void Simulation::computeLevelsForInputAndOutput(SP::Interaction inter, bool init)
{
DEBUG_PRINT("Simulation::computeLevelsForInputAndOutput(SP::Interaction inter, bool init)\n");
/** \warning. We test only for the first Dynamical of the interaction.
* we assume that the osi(s) are consistent for one interaction
*/
SP::InteractionsGraph indexSet0 = model()->nonSmoothDynamicalSystem()->topology()->indexSet(0);
SP::DynamicalSystem ds = indexSet0->properties(indexSet0->descriptor(inter)).source;
// Note FP : we should probably connect osi and graph before, in simulation->initialize?
DSOSIConstIterator it = _osiMap.find(ds);
SP::OneStepIntegrator osi = it->second;
if (!osi)
RuntimeException::selfThrow("Simulation::computeLevelsForInputAndOutput osi does not exists");
indexSet0->properties(indexSet0->descriptor(inter)).osi = osi;
std11::shared_ptr<SetupLevels> setupLevels;
setupLevels.reset(new SetupLevels(shared_from_this(), inter, ds));
osi->accept(*(setupLevels.get()));
if (!init) // We are not computing the levels at the initialization
{
SP::Topology topo = model()->nonSmoothDynamicalSystem()->topology();
unsigned int indxSize = topo->indexSetsSize();
assert (_numberOfIndexSets >0);
if ((indxSize == LEVELMAX) || (indxSize < _numberOfIndexSets ))
{
topo->indexSetsResize(_numberOfIndexSets);
// Init if the size has changed
for (unsigned int i = indxSize; i < topo->indexSetsSize(); i++) // ++i ???
topo->resetIndexSetPtr(i);
}
}
}
void Simulation::computeLevelsForInputAndOutput()
{
DEBUG_PRINT("Simulation::computeLevelsForInputAndOutput()\n");
SP::Topology topo = model()->nonSmoothDynamicalSystem()->topology();
InteractionsGraph::VIterator ui, uiend;
SP::InteractionsGraph indexSet0 = topo->indexSet0();
for (std11::tie(ui, uiend) = indexSet0->vertices(); ui != uiend; ++ui)
{
computeLevelsForInputAndOutput(indexSet0->bundle(*ui), true);
}
unsigned int indxSize = topo->indexSetsSize();
if ((indxSize == LEVELMAX) || (indxSize < _numberOfIndexSets ))
{
topo->indexSetsResize(_numberOfIndexSets );
// Init if the size has changed
for (unsigned int i = indxSize; i < topo->indexSetsSize(); i++) // ++i ???
topo->resetIndexSetPtr(i);
}
DEBUG_PRINTF("_numberOfIndexSets =%d\n", _numberOfIndexSets);
DEBUG_PRINTF("_levelMinForInput =%d\n", _levelMinForInput);
DEBUG_PRINTF("_levelMaxForInput =%d\n", _levelMaxForInput);
DEBUG_PRINTF("_levelMinForOutput =%d\n", _levelMinForInput);
DEBUG_PRINTF("_levelMaxForOutput =%d\n", _levelMaxForInput);
}
void EventDriven::initOSNS()
{
assert(_nsds);
assert(_nsds->topology());
// for all Interactions in indexSet[i-1], compute y[i-1] and
// update the indexSet[i]
// Note that interactions set may be empty.
InteractionsGraph::VIterator ui, uiend;
SP::Topology topo = _nsds->topology();
// === update all index sets ===
updateIndexSets();
initOSIRhs();
if (!_allNSProblems->empty()) // ie if at least a non smooth problem has been built.
{
OSI::TYPES osiType = (*_allOSI->begin())->getType();
if (osiType == OSI::LSODAROSI || osiType == OSI::HEM5OSI) //EventDriven associated with LsodarOSI OSI
{
}
else if (osiType == OSI::NEWMARKALPHAOSI) // EventDriven associated with NewMarkAlpha
{
if (_allNSProblems->size() != 3)
RuntimeException::selfThrow
(" EventDriven::initialize, \n an EventDriven simulation associated with NewMarkAlphaOSI must have three non smooth problems.\n Here, there are "
+ _allNSProblems->size());
// Initialize OSNSP at position level
(*_allNSProblems)[SICONOS_OSNSP_ED_SMOOTH_POS]->setInputOutputLevel(2);
(*_allNSProblems)[SICONOS_OSNSP_ED_SMOOTH_POS]->setIndexSetLevel(2);
(*_allNSProblems)[SICONOS_OSNSP_ED_SMOOTH_POS]->initialize(shared_from_this());
}
else
{
RuntimeException::selfThrow(" EventDriven::initialize, OSI not yet implemented.");
}
if (!((*_allNSProblems)[SICONOS_OSNSP_ED_IMPACT])) /* ie if the impact problem does not
* exist */
RuntimeException::selfThrow
("EventDriven::initialize, an EventDriven simulation must have an 'impact' non smooth problem.");
if (!((*_allNSProblems)[SICONOS_OSNSP_ED_SMOOTH_ACC])) /* ie if the acceleration-level problem
* does not exist */
RuntimeException::selfThrow
("EventDriven::initialize, an EventDriven simulation must have an 'acceleration' non smooth problem.");
// Initialize OSNSP for impact problem and at the acceleration level
// WARNING: only for Lagrangian systems - To be reviewed for other ones.
(*_allNSProblems)[SICONOS_OSNSP_ED_IMPACT]->setInputOutputLevel(1);
(*_allNSProblems)[SICONOS_OSNSP_ED_IMPACT]->setIndexSetLevel(1);
(*_allNSProblems)[SICONOS_OSNSP_ED_IMPACT]->initialize(shared_from_this());
(*_allNSProblems)[SICONOS_OSNSP_ED_SMOOTH_ACC]->setInputOutputLevel(2);
(*_allNSProblems)[SICONOS_OSNSP_ED_SMOOTH_ACC]->setIndexSetLevel(2);
(*_allNSProblems)[SICONOS_OSNSP_ED_SMOOTH_ACC]->initialize(shared_from_this());
//
// Detect NonSmoothEvent at the beginning of the simulation
if( topo->indexSetsSize() > 1)
{
SP::InteractionsGraph indexSet1 = _nsds->topology()->indexSet(1);
if (indexSet1->size() != 0) // There is one non-smooth event to be added
{
_eventsManager->scheduleNonSmoothEvent(*this, _eventsManager->startingTime(), false);
};
}
}
}
void EventDriven::updateIndexSet(unsigned int i)
{
assert(_nsds);
assert(_nsds->topology());
SP::Topology topo = _nsds->topology();
assert(i < topo->indexSetsSize() &&
"EventDriven::updateIndexSet(i), indexSets[i] does not exist.");
// IndexSets[0] must not be updated in simulation, since it belongs to Topology.
assert(i > 0 &&
"EventDriven::updateIndexSet(i=0), indexSets[0] cannot be updated.");
// For all Interactions in indexSet[i-1], compute y[i-1] and
// update the indexSet[i].
SP::InteractionsGraph indexSet1 = topo->indexSet(1);
SP::InteractionsGraph indexSet2 = topo->indexSet(2);
assert(_indexSet0);
assert(indexSet1);
assert(indexSet2);
// DEBUG_PRINTF("update indexSets start : indexSet0 size : %ld\n", indexSet0->size());
// DEBUG_PRINTF("update IndexSets start : indexSet1 size : %ld\n", indexSet1->size());
// DEBUG_PRINTF("update IndexSets start : indexSet2 size : %ld\n", indexSet2->size());
InteractionsGraph::VIterator uibegin, uipend, uip;
std11::tie(uibegin, uipend) = _indexSet0->vertices();
// loop over all vertices of the indexSet[i-1]
for (uip = uibegin; uip != uipend; ++uip)
{
SP::Interaction inter = _indexSet0->bundle(*uip);
if (i == 1) // IndexSet[1]
{
// if indexSet[1]=>getYRef(0): output y
// if indexSet[2]=>getYRef(1): output ydot
double y = inter->getYRef(0); // output to define the IndexSets at this Interaction
if (y < -_TOL_ED) // y[0] < 0
{
inter->display();
cout << "y = " << y << " < -_TOL_ED = " << -_TOL_ED <<endl;
RuntimeException::selfThrow("EventDriven::updateIndexSet, output of level 0 must be positive!!! ");
}
// 1 - If the Interaction is not yet in the set
if (!indexSet1->is_vertex(inter)) // Interaction is not yet in the indexSet[i]
{
if (fabs(y) <= _TOL_ED)
{
// vertex and edges insertions
indexSet1->copy_vertex(inter, *_indexSet0);
}
}
else // if the Interaction was already in the set
{
if (fabs(y) > _TOL_ED)
{
indexSet1->remove_vertex(inter); // remove the Interaction from IndexSet[1]
inter->lambda(1)->zero(); // reset the lambda[1] to zero
}
}
}
else if (i == 2) // IndexSet[2]
{
if (indexSet1->is_vertex(inter)) // Interaction is in the indexSet[1]
{
double y = inter->getYRef(1); // output of level 1 at this Interaction
if (!indexSet2->is_vertex(inter)) // Interaction is not yet in the indexSet[2]
{
if (fabs(y) <= _TOL_ED)
{
// vertex and edges insertions
indexSet2->copy_vertex(inter, *_indexSet0);
}
}
else // if the Interaction was already in the set
{
if (fabs(y) > _TOL_ED)
{
indexSet2->remove_vertex(inter); // remove the Interaction from IndexSet[1]
inter->lambda(2)->zero(); // reset the lambda[i] to zero
}
}
}
else // Interaction is not in the indexSet[1]
{
if (indexSet2->is_vertex(inter)) // Interaction is in the indexSet[2]
{
indexSet2->remove_vertex(inter); // remove the Interaction from IndexSet[2]
inter->lambda(2)->zero(); // reset the lambda[i] to zero
}
}
}
else
{
RuntimeException::selfThrow("EventDriven::updateIndexSet, IndexSet[i > 2] doesn't exist");
}
}
// DEBUG_PRINTF("update indexSets end : indexSet0 size : %ld\n", indexSet0->size());
// DEBUG_PRINTF("update IndexSets end : indexSet1 size : %ld\n", indexSet1->size());
// DEBUG_PRINTF("update IndexSets end : indexSet2 size : %ld\n", indexSet2->size());
}
void TimeStepping::updateIndexSet(unsigned int i)
{
// To update IndexSet i: add or remove Interactions from
// this set, depending on y values.
// boost::default_color_type is used to organize update in InteractionsGraph:
// - white_color : undiscovered vertex (Interaction)
// - gray_color : discovered vertex (Interaction) but searching descendants
// - black_color : discovered vertex (Interaction) together with the descendants
assert(_nsds);
assert(_nsds->topology());
SP::Topology topo = _nsds->topology();
assert(i < topo->indexSetsSize() &&
"TimeStepping::updateIndexSet(i), indexSets[i] does not exist.");
// IndexSets[0] must not be updated in simulation, since it belongs to Topology.
assert(i > 0 &&
"TimeStepping::updateIndexSet(i=0), indexSets[0] cannot be updated.");
// For all Interactions in indexSet[i-1], compute y[i-1] and
// update the indexSet[i].
SP::InteractionsGraph indexSet0 = topo->indexSet(0);
SP::InteractionsGraph indexSet1 = topo->indexSet(1);
assert(indexSet0);
assert(indexSet1);
DynamicalSystemsGraph& DSG0= *nonSmoothDynamicalSystem()->dynamicalSystems();
topo->setHasChanged(false);
DEBUG_PRINTF("TimeStepping::updateIndexSet(unsigned int i). update indexSets start : indexSet0 size : %ld\n", indexSet0->size());
DEBUG_PRINTF("TimeStepping::updateIndexSet(unsigned int i). update IndexSets start : indexSet1 size : %ld\n", indexSet1->size());
// Check indexSet1
InteractionsGraph::VIterator ui1, ui1end, v1next;
std11::tie(ui1, ui1end) = indexSet1->vertices();
//Remove interactions from the indexSet1
for (v1next = ui1; ui1 != ui1end; ui1 = v1next)
{
++v1next;
SP::Interaction inter1 = indexSet1->bundle(*ui1);
if (indexSet0->is_vertex(inter1))
{
InteractionsGraph::VDescriptor inter1_descr0 = indexSet0->descriptor(inter1);
assert((indexSet0->color(inter1_descr0) == boost::white_color));
indexSet0->color(inter1_descr0) = boost::gray_color;
if (Type::value(*(inter1->nonSmoothLaw())) != Type::EqualityConditionNSL)
{
// We assume that the integrator of the ds1 drive the update of the index set
//SP::OneStepIntegrator Osi = indexSet1->properties(*ui1).osi;
SP::DynamicalSystem ds1 = indexSet1->properties(*ui1).source;
OneStepIntegrator& osi = *DSG0.properties(DSG0.descriptor(ds1)).osi;
//if(predictorDeactivate(inter1,i))
if (osi.removeInteractionFromIndexSet(inter1, i))
{
// Interaction is not active
// ui1 becomes invalid
indexSet0->color(inter1_descr0) = boost::black_color;
indexSet1->eraseProperties(*ui1);
InteractionsGraph::OEIterator oei, oeiend;
for (std11::tie(oei, oeiend) = indexSet1->out_edges(*ui1);
oei != oeiend; ++oei)
{
InteractionsGraph::EDescriptor ed1, ed2;
std11::tie(ed1, ed2) = indexSet1->edges(indexSet1->source(*oei), indexSet1->target(*oei));
if (ed2 != ed1)
{
indexSet1->eraseProperties(ed1);
indexSet1->eraseProperties(ed2);
}
else
{
indexSet1->eraseProperties(ed1);
}
}
indexSet1->remove_vertex(inter1);
/* \warning V.A. 25/05/2012 : Multiplier lambda are only set to zero if they are removed from the IndexSet*/
inter1->lambda(1)->zero();
topo->setHasChanged(true);
}
}
}
else
{
// Interaction is not in indexSet0 anymore.
// ui1 becomes invalid
indexSet1->eraseProperties(*ui1);
InteractionsGraph::OEIterator oei, oeiend;
for (std11::tie(oei, oeiend) = indexSet1->out_edges(*ui1);
oei != oeiend; ++oei)
{
InteractionsGraph::EDescriptor ed1, ed2;
std11::tie(ed1, ed2) = indexSet1->edges(indexSet1->source(*oei), indexSet1->target(*oei));
if (ed2 != ed1)
{
indexSet1->eraseProperties(ed1);
indexSet1->eraseProperties(ed2);
}
else
{
indexSet1->eraseProperties(ed1);
}
}
indexSet1->remove_vertex(inter1);
topo->setHasChanged(true);
}
}
// indexSet0\indexSet1 scan
InteractionsGraph::VIterator ui0, ui0end;
//Add interaction in indexSet1
for (std11::tie(ui0, ui0end) = indexSet0->vertices(); ui0 != ui0end; ++ui0)
{
if (indexSet0->color(*ui0) == boost::black_color)
{
// reset
indexSet0->color(*ui0) = boost::white_color ;
}
else
{
if (indexSet0->color(*ui0) == boost::gray_color)
{
// reset
indexSet0->color(*ui0) = boost::white_color;
assert(indexSet1->is_vertex(indexSet0->bundle(*ui0)));
/*assert( { !predictorDeactivate(indexSet0->bundle(*ui0),i) ||
Type::value(*(indexSet0->bundle(*ui0)->nonSmoothLaw())) == Type::EqualityConditionNSL ;
});*/
}
else
{
assert(indexSet0->color(*ui0) == boost::white_color);
SP::Interaction inter0 = indexSet0->bundle(*ui0);
assert(!indexSet1->is_vertex(inter0));
bool activate = true;
if (Type::value(*(inter0->nonSmoothLaw())) != Type::EqualityConditionNSL
&& Type::value(*(inter0->nonSmoothLaw())) != Type::RelayNSL)
{
//SP::OneStepIntegrator Osi = indexSet0->properties(*ui0).osi;
// We assume that the integrator of the ds1 drive the update of the index set
SP::DynamicalSystem ds1 = indexSet1->properties(*ui0).source;
OneStepIntegrator& osi = *DSG0.properties(DSG0.descriptor(ds1)).osi;
activate = osi.addInteractionInIndexSet(inter0, i);
}
if (activate)
{
assert(!indexSet1->is_vertex(inter0));
// vertex and edges insertion in indexSet1
indexSet1->copy_vertex(inter0, *indexSet0);
topo->setHasChanged(true);
assert(indexSet1->is_vertex(inter0));
}
}
}
}
assert(indexSet1->size() <= indexSet0->size());
DEBUG_PRINTF("TimeStepping::updateIndexSet(unsigned int i). update indexSets end : indexSet0 size : %ld\n", indexSet0->size());
DEBUG_PRINTF("TimeStepping::updateIndexSet(unsigned int i). update IndexSets end : indexSet1 size : %ld\n", indexSet1->size());
}