68 lines
2.3 KiB
C++
68 lines
2.3 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include "VelKineSolver.h"
|
|
#include "NotKinematicError.h"
|
|
#include "SystemSolver.h"
|
|
#include "Part.h"
|
|
#include "Constraint.h"
|
|
|
|
using namespace MbD;
|
|
|
|
void VelKineSolver::assignEquationNumbers()
|
|
{
|
|
//"Equation order is q,s,u."
|
|
auto parts = system->parts();
|
|
//auto contactEndFrames = system->contactEndFrames();
|
|
//auto uHolders = system->uHolders();
|
|
auto constraints = system->allConstraints();
|
|
size_t varNo = 0;
|
|
for (auto& part : *parts) {
|
|
part->iqX(varNo);
|
|
varNo = varNo + 3;
|
|
part->iqE(varNo);
|
|
varNo = varNo + 4;
|
|
}
|
|
//for (auto& endFrm : *contactEndFrames) {
|
|
// endFrm->is(varNo);
|
|
// varNo = varNo + endFrm->sSize();
|
|
//}
|
|
//for (auto& uHolder : *uHolders) {
|
|
// uHolder->iu(varNo);
|
|
// varNo += 1;
|
|
//}
|
|
auto eqnNo = 0;
|
|
for (auto& con : *constraints) {
|
|
con->iG = eqnNo;
|
|
eqnNo += 1;
|
|
}
|
|
n = eqnNo; //C++ uses index 0.
|
|
if (varNo != eqnNo) {
|
|
throw NotKinematicError("");
|
|
}
|
|
}
|
|
|
|
void VelKineSolver::run()
|
|
{
|
|
system->Solver::logString("MbD: Solving for kinematic velocity.");
|
|
system->partsJointsMotionsDo([](std::shared_ptr<Item> item) { item->preVelIC(); });
|
|
this->assignEquationNumbers();
|
|
system->partsJointsMotionsDo([](std::shared_ptr<Item> item) { item->useEquationNumbers(); });
|
|
errorVector = std::make_shared<FullColumn<double>>(n);
|
|
jacobian = std::make_shared<SparseMatrix<double>>(n, n);
|
|
errorVector->zeroSelf();
|
|
system->partsJointsMotionsDo([&](std::shared_ptr<Item> item) { item->fillVelICError(errorVector); });
|
|
jacobian->zeroSelf();
|
|
system->partsJointsMotionsDo([&](std::shared_ptr<Item> item) { item->fillPosKineJacob(jacobian); });
|
|
matrixSolver = this->matrixSolverClassNew();
|
|
this->solveEquations();
|
|
auto& qsudot = this->x;
|
|
system->partsJointsMotionsDo([&](std::shared_ptr<Item> item) { item->setqsudot(qsudot); });
|
|
system->partsJointsMotionsDo([](std::shared_ptr<Item> item) { item->postVelIC(); });
|
|
}
|