IntegratorBase::IntegratorBase(int r, double timestep, double dampingMassCoef, double dampingStiffnessCoef)
{
this->r = r;
this->timestep = timestep;
this->dampingMassCoef = dampingMassCoef;
this->dampingStiffnessCoef = dampingStiffnessCoef;
internalForceScalingFactor = 1.0;
q = (double*) malloc(sizeof(double) * r);
qvel = (double*) malloc(sizeof(double) * r);
qaccel = (double*) malloc(sizeof(double) * r);
q_1 = (double*) malloc(sizeof(double) * r);
qvel_1 = (double*) malloc(sizeof(double) * r);
qaccel_1 = (double*) malloc(sizeof(double) * r);
externalForces = (double*) malloc(sizeof(double) * r);
internalForces = (double*) malloc(sizeof(double) * r);
qresidual = (double*) malloc(sizeof(double) * r);
qdelta = (double*) malloc(sizeof(double) * r);
buffer = (double*) malloc(sizeof(double) * r);
ResetToRest();
memset(externalForces,0,sizeof(double) * r);
memset(internalForces,0,sizeof(double) * r);
}
IntegratorBaseDense::IntegratorBaseDense(int r, double timestep, double * massMatrix, ReducedForceModel * reducedForceModel, double dampingMassCoef, double dampingStiffnessCoef) : IntegratorBase(r, timestep, dampingMassCoef, dampingStiffnessCoef), useStaticSolver(0), usePlasticDeformations(0), plasticThreshold2(DBL_MAX), plasticfq(NULL), totalfq(NULL)
{
r2 = r * r;
this->massMatrix = (double*) malloc (sizeof(double) * r2);
dampingMatrix = (double*) malloc (sizeof(double) * r2);
tangentStiffnessMatrix = (double*) malloc (sizeof(double) * r2);
memcpy(this->massMatrix, massMatrix,sizeof(double) * r2);
forceAssemblyTime = systemSolveTime = 0.0;
this->reducedForceModel = reducedForceModel;
tangentStiffnessMatrixOffset = (double*) calloc (r2, sizeof(double));
IPIV = new IPIVC(r);
ResetToRest();
memset(externalForces,0,sizeof(double) * r);
memset(internalForces,0,sizeof(double) * r);
}
