SOFA API  180226c0
Open source framework for multi-physics simuation
sofa::component::constraintset::LMConstraintSolver Class Reference

#include <LMConstraintSolver.h>

Inheritance diagram for sofa::component::constraintset::LMConstraintSolver:

Public Attributes

Data< boolconstraintAcc
 Constraint the acceleration. More...
 
Data< boolconstraintVel
 Constraint the velocity. More...
 
Data< boolconstraintPos
 Constraint the position. More...
 
Data< unsigned intnumIterations
 Number of iterations for Gauss-Seidel when solving the Constraints. More...
 
Data< doublemaxError
 threshold for the residue of the Gauss-Seidel algorithm More...
 
Data< std::map< std::string, sofa::helper::vector< double > > > graphGSError
 Graph of residuals at each iteration. More...
 
Data< booltraceKineticEnergy
 Trace the evolution of the Kinetic Energy throughout the solution of the system. More...
 
Data< std::map< std::string, sofa::helper::vector< double > > > graphKineticEnergy
 Graph of the kinetic energy of the system. 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

core::ConstraintParams::ConstOrder orderState
 
unsigned int numConstraint
 
sofa::simulation::MechanicalWriteLMConstraint LMConstraintVisitor
 
SetDof setDofs
 
DofToMask dofUsed
 
DofToMatrix invMass_Ltrans
 
DofToMatrix LMatrices
 
MatrixEigen W
 
VectorEigen c
 
VectorEigen Lambda
 
DofToMatrix invMassMatrix
 
DofToConstraintCorrection constraintCorrections
 
- 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 (LMConstraintSolver, sofa::core::behavior::ConstraintSolver)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void reinit () override
 Update method called when variables used in precomputation are modified. More...
 
void removeConstraintCorrection (core::behavior::BaseConstraintCorrection *s) 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
 
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 handleEvent (core::objectmodel::Event *e) override
 Handle an event. More...
 
template<class T >
std::string printDimension (const T &m)
 
void convertSparseToDense (const SparseMatrixEigen &sparseM, MatrixEigen &out) const
 
- 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 (double, double)
 
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 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)
 
void copyAspect (int destAspect, int srcAspect) override
 Copy the source aspect to the destination aspect for each Data in the component. More...
 
void releaseAspect (int aspect) override
 Release memory allocated for the specified aspect. 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...
 
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...
 
virtual void cleanup ()
 
- 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

 LMConstraintSolver ()
 
virtual bool needPriorStatePropagation (core::ConstraintParams::ConstOrder order) const
 Explore the graph, looking for LMConstraints: each LMConstraint can tell if they need State Propagation in order to compute the right hand term of the system. More...
 
virtual void buildRightHandTerm (const helper::vector< core::behavior::BaseLMConstraint * > &LMConstraints, VectorEigen &c, MultiVecId, ConstOrder Order) const
 Construct the Right hand term of the system. More...
 
virtual void buildInverseMassMatrices (const SetDof &setDofs, DofToMatrix &invMassMatrices)
 Construct the Inverse of the mass matrix for a set of Dofs. More...
 
virtual void buildLMatrices (ConstOrder Order, const helper::vector< core::behavior::BaseLMConstraint * > &LMConstraints, DofToMatrix &LMatrices, DofToMask &dofUsed) const
 Construct the L matrices: write the constraint equations, and use dofUsed to remember the particles used in order to speed up the constraint correction. More...
 
virtual void buildLeftMatrix (const DofToMatrix &invMassMatrices, DofToMatrix &LMatrices, SparseMatrixEigen &LeftMatrix, DofToMatrix &invMass_Ltrans) const
 Construct the Left Matrix A=sum_i(L_i.M^{-1}_i.L_i^T), store the matrices M^{-1}_i.L_i^T in order to compute later the constraint correction to apply. More...
 
virtual bool solveConstraintSystemUsingGaussSeidel (MultiVecId id, ConstOrder Order, const helper::vector< core::behavior::BaseLMConstraint * > &LMConstraints, const MatrixEigen &W, const VectorEigen &c, VectorEigen &Lambda)
 Solve the System using a projective Gauss-Seidel algorithm: compute the Lagrange Multipliers Lambda. More...
 
virtual void computeKineticEnergy (MultiVecId id)
 Compute Kinetic Energy. More...
 
virtual void constraintStateCorrection (VecId id, core::ConstraintParams::ConstOrder order, bool isPositionChangesUpdateVelocity, const SparseMatrixEigen &invM_Ltrans, const VectorEigen &Lambda, const std::set< unsigned int > &dofUsed, sofa::core::behavior::BaseMechanicalState *dof) const
 
virtual void buildLMatrix (const sofa::core::behavior::BaseMechanicalState *dof, const std::list< unsigned int > &idxEquations, unsigned int constraintOffset, SparseMatrixEigen &L, std::set< unsigned int > &dofUsed) const
 
virtual void buildInverseMassMatrix (const sofa::core::behavior::BaseMechanicalState *mstate, const core::behavior::BaseConstraintCorrection *constraintCorrection, SparseMatrixEigen &matrix) const
 
virtual void buildInverseMassMatrix (const sofa::core::behavior::BaseMechanicalState *mstate, const core::behavior::BaseMass *mass, SparseMatrixEigen &matrix) const
 
- 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

VectorEigen sofa::component::constraintset::LMConstraintSolver::c
protected
Data<bool> sofa::component::constraintset::LMConstraintSolver::constraintAcc

Constraint the acceleration.

DofToConstraintCorrection sofa::component::constraintset::LMConstraintSolver::constraintCorrections
protected
Data<bool> sofa::component::constraintset::LMConstraintSolver::constraintPos

Constraint the position.

Data<bool> sofa::component::constraintset::LMConstraintSolver::constraintVel

Constraint the velocity.

DofToMask sofa::component::constraintset::LMConstraintSolver::dofUsed
protected
Data<std::map < std::string, sofa::helper::vector<double> > > sofa::component::constraintset::LMConstraintSolver::graphGSError
mutable

Graph of residuals at each iteration.

Data<std::map < std::string, sofa::helper::vector<double> > > sofa::component::constraintset::LMConstraintSolver::graphKineticEnergy
mutable

Graph of the kinetic energy of the system.

DofToMatrix sofa::component::constraintset::LMConstraintSolver::invMass_Ltrans
protected
DofToMatrix sofa::component::constraintset::LMConstraintSolver::invMassMatrix
protected
VectorEigen sofa::component::constraintset::LMConstraintSolver::Lambda
protected
DofToMatrix sofa::component::constraintset::LMConstraintSolver::LMatrices
protected
sofa::simulation::MechanicalWriteLMConstraint sofa::component::constraintset::LMConstraintSolver::LMConstraintVisitor
protected
Data<double> sofa::component::constraintset::LMConstraintSolver::maxError

threshold for the residue of the Gauss-Seidel algorithm

unsigned int sofa::component::constraintset::LMConstraintSolver::numConstraint
protected
Data<unsigned int> sofa::component::constraintset::LMConstraintSolver::numIterations

Number of iterations for Gauss-Seidel when solving the Constraints.

core::ConstraintParams::ConstOrder sofa::component::constraintset::LMConstraintSolver::orderState
protected
SetDof sofa::component::constraintset::LMConstraintSolver::setDofs
protected
Data< bool > sofa::component::constraintset::LMConstraintSolver::traceKineticEnergy

Trace the evolution of the Kinetic Energy throughout the solution of the system.

MatrixEigen sofa::component::constraintset::LMConstraintSolver::W
protected

Constructor details

sofa::component::constraintset::LMConstraintSolver::LMConstraintSolver ( )
protected

Function details

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

Correct the Mechanical State with the solution found

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

void sofa::component::constraintset::LMConstraintSolver::buildInverseMassMatrices ( const SetDof setDofs,
DofToMatrix invMassMatrices 
)
protectedvirtual

Construct the Inverse of the mass matrix for a set of Dofs.

void sofa::component::constraintset::LMConstraintSolver::buildInverseMassMatrix ( const sofa::core::behavior::BaseMechanicalState mstate,
const core::behavior::BaseConstraintCorrection constraintCorrection,
SparseMatrixEigen matrix 
) const
protectedvirtual
void sofa::component::constraintset::LMConstraintSolver::buildInverseMassMatrix ( const sofa::core::behavior::BaseMechanicalState mstate,
const core::behavior::BaseMass mass,
SparseMatrixEigen matrix 
) const
protectedvirtual
void sofa::component::constraintset::LMConstraintSolver::buildLeftMatrix ( const DofToMatrix invMassMatrices,
DofToMatrix LMatrices,
SparseMatrixEigen LeftMatrix,
DofToMatrix invMass_Ltrans 
) const
protectedvirtual

Construct the Left Matrix A=sum_i(L_i.M^{-1}_i.L_i^T), store the matrices M^{-1}_i.L_i^T in order to compute later the constraint correction to apply.

void sofa::component::constraintset::LMConstraintSolver::buildLMatrices ( ConstOrder  Order,
const helper::vector< core::behavior::BaseLMConstraint * > &  LMConstraints,
DofToMatrix LMatrices,
DofToMask dofUsed 
) const
protectedvirtual

Construct the L matrices: write the constraint equations, and use dofUsed to remember the particles used in order to speed up the constraint correction.

void sofa::component::constraintset::LMConstraintSolver::buildLMatrix ( const sofa::core::behavior::BaseMechanicalState dof,
const std::list< unsigned int > &  idxEquations,
unsigned int  constraintOffset,
SparseMatrixEigen L,
std::set< unsigned int > &  dofUsed 
) const
protectedvirtual
void sofa::component::constraintset::LMConstraintSolver::buildRightHandTerm ( const helper::vector< core::behavior::BaseLMConstraint * > &  LMConstraints,
VectorEigen c,
MultiVecId  ,
ConstOrder  Order 
) const
protectedvirtual

Construct the Right hand term of the system.

bool sofa::component::constraintset::LMConstraintSolver::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::LMConstraintSolver::computeKineticEnergy ( MultiVecId  id)
protectedvirtual

Compute Kinetic Energy.

void sofa::component::constraintset::LMConstraintSolver::constraintStateCorrection ( VecId  id,
core::ConstraintParams::ConstOrder  order,
bool  isPositionChangesUpdateVelocity,
const SparseMatrixEigen invM_Ltrans,
const VectorEigen Lambda,
const std::set< unsigned int > &  dofUsed,
sofa::core::behavior::BaseMechanicalState dof 
) const
protectedvirtual

Apply the correction to the state corresponding

Parameters
idnature of the constraint, and correction to apply
dofMechanicalState to correct
invM_Ltransmatrix M^-1.L^T to apply the correction from the independant dofs through the mapping
ccorrection vector
propageVelocityChangeneed to propagate the correction done to the velocity for the position
void sofa::component::constraintset::LMConstraintSolver::convertSparseToDense ( const SparseMatrixEigen sparseM,
MatrixEigen out 
) const
void sofa::component::constraintset::LMConstraintSolver::handleEvent ( core::objectmodel::Event )
overridevirtual

Handle an event.

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

void sofa::component::constraintset::LMConstraintSolver::init ( void  )
overridevirtual

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

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

bool sofa::component::constraintset::LMConstraintSolver::needPriorStatePropagation ( core::ConstraintParams::ConstOrder  order) const
protectedvirtual

Explore the graph, looking for LMConstraints: each LMConstraint can tell if they need State Propagation in order to compute the right hand term of the system.

bool sofa::component::constraintset::LMConstraintSolver::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.

template<class T >
std::string sofa::component::constraintset::LMConstraintSolver::printDimension ( const T m)
inline
void sofa::component::constraintset::LMConstraintSolver::reinit ( )
inlineoverridevirtual

Update method called when variables used in precomputation are modified.

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

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

Remove reference to ConstraintCorrection

Parameters
cis the ConstraintCorrection

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

sofa::component::constraintset::LMConstraintSolver::SOFA_CLASS ( LMConstraintSolver  ,
sofa::core::behavior::ConstraintSolver   
)
bool sofa::component::constraintset::LMConstraintSolver::solveConstraintSystemUsingGaussSeidel ( MultiVecId  id,
ConstOrder  Order,
const helper::vector< core::behavior::BaseLMConstraint * > &  LMConstraints,
const MatrixEigen W,
const VectorEigen c,
VectorEigen Lambda 
)
protectedvirtual

Solve the System using a projective Gauss-Seidel algorithm: compute the Lagrange Multipliers Lambda.

bool sofa::component::constraintset::LMConstraintSolver::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.