143 lines
3.9 KiB
C++
143 lines
3.9 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 <iostream>
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#include "AccNewtonRaphson.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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#include "SimulationStoppingError.h"
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#include "GESpMatParPvPrecise.h"
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#include "CREATE.h"
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using namespace MbD;
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void AccNewtonRaphson::askSystemToUpdate()
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{
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system->partsJointsMotionsLimitsForcesTorquesDo([&](std::shared_ptr<Item> item) { item->postAccICIteration(); });
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}
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void AccNewtonRaphson::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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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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void AccNewtonRaphson::fillPyPx()
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{
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pypx->zeroSelf();
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system->partsJointsMotionsLimitsForcesTorquesDo([&](std::shared_ptr<Item> item) {
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item->fillAccICIterJacob(pypx);
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});
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}
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void AccNewtonRaphson::fillY()
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{
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y->zeroSelf();
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system->partsJointsMotionsLimitsForcesTorquesDo([&](std::shared_ptr<Item> item) {
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item->fillAccICIterError(y);
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//std::cout << item->name << *y << std::endl;
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});
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//std::cout << "Final" << *y << std::endl;
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}
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void AccNewtonRaphson::incrementIterNo()
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{
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iterNo++;
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if (iterNo > iterMax)
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{
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std::stringstream ss;
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ss << "MbD: No convergence after " << iterNo << " iterations.";
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auto str = ss.str();
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system->logString(str);
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ss.str("");
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ss << "A force function of joint reactions can cause this problem";
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str = ss.str();
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system->logString(str);
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ss.str("");
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ss << "if the function returns large values.";
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str = ss.str();
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system->logString(str);
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throw SimulationStoppingError("iterNo > iterMax");
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}
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}
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void AccNewtonRaphson::initializeGlobally()
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{
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SystemNewtonRaphson::initializeGlobally();
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) { item->fillqsuddotlam(x); });
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}
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void AccNewtonRaphson::logSingularMatrixMessage()
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{
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std::string str = "MbD: Some parts with zero masses or moment of inertias have infinite accelerations.";
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system->logString(str);
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str = "Add masses and inertias to or properly constrain those parts.";
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system->logString(str);
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}
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void AccNewtonRaphson::passRootToSystem()
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{
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) { item->setqsuddotlam(x); });
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}
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void AccNewtonRaphson::postRun()
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{
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system->partsJointsMotionsLimitsForcesTorquesDo([&](std::shared_ptr<Item> item) { item->postAccIC(); });
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}
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void AccNewtonRaphson::preRun()
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{
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system->partsJointsMotionsLimitsForcesTorquesDo([&](std::shared_ptr<Item> item) { item->preAccIC(); });
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}
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void MbD::AccNewtonRaphson::handleSingularMatrix()
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{
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auto& r = *matrixSolver;
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std::string str = typeid(r).name();
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if (str.find("GESpMatParPvMarkoFast") != std::string::npos) {
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matrixSolver = CREATE<GESpMatParPvPrecise>::With();
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this->solveEquations();
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} else {
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str = typeid(r).name();
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if (str.find("GESpMatParPvPrecise") != std::string::npos) {
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this->logSingularMatrixMessage();
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matrixSolver->throwSingularMatrixError("AccAccNewtonRaphson");
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} else {
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assert(false);
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}
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}
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}
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