sofa::simulation::SolverImpl Class Reference

Implementation of LinearSolver/OdeSolver/MasterSolver relying on component::System. More...

#include <OdeSolverImpl.h>

Inheritance diagram for sofa::simulation::SolverImpl:

Collaboration diagram for sofa::simulation::SolverImpl:


Public Types
typedef sofa::core::componentmodel::behavior::BaseMechanicalState::VecId	VecId
Public Member Functions
	SolverImpl ()
virtual	~SolverImpl ()
Vector operations
Most of these operations can be hidden by using the MultiVector class.
virtual double	finish ()
	Wait for the completion of previous operations and return the result of the last v_dot call.
virtual VecId	v_alloc (VecId::Type t)
	Allocate a temporary vector.
virtual void	v_free (VecId v)
	Free a previously allocated temporary vector.
virtual void	v_clear (VecId v)
	v=0
virtual void	v_eq (VecId v, VecId a)
	v=a
virtual void	v_peq (VecId v, VecId a, double f=1.0)
	v+=f*a
virtual void	v_teq (VecId v, double f)
	v*=f
virtual void	v_op (VecId v, VecId a, VecId b, double f=1.0)
	v=a+b*f
virtual void	v_dot (VecId a, VecId b)
	a dot b ( get result using finish )
virtual void	v_threshold (VecId a, double threshold)
	nullify the values below the given threshold
virtual void	propagateDx (VecId dx)
	Propagate the given displacement through all mappings.
virtual void	propagateDxAndResetDf (VecId dx, VecId df)
	Propagate the given displacement through all mappings and reset the current force delta.
virtual void	projectResponse (VecId dx, double **W=NULL)
	Apply projective constraints to the given vector.
virtual void	addMdx (VecId res, VecId dx=VecId(), double factor=1.0)
	res += factor M.dx
virtual void	integrateVelocity (VecId res, VecId x, VecId v, double dt)
	res = x + v.dt
virtual void	accFromF (VecId a, VecId f)
	a = M^-1 . f
virtual void	computeForce (VecId result, bool clear=true, bool accumulate=true)
	Compute the current force (given the latest propagated position and velocity).
virtual void	computeDf (VecId df, bool clear=true, bool accumulate=true)
	Compute the current force delta (given the latest propagated displacement).
virtual void	computeDfV (VecId df, bool clear=true, bool accumulate=true)
	Compute the current force delta (given the latest propagated velocity).
virtual void	addMBKdx (VecId df, double m, double b, double k, bool clear=true, bool accumulate=true)
	accumulate $ df += (m M + b B + k K) dx $ (given the latest propagated displacement)
virtual void	addMBKv (VecId df, double m, double b, double k, bool clear=true, bool accumulate=true)
	accumulate $ df += (m M + b B + k K) velocity $
virtual void	addSeparateGravity (double dt)
	Add dt*Gravity to the velocity.
virtual void	computeContactForce (VecId result)
virtual void	computeContactDf (VecId df)
Matrix operations
virtual void	addMBK_ToMatrix (defaulttype::BaseMatrix *A, double mFact=1.0, double bFact=1.0, double kFact=1.0, unsigned int offset=0)
virtual void	getMatrixDimension (unsigned int const, unsigned int const)
virtual void	multiVector2BaseVector (VecId src, defaulttype::BaseVector *dest=NULL, unsigned int offset=0)
virtual void	multiVectorPeqBaseVector (VecId dest, defaulttype::BaseVector *src=NULL, unsigned int offset=0)
Debug operations
virtual void	print (VecId v, std::ostream &out)
	Dump the content of the given vector.
virtual void	printWithElapsedTime (VecId v, unsigned time, std::ostream &out=std::cerr)
Protected Attributes
double	result
	Result of latest v_dot operation.

Detailed Description

Implementation of LinearSolver/OdeSolver/MasterSolver relying on component::System.

Definition at line 42 of file OdeSolverImpl.h.

Member Typedef Documentation

typedef sofa::core::componentmodel::behavior::BaseMechanicalState::VecId sofa::simulation::SolverImpl::VecId

Reimplemented in sofa::simulation::MatrixLinearSolver< Matrix, Vector >, sofa::simulation::OdeSolverImpl, and sofa::simulation::MatrixLinearSolver< TMatrix, TVector >.

Definition at line 45 of file OdeSolverImpl.h.

Constructor & Destructor Documentation

sofa::simulation::SolverImpl::SolverImpl ( )

Definition at line 43 of file OdeSolverImpl.cpp.

sofa::simulation::SolverImpl::~SolverImpl ( ) [virtual]

Definition at line 47 of file OdeSolverImpl.cpp.

Member Function Documentation

void sofa::simulation::SolverImpl::accFromF	(	VecId	a,
		VecId	f
	)			`[virtual]`

a = M^-1 . f

Definition at line 130 of file OdeSolverImpl.cpp.

References sofa::core::objectmodel::BaseObject::getContext().

Referenced by sofa::simulation::OdeSolverImpl::computeAcc(), sofa::simulation::OdeSolverImpl::computeContactAcc(), and sofa::component::odesolver::EulerSolver::solve().

void sofa::simulation::SolverImpl::addMBK_ToMatrix	(	defaulttype::BaseMatrix *	A,
		double	mFact = `1.0`,
		double	bFact = `1.0`,
		double	kFact = `1.0`,
		unsigned int	offset = `0`
	)			`[virtual]`

Definition at line 253 of file OdeSolverImpl.cpp.

References sofa::core::objectmodel::BaseObject::getContext().

Referenced by sofa::simulation::MatrixLinearSolver< Matrix, Vector >::setSystemMBKMatrix().

void sofa::simulation::SolverImpl::addMBKdx	(	VecId	df,
		double	m,
		double	b,
		double	k,
		bool	clear = `true`,
		bool	accumulate = `true`
	)			`[virtual]`

accumulate $ df += (m M + b B + k K) dx $ (given the latest propagated displacement)

Definition at line 170 of file OdeSolverImpl.cpp.

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

Referenced by sofa::simulation::GraphScatteredMatrix::apply().

void sofa::simulation::SolverImpl::addMBKv	(	VecId	df,
		double	m,
		double	b,
		double	k,
		bool	clear = `true`,
		bool	accumulate = `true`
	)			`[virtual]`

accumulate $ df += (m M + b B + k K) velocity $

Definition at line 180 of file OdeSolverImpl.cpp.

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

Referenced by sofa::component::odesolver::EulerImplicitSolver::solve().

void sofa::simulation::SolverImpl::addMdx	(	VecId	res,
		VecId	dx = `VecId()`,
		double	factor = `1.0`
	)			`[virtual]`

res += factor M.dx

Definition at line 120 of file OdeSolverImpl.cpp.

References sofa::core::objectmodel::BaseObject::getContext().

Referenced by sofa::simulation::GraphScatteredMatrix::apply(), sofa::component::odesolver::EulerImplicitSolver::solve(), and sofa::component::odesolver::CGImplicitSolver::solve().

void sofa::simulation::SolverImpl::addSeparateGravity ( double dt ) [virtual]

Add dt*Gravity to the velocity.

Definition at line 203 of file OdeSolverImpl.cpp.

References sofa::core::objectmodel::BaseObject::getContext().

Referenced by sofa::component::odesolver::StaticSolver::solve(), sofa::component::odesolver::RungeKutta4Solver::solve(), sofa::component::odesolver::RungeKutta2Solver::solve(), sofa::component::odesolver::EulerSolver::solve(), sofa::component::odesolver::EulerImplicitSolver::solve(), sofa::component::odesolver::DampVelocitySolver::solve(), and sofa::component::odesolver::CGImplicitSolver::solve().

void sofa::simulation::SolverImpl::computeContactDf ( VecId df ) [virtual]

Definition at line 215 of file OdeSolverImpl.cpp.

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

void sofa::simulation::SolverImpl::computeContactForce ( VecId result ) [virtual]

Definition at line 208 of file OdeSolverImpl.cpp.

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

Referenced by sofa::simulation::OdeSolverImpl::computeContactAcc().

void sofa::simulation::SolverImpl::computeDf	(	VecId	df,
		bool	clear = `true`,
		bool	accumulate = `true`
	)			`[virtual]`

Compute the current force delta (given the latest propagated displacement).

Definition at line 150 of file OdeSolverImpl.cpp.

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

Referenced by sofa::simulation::GraphScatteredMatrix::apply(), and sofa::component::odesolver::CGImplicitSolver::solve().

void sofa::simulation::SolverImpl::computeDfV	(	VecId	df,
		bool	clear = `true`,
		bool	accumulate = `true`
	)			`[virtual]`

Compute the current force delta (given the latest propagated velocity).

Definition at line 160 of file OdeSolverImpl.cpp.

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

Referenced by sofa::component::odesolver::EulerImplicitSolver::solve(), and sofa::component::odesolver::CGImplicitSolver::solve().

void sofa::simulation::SolverImpl::computeForce	(	VecId	result,
		bool	clear = `true`,
		bool	accumulate = `true`
	)			`[virtual]`

Compute the current force (given the latest propagated position and velocity).

Definition at line 140 of file OdeSolverImpl.cpp.

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

Referenced by sofa::simulation::OdeSolverImpl::computeAcc(), sofa::component::odesolver::StaticSolver::solve(), sofa::component::odesolver::EulerSolver::solve(), sofa::component::odesolver::EulerImplicitSolver::solve(), and sofa::component::odesolver::CGImplicitSolver::solve().

double sofa::simulation::SolverImpl::finish ( ) [virtual]

Wait for the completion of previous operations and return the result of the last v_dot call.

Note that currently all methods are blocking so finish simply return the result of the last v_dot call.

Definition at line 50 of file OdeSolverImpl.cpp.

References result.

Referenced by addMBKdx(), addMBKv(), computeContactDf(), computeContactForce(), computeDf(), computeDfV(), computeForce(), and propagateDxAndResetDf().

void sofa::simulation::SolverImpl::getMatrixDimension	(	unsigned int * const	nbRow,
		unsigned int * const	nbCol
	)			`[virtual]`

Definition at line 248 of file OdeSolverImpl.cpp.

References sofa::core::objectmodel::BaseObject::getContext().

Referenced by sofa::simulation::MatrixLinearSolver< Matrix, Vector >::setSystemMBKMatrix().

void sofa::simulation::SolverImpl::integrateVelocity	(	VecId	res,
		VecId	x,
		VecId	v,
		double	dt
	)			`[virtual]`

res = x + v.dt

Definition at line 125 of file OdeSolverImpl.cpp.

References sofa::core::objectmodel::BaseObject::getContext().

void sofa::simulation::SolverImpl::multiVector2BaseVector	(	VecId	src,
		defaulttype::BaseVector *	dest = `NULL`,
		unsigned int	offset = `0`
	)			`[virtual]`

Definition at line 268 of file OdeSolverImpl.cpp.

References sofa::core::objectmodel::BaseObject::getContext().

Referenced by sofa::simulation::MatrixLinearSolver< Matrix, Vector >::setSystemLHVector(), and sofa::simulation::MatrixLinearSolver< Matrix, Vector >::setSystemRHVector().

void sofa::simulation::SolverImpl::multiVectorPeqBaseVector	(	VecId	dest,
		defaulttype::BaseVector *	src = `NULL`,
		unsigned int	offset = `0`
	)			`[virtual]`