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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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35
MbDCode/SystemSolver.h
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@@ -1,17 +1,20 @@
#pragma once
#include <memory>
#include <vector>
#include<functional>
#include <functional>
#include <set>
#include "Solver.h"
#include "System.h"
#include "Constraint.h"
//#include "Constraint.h"
//#include "NewtonRaphson.h"
#include "KineIntegrator.h"
//#include "QuasiIntegrator.h"
namespace MbD {
class System;
class Constraint;
class NewtonRaphson;
class QuasiIntegrator;
class SystemSolver : public Solver
{
@@ -34,6 +37,7 @@ namespace MbD {
void runCollisionDerivativeIC();
void runBasicCollision();
void runBasicKinematic();
void runQuasiKinematic();
void partsJointsMotionsDo(const std::function <void(std::shared_ptr<Item>)>& f);
void logString(std::string& str);
std::shared_ptr<std::vector<std::shared_ptr<Part>>> parts();
@@ -42,16 +46,27 @@ namespace MbD {
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essentialConstraints2();
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> displacementConstraints();
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> perpendicularConstraints2();
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> allRedundantConstraints();
virtual void postNewtonRaphson();
void partsJointsMotionsForcesTorquesDo(const std::function <void(std::shared_ptr<Item>)>& f);
void discontinuityBlock();
double startTime();
double outputStepSize();
double maxStepSize();
double minStepSize();
double firstOutputTime();
double endTime();
System* system; //Use raw pointer when pointing backwards.
std::shared_ptr<NewtonRaphson> icTypeSolver;
std::shared_ptr<std::vector<std::vector<std::shared_ptr<Constraint>>>> setsOfRedundantConstraints;
std::shared_ptr<std::vector<std::shared_ptr<std::set<std::string>>>> setsOfRedundantConstraints;
double errorTolPosKine = 1.0e-6;
double errorTolAccKine = 1.0e-6;
size_t iterMaxPosKine = 25;
size_t iterMaxAccKine = 25;
std::shared_ptr <KineIntegrator> basicIntegrator;
int iterMaxPosKine = 25;
int iterMaxAccKine = 25;
std::shared_ptr <QuasiIntegrator> basicIntegrator;
std::shared_ptr<std::vector<double>> tstartPasts;
double tstart = 0;
double tend = 25;
@@ -64,8 +79,8 @@ namespace MbD {
double corRelTol = 0;
double intAbsTol = 0;
double intRelTol = 0;
size_t iterMaxDyn = 0;
size_t orderMax = 0;
int iterMaxDyn = 0;
int orderMax = 0;
double translationLimit = 0;
double rotationLimit = 0;
};