SOFA API  d5d9f025
Open source framework for multi-physics simuation
sofa::component::constraintset::GenericConstraintSolver Class Reference

#include <GenericConstraintSolver.h>

Inheritance diagram for sofa::component::constraintset::GenericConstraintSolver:

Public Attributes

Data< booldisplayTime
 Display time for each important step of GenericConstraintSolver. More...
 
Data< intmaxIt
 maximal number of iterations of the Gauss-Seidel algorithm More...
 
Data< doubletolerance
 residual error threshold for termination of the Gauss-Seidel algorithm More...
 
Data< doublesor
 Successive Over Relaxation parameter (0-2) More...
 
Data< boolscaleTolerance
 Scale the error tolerance with the number of constraints. More...
 
Data< boolallVerified
 All contraints must be verified (each constraint's error < tolerance) More...
 
Data< boolschemeCorrection
 Apply new scheme where compliance is progressively corrected. More...
 
Data< boolunbuilt
 Compliance is not fully built. More...
 
Data< boolcomputeGraphs
 Compute graphs of errors and forces during resolution. More...
 
Data< std::map< std::string, sofa::helper::vector< double > > > graphErrors
 Sum of the constraints' errors at each iteration. More...
 
Data< std::map< std::string, sofa::helper::vector< double > > > graphConstraints
 Graph of each constraint's error at the end of the resolution. More...
 
Data< std::map< std::string, sofa::helper::vector< double > > > graphForces
 Graph of each constraint's force at each step of the resolution. More...
 
Data< std::map< std::string, sofa::helper::vector< double > > > graphViolations
 Graph of each constraint's violation at each step of the resolution. More...
 
Data< intcurrentNumConstraints
 OUTPUT: current number of constraints. More...
 
Data< intcurrentNumConstraintGroups
 OUTPUT: current number of constraints. More...
 
Data< intcurrentIterations
 OUTPUT: current number of constraint groups. More...
 
Data< doublecurrentError
 OUTPUT: current error. More...
 
Data< boolreverseAccumulateOrder
 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< helper::vector< double > > 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< boold_computeConstraintForces
 The indices of the constraintForces to store in the constraintForce data field. 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< ComponentStated_componentstate
 the object state More...
 
Data< ComponentState > & m_componentstate {d_componentstate}
 TODO bruno: uncomment once c++17 is enabled in SOFA. More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Protected Attributes

sofa::helper::fixed_array< GenericConstraintProblem, CP_BUFFER_SIZEm_cpBuffer
 
sofa::helper::fixed_array< bool, CP_BUFFER_SIZEm_cpIsLocked
 
GenericConstraintProblemcurrent_cp
 
GenericConstraintProblemlast_cp
 
std::vector< core::behavior::BaseConstraintCorrection * > constraintCorrections
 
std::vector< char > constraintCorrectionIsActive
 
simulation::Nodecontext
 
sofa::core::MultiVecDerivId m_lambdaId
 
sofa::core::MultiVecDerivId m_dxId
 
sofa::helper::system::thread::CTime timer
 
sofa::helper::system::thread::CTime timerTotal
 
double time
 
double timeTotal
 
double timeScale
 
- 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 (GenericConstraintSolver, sofa::core::behavior::ConstraintSolver)
 
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 (double massFactor, double forceFactor) 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 computeResidual (const core::ExecParams *) override
 
ConstraintProblemgetConstraintProblem () override
 
void lockConstraintProblem (sofa::core::objectmodel::BaseObject *from, ConstraintProblem *p1, ConstraintProblem *p2=nullptr) override
 
void removeConstraintCorrection (core::behavior::BaseConstraintCorrection *s) override
 
sofa::core::MultiVecDerivId getLambda () const override
 
sofa::core::MultiVecDerivId getDx () const override
 
- Public Member Functions inherited from sofa::component::constraintset::ConstraintSolverImpl
 SOFA_CLASS (ConstraintSolverImpl, sofa::core::behavior::ConstraintSolver)
 
- 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())
 
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)
 
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...
 
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 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 BaseClassgetClass () const
 
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...
 
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
 
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 removeLink (BaseLink *l)
 Remove 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

 GenericConstraintSolver ()
 
 ~GenericConstraintSolver () override
 
void clearConstraintProblemLocks ()
 
- Protected Member Functions inherited from sofa::core::behavior::ConstraintSolver
 ConstraintSolver ()
 
 ~ConstraintSolver () 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 MyClassGetClass ()
 
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

Data<bool> sofa::component::constraintset::GenericConstraintSolver::allVerified

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

Data<bool> sofa::component::constraintset::GenericConstraintSolver::computeGraphs

Compute graphs of errors and forces during resolution.

std::vector<char> sofa::component::constraintset::GenericConstraintSolver::constraintCorrectionIsActive
protected
std::vector<core::behavior::BaseConstraintCorrection*> sofa::component::constraintset::GenericConstraintSolver::constraintCorrections
protected
simulation::Node* sofa::component::constraintset::GenericConstraintSolver::context
protected
GenericConstraintProblem* sofa::component::constraintset::GenericConstraintSolver::current_cp
protected
Data<double> sofa::component::constraintset::GenericConstraintSolver::currentError

OUTPUT: current error.

Data<int> sofa::component::constraintset::GenericConstraintSolver::currentIterations

OUTPUT: current number of constraint groups.

Data<int> sofa::component::constraintset::GenericConstraintSolver::currentNumConstraintGroups

OUTPUT: current number of constraints.

Data<int> sofa::component::constraintset::GenericConstraintSolver::currentNumConstraints

OUTPUT: current number of constraints.

Data<bool> sofa::component::constraintset::GenericConstraintSolver::d_computeConstraintForces

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

Data<helper::vector< double > > sofa::component::constraintset::GenericConstraintSolver::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.

Data<bool> sofa::component::constraintset::GenericConstraintSolver::displayTime

Display time for each important step of GenericConstraintSolver.

Data<std::map < std::string, sofa::helper::vector<double> > > sofa::component::constraintset::GenericConstraintSolver::graphConstraints

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

Data<std::map < std::string, sofa::helper::vector<double> > > sofa::component::constraintset::GenericConstraintSolver::graphErrors

Sum of the constraints' errors at each iteration.

Data<std::map < std::string, sofa::helper::vector<double> > > sofa::component::constraintset::GenericConstraintSolver::graphForces

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

Data<std::map < std::string, sofa::helper::vector<double> > > sofa::component::constraintset::GenericConstraintSolver::graphViolations

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

GenericConstraintProblem * sofa::component::constraintset::GenericConstraintSolver::last_cp
protected
sofa::helper::fixed_array<GenericConstraintProblem,CP_BUFFER_SIZE> sofa::component::constraintset::GenericConstraintSolver::m_cpBuffer
protected
sofa::helper::fixed_array<bool,CP_BUFFER_SIZE> sofa::component::constraintset::GenericConstraintSolver::m_cpIsLocked
protected
sofa::core::MultiVecDerivId sofa::component::constraintset::GenericConstraintSolver::m_dxId
protected
sofa::core::MultiVecDerivId sofa::component::constraintset::GenericConstraintSolver::m_lambdaId
protected
Data<int> sofa::component::constraintset::GenericConstraintSolver::maxIt

maximal number of iterations of the Gauss-Seidel algorithm

Data<bool> sofa::component::constraintset::GenericConstraintSolver::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)

Data<bool> sofa::component::constraintset::GenericConstraintSolver::scaleTolerance

Scale the error tolerance with the number of constraints.

Data<bool> sofa::component::constraintset::GenericConstraintSolver::schemeCorrection

Apply new scheme where compliance is progressively corrected.

Data<double> sofa::component::constraintset::GenericConstraintSolver::sor

Successive Over Relaxation parameter (0-2)

double sofa::component::constraintset::GenericConstraintSolver::time
protected
sofa::helper::system::thread::CTime sofa::component::constraintset::GenericConstraintSolver::timer
protected
sofa::helper::system::thread::CTime sofa::component::constraintset::GenericConstraintSolver::timerTotal
protected
double sofa::component::constraintset::GenericConstraintSolver::timeScale
protected
double sofa::component::constraintset::GenericConstraintSolver::timeTotal
protected
Data<double> sofa::component::constraintset::GenericConstraintSolver::tolerance

residual error threshold for termination of the Gauss-Seidel algorithm

Data<bool> sofa::component::constraintset::GenericConstraintSolver::unbuilt

Compliance is not fully built.

Constructor details

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

Function details

bool sofa::component::constraintset::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.

bool sofa::component::constraintset::GenericConstraintSolver::buildSystem ( const core::ConstraintParams ,
MultiVecId  res1,
MultiVecId  res2 = MultiVecId::null() 
)
overridevirtual

Create the system corresponding to the constraints

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

void sofa::component::constraintset::GenericConstraintSolver::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::GenericConstraintSolver::clearConstraintProblemLocks ( )
protected
void sofa::component::constraintset::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.

ConstraintProblem * sofa::component::constraintset::GenericConstraintSolver::getConstraintProblem ( )
overridevirtual
sofa::core::MultiVecDerivId sofa::component::constraintset::GenericConstraintSolver::getDx ( ) const
overridevirtual
sofa::core::MultiVecDerivId sofa::component::constraintset::GenericConstraintSolver::getLambda ( ) const
overridevirtual
void sofa::component::constraintset::GenericConstraintSolver::init ( void  )
overridevirtual

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

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

void sofa::component::constraintset::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 concurent access to the LCP when using a LCPForceFeedback through an haptic thread.

Implements sofa::component::constraintset::ConstraintSolverImpl.

bool sofa::component::constraintset::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.

void sofa::component::constraintset::GenericConstraintSolver::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::ConstraintSolver.

void sofa::component::constraintset::GenericConstraintSolver::removeConstraintCorrection ( core::behavior::BaseConstraintCorrection s)
overridevirtual

Remove reference to ConstraintCorrection

Parameters
cis the ConstraintCorrection

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

sofa::component::constraintset::GenericConstraintSolver::SOFA_CLASS ( GenericConstraintSolver  ,
sofa::core::behavior::ConstraintSolver   
)
bool sofa::component::constraintset::GenericConstraintSolver::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.

Enum details

anonymous enum
protected
Enumerator
CP_BUFFER_SIZE