void ImplicitStepper::solveUnconstrained( bool useNonLinearSolver, const bool& penaltyBefore )
{
if( !penaltyBefore ){
prepareDynamics();
}
if( useNonLinearSolver )
{
solveNonLinear();
}
else
{
solveLinear();
m_notSPD = m_linearSolver.notSPD();
if( m_notSPD )
{
if ( m_strand.requiresExactJacobian() ) // We are here for the first time, exact Jacobian gives non SPD LHS. Let's try with approximate Jacobian
{
std::cerr << "Strand " << m_strand.getGlobalIndex() << " has non spd lhs, using approximate Jacobian" << std::endl;
m_strand.requireExactJacobian( false );
solveUnconstrained();
return;
}
}
m_linearSolver.solve( m_futureVelocities, rhs() );
}
} // Should call update so see computed changes from m_futureVelocities
void ImplicitFunctionInternal::evaluate() {
// Mark factorization as out-of-date. TODO: make this conditional
fact_up_to_date_ = false;
// Get initial guess
output(iout_).set(input(iin_));
// Solve the nonlinear system of equations
solveNonLinear();
}