void visit(const NewtonImpactFrictionNSL& nslaw)
{
double e;
e = nslaw.en();
// Only the normal part is multiplied by e
SP::SiconosVector y_k_1 ;
y_k_1 = _inter->yMemory(_osnsp->inputOutputLevel())->getSiconosVector(1);
(*_inter->yForNSsolver())(0) += e * (*y_k_1)(0);
}
void visit(const NewtonImpactNSL& nslaw)
{
double e;
e = nslaw.e();
Index subCoord(4);
subCoord[0] = 0;
subCoord[1] = _inter->nonSmoothLaw()->size();
subCoord[2] = 0;
subCoord[3] = subCoord[1];
subscal(e, *_inter->yOld(_osnsp->inputOutputLevel()), *(_inter->yForNSsolver()), subCoord, false); // q = q + e * q
}
void visit(const NewtonImpactNSL& nslaw)
{
double e;
e = nslaw.e();
Index subCoord(4);
subCoord[0] = 0;
subCoord[1] = _inter->nonSmoothLaw()->size();
subCoord[2] = 0;
subCoord[3] = subCoord[1];
// Only the normal part is multiplied by e
SP::SiconosVector y_k_1 ;
y_k_1 = _inter->yMemory(_osnsp->inputOutputLevel())->getSiconosVector(1);
// std::cout << "y_k_1 " << std::endl;
// y_k_1->display();
subscal(e, *y_k_1, *(_inter->yForNSsolver()), subCoord, false);
}
void LsodarOSI::computeFreeOutput(InteractionsGraph::VDescriptor& vertex_inter, OneStepNSProblem* osnsp)
{
SP::OneStepNSProblems allOSNS = simulationLink->oneStepNSProblems();
SP::InteractionsGraph indexSet = osnsp->simulation()->indexSet(osnsp->indexSetLevel());
SP::Interaction inter = indexSet->bundle(vertex_inter);
VectorOfBlockVectors& DSlink = *indexSet->properties(vertex_inter).DSlink;
// Get relation and non smooth law types
RELATION::TYPES relationType = inter->relation()->getType();
RELATION::SUBTYPES relationSubType = inter->relation()->getSubType();
unsigned int sizeY = inter->nonSmoothLaw()->size();
unsigned int relativePosition = 0;
SP::Interaction mainInteraction = inter;
Index coord(8);
coord[0] = relativePosition;
coord[1] = relativePosition + sizeY;
coord[2] = 0;
coord[4] = 0;
coord[6] = 0;
coord[7] = sizeY;
SP::SiconosMatrix C;
// SP::SiconosMatrix D;
// SP::SiconosMatrix F;
SiconosVector& yForNSsolver = *inter->yForNSsolver();
SP::BlockVector Xfree;
// All of these values should be stored in the node corrseponding to the Interactionwhen a MoreauJeanOSI scheme is used.
/* V.A. 10/10/2010
* Following the type of OSNS we need to retrieve the velocity or the acceleration
* This tricks is not very nice but for the moment the OSNS do not known if
* it is in accelaration of not
*/
//SP::OneStepNSProblems allOSNS = _simulation->oneStepNSProblems();
if (((*allOSNS)[SICONOS_OSNSP_ED_SMOOTH_ACC]).get() == osnsp)
{
if (relationType == Lagrangian)
{
Xfree = DSlink[LagrangianR::xfree];
}
// else if (relationType == NewtonEuler)
// {
// Xfree = inter->data(NewtonEulerR::free);
// }
assert(Xfree);
// std::cout << "Computeqblock Xfree (Gamma)========" << std::endl;
// Xfree->display();
}
else if (((*allOSNS)[SICONOS_OSNSP_ED_IMPACT]).get() == osnsp)
{
Xfree = DSlink[LagrangianR::q1];
// std::cout << "Computeqblock Xfree (Velocity)========" << std::endl;
// Xfree->display();
}
else
RuntimeException::selfThrow(" computeqBlock for Event Event-driven is wrong ");
if (relationType == Lagrangian)
{
C = mainInteraction->relation()->C();
if (C)
{
assert(Xfree);
coord[3] = C->size(1);
coord[5] = C->size(1);
subprod(*C, *Xfree, yForNSsolver, coord, true);
}
SP::SiconosMatrix ID(new SimpleMatrix(sizeY, sizeY));
ID->eye();
Index xcoord(8);
xcoord[0] = 0;
xcoord[1] = sizeY;
xcoord[2] = 0;
xcoord[3] = sizeY;
xcoord[4] = 0;
xcoord[5] = sizeY;
xcoord[6] = 0;
xcoord[7] = sizeY;
// For the relation of type LagrangianRheonomousR
if (relationSubType == RheonomousR)
{
if (((*allOSNS)[SICONOS_OSNSP_ED_SMOOTH_ACC]).get() == osnsp)
{
RuntimeException::selfThrow("LsodarOSI::computeFreeOutput not yet implemented for LCP at acceleration level with LagrangianRheonomousR");
}
else if (((*allOSNS)[SICONOS_OSNSP_TS_VELOCITY]).get() == osnsp)
{
SiconosVector q = *DSlink[LagrangianR::q0];
SiconosVector z = *DSlink[LagrangianR::z];
std11::static_pointer_cast<LagrangianRheonomousR>(inter->relation())->computehDot(simulation()->getTkp1(), q, z);
*DSlink[LagrangianR::z] = z;
subprod(*ID, *(std11::static_pointer_cast<LagrangianRheonomousR>(inter->relation())->hDot()), yForNSsolver, xcoord, false); // y += hDot
}
else
RuntimeException::selfThrow("LsodarOSI::computeFreeOutput not implemented for SICONOS_OSNSP ");
}
// For the relation of type LagrangianScleronomousR
if (relationSubType == ScleronomousR)
{
if (((*allOSNS)[SICONOS_OSNSP_ED_SMOOTH_ACC]).get() == osnsp)
{
std11::static_pointer_cast<LagrangianScleronomousR>(inter->relation())->computedotjacqhXqdot(simulation()->getTkp1(), *inter, DSlink);
subprod(*ID, *(std11::static_pointer_cast<LagrangianScleronomousR>(inter->relation())->dotjacqhXqdot()), yForNSsolver, xcoord, false); // y += NonLinearPart
}
}
}
else
RuntimeException::selfThrow("LsodarOSI::computeFreeOutput not yet implemented for Relation of type " + relationType);
if (((*allOSNS)[SICONOS_OSNSP_ED_IMPACT]).get() == osnsp)
{
if (inter->relation()->getType() == Lagrangian || inter->relation()->getType() == NewtonEuler)
{
SP::SiconosVisitor nslEffectOnFreeOutput(new _NSLEffectOnFreeOutput(osnsp, inter));
inter->nonSmoothLaw()->accept(*nslEffectOnFreeOutput);
}
}
}
void SchatzmanPaoliOSI::computeFreeOutput(InteractionsGraph::VDescriptor& vertex_inter, OneStepNSProblem* osnsp)
{
/** \warning: ensures that it can also work with two different osi for two different ds ?
*/
SP::InteractionsGraph indexSet = osnsp->simulation()->indexSet(osnsp->indexSetLevel());
SP::Interaction inter = indexSet->bundle(vertex_inter);
SP::OneStepNSProblems allOSNS = simulationLink->oneStepNSProblems();
VectorOfBlockVectors& DSlink = *indexSet->properties(vertex_inter).DSlink;
// Get relation and non smooth law types
RELATION::TYPES relationType = inter->relation()->getType();
RELATION::SUBTYPES relationSubType = inter->relation()->getSubType();
unsigned int sizeY = inter->nonSmoothLaw()->size();
unsigned int relativePosition = 0;
Index coord(8);
coord[0] = relativePosition;
coord[1] = relativePosition + sizeY;
coord[2] = 0;
coord[4] = 0;
coord[6] = 0;
coord[7] = sizeY;
SP::SiconosMatrix C;
SP::SiconosMatrix D;
SP::SiconosMatrix F;
SP::BlockVector deltax;
SiconosVector& yForNSsolver = *inter->yForNSsolver();
SP::SiconosVector e;
SP::BlockVector Xfree;
if (relationType == NewtonEuler)
{
Xfree = DSlink[NewtonEulerR::xfree];
}
else if (relationType == Lagrangian)
{
Xfree = DSlink[LagrangianR::xfree];
}
assert(Xfree);
assert(Xfree);
SP::Interaction mainInteraction = inter;
assert(mainInteraction);
assert(mainInteraction->relation());
if (relationSubType == LinearTIR)
{
if (((*allOSNS)[SICONOS_OSNSP_TS_VELOCITY]).get() != osnsp)
RuntimeException::selfThrow("SchatzmanPaoliOSI::computeFreeOutput not yet implemented for SICONOS_OSNSP ");
C = mainInteraction->relation()->C();
if (C)
{
assert(Xfree);
coord[3] = C->size(1);
coord[5] = C->size(1);
// creates a POINTER link between workX[ds] (xfree) and the
// corresponding interactionBlock in each Interactionfor each ds of the
// current Interaction.
if (_useGammaForRelation)
{
assert(deltax);
subprod(*C, *deltax, yForNSsolver, coord, true);
}
else
{
subprod(*C, *Xfree, yForNSsolver, coord, true);
// subprod(*C,*(*(mainInteraction->dynamicalSystemsBegin()))->workspace(DynamicalSystem::free),*Yp,coord,true);
// if (mainInteraction->dynamicalSystems()->size() == 2)
// {
// subprod(*C,*(*++(mainInteraction->dynamicalSystemsBegin()))->workspace(DynamicalSystem::free),*Yp,coord,false);
// }
}
}
SP::LagrangianLinearTIR ltir = std11::static_pointer_cast<LagrangianLinearTIR> (mainInteraction->relation());
e = ltir->e();
if (e)
{
yForNSsolver += *e;
}
}
else
RuntimeException::selfThrow("SchatzmanPaoliOSI::ComputeFreeOutput not yet implemented for relation of Type : " + relationType);
if (inter->relation()->getSubType() == LinearTIR)
{
SP::SiconosVisitor nslEffectOnFreeOutput(new _NSLEffectOnFreeOutput(osnsp, inter));
inter->nonSmoothLaw()->accept(*nslEffectOnFreeOutput);
}
}