void TimeStepping::initializeNewtonLoop()
{
DEBUG_BEGIN("TimeStepping::initializeNewtonLoop()\n");
double tkp1 = getTkp1();
assert(!isnan(tkp1));
for (OSIIterator it = _allOSI->begin(); it != _allOSI->end() ; ++it)
{
(*it)->computeInitialNewtonState();
(*it)->computeResidu();
}
// Predictive contact -- update initial contacts after updating DS positions
updateWorldFromDS();
updateInteractions();
// Changes in updateInteractions may require initialization
initializeNSDSChangelog();
SP::InteractionsGraph indexSet0 = _nsds->topology()->indexSet0();
if (indexSet0->size()>0)
{
for (OSIIterator itOSI = _allOSI->begin(); itOSI != _allOSI->end() ; ++itOSI)
{
(*itOSI)->updateOutput(nextTime());
(*itOSI)->updateInput(nextTime());
}
}
SP::DynamicalSystemsGraph dsGraph = _nsds->dynamicalSystems();
for (DynamicalSystemsGraph::VIterator vi = dsGraph->begin(); vi != dsGraph->end(); ++vi)
{
dsGraph->bundle(*vi)->updatePlugins(tkp1);
}
for (OSIIterator it = _allOSI->begin(); it != _allOSI->end() ; ++it)
(*it)->computeResidu();
if (_computeResiduY)
{
for (OSIIterator itOSI = _allOSI->begin(); itOSI != _allOSI->end() ; ++itOSI)
{
(*itOSI)->computeResiduOutput(tkp1, indexSet0);
}
}
DEBUG_END("TimeStepping::initializeNewtonLoop()\n");
}
void Simulation::processEvents()
{
_eventsManager->processEvents(*this);
if (_eventsManager->hasNextEvent())
{
// For TimeStepping Scheme, need to update IndexSets, but not for EventDriven scheme
if (Type::value(*this) != Type::EventDriven)
{
updateIndexSets();
}
}
/* should be evaluated only if needed */
SP::DynamicalSystemsGraph dsGraph = _nsds->dynamicalSystems();
for (DynamicalSystemsGraph::VIterator vi = dsGraph->begin(); vi != dsGraph->end(); ++vi)
{
dsGraph->bundle(*vi)->endStep();
}
}
void Hem5OSI::fprob(integer* IFCN,
integer* NQ,
integer* NV,
integer* NU,
integer* NL,
integer* LDG, integer* LDF, integer* LDA,
integer* NBLK, integer* NMRC,
integer* NPGP, integer* NPFL,
integer* INDGR, integer* INDGC, integer * INDFLR, integer * INDFLC,
doublereal* time,
doublereal* q, doublereal* v, doublereal* u, doublereal* xl,
doublereal* G, doublereal* GQ, doublereal * F,
doublereal* GQQ, doublereal* GT, doublereal * FL,
doublereal* QDOT, doublereal* UDOT, doublereal * AM)
{
DEBUG_PRINTF("Hem5OSI::fprob(integer* IFCN,...) with IFCN = %i \n", (int)*IFCN);
DEBUG_PRINTF("NQ = %i\t NV = %i \t NU = %i, NL = %i \n", (int)*NQ, (int)*NV, (int)*NU, (int)*NL);
DEBUG_PRINTF("LDG = %i\t LDF = %i \t LDA = %i \n", (int)*LDG, (int)*LDF, (int)*LDA);
// fill in xWork vector (ie all the x of the ds of this osi) with x
fillqWork(NQ, q);
fillvWork(NV, v);
double t = *time;
simulationLink->model()->setCurrentTime(t);
SP::DynamicalSystemsGraph dsGraph = simulationLink->model()->nonSmoothDynamicalSystem()->dynamicalSystems();
int ifcn = (int)(*IFCN);
if ((ifcn == 1) || (ifcn >= 7)) // compute Mass AM
{
unsigned int pos=0;
for (DynamicalSystemsGraph::VIterator vi = dsGraph->begin(); vi != dsGraph->end(); ++vi)
{
SP::DynamicalSystem ds = dsGraph->bundle(*vi);
if (Type::value(*ds) == Type::LagrangianDS ||
Type::value(*ds) == Type::LagrangianLinearTIDS)
{
LagrangianDS& lds = *std11::static_pointer_cast<LagrangianDS>(ds);
lds.computeMass();
for (unsigned int ii =pos ; ii < ((unsigned int)(*NV)+pos); ii ++)
{
for (unsigned int jj =pos ; jj < ((unsigned int)(*NV)+pos); jj ++)
{
AM[ii + jj*(int)(*NV)] = lds.mass()->getValue(ii,jj) ;
}
}
pos += lds.getDim();
}
else
{
RuntimeException::selfThrow("Hem5OSI::fprob(), Only integration of Lagrangian DS is allowed");
}
DEBUG_EXPR(
for (int kk =0 ; kk < (int)(*NV)* (int)(*NV); kk ++)
{
std::cout << AM[kk] << std::endl;
}
);
}
void KernelTest::t6()
{
SP::Model bouncingBall = Siconos::load("BouncingBall1.xml");
try
{
double T = bouncingBall->finalT();
double t0 = bouncingBall->t0();
double h = bouncingBall->simulation()->timeStep();
int N = (int)((T - t0) / h); // Number of time steps
SP::DynamicalSystemsGraph dsg =
bouncingBall->nonSmoothDynamicalSystem()->topology()->dSG(0);
SP::LagrangianDS ball = std11::static_pointer_cast<LagrangianDS>
(dsg->bundle(*(dsg->begin())));
SP::TimeStepping s = std11::static_pointer_cast<TimeStepping>(bouncingBall->simulation());
SP::Interaction inter;
InteractionsGraph::VIterator ui, uiend;
SP::InteractionsGraph indexSet0 = bouncingBall->nonSmoothDynamicalSystem()->topology()->indexSet(0);
for (std11::tie(ui, uiend) = indexSet0->vertices(); ui != uiend; ++ui)
inter = indexSet0->bundle(*ui);
// --- Get the values to be plotted ---
// -> saved in a matrix dataPlot
unsigned int outputSize = 5;
SimpleMatrix dataPlot(N + 1, outputSize);
SP::SiconosVector q = ball->q();
SP::SiconosVector v = ball->velocity();
SP::SiconosVector p = ball->p(1);
SP::SiconosVector lambda = inter->lambda(1);
dataPlot(0, 0) = bouncingBall->t0();
dataPlot(0, 1) = (*q)(0);
dataPlot(0, 2) = (*v)(0);
dataPlot(0, 3) = (*p)(0);
dataPlot(0, 4) = (*lambda)(0);
// --- Time loop ---
cout << "====> Start computation ... " << endl << endl;
// ==== Simulation loop - Writing without explicit event handling =====
int k = 1;
boost::progress_display show_progress(N);
boost::timer time;
time.restart();
while (s->hasNextEvent())
{
s->computeOneStep();
// --- Get values to be plotted ---
dataPlot(k, 0) = s->nextTime();
dataPlot(k, 1) = (*q)(0);
dataPlot(k, 2) = (*v)(0);
dataPlot(k, 3) = (*p)(0);
dataPlot(k, 4) = (*lambda)(0);
s->nextStep();
++show_progress;
k++;
}
cout << endl << "End of computation - Number of iterations done: " << k - 1 << endl;
cout << "Computation Time " << time.elapsed() << endl;
// --- Output files ---
cout << "====> Output file writing ..." << endl;
dataPlot.resize(k, outputSize);
ioMatrix::write("result.dat", "ascii", dataPlot, "noDim");
// Comparison with a reference file
SimpleMatrix dataPlotRef(dataPlot);
dataPlotRef.zero();
ioMatrix::read("result.ref", "ascii", dataPlotRef);
if ((dataPlot - dataPlotRef).normInf() > 1e-12)
{
std::cout <<
"Warning. The results is rather different from the reference file :"
<<
(dataPlot - dataPlotRef).normInf()
<<
std::endl;
CPPUNIT_ASSERT(false);
}
}
catch (SiconosException e)
{
cout << e.report() << endl;
CPPUNIT_ASSERT(false);
}
catch (...)
{
cout << "Exception caught in BouncingBallTS.cpp" << endl;
CPPUNIT_ASSERT(false);
}
}
