LCPConstraintSolver

Context: Sofa.Component.Constraint.Lagrangian.Solver

A Constraint Solver using the Linear Complementarity Problem formulation to solve BaseConstraint based components

Data:

  • name : object name

  • printLog : if true, emits extra messages at runtime.

  • tags : list of the subsets the objet belongs to

  • bbox : this object bounding box

  • componentState : The state of the component among (Dirty, Valid, Undefined, Loading, Invalid).

  • listening : if true, handle the events, otherwise ignore the events

  • displayDebug : Display debug information.

  • initial_guess : activate LCP results history to improve its resolution performances.

  • build_lcp : LCP is not fully built to increase performance in some case.

  • tolerance : residual error threshold for termination of the Gauss-Seidel algorithm

  • maxIt : maximal number of iterations of the Gauss-Seidel algorithm

  • mu : Friction coefficient

  • 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

  • maxF : If not zero, constraints whose response force becomes larger than this threshold will be ignored

  • multi_grid : activate multi_grid resolution (NOT STABLE YET)

  • multi_grid_levels : if multi_grid is active: how many levels to create (>=2)

  • merge_method : if multi_grid is active: which method to use to merge constraints (0 = compliance-based, 1 = spatial coordinates)

  • merge_spatial_step : if merge_method is 1: grid size reduction between multigrid levels

  • 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.

  • constraintForces : OUTPUT: constraint forces (stored only if computeConstraintForces=True)

  • computeConstraintForces : enable the storage of the constraintForces.

  • group : list of ID of groups of constraints to be handled by this solver.

  • graph : Graph of residuals at each iteration

  • showLevels : Number of constraint levels to display

  • showCellWidth : Distance between each constraint cells

  • showTranslation : Position of the first cell

  • showLevelTranslation : Translation between levels

Links:

  • context : Graph Node containing this object (or BaseContext::getDefault() if no graph is used

  • slaves : Sub-objects used internally by this object

  • master : nullptr for regular objects, or master object for which this object is one sub-objects

  • constraintCorrections : List of constraint corrections handled by this constraint solver