#include <PrecomputedWarpPreconditioner.h>

Linear system solver based on a precomputed inverse matrix, wrapped by a per-node rotation matrix. More...

Inheritance diagram for sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >:

Detailed Description

template<class TDataTypes>
class sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >

Linear system solver based on a precomputed inverse matrix, wrapped by a per-node rotation matrix.

Public Attributes
Data< bool >	jmjt_twostep
	Use two step algorithm to compute JMinvJt. More...

sofa::core::objectmodel::lifecycle::RemovedData	f_verbose {this, "v23.12", "v24.06", "verbose", "This Data is no longer used"}

Data< bool >	use_file
	Dump system matrix in a file. More...

Data< bool >	share_matrix
	Share the compliance matrix in memory if they are related to the same file (WARNING: might require to reload Sofa when opening a new scene...) More...

SingleLink< PrecomputedWarpPreconditioner, sofa::core::behavior::LinearSolver, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	l_linearSolver
	Link towards the linear solver used to precompute the first matrix. More...

Data< bool >	use_rotations
	Use Rotations around the preconditioner. More...

Data< double >	draw_rotations_scale
	Scale rotations in draw function. More...

MState *	mstate

Protected Attributes
TVector	R

TVector	T

std::vector< bool >	isActiveDofs

PrecomputedWarpPreconditionerInternalData< TDataTypes >	internalData

bool	first

bool	_rotate

bool	usePrecond

double	init_mFact

double	init_bFact

double	init_kFact

double	dt

double	factInt

unsigned	systemSize

unsigned	dof_on_node

unsigned	nb_dofs

unsigned	matrixSize

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE(PrecomputedWarpPreconditioner, TDataTypes), SOFA_TEMPLATE2(sofa::component::linearsolver::MatrixLinearSolver, TMatrix, TVector))

void	solve (TMatrix &M, TVector &x, TVector &b) override

void	invert (TMatrix &M) override

void	setSystemMBKMatrix (const core::MechanicalParams *mparams) override

bool	addJMInvJt (linearalgebra::BaseMatrix result, linearalgebra::BaseMatrix J, SReal fact) override

void	draw (const core::visual::VisualParams *vparams) override

void	init () override

void	loadMatrix (TMatrix &M)

bool	hasUpdatedMatrix () override

TBaseMatrix *	getSystemMatrixInv ()

Public Member Functions inherited from sofa::component::linearsolver::MatrixLinearSolver< linearalgebra::CompressedRowSparseMatrix< TDataTypes::Real >, PrecomputedWarpPreconditionerInternalData< TDataTypes >::TBaseVector >
void	resetSystem ()

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API void	resetSystem ()

void	resizeSystem (Size n)

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API void	resizeSystem (Size)

void	setSystemMBKMatrix (const core::MechanicalParams *mparams)

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API void	setSystemMBKMatrix (const core::MechanicalParams *mparams)

void	rebuildSystem (SReal, SReal)

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API void	rebuildSystem (SReal massFactor, SReal forceFactor)

void	setSystemLHVector (core::MultiVecDerivId v)

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API void	setSystemLHVector (core::MultiVecDerivId v)

void	applySystemSolution ()

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API void	applySystemSolution ()

void	applyConstraintForce (const sofa::core::ConstraintParams , sofa::core::MultiVecDerivId, const linearalgebra::BaseVector )

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API void	applyConstraintForce (const sofa::core::ConstraintParams , sofa::core::MultiVecDerivId, const linearalgebra::BaseVector )

void	computeResidual (const core::ExecParams , linearalgebra::BaseVector )

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API void	computeResidual (const core::ExecParams params, linearalgebra::BaseVector f)

GraphScatteredVector *	createPersistentVector ()

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API GraphScatteredVector *	createPersistentVector ()

linearalgebra::BaseMatrix *	getSystemBaseMatrix ()

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API linearalgebra::BaseMatrix *	getSystemBaseMatrix ()

linearalgebra::BaseVector *	getSystemRHBaseVector ()

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API linearalgebra::BaseVector *	getSystemRHBaseVector ()

linearalgebra::BaseVector *	getSystemLHBaseVector ()

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API linearalgebra::BaseVector *	getSystemLHBaseVector ()

void	checkLinearSystem ()

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API void	checkLinearSystem ()

bool	addJMInvJtLocal (GraphScatteredMatrix M, MatrixLinearSolver< GraphScatteredMatrix, GraphScatteredVector, NoThreadManager >::ResMatrixType result, const MatrixLinearSolver< GraphScatteredMatrix, GraphScatteredVector, NoThreadManager >::JMatrixType *J, const SReal fact)

Static Public Member Functions
template<class T >
static bool	canCreate (T &obj, core::objectmodel::BaseContext context, core::objectmodel::BaseObjectDescription *arg)

Protected Member Functions
	PrecomputedWarpPreconditioner ()

void	checkLinearSystem () override

void	rotateConstraints ()

void	loadMatrixWithCholeskyDecomposition (TMatrix &M)

void	loadMatrixWithSolver ()

template<class JMatrix >
void	ComputeResult (linearalgebra::BaseMatrix *result, JMatrix &J, float fact)

template<class JMatrix >
void	computeActiveDofs (JMatrix &J)

Attribute details

◆ _rotate

template<class TDataTypes >

bool sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::_rotate

protected

◆ dof_on_node

template<class TDataTypes >

unsigned sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::dof_on_node

protected

◆ draw_rotations_scale

template<class TDataTypes >

Data<double> sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::draw_rotations_scale

Scale rotations in draw function.

◆ dt

template<class TDataTypes >

double sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::dt

protected

◆ f_verbose

template<class TDataTypes >

sofa::core::objectmodel::lifecycle::RemovedData sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::f_verbose {this, "v23.12", "v24.06", "verbose", "This Data is no longer used"}

◆ factInt

template<class TDataTypes >

double sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::factInt

protected

◆ first

template<class TDataTypes >

bool sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::first

protected

◆ init_bFact

template<class TDataTypes >

double sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::init_bFact

protected

◆ init_kFact

template<class TDataTypes >

double sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::init_kFact

protected

◆ init_mFact

template<class TDataTypes >

double sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::init_mFact

protected

◆ internalData

template<class TDataTypes >

PrecomputedWarpPreconditionerInternalData<TDataTypes> sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::internalData

protected

◆ isActiveDofs

template<class TDataTypes >

std::vector<bool> sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::isActiveDofs

protected

◆ jmjt_twostep

template<class TDataTypes >

Data<bool> sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::jmjt_twostep

Use two step algorithm to compute JMinvJt.

◆ l_linearSolver

template<class TDataTypes >

SingleLink<PrecomputedWarpPreconditioner, sofa::core::behavior::LinearSolver, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::l_linearSolver

Link towards the linear solver used to precompute the first matrix.

◆ matrixSize

template<class TDataTypes >

unsigned sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::matrixSize

protected

◆ mstate

template<class TDataTypes >

MState* sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::mstate

◆ nb_dofs

template<class TDataTypes >

unsigned sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::nb_dofs

protected

◆ R

template<class TDataTypes >

TVector sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::R

protected

◆ share_matrix

template<class TDataTypes >

Data<bool> sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::share_matrix

Share the compliance matrix in memory if they are related to the same file (WARNING: might require to reload Sofa when opening a new scene...)

◆ systemSize

template<class TDataTypes >

unsigned sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::systemSize

protected

◆ T

template<class TDataTypes >

TVector sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::T

protected

◆ use_file

template<class TDataTypes >

Data<bool> sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::use_file

Dump system matrix in a file.

◆ use_rotations

template<class TDataTypes >

Data<bool> sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::use_rotations

Use Rotations around the preconditioner.

◆ usePrecond

template<class TDataTypes >

bool sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::usePrecond

protected

Constructor details

◆ PrecomputedWarpPreconditioner()

template<class TDataTypes >

sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::PrecomputedWarpPreconditioner

protected

Function details

◆ addJMInvJt()

template<class TDataTypes >

bool sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::addJMInvJt	(	linearalgebra::BaseMatrix *	result,
		linearalgebra::BaseMatrix *	J,
		SReal	fact
	)

override

◆ canCreate()

template<class TDataTypes >

template<class T >

static bool sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::canCreate	(	T *&	obj,
		core::objectmodel::BaseContext *	context,
		core::objectmodel::BaseObjectDescription *	arg
	)

inlinestatic

Pre-construction check method called by ObjectFactory. Check that DataTypes matches the MechanicalState.

◆ checkLinearSystem()

template<class TDataTypes >

void sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::checkLinearSystem

overrideprotected

◆ computeActiveDofs()

template<class TDataTypes >

template<class JMatrix >

void sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::computeActiveDofs ( JMatrix & J )

protected

◆ ComputeResult()

template<class TDataTypes >

template<class JMatrix >

void sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::ComputeResult	(	linearalgebra::BaseMatrix *	result,
		JMatrix &	J,
		float	fact
	)

protected

◆ draw()

template<class TDataTypes >

void sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::draw ( const core::visual::VisualParams * vparams )

override

◆ getSystemMatrixInv()

template<class TDataTypes >

TBaseMatrix* sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::getSystemMatrixInv ( )

inline

◆ hasUpdatedMatrix()

template<class TDataTypes >

bool sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::hasUpdatedMatrix ( )

inlineoverride

◆ init()

template<class TDataTypes >

void sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::init ( void )

override

◆ invert()

template<class TDataTypes >

void sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::invert ( TMatrix & M )

override

◆ loadMatrix()

template<class TDataTypes >

void sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::loadMatrix ( TMatrix & M )

◆ loadMatrixWithCholeskyDecomposition()

template<class TDataTypes >

void sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::loadMatrixWithCholeskyDecomposition ( TMatrix & M )

protected

◆ loadMatrixWithSolver()

template<class TDataTypes >

void sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::loadMatrixWithSolver

protected

◆ rotateConstraints()

template<class TDataTypes >

void sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::rotateConstraints

protected

◆ setSystemMBKMatrix()

template<class TDataTypes >

void sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::setSystemMBKMatrix ( const core::MechanicalParams * mparams )

override

◆ SOFA_CLASS()

template<class TDataTypes >

sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::SOFA_CLASS	(	SOFA_TEMPLATE(PrecomputedWarpPreconditioner< TDataTypes >, TDataTypes)	,
		SOFA_TEMPLATE2(sofa::component::linearsolver::MatrixLinearSolver, TMatrix, TVector)
	)

◆ solve()

template<class TDataTypes >

void sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >::solve	(	TMatrix &	M,
		TVector &	x,
		TVector &	b
	)

override

Detailed Description

template<class TDataTypes> class sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >

Public Attributes

Protected Attributes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Attribute details

◆ _rotate

◆ dof_on_node

◆ draw_rotations_scale

◆ dt

◆ f_verbose

◆ factInt

◆ first

◆ init_bFact

◆ init_kFact

◆ init_mFact

◆ internalData

◆ isActiveDofs

◆ jmjt_twostep

◆ l_linearSolver

◆ matrixSize

◆ mstate

◆ nb_dofs

◆ R

◆ share_matrix

◆ systemSize

◆ T

◆ use_file

◆ use_rotations

◆ usePrecond

Constructor details

◆ PrecomputedWarpPreconditioner()

Function details

◆ addJMInvJt()

◆ canCreate()

◆ checkLinearSystem()

◆ computeActiveDofs()

◆ ComputeResult()

◆ draw()

◆ getSystemMatrixInv()

◆ hasUpdatedMatrix()

◆ init()

◆ invert()

◆ loadMatrix()

◆ loadMatrixWithCholeskyDecomposition()

◆ loadMatrixWithSolver()

◆ rotateConstraints()

◆ setSystemMBKMatrix()

◆ SOFA_CLASS()

◆ solve()

template<class TDataTypes>
class sofa::component::linearsolver::preconditioner::PrecomputedWarpPreconditioner< TDataTypes >