SolverSet createSolverEulerImplicitEulerImplicit(odesolver::EulerImplicitSolver& solver1, odesolver::EulerImplicitSolver& solver2)
{
odesolver::EulerImplicitSolver::SPtr solver = sofa::core::objectmodel::New<odesolver::EulerImplicitSolver>();
solver->f_rayleighStiffness.setValue( solver1.f_rayleighStiffness.getValue() < solver2.f_rayleighStiffness.getValue() ? solver1.f_rayleighStiffness.getValue() : solver2.f_rayleighStiffness.getValue() );
solver->f_rayleighMass.setValue( solver1.f_rayleighMass.getValue() < solver2.f_rayleighMass.getValue() ? solver1.f_rayleighMass.getValue() : solver2.f_rayleighMass.getValue() );
solver->f_velocityDamping.setValue( solver1.f_velocityDamping.getValue() > solver2.f_velocityDamping.getValue() ? solver1.f_velocityDamping.getValue() : solver2.f_velocityDamping.getValue());
return SolverSet(solver,
createLinearSolver(&solver1, &solver2),
createConstraintSolver(&solver1, &solver2));
}
Solution run_test(ODE& ode, TimeDisc& timeDisc,
const unsigned num_timesteps)
{
using ODE_ = ODE;
using ODET = ODETraits<ODE>;
Solution sol;
const int process_id = 0;
NumLib::TimeDiscretizedODESystem<ODE_::ODETag, NLTag>
ode_sys(process_id, ode, timeDisc);
auto linear_solver = createLinearSolver();
auto conv_crit = std::make_unique<NumLib::ConvergenceCriterionDeltaX>(
_tol, boost::none, MathLib::VecNormType::NORM2);
auto nonlinear_solver =
std::make_unique<NLSolver>(*linear_solver, _maxiter);
NumLib::TimeLoopSingleODE<NLTag> loop(ode_sys, std::move(linear_solver),
std::move(nonlinear_solver),
std::move(conv_crit));
const double t0 = ODET::t0;
const double t_end = ODET::t_end;
const double delta_t = (num_timesteps == 0) ? -1.0
: ((t_end-t0) / num_timesteps);
DBUG("Running test with %u timesteps of size %g s.", num_timesteps,
delta_t);
// initial condition
GlobalVector x0(ode.getMatrixSpecifications(process_id).nrows);
ODET::setIC(x0);
sol.ts.push_back(t0);
sol.solutions.push_back(x0);
auto cb = [&sol](const double t, GlobalVector const& x) {
sol.ts.push_back(t);
sol.solutions.push_back(x);
};
if (num_timesteps > 0)
{
EXPECT_TRUE(loop.loop(t0, x0, t_end, delta_t, cb));
}
for (auto& x : sol.solutions)
MathLib::LinAlg::setLocalAccessibleVector(x);
return sol;
}
SolverSet createSolverEulerImplicitRungeKutta4(odesolver::EulerImplicitSolver& solver1, odesolver::RungeKutta4Solver& solver2)
{
return SolverSet(copySolver<odesolver::EulerImplicitSolver>(solver1),
createLinearSolver(&solver1, NULL),
createConstraintSolver(&solver1, &solver2));
}
SolverSet createSolverStaticSolver(odesolver::StaticSolver& solver1, odesolver::StaticSolver& solver2)
{
return SolverSet(copySolver<odesolver::StaticSolver>(solver1),
createLinearSolver(&solver1, &solver2),
createConstraintSolver(&solver1, &solver2));
}
