119 lines
3.2 KiB
C++
119 lines
3.2 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 "DispCompIeqcJecIe.h"
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#include "EndFrameqc.h"
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using namespace MbD;
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MbD::DispCompIeqcJecIe::DispCompIeqcJecIe()
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{
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}
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MbD::DispCompIeqcJecIe::DispCompIeqcJecIe(EndFrmsptr frmi, EndFrmsptr frmj, int axis) : DispCompIecJecIe(frmi, frmj, axis)
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{
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}
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void MbD::DispCompIeqcJecIe::calc_ppvaluepEIpEI()
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{
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auto frmIeqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto mprIeJeOpEIT = frmIeqc->prOeOpE->transpose();
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auto mpprIeJeOpEIpEI = frmIeqc->pprOeOpEpE;
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for (int i = 0; i < 4; i++)
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{
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auto ppAjOIepEIipEI = ppAjOIepEIpEI->at(i);
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auto mpprIeJeOpEIipEI = mpprIeJeOpEIpEI->at(i);
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auto ppriIeJeIepEIipEI = ppriIeJeIepEIpEI->at(i);
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for (int j = i; j < 4; j++)
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{
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auto term1 = ppAjOIepEIipEI->at(j)->dot(rIeJeO);
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auto mterm2 = pAjOIepEIT->at(i)->dot(mprIeJeOpEIT->at(j));
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auto mterm3 = (i == j) ? mterm2 : pAjOIepEIT->at(j)->dot(mprIeJeOpEIT->at(i));
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auto mterm4 = aAjOIe->dot(mpprIeJeOpEIipEI->at(j));
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ppriIeJeIepEIipEI->atiput(j, term1 - mterm2 - mterm3 - mterm4);
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}
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}
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ppriIeJeIepEIpEI->symLowerWithUpper();
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}
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void MbD::DispCompIeqcJecIe::calc_ppvaluepXIpEI()
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{
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for (int i = 0; i < 3; i++)
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{
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auto ppriIeJeIepXIipEI = ppriIeJeIepXIpEI->at(i);
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for (int j = 0; j < 4; j++)
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{
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ppriIeJeIepXIipEI->atiput(j, -pAjOIepEIT->at(j)->at(i));
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}
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}
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}
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void MbD::DispCompIeqcJecIe::calc_pvaluepEI()
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{
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auto frmIeqc = std::static_pointer_cast<EndFrameqc>(frmI);
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pAjOIepEIT = frmIeqc->pAjOepET(axis);
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auto mprIeJeOpEIT = frmIeqc->prOeOpE->transpose();
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for (int i = 0; i < 4; i++)
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{
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priIeJeIepEI->atiput(i, pAjOIepEIT->at(i)->dot(rIeJeO) - aAjOIe->dot(mprIeJeOpEIT->at(i)));
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}
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}
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void MbD::DispCompIeqcJecIe::calc_pvaluepXI()
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{
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for (int i = 0; i < 3; i++)
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{
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priIeJeIepXI->atiput(i, -aAjOIe->at(i));
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}
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}
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void MbD::DispCompIeqcJecIe::calcPostDynCorrectorIteration()
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{
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//Must maintain order of calc_xxx.
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DispCompIecJecIe::calcPostDynCorrectorIteration();
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calc_pvaluepXI();
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calc_pvaluepEI();
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calc_ppvaluepXIpEI();
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calc_ppvaluepEIpEI();
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}
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void MbD::DispCompIeqcJecIe::initialize()
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{
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DispCompIecJecIe::initialize();
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priIeJeIepXI = std::make_shared<FullRow<double>>(3);
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priIeJeIepEI = std::make_shared<FullRow<double>>(4);
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ppriIeJeIepXIpEI = std::make_shared<FullMatrix<double>>(3, 4);
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ppriIeJeIepEIpEI = std::make_shared<FullMatrix<double>>(4, 4);
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}
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void MbD::DispCompIeqcJecIe::initializeGlobally()
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{
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auto frmIeqc = std::static_pointer_cast<EndFrameqc>(frmI);
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ppAjOIepEIpEI = frmIeqc->ppAjOepEpE(axis);
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}
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FMatDsptr MbD::DispCompIeqcJecIe::ppvaluepEIpEI()
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{
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return ppriIeJeIepEIpEI;
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}
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FMatDsptr MbD::DispCompIeqcJecIe::ppvaluepXIpEI()
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{
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return ppriIeJeIepXIpEI;
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}
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FRowDsptr MbD::DispCompIeqcJecIe::pvaluepEI()
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{
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return priIeJeIepEI;
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}
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FRowDsptr MbD::DispCompIeqcJecIe::pvaluepXI()
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{
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return priIeJeIepXI;
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}
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