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onsolver.cpp
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Created
Mon, Oct 14, 06:09
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Wed, Oct 16, 06:09 (2 d)
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rLAMMPS lammps
onsolver.cpp
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/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: onsolver.cpp *
* AUTHORS: See Author List *
* GRANTS: See Grants List *
* COPYRIGHT: (C) 2005 by Authors as listed in Author's List *
* LICENSE: Please see License Agreement *
* DOWNLOAD: Free at www.rpi.edu/~anderk5 *
* ADMINISTRATOR: Prof. Kurt Anderson *
* Computational Dynamics Lab *
* Rensselaer Polytechnic Institute *
* 110 8th St. Troy NY 12180 *
* CONTACT: anderk5@rpi.edu *
*_________________________________________________________________________*/
#include "onsolver.h"
#include "system.h"
#include "onbody.h"
#include "body.h"
#include "matrixfun.h"
#include <fstream>
using
namespace
std
;
OnSolver
::
OnSolver
(){
numbodies
=
0
;
bodyarray
=
0
;
q
=
0
;
u
=
0
;
qdot
=
0
;
udot
=
0
;
qdotdot
=
0
;
type
=
ONSOLVER
;
}
OnSolver
::~
OnSolver
(){
DeleteModel
();
}
void
OnSolver
::
DeleteModel
(){
delete
[]
bodyarray
;
delete
[]
q
;
delete
[]
u
;
delete
[]
qdot
;
delete
[]
udot
;
delete
[]
qdotdot
;
numbodies
=
0
;
}
void
OnSolver
::
CreateModel
(){
// delete old model
DeleteModel
();
// clear system body IDs (primer for traversal algorithm)
system
->
ClearBodyIDs
();
// error check for inertial frame
Body
*
sysbasebody
=
system
->
bodies
.
GetHeadElement
()
->
value
;
if
(
sysbasebody
->
GetType
()
!=
INERTIALFRAME
){
cerr
<<
"ERROR: inertial frame not at head of bodies list"
<<
endl
;
exit
(
1
);
}
// setup the O(n) spanning tree
numbodies
=
inertialframe
.
RecursiveSetup
(
(
InertialFrame
*
)
sysbasebody
);
if
(
!
numbodies
){
cerr
<<
"ERROR: unable to create O(n) model"
<<
endl
;
exit
(
1
);
}
bodyarray
=
new
OnBody
*
[
numbodies
];
CreateTopologyArray
(
0
,
&
inertialframe
);
CreateStateMatrixMaps
();
}
int
OnSolver
::
CreateTopologyArray
(
int
num
,
OnBody
*
body
){
int
i
=
num
;
bodyarray
[
i
]
=
body
;
i
++
;
OnBody
*
child
;
ListElement
<
OnBody
>*
ele
=
body
->
children
.
GetHeadElement
();
while
(
ele
){
child
=
ele
->
value
;
i
=
CreateTopologyArray
(
i
,
child
);
ele
=
ele
->
next
;
}
return
i
;
}
void
OnSolver
::
CreateStateMatrixMaps
(){
int
numstates
=
0
;
for
(
int
i
=
1
;
i
<
numbodies
;
i
++
)
numstates
+=
bodyarray
[
i
]
->
q
->
GetNumRows
();
state
.
Dim
(
numstates
);
statedot
.
Dim
(
numstates
);
statedoubledot
.
Dim
(
numstates
);
int
count
=
0
;
for
(
int
i
=
1
;
i
<
numbodies
;
i
++
){
for
(
int
j
=
0
;
j
<
bodyarray
[
i
]
->
q
->
GetNumRows
();
j
++
){
state
.
SetElementPointer
(
count
,
bodyarray
[
i
]
->
q
->
GetElementPointer
(
j
));
statedot
.
SetElementPointer
(
count
,
bodyarray
[
i
]
->
qdot
->
GetElementPointer
(
j
));
statedoubledot
.
SetElementPointer
(
count
,
bodyarray
[
i
]
->
qdotdot
->
GetElementPointer
(
j
));
count
++
;
}
}
}
void
OnSolver
::
Solve
(
double
time
,
Matrix
&
FF
){
system
->
SetTime
(
time
);
for
(
int
i
=
1
;
i
<
numbodies
;
i
++
)
bodyarray
[
i
]
->
LocalKinematics
();
Vect3
Torque
;
Torque
.
Zeros
();
Vect3
Force
;
Force
.
Zeros
();
for
(
int
i
=
numbodies
-
1
;
i
>
0
;
i
--
){
Torque
(
1
)
=
FF
(
1
,
i
);
Torque
(
2
)
=
FF
(
2
,
i
);
Torque
(
3
)
=
FF
(
3
,
i
);
Force
(
1
)
=
FF
(
4
,
i
);
Force
(
2
)
=
FF
(
5
,
i
);
Force
(
3
)
=
FF
(
6
,
i
);
bodyarray
[
i
]
->
LocalTriangularization
(
Torque
,
Force
);
}
for
(
int
i
=
1
;
i
<
numbodies
;
i
++
){
bodyarray
[
i
]
->
LocalForwardSubstitution
();
}
}
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