void D1MinusLinearOSI::initializeWorkVectorsForDS(double t, SP::DynamicalSystem ds)
{
// Get work buffers from the graph
VectorOfVectors& ds_work_vectors = *_initializeDSWorkVectors(ds);
// Check dynamical system type
Type::Siconos dsType = Type::value(*ds);
assert(dsType == Type::LagrangianLinearTIDS || dsType == Type::LagrangianDS || dsType == Type::NewtonEulerDS);
if(dsType == Type::LagrangianDS || dsType == Type::LagrangianLinearTIDS)
{
SP::LagrangianDS lds = std11::static_pointer_cast<LagrangianDS> (ds);
lds->init_generalized_coordinates(2); // acceleration is required for the ds
lds->init_inverse_mass(); // invMass required to update post-impact velocity
ds_work_vectors.resize(D1MinusLinearOSI::WORK_LENGTH);
ds_work_vectors[D1MinusLinearOSI::RESIDU_FREE].reset(new SiconosVector(lds->dimension()));
ds_work_vectors[D1MinusLinearOSI::FREE].reset(new SiconosVector(lds->dimension()));
ds_work_vectors[D1MinusLinearOSI::FREE_TDG].reset(new SiconosVector(lds->dimension()));
// Update dynamical system components (for memory swap).
lds->computeForces(t, lds->q(), lds->velocity());
lds->swapInMemory();
}
else if(dsType == Type::NewtonEulerDS)
{
SP::NewtonEulerDS neds = std11::static_pointer_cast<NewtonEulerDS> (ds);
neds->init_inverse_mass(); // invMass required to update post-impact velocity
ds_work_vectors.resize(D1MinusLinearOSI::WORK_LENGTH);
ds_work_vectors[D1MinusLinearOSI::RESIDU_FREE].reset(new SiconosVector(neds->dimension()));
ds_work_vectors[D1MinusLinearOSI::FREE].reset(new SiconosVector(neds->dimension()));
ds_work_vectors[D1MinusLinearOSI::FREE_TDG].reset(new SiconosVector(neds->dimension()));
//Compute a first value of the forces to store it in _forcesMemory
neds->computeForces(t, neds->q(), neds->twist());
neds->swapInMemory();
}
else
RuntimeException::selfThrow("D1MinusLinearOSI::initialize - not implemented for Dynamical system type: " + dsType);
for (unsigned int k = _levelMinForInput ; k < _levelMaxForInput + 1; k++)
{
ds->initializeNonSmoothInput(k);
}
}
