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PrecomputedConstraintCorrection

Component precomputing constraint forces within a simulated body using the compliance method. It approximates the compliance matrix by a precomputed matrix inverse. The approximation can be updated based on the rotation of elements.

Rigid3d

Templates:

  • Rigid3d

Target: Sofa.Component.Constraint.Lagrangian.Correction

namespace: sofa::component::constraint::lagrangian::correction

parents:

  • ConstraintCorrection

Data

Name Description Default value
name object name unnamed
printLog if true, emits extra messages at runtime. 0
tags list of the subsets the object belongs to
bbox this object bounding box
componentState The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). Undefined
listening if true, handle the events, otherwise ignore the events 0
rotations Project the precomputed matrix with a rotation matrix 0
restDeformations 0
recompute if true, always recompute the compliance 0
regularizationTerm Add regularization factor times the identity matrix to the compliance W when solving constraints 0
debugViewFrameScale Scale on computed node's frame 1
fileCompliance Precomputed compliance matrix data file
fileDir If not empty, the compliance will be saved in this repertory
Name Description Destination type name
context Graph Node containing this object (or BaseContext::getDefault() if no graph is used) BaseContext
slaves Sub-objects used internally by this object BaseComponent
master nullptr for regular objects, or master object for which this object is one sub-objects BaseComponent
mechanicalStates List of mechanical states to which this component is associated BaseMechanicalState
mstate MechanicalState used by this component MechanicalState<Rigid3d>
constraintSolvers Constraint solvers using this constraint correction ConstraintSolver

Vec1d

Templates:

  • Vec1d

Target: Sofa.Component.Constraint.Lagrangian.Correction

namespace: sofa::component::constraint::lagrangian::correction

parents:

  • ConstraintCorrection

Data

Name Description Default value
name object name unnamed
printLog if true, emits extra messages at runtime. 0
tags list of the subsets the object belongs to
bbox this object bounding box
componentState The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). Undefined
listening if true, handle the events, otherwise ignore the events 0
rotations Project the precomputed matrix with a rotation matrix 0
restDeformations 0
recompute if true, always recompute the compliance 0
regularizationTerm Add regularization factor times the identity matrix to the compliance W when solving constraints 0
debugViewFrameScale Scale on computed node's frame 1
fileCompliance Precomputed compliance matrix data file
fileDir If not empty, the compliance will be saved in this repertory
Name Description Destination type name
context Graph Node containing this object (or BaseContext::getDefault() if no graph is used) BaseContext
slaves Sub-objects used internally by this object BaseComponent
master nullptr for regular objects, or master object for which this object is one sub-objects BaseComponent
mechanicalStates List of mechanical states to which this component is associated BaseMechanicalState
mstate MechanicalState used by this component MechanicalState<Vec1d>
constraintSolvers Constraint solvers using this constraint correction ConstraintSolver

Vec3d

Templates:

  • Vec3d

Target: Sofa.Component.Constraint.Lagrangian.Correction

namespace: sofa::component::constraint::lagrangian::correction

parents:

  • ConstraintCorrection

Data

Name Description Default value
name object name unnamed
printLog if true, emits extra messages at runtime. 0
tags list of the subsets the object belongs to
bbox this object bounding box
componentState The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). Undefined
listening if true, handle the events, otherwise ignore the events 0
rotations Project the precomputed matrix with a rotation matrix 0
restDeformations 0
recompute if true, always recompute the compliance 0
regularizationTerm Add regularization factor times the identity matrix to the compliance W when solving constraints 0
debugViewFrameScale Scale on computed node's frame 1
fileCompliance Precomputed compliance matrix data file
fileDir If not empty, the compliance will be saved in this repertory
Name Description Destination type name
context Graph Node containing this object (or BaseContext::getDefault() if no graph is used) BaseContext
slaves Sub-objects used internally by this object BaseComponent
master nullptr for regular objects, or master object for which this object is one sub-objects BaseComponent
mechanicalStates List of mechanical states to which this component is associated BaseMechanicalState
mstate MechanicalState used by this component MechanicalState<Vec3d>
constraintSolvers Constraint solvers using this constraint correction ConstraintSolver

Examples

PrecomputedConstraintCorrection.scn

<?xml version="1.0" ?>
<Node name="root" dt="0.010" gravity="0 -10 0">
    <Node name="RequiredPlugins">
        <RequiredPlugin pluginName="Sofa.Component.AnimationLoop"/>
        <RequiredPlugin pluginName="Sofa.Component.Collision.Detection.Algorithm"/>
        <RequiredPlugin pluginName="Sofa.Component.Collision.Detection.Intersection"/>
        <RequiredPlugin pluginName="Sofa.Component.Collision.Geometry"/>
        <RequiredPlugin pluginName="Sofa.Component.Collision.Response.Contact"/>
        <RequiredPlugin pluginName="Sofa.Component.Constraint.Lagrangian.Correction"/>
        <RequiredPlugin pluginName="Sofa.Component.Constraint.Lagrangian.Solver"/>
        <RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/>
        <RequiredPlugin pluginName="Sofa.Component.Engine.Select"/>
        <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
        <RequiredPlugin pluginName="Sofa.Component.Mass"/>
        <RequiredPlugin pluginName="Sofa.Component.MechanicalLoad"/>
        <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
        <RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
        <RequiredPlugin pluginName="Sofa.Component.StateContainer"/>
        <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/>
        <RequiredPlugin pluginName="Sofa.Component.Visual"/>
        <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Preconditioner"/>
        <RequiredPlugin pluginName="Sofa.Component.LinearSystem"/>
    </Node>

    <VisualStyle displayFlags="showBehaviorModels showForceFields showVisualModels showCollisionModels" />

    <FreeMotionAnimationLoop />
    <BlockGaussSeidelConstraintSolver tolerance="1e-6" maxIterations="1000" />

    <CollisionPipeline/>
    <BruteForceBroadPhase />
    <BVHNarrowPhase />
    <NewProximityIntersection name="proximity" alarmDistance="0.3" contactDistance="0.1"/>
    <CollisionResponse name="response" response="FrictionContactConstraint"/>

    <Node name="BeamPrecomputed">
        <Visual3DText text="PrecomputedConstraintCorrection" position="0 3 6" scale="0.4" color="0.3 0.7 1 1" />
        <EulerImplicitSolver name="odeSolver" rayleighStiffness="0.01" rayleighMass="0.01" linearSolver="@linearSolver"/>

        <MatrixLinearSystem name="precondSystem" template="CompressedRowSparseMatrixd"/>
        <SSORPreconditioner name="precond" linearSystem="@precondSystem"/>

        <PreconditionedMatrixFreeSystem name="solverSystem" preconditionerSystem="@precondSystem"/>
        <PCGLinearSolver name="linearSolver" iterations="200" tolerance="1e-6" linearSystem="@solverSystem" preconditioner="@precond"/>

        <RegularGridTopology name="grid" n="10 3 3" min="0 0 5" max="10 2 7" />
        <MechanicalObject name="dofs" />

        <NodalMassDensity name="rho" property="1"/>
        <FEMMass template="Vec3,Hexahedron" nodalMassDensity="@rho" />
        <CorotationalFEMForceField template="Vec3,Hexahedron" name="FEM" youngModulus="1e4" poissonRatio="0.3" />

        <BoxROI name="boxFixed" box="-0.1 -0.1 4.9  0.1 2.1 7.1" drawBoxes="true" />
        <FixedProjectiveConstraint indices="@boxFixed.indices" />

        <PointCollisionModel />

        <PrecomputedConstraintCorrection recompute="true" printLog="true" ODESolver="@odeSolver" linearSolver="@linearSolver"/>
    </Node>

    <Node name="BeamLinearSolver">
        <Visual3DText text="LinearSolverConstraintCorrection" position="0 3 12" scale="0.4" color="0.3 0.7 1 1" />
        <EulerImplicitSolver name="odeSolver" rayleighStiffness="0.01" rayleighMass="0.01" linearSolver="@linearSolver"/>

        <MatrixLinearSystem name="precondSystem" template="CompressedRowSparseMatrixd"/>
        <SSORPreconditioner name="precond" linearSystem="@precondSystem"/>

        <PreconditionedMatrixFreeSystem name="solverSystem" preconditionerSystem="@precondSystem"/>
        <PCGLinearSolver name="linearSolver" iterations="200" tolerance="1e-6" linearSystem="@solverSystem" preconditioner="@precond"/>

        <RegularGridTopology name="grid" n="10 3 3" min="0 0 9" max="10 2 11" />
        <MechanicalObject name="dofs" />

        <NodalMassDensity name="rho" property="1"/>
        <FEMMass template="Vec3,Hexahedron" nodalMassDensity="@rho" />
        <CorotationalFEMForceField template="Vec3,Hexahedron" name="FEM" youngModulus="1e4" poissonRatio="0.3" />

        <BoxROI name="boxFixed" box="-0.1 -0.1 8.9  0.1 2.1 11.1" drawBoxes="true" />
        <FixedProjectiveConstraint indices="@boxFixed.indices" />

        <PointCollisionModel />

        <LinearSolverConstraintCorrection ODESolver="@odeSolver" linearSolver="@precond"/>
    </Node>

    <Node name="Floor">
        <RegularGridTopology name="floor" n="5 1 5" min="5 -3 3.5" max="13 -3 11.5" />
        <MechanicalObject name="dofs" />
        <TriangleCollisionModel simulated="0" moving="0" />
    </Node>

</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.010", gravity="0 -10 0")

   required_plugins = root.addChild('RequiredPlugins')

   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.AnimationLoop")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.Collision.Detection.Algorithm")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.Collision.Detection.Intersection")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.Collision.Geometry")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.Collision.Response.Contact")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.Constraint.Lagrangian.Correction")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.Constraint.Lagrangian.Solver")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.Constraint.Projective")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.Engine.Select")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.LinearSolver.Iterative")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.Mass")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.MechanicalLoad")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.ODESolver.Backward")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.SolidMechanics.FEM.Elastic")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.StateContainer")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.Topology.Container.Grid")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.Visual")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.LinearSolver.Preconditioner")
   required_plugins.addObject('RequiredPlugin', pluginName="Sofa.Component.LinearSystem")

   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields showVisualModels showCollisionModels")
   root.addObject('FreeMotionAnimationLoop', )
   root.addObject('BlockGaussSeidelConstraintSolver', tolerance="1e-6", maxIterations="1000")
   root.addObject('CollisionPipeline', )
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('NewProximityIntersection', name="proximity", alarmDistance="0.3", contactDistance="0.1")
   root.addObject('CollisionResponse', name="response", response="FrictionContactConstraint")

   beam_precomputed = root.addChild('BeamPrecomputed')

   beam_precomputed.addObject('Visual3DText', text="PrecomputedConstraintCorrection", position="0 3 6", scale="0.4", color="0.3 0.7 1 1")
   beam_precomputed.addObject('EulerImplicitSolver', name="odeSolver", rayleighStiffness="0.01", rayleighMass="0.01", linearSolver="@linearSolver")
   beam_precomputed.addObject('MatrixLinearSystem', name="precondSystem", template="CompressedRowSparseMatrixd")
   beam_precomputed.addObject('SSORPreconditioner', name="precond", linearSystem="@precondSystem")
   beam_precomputed.addObject('PreconditionedMatrixFreeSystem', name="solverSystem", preconditionerSystem="@precondSystem")
   beam_precomputed.addObject('PCGLinearSolver', name="linearSolver", iterations="200", tolerance="1e-6", linearSystem="@solverSystem", preconditioner="@precond")
   beam_precomputed.addObject('RegularGridTopology', name="grid", n="10 3 3", min="0 0 5", max="10 2 7")
   beam_precomputed.addObject('MechanicalObject', name="dofs")
   beam_precomputed.addObject('NodalMassDensity', name="rho", property="1")
   beam_precomputed.addObject('FEMMass', template="Vec3,Hexahedron", nodalMassDensity="@rho")
   beam_precomputed.addObject('CorotationalFEMForceField', template="Vec3,Hexahedron", name="FEM", youngModulus="1e4", poissonRatio="0.3")
   beam_precomputed.addObject('BoxROI', name="boxFixed", box="-0.1 -0.1 4.9  0.1 2.1 7.1", drawBoxes="true")
   beam_precomputed.addObject('FixedProjectiveConstraint', indices="@boxFixed.indices")
   beam_precomputed.addObject('PointCollisionModel', )
   beam_precomputed.addObject('PrecomputedConstraintCorrection', recompute="true", printLog="true", ODESolver="@odeSolver", linearSolver="@linearSolver")

   beam_linear_solver = root.addChild('BeamLinearSolver')

   beam_linear_solver.addObject('Visual3DText', text="LinearSolverConstraintCorrection", position="0 3 12", scale="0.4", color="0.3 0.7 1 1")
   beam_linear_solver.addObject('EulerImplicitSolver', name="odeSolver", rayleighStiffness="0.01", rayleighMass="0.01", linearSolver="@linearSolver")
   beam_linear_solver.addObject('MatrixLinearSystem', name="precondSystem", template="CompressedRowSparseMatrixd")
   beam_linear_solver.addObject('SSORPreconditioner', name="precond", linearSystem="@precondSystem")
   beam_linear_solver.addObject('PreconditionedMatrixFreeSystem', name="solverSystem", preconditionerSystem="@precondSystem")
   beam_linear_solver.addObject('PCGLinearSolver', name="linearSolver", iterations="200", tolerance="1e-6", linearSystem="@solverSystem", preconditioner="@precond")
   beam_linear_solver.addObject('RegularGridTopology', name="grid", n="10 3 3", min="0 0 9", max="10 2 11")
   beam_linear_solver.addObject('MechanicalObject', name="dofs")
   beam_linear_solver.addObject('NodalMassDensity', name="rho", property="1")
   beam_linear_solver.addObject('FEMMass', template="Vec3,Hexahedron", nodalMassDensity="@rho")
   beam_linear_solver.addObject('CorotationalFEMForceField', template="Vec3,Hexahedron", name="FEM", youngModulus="1e4", poissonRatio="0.3")
   beam_linear_solver.addObject('BoxROI', name="boxFixed", box="-0.1 -0.1 8.9  0.1 2.1 11.1", drawBoxes="true")
   beam_linear_solver.addObject('FixedProjectiveConstraint', indices="@boxFixed.indices")
   beam_linear_solver.addObject('PointCollisionModel', )
   beam_linear_solver.addObject('LinearSolverConstraintCorrection', ODESolver="@odeSolver", linearSolver="@precond")

   floor = root.addChild('Floor')

   floor.addObject('RegularGridTopology', name="floor", n="5 1 5", min="5 -3 3.5", max="13 -3 11.5")
   floor.addObject('MechanicalObject', name="dofs")
   floor.addObject('TriangleCollisionModel', simulated="0", moving="0")