void MLCPProjectOnConstraints::postCompute()
{
_hasBeenUpdated = true;
// This function is used to set y/lambda values using output from
// lcp_driver (w,z). Only Interactions (ie Interactions) of
// indexSet(leveMin) are concerned.
// === Get index set from Topology ===
SP::InteractionsGraph indexSet = simulation()->indexSet(indexSetLevel());
// y and lambda vectors
SP::SiconosVector lambda;
SP::SiconosVector y;
// === Loop through "active" Interactions (ie present in
// indexSets[1]) ===
/** We chose to do a small step _alpha in view of stabilized the algorithm.*/
#ifdef MLCPPROJ_DEBUG
printf("MLCPProjectOnConstraints::postCompute damping value = %f\n", _alpha);
#endif
(*_z) *= _alpha;
unsigned int pos = 0;
#ifdef MLCPPROJ_DEBUG
printf("MLCPProjectOnConstraints::postCompute _z\n");
_z->display();
display();
#endif
InteractionsGraph::VIterator ui, uiend;
for (std11::tie(ui, uiend) = indexSet->vertices(); ui != uiend; ++ui)
{
SP::Interaction inter = indexSet->bundle(*ui);
// Get the relative position of inter-interactionBlock in the vector w
// or z
pos = _M->getPositionOfInteractionBlock(*inter);
RELATION::TYPES relationType = inter->relation()->getType();
if (relationType == NewtonEuler)
{
postComputeNewtonEulerR(inter, pos);
}
else if (relationType == Lagrangian)
{
postComputeLagrangianR(inter, pos);
}
else
{
RuntimeException::selfThrow("MLCPProjectOnConstraints::computeInteractionBlock - relation type is not from Lagrangian type neither NewtonEuler.");
}
}
}
void SchatzmanPaoliOSI::computeFreeOutput(InteractionsGraph::VDescriptor& vertex_inter, OneStepNSProblem* osnsp)
{
DEBUG_BEGIN("SchatzmanPaoliOSI::computeFreeOutput(InteractionsGraph::VDescriptor& vertex_inter, OneStepNSProblem* osnsp)\n");
/** \warning: ensures that it can also work with two different osi for two different ds ?
*/
SP::InteractionsGraph indexSet = osnsp->simulation()->indexSet(osnsp->indexSetLevel());
SP::Interaction inter = indexSet->bundle(vertex_inter);
SP::OneStepNSProblems allOSNS = _simulation->oneStepNSProblems();
VectorOfBlockVectors& inter_work_block = *indexSet->properties(vertex_inter).workBlockVectors;
// Get relation and non smooth law types
RELATION::TYPES relationType = inter->relation()->getType();
RELATION::SUBTYPES relationSubType = inter->relation()->getSubType();
unsigned int sizeY = inter->nonSmoothLaw()->size();
unsigned int relativePosition = 0;
Index coord(8);
coord[0] = relativePosition;
coord[1] = relativePosition + sizeY;
coord[2] = 0;
coord[4] = 0;
coord[6] = 0;
coord[7] = sizeY;
SP::SiconosMatrix C;
SP::SiconosMatrix D;
SP::SiconosMatrix F;
SP::BlockVector deltax;
SiconosVector& osnsp_rhs = *(*indexSet->properties(vertex_inter).workVectors)[SchatzmanPaoliOSI::OSNSP_RHS];
SP::SiconosVector e;
SP::BlockVector Xfree = inter_work_block[SchatzmanPaoliOSI::xfree];;
assert(Xfree);
SP::Interaction mainInteraction = inter;
assert(mainInteraction);
assert(mainInteraction->relation());
DEBUG_EXPR(inter->display(););
void MLCPProjectOnConstraints::postComputeNewtonEulerR(SP::Interaction inter, unsigned int pos)
{
SP::NewtonEulerR ner = (std11::static_pointer_cast<NewtonEulerR>(inter->relation()));
SP::SiconosVector lambda = inter->lambda(0);
SP::SiconosVector y = inter->y(0);
unsigned int sizeY = std11::static_pointer_cast<OSNSMatrixProjectOnConstraints>
(_M)->computeSizeForProjection(inter);
// Copy _w/_z values, starting from index pos into y/lambda.
//setBlock(*_w, y, sizeY, pos, 0);
setBlock(*_z, lambda, sizeY, pos, 0);
}
void LinearOSNS::computeDiagonalInteractionBlock(const InteractionsGraph::VDescriptor& vd)
{
DEBUG_BEGIN("LinearOSNS::computeDiagonalInteractionBlock(const InteractionsGraph::VDescriptor& vd)\n");
// Computes matrix _interactionBlocks[inter1][inter1] (and allocates memory if
// necessary) one or two DS are concerned by inter1 . How
// _interactionBlocks are computed depends explicitely on the type of
// Relation of each Interaction.
// Warning: we suppose that at this point, all non linear
// operators (G for lagrangian relation for example) have been
// computed through plug-in mechanism.
// Get dimension of the NonSmoothLaw (ie dim of the interactionBlock)
SP::InteractionsGraph indexSet = simulation()->indexSet(indexSetLevel());
SP::Interaction inter = indexSet->bundle(vd);
// Get osi property from interaction
// We assume that all ds in vertex_inter have the same osi.
SP::OneStepIntegrator Osi = indexSet->properties(vd).osi;
//SP::OneStepIntegrator Osi = simulation()->integratorOfDS(ds);
OSI::TYPES osiType = Osi->getType();
// At most 2 DS are linked by an Interaction
SP::DynamicalSystem DS1;
SP::DynamicalSystem DS2;
unsigned int pos1, pos2;
// --- Get the dynamical system(s) (edge(s)) connected to the current interaction (vertex) ---
if (indexSet->properties(vd).source != indexSet->properties(vd).target)
{
DEBUG_PRINT("a two DS Interaction\n");
DS1 = indexSet->properties(vd).source;
DS2 = indexSet->properties(vd).target;
}
else
{
DEBUG_PRINT("a single DS Interaction\n");
DS1 = indexSet->properties(vd).source;
DS2 = DS1;
// \warning this looks like some debug code, but it gets executed even with NDEBUG.
// may be compiler does something smarter, but still it should be rewritten. --xhub
InteractionsGraph::OEIterator oei, oeiend;
for (std11::tie(oei, oeiend) = indexSet->out_edges(vd);
oei != oeiend; ++oei)
{
// note : at most 4 edges
DS2 = indexSet->bundle(*oei);
if (DS2 != DS1)
{
assert(false);
break;
}
}
}
assert(DS1);
assert(DS2);
pos1 = indexSet->properties(vd).source_pos;
pos2 = indexSet->properties(vd).target_pos;
// --- Check block size ---
assert(indexSet->properties(vd).block->size(0) == inter->nonSmoothLaw()->size());
assert(indexSet->properties(vd).block->size(1) == inter->nonSmoothLaw()->size());
// --- Compute diagonal block ---
// Block to be set in OSNS Matrix, corresponding to
// the current interaction
SP::SiconosMatrix currentInteractionBlock = indexSet->properties(vd).block;
SP::SiconosMatrix leftInteractionBlock, rightInteractionBlock;
RELATION::TYPES relationType;
double h = simulation()->currentTimeStep();
// General form of the interactionBlock is : interactionBlock =
// a*extraInteractionBlock + b * leftInteractionBlock * centralInteractionBlocks
// * rightInteractionBlock a and b are scalars, centralInteractionBlocks a
// matrix depending on the integrator (and on the DS), the
// simulation type ... left, right and extra depend on the relation
// type and the non smooth law.
relationType = inter->relation()->getType();
VectorOfSMatrices& workMInter = *indexSet->properties(vd).workMatrices;
inter->getExtraInteractionBlock(currentInteractionBlock, workMInter);
unsigned int nslawSize = inter->nonSmoothLaw()->size();
// loop over the DS connected to the interaction.
bool endl = false;
unsigned int pos = pos1;
for (SP::DynamicalSystem ds = DS1; !endl; ds = DS2)
{
assert(ds == DS1 || ds == DS2);
endl = (ds == DS2);
unsigned int sizeDS = ds->dimension();
// get _interactionBlocks corresponding to the current DS
// These _interactionBlocks depends on the relation type.
leftInteractionBlock.reset(new SimpleMatrix(nslawSize, sizeDS));
inter->getLeftInteractionBlockForDS(pos, leftInteractionBlock, workMInter);
DEBUG_EXPR(leftInteractionBlock->display(););
// Computing depends on relation type -> move this in Interaction method?
if (relationType == FirstOrder)
{
rightInteractionBlock.reset(new SimpleMatrix(sizeDS, nslawSize));
inter->getRightInteractionBlockForDS(pos, rightInteractionBlock, workMInter);
if (osiType == OSI::EULERMOREAUOSI)
{
if ((std11::static_pointer_cast<EulerMoreauOSI> (Osi))->useGamma() || (std11::static_pointer_cast<EulerMoreauOSI> (Osi))->useGammaForRelation())
{
*rightInteractionBlock *= (std11::static_pointer_cast<EulerMoreauOSI> (Osi))->gamma();
}
}
// for ZOH, we have a different formula ...
if (osiType == OSI::ZOHOSI && indexSet->properties(vd).forControl)
{
*rightInteractionBlock = std11::static_pointer_cast<ZeroOrderHoldOSI>(Osi)->Bd(ds);
prod(*leftInteractionBlock, *rightInteractionBlock, *currentInteractionBlock, false);
}
else
{
// centralInteractionBlock contains a lu-factorized matrix and we solve
// centralInteractionBlock * X = rightInteractionBlock with PLU
SP::SiconosMatrix centralInteractionBlock = getOSIMatrix(Osi, ds);
centralInteractionBlock->PLUForwardBackwardInPlace(*rightInteractionBlock);
inter->computeKhat(*rightInteractionBlock, workMInter, h); // if K is non 0
// integration of r with theta method removed
// *currentInteractionBlock += h *Theta[*itDS]* *leftInteractionBlock * (*rightInteractionBlock); //left = C, right = W.B
//gemm(h,*leftInteractionBlock,*rightInteractionBlock,1.0,*currentInteractionBlock);
*leftInteractionBlock *= h;
prod(*leftInteractionBlock, *rightInteractionBlock, *currentInteractionBlock, false);
//left = C, right = inv(W).B
}
}
else if (relationType == Lagrangian ||
relationType == NewtonEuler)
{
SP::BoundaryCondition bc;
Type::Siconos dsType = Type::value(*ds);
if (dsType == Type::LagrangianLinearTIDS || dsType == Type::LagrangianDS)
{
SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS> (ds);
if (d->boundaryConditions()) bc = d->boundaryConditions();
}
else if (dsType == Type::NewtonEulerDS)
{
SP::NewtonEulerDS d = std11::static_pointer_cast<NewtonEulerDS> (ds);
if (d->boundaryConditions()) bc = d->boundaryConditions();
}
if (bc)
{
for (std::vector<unsigned int>::iterator itindex = bc->velocityIndices()->begin() ;
itindex != bc->velocityIndices()->end();
++itindex)
{
// (nslawSize,sizeDS));
SP::SiconosVector coltmp(new SiconosVector(nslawSize));
coltmp->zero();
leftInteractionBlock->setCol(*itindex, *coltmp);
}
}
DEBUG_PRINT("leftInteractionBlock after application of boundary conditions\n");
DEBUG_EXPR(leftInteractionBlock->display(););
void EulerMoreauOSI::computeW(double t, DynamicalSystem& ds, DynamicalSystemsGraph::VDescriptor& dsgVD)
{
// Compute W matrix of the Dynamical System ds, at time t and for the current ds state.
// When this function is called, WMap[ds] is supposed to exist and not to be null
// Memory allocation has been done during initW.
unsigned int dsN = ds.number();
assert((WMap.find(dsN) != WMap.end()) &&
"EulerMoreauOSI::computeW(t,ds) - W(ds) does not exists. Maybe you forget to initialize the osi?");
double h = simulationLink->timeStep();
Type::Siconos dsType = Type::value(ds);
SiconosMatrix& W = *WMap[dsN];
// 1 - First order non linear systems
if (dsType == Type::FirstOrderNonLinearDS)
{
// W = M - h*_theta* [jacobian_x f(t,x,z)]
FirstOrderNonLinearDS& d = static_cast<FirstOrderNonLinearDS&> (ds);
// Copy M or I if M is Null into W
if (d.M())
W = *d.M();
else
W.eye();
d.computeJacobianfx(t);
// Add -h*_theta*jacobianfx to W
scal(-h * _theta, *d.jacobianfx(), W, false);
}
// 2 - First order linear systems
else if (dsType == Type::FirstOrderLinearDS || dsType == Type::FirstOrderLinearTIDS)
{
FirstOrderLinearDS& d = static_cast<FirstOrderLinearDS&> (ds);
if (dsType == Type::FirstOrderLinearDS)
d.computeA(t);
if (d.M())
W = *d.M();
else
W.eye();
scal(-h * _theta, *d.A(), W, false);
}
else RuntimeException::selfThrow("EulerMoreauOSI::computeW - not yet implemented for Dynamical system type :" + dsType);
// if (_useGamma)
{
Topology& topo = *simulationLink->model()->nonSmoothDynamicalSystem()->topology();
DynamicalSystemsGraph& DSG0 = *topo.dSG(0);
InteractionsGraph& indexSet = *topo.indexSet(0);
DynamicalSystemsGraph::OEIterator oei, oeiend;
InteractionsGraph::VDescriptor ivd;
SP::SiconosMatrix K;
SP::Interaction inter;
for (std11::tie(oei, oeiend) = DSG0.out_edges(dsgVD); oei != oeiend; ++oei)
{
inter = DSG0.bundle(*oei);
ivd = indexSet.descriptor(inter);
FirstOrderR& rel = static_cast<FirstOrderR&>(*inter->relation());
K = rel.K();
if (!K) K = (*indexSet.properties(ivd).workMatrices)[FirstOrderR::mat_K];
if (K)
{
scal(-h * _gamma, *K, W, false);
}
}
}
// Remark: W is not LU-factorized here.
// Function PLUForwardBackward will do that if required.
}
void LsodarOSI::computeFreeOutput(InteractionsGraph::VDescriptor& vertex_inter, OneStepNSProblem* osnsp)
{
SP::OneStepNSProblems allOSNS = simulationLink->oneStepNSProblems();
SP::InteractionsGraph indexSet = osnsp->simulation()->indexSet(osnsp->indexSetLevel());
SP::Interaction inter = indexSet->bundle(vertex_inter);
VectorOfBlockVectors& DSlink = *indexSet->properties(vertex_inter).DSlink;
// Get relation and non smooth law types
RELATION::TYPES relationType = inter->relation()->getType();
RELATION::SUBTYPES relationSubType = inter->relation()->getSubType();
unsigned int sizeY = inter->nonSmoothLaw()->size();
unsigned int relativePosition = 0;
SP::Interaction mainInteraction = inter;
Index coord(8);
coord[0] = relativePosition;
coord[1] = relativePosition + sizeY;
coord[2] = 0;
coord[4] = 0;
coord[6] = 0;
coord[7] = sizeY;
SP::SiconosMatrix C;
// SP::SiconosMatrix D;
// SP::SiconosMatrix F;
SiconosVector& yForNSsolver = *inter->yForNSsolver();
SP::BlockVector Xfree;
// All of these values should be stored in the node corrseponding to the Interactionwhen a MoreauJeanOSI scheme is used.
/* V.A. 10/10/2010
* Following the type of OSNS we need to retrieve the velocity or the acceleration
* This tricks is not very nice but for the moment the OSNS do not known if
* it is in accelaration of not
*/
//SP::OneStepNSProblems allOSNS = _simulation->oneStepNSProblems();
if (((*allOSNS)[SICONOS_OSNSP_ED_SMOOTH_ACC]).get() == osnsp)
{
if (relationType == Lagrangian)
{
Xfree = DSlink[LagrangianR::xfree];
}
// else if (relationType == NewtonEuler)
// {
// Xfree = inter->data(NewtonEulerR::free);
// }
assert(Xfree);
// std::cout << "Computeqblock Xfree (Gamma)========" << std::endl;
// Xfree->display();
}
else if (((*allOSNS)[SICONOS_OSNSP_ED_IMPACT]).get() == osnsp)
{
Xfree = DSlink[LagrangianR::q1];
// std::cout << "Computeqblock Xfree (Velocity)========" << std::endl;
// Xfree->display();
}
else
RuntimeException::selfThrow(" computeqBlock for Event Event-driven is wrong ");
if (relationType == Lagrangian)
{
C = mainInteraction->relation()->C();
if (C)
{
assert(Xfree);
coord[3] = C->size(1);
coord[5] = C->size(1);
subprod(*C, *Xfree, yForNSsolver, coord, true);
}
SP::SiconosMatrix ID(new SimpleMatrix(sizeY, sizeY));
ID->eye();
Index xcoord(8);
xcoord[0] = 0;
xcoord[1] = sizeY;
xcoord[2] = 0;
xcoord[3] = sizeY;
xcoord[4] = 0;
xcoord[5] = sizeY;
xcoord[6] = 0;
xcoord[7] = sizeY;
// For the relation of type LagrangianRheonomousR
if (relationSubType == RheonomousR)
{
if (((*allOSNS)[SICONOS_OSNSP_ED_SMOOTH_ACC]).get() == osnsp)
{
RuntimeException::selfThrow("LsodarOSI::computeFreeOutput not yet implemented for LCP at acceleration level with LagrangianRheonomousR");
}
else if (((*allOSNS)[SICONOS_OSNSP_TS_VELOCITY]).get() == osnsp)
{
SiconosVector q = *DSlink[LagrangianR::q0];
SiconosVector z = *DSlink[LagrangianR::z];
std11::static_pointer_cast<LagrangianRheonomousR>(inter->relation())->computehDot(simulation()->getTkp1(), q, z);
*DSlink[LagrangianR::z] = z;
subprod(*ID, *(std11::static_pointer_cast<LagrangianRheonomousR>(inter->relation())->hDot()), yForNSsolver, xcoord, false); // y += hDot
}
else
RuntimeException::selfThrow("LsodarOSI::computeFreeOutput not implemented for SICONOS_OSNSP ");
}
// For the relation of type LagrangianScleronomousR
if (relationSubType == ScleronomousR)
{
if (((*allOSNS)[SICONOS_OSNSP_ED_SMOOTH_ACC]).get() == osnsp)
{
std11::static_pointer_cast<LagrangianScleronomousR>(inter->relation())->computedotjacqhXqdot(simulation()->getTkp1(), *inter, DSlink);
subprod(*ID, *(std11::static_pointer_cast<LagrangianScleronomousR>(inter->relation())->dotjacqhXqdot()), yForNSsolver, xcoord, false); // y += NonLinearPart
}
}
}
else
RuntimeException::selfThrow("LsodarOSI::computeFreeOutput not yet implemented for Relation of type " + relationType);
if (((*allOSNS)[SICONOS_OSNSP_ED_IMPACT]).get() == osnsp)
{
if (inter->relation()->getType() == Lagrangian || inter->relation()->getType() == NewtonEuler)
{
SP::SiconosVisitor nslEffectOnFreeOutput(new _NSLEffectOnFreeOutput(osnsp, inter));
inter->nonSmoothLaw()->accept(*nslEffectOnFreeOutput);
}
}
}
double D1MinusLinearOSI::computeResiduHalfExplicitAccelerationLevel()
{
DEBUG_BEGIN("\n D1MinusLinearOSI::computeResiduHalfExplicitAccelerationLevel()\n");
double t = _simulation->nextTime(); // end of the time step
double told = _simulation->startingTime(); // beginning of the time step
double h = _simulation->timeStep(); // time step length
SP::OneStepNSProblems allOSNS = _simulation->oneStepNSProblems(); // all OSNSP
SP::Topology topo = _simulation->nonSmoothDynamicalSystem()->topology();
SP::InteractionsGraph indexSet2 = topo->indexSet(2);
/**************************************************************************************************************
* Step 1- solve a LCP at acceleration level for lambda^+_{k} for the last set indices
* if index2 is empty we should skip this step
**************************************************************************************************************/
DEBUG_PRINT("\nEVALUATE LEFT HAND SIDE\n");
DEBUG_EXPR(std::cout<< "allOSNS->empty() " << std::boolalpha << allOSNS->empty() << std::endl << std::endl);
DEBUG_EXPR(std::cout<< "allOSNS->size() " << allOSNS->size() << std::endl << std::endl);
// -- LEFT SIDE --
DynamicalSystemsGraph::VIterator dsi, dsend;
for (std11::tie(dsi, dsend) = _dynamicalSystemsGraph->vertices(); dsi != dsend; ++dsi)
{
if (!checkOSI(dsi)) continue;
SP::DynamicalSystem ds = _dynamicalSystemsGraph->bundle(*dsi);
Type::Siconos dsType = Type::value(*ds);
SP::SiconosVector accFree;
SP::SiconosVector work_tdg;
SP::SiconosMatrix Mold;
DEBUG_EXPR((*it)->display());
if ((dsType == Type::LagrangianDS) || (dsType == Type::LagrangianLinearTIDS))
{
SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS> (ds);
accFree = d->workspace(DynamicalSystem::free); /* POINTER CONSTRUCTOR : will contain
* the acceleration without contact force */
accFree->zero();
// get left state from memory
SP::SiconosVector qold = d->qMemory()->getSiconosVector(0);
SP::SiconosVector vold = d->velocityMemory()->getSiconosVector(0); // right limit
Mold = d->mass();
DEBUG_EXPR(accFree->display());
DEBUG_EXPR(qold->display());
DEBUG_EXPR(vold->display());
DEBUG_EXPR(Mold->display());
if (! d->workspace(DynamicalSystem::free_tdg))
{
d->allocateWorkVector(DynamicalSystem::free_tdg, d->dimension()) ;
}
work_tdg = d->workspace(DynamicalSystem::free_tdg);
work_tdg->zero();
DEBUG_EXPR(work_tdg->display());
if (d->forces())
{
d->computeForces(told, qold, vold);
DEBUG_EXPR(d->forces()->display());
*accFree += *(d->forces());
}
Mold->PLUForwardBackwardInPlace(*accFree); // contains left (right limit) acceleration without contact force
d->addWorkVector(accFree,DynamicalSystem::free_tdg); // store the value in WorkFreeFree
}
else if(dsType == Type::NewtonEulerDS)
{
SP::NewtonEulerDS d = std11::static_pointer_cast<NewtonEulerDS> (ds);
accFree = d->workspace(DynamicalSystem::free); // POINTER CONSTRUCTOR : contains acceleration without contact force
accFree->zero();
// get left state from memory
SP::SiconosVector qold = d->qMemory()->getSiconosVector(0);
SP::SiconosVector vold = d->velocityMemory()->getSiconosVector(0); // right limit
//Mold = d->mass();
assert(!d->mass()->isPLUInversed());
Mold.reset(new SimpleMatrix(*(d->mass()))); // we copy the mass matrix to avoid its factorization
DEBUG_EXPR(accFree->display());
DEBUG_EXPR(qold->display());
DEBUG_EXPR(vold->display());
DEBUG_EXPR(Mold->display());
if (! d->workspace(DynamicalSystem::free_tdg))
{
d->allocateWorkVector(DynamicalSystem::free_tdg, d->dimension()) ;
}
work_tdg = d->workspace(DynamicalSystem::free_tdg);
work_tdg->zero();
DEBUG_EXPR(work_tdg->display());
if (d->forces())
{
d->computeForces(told, qold, vold);
DEBUG_EXPR(d->forces()->display());
*accFree += *(d->forces());
}
Mold->PLUForwardBackwardInPlace(*accFree); // contains left (right limit) acceleration without contact force
d->addWorkVector(accFree,DynamicalSystem::free_tdg); // store the value in WorkFreeFree
}
else
{
RuntimeException::selfThrow("D1MinusLinearOSI::computeResidu - not yet implemented for Dynamical system type: " + dsType);
}
DEBUG_PRINT("accFree contains right limit acceleration at t^+_k with contact force :\n");
DEBUG_EXPR(accFree->display());
DEBUG_PRINT("work_tdg contains right limit acceleration at t^+_k without contact force :\n");
DEBUG_EXPR(work_tdg->display());
}
if (!allOSNS->empty())
{
if (indexSet2->size() >0)
{
InteractionsGraph::VIterator ui, uiend;
SP::Interaction inter;
for (std11::tie(ui, uiend) = indexSet2->vertices(); ui != uiend; ++ui)
{
inter = indexSet2->bundle(*ui);
inter->relation()->computeJach(t, *inter, indexSet2->properties(*ui));
inter->relation()->computeJacg(told, *inter, indexSet2->properties(*ui));
}
if (_simulation->nonSmoothDynamicalSystem()->topology()->hasChanged())
{
for (OSNSIterator itOsns = allOSNS->begin(); itOsns != allOSNS->end(); ++itOsns)
{
(*itOsns)->setHasBeenUpdated(false);
}
}
assert((*allOSNS)[SICONOS_OSNSP_TS_VELOCITY + 1]);
if (((*allOSNS)[SICONOS_OSNSP_TS_VELOCITY + 1]->hasInteractions())) // it should be equivalent to indexSet2
{
DEBUG_PRINT("We compute lambda^+_{k} \n");
(*allOSNS)[SICONOS_OSNSP_TS_VELOCITY + 1]->compute(told);
DEBUG_EXPR((*allOSNS)[SICONOS_OSNSP_TS_VELOCITY + 1]->display());
}
// Note Franck : at the time this results in a call to swapInMem of all Interactions of the NSDS
// So let the simu do this.
//(*allOSNS)[SICONOS_OSNSP_TS_VELOCITY + 1]->saveInMemory(); // we push y and lambda in Memories
_simulation->nonSmoothDynamicalSystem()->pushInteractionsInMemory();
_simulation->nonSmoothDynamicalSystem()->updateInput(_simulation->nextTime(),2);
for (std11::tie(dsi, dsend) = _dynamicalSystemsGraph->vertices(); dsi != dsend; ++dsi)
{
if (!checkOSI(dsi)) continue;
SP::DynamicalSystem ds = _dynamicalSystemsGraph->bundle(*dsi);
Type::Siconos dsType = Type::value(*ds);
if ((dsType == Type::LagrangianDS) || (dsType == Type::LagrangianLinearTIDS))
{
SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS> (ds);
SP::SiconosVector accFree = d->workspace(DynamicalSystem::free); // POINTER CONSTRUCTOR : contains acceleration without contact force
SP::SiconosVector dummy(new SiconosVector(*(d->p(2)))); // value = contact force
SP::SiconosMatrix Mold = d->mass();
Mold->PLUForwardBackwardInPlace(*dummy);
*accFree += *(dummy);
DEBUG_EXPR(d->p(2)->display());
}
else if (dsType == Type::NewtonEulerDS)
{
SP::NewtonEulerDS d = std11::static_pointer_cast<NewtonEulerDS> (ds);
SP::SiconosVector accFree = d->workspace(DynamicalSystem::free); // POINTER CONSTRUCTOR : contains acceleration without contact force
SP::SiconosVector dummy(new SiconosVector(*(d->p(2)))); // value = contact force
SP::SiconosMatrix Mold(new SimpleMatrix(*(d->mass()))); // we copy the mass matrix to avoid its factorization
DEBUG_EXPR(Mold->display());
Mold->PLUForwardBackwardInPlace(*dummy);
*accFree += *(dummy);
DEBUG_EXPR(d->p(2)->display());
}
else
RuntimeException::selfThrow("D1MinusLinearOSI::computeResidu - not yet implemented for Dynamical system type: " + dsType);
}
}
}
/**************************************************************************************************************
* Step 2 - compute v_{k,1}
**************************************************************************************************************/
DEBUG_PRINT("\n PREDICT RIGHT HAND SIDE\n");
for (std11::tie(dsi, dsend) = _dynamicalSystemsGraph->vertices(); dsi != dsend; ++dsi)
{
if (!checkOSI(dsi)) continue;
SP::DynamicalSystem ds = _dynamicalSystemsGraph->bundle(*dsi);
// type of the current DS
Type::Siconos dsType = Type::value(*ds);
/* \warning the following conditional statement should be removed with a MechanicalDS class */
if ((dsType == Type::LagrangianDS) || (dsType == Type::LagrangianLinearTIDS))
{
SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS> (ds);
SP::SiconosVector accFree = d->workspace(DynamicalSystem::free); // contains acceleration without contact force
// get left state from memory
SP::SiconosVector qold = d->qMemory()->getSiconosVector(0);
SP::SiconosVector vold = d->velocityMemory()->getSiconosVector(0);
// initialize *it->residuFree and predicted right velocity (left limit)
SP::SiconosVector residuFree = ds->workspace(DynamicalSystem::freeresidu); // contains residu without nonsmooth effect
SP::SiconosVector v = d->velocity(); //contains velocity v_{k+1}^- and not free velocity
residuFree->zero();
v->zero();
DEBUG_EXPR(accFree->display());
DEBUG_EXPR(qold->display());
DEBUG_EXPR(vold->display());
*residuFree -= 0.5 * h**accFree;
*v += h**accFree;
*v += *vold;
DEBUG_EXPR(residuFree->display());
DEBUG_EXPR(v->display());
SP::SiconosVector q = d->q(); // POINTER CONSTRUCTOR : contains position q_{k+1}
*q = *qold;
scal(0.5 * h, *vold + *v, *q, false);
DEBUG_EXPR(q->display());
}
else if (dsType == Type::NewtonEulerDS)
{
SP::NewtonEulerDS d = std11::static_pointer_cast<NewtonEulerDS> (ds);
SP::SiconosVector accFree = d->workspace(DynamicalSystem::free);
// get left state from memory
SP::SiconosVector qold = d->qMemory()->getSiconosVector(0);
SP::SiconosVector vold = d->velocityMemory()->getSiconosVector(0);
// initialize *it->residuFree and predicted right velocity (left limit)
SP::SiconosVector residuFree = ds->workspace(DynamicalSystem::freeresidu); // contains residu without nonsmooth effect
SP::SiconosVector v = d->velocity(); //contains velocity v_{k+1}^- and not free velocity
residuFree->zero();
v->zero();
DEBUG_EXPR(accFree->display());
DEBUG_EXPR(qold->display());
DEBUG_EXPR(vold->display());
*residuFree -= 0.5 * h**accFree;
*v += h**accFree;
*v += *vold;
DEBUG_EXPR(residuFree->display());
DEBUG_EXPR(v->display());
//first step consists in computing \dot q.
//second step consists in updating q.
//
SP::SiconosMatrix T = d->T();
SP::SiconosVector dotq = d->dotq();
prod(*T, *v, *dotq, true);
SP::SiconosVector dotqold = d->dotqMemory()->getSiconosVector(0);
SP::SiconosVector q = d->q(); // POINTER CONSTRUCTOR : contains position q_{k+1}
*q = *qold;
scal(0.5 * h, *dotqold + *dotq, *q, false);
DEBUG_PRINT("new q before normalizing\n");
DEBUG_EXPR(q->display());
//q[3:6] must be normalized
d->normalizeq();
d->computeT();
DEBUG_PRINT("new q after normalizing\n");
DEBUG_EXPR(q->display());
}
else
RuntimeException::selfThrow("D1MinusLinearOSI::computeResidu - not yet implemented for Dynamical system type: " + dsType);
/** At this step, we obtain
* \f[
* \begin{cases}
* v_{k,0} = \mbox{\tt vold} \\
* q_{k,0} = qold \\
* F_{k,+} = F(told,qold,vold) \\
* Work_{freefree} = M^{-1}_k (F^+_{k}) \mbox{stored in work_tdg} \\
* Work_{free} = M^{-1}_k (P^+_{2,k}+F^+_{k}) \mbox{stored in accFree} \\
* R_{free} = -h/2 * M^{-1}_k (P^+_{2,k}+F^+_{k}) \mbox{stored in ResiduFree} \\
* v_{k,1} = v_{k,0} + h * M^{-1}_k (P^+_{2,k}+F^+_{k}) \mbox{stored in v} \\
* q_{k,1} = q_{k,0} + \frac{h}{2} (v_{k,0} + v_{k,1}) \mbox{stored in q} \\
* \end{cases}
* \f]
**/
}
DEBUG_PRINT("\n DECIDE STRATEGY\n");
/** Decide of the strategy impact or smooth multiplier.
* Compute _isThereImpactInTheTimeStep
*/
_isThereImpactInTheTimeStep = false;
if (!allOSNS->empty())
{
for (unsigned int level = _simulation->levelMinForOutput();
level < _simulation->levelMaxForOutput(); level++)
{
_simulation->nonSmoothDynamicalSystem()->updateOutput(_simulation->nextTime(),level);
}
_simulation->updateIndexSets();
SP::Topology topo = _simulation->nonSmoothDynamicalSystem()->topology();
SP::InteractionsGraph indexSet3 = topo->indexSet(3);
if (indexSet3->size() > 0)
{
_isThereImpactInTheTimeStep = true;
DEBUG_PRINT("There is an impact in the step. indexSet3->size() > 0. _isThereImpactInTheTimeStep = true;\n");
}
else
{
_isThereImpactInTheTimeStep = false;
DEBUG_PRINT("There is no impact in the step. indexSet3->size() = 0. _isThereImpactInTheTimeStep = false;\n");
}
}
/* If _isThereImpactInTheTimeStep = true;
* we recompute residuFree by removing the contribution of the nonimpulsive contact forces.
* We add the contribution of the external forces at the end
* of the time--step
* If _isThereImpactInTheTimeStep = false;
* we recompute residuFree by adding the contribution of the external forces at the end
* and the contribution of the nonimpulsive contact forces that are computed by solving the osnsp.
*/
if (_isThereImpactInTheTimeStep)
{
DEBUG_PRINT("There is an impact in the step. indexSet3->size() > 0. _isThereImpactInTheTimeStep = true\n");
for (std11::tie(dsi, dsend) = _dynamicalSystemsGraph->vertices(); dsi != dsend; ++dsi)
{
if (!checkOSI(dsi)) continue;
SP::DynamicalSystem ds = _dynamicalSystemsGraph->bundle(*dsi);
// type of the current DS
Type::Siconos dsType = Type::value(*ds);
/* \warning the following conditional statement should be removed with a MechanicalDS class */
if ((dsType == Type::LagrangianDS) || (dsType == Type::LagrangianLinearTIDS))
{
SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS> (ds);
SP::SiconosVector residuFree = d->workspace(DynamicalSystem::freeresidu);
SP::SiconosVector v = d->velocity();
SP::SiconosVector q = d->q();
SP::SiconosVector qold = d->qMemory()->getSiconosVector(0);
SP::SiconosVector vold = d->velocityMemory()->getSiconosVector(0); // right limit
SP::SiconosMatrix M = d->mass(); // POINTER CONSTRUCTOR : contains mass matrix
//residuFree->zero();
//v->zero();
SP::SiconosVector work_tdg = d->workspace(DynamicalSystem::free_tdg);
assert(work_tdg);
*residuFree = - 0.5 * h**work_tdg;
d->computeMass();
DEBUG_EXPR(M->display());
if (d->forces())
{
d->computeForces(t, q, v);
*work_tdg = *(d->forces());
DEBUG_EXPR(d->forces()->display());
}
M->PLUForwardBackwardInPlace(*work_tdg); // contains right (left limit) acceleration without contact force
*residuFree -= 0.5 * h**work_tdg;
DEBUG_EXPR(residuFree->display());
}
else if (dsType == Type::NewtonEulerDS)
{
SP::NewtonEulerDS d = std11::static_pointer_cast<NewtonEulerDS> (ds);
SP::SiconosVector residuFree = d->workspace(DynamicalSystem::freeresidu);
SP::SiconosVector v = d->velocity();
SP::SiconosVector q = d->q();
SP::SiconosVector qold = d->qMemory()->getSiconosVector(0);
SP::SiconosVector vold = d->velocityMemory()->getSiconosVector(0); // right limit
SP::SiconosMatrix M(new SimpleMatrix(*(d->mass()))); // we copy the mass matrix to avoid its factorization;
DEBUG_EXPR(M->display());
//residuFree->zero();
v->zero();
SP::SiconosVector work_tdg = d->workspace(DynamicalSystem::free_tdg);
assert(work_tdg);
*residuFree = 0.5 * h**work_tdg;
work_tdg->zero();
if (d->forces())
{
d->computeForces(t, q, v);
*work_tdg += *(d->forces());
}
M->PLUForwardBackwardInPlace(*work_tdg); // contains right (left limit) acceleration without contact force
*residuFree -= 0.5 * h**work_tdg;
DEBUG_EXPR(residuFree->display());
}
else
RuntimeException::selfThrow("D1MinusLinearOSI::computeResidu - not yet implemented for Dynamical system type: " + dsType);
}
}
else
{
DEBUG_PRINT("There is no impact in the step. indexSet3->size() = 0. _isThereImpactInTheTimeStep = false;\n");
// -- RIGHT SIDE --
// calculate acceleration without contact force
for (std11::tie(dsi, dsend) = _dynamicalSystemsGraph->vertices(); dsi != dsend; ++dsi)
{
if (!checkOSI(dsi)) continue;
SP::DynamicalSystem ds = _dynamicalSystemsGraph->bundle(*dsi);
// type of the current DS
Type::Siconos dsType = Type::value(*ds);
/* \warning the following conditional statement should be removed with a MechanicalDS class */
if ((dsType == Type::LagrangianDS) || (dsType == Type::LagrangianLinearTIDS))
{
SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS> (ds);
SP::SiconosVector accFree = d->workspace(DynamicalSystem::free); // POINTER CONSTRUCTOR : contains acceleration without contact force
accFree->zero();
// get right state from memory
SP::SiconosVector q = d->q(); // contains position q_{k+1}
SP::SiconosVector v = d->velocity(); // contains velocity v_{k+1}^- and not free velocity
SP::SiconosMatrix M = d->mass(); // POINTER CONSTRUCTOR : contains mass matrix
DEBUG_EXPR(accFree->display());
DEBUG_EXPR(q->display());
DEBUG_EXPR(v->display());
// Lagrangian Nonlinear Systems
if (dsType == Type::LagrangianDS || dsType == Type::LagrangianLinearTIDS)
{
d->computeMass();
DEBUG_EXPR(M->display());
if (d->forces())
{
d->computeForces(t, q, v);
*accFree += *(d->forces());
}
}
else
RuntimeException::selfThrow
("D1MinusLinearOSI::computeResidu - not yet implemented for Dynamical system type: " + dsType);
M->PLUForwardBackwardInPlace(*accFree); // contains right (left limit) acceleration without contact force
DEBUG_PRINT("accFree contains left limit acceleration at t^-_{k+1} without contact force :\n");
DEBUG_EXPR(accFree->display());
}
else if (dsType == Type::NewtonEulerDS)
{
SP::NewtonEulerDS d = std11::static_pointer_cast<NewtonEulerDS> (ds);
SP::SiconosVector accFree = d->workspace(DynamicalSystem::free); // POINTER CONSTRUCTOR : contains acceleration without contact force
accFree->zero();
// get right state from memory
SP::SiconosVector q = d->q(); // contains position q_{k+1}
SP::SiconosVector v = d->velocity(); // contains velocity v_{k+1}^- and not free velocity
SP::SiconosMatrix M(new SimpleMatrix(*(d->mass()))); // we copy the mass matrix to avoid its factorization;
DEBUG_EXPR(accFree->display());
DEBUG_EXPR(q->display());
DEBUG_EXPR(v->display());
if (d->forces())
{
d->computeForces(t, q, v);
*accFree += *(d->forces());
}
M->PLUForwardBackwardInPlace(*accFree); // contains right (left limit) acceleration without contact force
DEBUG_PRINT("accFree contains left limit acceleration at t^-_{k+1} without contact force :\n");
DEBUG_EXPR(accFree->display());
}
else
RuntimeException::selfThrow("D1MinusLinearOSI::computeResidu - not yet implemented for Dynamical system type: " + dsType);
}
// solve a LCP at acceleration level only for contacts which have been active at the beginning of the time-step
if (!allOSNS->empty())
{
// for (unsigned int level = _simulation->levelMinForOutput(); level < _simulation->levelMaxForOutput(); level++)
// {
// _simulation->updateOutput(level);
// }
// _simulation->updateIndexSets();
DEBUG_PRINT("We compute lambda^-_{k+1} \n");
InteractionsGraph::VIterator ui, uiend;
SP::Interaction inter;
for (std11::tie(ui, uiend) = indexSet2->vertices(); ui != uiend; ++ui)
{
inter = indexSet2->bundle(*ui);
inter->relation()->computeJach(t, *inter, indexSet2->properties(*ui));
inter->relation()->computeJacg(t, *inter, indexSet2->properties(*ui));
}
if (_simulation->nonSmoothDynamicalSystem()->topology()->hasChanged())
{
for (OSNSIterator itOsns = allOSNS->begin(); itOsns != allOSNS->end(); ++itOsns)
{
(*itOsns)->setHasBeenUpdated(false);
}
}
if (((*allOSNS)[SICONOS_OSNSP_TS_VELOCITY + 1]->hasInteractions()))
{
(*allOSNS)[SICONOS_OSNSP_TS_VELOCITY + 1]->compute(t);
DEBUG_EXPR((*allOSNS)[SICONOS_OSNSP_TS_VELOCITY + 1]->display(););
_simulation->nonSmoothDynamicalSystem()->updateInput(_simulation->nextTime(),2);
}
void SchatzmanPaoliOSI::computeFreeOutput(InteractionsGraph::VDescriptor& vertex_inter, OneStepNSProblem* osnsp)
{
/** \warning: ensures that it can also work with two different osi for two different ds ?
*/
SP::InteractionsGraph indexSet = osnsp->simulation()->indexSet(osnsp->indexSetLevel());
SP::Interaction inter = indexSet->bundle(vertex_inter);
SP::OneStepNSProblems allOSNS = simulationLink->oneStepNSProblems();
VectorOfBlockVectors& DSlink = *indexSet->properties(vertex_inter).DSlink;
// Get relation and non smooth law types
RELATION::TYPES relationType = inter->relation()->getType();
RELATION::SUBTYPES relationSubType = inter->relation()->getSubType();
unsigned int sizeY = inter->nonSmoothLaw()->size();
unsigned int relativePosition = 0;
Index coord(8);
coord[0] = relativePosition;
coord[1] = relativePosition + sizeY;
coord[2] = 0;
coord[4] = 0;
coord[6] = 0;
coord[7] = sizeY;
SP::SiconosMatrix C;
SP::SiconosMatrix D;
SP::SiconosMatrix F;
SP::BlockVector deltax;
SiconosVector& yForNSsolver = *inter->yForNSsolver();
SP::SiconosVector e;
SP::BlockVector Xfree;
if (relationType == NewtonEuler)
{
Xfree = DSlink[NewtonEulerR::xfree];
}
else if (relationType == Lagrangian)
{
Xfree = DSlink[LagrangianR::xfree];
}
assert(Xfree);
assert(Xfree);
SP::Interaction mainInteraction = inter;
assert(mainInteraction);
assert(mainInteraction->relation());
if (relationSubType == LinearTIR)
{
if (((*allOSNS)[SICONOS_OSNSP_TS_VELOCITY]).get() != osnsp)
RuntimeException::selfThrow("SchatzmanPaoliOSI::computeFreeOutput not yet implemented for SICONOS_OSNSP ");
C = mainInteraction->relation()->C();
if (C)
{
assert(Xfree);
coord[3] = C->size(1);
coord[5] = C->size(1);
// creates a POINTER link between workX[ds] (xfree) and the
// corresponding interactionBlock in each Interactionfor each ds of the
// current Interaction.
if (_useGammaForRelation)
{
assert(deltax);
subprod(*C, *deltax, yForNSsolver, coord, true);
}
else
{
subprod(*C, *Xfree, yForNSsolver, coord, true);
// subprod(*C,*(*(mainInteraction->dynamicalSystemsBegin()))->workspace(DynamicalSystem::free),*Yp,coord,true);
// if (mainInteraction->dynamicalSystems()->size() == 2)
// {
// subprod(*C,*(*++(mainInteraction->dynamicalSystemsBegin()))->workspace(DynamicalSystem::free),*Yp,coord,false);
// }
}
}
SP::LagrangianLinearTIR ltir = std11::static_pointer_cast<LagrangianLinearTIR> (mainInteraction->relation());
e = ltir->e();
if (e)
{
yForNSsolver += *e;
}
}
else
RuntimeException::selfThrow("SchatzmanPaoliOSI::ComputeFreeOutput not yet implemented for relation of Type : " + relationType);
if (inter->relation()->getSubType() == LinearTIR)
{
SP::SiconosVisitor nslEffectOnFreeOutput(new _NSLEffectOnFreeOutput(osnsp, inter));
inter->nonSmoothLaw()->accept(*nslEffectOnFreeOutput);
}
}
void MLCPProjectOnConstraints::computeDiagonalInteractionBlock(const InteractionsGraph::VDescriptor& vd)
{
SP::InteractionsGraph indexSet = simulation()->indexSet(indexSetLevel());
SP::DynamicalSystem DS1 = indexSet->properties(vd).source;
SP::DynamicalSystem DS2 = indexSet->properties(vd).target;
SP::Interaction inter = indexSet->bundle(vd);
SP::OneStepIntegrator Osi = indexSet->properties(vd).osi;
unsigned int pos1, pos2;
pos1 = indexSet->properties(vd).source_pos;
pos2 = indexSet->properties(vd).target_pos;
unsigned int sizeY = 0;
sizeY = std11::static_pointer_cast<OSNSMatrixProjectOnConstraints>
(_M)->computeSizeForProjection(inter);
#ifdef MLCPPROJ_DEBUG
std::cout << "\nMLCPProjectOnConstraints::computeDiagonalInteractionBlock" <<std::endl;
std::cout << "indexSetLevel()" << indexSetLevel() << std::endl;
// std::cout << "indexSet :"<< indexSet << std::endl;
// std::cout << "vd :"<< vd << std::endl;
// indexSet->display();
// std::cout << "DS1 :" << std::endl;
// DS1->display();
// std::cout << "DS2 :" << std::endl;
// DS2->display();
#endif
assert(indexSet->blockProj[vd]);
SP::SiconosMatrix currentInteractionBlock = indexSet->blockProj[vd];
#ifdef MLCPPROJ_DEBUG
// std::cout<<"MLCPProjectOnConstraints::computeDiagonalInteractionBlock "<<std::endl;
// currentInteractionBlock->display();
std::cout << "sizeY " << sizeY << std::endl;
std::cout << "blockProj " << indexSet->blockProj[vd].get() << " of edge " << vd << " of size " << currentInteractionBlock->size(0) << " x " << currentInteractionBlock->size(0) << " for interaction " << inter->number() << std::endl;
// std::cout<<"inter1->display() "<< inter1->number()<< std::endl;
//inter1->display();
// std::cout<<"inter2->display() "<< inter2->number()<< std::endl;
//inter2->display();
#endif
assert(currentInteractionBlock->size(0) == sizeY);
assert(currentInteractionBlock->size(1) == sizeY);
if (!_hasBeenUpdated)
computeOptions(inter, inter);
// Computes matrix _interactionBlocks[inter1][inter2] (and allocates memory if
// necessary) if inter1 and inter2 have commond DynamicalSystem. How
// _interactionBlocks are computed depends explicitely on the type of
// Relation of each Interaction.
// Warning: we suppose that at this point, all non linear
// operators (G for lagrangian relation for example) have been
// computed through plug-in mechanism.
// Get the W and Theta maps of one of the Interaction -
// Warning: in the current version, if OSI!=MoreauJeanOSI, this fails.
// If OSI = MOREAU, centralInteractionBlocks = W if OSI = LSODAR,
// centralInteractionBlocks = M (mass matrices)
SP::SiconosMatrix leftInteractionBlock, rightInteractionBlock, leftInteractionBlock1;
// General form of the interactionBlock is : interactionBlock =
// a*extraInteractionBlock + b * leftInteractionBlock * centralInteractionBlocks
// * rightInteractionBlock a and b are scalars, centralInteractionBlocks a
// matrix depending on the integrator (and on the DS), the
// simulation type ... left, right and extra depend on the relation
// type and the non smooth law.
VectorOfSMatrices& workMInter = *indexSet->properties(vd).workMatrices;
currentInteractionBlock->zero();
// loop over the common DS
bool endl = false;
unsigned int pos = pos1;
for (SP::DynamicalSystem ds = DS1; !endl; ds = DS2)
{
assert(ds == DS1 || ds == DS2);
endl = (ds == DS2);
if (Type::value(*ds) == Type::LagrangianLinearTIDS ||
Type::value(*ds) == Type::LagrangianDS)
{
if (inter->relation()->getType() != Lagrangian)
{
RuntimeException::selfThrow(
"MLCPProjectOnConstraints::computeDiagonalInteractionBlock - relation is not of type Lagrangian with a LagrangianDS.");
}
SP::LagrangianDS lds = (std11::static_pointer_cast<LagrangianDS>(ds));
unsigned int sizeDS = lds->getDim();
leftInteractionBlock.reset(new SimpleMatrix(sizeY, sizeDS));
inter->getLeftInteractionBlockForDS(pos, leftInteractionBlock, workMInter);
if (lds->boundaryConditions()) // V.A. Should we do that ?
{
for (std::vector<unsigned int>::iterator itindex =
lds->boundaryConditions()->velocityIndices()->begin() ;
itindex != lds->boundaryConditions()->velocityIndices()->end();
++itindex)
{
// (sizeY,sizeDS));
SP::SiconosVector coltmp(new SiconosVector(sizeY));
coltmp->zero();
leftInteractionBlock->setCol(*itindex, *coltmp);
}
}
// (inter1 == inter2)
SP::SiconosMatrix work(new SimpleMatrix(*leftInteractionBlock));
//
// std::cout<<"LinearOSNS : leftUBlock\n";
// work->display();
work->trans();
// std::cout<<"LinearOSNS::computeInteractionBlock leftInteractionBlock"<<endl;
// leftInteractionBlock->display();
if (_useMassNormalization)
{
SP::SiconosMatrix centralInteractionBlock = getOSIMatrix(Osi, ds);
centralInteractionBlock->PLUForwardBackwardInPlace(*work);
prod(*leftInteractionBlock, *work, *currentInteractionBlock, false);
// gemm(CblasNoTrans,CblasNoTrans,1.0,*leftInteractionBlock,*work,1.0,*currentInteractionBlock);
}
else
{
prod(*leftInteractionBlock, *work, *currentInteractionBlock, false);
}
//*currentInteractionBlock *=h;
}
else if (Type::value(*ds) == Type::NewtonEulerDS)
{
if (inter->relation()->getType() != NewtonEuler)
{
RuntimeException::selfThrow("MLCPProjectOnConstraints::computeDiagonalInteractionBlock - relation is not from NewtonEulerR.");
}
SP::NewtonEulerDS neds = (std11::static_pointer_cast<NewtonEulerDS>(ds));
#ifdef MLCPPROJ_WITH_CT
unsigned int sizeDS = neds->getDim();
SP::SimpleMatrix T = neds->T();
SP::SimpleMatrix workT(new SimpleMatrix(*T));
workT->trans();
SP::SimpleMatrix workT2(new SimpleMatrix(6, 6));
prod(*workT, *T, *workT2, true);
leftInteractionBlock.reset(new SimpleMatrix(sizeY, sizeDS));
inter->getLeftInteractionBlockForDS(pos, leftInteractionBlock);
SP::SiconosMatrix work(new SimpleMatrix(*leftInteractionBlock));
std::cout << "LinearOSNS : leftUBlock\n";
work->display();
work->trans();
std::cout << "LinearOSNS::computeInteractionBlock workT2" <<std::endl;
workT2->display();
workT2->PLUForwardBackwardInPlace(*work);
prod(*leftInteractionBlock, *work, *currentInteractionBlock, false);
#else
if (0) //(std11::static_pointer_cast<NewtonEulerR> inter->relation())->_isConstact){
{
// unsigned int sizeDS = neds->getDim();
// SP::SimpleMatrix T = neds->T();
// SP::SimpleMatrix workT(new SimpleMatrix(*T));
// workT->trans();
// SP::SimpleMatrix workT2(new SimpleMatrix(6, 6));
// prod(*workT, *T, *workT2, true);
// leftInteractionBlock1.reset(new SimpleMatrix(sizeY, sizeDS));
// inter->getLeftInteractionBlockForDS(pos, leftInteractionBlock);
// leftInteractionBlock.reset(new SimpleMatrix(1, sizeDS));
// for (unsigned int ii = 0; ii < sizeDS; ii++)
// leftInteractionBlock->setValue(1, ii, leftInteractionBlock1->getValue(1, ii));
//
// SP::SiconosMatrix work(new SimpleMatrix(*leftInteractionBlock));
// //cout<<"LinearOSNS : leftUBlock\n";
// //work->display();
// work->trans();
// //cout<<"LinearOSNS::computeInteractionBlock workT2"<<endl;
// //workT2->display();
// workT2->PLUForwardBackwardInPlace(*work);
// prod(*leftInteractionBlock, *work, *currentInteractionBlock, false);
}
else
{
unsigned int sizeDS = (std11::static_pointer_cast<NewtonEulerDS>(ds))->getqDim();
leftInteractionBlock.reset(new SimpleMatrix(sizeY, sizeDS));
inter->getLeftInteractionBlockForDSProjectOnConstraints(pos, leftInteractionBlock);
// #ifdef MLCPPROJ_DEBUG
// std::cout << "MLCPProjectOnConstraints::computeDiagonalInteractionBlock - NewtonEuler case leftInteractionBlock : " << std::endl;
// leftInteractionBlock->display();
// #endif
SP::SiconosMatrix work(new SimpleMatrix(*leftInteractionBlock));
//cout<<"LinearOSNS sizeY="<<sizeY<<": leftUBlock\n";
//work->display();
work->trans();
prod(*leftInteractionBlock, *work, *currentInteractionBlock, false);
// #ifdef MLCPPROJ_DEBUG
// std::cout << "MLCPProjectOnConstraints::computeDiagonalInteractionBlock - NewtonEuler case currentInteractionBlock : "<< std::endl;
// currentInteractionBlock->display();
// #endif
}
}
else
RuntimeException::selfThrow("MLCPProjectOnConstraints::computeDiagonalInteractionBlock - ds is not from NewtonEulerDS neither a LagrangianDS.");
#endif
#ifdef MLCPPROJ_DEBUG
std::cout << "MLCPProjectOnConstraints::computeDiagonalInteractionBlock DiaginteractionBlock " << std::endl;
currentInteractionBlock->display();
#endif
// Set pos for next loop.
pos = pos2;
}
}
void MLCPProjectOnConstraints::computeOptions(SP::Interaction inter1, SP::Interaction inter2)
{
// printf("MLCPProjectOnConstraints::computeOptions\n");
// Get dimension of the NonSmoothLaw (ie dim of the interactionBlock)
RELATION::TYPES relationType1;
relationType1 = inter1->relation()->getType();
// Retrieve size of Y (projected variable)
unsigned int sizeY1;
sizeY1 = std11::static_pointer_cast<OSNSMatrixProjectOnConstraints>
(_M)->computeSizeForProjection(inter1);
// Compute the number of equalities
unsigned int equalitySize1 = sizeY1; //default behavior
if (Type::value(*(inter1->nonSmoothLaw())) == Type::NewtonImpactFrictionNSL ||
Type::value(*(inter1->nonSmoothLaw())) == Type::NewtonImpactNSL)
{
if (_doProjOnEquality)
{
equalitySize1 = sizeY1;
}
else
{
equalitySize1 = 0;
}
}
else if (Type::value(*(inter1->nonSmoothLaw()))
== Type::MixedComplementarityConditionNSL)
{
equalitySize1 = std11::static_pointer_cast<MixedComplementarityConditionNSL>(inter1->nonSmoothLaw())->getEqualitySize();
}
// Compute the number of inequalities
unsigned int inequalitySize1 = sizeY1 - equalitySize1;
if (inter1 == inter2)
{
//inter1->getExtraInteractionBlock(currentInteractionBlock);
_m += inequalitySize1;
_n += equalitySize1;
// _m=0;
//_n=6;
if (_curBlock > MLCP_NB_BLOCKS - 2)
printf("MLCP.cpp : number of block to small, memory crach below!!!\n");
/*add an equality block.*/
// #ifdef MLCPPROJ_DEBUG
// printf("MLCPProjectOnConstraints::computeOptions()\n");
// #endif
if (equalitySize1 > 0)
{
_numerics_problem.blocksRows[_curBlock + 1] = _numerics_problem.blocksRows[_curBlock] + equalitySize1;
_numerics_problem.blocksIsComp[_curBlock] = 0;
// #ifdef MLCPPROJ_DEBUG
// std::cout << "_curBlock : " << _curBlock <<std::endl;
// std::cout << "_numerics_problem.blocksRows["<<_curBlock+1 <<" ] : " << _numerics_problem.blocksRows[_curBlock+1] <<std::endl;
// std::cout << "_numerics_problem.blocksIsComp["<<_curBlock <<" ] : " << _numerics_problem.blocksIsComp[_curBlock] <<std::endl;
// #endif
_curBlock++;
}
/*add a complementarity block.*/
if (inequalitySize1 > 0)
{
_numerics_problem.blocksRows[_curBlock + 1] = _numerics_problem.blocksRows[_curBlock] + inequalitySize1;
_numerics_problem.blocksIsComp[_curBlock] = 1;
// #ifdef MLCPPROJ_DEBUG
// std::cout << "_curBlock : " << _curBlock <<std::endl;
// std::cout << "_numerics_problem.blocksRows["<<_curBlock+1<< "] : " << _numerics_problem.blocksRows[_curBlock+1] <<std::endl;
// std::cout << "_numerics_problem.blocksIsComp["<<_curBlock<< "] : " << _numerics_problem.blocksIsComp[_curBlock] <<std::endl;
// #endif
_curBlock++;
}
}
// #ifdef MLCPPROJ_DEBUG
// std::cout << "_m : " << _m <<std::endl;
// std::cout << "_n : " << _n <<std::endl;
// #endif
}
void MLCPProjectOnConstraints::postComputeLagrangianR(SP::Interaction inter, unsigned int pos)
{
SP::LagrangianR lr = std11::static_pointer_cast<LagrangianR>(inter->relation());
#ifdef MLCPPROJ_DEBUG
printf("MLCPProjectOnConstraints::postComputeLagrangian inter->y(0)\n");
inter->y(0)->display();
printf("MLCPProjectOnConstraints::postComputeLagrangian lr->jachq \n");
lr->jachq()->display();
printf("MLCPProjectOnConstraints::postComputeLagrangianR q before update\n");
SP::InteractionsGraph indexSet = simulation()->indexSet(indexSetLevel());
InteractionsGraph::VDescriptor ui = indexSet->descriptor(inter);
InteractionsGraph::OEIterator oei, oeiend;
for(std11::tie(oei, oeiend) = indexSet->out_edges(ui);
oei != oeiend; ++oei)
{
SP::LagrangianDS lds = std11::static_pointer_cast<LagrangianDS>(indexSet->bundle(*oei));
lds->q()->display();
}
#endif
//unsigned int sizeY = inter->nonSmoothLaw()->size();
// y and lambda vectors
SP::SiconosVector lambda = inter->lambda(0);
SP::SiconosVector y = inter->y(0);
unsigned int sizeY = std11::static_pointer_cast<OSNSMatrixProjectOnConstraints>
(_M)->computeSizeForProjection(inter);
// Copy _w/_z values, starting from index pos into y/lambda.
//setBlock(*_w, y, sizeY, pos, 0);
setBlock(*_z, lambda, sizeY, pos, 0);
#ifdef MLCPPROJ_DEBUG
printf("MLCPP lambda of Interaction is pos =%i :\n", pos);
// aBuff->display();
lambda->display();
unsigned int nslawsize = inter->nonSmoothLaw()->size();
SP::SiconosVector aBuff(new SiconosVector(nslawsize));
setBlock(*_z, aBuff, sizeY, pos, 0);
SP::SiconosMatrix J = lr->jachq();
SP::SimpleMatrix aux(new SimpleMatrix(*J));
aux->trans();
// SP::SiconosVector tmp(new SiconosVector(*(lr->q())));
// prod(*aux, *aBuff, *(tmp), false);
// //prod(*aux,*lambda,*(lr->q()),false);
// std:: std::cout << " tmp = tmp + J^T * lambda" << std::endl;
// tmp->display();
#endif
// // WARNING : Must not be done here. and should be called with the correct time.
// // compute p(0)
// inter->computeInput(0.0 ,0);
// // \warning aBuff should normally be in lambda[0]
// // The update of the position in DS should be made
// // in MoreauJeanOSI::upateState or ProjectedMoreauJeanOSI::updateState
// SP::SiconosMatrix J=lr->jachq();
// SP::SimpleMatrix aux(new SimpleMatrix(*J));
// aux->trans();
// SP::SiconosVector tmp (new SiconosVector(*(lr->q())));
// std:: std::cout << " tmp ="<<std::endl;
// tmp->display();
// std:: std::cout << " lr->q() ="<<std::endl;
// lr->q()->display();
// //prod(*aux,*lambda,*(lr->q()),false);
// prod(*aux,*aBuff,*(tmp),false);
// std:: std::cout << " tmp = tmp + J * lambda"<<std::endl;
// tmp->display();
// // The following step should be done on MoreauJeanOSI::upateState or ProjectedMoreauJeanOSI::updateState
// DSIterator itDS = inter->dynamicalSystemsBegin();
// while(itDS!=inter->dynamicalSystemsEnd())
// {
// Type::Siconos dsType = Type::value(**itDS);
// if((dsType !=Type::LagrangianDS) and
// (dsType !=Type::LagrangianLinearTIDS) )
// {
// RuntimeException::selfThrow("MLCPProjectOnConstraint::postCompute- ds is not of Lagrangian DS type.");
// }
// SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS> (*itDS);
// SP::SiconosVector q = d->q();
// *q += *d->p(0);
// std::cout << " q=" << std::endl;
// q->display();
// itDS++;
// }
// if ((*lr->q() - *tmp).normInf() > 1e-12)
// {
// RuntimeException::selfThrow("youyou");
// }
#ifdef MLCPPROJ_DEBUG
printf("MLCPProjectOnConstraints::postComputeLagrangianR _z\n");
_z->display();
printf("MLCPProjectOnConstraints::postComputeLagrangianR updated\n");
VectorOfBlockVectors& DSlink = *(indexSet->properties(ui)).DSlink;
// (*DSlink[LagrangianR::q0]).display();
// (lr->q())->display();
#endif
//RuntimeException::selfThrow("MLCPProjectOnConstraints::postComputeLagrangianR() - not yet implemented");
}
void DisksViewer::draw()
{
int i;
char qs[6];
float lbd, w;
float lbdmax = 0.;
DSIterator itDS;
SP::DynamicalSystemsSet involvedDS;
SP::InteractionsGraph I1;
SP::Interaction interaction;
SP::Relation relation;
if (Siconos_->model()->nonSmoothDynamicalSystem()->topology()->numberOfIndexSet() > 1)
{
I1 = Siconos_->model()->simulation()->indexSet(1);
// calibration
InteractionsGraph::VIterator ui, uiend;
for (boost::tie(ui, uiend) = I1->vertices(); ui != uiend; ++ui)
{
lbdmax = fmax(I1->bundle(*ui)->lambdaOld(1)->getValue(0), lbdmax);
}
for (boost::tie(ui, uiend) = I1->vertices(); ui != uiend; ++ui)
{
interaction = I1->bundle(*ui);
relation = interaction->relation();
lbd = interaction->lambdaOld(1)->getValue(0);
// screen width of interaction
w = lbd / (2 * fmax(lbdmax, 1.)) + .03;
// disk/disk
SP::DynamicalSystem d1 = I1->properties(*ui).source;
SP::DynamicalSystem d2 = I1->properties(*ui).target;
SP::SiconosVector q1 = ask<ForPosition>(*d1);
float x1 = (*q1)(0);
float y1 = (*q1)(1);
float r1 = ask<ForRadius>(*d1);
if (d1 != d2)
{
SP::SiconosVector q2 = ask<ForPosition>(*d2);
float x2 = (*q2)(0);
float y2 = (*q2)(1);
float r2 = ask<ForRadius>(*d2);
float d = hypotf(x1 - x2, y1 - y2);
glPushMatrix();
glColor3f(.0f, .0f, .0f);
drawRec(x1, y1, x1 + (x2 - x1)*r1 / d, y1 + (y2 - y1)*r1 / d, w);
drawRec(x2, y2, x2 + (x1 - x2)*r2 / d, y2 + (y1 - y2)*r2 / d, w);
glPopMatrix();
}
else
{
SP::SiconosMatrix jachq = ask<ForJachq>(*relation);
double jx = jachq->getValue(0, 0);
double jy = jachq->getValue(0, 1);
double dj = hypot(jx, jy);
glPushMatrix();
glColor3f(.0f, .0f, .0f);
drawRec(x1, y1, x1 - r1 * jx / dj, y1 - r1 * jy / dj, w);
glPopMatrix();
}
}
}
for (unsigned int i = 0; i < GETNDS(Siconos_); i++)
{
if (shapes_[i]->selected())
{
drawSelectedQGLShape(*shapes_[i]);
}
else
{
drawQGLShape(*shapes_[i]);
}
}
glColor3f(.45, .45, .45);
glLineWidth(1.);
drawGrid(100, 200);
setGridIsDrawn();
glColor3f(.1, .1, .3);
drawVec(-100, 0, 100, 0);
drawVec(0, -100, 0, 100);
glColor3f(0, 0, 1);
glLineWidth(4.);
if (Siconos_->plans())
{
for (unsigned int i = 0 ; i < Siconos_->plans()->size(0) ; ++i)
{
double A = (*Siconos_->plans())(i, 0);
double B = (*Siconos_->plans())(i, 1);
//double C = (*Siconos_->plans())(i,2);
double xc = (*Siconos_->plans())(i, 3);
double yc = (*Siconos_->plans())(i, 4);
double w = fmin(1e10, (*Siconos_->plans())(i, 5));
double H = hypot(A, B);
if (w == 0) w = 1e10;
// assert ( fabs(A*xc + B*yc + C) <= std::numeric_limits<double>::epsilon() );
drawVec(xc, yc, xc - 0.5 * w * B / H, yc + 0.5 * w * A / H);
drawVec(xc, yc, xc + 0.5 * w * B / H, yc - 0.5 * w * A / H);
}
}
if (Siconos_->movingPlans())
{
double time = Siconos_->model()->currentTime();
for (unsigned int i = 0 ; i < Siconos_->movingPlans()->size1() ; ++i)
{
double A = (*Siconos_->movingPlans())(i, 0)(time);
double B = (*Siconos_->movingPlans())(i, 1)(time);
double C = (*Siconos_->movingPlans())(i, 2)(time);
double w = 1e10;
double H = hypot(A, B);
double xc = 0.;
double yc = 0.;
if (fabs(C) > std::numeric_limits<double>::epsilon())
{
if (A == 0)
// By+C=0
{
yc = -C / B;
}
else if (B == 0)
// Ax+C=0
{
xc = -C / A;
}
else
// Ax+By+C=0
{
if (xc != 0)
yc = - (A * xc + C) / B;
else
xc = - (B * yc + C) / A;
}
}
drawVec(xc, yc, xc - 0.5 * w * B / H, yc + 0.5 * w * A / H);
drawVec(xc, yc, xc + 0.5 * w * B / H, yc - 0.5 * w * A / H);
}
}
glColor3f(.1, .1, .1);
glLineWidth(4.);
QGLViewer::drawArrow(qglviewer::Vec(0, 0, .1), qglviewer::Vec(1, 0, .1), .01, 3);
QGLViewer::drawArrow(qglviewer::Vec(0, 0, .1), qglviewer::Vec(0, 1, .1), .01, 3);
glLineWidth(1.);
for (i = -100; i <= 100; i += 5)
{
sprintf(qs, "%d", i);
// print((float)i,-.8,qs,small_text);
//print(-.8,(float)i,qs,small_text);
drawVec((float)i, -.2, (float)i, .2);
drawVec(-.2, (float)i, .2, (float)i);
}
for (i = -100; i <= 100; i++)
{
drawVec((float)i, -.1, (float)i, .1);
drawVec(-.1, (float)i, .1, (float)i);
}
}