CompositeLinearSystem
Component acting like a linear system, but delegates the linear system functionalities to a list of real linear systems
Templates:
BlockDiagonalMatrixMat3x3dCompressedRowSparseMatrixMat2x2dCompressedRowSparseMatrixMat3x3dCompressedRowSparseMatrixMat4x4dCompressedRowSparseMatrixMat6x6dCompressedRowSparseMatrixMat8x8dCompressedRowSparseMatrixdDiagonalMatrixFullMatrixRotationMatrixdSparseMatrix
Target: Sofa.Component.LinearSystem
namespace: sofa::component::linearsystem
parents:
TypedMatrixLinearSystem
Data:
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| 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). | Undefined |
| listening | if true, handle the events, otherwise ignore the events | 0 |
| matrixSize | Size of the global matrix |
Links:
| Name | Description |
|---|---|
| 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 |
| linearSystems | List of linear systems to assemble |
| solverLinearSystem | Among the list of linear systems, which one is to be used by the linear solver |
Examples
Component/LinearSystem/CompositeLinearSystem.scn
<Node name="root" dt="0.02" gravity="0 -10 0">
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
<RequiredPlugin name="Sofa.Component.LinearSystem"/> <!-- Needed to use components [CompositeLinearSystem MatrixLinearSystem] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
<RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [HexahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [HexahedronSetGeometryAlgorithms] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<RequiredPlugin name="SofaMatrix"/> <!-- Needed to use components [GlobalSystemMatrixImage] -->
<VisualStyle displayFlags="showBehaviorModels showWireframe" />
<DefaultAnimationLoop/>
<DefaultVisualManagerLoop/>
<DefaultVisualManagerLoop/>
<Node name="node">
<EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<Node name="matrices">
<MatrixLinearSystem template="CompressedRowSparseMatrixd" name="system"/>
<MatrixLinearSystem template="CompressedRowSparseMatrixd" name="K" assembleMass="false" assembleDamping="false" assembleGeometricStiffness="false" applyProjectiveConstraints="false"/>
<MatrixLinearSystem template="CompressedRowSparseMatrixd" name="M" assembleStiffness="false" assembleDamping="false" assembleGeometricStiffness="false" applyProjectiveConstraints="false"/>
<GlobalSystemMatrixImage name="imageA" linearSystem="@system"/>
<GlobalSystemMatrixImage name="imageK" linearSystem="@K"/>
<GlobalSystemMatrixImage name="imageM" linearSystem="@M"/>
</Node>
<CompositeLinearSystem template="CompressedRowSparseMatrixd" name="solverSystem" linearSystems="@matrices/system @matrices/K @matrices/M" solverLinearSystem="@matrices/system"/>
<SparseLDLSolver template="CompressedRowSparseMatrixd" linearSystem="@solverSystem"/>
<Node name="object_a">
<RegularGridTopology name="grid" nx="1" ny="1" nz="20" xmin="0" xmax="0" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" />
<MechanicalObject template="Rigid3d" name="DOFs" showObject="true" showObjectScale="1" position="@grid.position"/>
<FixedProjectiveConstraint indices="0" />
<Node name="FEM">
<RegularGridTopology name="FEM_grid" nx="4" ny="4" nz="20" xmin="-1.5" xmax="1.5" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" />
<MechanicalObject template="Vec3d" name="FEM_DOFs_a" position="@FEM_grid.position" printLog="false"/>
<HexahedronSetGeometryAlgorithms/>
<UniformMass vertexMass="1"/>
<HexahedronFEMForceField name="FEM_a" youngModulus="10000" poissonRatio="0.45" method="large" printLog="false"/>
<RigidMapping globalToLocalCoords="true" rigidIndexPerPoint="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19"/>
<Node name="Visual">
<RegularGridTopology name="grid" nx="2" ny="2" nz="20" xmin="-1.5" xmax="1.5" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" computeTriangleList="false" />
<OglModel name="visu" lineWidth="5" material="Default Diffuse 0 1 1 1 1 Ambient 1 1 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45"/>
<BarycentricMapping input="@../FEM_DOFs_a" output="@visu"/>
</Node>
</Node>
</Node>
<Node name="object_b">
<MechanicalObject template="Vec3d" name="FEM_DOFs_b" printLog="false"/>
<RegularGridTopology name="grid" nx="4" ny="4" nz="20" xmin="-1.5" xmax="1.5" ymin="-9" ymax="-6" zmin="0" zmax="19" />
<HexahedronSetGeometryAlgorithms/>
<UniformMass totalMass="320"/>
<BoxROI template="Vec3d" name="box" box="-1.6 -9.1 -0.1 1.6 -5.1 0.0001"/>
<FixedProjectiveConstraint indices="@box.indices" />
<HexahedronFEMForceField name="FEM_b" youngModulus="10000" poissonRatio="0.45" method="large" printLog="false"/>
<Node name="Visual">
<RegularGridTopology name="grid" n="@../grid.n" xmin="-1.5" xmax="1.5" ymin="-9" ymax="-6" zmin="0" zmax="19" computeTriangleList="false" />
<OglModel name="visu" lineWidth="2" material="Default Diffuse 0 1 1 1 1 Ambient 1 0 1 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45"/>
<BarycentricMapping input="@../FEM_DOFs_b" output="@visu"/>
</Node>
</Node>
<Node name="object_c">
<RegularGridTopology name="grid" nx="1" ny="1" nz="20" xmin="5" xmax="5" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" />
<MechanicalObject template="Rigid3d" name="DOFs" showObject="true" showObjectScale="1" position="@grid.position"/>
<FixedProjectiveConstraint indices="0" />
<Node name="FEM">
<RegularGridTopology name="FEM_grid" nx="4" ny="4" nz="20" xmin="3.5" xmax="6.5" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" />
<MechanicalObject template="Vec3d" name="FEM_DOFs_c" position="@FEM_grid.position" printLog="false"/>
<HexahedronSetGeometryAlgorithms/>
<UniformMass vertexMass="1"/>
<HexahedronFEMForceField name="FEM_c" youngModulus="10000" poissonRatio="0.45" method="large" printLog="false"/>
<RigidMapping globalToLocalCoords="true" rigidIndexPerPoint="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19"/>
<Node name="Visual">
<RegularGridTopology name="grid" nx="2" ny="2" nz="20" xmin="3.5" xmax="6.5" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" computeTriangleList="false" />
<OglModel name="visu" lineWidth="5" material="Default Diffuse 0 1 1 1 1 Ambient 1 0 0 1 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45"/>
<BarycentricMapping input="@../FEM_DOFs_c" output="@visu"/>
</Node>
</Node>
</Node>
</Node>
</Node>
def createScene(rootNode):
root = rootNode.addChild('root', dt="0.02", gravity="0 -10 0")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Direct")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSystem")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('RequiredPlugin', name="SofaMatrix")
root.addObject('VisualStyle', displayFlags="showBehaviorModels showWireframe")
root.addObject('DefaultAnimationLoop')
root.addObject('DefaultVisualManagerLoop')
root.addObject('DefaultVisualManagerLoop')
node = root.addChild('node')
node.addObject('EulerImplicitSolver', name="odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
matrices = node.addChild('matrices')
matrices.addObject('MatrixLinearSystem', template="CompressedRowSparseMatrixd", name="system")
matrices.addObject('MatrixLinearSystem', template="CompressedRowSparseMatrixd", name="K", assembleMass="false", assembleDamping="false", assembleGeometricStiffness="false", applyProjectiveConstraints="false")
matrices.addObject('MatrixLinearSystem', template="CompressedRowSparseMatrixd", name="M", assembleStiffness="false", assembleDamping="false", assembleGeometricStiffness="false", applyProjectiveConstraints="false")
matrices.addObject('GlobalSystemMatrixImage', name="imageA", linearSystem="@system")
matrices.addObject('GlobalSystemMatrixImage', name="imageK", linearSystem="@K")
matrices.addObject('GlobalSystemMatrixImage', name="imageM", linearSystem="@M")
node.addObject('CompositeLinearSystem', template="CompressedRowSparseMatrixd", name="solverSystem", linearSystems="@matrices/system @matrices/K @matrices/M", solverLinearSystem="@matrices/system")
node.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixd", linearSystem="@solverSystem")
object_a = node.addChild('object_a')
object_a.addObject('RegularGridTopology', name="grid", nx="1", ny="1", nz="20", xmin="0", xmax="0", ymin="-1.5", ymax="1.5", zmin="0", zmax="19")
object_a.addObject('MechanicalObject', template="Rigid3d", name="DOFs", showObject="true", showObjectScale="1", position="@grid.position")
object_a.addObject('FixedProjectiveConstraint', indices="0")
FEM = object_a.addChild('FEM')
FEM.addObject('RegularGridTopology', name="FEM_grid", nx="4", ny="4", nz="20", xmin="-1.5", xmax="1.5", ymin="-1.5", ymax="1.5", zmin="0", zmax="19")
FEM.addObject('MechanicalObject', template="Vec3d", name="FEM_DOFs_a", position="@FEM_grid.position", printLog="false")
FEM.addObject('HexahedronSetGeometryAlgorithms')
FEM.addObject('UniformMass', vertexMass="1")
FEM.addObject('HexahedronFEMForceField', name="FEM_a", youngModulus="10000", poissonRatio="0.45", method="large", printLog="false")
FEM.addObject('RigidMapping', globalToLocalCoords="true", rigidIndexPerPoint="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19")
Visual = FEM.addChild('Visual')
Visual.addObject('RegularGridTopology', name="grid", nx="2", ny="2", nz="20", xmin="-1.5", xmax="1.5", ymin="-1.5", ymax="1.5", zmin="0", zmax="19", computeTriangleList="false")
Visual.addObject('OglModel', name="visu", lineWidth="5", material="Default Diffuse 0 1 1 1 1 Ambient 1 1 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45")
Visual.addObject('BarycentricMapping', input="@../FEM_DOFs_a", output="@visu")
object_b = node.addChild('object_b')
object_b.addObject('MechanicalObject', template="Vec3d", name="FEM_DOFs_b", printLog="false")
object_b.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="20", xmin="-1.5", xmax="1.5", ymin="-9", ymax="-6", zmin="0", zmax="19")
object_b.addObject('HexahedronSetGeometryAlgorithms')
object_b.addObject('UniformMass', totalMass="320")
object_b.addObject('BoxROI', template="Vec3d", name="box", box="-1.6 -9.1 -0.1 1.6 -5.1 0.0001")
object_b.addObject('FixedProjectiveConstraint', indices="@box.indices")
object_b.addObject('HexahedronFEMForceField', name="FEM_b", youngModulus="10000", poissonRatio="0.45", method="large", printLog="false")
Visual = object_b.addChild('Visual')
Visual.addObject('RegularGridTopology', name="grid", n="@../grid.n", xmin="-1.5", xmax="1.5", ymin="-9", ymax="-6", zmin="0", zmax="19", computeTriangleList="false")
Visual.addObject('OglModel', name="visu", lineWidth="2", material="Default Diffuse 0 1 1 1 1 Ambient 1 0 1 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45")
Visual.addObject('BarycentricMapping', input="@../FEM_DOFs_b", output="@visu")
object_c = node.addChild('object_c')
object_c.addObject('RegularGridTopology', name="grid", nx="1", ny="1", nz="20", xmin="5", xmax="5", ymin="-1.5", ymax="1.5", zmin="0", zmax="19")
object_c.addObject('MechanicalObject', template="Rigid3d", name="DOFs", showObject="true", showObjectScale="1", position="@grid.position")
object_c.addObject('FixedProjectiveConstraint', indices="0")
FEM = object_c.addChild('FEM')
FEM.addObject('RegularGridTopology', name="FEM_grid", nx="4", ny="4", nz="20", xmin="3.5", xmax="6.5", ymin="-1.5", ymax="1.5", zmin="0", zmax="19")
FEM.addObject('MechanicalObject', template="Vec3d", name="FEM_DOFs_c", position="@FEM_grid.position", printLog="false")
FEM.addObject('HexahedronSetGeometryAlgorithms')
FEM.addObject('UniformMass', vertexMass="1")
FEM.addObject('HexahedronFEMForceField', name="FEM_c", youngModulus="10000", poissonRatio="0.45", method="large", printLog="false")
FEM.addObject('RigidMapping', globalToLocalCoords="true", rigidIndexPerPoint="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19")
Visual = FEM.addChild('Visual')
Visual.addObject('RegularGridTopology', name="grid", nx="2", ny="2", nz="20", xmin="3.5", xmax="6.5", ymin="-1.5", ymax="1.5", zmin="0", zmax="19", computeTriangleList="false")
Visual.addObject('OglModel', name="visu", lineWidth="5", material="Default Diffuse 0 1 1 1 1 Ambient 1 0 0 1 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45")
Visual.addObject('BarycentricMapping', input="@../FEM_DOFs_c", output="@visu")