SOFA API  caf3b296
Open source framework for multi-physics simuation
sofa::component::constraintset::GenericConstraintCorrection Class Reference

#include <GenericConstraintCorrection.h>

Inheritance diagram for sofa::component::constraintset::GenericConstraintCorrection:

Public Attributes

Data< helper::vector< std::string > > d_linearSolversName
 name of the constraint solver More...
 
Data< std::string > d_ODESolverName
 name of the ode solver More...
 
Data< doubled_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< boolf_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
helper::system::SofaOStream< helper::logging::Message::Warningserr
 
helper::system::SofaOStream< helper::logging::Message::Infosout
 
helper::system::SofaEndl< Basesendl
 runs the stream processing More...
 
Data< std::string > name
 Name of the object. More...
 
Data< 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::defaulttype::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
DeprecatedAndRemoved m_componentstate
 
DeprecatedAndRemoved d_componentstate
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Protected Attributes

std::list< core::behavior::ConstraintSolver * > constraintsolvers
 
core::behavior::OdeSolverm_ODESolver
 
std::vector< core::behavior::LinearSolver * > m_linearSolvers
 
- 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
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 defaulttype::BaseVector *lambda) override
 
void addComplianceInConstraintSpace (const core::ConstraintParams *cparams, defaulttype::BaseMatrix *W) override
 
void getComplianceMatrix (defaulttype::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 defaulttype::BaseVector *lambda) override
 
void rebuildSystem (double massFactor, double forceFactor) override
 
void applyContactForce (const defaulttype::BaseVector *f) override
 
void resetContactForce () override
 
void computeResidual (const core::ExecParams *params, defaulttype::BaseVector *lambda) override
 
- Public Member Functions inherited from sofa::core::behavior::BaseConstraintCorrection
 SOFA_ABSTRACT_CLASS (BaseConstraintCorrection, objectmodel::BaseObject)
 
virtual bool isActive ()
 
virtual void getComplianceWithConstraintMerge (defaulttype::BaseMatrix *, std::vector< int > &)
 For multigrid approach => constraints are merged. More...
 
virtual bool hasConstraintNumber (int)
 
virtual void resetForUnbuiltResolution (double *, std::list< unsigned int > &)
 
virtual void addConstraintDisplacement (double *, int, int)
 
virtual void setConstraintDForce (double *, int, int, bool)
 
virtual void getBlockDiagonalCompliance (defaulttype::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)
 
void * findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const
 Return the full path name of this object. More...
 
virtual bool insertInNode (BaseNode *)
 
virtual bool removeInNode (BaseNode *)
 
template<class T >
T::SPtr searchLocal () const
 Local search of an object of the given type. More...
 
template<class T >
T::SPtr searchUp () const
 Upward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchDown () const
 Downward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchFromRoot () const
 
template<class T >
T::SPtr searchInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal () const
 Local search of all objects of the given type. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp () const
 Upward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown () const
 Downward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot () const
 Search of all objects of the given type, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const Tag &t) const
 Local search of all objects of the given type with a given Tag. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const Tag &t) const
 Upward search of all objects of the given type with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const Tag &t) const
 Downward search of all objects of the given typee with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const Tag &t) const
 Search of all objects of the given typee with a given Tag, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const Tag &t) const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const TagSet &t) const
 Local search of all objects of the given type with a given TagSet. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const TagSet &t) const
 Upward search of all objects of the given type with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const TagSet &t) const
 Downward search of all objects of the given typee with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const TagSet &t) const
 Search of all objects of the given typee with a given TagSet, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const TagSet &t) const
 
SReal getTime () const
 Current time. More...
 
const BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (const std::string &name) const
 
virtual void addSlave (BaseObject::SPtr s)
 
virtual void removeSlave (BaseObject::SPtr s)
 
virtual void 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 BaseClassgetClass () const
 
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 addOutputToCallback (const std::string &name, BaseData *output)
 
const std::string & getName () const
 Accessor to the object name. More...
 
void setName (const std::string &n)
 Set the name of this object. More...
 
void setName (const std::string &n, int counter)
 Set the name of this object, adding an integer counter. More...
 
virtual std::string getTypeName () const
 Get the type name of this object (i.e. class and template types) More...
 
virtual std::string getClassName () const
 Get the class name of this object. More...
 
virtual std::string getTemplateName () const
 Get the template type names (if any) used to instantiate this object. More...
 
virtual 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
 
const std::string getWarnings () const
 
const std::string getOutputs () const
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearWarnings ()
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearOutputs ()
 use clearLoggedMessages() instead More...
 
void processStream (std::ostream &out)
 use clearLoggedMessages() instead More...
 
void addMessage (const sofa::helper::logging::Message &m) const
 
size_t countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
const std::deque< sofa::helper::logging::Message > & getLoggedMessages () const
 
const std::string getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
void clearLoggedMessages () const
 
bool notMuted () const
 
bool IsInheritingFromBase ()
 
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 (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

 GenericConstraintCorrection ()
 
 ~GenericConstraintCorrection () override
 
void applyMotionCorrection (const core::ConstraintParams *cparams, core::MultiVecCoordId xId, core::MultiVecDerivId vId, core::MultiVecDerivId dxId, core::ConstMultiVecDerivId correction, double positionFactor, double 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, unsigned int, 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 void dynamicCast (T *&ptr, Base *b)
 
template<class T >
static std::string typeName (const T *ptr=nullptr)
 
template<class T >
static std::string className (const T *ptr=nullptr)
 
template<class T >
static std::string namespaceName (const T *ptr=nullptr)
 
template<class T >
static std::string templateName (const T *ptr=nullptr)
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

std::list<core::behavior::ConstraintSolver*> sofa::component::constraintset::GenericConstraintCorrection::constraintsolvers
protected
Data< double > sofa::component::constraintset::GenericConstraintCorrection::d_complianceFactor

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

Data< helper::vector< std::string > > sofa::component::constraintset::GenericConstraintCorrection::d_linearSolversName

name of the constraint solver

Data< std::string > sofa::component::constraintset::GenericConstraintCorrection::d_ODESolverName

name of the ode solver

std::vector< core::behavior::LinearSolver* > sofa::component::constraintset::GenericConstraintCorrection::m_linearSolvers
protected
core::behavior::OdeSolver* sofa::component::constraintset::GenericConstraintCorrection::m_ODESolver
protected

Constructor details

sofa::component::constraintset::GenericConstraintCorrection::GenericConstraintCorrection ( )
protected
sofa::component::constraintset::GenericConstraintCorrection::~GenericConstraintCorrection ( )
overrideprotected

Function details

void sofa::component::constraintset::GenericConstraintCorrection::addComplianceInConstraintSpace ( const core::ConstraintParams cparams,
defaulttype::BaseMatrix W 
)
overridevirtual
void sofa::component::constraintset::GenericConstraintCorrection::addConstraintSolver ( core::behavior::ConstraintSolver s)
overridevirtual

Keeps track of the constraint solver

Parameters
sis the constraint solver

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

void sofa::component::constraintset::GenericConstraintCorrection::applyContactForce ( const defaulttype::BaseVector f)
overridevirtual
void sofa::component::constraintset::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
xis the position result VecId
vis the velocity result VecId
dxif the corrective motion result VecId

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

void sofa::component::constraintset::GenericConstraintCorrection::applyMotionCorrection ( const core::ConstraintParams cparams,
core::MultiVecCoordId  xId,
core::MultiVecDerivId  vId,
core::MultiVecDerivId  dxId,
core::ConstMultiVecDerivId  correction,
double  positionFactor,
double  velocityFactor 
)
protected
void sofa::component::constraintset::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
xis the position result VecId
vis the velocity result VecId
dxif the corrective position result VecId

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

void sofa::component::constraintset::GenericConstraintCorrection::applyPredictiveConstraintForce ( const core::ConstraintParams cparams,
core::MultiVecDerivId  f,
const defaulttype::BaseVector lambda 
)
overridevirtual

Apply predictive constraint force

Parameters
cparams
fis the motion space force vector
lambdais the constraint space force vector

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

void sofa::component::constraintset::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
xis the position result VecId
vis the velocity result VecId
dvif the corrective velocity result VecId
correctionis the corrective motion computed from the constraint lambda

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

void sofa::component::constraintset::GenericConstraintCorrection::bwdInit ( )
overridevirtual

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

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

void sofa::component::constraintset::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.

void sofa::component::constraintset::GenericConstraintCorrection::computeMotionCorrectionFromLambda ( const core::ConstraintParams cparams,
core::MultiVecDerivId  dx,
const defaulttype::BaseVector lambda 
)
overridevirtual

Compute the corrective motion from the constraint space lambda

Parameters
cparamsthe ConstraintParams relative to the constraint solver
dxthe VecId where to store the corrective motion
lambdais the constraint space force vector

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

void sofa::component::constraintset::GenericConstraintCorrection::computeResidual ( const core::ExecParams ,
defaulttype::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.

void sofa::component::constraintset::GenericConstraintCorrection::getComplianceMatrix ( defaulttype::BaseMatrix m) const
overridevirtual

Fill the matrix m with the full Compliance Matrix.

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

void sofa::component::constraintset::GenericConstraintCorrection::rebuildSystem ( double  ,
double   
)
overridevirtual

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

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

void sofa::component::constraintset::GenericConstraintCorrection::removeConstraintSolver ( core::behavior::ConstraintSolver s)
overridevirtual

Remove reference to constraint solver

Parameters
sis the constraint solver

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

void sofa::component::constraintset::GenericConstraintCorrection::resetContactForce ( )
overridevirtual
sofa::component::constraintset::GenericConstraintCorrection::SOFA_CLASS ( GenericConstraintCorrection  ,
core::behavior::BaseConstraintCorrection   
)