#include <MatrixLinearSystem.h>

Inheritance diagram for sofa::component::linearsystem::MatrixLinearSystem< TMatrix, TVector >:

Detailed Description

template<class TMatrix, class TVector>
class sofa::component::linearsystem::MatrixLinearSystem< TMatrix, TVector >

Assemble the global matrix using local matrix components

Components add their contributions directly to the global matrix, through their local matrices. Local matrices act as a proxy (they don't really store a local matrix). They have a link to the global matrix and an offset parameter to add the contribution into the right entry into the global matrix.

Template Parameters

TMatrix	The type of the data structure used to represent the global matrix. In the general cases, this type derives from sofa::linearalgebra::BaseMatrix.
TVector	The type of the data structure used to represent the vectors of the linear system: the right-hand side and the solution. In the general cases, this type derives from sofa::linearalgebra::BaseVector.

Classes
struct	Dirichlet

struct	IndependentContributors

Public Attributes
Data< bool >	d_assembleStiffness
	If true, the stiffness is added to the global matrix. More...

Data< bool >	d_assembleMass
	If true, the mass is added to the global matrix. More...

Data< bool >	d_assembleDamping
	If true, the damping is added to the global matrix. More...

Data< bool >	d_assembleGeometricStiffness
	If true, the geometric stiffness of mappings is added to the global matrix. More...

Data< bool >	d_applyProjectiveConstraints
	If true, projective constraints are applied on the global matrix. More...

Data< bool >	d_applyMappedComponents
	If true, mapped components contribute to the global matrix. More...

Data< bool >	d_checkIndices
	If true, indices are verified before being added in to the global matrix, favoring security over speed. More...

Data< bool >	d_parallelAssemblyIndependentMatrices
	If true, independent matrices (global matrix vs mapped matrices) are assembled in parallel. More...

Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool >	f_listening
	if true, handle the events, otherwise ignore the events More...

Public Attributes inherited from sofa::core::objectmodel::Base
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}

Protected Attributes
std::tuple< LocalMatrixMaps< Contribution::STIFFNESS, Real >, LocalMatrixMaps< Contribution::MASS, Real >, LocalMatrixMaps< Contribution::DAMPING, Real >, LocalMatrixMaps< Contribution::GEOMETRIC_STIFFNESS, Real > >	m_localMatrixMaps

std::map< BaseForceField *, core::behavior::StiffnessMatrix >	m_stiffness

std::map< BaseForceField *, core::behavior::DampingMatrix >	m_damping

std::map< BaseMapping *, core::GeometricStiffnessMatrix >	m_geometricStiffness

std::map< BaseMass , BaseAssemblingMatrixAccumulator< Contribution::MASS > >	m_mass

sofa::type::vector< IndependentContributors >	m_independentContributors

sofa::type::vector< std::pair< PairMechanicalStates, std::shared_ptr< LocalMappedMatrixType< Real > > > >	m_localMappedMatrices
	List of shared local matrices under mappings. More...

sofa::type::vector< std::shared_ptr< MappedMassMatrixObserver< Real > > >	m_mappedMassMatrixObservers

sofa::component::linearsystem::MatrixLinearSystem::Dirichlet	m_discarder

Data< bool >	m_needClearLocalMatrices { false }

std::tuple< std::unique_ptr< CreateMatrixDispatcher< Contribution::STIFFNESS > >, std::unique_ptr< CreateMatrixDispatcher< Contribution::MASS > >, std::unique_ptr< CreateMatrixDispatcher< Contribution::DAMPING > >, std::unique_ptr< CreateMatrixDispatcher< Contribution::GEOMETRIC_STIFFNESS > > >	m_createDispatcher
	An object with factory methods to create local matrices. More...

std::map< PairMechanicalStates, BaseMatrixProjectionMethod< LocalMappedMatrixType< Real > > * >	m_matrixMappings

Protected Attributes inherited from sofa::component::linearsystem::TypedMatrixLinearSystem< TMatrix, TVector >
LinearSystemData< TMatrix, TVector >	m_linearSystem

MappingGraph	m_mappingGraph
	Relationships between the mechanical states and their associated components. More...

sofa::type::vector< sofa::core::behavior::BaseForceField * >	m_forceFields
	The list of force fields contributing to the matrix assembly. More...

sofa::type::vector< sofa::core::behavior::BaseMass * >	m_masses
	The list of masses contributing to the matrix assembly. More...

sofa::type::vector< sofa::core::BaseMapping * >	m_mechanicalMappings
	The list of mechanical mappings contributing to the matrix assembly. More...

sofa::type::vector< sofa::core::behavior::BaseProjectiveConstraintSet * >	m_projectiveConstraints
	The list of projective constraints contributing to the matrix assembly. More...

Protected Attributes inherited from sofa::core::behavior::BaseMatrixLinearSystem
Data< sofa::type::Vec2u >	d_matrixSize
	Size of the linear system. More...

Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK >	l_context

LinkSlaves	l_slaves

SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK >	l_master

Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallback >	m_internalEngine

VecData	m_vecData
	List of fields (Data instances) More...

MapData	m_aliasData
	name -> Data multi-map (includes names and aliases) More...

VecLink	m_vecLink
	List of links. More...

MapLink	m_aliasLink
	name -> Link multi-map (includes names and aliases) More...

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE2(MatrixLinearSystem, TMatrix, TVector), SOFA_TEMPLATE2(TypedMatrixLinearSystem, TMatrix, TVector))

const MappingGraph &	getMappingGraph () const

template<Contribution c>
auto	getSharedMatrix (sofa::core::matrixaccumulator::get_component_type< c > *object, const PairMechanicalStates &pair) -> std::shared_ptr< LocalMappedMatrixType< Real > >

template<Contribution c>
auto	getSharedMatrixSize (sofa::core::matrixaccumulator::get_component_type< c > *object, const PairMechanicalStates &pair) -> std::optional< type::Vec2u >

template<Contribution c>
LocalMatrixMaps< c, typename MatrixLinearSystem< TMatrix, TVector >::Real > &	getLocalMatrixMap ()

template<Contribution c>
const LocalMatrixMaps< c, typename MatrixLinearSystem< TMatrix, TVector >::Real > &	getLocalMatrixMap () const

template<core::matrixaccumulator::Contribution c>
AssemblingMappedMatrixAccumulator< c, typename MatrixLinearSystem< TMatrix, TVector >::Real > *	createLocalMappedMatrixT (sofa::core::matrixaccumulator::get_component_type< c > *object, SReal factor)

Public Member Functions inherited from sofa::component::linearsystem::TypedMatrixLinearSystem< TMatrix, TVector >
	SOFA_CLASS (SOFA_TEMPLATE2(TypedMatrixLinearSystem, TMatrix, TVector), sofa::core::behavior::BaseMatrixLinearSystem)

virtual TMatrix *	getSystemMatrix () const
	Return the global matrix of the linear system. More...

virtual TVector *	getRHSVector () const
	Return the RHS of the linear system. More...

virtual TVector *	getSolutionVector () const
	Return the solution of the linear system. More...

linearalgebra::BaseMatrix *	getSystemBaseMatrix () const override
	Returns the system matrix as a linearalgebra::BaseMatrix*. More...

virtual void	resizeSystem (sofa::Size n)
	Set the size of the matrix to n x n, and the size of RHS and solution to n. More...

virtual void	clearSystem ()

virtual void	setRHS (core::MultiVecDerivId v)

virtual void	setSystemSolution (core::MultiVecDerivId v)

virtual void	dispatchSystemSolution (core::MultiVecDerivId v)

virtual void	dispatchSystemRHS (core::MultiVecDerivId v)

core::objectmodel::BaseContext *	getSolveContext ()

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API void	setRHS (core::MultiVecDerivId v)

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API void	setSystemSolution (core::MultiVecDerivId v)

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API void	dispatchSystemSolution (core::MultiVecDerivId v)

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API void	dispatchSystemRHS (core::MultiVecDerivId v)

void	setRHS (core::MultiVecDerivId v)

void	setSystemSolution (core::MultiVecDerivId v)

void	dispatchSystemSolution (core::MultiVecDerivId v)

void	dispatchSystemRHS (core::MultiVecDerivId v)

Public Member Functions inherited from sofa::core::behavior::BaseMatrixLinearSystem
	SOFA_ABSTRACT_CLASS (BaseMatrixLinearSystem, core::objectmodel::BaseObject)

void	buildSystemMatrix (const core::MechanicalParams *mparams)
	Construct and assemble the linear system matrix. More...

sofa::type::Vec2u	getMatrixSize () const

Public Member Functions inherited from sofa::core::objectmodel::BaseObject
	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...

virtual bool	insertInNode (BaseNode *)

virtual bool	removeInNode (BaseNode *)

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	init ()
	Initialization method called at graph creation and modification, during top-down traversal. 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	storeResetState ()
	Save the initial state for later uses in reset() More...

virtual void	reset ()
	Reset to initial state. More...

virtual void	cleanup ()

Public Member Functions inherited from sofa::core::objectmodel::Base
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)
	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
	MatrixLinearSystem ()

MappedMassMatrixObserver< Real > *	getMassObserver (BaseMass *mass)

template<Contribution c>
void	contribute (const core::MechanicalParams *mparams, IndependentContributors &contributors)

void	assembleSystem (const core::MechanicalParams *mparams) override

void	makeLocalMatrixGroups (const core::MechanicalParams *mparams)

void	makeIndependentLocalMatrixGroups ()

void	associateLocalMatrixToComponents (const core::MechanicalParams *mparams) override

void	cleanLocalMatrices ()

template<Contribution c>
LocalMatrixMaps< c, Real > &	getLocalMatrixMap ()

template<Contribution c>
const LocalMatrixMaps< c, Real > &	getLocalMatrixMap () const

template<Contribution c>
void	associateLocalMatrixTo (sofa::core::matrixaccumulator::get_component_type< c > component, const core::MechanicalParams mparams)

template<Contribution c>
BaseAssemblingMatrixAccumulator< c > *	createLocalMatrixT (sofa::core::matrixaccumulator::get_component_type< c > *object, SReal factor)

template<Contribution c>
AssemblingMappedMatrixAccumulator< c, Real > *	createLocalMappedMatrixT (sofa::core::matrixaccumulator::get_component_type< c > *object, SReal factor)

virtual void	projectMappedMatrices (const core::MechanicalParams mparams, linearalgebra::BaseMatrix destination)

virtual void	assembleMappedMatrices (const core::MechanicalParams *mparams)

virtual void	applyProjectiveConstraints (const core::MechanicalParams *mparams)

template<Contribution c>
std::shared_ptr< LocalMappedMatrixType< Real > >	getSharedMatrix (sofa::core::matrixaccumulator::get_component_type< c > *object, const PairMechanicalStates &pair)

template<Contribution c>
std::optional< type::Vec2u >	getSharedMatrixSize (sofa::core::matrixaccumulator::get_component_type< c > *object, const PairMechanicalStates &pair)

template<Contribution c>
void	setSharedMatrix (sofa::core::matrixaccumulator::get_component_type< c > *object, const PairMechanicalStates &pair, std::shared_ptr< LocalMappedMatrixType< Real > > matrix)

template<Contribution c>
sofa::type::vector< sofa::core::matrixaccumulator::get_component_type< c > * >	getContributors () const
	Get the list of components contributing to the global matrix through the contribution type . More...

void	buildGroupsOfComponentAssociatedToMechanicalStates (std::map< PairMechanicalStates, GroupOfComponentsAssociatedToAPairOfMechanicalStates > &groups)

virtual void	makeCreateDispatcher ()

virtual std::shared_ptr< sofa::core::matrixaccumulator::IndexVerificationStrategy >	makeIndexVerificationStrategy (sofa::core::objectmodel::BaseObject *component)

virtual BaseMatrixProjectionMethod< LocalMappedMatrixType< Real > >::SPtr	createMatrixMapping (const PairMechanicalStates &pair)

BaseMatrixProjectionMethod< LocalMappedMatrixType< Real > > *	findProjectionMethod (const PairMechanicalStates &pair)

void	assemblePrecomputedMappedMassMatrix (const core::MechanicalParams mparams, linearalgebra::BaseMatrix destination)

void	recomputeMappedMassMatrix (const core::MechanicalParams mparams, BaseMass mass)

Protected Member Functions inherited from sofa::component::linearsystem::TypedMatrixLinearSystem< TMatrix, TVector >
void	preAssembleSystem (const core::MechanicalParams *) override

virtual void	allocateSystem ()

virtual void	resizeVectors (sofa::Size n)
	Set the size of RHS and solution to n. More...

void	copyLocalVectorToGlobalVector (core::MultiVecDerivId v, TVector *globalVector)

SOFA_COMPONENT_LINEARSOLVER_ITERATIVE_API void	copyLocalVectorToGlobalVector (core::MultiVecDerivId v, GraphScatteredVector *globalVector)

void	copyLocalVectorToGlobalVector (core::MultiVecDerivId v, GraphScatteredVector *globalVector)

Protected Member Functions inherited from sofa::core::behavior::BaseMatrixLinearSystem
	BaseMatrixLinearSystem ()

virtual void	postAssembleSystem (const core::MechanicalParams *)

Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
	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...

Protected Member Functions inherited from sofa::core::objectmodel::Base
	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...

Additional Inherited Members
Static Public Member Functions inherited from sofa::component::linearsystem::TypedMatrixLinearSystem< TMatrix, TVector >
static std::string	GetCustomTemplateName ()

Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
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 Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClass *	GetClass ()

template<class T >
static std::string	shortName (const T ptr=nullptr, BaseObjectDescription =nullptr)

Static Protected Member Functions inherited from sofa::component::linearsystem::TypedMatrixLinearSystem< TMatrix, TVector >
template<core::matrixaccumulator::Contribution c>
static SReal	getContributionFactor (const sofa::core::MechanicalParams mparams, const sofa::core::matrixaccumulator::get_component_type< c > object)