sofa::core::componentmodel::behavior::OdeSolver Class Reference
Component responsible for timestep integration, i.e. More...
#include <OdeSolver.h>
Public Types | |
| typedef BaseMechanicalState::VecId | VecId |
Public Member Functions | |
| OdeSolver () | |
| virtual | ~OdeSolver () |
| virtual void | solve (double dt)=0 |
| Main computation method. | |
| virtual void | propagatePositionAndVelocity (double t, BaseMechanicalState::VecId x, BaseMechanicalState::VecId v)=0 |
| Propagate the given state (time, position and velocity) through all mappings. | |
| virtual double | getIntegrationFactor (int inputDerivative, int outputDerivative) const =0 |
| 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. | |
| virtual double | getSolutionIntegrationFactor (int outputDerivative) const =0 |
| Given a solution of the linear system, how much will it affect the output derivative of the given order. | |
| virtual double | getVelocityIntegrationFactor () const |
| Given the solution dx of the linear system inversion, how much will it affect the velocity. | |
| virtual double | getPositionIntegrationFactor () const |
| Given the solution dx of the linear system inversion, how much will it affect the position. | |
Detailed Description
Component responsible for timestep integration, i.e.advancing the state from time t to t+dt.
This class currently control both the integration scheme (explicit, implicit, static, etc), and the linear system resolution algorithm (conjugate gradient, matrix direct inversion, etc). Those two aspect will propably be separated in a future version.
While all computations required to do the integration step are handled by this object, they should not be implemented directly in it, but instead the solver propagates orders (or Visitor) to the other components in the scenegraph that will locally execute them. This allow for greater flexibility (the solver can just ask for the forces to be computed without knowing what type of forces are present), as well as performances (some computations can be executed in parallel).
Definition at line 66 of file OdeSolver.h.
Member Typedef Documentation
Constructor & Destructor Documentation
| sofa::core::componentmodel::behavior::OdeSolver::OdeSolver | ( | ) |
Definition at line 43 of file OdeSolver.cpp.
| sofa::core::componentmodel::behavior::OdeSolver::~OdeSolver | ( | ) | [virtual] |
Definition at line 46 of file OdeSolver.cpp.
Member Function Documentation
| virtual double sofa::core::componentmodel::behavior::OdeSolver::getIntegrationFactor | ( | int | inputDerivative, | |
| int | outputDerivative | |||
| ) | const [pure 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.
Implemented in sofa::component::odesolver::CentralDifferenceSolver, sofa::component::odesolver::CGImplicitSolver, sofa::component::odesolver::DampVelocitySolver, sofa::component::odesolver::EulerImplicitSolver, sofa::component::odesolver::EulerSolver, sofa::component::odesolver::RungeKutta2Solver, sofa::component::odesolver::RungeKutta4Solver, and sofa::component::odesolver::StaticSolver.
| virtual double sofa::core::componentmodel::behavior::OdeSolver::getPositionIntegrationFactor | ( | ) | const [inline, virtual] |
Given the solution dx of the linear system inversion, how much will it affect the position.
This method is used to compute the compliance for contact corrections
Reimplemented in sofa::component::odesolver::EulerImplicitSolver.
Definition at line 120 of file OdeSolver.h.
References getSolutionIntegrationFactor().
Referenced by sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::applyContactForce(), and sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::getCompliance().
| virtual double sofa::core::componentmodel::behavior::OdeSolver::getSolutionIntegrationFactor | ( | int | outputDerivative | ) | const [pure virtual] |
Given a solution of the linear system, how much will it affect the output derivative of the given order.
Implemented in sofa::component::odesolver::CentralDifferenceSolver, sofa::component::odesolver::CGImplicitSolver, sofa::component::odesolver::DampVelocitySolver, sofa::component::odesolver::EulerImplicitSolver, sofa::component::odesolver::EulerSolver, sofa::component::odesolver::RungeKutta2Solver, sofa::component::odesolver::RungeKutta4Solver, and sofa::component::odesolver::StaticSolver.
Referenced by getPositionIntegrationFactor(), and getVelocityIntegrationFactor().
| virtual double sofa::core::componentmodel::behavior::OdeSolver::getVelocityIntegrationFactor | ( | ) | const [inline, virtual] |
Given the solution dx of the linear system inversion, how much will it affect the velocity.
This method is used to compute the compliance for contact corrections
Reimplemented in sofa::component::odesolver::EulerImplicitSolver.
Definition at line 112 of file OdeSolver.h.
References getSolutionIntegrationFactor().
Referenced by sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::applyContactForce().
| virtual void sofa::core::componentmodel::behavior::OdeSolver::propagatePositionAndVelocity | ( | double | t, | |
| BaseMechanicalState::VecId | x, | |||
| BaseMechanicalState::VecId | v | |||
| ) | [pure virtual] |
Propagate the given state (time, position and velocity) through all mappings.
Why is this necessary in the OdeSolver API ? (Jeremie A. 03/02/2008)
Implemented in sofa::simulation::OdeSolverImpl.
Referenced by sofa::simulation::MechanicalIntegrationVisitor::fwdOdeSolver().
| virtual void sofa::core::componentmodel::behavior::OdeSolver::solve | ( | double | dt | ) | [pure virtual] |
Main computation method.
Specify and execute all computation for timestep integration, i.e. advancing the state from time t to t+dt.
Implemented in sofa::component::odesolver::CentralDifferenceSolver, sofa::component::odesolver::CGImplicitSolver, sofa::component::odesolver::DampVelocitySolver, sofa::component::odesolver::EulerImplicitSolver, sofa::component::odesolver::EulerSolver, sofa::component::odesolver::RungeKutta2Solver, sofa::component::odesolver::RungeKutta4Solver, and sofa::component::odesolver::StaticSolver.
Referenced by sofa::simulation::MechanicalIntegrationVisitor::fwdOdeSolver(), sofa::simulation::AnimateVisitor::processOdeSolver(), and sofa::simulation::SolveVisitor::processSolver().
The documentation for this class was generated from the following files:
- framework/sofa/core/componentmodel/behavior/OdeSolver.h
- framework/sofa/core/componentmodel/behavior/OdeSolver.cpp
