void contactPointProcess(SiconosVector& answer,
const Interaction& inter,
const T& rel)
{
answer.resize(14);
const SiconosVector& posa = *rel.pc1();
const SiconosVector& posb = *rel.pc2();
const SiconosVector& nc = *rel.nc();
const SimpleMatrix& jachqT = *rel.jachqT();
double id = inter.number();
double mu = ask<ForMu>(*inter.nslaw());
SiconosVector cf(jachqT.size(1));
prod(*inter.lambda(1), jachqT, cf, true);
answer.setValue(0, mu);
DEBUG_PRINTF("posa(0)=%g\n", posa(0));
DEBUG_PRINTF("posa(1)=%g\n", posa(1));
DEBUG_PRINTF("posa(2)=%g\n", posa(2));
answer.setValue(1, posa(0));
answer.setValue(2, posa(1));
answer.setValue(3, posa(2));
answer.setValue(4, posb(0));
answer.setValue(5, posb(1));
answer.setValue(6, posb(2));
answer.setValue(7, nc(0));
answer.setValue(8, nc(1));
answer.setValue(9, nc(2));
answer.setValue(10, cf(0));
answer.setValue(11, cf(1));
answer.setValue(12, cf(2));
answer.setValue(13, id);
};
void SphereNEDSSphereNEDSR::computeh(double time, BlockVector& q0, SiconosVector& y)
{
double q_0 = q0(0);
double q_1 = q0(1);
double q_2 = q0(2);
double q_7 = q0(7);
double q_8 = q0(8);
double q_9 = q0(9);
y.setValue(0, distance(q_0, q_1, q_2, r1, q_7, q_8, q_9, r2));
//Approximation _Pc1=_Pc2
_Pc1->setValue(0, (r1 * q_0 + r2 * q_7) / (r1 + r2));
_Pc1->setValue(1, (r1 * q_1 + r2 * q_8) / (r1 + r2));
_Pc1->setValue(2, (r1 * q_2 + r2 * q_9) / (r1 + r2));
_Pc2->setValue(0, (r1 * q_0 + r2 * q_7) / (r1 + r2));
_Pc2->setValue(1, (r1 * q_1 + r2 * q_8) / (r1 + r2));
_Pc2->setValue(2, (r1 * q_2 + r2 * q_9) / (r1 + r2));
_Nc->setValue(0, (q_0 - q_7) / (y.getValue(0) + r1pr2));
_Nc->setValue(1, (q_1 - q_8) / (y.getValue(0) + r1pr2));
_Nc->setValue(2, (q_2 - q_9) / (y.getValue(0) + r1pr2));
//std::cout<<" SphereNEDSSphereNEDSR::computeh dist:"<<y->getValue(0)<<"\n";
//std::cout<<"_Pc:\n";
//_Pc->display();
//std::cout<<"_Nc:\n";
//_Nc->display();
}
void computeh(double time, BlockVector& q0, SiconosVector& y)
{
std::cout <<"my_NewtonEulerR:: computeh" << std:: endl;
std::cout <<"q0.size() = " << q0.size() << std:: endl;
double height = q0.getValue(0) - _sBallRadius - q0.getValue(7);
// std::cout <<"my_NewtonEulerR:: computeh _jachq" << std:: endl;
// _jachq->display();
y.setValue(0, height);
_Nc->setValue(0, 1);
_Nc->setValue(1, 0);
_Nc->setValue(2, 0);
_Pc1->setValue(0, q0.getValue(0) - _sBallRadius);
_Pc1->setValue(1, q0.getValue(1));
_Pc1->setValue(2, q0.getValue(2));
_Pc2->setValue(0,q0.getValue(7));
_Pc2->setValue(1,q0.getValue(8));
_Pc2->setValue(2,q0.getValue(9));
//printf("my_NewtonEulerR N, Pc\n");
_Nc->display();
_Pc1->display();
_Pc2->display();
std::cout <<"my_NewtonEulerR:: computeh ends" << std:: endl;
}
static
void normalize(SiconosVector& q, unsigned int i)
{
q.setValue(i, fmod(q.getValue(i), _2PI));
assert(fabs(q.getValue(i)) - std::numeric_limits<double>::epsilon() >= 0.);
assert(fabs(q.getValue(i)) < _2PI);
}
/*y = h(X)*/
void NonlinearRelationWithSignInversed::computeh(double t, SiconosVector& x, SiconosVector& lambda, SiconosVector& y)
{
#ifdef SICONOS_DEBUG
std::cout << "******** NonlinearRelationWithSignInversed::computeh computeh at " << t << std::endl;
#endif
y.setValue(0, x(0) - 4);
y.setValue(1, x(1) - 4);
y.setValue(2, x(0) - 8);
y.setValue(3, x(1) - 8);
#ifdef SICONOS_DEBUG
std::cout << "modif heval : \n";
y.display();
#endif
}
/*y = h(X)*/
void NonlinearRelationWithSign::computeh(double t, SiconosVector& x, SiconosVector& lambda, SiconosVector& y)
{
//SiconosVector& lambda = *inter.lambda(0);
#ifdef SICONOS_DEBUG
std::cout << "******** NonlinearRelationWithSign::computeh computeh at " << t << std::endl;
#endif
y.setValue(0, 4.0 - x(0));
y.setValue(1, 4.0 - x(1));
y.setValue(2, 8.0 - x(0));
y.setValue(3, 8.0 - x(1));
#ifdef SICONOS_DEBUG
std::cout << "modif heval : \n";
y.display();
#endif
}
void KneeJointR::computeh(double time, BlockVector& q0, SiconosVector& y)
{
DEBUG_BEGIN("KneeJointR::computeh(double time, BlockVector& q0, SiconosVector& y)\n");
DEBUG_EXPR(q0.display());
double X1 = q0.getValue(0);
double Y1 = q0.getValue(1);
double Z1 = q0.getValue(2);
double q10 = q0.getValue(3);
double q11 = q0.getValue(4);
double q12 = q0.getValue(5);
double q13 = q0.getValue(6);
DEBUG_PRINTF("X1 = %12.8e,\t Y1 = %12.8e,\t Z1 = %12.8e,\n",X1,Y1,Z1);
DEBUG_PRINTF("q10 = %12.8e,\t q11 = %12.8e,\t q12 = %12.8e,\t q13 = %12.8e,\n",q10,q11,q12,q13);
double X2 = 0;
double Y2 = 0;
double Z2 = 0;
double q20 = 1;
double q21 = 0;
double q22 = 0;
double q23 = 0;
if(q0.getNumberOfBlocks()>1)
{
// SP::SiconosVector x2 = _d2->q();
// DEBUG_EXPR( _d2->q()->display(););
X2 = q0.getValue(7);
Y2 = q0.getValue(8);
Z2 = q0.getValue(9);
q20 = q0.getValue(10);
q21 = q0.getValue(11);
q22 = q0.getValue(12);
q23 = q0.getValue(13);
}
y.setValue(0, Hx(X1, Y1, Z1, q10, q11, q12, q13, X2, Y2, Z2, q20, q21, q22, q23));
y.setValue(1, Hy(X1, Y1, Z1, q10, q11, q12, q13, X2, Y2, Z2, q20, q21, q22, q23));
y.setValue(2, Hz(X1, Y1, Z1, q10, q11, q12, q13, X2, Y2, Z2, q20, q21, q22, q23));
DEBUG_EXPR(y.display());
DEBUG_END("KneeJointR::computeh(double time, BlockVector& q0, SiconosVector& y)\n");
}
void OccR::computeh(double time, BlockVector& q0, SiconosVector& y)
{
const OccContactShape& pcsh1 = *this->_contact1.contactShape();
const OccContactShape& pcsh2 = *this->_contact2.contactShape();
SP::ContactShapeDistance pdist = _geometer->distance(pcsh1, pcsh2);
ContactShapeDistance& dist = *pdist;
double& X1 = dist.x1;
double& Y1 = dist.y1;
double& Z1 = dist.z1;
double& X2 = dist.x2;
double& Y2 = dist.y2;
double& Z2 = dist.z2;
double& n1x = dist.nx;
double& n1y = dist.ny;
double& n1z = dist.nz;
if(_offsetp1)
{
_Pc1->setValue(0, X1+_offset*n1x);
_Pc1->setValue(1, Y1+_offset*n1y);
_Pc1->setValue(2, Z1+_offset*n1z);
_Pc2->setValue(0, X2);
_Pc2->setValue(1, Y2);
_Pc2->setValue(2, Z2);
}
else
{
_Pc1->setValue(0, X1);
_Pc1->setValue(1, Y1);
_Pc1->setValue(2, Z1);
_Pc2->setValue(0, X2-_offset*n1x);
_Pc2->setValue(1, Y2-_offset*n1y);
_Pc2->setValue(2, Z2-_offset*n1z);
}
/* cf comments from O. Bonnefon */
_Nc->setValue(0, -n1x);
_Nc->setValue(1, -n1y);
_Nc->setValue(2, -n1z);
dist.value -= _offset;
y.setValue(0, dist.value);
}
void BulletFrom1DLocalFrameR::computeh(double time, BlockVector& q0, SiconosVector& y)
{
y.setValue(0, _contactPoints->getDistance());
btVector3 posa = _contactPoints->getPositionWorldOnA();
btVector3 posb = _contactPoints->getPositionWorldOnB();
(*pc1())(0) = posa[0];
(*pc1())(1) = posa[1];
(*pc1())(2) = posa[2];
(*pc2())(0) = posb[0];
(*pc2())(1) = posb[1];
(*pc2())(2) = posb[2];
(*nc())(0) = _contactPoints->m_normalWorldOnB[0];
(*nc())(1) = _contactPoints->m_normalWorldOnB[1];
(*nc())(2) = _contactPoints->m_normalWorldOnB[2];;
}
void SphereNEDSPlanR::computeh(double time, BlockVector& q0, SiconosVector& y)
{
double q_0 = q0(0);
double q_1 = q0(1);
double q_2 = q0(2);
y.setValue(0, distance(q_0, q_1, q_2, r));
_Pc1->setValue(0, q_0 - r * n1);
_Pc1->setValue(1, q_1 - r * n2);
_Pc1->setValue(2, q_2 - r * n3);
_Pc2->setValue(0, q_0 - r * n1);
_Pc2->setValue(1, q_1 - r * n2);
_Pc2->setValue(2, q_2 - r * n3);
_Nc->setValue(0, n1);
_Nc->setValue(1, n2);
_Nc->setValue(2, n3);
}
void computeh(double time, BlockVector& q0, SiconosVector& y)
{
double height = fabs(q0.getValue(0)) - _sBallRadius;
// std::cout <<"my_NewtonEulerR:: computeh _jachq" << std:: endl;
// _jachq->display();
y.setValue(0, height);
_Nc->setValue(0, 1);
_Nc->setValue(1, 0);
_Nc->setValue(2, 0);
_Pc1->setValue(0, height);
_Pc1->setValue(1, q0.getValue(1));
_Pc1->setValue(2, q0.getValue(2));
//_Pc2->setValue(0,hpc);
//_Pc2->setValue(1,data[q0]->getValue(1));
//_Pc2->setValue(2,data[q0]->getValue(2));
//printf("my_NewtonEulerR N, Pc\n");
//_Nc->display();
//_Pc1->display();
}
void BulletR::computeh(double time, BlockVector& q0, SiconosVector& y)
{
DEBUG_BEGIN("BulletR::computeh(...)\n");
NewtonEulerR::computeh(time, q0, y);
DEBUG_PRINT("start of computeh\n");
btVector3 posa = _contactPoints->getPositionWorldOnA();
btVector3 posb = _contactPoints->getPositionWorldOnB();
if (_flip) {
posa = _contactPoints->getPositionWorldOnB();
posb = _contactPoints->getPositionWorldOnA();
}
(*pc1())(0) = posa[0];
(*pc1())(1) = posa[1];
(*pc1())(2) = posa[2];
(*pc2())(0) = posb[0];
(*pc2())(1) = posb[1];
(*pc2())(2) = posb[2];
{
y.setValue(0, _contactPoints->getDistance());
(*nc())(0) = _contactPoints->m_normalWorldOnB[0] * (_flip ? -1 : 1);
(*nc())(1) = _contactPoints->m_normalWorldOnB[1] * (_flip ? -1 : 1);
(*nc())(2) = _contactPoints->m_normalWorldOnB[2] * (_flip ? -1 : 1);
}
DEBUG_PRINTF("distance : %g\n", y.getValue(0));
DEBUG_PRINTF("position on A : %g,%g,%g\n", posa[0], posa[1], posa[2]);
DEBUG_PRINTF("position on B : %g,%g,%g\n", posb[0], posb[1], posb[2]);
DEBUG_PRINTF("normal on B : %g,%g,%g\n", (*nc())(0), (*nc())(1), (*nc())(2));
DEBUG_END("BulletR::computeh(...)\n");
}
/*g=g(lambda)*/
void NonlinearRelationWithSignInversed::computeg(double t, SiconosVector& lambda, SiconosVector& r)
{
#ifdef SICONOS_DEBUG
std::cout << "*** NonlinearRelationWithSignInversed::computeg computeg at: " << t << std::endl;
#endif
r.setValue(0, 10.0 * (1 + lambda(2)) * (1 - lambda(1)));
r.setValue(1, 10.0 * (1 - lambda(0)) * (1 + lambda(3)));
#ifdef SICONOS_DEBUG
std::cout << "NonlinearRelationWithSignInversed::computeg with lambda=" << std::endl;
lambda.display();
std::cout << std::endl;
std::cout << "NonlinearRelationWithSignInversed::computeg modif g_alpha : \n";
r.display();
std::cout << std::endl;
#endif
}