SOFA API  384d495c
Open source framework for multi-physics simuation
sofa::component::odesolver::backward::NewmarkImplicitSolver Class Reference

#include <NewmarkImplicitSolver.h>

Inheritance diagram for sofa::component::odesolver::backward::NewmarkImplicitSolver:

Detailed Description

Implicit time integrator using Newmark scheme.

This integration scheme is based on the following equations:

$x_{t+h} = x_t + h v_t + h^2/2 ( (1-2\beta) a_t + 2\beta a_{t+h} )$ $v_{t+h} = v_t + h ( (1-\gamma) a_t + \gamma a_{t+h} )$

Applied to a mechanical system where $ M a_t + (r_M M + r_K K) v_t + K x_t = f_ext$, we need to solve the following system:

$ M a_{t+h} + (r_M M + r_K K) v_{t+h} + K x_{t+h} = f_ext $ $ M a_{t+h} + (r_M M + r_K K) ( v_t + h ( (1-\gamma) a_t + \gamma a_{t+h} ) ) + K ( x_t + h v_t + h^2/2 ( (1-2\beta) a_t + 2\beta a_{t+h} ) ) = f_ext $ $ ( M + h \gamma (r_M M + r_K K) + h^2 \beta K ) a_{t+h} = f_ext - (r_M M + r_K K) ( v_t + h (1-\gamma) a_t ) - K ( x_t + h v_t + h^2/2 (1-2\beta) a_t ) $ $ ( (1 + h \gamma r_M) M + (h^2 \beta + h \gamma r_K) K ) a_{t+h} = f_ext - (r_M M + r_K K) v_t - K x_t - (r_M M + r_K K) ( h (1-\gamma) a_t ) - K ( h v_t + h^2/2 (1-2\beta) a_t ) $ $ ( (1 + h \gamma r_M) M + (h^2 \beta + h \gamma r_K) K ) a_{t+h} = a_t - (r_M M + r_K K) ( h (1-\gamma) a_t ) - K ( h v_t + h^2/2 (1-2\beta) a_t ) $

The current implementation first computes $a_t$ directly (as in the explicit solvers), then solves the previous system to compute $a_{t+dt}$, and finally computes the new position and velocity.

Public Attributes

Data< SReald_rayleighStiffness
 Rayleigh damping coefficient related to stiffness. More...
 
Data< SReald_rayleighMass
 Rayleigh damping coefficient related to mass. More...
 
Data< SReald_velocityDamping
 Velocity decay coefficient (no decay if null) More...
 
Data< SReald_gamma
 Newmark scheme gamma coefficient. More...
 
Data< SReald_beta
 Newmark scheme beta coefficient. More...
 
Data< bool > d_threadSafeVisitor
 If true, do not use realloc and free visitors in fwdInteractionForceField. More...
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool > f_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * > m_oldAttributes
 
Data< intd_messageLogCount
 
Data< std::string > name
 Name of the object. More...
 
Data< bool > f_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::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Protected Attributes

unsigned int cpt
 
sofa::core::MultiVecDerivId pID
 
- 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
std::map< std::string, sofa::core::DataTrackerCallbackm_internalEngine
 
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 (NewmarkImplicitSolver, sofa::core::behavior::OdeSolver)
 
void solve (const core::ExecParams *params, SReal dt, sofa::core::MultiVecCoordId xResult, sofa::core::MultiVecDerivId vResult) override
 
SReal getVelocityIntegrationFactor () const override
 Given a displacement as computed by the linear system inversion, how much will it affect the velocity. More...
 
SReal getPositionIntegrationFactor () const override
 Given a displacement as computed by the linear system inversion, how much will it affect the position. More...
 
SReal getIntegrationFactor (int inputDerivative, int outputDerivative) const override
 
SReal getSolutionIntegrationFactor (int outputDerivative) 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)
 
BasefindLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const override
 Return the full path name of this object. More...
 
SReal getTime () const
 Current time. More...
 
const BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (const std::string &name) const
 
virtual void addSlave (BaseObject::SPtr s)
 
virtual void removeSlave (BaseObject::SPtr s)
 
virtual void handleEvent (Event *)
 Handle an event. More...
 
virtual void handleTopologyChange ()
 
virtual void handleTopologyChange (core::topology::Topology *t)
 
void parse (BaseObjectDescription *arg) override
 Parse the given description to assign values to this object's fields and potentially other parameters. More...
 
virtual void init ()
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
virtual void 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 addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)
 
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 addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)
 
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...
 
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 final
 Get the template type names (if any) used to instantiate this object. More...
 
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
 
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 (::sofa::core::objectmodel::Data< T > *field, const char *name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
 Helper method used to initialize a data field containing a value of type T. More...
 
template<class T >
BaseData::BaseInitData initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
template<class T >
Data< T >::InitData initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
void addData (BaseData *f, const std::string &name)
 
void addData (BaseData *f)
 
void removeData (BaseData *f)
 Remove a data field. More...
 
void addAlias (BaseData *field, const char *alias)
 Add an alias to a Data. More...
 
void addLink (BaseLink *l)
 Add a link. More...
 
void addAlias (BaseLink *link, const char *alias)
 Add an alias to a Link. More...
 
const VecDatagetDataFields () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapDatagetDataAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
const VecLinkgetLinks () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapLinkgetLinkAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
virtual bool findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link)
 
template<class T >
bool findLinkDest (T *&ptr, const std::string &path, const BaseLink *link)
 

Protected Member Functions

 NewmarkImplicitSolver ()
 
- 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, std::size_t, bool add)
 This method insures that slaves objects have master and context links set correctly. More...
 
void trackInternalData (const BaseData &data)
 Method called to add the Data to the DataTracker (listing the Data to track) More...
 
void cleanTracker ()
 
bool hasDataChanged (const BaseData &data)
 Method called to know if a tracked Data has changed. More...
 
- Protected Member Functions inherited from sofa::core::objectmodel::Base
 Base ()
 
virtual ~Base ()
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, BaseData::DataFlags dataFlags)
 Helper method used by initData() More...
 
template<class T >
void initData0 (Data< T > *field, typename Data< T >::InitData &res, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 

Additional Inherited Members

- Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool canCreate (T *, BaseContext *, BaseObjectDescription *)
 Pre-construction check method called by ObjectFactory. More...
 
template<class T >
static T::SPtr create (T *, BaseContext *context, BaseObjectDescription *arg)
 Construction method called by ObjectFactory. More...
 
- Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClassGetClass ()
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

◆ cpt

unsigned int sofa::component::odesolver::backward::NewmarkImplicitSolver::cpt
protected

◆ d_beta

Data<SReal> sofa::component::odesolver::backward::NewmarkImplicitSolver::d_beta

Newmark scheme beta coefficient.

◆ d_gamma

Data<SReal> sofa::component::odesolver::backward::NewmarkImplicitSolver::d_gamma

Newmark scheme gamma coefficient.

◆ d_rayleighMass

Data<SReal> sofa::component::odesolver::backward::NewmarkImplicitSolver::d_rayleighMass

Rayleigh damping coefficient related to mass.

◆ d_rayleighStiffness

Data<SReal> sofa::component::odesolver::backward::NewmarkImplicitSolver::d_rayleighStiffness

Rayleigh damping coefficient related to stiffness.

◆ d_threadSafeVisitor

Data<bool> sofa::component::odesolver::backward::NewmarkImplicitSolver::d_threadSafeVisitor

If true, do not use realloc and free visitors in fwdInteractionForceField.

◆ d_velocityDamping

Data<SReal> sofa::component::odesolver::backward::NewmarkImplicitSolver::d_velocityDamping

Velocity decay coefficient (no decay if null)

◆ pID

sofa::core::MultiVecDerivId sofa::component::odesolver::backward::NewmarkImplicitSolver::pID
protected

Constructor details

◆ NewmarkImplicitSolver()

sofa::component::odesolver::backward::NewmarkImplicitSolver::NewmarkImplicitSolver ( )
protected

Function details

◆ getIntegrationFactor()

SReal sofa::component::odesolver::backward::NewmarkImplicitSolver::getIntegrationFactor ( int  inputDerivative,
int  outputDerivative 
) 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 compliance for contact corrections. 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.

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

◆ getPositionIntegrationFactor()

SReal sofa::component::odesolver::backward::NewmarkImplicitSolver::getPositionIntegrationFactor ( ) const
inlineoverridevirtual

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

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

◆ getSolutionIntegrationFactor()

SReal sofa::component::odesolver::backward::NewmarkImplicitSolver::getSolutionIntegrationFactor ( int  outputDerivative) const
inlineoverridevirtual

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

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

◆ getVelocityIntegrationFactor()

SReal sofa::component::odesolver::backward::NewmarkImplicitSolver::getVelocityIntegrationFactor ( ) const
inlineoverridevirtual

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

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

◆ SOFA_CLASS()

sofa::component::odesolver::backward::NewmarkImplicitSolver::SOFA_CLASS ( NewmarkImplicitSolver  ,
sofa::core::behavior::OdeSolver   
)

◆ solve()

void sofa::component::odesolver::backward::NewmarkImplicitSolver::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.