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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 *
******************************************************************************/
// Author: François Faure, INRIA-UJF, (C) 2006
//
// Copyright: See COPYING file that comes with this distribution
#include <sofa/component/odesolver/StaticSolver.h>
#include <sofa/core/ObjectFactory.h>
#include <math.h>
#include <iostream>
namespace sofa
{
namespace component
{
namespace odesolver
{
using namespace sofa::defaulttype;
using namespace core::componentmodel::behavior;
StaticSolver::StaticSolver()
: massCoef( initData(&massCoef,(double)0.0,"massCoef","coefficient associated with the mass matrix in the equation system") )
, dampingCoef( initData(&dampingCoef,(double)0.0,"dampingCoef","coefficient associated with the mass matrix in the equation system") )
, stiffnessCoef( initData(&stiffnessCoef,(double)1.0,"stiffnessCoef","coefficient associated with the mass matrix in the equation system") )
{
}
void StaticSolver::solve(double dt)
{
MultiVector b(this, VecId::V_DERIV);
MultiVector x(this, VecId::V_DERIV);
MultiVector pos(this, VecId::position());
addSeparateGravity(dt); // v += dt*g . Used if mass wants to added G separately from the other forces to v.
// compute the right-hand term of the equation system
this->computeForce(b); // b = f0
this->projectResponse(b); // b is projected to the constrained space
b.teq(-1);
if( f_printLog.getValue() )
serr<<"StaticSolver, f0 = "<< b <<sendl;
MultiMatrix matrix(this);
//matrix = MechanicalMatrix::K;
matrix = MechanicalMatrix(massCoef.getValue(),dampingCoef.getValue(),stiffnessCoef.getValue());
if( f_printLog.getValue() )
serr<<"StaticSolver, matrix = "<< (MechanicalMatrix::K) << " = " << matrix <<sendl;
matrix.solve(x,b);
// x is the solution of the system
// apply the solution
/* serr<<"StaticSolver::solve, nb iter = "<<nb_iter<<sendl;
serr<<"StaticSolver::solve, solution = "<<x<<sendl;*/
if( f_printLog.getValue() )
serr<<"StaticSolver, solution = "<< x <<sendl;
pos.peq( x );
#ifdef SOFA_HAVE_LAPACK
applyConstraints();
#endif
/* serr<<"StaticSolver::solve, new pos = "<<pos<<sendl;*/
}
int StaticSolverClass = core::RegisterObject("A solver which seeks the static equilibrium of the scene it monitors")
.add< StaticSolver >();
SOFA_DECL_CLASS(StaticSolver)
} // namespace odesolver
} // namespace component
} // namespace sofa
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