#include <DirectSolverData.h>

Inheritance diagram for agx::DirectSolverData:

Classes
class	ContactGroups
	Class that handles the grouping. More...

Public Types
typedef agx::ref_ptr< ContactGroups >	ContactGroupsRef

typedef agx::HashTable< agx::UInt, agx::UIntVector >	StrongInteractionTable

Public Member Functions
	DirectSolverData (agx::UInt numEquations, agx::UInt numBlockRows, agx::UInt numBlocks, agx::Solver::NlMcpConfig nlMcpConfig, agx::Bool gatherStatistics, INlSolveDataH5 *nlSolveDataH5)
	Construct given total number of equations in the direct system, number of block rows and the total number of blocks in the matrix.

void	buildStrongInteractionTable (agx::Physics::InteractionGroupPtr islandGroup, agx::Physics::StrongInteractionData &strongInteractions, const agxData::IndexArray &globalToLocalIndexArray)
	Builds table that maps a rigid body to the other bodies it interacts with.

DirectSolverData *	clone ()
	Clones solver data.

void	commitVelocities (const agxData::IndexArray &indices, agxData::Array< agx::Vec3 > &linearVelocities, agxData::Array< agx::Vec3 > &angularVelocities, const agxData::Array< agx::RigidBodyState > &states) const
	Copy solution to velocity buffers.

const agx::NlMixedCp::McpAlgorithm *	getAlgorithm () const

agx::DirectSolverData::ContactGroups *	getContactGroups () const

agx::IndexSet &	getIndexSet ()

agx::LogicalStructure &	getLogicalStructure ()

const agx::LogicalStructure &	getLogicalStructure () const

agx::SparseMatrix &	getMatrix ()

const agx::SparseMatrix &	getMatrix () const

agx::UInt	getNumBlockRows () const

agx::RealValarray &	getQ ()

const agx::RealValarray &	getQ () const

agx::RealValarray &	getSigns ()

const agx::RealValarray &	getSigns () const

agx::RealValarray &	getSolution ()

const agx::RealValarray &	getSolution () const

agx::SparseRangeReal &	getSparseBounds ()

const agx::SparseRangeReal &	getSparseBounds () const

agx::StabilityReport *	getStabilityReport () const

const agx::DirectSolverData::StrongInteractionTable &	getStrongInteractionTable () const

void	initialize ()
	Initialize for a new solve.

void	setContactGroups (agx::DirectSolverData::ContactGroups *contactGroups)
	Assign new contact groups object.

const agx::RealValarray &	solve ()
	Solve the current configuration of the matrix, right hand side and bounds.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Protected Member Functions
	DirectSolverData ()=delete

virtual	~DirectSolverData ()

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Attributes
ContactGroupsRef	m_contactGroups

LogicalStructure	m_logicalStructure

NlMixedCpRef	m_nlmcp

INlSolveDataH5 *	m_nlSolveDataH5

UInt	m_numBlockRows

UInt	m_numBlocks

UInt	m_numEquations

UInt	m_numSolves

StabilityReportRef	m_stabilityReport

StrongInteractionTable	m_strongInteractionTable

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Additional Inherited Members
Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Detailed Description

Definition at line 92 of file DirectSolverData.h.

Member Typedef Documentation

◆ ContactGroupsRef

typedef agx::ref_ptr< ContactGroups > agx::DirectSolverData::ContactGroupsRef

Definition at line 126 of file DirectSolverData.h.

◆ StrongInteractionTable

typedef agx::HashTable< agx::UInt, agx::UIntVector > agx::DirectSolverData::StrongInteractionTable

Definition at line 95 of file DirectSolverData.h.

Constructor & Destructor Documentation

◆ DirectSolverData() [1/2]

agx::DirectSolverData::DirectSolverData	(	agx::UInt	numEquations,
		agx::UInt	numBlockRows,
		agx::UInt	numBlocks,
		agx::Solver::NlMcpConfig	nlMcpConfig,
		agx::Bool	gatherStatistics,
		INlSolveDataH5 *	nlSolveDataH5
	)

Construct given total number of equations in the direct system, number of block rows and the total number of blocks in the matrix.

Parameters

numEquations	- total number of equations
numBlockRows	- total number of block rows in matrix
numBlocks	- total number of blocks in matrix
nlMcpConfig	- direct solver configuration

◆ DirectSolverData() [2/2]

agx::DirectSolverData::DirectSolverData ( )

protecteddelete

◆ ~DirectSolverData()

virtual agx::DirectSolverData::~DirectSolverData ( )

protectedvirtual

Member Function Documentation

◆ buildStrongInteractionTable()

void agx::DirectSolverData::buildStrongInteractionTable	(	agx::Physics::InteractionGroupPtr	islandGroup,
		agx::Physics::StrongInteractionData &	strongInteractions,
		const agxData::IndexArray &	globalToLocalIndexArray
	)

Builds table that maps a rigid body to the other bodies it interacts with.

Parameters

strongInteractions	- strong interactions
globalToLocalIndexArray	- index array that maps global body indices to island indices

◆ clone()

DirectSolverData * agx::DirectSolverData::clone ( )

Clones solver data.

◆ commitVelocities()

void agx::DirectSolverData::commitVelocities	(	const agxData::IndexArray &	indices,
		agxData::Array< agx::Vec3 > &	linearVelocities,
		agxData::Array< agx::Vec3 > &	angularVelocities,
		const agxData::Array< agx::RigidBodyState > &	states
	)		const

Copy solution to velocity buffers.

Parameters

indices	- direct body local to global indices
linearVelocities	- linear velocity buffer
angularVelocities	- angular velocity buffer
states	- states

◆ getAlgorithm()

const agx::NlMixedCp::McpAlgorithm * agx::DirectSolverData::getAlgorithm ( ) const

Returns: The McpAlgorithm used by this solver.

◆ getContactGroups()

agx::DirectSolverData::ContactGroups * agx::DirectSolverData::getContactGroups ( ) const

Returns: the contact grouping, if present (assigned externally)

◆ getIndexSet()

agx::IndexSet & agx::DirectSolverData::getIndexSet ( )

Returns: the current IndexSet

◆ getLogicalStructure() [1/2]

agx::LogicalStructure & agx::DirectSolverData::getLogicalStructure ( )

Returns: the logical structure of the matrix (used to permute the matrix)

◆ getLogicalStructure() [2/2]

const agx::LogicalStructure & agx::DirectSolverData::getLogicalStructure ( ) const

◆ getMatrix() [1/2]

agx::SparseMatrix & agx::DirectSolverData::getMatrix ( )

Returns: the matrix

◆ getMatrix() [2/2]

const agx::SparseMatrix & agx::DirectSolverData::getMatrix ( ) const

◆ getNumBlockRows()

agx::UInt agx::DirectSolverData::getNumBlockRows ( ) const

Returns: the total number of block rows

◆ getQ() [1/2]

agx::RealValarray & agx::DirectSolverData::getQ ( )

Returns: the negative right hand side q (Hx + q = w)

◆ getQ() [2/2]

const agx::RealValarray & agx::DirectSolverData::getQ ( ) const

◆ getSigns() [1/2]

agx::RealValarray & agx::DirectSolverData::getSigns ( )

Returns: the signs, should be -1 for constraints +1 for bodies

◆ getSigns() [2/2]

const agx::RealValarray & agx::DirectSolverData::getSigns ( ) const

◆ getSolution() [1/2]

agx::RealValarray & agx::DirectSolverData::getSolution ( )

Returns: the current solution

◆ getSolution() [2/2]

const agx::RealValarray & agx::DirectSolverData::getSolution ( ) const

◆ getSparseBounds() [1/2]

agx::SparseRangeReal & agx::DirectSolverData::getSparseBounds ( )

Returns: sparse bounds object used by the NLMCP

◆ getSparseBounds() [2/2]

const agx::SparseRangeReal & agx::DirectSolverData::getSparseBounds ( ) const

◆ getStabilityReport()

agx::StabilityReport * agx::DirectSolverData::getStabilityReport ( ) const

Returns: the stability report

◆ getStrongInteractionTable()

const agx::DirectSolverData::StrongInteractionTable & agx::DirectSolverData::getStrongInteractionTable ( ) const

Returns: the strong interaction table that maps body to other strong interaction bodies (on the same row)

◆ initialize()

void agx::DirectSolverData::initialize ( )

Initialize for a new solve.

This method can be called many times, e.g., if this object is stored between time steps.

◆ setContactGroups()

void agx::DirectSolverData::setContactGroups ( agx::DirectSolverData::ContactGroups * contactGroups )

Assign new contact groups object.

◆ solve()

const agx::RealValarray & agx::DirectSolverData::solve ( )

Solve the current configuration of the matrix, right hand side and bounds.

The solution is stored and is accessible through getSolution().

Returns: the solution of the solve

Member Data Documentation

◆ m_contactGroups

ContactGroupsRef agx::DirectSolverData::m_contactGroups

protected

Definition at line 265 of file DirectSolverData.h.

◆ m_logicalStructure

LogicalStructure agx::DirectSolverData::m_logicalStructure

protected

Definition at line 264 of file DirectSolverData.h.

◆ m_nlmcp

NlMixedCpRef agx::DirectSolverData::m_nlmcp

protected

Definition at line 263 of file DirectSolverData.h.

◆ m_nlSolveDataH5

INlSolveDataH5* agx::DirectSolverData::m_nlSolveDataH5

protected

Definition at line 269 of file DirectSolverData.h.

◆ m_numBlockRows

UInt agx::DirectSolverData::m_numBlockRows

protected

Definition at line 261 of file DirectSolverData.h.

◆ m_numBlocks

UInt agx::DirectSolverData::m_numBlocks

protected

Definition at line 262 of file DirectSolverData.h.

◆ m_numEquations

UInt agx::DirectSolverData::m_numEquations

protected

Definition at line 260 of file DirectSolverData.h.

◆ m_numSolves

UInt agx::DirectSolverData::m_numSolves

protected

Definition at line 266 of file DirectSolverData.h.

◆ m_stabilityReport

StabilityReportRef agx::DirectSolverData::m_stabilityReport

protected

Definition at line 267 of file DirectSolverData.h.

◆ m_strongInteractionTable

StrongInteractionTable agx::DirectSolverData::m_strongInteractionTable

protected

Definition at line 268 of file DirectSolverData.h.

The documentation for this class was generated from the following file:

DirectSolverData.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ContactGroupsRef

◆ StrongInteractionTable

Constructor & Destructor Documentation

◆ DirectSolverData() [1/2]

◆ DirectSolverData() [2/2]

◆ ~DirectSolverData()

Member Function Documentation

◆ buildStrongInteractionTable()

◆ clone()

◆ commitVelocities()

◆ getAlgorithm()

◆ getContactGroups()

◆ getIndexSet()

◆ getLogicalStructure() [1/2]

◆ getLogicalStructure() [2/2]

◆ getMatrix() [1/2]

◆ getMatrix() [2/2]

◆ getNumBlockRows()

◆ getQ() [1/2]

◆ getQ() [2/2]

◆ getSigns() [1/2]

◆ getSigns() [2/2]

◆ getSolution() [1/2]

◆ getSolution() [2/2]

◆ getSparseBounds() [1/2]

◆ getSparseBounds() [2/2]

◆ getStabilityReport()

◆ getStrongInteractionTable()

◆ initialize()

◆ setContactGroups()

◆ solve()

Member Data Documentation

◆ m_contactGroups

◆ m_logicalStructure

◆ m_nlmcp

◆ m_nlSolveDataH5

◆ m_numBlockRows

◆ m_numBlocks

◆ m_numEquations

◆ m_numSolves

◆ m_stabilityReport

◆ m_strongInteractionTable