#include <ImplicitIntegrationScheme.h>

Inheritance diagram for sofa::simulation::integrationscheme::ImplicitIntegrationScheme:

Public Attributes
Data< SReal >	d_rayleighStiffness
	Rayleigh damping coefficient related to stiffness, > 0. More...

Data< SReal >	d_rayleighMass
	Rayleigh damping coefficient related to mass, > 0. More...

Public Attributes inherited from sofa::core::objectmodel::BaseComponent
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< int >	d_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::TagSet >	f_tags
	list of the subsets the object belongs to More...

Data< sofa::type::BoundingBox >	f_bbox
	this object bounding box More...

Data< sofa::core::objectmodel::ComponentState >	d_componentState
	The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). More...

std::string	m_definitionSourceFileName {""}

int	m_definitionSourceFilePos {-1}

std::string	m_instanciationSourceFileName {""}

int	m_instanciationSourceFilePos {-1}

Protected Attributes
const core::ExecParams *	m_params

sofa::core::MultiVecCoordId	m_xResult

sofa::core::MultiVecDerivId	m_vResult

sofa::core::MultiVecDerivId	m_systemUnknown

sofa::core::MultiVecDerivId	m_r0

sofa::core::MultiVecDerivId	m_r1

sofa::core::MultiVecDerivId	m_r2

std::vector< sofa::core::MultiVecCoordId >	m_x0

std::vector< sofa::core::MultiVecDerivId >	m_a0

std::vector< sofa::core::MultiVecDerivId >	m_v0

bool	m_passedStatesValid

sofa::core::MultiVecDerivId	m_acceleration

std::shared_ptr< sofa::simulation::common::VectorOperations >	m_vop

std::unique_ptr< sofa::simulation::common::MappingGraphMechanicalOperations >	m_mop

sofa::simulation::MappingGraph	m_mappingGraph

Protected Attributes inherited from sofa::core::behavior::BaseIntegrationScheme
SReal	m_dt

Protected Attributes inherited from sofa::core::objectmodel::BaseComponent
SingleLink< BaseComponent, BaseContext, BaseLink::FLAG_DOUBLELINK >	l_context

LinkSlaves	l_slaves

SingleLink< BaseComponent, BaseComponent, BaseLink::FLAG_DOUBLELINK >	l_master

Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallback >	m_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...

Protected Attributes inherited from sofa::core::behavior::LinearSolverAccessor
SingleLink< LinearSolverAccessor, LinearSolver, BaseLink::FLAG_STRONGLINK >	l_linearSolver

Public Member Functions
	SOFA_ABSTRACT_CLASS2 (ImplicitIntegrationScheme, sofa::core::behavior::BaseIntegrationScheme, sofa::core::behavior::LinearSolverAccessor)

virtual void	setupIntegrationStep (const core::ExecParams *params, SReal dt, sofa::core::MultiVecCoordId xResult, sofa::core::MultiVecDerivId vResult) final

	ImplicitIntegrationScheme ()

virtual void	computeLHS (bool firstIteration=false)=0

virtual void	computeRHS (bool firstIteration=false)=0

virtual SReal	evaluateResidual ()=0

virtual void	solveLinearEquation ()=0

virtual void	updateStatesFromLinearSolution (SReal alpha, bool firstIteration=false)=0

virtual void	finalizeIntegrationStep ()

virtual void	integrate (const core::ExecParams *params, SReal dt, sofa::core::MultiVecCoordId xResult, sofa::core::MultiVecDerivId vResult) override

virtual SReal	getVelocityIntegrationFactor () const =0

virtual SReal	getPositionIntegrationFactor () const =0

Public Member Functions inherited from sofa::core::behavior::BaseIntegrationScheme
	SOFA_ABSTRACT_CLASS (BaseIntegrationScheme, objectmodel::BaseComponent)

bool	insertInNode (objectmodel::BaseNode *node) override

bool	removeInNode (objectmodel::BaseNode *node) override

Public Member Functions inherited from sofa::core::objectmodel::BaseComponent
	SOFA_CLASS (BaseComponent, 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 BaseComponent loader, std::vector< std::string > attributeList=nullptr)

Base *	findLinkDestClass (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 BaseContext *	getContext () const

BaseContext *	getContext ()

const BaseComponent *	getMaster () const

BaseComponent *	getMaster ()

const VecSlaves &	getSlaves () const

BaseComponent *	getSlave (const std::string &name) const

virtual void	addSlave (BaseComponent::SPtr s)

virtual void	removeSlave (BaseComponent::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 BaseClass *	getClass () 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::TagSet &	getTags () 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

bool	isComponentStateInvalid () const

	SOFA_ATTRIBUTE_DEPRECATED__TOBASECONSTRAINT () virtual const behavior

	SOFA_ATTRIBUTE_DEPRECATED__TOBASEOBJECT () virtual const objectmodel

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::ostream &out, const std::string &separator=" ")

BaseData *	findData (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...

BaseLink *	findLink (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 n, 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 n, 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 n, 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 VecData &	getDataFields () const
	Accessor to the vector containing all the fields of this object. More...

const MapData &	getDataAliases () const
	Accessor to the map containing all the aliases of this object. More...

const VecLink &	getLinks () const
	Accessor to the vector containing all the fields of this object. More...

const MapLink &	getLinkAliases () 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)

Public Member Functions inherited from sofa::core::behavior::LinearSolverAccessor
void	init () override
	Initialization method called at graph creation and modification, during top-down traversal. More...

Protected Member Functions
virtual void	doSetupIntegrationStep (const core::ExecParams *params, SReal dt, sofa::core::MultiVecCoordId xResult, sofa::core::MultiVecDerivId vResult)

virtual sofa::Size	getIntegrationSchemeTimeOrder () const =0

Protected Member Functions inherited from sofa::core::behavior::BaseIntegrationScheme
	BaseIntegrationScheme ()

	~BaseIntegrationScheme () override

Protected Member Functions inherited from sofa::core::objectmodel::BaseComponent
	BaseComponent ()

	~BaseComponent () override

virtual void	doUpdateInternal ()
	Implementation of the internal update. More...

void	changeContextLink (BaseContext before, BaseContext &after)

void	changeSlavesLink (BaseComponent::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 n, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used by initData() More...

Protected Member Functions inherited from sofa::core::IntrusiveObject
virtual	~IntrusiveObject ()=default

Protected Member Functions inherited from sofa::core::behavior::LinearSolverAccessor
	LinearSolverAccessor (LinearSolver *linearSolver=nullptr)

Additional Inherited Members
Static Public Member Functions inherited from sofa::core::objectmodel::BaseComponent
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 BaseClass *	GetClass ()

template<class T >
static std::string	shortName (const T ptr=nullptr, BaseObjectDescription =nullptr)

Attribute details

◆ d_rayleighMass

Data<SReal> sofa::simulation::integrationscheme::ImplicitIntegrationScheme::d_rayleighMass

Rayleigh damping coefficient related to mass, > 0.

◆ d_rayleighStiffness

Data<SReal> sofa::simulation::integrationscheme::ImplicitIntegrationScheme::d_rayleighStiffness

Rayleigh damping coefficient related to stiffness, > 0.

◆ m_a0

std::vector<sofa::core::MultiVecDerivId> sofa::simulation::integrationscheme::ImplicitIntegrationScheme::m_a0

protected

◆ m_acceleration

sofa::core::MultiVecDerivId sofa::simulation::integrationscheme::ImplicitIntegrationScheme::m_acceleration

protected

◆ m_mappingGraph

sofa::simulation::MappingGraph sofa::simulation::integrationscheme::ImplicitIntegrationScheme::m_mappingGraph

protected

◆ m_mop

std::unique_ptr<sofa::simulation::common::MappingGraphMechanicalOperations> sofa::simulation::integrationscheme::ImplicitIntegrationScheme::m_mop

protected

◆ m_params

const core::ExecParams* sofa::simulation::integrationscheme::ImplicitIntegrationScheme::m_params

protected

◆ m_passedStatesValid

bool sofa::simulation::integrationscheme::ImplicitIntegrationScheme::m_passedStatesValid

protected

◆ m_r0

sofa::core::MultiVecDerivId sofa::simulation::integrationscheme::ImplicitIntegrationScheme::m_r0

protected

◆ m_r1

sofa::core::MultiVecDerivId sofa::simulation::integrationscheme::ImplicitIntegrationScheme::m_r1

protected

◆ m_r2

sofa::core::MultiVecDerivId sofa::simulation::integrationscheme::ImplicitIntegrationScheme::m_r2

protected

◆ m_systemUnknown

sofa::core::MultiVecDerivId sofa::simulation::integrationscheme::ImplicitIntegrationScheme::m_systemUnknown

protected

◆ m_v0

std::vector<sofa::core::MultiVecDerivId> sofa::simulation::integrationscheme::ImplicitIntegrationScheme::m_v0

protected

◆ m_vop

std::shared_ptr<sofa::simulation::common::VectorOperations > sofa::simulation::integrationscheme::ImplicitIntegrationScheme::m_vop

protected

◆ m_vResult

sofa::core::MultiVecDerivId sofa::simulation::integrationscheme::ImplicitIntegrationScheme::m_vResult

protected

◆ m_x0

std::vector<sofa::core::MultiVecCoordId> sofa::simulation::integrationscheme::ImplicitIntegrationScheme::m_x0

protected

◆ m_xResult

sofa::core::MultiVecCoordId sofa::simulation::integrationscheme::ImplicitIntegrationScheme::m_xResult

protected

Constructor details

◆ ImplicitIntegrationScheme()

sofa::simulation::integrationscheme::ImplicitIntegrationScheme::ImplicitIntegrationScheme ( )

Function details

◆ computeLHS()

virtual void sofa::simulation::integrationscheme::ImplicitIntegrationScheme::computeLHS ( bool firstIteration = false )

pure virtual

Compute the system matrix.

Implemented in sofa::component::integrationscheme::backward::StaticEquilibriumIntegrationScheme, sofa::simulation::integrationscheme::VelocityBasedImplicitIntegrationScheme, and sofa::simulation::integrationscheme::AccelerationBasedImplicitIntegrationScheme.

◆ computeRHS()

virtual void sofa::simulation::integrationscheme::ImplicitIntegrationScheme::computeRHS ( bool firstIteration = false )

pure virtual

compute the current RHS.

Implemented in sofa::component::integrationscheme::backward::StaticEquilibriumIntegrationScheme, sofa::simulation::integrationscheme::VelocityBasedImplicitIntegrationScheme, and sofa::simulation::integrationscheme::AccelerationBasedImplicitIntegrationScheme.

◆ doSetupIntegrationStep()

virtual void sofa::simulation::integrationscheme::ImplicitIntegrationScheme::doSetupIntegrationStep	(	const core::ExecParams *	params,
		SReal	dt,
		sofa::core::MultiVecCoordId	xResult,
		sofa::core::MultiVecDerivId	vResult
	)

inlineprotectedvirtual

Reimplemented in sofa::simulation::integrationscheme::VelocityBasedImplicitIntegrationScheme, sofa::simulation::integrationscheme::AccelerationBasedImplicitIntegrationScheme, sofa::component::integrationscheme::backward::StaticEquilibriumIntegrationScheme, and sofa::component::integrationscheme::backward::LinearMultistepIntegrationScheme.

◆ evaluateResidual()

virtual SReal sofa::simulation::integrationscheme::ImplicitIntegrationScheme::evaluateResidual ( )

pure virtual

Returns the evaluation of the residual

Implemented in sofa::simulation::integrationscheme::VelocityBasedImplicitIntegrationScheme, sofa::simulation::integrationscheme::AccelerationBasedImplicitIntegrationScheme, and sofa::component::integrationscheme::backward::StaticEquilibriumIntegrationScheme.

◆ finalizeIntegrationStep()

virtual void sofa::simulation::integrationscheme::ImplicitIntegrationScheme::finalizeIntegrationStep ( )

inlinevirtual

This method is called after the integration step is completed.

Reimplemented in sofa::simulation::integrationscheme::VelocityBasedImplicitIntegrationScheme.

◆ getIntegrationSchemeTimeOrder()

virtual sofa::Size sofa::simulation::integrationscheme::ImplicitIntegrationScheme::getIntegrationSchemeTimeOrder ( ) const

protectedpure virtual

This method returns the order of the integration scheme in term of number of past timestep needed to compute the next timestep. For instance, if $p_{t+dt} = f(v_{t+dt}, ... , v_{t-k*dt}$, then the order is k+1

Implemented in sofa::component::integrationscheme::backward::StaticEquilibriumIntegrationScheme, sofa::component::integrationscheme::backward::NewmarkIntegrationScheme, sofa::component::integrationscheme::backward::LinearMultistepIntegrationScheme, and sofa::component::integrationscheme::backward::EulerImplicitIntegrationScheme.

◆ getPositionIntegrationFactor()

virtual SReal sofa::simulation::integrationscheme::ImplicitIntegrationScheme::getPositionIntegrationFactor ( ) const

pure virtual

The integration scheme solves a linear system. In this linear system the unknown has a unit. It can be the position, velocity or acceleration increase. In any case, this unknown need then to be integrated to update the velocity. This methods returns the factor to put in front of this unknown before accumulating it to the velocity.

Said differently, if $x$ is the unknown, $p_{t}$ the position at time $t$, then we have $$ p_{t+dt} = p_{t} + k*x + r $$ with $r$ being constant in term of $x$ and $k$ the integration factor returned by this function.

This method is used to compute the compliance for contact corrections.

Implements sofa::core::behavior::BaseIntegrationScheme.

Implemented in sofa::simulation::integrationscheme::VelocityBasedImplicitIntegrationScheme, sofa::simulation::integrationscheme::AccelerationBasedImplicitIntegrationScheme, and sofa::component::integrationscheme::backward::StaticEquilibriumIntegrationScheme.

◆ getVelocityIntegrationFactor()

virtual SReal sofa::simulation::integrationscheme::ImplicitIntegrationScheme::getVelocityIntegrationFactor ( ) const

pure virtual

The integration scheme solves a linear system. In this linear system the unknown has a unit. It can be the position, velocity or acceleration increase. In any case, this unknown need then to be integrated to update the velocity. This methods returns the factor to put in front of this unknown before accumulating it to the velocity.

Said differently, if $x$ is the unknown, $v_{t}$ the velocity at time $t$, then we have $$ v_{t+dt} = v_{t} + k*x + r $$ with $r$ being constant in term of $x$ and $k$ the integration factor returned by this function.

This method is used to compute the compliance for contact corrections.

Implements sofa::core::behavior::BaseIntegrationScheme.

Implemented in sofa::simulation::integrationscheme::VelocityBasedImplicitIntegrationScheme, sofa::simulation::integrationscheme::AccelerationBasedImplicitIntegrationScheme, and sofa::component::integrationscheme::backward::StaticEquilibriumIntegrationScheme.

◆ integrate()

void sofa::simulation::integrationscheme::ImplicitIntegrationScheme::integrate	(	const core::ExecParams *	params,
		SReal	dt,
		sofa::core::MultiVecCoordId	xResult,
		sofa::core::MultiVecDerivId	vResult
	)

overridevirtual

Parameters

params	Parameters for vector and mechanical operations
dt	Time step for integration
xResult	MultiVecCoordId in which to store the new position
vResult	MultiVecCoordId in which to store the new velocity

This method is a monolithic step integration. It is expected that given the dt, the position and velocity in xResult and vResult are updated to their value at time t+dt

Implements sofa::core::behavior::BaseIntegrationScheme.

Reimplemented in sofa::component::integrationscheme::backward::StaticEquilibriumIntegrationScheme.

◆ setupIntegrationStep()

void sofa::simulation::integrationscheme::ImplicitIntegrationScheme::setupIntegrationStep	(	const core::ExecParams *	params,
		SReal	dt,
		sofa::core::MultiVecCoordId	xResult,
		sofa::core::MultiVecDerivId	vResult
	)

finalvirtual

Template method pattern is implemented here to ensure some data/member are rightly initialized before solving. This method internally calls doSetupIntegrationStep that can be overridden.

◆ SOFA_ABSTRACT_CLASS2()

sofa::simulation::integrationscheme::ImplicitIntegrationScheme::SOFA_ABSTRACT_CLASS2	(	ImplicitIntegrationScheme	,
		sofa::core::behavior::BaseIntegrationScheme	,
		sofa::core::behavior::LinearSolverAccessor
	)

◆ solveLinearEquation()

virtual void sofa::simulation::integrationscheme::ImplicitIntegrationScheme::solveLinearEquation ( )

pure virtual

Solve the linear equation from a Newton iteration, i.e. it computes (x^{i+1}-x^i).

Implemented in sofa::simulation::integrationscheme::VelocityBasedImplicitIntegrationScheme, sofa::simulation::integrationscheme::AccelerationBasedImplicitIntegrationScheme, and sofa::component::integrationscheme::backward::StaticEquilibriumIntegrationScheme.

◆ updateStatesFromLinearSolution()

virtual void sofa::simulation::integrationscheme::ImplicitIntegrationScheme::updateStatesFromLinearSolution	(	SReal	alpha,
		bool	firstIteration = `false`
	)

pure virtual

Once (x^{i+1}-x^i) has been computed, the result is used internally to update the current guess. It computes x^{i+1} += alpha * dx, where dx is the result of the linear system. It is not necessary to share the result with the Newton-Raphson method.

Implemented in sofa::component::integrationscheme::backward::StaticEquilibriumIntegrationScheme, sofa::simulation::integrationscheme::VelocityBasedImplicitIntegrationScheme, and sofa::simulation::integrationscheme::AccelerationBasedImplicitIntegrationScheme.

Public Attributes

Protected Attributes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ d_rayleighMass

◆ d_rayleighStiffness

◆ m_a0

◆ m_acceleration

◆ m_mappingGraph

◆ m_mop

◆ m_params

◆ m_passedStatesValid

◆ m_r0

◆ m_r1

◆ m_r2

◆ m_systemUnknown

◆ m_v0

◆ m_vop

◆ m_vResult

◆ m_x0

◆ m_xResult

Constructor details

◆ ImplicitIntegrationScheme()

Function details

◆ computeLHS()

◆ computeRHS()

◆ doSetupIntegrationStep()

◆ evaluateResidual()

◆ finalizeIntegrationStep()

◆ getIntegrationSchemeTimeOrder()

◆ getPositionIntegrationFactor()

◆ getVelocityIntegrationFactor()

◆ integrate()

◆ setupIntegrationStep()

◆ SOFA_ABSTRACT_CLASS2()

◆ solveLinearEquation()

◆ updateStatesFromLinearSolution()