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systemSolver->runBasicKinematic();

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This commit is contained in:
Aik-Siong Koh
2023-06-11 07:15:20 -06:00
parent d848450907
commit 3b08cd72df
182 changed files with 2789 additions and 535 deletions
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41
MbDCode/PosICNewtonRaphson.cpp
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@@ -6,6 +6,9 @@
#include "SystemSolver.h"
#include "Part.h"
#include "Constraint.h"
#include "CREATE.h"
#include "GESpMatParPvPrecise.h"
#include "GESpMatFullPvPosIC.h"
using namespace MbD;
@@ -40,7 +43,7 @@ void MbD::PosICNewtonRaphson::assignEquationNumbers()
auto essentialConstraints = system->essentialConstraints2();
auto displacementConstraints = system->displacementConstraints();
auto perpendicularConstraints = system->perpendicularConstraints2();
size_t eqnNo = 0;
int eqnNo = 0;
for (auto& part : *parts) {
part->iqX(eqnNo);
eqnNo = eqnNo + 3;
@@ -74,8 +77,8 @@ void MbD::PosICNewtonRaphson::assignEquationNumbers()
auto lastEqnNo = eqnNo - 1;
nEqns = eqnNo; //C++ uses index 0.
n = nEqns;
auto limits = { lastEssenConEqnNo, lastDispConEqnNo, lastEqnNo };
pivotRowLimits = std::make_shared<std::vector<size_t>>(limits);
auto rangelimits = { lastEssenConEqnNo + 1, lastDispConEqnNo + 1, lastEqnNo + 1 };
pivotRowLimits = std::make_shared<std::vector<int>>(rangelimits);
}
bool MbD::PosICNewtonRaphson::isConverged()
@@ -85,5 +88,35 @@ bool MbD::PosICNewtonRaphson::isConverged()
void MbD::PosICNewtonRaphson::handleSingularMatrix()
{
assert(false);
nSingularMatrixError++;
if (nSingularMatrixError = 1){
this->lookForRedundantConstraints();
matrixSolver = this->matrixSolverClassNew();
}
else {
std::string str = typeid(*matrixSolver).name();
if (str == "class MbD::GESpMatParPvMarkoFast") {
matrixSolver = CREATE<GESpMatParPvPrecise>::With();
this->solveEquations();
}
else {
str = typeid(*matrixSolver).name();
if (str == "class MbD::GESpMatParPvPrecise") {
this->lookForRedundantConstraints();
matrixSolver = this->matrixSolverClassNew();
}
else {
assert(false);
}
}
}
}
void MbD::PosICNewtonRaphson::lookForRedundantConstraints()
{
std::string str("MbD: Checking for redundant constraints.");
system->logString(str);
auto posICsolver = CREATE<GESpMatFullPvPosIC>::With();
posICsolver->system = this;
dx = posICsolver->solvewithsaveOriginal(pypx, y->negated(), false);
}