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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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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;
}