#include <NewmarkImplicitSolver.h>
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< SReal > | d_rayleighStiffness |
Rayleigh damping coefficient related to stiffness. More... | |
Data< SReal > | d_rayleighMass |
Rayleigh damping coefficient related to mass. More... | |
Data< SReal > | d_velocityDamping |
Velocity decay coefficient (no decay if null) More... | |
Data< SReal > | d_gamma |
Newmark scheme gamma coefficient. More... | |
Data< SReal > | d_beta |
Newmark scheme beta coefficient. More... | |
Data< bool > | d_threadSafeVisitor |
If true, do not use realloc and free visitors in fwdInteractionForceField. More... | |
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Data< bool > | f_listening |
if true, handle the events, otherwise ignore the events More... | |
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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 | |
unsigned int | cpt |
sofa::core::MultiVecDerivId | pID |
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SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK > | l_context |
LinkSlaves | l_slaves |
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK > | l_master |
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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... | |
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SingleLink< LinearSolverAccessor, LinearSolver, BaseLink::FLAG_STRONGLINK > | l_linearSolver |
Public Member Functions | |
SOFA_CLASS2 (NewmarkImplicitSolver, sofa::core::behavior::OdeSolver, sofa::core::behavior::LinearSolverAccessor) | |
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 |
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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 |
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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) |
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 BaseObject * | getMaster () const |
BaseObject * | getMaster () |
const VecSlaves & | getSlaves () const |
BaseObject * | getSlave (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 () |
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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 | |
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)=delete |
Write the current field values to 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 *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 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) |
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void | init () override |
Initialization method called at graph creation and modification, during top-down traversal. More... | |
Protected Member Functions | |
NewmarkImplicitSolver () | |
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OdeSolver () | |
~OdeSolver () override | |
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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... | |
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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... | |
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virtual | ~IntrusiveObject ()=default |
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LinearSolverAccessor (LinearSolver *linearSolver=nullptr) | |
Additional Inherited Members | |
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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... | |
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static const BaseClass * | GetClass () |
template<class T > | |
static std::string | shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr) |
Data<SReal> sofa::component::odesolver::backward::NewmarkImplicitSolver::d_beta |
Newmark scheme beta coefficient.
Data<SReal> sofa::component::odesolver::backward::NewmarkImplicitSolver::d_gamma |
Newmark scheme gamma coefficient.
Data<SReal> sofa::component::odesolver::backward::NewmarkImplicitSolver::d_rayleighMass |
Rayleigh damping coefficient related to mass.
Data<SReal> sofa::component::odesolver::backward::NewmarkImplicitSolver::d_rayleighStiffness |
Rayleigh damping coefficient related to stiffness.
If true, do not use realloc and free visitors in fwdInteractionForceField.
Data<SReal> sofa::component::odesolver::backward::NewmarkImplicitSolver::d_velocityDamping |
Velocity decay coefficient (no decay if null)
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protected |
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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.
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inlineoverridevirtual |
Given a displacement as computed by the linear system inversion, how much will it affect the position.
Reimplemented from sofa::core::behavior::OdeSolver.
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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.
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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::component::odesolver::backward::NewmarkImplicitSolver::SOFA_CLASS2 | ( | NewmarkImplicitSolver | , |
sofa::core::behavior::OdeSolver | , | ||
sofa::core::behavior::LinearSolverAccessor | |||
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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.