sofa::component::odesolver::StaticSolver Class Reference

Finds the static equilibrium of a system. More...

#include <StaticSolver.h>

Inheritance diagram for sofa::component::odesolver::StaticSolver:

Collaboration diagram for sofa::component::odesolver::StaticSolver:


Public Member Functions
	StaticSolver ()
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< double >	massCoef
Data< double >	dampingCoef
Data< double >	stiffnessCoef

Detailed Description

Finds the static equilibrium of a system.

Can diverge when there are an infinity of solutions.

Definition at line 45 of file StaticSolver.h.

Constructor & Destructor Documentation

sofa::component::odesolver::StaticSolver::StaticSolver ( )

Definition at line 49 of file StaticSolver.cpp.

Member Function Documentation

double sofa::component::odesolver::StaticSolver::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.

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

Definition at line 55 of file StaticSolver.h.

double sofa::component::odesolver::StaticSolver::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 69 of file StaticSolver.h.

void sofa::component::odesolver::StaticSolver::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.

Definition at line 56 of file StaticSolver.cpp.

References sofa::simulation::SolverImpl::addSeparateGravity(), sofa::simulation::SolverImpl::computeForce(), dampingCoef, sofa::core::objectmodel::BaseObject::f_printLog, sofa::core::objectmodel::Data< T >::getValue(), sofa::core::componentmodel::behavior::MechanicalMatrix::K, massCoef, sofa::core::componentmodel::behavior::MultiVector< Parent >::peq(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::position(), sofa::simulation::SolverImpl::projectResponse(), sofa::core::componentmodel::behavior::MultiMatrix< Parent >::solve(), stiffnessCoef, sofa::core::componentmodel::behavior::MultiVector< Parent >::teq(), and sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_DERIV.