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MatrixLinearSystem.inl
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MatrixLinearSystem.inl
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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture *
* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
* *
* This program 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 program 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 program. If not, see <http://www.gnu.org/licenses/>. *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#pragma once
#include <optional>
#include <unordered_set>
#include <mutex>
#include <sofa/component/linearsystem/MatrixProjectionMethod.h>
#include <sofa/component/linearsystem/MatrixLinearSystem.h>
#include <sofa/component/linearsystem/TypedMatrixLinearSystem.inl>
#include <sofa/helper/ScopedAdvancedTimer.h>
#include <sofa/helper/AdvancedTimer.h>
#include <sofa/core/behavior/BaseForceField.h>
#include <sofa/core/behavior/BaseMass.h>
#include <sofa/core/behavior/BaseProjectiveConstraintSet.h>
#include <sofa/simulation/Node.h>
#include <sofa/core/behavior/BaseLocalForceFieldMatrix.h>
#include <sofa/core/behavior/BaseLocalMassMatrix.h>
#include <sofa/core/MechanicalParams.h>
#include <sofa/simulation/MainTaskSchedulerFactory.h>
#include <sofa/simulation/ParallelForEach.h>
#include <sofa/simulation/mechanicalvisitor/MechanicalIdentityBlocksInJacobianVisitor.h>
using sofa::simulation::mechanicalvisitor::MechanicalIdentityBlocksInJacobianVisitor;
#include <sofa/simulation/mechanicalvisitor/MechanicalResetConstraintVisitor.h>
using sofa::simulation::mechanicalvisitor::MechanicalResetConstraintVisitor;
#include <sofa/simulation/mechanicalvisitor/MechanicalAccumulateJacobian.h>
using sofa::simulation::mechanicalvisitor::MechanicalAccumulateJacobian;
namespace sofa::component::linearsystem
{
template <class TMatrix, class TVector>
MatrixLinearSystem<TMatrix, TVector>::MatrixLinearSystem()
: Inherit1()
, d_assembleStiffness (initData(&d_assembleStiffness, true, "assembleStiffness", "If true, the stiffness is added to the global matrix"))
, d_assembleMass (initData(&d_assembleMass, true, "assembleMass", "If true, the mass is added to the global matrix"))
, d_assembleDamping (initData(&d_assembleDamping, true, "assembleDamping", "If true, the damping is added to the global matrix"))
, d_assembleGeometricStiffness(initData(&d_assembleGeometricStiffness, true, "assembleGeometricStiffness", "If true, the geometric stiffness of mappings is added to the global matrix"))
, d_applyProjectiveConstraints(initData(&d_applyProjectiveConstraints, true, "applyProjectiveConstraints", "If true, projective constraints are applied on the global matrix"))
, d_applyMappedComponents (initData(&d_applyMappedComponents, true, "applyMappedComponents", "If true, mapped components contribute to the global matrix"))
, d_checkIndices (initData(&d_checkIndices, false, "checkIndices", "If true, indices are verified before being added in to the global matrix, favoring security over speed"))
, d_parallelAssemblyIndependentMatrices
(initData(&d_parallelAssemblyIndependentMatrices, false, "parallelAssemblyIndependentMatrices", "If true, independent matrices (global matrix vs mapped matrices) are assembled in parallel"))
{
this->addUpdateCallback("updateCheckIndices", {&d_checkIndices}, [this](const core::DataTracker& t)
{
SOFA_UNUSED(t);
m_needClearLocalMatrices.setValue(true);
return sofa::core::objectmodel::ComponentState::Valid;
}, {&m_needClearLocalMatrices});
}
template <class TMatrix, class TVector>
template <Contribution c>
void MatrixLinearSystem<TMatrix, TVector>::contribute(const core::MechanicalParams* mparams)
{
sofa::helper::ScopedAdvancedTimer buildTimer("build" + std::string(core::matrixaccumulator::GetContributionName<c>()));
for (auto* contributor : getContributors<c>())
{
if (Inherit1::template getContributionFactor<c>(mparams, contributor) != 0._sreal)
{
if constexpr (c == Contribution::STIFFNESS)
{
contributor->buildStiffnessMatrix(&m_stiffness[contributor]);
}
else if constexpr (c == Contribution::MASS)
{
contributor->buildMassMatrix(m_mass[contributor]);
}
else if constexpr (c == Contribution::DAMPING)
{
contributor->buildDampingMatrix(&m_damping[contributor]);
}
else if constexpr (c == Contribution::GEOMETRIC_STIFFNESS)
{
contributor->buildGeometricStiffnessMatrix(&m_geometricStiffness[contributor]);
}
}
}
}
template <class TMatrix, class TVector>
template <Contribution c>
void MatrixLinearSystem<TMatrix, TVector>::contribute(
const core::MechanicalParams* mparams,
IndependentContributors& contributors)
{
if constexpr (c == Contribution::STIFFNESS)
{
for (auto& [component, stiffnessMatrix] : contributors.m_stiffness)
{
if (Inherit1::template getContributionFactor<c>(mparams, component) != 0._sreal)
{
component->buildStiffnessMatrix(&stiffnessMatrix);
}
}
}
else if constexpr (c == Contribution::MASS)
{
for (auto& [component, massMatrix] : contributors.m_mass)
{
if (Inherit1::template getContributionFactor<c>(mparams, component) != 0._sreal)
{
component->buildMassMatrix(massMatrix);
}
}
}
else if constexpr (c == Contribution::DAMPING)
{
for (auto& [component, dampingMatrix] : contributors.m_damping)
{
if (Inherit1::template getContributionFactor<c>(mparams, component) != 0._sreal)
{
component->buildDampingMatrix(&dampingMatrix);
}
}
}
else if constexpr (c == Contribution::GEOMETRIC_STIFFNESS)
{
for (auto& [component, geometricStiffnessMatrix] : contributors.m_geometricStiffness)
{
if (Inherit1::template getContributionFactor<c>(mparams, component) != 0._sreal)
{
component->buildGeometricStiffnessMatrix(&geometricStiffnessMatrix);
}
}
}
}
template<class TMatrix, class TVector>
void MatrixLinearSystem<TMatrix, TVector>::assembleSystem(const core::MechanicalParams* mparams)
{
if (this->getSystemMatrix()->rowSize() == 0 || this->getSystemMatrix()->colSize() == 0)
{
msg_error() << "Global system matrix is not resized appropriatly (" << this->getPathName() << ")";
return;
}
SCOPED_TIMER_VARNAME(assembleSystemTimer, "AssembleSystem");
{
SCOPED_TIMER_VARNAME(buildMatricesTimer, "buildMatrices");
simulation::TaskScheduler* taskScheduler = simulation::MainTaskSchedulerFactory::createInRegistry();
assert(taskScheduler);
if (d_parallelAssemblyIndependentMatrices.getValue() && taskScheduler && taskScheduler->getThreadCount() < 1)
{
taskScheduler->init(0);
}
const simulation::ForEachExecutionPolicy execution = d_parallelAssemblyIndependentMatrices.getValue() ?
simulation::ForEachExecutionPolicy::PARALLEL :
simulation::ForEachExecutionPolicy::SEQUENTIAL;
const bool assembleStiffness = d_assembleStiffness.getValue();
const bool assembleMass = d_assembleMass.getValue();
const bool assembleDamping = d_assembleDamping.getValue();
const bool assembleGeometricStiffness = d_assembleGeometricStiffness.getValue();
int counter{};
for (auto& c : m_independentContributors)
{
c.id = counter++;
}
simulation::forEach(execution, *taskScheduler,
m_independentContributors.begin(), m_independentContributors.end(),
[this, mparams, assembleStiffness, assembleMass, assembleDamping, assembleGeometricStiffness](IndependentContributors& contributors)
{
helper::ScopedAdvancedTimer timerContributors("buildContributors" + std::to_string(contributors.id));
if (assembleStiffness)
{
helper::ScopedAdvancedTimer timerStiffness("buildStiffness" + std::to_string(contributors.id));
contribute<Contribution::STIFFNESS>(mparams, contributors);
}
if (assembleMass)
{
helper::ScopedAdvancedTimer timerMass("buildMass" + std::to_string(contributors.id));
contribute<Contribution::MASS>(mparams, contributors);
}
if (assembleDamping)
{
helper::ScopedAdvancedTimer timerDamping("buildDamping" + std::to_string(contributors.id));
contribute<Contribution::DAMPING>(mparams, contributors);
}
if (assembleGeometricStiffness)
{
helper::ScopedAdvancedTimer timerGeometricStiffness("buildGeometricStiffness" + std::to_string(contributors.id));
contribute<Contribution::GEOMETRIC_STIFFNESS>(mparams, contributors);
}
});
}
if (d_applyMappedComponents.getValue() && m_mappingGraph.hasAnyMapping())
{
assembleMappedMatrices(mparams);
}
if (d_applyProjectiveConstraints.getValue())
{
applyProjectiveConstraints(mparams);
}
}
inline sofa::type::vector<core::behavior::BaseMechanicalState*> retrieveAssociatedMechanicalState(
const sofa::core::behavior::StateAccessor* component)
{
const auto& mstatesLinks = component->getMechanicalStates();
sofa::type::vector<core::behavior::BaseMechanicalState*> mstates;
mstates.reserve(mstatesLinks.size());
for (auto m : mstatesLinks)
{
mstates.push_back(m);
}
//remove duplicates: it may happen for InteractionForceFields
std::sort( mstates.begin(), mstates.end() );
mstates.erase( std::unique( mstates.begin(), mstates.end() ), mstates.end() );
return mstates;
}
inline sofa::type::vector<core::behavior::BaseMechanicalState*> retrieveAssociatedMechanicalState(BaseMapping* component)
{
type::vector<BaseMechanicalState*> mstates = component->getMechFrom();
//remove duplicates: it may happen for MultiMappings
std::sort( mstates.begin(), mstates.end() );
mstates.erase( std::unique( mstates.begin(), mstates.end() ), mstates.end() );
return mstates;
}
/// Generate all possible pairs of Mechanical States from a list of Mechanical States
inline auto generatePairs(const sofa::type::vector<core::behavior::BaseMechanicalState*>& mstates)
-> sofa::type::vector<sofa::type::fixed_array<core::behavior::BaseMechanicalState*, 2> >
{
sofa::type::vector<sofa::type::fixed_array<core::behavior::BaseMechanicalState*, 2> > pairs;
pairs.reserve(mstates.size() * mstates.size());
for (auto* a : mstates)
{
for (auto* b : mstates)
{
pairs.emplace_back(a, b);
}
}
return pairs;
}
template <class TMatrix, class TVector>
template<Contribution c>
auto MatrixLinearSystem<TMatrix, TVector>::getSharedMatrix(
sofa::core::matrixaccumulator::get_component_type<c>* object, const PairMechanicalStates& pair)
-> std::shared_ptr<LocalMappedMatrixType<Real> >
{
const auto& localMaps = getLocalMatrixMap<c>().mappedLocalMatrix;
const auto localMapIt = localMaps.find(object);
if (localMapIt != localMaps.end())
{
const auto mappedAccumulatorsIt = localMapIt->second.find(pair);
if (mappedAccumulatorsIt != localMapIt->second.end())
{
if (auto* accumulator = mappedAccumulatorsIt->second)
{
if (const auto& accumulatorMat = accumulator->getMatrix())
{
if (accumulatorMat)
{
return accumulatorMat;
}
}
}
}
}
return nullptr;
}
template <class TMatrix, class TVector>
template<Contribution c>
auto MatrixLinearSystem<TMatrix, TVector>::getSharedMatrixSize(
sofa::core::matrixaccumulator::get_component_type<c>* object, const PairMechanicalStates& pair)
-> std::optional<type::Vec2u>
{
const auto& localMaps = getLocalMatrixMap<c>().mappedLocalMatrix;
const auto localMapIt = localMaps.find(object);
if (localMapIt != localMaps.end())
{
const auto mappedAccumulatorsIt = localMapIt->second.find(pair);
if (mappedAccumulatorsIt != localMapIt->second.end())
{
if (auto* accumulator = mappedAccumulatorsIt->second)
{
return accumulator->getMatrixSize();
}
}
}
return {};
}
template <class TMatrix, class TVector>
template<Contribution c>
void MatrixLinearSystem<TMatrix, TVector>::setSharedMatrix(
sofa::core::matrixaccumulator::get_component_type<c>* object, const PairMechanicalStates& pair, std::shared_ptr<LocalMappedMatrixType<Real> > matrix)
{
const auto& localMaps = getLocalMatrixMap<c>().mappedLocalMatrix;
const auto localMapIt = localMaps.find(object);
if (localMapIt != localMaps.end())
{
const auto mappedAccumulatorsIt = localMapIt->second.find(pair);
if (mappedAccumulatorsIt != localMapIt->second.end())
{
if (auto* accumulator = mappedAccumulatorsIt->second)
{
accumulator->shareMatrix(matrix);
}
}
}
}
template <class TMatrix, class TVector>
void MatrixLinearSystem<TMatrix, TVector>::buildGroupsOfComponentAssociatedToMechanicalStates(
std::map<PairMechanicalStates, GroupOfComponentsAssociatedToAPairOfMechanicalStates>& groups)
{
for (auto* ff : this->m_forceFields)
{
const auto mstates = retrieveAssociatedMechanicalState(ff);
for (auto& pair : generatePairs(mstates))
{
groups[pair].forcefieds.insert(ff);
}
}
for (auto* mass : this->m_masses)
{
const auto mstates = retrieveAssociatedMechanicalState(mass);
for (auto& pair : generatePairs(mstates))
{
groups[pair].masses.insert(mass);
}
}
for (auto* mapping : this->m_mechanicalMappings)
{
const auto mstates = retrieveAssociatedMechanicalState(mapping);
for (auto& pair : generatePairs(mstates))
{
groups[pair].mappings.insert(mapping);
}
}
}
template <class TMatrix, class TVector>
void MatrixLinearSystem<TMatrix, TVector>::makeLocalMatrixGroups(const core::MechanicalParams* mparams)
{
SOFA_UNUSED(mparams);
const bool assembleStiffness = d_assembleStiffness.getValue();
const bool assembleDamping = d_assembleDamping.getValue();
const bool assembleMass = d_assembleMass.getValue();
const bool assembleGeometricStiffness = d_assembleGeometricStiffness.getValue();
m_localMappedMatrices.clear();
std::map<PairMechanicalStates, GroupOfComponentsAssociatedToAPairOfMechanicalStates> groups;
buildGroupsOfComponentAssociatedToMechanicalStates(groups);
for (const auto& [pair, group] : groups)
{
const bool isMapped1 = m_mappingGraph.hasAnyMappingInput(pair[0]);
const bool isMapped2 = m_mappingGraph.hasAnyMappingInput(pair[1]);
if (isMapped1 || isMapped2)
{
std::shared_ptr<LocalMappedMatrixType<Real> > mat;
if (assembleStiffness || assembleDamping)
for (auto* component : group.forcefieds)
{
if (assembleStiffness)
{
mat = getSharedMatrix<Contribution::STIFFNESS>(component, pair);
}
if (!mat && assembleDamping)
{
mat = getSharedMatrix<Contribution::DAMPING>(component, pair);
}
if (mat)
{
break;
}
}
if (!mat)
{
if (assembleMass)
for (auto* component : group.masses)
{
mat = getSharedMatrix<Contribution::MASS>(component, pair);
if (mat)
{
break;
}
}
}
if (!mat)
{
if (assembleGeometricStiffness)
for (auto* component : group.mappings)
{
mat = getSharedMatrix<Contribution::GEOMETRIC_STIFFNESS>(component, pair);
if (mat)
{
break;
}
}
}
if (!mat && (
(assembleStiffness && !group.forcefieds.empty()) ||
(assembleDamping && !group.forcefieds.empty()) ||
(assembleMass && !group.masses.empty()) ||
(assembleGeometricStiffness && !group.mappings.empty())
))
{
std::string mstateNames = pair[0]->getPathName();
if (pair[0] != pair[1])
{
mstateNames += " and " + pair[1]->getPathName();
}
constexpr auto join = [](const auto& components)
{
return sofa::helper::join(components.begin(), components.end(),
[](auto* component) { return component ? component->getPathName() : "null"; }, ",");
};
std::stringstream ss;
if (!group.masses.empty() && assembleMass)
{
ss << "masses [" << join(group.masses) << "]";
if (!group.forcefieds.empty() || !group.mappings.empty()) ss << ", ";
}
if (!group.forcefieds.empty() && (assembleDamping || assembleStiffness))
{
ss << "force fields [" << join(group.forcefieds) << "]";
if (!group.mappings.empty()) ss << ", ";
}
if (!group.mappings.empty() && assembleGeometricStiffness)
{
ss << "mappings [" << join(group.mappings) << "]";
}
msg_info() << "Create a matrix to be mapped, shared among the following components: "
<< ss.str() << ", for a contribution on mechanical state " << mstateNames;
mat = std::make_shared<LocalMappedMatrixType<Real> >();
}
if (mat)
{
std::optional<type::Vec2u> matrixSize;
if (assembleStiffness || assembleDamping)
for (auto* component : group.forcefieds)
{
if (assembleStiffness)
{
setSharedMatrix<Contribution::STIFFNESS>(component, pair, mat);
if (!matrixSize.has_value())
{
matrixSize = getSharedMatrixSize<Contribution::STIFFNESS>(component, pair);
}
}
if (assembleDamping)
{
setSharedMatrix<Contribution::DAMPING>(component, pair, mat);
if (!matrixSize.has_value())
{
matrixSize = getSharedMatrixSize<Contribution::DAMPING>(component, pair);
}
}
}
if (assembleMass)
{
for (auto* component : group.masses)
{
setSharedMatrix<Contribution::MASS>(component, pair, mat);
if (!matrixSize.has_value())
{
matrixSize = getSharedMatrixSize<Contribution::MASS>(component, pair);
}
}
}
if (assembleGeometricStiffness)
{
for (auto* component : group.mappings)
{
setSharedMatrix<Contribution::GEOMETRIC_STIFFNESS>(component, pair, mat);
if (!matrixSize.has_value())
{
matrixSize = getSharedMatrixSize<Contribution::GEOMETRIC_STIFFNESS>(component, pair);
}
}
}
if (matrixSize)
{
mat->resize((*matrixSize)[0], (*matrixSize)[1]);
}
m_localMappedMatrices.emplace_back(pair, mat);
}
}
}
}
template <class TMatrix, class TVector>
void MatrixLinearSystem<TMatrix, TVector>::makeIndependentLocalMatrixGroups()
{
m_independentContributors.clear();
IndependentContributors nonMappedContributors;
IndependentContributors mappedContributors;
for (auto& [component, localMatrix] : m_stiffness)
{
const auto& mappedMatrices = getLocalMatrixMap<Contribution::STIFFNESS>().mappedLocalMatrix;
if (mappedMatrices.find(component) == mappedMatrices.end()) //this component is not mapped
{
//confirmation that this component is not mapped:
if (m_mappingGraph.hasAnyMappingInput(component))
{
dmsg_error() << "A mapped component has no mapped local matrix. This should not happen.";
continue;
}
nonMappedContributors.m_stiffness.insert({component, localMatrix});
}
else
{
mappedContributors.m_stiffness.insert({component, localMatrix});
}
}
for (auto& [component, localMatrix] : m_damping)
{
const auto& mappedMatrices = getLocalMatrixMap<Contribution::DAMPING>().mappedLocalMatrix;
if (mappedMatrices.find(component) == mappedMatrices.end()) //this component is not mapped
{
//confirmation that this component is not mapped:
if (m_mappingGraph.hasAnyMappingInput(component))
{
dmsg_error() << "A mapped component has no mapped local matrix. This should not happen.";
continue;
}
nonMappedContributors.m_damping.insert({component, localMatrix});
}
else
{
mappedContributors.m_damping.insert({component, localMatrix});
}
}
for (auto& [component, localMatrix] : m_geometricStiffness)
{
const auto& mappedMatrices = getLocalMatrixMap<Contribution::GEOMETRIC_STIFFNESS>().mappedLocalMatrix;
if (mappedMatrices.find(component) == mappedMatrices.end()) //this component is not mapped
{
nonMappedContributors.m_geometricStiffness.insert({component, localMatrix});
}
else
{
mappedContributors.m_geometricStiffness.insert({component, localMatrix});
}
}
for (auto& [component, localMatrix] : m_mass)
{
const auto& mappedMatrices = getLocalMatrixMap<Contribution::MASS>().mappedLocalMatrix;
if (mappedMatrices.find(component) == mappedMatrices.end()) //this component is not mapped
{
//confirmation that this component is not mapped:
if (m_mappingGraph.hasAnyMappingInput(component))
{
dmsg_error() << "A mapped component has no mapped local matrix. This should not happen.";
continue;
}
nonMappedContributors.m_mass.insert({component, localMatrix});
}
else
{
mappedContributors.m_mass.insert({component, localMatrix});
}
}
m_independentContributors.push_back(nonMappedContributors);
m_independentContributors.push_back(mappedContributors);
}
template <class TMatrix, class TVector>
void MatrixLinearSystem<TMatrix, TVector>::cleanLocalMatrices()
{
getLocalMatrixMap<Contribution::STIFFNESS>().clear();
getLocalMatrixMap<Contribution::MASS>().clear();
getLocalMatrixMap<Contribution::DAMPING>().clear();
getLocalMatrixMap<Contribution::GEOMETRIC_STIFFNESS>().clear();
m_stiffness.clear();
m_damping.clear();
m_geometricStiffness.clear();
m_mass.clear();
m_independentContributors.clear();
}
template <class TMatrix, class TVector>
template <Contribution c>
LocalMatrixMaps<c, typename MatrixLinearSystem<TMatrix, TVector>::Real>&
MatrixLinearSystem<TMatrix, TVector>::getLocalMatrixMap()
{
return std::get<LocalMatrixMaps<c, Real> >(m_localMatrixMaps);
}
template <class TMatrix, class TVector>
template <Contribution c>
const LocalMatrixMaps<c, typename MatrixLinearSystem<TMatrix, TVector>::Real>&
MatrixLinearSystem<TMatrix, TVector>::getLocalMatrixMap() const
{
return std::get<LocalMatrixMaps<c, Real> >(m_localMatrixMaps);
}
template<class TMatrix, class TVector>
void MatrixLinearSystem<TMatrix, TVector>::associateLocalMatrixToComponents(const core::MechanicalParams* mparams)
{
SCOPED_TIMER("InitializeSystem");
m_needClearLocalMatrices.updateIfDirty();
if (m_needClearLocalMatrices.getValue())
{
cleanLocalMatrices();
m_needClearLocalMatrices.setValue(false);
}
const sofa::Size totalSize = m_mappingGraph.getTotalNbMainDofs();
this->d_matrixSize.setValue({totalSize, totalSize});
m_discarder.m_globalMatrix = this->getSystemMatrix();
{
SCOPED_TIMER_VARNAME(resizeTimer, "resizeSystem");
const auto rowSize = this->getSystemMatrix() ? this->getSystemMatrix()->rowSize() : 0;
const auto colSize = this->getSystemMatrix() ? this->getSystemMatrix()->colSize() : 0;
this->resizeSystem(totalSize);
const auto newRowSize = this->getSystemMatrix() ? this->getSystemMatrix()->rowSize() : 0;
const auto newColSize = this->getSystemMatrix() ? this->getSystemMatrix()->colSize() : 0;
msg_info_when(newRowSize != rowSize || newColSize != colSize) <<
"System matrix is resized from " << rowSize << " x " << colSize << " to " << newRowSize << " x " << newColSize;
}
{
SCOPED_TIMER_VARNAME(clearSystemTimer, "clearSystem");
this->clearSystem();
}
{
SCOPED_TIMER_VARNAME(localMatricesTimer, "initializeLocalMatrices");
if (d_assembleMass.getValue())
{
for (auto* m : this->m_masses)
{
associateLocalMatrixTo<Contribution::MASS>(m, mparams);
}
}
if (d_assembleStiffness.getValue())
{
for (auto* ff : this->m_forceFields)
{
associateLocalMatrixTo<Contribution::STIFFNESS>(ff, mparams);
}
}
if (d_assembleDamping.getValue())
{
for (auto* ff : this->m_forceFields)
{
associateLocalMatrixTo<Contribution::DAMPING>(ff, mparams);
}
}
if (d_assembleGeometricStiffness.getValue())
{
for (auto* m : this->m_mechanicalMappings)
{
associateLocalMatrixTo<Contribution::GEOMETRIC_STIFFNESS>(m, mparams);
}
}
makeLocalMatrixGroups(mparams);
makeIndependentLocalMatrixGroups();
}
}
template <class TMatrix, class TVector>
template <Contribution c>
sofa::type::vector<sofa::core::matrixaccumulator::get_component_type<c>*> MatrixLinearSystem<
TMatrix, TVector>::getContributors() const
{
if constexpr (c == Contribution::STIFFNESS || c == Contribution::DAMPING)
{
return this->m_forceFields;
}
else if constexpr (c == Contribution::MASS)
{
return this->m_masses;
}
else if constexpr (c == Contribution::GEOMETRIC_STIFFNESS)
{
return this->m_mechanicalMappings;
}
}
template <class TMatrix, class TVector>
const MappingGraph& MatrixLinearSystem<TMatrix, TVector>::getMappingGraph() const
{
return m_mappingGraph;
}
template <class TMatrix, class TVector>
template <core::matrixaccumulator::Contribution c>
void MatrixLinearSystem<TMatrix, TVector>::associateLocalMatrixTo(
sofa::core::matrixaccumulator::get_component_type<c>* component,
const core::MechanicalParams* mparams)
{
const sofa::type::vector<core::behavior::BaseMechanicalState*> mstates =
retrieveAssociatedMechanicalState(component);
if (mstates.empty())
{
msg_error() << "The component " << component->getPathName() << " is not associated to any mechanical state";
return;
}
// generate all possible pairs of mechanical states
const auto mstatesPairs = generatePairs(mstates);
LocalMatrixMaps<c, Real>& matrixMaps = getLocalMatrixMap<c>();
// The factor that will be applied to all contributions from this component
const auto factor = Inherit1::template getContributionFactor<c>(mparams, component);
// index checking strategy
auto& strategy = matrixMaps.indexVerificationStrategy[component];
if (d_checkIndices.getValue() && !strategy)
{
strategy = makeIndexVerificationStrategy(component);
}
auto& componentLocalMatrix = matrixMaps.componentLocalMatrix[component];
for (const auto& pairs : mstatesPairs)
{
auto* mstate0 = pairs[0];
auto* mstate1 = pairs[1];
const bool isMapped0 = this->getMappingGraph().hasAnyMappingInput(mstate0);
const bool isMapped1 = this->getMappingGraph().hasAnyMappingInput(mstate1);
const bool isAnyMapped = isMapped0 || isMapped1;
auto it = componentLocalMatrix.find(pairs);
if (it == componentLocalMatrix.end())
{
BaseAssemblingMatrixAccumulator<c>* mat { nullptr };
if (isAnyMapped) //is component mapped?
{
AssemblingMappedMatrixAccumulator<c, Real>* mappedMatrix = createLocalMappedMatrixT<c>(component, factor);
matrixMaps.mappedLocalMatrix[component][pairs] = mappedMatrix;
mat = mappedMatrix;
}
else
{
mat = createLocalMatrixT<c>(component, factor);
}
msg_info() << "No local matrix found: a new local matrix of type "
<< mat->getClassName() << " (template " << mat->getTemplateName()
<< ") is created and associated to " << component->getPathName()
<< " for a contribution on states " << mstate0->getPathName()
<< " and " << mstate1->getPathName();
auto insertResult = componentLocalMatrix.insert({pairs, mat});
it = insertResult.first;
if constexpr (c == Contribution::STIFFNESS)
{
m_stiffness[component].setMatrixAccumulator(mat, mstate0, mstate1);
m_stiffness[component].setMechanicalParams(mparams);
}
else if constexpr (c == Contribution::DAMPING)
{
m_damping[component].setMatrixAccumulator(mat, mstate0, mstate1);
m_damping[component].setMechanicalParams(mparams);
}
else if constexpr (c == Contribution::GEOMETRIC_STIFFNESS)
{
m_geometricStiffness[component].setMatrixAccumulator(mat, mstate0, mstate1);
m_geometricStiffness[component].setMechanicalParams(mparams);
}
else if constexpr (c == Contribution::MASS)
{
m_mass[component] = mat;
}
}
BaseAssemblingMatrixAccumulator<c>* localMatrix = it->second;
if (!localMatrix)
{
dmsg_fatal() << "Local matrix is invalid";
}
const auto matrixSize1 = mstate0->getMatrixSize();
const auto matrixSize2 = mstate1->getMatrixSize();
if (!isAnyMapped) // mapped components don't add their contributions directly into the global matrix
{
localMatrix->setGlobalMatrix(this->getSystemMatrix());
const auto position = this->m_mappingGraph.getPositionInGlobalMatrix(mstate0, mstate1);
localMatrix->setPositionInGlobalMatrix(position);
}
localMatrix->setMatrixSize({matrixSize1, matrixSize2});
if (auto* rangeStrategy = dynamic_cast<sofa::core::matrixaccumulator::RangeVerification*>(strategy.get()))
{
rangeStrategy->maxRowIndex = matrixSize1;
rangeStrategy->maxColIndex = matrixSize2 - 1;
}
}
}
template <class TMatrix, class TVector>
void MatrixLinearSystem<TMatrix, TVector>::makeCreateDispatcher()
{
std::get<std::unique_ptr<CreateMatrixDispatcher<Contribution::STIFFNESS >>>(m_createDispatcher) = makeCreateDispatcher<Contribution::STIFFNESS >();
std::get<std::unique_ptr<CreateMatrixDispatcher<Contribution::MASS >>>(m_createDispatcher) = makeCreateDispatcher<Contribution::MASS >();
std::get<std::unique_ptr<CreateMatrixDispatcher<Contribution::DAMPING >>>(m_createDispatcher) = makeCreateDispatcher<Contribution::DAMPING >();
std::get<std::unique_ptr<CreateMatrixDispatcher<Contribution::GEOMETRIC_STIFFNESS>>>(m_createDispatcher) = makeCreateDispatcher<Contribution::GEOMETRIC_STIFFNESS>();
}
template <class TMatrix, class TVector>
std::shared_ptr<sofa::core::matrixaccumulator::IndexVerificationStrategy> MatrixLinearSystem<TMatrix, TVector>::
makeIndexVerificationStrategy(sofa::core::objectmodel::BaseObject* component)
{
auto strategy = std::make_shared<core::matrixaccumulator::RangeVerification>();
strategy->m_messageComponent = component;
return strategy;
}
template <class TMatrix, class TVector>
template <Contribution c>
std::unique_ptr<CreateMatrixDispatcher<c>> MatrixLinearSystem<TMatrix, TVector>
::makeCreateDispatcher()
{
struct MyCreateMatrixDispatcher : CreateMatrixDispatcher<c>
{
typename BaseAssemblingMatrixAccumulator<c>::SPtr
createLocalMappedMatrix() override
{
return sofa::core::objectmodel::New<AssemblingMappedMatrixAccumulator<c, Real>>();
}
protected:
typename BaseAssemblingMatrixAccumulator<c>::SPtr
createLocalMatrix() const override
{
return sofa::core::objectmodel::New<AssemblingMatrixAccumulator<c>>();
}
typename BaseAssemblingMatrixAccumulator<c>::SPtr
createLocalMatrixWithIndexChecking() const override
{
return sofa::core::objectmodel::New<AssemblingMatrixAccumulator<c, core::matrixaccumulator::RangeVerification>>();
}
};
return std::make_unique<MyCreateMatrixDispatcher>();
}
/**
* Generic function to configure a local matrix and associate it to a component
*/
template <core::matrixaccumulator::Contribution c>
void configureCreatedMatrixComponent(typename BaseAssemblingMatrixAccumulator<c>::SPtr mat,
typename BaseAssemblingMatrixAccumulator<c>::ComponentType* object, const SReal factor, bool printLog)
{
constexpr std::string_view contribution = core::matrixaccumulator::GetContributionName<c>();
mat->setName(std::string(contribution) + "_matrix");
mat->f_printLog.setValue(printLog);
mat->setFactor(factor);
mat->associateObject(object);
mat->addTag(core::objectmodel::Tag(core::behavior::tagSetupByMatrixLinearSystem));
object->addSlave(mat);
}
template <class TMatrix, class TVector>
template <core::matrixaccumulator::Contribution c>
BaseAssemblingMatrixAccumulator<c>* MatrixLinearSystem<TMatrix, TVector>::createLocalMatrixT(
sofa::core::matrixaccumulator::get_component_type<c>* object, SReal factor)
{
this->makeCreateDispatcher();
auto& dispatcher = std::get<std::unique_ptr<CreateMatrixDispatcher<c>>>(m_createDispatcher);
typename BaseAssemblingMatrixAccumulator<c>::SPtr localMatrix = dispatcher->createLocalMatrix(d_checkIndices.getValue());
configureCreatedMatrixComponent<c>(localMatrix, object, factor, !this->notMuted());
if (d_checkIndices.getValue())
{
const auto it = getLocalMatrixMap<c>().indexVerificationStrategy.find(object);
if (it != getLocalMatrixMap<c>().indexVerificationStrategy.end())
{
localMatrix->setIndexCheckerStrategy(it->second);
}
}
return localMatrix.get();
}
template <class TMatrix, class TVector>
template <core::matrixaccumulator::Contribution c>
AssemblingMappedMatrixAccumulator<c, typename MatrixLinearSystem<TMatrix, TVector>::Real>*
MatrixLinearSystem<TMatrix, TVector>::createLocalMappedMatrixT(
sofa::core::matrixaccumulator::get_component_type<c>* object, SReal factor)
{
this->makeCreateDispatcher();
auto& dispatcher = std::get<std::unique_ptr<CreateMatrixDispatcher<c>>>(m_createDispatcher);
typename BaseAssemblingMatrixAccumulator<c>::SPtr m = dispatcher->createLocalMappedMatrix();
configureCreatedMatrixComponent<c>(m, object, factor, !this->notMuted());
return dynamic_cast<AssemblingMappedMatrixAccumulator<c, Real>*>(m.get());
}
template <class TMatrix, class TVector>
auto MatrixLinearSystem<TMatrix, TVector>::createMatrixMapping(
const PairMechanicalStates& pair)
-> typename BaseMatrixProjectionMethod<LocalMappedMatrixType<Real> >::SPtr
{
return core::objectmodel::New<MatrixProjectionMethod<LocalMappedMatrixType<Real> > >(pair);
}
template <class TMatrix, class TVector>
void MatrixLinearSystem<TMatrix, TVector>::projectMappedMatrices(const core::MechanicalParams* mparams)
{
for (const auto& [pair, mappedMatrix] : m_localMappedMatrices)
{
if (!mappedMatrix)
{
msg_error() << "Mapped matrix not created properly";
continue;
}
LocalMappedMatrixType<Real>* crs = mappedMatrix.get();
crs->compress();
if (crs->colsValue.empty())
{
continue;
}
auto it = m_matrixMappings.find(pair);