#include <ConstraintAnimationLoop.h>
Public Attributes | |
Data< bool > | d_displayTime |
Display time for each important step of ConstraintAnimationLoop. More... | |
Data< SReal > | d_tol |
Tolerance of the Gauss-Seidel. More... | |
Data< int > | d_maxIt |
Maximum number of iterations of the Gauss-Seidel. More... | |
Data< bool > | d_doCollisionsFirst |
Compute the collisions first (to support penality-based contacts) More... | |
Data< bool > | d_doubleBuffer |
Double the buffer dedicated to the constraint problem to make it accessible to another thread. More... | |
Data< bool > | d_scaleTolerance |
Scale the error tolerance with the number of constraints. More... | |
Data< bool > | d_allVerified |
All constraints must be verified (each constraint's error < tolerance) More... | |
Data< SReal > | d_sor |
Successive Over Relaxation parameter (0-2) More... | |
Data< bool > | d_schemeCorrection |
Apply new scheme where compliance is progressively corrected. More... | |
Data< bool > | d_realTimeCompensation |
If the total computational time T < dt, sleep(dt-T) More... | |
Data< bool > | d_activateSubGraph |
Data< std::map< std::string, sofa::type::vector< SReal > > > | d_graphErrors |
Sum of the constraints' errors at each iteration. More... | |
Data< std::map< std::string, sofa::type::vector< SReal > > > | d_graphConstraints |
Graph of each constraint's error at the end of the resolution. More... | |
Data< std::map< std::string, sofa::type::vector< SReal > > > | d_graphForces |
Graph of each constraint's force at each step of the resolution. More... | |
![]() | |
SingleLink< BaseAnimationLoop, core::objectmodel::BaseNode, BaseLink::FLAG_STOREPATH > | l_node |
Data< bool > | d_computeBoundingBox |
If true, compute the global bounding box of the scene at each time step. Used mostly for rendering. More... | |
![]() | |
Data< bool > | f_listening |
if true, handle the events, otherwise ignore the events More... | |
![]() | |
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_CLASS (ConstraintAnimationLoop, sofa::simulation::CollisionAnimationLoop) | |
void | step (const core::ExecParams *params, SReal dt) override |
void | init () override |
Initialization method called at graph creation and modification, during top-down traversal. More... | |
ConstraintProblem * | getConstraintProblem () |
![]() | |
SOFA_ABSTRACT_CLASS (BaseAnimationLoop, objectmodel::BaseObject) | |
void | init () override |
Initialization method called at graph creation and modification, during top-down traversal. More... | |
SReal | getResetTime () const |
Returns starting time of the simulation. More... | |
bool | insertInNode (objectmodel::BaseNode *node) override |
bool | removeInNode (objectmodel::BaseNode *node) override |
![]() | |
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... | |
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 | 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 | reset () |
Reset to initial state. More... | |
virtual void | cleanup () |
![]() | |
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 |
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 | |
ConstraintAnimationLoop () | |
~ConstraintAnimationLoop () override | |
void | launchCollisionDetection (const core::ExecParams *params) |
void | freeMotion (const core::ExecParams *params, simulation::Node *context, SReal &dt) |
void | setConstraintEquations (const core::ExecParams *params, simulation::Node *context) |
void | correctiveMotion (const core::ExecParams *params, simulation::Node *context) |
void | debugWithContact (int numConstraints) |
void | writeAndAccumulateAndCountConstraintDirections (const core::ExecParams *params, simulation::Node *context, unsigned int &numConstraints) |
Specific procedures that are called for setting the constraints: More... | |
void | getIndividualConstraintViolations (const core::ExecParams *params, simulation::Node *context) |
void | getIndividualConstraintSolvingProcess (const core::ExecParams *params, simulation::Node *context) |
3.calling getConstraintResolution: each constraint provides a method that is used to solve it during GS iterations More... | |
virtual void | computeComplianceInConstraintSpace () |
4.calling addComplianceInConstraintSpace projected in the contact space => getDelassusOperator(_W) = H*C*Ht More... | |
void | computePredictiveForce (int dim, SReal *force, std::vector< core::behavior::ConstraintResolution * > &res) |
method for predictive scheme: More... | |
void | gaussSeidelConstraint (int dim, SReal *dfree, SReal **w, SReal *force, SReal *d, std::vector< core::behavior::ConstraintResolution * > &res, SReal *df) |
virtual ConstraintProblem * | getCP () |
![]() | |
CollisionAnimationLoop () | |
~CollisionAnimationLoop () override | |
virtual void | preCollisionComputation (const core::ExecParams *params=core::execparams::defaultInstance()) |
Function meant to be called before the actual collision computation. More... | |
virtual void | internalCollisionComputation (const core::ExecParams *params=core::execparams::defaultInstance()) |
Function performing the actual collision computation. More... | |
virtual void | postCollisionComputation (const core::ExecParams *params=core::execparams::defaultInstance()) |
Function meant to be called after the actual collision computation. More... | |
virtual void | computeCollision (const core::ExecParams *params=core::execparams::defaultInstance()) |
Activate collision pipeline. More... | |
virtual void | integrate (const core::ExecParams *params, SReal dt) |
Activate OdeSolvers. More... | |
const Solvers & | getSolverSequence () |
![]() | |
BaseAnimationLoop () | |
~BaseAnimationLoop () override | |
void | storeResetState () override |
Save the initial state for later uses in reset() More... | |
![]() | |
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... | |
![]() | |
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... | |
![]() | |
virtual | ~IntrusiveObject ()=default |
Additional Inherited Members | |
![]() | |
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 const BaseClass * | GetClass () |
template<class T > | |
static std::string | shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr) |
|
protected |
|
protected |
|
protected |
All constraints must be verified (each constraint's error < tolerance)
Display time for each important step of ConstraintAnimationLoop.
Compute the collisions first (to support penality-based contacts)
Double the buffer dedicated to the constraint problem to make it accessible to another thread.
Data<std::map < std::string, sofa::type::vector<SReal> > > sofa::component::animationloop::ConstraintAnimationLoop::d_graphConstraints |
Graph of each constraint's error at the end of the resolution.
Data<std::map < std::string, sofa::type::vector<SReal> > > sofa::component::animationloop::ConstraintAnimationLoop::d_graphErrors |
Sum of the constraints' errors at each iteration.
Data<std::map < std::string, sofa::type::vector<SReal> > > sofa::component::animationloop::ConstraintAnimationLoop::d_graphForces |
Graph of each constraint's force at each step of the resolution.
Maximum number of iterations of the Gauss-Seidel.
If the total computational time T < dt, sleep(dt-T)
Scale the error tolerance with the number of constraints.
Apply new scheme where compliance is progressively corrected.
Successive Over Relaxation parameter (0-2)
Tolerance of the Gauss-Seidel.
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |
|
overrideprotected |
|
protectedvirtual |
4.calling addComplianceInConstraintSpace projected in the contact space => getDelassusOperator(_W) = H*C*Ht
|
protected |
method for predictive scheme:
|
protected |
|
protected |
|
protected |
|
protected |
|
inline |
|
protectedvirtual |
|
protected |
3.calling getConstraintResolution: each constraint provides a method that is used to solve it during GS iterations
|
protected |
2.calling GetConstraintViolationVisitor: each constraint provides its present violation for a given state (by default: free_position TODO: add VecId to make this method more generic)
|
overridevirtual |
Initialization method called at graph creation and modification, during top-down traversal.
Reimplemented from sofa::core::objectmodel::BaseObject.
|
protected |
|
protected |
sofa::component::animationloop::ConstraintAnimationLoop::SOFA_CLASS | ( | ConstraintAnimationLoop | , |
sofa::simulation::CollisionAnimationLoop | |||
) |
|
overridevirtual |
Main computation method.
Specify and execute all computations for computing a timestep, such as one or more collisions and integrations stages.
Implements sofa::core::behavior::BaseAnimationLoop.
|
protected |
Specific procedures that are called for setting the constraints:
1.calling resetConstraint & setConstraint & accumulateConstraint visitors and resize the constraint problem that will be solved