86 lines
2.2 KiB
C++
86 lines
2.2 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 "EulerConstraint.h"
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#include "Item.h"
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#include "PartFrame.h"
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using namespace MbD;
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EulerConstraint::EulerConstraint()
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{
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}
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EulerConstraint::EulerConstraint(const char* str) : Constraint(str)
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{
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}
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void EulerConstraint::initialize()
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{
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Constraint::initialize();
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pGpE = std::make_shared<FullRow<double>>(4);
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}
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void EulerConstraint::calcPostDynCorrectorIteration()
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{
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auto& qE = static_cast<PartFrame*>(owner)->qE;
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aG = qE->sumOfSquares() - 1.0;
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for (size_t i = 0; i < 4; i++)
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{
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pGpE->at(i) = 2.0 * qE->at(i);
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}
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}
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void EulerConstraint::useEquationNumbers()
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{
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iqE = static_cast<PartFrame*>(owner)->iqE;
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}
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void EulerConstraint::fillPosICError(FColDsptr col)
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{
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Constraint::fillPosICError(col);
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col->atiplusFullVectortimes(iqE, pGpE, lam);
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}
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void EulerConstraint::fillPosICJacob(SpMatDsptr mat)
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{
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//"ppGpEpE is a diag(2,2,2,2)."
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mat->atijplusFullRow(iG, iqE, pGpE);
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mat->atijplusFullColumn(iqE, iG, pGpE->transpose());
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auto twolam = 2.0 * lam;
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for (size_t i = 0; i < 4; i++)
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{
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auto ii = iqE + i;
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mat->atijplusNumber(ii, ii, twolam);
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}
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}
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void EulerConstraint::fillPosKineJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqE, pGpE);
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}
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void EulerConstraint::fillVelICJacob(SpMatDsptr mat)
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{
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mat->atijplusFullRow(iG, iqE, pGpE);
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mat->atijplusFullColumn(iqE, iG, pGpE->transpose());
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}
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void EulerConstraint::fillAccICIterError(FColDsptr col)
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{
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//"qdotT[ppGpqpq]*qdot."
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//"qdotT[2 2 2 2 diag]*qdot."
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col->atiplusFullVectortimes(iqE, pGpE, lam);
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auto partFrame = static_cast<PartFrame*>(owner);
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double sum = pGpE->timesFullColumn(partFrame->qEddot);
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sum += 2.0 * partFrame->qEdot->sumOfSquares();
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col->atiplusNumber(iG, sum);
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}
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