void SchatzmanPaoliOSI::updateState(const unsigned int level)
{
double h = simulationLink->timeStep();
double RelativeTol = simulationLink->relativeConvergenceTol();
bool useRCC = simulationLink->useRelativeConvergenceCriteron();
if (useRCC)
simulationLink->setRelativeConvergenceCriterionHeld(true);
DSIterator it;
SP::SiconosMatrix W;
for (it = OSIDynamicalSystems->begin(); it != OSIDynamicalSystems->end(); ++it)
{
SP::DynamicalSystem ds = *it;
W = WMap[ds->number()];
// Get the DS type
Type::Siconos dsType = Type::value(*ds);
// 1 - Lagrangian Systems
if (dsType == Type::LagrangianDS || dsType == Type::LagrangianLinearTIDS)
{
// get dynamical system
SP::LagrangianDS d = std11::static_pointer_cast<LagrangianDS> (ds);
// SiconosVector *vfree = d->velocityFree();
SP::SiconosVector q = d->q();
bool baux = dsType == Type::LagrangianDS && useRCC && simulationLink->relativeConvergenceCriterionHeld();
if (level != LEVELMAX)
{
// To compute q, we solve W(q - qfree) = p
if (d->p(level))
{
*q = *d->p(level); // q = p
W->PLUForwardBackwardInPlace(*q);
}
// if (d->boundaryConditions())
// for (vector<unsigned int>::iterator
// itindex = d->boundaryConditions()->velocityIndices()->begin() ;
// itindex != d->boundaryConditions()->velocityIndices()->end();
// ++itindex)
// v->setValue(*itindex, 0.0);
*q += * ds->workspace(DynamicalSystem::free);
}
else
*q = * ds->workspace(DynamicalSystem::free);
// Computation of the velocity
SP::SiconosVector v = d->velocity();
SP::SiconosVector q_k_1 = d->qMemory()->getSiconosVector(1); // q_{k-1}
// std::cout << "SchatzmanPaoliOSI::updateState - q_k_1 =" <<std::endl;
// q_k_1->display();
// std::cout << "SchatzmanPaoliOSI::updateState - q =" <<std::endl;
// q->display();
*v = 1.0 / (2.0 * h) * (*q - *q_k_1);
// std::cout << "SchatzmanPaoliOSI::updateState - v =" <<std::endl;
// v->display();
// int bc=0;
// SP::SiconosVector columntmp(new SiconosVector(ds->getDim()));
// if (d->boundaryConditions())
// {
// for (vector<unsigned int>::iterator itindex = d->boundaryConditions()->velocityIndices()->begin() ;
// itindex != d->boundaryConditions()->velocityIndices()->end();
// ++itindex)
// {
// _WBoundaryConditionsMap[ds]->getCol(bc,*columntmp);
// /*\warning we assume that W is symmetric in the Lagrangian case*/
// double value = - inner_prod(*columntmp, *v);
// value += (d->p(level))->getValue(*itindex);
// /* \warning the computation of reactionToBoundaryConditions take into
// account the contact impulse but not the external and internal forces.
// A complete computation of the residue should be better */
// d->reactionToBoundaryConditions()->setValue(bc,value) ;
// bc++;
// }
if (baux)
{
ds->subWorkVector(q, DynamicalSystem::local_buffer);
double aux = ((ds->workspace(DynamicalSystem::local_buffer))->norm2()) / (ds->normRef());
if (aux > RelativeTol)
simulationLink->setRelativeConvergenceCriterionHeld(false);
}
}
//2 - Newton Euler Systems
else if (dsType == Type::NewtonEulerDS)
{
// // get dynamical system
// SP::NewtonEulerDS d = std11::static_pointer_cast<NewtonEulerDS> (ds);
// SP::SiconosVector v = d->velocity();
// #ifdef SCHATZMANPAOLI_NE_DEBUG
// std::cout<<"SchatzmanPaoliOSI::updatestate prev v"<<endl;
// v->display();
// #endif
// /*d->p has been fill by the Relation->computeInput, it contains
// B \lambda _{k+1}*/
// *v = *d->p(level); // v = p
// d->luW()->PLUForwardBackwardInPlace(*v);
// #ifdef SCHATZMANPAOLI_NE_DEBUG
// std::cout<<"SchatzmanPaoliOSI::updatestate hWB lambda"<<endl;
// v->display();
// #endif
// *v += * ds->workspace(DynamicalSystem::free);
// #ifdef SCHATZMANPAOLI_NE_DEBUG
// std::cout<<"SchatzmanPaoliOSI::updatestate work free"<<endl;
// ds->workspace(DynamicalSystem::free)->display();
// std::cout<<"SchatzmanPaoliOSI::updatestate new v"<<endl;
// v->display();
// #endif
// //compute q
// //first step consists in computing \dot q.
// //second step consists in updating q.
// //
// SP::SiconosMatrix T = d->T();
// SP::SiconosVector dotq = d->dotq();
// prod(*T,*v,*dotq,true);
// // std::cout<<"SchatzmanPaoliOSI::updateState v"<<endl;
// // v->display();
// // std::cout<<"SchatzmanPaoliOSI::updateState dotq"<<endl;
// // dotq->display();
// SP::SiconosVector q = d->q();
// // -> get previous time step state
// SP::SiconosVector dotqold = d->dotqMemory()->getSiconosVector(0);
// SP::SiconosVector qold = d->qMemory()->getSiconosVector(0);
// // *q = *qold + h*(theta * *v +(1.0 - theta)* *vold)
// double coeff = h*_theta;
// scal(coeff, *dotq, *q) ; // q = h*theta*v
// coeff = h*(1-_theta);
// scal(coeff,*dotqold,*q,false); // q += h(1-theta)*vold
// *q += *qold;
// #ifdef SCHATZMANPAOLI_NE_DEBUG
// std::cout<<"new q before normalizing"<<endl;
// q->display();
// #endif
// //q[3:6] must be normalized
// d->normalizeq();
// dotq->setValue(3,(q->getValue(3)-qold->getValue(3))/h);
// dotq->setValue(4,(q->getValue(4)-qold->getValue(4))/h);
// dotq->setValue(5,(q->getValue(5)-qold->getValue(5))/h);
// dotq->setValue(6,(q->getValue(6)-qold->getValue(6))/h);
// d->updateT();
RuntimeException::selfThrow("SchatzmanPaoliOSI::updateState - not yet implemented for Dynamical system type: " + dsType);
}
else RuntimeException::selfThrow("SchatzmanPaoliOSI::updateState - not yet implemented for Dynamical system type: " + dsType);
}
}
