#include <BaseConstraintCorrection.h>
Component computing constraint forces within a simulated body using the compliance method. More...

Component computing constraint forces within a simulated body using the compliance method.
Public Attributes | |
| SReal | |
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< 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} |
Public Member Functions | |
| SOFA_ABSTRACT_CLASS (BaseConstraintCorrection, objectmodel::BaseObject) | |
| virtual bool | isActive () |
| virtual void | addConstraintSolver (ConstraintSolver *s)=0 |
| virtual void | removeConstraintSolver (ConstraintSolver *s)=0 |
| virtual void | computeMotionCorrectionFromLambda (const core::ConstraintParams *cparams, core::MultiVecDerivId dx, const linearalgebra::BaseVector *lambda)=0 |
| virtual void | applyMotionCorrection (const ConstraintParams *cparams, MultiVecCoordId x, MultiVecDerivId v, MultiVecDerivId dx, ConstMultiVecDerivId correction)=0 |
| virtual void | applyPositionCorrection (const ConstraintParams *cparams, MultiVecCoordId x, MultiVecDerivId dx, ConstMultiVecDerivId correction)=0 |
| virtual void | applyVelocityCorrection (const ConstraintParams *cparams, MultiVecDerivId v, MultiVecDerivId dv, ConstMultiVecDerivId correction)=0 |
| virtual void | applyPredictiveConstraintForce (const ConstraintParams *cparams, MultiVecDerivId f, const linearalgebra::BaseVector *lambda)=0 |
| SOFA_ATTRIBUTE_DEPRECATED__REBUILDSYSTEM () virtual void rebuildSystem(SReal | |
| virtual void | computeResidual (const core::ExecParams *, linearalgebra::BaseVector *) |
| virtual void | applyContactForce (const linearalgebra::BaseVector *f)=0 |
| virtual void | resetContactForce ()=0 |
Compliance Matrix API | |
| virtual void | addComplianceInConstraintSpace (const ConstraintParams *, linearalgebra::BaseMatrix *W)=0 |
| virtual void | getComplianceMatrix (linearalgebra::BaseMatrix *m) const =0 |
| Fill the matrix m with the full Compliance Matrix. More... | |
| virtual void | getComplianceWithConstraintMerge (linearalgebra::BaseMatrix *, std::vector< int > &) |
| For multigrid approach => constraints are merged. More... | |
Unbuilt constraint system during resolution | |
| virtual bool | hasConstraintNumber (int) |
| Is the constraint managed by this constraint correction? More... | |
| virtual void | resetForUnbuiltResolution (SReal *, std::list< unsigned int > &) |
| virtual void | addConstraintDisplacement (SReal *, int, int) |
| virtual void | setConstraintDForce (SReal *, int, int, bool) |
| virtual void | getBlockDiagonalCompliance (linearalgebra::BaseMatrix *, int, int) |
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) |
| 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... | |
| virtual bool | insertInNode (BaseNode *) |
| virtual bool | removeInNode (BaseNode *) |
| 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 | 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 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) |
Protected Member Functions | |
| BaseConstraintCorrection () | |
| ~BaseConstraintCorrection () 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... | |
Protected Member Functions inherited from sofa::core::IntrusiveObject | |
| virtual | ~IntrusiveObject ()=default |
Static Protected Member Functions | |
| static SReal | correctionFactor (const sofa::core::behavior::OdeSolver *solver, const ConstraintOrder &constraintOrder) |
Additional Inherited Members | |
Protected Attributes inherited from sofa::core::objectmodel::BaseObject | |
| SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK > | l_context |
| LinkSlaves | l_slaves |
| SingleLink< BaseObject, BaseObject, 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... | |
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 BaseClass * | GetClass () |
| template<class T > | |
| static std::string | shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr) |
| sofa::core::behavior::BaseConstraintCorrection::SReal |
|
protected |
|
overrideprotected |
|
pure virtual |
Compute the compliance matrix projected in the constraint space and accumulate it into W
The computation is W += J A^-1 J^T where J is the constraint Jacobian matrix and A is the mechanical matrix
Implemented in sofa::component::constraint::lagrangian::correction::UncoupledConstraintCorrection< TDataTypes >, sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >, sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< TDataTypes >, and sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection.
|
virtual |
Reimplemented in sofa::component::constraint::lagrangian::correction::UncoupledConstraintCorrection< TDataTypes >, sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >, and sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< TDataTypes >.
|
pure virtual |
Keeps track of the constraint solver
| s | is the constraint solver |
Implemented in sofa::core::behavior::ConstraintCorrection< TDataTypes >, and sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection.
|
pure virtual |
Implemented in sofa::component::constraint::lagrangian::correction::UncoupledConstraintCorrection< TDataTypes >, sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >, sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< TDataTypes >, and sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection.
|
pure virtual |
Compute motion correction from the constraint resolution (LCP) calculated force
| cparams | |
| x | is the position result VecId |
| v | is the velocity result VecId |
| dx | if the corrective motion result VecId |
Implemented in sofa::core::behavior::ConstraintCorrection< TDataTypes >, and sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection.
|
pure virtual |
Compute position correction from the constraint resolution (LCP) calculated force
| cparams | |
| x | is the position result VecId |
| v | is the velocity result VecId |
| dx | if the corrective position result VecId |
Implemented in sofa::core::behavior::ConstraintCorrection< TDataTypes >, and sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection.
|
pure virtual |
Apply predictive constraint force
| cparams | |
| f | is the motion space force vector |
| lambda | is the constraint space force vector |
Implemented in sofa::core::behavior::ConstraintCorrection< TDataTypes >, and sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection.
|
pure virtual |
Compute velocity correction from the constraint resolution (LCP) calculated force
| cparams | |
| x | is the position result VecId |
| v | is the velocity result VecId |
| dv | if the corrective velocity result VecId |
| correction | is the corrective motion computed from the constraint lambda |
Implemented in sofa::core::behavior::ConstraintCorrection< TDataTypes >, and sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection.
|
pure virtual |
Compute the corrective motion from the constraint space lambda
| cparams | the ConstraintParams relative to the constraint solver |
| dx | the VecId where to store the corrective motion |
| lambda | is the constraint space force vector |
Implemented in sofa::core::behavior::ConstraintCorrection< TDataTypes >, and sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection.
|
virtual |
Compute the residual in the newton iterations due to the constraints forces i.e. compute Vecid::force() += J^t lambda the result is accumulated in Vecid::force()
Reimplemented in sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection.
|
staticprotected |
|
virtual |
Reimplemented in sofa::component::constraint::lagrangian::correction::UncoupledConstraintCorrection< TDataTypes >, sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >, and sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< TDataTypes >.
|
pure virtual |
Fill the matrix m with the full Compliance Matrix.
Implemented in sofa::component::constraint::lagrangian::correction::UncoupledConstraintCorrection< TDataTypes >, sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >, sofa::component::constraint::lagrangian::correction::UncoupledConstraintCorrection< TDataTypes >, sofa::component::constraint::lagrangian::correction::UncoupledConstraintCorrection< TDataTypes >, sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< TDataTypes >, and sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection.
|
virtual |
For multigrid approach => constraints are merged.
Reimplemented in sofa::component::constraint::lagrangian::correction::UncoupledConstraintCorrection< TDataTypes >.
Is the constraint managed by this constraint correction?
Reimplemented in sofa::component::constraint::lagrangian::correction::UncoupledConstraintCorrection< TDataTypes >, sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >, and sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< TDataTypes >.
|
inlinevirtual |
|
pure virtual |
Remove reference to constraint solver
| s | is the constraint solver |
Implemented in sofa::core::behavior::ConstraintCorrection< TDataTypes >, and sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection.
|
pure virtual |
Implemented in sofa::component::constraint::lagrangian::correction::UncoupledConstraintCorrection< TDataTypes >, sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >, sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< TDataTypes >, and sofa::component::constraint::lagrangian::correction::GenericConstraintCorrection.
|
virtual |
Reimplemented in sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< TDataTypes >, sofa::component::constraint::lagrangian::correction::UncoupledConstraintCorrection< TDataTypes >, and sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >.
|
virtual |
Reimplemented in sofa::component::constraint::lagrangian::correction::UncoupledConstraintCorrection< TDataTypes >, sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >, and sofa::component::constraint::lagrangian::correction::LinearSolverConstraintCorrection< TDataTypes >.
| sofa::core::behavior::BaseConstraintCorrection::SOFA_ABSTRACT_CLASS | ( | BaseConstraintCorrection | , |
| objectmodel::BaseObject | |||
| ) |
| sofa::core::behavior::BaseConstraintCorrection::SOFA_ATTRIBUTE_DEPRECATED__REBUILDSYSTEM | ( | ) |
Rebuild the system using a mass and force factor Experimental API used to investigate convergence issues.