sofa::simulation::common::MechanicalOperations Class Reference

#include <MechanicalOperations.h>

Public Attributes
core::MechanicalParams	mparams
core::ConstraintParams	cparams
core::objectmodel::BaseContext *	ctx

Protected Attributes
VisitorExecuteFunc	executeVisitor

Static Protected Attributes
static std::map< core::objectmodel::BaseContext *, bool >	hasShownMissingLinearSolverMap
	Store if the "missing linear solver" error message has already been shown for a given context. More...

Public Member Functions
	MechanicalOperations (const core::MechanicalParams *mparams, core::objectmodel::BaseContext *ctx, bool precomputedTraversalOrder=false)
	MechanicalOperations (const core::ExecParams *params, core::objectmodel::BaseContext *ctx, bool precomputedTraversalOrder=false)
core::MechanicalParams *	operator-> ()
	operator const core::MechanicalParams * ()
void	addMBKdx (core::MultiVecDerivId df, SReal m, SReal b, SReal k, bool clear=true, bool accumulate=true)
void	addMBKv (core::MultiVecDerivId df, SReal m, SReal b, SReal k, bool clear=true, bool accumulate=true)
void	setSystemMBKMatrix (SReal mFact, SReal bFact, SReal kFact, core::behavior::LinearSolver *linearSolver)
Mechanical Vector operations
void	propagateDx (core::MultiVecDerivId dx, bool ignore_flag=false)
	Propagate the given displacement through all mappings. More...
void	propagateDxAndResetDf (core::MultiVecDerivId dx, core::MultiVecDerivId df)
	Propagate the given displacement through all mappings and reset the current force delta. More...
void	propagateX (core::MultiVecCoordId x)
	Propagate the given position through all mappings. More...
void	propagateV (core::MultiVecDerivId v)
	Propagate the given velocity through all mappings. More...
void	propagateXAndV (core::MultiVecCoordId x, core::MultiVecDerivId v)
	Propagate the given position and velocity through all mappings. More...
void	propagateXAndResetF (core::MultiVecCoordId x, core::MultiVecDerivId f)
	Propagate the given position through all mappings and reset the current force delta. More...
void	projectPosition (core::MultiVecCoordId x, SReal time=0.0)
	Apply projective constraints to the given position vector. More...
void	projectVelocity (core::MultiVecDerivId v, SReal time=0.0)
	Apply projective constraints to the given velocity vector. More...
void	projectResponse (core::MultiVecDerivId dx, double **W=nullptr)
	Apply projective constraints to the given vector. More...
void	projectPositionAndVelocity (core::MultiVecCoordId x, core::MultiVecDerivId v, double time=0.0)
	Apply projective constraints to the given position and velocity vectors. More...
void	addMdx (core::MultiVecDerivId res, core::MultiVecDerivId dx, SReal factor=1.0)
	res += factor M.dx More...
void	integrateVelocity (core::MultiVecDerivId res, core::ConstMultiVecCoordId x, core::ConstMultiVecDerivId v, SReal dt)
	res = x + v.dt More...
void	accFromF (core::MultiVecDerivId a, core::ConstMultiVecDerivId f)
void	computeEnergy (SReal &kineticEnergy, SReal &potentialEnergy)
	Compute Energy. More...
void	computeForce (core::MultiVecDerivId result, bool clear=true, bool accumulate=true)
	Compute the current force (given the latest propagated position and velocity) More...
void	computeDf (core::MultiVecDerivId df, bool clear=true, bool accumulate=true)
	Compute the current force delta (given the latest propagated displacement) More...
void	computeDfV (core::MultiVecDerivId df, bool clear=true, bool accumulate=true)
	Compute the current force delta (given the latest propagated velocity) More...
void	addMBKdx (core::MultiVecDerivId df, core::MatricesFactors::M m, core::MatricesFactors::B b, core::MatricesFactors::K k, bool clear=true, bool accumulate=true)
	accumulate $ df += (m M + b B + k K) dx $ (given the latest propagated displacement) More...
void	addMBKv (core::MultiVecDerivId df, core::MatricesFactors::M m, core::MatricesFactors::B b, core::MatricesFactors::K k, bool clear=true, bool accumulate=true)
	accumulate $ df += (m M + b B + k K) velocity $ More...
void	addSeparateGravity (SReal dt, core::MultiVecDerivId result=core::vec_id::write_access::velocity)
	Add dt*Gravity to the velocity. More...
void	computeContactForce (core::MultiVecDerivId result)
void	computeContactDf (core::MultiVecDerivId df)
void	computeAcc (SReal t, core::MultiVecDerivId a, core::MultiVecCoordId x, core::MultiVecDerivId v)
	Compute a(x,v) at time t. Parameters x and v not const due to propagation through mappings. More...
void	computeForce (SReal t, core::MultiVecDerivId f, core::MultiVecCoordId x, core::MultiVecDerivId v)
	Compute f(x,v) at time t. Parameters x and v not const due to propagation through mappings. More...
void	computeContactAcc (SReal t, core::MultiVecDerivId a, core::MultiVecCoordId x, core::MultiVecDerivId v)
Matrix operations
void	getMatrixDimension (sofa::Size *const, sofa::Size *const, sofa::core::behavior::MultiMatrixAccessor *matrix=nullptr)
void	getMatrixDimension (sofa::core::behavior::MultiMatrixAccessor *matrix)
void	addMBK_ToMatrix (const sofa::core::behavior::MultiMatrixAccessor *matrix, SReal mFact, SReal bFact, SReal kFact)
void	multiVector2BaseVector (core::ConstMultiVecId src, linearalgebra::BaseVector *dest, const sofa::core::behavior::MultiMatrixAccessor *matrix)
void	baseVector2MultiVector (const linearalgebra::BaseVector *src, core::MultiVecId dest, const sofa::core::behavior::MultiMatrixAccessor *matrix)
void	multiVectorPeqBaseVector (core::MultiVecDerivId dest, const linearalgebra::BaseVector *src, const sofa::core::behavior::MultiMatrixAccessor *matrix)
Debug operations
void	print (core::ConstMultiVecId v, std::ostream &out)
	Dump the content of the given vector. More...
void	printWithElapsedTime (core::ConstMultiVecId v, unsigned time, std::ostream &out=std::cerr)

Protected Member Functions
void	setX (core::MultiVecCoordId &v)
void	setX (core::ConstMultiVecCoordId &v)
void	setV (core::MultiVecDerivId &v)
void	setV (core::ConstMultiVecDerivId &v)
void	setF (core::MultiVecDerivId &v)
void	setF (core::ConstMultiVecDerivId &v)
void	setDx (core::MultiVecDerivId &v)
void	setDx (core::ConstMultiVecDerivId &v)
void	setDf (core::MultiVecDerivId &v)
void	setDf (core::ConstMultiVecDerivId &v)
void	showMissingLinearSolverError () const
	Warn the user that a linear solver is required but has not been found. More...

Matrix operations using LinearSolver components
SReal	bFact
SReal SReal	kFact
void	resetSystem (core::behavior::LinearSolver *linearSolver)
void	setSystemMBKMatrix (core::MatricesFactors::M m, core::MatricesFactors::B b, core::MatricesFactors::K k, core::behavior::LinearSolver *linearSolver)
void	setSystemRHVector (core::MultiVecDerivId v, core::behavior::LinearSolver *linearSolver)
void	setSystemLHVector (core::MultiVecDerivId v, core::behavior::LinearSolver *linearSolver)
void	solveSystem (core::behavior::LinearSolver *linearSolver)
void	print (std::ostream &out, core::behavior::LinearSolver *linearSolver)
	SOFA_ATTRIBUTE_DEPRECATED_MECHANICALOPERATIONS_RESETSYSTEM () void m_resetSystem()
	SOFA_ATTRIBUTE_DEPRECATED_MECHANICALOPERATIONS_SETSYSTEMMBKMATRIX () void m_setSystemMBKMatrix(SReal mFact

Attribute details

bFact

SReal sofa::simulation::common::MechanicalOperations::bFact

cparams

core::ConstraintParams sofa::simulation::common::MechanicalOperations::cparams

ctx

core::objectmodel::BaseContext* sofa::simulation::common::MechanicalOperations::ctx

executeVisitor

VisitorExecuteFunc sofa::simulation::common::MechanicalOperations::executeVisitor

protected

hasShownMissingLinearSolverMap

std::map< core::objectmodel::BaseContext *, bool > sofa::simulation::common::MechanicalOperations::hasShownMissingLinearSolverMap

staticprotected

Store if the "missing linear solver" error message has already been shown for a given context.

kFact

SReal SReal sofa::simulation::common::MechanicalOperations::kFact

mparams

core::MechanicalParams sofa::simulation::common::MechanicalOperations::mparams

Constructor details

MechanicalOperations() [1/2]

sofa::simulation::common::MechanicalOperations::MechanicalOperations	(	const core::MechanicalParams *	mparams,
		core::objectmodel::BaseContext *	ctx,
		bool	precomputedTraversalOrder = false
	)

MechanicalOperations() [2/2]

sofa::simulation::common::MechanicalOperations::MechanicalOperations	(	const core::ExecParams *	params,
		core::objectmodel::BaseContext *	ctx,
		bool	precomputedTraversalOrder = false
	)

Function details

accFromF()

void sofa::simulation::common::MechanicalOperations::accFromF	(	core::MultiVecDerivId	a,
		core::ConstMultiVecDerivId	f
	)

a = M^-1 . f

Parameters

f	a = M^-1 . f

addMBK_ToMatrix()

void sofa::simulation::common::MechanicalOperations::addMBK_ToMatrix	(	const sofa::core::behavior::MultiMatrixAccessor *	matrix,
		SReal	mFact,
		SReal	bFact,
		SReal	kFact
	)

addMBKdx() [1/2]

void sofa::simulation::common::MechanicalOperations::addMBKdx	(	core::MultiVecDerivId	df,
		core::MatricesFactors::M	m,
		core::MatricesFactors::B	b,
		core::MatricesFactors::K	k,
		bool	clear = true,
		bool	accumulate = true
	)

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

addMBKdx() [2/2]

void sofa::simulation::common::MechanicalOperations::addMBKdx	(	core::MultiVecDerivId	df,
		SReal	m,
		SReal	b,
		SReal	k,
		bool	clear = true,
		bool	accumulate = true
	)

addMBKv() [1/2]

void sofa::simulation::common::MechanicalOperations::addMBKv	(	core::MultiVecDerivId	df,
		core::MatricesFactors::M	m,
		core::MatricesFactors::B	b,
		core::MatricesFactors::K	k,
		bool	clear = true,
		bool	accumulate = true
	)

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

addMBKv() [2/2]

void sofa::simulation::common::MechanicalOperations::addMBKv	(	core::MultiVecDerivId	df,
		SReal	m,
		SReal	b,
		SReal	k,
		bool	clear = true,
		bool	accumulate = true
	)

addMdx()

void sofa::simulation::common::MechanicalOperations::addMdx	(	core::MultiVecDerivId	res,
		core::MultiVecDerivId	dx,
		SReal	factor = 1.0
	)

res += factor M.dx

addSeparateGravity()

void sofa::simulation::common::MechanicalOperations::addSeparateGravity	(	SReal	dt,
		core::MultiVecDerivId	result = core::vec_id::write_access::velocity
	)

Add dt*Gravity to the velocity.

baseVector2MultiVector()

void sofa::simulation::common::MechanicalOperations::baseVector2MultiVector	(	const linearalgebra::BaseVector *	src,
		core::MultiVecId	dest,
		const sofa::core::behavior::MultiMatrixAccessor *	matrix
	)

computeAcc()

void sofa::simulation::common::MechanicalOperations::computeAcc	(	SReal	t,
		core::MultiVecDerivId	a,
		core::MultiVecCoordId	x,
		core::MultiVecDerivId	v
	)

Compute a(x,v) at time t. Parameters x and v not const due to propagation through mappings.

computeContactAcc()

void sofa::simulation::common::MechanicalOperations::computeContactAcc	(	SReal	t,
		core::MultiVecDerivId	a,
		core::MultiVecCoordId	x,
		core::MultiVecDerivId	v
	)

computeContactDf()

void sofa::simulation::common::MechanicalOperations::computeContactDf

(

core::MultiVecDerivId

df

)

computeContactForce()

void sofa::simulation::common::MechanicalOperations::computeContactForce

(

core::MultiVecDerivId

result

)

computeDf()

void sofa::simulation::common::MechanicalOperations::computeDf	(	core::MultiVecDerivId	df,
		bool	clear = true,
		bool	accumulate = true
	)

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

computeDfV()

void sofa::simulation::common::MechanicalOperations::computeDfV	(	core::MultiVecDerivId	df,
		bool	clear = true,
		bool	accumulate = true
	)

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

computeEnergy()

void sofa::simulation::common::MechanicalOperations::computeEnergy	(	SReal &	kineticEnergy,
		SReal &	potentialEnergy
	)

Compute Energy.

Apply projective constraints to the given velocity vector.

computeForce() [1/2]

void sofa::simulation::common::MechanicalOperations::computeForce	(	core::MultiVecDerivId	result,
		bool	clear = true,
		bool	accumulate = true
	)

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

computeForce() [2/2]

void sofa::simulation::common::MechanicalOperations::computeForce	(	SReal	t,
		core::MultiVecDerivId	f,
		core::MultiVecCoordId	x,
		core::MultiVecDerivId	v
	)

Compute f(x,v) at time t. Parameters x and v not const due to propagation through mappings.

getMatrixDimension() [1/2]

void sofa::simulation::common::MechanicalOperations::getMatrixDimension ( sofa::core::behavior::MultiMatrixAccessor *  matrix )

inline

getMatrixDimension() [2/2]

void sofa::simulation::common::MechanicalOperations::getMatrixDimension	(	sofa::Size * const	nbRow,
		sofa::Size * const	nbCol,
		sofa::core::behavior::MultiMatrixAccessor *	matrix = nullptr
	)

integrateVelocity()

void sofa::simulation::common::MechanicalOperations::integrateVelocity	(	core::MultiVecDerivId	res,
		core::ConstMultiVecCoordId	x,
		core::ConstMultiVecDerivId	v,
		SReal	dt
	)

res = x + v.dt

multiVector2BaseVector()

void sofa::simulation::common::MechanicalOperations::multiVector2BaseVector	(	core::ConstMultiVecId	src,
		linearalgebra::BaseVector *	dest,
		const sofa::core::behavior::MultiMatrixAccessor *	matrix
	)

multiVectorPeqBaseVector()

void sofa::simulation::common::MechanicalOperations::multiVectorPeqBaseVector	(	core::MultiVecDerivId	dest,
		const linearalgebra::BaseVector *	src,
		const sofa::core::behavior::MultiMatrixAccessor *	matrix
	)

operator const core::MechanicalParams *()

sofa::simulation::common::MechanicalOperations::operator const core::MechanicalParams * ( )

inline

operator->()

core::MechanicalParams* sofa::simulation::common::MechanicalOperations::operator-> ( )

inline

print() [1/2]

void sofa::simulation::common::MechanicalOperations::print	(	core::ConstMultiVecId	v,
		std::ostream &	out
	)

Dump the content of the given vector.

print() [2/2]

void sofa::simulation::common::MechanicalOperations::print	(	std::ostream &	out,
		core::behavior::LinearSolver *	linearSolver
	)

printWithElapsedTime()

void sofa::simulation::common::MechanicalOperations::printWithElapsedTime	(	core::ConstMultiVecId	v,
		unsigned	time,
		std::ostream &	out = std::cerr
	)

projectPosition()

void sofa::simulation::common::MechanicalOperations::projectPosition	(	core::MultiVecCoordId	x,
		SReal	time = 0.0
	)

Apply projective constraints to the given position vector.

projectPositionAndVelocity()

void sofa::simulation::common::MechanicalOperations::projectPositionAndVelocity	(	core::MultiVecCoordId	x,
		core::MultiVecDerivId	v,
		double	time = 0.0
	)

Apply projective constraints to the given position and velocity vectors.

projectResponse()

void sofa::simulation::common::MechanicalOperations::projectResponse	(	core::MultiVecDerivId	dx,
		double **	W = nullptr
	)

Apply projective constraints to the given vector.

projectVelocity()

void sofa::simulation::common::MechanicalOperations::projectVelocity	(	core::MultiVecDerivId	v,
		SReal	time = 0.0
	)

Apply projective constraints to the given velocity vector.

propagateDx()

void sofa::simulation::common::MechanicalOperations::propagateDx	(	core::MultiVecDerivId	dx,
		bool	ignore_flag = false
	)

Propagate the given displacement through all mappings.

propagateDxAndResetDf()

void sofa::simulation::common::MechanicalOperations::propagateDxAndResetDf	(	core::MultiVecDerivId	dx,
		core::MultiVecDerivId	df
	)

Propagate the given displacement through all mappings and reset the current force delta.

propagateV()

void sofa::simulation::common::MechanicalOperations::propagateV

(

core::MultiVecDerivId

v

)

Propagate the given velocity through all mappings.

propagateX()

void sofa::simulation::common::MechanicalOperations::propagateX

(

core::MultiVecCoordId

x

)

Propagate the given position through all mappings.

propagateXAndResetF()

void sofa::simulation::common::MechanicalOperations::propagateXAndResetF	(	core::MultiVecCoordId	x,
		core::MultiVecDerivId	f
	)

Propagate the given position through all mappings and reset the current force delta.

propagateXAndV()

void sofa::simulation::common::MechanicalOperations::propagateXAndV	(	core::MultiVecCoordId	x,
		core::MultiVecDerivId	v
	)

Propagate the given position and velocity through all mappings.

resetSystem()

void sofa::simulation::common::MechanicalOperations::resetSystem

(

core::behavior::LinearSolver *

linearSolver

)

setDf() [1/2]

void sofa::simulation::common::MechanicalOperations::setDf ( core::ConstMultiVecDerivId &  v )

protected

setDf() [2/2]

void sofa::simulation::common::MechanicalOperations::setDf ( core::MultiVecDerivId &  v )

protected

setDx() [1/2]

void sofa::simulation::common::MechanicalOperations::setDx ( core::ConstMultiVecDerivId &  v )

protected

setDx() [2/2]

void sofa::simulation::common::MechanicalOperations::setDx ( core::MultiVecDerivId &  v )

protected

setF() [1/2]

void sofa::simulation::common::MechanicalOperations::setF ( core::ConstMultiVecDerivId &  v )

protected

setF() [2/2]

void sofa::simulation::common::MechanicalOperations::setF ( core::MultiVecDerivId &  v )

protected

setSystemLHVector()

void sofa::simulation::common::MechanicalOperations::setSystemLHVector	(	core::MultiVecDerivId	v,
		core::behavior::LinearSolver *	linearSolver
	)

setSystemMBKMatrix() [1/2]

void sofa::simulation::common::MechanicalOperations::setSystemMBKMatrix	(	core::MatricesFactors::M	m,
		core::MatricesFactors::B	b,
		core::MatricesFactors::K	k,
		core::behavior::LinearSolver *	linearSolver
	)

setSystemMBKMatrix() [2/2]

void sofa::simulation::common::MechanicalOperations::setSystemMBKMatrix	(	SReal	mFact,
		SReal	bFact,
		SReal	kFact,
		core::behavior::LinearSolver *	linearSolver
	)

setSystemRHVector()

void sofa::simulation::common::MechanicalOperations::setSystemRHVector	(	core::MultiVecDerivId	v,
		core::behavior::LinearSolver *	linearSolver
	)

setV() [1/2]

void sofa::simulation::common::MechanicalOperations::setV ( core::ConstMultiVecDerivId &  v )

protected

setV() [2/2]

void sofa::simulation::common::MechanicalOperations::setV ( core::MultiVecDerivId &  v )

protected

setX() [1/2]

void sofa::simulation::common::MechanicalOperations::setX ( core::ConstMultiVecCoordId &  v )

protected

setX() [2/2]

void sofa::simulation::common::MechanicalOperations::setX ( core::MultiVecCoordId &  v )

protected

showMissingLinearSolverError()

void sofa::simulation::common::MechanicalOperations::showMissingLinearSolverError ( ) const

protected

Warn the user that a linear solver is required but has not been found.

SOFA_ATTRIBUTE_DEPRECATED_MECHANICALOPERATIONS_RESETSYSTEM()

sofa::simulation::common::MechanicalOperations::SOFA_ATTRIBUTE_DEPRECATED_MECHANICALOPERATIONS_RESETSYSTEM

(

)

SOFA_ATTRIBUTE_DEPRECATED_MECHANICALOPERATIONS_SETSYSTEMMBKMATRIX()

sofa::simulation::common::MechanicalOperations::SOFA_ATTRIBUTE_DEPRECATED_MECHANICALOPERATIONS_SETSYSTEMMBKMATRIX

(

)

solveSystem()

void sofa::simulation::common::MechanicalOperations::solveSystem

(

core::behavior::LinearSolver *

linearSolver

)