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runOndselPiston, runPiston execute correctly

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This commit is contained in:
Aik-Siong Koh
2023-06-30 19:48:30 -06:00
parent c30ee64b89
commit cb27f2344b
154 changed files with 2786 additions and 1605 deletions
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100
MbDCode/SystemSolver.cpp
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@@ -3,6 +3,7 @@
#include <algorithm>
#include "SystemSolver.h"
#include "System.h"
#include "NewtonRaphson.h"
#include "PosICNewtonRaphson.h"
#include "CREATE.h"
@@ -15,18 +16,20 @@
#include "PosKineNewtonRaphson.h"
#include "VelICSolver.h"
#include "AccICNewtonRaphson.h"
#include "VelKineSolver.h"
#include "AccKineNewtonRaphson.h"
using namespace MbD;
//class PosICNewtonRaphson;
void MbD::SystemSolver::setSystem(Solver* sys)
void SystemSolver::setSystem(Solver* sys)
{
//Do not use
assert(false);
}
void MbD::SystemSolver::initialize()
void SystemSolver::initialize()
{
tstartPasts = std::make_shared<std::vector<double>>();
}
@@ -66,28 +69,28 @@ void SystemSolver::runAllIC()
}
}
void MbD::SystemSolver::runPosIC()
void SystemSolver::runPosIC()
{
icTypeSolver = CREATE<PosICNewtonRaphson>::With();
icTypeSolver->setSystem(this);
icTypeSolver->run();
}
void MbD::SystemSolver::runVelIC()
void SystemSolver::runVelIC()
{
icTypeSolver = CREATE<VelICSolver>::With();
icTypeSolver->setSystem(this);
icTypeSolver->run();
}
void MbD::SystemSolver::runAccIC()
void SystemSolver::runAccIC()
{
icTypeSolver = CREATE<AccICNewtonRaphson>::With();
icTypeSolver->setSystem(this);
icTypeSolver->run();
}
bool MbD::SystemSolver::needToRedoPosIC()
bool SystemSolver::needToRedoPosIC()
{
auto allRedunCons = this->allRedundantConstraints();
auto newSet = std::make_shared<std::set<std::string>>();
@@ -126,15 +129,15 @@ bool MbD::SystemSolver::needToRedoPosIC()
return true;
}
void MbD::SystemSolver::preCollision()
void SystemSolver::preCollision()
{
}
void MbD::SystemSolver::runCollisionDerivativeIC()
void SystemSolver::runCollisionDerivativeIC()
{
}
void MbD::SystemSolver::runBasicCollision()
void SystemSolver::runBasicCollision()
{
}
@@ -150,7 +153,7 @@ void SystemSolver::runBasicKinematic()
}
}
void MbD::SystemSolver::runQuasiKinematic()
void SystemSolver::runQuasiKinematic()
{
try {
basicIntegrator = CREATE<ICKineIntegrator>::With();
@@ -162,37 +165,35 @@ void MbD::SystemSolver::runQuasiKinematic()
}
}
void MbD::SystemSolver::runPosKine()
void SystemSolver::runPosKine()
{
icTypeSolver = CREATE<PosKineNewtonRaphson>::With();
icTypeSolver->setSystem(this);
icTypeSolver->run();
}
void MbD::SystemSolver::runVelKine()
void SystemSolver::runVelKine()
{
assert(false);
//icTypeSolver = CREATE<VelKineSolver>::With();
//icTypeSolver->setSystem(this);
//icTypeSolver->run();
icTypeSolver = CREATE<VelKineSolver>::With();
icTypeSolver->setSystem(this);
icTypeSolver->run();
}
void MbD::SystemSolver::runAccKine()
void SystemSolver::runAccKine()
{
assert(false);
//icTypeSolver = CREATE<AccKineNewtonRaphson>::With();
//icTypeSolver->setSystem(this);
//icTypeSolver->run();
icTypeSolver = CREATE<AccKineNewtonRaphson>::With();
icTypeSolver->setSystem(this);
icTypeSolver->run();
}
void MbD::SystemSolver::runPosICKine()
void SystemSolver::runPosICKine()
{
icTypeSolver = CREATE<PosICKineNewtonRaphson>::With();
icTypeSolver->setSystem(this);
icTypeSolver->run();
}
void MbD::SystemSolver::runVelICKine()
void SystemSolver::runVelICKine()
{
assert(false);
//icTypeSolver = CREATE<VelICKineSolver>::With();
@@ -200,7 +201,7 @@ void MbD::SystemSolver::runVelICKine()
//icTypeSolver->run();
}
void MbD::SystemSolver::runAccICKine()
void SystemSolver::runAccICKine()
{
assert(false);
//icTypeSolver = CREATE<AccICKineNewtonRaphson>::With();
@@ -208,92 +209,107 @@ void MbD::SystemSolver::runAccICKine()
//icTypeSolver->run();
}
void MbD::SystemSolver::partsJointsMotionsDo(const std::function<void(std::shared_ptr<Item>)>& f)
void SystemSolver::partsJointsMotionsDo(const std::function<void(std::shared_ptr<Item>)>& f)
{
system->partsJointsMotionsDo(f);
}
void MbD::SystemSolver::logString(std::string& str)
void SystemSolver::logString(std::string& str)
{
system->logString(str);
}
std::shared_ptr<std::vector<std::shared_ptr<Part>>> MbD::SystemSolver::parts()
std::shared_ptr<std::vector<std::shared_ptr<Part>>> SystemSolver::parts()
{
return system->parts;
}
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> MbD::SystemSolver::essentialConstraints2()
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> SystemSolver::essentialConstraints2()
{
return system->essentialConstraints2();
}
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> MbD::SystemSolver::displacementConstraints()
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> SystemSolver::displacementConstraints()
{
return system->displacementConstraints();
}
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> MbD::SystemSolver::perpendicularConstraints()
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> SystemSolver::perpendicularConstraints()
{
return system->perpendicularConstraints();
}
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> MbD::SystemSolver::allRedundantConstraints()
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> SystemSolver::allRedundantConstraints()
{
return system->allRedundantConstraints();
}
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> MbD::SystemSolver::allConstraints()
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> SystemSolver::allConstraints()
{
return system->allConstraints();
}
void MbD::SystemSolver::postNewtonRaphson()
void SystemSolver::postNewtonRaphson()
{
assert(false);
}
void MbD::SystemSolver::partsJointsMotionsForcesTorquesDo(const std::function<void(std::shared_ptr<Item>)>& f)
void SystemSolver::partsJointsMotionsForcesTorquesDo(const std::function<void(std::shared_ptr<Item>)>& f)
{
system->partsJointsMotionsForcesTorquesDo(f);
}
void MbD::SystemSolver::discontinuityBlock()
void SystemSolver::discontinuityBlock()
{
assert(false);
}
double MbD::SystemSolver::startTime()
double SystemSolver::startTime()
{
return tstart;
}
double MbD::SystemSolver::outputStepSize()
double SystemSolver::outputStepSize()
{
return hout;
}
double MbD::SystemSolver::maxStepSize()
double SystemSolver::maxStepSize()
{
return hmax;
}
double MbD::SystemSolver::minStepSize()
double SystemSolver::minStepSize()
{
return hmin;
}
double MbD::SystemSolver::firstOutputTime()
double SystemSolver::firstOutputTime()
{
return toutFirst;
}
double MbD::SystemSolver::endTime()
double SystemSolver::endTime()
{
return tend;
}
void MbD::SystemSolver::settime(double tnew)
void SystemSolver::settime(double tnew)
{
system->mbdTimeValue(tnew);
}
void SystemSolver::tstartPastsAddFirst(double tstartPast)
{
tstartPasts->insert(tstartPasts->begin(), tstartPast);
}
void SystemSolver::output()
{
system->outputFor(DYNAMIC);
}
void SystemSolver::time(double t)
{
system->mbdTimeValue(t);
}