SOFA API  2d51d1ea
Open source framework for multi-physics simuation
sofa::component::odesolver::VariationalSymplecticSolver Class Reference

#include <VariationalSymplecticSolver.h>

Inheritance diagram for sofa::component::odesolver::VariationalSymplecticSolver:

Detailed Description

Implicit and Explicit time integrator using the Variational Symplectic Integrator as defined in : Kharevych, L et al. “Geometric, Variational Integrators for Computer Animation.” ACM SIGGRAPH Symposium on Computer Animation 4 (2006): 43–51.

The current implementation for implicit integration assume alpha =0.5 (quadratic accuracy) and uses several Newton steps to estimate the velocity

Public Attributes

Data< doublef_newtonError
 Error tolerance for Newton iterations. More...
 
Data< unsigned intf_newtonSteps
 Maximum number of Newton steps. More...
 
Data< SReal > f_rayleighStiffness
 Rayleigh damping coefficient related to stiffness, > 0. More...
 
Data< SReal > f_rayleighMass
 Rayleigh damping coefficient related to mass, > 0. More...
 
Data< boolf_verbose
 Dump information on the residual errors and number of Newton iterations. More...
 
Data< boolf_saveEnergyInFile
 If kinetic and potential energies should be dumped in a CSV file at each iteration. More...
 
Data< boolf_explicit
 Use explicit integration scheme. More...
 
Data< std::string > f_fileName
 File name where kinetic and potential energies are saved in a CSV file. More...
 
Data< boolf_computeHamiltonian
 Compute hamiltonian. More...
 
Data< doublef_hamiltonianEnergy
 hamiltonian energy More...
 
Data< boolf_useIncrementalPotentialEnergy
 use real potential energy, if false use approximate potential energy More...
 
Data< boold_threadSafeVisitor
 
std::ofstream energies
 
int cpt
 
- 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

sofa::core::MultiVecDerivId pID
 
double m_incrementalPotentialEnergy
 
- 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 (VariationalSymplecticSolver, sofa::core::behavior::OdeSolver)
 
 VariationalSymplecticSolver ()
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void solve (const core::ExecParams *params, SReal dt, sofa::core::MultiVecCoordId xResult, sofa::core::MultiVecDerivId vResult) override
 
double getVelocityIntegrationFactor () const override
 
double getPositionIntegrationFactor () const override
 
double getIntegrationFactor (int, int) const override
 
double getSolutionIntegrationFactor (int) const override
 
- Public Member Functions inherited from sofa::core::behavior::OdeSolver
 SOFA_ABSTRACT_CLASS (OdeSolver, objectmodel::BaseObject)
 
virtual void solve (const core::ExecParams *params, SReal dt)
 
virtual void computeResidual (const core::ExecParams *, SReal, sofa::core::MultiVecCoordId, sofa::core::MultiVecDerivId)
 
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...
 
virtual void cleanup ()
 
- 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)
 

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)
 
- Protected Member Functions inherited from sofa::core::behavior::OdeSolver
 OdeSolver ()
 
 ~OdeSolver () 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...
 

Attribute details

int sofa::component::odesolver::VariationalSymplecticSolver::cpt
Data<bool> sofa::component::odesolver::VariationalSymplecticSolver::d_threadSafeVisitor
std::ofstream sofa::component::odesolver::VariationalSymplecticSolver::energies
Data<bool> sofa::component::odesolver::VariationalSymplecticSolver::f_computeHamiltonian

Compute hamiltonian.

Data<bool> sofa::component::odesolver::VariationalSymplecticSolver::f_explicit

Use explicit integration scheme.

Data<std::string> sofa::component::odesolver::VariationalSymplecticSolver::f_fileName

File name where kinetic and potential energies are saved in a CSV file.

Data<double> sofa::component::odesolver::VariationalSymplecticSolver::f_hamiltonianEnergy

hamiltonian energy

Data<double> sofa::component::odesolver::VariationalSymplecticSolver::f_newtonError

Error tolerance for Newton iterations.

Data<unsigned int> sofa::component::odesolver::VariationalSymplecticSolver::f_newtonSteps

Maximum number of Newton steps.

Data<SReal> sofa::component::odesolver::VariationalSymplecticSolver::f_rayleighMass

Rayleigh damping coefficient related to mass, > 0.

Data<SReal> sofa::component::odesolver::VariationalSymplecticSolver::f_rayleighStiffness

Rayleigh damping coefficient related to stiffness, > 0.

Data<bool> sofa::component::odesolver::VariationalSymplecticSolver::f_saveEnergyInFile

If kinetic and potential energies should be dumped in a CSV file at each iteration.

Data<bool> sofa::component::odesolver::VariationalSymplecticSolver::f_useIncrementalPotentialEnergy

use real potential energy, if false use approximate potential energy

Data<bool> sofa::component::odesolver::VariationalSymplecticSolver::f_verbose

Dump information on the residual errors and number of Newton iterations.

double sofa::component::odesolver::VariationalSymplecticSolver::m_incrementalPotentialEnergy
protected
sofa::core::MultiVecDerivId sofa::component::odesolver::VariationalSymplecticSolver::pID
protected

Constructor details

sofa::component::odesolver::VariationalSymplecticSolver::VariationalSymplecticSolver ( )

Function details

double sofa::component::odesolver::VariationalSymplecticSolver::getIntegrationFactor ( int  ,
int   
) const
inlineoverridevirtual

Given an input derivative order (0 for position, 1 for velocity, 2 for acceleration), how much will it affect the output derivative of the given order.

This method is used to compute the constraint corrections and adapt the resolution if using baumgart type scheme For example, a backward-Euler dynamic implicit integrator would use: Input: x_t v_t a_{t+dt} x_{t+dt} 1 dt dt^2 v_{t+dt} 0 1 dt

If the linear system is expressed on s = a_{t+dt} dt, then the final factors are: Input: x_t v_t a_t s x_{t+dt} 1 dt 0 dt v_{t+dt} 0 1 0 1 a_{t+dt} 0 0 0 1/dt The last column is returned by the getSolutionIntegrationFactor method.

FF: What is the meaning of the parameters ?

Reimplemented from sofa::core::behavior::OdeSolver.

double sofa::component::odesolver::VariationalSymplecticSolver::getPositionIntegrationFactor ( ) const
inlineoverridevirtual

Given a displacement as computed by the linear system inversion, how much will it affect the position

This method is used to compute the compliance for contact corrections For Euler methods, it is typically dt².

Reimplemented from sofa::core::behavior::OdeSolver.

double sofa::component::odesolver::VariationalSymplecticSolver::getSolutionIntegrationFactor ( int  ) const
inlineoverridevirtual

Given a solution of the linear system, how much will it affect the output derivative of the given order.

FF: What is the meaning of the parameters ?

Reimplemented from sofa::core::behavior::OdeSolver.

double sofa::component::odesolver::VariationalSymplecticSolver::getVelocityIntegrationFactor ( ) const
inlineoverridevirtual

Given a displacement as computed by the linear system inversion, how much will it affect the velocity

This method is used to compute the compliance for contact corrections For Euler methods, it is typically dt.

Reimplemented from sofa::core::behavior::OdeSolver.

void sofa::component::odesolver::VariationalSymplecticSolver::init ( void  )
overridevirtual

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

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

sofa::component::odesolver::VariationalSymplecticSolver::SOFA_CLASS ( VariationalSymplecticSolver  ,
sofa::core::behavior::OdeSolver   
)
void sofa::component::odesolver::VariationalSymplecticSolver::solve ( const core::ExecParams ,
SReal  ,
sofa::core::MultiVecCoordId  ,
sofa::core::MultiVecDerivId   
)
overridevirtual

Main computation method.

Specify and execute all computation for timestep integration, i.e. advancing the state from time t to t+dt, putting the resulting position and velocity in the provided vectors.

Implements sofa::core::behavior::OdeSolver.