77 lines
2.0 KiB
C++
77 lines
2.0 KiB
C++
#include <assert.h>
|
|
#include <exception>
|
|
|
|
#include "PosICNewtonRaphson.h"
|
|
#include "SingularMatrixError.h"
|
|
#include "SystemSolver.h"
|
|
#include "Part.h"
|
|
#include "Constraint.h"
|
|
|
|
using namespace MbD;
|
|
|
|
void MbD::PosICNewtonRaphson::run()
|
|
{
|
|
while (true) {
|
|
try {
|
|
VectorNewtonRaphson::run();
|
|
break;
|
|
}
|
|
catch (SingularMatrixError ex) {
|
|
auto redundantEqnNos = ex.getRedundantEqnNos();
|
|
system->partsJointsMotionsDo([&](std::shared_ptr<Item> item) { item->removeRedundantConstraints(redundantEqnNos); });
|
|
system->partsJointsMotionsDo([&](std::shared_ptr<Item> item) { item->constraintsReport(); });
|
|
system->partsJointsMotionsDo([&](std::shared_ptr<Item> item) { item->setqsu(qsuOld); });
|
|
}
|
|
}
|
|
}
|
|
|
|
void MbD::PosICNewtonRaphson::preRun()
|
|
{
|
|
std::string str("MbD: Assembling system. ");
|
|
system->logString(str);
|
|
PosNewtonRaphson::preRun();
|
|
}
|
|
|
|
void MbD::PosICNewtonRaphson::assignEquationNumbers()
|
|
{
|
|
auto parts = system->parts();
|
|
//auto contactEndFrames = system->contactEndFrames();
|
|
//auto uHolders = system->uHolders();
|
|
auto essentialConstraints = system->essentialConstraints2();
|
|
auto displacementConstraints = system->displacementConstraints();
|
|
auto perpendicularConstraints = system->perpendicularConstraints2();
|
|
auto eqnNo = 0;
|
|
for (auto& part : *parts) {
|
|
part->iqX(eqnNo);
|
|
eqnNo = eqnNo + 3;
|
|
part->iqE(eqnNo);
|
|
eqnNo = eqnNo + 4;
|
|
}
|
|
//for (auto& endFrm : *contactEndFrames) {
|
|
// endFrm->is(eqnNo);
|
|
// eqnNo = eqnNo + endFrm->sSize();
|
|
//}
|
|
//for (auto& uHolder : *uHolders) {
|
|
// uHolder->iu(eqnNo);
|
|
// eqnNo = eqnNo + 1;
|
|
//}
|
|
//nqsu = eqnNo - 1;
|
|
for (auto& con : *essentialConstraints) {
|
|
con->iG = eqnNo;
|
|
eqnNo = eqnNo + 1;
|
|
}
|
|
auto lastEssenConEqnNo = eqnNo - 1;
|
|
for (auto& con : *displacementConstraints) {
|
|
con->iG = eqnNo;
|
|
eqnNo = eqnNo + 1;
|
|
}
|
|
auto lastDispConEqnNo = eqnNo - 1;
|
|
for (auto& con : *perpendicularConstraints) {
|
|
con->iG = eqnNo;
|
|
eqnNo = eqnNo + 1;
|
|
}
|
|
n = eqnNo;
|
|
auto limits = { lastEssenConEqnNo, lastDispConEqnNo, n };
|
|
pivotRowLimits = std::make_shared<Array<int>>(limits);
|
|
}
|