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runPosIC, assignEquationNumbers

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This commit is contained in:
Aik-Siong Koh
2023-05-30 10:00:25 -06:00
parent 9ddbdca742
commit f4debf4865
43 changed files with 288 additions and 22 deletions
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7
MbDCode/AtPointConstraintIJ.cpp
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@@ -31,6 +31,8 @@ void AtPointConstraintIJ::initriIeJeO()
void MbD::AtPointConstraintIJ::postInput()
{
riIeJeO->postInput();
Constraint::postInput();
}
void MbD::AtPointConstraintIJ::calcPostDynCorrectorIteration()
@@ -43,3 +45,8 @@ void MbD::AtPointConstraintIJ::prePosIC()
riIeJeO->prePosIC();
Constraint::prePosIC();
}
MbD::ConstraintType MbD::AtPointConstraintIJ::type()
{
return MbD::displacement;
}

1
MbDCode/AtPointConstraintIJ.h
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@@ -17,6 +17,7 @@ namespace MbD {
void postInput() override;
void calcPostDynCorrectorIteration() override;
void prePosIC() override;
MbD::ConstraintType type() override;
int axis;
std::shared_ptr<DispCompIecJecO> riIeJeO;

5
MbDCode/AtPointConstraintIqctJqc.cpp
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@@ -27,3 +27,8 @@ void MbD::AtPointConstraintIqctJqc::calcPostDynCorrectorIteration()
ppGpEIpEI = std::static_pointer_cast<DispCompIeqctJeqcO>(riIeJeO)->ppriIeJeOpEIpEI;
AtPointConstraintIqcJqc::calcPostDynCorrectorIteration();
}
MbD::ConstraintType MbD::AtPointConstraintIqctJqc::type()
{
return MbD::essential;
}

1
MbDCode/AtPointConstraintIqctJqc.h
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@@ -11,6 +11,7 @@ namespace MbD {
void initializeGlobally() override;
void initriIeJeO() override;
void calcPostDynCorrectorIteration() override;
MbD::ConstraintType type() override;
double pGpt;
FRowDsptr ppGpEIpt;

28
MbDCode/Constraint.cpp
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@@ -1,5 +1,5 @@
#include "Constraint.h"
//#include "Item.h"
#include "enum.h"
using namespace MbD;
@@ -20,6 +20,8 @@ void Constraint::initialize()
void MbD::Constraint::postInput()
{
lam = 0.0;
Item::postInput();
}
void Constraint::setOwner(Item* x)
@@ -38,3 +40,27 @@ void MbD::Constraint::prePosIC()
iG = -1;
Item::prePosIC();
}
void MbD::Constraint::fillEssenConstraints(std::shared_ptr<Constraint>sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints)
{
if (this->type() == MbD::essential) {
essenConstraints->push_back(sptr);
}
}
void MbD::Constraint::fillDispConstraints(std::shared_ptr<Constraint>sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> dispConstraints)
{
if (this->type() == MbD::displacement) {
dispConstraints->push_back(sptr);
}
}
void MbD::Constraint::fillPerpenConstraints(std::shared_ptr<Constraint>sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> perpenConstraints)
{
if (this->type() == MbD::displacement) {
perpenConstraints->push_back(sptr);
}
}
MbD::ConstraintType MbD::Constraint::type()
{
return MbD::essential;
}

5
MbDCode/Constraint.h
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@@ -1,6 +1,7 @@
#pragma once
#include <memory>
#include "enum.h"
#include "Item.h"
namespace MbD {
@@ -15,6 +16,10 @@ namespace MbD {
void setOwner(Item* x);
Item* getOwner();
void prePosIC() override;
virtual void fillEssenConstraints(std::shared_ptr<Constraint>sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints);
virtual void fillDispConstraints(std::shared_ptr<Constraint>sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> dispConstraints);
virtual void fillPerpenConstraints(std::shared_ptr<Constraint>sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> perpenConstraints);
virtual MbD::ConstraintType type();
int iG;

7
MbDCode/DirectionCosineConstraintIJ.cpp
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@@ -32,6 +32,8 @@ void DirectionCosineConstraintIJ::initaAijIeJe()
void MbD::DirectionCosineConstraintIJ::postInput()
{
aAijIeJe->postInput();
Constraint::postInput();
}
void MbD::DirectionCosineConstraintIJ::calcPostDynCorrectorIteration()
@@ -44,3 +46,8 @@ void MbD::DirectionCosineConstraintIJ::prePosIC()
aAijIeJe->prePosIC();
Constraint::prePosIC();
}
MbD::ConstraintType MbD::DirectionCosineConstraintIJ::type()
{
return MbD::perpendicular;
}

1
MbDCode/DirectionCosineConstraintIJ.h
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@@ -17,6 +17,7 @@ namespace MbD {
void postInput() override;
void calcPostDynCorrectorIteration() override;
void prePosIC() override;
MbD::ConstraintType type() override;
int axisI, axisJ;
std::shared_ptr<DirectionCosineIecJec> aAijIeJe;

5
MbDCode/DirectionCosineConstraintIqctJqc.cpp
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@@ -13,3 +13,8 @@ void DirectionCosineConstraintIqctJqc::initaAijIeJe()
{
aAijIeJe = CREATE<DirectionCosineIeqctJeqc>::With(frmI, frmJ, axisI, axisJ);
}
MbD::ConstraintType MbD::DirectionCosineConstraintIqctJqc::type()
{
return MbD::essential;
}

1
MbDCode/DirectionCosineConstraintIqctJqc.h
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@@ -9,6 +9,7 @@ namespace MbD {
public:
DirectionCosineConstraintIqctJqc(EndFrmcptr frmi, EndFrmcptr frmj, int axisi, int axisj);
void initaAijIeJe() override;
MbD::ConstraintType type() override;
double pGpt;
FRowDsptr ppGpEIpt;

4
MbDCode/DispCompIeqctJeqcO.cpp
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@@ -12,12 +12,12 @@ MbD::DispCompIeqctJeqcO::DispCompIeqctJeqcO(EndFrmcptr frmi, EndFrmcptr frmj, in
void MbD::DispCompIeqctJeqcO::initializeGlobally()
{
//ToDo: Check why not using super classes.
ppriIeJeOpEJpEJ = std::static_pointer_cast<EndFrameqc>(frmJ)->ppriOeOpEpE(axis);
ppriIeJeOpEJpEJ = std::static_pointer_cast<EndFrameqct>(frmJ)->ppriOeOpEpE(axis);
}
void MbD::DispCompIeqctJeqcO::calcPostDynCorrectorIteration()
{
//"ppriIeJeOpEIpEI is not a constant now."
DispCompIeqcJeqcO::calcPostDynCorrectorIteration();
ppriIeJeOpEIpEI = std::static_pointer_cast<EndFrameqc>(frmI)->ppriOeOpEpE(axis)->negated();
ppriIeJeOpEIpEI = std::static_pointer_cast<EndFrameqct>(frmI)->ppriOeOpEpE(axis)->negated();
}

1
MbDCode/EndFrameqc.cpp
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@@ -35,6 +35,7 @@ void EndFrameqc::initEndFrameqct()
endFrameqct->pprOeOpEpE = pprOeOpEpE;
endFrameqct->pAOepE = pAOepE;
endFrameqct->ppAOepEpE = ppAOepEpE;
endFrameqct->setMarkerFrame(markerFrame);
}
FMatFColDsptr MbD::EndFrameqc::ppAjOepEpE(int jj)

3
MbDCode/EndFrameqct.cpp
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@@ -92,6 +92,9 @@ void MbD::EndFrameqct::initppPhiThePsiptptBlks()
void MbD::EndFrameqct::postInput()
{
this->evalrmem();
this->evalAme();
Item::postInput();
}
void MbD::EndFrameqct::calcPostDynCorrectorIteration()

2
MbDCode/EulerConstraint.cpp
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@@ -20,7 +20,7 @@ void EulerConstraint::initialize()
void MbD::EulerConstraint::calcPostDynCorrectorIteration()
{
auto qE = static_cast<PartFrame*>(owner)->qE;
auto& qE = static_cast<PartFrame*>(owner)->qE;
aG = qE->sumOfSquares() - 1.0;
for (size_t i = 0; i < 4; i++)
{

1
MbDCode/ForceTorqueItem.cpp Normal file
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@@ -0,0 +1 @@
#include "ForceTorqueItem.h"

13
MbDCode/ForceTorqueItem.h Normal file
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@@ -0,0 +1,13 @@
#pragma once
#include "Item.h"
namespace MbD {
class ForceTorqueItem : public Item
{
//
public:
};
}

8
MbDCode/FullRow.h
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@@ -72,7 +72,13 @@ namespace MbD {
template<typename T>
inline std::shared_ptr<FullRow<T>> FullRow<T>::timesTransposeFullMatrix(std::shared_ptr<FullMatrix<T>> fullMat)
{
return std::shared_ptr<FullRow<T>>();
//"a*bT = a(1,j)b(k,j)"
size_t ncol = fullMat->nRow();
auto answer = std::make_shared<FullRow<T>>(ncol);
for (size_t k = 0; k < ncol; k++) {
answer->at(k) = this->dot(fullMat->at(k));
}
return answer;
}
template<typename T>
inline void FullRow<T>::equalSelfPlusFullRowTimes(std::shared_ptr<FullRow<T>> fullRow, double factor)

4
MbDCode/Item.cpp
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@@ -57,6 +57,10 @@ void MbD::Item::fillPosKineJacob(FMatDsptr mat)
{
}
void MbD::Item::fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints)
{
}
void MbD::Item::constraintsReport()
{
}

3
MbDCode/Item.h
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@@ -7,6 +7,8 @@
namespace MbD {
class Constraint;
class Item
{
//name
@@ -31,6 +33,7 @@ namespace MbD {
virtual void removeRedundantConstraints(std::shared_ptr<std::vector<int>> redundantEqnNos);
virtual void fillPosKineError(FColDsptr col);
virtual void fillPosKineJacob(FMatDsptr mat);
virtual void fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints);
void setName(std::string& str);
const std::string& getName() const;

28
MbDCode/Joint.cpp
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@@ -34,16 +34,23 @@ void Joint::initializeLocally()
frmI = frmIqc->endFrameqct;
}
}
std::for_each(constraints->begin(), constraints->end(), [](const auto& constraint) { constraint->initializeLocally(); });
constraintsDo([](const auto& constraint) { constraint->initializeLocally(); });
}
void Joint::initializeGlobally()
{
std::for_each(constraints->begin(), constraints->end(), [](const auto& constraint) { constraint->initializeGlobally(); });
constraintsDo([](const auto& constraint) { constraint->initializeGlobally(); });
}
void MbD::Joint::constraintsDo(const std::function<void(std::shared_ptr<Constraint>)>& f)
{
std::for_each(constraints->begin(), constraints->end(), f);
}
void MbD::Joint::postInput()
{
constraintsDo([](const auto& constraint) { constraint->postInput(); });
}
void MbD::Joint::addConstraint(std::shared_ptr<Constraint> con)
@@ -54,5 +61,20 @@ void MbD::Joint::addConstraint(std::shared_ptr<Constraint> con)
void MbD::Joint::prePosIC()
{
std::for_each(constraints->begin(), constraints->end(), [](const auto& constraint) { constraint->prePosIC(); });
constraintsDo([](const auto& constraint) { constraint->prePosIC(); });
}
void MbD::Joint::fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints)
{
constraintsDo([&](const auto& con) { con->fillEssenConstraints(con, essenConstraints); });
}
void MbD::Joint::fillDispConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> dispConstraints)
{
constraintsDo([&](const auto& con) { con->fillDispConstraints(con, dispConstraints); });
}
void MbD::Joint::fillPerpenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> perpenConstraints)
{
constraintsDo([&](const auto& con) { con->fillPerpenConstraints(con, perpenConstraints); });
}

5
MbDCode/Joint.h
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@@ -1,6 +1,7 @@
#pragma once
#include <memory>
#include <vector>
#include <functional>
#include "Item.h"
#include "EndFramec.h"
@@ -18,9 +19,13 @@ namespace MbD {
virtual void connectsItoJ(EndFrmcptr frmI, EndFrmcptr frmJ);
void initializeLocally() override;
void initializeGlobally() override;
void constraintsDo(const std::function <void(std::shared_ptr<Constraint>)>& f);
void postInput() override;
void addConstraint(std::shared_ptr<Constraint> con);
void prePosIC() override;
void fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints) override;
virtual void fillDispConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> dispConstraints);
virtual void fillPerpenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> perpenConstraints);
EndFrmcptr frmI;
EndFrmcptr frmJ;

2
MbDCode/MarkerFrame.cpp
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@@ -48,6 +48,8 @@ void MarkerFrame::initializeGlobally()
void MbD::MarkerFrame::postInput()
{
Item::postInput();
std::for_each(endFrames->begin(), endFrames->end(), [](const auto& endFrame) { endFrame->postInput(); });
}
void MbD::MarkerFrame::calcPostDynCorrectorIteration()

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MbDCode/MbDCode.aps Normal file
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BIN
MbDCode/MbDCode.rc Normal file
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9
MbDCode/MbDCode.vcxproj
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@@ -171,6 +171,7 @@
<ClCompile Include="EulerParameters.cpp" />
<ClCompile Include="EulerParametersDot.cpp" />
<ClCompile Include="ExpressionX.cpp" />
<ClCompile Include="ForceTorqueItem.cpp" />
<ClCompile Include="FullColumn.cpp" />
<ClCompile Include="FullMatrix.cpp" />
<ClCompile Include="FullRow.cpp" />
@@ -208,6 +209,7 @@
<ClCompile Include="PrescribedMotion.cpp" />
<ClCompile Include="Product.cpp" />
<ClCompile Include="QuasiIntegrator.cpp" />
<ClCompile Include="RedundantConstraint.cpp" />
<ClCompile Include="RevoluteJoint.cpp" />
<ClCompile Include="RowTypeMatrix.cpp" />
<ClCompile Include="ScalarNewtonRaphson.cpp" />
@@ -272,12 +274,14 @@
<ClInclude Include="EndFramec.h" />
<ClInclude Include="EndFrameqc.h" />
<ClInclude Include="EndFrameqct.h" />
<ClInclude Include="enum.h" />
<ClInclude Include="EulerAngleszxz.h" />
<ClInclude Include="EulerArray.h" />
<ClInclude Include="EulerConstraint.h" />
<ClInclude Include="EulerParameters.h" />
<ClInclude Include="EulerParametersDot.h" />
<ClInclude Include="ExpressionX.h" />
<ClInclude Include="ForceTorqueItem.h" />
<ClInclude Include="FullColumn.h" />
<ClInclude Include="FullMatrix.h" />
<ClInclude Include="FullRow.h" />
@@ -315,6 +319,8 @@
<ClInclude Include="PrescribedMotion.h" />
<ClInclude Include="Product.h" />
<ClInclude Include="QuasiIntegrator.h" />
<ClInclude Include="RedundantConstraint.h" />
<ClInclude Include="resource.h" />
<ClInclude Include="RevoluteJoint.h" />
<ClInclude Include="RowTypeMatrix.h" />
<ClInclude Include="ScalarNewtonRaphson.h" />
@@ -341,6 +347,9 @@
<ClInclude Include="VectorNewtonRaphson.h" />
<ClInclude Include="ZRotation.h" />
</ItemGroup>
<ItemGroup>
<ResourceCompile Include="MbDCode.rc" />
</ItemGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
<ImportGroup Label="ExtensionTargets">
</ImportGroup>

23
MbDCode/MbDCode.vcxproj.filters
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@@ -330,6 +330,12 @@
<ClCompile Include="GEFullMatParPv.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="ForceTorqueItem.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="RedundantConstraint.cpp">
<Filter>Source Files</Filter>
</ClCompile>
</ItemGroup>
<ItemGroup>
<ClInclude Include="Array.h">
@@ -650,5 +656,22 @@
<ClInclude Include="GEFullMatParPv.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="ForceTorqueItem.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="resource.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="enum.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="RedundantConstraint.h">
<Filter>Header Files</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<ResourceCompile Include="MbDCode.rc">
<Filter>Resource Files</Filter>
</ResourceCompile>
</ItemGroup>
</Project>

4
MbDCode/NewtonRaphson.cpp
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@@ -7,9 +7,9 @@ using namespace MbD;
void NewtonRaphson::initialize()
{
dxNorms = std::shared_ptr<std::vector<double>>();
dxNorms = std::make_shared<std::vector<double>>();
dxTol = 4 * std::numeric_limits<double>::epsilon();
yNorms = std::shared_ptr<std::vector<double>>();
yNorms = std::make_shared<std::vector<double>>();
yNormTol = 1.0e-30;
iterMax = 100;
twoAlp = 2.0e-4;

7
MbDCode/Part.cpp
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@@ -76,6 +76,8 @@ void Part::asFixed()
void MbD::Part::postInput()
{
partFrame->postInput();
Item::postInput();
}
void MbD::Part::calcPostDynCorrectorIteration()
@@ -97,3 +99,8 @@ void MbD::Part::iqE(int eqnNo)
partFrame->iqE = eqnNo;
}
void MbD::Part::fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints)
{
partFrame->fillEssenConstraints(essenConstraints);
}

1
MbDCode/Part.h
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@@ -36,6 +36,7 @@ namespace MbD {
void prePosIC() override;
void iqX(int eqnNo);
void iqE(int eqnNo);
void fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints) override;
int ipX = -1;
int ipE = -1;

21
MbDCode/PartFrame.cpp
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@@ -29,14 +29,14 @@ void PartFrame::initializeLocally()
{
std::for_each(markerFrames->begin(), markerFrames->end(), [](const auto& markerFrame) { markerFrame->initializeLocally(); });
aGeu->initializeLocally();
std::for_each(aGabs->begin(), aGabs->end(), [](const auto& aGab) { aGab->initializeLocally(); });
aGabsDo([](const auto& aGab) { aGab->initializeLocally(); });
}
void PartFrame::initializeGlobally()
{
std::for_each(markerFrames->begin(), markerFrames->end(), [](const auto& markerFrame) { markerFrame->initializeGlobally(); });
aGeu->initializeGlobally();
std::for_each(aGabs->begin(), aGabs->end(), [](const auto& aGab) { aGab->initializeGlobally(); });
aGabsDo([](const auto& aGab) { aGab->initializeGlobally(); });
}
void PartFrame::setqX(FColDsptr x) {
qX->copyFrom(x);
@@ -90,6 +90,11 @@ EndFrmcptr PartFrame::endFrame(std::string name)
return (*match)->endFrames->at(0);
}
void MbD::PartFrame::aGabsDo(const std::function<void(std::shared_ptr<AbsConstraint>)>& f)
{
std::for_each(aGabs->begin(), aGabs->end(), f);
}
void MbD::PartFrame::prePosIC()
{
//iqX = -1;
@@ -115,6 +120,12 @@ FColFMatDsptr MbD::PartFrame::pAOppE()
return qE->pApE;
}
void MbD::PartFrame::fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints)
{
aGeu->fillEssenConstraints(aGeu, essenConstraints);
aGabsDo([&](const auto& con) { con->fillEssenConstraints(con, essenConstraints); });
}
void PartFrame::asFixed()
{
for (size_t i = 0; i < 6; i++) {
@@ -126,6 +137,12 @@ void PartFrame::asFixed()
void MbD::PartFrame::postInput()
{
//qXddot = std::make_shared<FullColumn<double>>(3, 0.0);
//qEddot = std::make_shared<FullColumn<double>>(4, 0.0);
Item::postInput();
std::for_each(markerFrames->begin(), markerFrames->end(), [](const auto& markerFrame) { markerFrame->postInput(); });
aGeu->postInput();
aGabsDo([](const auto& aGab) { aGab->postInput(); });
}
void MbD::PartFrame::calcPostDynCorrectorIteration()

3
MbDCode/PartFrame.h
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@@ -1,6 +1,7 @@
#pragma once
#include <memory>
#include <vector>
#include <functional>
#include "CartesianFrame.h"
#include "EndFramec.h"
@@ -42,11 +43,13 @@ namespace MbD {
Part* getPart();
void addMarkerFrame(std::shared_ptr<MarkerFrame> x);
EndFrmcptr endFrame(std::string name);
void aGabsDo(const std::function <void(std::shared_ptr<AbsConstraint>)>& f);
void prePosIC() override;
FColDsptr rOpO();
FMatDsptr aAOp();
FColFMatDsptr pAOppE();
void fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints) override;
Part* part = nullptr;
int iqX = -1;

2
MbDCode/PosICNewtonRaphson.cpp
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@@ -70,7 +70,7 @@ void MbD::PosICNewtonRaphson::assignEquationNumbers()
con->iG = eqnNo;
eqnNo = eqnNo + 1;
}
auto n = eqnNo;
n = eqnNo;
auto limits = { lastEssenConEqnNo, lastDispConEqnNo, n };
pivotRowLimits = std::make_shared<Array<int>>(limits);
}

1
MbDCode/RedundantConstraint.cpp Normal file
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@@ -0,0 +1 @@
#include "RedundantConstraint.h"

13
MbDCode/RedundantConstraint.h Normal file
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@@ -0,0 +1,13 @@
#pragma once
#include "Item.h"
namespace MbD {
class RedundantConstraint : public Item
{
//
public:
std::shared_ptr<Constraint> constraint;
};
}

43
MbDCode/System.cpp
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@@ -3,6 +3,7 @@
#include "System.h"
#include "Part.h"
#include "Joint.h"
#include "ForceTorqueItem.h"
#include "SystemSolver.h"
#include "Time.h"
#include "CREATE.h"
@@ -22,6 +23,7 @@ void MbD::System::initialize()
time = CREATE<Time>::With();
parts = std::make_shared<std::vector<std::shared_ptr<Part>>>();
jointsMotions = std::make_shared<std::vector<std::shared_ptr<Joint>>>();
forcesTorques = std::make_shared<std::vector<std::shared_ptr<ForceTorqueItem>>>();
systemSolver = std::make_shared<SystemSolver>(this);
}
@@ -39,7 +41,7 @@ void System::runKINEMATICS()
initializeGlobally();
if (!hasChanged) break;
}
postInput();
partsJointsMotionsForcesTorquesDo([&](std::shared_ptr<Item> item) { item->postInput(); });
outputInput();
systemSolver->runAllIC();
outputInitialConditions();
@@ -63,15 +65,13 @@ void System::initializeLocally()
{
hasChanged = false;
time->value = systemSolver->tstart;
std::for_each(parts->begin(), parts->end(), [](const auto& part) { part->initializeLocally(); });
std::for_each(jointsMotions->begin(), jointsMotions->end(), [](const auto& joint) { joint->initializeLocally(); });
partsJointsMotionsDo([](const auto& item) { item->initializeLocally(); });
systemSolver->initializeLocally();
}
void System::initializeGlobally()
{
std::for_each(parts->begin(), parts->end(), [](const auto& part) { part->initializeGlobally(); });
std::for_each(jointsMotions->begin(), jointsMotions->end(), [](const auto& joint) { joint->initializeGlobally(); });
partsJointsMotionsDo([](const auto& item) { item->initializeGlobally(); });
systemSolver->initializeGlobally();
}
@@ -80,12 +80,24 @@ std::shared_ptr<std::vector<std::string>> MbD::System::discontinuitiesAtIC()
return std::shared_ptr<std::vector<std::string>>();
}
void MbD::System::jointsMotionsDo(const std::function<void(std::shared_ptr<Joint>)>& f)
{
std::for_each(jointsMotions->begin(), jointsMotions->end(), f);
}
void MbD::System::partsJointsMotionsDo(const std::function<void(std::shared_ptr<Item>)>& f)
{
std::for_each(parts->begin(), parts->end(), f);
std::for_each(jointsMotions->begin(), jointsMotions->end(), f);
}
void MbD::System::partsJointsMotionsForcesTorquesDo(const std::function<void(std::shared_ptr<Item>)>& f)
{
std::for_each(parts->begin(), parts->end(), f);
std::for_each(jointsMotions->begin(), jointsMotions->end(), f);
std::for_each(forcesTorques->begin(), forcesTorques->end(), f);
}
void MbD::System::logString(std::string& str)
{
std::cout << str << std::endl;
@@ -95,3 +107,24 @@ double MbD::System::mbdTimeValue()
{
return time->getValue();
}
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> MbD::System::essentialConstraints2()
{
auto essenConstraints = std::make_shared<std::vector<std::shared_ptr<Constraint>>>();
this->partsJointsMotionsDo([&](const auto& item) { item->fillEssenConstraints(essenConstraints); });
return essenConstraints;
}
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> MbD::System::displacementConstraints()
{
auto dispConstraints = std::make_shared<std::vector<std::shared_ptr<Constraint>>>();
this->jointsMotionsDo([&](const auto& joint) { joint->fillDispConstraints(dispConstraints); });
return dispConstraints;
}
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> MbD::System::perpendicularConstraints2()
{
auto perpenConstraints = std::make_shared<std::vector<std::shared_ptr<Constraint>>>();
this->jointsMotionsDo([&](const auto& joint) { joint->fillPerpenConstraints(perpenConstraints); });
return perpenConstraints;
}

8
MbDCode/System.h
View File

@@ -19,6 +19,8 @@ namespace MbD {
class Joint;
class SystemSolver;
class Time;
class Constraint;
class ForceTorqueItem;
class System : public Item
{
@@ -38,13 +40,19 @@ namespace MbD {
void outputInitialConditions();
void outputTimeSeries();
std::shared_ptr<std::vector<std::string>> discontinuitiesAtIC();
void jointsMotionsDo(const std::function <void(std::shared_ptr<Joint>)>& f);
void partsJointsMotionsDo(const std::function <void(std::shared_ptr<Item>)>& f);
void partsJointsMotionsForcesTorquesDo(const std::function <void(std::shared_ptr<Item>)>& f);
void logString(std::string& str);
double mbdTimeValue();
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<Part>>> parts;
std::shared_ptr<std::vector<std::shared_ptr<Joint>>> jointsMotions;
std::shared_ptr<std::vector<std::shared_ptr<ForceTorqueItem>>> forcesTorques;
bool hasChanged = false;
std::shared_ptr<SystemSolver> systemSolver;
void addPart(std::shared_ptr<Part> part);

8
MbDCode/SystemSolver.cpp
View File

@@ -97,20 +97,20 @@ void MbD::SystemSolver::logString(std::string& str)
std::shared_ptr<std::vector<std::shared_ptr<Part>>> MbD::SystemSolver::parts()
{
return std::shared_ptr<std::vector<std::shared_ptr<Part>>>();
return system->parts;
}
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> MbD::SystemSolver::essentialConstraints2()
{
return std::shared_ptr<std::vector<std::shared_ptr<Constraint>>>();
return system->essentialConstraints2();
}
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> MbD::SystemSolver::displacementConstraints()
{
return std::shared_ptr<std::vector<std::shared_ptr<Constraint>>>();
return system->displacementConstraints();
}
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> MbD::SystemSolver::perpendicularConstraints2()
{
return std::shared_ptr<std::vector<std::shared_ptr<Constraint>>>();
return system->perpendicularConstraints2();
}

7
MbDCode/TranslationConstraintIJ.cpp
View File

@@ -31,6 +31,8 @@ void MbD::TranslationConstraintIJ::initriIeJeIe()
void MbD::TranslationConstraintIJ::postInput()
{
riIeJeIe->postInput();
Constraint::postInput();
}
void MbD::TranslationConstraintIJ::calcPostDynCorrectorIteration()
@@ -43,3 +45,8 @@ void MbD::TranslationConstraintIJ::prePosIC()
riIeJeIe->prePosIC();
Constraint::prePosIC();
}
MbD::ConstraintType MbD::TranslationConstraintIJ::type()
{
return MbD::displacement;
}

1
MbDCode/TranslationConstraintIJ.h
View File

@@ -16,6 +16,7 @@ namespace MbD {
void postInput() override;
void calcPostDynCorrectorIteration() override;
void prePosIC()override;
MbD::ConstraintType type() override;
int axisI;
std::shared_ptr<DispCompIecJecKec> riIeJeIe;

5
MbDCode/TranslationConstraintIqctJqc.cpp
View File

@@ -13,3 +13,8 @@ void MbD::TranslationConstraintIqctJqc::initriIeJeIe()
{
riIeJeIe = CREATE<DispCompIeqctJeqcKeqct>::With(frmI, frmJ, frmI, axisI);
}
MbD::ConstraintType MbD::TranslationConstraintIqctJqc::type()
{
return MbD::essential;
}

1
MbDCode/TranslationConstraintIqctJqc.h
View File

@@ -9,6 +9,7 @@ namespace MbD {
public:
TranslationConstraintIqctJqc(EndFrmcptr frmi, EndFrmcptr frmj, int axisi);
void initriIeJeIe() override;
MbD::ConstraintType type() override;
double pGpt;
FRowDsptr ppGpXIpt;

4
MbDCode/enum.h Normal file
View File

@@ -0,0 +1,4 @@
#pragma once
namespace MbD {
enum ConstraintType {essential, displacement, perpendicular};
}

14
MbDCode/resource.h Normal file
View File

@@ -0,0 +1,14 @@
//{{NO_DEPENDENCIES}}
// Microsoft Visual C++ generated include file.
// Used by MbDCode.rc
// Next default values for new objects
//
#ifdef APSTUDIO_INVOKED
#ifndef APSTUDIO_READONLY_SYMBOLS
#define _APS_NEXT_RESOURCE_VALUE 101
#define _APS_NEXT_COMMAND_VALUE 40001
#define _APS_NEXT_CONTROL_VALUE 1001
#define _APS_NEXT_SYMED_VALUE 101
#endif
#endif