_guess

activate LCP results history to improve its resolution performances.

◆ maxF

Data<SReal> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::maxF

If not zero, constraints whose response force becomes larger than this threshold will be ignored.

◆ maxIt

Data<int> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::maxIt

maximal number of iterations of the Gauss-Seidel algorithm

◆ merge_local_levels

Data<int> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::merge_local_levels

if merge_method is 1: up to the specified level of the multigrid, constraints are grouped locally, i.e. separately within each contact pairs, while on upper levels they are grouped globally independently of contact pairs.

◆ merge_method

Data<int> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::merge_method

if multi_grid is active: which method to use to merge constraints (0 = compliance-based, 1 = spatial coordinates)

◆ merge_spatial_step

Data<int> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::merge_spatial_step

if merge_method is 1: grid size reduction between multigrid levels

◆ minW

Data<SReal> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::minW

If not zero, constraints whose self-compliance (i.e. the corresponding value on the diagonal of W) is smaller than this threshold will be ignored.

◆ mu

Data<SReal> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::mu

Friction coefficient.

◆ multi_grid

Data<bool> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::multi_grid

activate multi_grid resolution (NOT STABLE YET)

◆ multi_grid_levels

Data<int> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::multi_grid_levels

if multi_grid is active: how many levels to create (>=2)

◆ showCellWidth

Data<SReal> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::showCellWidth

Distance between each constraint cells.

◆ showLevels

Data<int> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::showLevels

Number of constraint levels to display.

◆ showLevelTranslation

Data<type::Vec3> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::showLevelTranslation

Translation between levels.

◆ showTranslation

Data<type::Vec3> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::showTranslation

Position of the first cell.

◆ tol

Data<SReal> sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::tol

residual error threshold for termination of the Gauss-Seidel algorithm

Constructor details

◆ LCPConstraintSolver()

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

protected

Default Constructor.

◆ ~LCPConstraintSolver()

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

overrideprotected

Default Destructor.

Function details

◆ applyCorrection()

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

overridevirtual

Create the system corresponding to the constraints

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

◆ draw()

void sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::draw ( const core::visual::VisualParams * )

overridevirtual

Render internal data of this object, for debugging purposes.

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

◆ getConstraintProblem()

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

overridevirtual

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

◆ lockConstraintProblem()

void sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::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 concurent access to the LCP when using a LCPForceFeedback through an haptic thread.

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

◆ prepareStates()

bool sofa::component::constraint::lagrangian::solver::LCPConstraintSolver::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.

◆ SOFA_CLASS()

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

◆ solveSystem()

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

overridevirtual

Use the system previously built and solve it with the appropriate algorithm

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

Public Attributes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ build_lcp

◆ constraintGroups

◆ d_computeConstraintForces

◆ d_constraintForces

◆ displayDebug

◆ f_graph

◆ initial_guess

◆ maxF

◆ maxIt

◆ merge_local_levels

◆ merge_method

◆ merge_spatial_step

◆ minW

◆ mu

◆ multi_grid

◆ multi_grid_levels

◆ showCellWidth

◆ showLevels

◆ showLevelTranslation

◆ showTranslation

◆ tol

Constructor details

◆ LCPConstraintSolver()

◆ ~LCPConstraintSolver()

Function details

◆ applyCorrection()

◆ buildSystem()

◆ draw()

◆ getConstraintProblem()

◆ lockConstraintProblem()

◆ prepareStates()

◆ SOFA_CLASS()

◆ solveSystem()