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DampVelocitySolver.cpp
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DampVelocitySolver.cpp
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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 *
******************************************************************************/
#include <sofa/component/odesolver/forward/DampVelocitySolver.h>
#include <sofa/core/visual/VisualParams.h>
#include <sofa/simulation/VectorOperations.h>
#include <sofa/core/ObjectFactory.h>
namespace sofa::component::odesolver::forward
{
using namespace sofa::defaulttype;
using namespace core::behavior;
int DampVelocitySolverClass = core::RegisterObject("Reduce the velocities")
.add< DampVelocitySolver >()
.addAlias("DampVelocity")
;
DampVelocitySolver::DampVelocitySolver()
: d_rate(initData(&d_rate, 0.99_sreal, "rate", "Factor used to reduce the velocities. Typically between 0 and 1.") )
, d_threshold(initData(&d_threshold, 0.0_sreal, "threshold", "Threshold under which the velocities are canceled.") )
{
rate.setParent(&d_rate);
threshold.setParent(&d_threshold);
}
void DampVelocitySolver::solve(const core::ExecParams* params, SReal dt, sofa::core::MultiVecCoordId /*xResult*/, sofa::core::MultiVecDerivId vResult)
{
sofa::simulation::common::VectorOperations vop( params, this->getContext() );
MultiVecDeriv vel(&vop, vResult /*core::VecDerivId::velocity()*/ );
msg_info() <<"DampVelocitySolver, dt = "<< dt
<<"DampVelocitySolver, initial v = "<< vel ;
vel.teq( exp(-d_rate.getValue() * dt) );
if(d_threshold.getValue() != 0.0 )
vel.threshold(d_threshold.getValue() );
msg_info() <<"DampVelocitySolver, final v = "<< vel ;
}
} // namespace sofa::component::odesolver::forward