82 lines
2.3 KiB
C++
82 lines
2.3 KiB
C++
/***************************************************************************
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* Copyright (c) 2023 Ondsel, Inc. *
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* *
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* This file is part of OndselSolver. *
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* *
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* See LICENSE file for details about copyright. *
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***************************************************************************/
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#include "PosICDragNewtonRaphson.h"
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#include "SystemSolver.h"
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#include "Part.h"
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#include "Constraint.h"
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using namespace MbD;
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std::shared_ptr<PosICDragNewtonRaphson> MbD::PosICDragNewtonRaphson::With()
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{
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auto newtonRaphson = std::make_shared<PosICDragNewtonRaphson>();
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newtonRaphson->initialize();
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return newtonRaphson;
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}
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void MbD::PosICDragNewtonRaphson::initializeGlobally()
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{
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AnyPosICNewtonRaphson::initializeGlobally();
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iterMax = system->iterMaxPosKine;
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dxTol = system->errorTolPosKine;
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for (size_t i = 0; i < qsuWeights->size(); i++)
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{
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qsuWeights->at(i) = 1.0e3; //minimum weight
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}
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for (auto& part : *dragParts) {
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auto iqX = part->iqX();
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for (size_t i = 0; i < 3; i++)
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{
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qsuWeights->at((size_t)iqX + i) = 1.0e6; //maximum weight
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}
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}
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}
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void MbD::PosICDragNewtonRaphson::assignEquationNumbers()
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{
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auto parts = system->parts();
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//auto contactEndFrames = system->contactEndFrames();
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//auto uHolders = system->uHolders();
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auto constraints = system->allConstraints();
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size_t eqnNo = 0;
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for (auto& part : *parts) {
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part->iqX(eqnNo);
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eqnNo = eqnNo + 3;
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part->iqE(eqnNo);
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eqnNo = eqnNo + 4;
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}
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//for (auto& endFrm : *contactEndFrames) {
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// endFrm->is(eqnNo);
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// eqnNo = eqnNo + endFrm->sSize();
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//}
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//for (auto& uHolder : *uHolders) {
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// uHolder->iu(eqnNo);
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// eqnNo += 1;
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//}
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auto nEqns = eqnNo; //C++ uses index 0.
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nqsu = nEqns;
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for (auto& con : *constraints) {
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con->iG = eqnNo;
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eqnNo += 1;
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}
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//auto lastEqnNo = eqnNo - 1;
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nEqns = eqnNo; //C++ uses index 0.
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n = nEqns;
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}
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bool MbD::PosICDragNewtonRaphson::isConverged()
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{
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return dxNorms->at(iterNo) < dxTol || isConvergedToNumericalLimit();
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}
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void MbD::PosICDragNewtonRaphson::setdragParts(std::shared_ptr<std::vector<std::shared_ptr<Part>>> _dragParts)
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{
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dragParts = _dragParts;
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}
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