108 lines
3.0 KiB
C++
108 lines
3.0 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 "AnyPosICNewtonRaphson.h"
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#include "SystemSolver.h"
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#include "Item.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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void AnyPosICNewtonRaphson::initialize()
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{
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NewtonRaphson::initialize();
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nSingularMatrixError = 0;
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}
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void AnyPosICNewtonRaphson::initializeGlobally()
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{
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SystemNewtonRaphson::initializeGlobally();
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) {
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item->fillqsu(qsuOld);
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item->fillqsuWeights(qsuWeights);
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item->fillqsulam(x);
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});
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}
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void AnyPosICNewtonRaphson::createVectorsAndMatrices()
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{
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qsuOld = std::make_shared<FullColumn<double>>(nqsu);
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qsuWeights = std::make_shared<DiagonalMatrix<double>>(nqsu);
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SystemNewtonRaphson::createVectorsAndMatrices();
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}
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void AnyPosICNewtonRaphson::fillY()
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{
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auto newMinusOld = qsuOld->negated();
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newMinusOld->equalSelfPlusFullColumnAt(x, 0);
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y->zeroSelf();
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y->atiminusFullColumn(0, (qsuWeights->timesFullColumn(newMinusOld)));
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) {
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item->fillPosICError(y);
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//std::cout << item->name << *y << std::endl;
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//noop();
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});
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//std::cout << "Final" << *y << std::endl;
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}
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void AnyPosICNewtonRaphson::fillPyPx()
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{
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pypx->zeroSelf();
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pypx->atijminusDiagonalMatrix(0, 0, qsuWeights);
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) {
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item->fillPosICJacob(pypx);
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//std::cout << *(pypx->at(3)) << std::endl;
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});
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//std::cout << *pypx << std::endl;
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}
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void AnyPosICNewtonRaphson::passRootToSystem()
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{
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system->partsJointsMotionsLimitsDo([&](std::shared_ptr<Item> item) { item->setqsulam(x); });
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}
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void MbD::AnyPosICNewtonRaphson::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::AnyPosICNewtonRaphson::isConverged()
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{
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return dxNorms->at(iterNo) < dxTol || isConvergedToNumericalLimit();
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}
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