#include <EulerImplicitSolver.h>
Semi-implicit time integrator using backward Euler scheme for first and second degree ODEs. (default: second)
2nd Order ***
This is based on [Baraff and Witkin, Large Steps in Cloth Simulation, SIGGRAPH 1998] The integration scheme is based on the following equations:
The unknown is
Newton's law is
is the mass matrix.
is the stiffness implemented (or not) by the force fields.
is the damping implemented (or not) by the force fields. An additional, uniform Rayleigh damping
is imposed by the solver.
This corresponds to the following equation system:
Moreover, the projective constraints filter out the forbidden motions. This is equivalent with multiplying vectors with a projection matrix . Finally, the equation system set by this ode solver is:
1st Order ***
This integration scheme is based on the following equation:
Applied to this mechanical system:
Trapezoidal Rule ***
The trapezoidal scheme is based on
With this and the same techniques as for the implicit Euler scheme we receive for *** 2nd Order *** equations
and for *** 1st Order ***
Public Attributes | |
sofa::core::objectmodel::RenamedData< SReal > | f_rayleighStiffness |
sofa::core::objectmodel::RenamedData< SReal > | f_rayleighMass |
sofa::core::objectmodel::RenamedData< SReal > | f_velocityDamping |
sofa::core::objectmodel::RenamedData< bool > | f_firstOrder |
sofa::core::objectmodel::RenamedData< bool > | f_solveConstraint |
Data< SReal > | d_rayleighStiffness |
Rayleigh damping coefficient related to stiffness, > 0. More... | |
Data< SReal > | d_rayleighMass |
Rayleigh damping coefficient related to mass, > 0. More... | |
Data< SReal > | d_velocityDamping |
Velocity decay coefficient (no decay if null) More... | |
Data< bool > | d_firstOrder |
Use backward Euler scheme for first order ODE system, which means that only the first derivative of the DOFs (state) appears in the equation. Higher derivatives are absent. More... | |
Data< bool > | d_trapezoidalScheme |
Boolean to use the trapezoidal scheme instead of the implicit Euler scheme and get second order accuracy in time (false by default) More... | |
Data< bool > | d_solveConstraint |
Apply ConstraintSolver (requires a ConstraintSolver in the same node as this solver, disabled by by default for now) More... | |
Data< bool > | d_threadSafeVisitor |
If true, do not use realloc and free visitors in fwdInteractionForceField. More... | |
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Data< bool > | f_listening |
if true, handle the events, otherwise ignore the events More... | |
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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 objet 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 | |
core::behavior::MultiVecDeriv | x |
the solution vector is stored for warm-start More... | |
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SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK > | l_context |
LinkSlaves | l_slaves |
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK > | l_master |
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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... | |
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SingleLink< LinearSolverAccessor, LinearSolver, BaseLink::FLAG_STRONGLINK > | l_linearSolver |
Public Member Functions | |
SOFA_CLASS2 (EulerImplicitSolver, sofa::core::behavior::OdeSolver, sofa::core::behavior::LinearSolverAccessor) | |
void | init () override |
Initialization method called at graph creation and modification, during top-down traversal. More... | |
void | cleanup () override |
void | solve (const core::ExecParams *params, SReal dt, sofa::core::MultiVecCoordId xResult, sofa::core::MultiVecDerivId vResult) override |
SReal | getVelocityIntegrationFactor () const override |
SReal | getPositionIntegrationFactor () const override |
virtual SReal | getPositionIntegrationFactor (SReal dt) const |
SReal | getIntegrationFactor (int inputDerivative, int outputDerivative) const override |
SReal | getIntegrationFactor (int inputDerivative, int outputDerivative, SReal dt) const |
SReal | getSolutionIntegrationFactor (int outputDerivative) const override |
SReal | getSolutionIntegrationFactor (int outputDerivative, SReal dt) const |
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SOFA_ABSTRACT_CLASS (OdeSolver, objectmodel::BaseObject) | |
virtual void | solve (const core::ExecParams *params, SReal dt) |
virtual void | computeResidual (const core::ExecParams *, SReal, sofa::core::MultiVecCoordId, sofa::core::MultiVecDerivId) |
bool | insertInNode (objectmodel::BaseNode *node) override |
bool | removeInNode (objectmodel::BaseNode *node) override |
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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 | storeResetState () |
Save the initial state for later uses in reset() More... | |
virtual void | reset () |
Reset to initial state. More... | |
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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) |
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void | init () override |
Initialization method called at graph creation and modification, during top-down traversal. More... | |
Protected Member Functions | |
EulerImplicitSolver () | |
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OdeSolver () | |
~OdeSolver () override | |
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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... | |
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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... | |
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LinearSolverAccessor (LinearSolver *linearSolver=nullptr) | |
Additional Inherited Members | |
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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... | |
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static const BaseClass * | GetClass () |
template<class T > | |
static std::string | shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr) |
Use backward Euler scheme for first order ODE system, which means that only the first derivative of the DOFs (state) appears in the equation. Higher derivatives are absent.
Data<SReal> sofa::component::odesolver::backward::EulerImplicitSolver::d_rayleighMass |
Rayleigh damping coefficient related to mass, > 0.
Data<SReal> sofa::component::odesolver::backward::EulerImplicitSolver::d_rayleighStiffness |
Rayleigh damping coefficient related to stiffness, > 0.
Apply ConstraintSolver (requires a ConstraintSolver in the same node as this solver, disabled by by default for now)
If true, do not use realloc and free visitors in fwdInteractionForceField.
Boolean to use the trapezoidal scheme instead of the implicit Euler scheme and get second order accuracy in time (false by default)
Data<SReal> sofa::component::odesolver::backward::EulerImplicitSolver::d_velocityDamping |
Velocity decay coefficient (no decay if null)
sofa::core::objectmodel::RenamedData<bool> sofa::component::odesolver::backward::EulerImplicitSolver::f_firstOrder |
sofa::core::objectmodel::RenamedData<SReal> sofa::component::odesolver::backward::EulerImplicitSolver::f_rayleighMass |
sofa::core::objectmodel::RenamedData<SReal> sofa::component::odesolver::backward::EulerImplicitSolver::f_rayleighStiffness |
sofa::core::objectmodel::RenamedData<bool> sofa::component::odesolver::backward::EulerImplicitSolver::f_solveConstraint |
sofa::core::objectmodel::RenamedData<SReal> sofa::component::odesolver::backward::EulerImplicitSolver::f_velocityDamping |
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protected |
the solution vector is stored for warm-start
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protected |
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overridevirtual |
Called just before deleting this object Any object in the tree bellow this object that are to be removed will be removed only after this call, so any references this object holds should still be valid.
Reimplemented from sofa::core::objectmodel::BaseObject.
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overridevirtual |
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.
Reimplemented from sofa::core::behavior::OdeSolver.
SReal sofa::component::odesolver::backward::EulerImplicitSolver::getIntegrationFactor | ( | int | inputDerivative, |
int | outputDerivative, | ||
SReal | dt | ||
) | const |
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overridevirtual |
Given a displacement as computed by the linear system inversion, how much will it affect the position
This method is used to compute the compliance for contact corrections For Euler methods, it is typically dt².
Reimplemented from sofa::core::behavior::OdeSolver.
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inlinevirtual |
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overridevirtual |
Given a solution of the linear system, how much will it affect the output derivative of the given order.
Reimplemented from sofa::core::behavior::OdeSolver.
SReal sofa::component::odesolver::backward::EulerImplicitSolver::getSolutionIntegrationFactor | ( | int | outputDerivative, |
SReal | dt | ||
) | const |
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inlineoverridevirtual |
Given a displacement as computed by the linear system inversion, how much will it affect the velocity
This method is used to compute the compliance for contact corrections For Euler methods, it is typically dt.
Reimplemented from sofa::core::behavior::OdeSolver.
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overridevirtual |
Initialization method called at graph creation and modification, during top-down traversal.
Reimplemented from sofa::core::objectmodel::BaseObject.
sofa::component::odesolver::backward::EulerImplicitSolver::SOFA_CLASS2 | ( | EulerImplicitSolver | , |
sofa::core::behavior::OdeSolver | , | ||
sofa::core::behavior::LinearSolverAccessor | |||
) |
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overridevirtual |
Main computation method.
Specify and execute all computation for timestep integration, i.e. advancing the state from time t to t+dt, putting the resulting position and velocity in the provided vectors.
Implements sofa::core::behavior::OdeSolver.