void testSolveArbitrary() {
static Random::Uniform uniform(2.0, 7.0);
static Random::Gaussian random(0.0, 100.0);
// Test random polynomials of various degrees with real coefficients.
Vector realCoeff;
Vector_<Complex> roots;
for (int i = 0; i < 1000; ++i) {
int length = uniform.getIntValue();
realCoeff.resize(length);
roots.resize(length-1);
for (int j = 0; j < length; ++j)
realCoeff[j] = random.getValue();
PolynomialRootFinder::findRoots(realCoeff, roots);
verifyRoots(realCoeff, roots);
}
// Test random polynomials of various degrees with complex coefficients.
Vector_<Complex> complexCoeff;
for (int i = 0; i < 1000; ++i) {
int length = uniform.getIntValue();
complexCoeff.resize(length);
roots.resize(length-1);
for (int j = 0; j < length; ++j)
complexCoeff[j] = Complex(random.getValue(), random.getValue());
PolynomialRootFinder::findRoots(complexCoeff, roots);
verifyRoots(complexCoeff, roots);
}
// Verify that if the leading coefficient is zero, it throws an exception.
try {
realCoeff[0] = 0.0;
PolynomialRootFinder::findRoots(realCoeff, roots);
ASSERT(false)
}
catch (const PolynomialRootFinder::ZeroLeadingCoefficient&) {
}
try {
complexCoeff[0] = 0.0;
PolynomialRootFinder::findRoots(complexCoeff, roots);
ASSERT(false)
}
catch (const PolynomialRootFinder::ZeroLeadingCoefficient&) {
}
}
void Force::calcForceContribution(const State& state,
Vector_<SpatialVec>& bodyForces,
Vector_<Vec3>& particleForces,
Vector& mobilityForces) const
{
const MultibodySystem& mbs = getForceSubsystem().getMultibodySystem();
const SimbodyMatterSubsystem& matter = mbs.getMatterSubsystem();
// Resize if necessary.
bodyForces.resize(matter.getNumBodies());
particleForces.resize(matter.getNumParticles());
mobilityForces.resize(matter.getNumMobilities());
// Set all forces to zero.
bodyForces.setToZero();
particleForces.setToZero();
mobilityForces.setToZero();
if (isDisabled(state)) return;
// Add in force element contributions.
getImpl().calcForce(state,bodyForces,particleForces,mobilityForces);
}