LCPConstraintSolver
A Constraint Solver using the Linear Complementarity Problem formulation to solve BaseConstraint based components.
Target: Sofa.Component.Constraint.Lagrangian.Solver
namespace: sofa::component::constraint::lagrangian::solver
parents:
- ConstraintSolverImpl
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 |
| displayDebug | Display debug information. | 0 |
| initial_guess | activate LCP results history to improve its resolution performances. | 1 |
| build_lcp | LCP is not fully built to increase performance in some case. | 1 |
| tolerance | residual error threshold for termination of the Gauss-Seidel algorithm | 0.001 |
| maxIt | maximal number of iterations of the Gauss-Seidel algorithm | 1000 |
| mu | Friction coefficient | 0.6 |
| minW | If not zero, constraints whose self-compliance (i.e. the corresponding value on the diagonal of W) is smaller than this threshold will be ignored | 0 |
| maxF | If not zero, constraints whose response force becomes larger than this threshold will be ignored | 0 |
| multi_grid | activate multi_grid resolution (NOT STABLE YET) | 0 |
| multi_grid_levels | if multi_grid is active: how many levels to create (>=2) | 2 |
| merge_method | if multi_grid is active: which method to use to merge constraints (0 = compliance-based, 1 = spatial coordinates) | 0 |
| merge_spatial_step | if merge_method is 1: grid size reduction between multigrid levels | 2 |
| merge_local_levels | if merge_method is 1: up to the specified level of the multigrid, constraints are grouped locally, i.e. separately within each contact pairs, while on upper levels they are grouped globally independently of contact pairs. | 2 |
| constraintForces | OUTPUT: constraint forces (stored only if computeConstraintForces=True) | |
| computeConstraintForces | enable the storage of the constraintForces. | 0 |
| group | list of ID of groups of constraints to be handled by this solver. | |
| graph | Graph of residuals at each iteration | |
| Visualization | ||
| showLevels | Number of constraint levels to display | 0 |
| showCellWidth | Distance between each constraint cells | |
| showTranslation | Position of the first cell | |
| showLevelTranslation | Translation between levels | |
Links
| 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 | BaseObject |
| master | nullptr for regular objects, or master object for which this object is one sub-objects | BaseObject |
| constraintCorrections | List of constraint corrections handled by this constraint solver | BaseConstraintCorrection |