/usr/include/sofa/component/mastersolver/MasterContactSolver.h is in libsofa1-dev 1.0~beta4-10ubuntu2.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_COMPONENT_ODESOLVER_MASTERCONTACTSOLVER_H
#define SOFA_COMPONENT_ODESOLVER_MASTERCONTACTSOLVER_H
#include <sofa/core/componentmodel/behavior/OdeSolver.h>
#include <sofa/simulation/common/MasterSolverImpl.h>
#include <sofa/simulation/common/Node.h>
#include <sofa/simulation/common/MechanicalVisitor.h>
#include <sofa/core/componentmodel/behavior/BaseConstraintCorrection.h>
#include <sofa/core/componentmodel/behavior/OdeSolver.h>
#include <sofa/component/odesolver/OdeSolverImpl.h>
#include <sofa/component/linearsolver/FullMatrix.h>
#include <sofa/component/linearsolver/SparseMatrix.h>
#include <sofa/helper/set.h>
namespace sofa
{
namespace component
{
namespace odesolver
{
using namespace sofa::defaulttype;
using namespace sofa::component::linearsolver;
using namespace helper::system::thread;
class SOFA_COMPONENT_MASTERSOLVER_API LCP
{
public:
int maxConst;
LPtrFullMatrix<double> W;
FullVector<double> dFree, f;
double tol;
int numItMax;
unsigned int nbConst;
bool useInitialF;
double mu;
int dim;
private:
bool lok;
public:
LCP(unsigned int maxConstraint);
~LCP();
void reset(void);
//LCP& operator=(LCP& lcp);
inline double** getW(void) {return W.lptr();};
inline double& getMu(void) { return mu;};
inline double* getDfree(void) {return dFree.ptr();};
inline int getDfreeSize(void) {return dFree.size();};
inline double getTolerance(void) {return tol;};
inline void setTol(double t) {tol = t;};
inline double getMaxIter(void) {return numItMax;};
inline double* getF(void) {return f.ptr();};
inline bool useInitialGuess(void) {return useInitialF;};
inline unsigned int getNbConst(void) {return nbConst;};
inline void setNbConst(unsigned int nbC) {nbConst = nbC;};
inline unsigned int getMaxConst(void) {return maxConst;};
inline bool isLocked(void) {return false;};
inline void lock(void) {lok = true;};
inline void unlock(void) {lok = false;};
inline void wait(void) {while(lok) ; } //infinite loop?
};
class SOFA_COMPONENT_MASTERSOLVER_API MechanicalResetContactForceVisitor : public simulation::MechanicalVisitor
{
public:
VecId force;
MechanicalResetContactForceVisitor()
{
}
virtual Result fwdMechanicalState(simulation::Node* node, core::componentmodel::behavior::BaseMechanicalState* ms)
{
ctime_t t0 = begin(node, ms);
ms->resetContactForce();
end(node, ms, t0);
return RESULT_CONTINUE;
}
virtual Result fwdMappedMechanicalState(simulation::Node* node, core::componentmodel::behavior::BaseMechanicalState* ms)
{
ctime_t t0 = begin(node, ms);
ms->resetForce();
end(node, ms, t0);
return RESULT_CONTINUE;
}
#ifdef DUMP_VISITOR_INFO
void setReadWriteVectors()
{
}
#endif
};
/* ACTION 2 : Apply the Contact Forces on mechanical models & Compute displacements */
class SOFA_COMPONENT_MASTERSOLVER_API MechanicalApplyContactForceVisitor : public simulation::MechanicalVisitor
{
public:
VecId force;
MechanicalApplyContactForceVisitor(double *f):_f(f)
{
}
virtual Result fwdMechanicalState(simulation::Node* node, core::componentmodel::behavior::BaseMechanicalState* ms)
{
ctime_t t0 = begin(node, ms);
ms->applyContactForce(_f);
end(node, ms, t0);
return RESULT_CONTINUE;
}
virtual Result fwdMappedMechanicalState(simulation::Node* node, core::componentmodel::behavior::BaseMechanicalState* ms)
{
ctime_t t0 = begin(node, ms);
ms->applyContactForce(_f);
end(node, ms, t0);
return RESULT_CONTINUE;
}
#ifdef DUMP_VISITOR_INFO
void setReadWriteVectors()
{
}
#endif
private:
double *_f; // vector of contact forces from lcp //
// to be multiplied by constraint direction in mechanical models //
};
/* ACTION 3 : gets the vector of constraint values */
/* ACTION 3 : gets the vector of constraint values */
class SOFA_COMPONENT_MASTERSOLVER_API MechanicalGetConstraintValueVisitor : public simulation::MechanicalVisitor
{
public:
MechanicalGetConstraintValueVisitor(BaseVector *v): _v(v) // , _numContacts(numContacts)
{
#ifdef DUMP_VISITOR_INFO
setReadWriteVectors();
#endif
}
virtual Result fwdConstraint(simulation::Node* node, core::componentmodel::behavior::BaseConstraint* c)
{
//sout << c->getName()<<"->getConstraintValue()"<<sendl;
ctime_t t0 = begin(node, c);
c->getConstraintValue(_v /*, _numContacts*/);
end(node, c, t0);
return RESULT_CONTINUE;
}
#ifdef DUMP_VISITOR_INFO
void setReadWriteVectors()
{
}
#endif
private:
BaseVector* _v; // vector for constraint values
// unsigned int &_numContacts; // we need an offset to fill the vector _v if differents contact class are created
};
class SOFA_COMPONENT_MASTERSOLVER_API MechanicalGetContactIDVisitor : public simulation::MechanicalVisitor
{
public:
MechanicalGetContactIDVisitor(long *id, unsigned int offset = 0)
: _id(id),_offset(offset)
{
#ifdef DUMP_VISITOR_INFO
setReadWriteVectors();
#endif
}
virtual Result fwdConstraint(simulation::Node* node, core::componentmodel::behavior::BaseConstraint* c)
{
ctime_t t0 = begin(node, c);
c->getConstraintId(_id, _offset);
end(node, c, t0);
return RESULT_CONTINUE;
}
#ifdef DUMP_VISITOR_INFO
void setReadWriteVectors()
{
}
#endif
private:
long *_id;
unsigned int _offset;
};
class SOFA_COMPONENT_MASTERSOLVER_API MasterContactSolver : public sofa::simulation::MasterSolverImpl//, public sofa::component::odesolver::OdeSolverImpl
{
public:
// for unbuilt lcp
// typedef Mat<3,3,double> Mat3x3;
typedef std::vector<core::componentmodel::behavior::BaseConstraintCorrection*> list_cc;
typedef std::vector<list_cc> VecListcc;
Data<bool> displayTime;
Data<bool> initial_guess;
Data<bool> build_lcp;
Data < double > tol;
Data < int > maxIt;
Data < double > mu;
Data < helper::set<int> > constraintGroups;
MasterContactSolver();
// virtual const char* getTypeName() const { return "MasterSolver"; }
void step (double dt);
//virtual void propagatePositionAndVelocity(double t, VecId x, VecId v);
virtual void init();
LCP* getLCP(void) {return (lcp == &lcp1) ? &lcp2 : &lcp1;};
private:
std::vector<core::componentmodel::behavior::BaseConstraintCorrection*> constraintCorrections;
void computeInitialGuess();
void keepContactForcesValue();
unsigned int _numConstraints;
double _mu;
/// for built lcp ///
void build_LCP();
LCP lcp1, lcp2;
LPtrFullMatrix<double> *_W;
LCP* lcp;
/// common built-unbuilt
simulation::Node *context;
FullVector<double> *_dFree, *_result;
///
/// for unbuilt lcp ///
void build_problem_info();
int gaussseidel_unbuilt(double *dfree, double *f);
SparseMatrix<double> *_Wdiag;
//std::vector<helper::LocalBlock33 *> _Wdiag;
std::vector<core::componentmodel::behavior::BaseConstraintCorrection*> _cclist_elem1;
std::vector<core::componentmodel::behavior::BaseConstraintCorrection*> _cclist_elem2;
typedef struct {
Vector3 n;
Vector3 t;
Vector3 s;
Vector3 F;
long id;
} contactBuf;
contactBuf *_PreviousContactList;
unsigned int _numPreviousContact;
long *_cont_id_list;
};
} // namespace odesolver
} // namespace component
} // namespace sofa
#endif
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