sofa::component::odesolver::CGImplicitSolver Class Reference

Implicit time integrator using the filtered conjugate gradient solution [Baraff&Witkin 98]. More...

#include <CGImplicitSolver.h>

Inheritance diagram for sofa::component::odesolver::CGImplicitSolver:

Collaboration diagram for sofa::component::odesolver::CGImplicitSolver:


Public Member Functions
	CGImplicitSolver ()
void	solve (double dt)
	Main computation method.
double	getIntegrationFactor (int inputDerivative, int outputDerivative) const
	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.
double	getSolutionIntegrationFactor (int outputDerivative) const
	Given a solution of the linear system, how much will it affect the output derivative of the given order.
Data Fields
Data< unsigned >	f_maxIter
Data< double >	f_tolerance
Data< double >	f_smallDenominatorThreshold
Data< double >	f_rayleighStiffness
Data< double >	f_rayleighMass
Data< double >	f_velocityDamping
Data< bool >	f_verbose

Detailed Description

Implicit time integrator using the filtered conjugate gradient solution [Baraff&Witkin 98].

Definition at line 47 of file CGImplicitSolver.h.

Constructor & Destructor Documentation

sofa::component::odesolver::CGImplicitSolver::CGImplicitSolver ( )

Definition at line 50 of file CGImplicitSolver.cpp.

Member Function Documentation

double sofa::component::odesolver::CGImplicitSolver::getIntegrationFactor	(	int	inputDerivative,
		int	outputDerivative
	)			const `[inline, virtual]`

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.

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

Definition at line 79 of file CGImplicitSolver.h.

References sofa::core::objectmodel::BaseObject::getContext(), and sofa::core::objectmodel::BaseContext::getDt().

double sofa::component::odesolver::CGImplicitSolver::getSolutionIntegrationFactor ( int outputDerivative ) const [inline, virtual]

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

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

Definition at line 94 of file CGImplicitSolver.h.

References sofa::core::objectmodel::BaseObject::getContext(), and sofa::core::objectmodel::BaseContext::getDt().

void sofa::component::odesolver::CGImplicitSolver::solve ( double dt ) [virtual]

Main computation method.

Specify and execute all computation for timestep integration, i.e. advancing the state from time t to t+dt.

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