void NewtonEulerR::computeOutput(double time, Interaction& inter, unsigned int derivativeNumber)
{
DEBUG_BEGIN("NewtonEulerR::computeOutput(...)\n");
DEBUG_PRINTF("with time = %f and derivativeNumber = %i starts\n", time, derivativeNumber);
VectorOfBlockVectors& DSlink = inter.linkToDSVariables();
SiconosVector& y = *inter.y(derivativeNumber);
BlockVector& q = *DSlink[NewtonEulerR::q0];
if (derivativeNumber == 0)
{
computeh(time, q, y);
}
else
{
/* \warning V.A. 15/04/2016
* We decide finally not to update the Jacobian there. To be discussed
*/
// computeJachq(time, inter, DSlink[NewtonEulerR::q0]);
// computeJachqT(inter, DSlink[NewtonEulerR::q0]);
if (derivativeNumber == 1)
{
assert(_jachqT);
assert(DSlink[NewtonEulerR::velocity]);
DEBUG_EXPR(_jachqT->display();); DEBUG_EXPR((*DSlink[NewtonEulerR::velocity]).display(););
void FirstOrderType1R::computeOutput(double time, Interaction& inter, InteractionProperties& interProp, unsigned int level)
{
SiconosVector& y = *inter.y(0);
// Warning: temporary method to have contiguous values in memory, copy of block to simple.
VectorOfBlockVectors& DSlink = *interProp.DSlink;
VectorOfVectors& workV = *interProp.workVectors;
SiconosVector& workX = *workV[FirstOrderR::vec_x];
workX = *DSlink[FirstOrderR::x];
SiconosVector& workZ = *workV[FirstOrderR::vec_z];
workZ = *DSlink[FirstOrderR::z];
computeh(time, workX, workZ, y);
*DSlink[FirstOrderR::z] = workZ;
}