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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 *
******************************************************************************/
#define SOFA_COMPONENT_LINEARSOLVER_MATRIXLINEARSOLVER_CPP
#include <sofa/component/linearsolver/MatrixLinearSolver.h>
#include <sofa/simulation/common/MechanicalVisitor.h>
#include <sofa/simulation/common/MechanicalMatrixVisitor.h>
#include <sofa/simulation/common/MechanicalVPrintVisitor.h>
#include <sofa/simulation/common/VelocityThresholdVisitor.h>
#include <sofa/core/componentmodel/behavior/LinearSolver.h>
#include <stdlib.h>
#include <math.h>
namespace sofa
{
namespace component
{
namespace linearsolver
{
using sofa::core::componentmodel::behavior::LinearSolver;
using sofa::core::objectmodel::BaseContext;
void GraphScatteredMatrix::apply(GraphScatteredVector& res, GraphScatteredVector& x)
{
// matrix-vector product
#if 1
// new more powerful visitors
parent->propagateDxAndResetDf(x,res);
parent->addMBKdx(res,mFact,bFact,kFact, false); // df = (m M + b B + k K) dx
#else
parent->propagateDx(x); // dx = p
parent->computeDf(res); // q = K p
if (kFact != 1.0)
res *= kFact; // q = k K p
// apply global Rayleigh damping
if (mFact == 1.0)
{
parent->addMdx(res); // no need to propagate p as dx again
}
else if (mFact != 0.0)
{
parent->addMdx(res,simulation::SolverImpl::VecId(),mFact); // no need to propagate p as dx again
}
// q = (m M + k K) p
/// @TODO: non-rayleigh damping (i.e. the B factor)
#endif
// filter the product to take the constraints into account
//
parent->projectResponse(res); // q is projected to the constrained space
}
template<>
void MatrixLinearSolver<GraphScatteredMatrix,GraphScatteredVector>::resetSystem()
{
if (!systemMatrix) systemMatrix = new GraphScatteredMatrix(this);
if (!systemRHVector) systemRHVector = new GraphScatteredVector(this,VecId());
if (!systemLHVector) systemLHVector = new GraphScatteredVector(this,VecId());
systemRHVector->reset();
systemLHVector->reset();
solutionVecId = VecId();
needInvert = true;
}
template<>
void MatrixLinearSolver<GraphScatteredMatrix,GraphScatteredVector>::resizeSystem(int)
{
resetSystem();
}
template<>
void MatrixLinearSolver<GraphScatteredMatrix,GraphScatteredVector>::setSystemMBKMatrix(double mFact, double bFact, double kFact)
{
resetSystem();
systemMatrix->setMBKFacts(mFact, bFact, kFact);
}
template<>
void MatrixLinearSolver<GraphScatteredMatrix,GraphScatteredVector>::setSystemRHVector(VecId v)
{
systemRHVector->set(v);
}
template<>
void MatrixLinearSolver<GraphScatteredMatrix,GraphScatteredVector>::setSystemLHVector(VecId v)
{
solutionVecId = v;
systemLHVector->set(v);
}
template<>
void MatrixLinearSolver<GraphScatteredMatrix,GraphScatteredVector>::solveSystem()
{
if (needInvert)
{
this->invert(*systemMatrix);
needInvert = false;
}
this->solve(*systemMatrix, *systemLHVector, *systemRHVector);
}
template<>
GraphScatteredMatrix* MatrixLinearSolver<GraphScatteredMatrix,GraphScatteredVector>::createMatrix()
{
return new GraphScatteredMatrix(this);
}
template<>
void MatrixLinearSolver<GraphScatteredMatrix,GraphScatteredVector>::deleteMatrix(GraphScatteredMatrix* v)
{
delete v;
}
template<>
GraphScatteredVector* MatrixLinearSolver<GraphScatteredMatrix,GraphScatteredVector>::createVector()
{
return new GraphScatteredVector(this);
}
template<>
void MatrixLinearSolver<GraphScatteredMatrix,GraphScatteredVector>::deleteVector(GraphScatteredVector* v)
{
delete v;
}
template<>
defaulttype::BaseMatrix* MatrixLinearSolver<GraphScatteredMatrix,GraphScatteredVector>::getSystemBaseMatrix() { return NULL; }
template<>
defaulttype::BaseVector* MatrixLinearSolver<GraphScatteredMatrix,GraphScatteredVector>::getSystemRHBaseVector() { return NULL; }
template<>
defaulttype::BaseVector* MatrixLinearSolver<GraphScatteredMatrix,GraphScatteredVector>::getSystemLHBaseVector() { return NULL; }
// Force template instantiation
template class SOFA_COMPONENT_LINEARSOLVER_API MatrixLinearSolver<GraphScatteredMatrix,GraphScatteredVector>;
} // namespace linearsolver
} // namespace component
} // namespace sofa
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