diff --git a/.github/workflows/makefile.yml b/.github/workflows/makefile.yml new file mode 100644 index 000000000000..4fa8413ccf6c --- /dev/null +++ b/.github/workflows/makefile.yml @@ -0,0 +1,262 @@ +# SPDX-License-Identifier: LGPL-2.1-or-later +# *************************************************************************** +# * * +# * Copyright (c) 2023 0penBrain. * +# * * +# * This file is part of FreeCAD. * +# * * +# * FreeCAD is free software: you can redistribute it and/or modify it * +# * under the terms of the GNU Lesser General Public License as * +# * published by the Free Software Foundation, either version 2.1 of the * +# * License, or (at your option) any later version. * +# * * +# * FreeCAD is distributed in the hope that it will be useful, but * +# * WITHOUT ANY WARRANTY; without even the implied warranty of * +# * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * +# * Lesser General Public License for more details. * +# * * +# * You should have received a copy of the GNU Lesser General Public * +# * License along with FreeCAD. If not, see * +# * . * +# * * +# *************************************************************************** + +# This is a build and test workflow for CI of FreeCAD. +# This workflow aims at building and testing FreeCAD on Ubuntu 22.04 using Clang. + +# Thanks to realthunder for making this! +# Thanks to realthunder for making this! +# Thanks to realthunder for making this! +# Thanks to realthunder for making this! +# Thanks to realthunder for making this! +# Thanks to realthunder for making this! +# Thanks to realthunder for making this! +# Thanks to realthunder for making this! +# Thanks to realthunder for making this! +# Thanks to realthunder for making this! +# Thanks to realthunder for making this! +# Thanks to realthunder for making this! +# Thanks to realthunder for making this! +# Thanks to realthunder for making this! + +name: Build Ubuntu 22.04 +on: + workflow_call: + inputs: + artifactBasename: + type: string + required: true + testOnBuildDir: + default: false + type: boolean + required: false + allowedToFail: + default: false + type: boolean + required: false + outputs: + reportFile: + value: ${{ jobs.Build.outputs.reportFile }} + +jobs: + Build: + runs-on: ubuntu-22.04 + continue-on-error: ${{ inputs.allowedToFail }} + env: + CCACHE_DIR: ${{ github.workspace }}/ccache + CCACHE_CONFIGPATH: ${{ github.workspace }}/ccache/config + CCACHE_MAXSIZE: 1G + CCACHE_COMPILERCHECK: "%compiler% -dumpfullversion -dumpversion" # default:mtime + CCACHE_COMPRESS: true + CCACHE_COMPRESSLEVEL: 1 + #CC: /usr/bin/gcc + #CXX: /usr/bin/g++ + CC: /usr/bin/clang + CXX: /usr/bin/clang++ + builddir: ${{ github.workspace }}/build/ + logdir: /tmp/logs/ + reportdir: /tmp/report/ + reportfilename: ${{ inputs.artifactBasename }}-report.md + defaults: + run: + shell: bash + outputs: + reportFile: ${{ steps.Init.outputs.reportFile }} + + steps: + - name: Checking out source code + uses: actions/checkout@v3 + - name: Install FreeCAD dependencies + run: | + sudo apt-get update -qq + sudo apt-get install -y --no-install-recommends \ + doxygen \ + graphviz \ + imagemagick \ + libboost-date-time-dev \ + libboost-dev \ + libboost-filesystem-dev \ + libboost-graph-dev \ + libboost-iostreams-dev \ + libboost-program-options-dev \ + libboost-python-dev \ + libboost-regex-dev \ + libboost-serialization-dev \ + libboost-thread-dev \ + libcoin-dev \ + libeigen3-dev \ + libgts-bin \ + libgts-dev \ + libkdtree++-dev \ + libmedc-dev \ + libocct-data-exchange-dev \ + libocct-ocaf-dev \ + libocct-visualization-dev \ + libopencv-dev \ + libproj-dev \ + libpyside2-dev \ + libqt5opengl5-dev \ + libqt5svg5-dev \ + libqt5x11extras5-dev \ + libqt5xmlpatterns5-dev \ + libshiboken2-dev \ + libspnav-dev \ + libvtk7-dev \ + libx11-dev \ + libxerces-c-dev \ + libzipios++-dev \ + netgen \ + netgen-headers \ + occt-draw \ + pyqt5-dev-tools \ + pyside2-tools \ + python3-dev \ + python3-git \ + python3-markdown \ + python3-matplotlib \ + python3-packaging \ + python3-pivy \ + python3-ply \ + python3-pyside2.qtcore \ + python3-pyside2.qtgui \ + python3-pyside2.qtnetwork \ + python3-pyside2.qtsvg \ + python3-pyside2.qtwebengine \ + python3-pyside2.qtwebenginecore \ + python3-pyside2.qtwebenginewidgets \ + python3-pyside2.qtwebchannel \ + python3-pyside2.qtwidgets \ + qtbase5-dev \ + qttools5-dev \ + qtwebengine5-dev \ + shiboken2 \ + swig \ + ccache \ + xvfb + - name: Make needed directories, files and initializations + id: Init + run: | + mkdir -p ${{ env.CCACHE_DIR }} + mkdir -p ${{ env.CCACHE_CONFIGPATH }} + mkdir -p ${{ env.builddir }} + mkdir -p ${{ env.logdir }} + mkdir -p ${{ env.reportdir }} + echo "reportFile=${{ env.reportfilename }}" >> $GITHUB_OUTPUT + - name: Generate cache key + id: genCacheKey + uses: ./.github/workflows/actions/linux/generateCacheKey + with: + compiler: ${{ env.CXX }} + - name: Restore Compiler Cache + uses: pat-s/always-upload-cache@v3 + with: + path: ${{ env.CCACHE_DIR }} + key: FC-${{ steps.genCacheKey.outputs.cacheKey }}-${{ github.ref }}-${{ github.run_id }} + restore-keys: | + FC-${{ steps.genCacheKey.outputs.cacheKey }}-${{ github.ref }}- + FC-${{ steps.genCacheKey.outputs.cacheKey }}- + - name: Print CCache statistics before build, reset stats and print config + run: | + ccache -s + ccache -z + ccache -p + - name: CMake Configure + uses: ./.github/workflows/actions/linux/configure + with: + builddir: ${{ env.builddir }} + logFile: ${{ env.logdir }}Cmake.log + errorFile: ${{ env.logdir }}CmakeErrors.log + reportFile: ${{env.reportdir}}${{ env.reportfilename }} + - name: CMake Build + uses: ./.github/workflows/actions/linux/build + with: + builddir: ${{ env.builddir }} + logFile: ${{ env.logdir }}Build.log + errorFile: ${{ env.logdir }}BuildErrors.log + reportFile: ${{env.reportdir}}${{ env.reportfilename }} + - name: Print ccache statistics after Build + run: | + ccache -s + - name: FreeCAD CLI tests on build dir + if: inputs.testOnBuildDir + timeout-minutes: 10 + uses: ./.github/workflows/actions/runPythonTests + with: + testDescription: "CLI tests on build dir" + testCommand: ${{ env.builddir }}bin/FreeCADCmd -t 0 + logFile: ${{ env.logdir }}TestCLIBuild.log + reportFile: ${{env.reportdir}}${{ env.reportfilename }} + - name: FreeCAD GUI tests on build dir + if: inputs.testOnBuildDir + timeout-minutes: 15 + uses: ./.github/workflows/actions/runPythonTests + with: + testDescription: "GUI tests on build dir" + testCommand: xvfb-run ${{ env.builddir }}/bin/FreeCAD -t 0 + logFile: ${{ env.logdir }}TestGUIBuild.log + reportFile: ${{env.reportdir}}${{ env.reportfilename }} + - name: C++ tests + timeout-minutes: 1 + uses: ./.github/workflows/actions/runCPPTests/runAllTests + with: + reportdir: ${{ env.reportdir }} + builddir: ${{ env.builddir }} + reportFile: ${{ env.reportdir }}${{ env.reportfilename }} + - name: CMake Install + uses: ./.github/workflows/actions/linux/install + with: + builddir: ${{ env.builddir }} + logFile: ${{ env.logdir }}Install.log + errorFile: ${{ env.logdir }}InstallErrors.log + reportFile: ${{env.reportdir}}${{ env.reportfilename }} + - name: FreeCAD CLI tests on install + timeout-minutes: 10 + uses: ./.github/workflows/actions/runPythonTests + with: + testDescription: "CLI tests on install" + testCommand: FreeCADCmd -t 0 + logFile: ${{ env.logdir }}TestCLIInstall.log + reportFile: ${{env.reportdir}}${{ env.reportfilename }} + - name: FreeCAD GUI tests on install + timeout-minutes: 15 + uses: ./.github/workflows/actions/runPythonTests + with: + testDescription: "GUI tests on install" + testCommand: xvfb-run FreeCAD -t 0 + logFile: ${{ env.logdir }}TestGUIInstall.log + reportFile: ${{env.reportdir}}${{ env.reportfilename }} + - name: Upload logs + if: always() + uses: actions/upload-artifact@v3 + with: + name: ${{ inputs.artifactBasename }}-Logs + path: | + ${{ env.logdir }} + /var/crash/*FreeCAD* + - name: Upload report + if: always() + uses: actions/upload-artifact@v3 + with: + name: ${{ env.reportfilename }} + path: | + ${{env.reportdir}}${{ env.reportfilename }} diff --git a/README.md b/README.md index b53c4926ef68..b474e808479e 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,16 @@ +# FreeCAD Context Fork +This is my small fork to get features into FreeCAD Link Stage 3 and to implement features to make my life easier. + +This fork has the Ondsel Assembly Workbench built in now. + +It also supports a new tool I made called the "assembly context creator". This lets you create assembly contexts in your part. This makes designing considerably easier. A gif will be provided soon. + +![](https://github.com/drwho495/FreeCAD-Context-Fork/blob/LinkStable/lb3-oa-context-ex2.gif) + +
+ Original FreeCAD Link Stage 3 ReadMe. Click to Expand. + + ![Logo](https://github.com/realthunder/FreeCADMakeImage/raw/master/conda/branding/asm3/icons/hicolor/64x64/apps/freecad_link.png) This is the Link branch FreeCAD, with lots of new features and enhancement. diff --git a/build-for-linux.sh b/build-for-linux.sh new file mode 100755 index 000000000000..b3b81e3b4d0b --- /dev/null +++ b/build-for-linux.sh @@ -0,0 +1,85 @@ +#!/bin/bash + +mkdir build +cd ./build + +#install deps +packages=( + "cmake" + "cmake-gui" + "libboost-date-time-dev" + "libboost-dev" + "libboost-filesystem-dev" + "libboost-graph-dev" + "libboost-iostreams-dev" + "libboost-program-options-dev" + "libboost-python-dev" + "libboost-regex-dev" + "libboost-serialization-dev" + "libboost-thread-dev" + "libcoin-dev" + "libeigen3-dev" + "libgts-bin" + "libgts-dev" + "libkdtree++-dev" + "libmedc-dev" + "libocct-data-exchange-dev" + "libocct-ocaf-dev" + "libocct-visualization-dev" + "libopencv-dev" + "libproj-dev" + "libpyside2-dev" + "libqt5opengl5-dev" + "libqt5svg5-dev" + "qtwebengine5-dev" + "libqt5x11extras5-dev" + "libqt5xmlpatterns5-dev" + "libshiboken2-dev" + "libspnav-dev" + "libvtk7-dev" + "libx11-dev" + "libxerces-c-dev" + "libzipios++-dev" + "occt-draw" + "pyside2-tools" + "python3-dev" + "python3-matplotlib" + "python3-packaging" + "python3-pivy" + "python3-ply" + "python3-pyside2.qtcore" + "python3-pyside2.qtgui" + "python3-pyside2.qtsvg" + "python3-pyside2.qtwidgets" + "python3-pyside2.qtnetwork" + "python3-pyside2.qtwebengine" + "python3-pyside2.qtwebenginecore" + "python3-pyside2.qtwebenginewidgets" + "python3-pyside2.qtwebchannel" + "python3-markdown" + "python3-git" + "python3-pyside2uic" + "qtbase5-dev" + "qttools5-dev" + "swig" + "libyaml-cpp-dev" +) + +installable_deps=() + +for dep in "${packages[@]}" +do + if apt-cache showpkg "$dep" &> /dev/null; then + installable_deps+=("$dep") + echo "$dep is installable" + + else + echo "$dep is not installable" + fi +done + +sudo apt-get install $installable_deps + +sudo cmake ../ +sudo make -j$(nproc --ignore=4) + diff --git a/lb3-oa-context-ex2.gif b/lb3-oa-context-ex2.gif new file mode 100644 index 000000000000..0fd2a1b8170b Binary files /dev/null and b/lb3-oa-context-ex2.gif differ diff --git a/src/3rdParty/CMakeLists.txt b/src/3rdParty/CMakeLists.txt index d87b5a880920..e3fac9ba2b50 100644 --- a/src/3rdParty/CMakeLists.txt +++ b/src/3rdParty/CMakeLists.txt @@ -19,3 +19,4 @@ endif() add_subdirectory(lazy_loader) add_subdirectory(libE57Format) +add_subdirectory(OndselSolver) diff --git a/src/3rdParty/OndselSolver/CMakeLists.txt b/src/3rdParty/OndselSolver/CMakeLists.txt new file mode 100644 index 000000000000..e4da2f6ce9eb --- /dev/null +++ b/src/3rdParty/OndselSolver/CMakeLists.txt @@ -0,0 +1,681 @@ +cmake_minimum_required(VERSION 3.16) + +project(OndselSolver VERSION 1.0.1 DESCRIPTION "Assembly Constraints and Multibody Dynamics code") + +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED True) + +include(GNUInstallDirs) + +if( UNIX ) + set( ONDSELSOLVER_BUILD_SHARED ON ) +ELSEIF ( APPLE ) + set( ONDSELSOLVER_BUILD_SHARED ON ) +ELSE() + set( ONDSELSOLVER_BUILD_SHARED OFF ) +ENDIF () + +if ( ONDSELSOLVER_BUILD_SHARED ) + message( STATUS "[OndselSolver] Building shared library" ) + add_library(OndselSolver SHARED) +else() + message( STATUS "[OndselSolver] Building static library" ) + add_library(OndselSolver STATIC) +endif() + + +set(ONDSELSOLVER_SRC + OndselSolver/Array.cpp + OndselSolver/FullVector.cpp + OndselSolver/RowTypeMatrix.cpp + OndselSolver/FullColumn.cpp + OndselSolver/FullMatrix.cpp + OndselSolver/FullRow.cpp + OndselSolver/Abs.cpp + OndselSolver/AbsConstraint.cpp + OndselSolver/AccICKineNewtonRaphson.cpp + OndselSolver/AccICNewtonRaphson.cpp + OndselSolver/AccKineNewtonRaphson.cpp + OndselSolver/AccNewtonRaphson.cpp + OndselSolver/AngleJoint.cpp + OndselSolver/AngleZIecJec.cpp + OndselSolver/AngleZIeqcJec.cpp + OndselSolver/AngleZIeqcJeqc.cpp + OndselSolver/AnyGeneralSpline.cpp + OndselSolver/AnyPosICNewtonRaphson.cpp + OndselSolver/ArcSine.cpp + OndselSolver/ArcTan.cpp + OndselSolver/ArcTan2.cpp + OndselSolver/Arguments.cpp + OndselSolver/ASMTAngleJoint.cpp + OndselSolver/ASMTAnimationParameters.cpp + OndselSolver/ASMTAssembly.cpp + OndselSolver/ASMTCompoundJoint.cpp + OndselSolver/ASMTConstantGravity.cpp + OndselSolver/ASMTConstantVelocityJoint.cpp + OndselSolver/ASMTConstraintSet.cpp + OndselSolver/ASMTCylindricalJoint.cpp + OndselSolver/ASMTCylSphJoint.cpp + OndselSolver/ASMTExtrusion.cpp + OndselSolver/ASMTFixedJoint.cpp + OndselSolver/ASMTForceTorque.cpp + OndselSolver/ASMTGearJoint.cpp + OndselSolver/ASMTGeneralMotion.cpp + OndselSolver/ASMTInPlaneJoint.cpp + OndselSolver/ASMTItem.cpp + OndselSolver/ASMTItemIJ.cpp + OndselSolver/ASMTJoint.cpp + OndselSolver/ASMTKinematicIJ.cpp + OndselSolver/ASMTLineInPlaneJoint.cpp + OndselSolver/ASMTMarker.cpp + OndselSolver/ASMTMotion.cpp + OndselSolver/ASMTNoRotationJoint.cpp + OndselSolver/ASMTParallelAxesJoint.cpp + OndselSolver/ASMTPart.cpp + OndselSolver/ASMTPerpendicularJoint.cpp + OndselSolver/ASMTPlanarJoint.cpp + OndselSolver/ASMTPointInLineJoint.cpp + OndselSolver/ASMTPointInPlaneJoint.cpp + OndselSolver/ASMTPrincipalMassMarker.cpp + OndselSolver/ASMTRackPinionJoint.cpp + OndselSolver/ASMTRefCurve.cpp + OndselSolver/ASMTRefItem.cpp + OndselSolver/ASMTRefPoint.cpp + OndselSolver/ASMTRefSurface.cpp + OndselSolver/ASMTRevCylJoint.cpp + OndselSolver/ASMTRevoluteJoint.cpp + OndselSolver/ASMTRevRevJoint.cpp + OndselSolver/ASMTRotationalMotion.cpp + OndselSolver/ASMTScrewJoint.cpp + OndselSolver/ASMTSimulationParameters.cpp + OndselSolver/ASMTSpatialContainer.cpp + OndselSolver/ASMTSpatialItem.cpp + OndselSolver/ASMTSphericalJoint.cpp + OndselSolver/ASMTSphSphJoint.cpp + OndselSolver/ASMTTime.cpp + OndselSolver/ASMTTranslationalJoint.cpp + OndselSolver/ASMTTranslationalMotion.cpp + OndselSolver/ASMTUniversalJoint.cpp + OndselSolver/AtPointConstraintIJ.cpp + OndselSolver/AtPointConstraintIqcJc.cpp + OndselSolver/AtPointConstraintIqcJqc.cpp + OndselSolver/AtPointConstraintIqctJqc.cpp + OndselSolver/AtPointJoint.cpp + OndselSolver/BasicIntegrator.cpp + OndselSolver/BasicQuasiIntegrator.cpp + OndselSolver/BasicUserFunction.cpp + OndselSolver/CADSystem.cpp + OndselSolver/CartesianFrame.cpp + OndselSolver/CompoundJoint.cpp + OndselSolver/Constant.cpp + OndselSolver/ConstantGravity.cpp + OndselSolver/ConstantVelocityJoint.cpp + OndselSolver/Constraint.cpp + OndselSolver/ConstraintIJ.cpp + OndselSolver/ConstVelConstraintIJ.cpp + OndselSolver/ConstVelConstraintIqcJc.cpp + OndselSolver/ConstVelConstraintIqcJqc.cpp + OndselSolver/Cosine.cpp + OndselSolver/CREATE.cpp + OndselSolver/CylindricalJoint.cpp + OndselSolver/CylSphJoint.cpp + OndselSolver/DiagonalMatrix.cpp + OndselSolver/DifferenceOperator.cpp + OndselSolver/DifferentiatedGeneralSpline.cpp + OndselSolver/DirectionCosineConstraintIJ.cpp + OndselSolver/DirectionCosineConstraintIqcJc.cpp + OndselSolver/DirectionCosineConstraintIqcJqc.cpp + OndselSolver/DirectionCosineConstraintIqctJqc.cpp + OndselSolver/DirectionCosineIecJec.cpp + OndselSolver/DirectionCosineIeqcJec.cpp + OndselSolver/DirectionCosineIeqcJeqc.cpp + OndselSolver/DirectionCosineIeqctJeqc.cpp + OndselSolver/DiscontinuityError.cpp + OndselSolver/DispCompIecJecIe.cpp + OndselSolver/DispCompIecJecKec.cpp + OndselSolver/DispCompIecJecKeqc.cpp + OndselSolver/DispCompIecJecO.cpp + OndselSolver/DispCompIeqcJecIe.cpp + OndselSolver/DispCompIeqcJecKeqc.cpp + OndselSolver/DispCompIeqcJecO.cpp + OndselSolver/DispCompIeqcJeqcIe.cpp + OndselSolver/DispCompIeqcJeqcKeqc.cpp + OndselSolver/DispCompIeqcJeqcKeqct.cpp + OndselSolver/DispCompIeqcJeqcO.cpp + OndselSolver/DispCompIeqctJeqcIe.cpp + OndselSolver/DispCompIeqctJeqcKeqct.cpp + OndselSolver/DispCompIeqctJeqcO.cpp + OndselSolver/DistanceConstraintIJ.cpp + OndselSolver/DistanceConstraintIqcJc.cpp + OndselSolver/DistanceConstraintIqcJqc.cpp + OndselSolver/DistanceConstraintIqctJqc.cpp + OndselSolver/DistancexyConstraintIJ.cpp + OndselSolver/DistancexyConstraintIqcJc.cpp + OndselSolver/DistancexyConstraintIqcJqc.cpp + OndselSolver/DistIecJec.cpp + OndselSolver/DistIeqcJec.cpp + OndselSolver/DistIeqcJeqc.cpp + OndselSolver/DistIeqctJeqc.cpp + OndselSolver/DistxyIecJec.cpp + OndselSolver/DistxyIeqcJec.cpp + OndselSolver/DistxyIeqcJeqc.cpp + OndselSolver/DistxyIeqctJeqc.cpp + OndselSolver/EigenDecomposition.cpp + OndselSolver/EndFramec.cpp + OndselSolver/EndFrameqc.cpp + OndselSolver/EndFrameqct.cpp + OndselSolver/EndFrameqct2.cpp + OndselSolver/EulerAngles.cpp + OndselSolver/EulerAnglesDDot.cpp + OndselSolver/EulerAnglesDot.cpp + OndselSolver/EulerAngleszxz.cpp + OndselSolver/EulerAngleszxzDDot.cpp + OndselSolver/EulerAngleszxzDot.cpp + OndselSolver/EulerArray.cpp + OndselSolver/EulerConstraint.cpp + OndselSolver/EulerParameters.cpp + OndselSolver/EulerParametersDDot.cpp + OndselSolver/EulerParametersDot.cpp + OndselSolver/Exponential.cpp + OndselSolver/ExpressionX.cpp + OndselSolver/ExternalSystem.cpp + OndselSolver/FixedJoint.cpp + OndselSolver/ForceTorqueData.cpp + OndselSolver/ForceTorqueItem.cpp + OndselSolver/FullMotion.cpp + OndselSolver/Function.cpp + OndselSolver/FunctionFromData.cpp + OndselSolver/FunctionWithManyArgs.cpp + OndselSolver/FunctionX.cpp + OndselSolver/FunctionXcParameter.cpp + OndselSolver/FunctionXY.cpp + OndselSolver/GearConstraintIJ.cpp + OndselSolver/GearConstraintIqcJc.cpp + OndselSolver/GearConstraintIqcJqc.cpp + OndselSolver/GearJoint.cpp + OndselSolver/GEFullMat.cpp + OndselSolver/GEFullMatFullPv.cpp + OndselSolver/GEFullMatParPv.cpp + OndselSolver/GeneralSpline.cpp + OndselSolver/GESpMat.cpp + OndselSolver/GESpMatFullPv.cpp + OndselSolver/GESpMatFullPvPosIC.cpp + OndselSolver/GESpMatParPv.cpp + OndselSolver/GESpMatParPvMarko.cpp + OndselSolver/GESpMatParPvMarkoFast.cpp + OndselSolver/GESpMatParPvPrecise.cpp + OndselSolver/ICKineIntegrator.cpp + OndselSolver/IndependentVariable.cpp + OndselSolver/InLineJoint.cpp + OndselSolver/InPlaneJoint.cpp + OndselSolver/Integral.cpp + OndselSolver/Integrator.cpp + OndselSolver/IntegratorInterface.cpp + OndselSolver/Item.cpp + OndselSolver/Joint.cpp + OndselSolver/KineIntegrator.cpp + OndselSolver/KinematicIeJe.cpp + OndselSolver/LDUFullMat.cpp + OndselSolver/LDUFullMatParPv.cpp + OndselSolver/LDUSpMat.cpp + OndselSolver/LDUSpMatParPv.cpp + OndselSolver/LDUSpMatParPvMarko.cpp + OndselSolver/LDUSpMatParPvPrecise.cpp + OndselSolver/LinearMultiStepMethod.cpp + OndselSolver/LineInPlaneJoint.cpp + OndselSolver/Ln.cpp + OndselSolver/Log10.cpp + OndselSolver/LogN.cpp + OndselSolver/MarkerFrame.cpp + OndselSolver/MatrixDecomposition.cpp + OndselSolver/MatrixGaussElimination.cpp + OndselSolver/MatrixLDU.cpp + OndselSolver/MatrixSolver.cpp + OndselSolver/MaximumIterationError.cpp + OndselSolver/MbDMath.cpp + OndselSolver/MBDynAxialRotationJoint.cpp + OndselSolver/MBDynClampJoint.cpp + OndselSolver/MBDynDriveHingeJoint.cpp + OndselSolver/MBDynInLineJoint.cpp + OndselSolver/MBDynInPlaneJoint.cpp + OndselSolver/MBDynPrismaticJoint.cpp + OndselSolver/MBDynRevoluteHingeJoint.cpp + OndselSolver/MBDynRevolutePinJoint.cpp + OndselSolver/MBDynSphericalHingeJoint.cpp + OndselSolver/MBDynTotalJoint.cpp + OndselSolver/MBDynBlock.cpp + OndselSolver/MBDynBody.cpp + OndselSolver/MBDynControlData.cpp + OndselSolver/MBDynData.cpp + OndselSolver/MBDynDrive.cpp + OndselSolver/MBDynElement.cpp + OndselSolver/MBDynGravity.cpp + OndselSolver/MBDynInitialValue.cpp + OndselSolver/MBDynItem.cpp + OndselSolver/MBDynJoint.cpp + OndselSolver/MBDynMarker.cpp + OndselSolver/MBDynNode.cpp + OndselSolver/MBDynReference.cpp + OndselSolver/MBDynStructural.cpp + OndselSolver/MBDynSystem.cpp + OndselSolver/MomentOfInertiaSolver.cpp + OndselSolver/Negative.cpp + OndselSolver/NewtonRaphson.cpp + OndselSolver/NewtonRaphsonError.cpp + OndselSolver/NoRotationJoint.cpp + OndselSolver/NotKinematicError.cpp + OndselSolver/Numeric.cpp + OndselSolver/OrbitAngleZIecJec.cpp + OndselSolver/OrbitAngleZIeqcJec.cpp + OndselSolver/OrbitAngleZIeqcJeqc.cpp + OndselSolver/Orientation.cpp + OndselSolver/ParallelAxesJoint.cpp + OndselSolver/Part.cpp + OndselSolver/PartFrame.cpp + OndselSolver/PerpendicularJoint.cpp + OndselSolver/PiecewiseFunction.cpp + OndselSolver/PlanarJoint.cpp + OndselSolver/PointInLineJoint.cpp + OndselSolver/PointInPlaneJoint.cpp + OndselSolver/Polynomial.cpp + OndselSolver/PosICDragNewtonRaphson.cpp + OndselSolver/PosICKineNewtonRaphson.cpp + OndselSolver/PosICNewtonRaphson.cpp + OndselSolver/PosKineNewtonRaphson.cpp + OndselSolver/PosNewtonRaphson.cpp + OndselSolver/PosVelAccData.cpp + OndselSolver/Power.cpp + OndselSolver/PrescribedMotion.cpp + OndselSolver/Product.cpp + OndselSolver/QuasiIntegrator.cpp + OndselSolver/RackPinConstraintIJ.cpp + OndselSolver/RackPinConstraintIqcJc.cpp + OndselSolver/RackPinConstraintIqcJqc.cpp + OndselSolver/RackPinJoint.cpp + OndselSolver/RampStepFunction.cpp + OndselSolver/Reciprocal.cpp + OndselSolver/RedundantConstraint.cpp + OndselSolver/RevCylJoint.cpp + OndselSolver/RevoluteJoint.cpp + OndselSolver/RevRevJoint.cpp + OndselSolver/ScalarNewtonRaphson.cpp + OndselSolver/ScrewConstraintIJ.cpp + OndselSolver/ScrewConstraintIqcJc.cpp + OndselSolver/ScrewConstraintIqcJqc.cpp + OndselSolver/ScrewJoint.cpp + OndselSolver/SimulationStoppingError.cpp + OndselSolver/Sine.cpp + OndselSolver/SingularMatrixError.cpp + OndselSolver/Solver.cpp + OndselSolver/SparseColumn.cpp + OndselSolver/SparseMatrix.cpp + OndselSolver/SparseRow.cpp + OndselSolver/SparseVector.cpp + OndselSolver/SphericalJoint.cpp + OndselSolver/SphSphJoint.cpp + OndselSolver/StableBackwardDifference.cpp + OndselSolver/StateData.cpp + OndselSolver/Sum.cpp + OndselSolver/Symbolic.cpp + OndselSolver/SymbolicParser.cpp + OndselSolver/SyntaxError.cpp + OndselSolver/System.cpp + OndselSolver/SystemNewtonRaphson.cpp + OndselSolver/SystemSolver.cpp + OndselSolver/Time.cpp + OndselSolver/TooManyTriesError.cpp + OndselSolver/TooSmallStepSizeError.cpp + OndselSolver/Translation.cpp + OndselSolver/TranslationalJoint.cpp + OndselSolver/TranslationConstraintIJ.cpp + OndselSolver/TranslationConstraintIqcJc.cpp + OndselSolver/TranslationConstraintIqcJqc.cpp + OndselSolver/TranslationConstraintIqctJqc.cpp + OndselSolver/Units.cpp + OndselSolver/UniversalJoint.cpp + OndselSolver/UserFunction.cpp + OndselSolver/Variable.cpp + OndselSolver/VectorNewtonRaphson.cpp + OndselSolver/VelICKineSolver.cpp + OndselSolver/VelICSolver.cpp + OndselSolver/VelKineSolver.cpp + OndselSolver/VelSolver.cpp + OndselSolver/ZRotation.cpp + OndselSolver/ZTranslation.cpp +) + +set(ONDSELSOLVER_HEADERS + OndselSolver/Array.h + OndselSolver/FullVector.h + OndselSolver/RowTypeMatrix.h + OndselSolver/FullRow.h + OndselSolver/FullColumn.h + OndselSolver/FullMatrix.h + OndselSolver/Abs.h + OndselSolver/AbsConstraint.h + OndselSolver/AccICKineNewtonRaphson.h + OndselSolver/AccICNewtonRaphson.h + OndselSolver/AccKineNewtonRaphson.h + OndselSolver/AccNewtonRaphson.h + OndselSolver/AngleJoint.h + OndselSolver/AngleZIecJec.h + OndselSolver/AngleZIeqcJec.h + OndselSolver/AngleZIeqcJeqc.h + OndselSolver/AnyGeneralSpline.h + OndselSolver/AnyPosICNewtonRaphson.h + OndselSolver/ArcSine.h + OndselSolver/ArcTan.h + OndselSolver/ArcTan2.h + OndselSolver/Arguments.h + OndselSolver/ASMTAngleJoint.h + OndselSolver/ASMTAnimationParameters.h + OndselSolver/ASMTAssembly.h + OndselSolver/ASMTCylSphJoint.h + OndselSolver/ASMTCompoundJoint.h + OndselSolver/ASMTConstantGravity.h + OndselSolver/ASMTConstantVelocityJoint.h + OndselSolver/ASMTConstraintSet.h + OndselSolver/ASMTCylindricalJoint.h + OndselSolver/ASMTExtrusion.h + OndselSolver/ASMTFixedJoint.h + OndselSolver/ASMTForceTorque.h + OndselSolver/ASMTGearJoint.h + OndselSolver/ASMTGeneralMotion.h + OndselSolver/ASMTInPlaneJoint.h + OndselSolver/ASMTItem.h + OndselSolver/ASMTItemIJ.h + OndselSolver/ASMTJoint.h + OndselSolver/ASMTKinematicIJ.h + OndselSolver/ASMTLineInPlaneJoint.h + OndselSolver/ASMTMarker.h + OndselSolver/ASMTMotion.h + OndselSolver/ASMTNoRotationJoint.h + OndselSolver/ASMTParallelAxesJoint.h + OndselSolver/ASMTPart.h + OndselSolver/ASMTPerpendicularJoint.h + OndselSolver/ASMTPlanarJoint.h + OndselSolver/ASMTPointInLineJoint.h + OndselSolver/ASMTPointInPlaneJoint.h + OndselSolver/ASMTPrincipalMassMarker.h + OndselSolver/ASMTRackPinionJoint.h + OndselSolver/ASMTRefCurve.h + OndselSolver/ASMTRefItem.h + OndselSolver/ASMTRefPoint.h + OndselSolver/ASMTRefSurface.h + OndselSolver/ASMTRevCylJoint.h + OndselSolver/ASMTRevoluteJoint.h + OndselSolver/ASMTRevRevJoint.h + OndselSolver/ASMTRotationalMotion.h + OndselSolver/ASMTScrewJoint.h + OndselSolver/ASMTSimulationParameters.h + OndselSolver/ASMTSpatialContainer.h + OndselSolver/ASMTSpatialItem.h + OndselSolver/ASMTSphericalJoint.h + OndselSolver/ASMTSphSphJoint.h + OndselSolver/ASMTTime.h + OndselSolver/ASMTTranslationalJoint.h + OndselSolver/ASMTTranslationalMotion.h + OndselSolver/ASMTUniversalJoint.h + OndselSolver/AtPointConstraintIJ.h + OndselSolver/AtPointConstraintIqcJc.h + OndselSolver/AtPointConstraintIqcJqc.h + OndselSolver/AtPointConstraintIqctJqc.h + OndselSolver/AtPointJoint.h + OndselSolver/BasicIntegrator.h + OndselSolver/BasicQuasiIntegrator.h + OndselSolver/BasicUserFunction.h + OndselSolver/CADSystem.h + OndselSolver/CartesianFrame.h + OndselSolver/CompoundJoint.h + OndselSolver/Constant.h + OndselSolver/ConstantGravity.h + OndselSolver/ConstantVelocityJoint.h + OndselSolver/Constraint.h + OndselSolver/ConstraintIJ.h + OndselSolver/ConstVelConstraintIJ.h + OndselSolver/ConstVelConstraintIqcJc.h + OndselSolver/ConstVelConstraintIqcJqc.h + OndselSolver/corecrt_math_defines.h + OndselSolver/Cosine.h + OndselSolver/CREATE.h + OndselSolver/CylindricalJoint.h + OndselSolver/CylSphJoint.h + OndselSolver/DiagonalMatrix.h + OndselSolver/DifferenceOperator.h + OndselSolver/DifferentiatedGeneralSpline.h + OndselSolver/DirectionCosineConstraintIJ.h + OndselSolver/DirectionCosineConstraintIqcJc.h + OndselSolver/DirectionCosineConstraintIqcJqc.h + OndselSolver/DirectionCosineConstraintIqctJqc.h + OndselSolver/DirectionCosineIecJec.h + OndselSolver/DirectionCosineIeqcJec.h + OndselSolver/DirectionCosineIeqcJeqc.h + OndselSolver/DirectionCosineIeqctJeqc.h + OndselSolver/DiscontinuityError.h + OndselSolver/DispCompIecJecIe.h + OndselSolver/DispCompIecJecKec.h + OndselSolver/DispCompIecJecKeqc.h + OndselSolver/DispCompIecJecO.h + OndselSolver/DispCompIeqcJecIe.h + OndselSolver/DispCompIeqcJecKeqc.h + OndselSolver/DispCompIeqcJecO.h + OndselSolver/DispCompIeqcJeqcIe.h + OndselSolver/DispCompIeqcJeqcKeqc.h + OndselSolver/DispCompIeqcJeqcKeqct.h + OndselSolver/DispCompIeqcJeqcO.h + OndselSolver/DispCompIeqctJeqcIe.h + OndselSolver/DispCompIeqctJeqcKeqct.h + OndselSolver/DispCompIeqctJeqcO.h + OndselSolver/DistanceConstraintIJ.h + OndselSolver/DistanceConstraintIqcJc.h + OndselSolver/DistanceConstraintIqcJqc.h + OndselSolver/DistanceConstraintIqctJqc.h + OndselSolver/DistancexyConstraintIJ.h + OndselSolver/DistancexyConstraintIqcJc.h + OndselSolver/DistancexyConstraintIqcJqc.h + OndselSolver/DistIecJec.h + OndselSolver/DistIeqcJec.h + OndselSolver/DistIeqcJeqc.h + OndselSolver/DistIeqctJeqc.h + OndselSolver/DistxyIecJec.h + OndselSolver/DistxyIeqcJec.h + OndselSolver/DistxyIeqcJeqc.h + OndselSolver/DistxyIeqctJeqc.h + OndselSolver/EigenDecomposition.h + OndselSolver/EndFramec.h + OndselSolver/EndFrameqc.h + OndselSolver/EndFrameqct.h + OndselSolver/EndFrameqct2.h + OndselSolver/enum.h + OndselSolver/EulerAngles.h + OndselSolver/EulerAnglesDDot.h + OndselSolver/EulerAnglesDot.h + OndselSolver/EulerAngleszxz.h + OndselSolver/EulerAngleszxzDDot.h + OndselSolver/EulerAngleszxzDot.h + OndselSolver/EulerArray.h + OndselSolver/EulerConstraint.h + OndselSolver/EulerParameters.h + OndselSolver/EulerParametersDDot.h + OndselSolver/EulerParametersDot.h + OndselSolver/Exponential.h + OndselSolver/ExpressionX.h + OndselSolver/ExternalSystem.h + OndselSolver/FixedJoint.h + OndselSolver/ForceTorqueData.h + OndselSolver/ForceTorqueItem.h + OndselSolver/FullMotion.h + OndselSolver/FullRow.h + OndselSolver/Function.h + OndselSolver/FunctionFromData.h + OndselSolver/FunctionWithManyArgs.h + OndselSolver/FunctionX.h + OndselSolver/FunctionXcParameter.h + OndselSolver/FunctionXY.h + OndselSolver/GearConstraintIJ.h + OndselSolver/GearConstraintIqcJc.h + OndselSolver/GearConstraintIqcJqc.h + OndselSolver/GearJoint.h + OndselSolver/GEFullMat.h + OndselSolver/GEFullMatFullPv.h + OndselSolver/GEFullMatParPv.h + OndselSolver/GeneralSpline.h + OndselSolver/GESpMat.h + OndselSolver/GESpMatFullPv.h + OndselSolver/GESpMatFullPvPosIC.h + OndselSolver/GESpMatParPv.h + OndselSolver/GESpMatParPvMarko.h + OndselSolver/GESpMatParPvMarkoFast.h + OndselSolver/GESpMatParPvPrecise.h + OndselSolver/ICKineIntegrator.h + OndselSolver/IndependentVariable.h + OndselSolver/InLineJoint.h + OndselSolver/InPlaneJoint.h + OndselSolver/Integrator.h + OndselSolver/IntegratorInterface.h + OndselSolver/Item.h + OndselSolver/Joint.h + OndselSolver/KineIntegrator.h + OndselSolver/KinematicIeJe.h + OndselSolver/LDUFullMat.h + OndselSolver/LDUFullMatParPv.h + OndselSolver/LDUSpMat.h + OndselSolver/LDUSpMatParPv.h + OndselSolver/LDUSpMatParPvMarko.h + OndselSolver/LDUSpMatParPvPrecise.h + OndselSolver/LinearMultiStepMethod.h + OndselSolver/LineInPlaneJoint.h + OndselSolver/Ln.h + OndselSolver/Log10.h + OndselSolver/LogN.h + OndselSolver/MarkerFrame.h + OndselSolver/MatrixDecomposition.h + OndselSolver/MatrixGaussElimination.h + OndselSolver/MatrixLDU.h + OndselSolver/MatrixSolver.h + OndselSolver/MaximumIterationError.h + OndselSolver/MbDMath.h + OndselSolver/MBDynAxialRotationJoint.h + OndselSolver/MBDynClampJoint.h + OndselSolver/MBDynDriveHingeJoint.h + OndselSolver/MBDynInLineJoint.h + OndselSolver/MBDynInPlaneJoint.h + OndselSolver/MBDynPrismaticJoint.h + OndselSolver/MBDynRevoluteHingeJoint.h + OndselSolver/MBDynRevolutePinJoint.h + OndselSolver/MBDynSphericalHingeJoint.h + OndselSolver/MBDynTotalJoint.h + OndselSolver/MBDynBlock.h + OndselSolver/MBDynBody.h + OndselSolver/MBDynControlData.h + OndselSolver/MBDynData.h + OndselSolver/MBDynElement.h + OndselSolver/MBDynGravity.h + OndselSolver/MBDynInitialValue.h + OndselSolver/MBDynItem.h + OndselSolver/MBDynJoint.h + OndselSolver/MBDynMarker.h + OndselSolver/MBDynNode.h + OndselSolver/MBDynReference.h + OndselSolver/MBDynStructural.h + OndselSolver/MBDynSystem.h + OndselSolver/MomentOfInertiaSolver.h + OndselSolver/Negative.h + OndselSolver/NewtonRaphson.h + OndselSolver/NewtonRaphsonError.h + OndselSolver/NoRotationJoint.h + OndselSolver/NotKinematicError.h + OndselSolver/Numeric.h + OndselSolver/OrbitAngleZIecJec.h + OndselSolver/OrbitAngleZIeqcJec.h + OndselSolver/OrbitAngleZIeqcJeqc.h + OndselSolver/Orientation.h + OndselSolver/ParallelAxesJoint.h + OndselSolver/Part.h + OndselSolver/PartFrame.h + OndselSolver/PerpendicularJoint.h + OndselSolver/PlanarJoint.h + OndselSolver/PointInLineJoint.h + OndselSolver/PointInPlaneJoint.h + OndselSolver/PosICDragNewtonRaphson.h + OndselSolver/PosICKineNewtonRaphson.h + OndselSolver/PosICNewtonRaphson.h + OndselSolver/PosKineNewtonRaphson.h + OndselSolver/PosNewtonRaphson.h + OndselSolver/PosVelAccData.h + OndselSolver/Power.h + OndselSolver/PrescribedMotion.h + OndselSolver/Product.h + OndselSolver/QuasiIntegrator.h + OndselSolver/RackPinConstraintIJ.h + OndselSolver/RackPinConstraintIqcJc.h + OndselSolver/RackPinConstraintIqcJqc.h + OndselSolver/RackPinJoint.h + OndselSolver/Reciprocal.h + OndselSolver/RedundantConstraint.h + OndselSolver/resource.h + OndselSolver/RevCylJoint.h + OndselSolver/RevoluteJoint.h + OndselSolver/RevRevJoint.h + OndselSolver/ScalarNewtonRaphson.h + OndselSolver/ScrewConstraintIJ.h + OndselSolver/ScrewConstraintIqcJc.h + OndselSolver/ScrewConstraintIqcJqc.h + OndselSolver/ScrewJoint.h + OndselSolver/SimulationStoppingError.h + OndselSolver/Sine.h + OndselSolver/SingularMatrixError.h + OndselSolver/Solver.h + OndselSolver/SparseColumn.h + OndselSolver/SparseMatrix.h + OndselSolver/SparseRow.h + OndselSolver/SparseVector.h + OndselSolver/SphericalJoint.h + OndselSolver/SphSphJoint.h + OndselSolver/StableBackwardDifference.h + OndselSolver/StateData.h + OndselSolver/Sum.h + OndselSolver/Symbolic.h + OndselSolver/SymbolicParser.h + OndselSolver/SyntaxError.h + OndselSolver/System.h + OndselSolver/SystemNewtonRaphson.h + OndselSolver/SystemSolver.h + OndselSolver/Time.h + OndselSolver/TooManyTriesError.h + OndselSolver/TooSmallStepSizeError.h + OndselSolver/Translation.h + OndselSolver/TranslationalJoint.h + OndselSolver/TranslationConstraintIJ.h + OndselSolver/TranslationConstraintIqcJc.h + OndselSolver/TranslationConstraintIqcJqc.h + OndselSolver/TranslationConstraintIqctJqc.h + OndselSolver/Units.h + OndselSolver/UniversalJoint.h + OndselSolver/UserFunction.h + OndselSolver/Variable.h + OndselSolver/VectorNewtonRaphson.h + OndselSolver/VelICKineSolver.h + OndselSolver/VelICSolver.h + OndselSolver/VelKineSolver.h + OndselSolver/VelSolver.h + OndselSolver/ZRotation.h + OndselSolver/ZTranslation.h +) + +target_sources(OndselSolver PRIVATE + "${ONDSELSOLVER_SRC}" + "${ONDSELSOLVER_HEADERS}") + +set_target_properties(OndselSolver + PROPERTIES VERSION ${PROJECT_VERSION} + SOVERSION 1 + PUBLIC_HEADER "${ONDSELSOLVER_HEADERS}" +) + +configure_file(OndselSolver.pc.in ${CMAKE_BINARY_DIR}/OndselSolver.pc @ONLY) +install(TARGETS OndselSolver + LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} + PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/OndselSolver) +install(FILES ${CMAKE_BINARY_DIR}/OndselSolver.pc + DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig) diff --git a/src/3rdParty/OndselSolver/LICENSE 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Here is a sample; alter the names: + +Yoyodyne, Inc., hereby disclaims all copyright interest in +the library `Frob' (a library for tweaking knobs) written +by James Random Hacker. + +signature of Ty Coon, 1 April 1990 +Ty Coon, President of Vice + +That's all there is to it! diff --git a/src/3rdParty/OndselSolver/OndselSolver.pc.in b/src/3rdParty/OndselSolver/OndselSolver.pc.in new file mode 100644 index 000000000000..076f352c6abc --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver.pc.in @@ -0,0 +1,12 @@ +prefix=@CMAKE_INSTALL_PREFIX@ +exec_prefix=@CMAKE_INSTALL_PREFIX@ +libdir=${exec_prefix}/@CMAKE_INSTALL_LIBDIR@ +includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@ + +Name: @PROJECT_NAME@ +Description: @PROJECT_DESCRIPTION@ +Version: @PROJECT_VERSION@ + +Requires: +Libs: -L${libdir} -lOndselSolver +Cflags: -I${includedir} \ No newline at end of file diff --git a/src/3rdParty/OndselSolver/OndselSolver.sln b/src/3rdParty/OndselSolver/OndselSolver.sln new file mode 100644 index 000000000000..2d4c7344e447 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver.sln @@ -0,0 +1,31 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio Version 17 +VisualStudioVersion = 17.5.33530.505 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "OndselSolver", "OndselSolver\OndselSolver.vcxproj", "{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|x64 = Debug|x64 + Debug|x86 = Debug|x86 + Release|x64 = Release|x64 + Release|x86 = Release|x86 + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Debug|x64.ActiveCfg = Debug|x64 + {80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Debug|x64.Build.0 = Debug|x64 + {80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Debug|x86.ActiveCfg = Debug|Win32 + {80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Debug|x86.Build.0 = Debug|Win32 + {80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Release|x64.ActiveCfg = Release|x64 + {80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Release|x64.Build.0 = Release|x64 + {80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Release|x86.ActiveCfg = Release|Win32 + {80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Release|x86.Build.0 = Release|Win32 + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + SolutionGuid = {BD48A6EF-4E93-4C09-BCE1-84F0439DB2D9} + EndGlobalSection +EndGlobal diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTAngleJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTAngleJoint.cpp new file mode 100644 index 000000000000..baac67572499 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTAngleJoint.cpp @@ -0,0 +1,50 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTAngleJoint.h" +#include "AngleJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTAngleJoint::mbdClassNew() +{ + return CREATE::With(); +} + +void MbD::ASMTAngleJoint::parseASMT(std::vector& lines) +{ + ASMTJoint::parseASMT(lines); + readTheIzJz(lines); +} + +void MbD::ASMTAngleJoint::readTheIzJz(std::vector& lines) +{ + if (lines[0].find("theIzJz") == std::string::npos) { + theIzJz = 0.0; + } + else { + lines.erase(lines.begin()); + theIzJz = readDouble(lines[0]); + lines.erase(lines.begin()); + } +} + +void MbD::ASMTAngleJoint::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + ASMTJoint::createMbD(mbdSys, mbdUnits); + auto angleJoint = std::static_pointer_cast(mbdObject); + angleJoint->theIzJz = theIzJz; +} + +void MbD::ASMTAngleJoint::storeOnLevel(std::ofstream& os, int level) +{ + ASMTJoint::storeOnLevel(os, level); + storeOnLevelString(os, level + 1, "theIzJz"); + storeOnLevelDouble(os, level + 2, theIzJz); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTAngleJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTAngleJoint.h new file mode 100644 index 000000000000..f49618ac4d72 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTAngleJoint.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTJoint.h" + +namespace MbD { + class ASMTAngleJoint : public ASMTJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + void parseASMT(std::vector& lines) override; + void readTheIzJz(std::vector& lines); + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + void storeOnLevel(std::ofstream& os, int level) override; + + double theIzJz = 0.0; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTAnimationParameters.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTAnimationParameters.cpp new file mode 100644 index 000000000000..853f115db915 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTAnimationParameters.cpp @@ -0,0 +1,61 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ASMTAnimationParameters.h" + +using namespace MbD; + +void MbD::ASMTAnimationParameters::parseASMT(std::vector& lines) +{ + //int nframe, icurrent, istart, iend, framesPerSecond; + //bool isForward; + int pos = (int)lines[0].find_first_not_of("\t"); + auto leadingTabs = lines[0].substr(0, pos); + assert(lines[0] == (leadingTabs + "nframe")); + lines.erase(lines.begin()); + nframe = readInt(lines[0]); + lines.erase(lines.begin()); + assert(lines[0] == (leadingTabs + "icurrent")); + lines.erase(lines.begin()); + icurrent = readInt(lines[0]); + lines.erase(lines.begin()); + assert(lines[0] == (leadingTabs + "istart")); + lines.erase(lines.begin()); + istart = readInt(lines[0]); + lines.erase(lines.begin()); + assert(lines[0] == (leadingTabs + "iend")); + lines.erase(lines.begin()); + iend = readInt(lines[0]); + lines.erase(lines.begin()); + assert(lines[0] == (leadingTabs + "isForward")); + lines.erase(lines.begin()); + isForward = readBool(lines[0]); + lines.erase(lines.begin()); + assert(lines[0] == (leadingTabs + "framesPerSecond")); + lines.erase(lines.begin()); + framesPerSecond = readInt(lines[0]); + lines.erase(lines.begin()); + +} + +void MbD::ASMTAnimationParameters::storeOnLevel(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "AnimationParameters"); + storeOnLevelString(os, level + 1, "nframe"); + storeOnLevelInt(os, level + 2, nframe); + storeOnLevelString(os, level + 1, "icurrent"); + storeOnLevelInt(os, level + 2, icurrent); + storeOnLevelString(os, level + 1, "istart"); + storeOnLevelInt(os, level + 2, istart); + storeOnLevelString(os, level + 1, "iend"); + storeOnLevelInt(os, level + 2, iend); + storeOnLevelString(os, level + 1, "isForward"); + storeOnLevelBool(os, level + 2, isForward); + storeOnLevelString(os, level + 1, "framesPerSecond"); + storeOnLevelInt(os, level + 2, framesPerSecond); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTAnimationParameters.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTAnimationParameters.h new file mode 100644 index 000000000000..181a0f8ccafc --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTAnimationParameters.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTItem.h" + +namespace MbD { + class ASMTAnimationParameters : public ASMTItem + { + // + public: + void parseASMT(std::vector& lines) override; + void storeOnLevel(std::ofstream& os, int level) override; + + int nframe = 1000000, icurrent = 1, istart = 1, iend = 1000000, framesPerSecond = 30; + bool isForward = true; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTAssembly.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTAssembly.cpp new file mode 100644 index 000000000000..68194b7d3d2a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTAssembly.cpp @@ -0,0 +1,1388 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include +#include +#include +#include +#include + +#include "ASMTAssembly.h" +#include "CREATE.h" +#include "ASMTRevoluteJoint.h" +#include "ASMTCylindricalJoint.h" +#include "ASMTRotationalMotion.h" +#include "ASMTTranslationalMotion.h" +#include "ASMTMarker.h" +#include "ASMTPart.h" +#include "ASMTTranslationalJoint.h" +#include "ASMTSphericalJoint.h" +#include "ASMTFixedJoint.h" +#include "ASMTGeneralMotion.h" +#include "ASMTUniversalJoint.h" +#include "ASMTPointInPlaneJoint.h" +#include "ASMTPrincipalMassMarker.h" +#include "ASMTForceTorque.h" +#include "ASMTConstantGravity.h" +#include "ASMTSimulationParameters.h" +#include "ASMTAnimationParameters.h" +#include "Part.h" +#include "ASMTTime.h" +#include "ASMTItemIJ.h" +#include "ASMTAngleJoint.h" +#include "ASMTConstantVelocityJoint.h" +#include "ASMTCylSphJoint.h" +#include "ASMTGearJoint.h" +#include "ASMTPointInLineJoint.h" +#include "ASMTRevCylJoint.h" +#include "ASMTSphSphJoint.h" +#include "ASMTLineInPlaneJoint.h" +#include "ASMTPlanarJoint.h" +#include "ASMTNoRotationJoint.h" +#include "ASMTParallelAxesJoint.h" +#include "ASMTPerpendicularJoint.h" +#include "ASMTRackPinionJoint.h" +#include "ASMTScrewJoint.h" +#include "SimulationStoppingError.h" +#include "ASMTKinematicIJ.h" +#include "ASMTRefPoint.h" +#include "ASMTRefCurve.h" +#include "ASMTRefSurface.h" +#include "ExternalSystem.h" +#include "SystemSolver.h" +#include "ASMTRevRevJoint.h" + +using namespace MbD; + +MbD::ASMTAssembly::ASMTAssembly() : ASMTSpatialContainer() +{ + times = std::make_shared>(); +} + +std::shared_ptr MbD::ASMTAssembly::With() +{ + auto assembly = std::make_shared(); + return assembly; +} + +void MbD::ASMTAssembly::runSinglePendulumSuperSimplified() +{ + //In this version we skip declaration of variables that don't need as they use default values. + auto assembly = CREATE::With(); + + assembly->setName("Assembly1"); + + auto mkr = CREATE::With(); + mkr->setName("Marker1"); + assembly->addMarker(mkr); + + auto part = CREATE::With(); + part->setName("Part1"); + part->setPosition3D(-0.1, -0.1, -0.1); + assembly->addPart(part); + + mkr = CREATE::With(); + mkr->setName("Marker1"); + mkr->setPosition3D(0.1, 0.1, 0.1); + part->addMarker(mkr); + + auto joint = CREATE::With(); + joint->setName("Joint1"); + joint->setMarkerI("/Assembly1/Marker1"); + joint->setMarkerJ("/Assembly1/Part1/Marker1"); + assembly->addJoint(joint); + + auto simulationParameters = CREATE::With(); + simulationParameters->settstart(0.0); + simulationParameters->settend(0.0); //tstart == tend Initial Conditions only. + simulationParameters->sethmin(1.0e-9); + simulationParameters->sethmax(1.0); + simulationParameters->sethout(0.04); + simulationParameters->seterrorTol(1.0e-6); + assembly->setSimulationParameters(simulationParameters); + + assembly->runKINEMATIC(); +} + +void MbD::ASMTAssembly::runSinglePendulumSuperSimplified2() +{ + //In this version we skip declaration of variables that don't need as they use default values. + auto assembly = CREATE::With(); + assembly->setName("OndselAssembly"); + + auto mkr = CREATE::With(); + mkr->setName("marker1"); + assembly->addMarker(mkr); + + auto part = CREATE::With(); + part->setName("part1"); + assembly->addPart(part); + + auto marker1 = CREATE::With(); + marker1->setName("FixingMarker"); + part->addMarker(marker1); + + auto marker2 = CREATE::With(); + marker2->setName("marker2"); + marker2->setPosition3D(20.0, 10.0, 0.0); + part->addMarker(marker2); + + auto part2 = CREATE::With(); + part2->setName("part2"); + part2->setPosition3D(20.0, 10.0, 0.0); + assembly->addPart(part2); + + auto marker3 = CREATE::With(); + marker3->setName("marker2"); + marker3->setPosition3D(50.0, 10.0, 0.0); + part2->addMarker(marker3); + + /*Ground joint*/ + auto joint = CREATE::With(); + joint->setName("Joint1"); + joint->setMarkerI("/OndselAssembly/marker1"); + joint->setMarkerJ("/OndselAssembly/part1/FixingMarker"); + assembly->addJoint(joint); + + auto joint2 = CREATE::With(); + joint2->setName("Joint2"); + joint2->setMarkerI("/OndselAssembly/part1/marker2"); + joint2->setMarkerJ("/OndselAssembly/part2/marker2"); + assembly->addJoint(joint2); + + auto simulationParameters = CREATE::With(); + simulationParameters->settstart(0.0); + simulationParameters->settend(0.0); //tstart == tend Initial Conditions only. + simulationParameters->sethmin(1.0e-9); + simulationParameters->sethmax(1.0); + simulationParameters->sethout(0.04); + simulationParameters->seterrorTol(1.0e-6); + assembly->setSimulationParameters(simulationParameters); + + assembly->runKINEMATIC(); +} + +void MbD::ASMTAssembly::runSinglePendulumSimplified() +{ + auto assembly = CREATE::With(); + + assembly->setNotes(""); + assembly->setName("Assembly1"); + assembly->setPosition3D(0, 0, 0); + assembly->setRotationMatrix( + 1, 0, 0, + 0, 1, 0, + 0, 0, 1); + assembly->setVelocity3D(0, 0, 0); + assembly->setOmega3D(0, 0, 0); + + auto massMarker = std::make_shared(); + massMarker->setMass(0.0); + massMarker->setDensity(0.0); + massMarker->setMomentOfInertias(0, 0, 0); + massMarker->setPosition3D(0, 0, 0); + massMarker->setRotationMatrix( + 1, 0, 0, + 0, 1, 0, + 0, 0, 1); + assembly->setPrincipalMassMarker(massMarker); + + auto mkr = CREATE::With(); + mkr->setName("Marker1"); + mkr->setPosition3D(0, 0, 0); + mkr->setRotationMatrix( + 1, 0, 0, + 0, 1, 0, + 0, 0, 1); + assembly->addMarker(mkr); + + auto part = CREATE::With(); + part->setName("Part1"); + part->setPosition3D(-0.1, -0.1, -0.1); + part->setRotationMatrix( + 1, 0, 0, + 0, 1, 0, + 0, 0, 1); + part->setVelocity3D(0, 0, 0); + part->setOmega3D(0, 0, 0); + assembly->addPart(part); + + massMarker = std::make_shared(); + massMarker->setMass(0.2); + massMarker->setDensity(10.0); + massMarker->setMomentOfInertias(8.3333333333333e-4, 0.016833333333333, 0.017333333333333); + massMarker->setPosition3D(0.5, 0.1, 0.05); + massMarker->setRotationMatrix( + 1, 0, 0, + 0, 1, 0, + 0, 0, 1); + part->setPrincipalMassMarker(massMarker); + + mkr = CREATE::With(); + mkr->setName("Marker1"); + mkr->setPosition3D(0.1, 0.1, 0.1); + mkr->setRotationMatrix( + 1, 0, 0, + 0, 1, 0, + 0, 0, 1); + part->addMarker(mkr); + + auto joint = CREATE::With(); + joint->setName("Joint1"); + joint->setMarkerI("/Assembly1/Marker1"); + joint->setMarkerJ("/Assembly1/Part1/Marker1"); + assembly->addJoint(joint); + + auto motion = CREATE::With(); + motion->setName("Motion1"); + motion->setMotionJoint("/Assembly1/Joint1"); + motion->setRotationZ("0.0"); + assembly->addMotion(motion); + + auto constantGravity = CREATE::With(); + constantGravity->setg(0.0, 0.0, 0.0); + assembly->setConstantGravity(constantGravity); + + auto simulationParameters = CREATE::With(); + simulationParameters->settstart(0.0); + simulationParameters->settend(0.0); //tstart == tend Initial Conditions only. + simulationParameters->sethmin(1.0e-9); + simulationParameters->sethmax(1.0); + simulationParameters->sethout(0.04); + simulationParameters->seterrorTol(1.0e-6); + assembly->setSimulationParameters(simulationParameters); + + assembly->runKINEMATIC(); +} + +void MbD::ASMTAssembly::runSinglePendulum() +{ + auto assembly = CREATE::With(); + std::string str = ""; + assembly->setNotes(str); + str = "Assembly1"; + assembly->setName(str); + auto pos3D = std::make_shared>(ListD{ 0, 0, 0 }); + assembly->setPosition3D(pos3D); + auto rotMat = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + assembly->setRotationMatrix(rotMat); + auto vel3D = std::make_shared>(ListD{ 0, 0, 0 }); + assembly->setVelocity3D(vel3D); + auto ome3D = std::make_shared>(ListD{ 0, 0, 0 }); + assembly->setOmega3D(ome3D); + // + auto massMarker = std::make_shared(); + massMarker->setMass(0.0); + massMarker->setDensity(0.0); + auto aJ = std::make_shared>(ListD{ 0, 0, 0 }); + massMarker->setMomentOfInertias(aJ); + pos3D = std::make_shared>(ListD{ 0, 0, 0 }); + massMarker->setPosition3D(pos3D); + rotMat = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + massMarker->setRotationMatrix(rotMat); + assembly->setPrincipalMassMarker(massMarker); + // + auto mkr = CREATE::With(); + str = "Marker1"; + mkr->setName(str); + pos3D = std::make_shared>(ListD{ 0, 0, 0 }); + mkr->setPosition3D(pos3D); + rotMat = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + mkr->setRotationMatrix(rotMat); + assembly->addMarker(mkr); + // + auto part = CREATE::With(); + str = "Part1"; + part->setName(str); + pos3D = std::make_shared>(ListD{ -0.1, -0.1, -0.1 }); + part->setPosition3D(pos3D); + rotMat = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + part->setRotationMatrix(rotMat); + vel3D = std::make_shared>(ListD{ 0, 0, 0 }); + part->setVelocity3D(vel3D); + ome3D = std::make_shared>(ListD{ 0, 0, 0 }); + part->setOmega3D(ome3D); + assembly->addPart(part); + // + massMarker = std::make_shared(); + massMarker->setMass(0.2); + massMarker->setDensity(10.0); + aJ = std::make_shared>(ListD{ 8.3333333333333e-4, 0.016833333333333, 0.017333333333333 }); + massMarker->setMomentOfInertias(aJ); + pos3D = std::make_shared>(ListD{ 0.5, 0.1, 0.05 }); + massMarker->setPosition3D(pos3D); + rotMat = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + massMarker->setRotationMatrix(rotMat); + part->setPrincipalMassMarker(massMarker); + // + mkr = CREATE::With(); + str = "Marker1"; + mkr->setName(str); + pos3D = std::make_shared>(ListD{ 0.1, 0.1, 0.1 }); + mkr->setPosition3D(pos3D); + rotMat = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + mkr->setRotationMatrix(rotMat); + part->addMarker(mkr); + // + auto joint = CREATE::With(); + str = "Joint1"; + joint->setName(str); + str = "/Assembly1/Marker1"; + joint->setMarkerI(str); + str = "/Assembly1/Part1/Marker1"; + joint->setMarkerJ(str); + assembly->addJoint(joint); + // + auto motion = CREATE::With(); + str = "Motion1"; + motion->setName(str); + str = "/Assembly1/Joint1"; + motion->setMotionJoint(str); + str = "0.0"; + motion->setRotationZ(str); + assembly->addMotion(motion); + // + auto constantGravity = CREATE::With(); + auto gAcceleration = std::make_shared>(ListD{ 0.0, 0.0, 0.0 }); + constantGravity->setg(gAcceleration); + assembly->setConstantGravity(constantGravity); + // + auto simulationParameters = CREATE::With(); + simulationParameters->settstart(0.0); + simulationParameters->settend(0.0); //tstart == tend Initial Conditions only. + simulationParameters->sethmin(1.0e-9); + simulationParameters->sethmax(1.0); + simulationParameters->sethout(0.04); + simulationParameters->seterrorTol(1.0e-6); + assembly->setSimulationParameters(simulationParameters); + // + assembly->runKINEMATIC(); +} + +std::shared_ptr MbD::ASMTAssembly::assemblyFromFile(const char* fileName) +{ + std::ifstream stream(fileName); + if (stream.fail()) { + throw std::invalid_argument("File not found."); + } + std::string line; + std::vector lines; + while (std::getline(stream, line)) { + lines.push_back(line); + } + auto assembly = ASMTAssembly::With(); + auto str = assembly->popOffTop(lines); + bool bool1 = str == "freeCAD: 3D CAD with Motion Simulation by askoh.com"; + bool bool2 = str == "OndselSolver"; + assert(bool1 || bool2); + assert(assembly->readStringOffTop(lines) == "Assembly"); + assembly->setFilename(fileName); + assembly->parseASMT(lines); + return assembly; +} + +void MbD::ASMTAssembly::runFile(const char* fileName) +{ + std::ifstream stream(fileName); + if (stream.fail()) { + throw std::invalid_argument("File not found."); + } + std::string line; + std::vector lines; + while (std::getline(stream, line)) { + lines.push_back(line); + } + bool bool1 = lines[0] == "freeCAD: 3D CAD with Motion Simulation by askoh.com"; + bool bool2 = lines[0] == "OndselSolver"; + assert(bool1 || bool2); + lines.erase(lines.begin()); + + if (lines[0] == "Assembly") { + lines.erase(lines.begin()); + auto assembly = CREATE::With(); + assembly->setFilename(fileName); + assembly->parseASMT(lines); + assembly->runKINEMATIC(); + } +} + +void MbD::ASMTAssembly::runDraggingTest() +{ + auto assembly = ASMTAssembly::assemblyFromFile("../testapp/dragCrankSlider.asmt"); + auto dragPart = assembly->parts->at(0); + auto dragParts = std::make_shared>>(); + dragParts->push_back(dragPart); + assembly->runPreDrag(); //Do this before first drag + FColDsptr pos3D, delta; + pos3D = dragPart->position3D; + delta = std::make_shared>(ListD{ 0.1, 0.2, 0.3 }); + dragPart->updateMbDFromPosition3D(pos3D->plusFullColumn(delta)); + assembly->runDragStep(dragParts); + pos3D = dragPart->position3D; + delta = std::make_shared>(ListD{ 0.3, 0.2, 0.1 }); + dragPart->updateMbDFromPosition3D(pos3D->plusFullColumn(delta)); + assembly->runDragStep(dragParts); + assembly->runPostDrag(); //Do this after last drag +} + +void MbD::ASMTAssembly::readWriteFile(const char* fileName) +{ + std::ifstream stream(fileName); + if (stream.fail()) { + throw std::invalid_argument("File not found."); + } + std::string line; + std::vector lines; + while (std::getline(stream, line)) { + lines.push_back(line); + } + bool bool1 = lines[0] == "freeCAD: 3D CAD with Motion Simulation by askoh.com"; + bool bool2 = lines[0] == "OndselSolver"; + assert(bool1 || bool2); + lines.erase(lines.begin()); + + if (lines[0] == "Assembly") { + lines.erase(lines.begin()); + auto assembly = CREATE::With(); + assembly->parseASMT(lines); + assembly->runKINEMATIC(); + assembly->outputFile("assembly.asmt"); + ASMTAssembly::runFile("assembly.asmt"); + } +} + +void MbD::ASMTAssembly::initialize() +{ + ASMTSpatialContainer::initialize(); + times = std::make_shared>(); +} + +ASMTAssembly* MbD::ASMTAssembly::root() +{ + return this; +} + +void MbD::ASMTAssembly::setNotes(std::string str) +{ + notes = str; +} + +void MbD::ASMTAssembly::parseASMT(std::vector& lines) +{ + readNotes(lines); + readName(lines); + readPosition3D(lines); + readRotationMatrix(lines); + readVelocity3D(lines); + readOmega3D(lines); + initprincipalMassMarker(); + readRefPoints(lines); + readRefCurves(lines); + readRefSurfaces(lines); + readParts(lines); + readKinematicIJs(lines); + readConstraintSets(lines); + readForcesTorques(lines); + readConstantGravity(lines); + readSimulationParameters(lines); + readAnimationParameters(lines); + readTimeSeries(lines); + readAssemblySeries(lines); + readPartSeriesMany(lines); + readJointSeriesMany(lines); + readMotionSeriesMany(lines); +} + +void MbD::ASMTAssembly::readNotes(std::vector& lines) +{ + assert(lines[0] == "\tNotes"); + lines.erase(lines.begin()); + notes = readString(lines[0]); + lines.erase(lines.begin()); +} + +void MbD::ASMTAssembly::readParts(std::vector& lines) +{ + assert(lines[0] == "\tParts"); + lines.erase(lines.begin()); + parts->clear(); + auto it = std::find(lines.begin(), lines.end(), "\tKinematicIJs"); + std::vector partsLines(lines.begin(), it); + while (!partsLines.empty()) { + readPart(partsLines); + } + lines.erase(lines.begin(), it); + +} + +void MbD::ASMTAssembly::readPart(std::vector& lines) +{ + assert(lines[0] == "\t\tPart"); + lines.erase(lines.begin()); + auto part = CREATE::With(); + part->parseASMT(lines); + parts->push_back(part); + part->owner = this; +} + +void MbD::ASMTAssembly::readKinematicIJs(std::vector& lines) +{ + assert(lines[0] == "\tKinematicIJs"); + lines.erase(lines.begin()); + kinematicIJs->clear(); + auto it = std::find(lines.begin(), lines.end(), "\tConstraintSets"); + std::vector kinematicIJsLines(lines.begin(), it); + while (!kinematicIJsLines.empty()) { + readKinematicIJ(kinematicIJsLines); + } + lines.erase(lines.begin(), it); + +} + +void MbD::ASMTAssembly::readKinematicIJ(std::vector&) +{ + assert(false); +} + +void MbD::ASMTAssembly::readConstraintSets(std::vector& lines) +{ + assert(lines[0] == "\tConstraintSets"); + lines.erase(lines.begin()); + readJoints(lines); + readMotions(lines); + readGeneralConstraintSets(lines); +} + +void MbD::ASMTAssembly::readJoints(std::vector& lines) +{ + assert(lines[0] == "\t\tJoints"); + lines.erase(lines.begin()); + joints->clear(); + auto it = std::find(lines.begin(), lines.end(), "\t\tMotions"); + std::vector jointsLines(lines.begin(), it); + std::shared_ptr joint; + while (!jointsLines.empty()) { + if (jointsLines[0] == "\t\t\tAngleJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tGearJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tNoRotationJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tParallelAxesJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tPerpendicularJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tRackPinionJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tScrewJoint") { + joint = CREATE::With(); + } + //AtPointJoints + else if (jointsLines[0] == "\t\t\tConstantVelocityJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tFixedJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tRevoluteJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tSphericalJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tUniversalJoint") { + joint = CREATE::With(); + } + //CompoundJoints + else if (jointsLines[0] == "\t\t\tSphSphJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tCylSphJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tRevCylJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tRevRevJoint") { + joint = CREATE::With(); + } + //InLineJoints + else if (jointsLines[0] == "\t\t\tCylindricalJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tPointInLineJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tTranslationalJoint") { + joint = CREATE::With(); + } + //InPlaneJoints + else if (jointsLines[0] == "\t\t\tLineInPlaneJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tPlanarJoint") { + joint = CREATE::With(); + } + else if (jointsLines[0] == "\t\t\tPointInPlaneJoint") { + joint = CREATE::With(); + } + else { + assert(false); + } + jointsLines.erase(jointsLines.begin()); + joint->parseASMT(jointsLines); + joints->push_back(joint); + joint->owner = this; + } + lines.erase(lines.begin(), it); + +} + +void MbD::ASMTAssembly::readMotions(std::vector& lines) +{ + assert(lines[0] == "\t\tMotions"); + lines.erase(lines.begin()); + motions->clear(); + auto it = std::find(lines.begin(), lines.end(), "\t\tGeneralConstraintSets"); + std::vector motionsLines(lines.begin(), it); + std::shared_ptr motion; + while (!motionsLines.empty()) { + if (motionsLines[0] == "\t\t\tRotationalMotion") { + motion = CREATE::With(); + } + else if (motionsLines[0] == "\t\t\tTranslationalMotion") { + motion = CREATE::With(); + } + else if (motionsLines[0] == "\t\t\tGeneralMotion") { + motion = CREATE::With(); + } + else { + assert(false); + } + motionsLines.erase(motionsLines.begin()); + motion->parseASMT(motionsLines); + motions->push_back(motion); + motion->owner = this; + motion->initMarkers(); + } + lines.erase(lines.begin(), it); + +} + +void MbD::ASMTAssembly::readGeneralConstraintSets(std::vector& lines) +{ + assert(lines[0] == "\t\tGeneralConstraintSets"); + lines.erase(lines.begin()); + constraintSets->clear(); + auto it = std::find(lines.begin(), lines.end(), "\tForceTorques"); + std::vector generalConstraintSetsLines(lines.begin(), it); + while (!generalConstraintSetsLines.empty()) { + assert(false); + } + lines.erase(lines.begin(), it); +} + +void MbD::ASMTAssembly::readForcesTorques(std::vector& lines) +{ + assert(lines[0] == "\tForceTorques"); //Spelling is not consistent in asmt file. + lines.erase(lines.begin()); + forcesTorques->clear(); + auto it = std::find(lines.begin(), lines.end(), "\tConstantGravity"); + std::vector forcesTorquesLines(lines.begin(), it); + while (!forcesTorquesLines.empty()) { + if (forcesTorquesLines[0] == "\t\tForceTorque") { + forcesTorquesLines.erase(forcesTorquesLines.begin()); + auto forceTorque = CREATE::With(); + forceTorque->parseASMT(forcesTorquesLines); + forcesTorques->push_back(forceTorque); + forceTorque->owner = this; + } + else { + assert(false); + } + } + lines.erase(lines.begin(), it); +} + +void MbD::ASMTAssembly::readConstantGravity(std::vector& lines) +{ + assert(lines[0] == "\tConstantGravity"); + lines.erase(lines.begin()); + constantGravity = CREATE::With(); + constantGravity->parseASMT(lines); + constantGravity->owner = this; +} + +void MbD::ASMTAssembly::readSimulationParameters(std::vector& lines) +{ + assert(lines[0] == "\tSimulationParameters"); + lines.erase(lines.begin()); + simulationParameters = CREATE::With(); + simulationParameters->parseASMT(lines); + simulationParameters->owner = this; +} + +void MbD::ASMTAssembly::readAnimationParameters(std::vector& lines) +{ + assert(lines[0] == "\tAnimationParameters"); + lines.erase(lines.begin()); + animationParameters = CREATE::With(); + animationParameters->parseASMT(lines); + animationParameters->owner = this; +} + +void MbD::ASMTAssembly::readTimeSeries(std::vector& lines) +{ + if (lines.empty()) return; + assert(lines[0] == "TimeSeries"); + lines.erase(lines.begin()); + assert(lines[0].find("Number\tInput") != std::string::npos); + lines.erase(lines.begin()); + readTimes(lines); +} + +void MbD::ASMTAssembly::readTimes(std::vector& lines) +{ + if (lines.empty()) return; + std::string str = lines[0]; + std::string substr = "Time\tInput"; + auto pos = str.find(substr); + assert(pos != std::string::npos); + str.erase(0, pos + substr.length()); + times = readRowOfDoubles(str); + times->insert(times->begin(), times->at(0)); //The first element is the input state. + lines.erase(lines.begin()); +} + +void MbD::ASMTAssembly::readPartSeriesMany(std::vector& lines) +{ + if (lines.empty()) return; + assert(lines[0].find("PartSeries") != std::string::npos); + auto it = std::find_if(lines.begin(), lines.end(), [](const std::string& s) { + return s.find("JointSeries") != std::string::npos; + }); + std::vector partSeriesLines(lines.begin(), it); + while (!partSeriesLines.empty()) { + readPartSeries(partSeriesLines); + } + lines.erase(lines.begin(), it); +} + +void MbD::ASMTAssembly::readJointSeriesMany(std::vector& lines) +{ + if (lines.empty()) return; + assert(lines[0].find("JointSeries") != std::string::npos); + auto it = std::find_if(lines.begin(), lines.end(), [](const std::string& s) { + return s.find("MotionSeries") != std::string::npos; + }); + std::vector jointSeriesLines(lines.begin(), it); + while (!jointSeriesLines.empty()) { + readJointSeries(jointSeriesLines); + } + lines.erase(lines.begin(), it); +} + +void MbD::ASMTAssembly::readAssemblySeries(std::vector& lines) +{ + if (lines.empty()) return; + std::string str = lines[0]; + std::string substr = "AssemblySeries"; + auto pos = str.find(substr); + assert(pos != std::string::npos); + str.erase(0, pos + substr.length()); + auto seriesName = readString(str); + assert(fullName("") == seriesName); + lines.erase(lines.begin()); + //xs, ys, zs, bryxs, bryys, bryzs + readXs(lines); + readYs(lines); + readZs(lines); + readBryantxs(lines); + readBryantys(lines); + readBryantzs(lines); + readVXs(lines); + readVYs(lines); + readVZs(lines); + readOmegaXs(lines); + readOmegaYs(lines); + readOmegaZs(lines); + readAXs(lines); + readAYs(lines); + readAZs(lines); + readAlphaXs(lines); + readAlphaYs(lines); + readAlphaZs(lines); +} + +void MbD::ASMTAssembly::readPartSeries(std::vector& lines) +{ + if (lines.empty()) return; + std::string str = lines[0]; + std::string substr = "PartSeries"; + auto pos = str.find(substr); + assert(pos != std::string::npos); + str.erase(0, pos + substr.length()); + auto seriesName = readString(str); + auto it = std::find_if(parts->begin(), parts->end(), [&](const std::shared_ptr& prt) { + return prt->fullName("") == seriesName; + }); + auto& part = *it; + part->readPartSeries(lines); +} + +void MbD::ASMTAssembly::readJointSeries(std::vector& lines) +{ + if (lines.empty()) return; + std::string str = lines[0]; + std::string substr = "JointSeries"; + auto pos = str.find(substr); + assert(pos != std::string::npos); + str.erase(0, pos + substr.length()); + auto seriesName = readString(str); + auto it = std::find_if(joints->begin(), joints->end(), [&](const std::shared_ptr& jt) { + return jt->fullName("") == seriesName; + }); + auto& joint = *it; + joint->readJointSeries(lines); +} + +void MbD::ASMTAssembly::readMotionSeriesMany(std::vector& lines) +{ + while (!lines.empty()) { + assert(lines[0].find("MotionSeries") != std::string::npos); + readMotionSeries(lines); + } +} + +void MbD::ASMTAssembly::readMotionSeries(std::vector& lines) +{ + if (lines.empty()) return; + std::string str = lines[0]; + std::string substr = "MotionSeries"; + auto pos = str.find(substr); + assert(pos != std::string::npos); + str.erase(0, pos + substr.length()); + auto seriesName = readString(str); + auto it = std::find_if(motions->begin(), motions->end(), [&](const std::shared_ptr& jt) { + return jt->fullName("") == seriesName; + }); + auto& motion = *it; + motion->readMotionSeries(lines); +} + +void MbD::ASMTAssembly::outputFor(AnalysisType) +{ + assert(false); +} + +void MbD::ASMTAssembly::preMbDrun(std::shared_ptr mbdSys) +{ + calcCharacteristicDimensions(); + deleteMbD(); + createMbD(mbdSys, mbdUnits); + std::static_pointer_cast(mbdObject)->asFixed(); +} + +void MbD::ASMTAssembly::postMbDrun() +{ + assert(false); +} + +void MbD::ASMTAssembly::calcCharacteristicDimensions() +{ + auto unitTime = this->calcCharacteristicTime(); + auto unitMass = this->calcCharacteristicMass(); + auto unitLength = this->calcCharacteristicLength(); + auto unitAngle = 1.0; + this->mbdUnits = std::make_shared(unitTime, unitMass, unitLength, unitAngle); + this->mbdUnits = std::make_shared(1.0, 1.0, 1.0, 1.0); //for debug +} + +double MbD::ASMTAssembly::calcCharacteristicTime() +{ + return std::abs(simulationParameters->hout); +} + +double MbD::ASMTAssembly::calcCharacteristicMass() +{ + auto n = (int)parts->size(); + double sumOfSquares = 0.0; + for (int i = 0; i < n; i++) + { + auto mass = parts->at(i)->principalMassMarker->mass; + sumOfSquares += mass * mass; + } + auto unitMass = std::sqrt(sumOfSquares / n); + if (unitMass <= 0) unitMass = 1.0; + return unitMass; +} + +double MbD::ASMTAssembly::calcCharacteristicLength() +{ + auto markerMap = this->markerMap(); + auto lengths = std::make_shared>(); + auto connectorList = this->connectorList(); + for (auto& connector : *connectorList) { + auto& mkrI = markerMap->at(connector->markerI); + lengths->push_back(mkrI->rpmp()->length()); + auto& mkrJ = markerMap->at(connector->markerJ); + lengths->push_back(mkrJ->rpmp()->length()); + } + auto n = (int)lengths->size(); + double sumOfSquares = std::accumulate(lengths->begin(), lengths->end(), 0.0, [](double sum, double l) { return sum + l * l; }); + auto unitLength = std::sqrt(sumOfSquares / std::max((int)n, 1)); + if (unitLength <= 0) unitLength = 1.0; + return unitLength; +} + +std::shared_ptr>> MbD::ASMTAssembly::connectorList() +{ + auto list = std::make_shared>>(); + list->insert(list->end(), joints->begin(), joints->end()); + list->insert(list->end(), motions->begin(), motions->end()); + list->insert(list->end(), kinematicIJs->begin(), kinematicIJs->end()); + list->insert(list->end(), forcesTorques->begin(), forcesTorques->end()); + return list; +} + +std::shared_ptr>> MbD::ASMTAssembly::markerMap() +{ + auto answer = std::make_shared>>(); + for (auto& refPoint : *refPoints) { + for (auto& marker : *refPoint->markers) { + answer->insert(std::make_pair(marker->fullName(""), marker)); + } + } + for (auto& part : *parts) { + for (auto& refPoint : *part->refPoints) { + for (auto& marker : *refPoint->markers) { + answer->insert(std::make_pair(marker->fullName(""), marker)); + } + } + } + return answer; +} + +void MbD::ASMTAssembly::deleteMbD() +{ + ASMTSpatialContainer::deleteMbD(); + constantGravity->deleteMbD(); + asmtTime->deleteMbD(); + for (auto& part : *parts) { part->deleteMbD(); } + for (auto& joint : *joints) { joint->deleteMbD(); } + for (auto& motion : *motions) { motion->deleteMbD(); } + for (auto& forceTorque : *forcesTorques) { forceTorque->deleteMbD(); } + + +} + +void MbD::ASMTAssembly::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + ASMTSpatialContainer::createMbD(mbdSys, mbdUnits); + constantGravity->createMbD(mbdSys, mbdUnits); + asmtTime->createMbD(mbdSys, mbdUnits); + std::sort(parts->begin(), parts->end(), [](std::shared_ptr a, std::shared_ptr b) { return a->name < b->name; }); + auto jointsMotions = std::make_shared>>(); + jointsMotions->insert(jointsMotions->end(), joints->begin(), joints->end()); + jointsMotions->insert(jointsMotions->end(), motions->begin(), motions->end()); + std::sort(jointsMotions->begin(), jointsMotions->end(), [](std::shared_ptr a, std::shared_ptr b) { return a->name < b->name; }); + std::sort(forcesTorques->begin(), forcesTorques->end(), [](std::shared_ptr a, std::shared_ptr b) { return a->name < b->name; }); + for (auto& part : *parts) { part->createMbD(mbdSys, mbdUnits); } + for (auto& joint : *jointsMotions) { joint->createMbD(mbdSys, mbdUnits); } + for (auto& forceTorque : *forcesTorques) { forceTorque->createMbD(mbdSys, mbdUnits); } + + auto& mbdSysSolver = mbdSys->systemSolver; + mbdSysSolver->errorTolPosKine = simulationParameters->errorTolPosKine; + mbdSysSolver->errorTolAccKine = simulationParameters->errorTolAccKine; + mbdSysSolver->iterMaxPosKine = simulationParameters->iterMaxPosKine; + mbdSysSolver->iterMaxAccKine = simulationParameters->iterMaxAccKine; + mbdSysSolver->tstart = simulationParameters->tstart / mbdUnits->time; + mbdSysSolver->tend = simulationParameters->tend / mbdUnits->time; + mbdSysSolver->hmin = simulationParameters->hmin / mbdUnits->time; + mbdSysSolver->hmax = simulationParameters->hmax / mbdUnits->time; + mbdSysSolver->hout = simulationParameters->hout / mbdUnits->time; + mbdSysSolver->corAbsTol = simulationParameters->corAbsTol; + mbdSysSolver->corRelTol = simulationParameters->corRelTol; + mbdSysSolver->intAbsTol = simulationParameters->intAbsTol; + mbdSysSolver->intRelTol = simulationParameters->intRelTol; + mbdSysSolver->iterMaxDyn = simulationParameters->iterMaxDyn; + mbdSysSolver->orderMax = simulationParameters->orderMax; + mbdSysSolver->translationLimit = simulationParameters->translationLimit / mbdUnits->length; + mbdSysSolver->rotationLimit = simulationParameters->rotationLimit; + //animationParameters = nullptr; +} + +void MbD::ASMTAssembly::outputFile(std::string filename) +{ + std::ofstream os(filename); + os << std::setprecision(static_cast(std::numeric_limits::digits10) + 1); + // try { + os << "OndselSolver" << std::endl; + storeOnLevel(os, 0); + os.close(); + // } + // catch (...) { + // os.close(); + // } +} + +void MbD::ASMTAssembly::storeOnLevel(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "Assembly"); + storeOnLevelNotes(os, level + 1); + storeOnLevelName(os, level + 1); + ASMTSpatialContainer::storeOnLevel(os, level); + + storeOnLevelParts(os, level + 1); + storeOnLevelKinematicIJs(os, level + 1); + storeOnLevelConstraintSets(os, level + 1); + storeOnLevelForceTorques(os, level + 1); + constantGravity->storeOnLevel(os, level + 1); + simulationParameters->storeOnLevel(os, level + 1); + animationParameters->storeOnLevel(os, level + 1); + storeOnTimeSeries(os); +} + +void MbD::ASMTAssembly::solve() +{ + auto simulationParameters = CREATE::With(); + simulationParameters->settstart(0.0); + simulationParameters->settend(0.0); //tstart == tend Initial Conditions only. + simulationParameters->sethmin(1.0e-9); + simulationParameters->sethmax(1.0); + simulationParameters->sethout(0.04); + simulationParameters->seterrorTol(1.0e-6); + setSimulationParameters(simulationParameters); + + runKINEMATIC(); +} + +void MbD::ASMTAssembly::runPreDrag() +{ + mbdSystem = std::make_shared(); + mbdSystem->externalSystem->asmtAssembly = this; + try { + mbdSystem->runPreDrag(mbdSystem); + } + catch (SimulationStoppingError ex) { + + } +} + +void MbD::ASMTAssembly::runDragStep(std::shared_ptr>> dragParts) +{ + auto dragMbDParts = std::make_shared>>(); + for (auto& dragPart : *dragParts) { + auto dragMbDPart = std::static_pointer_cast(dragPart->mbdObject); + dragMbDParts->push_back(dragMbDPart); + } + mbdSystem->runDragStep(dragMbDParts); +} + +void MbD::ASMTAssembly::runPostDrag() +{ + runPreDrag(); +} + +void MbD::ASMTAssembly::runKINEMATIC() +{ + mbdSystem = std::make_shared(); + mbdSystem->externalSystem->asmtAssembly = this; + try { + mbdSystem->runKINEMATIC(mbdSystem); + } + catch (SimulationStoppingError ex) { + + } +} + +void MbD::ASMTAssembly::initprincipalMassMarker() +{ + principalMassMarker = std::make_shared(); + principalMassMarker->mass = 0.0; + principalMassMarker->density = 0.0; + principalMassMarker->momentOfInertias = std::make_shared>(3, 0); + //principalMassMarker->position3D = std::make_shared>(3, 0); + //principalMassMarker->rotationMatrix = FullMatrix>::identitysptr(3); +} + +std::shared_ptr MbD::ASMTAssembly::spatialContainerAt(std::shared_ptr self, std::string& longname) +{ + if ((self->fullName("")) == longname) return self; + auto it = std::find_if(parts->begin(), parts->end(), [&](const std::shared_ptr& prt) { + return prt->fullName("") == longname; + }); + auto& part = *it; + return part; +} + +std::shared_ptr MbD::ASMTAssembly::markerAt(std::string& longname) +{ + for (auto& refPoint : *refPoints) { + for (auto& marker : *refPoint->markers) { + if (marker->fullName("") == longname) return marker; + } + } + for (auto& part : *parts) { + for (auto& refPoint : *part->refPoints) { + for (auto& marker : *refPoint->markers) { + if (marker->fullName("") == longname) return marker; + } + } + } + return nullptr; +} + +std::shared_ptr MbD::ASMTAssembly::jointAt(std::string& longname) +{ + auto it = std::find_if(joints->begin(), joints->end(), [&](const std::shared_ptr& jt) { + return jt->fullName("") == longname; + }); + auto& joint = *it; + return joint; +} + +std::shared_ptr MbD::ASMTAssembly::motionAt(std::string& longname) +{ + auto it = std::find_if(motions->begin(), motions->end(), [&](const std::shared_ptr& mt) { + return mt->fullName("") == longname; + }); + auto& motion = *it; + return motion; +} + +std::shared_ptr MbD::ASMTAssembly::forceTorqueAt(std::string& longname) +{ + auto it = std::find_if(forcesTorques->begin(), forcesTorques->end(), [&](const std::shared_ptr& mt) { + return mt->fullName("") == longname; + }); + auto& forceTorque = *it; + return forceTorque; +} + +FColDsptr MbD::ASMTAssembly::vOcmO() +{ + return std::make_shared>(3, 0.0); +} + +FColDsptr MbD::ASMTAssembly::omeOpO() +{ + return std::make_shared>(3, 0.0); +} + +std::shared_ptr MbD::ASMTAssembly::geoTime() +{ + return asmtTime; +} + +void MbD::ASMTAssembly::updateFromMbD() +{ + ASMTSpatialContainer::updateFromMbD(); + auto time = asmtTime->getValue(); + times->push_back(time); + std::cout << "Time = " << time << std::endl; + for (auto& part : *parts) part->updateFromMbD(); + for (auto& joint : *joints) joint->updateFromMbD(); + for (auto& motion : *motions) motion->updateFromMbD(); + for (auto& forceTorque : *forcesTorques) forceTorque->updateFromMbD(); +} + +void MbD::ASMTAssembly::compareResults(AnalysisType type) +{ + ASMTSpatialContainer::compareResults(type); + for (auto& part : *parts) part->compareResults(type); + for (auto& joint : *joints) joint->compareResults(type); + for (auto& motion : *motions) motion->compareResults(type); + for (auto& forceTorque : *forcesTorques) forceTorque->compareResults(type); +} + +void MbD::ASMTAssembly::outputResults(AnalysisType type) +{ + //ASMTSpatialContainer::outputResults(type); + //for (auto& part : *parts) part->outputResults(type); + //for (auto& joint : *joints) joint->outputResults(type); + //for (auto& motion : *motions) motion->outputResults(type); + //for (auto& forceTorque : *forcesTorques) forceTorque->outputResults(type); +} + +void MbD::ASMTAssembly::addPart(std::shared_ptr part) +{ + parts->push_back(part); + part->owner = this; +} + +void MbD::ASMTAssembly::addJoint(std::shared_ptr joint) +{ + joints->push_back(joint); + joint->owner = this; +} + +void MbD::ASMTAssembly::addMotion(std::shared_ptr motion) +{ + motions->push_back(motion); + motion->owner = this; + motion->initMarkers(); +} + +void MbD::ASMTAssembly::setConstantGravity(std::shared_ptr gravity) +{ + constantGravity = gravity; + gravity->owner = this; +} + +void MbD::ASMTAssembly::setSimulationParameters(std::shared_ptr parameters) +{ + simulationParameters = parameters; + parameters->owner = this; +} + +std::shared_ptr MbD::ASMTAssembly::partNamed(std::string partName) +{ + auto it = std::find_if(parts->begin(), parts->end(), [&](const std::shared_ptr& prt) { + return prt->fullName("") == partName; + }); + auto& part = *it; + return part; +} + +std::shared_ptr MbD::ASMTAssembly::partPartialNamed(std::string partialName) +{ + auto it = std::find_if(parts->begin(), parts->end(), [&](const std::shared_ptr& prt) { + auto fullName = prt->fullName(""); + return fullName.find(partialName) != std::string::npos; + }); + auto& part = *it; + return part; +} + +void MbD::ASMTAssembly::storeOnLevelNotes(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "Notes"); + storeOnLevelString(os, level + 1, notes); +} + +void MbD::ASMTAssembly::storeOnLevelParts(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "Parts"); + for (auto& part : *parts) { + part->storeOnLevel(os, level + 1); + } +} + +void MbD::ASMTAssembly::storeOnLevelKinematicIJs(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "KinematicIJs"); + for (auto& kinematicIJ : *kinematicIJs) { + kinematicIJ->storeOnLevel(os, level); + } +} + +void MbD::ASMTAssembly::storeOnLevelConstraintSets(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "ConstraintSets"); + storeOnLevelJoints(os, level + 1); + storeOnLevelMotions(os, level + 1); + storeOnLevelGeneralConstraintSets(os, level + 1); +} + +void MbD::ASMTAssembly::storeOnLevelForceTorques(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "ForceTorques"); + for (auto& forceTorque : *forcesTorques) { + forceTorque->storeOnLevel(os, level + 1); + } +} + +void MbD::ASMTAssembly::storeOnLevelJoints(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "Joints"); + for (auto& joint : *joints) { + joint->storeOnLevel(os, level + 1); + } +} + +void MbD::ASMTAssembly::storeOnLevelMotions(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "Motions"); + for (auto& motion : *motions) { + motion->storeOnLevel(os, level + 1); + } +} + +void MbD::ASMTAssembly::storeOnLevelGeneralConstraintSets(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "GeneralConstraintSets"); + //for (auto& generalConstraintSet : *generalConstraintSets) { + // generalConstraintSet->storeOnLevel(os, level); + //} +} + +void MbD::ASMTAssembly::storeOnTimeSeries(std::ofstream& os) +{ + if (times->empty()) return; + os << "TimeSeries" << std::endl; + os << "Number\tInput\t"; + for (int i = 1; i < (int)times->size(); i++) + { + os << i << '\t'; + } + os << std::endl; + os << "Time\tInput\t"; + for (int i = 1; i < (int)times->size(); i++) + { + os << times->at(i) << '\t'; + } + os << std::endl; + os << "AssemblySeries\t" << fullName("") << std::endl; + ASMTSpatialContainer::storeOnTimeSeries(os); + for (auto& part : *parts) part->storeOnTimeSeries(os); + for (auto& joint : *joints) joint->storeOnTimeSeries(os); + for (auto& motion : *motions) motion->storeOnTimeSeries(os); +} + +void MbD::ASMTAssembly::setFilename(std::string str) +{ + std::stringstream ss; + ss << "FileName = " << str << std::endl; + auto str2 = ss.str(); + logString(str2); + filename = str; +} + + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTAssembly.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTAssembly.h new file mode 100644 index 000000000000..3cf4af51af90 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTAssembly.h @@ -0,0 +1,141 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include + +#include "ASMTSpatialContainer.h" +//Required for initialization +#include "ASMTConstantGravity.h" +#include "ASMTSimulationParameters.h" +#include "ASMTAnimationParameters.h" +#include "ASMTTime.h" +#include "Units.h" + +namespace MbD { + class ASMTPart; + class ASMTKinematicIJ; + class ASMTConstraintSet; + class ASMTForceTorque; + class ASMTJoint; + class ASMTMotion; + class SystemSolver; + class ASMTItemIJ; + class MBDynSystem; + + class ASMTAssembly : public ASMTSpatialContainer + { + // + public: + ASMTAssembly(); + static std::shared_ptr With(); + static void runSinglePendulumSuperSimplified(); + static void runSinglePendulumSuperSimplified2(); + static void runSinglePendulumSimplified(); + static void runSinglePendulum(); + static std::shared_ptr assemblyFromFile(const char* chars); + static void runFile(const char* chars); + static void runDraggingTest(); + static void readWriteFile(const char* chars); + void initialize() override; + ASMTAssembly* root() override; + void setNotes(std::string str); + void parseASMT(std::vector& lines) override; + void readNotes(std::vector& lines); + void readParts(std::vector& lines); + void readPart(std::vector& lines); + void readKinematicIJs(std::vector& lines); + void readKinematicIJ(std::vector& lines); + void readConstraintSets(std::vector& lines); + void readJoints(std::vector& lines); + void readMotions(std::vector& lines); + void readGeneralConstraintSets(std::vector& lines); + void readForcesTorques(std::vector& lines); + void readConstantGravity(std::vector& lines); + void readSimulationParameters(std::vector& lines); + void readAnimationParameters(std::vector& lines); + void readTimeSeries(std::vector& lines); + void readTimes(std::vector& lines); + void readAssemblySeries(std::vector& lines); + void readPartSeriesMany(std::vector& lines); + void readPartSeries(std::vector& lines); + void readJointSeriesMany(std::vector& lines); + void readJointSeries(std::vector& lines); + void readMotionSeriesMany(std::vector& lines); + void readMotionSeries(std::vector& lines); + + void outputFor(AnalysisType type); + void preMbDrun(std::shared_ptr mbdSys); + void postMbDrun(); + void calcCharacteristicDimensions(); + double calcCharacteristicTime(); + double calcCharacteristicMass(); + double calcCharacteristicLength(); + std::shared_ptr>> connectorList(); + std::shared_ptr>>markerMap(); + void deleteMbD() override; + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + void outputFile(std::string filename); + void storeOnLevel(std::ofstream& os, int level) override; + + /* This function performs a one shot solve of the assembly.*/ + void solve(); + + void runPreDrag(); + void runDragStep(std::shared_ptr>> dragParts); + void runPostDrag(); + void runKINEMATIC(); + void initprincipalMassMarker(); + std::shared_ptr spatialContainerAt(std::shared_ptr self, std::string& longname); + std::shared_ptr markerAt(std::string& longname); + std::shared_ptr jointAt(std::string& longname); + std::shared_ptr motionAt(std::string& longname); + std::shared_ptr forceTorqueAt(std::string& longname); + FColDsptr vOcmO() override; + FColDsptr omeOpO() override; + std::shared_ptr geoTime(); + void updateFromMbD() override; + void compareResults(AnalysisType type) override; + void outputResults(AnalysisType type) override; + void addPart(std::shared_ptr part); + void addJoint(std::shared_ptr joint); + void addMotion(std::shared_ptr motion); + void setConstantGravity(std::shared_ptr constantGravity); + void setSimulationParameters(std::shared_ptr simulationParameters); + std::shared_ptr partNamed(std::string partName); + std::shared_ptr partPartialNamed(std::string partialName); + void storeOnLevelNotes(std::ofstream& os, int level); + void storeOnLevelParts(std::ofstream& os, int level); + void storeOnLevelKinematicIJs(std::ofstream& os, int level); + void storeOnLevelConstraintSets(std::ofstream& os, int level); + void storeOnLevelForceTorques(std::ofstream& os, int level); + void storeOnLevelJoints(std::ofstream& os, int level); + void storeOnLevelMotions(std::ofstream& os, int level); + void storeOnLevelGeneralConstraintSets(std::ofstream& os, int level); + void storeOnTimeSeries(std::ofstream& os) override; + void setFilename(std::string filename); + + std::string filename = ""; + std::string notes = "(Text string: '' runs: (Core.RunArray runs: #() values: #()))"; + std::shared_ptr>> parts = std::make_shared>>(); + std::shared_ptr>> kinematicIJs = std::make_shared>>(); + std::shared_ptr>> constraintSets = std::make_shared>>(); + std::shared_ptr>> joints = std::make_shared>>(); + std::shared_ptr>> motions = std::make_shared>>(); + std::shared_ptr>> forcesTorques = std::make_shared>>(); + std::shared_ptr constantGravity = std::make_shared(); + std::shared_ptr simulationParameters = std::make_shared(); + std::shared_ptr animationParameters = std::make_shared(); + std::shared_ptr> times = std::make_shared>(); + std::shared_ptr asmtTime = std::make_shared(); + std::shared_ptr mbdUnits = std::make_shared(); + std::shared_ptr mbdSystem; + MBDynSystem* mbdynItem = nullptr; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTAtPointJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTAtPointJoint.cpp new file mode 100644 index 000000000000..f0b3efe46990 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTAtPointJoint.cpp @@ -0,0 +1,3 @@ +#include "ASMTAtPointJoint.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTAtPointJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTAtPointJoint.h new file mode 100644 index 000000000000..7c6626c822ca --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTAtPointJoint.h @@ -0,0 +1,20 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTJoint.h" + +namespace MbD { + class ASMTAtPointJoint : public ASMTJoint + { + // + public: + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTCompoundJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTCompoundJoint.cpp new file mode 100644 index 000000000000..d74d05901da4 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTCompoundJoint.cpp @@ -0,0 +1,45 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTCompoundJoint.h" +#include "CompoundJoint.h" + +using namespace MbD; + +void MbD::ASMTCompoundJoint::parseASMT(std::vector& lines) +{ + ASMTJoint::parseASMT(lines); + readDistanceIJ(lines); +} + +void MbD::ASMTCompoundJoint::readDistanceIJ(std::vector& lines) +{ + if (lines[0].find("distanceIJ") == std::string::npos) { + distanceIJ = 0.0; + } + else { + lines.erase(lines.begin()); + distanceIJ = readDouble(lines[0]); + lines.erase(lines.begin()); + } +} + +void MbD::ASMTCompoundJoint::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + ASMTJoint::createMbD(mbdSys, mbdUnits); + auto compoundJoint = std::static_pointer_cast(mbdObject); + compoundJoint->distanceIJ = distanceIJ; +} + +void MbD::ASMTCompoundJoint::storeOnLevel(std::ofstream& os, int level) +{ + ASMTJoint::storeOnLevel(os, level); + storeOnLevelString(os, level + 1, "distanceIJ"); + storeOnLevelDouble(os, level + 2, distanceIJ); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTCompoundJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTCompoundJoint.h new file mode 100644 index 000000000000..1c48359a584f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTCompoundJoint.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTJoint.h" + +namespace MbD { + class ASMTCompoundJoint : public ASMTJoint + { + // + public: + void parseASMT(std::vector& lines) override; + void readDistanceIJ(std::vector& lines); + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + void storeOnLevel(std::ofstream& os, int level) override; + + double distanceIJ = 0.0; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTConstantGravity.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTConstantGravity.cpp new file mode 100644 index 000000000000..fb74c8c3dbf0 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTConstantGravity.cpp @@ -0,0 +1,51 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ASMTConstantGravity.h" +#include "ASMTAssembly.h" +#include "Units.h" +#include "ConstantGravity.h" +#include "System.h" +#include "Part.h" + +using namespace MbD; + +void MbD::ASMTConstantGravity::parseASMT(std::vector& lines) +{ + g = readColumnOfDoubles(lines[0]); + lines.erase(lines.begin()); +} + +void MbD::ASMTConstantGravity::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + auto mbdGravity = CREATE::With(); + mbdObject = mbdGravity; + mbdGravity->gXYZ = g->times(1.0 / mbdUnits->acceleration); + mbdSys->addForceTorque(mbdGravity); +} + +FColDsptr MbD::ASMTConstantGravity::getg() +{ + return g; +} + +void MbD::ASMTConstantGravity::setg(FColDsptr gravity) +{ + g = gravity; +} + +void MbD::ASMTConstantGravity::setg(double a, double b, double c) +{ + g = std::make_shared>(ListD{ a, b, c }); +} + +void MbD::ASMTConstantGravity::storeOnLevel(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "ConstantGravity"); + storeOnLevelArray(os, level + 1, *g); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTConstantGravity.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTConstantGravity.h new file mode 100644 index 000000000000..1d9dbe20731c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTConstantGravity.h @@ -0,0 +1,33 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTItem.h" +//#include "Units.h" + +namespace MbD { + class System; + class Units; + + class ASMTConstantGravity : public ASMTItem + { + // + public: + void parseASMT(std::vector& lines) override; + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + FColDsptr getg(); + void setg(FColDsptr g); + + void setg(double a, double b, double c); + void storeOnLevel(std::ofstream& os, int level) override; + + FColDsptr g = std::make_shared>(ListD{ 0.,0.,0. }); + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTConstantVelocityJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTConstantVelocityJoint.cpp new file mode 100644 index 000000000000..1c00408d5096 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTConstantVelocityJoint.cpp @@ -0,0 +1,18 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTConstantVelocityJoint.h" +#include "ConstantVelocityJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTConstantVelocityJoint::mbdClassNew() +{ + return CREATE::With(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTConstantVelocityJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTConstantVelocityJoint.h new file mode 100644 index 000000000000..5bd1bedbd2ab --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTConstantVelocityJoint.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTAtPointJoint.h" + +namespace MbD { + class ASMTConstantVelocityJoint : public ASMTAtPointJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTConstraintSet.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTConstraintSet.cpp new file mode 100644 index 000000000000..a5359d437d70 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTConstraintSet.cpp @@ -0,0 +1,78 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ASMTConstraintSet.h" +#include "ASMTAssembly.h" +#include "ASMTMarker.h" +#include "Joint.h" +#include "FullMatrix.h" + +using namespace MbD; + +void MbD::ASMTConstraintSet::createMbD(std::shared_ptr mbdSys, std::shared_ptr) +{ + //self dataSeries : OrderedCollection new. + //self discontinuities : OrderedCollection new. + auto mbdJt = this->mbdClassNew(); + mbdObject = mbdJt; + mbdJt->name = fullName(""); + auto mrkI = std::static_pointer_cast(root()->markerAt(markerI)->mbdObject); + auto mrkJ = std::static_pointer_cast(root()->markerAt(markerJ)->mbdObject); + mbdJt->connectsItoJ(mrkI, mrkJ); + mbdSys->addJoint(mbdJt); +} + +std::shared_ptr MbD::ASMTConstraintSet::mbdClassNew() +{ + assert(false); + return std::shared_ptr(); +} + +void MbD::ASMTConstraintSet::updateFromMbD() +{ + //" + //MbD returns aFIeO and aTIeO. + //GEO needs aFImO and aTImO. + //For Motion rImIeO is not zero and is changing. + //aFImO = aFIeO. + //aTImO = aTIeO + (rImIeO cross : aFIeO). + //" + auto mbdUnts = mbdUnits(); + auto mbdJoint = std::static_pointer_cast(mbdObject); + auto aFIeO = mbdJoint->aFX()->times(mbdUnts->force); + auto aTIeO = mbdJoint->aTX()->times(mbdUnts->torque); + auto rImIeO = mbdJoint->frmI->rmeO()->times(mbdUnts->length); + auto aFIO = aFIeO; + auto aTIO = aTIeO->plusFullColumn(rImIeO->cross(aFIeO)); + fxs->push_back(aFIO->at(0)); + fys->push_back(aFIO->at(1)); + fzs->push_back(aFIO->at(2)); + txs->push_back(aTIO->at(0)); + tys->push_back(aTIO->at(1)); + tzs->push_back(aTIO->at(2)); +} + +void MbD::ASMTConstraintSet::compareResults(AnalysisType) +{ + if (infxs == nullptr || infxs->empty()) return; + auto mbdUnts = mbdUnits(); + //auto factor = 1.0e-6; + //auto forceTol = mbdUnts->force * factor; + //auto torqueTol = mbdUnts->torque * factor; + //auto i = fxs->size() - 1; + //assert(Numeric::equaltol(fxs->at(i), infxs->at(i), forceTol)); + //assert(Numeric::equaltol(fys->at(i), infys->at(i), forceTol)); + //assert(Numeric::equaltol(fzs->at(i), infzs->at(i), forceTol)); + //assert(Numeric::equaltol(txs->at(i), intxs->at(i), torqueTol)); + //assert(Numeric::equaltol(tys->at(i), intys->at(i), torqueTol)); + //assert(Numeric::equaltol(tzs->at(i), intzs->at(i), torqueTol)); +} + +void MbD::ASMTConstraintSet::outputResults(AnalysisType) +{ +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTConstraintSet.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTConstraintSet.h new file mode 100644 index 000000000000..88bc16741231 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTConstraintSet.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTItemIJ.h" + +namespace MbD { + class Joint; + + class ASMTConstraintSet : public ASMTItemIJ + { + // + public: + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + virtual std::shared_ptr mbdClassNew(); + void updateFromMbD() override; + void compareResults(AnalysisType type) override; + void outputResults(AnalysisType type) override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTCylSphJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTCylSphJoint.cpp new file mode 100644 index 000000000000..8ceca317a406 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTCylSphJoint.cpp @@ -0,0 +1,18 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTCylSphJoint.h" +#include "CylSphJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTCylSphJoint::mbdClassNew() +{ + return CREATE::With(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTCylSphJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTCylSphJoint.h new file mode 100644 index 000000000000..83280f43a857 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTCylSphJoint.h @@ -0,0 +1,21 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTCompoundJoint.h" + +namespace MbD { + class ASMTCylSphJoint : public ASMTCompoundJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTCylindricalJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTCylindricalJoint.cpp new file mode 100644 index 000000000000..a3fc97d5214d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTCylindricalJoint.cpp @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTCylindricalJoint.h" +#include "CylindricalJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTCylindricalJoint::mbdClassNew() +{ + return CREATE::With(); +} + +void MbD::ASMTCylindricalJoint::storeOnTimeSeries(std::ofstream& os) +{ + os << "CylindricalJointSeries\t" << fullName("") << std::endl; + ASMTItemIJ::storeOnTimeSeries(os); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTCylindricalJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTCylindricalJoint.h new file mode 100644 index 000000000000..3abe9c3ba57f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTCylindricalJoint.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTInLineJoint.h" + +namespace MbD { + class ASMTCylindricalJoint : public ASMTInLineJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + void storeOnTimeSeries(std::ofstream& os) override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTExtrusion.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTExtrusion.cpp new file mode 100644 index 000000000000..b45ea2653f2c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTExtrusion.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ASMTExtrusion.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTExtrusion.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTExtrusion.h new file mode 100644 index 000000000000..48fcc3e87f89 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTExtrusion.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTItem.h" + +namespace MbD { + class ASMTExtrusion : public ASMTItem + { + // + public: + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTFixedJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTFixedJoint.cpp new file mode 100644 index 000000000000..9877b32b514f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTFixedJoint.cpp @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTFixedJoint.h" +#include "FixedJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTFixedJoint::mbdClassNew() +{ + return CREATE::With(); +} + +void MbD::ASMTFixedJoint::storeOnTimeSeries(std::ofstream& os) +{ + os << "FixedJointSeries\t" << fullName("") << std::endl; + ASMTItemIJ::storeOnTimeSeries(os); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTFixedJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTFixedJoint.h new file mode 100644 index 000000000000..405ff8b35979 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTFixedJoint.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTAtPointJoint.h" + +namespace MbD { + class ASMTFixedJoint : public ASMTAtPointJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + void storeOnTimeSeries(std::ofstream& os) override; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTForceTorque.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTForceTorque.cpp new file mode 100644 index 000000000000..a1c217d2f064 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTForceTorque.cpp @@ -0,0 +1,26 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ASMTForceTorque.h" + +using namespace MbD; + +void MbD::ASMTForceTorque::updateFromMbD() +{ + assert(false); +} + +void MbD::ASMTForceTorque::compareResults(AnalysisType) +{ + assert(false); +} + +void MbD::ASMTForceTorque::outputResults(AnalysisType) +{ + assert(false); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTForceTorque.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTForceTorque.h new file mode 100644 index 000000000000..68862219dca6 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTForceTorque.h @@ -0,0 +1,25 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTItemIJ.h" + +namespace MbD { + class ASMTForceTorque : public ASMTItemIJ + { + // + public: + void updateFromMbD() override; + void compareResults(AnalysisType type) override; + void outputResults(AnalysisType type) override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTGearJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTGearJoint.cpp new file mode 100644 index 000000000000..bf08097c1e75 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTGearJoint.cpp @@ -0,0 +1,68 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTGearJoint.h" +#include "GearJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTGearJoint::mbdClassNew() +{ + return CREATE::With(); +} + +void MbD::ASMTGearJoint::parseASMT(std::vector& lines) +{ + ASMTJoint::parseASMT(lines); + readRadiusI(lines); + readRadiusJ(lines); +} + +void MbD::ASMTGearJoint::readRadiusI(std::vector& lines) +{ + if (lines[0].find("radiusI") == std::string::npos) { + radiusI = 0.0; + } + else { + lines.erase(lines.begin()); + radiusI = readDouble(lines[0]); + lines.erase(lines.begin()); + } +} + +void MbD::ASMTGearJoint::readRadiusJ(std::vector& lines) +{ + if (lines[0].find("radiusJ") == std::string::npos) { + radiusJ = 0.0; + } + else { + lines.erase(lines.begin()); + radiusJ = readDouble(lines[0]); + lines.erase(lines.begin()); + } +} + +void MbD::ASMTGearJoint::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + ASMTJoint::createMbD(mbdSys, mbdUnits); + auto gearJoint = std::static_pointer_cast(mbdObject); + gearJoint->radiusI = radiusI; + gearJoint->radiusJ = radiusJ; +} + +void MbD::ASMTGearJoint::storeOnLevel(std::ofstream& os, int level) +{ + ASMTJoint::storeOnLevel(os, level); + storeOnLevelString(os, level + 1, "radiusI"); + storeOnLevelDouble(os, level + 2, radiusI); + storeOnLevelString(os, level + 1, "radiusJ"); + storeOnLevelDouble(os, level + 2, radiusJ); + //storeOnLevelString(os, level + 1, "constant"); + //storeOnLevelDouble(os, level + 2, aConstant); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTGearJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTGearJoint.h new file mode 100644 index 000000000000..9fbd9c5e07eb --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTGearJoint.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTJoint.h" + +namespace MbD { + class ASMTGearJoint : public ASMTJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + void parseASMT(std::vector& lines) override; + void readRadiusI(std::vector& lines); + void readRadiusJ(std::vector& lines); + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + void storeOnLevel(std::ofstream& os, int level) override; + + double radiusI = 0.0, radiusJ = 0.0, aConstant = 0.0; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTGeneralMotion.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTGeneralMotion.cpp new file mode 100644 index 000000000000..e6aa45dedd0e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTGeneralMotion.cpp @@ -0,0 +1,161 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTGeneralMotion.h" +#include "ASMTAssembly.h" +#include "SymbolicParser.h" +#include "BasicUserFunction.h" +#include "CREATE.h" +#include "Constant.h" +#include "EulerAngles.h" +#include "FullMotion.h" +#include "ASMTTime.h" + +using namespace MbD; + +void MbD::ASMTGeneralMotion::parseASMT(std::vector& lines) +{ + readName(lines); + readMarkerI(lines); + readMarkerJ(lines); + readrIJI(lines); + readangIJJ(lines); + readRotationOrder(lines); +} + +void MbD::ASMTGeneralMotion::readrIJI(std::vector& lines) +{ + rIJI = std::make_shared>(3); + + assert(lines[0].find("rIJI1") != std::string::npos); + lines.erase(lines.begin()); + rIJI->at(0) = readString(lines[0]); + lines.erase(lines.begin()); + assert(lines[0].find("rIJI2") != std::string::npos); + lines.erase(lines.begin()); + rIJI->at(1) = readString(lines[0]); + lines.erase(lines.begin()); + assert(lines[0].find("rIJI3") != std::string::npos); + lines.erase(lines.begin()); + rIJI->at(2) = readString(lines[0]); + lines.erase(lines.begin()); +} + +void MbD::ASMTGeneralMotion::readangIJJ(std::vector& lines) +{ + angIJJ = std::make_shared>(3); + + assert(lines[0].find("angIJJ1") != std::string::npos); + lines.erase(lines.begin()); + angIJJ->at(0) = readString(lines[0]); + lines.erase(lines.begin()); + assert(lines[0].find("angIJJ2") != std::string::npos); + lines.erase(lines.begin()); + angIJJ->at(1) = readString(lines[0]); + lines.erase(lines.begin()); + assert(lines[0].find("angIJJ3") != std::string::npos); + lines.erase(lines.begin()); + angIJJ->at(2) = readString(lines[0]); + lines.erase(lines.begin()); +} + +void MbD::ASMTGeneralMotion::readRotationOrder(std::vector& lines) +{ + assert(lines[0].find("RotationOrder") != std::string::npos); + lines.erase(lines.begin()); + std::istringstream iss(lines[0]); + rotationOrder = std::make_shared>(); + int i; + while (iss >> i) { + rotationOrder->push_back(i); + } + lines.erase(lines.begin()); +} + +std::shared_ptr MbD::ASMTGeneralMotion::mbdClassNew() +{ + return CREATE::With(); +} + +void MbD::ASMTGeneralMotion::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + ASMTMotion::createMbD(mbdSys, mbdUnits); + auto parser = std::make_shared(); + parser->owner = this; + auto geoTime = owner->root()->geoTime(); + parser->variables->insert(std::make_pair("time", geoTime)); + std::shared_ptr< BasicUserFunction> userFunc; + auto fullMotion = std::static_pointer_cast(mbdObject); + + //rIJI + userFunc = std::make_shared(rIJI->at(0), 1.0); + parser->parseUserFunction(userFunc); + auto geoX = parser->stack->top(); + geoX = Symbolic::times(geoX, sptrConstant(1.0 / mbdUnits->length)); + geoX->createMbD(mbdSys, mbdUnits); + auto xBlk = geoX->simplified(geoX); + + userFunc = std::make_shared(rIJI->at(1), 1.0); + parser->parseUserFunction(userFunc); + auto geoY = parser->stack->top(); + geoY = Symbolic::times(geoY, sptrConstant(1.0 / mbdUnits->length)); + geoY->createMbD(mbdSys, mbdUnits); + auto yBlk = geoY->simplified(geoY); + + userFunc = std::make_shared(rIJI->at(2), 1.0); + parser->parseUserFunction(userFunc); + auto geoZ = parser->stack->top(); + geoZ = Symbolic::times(geoZ, sptrConstant(1.0 / mbdUnits->length)); + geoZ->createMbD(mbdSys, mbdUnits); + auto zBlk = geoZ->simplified(geoZ); + + auto xyzBlkList = std::initializer_list{ xBlk, yBlk, zBlk }; + fullMotion->frIJI = std::make_shared>(xyzBlkList); + + //angIJJ + userFunc = std::make_shared(angIJJ->at(0), 1.0); + parser->parseUserFunction(userFunc); + auto geoPhi = parser->stack->top(); + geoPhi = Symbolic::times(geoPhi, sptrConstant(1.0 / mbdUnits->angle)); + geoPhi->createMbD(mbdSys, mbdUnits); + auto phiBlk = geoPhi->simplified(geoPhi); + + userFunc = std::make_shared(angIJJ->at(1), 1.0); + parser->parseUserFunction(userFunc); + auto geoThe = parser->stack->top(); + geoThe = Symbolic::times(geoThe, sptrConstant(1.0 / mbdUnits->angle)); + geoThe->createMbD(mbdSys, mbdUnits); + auto theBlk = geoThe->simplified(geoThe); + + userFunc = std::make_shared(angIJJ->at(2), 1.0); + parser->parseUserFunction(userFunc); + auto geoPsi = parser->stack->top(); + geoPsi = Symbolic::times(geoPsi, sptrConstant(1.0 / mbdUnits->angle)); + geoPsi->createMbD(mbdSys, mbdUnits); + auto psiBlk = geoPsi->simplified(geoPsi); + + auto xyzRotBlkList = std::initializer_list{ phiBlk, theBlk, psiBlk }; + auto fangIJJ = std::make_shared>(xyzRotBlkList); + fangIJJ->rotOrder = rotationOrder; + fullMotion->fangIJJ = fangIJJ; +} + +void MbD::ASMTGeneralMotion::storeOnLevel(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "GeneralMotion"); + storeOnLevelString(os, level + 1, "Name"); + storeOnLevelString(os, level + 2, name); + ASMTItemIJ::storeOnLevel(os, level); +} + +void MbD::ASMTGeneralMotion::storeOnTimeSeries(std::ofstream& os) +{ + os << "GeneralMotionSeries\t" << fullName("") << std::endl; + ASMTItemIJ::storeOnTimeSeries(os); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTGeneralMotion.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTGeneralMotion.h new file mode 100644 index 000000000000..f87c7ece96d0 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTGeneralMotion.h @@ -0,0 +1,33 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTMotion.h" + +namespace MbD { + class ASMTGeneralMotion : public ASMTMotion + { + // + public: + void parseASMT(std::vector& lines) override; + void readrIJI(std::vector& lines); + void readangIJJ(std::vector& lines); + void readRotationOrder(std::vector& lines); + std::shared_ptr mbdClassNew() override; + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + void storeOnLevel(std::ofstream& os, int level) override; + void storeOnTimeSeries(std::ofstream& os) override; + + std::shared_ptr> rIJI = std::make_shared>(3); + std::shared_ptr> angIJJ = std::make_shared>(3); + std::shared_ptr> rotationOrder = std::make_shared>(std::initializer_list{ 1, 2, 3 }); + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTInLineJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTInLineJoint.cpp new file mode 100644 index 000000000000..5aee6f6ee478 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTInLineJoint.cpp @@ -0,0 +1,4 @@ + +#include "ASMTInLineJoint.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTInLineJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTInLineJoint.h new file mode 100644 index 000000000000..bac38299e29f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTInLineJoint.h @@ -0,0 +1,20 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTJoint.h" + +namespace MbD { + class ASMTInLineJoint : public ASMTJoint + { + // + public: + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTInPlaneJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTInPlaneJoint.cpp new file mode 100644 index 000000000000..b15371d3adc7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTInPlaneJoint.cpp @@ -0,0 +1,37 @@ + +#include "ASMTInPlaneJoint.h" +#include "InPlaneJoint.h" + +using namespace MbD; + +void MbD::ASMTInPlaneJoint::parseASMT(std::vector& lines) +{ + ASMTJoint::parseASMT(lines); + readOffset(lines); +} + +void MbD::ASMTInPlaneJoint::readOffset(std::vector& lines) +{ + if (lines[0].find("offset") == std::string::npos) { + offset = 0.0; + } + else { + lines.erase(lines.begin()); + offset = readDouble(lines[0]); + lines.erase(lines.begin()); + } +} + +void MbD::ASMTInPlaneJoint::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + ASMTJoint::createMbD(mbdSys, mbdUnits); + auto inPlaneJoint = std::static_pointer_cast(mbdObject); + inPlaneJoint->offset = offset; +} + +void MbD::ASMTInPlaneJoint::storeOnLevel(std::ofstream& os, int level) +{ + ASMTJoint::storeOnLevel(os, level); + storeOnLevelString(os, level + 1, "offset"); + storeOnLevelDouble(os, level + 2, offset); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTInPlaneJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTInPlaneJoint.h new file mode 100644 index 000000000000..d6bdf3d787cd --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTInPlaneJoint.h @@ -0,0 +1,26 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTJoint.h" + +namespace MbD { + class ASMTInPlaneJoint : public ASMTJoint + { + // + public: + void parseASMT(std::vector& lines) override; + void readOffset(std::vector& lines); + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + void storeOnLevel(std::ofstream& os, int level) override; + + double offset = 0.0; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTItem.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTItem.cpp new file mode 100644 index 000000000000..a56f3a6bdacc --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTItem.cpp @@ -0,0 +1,274 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ASMTItem.h" +#include "CREATE.h" +#include "ASMTSpatialContainer.h" +#include "ASMTAssembly.h" +#include "Constant.h" +#include + +using namespace MbD; + +ASMTAssembly* MbD::ASMTItem::root() +{ + return owner->root(); +} + +ASMTSpatialContainer* MbD::ASMTItem::partOrAssembly() +{ + return owner->partOrAssembly(); +} + +ASMTPart* MbD::ASMTItem::part() +{ + return owner->part(); +} + +void MbD::ASMTItem::initialize() +{ +} + +void MbD::ASMTItem::noop() +{ + //No Operations +} + +std::string MbD::ASMTItem::classname() +{ + std::string str = typeid(*this).name(); + auto answer = str.substr(11, str.size() - 11); + return answer; +} + +void MbD::ASMTItem::setName(std::string str) +{ + name = str; +} + +void MbD::ASMTItem::parseASMT(std::vector&) +{ + assert(false); +} + +std::string MbD::ASMTItem::popOffTop(std::vector& args) +{ + auto str = args.at(0); //Must copy string + args.erase(args.begin()); + return str; +} + +std::string MbD::ASMTItem::readStringOffTop(std::vector& args) +{ + auto iss = std::istringstream(args.at(0)); + args.erase(args.begin()); + std::string str; + iss >> str; + return str; +} + +FRowDsptr MbD::ASMTItem::readRowOfDoubles(std::string& line) +{ + std::istringstream iss(line); + auto readRowOfDoubles = std::make_shared>(); + double d; + while (iss >> d) { + readRowOfDoubles->push_back(d); + } + return readRowOfDoubles; +} + +FColDsptr MbD::ASMTItem::readColumnOfDoubles(std::string& line) +{ + std::istringstream iss(line); + auto readColumnOfDoubles = std::make_shared>(); + double d; + while (iss >> d) { + readColumnOfDoubles->push_back(d); + } + return readColumnOfDoubles; +} + +double MbD::ASMTItem::readDouble(std::string& line) +{ + std::istringstream iss(line); + double d; + iss >> d; + return d; +} + +int MbD::ASMTItem::readInt(std::string& line) +{ + std::istringstream iss(line); + int i; + iss >> i; + return i; +} + +bool MbD::ASMTItem::readBool(std::string& line) +{ + if (line.find("true") != std::string::npos) + { + return true; + } + else if (line.find("false") != std::string::npos) + { + return false; + } + else { + assert(false); + return false; + } +} + +std::string MbD::ASMTItem::readString(std::string& line) +{ + std::string str = line; + str.erase(str.begin(), std::find_if(str.begin(), str.end(), [](unsigned char ch) { return !std::isspace(ch); })); + return str; +} + +void MbD::ASMTItem::readName(std::vector& lines) +{ + assert(lines[0].find("Name") != std::string::npos); + lines.erase(lines.begin()); + name = readString(lines[0]); + lines.erase(lines.begin()); +} + +std::string MbD::ASMTItem::fullName(std::string partialName) +{ + std::string longerName = "/" + name + partialName; + if (owner == nullptr) { + return longerName; + } + else { + return owner->fullName(longerName); + } +} + +void MbD::ASMTItem::readDoublesInto(std::string& str, std::string label, FRowDsptr& row) +{ + auto pos = str.find(label); + assert(pos != std::string::npos); + str.erase(0, pos + label.length()); + row = readRowOfDoubles(str); +} + +void MbD::ASMTItem::deleteMbD() +{ + mbdObject = nullptr; +} + +void MbD::ASMTItem::createMbD(std::shared_ptr, std::shared_ptr) +{ + noop(); + assert(false); +} + +void MbD::ASMTItem::updateFromMbD() +{ + assert(false); +} + +void MbD::ASMTItem::compareResults(AnalysisType) +{ + assert(false); +} + +void MbD::ASMTItem::outputResults(AnalysisType) +{ + assert(false); +} + +std::shared_ptr MbD::ASMTItem::mbdUnits() +{ + if (owner) { + return owner->mbdUnits(); + } + return static_cast(this)->mbdUnits; +} + +std::shared_ptr MbD::ASMTItem::sptrConstant(double value) +{ + return std::make_shared(value); +} + +void MbD::ASMTItem::storeOnLevel(std::ofstream&, int) +{ + noop(); + assert(false); +} + +void MbD::ASMTItem::storeOnLevelTabs(std::ofstream& os, int level) +{ + for (int i = 0; i < level; i++) + { + os << '\t'; + } +} + +void MbD::ASMTItem::storeOnLevelString(std::ofstream& os, int level, std::string str) +{ + storeOnLevelTabs(os, level); + os << str << std::endl; +} + +void MbD::ASMTItem::storeOnLevelDouble(std::ofstream& os, int level, double value) +{ + storeOnLevelTabs(os, level); + os << value << std::endl; +} + +void MbD::ASMTItem::storeOnLevelInt(std::ofstream& os, int level, int i) +{ + storeOnLevelTabs(os, level); + os << i << std::endl; +} + +void MbD::ASMTItem::storeOnLevelBool(std::ofstream& os, int level, bool value) +{ + storeOnLevelTabs(os, level); + if (value) { + os << "true" << std::endl; + } + else { + os << "false" << std::endl; + } +} + +void MbD::ASMTItem::storeOnLevelArray(std::ofstream& os, int level, std::vector array) +{ + storeOnLevelTabs(os, level); + for (int i = 0; i < (int)array.size(); i++) + { + os << array[i] << '\t'; + } + os << std::endl; +} + +void MbD::ASMTItem::storeOnLevelName(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "Name"); + storeOnLevelString(os, level + 1, name); +} + +void MbD::ASMTItem::storeOnTimeSeries(std::ofstream&) +{ + assert(false); +} + +void MbD::ASMTItem::logString(std::string& str) +{ + std::cout << str << std::endl; +} + +void MbD::ASMTItem::logString(const char* chars) +{ + std::cout << chars << std::endl; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTItem.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTItem.h new file mode 100644 index 000000000000..848cc7b7e21e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTItem.h @@ -0,0 +1,80 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "CREATE.h" + +namespace MbD { + class ASMTAssembly; + class Units; + class ASMTSpatialContainer; + class ASMTPart; + + class ASMTItem + { + // + public: + ASMTItem() {} + virtual ~ASMTItem() {} + virtual ASMTAssembly* root(); + virtual ASMTSpatialContainer* partOrAssembly(); + virtual ASMTPart* part(); + + virtual void initialize(); + void noop(); + virtual std::string classname(); + void setName(std::string str); + virtual void parseASMT(std::vector& lines); + std::string popOffTop(std::vector& args); + std::string readStringOffTop(std::vector& args); + FRowDsptr readRowOfDoubles(std::string& line); + FColDsptr readColumnOfDoubles(std::string& line); + double readDouble(std::string& line); + int readInt(std::string& line); + bool readBool(std::string& line); + std::string readString(std::string& line); + void readName(std::vector& lines); + virtual std::string fullName(std::string partialName); + void readDoublesInto(std::string& str, std::string label, FRowDsptr& row); + virtual void deleteMbD(); + virtual void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits); + virtual void updateFromMbD(); + virtual void compareResults(AnalysisType type); + virtual void outputResults(AnalysisType type); + std::shared_ptr mbdUnits(); + std::shared_ptr sptrConstant(double value); + virtual void storeOnLevel(std::ofstream& os, int level); + virtual void storeOnLevelTabs(std::ofstream& os, int level); + virtual void storeOnLevelString(std::ofstream& os, int level, std::string str); + virtual void storeOnLevelDouble(std::ofstream& os, int level, double value); + virtual void storeOnLevelInt(std::ofstream& os, int level, int i); + virtual void storeOnLevelBool(std::ofstream& os, int level, bool value); + //template + //void storeOnLevelArray(std::ofstream& os, int level, std::vector array); + void storeOnLevelArray(std::ofstream& os, int level, std::vector array); + void storeOnLevelName(std::ofstream& os, int level); + virtual void storeOnTimeSeries(std::ofstream& os); + void logString(std::string& str); + void logString(const char* chars); + + std::string name; + ASMTItem* owner = nullptr; + std::shared_ptr mbdObject; + }; + //template + //inline void ASMTItem::storeOnLevelArray(std::ofstream& os, int level, std::vector array) + //{ + // storeOnLevelTabs(os, level); + // for (int i = 0; i < array.size(); i++) + // { + // os << array[i] << '\t'; + // } + // //os << std::endl; + //} +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTItemIJ.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTItemIJ.cpp new file mode 100644 index 000000000000..c5e0f9a064c2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTItemIJ.cpp @@ -0,0 +1,146 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTItemIJ.h" + +MbD::ASMTItemIJ::ASMTItemIJ() +{ + fxs = std::make_shared>(); + fys = std::make_shared>(); + fzs = std::make_shared>(); + txs = std::make_shared>(); + tys = std::make_shared>(); + tzs = std::make_shared>(); +} + +void MbD::ASMTItemIJ::initialize() +{ + fxs = std::make_shared>(); + fys = std::make_shared>(); + fzs = std::make_shared>(); + txs = std::make_shared>(); + tys = std::make_shared>(); + tzs = std::make_shared>(); +} + +void MbD::ASMTItemIJ::setMarkerI(std::string mkrI) +{ + markerI = mkrI; +} + +void MbD::ASMTItemIJ::setMarkerJ(std::string mkrJ) +{ + markerJ = mkrJ; +} + +void MbD::ASMTItemIJ::readMarkerI(std::vector& lines) +{ + assert(lines[0].find("MarkerI") != std::string::npos); + lines.erase(lines.begin()); + markerI = readString(lines[0]); + lines.erase(lines.begin()); +} + +void MbD::ASMTItemIJ::readMarkerJ(std::vector& lines) +{ + assert(lines[0].find("MarkerJ") != std::string::npos); + lines.erase(lines.begin()); + markerJ = readString(lines[0]); + lines.erase(lines.begin()); +} + +void MbD::ASMTItemIJ::readFXonIs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "FXonI", infxs); + lines.erase(lines.begin()); +} + +void MbD::ASMTItemIJ::readFYonIs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "FYonI", infys); + lines.erase(lines.begin()); +} + +void MbD::ASMTItemIJ::readFZonIs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "FZonI", infzs); + lines.erase(lines.begin()); +} + +void MbD::ASMTItemIJ::readTXonIs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "TXonI", intxs); + lines.erase(lines.begin()); +} + +void MbD::ASMTItemIJ::readTYonIs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "TYonI", intys); + lines.erase(lines.begin()); +} + +void MbD::ASMTItemIJ::readTZonIs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "TZonI", intzs); + lines.erase(lines.begin()); +} + +void MbD::ASMTItemIJ::storeOnLevel(std::ofstream& os, int level) +{ + storeOnLevelString(os, level + 1, "MarkerI"); + storeOnLevelString(os, level + 2, markerI); + storeOnLevelString(os, level + 1, "MarkerJ"); + storeOnLevelString(os, level + 2, markerJ); +} + +void MbD::ASMTItemIJ::storeOnTimeSeries(std::ofstream& os) +{ + os << "FXonI\t"; + for (int i = 0; i < (int)fxs->size(); i++) + { + os << fxs->at(i) << '\t'; + } + os << std::endl; + os << "FYonI\t"; + for (int i = 0; i < (int)fys->size(); i++) + { + os << fys->at(i) << '\t'; + } + os << std::endl; + os << "FZonI\t"; + for (int i = 0; i < (int)fzs->size(); i++) + { + os << fzs->at(i) << '\t'; + } + os << std::endl; + os << "TXonI\t"; + for (int i = 0; i < (int)txs->size(); i++) + { + os << txs->at(i) << '\t'; + } + os << std::endl; + os << "TYonI\t"; + for (int i = 0; i < (int)tys->size(); i++) + { + os << tys->at(i) << '\t'; + } + os << std::endl; + os << "TZonI\t"; + for (int i = 0; i < (int)tzs->size(); i++) + { + os << tzs->at(i) << '\t'; + } + os << std::endl; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTItemIJ.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTItemIJ.h new file mode 100644 index 000000000000..47884997bdb1 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTItemIJ.h @@ -0,0 +1,39 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTItem.h" + +namespace MbD { + class ASMTItemIJ : public ASMTItem + { + // + public: + ASMTItemIJ(); + void initialize() override; + void setMarkerI(std::string mkrI); + void setMarkerJ(std::string mkrJ); + void readMarkerI(std::vector& lines); + void readMarkerJ(std::vector& lines); + void readFXonIs(std::vector& lines); + void readFYonIs(std::vector& lines); + void readFZonIs(std::vector& lines); + void readTXonIs(std::vector& lines); + void readTYonIs(std::vector& lines); + void readTZonIs(std::vector& lines); + void storeOnLevel(std::ofstream& os, int level) override; + void storeOnTimeSeries(std::ofstream& os) override; + + std::string markerI, markerJ; + FRowDsptr fxs, fys, fzs, txs, tys, tzs; + FRowDsptr infxs, infys, infzs, intxs, intys, intzs; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTJoint.cpp new file mode 100644 index 000000000000..148852a5b74f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTJoint.cpp @@ -0,0 +1,55 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTJoint.h" + +using namespace MbD; + +void MbD::ASMTJoint::parseASMT(std::vector& lines) +{ + readName(lines); + readMarkerI(lines); + readMarkerJ(lines); +} + +void MbD::ASMTJoint::readJointSeries(std::vector& lines) +{ + std::string str = lines[0]; + std::string substr = "JointSeries"; + auto pos = str.find(substr); + assert(pos != std::string::npos); + str.erase(0, pos + substr.length()); + auto seriesName = readString(str); + assert(fullName("") == seriesName); + lines.erase(lines.begin()); + readFXonIs(lines); + readFYonIs(lines); + readFZonIs(lines); + readTXonIs(lines); + readTYonIs(lines); + readTZonIs(lines); +} + +void MbD::ASMTJoint::storeOnLevel(std::ofstream& os, int level) +{ + auto jointType = classname(); + jointType = jointType.substr(4, jointType.size() - 4); //Remove ASMT in name + storeOnLevelString(os, level, jointType); + storeOnLevelString(os, level + 1, "Name"); + storeOnLevelString(os, level + 2, name); + ASMTItemIJ::storeOnLevel(os, level); +} + +void MbD::ASMTJoint::storeOnTimeSeries(std::ofstream& os) +{ + std::string label = typeid(*this).name(); + label = label.substr(15, label.size() - 15); + os << label << "Series\t" << fullName("") << std::endl; + ASMTItemIJ::storeOnTimeSeries(os); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTJoint.h new file mode 100644 index 000000000000..647ef2386fa7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTJoint.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTConstraintSet.h" + +namespace MbD { + class ForceTorqueData; + + class ASMTJoint : public ASMTConstraintSet + { + // + public: + void parseASMT(std::vector& lines) override; + void readJointSeries(std::vector& lines); + void storeOnLevel(std::ofstream& os, int level) override; + void storeOnTimeSeries(std::ofstream& os) override; + + std::shared_ptr>> jointSeries; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTKinematicIJ.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTKinematicIJ.cpp new file mode 100644 index 000000000000..6ac33c28fe7d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTKinematicIJ.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ASMTKinematicIJ.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTKinematicIJ.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTKinematicIJ.h new file mode 100644 index 000000000000..d6871e7a8ac8 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTKinematicIJ.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTItemIJ.h" + +namespace MbD { + class ASMTKinematicIJ : public ASMTItemIJ + { + // + public: + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTLineInPlaneJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTLineInPlaneJoint.cpp new file mode 100644 index 000000000000..865e2a46bf2b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTLineInPlaneJoint.cpp @@ -0,0 +1,18 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTLineInPlaneJoint.h" +#include "LineInPlaneJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTLineInPlaneJoint::mbdClassNew() +{ + return CREATE::With(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTLineInPlaneJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTLineInPlaneJoint.h new file mode 100644 index 000000000000..3918c2e572a4 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTLineInPlaneJoint.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTInPlaneJoint.h" + +namespace MbD { + class ASMTLineInPlaneJoint : public ASMTInPlaneJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTMarker.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTMarker.cpp new file mode 100644 index 000000000000..33556525cd40 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTMarker.cpp @@ -0,0 +1,71 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ASMTMarker.h" +#include "FullMatrix.h" +#include "ASMTRefItem.h" +#include "ASMTPart.h" +#include "Part.h" +#include "PartFrame.h" +#include "MarkerFrame.h" +#include "ASMTPrincipalMassMarker.h" + +using namespace MbD; + +void ASMTMarker::parseASMT(std::vector& lines) +{ + readName(lines); + readPosition3D(lines); + readRotationMatrix(lines); +} + +FColDsptr ASMTMarker::rpmp() +{ + //p is cm + auto refItem = static_cast(owner); + auto& rPrefP = refItem->position3D; + auto& aAPref = refItem->rotationMatrix; + auto& rrefmref = position3D; + auto rPmP = rPrefP->plusFullColumn(aAPref->timesFullColumn(rrefmref)); + auto& principalMassMarker = static_cast(refItem->owner)->principalMassMarker; + auto& rPcmP = principalMassMarker->position3D; + auto& aAPcm = principalMassMarker->rotationMatrix; + auto rpmp = aAPcm->transposeTimesFullColumn(rPmP->minusFullColumn(rPcmP)); + return rpmp; +} + +FMatDsptr ASMTMarker::aApm() +{ + //p is cm + auto refItem = static_cast(owner); + auto& aAPref = refItem->rotationMatrix; + auto& aArefm = rotationMatrix; + auto& principalMassMarker = static_cast(refItem->owner)->principalMassMarker; + auto& aAPcm = principalMassMarker->rotationMatrix; + auto aApm = aAPcm->transposeTimesFullMatrix(aAPref->timesFullMatrix(aArefm)); + return aApm; +} + +void ASMTMarker::createMbD(std::shared_ptr, std::shared_ptr mbdUnits) +{ + auto mkr = CREATE::With(name.c_str()); + auto prt = std::static_pointer_cast(partOrAssembly()->mbdObject); + prt->partFrame->addMarkerFrame(mkr); + + mkr->rpmp = rpmp()->times(1.0 / mbdUnits->length); + mkr->aApm = aApm(); + mbdObject = mkr->endFrames->at(0); +} + +void ASMTMarker::storeOnLevel(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "Marker"); + storeOnLevelString(os, level + 1, "Name"); + storeOnLevelString(os, level + 2, name); + ASMTSpatialItem::storeOnLevel(os, level); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTMarker.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTMarker.h new file mode 100644 index 000000000000..fd0605207776 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTMarker.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTSpatialItem.h" +#include "FullColumn.h" +#include "FullMatrix.h" +#include "ASMTPart.h" + +namespace MbD { + class ASMTMarker : public ASMTSpatialItem + { + // + public: + void parseASMT(std::vector& lines) override; + FColDsptr rpmp(); + FMatDsptr aApm(); + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + void storeOnLevel(std::ofstream& os, int level) override; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTMotion.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTMotion.cpp new file mode 100644 index 000000000000..7967d99d92c9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTMotion.cpp @@ -0,0 +1,44 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTMotion.h" + +using namespace MbD; + +void ASMTMotion::readMotionSeries(std::vector& lines) +{ + std::string str = lines[0]; + std::string substr = "MotionSeries"; + auto pos = str.find(substr); + assert(pos != std::string::npos); + str.erase(0, pos + substr.length()); + auto seriesName = readString(str); + assert(fullName("") == seriesName); + lines.erase(lines.begin()); + readFXonIs(lines); + readFYonIs(lines); + readFZonIs(lines); + readTXonIs(lines); + readTYonIs(lines); + readTZonIs(lines); +} + +void ASMTMotion::initMarkers() +{ +} + +void ASMTMotion::storeOnLevel(std::ofstream&, int) +{ + assert(false); +} + +void ASMTMotion::storeOnTimeSeries(std::ofstream&) +{ + assert(false); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTMotion.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTMotion.h new file mode 100644 index 000000000000..3b3b9112322b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTMotion.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTConstraintSet.h" +#include "ForceTorqueData.h" + +namespace MbD { + class ASMTMotion : public ASMTConstraintSet + { + // + public: + void readMotionSeries(std::vector& lines); + virtual void initMarkers(); + void storeOnLevel(std::ofstream& os, int level) override; + void storeOnTimeSeries(std::ofstream& os) override; + + std::shared_ptr>> motionSeries; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTNoRotationJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTNoRotationJoint.cpp new file mode 100644 index 000000000000..c8d8daef99c5 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTNoRotationJoint.cpp @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTNoRotationJoint.h" +#include "NoRotationJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTNoRotationJoint::mbdClassNew() +{ + return CREATE::With(); +} + +void MbD::ASMTNoRotationJoint::storeOnTimeSeries(std::ofstream& os) +{ + os << "NoRotationJointSeries\t" << fullName("") << std::endl; + ASMTItemIJ::storeOnTimeSeries(os); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTNoRotationJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTNoRotationJoint.h new file mode 100644 index 000000000000..49391535d3e7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTNoRotationJoint.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTJoint.h" + +namespace MbD { + class ASMTNoRotationJoint : public ASMTJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + void storeOnTimeSeries(std::ofstream& os) override; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTParallelAxesJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTParallelAxesJoint.cpp new file mode 100644 index 000000000000..0bb0628dae57 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTParallelAxesJoint.cpp @@ -0,0 +1,18 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTParallelAxesJoint.h" +#include "ParallelAxesJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTParallelAxesJoint::mbdClassNew() +{ + return CREATE::With(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTParallelAxesJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTParallelAxesJoint.h new file mode 100644 index 000000000000..77576cb56797 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTParallelAxesJoint.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTJoint.h" + +namespace MbD { + class ASMTParallelAxesJoint : public ASMTJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTPart.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTPart.cpp new file mode 100644 index 000000000000..77318842703b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTPart.cpp @@ -0,0 +1,145 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTPart.h" +#include "CREATE.h" +#include "ASMTPrincipalMassMarker.h" +#include "Part.h" +#include + +using namespace MbD; + +void MbD::ASMTPart::parseASMT(std::vector& lines) +{ + readName(lines); + readPosition3D(lines); + readRotationMatrix(lines); + readVelocity3D(lines); + readOmega3D(lines); + readFeatureOrder(lines); + readPrincipalMassMarker(lines); + readRefPoints(lines); + readRefCurves(lines); + readRefSurfaces(lines); +} + +void MbD::ASMTPart::readFeatureOrder(std::vector& lines) +{ + assert(lines[0].find("FeatureOrder") != std::string::npos); + lines.erase(lines.begin()); + //featureOrder = std::make_shared>>(); + auto it = std::find_if(lines.begin(), lines.end(), [](const std::string& s) { + return s.find("PrincipalMassMarker") != std::string::npos; + }); + //std::vector featureOrderLines(lines.begin(), it); + //while (!featureOrderLines.empty()) { + // if (featureOrderLines[0] == (leadingTabs + "\tExtrusion")) { + // featureOrderLines.erase(featureOrderLines.begin()); + // auto extrusion = CREATE::With(); + // extrusion->parseASMT(featureOrderLines); + // featureOrder->push_back(extrusion); + // extrusion->owner = this; + // } + // else { + // assert(false); + // } + //} + lines.erase(lines.begin(), it); +} + +void MbD::ASMTPart::readPrincipalMassMarker(std::vector& lines) +{ + assert(lines[0].find("PrincipalMassMarker") != std::string::npos); + lines.erase(lines.begin()); + principalMassMarker = std::make_shared(); + principalMassMarker->parseASMT(lines); + principalMassMarker->owner = this; +} + +void MbD::ASMTPart::readPartSeries(std::vector& lines) +{ + std::string str = lines[0]; + std::string substr = "PartSeries"; + auto pos = str.find(substr); + assert(pos != std::string::npos); + str.erase(0, pos + substr.length()); + auto seriesName = readString(str); + assert(fullName("") == seriesName); + lines.erase(lines.begin()); + //xs, ys, zs, bryxs, bryys, bryzs + readXs(lines); + readYs(lines); + readZs(lines); + readBryantxs(lines); + readBryantys(lines); + readBryantzs(lines); + readVXs(lines); + readVYs(lines); + readVZs(lines); + readOmegaXs(lines); + readOmegaYs(lines); + readOmegaZs(lines); + readAXs(lines); + readAYs(lines); + readAZs(lines); + readAlphaXs(lines); + readAlphaYs(lines); + readAlphaZs(lines); +} + +FColDsptr MbD::ASMTPart::vOcmO() +{ + auto& rOPO = position3D; + auto& vOPO = velocity3D; + auto& omeOPO = omega3D; + auto rPcmO = rOcmO()->minusFullColumn(rOPO); + return vOPO->plusFullColumn(omeOPO->cross(rPcmO)); +} + +FColDsptr MbD::ASMTPart::omeOpO() +{ + return omega3D; +} + +ASMTPart* MbD::ASMTPart::part() +{ + return this; +} + +void MbD::ASMTPart::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + ASMTSpatialContainer::createMbD(mbdSys, mbdUnits); + if (isFixed) std::static_pointer_cast(mbdObject)->asFixed(); +} + +void MbD::ASMTPart::storeOnLevel(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "Part"); + storeOnLevelName(os, level + 1); + storeOnLevelPosition(os, level + 1); + storeOnLevelRotationMatrix(os, level + 1); + storeOnLevelVelocity(os, level + 1); + storeOnLevelOmega(os, level + 1); + storeOnLevelString(os, level + 1, "FeatureOrder"); + storeOnLevelMassMarker(os, level + 1); + storeOnLevelRefPoints(os, level + 1); + storeOnLevelRefCurves(os, level + 1); + storeOnLevelRefSurfaces(os, level + 1); +} + +void MbD::ASMTPart::storeOnLevelMassMarker(std::ofstream& os, int level) +{ + principalMassMarker->storeOnLevel(os, level); +} + +void MbD::ASMTPart::storeOnTimeSeries(std::ofstream& os) +{ + os << "PartSeries\t" << fullName("") << std::endl; + ASMTSpatialContainer::storeOnTimeSeries(os); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTPart.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTPart.h new file mode 100644 index 000000000000..c52f5aeeb495 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTPart.h @@ -0,0 +1,38 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTSpatialContainer.h" + +namespace MbD { + class PosVelAccData; + + class ASMTPart : public ASMTSpatialContainer + { + // + public: + void parseASMT(std::vector& lines) override; + void readFeatureOrder(std::vector& lines); + void readPrincipalMassMarker(std::vector& lines); + void readPartSeries(std::vector& lines); + FColDsptr vOcmO() override; + FColDsptr omeOpO() override; + ASMTPart* part() override; + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + void storeOnLevel(std::ofstream& os, int level) override; + void storeOnLevelMassMarker(std::ofstream& os, int level); + void storeOnTimeSeries(std::ofstream& os) override; + + //std::shared_ptr>> featureOrder; + std::shared_ptr>> partSeries; + bool isFixed = false; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTPerpendicularJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTPerpendicularJoint.cpp new file mode 100644 index 000000000000..64658a9dc452 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTPerpendicularJoint.cpp @@ -0,0 +1,18 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTPerpendicularJoint.h" +#include "PerpendicularJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTPerpendicularJoint::mbdClassNew() +{ + return CREATE::With(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTPerpendicularJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTPerpendicularJoint.h new file mode 100644 index 000000000000..0fdfc5696344 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTPerpendicularJoint.h @@ -0,0 +1,21 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTJoint.h" + +namespace MbD { + class ASMTPerpendicularJoint : public ASMTJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTPlanarJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTPlanarJoint.cpp new file mode 100644 index 000000000000..7c904a1128ee --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTPlanarJoint.cpp @@ -0,0 +1,18 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTPlanarJoint.h" +#include "PlanarJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTPlanarJoint::mbdClassNew() +{ + return CREATE::With(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTPlanarJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTPlanarJoint.h new file mode 100644 index 000000000000..8be2a61eadd2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTPlanarJoint.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTInPlaneJoint.h" + +namespace MbD { + class ASMTPlanarJoint : public ASMTInPlaneJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTPointInLineJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTPointInLineJoint.cpp new file mode 100644 index 000000000000..d1f7013cd7c9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTPointInLineJoint.cpp @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTPointInLineJoint.h" +#include "PointInLineJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTPointInLineJoint::mbdClassNew() +{ + return CREATE::With(); +} + +void MbD::ASMTPointInLineJoint::storeOnTimeSeries(std::ofstream& os) +{ + os << "PointInLineJointSeries\t" << fullName("") << std::endl; + ASMTItemIJ::storeOnTimeSeries(os); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTPointInLineJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTPointInLineJoint.h new file mode 100644 index 000000000000..7abd0c240e6c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTPointInLineJoint.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTInLineJoint.h" + +namespace MbD { + class ASMTPointInLineJoint : public ASMTInLineJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + void storeOnTimeSeries(std::ofstream& os) override; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTPointInPlaneJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTPointInPlaneJoint.cpp new file mode 100644 index 000000000000..733055a3610a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTPointInPlaneJoint.cpp @@ -0,0 +1,25 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTPointInPlaneJoint.h" +#include "PointInPlaneJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTPointInPlaneJoint::mbdClassNew() +{ + return CREATE::With(); +} + +void MbD::ASMTPointInPlaneJoint::storeOnTimeSeries(std::ofstream& os) +{ + os << "PointInPlaneJointSeries\t" << fullName("") << std::endl; + ASMTItemIJ::storeOnTimeSeries(os); +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTPointInPlaneJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTPointInPlaneJoint.h new file mode 100644 index 000000000000..6163d626cf82 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTPointInPlaneJoint.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTInPlaneJoint.h" + +namespace MbD { + class ASMTPointInPlaneJoint : public ASMTInPlaneJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + void storeOnTimeSeries(std::ofstream& os) override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTPrincipalMassMarker.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTPrincipalMassMarker.cpp new file mode 100644 index 000000000000..662a9c8e648e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTPrincipalMassMarker.cpp @@ -0,0 +1,93 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ASMTPrincipalMassMarker.h" +#include +#include "FullMatrix.h" + +using namespace MbD; + +MbD::ASMTPrincipalMassMarker::ASMTPrincipalMassMarker() +{ + name = "MassMarker"; +} + +void MbD::ASMTPrincipalMassMarker::parseASMT(std::vector& lines) +{ + int pos = (int)lines[0].find_first_not_of("\t"); + auto leadingTabs = lines[0].substr(0, pos); + assert(lines[0] == (leadingTabs + "Name")); + lines.erase(lines.begin()); + name = readString(lines[0]); + lines.erase(lines.begin()); + assert(lines[0] == (leadingTabs + "Position3D")); + lines.erase(lines.begin()); + position3D = readColumnOfDoubles(lines[0]); + lines.erase(lines.begin()); + assert(lines[0] == (leadingTabs + "RotationMatrix")); + lines.erase(lines.begin()); + rotationMatrix = std::make_shared>(3); + for (int i = 0; i < 3; i++) + { + auto row = readRowOfDoubles(lines[0]); + rotationMatrix->atiput(i, row); + lines.erase(lines.begin()); + } + assert(lines[0] == (leadingTabs + "Mass")); + lines.erase(lines.begin()); + mass = readDouble(lines[0]); + lines.erase(lines.begin()); + assert(lines[0] == (leadingTabs + "MomentOfInertias")); + lines.erase(lines.begin()); + momentOfInertias = std::make_shared>(3); + auto row = readRowOfDoubles(lines[0]); + lines.erase(lines.begin()); + for (int i = 0; i < 3; i++) + { + momentOfInertias->atiput(i, row->at(i)); + } + assert(lines[0] == (leadingTabs + "Density")); + lines.erase(lines.begin()); + density = readDouble(lines[0]); + lines.erase(lines.begin()); +} + +void MbD::ASMTPrincipalMassMarker::setMass(double m) +{ + mass = m; +} + +void MbD::ASMTPrincipalMassMarker::setDensity(double rho) +{ + density = rho; +} + +void MbD::ASMTPrincipalMassMarker::setMomentOfInertias(DiagMatDsptr mat) +{ + momentOfInertias = mat; +} + +// Overloads to simplify syntax. +void MbD::ASMTPrincipalMassMarker::setMomentOfInertias(double a, double b, double c) +{ + momentOfInertias = std::make_shared>(ListD{ a, b, c }); +} + +void MbD::ASMTPrincipalMassMarker::storeOnLevel(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "PrincipalMassMarker"); + storeOnLevelString(os, level + 1, "Name"); + storeOnLevelString(os, level + 2, name); + ASMTSpatialItem::storeOnLevel(os, level); + storeOnLevelString(os, level + 1, "Mass"); + storeOnLevelDouble(os, level + 2, mass); + storeOnLevelString(os, level + 1, "MomentOfInertias"); + storeOnLevelArray(os, level + 2, *momentOfInertias); + storeOnLevelString(os, level + 1, "Density"); + storeOnLevelDouble(os, level + 2, density); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTPrincipalMassMarker.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTPrincipalMassMarker.h new file mode 100644 index 000000000000..e2f09a9c868c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTPrincipalMassMarker.h @@ -0,0 +1,34 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTSpatialItem.h" + +namespace MbD { + class ASMTPrincipalMassMarker : public ASMTSpatialItem + { + // + public: + ASMTPrincipalMassMarker(); + void parseASMT(std::vector& lines) override; + void setMass(double mass); + void setDensity(double density); + void setMomentOfInertias(DiagMatDsptr momentOfInertias); + + // Overloads to simplify syntax. + void setMomentOfInertias(double a, double b, double c); + void storeOnLevel(std::ofstream& os, int level) override; + + double mass = 1.0; + double density = 10.0; + DiagMatDsptr momentOfInertias = std::make_shared>(ListD{ 1.0, 2.0, 3.0 }); + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRackPinionJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTRackPinionJoint.cpp new file mode 100644 index 000000000000..727d540c9d58 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRackPinionJoint.cpp @@ -0,0 +1,52 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTRackPinionJoint.h" +#include "RackPinJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTRackPinionJoint::mbdClassNew() +{ + return CREATE::With(); +} + +void MbD::ASMTRackPinionJoint::parseASMT(std::vector& lines) +{ + ASMTJoint::parseASMT(lines); + readPitchRadius(lines); +} + +void MbD::ASMTRackPinionJoint::readPitchRadius(std::vector& lines) +{ + if (lines[0].find("pitchRadius") == std::string::npos) { + pitchRadius = 0.0; + } + else { + lines.erase(lines.begin()); + pitchRadius = readDouble(lines[0]); + lines.erase(lines.begin()); + } +} + +void MbD::ASMTRackPinionJoint::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + ASMTJoint::createMbD(mbdSys, mbdUnits); + auto rackPinJoint = std::static_pointer_cast(mbdObject); + rackPinJoint->pitchRadius = pitchRadius; +} + +void MbD::ASMTRackPinionJoint::storeOnLevel(std::ofstream& os, int level) +{ + ASMTJoint::storeOnLevel(os, level); + storeOnLevelString(os, level + 1, "pitchRadius"); + storeOnLevelDouble(os, level + 2, pitchRadius); + //storeOnLevelString(os, level + 1, "constant"); + //storeOnLevelDouble(os, level + 2, aConstant); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRackPinionJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTRackPinionJoint.h new file mode 100644 index 000000000000..b439a46ed670 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRackPinionJoint.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTJoint.h" + +namespace MbD { + class ASMTRackPinionJoint : public ASMTJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + void parseASMT(std::vector& lines) override; + void readPitchRadius(std::vector& lines); + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + void storeOnLevel(std::ofstream& os, int level) override; + + double pitchRadius = 0.0, aConstant = 0.0; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRefCurve.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTRefCurve.cpp new file mode 100644 index 000000000000..384649194210 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRefCurve.cpp @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ASMTRefCurve.h" +#include "CREATE.h" + +using namespace MbD; + +void MbD::ASMTRefCurve::parseASMT(std::vector&) +{ + assert(false); +} + +void MbD::ASMTRefCurve::storeOnLevel(std::ofstream&, int) +{ + assert(false); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRefCurve.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTRefCurve.h new file mode 100644 index 000000000000..695b7a0c8027 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRefCurve.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTRefItem.h" + +namespace MbD { + class ASMTRefCurve : public ASMTRefItem + { + // + public: + void parseASMT(std::vector& lines) override; + void storeOnLevel(std::ofstream& os, int level) override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRefItem.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTRefItem.cpp new file mode 100644 index 000000000000..40be21010b63 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRefItem.cpp @@ -0,0 +1,53 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ASMTRefItem.h" +#include "CREATE.h" +#include + +using namespace MbD; + +void MbD::ASMTRefItem::addMarker(std::shared_ptr marker) +{ + markers->push_back(marker); + marker->owner = this; +} + +void MbD::ASMTRefItem::readMarkers(std::vector& lines) +{ + assert(lines[0].find("Markers") != std::string::npos); + lines.erase(lines.begin()); + markers->clear(); + auto it = std::find_if(lines.begin(), lines.end(), [](const std::string& s) { + return s.find("RefPoint") != std::string::npos; + }); + std::vector markersLines(lines.begin(), it); + while (!markersLines.empty()) { + readMarker(markersLines); + } + lines.erase(lines.begin(), it); +} + +void MbD::ASMTRefItem::readMarker(std::vector& lines) +{ + assert(lines[0].find("Marker") != std::string::npos); + lines.erase(lines.begin()); + auto marker = CREATE::With(); + marker->parseASMT(lines); + markers->push_back(marker); + marker->owner = this; +} + +void MbD::ASMTRefItem::storeOnLevel(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "RefPoints"); + ASMTSpatialItem::storeOnLevel(os, level+1); + for (auto& marker : *markers) { + marker->storeOnLevel(os, level); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRefItem.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTRefItem.h new file mode 100644 index 000000000000..c536b414477b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRefItem.h @@ -0,0 +1,30 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTSpatialItem.h" +#include "ASMTMarker.h" + +namespace MbD { + + class ASMTRefItem : public ASMTSpatialItem + { + // + public: + void addMarker(std::shared_ptr marker); + void readMarkers(std::vector& lines); + void readMarker(std::vector& lines); + void storeOnLevel(std::ofstream& os, int level) override; + + std::shared_ptr>> markers = std::make_shared>>(); + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRefPoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTRefPoint.cpp new file mode 100644 index 000000000000..dc875765acc7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRefPoint.cpp @@ -0,0 +1,42 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ASMTRefPoint.h" +#include "ASMTMarker.h" +#include "CREATE.h" + +using namespace MbD; + +void MbD::ASMTRefPoint::parseASMT(std::vector& lines) +{ + readPosition3D(lines); + readRotationMatrix(lines); + readMarkers(lines); +} + +std::string MbD::ASMTRefPoint::fullName(std::string partialName) +{ + return owner->fullName(partialName); +} + +void MbD::ASMTRefPoint::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + for (auto& marker : *markers) { + marker->createMbD(mbdSys, mbdUnits); + } +} + +void MbD::ASMTRefPoint::storeOnLevel(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "RefPoint"); + ASMTSpatialItem::storeOnLevel(os, level); + storeOnLevelString(os, level + 1, "Markers"); + for (auto& marker : *markers) { + marker->storeOnLevel(os, level + 2); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRefPoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTRefPoint.h new file mode 100644 index 000000000000..9c1897f65d79 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRefPoint.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTRefItem.h" +#include +#include + +namespace MbD { + class ASMTRefPoint : public ASMTRefItem + { + // + public: + void parseASMT(std::vector& lines) override; + std::string fullName(std::string partialName) override; + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + void storeOnLevel(std::ofstream& os, int level) override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRefSurface.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTRefSurface.cpp new file mode 100644 index 000000000000..980f0a65bc80 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRefSurface.cpp @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ASMTRefSurface.h" +#include "CREATE.h" + +using namespace MbD; + +void MbD::ASMTRefSurface::parseASMT(std::vector&) +{ + assert(false); +} + +void MbD::ASMTRefSurface::storeOnLevel(std::ofstream&, int) +{ + assert(false); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRefSurface.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTRefSurface.h new file mode 100644 index 000000000000..034c8d117520 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRefSurface.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTRefItem.h" + +namespace MbD { + class ASMTRefSurface : public ASMTRefItem + { + // + public: + void parseASMT(std::vector& lines) override; + void storeOnLevel(std::ofstream& os, int level) override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRevCylJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTRevCylJoint.cpp new file mode 100644 index 000000000000..03694952d415 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRevCylJoint.cpp @@ -0,0 +1,18 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTRevCylJoint.h" +#include "RevCylJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTRevCylJoint::mbdClassNew() +{ + return CREATE::With(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRevCylJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTRevCylJoint.h new file mode 100644 index 000000000000..15c5eb06991c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRevCylJoint.h @@ -0,0 +1,21 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTCompoundJoint.h" + +namespace MbD { + class ASMTRevCylJoint : public ASMTCompoundJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRevRevJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTRevRevJoint.cpp new file mode 100644 index 000000000000..ebdc9f0abd59 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRevRevJoint.cpp @@ -0,0 +1,18 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTRevRevJoint.h" +#include "RevRevJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTRevRevJoint::mbdClassNew() +{ + return CREATE::With(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRevRevJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTRevRevJoint.h new file mode 100644 index 000000000000..da2a09132459 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRevRevJoint.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTCompoundJoint.h" + +namespace MbD { + class ASMTRevRevJoint : public ASMTCompoundJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRevoluteJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTRevoluteJoint.cpp new file mode 100644 index 000000000000..4c3171b3d616 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRevoluteJoint.cpp @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTRevoluteJoint.h" +#include "RevoluteJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTRevoluteJoint::mbdClassNew() +{ + return CREATE::With(); +} +// +//void MbD::ASMTRevoluteJoint::storeOnTimeSeries(std::ofstream& os) +//{ +// os << "RevoluteJointSeries\t" << fullName("") << std::endl; +// ASMTItemIJ::storeOnTimeSeries(os); +//} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRevoluteJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTRevoluteJoint.h new file mode 100644 index 000000000000..56969c7ae8fc --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRevoluteJoint.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTAtPointJoint.h" + +namespace MbD { + class ASMTRevoluteJoint : public ASMTAtPointJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + //void storeOnTimeSeries(std::ofstream& os) override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRotationalMotion.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTRotationalMotion.cpp new file mode 100644 index 000000000000..34819c824bb1 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRotationalMotion.cpp @@ -0,0 +1,111 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTRotationalMotion.h" +#include "ASMTAssembly.h" +#include "SymbolicParser.h" +#include "BasicUserFunction.h" +#include "CREATE.h" +#include "Constant.h" +#include "ASMTJoint.h" +#include "ASMTTime.h" + +using namespace MbD; + +void MbD::ASMTRotationalMotion::parseASMT(std::vector& lines) +{ + readName(lines); + if (lines[0].find("MarkerI") != std::string::npos) { + readMarkerI(lines); + readMarkerJ(lines); + } + readMotionJoint(lines); + readRotationZ(lines); +} + +void MbD::ASMTRotationalMotion::readMotionJoint(std::vector& lines) +{ + assert(lines[0].find("MotionJoint") != std::string::npos); + lines.erase(lines.begin()); + motionJoint = readString(lines[0]); + lines.erase(lines.begin()); +} + +void MbD::ASMTRotationalMotion::readRotationZ(std::vector& lines) +{ + assert(lines[0].find("RotationZ") != std::string::npos); + lines.erase(lines.begin()); + rotationZ = readString(lines[0]); + lines.erase(lines.begin()); +} + +void MbD::ASMTRotationalMotion::initMarkers() +{ + if (motionJoint == "") { + assert(markerI != ""); + assert(markerJ != ""); + } + else { + auto jt = root()->jointAt(motionJoint); + markerI = jt->markerI; + markerJ = jt->markerJ; + } +} + +void MbD::ASMTRotationalMotion::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + ASMTMotion::createMbD(mbdSys, mbdUnits); + auto parser = std::make_shared(); + parser->owner = this; + auto geoTime = owner->root()->geoTime(); + parser->variables->insert(std::make_pair("time", geoTime)); + auto userFunc = std::make_shared(rotationZ, 1.0); + parser->parseUserFunction(userFunc); + auto geoPhi = parser->stack->top(); + //std::cout << *geoPhi << std::endl; + geoPhi = Symbolic::times(geoPhi, sptrConstant(1.0 / mbdUnits->angle)); + geoPhi->createMbD(mbdSys, mbdUnits); + //std::cout << *geoPhi << std::endl; + auto simple = geoPhi->simplified(geoPhi); + std::cout << *simple << std::endl; + std::static_pointer_cast(mbdObject)->phiBlk = simple; +} + +std::shared_ptr MbD::ASMTRotationalMotion::mbdClassNew() +{ + return CREATE::With(); +} + +void MbD::ASMTRotationalMotion::setMotionJoint(std::string str) +{ + motionJoint = str; +} + +void MbD::ASMTRotationalMotion::setRotationZ(std::string rotZ) +{ + rotationZ = rotZ; +} + +void MbD::ASMTRotationalMotion::storeOnLevel(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "RotationalMotion"); + storeOnLevelString(os, level + 1, "Name"); + storeOnLevelString(os, level + 2, name); + ASMTItemIJ::storeOnLevel(os, level); + storeOnLevelString(os, level + 1, "MotionJoint"); + storeOnLevelString(os, level + 2, motionJoint); + storeOnLevelString(os, level + 1, "RotationZ"); + storeOnLevelString(os, level + 2, rotationZ); +} + +void MbD::ASMTRotationalMotion::storeOnTimeSeries(std::ofstream& os) +{ + os << "RotationalMotionSeries\t" << fullName("") << std::endl; + ASMTItemIJ::storeOnTimeSeries(os); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTRotationalMotion.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTRotationalMotion.h new file mode 100644 index 000000000000..f991d6841ab7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTRotationalMotion.h @@ -0,0 +1,33 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTMotion.h" +#include "ZRotation.h" + +namespace MbD { + class ASMTRotationalMotion : public ASMTMotion + { + // + public: + void parseASMT(std::vector& lines) override; + void readMotionJoint(std::vector& lines); + void readRotationZ(std::vector& lines); + void initMarkers() override; + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + std::shared_ptr mbdClassNew() override; + void setMotionJoint(std::string motionJoint); + void setRotationZ(std::string rotZ); + void storeOnLevel(std::ofstream& os, int level) override; + void storeOnTimeSeries(std::ofstream& os) override; + + std::string motionJoint, rotationZ; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTScrewJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTScrewJoint.cpp new file mode 100644 index 000000000000..9d582e76026b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTScrewJoint.cpp @@ -0,0 +1,52 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTScrewJoint.h" +#include "ScrewJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTScrewJoint::mbdClassNew() +{ + return CREATE::With(); +} + +void MbD::ASMTScrewJoint::parseASMT(std::vector& lines) +{ + ASMTJoint::parseASMT(lines); + readPitch(lines); +} + +void MbD::ASMTScrewJoint::readPitch(std::vector& lines) +{ + if (lines[0].find("pitch") == std::string::npos) { + pitch = 0.0; + } + else { + lines.erase(lines.begin()); + pitch = readDouble(lines[0]); + lines.erase(lines.begin()); + } +} + +void MbD::ASMTScrewJoint::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + ASMTJoint::createMbD(mbdSys, mbdUnits); + auto screwJoint = std::static_pointer_cast(mbdObject); + screwJoint->pitch = pitch; +} + +void MbD::ASMTScrewJoint::storeOnLevel(std::ofstream& os, int level) +{ + ASMTJoint::storeOnLevel(os, level); + storeOnLevelString(os, level + 1, "pitch"); + storeOnLevelDouble(os, level + 2, pitch); + //storeOnLevelString(os, level + 1, "constant"); + //storeOnLevelDouble(os, level + 2, aConstant); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTScrewJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTScrewJoint.h new file mode 100644 index 000000000000..a5962c6415d4 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTScrewJoint.h @@ -0,0 +1,26 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTJoint.h" + +namespace MbD { + class ASMTScrewJoint : public ASMTJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + void parseASMT(std::vector& lines) override; + void readPitch(std::vector& lines); + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + void storeOnLevel(std::ofstream& os, int level) override; + + double pitch = 0.0, aConstant = 0.0; + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTSimulationParameters.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTSimulationParameters.cpp new file mode 100644 index 000000000000..8f10a3a620a3 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTSimulationParameters.cpp @@ -0,0 +1,97 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ASMTSimulationParameters.h" + +using namespace MbD; + +void MbD::ASMTSimulationParameters::parseASMT(std::vector& lines) +{ + //tstart, tend, hmin, hmax, hout, errorTol; + + int pos = (int)lines[0].find_first_not_of("\t"); + auto leadingTabs = lines[0].substr(0, pos); + assert(lines[0] == (leadingTabs + "tstart")); + lines.erase(lines.begin()); + tstart = readDouble(lines[0]); + lines.erase(lines.begin()); + assert(lines[0] == (leadingTabs + "tend")); + lines.erase(lines.begin()); + tend = readDouble(lines[0]); + lines.erase(lines.begin()); + assert(lines[0] == (leadingTabs + "hmin")); + lines.erase(lines.begin()); + hmin = readDouble(lines[0]); + lines.erase(lines.begin()); + assert(lines[0] == (leadingTabs + "hmax")); + lines.erase(lines.begin()); + hmax = readDouble(lines[0]); + lines.erase(lines.begin()); + assert(lines[0] == (leadingTabs + "hout")); + lines.erase(lines.begin()); + hout = readDouble(lines[0]); + lines.erase(lines.begin()); + assert(lines[0] == (leadingTabs + "errorTol")); + lines.erase(lines.begin()); + errorTol = readDouble(lines[0]); + lines.erase(lines.begin()); + +} + +void MbD::ASMTSimulationParameters::settstart(double t) +{ + tstart = t; +} + +void MbD::ASMTSimulationParameters::settend(double t) +{ + tend = t; +} + +void MbD::ASMTSimulationParameters::sethmin(double h) +{ + hmin = h; +} + +void MbD::ASMTSimulationParameters::sethmax(double h) +{ + hmax = h; +} + +void MbD::ASMTSimulationParameters::sethout(double h) +{ + hout = h; +} + +void MbD::ASMTSimulationParameters::seterrorTol(double tol) +{ + errorTol = tol; +} + +void MbD::ASMTSimulationParameters::setmaxIter(int maxIter) +{ + iterMaxPosKine = maxIter; + iterMaxAccKine = maxIter; +} + +void MbD::ASMTSimulationParameters::storeOnLevel(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "SimulationParameters"); + storeOnLevelString(os, level + 1, "tstart"); + storeOnLevelDouble(os, level + 2, tstart); + storeOnLevelString(os, level + 1, "tend"); + storeOnLevelDouble(os, level + 2, tend); + storeOnLevelString(os, level + 1, "hmin"); + storeOnLevelDouble(os, level + 2, hmin); + storeOnLevelString(os, level + 1, "hmax"); + storeOnLevelDouble(os, level + 2, hmax); + storeOnLevelString(os, level + 1, "hout"); + storeOnLevelDouble(os, level + 2, hout); + storeOnLevelString(os, level + 1, "errorTol"); + storeOnLevelDouble(os, level + 2, errorTol); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTSimulationParameters.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTSimulationParameters.h new file mode 100644 index 000000000000..8083a3f46a84 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTSimulationParameters.h @@ -0,0 +1,34 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTItem.h" + +namespace MbD { + class ASMTSimulationParameters : public ASMTItem + { + // + public: + void parseASMT(std::vector& lines) override; + void settstart(double tstart); + void settend(double tend); + void sethmin(double hmin); + void sethmax(double hmax); + void sethout(double hout); + void seterrorTol(double errorTol); + void setmaxIter(int maxIter); + void storeOnLevel(std::ofstream& os, int level) override; + + double tstart = 0.0, tend = 1.0, hmin = 1.0e-9, hmax = 1.0e9, hout = 0.1, errorTol = 1.0e-6; + double errorTolPosKine = 1.0e-6, errorTolAccKine = 1.0e-6, corAbsTol = 1.0e-6, corRelTol = 1.0e-6; + double intAbsTol = 1.0e-6, intRelTol = 1.0e-6, translationLimit = 1.0e9, rotationLimit = 1.0e9; + int iterMaxPosKine = 25, iterMaxAccKine = 25, iterMaxDyn = 4, orderMax = 5; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTSpatialContainer.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTSpatialContainer.cpp new file mode 100644 index 000000000000..21bf3720513d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTSpatialContainer.cpp @@ -0,0 +1,739 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include +#include + +#include "ASMTSpatialContainer.h" +#include "Units.h" +#include "Part.h" +#include "System.h" +#include "ASMTRefPoint.h" +#include "ASMTRefCurve.h" +#include "ASMTRefSurface.h" + //#include "ASMTPrincipalMassMarker.h" + + +using namespace MbD; + +MbD::ASMTSpatialContainer::ASMTSpatialContainer() : ASMTSpatialItem() +{ + refPoints = std::make_shared>>(); + refCurves = std::make_shared>>(); + refSurfaces = std::make_shared>>(); + + xs = std::make_shared>(); + ys = std::make_shared>(); + zs = std::make_shared>(); + bryxs = std::make_shared>(); + bryys = std::make_shared>(); + bryzs = std::make_shared>(); + vxs = std::make_shared>(); + vys = std::make_shared>(); + vzs = std::make_shared>(); + omexs = std::make_shared>(); + omeys = std::make_shared>(); + omezs = std::make_shared>(); + axs = std::make_shared>(); + ays = std::make_shared>(); + azs = std::make_shared>(); + alpxs = std::make_shared>(); + alpys = std::make_shared>(); + alpzs = std::make_shared>(); +} + +void MbD::ASMTSpatialContainer::initialize() +{ + refPoints = std::make_shared>>(); + refCurves = std::make_shared>>(); + refSurfaces = std::make_shared>>(); + + xs = std::make_shared>(); + ys = std::make_shared>(); + zs = std::make_shared>(); + bryxs = std::make_shared>(); + bryys = std::make_shared>(); + bryzs = std::make_shared>(); + vxs = std::make_shared>(); + vys = std::make_shared>(); + vzs = std::make_shared>(); + omexs = std::make_shared>(); + omeys = std::make_shared>(); + omezs = std::make_shared>(); + axs = std::make_shared>(); + ays = std::make_shared>(); + azs = std::make_shared>(); + alpxs = std::make_shared>(); + alpys = std::make_shared>(); + alpzs = std::make_shared>(); +} + +void MbD::ASMTSpatialContainer::setPrincipalMassMarker(std::shared_ptr aJ) +{ + principalMassMarker = aJ; +} + +void MbD::ASMTSpatialContainer::readRefPoints(std::vector& lines) +{ + assert(lines[0].find("RefPoints") != std::string::npos); + lines.erase(lines.begin()); + refPoints->clear(); + auto it = std::find_if(lines.begin(), lines.end(), [](const std::string& s) { + return s.find("RefCurves") != std::string::npos; + }); + std::vector refPointsLines(lines.begin(), it); + while (!refPointsLines.empty()) { + readRefPoint(refPointsLines); + } + lines.erase(lines.begin(), it); +} + +void MbD::ASMTSpatialContainer::readRefPoint(std::vector& lines) +{ + assert(lines[0].find("RefPoint") != std::string::npos); + lines.erase(lines.begin()); + auto refPoint = CREATE::With(); + refPoint->parseASMT(lines); + refPoints->push_back(refPoint); + refPoint->owner = this; +} + +void MbD::ASMTSpatialContainer::readRefCurves(std::vector& lines) +{ + assert(lines[0].find("RefCurves") != std::string::npos); + lines.erase(lines.begin()); + refCurves->clear(); + auto it = std::find_if(lines.begin(), lines.end(), [](const std::string& s) { + return s.find("RefSurfaces") != std::string::npos; + }); + std::vector refCurvesLines(lines.begin(), it); + while (!refCurvesLines.empty()) { + readRefCurve(refCurvesLines); + } + lines.erase(lines.begin(), it); +} + +void MbD::ASMTSpatialContainer::readRefCurve(std::vector&) +{ + assert(false); +} + +void MbD::ASMTSpatialContainer::readRefSurfaces(std::vector& lines) +{ + assert(lines[0].find("RefSurfaces") != std::string::npos); + lines.erase(lines.begin()); + refSurfaces->clear(); + auto it = std::find_if(lines.begin(), lines.end(), [](const std::string& s) { + return s.find("Part") != std::string::npos; + }); + std::vector refSurfacesLines(lines.begin(), it); + while (!refSurfacesLines.empty()) { + readRefSurface(refSurfacesLines); + } + lines.erase(lines.begin(), it); +} + +void MbD::ASMTSpatialContainer::readRefSurface(std::vector&) +{ + assert(false); +} + +void MbD::ASMTSpatialContainer::readXs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "X", inxs); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readYs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "Y", inys); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readZs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "Z", inzs); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readBryantxs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "Bryantx", inbryxs); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readBryantys(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "Bryanty", inbryys); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readBryantzs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "Bryantz", inbryzs); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readVXs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "VX", invxs); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readVYs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "VY", invys); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readVZs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "VZ", invzs); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readOmegaXs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "OmegaX", inomexs); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readOmegaYs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "OmegaY", inomeys); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readOmegaZs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "OmegaZ", inomezs); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readAXs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "AX", inaxs); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readAYs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "AY", inays); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readAZs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "AZ", inazs); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readAlphaXs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "AlphaX", inalpxs); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readAlphaYs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "AlphaY", inalpys); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readAlphaZs(std::vector& lines) +{ + std::string str = lines[0]; + readDoublesInto(str, "AlphaZ", inalpzs); + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + auto mbdPart = CREATE::With(); + mbdObject = mbdPart; + mbdPart->name = fullName(""); + mbdPart->m = principalMassMarker->mass / mbdUnits->mass; + mbdPart->aJ = principalMassMarker->momentOfInertias->times(1.0 / mbdUnits->aJ); + mbdPart->qX(rOcmO()->times(1.0 / mbdUnits->length)); + mbdPart->qE(qEp()); + mbdPart->qXdot(vOcmO()->times(1.0 / mbdUnits->velocity)); + mbdPart->omeOpO(omeOpO()->times(1.0 / mbdUnits->omega)); + mbdPart->qXddot(std::make_shared>(3, 0)); + mbdPart->qEddot(std::make_shared>(4, 0)); + mbdSys->addPart(mbdPart); + for (auto& refPoint : *refPoints) { + refPoint->createMbD(mbdSys, mbdUnits); + } + for (auto& refCurve : *refCurves) { + refCurve->createMbD(mbdSys, mbdUnits); + } + for (auto& refSurface : *refSurfaces) { + refSurface->createMbD(mbdSys, mbdUnits); + } +} + +void MbD::ASMTSpatialContainer::updateMbDFromPosition3D(FColDsptr vec) +{ + position3D = vec; + auto mbdPart = std::static_pointer_cast(mbdObject); + auto mbdUnits = this->mbdUnits(); + mbdPart->qX(rOcmO()->times(1.0 / mbdUnits->length)); +} + +FColDsptr MbD::ASMTSpatialContainer::rOcmO() +{ + auto& rOPO = position3D; + auto& aAOP = rotationMatrix; + auto& rPcmP = principalMassMarker->position3D; + auto rOcmO = rOPO->plusFullColumn(aAOP->timesFullColumn(rPcmP)); + return rOcmO; +} + +std::shared_ptr> MbD::ASMTSpatialContainer::qEp() +{ + auto& aAOP = rotationMatrix; + auto& aAPcm = principalMassMarker->rotationMatrix; + auto aAOcm = aAOP->timesFullMatrix(aAPcm); + return aAOcm->asEulerParameters(); +} + +FColDsptr MbD::ASMTSpatialContainer::vOcmO() +{ + assert(false); + return FColDsptr(); +} + +FColDsptr MbD::ASMTSpatialContainer::omeOpO() +{ + assert(false); + return FColDsptr(); +} + +ASMTSpatialContainer* MbD::ASMTSpatialContainer::partOrAssembly() +{ + return this; +} + +void MbD::ASMTSpatialContainer::updateFromMbD() +{ + auto mbdUnts = mbdUnits(); + auto mbdPart = std::static_pointer_cast(mbdObject); + auto rOcmO = mbdPart->qX()->times(mbdUnts->length); + auto aAOp = mbdPart->aAOp(); + //std::cout << "aAOp" << *aAOp << std::endl; + auto vOcmO = mbdPart->qXdot()->times(mbdUnts->velocity); + auto omeOPO = mbdPart->omeOpO()->times(mbdUnts->omega); + omega3D = omeOPO; + auto aOcmO = mbdPart->qXddot()->times(mbdUnts->acceleration); + auto alpOPO = mbdPart->alpOpO()->times(mbdUnts->alpha); + auto& rPcmP = principalMassMarker->position3D; + auto& aAPp = principalMassMarker->rotationMatrix; + auto aAOP = aAOp->timesTransposeFullMatrix(aAPp); + rotationMatrix = aAOP; + auto rPcmO = aAOP->timesFullColumn(rPcmP); + auto rOPO = rOcmO->minusFullColumn(rPcmO); + position3D = rOPO; + auto vOPO = vOcmO->minusFullColumn(omeOPO->cross(rPcmO)); + velocity3D = vOPO; + auto aOPO = aOcmO->minusFullColumn(alpOPO->cross(rPcmO))->minusFullColumn(omeOPO->cross(omeOPO->cross(rPcmO))); + xs->push_back(rOPO->at(0)); + ys->push_back(rOPO->at(1)); + zs->push_back(rOPO->at(2)); + auto bryantAngles = aAOP->bryantAngles(); + bryxs->push_back(bryantAngles->at(0)); + bryys->push_back(bryantAngles->at(1)); + bryzs->push_back(bryantAngles->at(2)); + //std::cout << "bry " << *bryantAngles << std::endl; + vxs->push_back(vOPO->at(0)); + vys->push_back(vOPO->at(1)); + vzs->push_back(vOPO->at(2)); + omexs->push_back(omeOPO->at(0)); + omeys->push_back(omeOPO->at(1)); + omezs->push_back(omeOPO->at(2)); + axs->push_back(aOPO->at(0)); + ays->push_back(aOPO->at(1)); + azs->push_back(aOPO->at(2)); + alpxs->push_back(alpOPO->at(0)); + alpys->push_back(alpOPO->at(1)); + alpzs->push_back(alpOPO->at(2)); +} + +void MbD::ASMTSpatialContainer::compareResults(AnalysisType) +{ + if (inxs == nullptr || inxs->empty()) return; + auto mbdUnts = mbdUnits(); + auto factor = 1.0e-6; + auto lengthTol = mbdUnts->length * factor; + auto angleTol = mbdUnts->angle * factor; + auto velocityTol = mbdUnts->velocity * factor; + auto omegaTol = mbdUnts->omega * factor; + auto accelerationTol = mbdUnts->acceleration * factor; + auto alphaTol = mbdUnts->alpha * factor; + auto i = xs->size() - 1; + //Pos + if (!Numeric::equaltol(xs->at(i), inxs->at(i), lengthTol)) { + std::cout << i << " xs " << xs->at(i) << " != " << inxs->at(i) << " tol = " << lengthTol << std::endl; + } + if (!Numeric::equaltol(ys->at(i), inys->at(i), lengthTol)) { + std::cout << i << " ys " << ys->at(i) << " != " << inys->at(i) << " tol = " << lengthTol << std::endl; + } + if (!Numeric::equaltol(zs->at(i), inzs->at(i), lengthTol)) { + std::cout << i << " zs " << zs->at(i) << " != " << inzs->at(i) << " tol = " << lengthTol << std::endl; + } + if (!Numeric::equaltol(bryxs->at(i), inbryxs->at(i), angleTol)) { + std::cout << i << " bryxs " << bryxs->at(i) << " != " << inbryxs->at(i) << " tol = " << angleTol << std::endl; + } + if (!Numeric::equaltol(bryys->at(i), inbryys->at(i), angleTol)) { + std::cout << i << " bryys " << bryys->at(i) << " != " << inbryys->at(i) << " tol = " << angleTol << std::endl; + } + if (!Numeric::equaltol(bryzs->at(i), inbryzs->at(i), angleTol)) { + std::cout << i << " bryzs " << bryzs->at(i) << " != " << inbryzs->at(i) << " tol = " << angleTol << std::endl; + } + //Vel + if (!Numeric::equaltol(vxs->at(i), invxs->at(i), velocityTol)) { + std::cout << i << " vxs " << vxs->at(i) << " != " << invxs->at(i) << " tol = " << velocityTol << std::endl; + } + if (!Numeric::equaltol(vys->at(i), invys->at(i), velocityTol)) { + std::cout << i << " vys " << vys->at(i) << " != " << invys->at(i) << " tol = " << velocityTol << std::endl; + } + if (!Numeric::equaltol(vzs->at(i), invzs->at(i), velocityTol)) { + std::cout << i << " vzs " << vzs->at(i) << " != " << invzs->at(i) << " tol = " << velocityTol << std::endl; + } + if (!Numeric::equaltol(omexs->at(i), inomexs->at(i), omegaTol)) { + std::cout << i << " omexs " << omexs->at(i) << " != " << inomexs->at(i) << " tol = " << omegaTol << std::endl; + } + if (!Numeric::equaltol(omeys->at(i), inomeys->at(i), omegaTol)) { + std::cout << i << " omeys " << omeys->at(i) << " != " << inomeys->at(i) << " tol = " << omegaTol << std::endl; + } + if (!Numeric::equaltol(omezs->at(i), inomezs->at(i), omegaTol)) { + std::cout << i << " omezs " << omezs->at(i) << " != " << inomezs->at(i) << " tol = " << omegaTol << std::endl; + } + //Acc + if (!Numeric::equaltol(axs->at(i), inaxs->at(i), accelerationTol)) { + std::cout << i << " axs " << axs->at(i) << " != " << inaxs->at(i) << " tol = " << accelerationTol << std::endl; + } + if (!Numeric::equaltol(ays->at(i), inays->at(i), accelerationTol)) { + std::cout << i << " ays " << ays->at(i) << " != " << inays->at(i) << " tol = " << accelerationTol << std::endl; + } + if (!Numeric::equaltol(azs->at(i), inazs->at(i), accelerationTol)) { + std::cout << i << " azs " << azs->at(i) << " != " << inazs->at(i) << " tol = " << accelerationTol << std::endl; + } + if (!Numeric::equaltol(alpxs->at(i), inalpxs->at(i), alphaTol)) { + std::cout << i << " alpxs " << alpxs->at(i) << " != " << inalpxs->at(i) << " tol = " << alphaTol << std::endl; + } + if (!Numeric::equaltol(alpys->at(i), inalpys->at(i), alphaTol)) { + std::cout << i << " alpys " << alpys->at(i) << " != " << inalpys->at(i) << " tol = " << alphaTol << std::endl; + } + if (!Numeric::equaltol(alpzs->at(i), inalpzs->at(i), alphaTol)) { + std::cout << i << " alpzs " << alpzs->at(i) << " != " << inalpzs->at(i) << " tol = " << alphaTol << std::endl; + } +} + +void MbD::ASMTSpatialContainer::outputResults(AnalysisType) +{ + if (inxs != nullptr && !inxs->empty()) return; + auto i = xs->size() - 1; + std::cout << i << " "; + std::cout << xs->at(i) << ", " << ys->at(i) << ", " << zs->at(i) << ", "; + std::cout << bryxs->at(i) << ", " << bryys->at(i) << ", " << bryzs->at(i) << std::endl; +} + +void MbD::ASMTSpatialContainer::addRefPoint(std::shared_ptr refPoint) +{ + refPoints->push_back(refPoint); + refPoint->owner = this; +} + +void MbD::ASMTSpatialContainer::addMarker(std::shared_ptr marker) +{ + auto refPoint = CREATE::With(); + addRefPoint(refPoint); + refPoint->addMarker(marker); +} + +std::string MbD::ASMTSpatialContainer::generateUniqueMarkerName() +{ + auto aItemList = markerList(); + auto markerNames = std::vector(); + for (auto& mkr : *aItemList) { + markerNames.push_back(mkr->name); + } + std::stringstream ss; + auto count = 0; + while (true) { + ss.str(""); + ss << "Marker"; + ss << count; + if (std::find(markerNames.begin(), markerNames.end(), ss.str()) == markerNames.end()) break; + count++; + } + return ss.str(); +} + +std::shared_ptr>> MbD::ASMTSpatialContainer::markerList() +{ + auto markers = std::make_shared>>(); + for (auto& refPoint : *refPoints) { + auto refmarkers = refPoint->markers; + markers->insert(markers->end(), refmarkers->begin(), refmarkers->end()); + } + return markers; +} + +void MbD::ASMTSpatialContainer::storeOnLevel(std::ofstream& os, int level) +{ + ASMTSpatialItem::storeOnLevel(os, level); + storeOnLevelVelocity(os, level + 1); + storeOnLevelOmega(os, level + 1); + storeOnLevelRefPoints(os, level + 1); + storeOnLevelRefCurves(os, level + 1); + storeOnLevelRefSurfaces(os, level + 1); +} + +void MbD::ASMTSpatialContainer::setVelocity3D(FColDsptr vec) +{ + velocity3D = vec; +} + +void MbD::ASMTSpatialContainer::setOmega3D(FColDsptr vec) +{ + omega3D = vec; +} + +void MbD::ASMTSpatialContainer::readVelocity3D(std::vector& lines) +{ + assert(lines[0].find("Velocity3D") != std::string::npos); + lines.erase(lines.begin()); + std::istringstream iss(lines[0]); + velocity3D = std::make_shared>(); + double d; + while (iss >> d) { + velocity3D->push_back(d); + } + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::readOmega3D(std::vector& lines) +{ + assert(lines[0].find("Omega3D") != std::string::npos); + lines.erase(lines.begin()); + std::istringstream iss(lines[0]); + omega3D = std::make_shared>(); + double d; + while (iss >> d) { + omega3D->push_back(d); + } + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialContainer::setVelocity3D(double a, double b, double c) +{ + velocity3D = std::make_shared>(ListD{ a, b, c }); +} + +void MbD::ASMTSpatialContainer::setOmega3D(double a, double b, double c) +{ + omega3D = std::make_shared>(ListD{ a, b, c }); +} + +void MbD::ASMTSpatialContainer::storeOnLevelVelocity(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "Velocity3D"); + if (vxs == nullptr || vxs->empty()) { + storeOnLevelArray(os, level + 1, *velocity3D); + } + else { + auto array = getVelocity3D(0); + storeOnLevelArray(os, level + 1, *array); + } +} + +void MbD::ASMTSpatialContainer::storeOnLevelOmega(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "Omega3D"); + if (omexs == nullptr || omexs->empty()) { + storeOnLevelArray(os, level + 1, *omega3D); + } + else { + auto array = getOmega3D(0); + storeOnLevelArray(os, level + 1, *array); + } +} + +void MbD::ASMTSpatialContainer::storeOnLevelRefPoints(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "RefPoints"); + for (auto& refPoint : *refPoints) + { + refPoint->storeOnLevel(os, level + 1); + } +} + +void MbD::ASMTSpatialContainer::storeOnLevelRefCurves(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "RefCurves"); + for (auto& refCurve : *refCurves) + { + refCurve->storeOnLevel(os, level); + } +} + +void MbD::ASMTSpatialContainer::storeOnLevelRefSurfaces(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "RefSurfaces"); + for (auto& refSurface : *refSurfaces) + { + refSurface->storeOnLevel(os, level); + } +} + +void MbD::ASMTSpatialContainer::storeOnTimeSeries(std::ofstream& os) +{ + os << "X\t"; + for (int i = 0; i < (int)xs->size(); i++) + { + os << xs->at(i) << '\t'; + } + os << std::endl; + os << "Y\t"; + for (int i = 0; i < (int)ys->size(); i++) + { + os << ys->at(i) << '\t'; + } + os << std::endl; + os << "Z\t"; + for (int i = 0; i < (int)zs->size(); i++) + { + os << zs->at(i) << '\t'; + } + os << std::endl; + os << "Bryantx\t"; + for (int i = 0; i < (int)bryxs->size(); i++) + { + os << bryxs->at(i) << '\t'; + } + os << std::endl; + os << "Bryanty\t"; + for (int i = 0; i < (int)bryys->size(); i++) + { + os << bryys->at(i) << '\t'; + } + os << std::endl; + os << "Bryantz\t"; + for (int i = 0; i < (int)bryzs->size(); i++) + { + os << bryzs->at(i) << '\t'; + } + os << std::endl; + os << "VX\t"; + for (int i = 0; i < (int)vxs->size(); i++) + { + os << vxs->at(i) << '\t'; + } + os << std::endl; + os << "VY\t"; + for (int i = 0; i < (int)vys->size(); i++) + { + os << vys->at(i) << '\t'; + } + os << std::endl; + os << "VZ\t"; + for (int i = 0; i < (int)vzs->size(); i++) + { + os << vzs->at(i) << '\t'; + } + os << std::endl; + os << "OmegaX\t"; + for (int i = 0; i < (int)omexs->size(); i++) + { + os << omexs->at(i) << '\t'; + } + os << std::endl; + os << "OmegaY\t"; + for (int i = 0; i < (int)omeys->size(); i++) + { + os << omeys->at(i) << '\t'; + } + os << std::endl; + os << "OmegaZ\t"; + for (int i = 0; i < (int)omezs->size(); i++) + { + os << omezs->at(i) << '\t'; + } + os << std::endl; + os << "AX\t"; + for (int i = 0; i < (int)axs->size(); i++) + { + os << axs->at(i) << '\t'; + } + os << std::endl; + os << "AY\t"; + for (int i = 0; i < (int)ays->size(); i++) + { + os << ays->at(i) << '\t'; + } + os << std::endl; + os << "AZ\t"; + for (int i = 0; i < (int)azs->size(); i++) + { + os << azs->at(i) << '\t'; + } + os << std::endl; + os << "AlphaX\t"; + for (int i = 0; i < (int)alpxs->size(); i++) + { + os << alpxs->at(i) << '\t'; + } + os << std::endl; + os << "AlphaY\t"; + for (int i = 0; i < (int)alpys->size(); i++) + { + os << alpys->at(i) << '\t'; + } + os << std::endl; + os << "AlphaZ\t"; + for (int i = 0; i < (int)alpzs->size(); i++) + { + os << alpzs->at(i) << '\t'; + } + os << std::endl; +} + +FColDsptr MbD::ASMTSpatialContainer::getVelocity3D(int i) +{ + auto vec3 = std::make_shared>(3); + vec3->atiput(0, vxs->at(i)); + vec3->atiput(1, vys->at(i)); + vec3->atiput(2, vzs->at(i)); + return vec3; +} + +FColDsptr MbD::ASMTSpatialContainer::getOmega3D(int i) +{ + auto vec3 = std::make_shared>(3); + vec3->atiput(0, omexs->at(i)); + vec3->atiput(1, omeys->at(i)); + vec3->atiput(2, omezs->at(i)); + return vec3; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTSpatialContainer.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTSpatialContainer.h new file mode 100644 index 000000000000..3581726d3401 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTSpatialContainer.h @@ -0,0 +1,106 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTSpatialItem.h" +//#include "ASMTRefPoint.h" +//#include "ASMTRefCurve.h" +//#include "ASMTRefSurface.h" +#include "ASMTPrincipalMassMarker.h" +//#include "Units.h" +//#include "ASMTPart.h" +//#include "ASMTJoint.h" +//#include "ASMTMotion.h" + +namespace MbD { + class ASMTRefPoint; + class ASMTRefCurve; + class ASMTRefSurface; + class ASMTPrincipalMassMarker; + class Units; + class ASMTPart; + class ASMTJoint; + class ASMTMotion; + class ASMTMarker; + + class ASMTSpatialContainer : public ASMTSpatialItem + { + // + public: + ASMTSpatialContainer(); + void initialize() override; + void setPrincipalMassMarker(std::shared_ptr aJ); + void readRefPoints(std::vector& lines); + void readRefPoint(std::vector& lines); + void readRefCurves(std::vector& lines); + void readRefCurve(std::vector& lines); + void readRefSurfaces(std::vector& lines); + void readRefSurface(std::vector& lines); + void readXs(std::vector& lines); + void readYs(std::vector& lines); + void readZs(std::vector& lines); + void readBryantxs(std::vector& lines); + void readBryantys(std::vector& lines); + void readBryantzs(std::vector& lines); + void readVXs(std::vector& lines); + void readVYs(std::vector& lines); + void readVZs(std::vector& lines); + void readOmegaXs(std::vector& lines); + void readOmegaYs(std::vector& lines); + void readOmegaZs(std::vector& lines); + void readAXs(std::vector& lines); + void readAYs(std::vector& lines); + void readAZs(std::vector& lines); + void readAlphaXs(std::vector& lines); + void readAlphaYs(std::vector& lines); + void readAlphaZs(std::vector& lines); + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + void updateMbDFromPosition3D(FColDsptr position3D); + FColDsptr rOcmO(); + std::shared_ptr> qEp(); + virtual FColDsptr vOcmO(); + virtual FColDsptr omeOpO(); + ASMTSpatialContainer* partOrAssembly() override; + void updateFromMbD() override; + void compareResults(AnalysisType type) override; + void outputResults(AnalysisType type) override; + void addRefPoint(std::shared_ptr refPoint); + void addMarker(std::shared_ptr marker); + std::string generateUniqueMarkerName(); + std::shared_ptr>> markerList(); + void setVelocity3D(FColDsptr velocity3D); + void setOmega3D(FColDsptr omega3D); + void readVelocity3D(std::vector& lines); + void readOmega3D(std::vector& lines); + void setVelocity3D(double a, double b, double c); + void setOmega3D(double a, double b, double c); + void storeOnLevel(std::ofstream& os, int level) override; + void storeOnLevelVelocity(std::ofstream& os, int level); + void storeOnLevelOmega(std::ofstream& os, int level); + void storeOnLevelRefPoints(std::ofstream& os, int level); + void storeOnLevelRefCurves(std::ofstream& os, int level); + void storeOnLevelRefSurfaces(std::ofstream& os, int level); + void storeOnTimeSeries(std::ofstream& os) override; + FColDsptr getVelocity3D(int i); + FColDsptr getOmega3D(int i); + + FColDsptr velocity3D = std::make_shared>(3); + FColDsptr omega3D = std::make_shared>(3); + std::shared_ptr>> refPoints; + std::shared_ptr>> refCurves; + std::shared_ptr>> refSurfaces; + FRowDsptr vxs, vys, vzs, omexs, omeys, omezs; + FRowDsptr axs, ays, azs, alpxs, alpys, alpzs; + FRowDsptr invxs, invys, invzs, inomexs, inomeys, inomezs; + FRowDsptr inaxs, inays, inazs, inalpxs, inalpys, inalpzs; + std::shared_ptr principalMassMarker = std::make_shared(); + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTSpatialItem.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTSpatialItem.cpp new file mode 100644 index 000000000000..91bf043cfb05 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTSpatialItem.cpp @@ -0,0 +1,156 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ASMTSpatialItem.h" +#include "Units.h" +#include "Part.h" +#include "ASMTSpatialContainer.h" +#include "EulerAngles.h" + +using namespace MbD; + +MbD::ASMTSpatialItem::ASMTSpatialItem() : ASMTItem() +{ +} + +void MbD::ASMTSpatialItem::setPosition3D(FColDsptr vec) +{ + position3D = vec; +} + +void MbD::ASMTSpatialItem::setQuarternions(double q0, double q1, double q2, double q3) +{ + auto eulerParameters = CREATE>::With(ListD{ q1, q2, q3, q0 }); + eulerParameters->calc(); + rotationMatrix = eulerParameters->aA; +} + +void MbD::ASMTSpatialItem::setRotationMatrix(FMatDsptr mat) +{ + rotationMatrix = mat; +} + +void MbD::ASMTSpatialItem::readPosition3D(std::vector& lines) +{ + assert(lines[0].find("Position3D") != std::string::npos); + lines.erase(lines.begin()); + std::istringstream iss(lines[0]); + position3D = std::make_shared>(); + double d; + while (iss >> d) { + position3D->push_back(d); + } + lines.erase(lines.begin()); +} + +void MbD::ASMTSpatialItem::readRotationMatrix(std::vector& lines) +{ + assert(lines[0].find("RotationMatrix") != std::string::npos); + lines.erase(lines.begin()); + rotationMatrix = std::make_shared>(3, 0); + for (int i = 0; i < 3; i++) + { + auto& row = rotationMatrix->at(i); + std::istringstream iss(lines[0]); + double d; + while (iss >> d) { + row->push_back(d); + } + lines.erase(lines.begin()); + } +} + +void MbD::ASMTSpatialItem::getPosition3D(double& a, double& b, double& c) +{ + a = position3D->at(0); + b = position3D->at(1); + c = position3D->at(2); +} + +void MbD::ASMTSpatialItem::getQuarternions(double& q0, double& q1, double& q2, double& q3) +{ + auto eulerParameters = rotationMatrix->asEulerParameters(); + q0 = eulerParameters->at(3); + q1 = eulerParameters->at(0); + q2 = eulerParameters->at(1); + q3 = eulerParameters->at(2); +} + +// Overloads to simplify syntax. +void MbD::ASMTSpatialItem::setPosition3D(double a, double b, double c) +{ + position3D = std::make_shared>(ListD{ a, b, c }); +} + +void MbD::ASMTSpatialItem::setRotationMatrix(double v11, double v12, double v13, + double v21, double v22, double v23, + double v31, double v32, double v33) +{ + rotationMatrix = std::make_shared>(ListListD{ + { v11, v12, v13 }, + { v21, v22, v23 }, + { v31, v32, v33 } + }); +} + +void MbD::ASMTSpatialItem::storeOnLevel(std::ofstream& os, int level) +{ + storeOnLevelPosition(os, level + 1); + storeOnLevelRotationMatrix(os, level + 1); +} + +void MbD::ASMTSpatialItem::storeOnLevelPosition(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "Position3D"); + if (xs == nullptr || xs->empty()) { + storeOnLevelArray(os, level + 1, *position3D); + } + else { + auto array = getPosition3D(0); + storeOnLevelArray(os, level + 1, *array); + } +} + +void MbD::ASMTSpatialItem::storeOnLevelRotationMatrix(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "RotationMatrix"); + if (xs == nullptr || xs->empty()) { + for (int i = 0; i < 3; i++) + { + storeOnLevelArray(os, level + 1, *rotationMatrix->at(i)); + } + } + else { + auto rotMat = getRotationMatrix(0); + for (int i = 0; i < 3; i++) + { + storeOnLevelArray(os, level + 1, *rotMat->at(i)); + } + } + +} + +FColDsptr MbD::ASMTSpatialItem::getPosition3D(int i) +{ + auto vec3 = std::make_shared>(3); + vec3->atiput(0, xs->at(i)); + vec3->atiput(1, ys->at(i)); + vec3->atiput(2, zs->at(i)); + return vec3; +} + +FMatDsptr MbD::ASMTSpatialItem::getRotationMatrix(int i) +{ + auto bryantAngles = std::make_shared>(); + bryantAngles->setRotOrder(1, 2, 3); + bryantAngles->at(0) = bryxs->at(i); + bryantAngles->at(1) = bryys->at(i); + bryantAngles->at(2) = bryzs->at(i); + bryantAngles->calc(); + return bryantAngles->aA; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTSpatialItem.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTSpatialItem.h new file mode 100644 index 000000000000..acbf7968265e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTSpatialItem.h @@ -0,0 +1,49 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTItem.h" + +namespace MbD { + class ASMTSpatialItem : public ASMTItem + { + // + public: + ASMTSpatialItem(); + void setPosition3D(FColDsptr position3D); + void setRotationMatrix(FMatDsptr rotationMatrix); + void readPosition3D(std::vector& lines); + void readRotationMatrix(std::vector& lines); + + // Overloads to simplify syntax. + void getPosition3D(double& a, double& b, double& c); + void getQuarternions(double& q0, double& q1, double& q2, double& q3); + void setPosition3D(double a, double b, double c); + void setQuarternions(double q0, double q1, double q2, double q3); + void setRotationMatrix(double v11, double v12, double v13, + double v21, double v22, double v23, + double v31, double v32, double v33); + void storeOnLevel(std::ofstream& os, int level) override; + void storeOnLevelPosition(std::ofstream& os, int level); + void storeOnLevelRotationMatrix(std::ofstream& os, int level); + FColDsptr getPosition3D(int i); + FMatDsptr getRotationMatrix(int i); + + FColDsptr position3D = std::make_shared>(3); + FMatDsptr rotationMatrix = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + FRowDsptr xs, ys, zs, bryxs, bryys, bryzs; + FRowDsptr inxs, inys, inzs, inbryxs, inbryys, inbryzs; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTSphSphJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTSphSphJoint.cpp new file mode 100644 index 000000000000..f540be793c24 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTSphSphJoint.cpp @@ -0,0 +1,18 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTSphSphJoint.h" +#include "SphSphJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTSphSphJoint::mbdClassNew() +{ + return CREATE::With(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTSphSphJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTSphSphJoint.h new file mode 100644 index 000000000000..92e43b88ebd5 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTSphSphJoint.h @@ -0,0 +1,21 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTCompoundJoint.h" + +namespace MbD { + class ASMTSphSphJoint : public ASMTCompoundJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTSphericalJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTSphericalJoint.cpp new file mode 100644 index 000000000000..74ea09adc3d4 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTSphericalJoint.cpp @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTSphericalJoint.h" +#include "SphericalJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTSphericalJoint::mbdClassNew() +{ + return CREATE::With(); +} + +void MbD::ASMTSphericalJoint::storeOnTimeSeries(std::ofstream& os) +{ + os << "SphericalJointSeries\t" << fullName("") << std::endl; + ASMTItemIJ::storeOnTimeSeries(os); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTSphericalJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTSphericalJoint.h new file mode 100644 index 000000000000..1d8b52995460 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTSphericalJoint.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTAtPointJoint.h" + +namespace MbD { + class ASMTSphericalJoint : public ASMTAtPointJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + void storeOnTimeSeries(std::ofstream& os) override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTTime.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTTime.cpp new file mode 100644 index 000000000000..0a0ca9373aa1 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTTime.cpp @@ -0,0 +1,51 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "ASMTTime.h" +#include "Time.h" +#include "Constant.h" +#include "Product.h" + +using namespace MbD; + +void MbD::ASMTTime::deleteMbD() +{ + xx = nullptr; + expression = nullptr; +} + +void MbD::ASMTTime::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + auto mbdTime = mbdSys->time; + if (xx == mbdTime) return; + auto timeScale = sptrConstant(mbdUnits->time); + auto geoTime = std::make_shared(timeScale, mbdTime); + this->xexpression(mbdTime, geoTime->simplified(geoTime)); +} + +Symsptr MbD::ASMTTime::expandUntil(Symsptr sptr, std::shared_ptr>) +{ + return sptr; +} + +Symsptr MbD::ASMTTime::simplifyUntil(Symsptr sptr, std::shared_ptr>) +{ + return sptr; +} + +bool MbD::ASMTTime::isVariable() +{ + return true; +} + +void MbD::ASMTTime::setValue(double val) +{ + xx->setValue(val); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTTime.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTTime.h new file mode 100644 index 000000000000..667e86e01e2c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTTime.h @@ -0,0 +1,29 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ExpressionX.h" +#include "System.h" +#include "Units.h" + +namespace MbD { + class ASMTTime : public ExpressionX + { + // + public: + void deleteMbD(); + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + Symsptr expandUntil(Symsptr sptr, std::shared_ptr> set) override; + Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr> set) override; + bool isVariable() override; + void setValue(double val) override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTTranslationalJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTTranslationalJoint.cpp new file mode 100644 index 000000000000..ef0886c1ab90 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTTranslationalJoint.cpp @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTTranslationalJoint.h" +#include "TranslationalJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTTranslationalJoint::mbdClassNew() +{ + return CREATE::With(); +} + +void MbD::ASMTTranslationalJoint::storeOnTimeSeries(std::ofstream& os) +{ + os << "TranslationalJointSeries\t" << fullName("") << std::endl; + ASMTItemIJ::storeOnTimeSeries(os); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTTranslationalJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTTranslationalJoint.h new file mode 100644 index 000000000000..85272ff0acd9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTTranslationalJoint.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTInLineJoint.h" + +namespace MbD { + class ASMTTranslationalJoint : public ASMTInLineJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + void storeOnTimeSeries(std::ofstream& os) override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTTranslationalMotion.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTTranslationalMotion.cpp new file mode 100644 index 000000000000..eb79467e0909 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTTranslationalMotion.cpp @@ -0,0 +1,83 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTTranslationalMotion.h" +#include "ASMTAssembly.h" +#include "SymbolicParser.h" +#include "BasicUserFunction.h" +#include "Constant.h" +#include "ASMTJoint.h" +#include "ZTranslation.h" +#include "ASMTTime.h" + +using namespace MbD; + +void MbD::ASMTTranslationalMotion::parseASMT(std::vector& lines) +{ + readName(lines); + readMotionJoint(lines); + readTranslationZ(lines); +} + +void MbD::ASMTTranslationalMotion::initMarkers() +{ + auto jt = root()->jointAt(motionJoint); + markerI = jt->markerI; + markerJ = jt->markerJ; +} + +void MbD::ASMTTranslationalMotion::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + ASMTMotion::createMbD(mbdSys, mbdUnits); + auto parser = std::make_shared(); + parser->owner = this; + auto geoTime = owner->root()->geoTime(); + parser->variables->insert(std::make_pair("time", geoTime)); + auto userFunc = std::make_shared(translationZ, 1.0); + parser->parseUserFunction(userFunc); + auto zIJ = parser->stack->top(); + zIJ = Symbolic::times(zIJ, sptrConstant(1.0 / mbdUnits->length)); + zIJ->createMbD(mbdSys, mbdUnits); + std::static_pointer_cast(mbdObject)->zBlk = zIJ->simplified(zIJ); +} + +std::shared_ptr MbD::ASMTTranslationalMotion::mbdClassNew() +{ + return CREATE::With(); +} + +void MbD::ASMTTranslationalMotion::readMotionJoint(std::vector& lines) +{ + assert(lines[0].find("MotionJoint") != std::string::npos); + lines.erase(lines.begin()); + motionJoint = readString(lines[0]); + lines.erase(lines.begin()); +} + +void MbD::ASMTTranslationalMotion::readTranslationZ(std::vector& lines) +{ + assert(lines[0].find("TranslationZ") != std::string::npos); + lines.erase(lines.begin()); + translationZ = readString(lines[0]); + lines.erase(lines.begin()); +} + +void MbD::ASMTTranslationalMotion::storeOnLevel(std::ofstream& os, int level) +{ + storeOnLevelString(os, level, "TranslationalMotion"); + storeOnLevelString(os, level + 1, "Name"); + storeOnLevelString(os, level + 2, name); + ASMTItemIJ::storeOnLevel(os, level); +} + +void MbD::ASMTTranslationalMotion::storeOnTimeSeries(std::ofstream& os) +{ + os << "TranslationalMotionSeries\t" << fullName("") << std::endl; + ASMTItemIJ::storeOnTimeSeries(os); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTTranslationalMotion.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTTranslationalMotion.h new file mode 100644 index 000000000000..5aebf3d0b66f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTTranslationalMotion.h @@ -0,0 +1,31 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTMotion.h" + +namespace MbD { + class ASMTTranslationalMotion : public ASMTMotion + { + // + public: + void parseASMT(std::vector& lines) override; + void initMarkers() override; + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + std::shared_ptr mbdClassNew() override; + void readMotionJoint(std::vector& lines); + void readTranslationZ(std::vector& lines); + void storeOnLevel(std::ofstream& os, int level) override; + void storeOnTimeSeries(std::ofstream& os) override; + + std::string motionJoint, translationZ; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTUniversalJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ASMTUniversalJoint.cpp new file mode 100644 index 000000000000..95685c13b6bf --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTUniversalJoint.cpp @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ +#include + +#include "ASMTUniversalJoint.h" +#include "UniversalJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::ASMTUniversalJoint::mbdClassNew() +{ + return CREATE::With(); +} + +void MbD::ASMTUniversalJoint::storeOnTimeSeries(std::ofstream& os) +{ + os << "UniversalJointSeries\t" << fullName("") << std::endl; + ASMTItemIJ::storeOnTimeSeries(os); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ASMTUniversalJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ASMTUniversalJoint.h new file mode 100644 index 000000000000..d9e17fce2bc9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ASMTUniversalJoint.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ASMTAtPointJoint.h" + +namespace MbD { + class ASMTUniversalJoint : public ASMTAtPointJoint + { + // + public: + std::shared_ptr mbdClassNew() override; + void storeOnTimeSeries(std::ofstream& os) override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Abs.cpp b/src/3rdParty/OndselSolver/OndselSolver/Abs.cpp new file mode 100644 index 000000000000..20681f25cfc7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Abs.cpp @@ -0,0 +1,31 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "Abs.h" + +using namespace MbD; + +MbD::Abs::Abs(Symsptr arg) : FunctionX(arg) +{ +} + +double MbD::Abs::getValue() +{ + return std::abs(xx->getValue()); +} + +Symsptr MbD::Abs::copyWith(Symsptr arg) +{ + return std::make_shared(arg); +} + +std::ostream& MbD::Abs::printOn(std::ostream& s) const +{ + s << "abs(" << *xx << ")"; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Abs.h b/src/3rdParty/OndselSolver/OndselSolver/Abs.h new file mode 100644 index 000000000000..a586d5a93923 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Abs.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionX.h" + +namespace MbD { + class Abs : public FunctionX + { + // + public: + Abs() = default; + Abs(Symsptr arg); + double getValue() override; + Symsptr copyWith(Symsptr arg) override; + + std::ostream& printOn(std::ostream& s) const override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/AbsConstraint.cpp b/src/3rdParty/OndselSolver/OndselSolver/AbsConstraint.cpp new file mode 100644 index 000000000000..53f2fd458db3 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AbsConstraint.cpp @@ -0,0 +1,72 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "AbsConstraint.h" +#include "PartFrame.h" + +using namespace MbD; +// +//AbsConstraint::AbsConstraint() {} +// +//AbsConstraint::AbsConstraint(const char* str) : Constraint(str) {} + +AbsConstraint::AbsConstraint(int i) +{ + axis = i; +} + +void AbsConstraint::calcPostDynCorrectorIteration() +{ + if (axis < 3) { + aG = static_cast(owner)->qX->at((int)axis); + } + else { + aG = static_cast(owner)->qE->at((int)axis - 3); + } +} + +void AbsConstraint::useEquationNumbers() +{ + iqXminusOnePlusAxis = static_cast(owner)->iqX + axis; +} + +void AbsConstraint::fillPosICJacob(SpMatDsptr mat) +{ + mat->atijplusNumber(iG, iqXminusOnePlusAxis, 1.0); + mat->atijplusNumber(iqXminusOnePlusAxis, iG, 1.0); +} + +void AbsConstraint::fillPosICError(FColDsptr col) +{ + Constraint::fillPosICError(col); + col->at(iqXminusOnePlusAxis) += lam; +} + +void AbsConstraint::fillPosKineJacob(SpMatDsptr mat) +{ + mat->atijplusNumber(iG, iqXminusOnePlusAxis, 1.0); +} + +void AbsConstraint::fillVelICJacob(SpMatDsptr mat) +{ + this->fillPosICJacob(mat); +} + +void AbsConstraint::fillAccICIterError(FColDsptr col) +{ + col->atiplusNumber(iqXminusOnePlusAxis, lam); + auto partFrame = static_cast(owner); + double sum; + if (axis < 3) { + sum = partFrame->qXddot->at((int)axis); + } + else { + sum = partFrame->qEddot->at((int)axis - 3); + } + col->atiplusNumber(iG, sum); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AbsConstraint.h b/src/3rdParty/OndselSolver/OndselSolver/AbsConstraint.h new file mode 100644 index 000000000000..992943daba27 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AbsConstraint.h @@ -0,0 +1,33 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Constraint.h" +namespace MbD { + class AbsConstraint : public Constraint + { + //axis iqXminusOnePlusAxis + public: + //AbsConstraint(); + //AbsConstraint(const char* str); + AbsConstraint(int axis); + + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void useEquationNumbers() override; + + int axis = -1; + int iqXminusOnePlusAxis = -1; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/AccICKineNewtonRaphson.cpp b/src/3rdParty/OndselSolver/OndselSolver/AccICKineNewtonRaphson.cpp new file mode 100644 index 000000000000..8cb6db8f8005 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AccICKineNewtonRaphson.cpp @@ -0,0 +1,26 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "AccICKineNewtonRaphson.h" +#include "SystemSolver.h" + +using namespace MbD; + +void AccICKineNewtonRaphson::initializeGlobally() +{ + AccNewtonRaphson::initializeGlobally(); + iterMax = system->iterMaxAccKine; + dxTol = system->errorTolAccKine; +} + +void AccICKineNewtonRaphson::preRun() +{ + std::string str("MbD: Solving for quasi kinematic acceleration."); + system->logString(str); + AccNewtonRaphson::preRun(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AccICKineNewtonRaphson.h b/src/3rdParty/OndselSolver/OndselSolver/AccICKineNewtonRaphson.h new file mode 100644 index 000000000000..09092e5ffa6f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AccICKineNewtonRaphson.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AccICNewtonRaphson.h" + +namespace MbD { + class AccICKineNewtonRaphson : public AccICNewtonRaphson + { + //Kinematics with under constrained system + public: + void initializeGlobally() override; + void preRun() override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/AccICNewtonRaphson.cpp b/src/3rdParty/OndselSolver/OndselSolver/AccICNewtonRaphson.cpp new file mode 100644 index 000000000000..e0de975764a6 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AccICNewtonRaphson.cpp @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "AccICNewtonRaphson.h" +#include "SystemSolver.h" + +using namespace MbD; + +bool AccICNewtonRaphson::isConverged() +{ + return this->isConvergedToNumericalLimit(); +} + +void AccICNewtonRaphson::preRun() +{ + std::string str("MbD: Solving for acceleration initial conditions."); + system->logString(str); + AccNewtonRaphson::preRun(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AccICNewtonRaphson.h b/src/3rdParty/OndselSolver/OndselSolver/AccICNewtonRaphson.h new file mode 100644 index 000000000000..911e2cc13a0f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AccICNewtonRaphson.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AccNewtonRaphson.h" + +namespace MbD { + class AccICNewtonRaphson : public AccNewtonRaphson + { + //IC acceleration with fully or under constrained system + public: + bool isConverged() override; + void preRun() override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/AccKineNewtonRaphson.cpp b/src/3rdParty/OndselSolver/OndselSolver/AccKineNewtonRaphson.cpp new file mode 100644 index 000000000000..fc3adc8efad0 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AccKineNewtonRaphson.cpp @@ -0,0 +1,26 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "AccKineNewtonRaphson.h" +#include "SystemSolver.h" + +using namespace MbD; + +void AccKineNewtonRaphson::initializeGlobally() +{ + AccNewtonRaphson::initializeGlobally(); + iterMax = system->iterMaxAccKine; + dxTol = system->errorTolAccKine; +} + +void AccKineNewtonRaphson::preRun() +{ + std::string str("MbD: Solving for kinematic acceleration."); + system->logString(str); + AccNewtonRaphson::preRun(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AccKineNewtonRaphson.h b/src/3rdParty/OndselSolver/OndselSolver/AccKineNewtonRaphson.h new file mode 100644 index 000000000000..8036e0c52a8a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AccKineNewtonRaphson.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AccNewtonRaphson.h" + +namespace MbD { + class AccKineNewtonRaphson : public AccNewtonRaphson + { + //Kinematics with fully constrained system + public: + void initializeGlobally() override; + void preRun() override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/AccNewtonRaphson.cpp b/src/3rdParty/OndselSolver/OndselSolver/AccNewtonRaphson.cpp new file mode 100644 index 000000000000..89d485ec151c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AccNewtonRaphson.cpp @@ -0,0 +1,143 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "AccNewtonRaphson.h" +#include "SystemSolver.h" +#include "Part.h" +#include "Constraint.h" +#include "SimulationStoppingError.h" +#include "GESpMatParPvPrecise.h" +#include "CREATE.h" + +using namespace MbD; + +void AccNewtonRaphson::askSystemToUpdate() +{ + system->partsJointsMotionsForcesTorquesDo([&](std::shared_ptr item) { item->postAccICIteration(); }); +} + +void AccNewtonRaphson::assignEquationNumbers() +{ + auto parts = system->parts(); + //auto contactEndFrames = system->contactEndFrames(); + //auto uHolders = system->uHolders(); + auto constraints = system->allConstraints(); + int eqnNo = 0; + for (auto& part : *parts) { + part->iqX(eqnNo); + eqnNo = eqnNo + 3; + part->iqE(eqnNo); + eqnNo = eqnNo + 4; + } + //for (auto& endFrm : *contactEndFrames) { + // endFrm->is(eqnNo); + // eqnNo = eqnNo + endFrm->sSize(); + //} + //for (auto& uHolder : *uHolders) { + // uHolder->iu(eqnNo); + // eqnNo += 1; + //} + auto nEqns = eqnNo; //C++ uses index 0. + for (auto& con : *constraints) { + con->iG = eqnNo; + eqnNo += 1; + } + //auto lastEqnNo = eqnNo - 1; + nEqns = eqnNo; //C++ uses index 0. + n = nEqns; +} + +void AccNewtonRaphson::fillPyPx() +{ + pypx->zeroSelf(); + system->partsJointsMotionsForcesTorquesDo([&](std::shared_ptr item) { + item->fillAccICIterJacob(pypx); + }); +} + +void AccNewtonRaphson::fillY() +{ + y->zeroSelf(); + system->partsJointsMotionsForcesTorquesDo([&](std::shared_ptr item) { + item->fillAccICIterError(y); + //std::cout << item->name << *y << std::endl; + }); + //std::cout << "Final" << *y << std::endl; +} + +void AccNewtonRaphson::incrementIterNo() +{ + if (iterNo >= iterMax) + { + std::stringstream ss; + ss << "MbD: No convergence after " << iterNo << " iterations."; + auto str = ss.str(); + system->logString(str); + ss.str(""); + ss << "A force function of joint reactions can cause this problem"; + str = ss.str(); + system->logString(str); + ss.str(""); + ss << "if the function returns large values."; + str = ss.str(); + system->logString(str); + + throw SimulationStoppingError(""); + } + + iterNo++; +} + +void AccNewtonRaphson::initializeGlobally() +{ + SystemNewtonRaphson::initializeGlobally(); + system->partsJointsMotionsDo([&](std::shared_ptr item) { item->fillqsuddotlam(x); }); +} + +void AccNewtonRaphson::logSingularMatrixMessage() +{ + std::string str = "MbD: Some parts with zero masses or moment of inertias have infinite accelerations."; + system->logString(str); + str = "Add masses and inertias to or properly constrain those parts."; + system->logString(str); +} + +void AccNewtonRaphson::passRootToSystem() +{ + system->partsJointsMotionsDo([&](std::shared_ptr item) { item->setqsuddotlam(x); }); +} + +void AccNewtonRaphson::postRun() +{ + system->partsJointsMotionsForcesTorquesDo([&](std::shared_ptr item) { item->postAccIC(); }); +} + +void AccNewtonRaphson::preRun() +{ + system->partsJointsMotionsForcesTorquesDo([&](std::shared_ptr item) { item->preAccIC(); }); +} + +void MbD::AccNewtonRaphson::handleSingularMatrix() +{ + auto& r = *matrixSolver; + std::string str = typeid(r).name(); + if (str.find("GESpMatParPvMarkoFast") != std::string::npos) { + matrixSolver = CREATE::With(); + this->solveEquations(); + } else { + str = typeid(r).name(); + if (str.find("GESpMatParPvPrecise") != std::string::npos) { + this->logSingularMatrixMessage(); + matrixSolver->throwSingularMatrixError("AccAccNewtonRaphson"); + } else { + assert(false); + } + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AccNewtonRaphson.h b/src/3rdParty/OndselSolver/OndselSolver/AccNewtonRaphson.h new file mode 100644 index 000000000000..b304629d0e16 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AccNewtonRaphson.h @@ -0,0 +1,33 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "SystemNewtonRaphson.h" + +namespace MbD { + class AccNewtonRaphson : public SystemNewtonRaphson + { + // + public: + void askSystemToUpdate() override; + void assignEquationNumbers() override; + void fillPyPx() override; + void fillY() override; + void incrementIterNo() override; + void initializeGlobally() override; + void logSingularMatrixMessage(); + void passRootToSystem() override; + void postRun() override; + void preRun() override; + void handleSingularMatrix() override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/AngleJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/AngleJoint.cpp new file mode 100644 index 000000000000..8387f57c06c2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AngleJoint.cpp @@ -0,0 +1,36 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "AngleJoint.h" +#include "CREATE.h" +#include "System.h" +#include "DirectionCosineConstraintIJ.h" + +using namespace MbD; + +MbD::AngleJoint::AngleJoint() +{ +} + +MbD::AngleJoint::AngleJoint(const char* str) : Joint(str) +{ +} + +void MbD::AngleJoint::initializeGlobally() +{ + if (constraints->empty()) + { + auto dirCosIzJz = CREATE::ConstraintWith(frmI, frmJ, 2, 2); + dirCosIzJz->setConstant(std::cos(theIzJz)); + addConstraint(dirCosIzJz); + this->root()->hasChanged = true; + } + else { + Joint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AngleJoint.h b/src/3rdParty/OndselSolver/OndselSolver/AngleJoint.h new file mode 100644 index 000000000000..146713c9cb19 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AngleJoint.h @@ -0,0 +1,25 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Joint.h" + +namespace MbD { + class AngleJoint : public Joint + { + //theIzJz + public: + AngleJoint(); + AngleJoint(const char* str); + void initializeGlobally() override; + + double theIzJz = 0.0; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/AngleZIecJec.cpp b/src/3rdParty/OndselSolver/OndselSolver/AngleZIecJec.cpp new file mode 100644 index 000000000000..25bc4a1c7fbe --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AngleZIecJec.cpp @@ -0,0 +1,115 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "corecrt_math_defines.h" + +#include "AngleZIecJec.h" +#include "Numeric.h" + +using namespace MbD; + +MbD::AngleZIecJec::AngleZIecJec() +{ +} + +MbD::AngleZIecJec::AngleZIecJec(EndFrmsptr frmi, EndFrmsptr frmj) : KinematicIeJe(frmi, frmj) +{ +} + +void MbD::AngleZIecJec::calcPostDynCorrectorIteration() +{ + auto cthez = aA00IeJe->value(); + auto sthez = aA10IeJe->value(); + auto sumOfSquares = cthez * cthez + (sthez * sthez); + auto diffOfSquares = sthez * sthez - (cthez * cthez); + auto sumOfSquaresSquared = sumOfSquares * sumOfSquares; + auto thez0to2pi = Numeric::arcTan0to2piYoverX(sthez, cthez); + thez = std::round((thez - thez0to2pi) / (2.0 * OS_M_PI)) * (2.0 * OS_M_PI) + thez0to2pi; + cosOverSSq = cthez / sumOfSquares; + sinOverSSq = sthez / sumOfSquares; + twoCosSinOverSSqSq = 2.0 * cthez * sthez / sumOfSquaresSquared; + dSqOverSSqSq = diffOfSquares / sumOfSquaresSquared; +} + +void MbD::AngleZIecJec::initialize() +{ + KinematicIeJe::initialize(); + this->init_aAijIeJe(); + +} + +void MbD::AngleZIecJec::initializeGlobally() +{ + aA00IeJe->initializeGlobally(); + aA10IeJe->initializeGlobally(); +} + +void MbD::AngleZIecJec::initializeLocally() +{ + if (!aA00IeJe) init_aAijIeJe(); + aA00IeJe->initializeLocally(); + aA10IeJe->initializeLocally(); +} + +void MbD::AngleZIecJec::postInput() +{ + aA00IeJe->postInput(); + aA10IeJe->postInput(); + if (thez == std::numeric_limits::min()) { + auto cthez = aA00IeJe->value(); + auto sthez = aA10IeJe->value(); + if (cthez > 0.0) { + thez = std::atan2(sthez, cthez); + } + else { + thez = Numeric::arcTan0to2piYoverX(sthez, cthez); + } + } + KinematicIeJe::postInput(); +} + +void MbD::AngleZIecJec::postPosICIteration() +{ + aA00IeJe->postPosICIteration(); + aA10IeJe->postPosICIteration(); + KinematicIeJe::postPosICIteration(); +} + +void MbD::AngleZIecJec::preAccIC() +{ + aA00IeJe->preAccIC(); + aA10IeJe->preAccIC(); + KinematicIeJe::preAccIC(); +} + +void MbD::AngleZIecJec::prePosIC() +{ + aA00IeJe->prePosIC(); + aA10IeJe->prePosIC(); + assert(thez != std::numeric_limits::min()); + KinematicIeJe::prePosIC(); +} + +void MbD::AngleZIecJec::preVelIC() +{ + aA00IeJe->preVelIC(); + aA10IeJe->preVelIC(); + KinematicIeJe::preVelIC(); +} + +void MbD::AngleZIecJec::simUpdateAll() +{ + aA00IeJe->simUpdateAll(); + aA10IeJe->simUpdateAll(); + KinematicIeJe::simUpdateAll(); +} + +double MbD::AngleZIecJec::value() +{ + return thez; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AngleZIecJec.h b/src/3rdParty/OndselSolver/OndselSolver/AngleZIecJec.h new file mode 100644 index 000000000000..18c05de59b4f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AngleZIecJec.h @@ -0,0 +1,40 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "KinematicIeJe.h" +#include "DirectionCosineIeqcJec.h" + +namespace MbD { + class AngleZIecJec : public KinematicIeJe + { + //thez aA00IeJe aA10IeJe cosOverSSq sinOverSSq twoCosSinOverSSqSq dSqOverSSqSq + public: + AngleZIecJec(); + AngleZIecJec(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPostDynCorrectorIteration() override; + virtual void init_aAijIeJe() = 0; + void initialize() override; + void initializeGlobally() override; + void initializeLocally() override; + void postInput() override; + void postPosICIteration() override; + void preAccIC() override; + void prePosIC() override; + void preVelIC() override; + void simUpdateAll() override; + double value() override; + + double thez = std::numeric_limits::min(); + double cosOverSSq = 0.0, sinOverSSq = 0.0, twoCosSinOverSSqSq = 0.0, dSqOverSSqSq = 0.0; + std::shared_ptr aA00IeJe, aA10IeJe; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/AngleZIeqcJec.cpp b/src/3rdParty/OndselSolver/OndselSolver/AngleZIeqcJec.cpp new file mode 100644 index 000000000000..e315ea3f9252 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AngleZIeqcJec.cpp @@ -0,0 +1,81 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "AngleZIeqcJec.h" +#include "CREATE.h" + +using namespace MbD; + +MbD::AngleZIeqcJec::AngleZIeqcJec() +{ +} + +MbD::AngleZIeqcJec::AngleZIeqcJec(EndFrmsptr frmi, EndFrmsptr frmj) : AngleZIecJec(frmi, frmj) +{ + pthezpEI = std::make_shared>(4); + ppthezpEIpEI = std::make_shared>(4, 4); +} + +void MbD::AngleZIeqcJec::calcPostDynCorrectorIteration() +{ + AngleZIecJec::calcPostDynCorrectorIteration(); + pcthezpEI = aA00IeJe->pvaluepEI(); + psthezpEI = aA10IeJe->pvaluepEI(); + auto ppcthezpEIpEI = aA00IeJe->ppvaluepEIpEI(); + auto ppsthezpEIpEI = aA10IeJe->ppvaluepEIpEI(); + for (int i = 0; i < 4; i++) + { + pthezpEI->atiput(i, (psthezpEI->at(i)) * cosOverSSq - ((pcthezpEI->at(i)) * sinOverSSq)); + } + for (int i = 0; i < 4; i++) + { + auto ppthezpEIpEIi = ppthezpEIpEI->at(i); + auto ppcthezpEIpEIi = ppcthezpEIpEI->at(i); + auto ppsthezpEIpEIi = ppsthezpEIpEI->at(i); + auto pcthezpEIi = pcthezpEI->at(i); + auto psthezpEIi = psthezpEI->at(i); + auto term1 = (pcthezpEIi * pcthezpEIi - (psthezpEIi * psthezpEIi)) * twoCosSinOverSSqSq; + auto term2 = ppsthezpEIpEIi->at(i) * cosOverSSq - (ppcthezpEIpEIi->at(i) * sinOverSSq); + auto term3 = (psthezpEIi * pcthezpEIi + (pcthezpEIi * psthezpEIi)) * dSqOverSSqSq; + ppthezpEIpEIi->atiput(i, term1 + term2 + term3); + for (int j = i + 1; j < 4; j++) + { + auto pcthezpEIj = pcthezpEI->at(j); + auto psthezpEIj = psthezpEI->at(j); + auto term1 = (pcthezpEIi * pcthezpEIj - (psthezpEIi * psthezpEIj)) * twoCosSinOverSSqSq; + auto term2 = ppsthezpEIpEIi->at(j) * cosOverSSq - (ppcthezpEIpEIi->at(j) * sinOverSSq); + auto term3 = (psthezpEIi * pcthezpEIj + (pcthezpEIi * psthezpEIj)) * dSqOverSSqSq; + auto ppthezpEIpEIij = term1 + term2 + term3; + ppthezpEIpEIi->atiput(j, ppthezpEIpEIij); + ppthezpEIpEI->atijput(j, i, ppthezpEIpEIij); + } + } +} + +void MbD::AngleZIeqcJec::init_aAijIeJe() +{ + aA00IeJe = CREATE::With(frmI, frmJ, 0, 0); + aA10IeJe = CREATE::With(frmI, frmJ, 1, 0); +} + +void MbD::AngleZIeqcJec::initialize() +{ + AngleZIecJec::initialize(); + pthezpEI = std::make_shared>(4); + ppthezpEIpEI = std::make_shared>(4, 4); +} + +FMatDsptr MbD::AngleZIeqcJec::ppvaluepEIpEI() +{ + return ppthezpEIpEI; +} + +FRowDsptr MbD::AngleZIeqcJec::pvaluepEI() +{ + return pthezpEI; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AngleZIeqcJec.h b/src/3rdParty/OndselSolver/OndselSolver/AngleZIeqcJec.h new file mode 100644 index 000000000000..61774bac80ac --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AngleZIeqcJec.h @@ -0,0 +1,31 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AngleZIecJec.h" + +namespace MbD { + class AngleZIeqcJec : public AngleZIecJec + { + //pthezpEI ppthezpEIpEI pcthezpEI psthezpEI + public: + AngleZIeqcJec(); + AngleZIeqcJec(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPostDynCorrectorIteration() override; + void init_aAijIeJe() override; + void initialize() override; + FMatDsptr ppvaluepEIpEI() override; + FRowDsptr pvaluepEI() override; + + FRowDsptr pthezpEI, pcthezpEI, psthezpEI; + FMatDsptr ppthezpEIpEI; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/AngleZIeqcJeqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/AngleZIeqcJeqc.cpp new file mode 100644 index 000000000000..6b50183e8741 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AngleZIeqcJeqc.cpp @@ -0,0 +1,108 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "AngleZIeqcJeqc.h" +#include "CREATE.h" +#include "DirectionCosineIeqcJeqc.h" + +using namespace MbD; + +MbD::AngleZIeqcJeqc::AngleZIeqcJeqc() +{ +} + +MbD::AngleZIeqcJeqc::AngleZIeqcJeqc(EndFrmsptr frmi, EndFrmsptr frmj) : AngleZIeqcJec(frmi, frmj) +{ + pthezpEJ = std::make_shared>(4); + ppthezpEIpEJ = std::make_shared>(4, 4); + ppthezpEJpEJ = std::make_shared>(4, 4); +} + +void MbD::AngleZIeqcJeqc::calcPostDynCorrectorIteration() +{ + AngleZIeqcJec::calcPostDynCorrectorIteration(); + auto pcthezpEJ = aA00IeJe->pvaluepEJ(); + auto psthezpEJ = aA10IeJe->pvaluepEJ(); + auto ppcthezpEIpEJ = aA00IeJe->ppvaluepEIpEJ(); + auto ppsthezpEIpEJ = aA10IeJe->ppvaluepEIpEJ(); + auto ppcthezpEJpEJ = aA00IeJe->ppvaluepEJpEJ(); + auto ppsthezpEJpEJ = aA10IeJe->ppvaluepEJpEJ(); + for (int i = 0; i < 4; i++) + { + pthezpEJ->atiput(i, (psthezpEJ->at(i)) * cosOverSSq - ((pcthezpEJ->at(i)) * sinOverSSq)); + } + for (int i = 0; i < 4; i++) + { + auto ppthezpEIpEJi = ppthezpEIpEJ->at(i); + auto ppcthezpEIpEJi = ppcthezpEIpEJ->at(i); + auto ppsthezpEIpEJi = ppsthezpEIpEJ->at(i); + auto pcthezpEIi = pcthezpEI->at(i); + auto psthezpEIi = psthezpEI->at(i); + for (int j = 0; j < 4; j++) + { + auto pcthezpEJj = pcthezpEJ->at(j); + auto psthezpEJj = psthezpEJ->at(j); + auto term1 = (pcthezpEIi * pcthezpEJj - (psthezpEIi * psthezpEJj)) * twoCosSinOverSSqSq; + auto term2 = ppsthezpEIpEJi->at(j) * cosOverSSq - (ppcthezpEIpEJi->at(j) * sinOverSSq); + auto term3 = (psthezpEIi * pcthezpEJj + (pcthezpEIi * psthezpEJj)) * dSqOverSSqSq; + ppthezpEIpEJi->atiput(j, term1 + term2 + term3); + } + } + for (int i = 0; i < 4; i++) + { + auto ppthezpEJpEJi = ppthezpEJpEJ->at(i); + auto ppcthezpEJpEJi = ppcthezpEJpEJ->at(i); + auto ppsthezpEJpEJi = ppsthezpEJpEJ->at(i); + auto pcthezpEJi = pcthezpEJ->at(i); + auto psthezpEJi = psthezpEJ->at(i); + auto term1 = (pcthezpEJi * pcthezpEJi - (psthezpEJi * psthezpEJi)) * twoCosSinOverSSqSq; + auto term2 = ppsthezpEJpEJi->at(i) * cosOverSSq - (ppcthezpEJpEJi->at(i) * sinOverSSq); + auto term3 = (psthezpEJi * pcthezpEJi + (pcthezpEJi * psthezpEJi)) * dSqOverSSqSq; + ppthezpEJpEJi->atiput(i, term1 + term2 + term3); + for (int j = i + 1; j < 4; j++) + { + auto pcthezpEJj = pcthezpEJ->at(j); + auto psthezpEJj = psthezpEJ->at(j); + auto term1 = (pcthezpEJi * pcthezpEJj - (psthezpEJi * psthezpEJj)) * twoCosSinOverSSqSq; + auto term2 = ppsthezpEJpEJi->at(j) * cosOverSSq - (ppcthezpEJpEJi->at(j) * sinOverSSq); + auto term3 = (psthezpEJi * pcthezpEJj + (pcthezpEJi * psthezpEJj)) * dSqOverSSqSq; + auto ppthezpEJpEJij = term1 + term2 + term3; + ppthezpEJpEJi->atiput(j, ppthezpEJpEJij); + ppthezpEJpEJ->atijput(j, i, ppthezpEJpEJij); + } + } +} + +void MbD::AngleZIeqcJeqc::init_aAijIeJe() +{ + aA00IeJe = CREATE::With(frmI, frmJ, 0, 0); + aA10IeJe = CREATE::With(frmI, frmJ, 1, 0); +} + +void MbD::AngleZIeqcJeqc::initialize() +{ + AngleZIeqcJec::initialize(); + pthezpEJ = std::make_shared>(4); + ppthezpEIpEJ = std::make_shared>(4, 4); + ppthezpEJpEJ = std::make_shared>(4, 4); +} + +FMatDsptr MbD::AngleZIeqcJeqc::ppvaluepEIpEJ() +{ + return ppthezpEIpEJ; +} + +FMatDsptr MbD::AngleZIeqcJeqc::ppvaluepEJpEJ() +{ + return ppthezpEJpEJ; +} + +FRowDsptr MbD::AngleZIeqcJeqc::pvaluepEJ() +{ + return pthezpEJ; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AngleZIeqcJeqc.h b/src/3rdParty/OndselSolver/OndselSolver/AngleZIeqcJeqc.h new file mode 100644 index 000000000000..fa73ac502370 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AngleZIeqcJeqc.h @@ -0,0 +1,32 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AngleZIeqcJec.h" + +namespace MbD { + class AngleZIeqcJeqc : public AngleZIeqcJec + { + //pthezpEJ ppthezpEIpEJ ppthezpEJpEJ + public: + AngleZIeqcJeqc(); + AngleZIeqcJeqc(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPostDynCorrectorIteration() override; + void init_aAijIeJe() override; + void initialize() override; + FMatDsptr ppvaluepEIpEJ() override; + FMatDsptr ppvaluepEJpEJ() override; + FRowDsptr pvaluepEJ() override; + + FRowDsptr pthezpEJ; + FMatDsptr ppthezpEIpEJ, ppthezpEJpEJ; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/AnyGeneralSpline.cpp b/src/3rdParty/OndselSolver/OndselSolver/AnyGeneralSpline.cpp new file mode 100644 index 000000000000..c4d8e12780bd --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AnyGeneralSpline.cpp @@ -0,0 +1,15 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "AnyGeneralSpline.h" + +using namespace MbD; + +MbD::AnyGeneralSpline::AnyGeneralSpline(Symsptr arg) : FunctionFromData(arg) +{ +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AnyGeneralSpline.h b/src/3rdParty/OndselSolver/OndselSolver/AnyGeneralSpline.h new file mode 100644 index 000000000000..327117db994a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AnyGeneralSpline.h @@ -0,0 +1,21 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionFromData.h" + +namespace MbD { + class AnyGeneralSpline : public FunctionFromData + { + //derivs degree index delta + public: + AnyGeneralSpline() = default; + AnyGeneralSpline(Symsptr arg); + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AnyPosICNewtonRaphson.cpp b/src/3rdParty/OndselSolver/OndselSolver/AnyPosICNewtonRaphson.cpp new file mode 100644 index 000000000000..824a0e197c5c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AnyPosICNewtonRaphson.cpp @@ -0,0 +1,67 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "AnyPosICNewtonRaphson.h" +#include "SystemSolver.h" +#include "Item.h" +#include + +using namespace MbD; + +void AnyPosICNewtonRaphson::initialize() +{ + NewtonRaphson::initialize(); + nSingularMatrixError = 0; +} + +void AnyPosICNewtonRaphson::initializeGlobally() +{ + SystemNewtonRaphson::initializeGlobally(); + system->partsJointsMotionsDo([&](std::shared_ptr item) { + item->fillqsu(qsuOld); + item->fillqsuWeights(qsuWeights); + item->fillqsulam(x); + }); +} + +void AnyPosICNewtonRaphson::createVectorsAndMatrices() +{ + qsuOld = std::make_shared>(nqsu); + qsuWeights = std::make_shared>(nqsu); + SystemNewtonRaphson::createVectorsAndMatrices(); +} + +void AnyPosICNewtonRaphson::fillY() +{ + auto newMinusOld = qsuOld->negated(); + newMinusOld->equalSelfPlusFullColumnAt(x, 0); + y->zeroSelf(); + y->atiminusFullColumn(0, (qsuWeights->timesFullColumn(newMinusOld))); + system->partsJointsMotionsDo([&](std::shared_ptr item) { + item->fillPosICError(y); + //std::cout << item->name << *y << std::endl; + //noop(); + }); + //std::cout << "Final" << *y << std::endl; +} + +void AnyPosICNewtonRaphson::fillPyPx() +{ + pypx->zeroSelf(); + pypx->atijminusDiagonalMatrix(0, 0, qsuWeights); + system->partsJointsMotionsDo([&](std::shared_ptr item) { + item->fillPosICJacob(pypx); + //std::cout << *(pypx->at(3)) << std::endl; + }); + //std::cout << *pypx << std::endl; +} + +void AnyPosICNewtonRaphson::passRootToSystem() +{ + system->partsJointsMotionsDo([&](std::shared_ptr item) { item->setqsulam(x); }); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AnyPosICNewtonRaphson.h b/src/3rdParty/OndselSolver/OndselSolver/AnyPosICNewtonRaphson.h new file mode 100644 index 000000000000..6ce1a84ba017 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AnyPosICNewtonRaphson.h @@ -0,0 +1,35 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "PosNewtonRaphson.h" +#include "DiagonalMatrix.h" + +namespace MbD { + + class AnyPosICNewtonRaphson : public PosNewtonRaphson + { + //IC with fully or under constrained system + //nqsu qsuOld qsuWeights nSingularMatrixError + public: + void initialize() override; + void initializeGlobally() override; + void createVectorsAndMatrices() override; + void fillY() override; + void fillPyPx() override; + void passRootToSystem() override; + void assignEquationNumbers() override = 0; + + int nqsu = -1; + FColDsptr qsuOld; + DiagMatDsptr qsuWeights; + int nSingularMatrixError = -1; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ArcSine.cpp b/src/3rdParty/OndselSolver/OndselSolver/ArcSine.cpp new file mode 100644 index 000000000000..353fee5fdb25 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ArcSine.cpp @@ -0,0 +1,31 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ArcSine.h" + +using namespace MbD; + +MbD::ArcSine::ArcSine(Symsptr arg) : FunctionX(arg) +{ +} + +double MbD::ArcSine::getValue() +{ + return std::asin(xx->getValue()); +} + +Symsptr MbD::ArcSine::copyWith(Symsptr arg) +{ + return std::make_shared(arg); +} + +std::ostream& MbD::ArcSine::printOn(std::ostream& s) const +{ + s << "arcsin(" << *xx << ")"; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ArcSine.h b/src/3rdParty/OndselSolver/OndselSolver/ArcSine.h new file mode 100644 index 000000000000..6abe895ff549 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ArcSine.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionX.h" + +namespace MbD { + class ArcSine : public FunctionX + { + // + public: + ArcSine() = default; + ArcSine(Symsptr arg); + double getValue() override; + Symsptr copyWith(Symsptr arg) override; + + std::ostream& printOn(std::ostream& s) const override; + + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ArcTan.cpp b/src/3rdParty/OndselSolver/OndselSolver/ArcTan.cpp new file mode 100644 index 000000000000..cc50faea5b09 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ArcTan.cpp @@ -0,0 +1,31 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ArcTan.h" + +using namespace MbD; + +MbD::ArcTan::ArcTan(Symsptr arg) : FunctionX(arg) +{ +} + +double MbD::ArcTan::getValue() +{ + return std::atan(xx->getValue()); +} + +Symsptr MbD::ArcTan::copyWith(Symsptr arg) +{ + return std::make_shared(arg); +} + +std::ostream& MbD::ArcTan::printOn(std::ostream& s) const +{ + s << "arctan(" << *xx << ")"; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ArcTan.h b/src/3rdParty/OndselSolver/OndselSolver/ArcTan.h new file mode 100644 index 000000000000..2ae8fa372fd7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ArcTan.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionX.h" + +namespace MbD { + class ArcTan : public FunctionX + { + // + public: + ArcTan() = default; + ArcTan(Symsptr arg); + double getValue() override; + Symsptr copyWith(Symsptr arg) override; + + std::ostream& printOn(std::ostream& s) const override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ArcTan2.cpp b/src/3rdParty/OndselSolver/OndselSolver/ArcTan2.cpp new file mode 100644 index 000000000000..da375686884e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ArcTan2.cpp @@ -0,0 +1,20 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ArcTan2.h" + +using namespace MbD; + +MbD::ArcTan2::ArcTan2(Symsptr arg, Symsptr arg1) : FunctionXY(arg, arg1) +{ +} + +double MbD::ArcTan2::getValue() +{ + return std::atan2(y->getValue(), x->getValue()); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ArcTan2.h b/src/3rdParty/OndselSolver/OndselSolver/ArcTan2.h new file mode 100644 index 000000000000..94253d5dfb45 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ArcTan2.h @@ -0,0 +1,25 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionXY.h" + +namespace MbD { + class ArcTan2 : public FunctionXY + { + // + public: + ArcTan2() = default; + ArcTan2(Symsptr arg, Symsptr arg1); + double getValue() override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Arguments.cpp b/src/3rdParty/OndselSolver/OndselSolver/Arguments.cpp new file mode 100644 index 000000000000..3fb5d604e63f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Arguments.cpp @@ -0,0 +1,21 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include + +#include "Arguments.h" + +using namespace MbD; + + +void MbD::Arguments::arguments(Symsptr args) +{ + auto arguments = std::static_pointer_cast(args); + terms = arguments->terms; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Arguments.h b/src/3rdParty/OndselSolver/OndselSolver/Arguments.h new file mode 100644 index 000000000000..61fb903a31bb --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Arguments.h @@ -0,0 +1,19 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionWithManyArgs.h" + +namespace MbD { + class Arguments : public FunctionWithManyArgs + { + public: + void arguments(Symsptr args) override; + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Array.cpp b/src/3rdParty/OndselSolver/OndselSolver/Array.cpp new file mode 100644 index 000000000000..9de644f20b9c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Array.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "Array.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/Array.h b/src/3rdParty/OndselSolver/OndselSolver/Array.h new file mode 100644 index 000000000000..a3aca4c42051 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Array.h @@ -0,0 +1,192 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include +#include +#include +#include + +//#include "Symbolic.h" + +namespace MbD { + using ListD = std::initializer_list; + using ListListD = std::initializer_list>; + using ListListPairD = std::initializer_list>>; + + template + class Array : public std::vector + { + public: + Array() {} + Array(std::vector vec) : std::vector(vec) {} + Array(size_t count) : std::vector(count) {} + Array(size_t count, const T& value) : std::vector(count, value) {} + Array(typename std::vector::iterator begin, typename std::vector::iterator end) : std::vector(begin, end) {} + Array(std::initializer_list list) : std::vector{ list } {} + virtual ~Array() {} + virtual void initialize(); + static bool equaltol(double x, double xx, double tol); + void copyFrom(std::shared_ptr> x); + virtual void zeroSelf(); + virtual double sumOfSquares() = 0; + double rootMeanSquare(); + virtual int numberOfElements(); + void swapElems(int i, int ii); + virtual double maxMagnitude() = 0; + double maxMagnitudeOfVector(); + void equalArrayAt(std::shared_ptr> array, int i); + void atiput(int i, T value); + void magnifySelf(T factor); + void negateSelf(); + void atitimes(int i, double factor); + + virtual std::ostream& printOn(std::ostream& s) const { + std::string str = typeid(*this).name(); + auto classname = str.substr(11, str.size() - 11); + s << classname << std::endl; + return s; + } + friend std::ostream& operator<<(std::ostream& s, const Array& array) + { + return array.printOn(s); + } + + }; + template + inline void Array::initialize() + { + } + template<> + inline bool Array::equaltol(double x, double xx, double tol) + { + return std::abs(x - xx) < tol; + } + template + inline void Array::copyFrom(std::shared_ptr> x) + { + for (int i = 0; i < (int)x->size(); i++) { + this->at(i) = x->at(i); + } + } + template + inline void Array::zeroSelf() + { + for (int i = 0; i < (int)this->size(); i++) { + this->at(i) = (T)0; + } + } + template + inline double Array::rootMeanSquare() + { + return std::sqrt(this->sumOfSquares() / this->numberOfElements()); + } + template + inline int Array::numberOfElements() + { + return (int)this->size(); + } + template + inline void Array::swapElems(int i, int ii) + { + auto temp = this->at(i); + this->at(i) = this->at(ii); + this->at(ii) = temp; + } + //template<> + //inline double Array::maxMagnitude() + //{ + // double max = 0.0; + // for (int i = 0; i < this->size(); i++) + // { + // auto element = this->at(i); + // if (element < 0.0) element = -element; + // if (max < element) max = element; + // } + // return max; + //} + template + inline double Array::maxMagnitudeOfVector() + { + double answer = 0.0; + for (int i = 0; i < this->size(); i++) + { + double mag = std::abs(this->at(i)); + if (answer < mag) answer = mag; + } + return answer; + } + template + inline void Array::equalArrayAt(std::shared_ptr> array, int i) + { + for (int ii = 0; ii < (int)this->size(); ii++) + { + this->at(ii) = array->at((int)i + ii); + } + } + //template<> + //inline void Array::normalizeSelf() + //{ + // double length = this->length(); + // if (length == 0.0) throw std::runtime_error("Cannot normalize a null vector."); + // this->magnifySelf(1.0 / length); + //} + //template<> + //inline void Array::conditionSelf() + //{ + // constexpr double epsilon = std::numeric_limits::epsilon(); + // double tol = maxMagnitude() * epsilon; + // conditionSelfWithTol(tol); + //} + //template<> + //inline void Array::conditionSelfWithTol(double tol) + //{ + // for (int i = 0; i < this->size(); i++) + // { + // double element = this->at(i); + // if (element < 0.0) element = -element; + // if (element < tol) this->atiput(i, 0.0); + // } + //} + template + inline void Array::atiput(int i, T value) + { + this->at(i) = value; + } + //template<> + //inline double Array::length() + //{ + // double ssq = 0.0; + // for (int i = 0; i < this->size(); i++) + // { + // double elem = this->at(i); + // ssq += elem * elem; + // } + // return std::sqrt(ssq); + //} + template + inline void Array::magnifySelf(T factor) + { + for (int i = 0; i < (int)this->size(); i++) + { + this->atitimes(i, factor); + } + } + template + inline void Array::negateSelf() + { + magnifySelf(-1); + } + template + inline void Array::atitimes(int i, double factor) + { + this->at(i) *= factor; + } +} \ No newline at end of file diff --git a/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIJ.cpp b/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIJ.cpp new file mode 100644 index 000000000000..9af24276c851 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIJ.cpp @@ -0,0 +1,79 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "AtPointConstraintIJ.h" +#include "DispCompIecJecO.h" +#include "CREATE.h" + +using namespace MbD; + +AtPointConstraintIJ::AtPointConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj, int axisi) : + ConstraintIJ(frmi, frmj), axis(axisi) +{ +} + +void AtPointConstraintIJ::initialize() +{ + ConstraintIJ::initialize(); + initriIeJeO(); +} + +void AtPointConstraintIJ::initializeLocally() +{ + riIeJeO->initializeLocally(); +} + +void AtPointConstraintIJ::initializeGlobally() +{ + riIeJeO->initializeGlobally(); +} + +void AtPointConstraintIJ::initriIeJeO() +{ + riIeJeO = CREATE::With(frmI, frmJ, axis); +} + +void AtPointConstraintIJ::postInput() +{ + riIeJeO->postInput(); + Constraint::postInput(); +} + +void AtPointConstraintIJ::calcPostDynCorrectorIteration() +{ + aG = riIeJeO->riIeJeO - aConstant; +} + +void AtPointConstraintIJ::prePosIC() +{ + riIeJeO->prePosIC(); + Constraint::prePosIC(); +} + +ConstraintType AtPointConstraintIJ::type() +{ + return displacement; +} + +void AtPointConstraintIJ::postPosICIteration() +{ + riIeJeO->postPosICIteration(); + Item::postPosICIteration(); +} + +void AtPointConstraintIJ::preVelIC() +{ + riIeJeO->preVelIC(); + Item::preVelIC(); +} + +void AtPointConstraintIJ::preAccIC() +{ + riIeJeO->preAccIC(); + Constraint::preAccIC(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIJ.h b/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIJ.h new file mode 100644 index 000000000000..f8e6919bfb87 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIJ.h @@ -0,0 +1,39 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ConstraintIJ.h" + +namespace MbD { + class DispCompIecJecO; + + class AtPointConstraintIJ : public ConstraintIJ + { + //axis riIeJeO + public: + AtPointConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj, int axisi); + + void calcPostDynCorrectorIteration() override; + void initialize() override; + void initializeGlobally() override; + void initializeLocally() override; + virtual void initriIeJeO(); + void postInput() override; + void postPosICIteration() override; + void preAccIC() override; + void prePosIC() override; + void preVelIC() override; + ConstraintType type() override; + + + int axis; + std::shared_ptr riIeJeO; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqcJc.cpp b/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqcJc.cpp new file mode 100644 index 000000000000..07e858d4ab63 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqcJc.cpp @@ -0,0 +1,108 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "AtPointConstraintIqcJc.h" +#include "DispCompIeqcJecO.h" +#include "CREATE.h" +#include "EndFrameqc.h" + +using namespace MbD; + +AtPointConstraintIqcJc::AtPointConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi) : + AtPointConstraintIJ(frmi, frmj, axisi) +{ +} + +void AtPointConstraintIqcJc::initializeGlobally() +{ + AtPointConstraintIJ::initializeGlobally(); + ppGpEIpEI = (std::static_pointer_cast(riIeJeO))->ppriIeJeOpEIpEI; +} + +void AtPointConstraintIqcJc::initriIeJeO() +{ + riIeJeO = CREATE::With(frmI, frmJ, axis); +} + +void AtPointConstraintIqcJc::calcPostDynCorrectorIteration() +{ + AtPointConstraintIJ::calcPostDynCorrectorIteration(); + pGpEI = std::static_pointer_cast(riIeJeO)->priIeJeOpEI; +} + +void AtPointConstraintIqcJc::useEquationNumbers() +{ + auto frmIeqc = std::static_pointer_cast(frmI); + iqXIminusOnePlusAxis = frmIeqc->iqX() + axis; + iqEI = frmIeqc->iqE(); +} + +void AtPointConstraintIqcJc::fillPosICError(FColDsptr col) +{ + Constraint::fillPosICError(col); + col->atiminusNumber(iqXIminusOnePlusAxis, lam); + col->atiplusFullVectortimes(iqEI, pGpEI, lam); +} + +void AtPointConstraintIqcJc::fillPosICJacob(SpMatDsptr mat) +{ + mat->atijplusNumber(iG, iqXIminusOnePlusAxis, -1.0); + mat->atijplusNumber(iqXIminusOnePlusAxis, iG, -1.0); + mat->atijplusFullRow(iG, iqEI, pGpEI); + mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose()); + mat->atijplusFullMatrixtimes(iqEI, iqEI, ppGpEIpEI, lam); +} + +void AtPointConstraintIqcJc::fillPosKineJacob(SpMatDsptr mat) +{ + mat->atijplusNumber(iG, iqXIminusOnePlusAxis, -1.0); + mat->atijplusFullRow(iG, iqEI, pGpEI); +} + +void AtPointConstraintIqcJc::fillVelICJacob(SpMatDsptr mat) +{ + mat->atijplusNumber(iG, iqXIminusOnePlusAxis, -1.0); + mat->atijplusNumber(iqXIminusOnePlusAxis, iG, -1.0); + mat->atijplusFullRow(iG, iqEI, pGpEI); + mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose()); +} + +void AtPointConstraintIqcJc::fillAccICIterError(FColDsptr col) +{ + col->atiminusNumber(iqXIminusOnePlusAxis, lam); + col->atiplusFullVectortimes(iqEI, pGpEI, lam); + auto efrmIqc = std::static_pointer_cast(frmI); + auto qEdotI = efrmIqc->qEdot(); + auto sum = -efrmIqc->qXddot()->at(axis); + sum += pGpEI->timesFullColumn(efrmIqc->qEddot()); + sum += qEdotI->transposeTimesFullColumn(ppGpEIpEI->timesFullColumn(qEdotI)); + col->atiplusNumber(iG, sum); +} + +void AtPointConstraintIqcJc::addToJointForceI(FColDsptr col) +{ + col->atiminusNumber(axis, lam); +} + +void AtPointConstraintIqcJc::addToJointTorqueI(FColDsptr jointTorque) +{ + auto cForceT = std::make_shared>(3, 0.0); + cForceT->atiput(axis, -lam); + auto rIpIeIp = frmI->rpep(); + auto pAOIppEI = frmI->pAOppE(); + auto aBOIp = frmI->aBOp(); + auto fpAOIppEIrIpIeIp = std::make_shared>(4, 0.0); + for (int i = 0; i < 4; i++) + { + auto dum = cForceT->timesFullColumn(pAOIppEI->at(i)->timesFullColumn(rIpIeIp)); + fpAOIppEIrIpIeIp->atiput(i, dum); + } + auto lampGpE = pGpEI->transpose()->times(lam); + auto c2Torque = aBOIp->timesFullColumn(lampGpE->minusFullColumn(fpAOIppEIrIpIeIp)); + jointTorque->equalSelfPlusFullColumntimes(c2Torque, 0.5); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqcJc.h b/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqcJc.h new file mode 100644 index 000000000000..05795ab5eb40 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqcJc.h @@ -0,0 +1,38 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AtPointConstraintIJ.h" + +namespace MbD { + class AtPointConstraintIqcJc : public AtPointConstraintIJ + { + //pGpEI ppGpEIpEI iqXIminusOnePlusAxis iqEI + public: + AtPointConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi); + + void addToJointForceI(FColDsptr col) override; + void addToJointTorqueI(FColDsptr col) override; + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void initializeGlobally() override; + void initriIeJeO() override; + void useEquationNumbers() override; + + FRowDsptr pGpEI; + FMatDsptr ppGpEIpEI; + int iqXIminusOnePlusAxis = -1; + int iqEI = -1; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqcJqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqcJqc.cpp new file mode 100644 index 000000000000..1adb3db80864 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqcJqc.cpp @@ -0,0 +1,90 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "AtPointConstraintIqcJqc.h" +#include "DispCompIeqcJeqcO.h" +#include "CREATE.h" +#include "EndFrameqc.h" + +using namespace MbD; + +AtPointConstraintIqcJqc::AtPointConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi) : + AtPointConstraintIqcJc(frmi, frmj, axisi) +{ +} + +void AtPointConstraintIqcJqc::initializeGlobally() +{ + AtPointConstraintIqcJc::initializeGlobally(); + ppGpEJpEJ = (std::static_pointer_cast(riIeJeO))->ppriIeJeOpEJpEJ; +} + +void AtPointConstraintIqcJqc::initriIeJeO() +{ + riIeJeO = CREATE::With(frmI, frmJ, axis); +} + +void AtPointConstraintIqcJqc::calcPostDynCorrectorIteration() +{ + AtPointConstraintIqcJc::calcPostDynCorrectorIteration(); + pGpEJ = std::static_pointer_cast(riIeJeO)->priIeJeOpEJ; +} + +void AtPointConstraintIqcJqc::useEquationNumbers() +{ + AtPointConstraintIqcJc::useEquationNumbers(); + auto frmJeqc = std::static_pointer_cast(frmJ); + iqXJminusOnePlusAxis = frmJeqc->iqX() + axis; + iqEJ = frmJeqc->iqE(); +} + +void AtPointConstraintIqcJqc::fillPosICError(FColDsptr col) +{ + AtPointConstraintIqcJc::fillPosICError(col); + col->atiplusNumber(iqXJminusOnePlusAxis, lam); + col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); +} + +void AtPointConstraintIqcJqc::fillPosICJacob(SpMatDsptr mat) +{ + AtPointConstraintIqcJc::fillPosICJacob(mat); + mat->atijplusNumber(iG, iqXJminusOnePlusAxis, 1.0); + mat->atijplusNumber(iqXJminusOnePlusAxis, iG, 1.0); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); + mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose()); + mat->atijplusFullMatrixtimes(iqEJ, iqEJ, ppGpEJpEJ, lam); +} + +void AtPointConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat) +{ + AtPointConstraintIqcJc::fillPosKineJacob(mat); + mat->atijplusNumber(iG, iqXJminusOnePlusAxis, 1.0); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); +} + +void AtPointConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat) +{ + AtPointConstraintIqcJc::fillVelICJacob(mat); + mat->atijplusNumber(iG, iqXJminusOnePlusAxis, 1.0); + mat->atijplusNumber(iqXJminusOnePlusAxis, iG, 1.0); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); + mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose()); +} + +void AtPointConstraintIqcJqc::fillAccICIterError(FColDsptr col) +{ + AtPointConstraintIqcJc::fillAccICIterError(col); + col->atiplusNumber(iqXJminusOnePlusAxis, lam); + col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); + auto efrmJqc = std::static_pointer_cast(frmJ); + auto qEdotJ = efrmJqc->qEdot(); + auto sum = efrmJqc->qXddot()->at(axis); + sum += pGpEJ->timesFullColumn(efrmJqc->qEddot()); + sum += qEdotJ->transposeTimesFullColumn(ppGpEJpEJ->timesFullColumn(qEdotJ)); + col->atiplusNumber(iG, sum); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqcJqc.h b/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqcJqc.h new file mode 100644 index 000000000000..04c3935d85cb --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqcJqc.h @@ -0,0 +1,35 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AtPointConstraintIqcJc.h" + +namespace MbD { + class AtPointConstraintIqcJqc : public AtPointConstraintIqcJc + { + //pGpEJ ppGpEJpEJ iqXJminusOnePlusAxis iqEJ + public: + AtPointConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi); + + void calcPostDynCorrectorIteration() override; + void initializeGlobally() override; + void initriIeJeO() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void useEquationNumbers() override; + + FRowDsptr pGpEJ; + FMatDsptr ppGpEJpEJ; + int iqXJminusOnePlusAxis = -1, iqEJ = -1; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqctJqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqctJqc.cpp new file mode 100644 index 000000000000..21fa93c2849d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqctJqc.cpp @@ -0,0 +1,70 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "AtPointConstraintIqctJqc.h" +#include "DispCompIeqctJeqcO.h" +#include "CREATE.h" + +using namespace MbD; + +AtPointConstraintIqctJqc::AtPointConstraintIqctJqc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi) : + AtPointConstraintIqcJqc(frmi, frmj, axisi) +{ +} + +void AtPointConstraintIqctJqc::initializeGlobally() +{ + riIeJeO->initializeGlobally(); + ppGpEJpEJ = std::static_pointer_cast(riIeJeO)->ppriIeJeOpEJpEJ; +} + +void AtPointConstraintIqctJqc::initriIeJeO() +{ + riIeJeO = CREATE::With(frmI, frmJ, axis); +} + +void AtPointConstraintIqctJqc::calcPostDynCorrectorIteration() +{ + //"ppGpEIpEI is no longer constant." + + ppGpEIpEI = std::static_pointer_cast(riIeJeO)->ppriIeJeOpEIpEI; + AtPointConstraintIqcJqc::calcPostDynCorrectorIteration(); +} + +ConstraintType AtPointConstraintIqctJqc::type() +{ + return essential; +} + +void AtPointConstraintIqctJqc::preVelIC() +{ + AtPointConstraintIqcJqc::preVelIC(); + pGpt = std::static_pointer_cast(riIeJeO)->priIeJeOpt; +} + +void AtPointConstraintIqctJqc::fillVelICError(FColDsptr col) +{ + col->atiminusNumber(iG, pGpt); +} + +void AtPointConstraintIqctJqc::fillAccICIterError(FColDsptr col) +{ + AtPointConstraintIqcJqc::fillAccICIterError(col); + auto efrmIqc = std::static_pointer_cast(frmI); + auto qEdotI = efrmIqc->qEdot(); + double sum = (ppGpEIpt->timesFullColumn(qEdotI)) * 2.0; + sum += ppGptpt; + col->atiplusNumber(iG, sum); +} + +void AtPointConstraintIqctJqc::preAccIC() +{ + AtPointConstraintIqcJqc::preAccIC(); + ppGpEIpt = std::static_pointer_cast(riIeJeO)->ppriIeJeOpEIpt; + ppGptpt = std::static_pointer_cast(riIeJeO)->ppriIeJeOptpt; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqctJqc.h b/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqctJqc.h new file mode 100644 index 000000000000..1e6e0f0917c8 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AtPointConstraintIqctJqc.h @@ -0,0 +1,35 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AtPointConstraintIqcJqc.h" + +namespace MbD { + class AtPointConstraintIqctJqc : public AtPointConstraintIqcJqc + { + //pGpt ppGpEIpt ppGptpt + public: + AtPointConstraintIqctJqc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi); + + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillVelICError(FColDsptr col) override; + void initializeGlobally() override; + void initriIeJeO() override; + void preAccIC() override; + void preVelIC() override; + ConstraintType type() override; + + double pGpt; + FRowDsptr ppGpEIpt; + double ppGptpt; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/AtPointJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/AtPointJoint.cpp new file mode 100644 index 000000000000..03205b8fff34 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AtPointJoint.cpp @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "AtPointJoint.h" +#include "System.h" +#include "CREATE.h" + +using namespace MbD; + +MbD::AtPointJoint::AtPointJoint() +{ +} + +MbD::AtPointJoint::AtPointJoint(const char* str) : Joint(str) +{ +} + +void MbD::AtPointJoint::createAtPointConstraints() +{ + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 1)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2)); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/AtPointJoint.h b/src/3rdParty/OndselSolver/OndselSolver/AtPointJoint.h new file mode 100644 index 000000000000..e27547e593ad --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/AtPointJoint.h @@ -0,0 +1,26 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Joint.h" + +namespace MbD { + class AtPointJoint : public Joint + { + // + public: + AtPointJoint(); + AtPointJoint(const char* str); + + void createAtPointConstraints(); + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/BasicIntegrator.cpp b/src/3rdParty/OndselSolver/OndselSolver/BasicIntegrator.cpp new file mode 100644 index 000000000000..057be93c3a5d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/BasicIntegrator.cpp @@ -0,0 +1,163 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "BasicIntegrator.h" +#include "CREATE.h" +#include "StableBackwardDifference.h" +#include "IntegratorInterface.h" + +using namespace MbD; + +void BasicIntegrator::initializeLocally() +{ + _continue = true; +} + +void BasicIntegrator::iStep(int integer) +{ + istep = integer; + opBDF->setiStep(integer); +} + +void BasicIntegrator::postFirstStep() +{ + t = tnew; + system->postFirstStep(); +} + +void BasicIntegrator::postRun() +{ +} + +void BasicIntegrator::postStep() +{ + t = tnew; + system->postStep(); +} + +void BasicIntegrator::initializeGlobally() +{ + //"Get info from system and prepare for start of simulation." + //"Integrator asks system for info. Not system setting integrator." + + this->sett(system->tstart); + this->direction = system->direction; + this->orderMax = system->orderMax(); +} + +void BasicIntegrator::setSystem(Solver* sys) +{ + system = static_cast(sys); +} + +void BasicIntegrator::calcOperatorMatrix() +{ + opBDF->calcOperatorMatrix(); +} + +void BasicIntegrator::incrementTime() +{ + tpast->insert(tpast->begin(), t); + + if ((int)tpast->size() > (orderMax + 1)) { tpast->pop_back(); } + auto istepNew = istep + 1; + this->iStep(istepNew); + this->setorder(orderNew); + h = hnew; + this->settnew(t + (direction * h)); + this->calcOperatorMatrix(); + system->incrementTime(tnew); +} + +void BasicIntegrator::incrementTry() +{ + assert(false); +} + +void BasicIntegrator::initialize() +{ + Solver::initialize(); + //statistics = IdentityDictionary new. + tpast = std::make_shared>(); + opBDF = CREATE::With(); + opBDF->timeNodes = tpast; +} + +void BasicIntegrator::logString(std::string& str) +{ + system->logString(str); +} + +void BasicIntegrator::run() +{ + this->preRun(); + this->initializeLocally(); + this->initializeGlobally(); + this->firstStep(); + this->subsequentSteps(); + this->finalize(); + this->reportStats(); + this->postRun(); +} + +void BasicIntegrator::selectOrder() +{ + //"Increase order consecutively with step." + if (iTry == 1) orderNew = std::min(istep + 1, orderMax); +} + +void BasicIntegrator::preFirstStep() +{ + system->preFirstStep(); +} + +void BasicIntegrator::preRun() +{ +} + +void BasicIntegrator::preStep() +{ + system->preStep(); +} + +void BasicIntegrator::reportStats() +{ +} + +void BasicIntegrator::setorder(int o) +{ + order = o; + opBDF->setorder(o); +} + +void BasicIntegrator::settnew(double t) +{ + tnew = t; + this->settime(t); +} + +void BasicIntegrator::sett(double tt) +{ + t = tt; + opBDF->settime(tt); +} + +void BasicIntegrator::settime(double tt) +{ + opBDF->settime(tt); +} + +double BasicIntegrator::tprevious() +{ + return tpast->at(0); +} + +void BasicIntegrator::subsequentSteps() +{ + while (_continue) { this->nextStep(); } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/BasicIntegrator.h b/src/3rdParty/OndselSolver/OndselSolver/BasicIntegrator.h new file mode 100644 index 000000000000..8905ad4f5be9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/BasicIntegrator.h @@ -0,0 +1,58 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include + +#include "Integrator.h" + +namespace MbD { + class IntegratorInterface; + class DifferenceOperator; + + class BasicIntegrator : public Integrator + { + //istep iTry maxTry tpast t tnew h hnew order orderNew orderMax opBDF continue + public: + virtual void calcOperatorMatrix(); + virtual void incrementTime(); + virtual void incrementTry(); + void initialize() override; + void initializeGlobally() override; + void initializeLocally() override; + void iStep(int i) override; + void postFirstStep() override; + void postStep() override; + void postRun() override; + void preFirstStep() override; + void preRun() override; + void preStep() override; + void reportStats() override; + void run() override; + void selectOrder() override; + void subsequentSteps() override; + void setSystem(Solver* sys) override; + void logString(std::string& str) override; + + virtual void setorder(int o); + virtual void settnew(double t); + virtual void sett(double t); + void settime(double t); + double tprevious(); + + IntegratorInterface* system; + int istep = 0, iTry = 0, maxTry = 0; + std::shared_ptr> tpast; + double t = 0.0, tnew = 0.0, h = 0, hnew = 0.0; + int order = 0, orderNew = 0, orderMax = 0; + std::shared_ptr opBDF; + bool _continue = false; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/BasicQuasiIntegrator.cpp b/src/3rdParty/OndselSolver/OndselSolver/BasicQuasiIntegrator.cpp new file mode 100644 index 000000000000..eb8a0c61fbaf --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/BasicQuasiIntegrator.cpp @@ -0,0 +1,71 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "BasicQuasiIntegrator.h" +#include "IntegratorInterface.h" + +using namespace MbD; + +void BasicQuasiIntegrator::firstStep() +{ + istep = 0; + preFirstStep(); + iTry = 1; + orderNew = 1; + selectFirstStepSize(); + incrementTime(); + runInitialConditionTypeSolution(); + //reportTrialStepStats(); + postFirstStep(); + //reportStepStats(); +} + +bool BasicQuasiIntegrator::isRedoingFirstStep() +{ + return false; +} + +void BasicQuasiIntegrator::nextStep() +{ + preStep(); + iTry = 1; + selectOrder(); + selectStepSize(); + incrementTime(); + runInitialConditionTypeSolution(); + //reportTrialStepStats(); + postStep(); + //reportStepStats(); +} + +void BasicQuasiIntegrator::runInitialConditionTypeSolution() +{ + system->runInitialConditionTypeSolution(); +} + +void BasicQuasiIntegrator::selectFirstStepSize() +{ + if (iTry == 1) { + hnew = direction * (system->tout - t); + } + else { + hnew = 0.25 * h; + } + hnew = system->suggestSmallerOrAcceptFirstStepSize(hnew); +} + +void BasicQuasiIntegrator::selectStepSize() +{ + if (iTry == 1) { + hnew = direction * (system->tout - t); + } + else { + hnew = 0.25 * h; + } + hnew = system->suggestSmallerOrAcceptStepSize(hnew); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/BasicQuasiIntegrator.h b/src/3rdParty/OndselSolver/OndselSolver/BasicQuasiIntegrator.h new file mode 100644 index 000000000000..2d2389140dce --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/BasicQuasiIntegrator.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "BasicIntegrator.h" + +namespace MbD { + class BasicQuasiIntegrator : public BasicIntegrator + { + // + public: + void firstStep() override; + bool isRedoingFirstStep(); + void nextStep() override; + //void reportStepStats(); + //void reportTrialStepStats(); + void runInitialConditionTypeSolution() override; + void selectFirstStepSize(); + void selectStepSize(); + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/BasicUserFunction.cpp b/src/3rdParty/OndselSolver/OndselSolver/BasicUserFunction.cpp new file mode 100644 index 000000000000..da199aaee58f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/BasicUserFunction.cpp @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "BasicUserFunction.h" +#include "CREATE.h" +#include "Units.h" + +using namespace MbD; + +MbD::BasicUserFunction::BasicUserFunction(const std::string& expression, double myUnt) : funcText(expression), myUnit(myUnt) +{ + units = std::make_shared(); +} + +void MbD::BasicUserFunction::initialize() +{ + units = CREATE::With(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/BasicUserFunction.h b/src/3rdParty/OndselSolver/OndselSolver/BasicUserFunction.h new file mode 100644 index 000000000000..c3a4d7baa849 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/BasicUserFunction.h @@ -0,0 +1,30 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include + +#include "UserFunction.h" + +namespace MbD { + class Units; + + class BasicUserFunction : public UserFunction + { + //funcText myUnit units + public: + BasicUserFunction(const std::string& expression, double myUnt); + void initialize(); + + std::string funcText; + double myUnit; + std::shared_ptr units; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/CADSystem.cpp b/src/3rdParty/OndselSolver/OndselSolver/CADSystem.cpp new file mode 100644 index 000000000000..3ea4e70134e9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/CADSystem.cpp @@ -0,0 +1,847 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include + +#include "CADSystem.h" +#include "CREATE.h" +#include "System.h" +#include "Item.h" +#include "Product.h" +#include "Constant.h" +#include "ZRotation.h" +#include "RevoluteJoint.h" +#include "CylindricalJoint.h" +#include "SystemSolver.h" +#include "Part.h" +#include "MarkerFrame.h" +#include "PartFrame.h" +#include "Time.h" +#include "StateData.h" +#include "EulerParameters.h" + +using namespace MbD; + +void CADSystem::outputFor(AnalysisType) +{ + auto str = std::to_string(mbdSystem->mbdTimeValue()); + this->logString(str); + mbdSystem->partsJointsMotionsForcesTorquesDo([](std::shared_ptr item) { + std::cout << std::endl; + std::cout << item->classname() << " " << item->name << std::endl; + auto data = item->stateData(); + std::cout << *data << std::endl; + }); +} + +void CADSystem::logString(std::string& str) +{ + std::cout << str << std::endl; +} + +void CADSystem::logString(double) +{ +} + +void CADSystem::runOndselSinglePendulum() +{ + //Double pendulum with easy input numbers for exact port from Smalltalk + //GEOAssembly calcCharacteristicDimensions must set mbdUnits to unity. + std::cout << "runOndselSinglePendulum" << std::endl; + auto& TheSystem = mbdSystem; + TheSystem->clear(); + std::string name = "TheSystem"; + TheSystem->name = name; + std::cout << "TheSystem->name " << TheSystem->name << std::endl; + auto& systemSolver = TheSystem->systemSolver; + systemSolver->errorTolPosKine = 1.0e-6; + systemSolver->errorTolAccKine = 1.0e-6; + systemSolver->iterMaxPosKine = 25; + systemSolver->iterMaxAccKine = 25; + systemSolver->tstart = 0.0; + systemSolver->tend = 0.04; + systemSolver->hmin = 1.0e-9; + systemSolver->hmax = 1.0; + systemSolver->hout = 0.04; + systemSolver->corAbsTol = 1.0e-6; + systemSolver->corRelTol = 1.0e-6; + systemSolver->intAbsTol = 1.0e-6; + systemSolver->intRelTol = 1.0e-6; + systemSolver->iterMaxDyn = 4; + systemSolver->orderMax = 5; + systemSolver->translationLimit = 1.0e10; + systemSolver->rotationLimit = 0.5; + + std::string str; + FColDsptr qX, qE, qXdot, omeOpO, qXddot, alpOpO; + FColDsptr rpmp; + FMatDsptr aAap, aApm; + FRowDsptr fullRow; + // + auto assembly1 = CREATE::With("/Assembly1"); + std::cout << "assembly1->name " << assembly1->name << std::endl; + assembly1->m = 0.0; + assembly1->aJ = std::make_shared>(ListD{ 0, 0, 0 }); + qX = std::make_shared>(ListD{ 0, 0, 0 }); + aAap = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + assembly1->setqX(qX); + assembly1->setaAap(aAap); + qXdot = std::make_shared>(ListD{ 0, 0, 0 }); + omeOpO = std::make_shared>(ListD{ 0, 0, 0 }); + assembly1->setqXdot(qXdot); + assembly1->setomeOpO(omeOpO); + TheSystem->addPart(assembly1); + { + auto& partFrame = assembly1->partFrame; + auto marker2 = CREATE::With("/Assembly1/Marker2"); + rpmp = std::make_shared>(ListD{ 0.0, 0.0, 0.0 }); + marker2->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + marker2->setaApm(aApm); + partFrame->addMarkerFrame(marker2); + // + auto marker1 = CREATE::With("/Assembly1/Marker1"); + rpmp = std::make_shared>(ListD{ 0.0, 3.0, 0.0 }); + marker1->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 0, 1 }, + { 0, -1, 0 } + }); + marker1->setaApm(aApm); + partFrame->addMarkerFrame(marker1); + } + assembly1->asFixed(); + // + auto crankPart1 = CREATE::With("/Assembly1/Part1"); + std::cout << "crankPart1->name " << crankPart1->name << std::endl; + crankPart1->m = 1.0; + crankPart1->aJ = std::make_shared>(ListD{ 1, 1, 1 }); + qX = std::make_shared>(ListD{ 0.4, 0.0, -0.05 }); + aAap = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + crankPart1->setqX(qX); + crankPart1->setaAap(aAap); + qXdot = std::make_shared>(ListD{ 0, 0, 0 }); + omeOpO = std::make_shared>(ListD{ 0, 0, 0 }); + crankPart1->setqXdot(qXdot); + crankPart1->setomeOpO(omeOpO); + TheSystem->addPart(crankPart1); + { + auto& partFrame = crankPart1->partFrame; + auto marker1 = CREATE::With("/Assembly1/Part1/Marker1"); + rpmp = std::make_shared>(ListD{ -0.4, 0.0, 0.05 }); + marker1->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + marker1->setaApm(aApm); + partFrame->addMarkerFrame(marker1); + // + auto marker2 = CREATE::With("/Assembly1/Part1/Marker2"); + rpmp = std::make_shared>(ListD{ 0.4, 0.0, 0.05 }); + marker2->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + marker2->setaApm(aApm); + partFrame->addMarkerFrame(marker2); + } + // + auto revJoint1 = CREATE::With("/Assembly1/Joint1"); + std::cout << "revJoint1->name " << revJoint1->name << std::endl; + revJoint1->connectsItoJ(assembly1->partFrame->endFrame("/Assembly1/Marker2"), crankPart1->partFrame->endFrame("/Assembly1/Part1/Marker1")); + TheSystem->addJoint(revJoint1); + // + auto rotMotion1 = CREATE::With("/Assembly1/Motion1"); + rotMotion1->connectsItoJ(assembly1->partFrame->endFrame("/Assembly1/Marker2"), crankPart1->partFrame->endFrame("/Assembly1/Part1/Marker1")); + std::cout << "rotMotion1->name " << rotMotion1->name << std::endl; + rotMotion1->phiBlk = std::make_shared(1.0); + std::cout << "rotMotion1->phiBlk " << *(rotMotion1->phiBlk) << std::endl; + TheSystem->addJoint(rotMotion1); + // + TheSystem->runKINEMATIC(TheSystem); +} + +void CADSystem::runOndselDoublePendulum() +{ + //Double pendulum with easy input numbers for exact port from Smalltalk + //GEOAssembly calcCharacteristicDimensions must set mbdUnits to unity. + std::cout << "runOndselDoublePendulum" << std::endl; + auto& TheSystem = mbdSystem; + TheSystem->clear(); + std::string name = "TheSystem"; + TheSystem->name = name; + std::cout << "TheSystem->name " << TheSystem->name << std::endl; + auto& systemSolver = TheSystem->systemSolver; + systemSolver->errorTolPosKine = 1.0e-6; + systemSolver->errorTolAccKine = 1.0e-6; + systemSolver->iterMaxPosKine = 25; + systemSolver->iterMaxAccKine = 25; + systemSolver->tstart = 0.0; + systemSolver->tend = 0.04; + systemSolver->hmin = 1.0e-9; + systemSolver->hmax = 1.0; + systemSolver->hout = 0.04; + systemSolver->corAbsTol = 1.0e-6; + systemSolver->corRelTol = 1.0e-6; + systemSolver->intAbsTol = 1.0e-6; + systemSolver->intRelTol = 1.0e-6; + systemSolver->iterMaxDyn = 4; + systemSolver->orderMax = 5; + systemSolver->translationLimit = 1.0e10; + systemSolver->rotationLimit = 0.5; + + std::string str; + FColDsptr qX, qE, qXdot, omeOpO, qXddot, alpOpO; + FColDsptr rpmp; + FMatDsptr aAap, aApm; + FRowDsptr fullRow; + // + auto assembly1 = CREATE::With("/Assembly1"); + std::cout << "assembly1->name " << assembly1->name << std::endl; + assembly1->m = 0.0; + assembly1->aJ = std::make_shared>(ListD{ 0, 0, 0 }); + qX = std::make_shared>(ListD{ 0, 0, 0 }); + aAap = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + assembly1->setqX(qX); + assembly1->setaAap(aAap); + qXdot = std::make_shared>(ListD{ 0, 0, 0 }); + omeOpO = std::make_shared>(ListD{ 0, 0, 0 }); + assembly1->setqXdot(qXdot); + assembly1->setomeOpO(omeOpO); + TheSystem->addPart(assembly1); + { + auto& partFrame = assembly1->partFrame; + auto marker2 = CREATE::With("/Assembly1/Marker2"); + rpmp = std::make_shared>(ListD{ 0.0, 0.0, 0.0 }); + marker2->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + marker2->setaApm(aApm); + partFrame->addMarkerFrame(marker2); + // + auto marker1 = CREATE::With("/Assembly1/Marker1"); + rpmp = std::make_shared>(ListD{ 0.0, 3.0, 0.0 }); + marker1->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 0, 1 }, + { 0, -1, 0 } + }); + marker1->setaApm(aApm); + partFrame->addMarkerFrame(marker1); + } + assembly1->asFixed(); + // + auto crankPart1 = CREATE::With("/Assembly1/Part1"); + std::cout << "crankPart1->name " << crankPart1->name << std::endl; + crankPart1->m = 1.0; + crankPart1->aJ = std::make_shared>(ListD{ 1, 1, 1 }); + qX = std::make_shared>(ListD{ 0.4, 0.0, -0.05 }); + aAap = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + crankPart1->setqX(qX); + crankPart1->setaAap(aAap); + qXdot = std::make_shared>(ListD{ 0, 0, 0 }); + omeOpO = std::make_shared>(ListD{ 0, 0, 0 }); + crankPart1->setqXdot(qXdot); + crankPart1->setomeOpO(omeOpO); + TheSystem->addPart(crankPart1); + { + auto& partFrame = crankPart1->partFrame; + auto marker1 = CREATE::With("/Assembly1/Part1/Marker1"); + rpmp = std::make_shared>(ListD{ -0.4, 0.0, 0.05 }); + marker1->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + marker1->setaApm(aApm); + partFrame->addMarkerFrame(marker1); + // + auto marker2 = CREATE::With("/Assembly1/Part1/Marker2"); + rpmp = std::make_shared>(ListD{ 0.4, 0.0, 0.05 }); + marker2->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + marker2->setaApm(aApm); + partFrame->addMarkerFrame(marker2); + } + // + auto conrodPart2 = CREATE::With("/Assembly1/Part2"); + std::cout << "conrodPart2->name " << conrodPart2->name << std::endl; + conrodPart2->m = 1.0; + conrodPart2->aJ = std::make_shared>(ListD{ 1, 1, 1 }); + qX = std::make_shared>(ListD{ 0.15, 0.1, 0.05 }); + qE = std::make_shared>(ListD{ 0.0, 0.0, 1.0, 0.0 }); + auto eulerParameters = CREATE>::With(ListD{ 0.0, 0.0, 1.0, 0.0 }); + eulerParameters->calcABC(); + aAap = eulerParameters->aA; + conrodPart2->setqX(qX); + conrodPart2->setaAap(aAap); + qXdot = std::make_shared>(ListD{ 0, 0, 0 }); + omeOpO = std::make_shared>(ListD{ 0, 0, 0 }); + conrodPart2->setqXdot(qXdot); + conrodPart2->setomeOpO(omeOpO); + TheSystem->addPart(conrodPart2); + { + auto& partFrame = conrodPart2->partFrame; + auto marker1 = CREATE::With("/Assembly1/Part2/Marker1"); + rpmp = std::make_shared>(ListD{ -0.65, 0.0, -0.05 }); + marker1->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + {1.0, 0.0, 0.0}, + {0.0, 1.0, 0.0}, + {0.0, 0.0, 1.0} + }); + marker1->setaApm(aApm); + partFrame->addMarkerFrame(marker1); + // + auto marker2 = CREATE::With("/Assembly1/Part2/Marker2"); + rpmp = std::make_shared>(ListD{ 0.65, 0.0, -0.05 }); + marker2->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + {1.0, 0.0, 0.0}, + {0.0, 1.0, 0.0}, + {0.0, 0.0, 1.0} + }); + marker2->setaApm(aApm); + partFrame->addMarkerFrame(marker2); + } + // + auto revJoint1 = CREATE::With("/Assembly1/Joint1"); + std::cout << "revJoint1->name " << revJoint1->name << std::endl; + revJoint1->connectsItoJ(assembly1->partFrame->endFrame("/Assembly1/Marker2"), crankPart1->partFrame->endFrame("/Assembly1/Part1/Marker1")); + TheSystem->addJoint(revJoint1); + + auto revJoint2 = CREATE::With("/Assembly1/Joint2"); + std::cout << "revJoint2->name " << revJoint2->name << std::endl; + revJoint2->connectsItoJ(crankPart1->partFrame->endFrame("/Assembly1/Part1/Marker2"), conrodPart2->partFrame->endFrame("/Assembly1/Part2/Marker1")); + TheSystem->addJoint(revJoint2); + // + TheSystem->runKINEMATIC(TheSystem); +} + +void CADSystem::runOndselPiston() +{ + //Piston with easy input numbers for exact port from Smalltalk + //GEOAssembly calcCharacteristicDimensions must set mbdUnits to unity. + std::cout << "runOndselPiston" << std::endl; + auto& TheSystem = mbdSystem; + TheSystem->clear(); + std::string name = "TheSystem"; + TheSystem->name = name; + std::cout << "TheSystem->name " << TheSystem->name << std::endl; + auto& systemSolver = TheSystem->systemSolver; + systemSolver->errorTolPosKine = 1.0e-6; + systemSolver->errorTolAccKine = 1.0e-6; + systemSolver->iterMaxPosKine = 25; + systemSolver->iterMaxAccKine = 25; + systemSolver->tstart = 0.0; + systemSolver->tend = 1.0; + systemSolver->hmin = 1.0e-9; + systemSolver->hmax = 1.0; + systemSolver->hout = 0.04; + systemSolver->corAbsTol = 1.0e-6; + systemSolver->corRelTol = 1.0e-6; + systemSolver->intAbsTol = 1.0e-6; + systemSolver->intRelTol = 1.0e-6; + systemSolver->iterMaxDyn = 4; + systemSolver->orderMax = 5; + systemSolver->translationLimit = 1.0e10; + systemSolver->rotationLimit = 0.5; + + std::string str; + FColDsptr qX, qE, qXdot, omeOpO, qXddot, qEddot; + FColDsptr rpmp; + FMatDsptr aApm; + FRowDsptr fullRow; + // + auto assembly1 = CREATE::With("/Assembly1"); + std::cout << "assembly1->name " << assembly1->name << std::endl; + assembly1->m = 0.0; + assembly1->aJ = std::make_shared>(ListD{ 0, 0, 0 }); + qX = std::make_shared>(ListD{ 0, 0, 0 }); + qE = std::make_shared>(ListD{ 0, 0, 0, 1 }); + assembly1->setqX(qX); + assembly1->setqE(qE); + qXdot = std::make_shared>(ListD{ 0, 0, 0 }); + omeOpO = std::make_shared>(ListD{ 0, 0, 0 }); + assembly1->setqXdot(qXdot); + assembly1->setomeOpO(omeOpO); + qXddot = std::make_shared>(ListD{ 0, 0, 0 }); + qEddot = std::make_shared>(ListD{ 0, 0, 0, 0 }); + assembly1->setqXddot(qXddot); + assembly1->setqEddot(qEddot); + std::cout << "assembly1->getqX() " << *assembly1->getqX() << std::endl; + std::cout << "assembly1->getqE() " << *assembly1->getqE() << std::endl; + TheSystem->addPart(assembly1); + { + auto& partFrame = assembly1->partFrame; + auto marker2 = CREATE::With("/Assembly1/Marker2"); + rpmp = std::make_shared>(ListD{ 0.0, 0.0, 0.0 }); + marker2->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + marker2->setaApm(aApm); + partFrame->addMarkerFrame(marker2); + // + auto marker1 = CREATE::With("/Assembly1/Marker1"); + rpmp = std::make_shared>(ListD{ 0.0, 3.0, 0.0 }); + marker1->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 0, 1 }, + { 0, -1, 0 } + }); + marker1->setaApm(aApm); + partFrame->addMarkerFrame(marker1); + } + assembly1->asFixed(); + // + auto crankPart1 = CREATE::With("/Assembly1/Part1"); + std::cout << "crankPart1->name " << crankPart1->name << std::endl; + crankPart1->m = 1.0; + crankPart1->aJ = std::make_shared>(ListD{ 1, 1, 1 }); + qX = std::make_shared>(ListD{ 0.4, 0.0, -0.05 }); + qE = std::make_shared>(ListD{ 0.0, 0.0, 0.0, 1.0 }); + crankPart1->setqX(qX); + crankPart1->setqE(qE); + qXdot = std::make_shared>(ListD{ 0, 0, 0 }); + omeOpO = std::make_shared>(ListD{ 0, 0, 0 }); + crankPart1->setqXdot(qXdot); + crankPart1->setomeOpO(omeOpO); + qXddot = std::make_shared>(ListD{ 0, 0, 0 }); + qEddot = std::make_shared>(ListD{ 0, 0, 0, 0 }); + crankPart1->setqXddot(qXddot); + crankPart1->setqEddot(qEddot); + TheSystem->addPart(crankPart1); + { + auto& partFrame = crankPart1->partFrame; + auto marker1 = CREATE::With("/Assembly1/Part1/Marker1"); + rpmp = std::make_shared>(ListD{ -0.4, 0.0, 0.05 }); + marker1->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + marker1->setaApm(aApm); + partFrame->addMarkerFrame(marker1); + // + auto marker2 = CREATE::With("/Assembly1/Part1/Marker2"); + rpmp = std::make_shared>(ListD{ 0.4, 0.0, 0.05 }); + marker2->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + marker2->setaApm(aApm); + partFrame->addMarkerFrame(marker2); + } + // + auto conrodPart2 = CREATE::With("/Assembly1/Part2"); + std::cout << "conrodPart2->name " << conrodPart2->name << std::endl; + conrodPart2->m = 1.0; + conrodPart2->aJ = std::make_shared>(ListD{ 1, 1, 1 }); + qX = std::make_shared>(ListD{ 0.15, 0.1, 0.05 }); + qE = std::make_shared>(ListD{ 0.0, 0.0, 1.0, 0.0 }); + conrodPart2->setqX(qX); + conrodPart2->setqE(qE); + qXdot = std::make_shared>(ListD{ 0, 0, 0 }); + omeOpO = std::make_shared>(ListD{ 0, 0, 0 }); + conrodPart2->setqXdot(qXdot); + conrodPart2->setomeOpO(omeOpO); + qXddot = std::make_shared>(ListD{ 0, 0, 0 }); + qEddot = std::make_shared>(ListD{ 0, 0, 0, 0 }); + conrodPart2->setqXddot(qXddot); + conrodPart2->setqEddot(qEddot); + TheSystem->addPart(conrodPart2); + { + auto& partFrame = conrodPart2->partFrame; + auto marker1 = CREATE::With("/Assembly1/Part2/Marker1"); + rpmp = std::make_shared>(ListD{ -0.65, 0.0, -0.05 }); + marker1->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + {1.0, 0.0, 0.0}, + {0.0, 1.0, 0.0}, + {0.0, 0.0, 1.0} + }); + marker1->setaApm(aApm); + partFrame->addMarkerFrame(marker1); + // + auto marker2 = CREATE::With("/Assembly1/Part2/Marker2"); + rpmp = std::make_shared>(ListD{ 0.65, 0.0, -0.05 }); + marker2->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + {1.0, 0.0, 0.0}, + {0.0, 1.0, 0.0}, + {0.0, 0.0, 1.0} + }); + marker2->setaApm(aApm); + partFrame->addMarkerFrame(marker2); + } + // + auto pistonPart3 = CREATE::With("/Assembly1/Part3"); + std::cout << "pistonPart3->name " << pistonPart3->name << std::endl; + pistonPart3->m = 1.0; + pistonPart3->aJ = std::make_shared>(ListD{ 1, 1, 1 }); + qX = std::make_shared>(ListD{ -0.0, 1.5, 0.0 }); + qE = std::make_shared>(ListD{ 0.70710678118655, 0.70710678118655, 0.0, 0.0 }); + pistonPart3->setqX(qX); + pistonPart3->setqE(qE); + qXdot = std::make_shared>(ListD{ 0, 0, 0 }); + omeOpO = std::make_shared>(ListD{ 0, 0, 0 }); + pistonPart3->setqXdot(qXdot); + pistonPart3->setomeOpO(omeOpO); + qXddot = std::make_shared>(ListD{ 0, 0, 0 }); + qEddot = std::make_shared>(ListD{ 0, 0, 0, 0 }); + pistonPart3->setqXddot(qXddot); + pistonPart3->setqEddot(qEddot); + TheSystem->addPart(pistonPart3); + { + auto& partFrame = pistonPart3->partFrame; + auto marker1 = CREATE::With("/Assembly1/Part3/Marker1"); + rpmp = std::make_shared>(ListD{ -0.5, 0.0, 0.0 }); + marker1->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + {0.0, 1.0, 0.0}, + {1.0, 0.0, 0.0}, + {0.0, 0.0, -1.0} + }); + marker1->setaApm(aApm); + partFrame->addMarkerFrame(marker1); + // + auto marker2 = CREATE::With("/Assembly1/Part3/Marker2"); + rpmp = std::make_shared>(ListD{ 0.5, 0.0, 0.0 }); + marker2->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + {0.0, 0.0, 1.0}, + {1.0, 0.0, 0.0}, + {0.0, 1.0, 0.0} + }); + marker2->setaApm(aApm); + partFrame->addMarkerFrame(marker2); + } + // + auto revJoint1 = CREATE::With("/Assembly1/Joint1"); + std::cout << "revJoint1->name " << revJoint1->name << std::endl; + revJoint1->connectsItoJ(assembly1->partFrame->endFrame("/Assembly1/Marker2"), crankPart1->partFrame->endFrame("/Assembly1/Part1/Marker1")); + TheSystem->addJoint(revJoint1); + + auto revJoint2 = CREATE::With("/Assembly1/Joint2"); + std::cout << "revJoint2->name " << revJoint2->name << std::endl; + revJoint2->connectsItoJ(crankPart1->partFrame->endFrame("/Assembly1/Part1/Marker2"), conrodPart2->partFrame->endFrame("/Assembly1/Part2/Marker1")); + TheSystem->addJoint(revJoint2); + + auto revJoint3 = CREATE::With("/Assembly1/Joint3"); + std::cout << "revJoint3->name " << revJoint3->name << std::endl; + revJoint3->connectsItoJ(conrodPart2->partFrame->endFrame("/Assembly1/Part2/Marker2"), pistonPart3->partFrame->endFrame("/Assembly1/Part3/Marker1")); + TheSystem->addJoint(revJoint3); + + auto cylJoint4 = CREATE::With("/Assembly1/Joint4"); + std::cout << "cylJoint4->name " << cylJoint4->name << std::endl; + cylJoint4->connectsItoJ(pistonPart3->partFrame->endFrame("/Assembly1/Part3/Marker2"), assembly1->partFrame->endFrame("/Assembly1/Marker1")); + TheSystem->addJoint(cylJoint4); + + auto rotMotion1 = CREATE::With("/Assembly1/Motion1"); + rotMotion1->connectsItoJ(assembly1->partFrame->endFrame("/Assembly1/Marker2"), crankPart1->partFrame->endFrame("/Assembly1/Part1/Marker1")); + std::cout << "rotMotion1->name " << rotMotion1->name << std::endl; + auto omega = std::make_shared(6.2831853071796); + auto timeScale = std::make_shared(1.0); + auto time = std::make_shared(timeScale, TheSystem->time); + rotMotion1->phiBlk = std::make_shared(omega, time); + std::cout << "rotMotion1->phiBlk " << *(rotMotion1->phiBlk) << std::endl; + TheSystem->addJoint(rotMotion1); + // + TheSystem->runKINEMATIC(TheSystem); +} + +void CADSystem::runPiston() +{ + std::cout << "runPiston" << std::endl; + auto& TheSystem = mbdSystem; + TheSystem->clear(); + std::string name = "TheSystem"; + TheSystem->name = name; + std::cout << "TheSystem->name " << TheSystem->name << std::endl; + auto& systemSolver = TheSystem->systemSolver; + systemSolver->errorTolPosKine = 1.0e-6; + systemSolver->errorTolAccKine = 1.0e-6; + systemSolver->iterMaxPosKine = 25; + systemSolver->iterMaxAccKine = 25; + systemSolver->tstart = 0.0; + systemSolver->tend = 25.0; + systemSolver->hmin = 2.5e-8; + systemSolver->hmax = 25.0; + systemSolver->hout = 1.0; + systemSolver->corAbsTol = 1.0e-6; + systemSolver->corRelTol = 1.0e-6; + systemSolver->intAbsTol = 1.0e-6; + systemSolver->intRelTol = 1.0e-6; + systemSolver->iterMaxDyn = 4; + systemSolver->orderMax = 5; + systemSolver->translationLimit = 9.6058421285615e9; + systemSolver->rotationLimit = 0.5; + + std::string str; + FColDsptr qX, qE, qXdot, omeOpO, qXddot, qEddot; + FColDsptr rpmp; + FMatDsptr aApm; + FRowDsptr fullRow; + // + auto assembly1 = CREATE::With("/Assembly1"); + std::cout << "assembly1->name " << assembly1->name << std::endl; + assembly1->m = 0.0; + assembly1->aJ = std::make_shared>(ListD{ 0, 0, 0 }); + qX = std::make_shared>(ListD{ 0, 0, 0 }); + qE = std::make_shared>(ListD{ 0, 0, 0, 1 }); + assembly1->setqX(qX); + assembly1->setqE(qE); + qXdot = std::make_shared>(ListD{ 0, 0, 0 }); + omeOpO = std::make_shared>(ListD{ 0, 0, 0 }); + assembly1->setqXdot(qXdot); + assembly1->setomeOpO(omeOpO); + qXddot = std::make_shared>(ListD{ 0, 0, 0 }); + qEddot = std::make_shared>(ListD{ 0, 0, 0, 0 }); + assembly1->setqXddot(qXddot); + assembly1->setqEddot(qEddot); + std::cout << "assembly1->getqX() " << *assembly1->getqX() << std::endl; + std::cout << "assembly1->getqE() " << *assembly1->getqE() << std::endl; + TheSystem->addPart(assembly1); + { + auto& partFrame = assembly1->partFrame; + auto marker2 = CREATE::With("/Assembly1/Marker2"); + rpmp = std::make_shared>(ListD{ 0.0, 0.0, 0.0 }); + marker2->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + marker2->setaApm(aApm); + partFrame->addMarkerFrame(marker2); + // + auto marker1 = CREATE::With("/Assembly1/Marker1"); + rpmp = std::make_shared>(ListD{ 0.0, 2.8817526385684, 0.0 }); + marker1->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 0, 1 }, + { 0, -1, 0 } + }); + marker1->setaApm(aApm); + partFrame->addMarkerFrame(marker1); + } + assembly1->asFixed(); + // + auto crankPart1 = CREATE::With("/Assembly1/Part1"); + std::cout << "crankPart1->name " << crankPart1->name << std::endl; + crankPart1->m = 0.045210530089461; + crankPart1->aJ = std::make_shared>(ListD{ 1.7381980042084e-4, 0.003511159968501, 0.0036154518487535 }); + qX = std::make_shared>(ListD{ 0.38423368514246, 2.6661567755108e-17, -0.048029210642807 }); + qE = std::make_shared>(ListD{ 0.0, 0.0, 0.0, 1.0 }); + crankPart1->setqX(qX); + crankPart1->setqE(qE); + qXdot = std::make_shared>(ListD{ 0, 0.096568457800423, 0 }); + omeOpO = std::make_shared>(ListD{ 0, 0, 0.25132741228718 }); + crankPart1->setqXdot(qXdot); + crankPart1->setomeOpO(omeOpO); + qXddot = std::make_shared>(ListD{ 0, 0, 0 }); + qEddot = std::make_shared>(ListD{ 0, 0, 0, 0 }); + crankPart1->setqXddot(qXddot); + crankPart1->setqEddot(qEddot); + TheSystem->addPart(crankPart1); + { + auto& partFrame = crankPart1->partFrame; + auto marker1 = CREATE::With("/Assembly1/Part1/Marker1"); + rpmp = std::make_shared>(ListD{ -0.38423368514246, -2.6661567755108e-17, 0.048029210642807 }); + marker1->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + marker1->setaApm(aApm); + partFrame->addMarkerFrame(marker1); + // + auto marker2 = CREATE::With("/Assembly1/Part1/Marker2"); + rpmp = std::make_shared>(ListD{ 0.38423368514246, -2.6661567755108e-17, 0.048029210642807 }); + marker2->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 1, 0 }, + { 0, 0, 1 } + }); + marker2->setaApm(aApm); + partFrame->addMarkerFrame(marker2); + } + // + auto conrodPart2 = CREATE::With("/Assembly1/Part2"); + std::cout << "conrodPart2->name " << conrodPart2->name << std::endl; + conrodPart2->m = 0.067815795134192; + conrodPart2->aJ = std::make_shared>(ListD{ 2.6072970063126e-4, 0.011784982468533, 0.011941420288912 }); + qX = std::make_shared>(ListD{ 0.38423368514246, 0.49215295678475, 0.048029210642807 }); + qE = std::make_shared>(ListD{ 0.0, 0.0, 0.89871703427292, 0.43852900965351 }); + conrodPart2->setqX(qX); + conrodPart2->setqE(qE); + qXdot = std::make_shared>(ListD{ 0, 0.19313691560085, 0 }); + omeOpO = std::make_shared>(ListD{ 1.670970041317e-34, 1.3045598281729e-34, -1.2731200314796e-35 }); + conrodPart2->setqXdot(qXdot); + conrodPart2->setomeOpO(omeOpO); + qXddot = std::make_shared>(ListD{ 0, 0, 0 }); + qEddot = std::make_shared>(ListD{ 0, 0, 0, 0 }); + conrodPart2->setqXddot(qXddot); + conrodPart2->setqEddot(qEddot); + TheSystem->addPart(conrodPart2); + { + auto& partFrame = conrodPart2->partFrame; + auto marker1 = CREATE::With("/Assembly1/Part2/Marker1"); + rpmp = std::make_shared>(ListD{ -0.6243797383565, 1.1997705489799e-16, -0.048029210642807 }); + marker1->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + {1.0, 2.7755575615629e-16, 0.0}, + {-2.7755575615629e-16, 1.0, 0.0}, + {0.0, 0.0, 1.0} + }); + marker1->setaApm(aApm); + partFrame->addMarkerFrame(marker1); + // + auto marker2 = CREATE::With("/Assembly1/Part2/Marker2"); + rpmp = std::make_shared>(ListD{ 0.6243797383565, -2.1329254204087e-16, -0.048029210642807 }); + marker2->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + {1.0, 2.4980018054066e-16, 2.2204460492503e-16}, + {-2.4980018054066e-16, 1.0, 4.1633363423443e-17}, + {-2.2204460492503e-16, -4.1633363423443e-17, 1.0} + }); + marker2->setaApm(aApm); + partFrame->addMarkerFrame(marker2); + } + // + auto pistonPart3 = CREATE::With("/Assembly1/Part3"); + std::cout << "pistonPart3->name " << pistonPart3->name << std::endl; + pistonPart3->m = 1.730132083368; + pistonPart3->aJ = std::make_shared>(ListD{ 0.19449049546716, 0.23028116340971, 0.23028116340971 }); + qX = std::make_shared>(ListD{ -1.283972762056e-18, 1.4645980199976, -4.7652385308244e-17 }); + qE = std::make_shared>(ListD{ 0.70710678118655, 0.70710678118655, 0.0, 0.0 }); + pistonPart3->setqX(qX); + pistonPart3->setqE(qE); + qXdot = std::make_shared>(ListD{ -6.3364526821409e-32, 0.19313691560085, -1.933731897626e-34 }); + omeOpO = std::make_shared>(ListD{ 1.670970041317e-34, 1.3045598281729e-34, 1.8896472173894e-50 }); + pistonPart3->setqXdot(qXdot); + pistonPart3->setomeOpO(omeOpO); + qXddot = std::make_shared>(ListD{ 0, 0, 0 }); + qEddot = std::make_shared>(ListD{ 0, 0, 0, 0 }); + pistonPart3->setqXddot(qXddot); + pistonPart3->setqEddot(qEddot); + TheSystem->addPart(pistonPart3); + { + auto& partFrame = pistonPart3->partFrame; + auto marker1 = CREATE::With("/Assembly1/Part3/Marker1"); + rpmp = std::make_shared>(ListD{ -0.48029210642807, 7.6201599718927e-18, -2.816737703896e-17 }); + marker1->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + {9.2444637330587e-33, 1.0, 2.2204460492503e-16}, + {1.0, -9.2444637330587e-33, -1.0785207688569e-32}, + {-1.0785207688569e-32, 2.2204460492503e-16, -1.0} + }); + marker1->setaApm(aApm); + partFrame->addMarkerFrame(marker1); + // + auto marker2 = CREATE::With("/Assembly1/Part3/Marker2"); + rpmp = std::make_shared>(ListD{ 0.48029210642807, 1.7618247880058e-17, 2.5155758471256e-17 }); + marker2->setrpmp(rpmp); + aApm = std::make_shared>(ListListD{ + {6.9388939039072e-18, -6.4146353042213e-50, 1.0}, + {1.0, -6.9388939039072e-18, 6.9388939039072e-18}, + {-6.9388939039072e-18, 1.0, -7.4837411882581e-50} + }); + marker2->setaApm(aApm); + partFrame->addMarkerFrame(marker2); + } + // + auto revJoint1 = CREATE::With("/Assembly1/Joint1"); + std::cout << "revJoint1->name " << revJoint1->name << std::endl; + revJoint1->connectsItoJ(assembly1->partFrame->endFrame("/Assembly1/Marker2"), crankPart1->partFrame->endFrame("/Assembly1/Part1/Marker1")); + TheSystem->addJoint(revJoint1); + + auto revJoint2 = CREATE::With("/Assembly1/Joint2"); + std::cout << "revJoint2->name " << revJoint2->name << std::endl; + revJoint2->connectsItoJ(crankPart1->partFrame->endFrame("/Assembly1/Part1/Marker2"), conrodPart2->partFrame->endFrame("/Assembly1/Part2/Marker1")); + TheSystem->addJoint(revJoint2); + + auto revJoint3 = CREATE::With("/Assembly1/Joint3"); + std::cout << "revJoint3->name " << revJoint3->name << std::endl; + revJoint3->connectsItoJ(conrodPart2->partFrame->endFrame("/Assembly1/Part2/Marker2"), pistonPart3->partFrame->endFrame("/Assembly1/Part3/Marker1")); + TheSystem->addJoint(revJoint3); + + auto cylJoint4 = CREATE::With("/Assembly1/Joint4"); + std::cout << "cylJoint4->name " << cylJoint4->name << std::endl; + cylJoint4->connectsItoJ(pistonPart3->partFrame->endFrame("/Assembly1/Part3/Marker2"), assembly1->partFrame->endFrame("/Assembly1/Marker1")); + TheSystem->addJoint(cylJoint4); + + auto rotMotion1 = CREATE::With("/Assembly1/Motion1"); + rotMotion1->connectsItoJ(assembly1->partFrame->endFrame("/Assembly1/Marker2"), crankPart1->partFrame->endFrame("/Assembly1/Part1/Marker1")); + std::cout << "rotMotion1->name " << rotMotion1->name << std::endl; + auto omega = std::make_shared(6.2831853071796); + auto timeScale = std::make_shared(0.04); + auto time = std::make_shared(timeScale, TheSystem->time); + rotMotion1->phiBlk = std::make_shared(omega, time); + std::cout << "rotMotion1->phiBlk " << *(rotMotion1->phiBlk) << std::endl; + TheSystem->addJoint(rotMotion1); + // + TheSystem->runKINEMATIC(TheSystem); +} + +void MbD::CADSystem::preMbDrun(std::shared_ptr) +{ +} + +void CADSystem::postMbDrun() +{ +} + +void MbD::CADSystem::updateFromMbD() +{ +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/CADSystem.h b/src/3rdParty/OndselSolver/OndselSolver/CADSystem.h new file mode 100644 index 000000000000..697467eaee33 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/CADSystem.h @@ -0,0 +1,42 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include + +#include "ExternalSystem.h" +#include "System.h" + +namespace MbD { + + class CADSystem + { + // + public: + CADSystem() { + mbdSystem->initialize(); + mbdSystem->externalSystem->cadSystem = this; + } + + void outputFor(AnalysisType type); + void logString(std::string& str); + void logString(double value); + void runOndselSinglePendulum(); + void runOndselDoublePendulum(); + void runOndselPiston(); + void runPiston(); + void preMbDrun(std::shared_ptr mbdSys); + void postMbDrun(); + void updateFromMbD(); + + std::shared_ptr mbdSystem = std::make_shared(); + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/CREATE.cpp b/src/3rdParty/OndselSolver/OndselSolver/CREATE.cpp new file mode 100644 index 000000000000..688328dddc05 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/CREATE.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "CREATE.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/CREATE.h b/src/3rdParty/OndselSolver/OndselSolver/CREATE.h new file mode 100644 index 000000000000..e50d7a098912 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/CREATE.h @@ -0,0 +1,114 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +//This header file causes weird problems in Visual Studio when included in subclasses of std::vector or std::map. Why? + +#pragma once + +#include +#include "EndFrameqct.h" +#include "AtPointConstraintIqctJqc.h" +#include "DirectionCosineConstraintIqctJqc.h" +#include "TranslationConstraintIqctJqc.h" +#include "DispCompIeqctJeqcKeqct.h" +#include "DispCompIeqctJeqcO.h" + +namespace MbD { + + template + class CREATE { + public: + static std::shared_ptr With(const char* name) { + auto inst = std::make_shared(name); + inst->initialize(); + return inst; + } + static std::shared_ptr With(const std::string& expr, double unit) { + auto inst = std::make_shared(expr, unit); + inst->initialize(); + return inst; + } + static std::shared_ptr With() { + auto inst = std::make_shared(); + inst->initialize(); + return inst; + } + static std::shared_ptr With(int n) { + auto inst = std::make_shared(n); + inst->initialize(); + return inst; + } + static std::shared_ptr With(int m, int n) { + auto inst = std::make_shared(m, n); + inst->initialize(); + return inst; + } + static std::shared_ptr With(std::initializer_list listD) { + auto inst = std::make_shared(listD); + inst->initialize(); + return inst; + } + static std::shared_ptr With(std::shared_ptr frmi, std::shared_ptr frmj) { + auto inst = std::make_shared(frmi, frmj); + inst->initialize(); + return inst; + } + static std::shared_ptr With(std::shared_ptr frmi, std::shared_ptr frmj, int axis) { + auto inst = std::make_shared(frmi, frmj, axis); + inst->initialize(); + return inst; + } + static std::shared_ptr With(std::shared_ptr frmi, std::shared_ptr frmj, std::shared_ptr frmk, int axisk) { + auto inst = std::make_shared(frmi, frmj, frmk, axisk); + inst->initialize(); + return inst; + } + static std::shared_ptr ConstraintWith(std::shared_ptr frmi, std::shared_ptr frmj, int axis) { + std::shared_ptr inst; + std::string str = typeid(T(frmi, frmj, axis)).name(); + if (str.find("AtPointConstraintIJ") != std::string::npos) { + if (std::dynamic_pointer_cast(frmi)) { + inst = std::make_shared(frmi, frmj, axis); + } + else { + inst = std::make_shared(frmi, frmj, axis); + } + } + else if(str.find("TranslationConstraintIJ") != std::string::npos) { + if (std::dynamic_pointer_cast(frmi)) { + inst = std::make_shared(frmi, frmj, axis); + } + else { + inst = std::make_shared(frmi, frmj, axis); + } + } + inst->initialize(); + return inst; + } + static std::shared_ptr With(std::shared_ptr frmi, std::shared_ptr frmj, int axisi, int axisj) { + auto inst = std::make_shared(frmi, frmj, axisi, axisj); + inst->initialize(); + return inst; + } + static std::shared_ptr ConstraintWith(std::shared_ptr frmi, std::shared_ptr frmj, int axisi, int axisj) { + std::shared_ptr inst; + std::string str = typeid(T(frmi, frmj, axisi, axisj)).name(); + if (str.find("DirectionCosineConstraintIJ") != std::string::npos) { + if (std::dynamic_pointer_cast(frmi)) { + inst = std::make_shared(frmi, frmj, axisi, axisj); + } + else { + inst = std::make_shared(frmi, frmj, axisi, axisj); + } + } + inst->initialize(); + return inst; + } + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/CartesianFrame.cpp b/src/3rdParty/OndselSolver/OndselSolver/CartesianFrame.cpp new file mode 100644 index 000000000000..57628472167e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/CartesianFrame.cpp @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "CartesianFrame.h" + +using namespace MbD; + +CartesianFrame::CartesianFrame() +{ +} + +CartesianFrame::CartesianFrame(const char* str) : Item(str) +{ +} + +void CartesianFrame::initialize() +{ +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/CartesianFrame.h b/src/3rdParty/OndselSolver/OndselSolver/CartesianFrame.h new file mode 100644 index 000000000000..d255d10c56ae --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/CartesianFrame.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Item.h" + +namespace MbD { + class CartesianFrame : public Item + { + public: + CartesianFrame(); + CartesianFrame(const char* str); + void initialize() override; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/CompoundJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/CompoundJoint.cpp new file mode 100644 index 000000000000..4df75495d23d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/CompoundJoint.cpp @@ -0,0 +1,19 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "CompoundJoint.h" + +using namespace MbD; + +MbD::CompoundJoint::CompoundJoint() +{ +} + +MbD::CompoundJoint::CompoundJoint(const char* str) : Joint(str) +{ +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/CompoundJoint.h b/src/3rdParty/OndselSolver/OndselSolver/CompoundJoint.h new file mode 100644 index 000000000000..96e49bc82f1a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/CompoundJoint.h @@ -0,0 +1,25 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Joint.h" + +namespace MbD { + class CompoundJoint : public Joint + { + //distanceIJ + public: + CompoundJoint(); + CompoundJoint(const char* str); + + double distanceIJ = 0.0; + }; +} + + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIJ.cpp b/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIJ.cpp new file mode 100644 index 000000000000..72dc7fcc18f4 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIJ.cpp @@ -0,0 +1,103 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ConstVelConstraintIJ.h" +#include "DirectionCosineIecJec.h" +#include "ConstVelConstraintIqcJqc.h" +#include "EndFrameqc.h" + +using namespace MbD; + +ConstVelConstraintIJ::ConstVelConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj) : ConstraintIJ(frmi, frmj) +{ +} + +std::shared_ptr MbD::ConstVelConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj) +{ + assert(frmi->isEndFrameqc()); + assert(frmj->isEndFrameqc()); + auto constVelCon = std::make_shared(frmi, frmj); + constVelCon->initA01IeJe(); + constVelCon->initA10IeJe(); + return constVelCon; +} + +void ConstVelConstraintIJ::calcPostDynCorrectorIteration() +{ + aG = aA01IeJe->aAijIeJe + aA10IeJe->aAijIeJe - aConstant; +} + +void MbD::ConstVelConstraintIJ::initA01IeJe() +{ + assert(false); +} + +void MbD::ConstVelConstraintIJ::initA10IeJe() +{ + assert(false); +} + +void ConstVelConstraintIJ::initialize() +{ + this->initA01IeJe(); + this->initA10IeJe(); +} + +void ConstVelConstraintIJ::initializeGlobally() +{ + aA01IeJe->initializeGlobally(); + aA10IeJe->initializeGlobally(); +} + +void ConstVelConstraintIJ::initializeLocally() +{ + aA01IeJe->initializeLocally(); + aA10IeJe->initializeLocally(); +} + +void ConstVelConstraintIJ::postInput() +{ + aA01IeJe->postInput(); + aA10IeJe->postInput(); + ConstraintIJ::postInput(); +} + +void ConstVelConstraintIJ::postPosICIteration() +{ + aA01IeJe->postPosICIteration(); + aA10IeJe->postPosICIteration(); + ConstraintIJ::postPosICIteration(); +} + +void ConstVelConstraintIJ::preAccIC() +{ + aA01IeJe->preAccIC(); + aA10IeJe->preAccIC(); + ConstraintIJ::preAccIC(); +} + +void ConstVelConstraintIJ::prePosIC() +{ + aA01IeJe->prePosIC(); + aA10IeJe->prePosIC(); + ConstraintIJ::prePosIC(); +} + +void ConstVelConstraintIJ::preVelIC() +{ + aA01IeJe->preVelIC(); + aA10IeJe->preVelIC(); + ConstraintIJ::preVelIC(); +} + +void ConstVelConstraintIJ::simUpdateAll() +{ + aA01IeJe->simUpdateAll(); + aA10IeJe->simUpdateAll(); + ConstraintIJ::simUpdateAll(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIJ.h b/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIJ.h new file mode 100644 index 000000000000..cf0d70f1f6ed --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIJ.h @@ -0,0 +1,40 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ConstraintIJ.h" + +namespace MbD { + class DirectionCosineIecJec; + + class ConstVelConstraintIJ : public ConstraintIJ + { + //aA01IeJe aA10IeJe + public: + ConstVelConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj); + + static std::shared_ptr With(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPostDynCorrectorIteration() override; + virtual void initA01IeJe(); + virtual void initA10IeJe(); + void initialize() override; + void initializeGlobally() override; + void initializeLocally() override; + void postInput() override; + void postPosICIteration() override; + void preAccIC() override; + void prePosIC() override; + void preVelIC() override; + void simUpdateAll() override; + + std::shared_ptr aA01IeJe, aA10IeJe; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIqcJc.cpp b/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIqcJc.cpp new file mode 100644 index 000000000000..22379fe568a7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIqcJc.cpp @@ -0,0 +1,108 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "ConstVelConstraintIqcJc.h" +#include "DirectionCosineIeqcJec.h" +#include "DirectionCosineIeqcJeqc.h" +#include "EndFrameqc.h" +#include "CREATE.h" + +using namespace MbD; + +MbD::ConstVelConstraintIqcJc::ConstVelConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj) : ConstVelConstraintIJ(frmi, frmj) +{ + pGpEI = std::make_shared>(4); + ppGpEIpEI = std::make_shared>(4, 4); +} + +void MbD::ConstVelConstraintIqcJc::calcPostDynCorrectorIteration() +{ + ConstVelConstraintIJ::calcPostDynCorrectorIteration(); + auto aA01IeqcJec = std::dynamic_pointer_cast(aA01IeJe); + auto& pA01IeJepEI = aA01IeqcJec->pAijIeJepEI; + auto& ppA01IeJepEIpEI = aA01IeqcJec->ppAijIeJepEIpEI; + auto aA10IeqcJec = std::dynamic_pointer_cast(aA10IeJe); + auto& pA10IeJepEI = aA10IeqcJec->pAijIeJepEI; + auto& ppA10IeJepEIpEI = aA10IeqcJec->ppAijIeJepEIpEI; + for (int i = 0; i < 4; i++) + { + pGpEI->atiput(i, pA01IeJepEI->at(i) + pA10IeJepEI->at(i)); + } + for (int i = 0; i < 4; i++) + { + auto& ppGpEIpEIi = ppGpEIpEI->at(i); + auto& ppA01IeJepEIpEIi = ppA01IeJepEIpEI->at(i); + auto& ppA10IeJepEIpEIi = ppA10IeJepEIpEI->at(i); + ppGpEIpEIi->atiput(i, ppA01IeJepEIpEIi->at(i) + ppA10IeJepEIpEIi->at(i)); + for (int j = i + 1; j < 4; j++) + { + auto ppGpEIpEIij = ppA01IeJepEIpEIi->at(j) + ppA10IeJepEIpEIi->at(j); + ppGpEIpEIi->atiput(j, ppGpEIpEIij); + ppGpEIpEI->atijput(j, i, ppGpEIpEIij); + } + } +} + +void MbD::ConstVelConstraintIqcJc::fillAccICIterError(FColDsptr col) +{ + col->atiplusFullVectortimes(iqEI, pGpEI, lam); + auto efrmIqc = std::static_pointer_cast(frmI); + auto qEdotI = efrmIqc->qEdot(); + double sum = 0.0; + sum += pGpEI->timesFullColumn(efrmIqc->qEddot()); + sum += qEdotI->transposeTimesFullColumn(ppGpEIpEI->timesFullColumn(qEdotI)); + col->atiplusNumber(iG, sum); +} + +void MbD::ConstVelConstraintIqcJc::fillPosICError(FColDsptr col) +{ + Constraint::fillPosICError(col); + col->atiplusFullVectortimes(iqEI, pGpEI, lam); +} + +void MbD::ConstVelConstraintIqcJc::fillPosICJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqEI, pGpEI); + mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose()); + mat->atijplusFullMatrixtimes(iqEI, iqEI, ppGpEIpEI, lam); +} + +void MbD::ConstVelConstraintIqcJc::fillPosKineJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqEI, pGpEI); +} + +void MbD::ConstVelConstraintIqcJc::fillVelICJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqEI, pGpEI); + mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose()); +} + +void MbD::ConstVelConstraintIqcJc::initA01IeJe() +{ + aA01IeJe = CREATE::With(frmI, frmJ, 0, 1); +} + +void MbD::ConstVelConstraintIqcJc::initA10IeJe() +{ + aA10IeJe = CREATE::With(frmI, frmJ, 1, 0); +} + +void MbD::ConstVelConstraintIqcJc::initialize() +{ + ConstVelConstraintIJ::initialize(); + pGpEI = std::make_shared>(4); + ppGpEIpEI = std::make_shared>(4, 4); +} + +void MbD::ConstVelConstraintIqcJc::useEquationNumbers() +{ + iqEI = std::static_pointer_cast(frmI)->iqE(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIqcJc.h b/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIqcJc.h new file mode 100644 index 000000000000..1435182e4c27 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIqcJc.h @@ -0,0 +1,35 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ConstVelConstraintIJ.h" + +namespace MbD { + class ConstVelConstraintIqcJc : public ConstVelConstraintIJ + { + //pGpEI ppGpEIpEI iqEI + public: + ConstVelConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void initA01IeJe() override; + void initA10IeJe() override; + void initialize() override; + void useEquationNumbers() override; + + FRowDsptr pGpEI; + FMatDsptr ppGpEIpEI; + int iqEI = -1; + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIqcJqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIqcJqc.cpp new file mode 100644 index 000000000000..0ea8950b071f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIqcJqc.cpp @@ -0,0 +1,132 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ConstVelConstraintIqcJqc.h" +#include "DirectionCosineIeqcJeqc.h" +#include "EndFrameqc.h" +#include "CREATE.h" + +using namespace MbD; + +MbD::ConstVelConstraintIqcJqc::ConstVelConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj) : ConstVelConstraintIqcJc(frmi, frmj) +{ + pGpEJ = std::make_shared>(4); + ppGpEIpEJ = std::make_shared>(4, 4); + ppGpEJpEJ = std::make_shared>(4, 4); +} + +void MbD::ConstVelConstraintIqcJqc::calcPostDynCorrectorIteration() +{ + ConstVelConstraintIqcJc::calcPostDynCorrectorIteration(); + auto aA01IeqcJeqc = std::dynamic_pointer_cast(aA01IeJe); + auto& pA01IeJepEJ = aA01IeqcJeqc->pAijIeJepEJ; + auto& ppA01IeJepEIpEJ = aA01IeqcJeqc->ppAijIeJepEIpEJ; + auto& ppA01IeJepEJpEJ = aA01IeqcJeqc->ppAijIeJepEJpEJ; + auto aA10IeqcJeqc = std::dynamic_pointer_cast(aA10IeJe); + auto& pA10IeJepEJ = aA10IeqcJeqc->pAijIeJepEJ; + auto& ppA10IeJepEIpEJ = aA10IeqcJeqc->ppAijIeJepEIpEJ; + auto& ppA10IeJepEJpEJ = aA10IeqcJeqc->ppAijIeJepEJpEJ; + for (int i = 0; i < 4; i++) + { + pGpEJ->atiput(i, pA01IeJepEJ->at(i) + pA10IeJepEJ->at(i)); + } + for (int i = 0; i < 4; i++) + { + auto& ppGpEIpEJi = ppGpEIpEJ->at(i); + auto& ppA01IeJepEIpEJi = ppA01IeJepEIpEJ->at(i); + auto& ppA10IeJepEIpEJi = ppA10IeJepEIpEJ->at(i); + for (int j = 0; j < 4; j++) + { + auto ppGpEIpEJij = ppA01IeJepEIpEJi->at(j) + ppA10IeJepEIpEJi->at(j); + ppGpEIpEJi->atiput(j, ppGpEIpEJij); + } + } + for (int i = 0; i < 4; i++) + { + auto& ppGpEJpEJi = ppGpEJpEJ->at(i); + auto& ppA01IeJepEJpEJi = ppA01IeJepEJpEJ->at(i); + auto& ppA10IeJepEJpEJi = ppA10IeJepEJpEJ->at(i); + ppGpEJpEJi->atiput(i, ppA01IeJepEJpEJi->at(i) + ppA10IeJepEJpEJi->at(i)); + for (int j = i + 1; j < 4; j++) + { + auto ppGpEJpEJij = ppA01IeJepEJpEJi->at(j) + ppA10IeJepEJpEJi->at(j); + ppGpEJpEJi->atiput(j, ppGpEJpEJij); + ppGpEJpEJ->atijput(j, i, ppGpEJpEJij); + } + } + +} + +void MbD::ConstVelConstraintIqcJqc::fillAccICIterError(FColDsptr col) +{ + ConstVelConstraintIqcJc::fillAccICIterError(col); + col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); + auto efrmIqc = std::static_pointer_cast(frmI); + auto qEdotI = efrmIqc->qEdot(); + auto efrmJqc = std::static_pointer_cast(frmJ); + auto qEdotJ = efrmJqc->qEdot(); + double sum = 0.0; + sum += pGpEJ->timesFullColumn(efrmJqc->qEddot()); + sum += 2.0 * qEdotI->transposeTimesFullColumn(ppGpEIpEJ->timesFullColumn(qEdotJ)); + sum += qEdotJ->transposeTimesFullColumn(ppGpEJpEJ->timesFullColumn(qEdotJ)); + col->atiplusNumber(iG, sum); +} + +void MbD::ConstVelConstraintIqcJqc::fillPosICError(FColDsptr col) +{ + ConstVelConstraintIqcJc::fillPosICError(col); + col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); +} + +void MbD::ConstVelConstraintIqcJqc::fillPosICJacob(SpMatDsptr mat) +{ + ConstVelConstraintIqcJc::fillPosICJacob(mat); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); + mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose()); + auto ppGpEIpEJlam = ppGpEIpEJ->times(lam); + mat->atijplusFullMatrix(iqEI, iqEJ, ppGpEIpEJlam); + mat->atijplusTransposeFullMatrix(iqEJ, iqEI, ppGpEIpEJlam); + mat->atijplusFullMatrixtimes(iqEJ, iqEJ, ppGpEJpEJ, lam); +} + +void MbD::ConstVelConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat) +{ + ConstVelConstraintIqcJc::fillPosKineJacob(mat); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); +} + +void MbD::ConstVelConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat) +{ + ConstVelConstraintIqcJc::fillVelICJacob(mat); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); + mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose()); +} + +void MbD::ConstVelConstraintIqcJqc::initA01IeJe() +{ + aA01IeJe = CREATE::With(frmI, frmJ, 0, 1); +} + +void MbD::ConstVelConstraintIqcJqc::initA10IeJe() +{ + aA10IeJe = CREATE::With(frmI, frmJ, 1, 0); +} + +void MbD::ConstVelConstraintIqcJqc::initialize() +{ + ConstVelConstraintIqcJc::initialize(); + pGpEJ = std::make_shared>(4); + ppGpEIpEJ = std::make_shared>(4, 4); + ppGpEJpEJ = std::make_shared>(4, 4); +} + +void MbD::ConstVelConstraintIqcJqc::useEquationNumbers() +{ + ConstVelConstraintIqcJc::useEquationNumbers(); + iqEJ = std::static_pointer_cast(frmJ)->iqE(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIqcJqc.h b/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIqcJqc.h new file mode 100644 index 000000000000..116549c1c052 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ConstVelConstraintIqcJqc.h @@ -0,0 +1,37 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ConstVelConstraintIqcJc.h" + +namespace MbD { + class ConstVelConstraintIqcJqc : public ConstVelConstraintIqcJc + { + //pGpEJ ppGpEIpEJ ppGpEJpEJ iqEJ + public: + ConstVelConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void initA01IeJe() override; + void initA10IeJe() override; + void initialize() override; + void useEquationNumbers() override; + + FRowDsptr pGpEJ; + FMatDsptr ppGpEIpEJ; + FMatDsptr ppGpEJpEJ; + int iqEJ = -1; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Constant.cpp b/src/3rdParty/OndselSolver/OndselSolver/Constant.cpp new file mode 100644 index 000000000000..7ae62d8789e3 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Constant.cpp @@ -0,0 +1,83 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "Constant.h" +#include "System.h" +#include "Units.h" +#include "Polynomial.h" + +using namespace MbD; + +Constant::Constant() +{ +} + +Constant::Constant(double val) : Variable(val) +{ +} + +Symsptr MbD::Constant::differentiateWRT(Symsptr) +{ + return sptrConstant(0.0); +} + +Symsptr MbD::Constant::integrateWRT(Symsptr var) +{ + if (value == 0.0) return clonesptr(); + auto slope = sptrConstant(value); + auto intercept = sptrConstant(0.0); + auto coeffs = std::make_shared>(); + coeffs->push_back(intercept); + coeffs->push_back(slope); + return std::make_shared(var, coeffs); +} + +Symsptr MbD::Constant::expandUntil(Symsptr sptr, std::shared_ptr>) +{ + return sptr; +} + +bool Constant::isConstant() +{ + return true; +} + +Symsptr MbD::Constant::clonesptr() +{ + return std::make_shared(*this); +} + +bool MbD::Constant::isZero() +{ + return value == 0.0; +} + +bool MbD::Constant::isOne() +{ + return value == 1.0; +} + +void MbD::Constant::createMbD(std::shared_ptr, std::shared_ptr) +{ + return; +} + +double MbD::Constant::getValue() +{ + return value; +} + +double MbD::Constant::getValue(double) +{ + return value; +} + +std::ostream& Constant::printOn(std::ostream& s) const +{ + return s << this->value; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Constant.h b/src/3rdParty/OndselSolver/OndselSolver/Constant.h new file mode 100644 index 000000000000..e9a4cc982d48 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Constant.h @@ -0,0 +1,33 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Variable.h" + +namespace MbD { + class Constant : public Variable + { + public: + Constant(); + Constant(double val); + Symsptr differentiateWRT(Symsptr var) override; + Symsptr integrateWRT(Symsptr var) override; + Symsptr expandUntil(Symsptr sptr, std::shared_ptr> set) override; + bool isConstant() override; + Symsptr clonesptr() override; + bool isZero() override; + bool isOne() override; + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + double getValue() override; + double getValue(double arg) override; + + std::ostream& printOn(std::ostream& s) const override; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ConstantGravity.cpp b/src/3rdParty/OndselSolver/OndselSolver/ConstantGravity.cpp new file mode 100644 index 000000000000..744a9c386440 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ConstantGravity.cpp @@ -0,0 +1,20 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ConstantGravity.h" +#include "System.h" +#include "Part.h" + +using namespace MbD; + +void MbD::ConstantGravity::fillAccICIterError(FColDsptr col) +{ + for (auto& part : *(root()->parts)) { + col->atiplusFullColumntimes(part->iqX(), gXYZ, part->m); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ConstantGravity.h b/src/3rdParty/OndselSolver/OndselSolver/ConstantGravity.h new file mode 100644 index 000000000000..c2fd6e091a71 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ConstantGravity.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ForceTorqueItem.h" + +namespace MbD { + class ConstantGravity : public ForceTorqueItem + { + // + public: + void fillAccICIterError(FColDsptr col) override; + + FColDsptr gXYZ; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ConstantVelocityJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ConstantVelocityJoint.cpp new file mode 100644 index 000000000000..23363e8d04d8 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ConstantVelocityJoint.cpp @@ -0,0 +1,58 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ConstantVelocityJoint.h" +#include "System.h" +#include "AtPointConstraintIJ.h" +#include "CREATE.h" +#include "ConstVelConstraintIJ.h" + +using namespace MbD; + +MbD::ConstantVelocityJoint::ConstantVelocityJoint() +{ +} + +MbD::ConstantVelocityJoint::ConstantVelocityJoint(const char* str) : AtPointJoint(str) +{ +} +// +//void MbD::ConstantVelocityJoint::initializeLocally() +//{ +// if (!constraints->empty()) +// { +// auto constraint = std::static_pointer_cast(constraints->back()); +// constraint->initA01IeJe(); +// constraint->initA10IeJe(); +// } +// Joint::initializeLocally(); +//} + +void MbD::ConstantVelocityJoint::initializeGlobally() +{ + if (constraints->empty()) + { + createAtPointConstraints(); + auto constVelIJ = ConstVelConstraintIJ::With(frmI, frmJ); + constVelIJ->setConstant(0.0); + addConstraint(constVelIJ); + this->root()->hasChanged = true; + } + else { + Joint::initializeGlobally(); + } +} + +void MbD::ConstantVelocityJoint::connectsItoJ(EndFrmsptr frmIe, EndFrmsptr frmJe) +{ + //"Subsequent prescribed motions may make frmIe, frmJe become prescribed end frames." + //"Use newCopyEndFrameqc to prevent efrms from becoming EndFrameqct." + + frmI = frmIe->newCopyEndFrameqc(); + frmJ = frmJe->newCopyEndFrameqc(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ConstantVelocityJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ConstantVelocityJoint.h new file mode 100644 index 000000000000..fabe3838c0c1 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ConstantVelocityJoint.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AtPointJoint.h" + +namespace MbD { + class ConstantVelocityJoint : public AtPointJoint + { + // + public: + ConstantVelocityJoint(); + ConstantVelocityJoint(const char* str); + //void initializeLocally() override; + void initializeGlobally() override; + void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ) override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Constraint.cpp b/src/3rdParty/OndselSolver/OndselSolver/Constraint.cpp new file mode 100644 index 000000000000..5b5c8ef518dd --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Constraint.cpp @@ -0,0 +1,191 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include + +#include "Constraint.h" +#include "FullColumn.h" +#include "enum.h" + +using namespace MbD; + +Constraint::Constraint() : Item() +{ + aConstant = 0.0; +} + +Constraint::Constraint(const char* str) : Item(str) +{ +} + +void Constraint::initialize() +{ + auto now = std::chrono::high_resolution_clock::now(); + auto nanoseconds = now.time_since_epoch().count(); + name = std::to_string(nanoseconds); +} + +void Constraint::postInput() +{ + lam = 0.0; + Item::postInput(); +} + +void Constraint::prePosIC() +{ + lam = 0.0; + iG = -1; + Item::prePosIC(); +} + +void Constraint::prePosKine() +{ + //"Preserve lam calculated from AccIC for possible use by DynIntegrator if system is not kinematic." + auto lamOld = lam; + this->prePosIC(); + lam = lamOld; +} + +void Constraint::fillEssenConstraints(std::shared_ptr sptr, std::shared_ptr>> essenConstraints) +{ + if (this->type() == essential) { + essenConstraints->push_back(sptr); + } +} +void Constraint::fillDispConstraints(std::shared_ptr sptr, std::shared_ptr>> dispConstraints) +{ + if (this->type() == displacement) { + dispConstraints->push_back(sptr); + } +} +void Constraint::fillPerpenConstraints(std::shared_ptr sptr, std::shared_ptr>> perpenConstraints) +{ + if (this->type() == perpendicular) { + perpenConstraints->push_back(sptr); + } +} + +void Constraint::fillRedundantConstraints(std::shared_ptr sptr, std::shared_ptr>> redunConstraints) +{ + if (this->type() == redundant) { + redunConstraints->push_back(sptr); + } +} + +void Constraint::fillConstraints(std::shared_ptr sptr, std::shared_ptr>> allConstraints) +{ + allConstraints->push_back(sptr); +} + +ConstraintType Constraint::type() +{ + return essential; +} + +void Constraint::fillqsulam(FColDsptr col) +{ + col->atiput(iG, lam); +} + +void Constraint::setqsulam(FColDsptr col) +{ + lam = col->at(iG); +} + +void Constraint::setqsudotlam(FColDsptr col) +{ + lam = col->at(iG); +} + +void Constraint::fillPosICError(FColDsptr col) +{ + col->atiplusNumber(iG, aG); +} + +void Constraint::removeRedundantConstraints(std::shared_ptr>) +{ + //My owner should handle this. + assert(false); +} + +void MbD::Constraint::setConstant(double value) +{ + aConstant = value; +} + +void Constraint::reactivateRedundantConstraints() +{ + //My owner should handle this. + assert(false); +} + +bool Constraint::isRedundant() +{ + return false; +} + +void Constraint::preDyn() +{ + mu = 0.0; +} + +void Constraint::fillPosKineError(FColDsptr col) +{ + col->atiplusNumber(iG, aG); +} + +void Constraint::fillqsuddotlam(FColDsptr col) +{ + col->atiput(iG, lam); +} + +void Constraint::preAccIC() +{ + lam = 0.0; + Item::preAccIC(); +} + +void Constraint::fillAccICIterJacob(SpMatDsptr mat) +{ + //"Same as velIC." + this->fillVelICJacob(mat); +} + +void Constraint::setqsuddotlam(FColDsptr col) +{ + lam = col->at(iG); +} + +void Constraint::addToJointForceI(FColDsptr) +{ +} + +void Constraint::addToJointTorqueI(FColDsptr) +{ +} + +void Constraint::fillConstraints(std::shared_ptr>> allConstraints) { + Item::fillConstraints(allConstraints); +} + +void Constraint::fillRedundantConstraints(std::shared_ptr>> redunConstraints) { + Item::fillRedundantConstraints(redunConstraints); +} + +void Constraint::fillDispConstraints(std::shared_ptr>> dispConstraints) { + Item::fillDispConstraints(dispConstraints); +} + +void Constraint::fillEssenConstraints(std::shared_ptr>> essenConstraints) { + Item::fillEssenConstraints(essenConstraints); +} + +void Constraint::fillPerpenConstraints(std::shared_ptr>> perpenConstraints) { + Item::fillPerpenConstraints(perpenConstraints); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Constraint.h b/src/3rdParty/OndselSolver/OndselSolver/Constraint.h new file mode 100644 index 000000000000..917e1975c029 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Constraint.h @@ -0,0 +1,63 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include + +#include "enum.h" +#include "Item.h" + +namespace MbD { + class Constraint : public Item + { + //iG aG lam mu lamDeriv owner + public: + Constraint(); + Constraint(const char* str); + + void initialize() override; + virtual void addToJointForceI(FColDsptr col); + virtual void addToJointTorqueI(FColDsptr col); + void fillAccICIterJacob(SpMatDsptr mat) override; + void fillConstraints(std::shared_ptr>> allConstraints) override; + virtual void fillConstraints(std::shared_ptr sptr, std::shared_ptr>> allConstraints); + void fillDispConstraints(std::shared_ptr>> dispConstraints) override; + virtual void fillDispConstraints(std::shared_ptr sptr, std::shared_ptr>> dispConstraints); + void fillEssenConstraints(std::shared_ptr>> essenConstraints) override; + virtual void fillEssenConstraints(std::shared_ptr sptr, std::shared_ptr>> essenConstraints); + void fillPerpenConstraints(std::shared_ptr>> perpenConstraints) override; + virtual void fillPerpenConstraints(std::shared_ptr sptr, std::shared_ptr>> perpenConstraints); + void fillPosICError(FColDsptr col) override; + void fillPosKineError(FColDsptr col) override; + void fillqsuddotlam(FColDsptr col) override; + void fillqsulam(FColDsptr col) override; + void fillRedundantConstraints(std::shared_ptr>> redunConstraints) override; + virtual void fillRedundantConstraints(std::shared_ptr sptr, std::shared_ptr>> redunConstraints); + virtual bool isRedundant(); + void postInput() override; + void preAccIC() override; + void preDyn() override; + void prePosIC() override; + void prePosKine() override; + void reactivateRedundantConstraints() override; + void removeRedundantConstraints(std::shared_ptr> redundantEqnNos) override; + void setConstant(double value); + void setqsudotlam(FColDsptr col) override; + void setqsuddotlam(FColDsptr col) override; + void setqsulam(FColDsptr col) override; + virtual ConstraintType type(); + + int iG = -1; + double aG = 0.0; //Constraint function + double aConstant = 0.0; + double lam = 0.0; //Lambda is Lagrange Multiplier + double mu = 0.0, lamDeriv = 0.0; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ConstraintIJ.cpp b/src/3rdParty/OndselSolver/OndselSolver/ConstraintIJ.cpp new file mode 100644 index 000000000000..df9d03ff9187 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ConstraintIJ.cpp @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ConstraintIJ.h" +#include "EndFramec.h" + +using namespace MbD; + +ConstraintIJ::ConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj) : frmI(frmi), frmJ(frmj), Constraint() +{ +} + +void ConstraintIJ::initialize() +{ + Constraint::initialize(); + aConstant = 0.0; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ConstraintIJ.h b/src/3rdParty/OndselSolver/OndselSolver/ConstraintIJ.h new file mode 100644 index 000000000000..8039ea947893 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ConstraintIJ.h @@ -0,0 +1,29 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Constraint.h" +//#include "EndFramec.h" //EndFrmsptr is defined + +namespace MbD { + class EndFramec; + using EndFrmsptr = std::shared_ptr; + + class ConstraintIJ : public Constraint + { + //frmI frmJ aConstant + public: + ConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj); + + void initialize() override; + + EndFrmsptr frmI, frmJ; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Cosine.cpp b/src/3rdParty/OndselSolver/OndselSolver/Cosine.cpp new file mode 100644 index 000000000000..dd9f70747b5f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Cosine.cpp @@ -0,0 +1,38 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "Cosine.h" +#include "Sine.h" +#include "Negative.h" + +using namespace MbD; + +MbD::Cosine::Cosine(Symsptr arg) : FunctionX(arg) +{ +} + +double MbD::Cosine::getValue() +{ + return std::cos(xx->getValue()); +} + +Symsptr MbD::Cosine::differentiateWRTx() +{ + return std::make_shared(std::make_shared(xx)); +} + +Symsptr MbD::Cosine::copyWith(Symsptr arg) +{ + return std::make_shared(arg); +} + +std::ostream& MbD::Cosine::printOn(std::ostream& s) const +{ + s << "cos(" << *xx << ")"; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Cosine.h b/src/3rdParty/OndselSolver/OndselSolver/Cosine.h new file mode 100644 index 000000000000..8d8e92e9d17b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Cosine.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionX.h" + +namespace MbD { + class Cosine : public FunctionX + { + // + public: + Cosine() = default; + Cosine(Symsptr arg); + double getValue() override; + Symsptr differentiateWRTx() override; + Symsptr copyWith(Symsptr arg) override; + + std::ostream& printOn(std::ostream& s) const override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/CrankSlider2.mbd b/src/3rdParty/OndselSolver/OndselSolver/CrankSlider2.mbd new file mode 100644 index 000000000000..6b38c915feff --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/CrankSlider2.mbd @@ -0,0 +1,297 @@ +----------------------------------------------------------------------------- + # [Data Block] + + begin: data; + problem: initial value; + end: data; + + #----------------------------------------------------------------------------- + # [Problem Block] + + begin: initial value; + initial time: 0.0; + final time: 8.0; + time step: 0.01; + max iterations: 100; + tolerance: 1e-06; + derivatives tolerance: 0.0001; + derivatives max iterations: 100; + derivatives coefficient: auto; + end: initial value; + + #----------------------------------------------------------------------------- + # [Control Data Block] + + begin: control data; + max iterations: 1000; + default orientation: euler321; + omega rotates: no; + print: none; + initial stiffness: 1.0, 1.0; + structural nodes: 4; + rigid bodies: 3; + joints: 6; + end: control data; + + #----------------------------------------------------------------------------- + # [Design Variables] + + #Generic bodies + + #body: 2 + set: integer body_2 = 2; #body label + set: real mass_2 = 3.805252376198168; #mass [kg] + set: real volume_2 = 0.0004816775159744516; #volume [m^3] + + #body: 3 + set: integer body_3 = 3; #body label + set: real mass_3 = 15.238784954845523; #mass [kg] + set: real volume_3 = 0.0019289601208665218; #volume [m^3] + + #body: 4 + set: integer body_4 = 4; #body label + set: real mass_4 = 2.865603331977783; #mass [kg] + set: real volume_4 = 0.0003627345989845295; #volume [m^3] + + #Nodes + + #node: 1 + set: integer structural_node_1 = 1; #node label + + #node: 2 + set: integer structural_node_2 = 2; #node label + + #node: 3 + set: integer structural_node_3 = 3; #node label + + #node: 4 + set: integer structural_node_4 = 4; #node label + + #Joints + + #joint: 1 + set: integer joint_1 = 1; #joint label + + #joint: 2 + set: integer joint_2 = 2; #joint label + + #joint: 3 + set: integer joint_3 = 3; #joint label + + #joint: 4 + set: integer joint_4 = 4; #joint label + + #joint: 5 + set: integer joint_5 = 5; #joint label + + #joint: 6 + set: integer joint_6 = 6; #joint label + + #Nodes: initial conditions + + #node: 1 + set: real Px_1 = -0.06210573361337854; #X component of the absolute position [m] + set: real Py_1 = 0.048526435375479564; #Y component of the absolute position [m] + set: real Pz_1 = -4.033966837940965e-17; #Z component of the absolute position [m] + + set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 2 + set: real Px_2 = 0.011666006676941875; #X component of the absolute position [m] + set: real Py_2 = 0.15999999999999778; #Y component of the absolute position [m] + set: real Pz_2 = -1.2084363289349542e-19; #Z component of the absolute position [m] + + set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 3 + set: real Px_3 = 0.2111281366952498; #X component of the absolute position [m] + set: real Py_3 = 0.16; #Y component of the absolute position [m] + set: real Pz_3 = -2.0217697810416158e-18; #Z component of the absolute position [m] + + set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 4 + set: real Px_4 = -0.1812239275015207; #X component of the absolute position [m] + set: real Py_4 = 0.16000000169909329; #Y component of the absolute position [m] + set: real Pz_4 = -4.340477856936436e-12; #Z component of the absolute position [m] + + set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #----------------------------------------------------------------------------- + # [Intermediate Variables] + + #Moments of inertia and relative center of mass + + #body 2: + set: real Ixx_2 = 0.031674420620509; #moment of inertia [kg*m^2] + set: real Iyy_2 = 0.029604112147595; #moment of inertia [kg*m^2] + set: real Izz_2 = 0.002867529429125; #moment of inertia [kg*m^2] + + set: real Rx_2 = 0.0; #X component of the relative center of mass [m] + set: real Ry_2 = 0.0; #Y component of the relative center of mass [m] + set: real Rz_2 = 2.0843632893495426e-20; #Z component of the relative center of mass [m] + + #body 3: + set: real Ixx_3 = 0.09813066341583701; #moment of inertia [kg*m^2] + set: real Iyy_3 = 0.095433846761275; #moment of inertia [kg*m^2] + set: real Izz_3 = 0.077043262824289; #moment of inertia [kg*m^2] + + set: real Rx_3 = 0.0; #X component of the relative center of mass [m] + set: real Ry_3 = 0.0; #Y component of the relative center of mass [m] + set: real Rz_3 = 2.1769781041615487e-20; #Z component of the relative center of mass [m] + + #body 4: + set: real Ixx_4 = 0.010133521085753; #moment of inertia [kg*m^2] + set: real Iyy_4 = 0.006853402672398001; #moment of inertia [kg*m^2] + set: real Izz_4 = 0.00669113151275; #moment of inertia [kg*m^2] + + set: real Rx_4 = 0.0; #X component of the relative center of mass [m] + set: real Ry_4 = 0.0; #Y component of the relative center of mass [m] + set: real Rz_4 = -4.306356366563123e-20; #Z component of the relative center of mass [m] + + #----------------------------------------------------------------------------- + # [Nodes Block] + + begin: nodes; + + structural: structural_node_1, + static, + Px_1, Py_1, Pz_1, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_1, Vy_1, Vz_1, # [m/s] + Wx_1, Wy_1, Wz_1; # [rad/s] + + structural: structural_node_2, + dynamic, + Px_2, Py_2, Pz_2, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_2, Vy_2, Vz_2, # [m/s] + Wx_2, Wy_2, Wz_2; # [rad/s] + + structural: structural_node_3, + dynamic, + Px_3, Py_3, Pz_3, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_3, Vy_3, Vz_3, # [m/s] + Wx_3, Wy_3, Wz_3; # [rad/s] + + structural: structural_node_4, + dynamic, + Px_4, Py_4, Pz_4, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_4, Vy_4, Vz_4, # [m/s] + Wx_4, Wy_4, Wz_4; # [rad/s] + + end: nodes; + + #----------------------------------------------------------------------------- + # [Elements Block] + + begin: elements; + + #----------------------------------------------------------------------------- + # [Bodies] + + body: body_2, + structural_node_2, # + mass_2, # [kg] + Rx_2, Ry_2, Rz_2, # [m] + diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] + orientation, 3, 1.0, 0.0, 0.0, 2, 0.0, 0.9999999999999999, 9.62964972193618e-35; + + body: body_3, + structural_node_3, # + mass_3, # [kg] + Rx_3, Ry_3, Rz_3, # [m] + diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] + orientation, 3, 0.0, 0.0, 1.0, 2, 1.0, 0.0, 0.0; + + body: body_4, + structural_node_4, # + mass_4, # [kg] + Rx_4, Ry_4, Rz_4, # [m] + diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] + orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; + + #----------------------------------------------------------------------------- + # [Joints] + + joint: joint_1, + clamp, + structural_node_1, # + -0.06210573361337854, 0.048526435375479564, -4.033966837940965e-17, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # + + joint: joint_2, + axial rotation, + structural_node_1, # + 0.2521057336133785, 0.11147356462452043, 0.13500000000000004, # [m] + orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, # + structural_node_3, # + -0.021128136695249794, 0.0, 0.135, # [m] + orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, # + string, "model::drive(1, Time)"; # [rad/s] + + joint: joint_3, + revolute hinge, + structural_node_2, # + 0.08833399332305812, 2.2168933355715126e-15, 0.065, # [m] + orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, # + structural_node_3, # + -0.11112813669524979, 0.0, 0.065, # [m] + orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0; # + + joint: joint_4, + prismatic, + structural_node_1, # + orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1> + structural_node_4, # + orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2> + + joint: joint_5, + in line, + structural_node_1, # + 0.0, 0.11147355803101042, 2.4118673970779456e-17, # [m] + 3, -1.0, 1.1102230246251565e-16, -2.220446049250313e-16, 2, -1.1102230246251565e-16, 0.0, 1.0, # + structural_node_4, # + offset, 0.0, -8.292603282173139e-09, 4.340448411165876e-12; # [m] + + joint: joint_6, + in line, + structural_node_2, # + -0.1616660066769419, 2.2168933355715126e-15, 0.0, # [m] + 3, 0.0, -0.0, -1.0, 2, -1.0, -2.220446049250313e-16, 0.0, # + structural_node_4, # + offset, 0.031223927501520705, -1.69909327496498e-09, 7.275957614183426e-15; # [m] + + #----------------------------------------------------------------------------- + # [Drive callers] + + drive caller: 1, name,"drive:1", ramp, 10.0, 0.0, 1.0, 0.0; + + end: elements; + diff --git a/src/3rdParty/OndselSolver/OndselSolver/CrankSlider2.mov b/src/3rdParty/OndselSolver/OndselSolver/CrankSlider2.mov new file 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5.551115123125783e-17 0 0 -3.351119462097791 +3 0.2094748868257552 0.151806896599137 -7.301195049752241e-22 0.9217512697243563 0.3877816354103646 0 -0.3877816354103646 0.9217512697243563 0 0 0 1 0.08193103400863118 0.1947488682576914 5.551115123125783e-17 0 0 10.00000000000661 +4 -0.1717334873683958 0.1600000016990933 -4.340488974425715e-12 1 0 0 0 1 0 0 0 1 -0.4659587045617365 0 0 0 0 0 diff --git a/src/3rdParty/OndselSolver/OndselSolver/CylSphJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/CylSphJoint.cpp new file mode 100644 index 000000000000..389cc7d4d297 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/CylSphJoint.cpp @@ -0,0 +1,36 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "CylSphJoint.h" +#include "CREATE.h" +#include "DistancexyConstraintIJ.h" +#include "System.h" + +using namespace MbD; + +MbD::CylSphJoint::CylSphJoint() +{ +} + +MbD::CylSphJoint::CylSphJoint(const char* str) : CompoundJoint(str) +{ +} + +void MbD::CylSphJoint::initializeGlobally() +{ + if (constraints->empty()) + { + auto distxyIJ = DistancexyConstraintIJ::With(frmI, frmJ); + distxyIJ->setConstant(distanceIJ); + addConstraint(distxyIJ); + this->root()->hasChanged = true; + } + else { + CompoundJoint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/CylSphJoint.h b/src/3rdParty/OndselSolver/OndselSolver/CylSphJoint.h new file mode 100644 index 000000000000..5c17675a4764 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/CylSphJoint.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "CompoundJoint.h" + +namespace MbD { + class CylSphJoint : public CompoundJoint + { + // + public: + CylSphJoint(); + CylSphJoint(const char* str); + void initializeGlobally() override; + + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/CylindricalJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/CylindricalJoint.cpp new file mode 100644 index 000000000000..864952408a3d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/CylindricalJoint.cpp @@ -0,0 +1,37 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "CylindricalJoint.h" +#include "System.h" +#include "DirectionCosineConstraintIJ.h" +#include "TranslationConstraintIJ.h" +#include "CREATE.h" + +using namespace MbD; + +CylindricalJoint::CylindricalJoint() +{ +} + +CylindricalJoint::CylindricalJoint(const char* str) : InLineJoint(str) +{ +} + +void CylindricalJoint::initializeGlobally() +{ + if (constraints->empty()) + { + createInLineConstraints(); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 1)); + this->root()->hasChanged = true; + } + else { + Joint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/CylindricalJoint.h b/src/3rdParty/OndselSolver/OndselSolver/CylindricalJoint.h new file mode 100644 index 000000000000..6c234fb3cdb1 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/CylindricalJoint.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "InLineJoint.h" + +namespace MbD { + class CylindricalJoint : public InLineJoint + { + //frmI frmJ constraints friction + public: + CylindricalJoint(); + CylindricalJoint(const char* str); + void initializeGlobally() override; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DiagonalMatrix.cpp b/src/3rdParty/OndselSolver/OndselSolver/DiagonalMatrix.cpp new file mode 100644 index 000000000000..13bba2926a62 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DiagonalMatrix.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DiagonalMatrix.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/DiagonalMatrix.h b/src/3rdParty/OndselSolver/OndselSolver/DiagonalMatrix.h new file mode 100644 index 000000000000..9dfe7b789966 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DiagonalMatrix.h @@ -0,0 +1,152 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Array.h" +#include "FullColumn.h" +#include "FullMatrix.h" + +namespace MbD { + template + class DiagonalMatrix; + template + using DiagMatsptr = std::shared_ptr>; + using DiagMatDsptr = std::shared_ptr>; + + template + class DiagonalMatrix : public Array + { + // + public: + DiagonalMatrix() : Array() {} + DiagonalMatrix(size_t count) : Array(count) {} + DiagonalMatrix(size_t count, const T& value) : Array(count, value) {} + DiagonalMatrix(std::initializer_list list) : Array{ list } {} + void atiputDiagonalMatrix(int i, std::shared_ptr> diagMat); + DiagMatsptr times(T factor); + FColsptr timesFullColumn(FColsptr fullCol); + FMatsptr timesFullMatrix(FMatsptr fullMat); + int nrow() { + return (int)this->size(); + } + int ncol() { + return (int)this->size(); + } + double sumOfSquares() override; + int numberOfElements() override; + void zeroSelf() override; + double maxMagnitude() override; + + std::ostream& printOn(std::ostream& s) const override; + + }; + template<> + inline DiagMatDsptr DiagonalMatrix::times(double factor) + { + auto nrow = (int)this->size(); + auto answer = std::make_shared>(nrow); + for (int i = 0; i < nrow; i++) + { + answer->at(i) = this->at(i) * factor; + } + return answer; + } + template + inline void DiagonalMatrix::atiputDiagonalMatrix(int i, std::shared_ptr> diagMat) + { + for (int ii = 0; ii < (int)diagMat->size(); ii++) + { + this->at(i + ii) = diagMat->at(ii); + } + } + template + inline DiagMatsptr DiagonalMatrix::times(T) + { + assert(false); + } + template + inline FColsptr DiagonalMatrix::timesFullColumn(FColsptr fullCol) + { + //"a*b = a(i,j)b(j) sum j." + + auto nrow = (int)this->size(); + auto answer = std::make_shared>(nrow); + for (int i = 0; i < nrow; i++) + { + answer->at(i) = this->at(i) * fullCol->at(i); + } + return answer; + } + template + inline FMatsptr DiagonalMatrix::timesFullMatrix(FMatsptr fullMat) + { + auto nrow = (int)this->size(); + auto answer = std::make_shared>(nrow); + for (int i = 0; i < nrow; i++) + { + answer->at(i) = fullMat->at(i)->times(this->at(i)); + } + return answer; + } + template<> + inline double DiagonalMatrix::sumOfSquares() + { + double sum = 0.0; + for (int i = 0; i < (int)this->size(); i++) + { + double element = this->at(i); + sum += element * element; + } + return sum; + } + template + inline int DiagonalMatrix::numberOfElements() + { + auto n = (int)this->size(); + return n * n; + } + template<> + inline void DiagonalMatrix::zeroSelf() + { + for (int i = 0; i < (int)this->size(); i++) { + this->at(i) = 0.0; + } + } + template<> + inline double DiagonalMatrix::maxMagnitude() + { + double max = 0.0; + for (int i = 0; i < (int)this->size(); i++) + { + double element = this->at(i); + if (element < 0.0) element = -element; + if (max < element) max = element; + } + return max; + } + template + inline double DiagonalMatrix::maxMagnitude() + { + assert(false); + return 0.0; + } + template + inline std::ostream& DiagonalMatrix::printOn(std::ostream& s) const + { + s << "DiagMat["; + s << this->at(0); + for (int i = 1; i < (int)this->size(); i++) + { + s << ", " << this->at(i); + } + s << "]"; + return s; + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DifferenceOperator.cpp b/src/3rdParty/OndselSolver/OndselSolver/DifferenceOperator.cpp new file mode 100644 index 000000000000..d7aa7fc382d4 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DifferenceOperator.cpp @@ -0,0 +1,92 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "DifferenceOperator.h" +#include "CREATE.h" +#include "SingularMatrixError.h" +#include "LDUFullMatParPv.h" +#include "FullRow.h" + +using namespace MbD; + +FRowDsptr DifferenceOperator::OneOverFactorials = []() { + auto oneOverFactorials = std::make_shared>(10); + for (int i = 0; i < (int)oneOverFactorials->size(); i++) + { + oneOverFactorials->at(i) = 1.0 / std::tgamma(i + 1); + } + return oneOverFactorials; +}(); + +void DifferenceOperator::calcOperatorMatrix() +{ + //Compute operatorMatrix such that + //value(time) : = (operatorMatrix at : 1) timesColumn : series. + //valuedot(time) : = (operatorMatrix at : 2) timesColumn : series. + //valueddot(time) : = (operatorMatrix at : 3) timesColumn : series. + + this->formTaylorMatrix(); + try { + operatorMatrix = CREATE::With()->inversesaveOriginal(taylorMatrix, false); + } + catch (SingularMatrixError ex) { + } +} + +void DifferenceOperator::initialize() +{ + //Do nothing +} + +void MbD::DifferenceOperator::initializeLocally() +{ + assert(false); +} + +void DifferenceOperator::setiStep(int i) +{ + iStep = i; +} + +void DifferenceOperator::setorder(int o) +{ + order = o; +} + +void DifferenceOperator::instantiateTaylorMatrix() +{ + if (taylorMatrix == nullptr || (taylorMatrix->nrow() != (order + 1))) { + taylorMatrix = std::make_shared>(order + 1, order + 1); + } +} + +void DifferenceOperator::formTaylorRowwithTimeNodederivative(int i, int ii, int k) +{ + //| rowi hi hipower aij | + auto& rowi = taylorMatrix->at(i); + for (int j = 0; j < k; j++) + { + rowi->at(j) = 0.0; + } + rowi->at(k) = 1.0; + auto hi = timeNodes->at(ii) - time; + auto hipower = 1.0; + for (int j = k + 1; j < order + 1; j++) + { + hipower = hipower * hi; + auto aij = hipower * OneOverFactorials->at((int)j - k); + rowi->atiput(j, aij); + } +} + +void DifferenceOperator::settime(double t) +{ + time = t; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DifferenceOperator.h b/src/3rdParty/OndselSolver/OndselSolver/DifferenceOperator.h new file mode 100644 index 000000000000..910a6ee72e62 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DifferenceOperator.h @@ -0,0 +1,38 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include + +#include "FullMatrix.h" + +namespace MbD { + class DifferenceOperator + { + //iStep order taylorMatrix operatorMatrix time timeNodes + public: + virtual ~DifferenceOperator() {} + void calcOperatorMatrix(); + virtual void initialize(); + virtual void initializeLocally(); + virtual void setiStep(int i); + virtual void setorder(int o); + virtual void formTaylorMatrix() = 0; + virtual void instantiateTaylorMatrix(); + virtual void formTaylorRowwithTimeNodederivative(int i, int ii, int k); + void settime(double t); + + int iStep = 0, order = 0; + FMatDsptr taylorMatrix, operatorMatrix; + double time = 0.0; + std::shared_ptr> timeNodes; //"Row of past times in order of increasing past." + static FRowDsptr OneOverFactorials; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DifferentiatedGeneralSpline.cpp b/src/3rdParty/OndselSolver/OndselSolver/DifferentiatedGeneralSpline.cpp new file mode 100644 index 000000000000..0d9d2561845c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DifferentiatedGeneralSpline.cpp @@ -0,0 +1,39 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DifferentiatedGeneralSpline.h" +#include "GeneralSpline.h" + +using namespace MbD; + +MbD::DifferentiatedGeneralSpline::DifferentiatedGeneralSpline(Symsptr arg, Symsptr spline, int derivOrder) : AnyGeneralSpline(arg), generalSpline(spline), derivativeOrder(derivOrder) +{ +} + +double MbD::DifferentiatedGeneralSpline::getValue() +{ + return std::static_pointer_cast(generalSpline)->derivativeAt(derivativeOrder, xx->getValue()); +} + +Symsptr MbD::DifferentiatedGeneralSpline::differentiateWRTx() +{ + auto arg = std::static_pointer_cast(generalSpline)->xx; + auto deriv = std::make_shared(arg, generalSpline, derivativeOrder + 1); + return deriv; +} + +Symsptr MbD::DifferentiatedGeneralSpline::clonesptr() +{ + return std::make_shared(*this); +} + +std::ostream& MbD::DifferentiatedGeneralSpline::printOn(std::ostream& s) const +{ + s << "deriv(" << *generalSpline << ", " << derivativeOrder << ")"; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DifferentiatedGeneralSpline.h b/src/3rdParty/OndselSolver/OndselSolver/DifferentiatedGeneralSpline.h new file mode 100644 index 000000000000..17003a19c905 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DifferentiatedGeneralSpline.h @@ -0,0 +1,29 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AnyGeneralSpline.h" + +namespace MbD { + class DifferentiatedGeneralSpline : public AnyGeneralSpline + { + //derivativeOrder + public: + DifferentiatedGeneralSpline() = default; + DifferentiatedGeneralSpline(Symsptr arg, Symsptr spline, int derivOrder); + double getValue() override; + Symsptr differentiateWRTx() override; + Symsptr clonesptr() override; + + std::ostream& printOn(std::ostream& s) const override; + + Symsptr generalSpline; + int derivativeOrder; + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIJ.cpp b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIJ.cpp new file mode 100644 index 000000000000..d75482d710b8 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIJ.cpp @@ -0,0 +1,86 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DirectionCosineConstraintIJ.h" +#include "DirectionCosineIecJec.h" +#include "EndFramec.h" +#include "CREATE.h" + +using namespace MbD; + +DirectionCosineConstraintIJ::DirectionCosineConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj) : + ConstraintIJ(frmi, frmj), axisI(axisi), axisJ(axisj) +{ +} + +void DirectionCosineConstraintIJ::initialize() +{ + ConstraintIJ::initialize(); + initaAijIeJe(); +} + +void DirectionCosineConstraintIJ::initializeLocally() +{ + aAijIeJe->initializeLocally(); +} + +void DirectionCosineConstraintIJ::initializeGlobally() +{ + aAijIeJe->initializeGlobally(); +} + +void DirectionCosineConstraintIJ::initaAijIeJe() +{ + aAijIeJe = CREATE::With(frmI, frmJ, axisI, axisJ); +} + +void DirectionCosineConstraintIJ::postInput() +{ + aAijIeJe->postInput(); + ConstraintIJ::postInput(); +} + +void DirectionCosineConstraintIJ::calcPostDynCorrectorIteration() +{ + aG = aAijIeJe->aAijIeJe - aConstant; +} + +void DirectionCosineConstraintIJ::prePosIC() +{ + aAijIeJe->prePosIC(); + ConstraintIJ::prePosIC(); +} + +void DirectionCosineConstraintIJ::postPosICIteration() +{ + aAijIeJe->postPosICIteration(); + ConstraintIJ::postPosICIteration(); +} + +ConstraintType DirectionCosineConstraintIJ::type() +{ + return perpendicular; +} + +void DirectionCosineConstraintIJ::preVelIC() +{ + aAijIeJe->preVelIC(); + ConstraintIJ::preVelIC(); +} + +void MbD::DirectionCosineConstraintIJ::simUpdateAll() +{ + aAijIeJe->simUpdateAll(); + ConstraintIJ::simUpdateAll(); +} + +void DirectionCosineConstraintIJ::preAccIC() +{ + aAijIeJe->preAccIC(); + ConstraintIJ::preAccIC(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIJ.h b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIJ.h new file mode 100644 index 000000000000..38348bd0afae --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIJ.h @@ -0,0 +1,39 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ConstraintIJ.h" + +namespace MbD { + class DirectionCosineIecJec; + + class DirectionCosineConstraintIJ : public ConstraintIJ + { + //axisI axisJ aAijIeJe + public: + DirectionCosineConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj); + + void calcPostDynCorrectorIteration() override; + virtual void initaAijIeJe(); + void initialize() override; + void initializeGlobally() override; + void initializeLocally() override; + void postInput() override; + void postPosICIteration() override; + void preAccIC() override; + void prePosIC() override; + void preVelIC() override; + void simUpdateAll() override; + ConstraintType type() override; + + int axisI, axisJ; + std::shared_ptr aAijIeJe; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqcJc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqcJc.cpp new file mode 100644 index 000000000000..4f140815e70d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqcJc.cpp @@ -0,0 +1,79 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DirectionCosineConstraintIqcJc.h" +#include "DirectionCosineIeqcJec.h" +#include "EndFrameqc.h" +#include "CREATE.h" + +using namespace MbD; + +DirectionCosineConstraintIqcJc::DirectionCosineConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj) : + DirectionCosineConstraintIJ(frmi, frmj, axisi, axisj) +{ +} + +void DirectionCosineConstraintIqcJc::initaAijIeJe() +{ + aAijIeJe = CREATE::With(frmI, frmJ, axisI, axisJ); +} + +void DirectionCosineConstraintIqcJc::calcPostDynCorrectorIteration() +{ + DirectionCosineConstraintIJ::calcPostDynCorrectorIteration(); + auto aAijIeqJe = std::static_pointer_cast(aAijIeJe); + pGpEI = aAijIeqJe->pAijIeJepEI; + ppGpEIpEI = aAijIeqJe->ppAijIeJepEIpEI; +} + +void DirectionCosineConstraintIqcJc::useEquationNumbers() +{ + iqEI = std::static_pointer_cast(frmI)->iqE(); +} + +void DirectionCosineConstraintIqcJc::fillPosICError(FColDsptr col) +{ + Constraint::fillPosICError(col); + col->atiplusFullVectortimes(iqEI, pGpEI, lam); +} + +void DirectionCosineConstraintIqcJc::fillPosICJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqEI, pGpEI); + mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose()); + mat->atijplusFullMatrixtimes(iqEI, iqEI, ppGpEIpEI, lam); +} + +void DirectionCosineConstraintIqcJc::fillPosKineJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqEI, pGpEI); +} + +void DirectionCosineConstraintIqcJc::fillVelICJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqEI, pGpEI); + mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose()); +} + +void DirectionCosineConstraintIqcJc::fillAccICIterError(FColDsptr col) +{ + col->atiplusFullVector(iqEI, pGpEI->times(lam)); + auto efrmIqc = std::static_pointer_cast(frmI); + auto qEdotI = efrmIqc->qEdot(); + auto sum = pGpEI->timesFullColumn(efrmIqc->qEddot()); + sum += qEdotI->transposeTimesFullColumn(ppGpEIpEI->timesFullColumn(qEdotI)); + col->atiplusNumber(iG, sum); +} + +void DirectionCosineConstraintIqcJc::addToJointTorqueI(FColDsptr jointTorque) +{ + auto aBOIp = frmI->aBOp(); + auto lampGpE = pGpEI->transpose()->times(lam); + auto c2Torque = aBOIp->timesFullColumn(lampGpE); + jointTorque->equalSelfPlusFullColumntimes(c2Torque, 0.5); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqcJc.h b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqcJc.h new file mode 100644 index 000000000000..286dfe69c412 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqcJc.h @@ -0,0 +1,35 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DirectionCosineConstraintIJ.h" + +namespace MbD { + class DirectionCosineConstraintIqcJc : public DirectionCosineConstraintIJ + { + //pGpEI ppGpEIpEI iqEI + public: + DirectionCosineConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj); + + void addToJointTorqueI(FColDsptr col) override; + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void initaAijIeJe() override; + void useEquationNumbers() override; + + FRowDsptr pGpEI; + FMatDsptr ppGpEIpEI; + int iqEI = -1; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqcJqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqcJqc.cpp new file mode 100644 index 000000000000..5061c0e8aecc --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqcJqc.cpp @@ -0,0 +1,83 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DirectionCosineConstraintIqcJqc.h" +#include "DirectionCosineIeqcJeqc.h" +#include "EndFrameqc.h" +#include "CREATE.h" + +using namespace MbD; + +DirectionCosineConstraintIqcJqc::DirectionCosineConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj) : + DirectionCosineConstraintIqcJc(frmi, frmj, axisi, axisj) +{ +} + +void DirectionCosineConstraintIqcJqc::initaAijIeJe() +{ + aAijIeJe = CREATE::With(frmI, frmJ, axisI, axisJ); +} + +void DirectionCosineConstraintIqcJqc::calcPostDynCorrectorIteration() +{ + DirectionCosineConstraintIqcJc::calcPostDynCorrectorIteration(); + auto aAijIeqJqe = std::static_pointer_cast(aAijIeJe); + pGpEJ = aAijIeqJqe->pAijIeJepEJ; + ppGpEIpEJ = aAijIeqJqe->ppAijIeJepEIpEJ; + ppGpEJpEJ = aAijIeqJqe->ppAijIeJepEJpEJ; +} + +void DirectionCosineConstraintIqcJqc::useEquationNumbers() +{ + DirectionCosineConstraintIqcJc::useEquationNumbers(); + iqEJ = std::static_pointer_cast(frmJ)->iqE(); +} + +void DirectionCosineConstraintIqcJqc::fillPosICError(FColDsptr col) +{ + DirectionCosineConstraintIqcJc::fillPosICError(col); + col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); +} + +void DirectionCosineConstraintIqcJqc::fillPosICJacob(SpMatDsptr mat) +{ + DirectionCosineConstraintIqcJc::fillPosICJacob(mat); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); + mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose()); + auto ppGpEIpEJlam = ppGpEIpEJ->times(lam); + mat->atijplusFullMatrix(iqEI, iqEJ, ppGpEIpEJlam); + mat->atijplusTransposeFullMatrix(iqEJ, iqEI, ppGpEIpEJlam); + mat->atijplusFullMatrixtimes(iqEJ, iqEJ, ppGpEJpEJ, lam); +} + +void DirectionCosineConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat) +{ + DirectionCosineConstraintIqcJc::fillPosKineJacob(mat); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); +} + +void DirectionCosineConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat) +{ + DirectionCosineConstraintIqcJc::fillVelICJacob(mat); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); + mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose()); +} + +void DirectionCosineConstraintIqcJqc::fillAccICIterError(FColDsptr col) +{ + DirectionCosineConstraintIqcJc::fillAccICIterError(col); + col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); + auto efrmIqc = std::static_pointer_cast(frmI); + auto efrmJqc = std::static_pointer_cast(frmJ); + auto qEdotI = efrmIqc->qEdot(); + auto qEdotJ = efrmJqc->qEdot(); + double sum = pGpEJ->timesFullColumn(efrmJqc->qEddot()); + sum += (qEdotI->transposeTimesFullColumn(ppGpEIpEJ->timesFullColumn(qEdotJ))) * 2.0; + sum += qEdotJ->transposeTimesFullColumn(ppGpEJpEJ->timesFullColumn(qEdotJ)); + col->atiplusNumber(iG, sum); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqcJqc.h b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqcJqc.h new file mode 100644 index 000000000000..0265aae3a3a8 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqcJqc.h @@ -0,0 +1,35 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DirectionCosineConstraintIqcJc.h" + +namespace MbD { + class DirectionCosineConstraintIqcJqc : public DirectionCosineConstraintIqcJc + { + //pGpEJ ppGpEIpEJ ppGpEJpEJ iqEJ + public: + DirectionCosineConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj); + + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void initaAijIeJe() override; + void useEquationNumbers() override; + + FRowDsptr pGpEJ; + FMatDsptr ppGpEIpEJ; + FMatDsptr ppGpEJpEJ; + int iqEJ = -1; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqctJqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqctJqc.cpp new file mode 100644 index 000000000000..e41b309165c7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqctJqc.cpp @@ -0,0 +1,60 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DirectionCosineConstraintIqctJqc.h" +#include "DirectionCosineIeqctJeqc.h" +#include "CREATE.h" + +using namespace MbD; + +DirectionCosineConstraintIqctJqc::DirectionCosineConstraintIqctJqc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj) : + DirectionCosineConstraintIqcJqc(frmi, frmj, axisi, axisj) +{ +} + +void DirectionCosineConstraintIqctJqc::initaAijIeJe() +{ + aAijIeJe = CREATE::With(frmI, frmJ, axisI, axisJ); +} + +ConstraintType DirectionCosineConstraintIqctJqc::type() +{ + return essential; +} + +void DirectionCosineConstraintIqctJqc::preVelIC() +{ + DirectionCosineConstraintIJ::preVelIC(); + pGpt = std::static_pointer_cast(aAijIeJe)->pAijIeJept; +} + +void DirectionCosineConstraintIqctJqc::fillVelICError(FColDsptr col) +{ + col->atiminusNumber(iG, pGpt); +} + +void DirectionCosineConstraintIqctJqc::preAccIC() +{ + DirectionCosineConstraintIJ::preAccIC(); + ppGpEIpt = std::static_pointer_cast(aAijIeJe)->ppAijIeJepEIpt; + ppGpEJpt = std::static_pointer_cast(aAijIeJe)->ppAijIeJepEJpt; + ppGptpt = std::static_pointer_cast(aAijIeJe)->ppAijIeJeptpt; +} + +void DirectionCosineConstraintIqctJqc::fillAccICIterError(FColDsptr col) +{ + DirectionCosineConstraintIqcJqc::fillAccICIterError(col); + auto efrmIqc = std::static_pointer_cast(frmI); + auto efrmJqc = std::static_pointer_cast(frmJ); + auto qEdotI = efrmIqc->qEdot(); + auto qEdotJ = efrmJqc->qEdot(); + double sum = (ppGpEIpt->timesFullColumn(qEdotI)) * 2.0; + sum += (ppGpEJpt->timesFullColumn(qEdotJ)) * 2.0; + sum += ppGptpt; + col->atiplusNumber(iG, sum); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqctJqc.h b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqctJqc.h new file mode 100644 index 000000000000..ce3781ab95cb --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineConstraintIqctJqc.h @@ -0,0 +1,32 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DirectionCosineConstraintIqcJqc.h" + +namespace MbD { + class DirectionCosineConstraintIqctJqc : public DirectionCosineConstraintIqcJqc + { + //pGpt ppGpEIpt ppGpEJpt ppGptpt + public: + DirectionCosineConstraintIqctJqc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj); + + void fillAccICIterError(FColDsptr col) override; + void fillVelICError(FColDsptr col) override; + void initaAijIeJe() override; + void preAccIC() override; + void preVelIC() override; + ConstraintType type() override; + + double pGpt; + FRowDsptr ppGpEIpt; + FRowDsptr ppGpEJpt; + double ppGptpt; + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIecJec.cpp b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIecJec.cpp new file mode 100644 index 000000000000..1c3e89e07470 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIecJec.cpp @@ -0,0 +1,35 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "DirectionCosineIecJec.h" +#include "EndFramec.h" + +using namespace MbD; + +DirectionCosineIecJec::DirectionCosineIecJec() += default; + +DirectionCosineIecJec::DirectionCosineIecJec(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj) : + KinematicIeJe(frmi, frmj), axisI(axisi), axisJ(axisj) +{ + +} + +void DirectionCosineIecJec::calcPostDynCorrectorIteration() +{ + aAjOIe = frmI->aAjOe(axisI); + aAjOJe = frmJ->aAjOe(axisJ); + aAijIeJe = aAjOIe->dot(aAjOJe); +} + +double MbD::DirectionCosineIecJec::value() +{ + return aAijIeJe; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIecJec.h b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIecJec.h new file mode 100644 index 000000000000..1bf0257bc8d8 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIecJec.h @@ -0,0 +1,33 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include + +#include "FullColumn.h" +#include "KinematicIeJe.h" + +namespace MbD { + + class DirectionCosineIecJec : public KinematicIeJe + { + //aAijIeJe axisI axisJ aAjOIe aAjOJe + public: + DirectionCosineIecJec(); + DirectionCosineIecJec(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj); + + void calcPostDynCorrectorIteration() override; + double value() override; + + int axisI{}, axisJ{}; //0, 1, 2 = x, y, z + double aAijIeJe{}; + FColDsptr aAjOIe, aAjOJe; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqcJec.cpp b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqcJec.cpp new file mode 100644 index 000000000000..6e4423b3a9e9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqcJec.cpp @@ -0,0 +1,63 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DirectionCosineIeqcJec.h" +#include "EndFrameqc.h" + +using namespace MbD; + +DirectionCosineIeqcJec::DirectionCosineIeqcJec() +{ +} + +DirectionCosineIeqcJec::DirectionCosineIeqcJec(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj) : + DirectionCosineIecJec(frmi, frmj, axisi, axisj) +{ +} + +void DirectionCosineIeqcJec::initialize() +{ + DirectionCosineIecJec::initialize(); + pAijIeJepEI = std::make_shared>(4); + ppAijIeJepEIpEI = std::make_shared>(4, 4); +} + +void DirectionCosineIeqcJec::initializeGlobally() +{ + ppAjOIepEIpEI = std::static_pointer_cast(frmI)->ppAjOepEpE(axisI); +} + +FMatDsptr MbD::DirectionCosineIeqcJec::ppvaluepEIpEI() +{ + return ppAijIeJepEIpEI; +} + +FRowDsptr MbD::DirectionCosineIeqcJec::pvaluepEI() +{ + return pAijIeJepEI; +} + +void DirectionCosineIeqcJec::calcPostDynCorrectorIteration() +{ + DirectionCosineIecJec::calcPostDynCorrectorIteration(); + pAjOIepEIT = std::static_pointer_cast(frmI)->pAjOepET(axisI); + for (int i = 0; i < 4; i++) + { + pAijIeJepEI->at(i) = pAjOIepEIT->at(i)->dot(aAjOJe); + } + for (int i = 0; i < 4; i++) + { + auto& ppAijIeJepEIipEI = ppAijIeJepEIpEI->at(i); + auto& ppAjOIepEIipEI = ppAjOIepEIpEI->at(i); + for (int j = 0; j < 4; j++) + { + ppAijIeJepEIipEI->at(j) = ppAjOIepEIipEI->at(j)->dot(aAjOJe); + } + } + ppAijIeJepEIpEI->symLowerWithUpper(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqcJec.h b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqcJec.h new file mode 100644 index 000000000000..d829b27988df --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqcJec.h @@ -0,0 +1,33 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DirectionCosineIecJec.h" + +namespace MbD { + class DirectionCosineIeqcJec : public DirectionCosineIecJec + { + //pAijIeJepEI ppAijIeJepEIpEI pAjOIepEIT ppAjOIepEIpEI + public: + DirectionCosineIeqcJec(); + DirectionCosineIeqcJec(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj); + + void calcPostDynCorrectorIteration() override; + void initialize() override; + void initializeGlobally() override; + FMatDsptr ppvaluepEIpEI() override; + FRowDsptr pvaluepEI() override; + + FRowDsptr pAijIeJepEI; + FMatDsptr ppAijIeJepEIpEI; + FMatDsptr pAjOIepEIT; + FMatFColDsptr ppAjOIepEIpEI; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqcJeqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqcJeqc.cpp new file mode 100644 index 000000000000..92598c92fd66 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqcJeqc.cpp @@ -0,0 +1,78 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DirectionCosineIeqcJeqc.h" +#include "EndFrameqc.h" + +using namespace MbD; + +DirectionCosineIeqcJeqc::DirectionCosineIeqcJeqc() +{ +} + +DirectionCosineIeqcJeqc::DirectionCosineIeqcJeqc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj) : + DirectionCosineIeqcJec(frmi, frmj, axisi, axisj) +{ +} + +void DirectionCosineIeqcJeqc::initialize() +{ + DirectionCosineIeqcJec::initialize(); + pAijIeJepEJ = std::make_shared>(4); + ppAijIeJepEIpEJ = std::make_shared>(4, 4); + ppAijIeJepEJpEJ = std::make_shared>(4, 4); +} + +void DirectionCosineIeqcJeqc::initializeGlobally() +{ + DirectionCosineIeqcJec::initializeGlobally(); + ppAjOJepEJpEJ = std::static_pointer_cast(frmJ)->ppAjOepEpE(axisJ); +} + +FMatDsptr MbD::DirectionCosineIeqcJeqc::ppvaluepEIpEJ() +{ + return ppAijIeJepEIpEJ; +} + +void DirectionCosineIeqcJeqc::calcPostDynCorrectorIteration() +{ + DirectionCosineIeqcJec::calcPostDynCorrectorIteration(); + pAjOJepEJT = std::static_pointer_cast(frmJ)->pAjOepET(axisJ); + for (int i = 0; i < 4; i++) + { + pAijIeJepEJ->at(i) = aAjOIe->dot(pAjOJepEJT->at(i)); + } + for (int i = 0; i < 4; i++) + { + auto& ppAijIeJepEIipEJ = ppAijIeJepEIpEJ->at(i); + for (int j = 0; j < 4; j++) + { + ppAijIeJepEIipEJ->at(j) = pAjOIepEIT->at(i)->dot(pAjOJepEJT->at(j)); + } + } + for (int i = 0; i < 4; i++) + { + auto& ppAijIeJepEJipEJ = ppAijIeJepEJpEJ->at(i); + auto& ppAjOJepEJipEJ = ppAjOJepEJpEJ->at(i); + for (int j = 0; j < 4; j++) + { + ppAijIeJepEJipEJ->at(j) = aAjOIe->dot(ppAjOJepEJipEJ->at(j)); + } + } + ppAijIeJepEJpEJ->symLowerWithUpper(); +} + +FRowDsptr DirectionCosineIeqcJeqc::pvaluepEJ() +{ + return pAijIeJepEJ; +} + +FMatDsptr DirectionCosineIeqcJeqc::ppvaluepEJpEJ() +{ + return ppAijIeJepEJpEJ; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqcJeqc.h b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqcJeqc.h new file mode 100644 index 000000000000..ed4367766171 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqcJeqc.h @@ -0,0 +1,36 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DirectionCosineIeqcJec.h" + +namespace MbD { + class DirectionCosineIeqcJeqc : public DirectionCosineIeqcJec + { + //pAijIeJepEJ ppAijIeJepEIpEJ ppAijIeJepEJpEJ pAjOJepEJT ppAjOJepEJpEJ + public: + DirectionCosineIeqcJeqc(); + DirectionCosineIeqcJeqc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj); + + void calcPostDynCorrectorIteration() override; + void initialize() override; + void initializeGlobally() override; + FMatDsptr ppvaluepEIpEJ() override; + FMatDsptr ppvaluepEJpEJ() override; + FRowDsptr pvaluepEJ() override; + + FRowDsptr pAijIeJepEJ; + FMatDsptr ppAijIeJepEIpEJ; + FMatDsptr ppAijIeJepEJpEJ; + FMatDsptr pAjOJepEJT; + FMatFColDsptr ppAjOJepEJpEJ; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqctJeqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqctJeqc.cpp new file mode 100644 index 000000000000..6fb505cd2550 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqctJeqc.cpp @@ -0,0 +1,88 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DirectionCosineIeqctJeqc.h" +#include "EndFrameqc.h" +#include "EndFrameqct.h" + +using namespace MbD; + +DirectionCosineIeqctJeqc::DirectionCosineIeqctJeqc() +{ +} + +DirectionCosineIeqctJeqc::DirectionCosineIeqctJeqc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj) : + DirectionCosineIeqcJeqc(frmi, frmj, axisi, axisj) +{ +} + +void DirectionCosineIeqctJeqc::initialize() +{ + DirectionCosineIeqcJeqc::initialize(); + ppAijIeJepEIpt = std::make_shared>(4); + ppAijIeJepEJpt = std::make_shared>(4); +} + +void DirectionCosineIeqctJeqc::initializeGlobally() +{ + ppAjOJepEJpEJ = std::static_pointer_cast(frmJ)->ppAjOepEpE(axisJ); +} + +FRowDsptr MbD::DirectionCosineIeqctJeqc::ppvaluepEIpt() +{ + return ppAijIeJepEIpt; +} + +FRowDsptr MbD::DirectionCosineIeqctJeqc::ppvaluepEJpt() +{ + return ppAijIeJepEJpt; +} + +double MbD::DirectionCosineIeqctJeqc::ppvalueptpt() +{ + return ppAijIeJeptpt; +} + +void DirectionCosineIeqctJeqc::calcPostDynCorrectorIteration() +{ + //"ppAjOIepEIpEI is not longer constant and must be set before any calculation." + + ppAjOIepEIpEI = std::static_pointer_cast(frmI)->ppAjOepEpE(axisI); + DirectionCosineIeqcJeqc::calcPostDynCorrectorIteration(); +} + +void DirectionCosineIeqctJeqc::preVelIC() +{ + Item::preVelIC(); + auto pAjOIept = std::static_pointer_cast(frmI)->pAjOept(axisI); + pAijIeJept = pAjOIept->dot(aAjOJe); +} + +double DirectionCosineIeqctJeqc::pvaluept() +{ + return pAijIeJept; +} + +void DirectionCosineIeqctJeqc::preAccIC() +{ + //| ppAjOIepEITpt ppAjOIeptpt ppAjOIepEITpti pAjOIept | + Item::preAccIC(); + auto pAjOIept = std::static_pointer_cast(frmI)->pAjOept(axisI); + auto ppAjOIepEITpt = std::static_pointer_cast(frmI)->ppAjOepETpt(axisI); + auto ppAjOIeptpt = std::static_pointer_cast(frmI)->ppAjOeptpt(axisI); + for (int i = 0; i < 4; i++) + { + auto& ppAjOIepEITpti = ppAjOIepEITpt->at(i); + ppAijIeJepEIpt->atiput(i, ppAjOIepEITpti->dot(aAjOJe)); + } + for (int i = 0; i < 4; i++) + { + ppAijIeJepEJpt->atiput(i, pAjOIept->dot(pAjOJepEJT->at(i))); + } + ppAijIeJeptpt = ppAjOIeptpt->dot(aAjOJe); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqctJeqc.h b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqctJeqc.h new file mode 100644 index 000000000000..3f7352805ba3 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DirectionCosineIeqctJeqc.h @@ -0,0 +1,37 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DirectionCosineIeqcJeqc.h" + +namespace MbD { + class DirectionCosineIeqctJeqc : public DirectionCosineIeqcJeqc + { + //pAijIeJept ppAijIeJepEIpt ppAijIeJepEJpt ppAijIeJeptpt + public: + DirectionCosineIeqctJeqc(); + DirectionCosineIeqctJeqc(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj); + + void calcPostDynCorrectorIteration() override; + void initialize() override; + void initializeGlobally() override; + FRowDsptr ppvaluepEIpt() override; + FRowDsptr ppvaluepEJpt() override; + double ppvalueptpt() override; + void preAccIC() override; + void preVelIC() override; + double pvaluept() override; + + double pAijIeJept; + FRowDsptr ppAijIeJepEIpt; + FRowDsptr ppAijIeJepEJpt; + double ppAijIeJeptpt; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DiscontinuityError.cpp b/src/3rdParty/OndselSolver/OndselSolver/DiscontinuityError.cpp new file mode 100644 index 000000000000..ae6517871522 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DiscontinuityError.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DiscontinuityError.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/DiscontinuityError.h b/src/3rdParty/OndselSolver/OndselSolver/DiscontinuityError.h new file mode 100644 index 000000000000..9593707aac69 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DiscontinuityError.h @@ -0,0 +1,35 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include +#include +#include "enum.h" + +namespace MbD { + class DiscontinuityError : virtual public std::runtime_error + { + protected: + std::shared_ptr> discontinuityTypes; + + public: + //DiscontinuityError(); + explicit + DiscontinuityError(const std::string& msg, std::shared_ptr> disconTypes) : + std::runtime_error(msg), discontinuityTypes(disconTypes) + { + } + explicit DiscontinuityError(const std::string& msg) : std::runtime_error(msg) + { + } + + virtual ~DiscontinuityError() noexcept {} + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecIe.cpp b/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecIe.cpp new file mode 100644 index 000000000000..213a0ff40bb8 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecIe.cpp @@ -0,0 +1,37 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DispCompIecJecIe.h" +#include "EndFramec.h" + +using namespace MbD; + +MbD::DispCompIecJecIe::DispCompIecJecIe() +{ +} + +MbD::DispCompIecJecIe::DispCompIecJecIe(EndFrmsptr frmi, EndFrmsptr frmj, int axis) : KinematicIeJe(frmi, frmj), axis(axis) +{ +} + +void MbD::DispCompIecJecIe::calc_value() +{ + aAjOIe = frmI->aAjOe(axis); + rIeJeO = frmJ->rOeO->minusFullColumn(frmI->rOeO); + riIeJeIe = aAjOIe->dot(rIeJeO); +} + +void MbD::DispCompIecJecIe::calcPostDynCorrectorIteration() +{ + calc_value(); +} + +double MbD::DispCompIecJecIe::value() +{ + return riIeJeIe; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecIe.h b/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecIe.h new file mode 100644 index 000000000000..b06862cfa592 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecIe.h @@ -0,0 +1,30 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "KinematicIeJe.h" + +namespace MbD { + class DispCompIecJecIe : public KinematicIeJe + { + //axis riIeJeIe aAjOIe rIeJeO + public: + DispCompIecJecIe(); + DispCompIecJecIe(EndFrmsptr frmi, EndFrmsptr frmj, int axis); + + void calc_value() override; + void calcPostDynCorrectorIteration() override; + double value() override; + + int axis; + double riIeJeIe; + FColDsptr aAjOIe, rIeJeO; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecKec.cpp b/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecKec.cpp new file mode 100644 index 000000000000..f9f6285ba5e2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecKec.cpp @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DispCompIecJecKec.h" + +using namespace MbD; + +DispCompIecJecKec::DispCompIecJecKec() +{ +} + +DispCompIecJecKec::DispCompIecJecKec(EndFrmsptr frmi, EndFrmsptr frmj, EndFrmsptr frmk, int axisk): KinematicIeJe(frmi, frmj), efrmK(frmk), axisK(axisk) +{ +} + +double DispCompIecJecKec::value() +{ + return riIeJeKe; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecKec.h b/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecKec.h new file mode 100644 index 000000000000..5531de741291 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecKec.h @@ -0,0 +1,30 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "KinematicIeJe.h" + +namespace MbD { + class DispCompIecJecKec : public KinematicIeJe + { + //efrmK axisK riIeJeKe aAjOKe rIeJeO + public: + DispCompIecJecKec(); + DispCompIecJecKec(EndFrmsptr frmi, EndFrmsptr frmj, EndFrmsptr frmk, int axisk); + + double value() override; + + EndFrmsptr efrmK; + int axisK; + double riIeJeKe; + FColDsptr aAjOKe; + FColDsptr rIeJeO; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecKeqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecKeqc.cpp new file mode 100644 index 000000000000..efe61f5fd0ae --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecKeqc.cpp @@ -0,0 +1,66 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DispCompIecJecKeqc.h" +#include "EndFrameqc.h" + +using namespace MbD; + +DispCompIecJecKeqc::DispCompIecJecKeqc() +{ +} + +DispCompIecJecKeqc::DispCompIecJecKeqc(EndFrmsptr frmi, EndFrmsptr frmj, EndFrmsptr frmk, int axisk) : DispCompIecJecKec(frmi, frmj, frmk, axisk) +{ +} + +void DispCompIecJecKeqc::initialize() +{ + priIeJeKepEK = std::make_shared>(4); + ppriIeJeKepEKpEK = std::make_shared>(4, 4); +} + +void DispCompIecJecKeqc::initializeGlobally() +{ + ppAjOKepEKpEK = std::static_pointer_cast(efrmK)->ppAjOepEpE(axisK); +} + +void DispCompIecJecKeqc::calcPostDynCorrectorIteration() +{ + auto frmIqc = std::static_pointer_cast(frmI); + auto frmJqc = std::static_pointer_cast(frmJ); + auto efrmKqc = std::static_pointer_cast(efrmK); + aAjOKe = efrmKqc->aAjOe(axisK); + rIeJeO = frmJqc->rOeO->minusFullColumn(frmIqc->rOeO); + riIeJeKe = aAjOKe->dot(rIeJeO); + pAjOKepEKT = efrmKqc->pAjOepET(axisK); + ppAjOKepEKpEK = efrmKqc->ppAjOepEpE(axisK); + for (int i = 0; i < 4; i++) + { + priIeJeKepEK->at(i) = ((pAjOKepEKT->at(i))->dot(rIeJeO)); + auto& ppAjOKepEKipEK = ppAjOKepEKpEK->at(i); + auto& ppriIeJeKepEKipEK = ppriIeJeKepEKpEK->at(i); + ppriIeJeKepEKipEK->at(i) = ((ppAjOKepEKipEK->at(i))->dot(rIeJeO)); + for (int j = i + 1; j < 4; j++) + { + auto ppriIeJeKepEKipEKj = (ppAjOKepEKipEK->at(i))->dot(rIeJeO); + ppriIeJeKepEKipEK->at(j) = ppriIeJeKepEKipEKj; + ppriIeJeKepEKpEK->at(j)->at(i) = ppriIeJeKepEKipEKj; + } + } +} + +FMatDsptr DispCompIecJecKeqc::ppvaluepEKpEK() +{ + return ppriIeJeKepEKpEK; +} + +FRowDsptr MbD::DispCompIecJecKeqc::pvaluepEK() +{ + return priIeJeKepEK; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecKeqc.h b/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecKeqc.h new file mode 100644 index 000000000000..cb689bcf58d0 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecKeqc.h @@ -0,0 +1,33 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DispCompIecJecKec.h" + +namespace MbD { + class DispCompIecJecKeqc : public DispCompIecJecKec + { + //priIeJeKepEK ppriIeJeKepEKpEK pAjOKepEKT ppAjOKepEKpEK + public: + DispCompIecJecKeqc(); + DispCompIecJecKeqc(EndFrmsptr frmi, EndFrmsptr frmj, EndFrmsptr frmk, int axisk); + + void calcPostDynCorrectorIteration() override; + void initialize() override; + void initializeGlobally() override; + FMatDsptr ppvaluepEKpEK() override; + FRowDsptr pvaluepEK() override; + + FRowDsptr priIeJeKepEK; + FMatDsptr ppriIeJeKepEKpEK; + FMatDsptr pAjOKepEKT; + FMatFColDsptr ppAjOKepEKpEK; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecO.cpp b/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecO.cpp new file mode 100644 index 000000000000..2b3e11123aa0 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecO.cpp @@ -0,0 +1,30 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DispCompIecJecO.h" +#include "EndFramec.h" + +using namespace MbD; + +DispCompIecJecO::DispCompIecJecO() +{ +} + +DispCompIecJecO::DispCompIecJecO(EndFrmsptr frmi, EndFrmsptr frmj, int axis) : KinematicIeJe(frmi, frmj), axis(axis) +{ +} + +void DispCompIecJecO::calcPostDynCorrectorIteration() +{ + riIeJeO = frmJ->riOeO(axis) - frmI->riOeO(axis); +} + +double MbD::DispCompIecJecO::value() +{ + return riIeJeO; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecO.h b/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecO.h new file mode 100644 index 000000000000..ab8e5f368c31 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIecJecO.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "KinematicIeJe.h" + +namespace MbD { + class DispCompIecJecO : public KinematicIeJe + { + //axis riIeJeO + public: + DispCompIecJecO(); + DispCompIecJecO(EndFrmsptr frmi, EndFrmsptr frmj, int axis); + + void calcPostDynCorrectorIteration() override; + double value() override; + + int axis = -1; + double riIeJeO; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecIe.cpp b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecIe.cpp new file mode 100644 index 000000000000..8a684a722d86 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecIe.cpp @@ -0,0 +1,122 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DispCompIeqcJecIe.h" +#include "EndFrameqc.h" + +using namespace MbD; + +MbD::DispCompIeqcJecIe::DispCompIeqcJecIe() +{ +} + +MbD::DispCompIeqcJecIe::DispCompIeqcJecIe(EndFrmsptr frmi, EndFrmsptr frmj, int axis) : DispCompIecJecIe(frmi, frmj, axis) +{ + priIeJeIepXI = std::make_shared>(3); + priIeJeIepEI = std::make_shared>(4); + ppriIeJeIepXIpEI = std::make_shared>(3, 4); + ppriIeJeIepEIpEI = std::make_shared>(4, 4); +} + +void MbD::DispCompIeqcJecIe::calc_ppvaluepEIpEI() +{ + auto frmIeqc = std::static_pointer_cast(frmI); + auto mprIeJeOpEIT = frmIeqc->prOeOpE->transpose(); + auto mpprIeJeOpEIpEI = frmIeqc->pprOeOpEpE; + for (int i = 0; i < 4; i++) + { + auto ppAjOIepEIipEI = ppAjOIepEIpEI->at(i); + auto mpprIeJeOpEIipEI = mpprIeJeOpEIpEI->at(i); + auto ppriIeJeIepEIipEI = ppriIeJeIepEIpEI->at(i); + for (int j = i; j < 4; j++) + { + auto term1 = ppAjOIepEIipEI->at(j)->dot(rIeJeO); + auto mterm2 = pAjOIepEIT->at(i)->dot(mprIeJeOpEIT->at(j)); + auto mterm3 = (i == j) ? mterm2 : pAjOIepEIT->at(j)->dot(mprIeJeOpEIT->at(i)); + auto mterm4 = aAjOIe->dot(mpprIeJeOpEIipEI->at(j)); + ppriIeJeIepEIipEI->atiput(j, term1 - mterm2 - mterm3 - mterm4); + } + } + ppriIeJeIepEIpEI->symLowerWithUpper(); +} + +void MbD::DispCompIeqcJecIe::calc_ppvaluepXIpEI() +{ + for (int i = 0; i < 3; i++) + { + auto ppriIeJeIepXIipEI = ppriIeJeIepXIpEI->at(i); + for (int j = 0; j < 4; j++) + { + ppriIeJeIepXIipEI->atiput(j, -pAjOIepEIT->at(j)->at(i)); + } + } +} + +void MbD::DispCompIeqcJecIe::calc_pvaluepEI() +{ + auto frmIeqc = std::static_pointer_cast(frmI); + pAjOIepEIT = frmIeqc->pAjOepET(axis); + auto mprIeJeOpEIT = frmIeqc->prOeOpE->transpose(); + for (int i = 0; i < 4; i++) + { + priIeJeIepEI->atiput(i, pAjOIepEIT->at(i)->dot(rIeJeO) - aAjOIe->dot(mprIeJeOpEIT->at(i))); + } +} + +void MbD::DispCompIeqcJecIe::calc_pvaluepXI() +{ + for (int i = 0; i < 3; i++) + { + priIeJeIepXI->atiput(i, -aAjOIe->at(i)); + } +} + +void MbD::DispCompIeqcJecIe::calcPostDynCorrectorIteration() +{ + //Must maintain order of calc_xxx. + DispCompIecJecIe::calcPostDynCorrectorIteration(); + calc_pvaluepXI(); + calc_pvaluepEI(); + calc_ppvaluepXIpEI(); + calc_ppvaluepEIpEI(); +} + +void MbD::DispCompIeqcJecIe::initialize() +{ + DispCompIecJecIe::initialize(); + priIeJeIepXI = std::make_shared>(3); + priIeJeIepEI = std::make_shared>(4); + ppriIeJeIepXIpEI = std::make_shared>(3, 4); + ppriIeJeIepEIpEI = std::make_shared>(4, 4); +} + +void MbD::DispCompIeqcJecIe::initializeGlobally() +{ + auto frmIeqc = std::static_pointer_cast(frmI); + ppAjOIepEIpEI = frmIeqc->ppAjOepEpE(axis); +} + +FMatDsptr MbD::DispCompIeqcJecIe::ppvaluepEIpEI() +{ + return ppriIeJeIepEIpEI; +} + +FMatDsptr MbD::DispCompIeqcJecIe::ppvaluepXIpEI() +{ + return ppriIeJeIepXIpEI; +} + +FRowDsptr MbD::DispCompIeqcJecIe::pvaluepEI() +{ + return priIeJeIepEI; +} + +FRowDsptr MbD::DispCompIeqcJecIe::pvaluepXI() +{ + return priIeJeIepXI; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecIe.h b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecIe.h new file mode 100644 index 000000000000..8f2b4d708784 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecIe.h @@ -0,0 +1,38 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DispCompIecJecIe.h" + +namespace MbD { + class DispCompIeqcJecIe : public DispCompIecJecIe + { + //priIeJeIepXI priIeJeIepEI ppriIeJeIepXIpEI ppriIeJeIepEIpEI pAjOIepEIT ppAjOIepEIpEI + public: + DispCompIeqcJecIe(); + DispCompIeqcJecIe(EndFrmsptr frmi, EndFrmsptr frmj, int axis); + + void calc_ppvaluepEIpEI() override; + void calc_ppvaluepXIpEI() override; + void calc_pvaluepEI() override; + void calc_pvaluepXI() override; + void calcPostDynCorrectorIteration() override; + void initialize() override; + void initializeGlobally() override; + FMatDsptr ppvaluepEIpEI() override; + FMatDsptr ppvaluepXIpEI() override; + FRowDsptr pvaluepEI() override; + FRowDsptr pvaluepXI() override; + + FRowDsptr priIeJeIepXI, priIeJeIepEI; + FMatDsptr ppriIeJeIepXIpEI, ppriIeJeIepEIpEI, pAjOIepEIT; + FMatFColDsptr ppAjOIepEIpEI; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecKeqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecKeqc.cpp new file mode 100644 index 000000000000..c25efc1fc36d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecKeqc.cpp @@ -0,0 +1,100 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DispCompIeqcJecKeqc.h" +#include "EndFrameqc.h" + +using namespace MbD; + +DispCompIeqcJecKeqc::DispCompIeqcJecKeqc() +{ +} + +DispCompIeqcJecKeqc::DispCompIeqcJecKeqc(EndFrmsptr frmi, EndFrmsptr frmj, EndFrmsptr frmk, int axisk) : DispCompIecJecKeqc(frmi, frmj, frmk, axisk) +{ +} + +void DispCompIeqcJecKeqc::initialize() +{ + DispCompIecJecKeqc::initialize(); + priIeJeKepXI = std::make_shared>(3); + priIeJeKepEI = std::make_shared>(4); + ppriIeJeKepEIpEI = std::make_shared>(4, 4); + ppriIeJeKepXIpEK = std::make_shared>(3, 4); + ppriIeJeKepEIpEK = std::make_shared>(4, 4); +} + +void DispCompIeqcJecKeqc::calcPostDynCorrectorIteration() +{ + DispCompIecJecKeqc::calcPostDynCorrectorIteration(); + auto frmIqc = std::static_pointer_cast(frmI); + auto mprIeJeOpEIT = frmIqc->prOeOpE->transpose(); + auto& mpprIeJeOpEIpEI = frmIqc->pprOeOpEpE; + for (int i = 0; i < 3; i++) + { + priIeJeKepXI->at(i) = 0.0 - (aAjOKe->at(i)); + } + for (int i = 0; i < 4; i++) + { + priIeJeKepEI->at(i) = 0.0 - (aAjOKe->dot(mprIeJeOpEIT->at(i))); + } + for (int i = 0; i < 3; i++) + { + auto& ppriIeJeKepXIipEK = ppriIeJeKepXIpEK->at(i); + for (int j = 0; j < 4; j++) + { + ppriIeJeKepXIipEK->at(j) = 0.0 - (pAjOKepEKT->at(j)->at(i)); + } + } + for (int i = 0; i < 4; i++) + { + auto& mpprIeJeOpEIipEI = mpprIeJeOpEIpEI->at(i); + auto& ppriIeJeKepEIipEI = ppriIeJeKepEIpEI->at(i); + ppriIeJeKepEIipEI->at(i) = 0.0 - (aAjOKe->dot(mpprIeJeOpEIipEI->at(i))); + for (int j = 0; j < 4; j++) + { + auto ppriIeJeKepEIipEIj = 0.0 - (aAjOKe->dot(mpprIeJeOpEIipEI->at(j))); + ppriIeJeKepEIipEI->at(j) = ppriIeJeKepEIipEIj; + ppriIeJeKepEIpEI->at(j)->at(i) = ppriIeJeKepEIipEIj; + } + } + for (int i = 0; i < 4; i++) + { + auto& mprIeJeOpEITi = mprIeJeOpEIT->at(i); + auto& ppriIeJeKepEIipEK = ppriIeJeKepEIpEK->at(i); + for (int j = 0; j < 4; j++) + { + ppriIeJeKepEIipEK->at(j) = 0.0 - (pAjOKepEKT->at(j)->dot(mprIeJeOpEITi)); + } + } +} + +FRowDsptr DispCompIeqcJecKeqc::pvaluepXI() +{ + return priIeJeKepXI; +} + +FRowDsptr DispCompIeqcJecKeqc::pvaluepEI() +{ + return priIeJeKepEI; +} + +FMatDsptr DispCompIeqcJecKeqc::ppvaluepXIpEK() +{ + return ppriIeJeKepXIpEK; +} + +FMatDsptr DispCompIeqcJecKeqc::ppvaluepEIpEK() +{ + return ppriIeJeKepEIpEK; +} + +FMatDsptr DispCompIeqcJecKeqc::ppvaluepEIpEI() +{ + return ppriIeJeKepEIpEI; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecKeqc.h b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecKeqc.h new file mode 100644 index 000000000000..b53de97fd183 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecKeqc.h @@ -0,0 +1,36 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DispCompIecJecKeqc.h" + +namespace MbD { + class DispCompIeqcJecKeqc : public DispCompIecJecKeqc + { + //priIeJeKepXI priIeJeKepEI ppriIeJeKepXIpEK ppriIeJeKepEIpEI ppriIeJeKepEIpEK + public: + DispCompIeqcJecKeqc(); + DispCompIeqcJecKeqc(EndFrmsptr frmi, EndFrmsptr frmj, EndFrmsptr frmk, int axisk); + + void calcPostDynCorrectorIteration() override; + void initialize() override; + FRowDsptr pvaluepXI() override; + FRowDsptr pvaluepEI() override; + FMatDsptr ppvaluepXIpEK() override; + FMatDsptr ppvaluepEIpEK() override; + FMatDsptr ppvaluepEIpEI() override; + + FRowDsptr priIeJeKepXI; + FRowDsptr priIeJeKepEI; + FMatDsptr ppriIeJeKepXIpEK; + FMatDsptr ppriIeJeKepEIpEI; + FMatDsptr ppriIeJeKepEIpEK; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecO.cpp b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecO.cpp new file mode 100644 index 000000000000..87960a0fd550 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecO.cpp @@ -0,0 +1,48 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DispCompIeqcJecO.h" +#include "EndFrameqc.h" + +using namespace MbD; + +DispCompIeqcJecO::DispCompIeqcJecO() +{ +} + +DispCompIeqcJecO::DispCompIeqcJecO(EndFrmsptr frmi, EndFrmsptr frmj, int axis) : DispCompIecJecO(frmi, frmj, axis) +{ +} + +void DispCompIeqcJecO::initializeGlobally() +{ + priIeJeOpXI = std::make_shared>(3, 0.0); + priIeJeOpXI->at(axis) = -1.0; + ppriIeJeOpEIpEI = std::static_pointer_cast(frmI)->ppriOeOpEpE(axis)->negated(); +} + +FMatDsptr MbD::DispCompIeqcJecO::ppvaluepEIpEI() +{ + return ppriIeJeOpEIpEI; +} + +FRowDsptr MbD::DispCompIeqcJecO::pvaluepEI() +{ + return priIeJeOpEI; +} + +FRowDsptr MbD::DispCompIeqcJecO::pvaluepXI() +{ + return priIeJeOpXI; +} + +void DispCompIeqcJecO::calcPostDynCorrectorIteration() +{ + DispCompIecJecO::calcPostDynCorrectorIteration(); + priIeJeOpEI = std::static_pointer_cast(frmI)->priOeOpE(axis)->negated(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecO.h b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecO.h new file mode 100644 index 000000000000..3ca7553ce027 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJecO.h @@ -0,0 +1,32 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DispCompIecJecO.h" + +namespace MbD { + class DispCompIeqcJecO : public DispCompIecJecO + { + //priIeJeOpXI priIeJeOpEI ppriIeJeOpEIpEI + public: + DispCompIeqcJecO(); + DispCompIeqcJecO(EndFrmsptr frmi, EndFrmsptr frmj, int axis); + + void calcPostDynCorrectorIteration() override; + void initializeGlobally() override; + FMatDsptr ppvaluepEIpEI() override; + FRowDsptr pvaluepEI() override; + FRowDsptr pvaluepXI() override; + + FRowDsptr priIeJeOpXI; + FRowDsptr priIeJeOpEI; + FMatDsptr ppriIeJeOpEIpEI; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcIe.cpp b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcIe.cpp new file mode 100644 index 000000000000..662b43e3558a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcIe.cpp @@ -0,0 +1,119 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DispCompIeqcJeqcIe.h" +#include "EndFrameqc.h" + +using namespace MbD; + +MbD::DispCompIeqcJeqcIe::DispCompIeqcJeqcIe() +{ +} + +MbD::DispCompIeqcJeqcIe::DispCompIeqcJeqcIe(EndFrmsptr frmi, EndFrmsptr frmj, int axis) : DispCompIeqcJecIe(frmi, frmj, axis) +{ + priIeJeIepXJ = std::make_shared>(3); + priIeJeIepEJ = std::make_shared>(4); + ppriIeJeIepEIpXJ = std::make_shared>(4, 3); + ppriIeJeIepEIpEJ = std::make_shared>(4, 4); + ppriIeJeIepEJpEJ = std::make_shared>(4, 4); +} + +void MbD::DispCompIeqcJeqcIe::calc_ppvaluepEIpEJ() +{ + auto frmJeqc = std::static_pointer_cast(frmJ); + auto& prIeJeOpEJ = frmJeqc->prOeOpE; + ppriIeJeIepEIpEJ = pAjOIepEIT->timesFullMatrix(prIeJeOpEJ); +} + +void MbD::DispCompIeqcJeqcIe::calc_ppvaluepEIpXJ() +{ + ppriIeJeIepEIpXJ = pAjOIepEIT; +} + +void MbD::DispCompIeqcJeqcIe::calc_ppvaluepEJpEJ() +{ + auto frmJeqc = std::static_pointer_cast(frmJ); + auto pprIeJeOpEJpEJ = frmJeqc->pprOeOpEpE; + for (int i = 0; i < 4; i++) + { + auto pprIeJeOpEJipEJ = pprIeJeOpEJpEJ->at(i); + auto ppriIeJeIepEJipEJ = ppriIeJeIepEJpEJ->at(i); + for (int j = i; j < 4; j++) + { + auto term1 = aAjOIe->dot(pprIeJeOpEJipEJ->at(j)); + ppriIeJeIepEJipEJ->atiput(j, term1); + } + } + ppriIeJeIepEJpEJ->symLowerWithUpper(); +} + +void MbD::DispCompIeqcJeqcIe::calc_pvaluepEJ() +{ + auto frmJeqc = std::static_pointer_cast(frmJ); + auto prIeJeOpEJT = frmJeqc->prOeOpE->transpose(); + for (int i = 0; i < 4; i++) + { + priIeJeIepEJ->atiput(i, aAjOIe->dot(prIeJeOpEJT->at(i))); + } +} + +void MbD::DispCompIeqcJeqcIe::calc_pvaluepXJ() +{ + for (int i = 0; i < 3; i++) + { + priIeJeIepXJ->atiput(i, aAjOIe->at(i)); + } +} + +void MbD::DispCompIeqcJeqcIe::calcPostDynCorrectorIteration() +{ + //Must maintain order of calc_xxx. + DispCompIeqcJecIe::calcPostDynCorrectorIteration(); + calc_pvaluepXJ(); + calc_pvaluepEJ(); + calc_ppvaluepEIpXJ(); + calc_ppvaluepEIpEJ(); + calc_ppvaluepEJpEJ(); + +} + +void MbD::DispCompIeqcJeqcIe::initialize() +{ + DispCompIeqcJecIe::initialize(); + priIeJeIepXJ = std::make_shared>(3); + priIeJeIepEJ = std::make_shared>(4); + ppriIeJeIepEIpXJ = std::make_shared>(4, 3); + ppriIeJeIepEIpEJ = std::make_shared>(4, 4); + ppriIeJeIepEJpEJ = std::make_shared>(4, 4); +} + +FMatDsptr MbD::DispCompIeqcJeqcIe::ppvaluepEIpEJ() +{ + return ppriIeJeIepEIpEJ; +} + +FMatDsptr MbD::DispCompIeqcJeqcIe::ppvaluepEIpXJ() +{ + return ppriIeJeIepEIpXJ; +} + +FMatDsptr MbD::DispCompIeqcJeqcIe::ppvaluepEJpEJ() +{ + return ppriIeJeIepEJpEJ; +} + +FRowDsptr MbD::DispCompIeqcJeqcIe::pvaluepEJ() +{ + return priIeJeIepEJ; +} + +FRowDsptr MbD::DispCompIeqcJeqcIe::pvaluepXJ() +{ + return priIeJeIepXJ; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcIe.h b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcIe.h new file mode 100644 index 000000000000..f632b2f835e6 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcIe.h @@ -0,0 +1,38 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DispCompIeqcJecIe.h" + +namespace MbD { + class DispCompIeqcJeqcIe : public DispCompIeqcJecIe + { + //priIeJeIepXJ priIeJeIepEJ ppriIeJeIepEIpXJ ppriIeJeIepEIpEJ ppriIeJeIepEJpEJ + public: + DispCompIeqcJeqcIe(); + DispCompIeqcJeqcIe(EndFrmsptr frmi, EndFrmsptr frmj, int axis); + + void calc_ppvaluepEIpEJ() override; + void calc_ppvaluepEIpXJ() override; + void calc_ppvaluepEJpEJ() override; + void calc_pvaluepEJ() override; + void calc_pvaluepXJ() override; + void calcPostDynCorrectorIteration() override; + void initialize() override; + FMatDsptr ppvaluepEIpEJ() override; + FMatDsptr ppvaluepEIpXJ() override; + FMatDsptr ppvaluepEJpEJ() override; + FRowDsptr pvaluepEJ() override; + FRowDsptr pvaluepXJ() override; + + FRowDsptr priIeJeIepXJ, priIeJeIepEJ; + FMatDsptr ppriIeJeIepEIpXJ, ppriIeJeIepEIpEJ, ppriIeJeIepEJpEJ; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcKeqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcKeqc.cpp new file mode 100644 index 000000000000..61a6254789b2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcKeqc.cpp @@ -0,0 +1,100 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DispCompIeqcJeqcKeqc.h" +#include "EndFrameqc.h" + +using namespace MbD; + +DispCompIeqcJeqcKeqc::DispCompIeqcJeqcKeqc() +{ +} + +DispCompIeqcJeqcKeqc::DispCompIeqcJeqcKeqc(EndFrmsptr frmi, EndFrmsptr frmj, EndFrmsptr frmk, int axisk) : DispCompIeqcJecKeqc(frmi, frmj, frmk, axisk) +{ +} + +void DispCompIeqcJeqcKeqc::initialize() +{ + DispCompIeqcJecKeqc::initialize(); + priIeJeKepXJ = std::make_shared>(3); + priIeJeKepEJ = std::make_shared>(4); + ppriIeJeKepEJpEJ = std::make_shared>(4, 4); + ppriIeJeKepXJpEK = std::make_shared>(3, 4); + ppriIeJeKepEJpEK = std::make_shared>(4, 4); +} + +void DispCompIeqcJeqcKeqc::calcPostDynCorrectorIteration() +{ + DispCompIeqcJecKeqc::calcPostDynCorrectorIteration(); + auto frmJqc = std::static_pointer_cast(frmJ); + auto prIeJeOpEJT = frmJqc->prOeOpE->transpose(); + auto& pprIeJeOpEJpEJ = frmJqc->pprOeOpEpE; + for (int i = 0; i < 3; i++) + { + priIeJeKepXJ->atiput(i, aAjOKe->at(i)); + } + for (int i = 0; i < 4; i++) + { + priIeJeKepEJ->atiput(i, aAjOKe->dot(prIeJeOpEJT->at(i))); + } + for (int i = 0; i < 3; i++) + { + auto& ppriIeJeKepXJipEK = ppriIeJeKepXJpEK->at(i); + for (int j = 0; j < 4; j++) + { + ppriIeJeKepXJipEK->atiput(j, pAjOKepEKT->at(j)->at(i)); + } + } + for (int i = 0; i < 4; i++) + { + auto& pprIeJeOpEJipEJ = pprIeJeOpEJpEJ->at(i); + auto& ppriIeJeKepEJipEJ = ppriIeJeKepEJpEJ->at(i); + ppriIeJeKepEJipEJ->atiput(i, aAjOKe->dot(pprIeJeOpEJipEJ->at(i))); + for (int j = 0; j < 4; j++) + { + auto ppriIeJeKepEJipEJj = (aAjOKe->dot(pprIeJeOpEJipEJ->at(j))); + ppriIeJeKepEJipEJ->atiput(j, ppriIeJeKepEJipEJj); + ppriIeJeKepEJpEJ->atijput(j, i, ppriIeJeKepEJipEJj); + } + } + for (int i = 0; i < 4; i++) + { + auto& prIeJeOpEJTi = prIeJeOpEJT->at(i); + auto& ppriIeJeKepEJipEK = ppriIeJeKepEJpEK->at(i); + for (int j = 0; j < 4; j++) + { + ppriIeJeKepEJipEK->atiput(j, pAjOKepEKT->at(j)->dot(prIeJeOpEJTi)); + } + } +} + +FRowDsptr DispCompIeqcJeqcKeqc::pvaluepXJ() +{ + return priIeJeKepXJ; +} + +FRowDsptr DispCompIeqcJeqcKeqc::pvaluepEJ() +{ + return priIeJeKepEJ; +} + +FMatDsptr DispCompIeqcJeqcKeqc::ppvaluepXJpEK() +{ + return ppriIeJeKepXJpEK; +} + +FMatDsptr DispCompIeqcJeqcKeqc::ppvaluepEJpEK() +{ + return ppriIeJeKepEJpEK; +} + +FMatDsptr DispCompIeqcJeqcKeqc::ppvaluepEJpEJ() +{ + return ppriIeJeKepEJpEJ; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcKeqc.h b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcKeqc.h new file mode 100644 index 000000000000..4af5ac3b8efd --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcKeqc.h @@ -0,0 +1,36 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DispCompIeqcJecKeqc.h" + +namespace MbD { + class DispCompIeqcJeqcKeqc : public DispCompIeqcJecKeqc + { + //priIeJeKepXJ priIeJeKepEJ ppriIeJeKepXJpEK ppriIeJeKepEJpEJ ppriIeJeKepEJpEK + public: + DispCompIeqcJeqcKeqc(); + DispCompIeqcJeqcKeqc(EndFrmsptr frmi, EndFrmsptr frmj, EndFrmsptr frmk, int axisk); + + void calcPostDynCorrectorIteration() override; + void initialize() override; + FRowDsptr pvaluepXJ() override; + FRowDsptr pvaluepEJ() override; + FMatDsptr ppvaluepXJpEK() override; + FMatDsptr ppvaluepEJpEK() override; + FMatDsptr ppvaluepEJpEJ() override; + + FRowDsptr priIeJeKepXJ; + FRowDsptr priIeJeKepEJ; + FMatDsptr ppriIeJeKepXJpEK; + FMatDsptr ppriIeJeKepEJpEJ; + FMatDsptr ppriIeJeKepEJpEK; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcKeqct.cpp b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcKeqct.cpp new file mode 100644 index 000000000000..0820af151134 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcKeqct.cpp @@ -0,0 +1,108 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DispCompIeqcJeqcKeqct.h" +#include "EndFrameqc.h" +#include "EndFrameqct.h" + +using namespace MbD; + +DispCompIeqcJeqcKeqct::DispCompIeqcJeqcKeqct() +{ +} + +DispCompIeqcJeqcKeqct::DispCompIeqcJeqcKeqct(EndFrmsptr frmi, EndFrmsptr frmj, EndFrmsptr frmk, int axisk) : DispCompIeqcJeqcKeqc(frmi, frmj, frmk, axisk) +{ +} + +void DispCompIeqcJeqcKeqct::initialize() +{ + DispCompIeqcJeqcKeqc::initialize(); + ppriIeJeKepXIpt = std::make_shared>(3); + ppriIeJeKepEIpt = std::make_shared>(4); + ppriIeJeKepXJpt = std::make_shared>(3); + ppriIeJeKepEJpt = std::make_shared>(4); + ppriIeJeKepEKpt = std::make_shared>(4); +} + +void MbD::DispCompIeqcJeqcKeqct::initializeGlobally() +{ + //Do nothing. +} + +void DispCompIeqcJeqcKeqct::calcPostDynCorrectorIteration() +{ + //"ppAjOIepEKpEK is not longer constant and must be set before any calculation." + auto efrmKqc = std::static_pointer_cast(efrmK); + ppAjOKepEKpEK = efrmKqc->ppAjOepEpE(axisK); + DispCompIeqcJeqcKeqc::calcPostDynCorrectorIteration(); +} + +void DispCompIeqcJeqcKeqct::preVelIC() +{ + Item::preVelIC(); + auto pAjOKept = std::static_pointer_cast(efrmK)->pAjOept(axisK); + priIeJeKept = pAjOKept->dot(rIeJeO); +} + +double DispCompIeqcJeqcKeqct::pvaluept() +{ + return priIeJeKept; +} + +FRowDsptr DispCompIeqcJeqcKeqct::ppvaluepXIpt() +{ + return ppriIeJeKepXIpt; +} + +FRowDsptr DispCompIeqcJeqcKeqct::ppvaluepEIpt() +{ + return ppriIeJeKepEIpt; +} + +FRowDsptr DispCompIeqcJeqcKeqct::ppvaluepEKpt() +{ + return ppriIeJeKepEKpt; +} + +FRowDsptr DispCompIeqcJeqcKeqct::ppvaluepXJpt() +{ + return ppriIeJeKepXJpt; +} + +FRowDsptr DispCompIeqcJeqcKeqct::ppvaluepEJpt() +{ + return ppriIeJeKepEJpt; +} + +double DispCompIeqcJeqcKeqct::ppvalueptpt() +{ + return ppriIeJeKeptpt; +} + +void DispCompIeqcJeqcKeqct::preAccIC() +{ + Item::preAccIC(); + auto pAjOKept = std::static_pointer_cast(efrmK)->pAjOept(axisK); + auto ppAjOKepEKTpt = std::static_pointer_cast(efrmK)->ppAjOepETpt(axisK); + auto ppAjOKeptpt = std::static_pointer_cast(efrmK)->ppAjOeptpt(axisK); + auto prIeJeOpEIT = std::static_pointer_cast(frmI)->prOeOpE->transpose()->negated(); + auto prIeJeOpEJT = std::static_pointer_cast(frmJ)->prOeOpE->transpose(); + for (int i = 0; i < 3; i++) + { + ppriIeJeKepXIpt->atiput(i, -(pAjOKept->at(i))); + ppriIeJeKepXJpt->atiput(i, pAjOKept->at(i)); + } + for (int i = 0; i < 4; i++) + { + ppriIeJeKepEIpt->atiput(i, pAjOKept->dot(prIeJeOpEIT->at(i))); + ppriIeJeKepEJpt->atiput(i, pAjOKept->dot(prIeJeOpEJT->at(i))); + ppriIeJeKepEKpt->atiput(i, ppAjOKepEKTpt->at(i)->dot(rIeJeO)); + } + ppriIeJeKeptpt = ppAjOKeptpt->dot(rIeJeO); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcKeqct.h b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcKeqct.h new file mode 100644 index 000000000000..b5551010a02b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcKeqct.h @@ -0,0 +1,43 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DispCompIeqcJeqcKeqc.h" + +namespace MbD { + class DispCompIeqcJeqcKeqct : public DispCompIeqcJeqcKeqc + { + //priIeJeKept ppriIeJeKepXIpt ppriIeJeKepEIpt ppriIeJeKepXJpt ppriIeJeKepEJpt ppriIeJeKepEKpt ppriIeJeKeptpt + public: + DispCompIeqcJeqcKeqct(); + DispCompIeqcJeqcKeqct(EndFrmsptr frmi, EndFrmsptr frmj, EndFrmsptr frmk, int axisk); + + void calcPostDynCorrectorIteration() override; + void initialize() override; + void initializeGlobally() override; + FRowDsptr ppvaluepXIpt() override; + FRowDsptr ppvaluepEIpt() override; + FRowDsptr ppvaluepEKpt() override; + FRowDsptr ppvaluepXJpt() override; + FRowDsptr ppvaluepEJpt() override; + double ppvalueptpt() override; + double pvaluept() override; + void preAccIC() override; + void preVelIC() override; + + double priIeJeKept; + FRowDsptr ppriIeJeKepXIpt; + FRowDsptr ppriIeJeKepEIpt; + FRowDsptr ppriIeJeKepXJpt; + FRowDsptr ppriIeJeKepEJpt; + FRowDsptr ppriIeJeKepEKpt; + double ppriIeJeKeptpt; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcO.cpp b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcO.cpp new file mode 100644 index 000000000000..c16e33372d49 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcO.cpp @@ -0,0 +1,49 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DispCompIeqcJeqcO.h" +#include "EndFrameqc.h" + +using namespace MbD; + +DispCompIeqcJeqcO::DispCompIeqcJeqcO() +{ +} + +DispCompIeqcJeqcO::DispCompIeqcJeqcO(EndFrmsptr frmi, EndFrmsptr frmj, int axis) : DispCompIeqcJecO(frmi, frmj, axis) +{ +} + +void DispCompIeqcJeqcO::initializeGlobally() +{ + DispCompIeqcJecO::initializeGlobally(); + priIeJeOpXJ = std::make_shared>(3, 0.0); + priIeJeOpXJ->at(axis) = 1.0; + ppriIeJeOpEJpEJ = std::static_pointer_cast(frmJ)->ppriOeOpEpE(axis); +} + +void DispCompIeqcJeqcO::calcPostDynCorrectorIteration() +{ + DispCompIeqcJecO::calcPostDynCorrectorIteration(); + priIeJeOpEJ = std::static_pointer_cast(frmJ)->priOeOpE(axis); +} + +FRowDsptr DispCompIeqcJeqcO::pvaluepXJ() +{ + return priIeJeOpXJ; +} + +FRowDsptr DispCompIeqcJeqcO::pvaluepEJ() +{ + return priIeJeOpEJ; +} + +FMatDsptr DispCompIeqcJeqcO::ppvaluepEJpEJ() +{ + return ppriIeJeOpEJpEJ; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcO.h b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcO.h new file mode 100644 index 000000000000..0b58d701670f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqcJeqcO.h @@ -0,0 +1,32 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DispCompIeqcJecO.h" + +namespace MbD { + class DispCompIeqcJeqcO : public DispCompIeqcJecO + { + //priIeJeOpXJ priIeJeOpEJ ppriIeJeOpEJpEJ + public: + DispCompIeqcJeqcO(); + DispCompIeqcJeqcO(EndFrmsptr frmi, EndFrmsptr frmj, int axis); + + void calcPostDynCorrectorIteration() override; + void initializeGlobally() override; + FMatDsptr ppvaluepEJpEJ() override; + FRowDsptr pvaluepEJ() override; + FRowDsptr pvaluepXJ() override; + + FRowDsptr priIeJeOpXJ; + FRowDsptr priIeJeOpEJ; + FMatDsptr ppriIeJeOpEJpEJ; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcIe.cpp b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcIe.cpp new file mode 100644 index 000000000000..4b6b20dfbf27 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcIe.cpp @@ -0,0 +1,164 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DispCompIeqctJeqcIe.h" +#include "EndFrameqct.h" + +using namespace MbD; + +MbD::DispCompIeqctJeqcIe::DispCompIeqctJeqcIe() +{ +} + +MbD::DispCompIeqctJeqcIe::DispCompIeqctJeqcIe(EndFrmsptr frmi, EndFrmsptr frmj, int axis) : DispCompIeqcJeqcIe(frmi, frmj, axis) +{ + ppriIeJeIepXIpt = std::make_shared>(3); + ppriIeJeIepEIpt = std::make_shared>(4); + ppriIeJeIepXJpt = std::make_shared>(3); + ppriIeJeIepEJpt = std::make_shared>(4); +} + +void MbD::DispCompIeqctJeqcIe::calc_ppvaluepEIpt() +{ + auto frmIeqct = std::static_pointer_cast(frmI); + auto pAjOIept = frmIeqct->pAjOept(axis); + auto ppAjOIepEITpt = frmIeqct->ppAjOepETpt(axis); + auto mprIeJeOpEIT = frmIeqct->prOeOpE->transpose(); + auto mpprIeJeOpEITpt = frmIeqct->pprOeOpEpt->transpose(); + auto mprIeJeOpt = frmIeqct->prOeOpt; + for (int i = 0; i < 4; i++) + { + auto ppAjOIepEITpti = ppAjOIepEITpt->at(i); + auto pAjOIepEITi = pAjOIepEIT->at(i); + auto mprIeJeOpEITi = mprIeJeOpEIT->at(i); + auto mpprIeJeOpEITpti = mpprIeJeOpEITpt->at(i); + auto ppriIeJeIepEIpti = ppAjOIepEITpti->dot(rIeJeO) - pAjOIepEITi->dot(mprIeJeOpt) - + pAjOIept->dot(mprIeJeOpEITi) - + aAjOIe->dot(mpprIeJeOpEITpti); + ppriIeJeIepEIpt->atiput(i, ppriIeJeIepEIpti); + } +} + +void MbD::DispCompIeqctJeqcIe::calc_ppvaluepEJpt() +{ + auto frmIeqct = std::static_pointer_cast(frmI); + auto frmJeqct = std::static_pointer_cast(frmJ); + auto pAjOIept = frmIeqct->pAjOept(axis); + auto prIeJeOpEJT = frmJeqct->prOeOpE->transpose(); + for (int i = 0; i < 4; i++) + { + ppriIeJeIepEJpt->atiput(i, pAjOIept->dot(prIeJeOpEJT->at(i))); + } +} + +void MbD::DispCompIeqctJeqcIe::calc_ppvalueptpt() +{ + auto frmIeqct = std::static_pointer_cast(frmI); + auto pAjOIept = frmIeqct->pAjOept(axis); + auto ppAjOIeptpt = frmIeqct->ppAjOeptpt(axis); + auto mprIeJeOpt = frmIeqct->prOeOpt; + auto mpprIeJeOptpt = frmIeqct->pprOeOptpt; + ppriIeJeIeptpt = ppAjOIeptpt->dot(rIeJeO) - pAjOIept->dot(mprIeJeOpt) - pAjOIept->dot(mprIeJeOpt) - + aAjOIe->dot(mpprIeJeOptpt); +} + +void MbD::DispCompIeqctJeqcIe::calc_ppvaluepXIpt() +{ + auto frmIeqct = std::static_pointer_cast(frmI); + auto pAjOIept = frmIeqct->pAjOept(axis); + for (int i = 0; i < 3; i++) + { + ppriIeJeIepXIpt->atiput(i, -pAjOIept->at(i)); + } +} + +void MbD::DispCompIeqctJeqcIe::calc_ppvaluepXJpt() +{ + auto frmIeqct = std::static_pointer_cast(frmI); + auto pAjOIept = frmIeqct->pAjOept(axis); + for (int i = 0; i < 3; i++) + { + ppriIeJeIepXJpt->atiput(i, pAjOIept->at(i)); + } +} + +void MbD::DispCompIeqctJeqcIe::calc_pvaluept() +{ + auto frmIeqct = std::static_pointer_cast(frmI); + auto pAjOIept = frmIeqct->pAjOept(axis); + auto mprIeJeOpt = frmIeqct->prOeOpt; + priIeJeIept = pAjOIept->dot(rIeJeO) - aAjOIe->dot(mprIeJeOpt); +} + +void MbD::DispCompIeqctJeqcIe::calcPostDynCorrectorIteration() +{ + //"ppAjOIepEIpEI is not longer constant and must be set before any calculation." + auto frmIeqct = std::static_pointer_cast(frmI); + ppAjOIepEIpEI = frmIeqct->ppAjOepEpE(axis); + DispCompIeqcJeqcIe::calcPostDynCorrectorIteration(); +} + +void MbD::DispCompIeqctJeqcIe::initialize() +{ + DispCompIeqcJeqcIe::initialize(); + ppriIeJeIepXIpt = std::make_shared>(3); + ppriIeJeIepEIpt = std::make_shared>(4); + ppriIeJeIepXJpt = std::make_shared>(3); + ppriIeJeIepEJpt = std::make_shared>(4); +} + +void MbD::DispCompIeqctJeqcIe::initializeGlobally() +{ + //"Do nothing." +} + +void MbD::DispCompIeqctJeqcIe::preAccIC() +{ + DispCompIeqcJeqcIe::preAccIC(); + calc_ppvaluepXIpt(); + calc_ppvaluepEIpt(); + calc_ppvaluepXJpt(); + calc_ppvaluepEJpt(); + calc_ppvalueptpt(); +} + +void MbD::DispCompIeqctJeqcIe::preVelIC() +{ + DispCompIeqcJeqcIe::preVelIC(); + calc_pvaluept(); +} + +FRowDsptr MbD::DispCompIeqctJeqcIe::ppvaluepEIpt() +{ + return ppriIeJeIepEIpt; +} + +FRowDsptr MbD::DispCompIeqctJeqcIe::ppvaluepEJpt() +{ + return ppriIeJeIepEJpt; +} + +double MbD::DispCompIeqctJeqcIe::ppvalueptpt() +{ + return ppriIeJeIeptpt; +} + +FRowDsptr MbD::DispCompIeqctJeqcIe::ppvaluepXIpt() +{ + return ppriIeJeIepXIpt; +} + +FRowDsptr MbD::DispCompIeqctJeqcIe::ppvaluepXJpt() +{ + return ppriIeJeIepXJpt; +} + +double MbD::DispCompIeqctJeqcIe::pvaluept() +{ + return priIeJeIept; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcIe.h b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcIe.h new file mode 100644 index 000000000000..42b4e34ab444 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcIe.h @@ -0,0 +1,43 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DispCompIeqcJeqcIe.h" + +namespace MbD { + class DispCompIeqctJeqcIe : public DispCompIeqcJeqcIe + { + //priIeJeIept ppriIeJeIepXIpt ppriIeJeIepEIpt ppriIeJeIepXJpt ppriIeJeIepEJpt ppriIeJeIeptpt + public: + DispCompIeqctJeqcIe(); + DispCompIeqctJeqcIe(EndFrmsptr frmi, EndFrmsptr frmj, int axis); + + void calc_ppvaluepEIpt() override; + void calc_ppvaluepEJpt() override; + void calc_ppvalueptpt() override; + void calc_ppvaluepXIpt() override; + void calc_ppvaluepXJpt() override; + void calc_pvaluept() override; + void calcPostDynCorrectorIteration() override; + void initialize() override; + void initializeGlobally() override; + void preAccIC() override; + void preVelIC() override; + FRowDsptr ppvaluepEIpt() override; + FRowDsptr ppvaluepEJpt() override; + double ppvalueptpt() override; + FRowDsptr ppvaluepXIpt() override; + FRowDsptr ppvaluepXJpt() override; + double pvaluept() override; + + double priIeJeIept, ppriIeJeIeptpt; + FRowDsptr ppriIeJeIepXIpt, ppriIeJeIepEIpt, ppriIeJeIepXJpt, ppriIeJeIepEJpt; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcKeqct.cpp b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcKeqct.cpp new file mode 100644 index 000000000000..41ea6750743b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcKeqct.cpp @@ -0,0 +1,43 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DispCompIeqctJeqcKeqct.h" +#include "EndFrameqct.h" + +using namespace MbD; + +DispCompIeqctJeqcKeqct::DispCompIeqctJeqcKeqct() +{ +} + +DispCompIeqctJeqcKeqct::DispCompIeqctJeqcKeqct(EndFrmsptr frmi, EndFrmsptr frmj, EndFrmsptr frmk, int axisk) : DispCompIeqcJeqcKeqct(frmi, frmj, frmk, axisk) +{ +} + +void DispCompIeqctJeqcKeqct::preVelIC() +{ + DispCompIeqcJeqcKeqct::preVelIC(); + auto& mprIeJeOpt = std::static_pointer_cast(frmI)->prOeOpt; + priIeJeKept -= aAjOKe->dot(mprIeJeOpt); +} + +void DispCompIeqctJeqcKeqct::preAccIC() +{ + DispCompIeqcJeqcKeqct::preAccIC(); + auto pAjOKept = std::static_pointer_cast(efrmK)->pAjOept(axisK); + auto efrmIqct = std::static_pointer_cast(frmI); + auto& mprIeJeOpt = efrmIqct->prOeOpt; + auto mpprIeJeOpEITpt = efrmIqct->pprOeOpEpt->transpose(); + auto& mpprIeJeOptpt = efrmIqct->pprOeOptpt; + for (int i = 0; i < 4; i++) + { + ppriIeJeKepEIpt->atiminusNumber(i, aAjOKe->dot(mpprIeJeOpEITpt->at(i))); + ppriIeJeKepEKpt->atiminusNumber(i, pAjOKepEKT->at(i)->dot(mprIeJeOpt)); + } + ppriIeJeKeptpt += -(2.0 * pAjOKept->dot(mprIeJeOpt)) - aAjOKe->dot(mpprIeJeOptpt); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcKeqct.h b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcKeqct.h new file mode 100644 index 000000000000..172ef5d41faf --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcKeqct.h @@ -0,0 +1,26 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DispCompIeqcJeqcKeqct.h" + +namespace MbD { + class DispCompIeqctJeqcKeqct : public DispCompIeqcJeqcKeqct + { + // + public: + DispCompIeqctJeqcKeqct(); + DispCompIeqctJeqcKeqct(EndFrmsptr frmi, EndFrmsptr frmj, EndFrmsptr frmk, int axisk); + + void preAccIC() override; + void preVelIC() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcO.cpp b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcO.cpp new file mode 100644 index 000000000000..56b2ec2a7c2e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcO.cpp @@ -0,0 +1,61 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DispCompIeqctJeqcO.h" +#include "EndFrameqct.h" + +using namespace MbD; + +DispCompIeqctJeqcO::DispCompIeqctJeqcO() +{ +} + +DispCompIeqctJeqcO::DispCompIeqctJeqcO(EndFrmsptr frmi, EndFrmsptr frmj, int axis) : DispCompIeqcJeqcO(frmi, frmj, axis) +{ +} + +void DispCompIeqctJeqcO::initializeGlobally() +{ + //ToDo: Check why not using super classes. + ppriIeJeOpEJpEJ = std::static_pointer_cast(frmJ)->ppriOeOpEpE(axis); +} + +FRowDsptr MbD::DispCompIeqctJeqcO::ppvaluepEIpt() +{ + return ppriIeJeOpEIpt; +} + +double MbD::DispCompIeqctJeqcO::ppvalueptpt() +{ + return ppriIeJeOptpt; +} + +void DispCompIeqctJeqcO::calcPostDynCorrectorIteration() +{ + //"ppriIeJeOpEIpEI is not a constant now." + DispCompIeqcJeqcO::calcPostDynCorrectorIteration(); + ppriIeJeOpEIpEI = std::static_pointer_cast(frmI)->ppriOeOpEpE(axis)->negated(); +} + +void DispCompIeqctJeqcO::preVelIC() +{ + Item::preVelIC(); + priIeJeOpt = -(std::static_pointer_cast(frmI)->priOeOpt(axis)); +} + +double DispCompIeqctJeqcO::pvaluept() +{ + return priIeJeOpt; +} + +void DispCompIeqctJeqcO::preAccIC() +{ + Item::preAccIC(); + ppriIeJeOpEIpt = (std::static_pointer_cast(frmI)->ppriOeOpEpt(axis))->negated(); + ppriIeJeOptpt = -(std::static_pointer_cast(frmI)->ppriOeOptpt(axis)); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcO.h b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcO.h new file mode 100644 index 000000000000..4a56ba5d34de --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DispCompIeqctJeqcO.h @@ -0,0 +1,34 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DispCompIeqcJeqcO.h" + +namespace MbD { + class DispCompIeqctJeqcO : public DispCompIeqcJeqcO + { + //priIeJeOpt ppriIeJeOpEIpt ppriIeJeOptpt + public: + DispCompIeqctJeqcO(); + DispCompIeqctJeqcO(EndFrmsptr frmi, EndFrmsptr frmj, int axis); + + void calcPostDynCorrectorIteration() override; + void initializeGlobally() override; + FRowDsptr ppvaluepEIpt() override; + double ppvalueptpt() override; + void preAccIC() override; + void preVelIC() override; + double pvaluept() override; + + double priIeJeOpt; + FRowDsptr ppriIeJeOpEIpt; + double ppriIeJeOptpt; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistIecJec.cpp b/src/3rdParty/OndselSolver/OndselSolver/DistIecJec.cpp new file mode 100644 index 000000000000..edfd21c9b8ef --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistIecJec.cpp @@ -0,0 +1,39 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DistIecJec.h" +#include "EndFramec.h" + +using namespace MbD; + +MbD::DistIecJec::DistIecJec() +{ +} + +MbD::DistIecJec::DistIecJec(EndFrmsptr frmi, EndFrmsptr frmj) : KinematicIeJe(frmi, frmj) +{ +} + +void MbD::DistIecJec::calcPostDynCorrectorIteration() +{ + rIeJeO = frmJ->rOeO->minusFullColumn(frmI->rOeO); + rIeJe = rIeJeO->length(); + this->calcPrivate(); +} + +void MbD::DistIecJec::calcPrivate() +{ + if (rIeJe == 0.0) return; + uIeJeO = rIeJeO->times(1.0 / rIeJe); + muIeJeO = uIeJeO->negated(); +} + +double MbD::DistIecJec::value() +{ + return rIeJe; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistIecJec.h b/src/3rdParty/OndselSolver/OndselSolver/DistIecJec.h new file mode 100644 index 000000000000..832060715059 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistIecJec.h @@ -0,0 +1,29 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "KinematicIeJe.h" + +namespace MbD { + class DistIecJec : public KinematicIeJe + { + //rIeJe rIeJeO uIeJeO muIeJeO + public: + DistIecJec(); + DistIecJec(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPostDynCorrectorIteration() override; + virtual void calcPrivate(); + double value() override; + + double rIeJe; + FColDsptr rIeJeO, uIeJeO, muIeJeO; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistIeqcJec.cpp b/src/3rdParty/OndselSolver/OndselSolver/DistIeqcJec.cpp new file mode 100644 index 000000000000..51948cbfb0a1 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistIeqcJec.cpp @@ -0,0 +1,105 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DistIeqcJec.h" +#include "EndFrameqc.h" + +using namespace MbD; + +MbD::DistIeqcJec::DistIeqcJec() +{ +} + +MbD::DistIeqcJec::DistIeqcJec(EndFrmsptr frmi, EndFrmsptr frmj) : DistIecJec(frmi, frmj) +{ +} + +void MbD::DistIeqcJec::calcPrivate() +{ + DistIecJec::calcPrivate(); + if (rIeJe == 0.0) return; + auto frmIeqc = std::static_pointer_cast(frmI); + auto& mprIeJeOpEI = frmIeqc->prOeOpE; + mprIeJeOpEIT = mprIeJeOpEI->transpose(); + auto& mpprIeJeOpEIpEI = frmIeqc->pprOeOpEpE; + auto muIeJeOT = muIeJeO->transpose(); + prIeJepXI = muIeJeOT; + prIeJepEI = muIeJeOT->timesFullMatrix(mprIeJeOpEI); + for (int i = 0; i < 3; i++) + { + auto& pprIeJepXIipXI = pprIeJepXIpXI->at(i); + auto& prIeJepXIi = prIeJepXI->at(i); + for (int j = 0; j < 3; j++) + { + auto element = (i == j) ? 1.0 : 0.0; + element -= prIeJepXIi * prIeJepXI->at(j); + pprIeJepXIipXI->atiput(j, element / rIeJe); + } + } + pprIeJepXIpEI = std::make_shared>(3, 4); + for (int i = 0; i < 3; i++) + { + auto& pprIeJepXIipEI = pprIeJepXIpEI->at(i); + auto& prIeJepXIi = prIeJepXI->at(i); + auto& mprIeJeOipEI = mprIeJeOpEI->at(i); + for (int j = 0; j < 4; j++) + { + auto element = mprIeJeOipEI->at(j) - prIeJepXIi * prIeJepEI->at(j); + pprIeJepXIipEI->atiput(j, element / rIeJe); + } + } + pprIeJepEIpEI = std::make_shared>(4, 4); + for (int i = 0; i < 4; i++) + { + auto& pprIeJepEIipEI = pprIeJepEIpEI->at(i); + auto& prIeJepEIi = prIeJepEI->at(i); + auto& mpprIeJeOpEIipEI = mpprIeJeOpEIpEI->at(i); + auto& mprIeJeOpEIiT = mprIeJeOpEIT->at(i); + for (int j = 0; j < 4; j++) + { + auto element = mprIeJeOpEIiT->dot(mprIeJeOpEIT->at(j)) + - mpprIeJeOpEIipEI->at(j)->dot(rIeJeO) - prIeJepEIi * prIeJepEI->at(j); + pprIeJepEIipEI->atiput(j, element / rIeJe); + } + } +} + +void MbD::DistIeqcJec::initialize() +{ + DistIecJec::initialize(); + prIeJepXI = std::make_shared>(3); + prIeJepEI = std::make_shared>(4); + pprIeJepXIpXI = std::make_shared>(3, 3); + pprIeJepXIpEI = std::make_shared>(3, 4); + pprIeJepEIpEI = std::make_shared>(4, 4); +} + +FMatDsptr MbD::DistIeqcJec::ppvaluepEIpEI() +{ + return pprIeJepEIpEI; +} + +FMatDsptr MbD::DistIeqcJec::ppvaluepXIpEI() +{ + return pprIeJepXIpEI; +} + +FMatDsptr MbD::DistIeqcJec::ppvaluepXIpXI() +{ + return pprIeJepXIpXI; +} + +FRowDsptr MbD::DistIeqcJec::pvaluepEI() +{ + return prIeJepEI; +} + +FRowDsptr MbD::DistIeqcJec::pvaluepXI() +{ + return prIeJepXI; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistIeqcJec.h b/src/3rdParty/OndselSolver/OndselSolver/DistIeqcJec.h new file mode 100644 index 000000000000..dcc851b61ec6 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistIeqcJec.h @@ -0,0 +1,33 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DistIecJec.h" + +namespace MbD { + class DistIeqcJec : public DistIecJec + { + //prIeJepXI prIeJepEI pprIeJepXIpXI pprIeJepXIpEI pprIeJepEIpEI mprIeJeOpEIT + public: + DistIeqcJec(); + DistIeqcJec(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPrivate() override; + void initialize() override; + FMatDsptr ppvaluepEIpEI() override; + FMatDsptr ppvaluepXIpEI() override; + FMatDsptr ppvaluepXIpXI() override; + FRowDsptr pvaluepEI() override; + FRowDsptr pvaluepXI() override; + + FRowDsptr prIeJepXI, prIeJepEI; + FMatDsptr pprIeJepXIpXI, pprIeJepXIpEI, pprIeJepEIpEI, mprIeJeOpEIT; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistIeqcJeqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DistIeqcJeqc.cpp new file mode 100644 index 000000000000..8b8a3dae5f78 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistIeqcJeqc.cpp @@ -0,0 +1,177 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DistIeqcJeqc.h" +#include "EndFrameqc.h" + +using namespace MbD; + +MbD::DistIeqcJeqc::DistIeqcJeqc() +{ +} + +MbD::DistIeqcJeqc::DistIeqcJeqc(EndFrmsptr frmi, EndFrmsptr frmj) : DistIeqcJec(frmi, frmj) +{ +} + +void MbD::DistIeqcJeqc::calcPrivate() +{ + DistIeqcJec::calcPrivate(); + if (rIeJe == 0.0) return; + auto frmJeqc = std::static_pointer_cast(frmJ); + auto& prIeJeOpEJ = frmJeqc->prOeOpE; + auto prIeJeOpEJT = prIeJeOpEJ->transpose(); + auto& pprIeJeOpEJpEJ = frmJeqc->pprOeOpEpE; + auto uIeJeOT = uIeJeO->transpose(); + prIeJepXJ = uIeJeOT; + prIeJepEJ = uIeJeOT->timesFullMatrix(prIeJeOpEJ); + for (int i = 0; i < 3; i++) + { + auto& pprIeJepXIipXJ = pprIeJepXIpXJ->at(i); + auto& prIeJepXIi = prIeJepXI->at(i); + for (int j = 0; j < 3; j++) + { + auto element = (i == j) ? -1.0 : 0.0; + element -= prIeJepXIi * prIeJepXJ->at(j); + pprIeJepXIipXJ->atiput(j, element / rIeJe); + } + } + + for (int i = 0; i < 4; i++) + { + auto& pprIeJepEIipXJ = pprIeJepEIpXJ->at(i); + auto& prIeJepEIi = prIeJepEI->at(i); + auto& mprIeJeOpEIiT = mprIeJeOpEIT->at(i); + for (int j = 0; j < 3; j++) + { + auto element = 0.0 - mprIeJeOpEIiT->at(j) - prIeJepEIi * prIeJepXJ->at(j); + pprIeJepEIipXJ->atiput(j, element / rIeJe); + } + } + + for (int i = 0; i < 3; i++) + { + auto& pprIeJepXJipXJ = pprIeJepXJpXJ->at(i); + auto& prIeJepXJi = prIeJepXJ->at(i); + for (int j = 0; j < 3; j++) + { + auto element = (i == j) ? 1.0 : 0.0; + element -= prIeJepXJi * prIeJepXJ->at(j); + pprIeJepXJipXJ->atiput(j, element / rIeJe); + } + } + + for (int i = 0; i < 3; i++) + { + auto& pprIeJepXIipEJ = pprIeJepXIpEJ->at(i); + auto& prIeJepXIi = prIeJepXI->at(i); + auto& prIeJeOipEJ = prIeJeOpEJ->at(i); + for (int j = 0; j < 4; j++) + { + auto element = 0.0 - prIeJeOipEJ->at(j) - prIeJepXIi * prIeJepEJ->at(j); + pprIeJepXIipEJ->atiput(j, element / rIeJe); + } + } + + for (int i = 0; i < 4; i++) + { + auto& pprIeJepEIipEJ = pprIeJepEIpEJ->at(i); + auto& prIeJepEIi = prIeJepEI->at(i); + auto& mprIeJeOpEIiT = mprIeJeOpEIT->at(i); + for (int j = 0; j < 4; j++) + { + auto element = 0.0 - mprIeJeOpEIiT->dot(prIeJeOpEJT->at(j)) - prIeJepEIi * prIeJepEJ->at(j); + pprIeJepEIipEJ->atiput(j, element / rIeJe); + } + } + + for (int i = 0; i < 3; i++) + { + auto& pprIeJepXJipEJ = pprIeJepXJpEJ->at(i); + auto& prIeJepXJi = prIeJepXJ->at(i); + auto& prIeJeOipEJ = prIeJeOpEJ->at(i); + for (int j = 0; j < 4; j++) + { + auto element = prIeJeOipEJ->at(j) - prIeJepXJi * prIeJepEJ->at(j); + pprIeJepXJipEJ->atiput(j, element / rIeJe); + } + } + + for (int i = 0; i < 4; i++) + { + auto& pprIeJepEJipEJ = pprIeJepEJpEJ->at(i); + auto& prIeJepEJi = prIeJepEJ->at(i); + auto& pprIeJeOpEJipEJ = pprIeJeOpEJpEJ->at(i); + auto& prIeJeOpEJiT = prIeJeOpEJT->at(i); + for (int j = 0; j < 4; j++) + { + auto element = prIeJeOpEJiT->dot(prIeJeOpEJT->at(j)) + + pprIeJeOpEJipEJ->at(j)->dot(rIeJeO) - prIeJepEJi * prIeJepEJ->at(j); + pprIeJepEJipEJ->atiput(j, element / rIeJe); + } + } +} + +void MbD::DistIeqcJeqc::initialize() +{ + DistIeqcJec::initialize(); + prIeJepXJ = std::make_shared>(3); + prIeJepEJ = std::make_shared>(4); + pprIeJepXIpXJ = std::make_shared>(3, 3); + pprIeJepEIpXJ = std::make_shared>(4, 3); + pprIeJepXJpXJ = std::make_shared>(3, 3); + pprIeJepXIpEJ = std::make_shared>(3, 4); + pprIeJepEIpEJ = std::make_shared>(4, 4); + pprIeJepXJpEJ = std::make_shared>(3, 4); + pprIeJepEJpEJ = std::make_shared>(4, 4); +} + +FMatDsptr MbD::DistIeqcJeqc::ppvaluepEIpEJ() +{ + return pprIeJepEIpEJ; +} + +FMatDsptr MbD::DistIeqcJeqc::ppvaluepEIpXJ() +{ + return pprIeJepEIpXJ; +} + +FMatDsptr MbD::DistIeqcJeqc::ppvaluepEJpEJ() +{ + return pprIeJepEJpEJ; +} + +FMatDsptr MbD::DistIeqcJeqc::ppvaluepXIpEJ() +{ + return pprIeJepXIpEJ; +} + +FMatDsptr MbD::DistIeqcJeqc::ppvaluepXIpXJ() +{ + return pprIeJepXIpXJ; +} + +FMatDsptr MbD::DistIeqcJeqc::ppvaluepXJpEJ() +{ + return pprIeJepXJpEJ; +} + +FMatDsptr MbD::DistIeqcJeqc::ppvaluepXJpXJ() +{ + return pprIeJepXJpXJ; +} + +FRowDsptr MbD::DistIeqcJeqc::pvaluepEJ() +{ + return prIeJepEJ; +} + +FRowDsptr MbD::DistIeqcJeqc::pvaluepXJ() +{ + return prIeJepXJ; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistIeqcJeqc.h b/src/3rdParty/OndselSolver/OndselSolver/DistIeqcJeqc.h new file mode 100644 index 000000000000..aea2bf6fc1ad --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistIeqcJeqc.h @@ -0,0 +1,37 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DistIeqcJec.h" + +namespace MbD { + class DistIeqcJeqc : public DistIeqcJec + { + //prIeJepXJ prIeJepEJ pprIeJepXIpXJ pprIeJepEIpXJ pprIeJepXJpXJ pprIeJepXIpEJ pprIeJepEIpEJ pprIeJepXJpEJ pprIeJepEJpEJ prIeJeOpEJT + public: + DistIeqcJeqc(); + DistIeqcJeqc(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPrivate() override; + void initialize() override; + FMatDsptr ppvaluepEIpEJ() override; + FMatDsptr ppvaluepEIpXJ() override; + FMatDsptr ppvaluepEJpEJ() override; + FMatDsptr ppvaluepXIpEJ() override; + FMatDsptr ppvaluepXIpXJ() override; + FMatDsptr ppvaluepXJpEJ() override; + FMatDsptr ppvaluepXJpXJ() override; + FRowDsptr pvaluepEJ() override; + FRowDsptr pvaluepXJ() override; + + FRowDsptr prIeJepXJ, prIeJepEJ; + FMatDsptr pprIeJepXIpXJ, pprIeJepEIpXJ, pprIeJepXJpXJ, pprIeJepXIpEJ, pprIeJepEIpEJ, pprIeJepXJpEJ, pprIeJepEJpEJ, prIeJeOpEJT; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistIeqctJeqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DistIeqctJeqc.cpp new file mode 100644 index 000000000000..001c09702945 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistIeqctJeqc.cpp @@ -0,0 +1,9 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DistIeqctJeqc.h" diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistIeqctJeqc.h b/src/3rdParty/OndselSolver/OndselSolver/DistIeqctJeqc.h new file mode 100644 index 000000000000..cf18f556fbd7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistIeqctJeqc.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DistIeqcJeqc.h" + +namespace MbD { + class DistIeqctJeqc : public DistIeqcJeqc + { + //prIeJept pprIeJepXIpt pprIeJepEIpt pprIeJepXJpt pprIeJepEJpt pprIeJeptpt + public: + //ToDo: add member functions. + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIJ.cpp b/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIJ.cpp new file mode 100644 index 000000000000..7a36a404b0b6 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIJ.cpp @@ -0,0 +1,93 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DistanceConstraintIJ.h" +#include "DistanceConstraintIqcJqc.h" +#include "EndFrameqc.h" + +using namespace MbD; + +MbD::DistanceConstraintIJ::DistanceConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj) : ConstraintIJ(frmi, frmj) +{ +} + +std::shared_ptr MbD::DistanceConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj) +{ + assert(frmi->isEndFrameqc()); + assert(frmj->isEndFrameqc()); + auto distCon = std::make_shared(frmi, frmj); + distCon->init_distIeJe(); + return distCon; +} + +void MbD::DistanceConstraintIJ::calcPostDynCorrectorIteration() +{ +aG = distIeJe->value() - aConstant; +} + +void MbD::DistanceConstraintIJ::init_distIeJe() +{ + assert(false); +} + +void MbD::DistanceConstraintIJ::initialize() +{ + ConstraintIJ::initialize(); + this->init_distIeJe(); +} + +void MbD::DistanceConstraintIJ::initializeGlobally() +{ + distIeJe->initializeGlobally(); +} + +void MbD::DistanceConstraintIJ::initializeLocally() +{ + distIeJe->initializeLocally(); +} + +void MbD::DistanceConstraintIJ::postInput() +{ + distIeJe->postInput(); + ConstraintIJ::postInput(); +} + +void MbD::DistanceConstraintIJ::postPosICIteration() +{ + distIeJe->postPosICIteration(); + ConstraintIJ::postPosICIteration(); +} + +void MbD::DistanceConstraintIJ::preAccIC() +{ + distIeJe->preAccIC(); + ConstraintIJ::preAccIC(); +} + +void MbD::DistanceConstraintIJ::prePosIC() +{ + distIeJe->prePosIC(); + ConstraintIJ::prePosIC(); +} + +void MbD::DistanceConstraintIJ::preVelIC() +{ + distIeJe->preVelIC(); + ConstraintIJ::preVelIC(); +} + +void MbD::DistanceConstraintIJ::simUpdateAll() +{ + distIeJe->simUpdateAll(); + ConstraintIJ::simUpdateAll(); +} + +ConstraintType MbD::DistanceConstraintIJ::type() +{ + return ConstraintType::displacement; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIJ.h b/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIJ.h new file mode 100644 index 000000000000..c40d3662f97b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIJ.h @@ -0,0 +1,40 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ConstraintIJ.h" +#include "DistIecJec.h" + +namespace MbD { + class DistanceConstraintIJ : public ConstraintIJ + { + //distIeJe + public: + DistanceConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj); + + static std::shared_ptr With(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPostDynCorrectorIteration() override; + virtual void init_distIeJe(); + void initialize() override; + void initializeGlobally() override; + void initializeLocally() override; + void postInput() override; + void postPosICIteration() override; + void preAccIC() override; + void prePosIC() override; + void preVelIC() override; + void simUpdateAll() override; + ConstraintType type() override; + + std::shared_ptr distIeJe; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqcJc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqcJc.cpp new file mode 100644 index 000000000000..b92c7dca00bb --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqcJc.cpp @@ -0,0 +1,112 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DistanceConstraintIqcJc.h" +#include "EndFrameqc.h" +#include "CREATE.h" +#include "DistIeqcJec.h" + +using namespace MbD; + +MbD::DistanceConstraintIqcJc::DistanceConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj) : DistanceConstraintIJ(frmi, frmj) +{ +} + +void MbD::DistanceConstraintIqcJc::addToJointForceI(FColDsptr col) +{ + col->equalSelfPlusFullVectortimes(pGpXI, lam); +} + +void MbD::DistanceConstraintIqcJc::addToJointTorqueI(FColDsptr jointTorque) +{ + auto cForceT = pGpXI->times(lam); + auto frmIeqc = std::static_pointer_cast(frmI); + auto rIpIeIp = frmIeqc->rpep(); + auto pAOIppEI = frmIeqc->pAOppE(); + auto aBOIp = frmIeqc->aBOp(); + auto fpAOIppEIrIpIeIp = std::make_shared>(4, 0.0); + for (int i = 0; i < 4; i++) + { + auto dum = cForceT->timesFullColumn(pAOIppEI->at(i)->timesFullColumn(rIpIeIp)); + fpAOIppEIrIpIeIp->atiput(i, dum); + } + auto lampGpE = pGpEI->transpose()->times(lam); + auto c2Torque = aBOIp->timesFullColumn(lampGpE->minusFullColumn(fpAOIppEIrIpIeIp)); + jointTorque->equalSelfPlusFullColumntimes(c2Torque, 0.5); +} + +void MbD::DistanceConstraintIqcJc::calcPostDynCorrectorIteration() +{ + DistanceConstraintIJ::calcPostDynCorrectorIteration(); + pGpXI = distIeJe->pvaluepXI(); + pGpEI = distIeJe->pvaluepEI(); + ppGpXIpXI = distIeJe->ppvaluepXIpXI(); + ppGpXIpEI = distIeJe->ppvaluepXIpEI(); + ppGpEIpEI = distIeJe->ppvaluepEIpEI(); +} + +void MbD::DistanceConstraintIqcJc::fillAccICIterError(FColDsptr col) +{ + col->atiplusFullVectortimes(iqXI, pGpXI, lam); + col->atiplusFullVectortimes(iqEI, pGpEI, lam); + auto efrmIqc = std::static_pointer_cast(frmI); + auto qXdotI = efrmIqc->qXdot(); + auto qEdotI = efrmIqc->qEdot(); + auto sum = pGpXI->timesFullColumn(efrmIqc->qXddot()); + sum += pGpEI->timesFullColumn(efrmIqc->qEddot()); + sum += qXdotI->transposeTimesFullColumn(ppGpXIpXI->timesFullColumn(qXdotI)); + sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpEI->timesFullColumn(qEdotI))); + sum += qEdotI->transposeTimesFullColumn(ppGpEIpEI->timesFullColumn(qEdotI)); + col->atiplusNumber(iG, sum); +} + +void MbD::DistanceConstraintIqcJc::fillPosICError(FColDsptr col) +{ + DistanceConstraintIJ::fillPosICError(col); + col->atiplusFullVectortimes(iqXI, pGpXI, lam); + col->atiplusFullVectortimes(iqEI, pGpEI, lam); +} + +void MbD::DistanceConstraintIqcJc::fillPosICJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqXI, pGpXI); + mat->atijplusFullColumn(iqXI, iG, pGpXI->transpose()); + mat->atijplusFullRow(iG, iqEI, pGpEI); + mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose()); + mat->atijplusFullMatrixtimes(iqXI, iqXI, ppGpXIpXI, lam); + auto ppGpXIpEIlam = ppGpXIpEI->times(lam); + mat->atijplusFullMatrix(iqXI, iqEI, ppGpXIpEIlam); + mat->atijplusTransposeFullMatrix(iqEI, iqXI, ppGpXIpEIlam); + mat->atijplusFullMatrixtimes(iqEI, iqEI, ppGpEIpEI, lam); +} + +void MbD::DistanceConstraintIqcJc::fillPosKineJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqXI, pGpXI); + mat->atijplusFullRow(iG, iqEI, pGpEI); +} + +void MbD::DistanceConstraintIqcJc::fillVelICJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqXI, pGpXI); + mat->atijplusFullColumn(iqXI, iG, pGpXI->transpose()); + mat->atijplusFullRow(iG, iqEI, pGpEI); + mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose()); +} + +void MbD::DistanceConstraintIqcJc::init_distIeJe() +{ + distIeJe = CREATE::With(frmI, frmJ); +} + +void MbD::DistanceConstraintIqcJc::useEquationNumbers() +{ + auto frmIeqc = std::static_pointer_cast(frmI); + iqXI = frmIeqc->iqX(); + iqEI = frmIeqc->iqE(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqcJc.h b/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqcJc.h new file mode 100644 index 000000000000..476919972220 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqcJc.h @@ -0,0 +1,36 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DistanceConstraintIJ.h" + +namespace MbD { + class DistanceConstraintIqcJc : public DistanceConstraintIJ + { + //pGpXI pGpEI ppGpXIpXI ppGpXIpEI ppGpEIpEI iqXI iqEI + public: + DistanceConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj); + + void addToJointForceI(FColDsptr col) override; + void addToJointTorqueI(FColDsptr col) override; + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void init_distIeJe() override; + void useEquationNumbers() override; + + FRowDsptr pGpXI, pGpEI; + FMatDsptr ppGpXIpXI, ppGpXIpEI, ppGpEIpEI; + int iqXI, iqEI; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqcJqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqcJqc.cpp new file mode 100644 index 000000000000..a5cb8fb1af1c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqcJqc.cpp @@ -0,0 +1,118 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DistanceConstraintIqcJqc.h" +#include "EndFrameqc.h" +#include "CREATE.h" +#include "DistIeqcJeqc.h" + +using namespace MbD; + +MbD::DistanceConstraintIqcJqc::DistanceConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj) : DistanceConstraintIqcJc(frmi, frmj) +{ +} + +void MbD::DistanceConstraintIqcJqc::calcPostDynCorrectorIteration() +{ + DistanceConstraintIqcJc::calcPostDynCorrectorIteration(); + pGpXJ = distIeJe->pvaluepXJ(); + pGpEJ = distIeJe->pvaluepEJ(); + ppGpXIpXJ = distIeJe->ppvaluepXIpXJ(); + ppGpEIpXJ = distIeJe->ppvaluepEIpXJ(); + ppGpXJpXJ = distIeJe->ppvaluepXJpXJ(); + ppGpXIpEJ = distIeJe->ppvaluepXIpEJ(); + ppGpEIpEJ = distIeJe->ppvaluepEIpEJ(); + ppGpXJpEJ = distIeJe->ppvaluepXJpEJ(); + ppGpEJpEJ = distIeJe->ppvaluepEJpEJ(); +} + +void MbD::DistanceConstraintIqcJqc::fillAccICIterError(FColDsptr col) +{ + DistanceConstraintIqcJc::fillAccICIterError(col); + col->atiplusFullVectortimes(iqXJ, pGpXJ, lam); + col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); + auto frmIeqc = std::static_pointer_cast(frmI); + auto frmJeqc = std::static_pointer_cast(frmJ); + auto qXdotI = frmIeqc->qXdot(); + auto qEdotI = frmIeqc->qEdot(); + auto qXdotJ = frmJeqc->qXdot(); + auto qEdotJ = frmJeqc->qEdot(); + double sum = 0.0; + sum += pGpXJ->timesFullColumn(frmJeqc->qXddot()); + sum += pGpEJ->timesFullColumn(frmJeqc->qEddot()); + sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpXJ->timesFullColumn(qXdotJ))); + sum += 2.0 * (qEdotI->transposeTimesFullColumn(ppGpEIpXJ->timesFullColumn(qXdotJ))); + sum += qXdotJ->transposeTimesFullColumn(ppGpXJpXJ->timesFullColumn(qXdotJ)); + sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpEJ->timesFullColumn(qEdotJ))); + sum += 2.0 * (qEdotI->transposeTimesFullColumn(ppGpEIpEJ->timesFullColumn(qEdotJ))); + sum += 2.0 * (qXdotJ->transposeTimesFullColumn(ppGpXJpEJ->timesFullColumn(qEdotJ))); + sum += qEdotJ->transposeTimesFullColumn(ppGpEJpEJ->timesFullColumn(qEdotJ)); + col->atiplusNumber(iG, sum); +} + +void MbD::DistanceConstraintIqcJqc::fillPosICError(FColDsptr col) +{ + DistanceConstraintIqcJc::fillPosICError(col); + col->atiplusFullVectortimes(iqXJ, pGpXJ, lam); + col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); +} + +void MbD::DistanceConstraintIqcJqc::fillPosICJacob(SpMatDsptr mat) +{ + DistanceConstraintIqcJc::fillPosICJacob(mat); + mat->atijplusFullRow(iG, iqXJ, pGpXJ); + mat->atijplusFullColumn(iqXJ, iG, pGpXJ->transpose()); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); + mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose()); + auto ppGpXIpXJlam = ppGpXIpXJ->times(lam); + mat->atijplusFullMatrix(iqXI, iqXJ, ppGpXIpXJlam); + mat->atijplusTransposeFullMatrix(iqXJ, iqXI, ppGpXIpXJlam); + auto ppGpEIpXJlam = ppGpEIpXJ->times(lam); + mat->atijplusFullMatrix(iqEI, iqXJ, ppGpEIpXJlam); + mat->atijplusTransposeFullMatrix(iqXJ, iqEI, ppGpEIpXJlam); + mat->atijplusFullMatrixtimes(iqXJ, iqXJ, ppGpXJpXJ, lam); + auto ppGpXIpEJlam = ppGpXIpEJ->times(lam); + mat->atijplusFullMatrix(iqXI, iqEJ, ppGpXIpEJlam); + mat->atijplusTransposeFullMatrix(iqEJ, iqXI, ppGpXIpEJlam); + auto ppGpEIpEJlam = ppGpEIpEJ->times(lam); + mat->atijplusFullMatrix(iqEI, iqEJ, ppGpEIpEJlam); + mat->atijplusTransposeFullMatrix(iqEJ, iqEI, ppGpEIpEJlam); + auto ppGpXJpEJlam = ppGpXJpEJ->times(lam); + mat->atijplusFullMatrix(iqXJ, iqEJ, ppGpXJpEJlam); + mat->atijplusTransposeFullMatrix(iqEJ, iqXJ, ppGpXJpEJlam); + mat->atijplusFullMatrixtimes(iqEJ, iqEJ, ppGpEJpEJ, lam); +} + +void MbD::DistanceConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat) +{ + DistanceConstraintIqcJc::fillPosKineJacob(mat); + mat->atijplusFullRow(iG, iqXJ, pGpXJ); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); +} + +void MbD::DistanceConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat) +{ + DistanceConstraintIqcJc::fillVelICJacob(mat); + mat->atijplusFullRow(iG, iqXJ, pGpXJ); + mat->atijplusFullColumn(iqXJ, iG, pGpXJ->transpose()); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); + mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose()); +} + +void MbD::DistanceConstraintIqcJqc::init_distIeJe() +{ + distIeJe = CREATE::With(frmI, frmJ); +} + +void MbD::DistanceConstraintIqcJqc::useEquationNumbers() +{ + DistanceConstraintIqcJc::useEquationNumbers(); + auto frmJeqc = std::static_pointer_cast(frmJ); + iqXJ = frmJeqc->iqX(); + iqEJ = frmJeqc->iqE(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqcJqc.h b/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqcJqc.h new file mode 100644 index 000000000000..dbd3695e9f7a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqcJqc.h @@ -0,0 +1,34 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DistanceConstraintIqcJc.h" + +namespace MbD { + class DistanceConstraintIqcJqc : public DistanceConstraintIqcJc + { + //pGpXJ pGpEJ ppGpXIpXJ ppGpEIpXJ ppGpXJpXJ ppGpXIpEJ ppGpEIpEJ ppGpXJpEJ ppGpEJpEJ iqXJ iqEJ + public: + DistanceConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void init_distIeJe() override; + void useEquationNumbers() override; + + FRowDsptr pGpXJ, pGpEJ; + FMatDsptr ppGpXIpXJ, ppGpEIpXJ, ppGpXJpXJ, ppGpXIpEJ, ppGpEIpEJ, ppGpXJpEJ, ppGpEJpEJ; + int iqXJ, iqEJ; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqctJqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqctJqc.cpp new file mode 100644 index 000000000000..5cb790bbcb79 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqctJqc.cpp @@ -0,0 +1,21 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DistanceConstraintIqctJqc.h" + +using namespace MbD; + +MbD::DistanceConstraintIqctJqc::DistanceConstraintIqctJqc(EndFrmsptr frmi, EndFrmsptr frmj) : DistanceConstraintIqcJqc(frmi, frmj) +{ + assert(false); +} + +ConstraintType MbD::DistanceConstraintIqctJqc::type() +{ + return essential; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqctJqc.h b/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqctJqc.h new file mode 100644 index 000000000000..eb905c7d9ac2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistanceConstraintIqctJqc.h @@ -0,0 +1,26 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DistanceConstraintIqcJqc.h" + +namespace MbD { + class DistanceConstraintIqctJqc : public DistanceConstraintIqcJqc + { + //pGpt ppGpXIpt ppGpEIpt ppGpXJpt ppGpEJpt ppGptpt + public: + DistanceConstraintIqctJqc(EndFrmsptr frmi, EndFrmsptr frmj); + ConstraintType type() override; + + double pGpt, ppGptpt; + FRowDsptr ppGpXIpt, ppGpEIpt, ppGpXJpt, ppGpEJpt; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIJ.cpp b/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIJ.cpp new file mode 100644 index 000000000000..62b8e9c38b80 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIJ.cpp @@ -0,0 +1,103 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DistancexyConstraintIJ.h" +#include "DistancexyConstraintIqcJqc.h" +#include "EndFrameqc.h" + +using namespace MbD; + +MbD::DistancexyConstraintIJ::DistancexyConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj) : ConstraintIJ(frmi, frmj) +{ +} + +std::shared_ptr MbD::DistancexyConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj) +{ + assert(frmi->isEndFrameqc()); + assert(frmj->isEndFrameqc()); + auto distxyCon = std::make_shared(frmi, frmj); + distxyCon->init_xyIeJeIe(); + return distxyCon; +} + +void MbD::DistancexyConstraintIJ::calcPostDynCorrectorIteration() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + aG = x * x + (y * y) - (aConstant * aConstant); +} + +void MbD::DistancexyConstraintIJ::init_xyIeJeIe() +{ + assert(false); +} + +void MbD::DistancexyConstraintIJ::initialize() +{ + ConstraintIJ::initialize(); + this->init_xyIeJeIe(); +} + +void MbD::DistancexyConstraintIJ::initializeGlobally() +{ + xIeJeIe->initializeGlobally(); + yIeJeIe->initializeGlobally(); +} + +void MbD::DistancexyConstraintIJ::initializeLocally() +{ + xIeJeIe->initializeLocally(); + yIeJeIe->initializeLocally(); +} + +void MbD::DistancexyConstraintIJ::postInput() +{ + xIeJeIe->postInput(); + yIeJeIe->postInput(); + ConstraintIJ::postInput(); +} + +void MbD::DistancexyConstraintIJ::postPosICIteration() +{ + xIeJeIe->postPosICIteration(); + yIeJeIe->postPosICIteration(); + ConstraintIJ::postPosICIteration(); +} + +void MbD::DistancexyConstraintIJ::preAccIC() +{ + xIeJeIe->preAccIC(); + yIeJeIe->preAccIC(); + ConstraintIJ::preAccIC(); +} + +void MbD::DistancexyConstraintIJ::prePosIC() +{ + xIeJeIe->prePosIC(); + yIeJeIe->prePosIC(); + ConstraintIJ::prePosIC(); +} + +void MbD::DistancexyConstraintIJ::preVelIC() +{ + xIeJeIe->preVelIC(); + yIeJeIe->preVelIC(); + ConstraintIJ::preVelIC(); +} + +void MbD::DistancexyConstraintIJ::simUpdateAll() +{ + xIeJeIe->simUpdateAll(); + yIeJeIe->simUpdateAll(); + ConstraintIJ::simUpdateAll(); +} + +ConstraintType MbD::DistancexyConstraintIJ::type() +{ + return displacement; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIJ.h b/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIJ.h new file mode 100644 index 000000000000..9ce87ab9ab47 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIJ.h @@ -0,0 +1,43 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ConstraintIJ.h" +#include "DispCompIecJecIe.h" + +namespace MbD { + class DistancexyConstraintIJ : public ConstraintIJ + { + //xIeJeIe yIeJeIe + public: + DistancexyConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj); + + static std::shared_ptr With(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPostDynCorrectorIteration() override; + virtual void init_xyIeJeIe(); + void initialize() override; + void initializeGlobally() override; + void initializeLocally() override; + void postInput() override; + void postPosICIteration() override; + void preAccIC() override; + void prePosIC() override; + void preVelIC() override; + void simUpdateAll() override; + ConstraintType type() override; + + + + std::shared_ptr xIeJeIe, yIeJeIe; + //ToDo: Use DistxyIecJec instead of xIeJeIe, yIeJeIe + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIqcJc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIqcJc.cpp new file mode 100644 index 000000000000..b60d5269ae70 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIqcJc.cpp @@ -0,0 +1,152 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DistancexyConstraintIqcJc.h" +#include "EndFramec.h" +#include "CREATE.h" +#include "DispCompIeqcJecIe.h" + +using namespace MbD; + +MbD::DistancexyConstraintIqcJc::DistancexyConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj) : DistancexyConstraintIJ(frmi, frmj) +{ +} + +void MbD::DistancexyConstraintIqcJc::addToJointForceI(FColDsptr col) +{ + col->equalSelfPlusFullVectortimes(pGpXI, lam); +} + +void MbD::DistancexyConstraintIqcJc::addToJointTorqueI(FColDsptr jointTorque) +{ + auto cForceT = pGpXI->times(lam); + auto frmIeqc = std::static_pointer_cast(frmI); + auto rIpIeIp = frmIeqc->rpep(); + auto pAOIppEI = frmIeqc->pAOppE(); + auto aBOIp = frmIeqc->aBOp(); + auto fpAOIppEIrIpIeIp = std::make_shared>(4, 0.0); + for (int i = 0; i < 4; i++) + { + auto dum = cForceT->timesFullColumn(pAOIppEI->at(i)->timesFullColumn(rIpIeIp)); + fpAOIppEIrIpIeIp->atiput(i, dum); + } + auto lampGpE = pGpEI->transpose()->times(lam); + auto c2Torque = aBOIp->timesFullColumn(lampGpE->minusFullColumn(fpAOIppEIrIpIeIp)); + jointTorque->equalSelfPlusFullColumntimes(c2Torque, 0.5); +} + +void MbD::DistancexyConstraintIqcJc::calcPostDynCorrectorIteration() +{ + DistancexyConstraintIJ::calcPostDynCorrectorIteration(); + this->calc_pGpXI(); + this->calc_pGpEI(); + this->calc_ppGpXIpXI(); + this->calc_ppGpXIpEI(); + this->calc_ppGpEIpEI(); +} + +void MbD::DistancexyConstraintIqcJc::calc_pGpEI() +{ + pGpEI = (xIeJeIe->pvaluepEI()->times(xIeJeIe->value())->plusFullRow(yIeJeIe->pvaluepEI()->times(yIeJeIe->value()))); + pGpEI->magnifySelf(2.0); +} + +void MbD::DistancexyConstraintIqcJc::calc_pGpXI() +{ + pGpXI = (xIeJeIe->pvaluepXI()->times(xIeJeIe->value())->plusFullRow(yIeJeIe->pvaluepXI()->times(yIeJeIe->value()))); + pGpXI->magnifySelf(2.0); +} + +void MbD::DistancexyConstraintIqcJc::calc_ppGpEIpEI() +{ + ppGpEIpEI = (xIeJeIe->pvaluepEI()->transposeTimesFullRow(xIeJeIe->pvaluepEI())); + ppGpEIpEI = ppGpEIpEI->plusFullMatrix(xIeJeIe->ppvaluepEIpEI()->times(xIeJeIe->value())); + ppGpEIpEI = ppGpEIpEI->plusFullMatrix(yIeJeIe->pvaluepEI()->transposeTimesFullRow(yIeJeIe->pvaluepEI())); + ppGpEIpEI = ppGpEIpEI->plusFullMatrix(yIeJeIe->ppvaluepEIpEI()->times(yIeJeIe->value())); + ppGpEIpEI->magnifySelf(2.0); +} + +void MbD::DistancexyConstraintIqcJc::calc_ppGpXIpEI() +{ + ppGpXIpEI = (xIeJeIe->pvaluepXI()->transposeTimesFullRow(xIeJeIe->pvaluepEI())); + ppGpXIpEI = ppGpXIpEI->plusFullMatrix(xIeJeIe->ppvaluepXIpEI()->times(xIeJeIe->value())); + ppGpXIpEI = ppGpXIpEI->plusFullMatrix(yIeJeIe->pvaluepXI()->transposeTimesFullRow(yIeJeIe->pvaluepEI())); + ppGpXIpEI = ppGpXIpEI->plusFullMatrix(yIeJeIe->ppvaluepXIpEI()->times(yIeJeIe->value())); + ppGpXIpEI->magnifySelf(2.0); +} + +void MbD::DistancexyConstraintIqcJc::calc_ppGpXIpXI() +{ + //xIeJeIe ppvaluepXIpXI = 0 + //yIeJeIe ppvaluepXIpXI = 0 + ppGpXIpXI = (xIeJeIe->pvaluepXI()->transposeTimesFullRow(xIeJeIe->pvaluepXI())); + ppGpXIpXI = ppGpXIpXI->plusFullMatrix(yIeJeIe->pvaluepXI()->transposeTimesFullRow(yIeJeIe->pvaluepXI())); + ppGpXIpXI->magnifySelf(2.0); +} + +void MbD::DistancexyConstraintIqcJc::init_xyIeJeIe() +{ + xIeJeIe = CREATE::With(frmI, frmJ, 0); + yIeJeIe = CREATE::With(frmI, frmJ, 1); +} + +void MbD::DistancexyConstraintIqcJc::fillAccICIterError(FColDsptr col) +{ + col->atiplusFullVectortimes(iqXI, pGpXI, lam); + col->atiplusFullVectortimes(iqEI, pGpEI, lam); + auto efrmIqc = std::static_pointer_cast(frmI); + auto qXdotI = efrmIqc->qXdot(); + auto qEdotI = efrmIqc->qEdot(); + auto sum = pGpXI->timesFullColumn(efrmIqc->qXddot()); + sum += pGpEI->timesFullColumn(efrmIqc->qEddot()); + sum += qXdotI->transposeTimesFullColumn(ppGpXIpXI->timesFullColumn(qXdotI)); + sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpEI->timesFullColumn(qEdotI))); + sum += qEdotI->transposeTimesFullColumn(ppGpEIpEI->timesFullColumn(qEdotI)); + col->atiplusNumber(iG, sum); +} + +void MbD::DistancexyConstraintIqcJc::fillPosICError(FColDsptr col) +{ + DistancexyConstraintIJ::fillPosICError(col); + col->atiplusFullVectortimes(iqXI, pGpXI, lam); + col->atiplusFullVectortimes(iqEI, pGpEI, lam); +} + +void MbD::DistancexyConstraintIqcJc::fillPosICJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqXI, pGpXI); + mat->atijplusFullColumn(iqXI, iG, pGpXI->transpose()); + mat->atijplusFullRow(iG, iqEI, pGpEI); + mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose()); + mat->atijplusFullMatrixtimes(iqXI, iqXI, ppGpXIpXI, lam); + auto ppGpXIpEIlam = ppGpXIpEI->times(lam); + mat->atijplusFullMatrix(iqXI, iqEI, ppGpXIpEIlam); + mat->atijplusTransposeFullMatrix(iqEI, iqXI, ppGpXIpEIlam); + mat->atijplusFullMatrixtimes(iqEI, iqEI, ppGpEIpEI, lam); +} + +void MbD::DistancexyConstraintIqcJc::fillPosKineJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqXI, pGpXI); + mat->atijplusFullRow(iG, iqEI, pGpEI); +} + +void MbD::DistancexyConstraintIqcJc::fillVelICJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqXI, pGpXI); + mat->atijplusFullColumn(iqXI, iG, pGpXI->transpose()); + mat->atijplusFullRow(iG, iqEI, pGpEI); + mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose()); +} + +void MbD::DistancexyConstraintIqcJc::useEquationNumbers() +{ + auto frmIeqc = std::static_pointer_cast(frmI); + iqXI = frmIeqc->iqX(); + iqEI = frmIeqc->iqE(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIqcJc.h b/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIqcJc.h new file mode 100644 index 000000000000..c20e7fd02bd8 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIqcJc.h @@ -0,0 +1,42 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DistancexyConstraintIJ.h" + +namespace MbD { + class DistancexyConstraintIqcJc : public DistancexyConstraintIJ + { + //pGpXI pGpEI ppGpXIpXI ppGpXIpEI ppGpEIpEI iqXI iqEI + public: + DistancexyConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj); + + void addToJointForceI(FColDsptr col) override; + void addToJointTorqueI(FColDsptr col) override; + void calc_pGpEI(); + void calc_pGpXI(); + void calc_ppGpEIpEI(); + void calc_ppGpXIpEI(); + void calc_ppGpXIpXI(); + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void init_xyIeJeIe() override; + void useEquationNumbers() override; + + + FRowDsptr pGpXI, pGpEI; + FMatDsptr ppGpXIpXI, ppGpXIpEI, ppGpEIpEI; + int iqXI, iqEI; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIqcJqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIqcJqc.cpp new file mode 100644 index 000000000000..59d8ee359024 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIqcJqc.cpp @@ -0,0 +1,194 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DistancexyConstraintIqcJqc.h" +#include "EndFrameqc.h" +#include "CREATE.h" +#include "DispCompIeqcJeqcIe.h" + +using namespace MbD; + +MbD::DistancexyConstraintIqcJqc::DistancexyConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj) : DistancexyConstraintIqcJc(frmi, frmj) +{ +} + +void MbD::DistancexyConstraintIqcJqc::calc_pGpXJ() +{ + pGpXJ = (xIeJeIe->pvaluepXJ()->times(xIeJeIe->value())->plusFullRow(yIeJeIe->pvaluepXJ()->times(yIeJeIe->value()))); + pGpXJ->magnifySelf(2.0); +} + +void MbD::DistancexyConstraintIqcJqc::calc_pGpEJ() +{ + pGpEJ = (xIeJeIe->pvaluepEJ()->times(xIeJeIe->value())->plusFullRow(yIeJeIe->pvaluepEJ()->times(yIeJeIe->value()))); + pGpEJ->magnifySelf(2.0); +} + +void MbD::DistancexyConstraintIqcJqc::calc_ppGpXIpXJ() +{ + //xIeJeIe ppvaluepXIpXJ = 0 + //yIeJeIe ppvaluepXIpXJ = 0 + ppGpXIpXJ = (xIeJeIe->pvaluepXI()->transposeTimesFullRow(xIeJeIe->pvaluepXJ())); + ppGpXIpXJ = ppGpXIpXJ->plusFullMatrix(yIeJeIe->pvaluepXI()->transposeTimesFullRow(yIeJeIe->pvaluepXJ())); + ppGpXIpXJ->magnifySelf(2.0); +} + +void MbD::DistancexyConstraintIqcJqc::calc_ppGpEIpXJ() +{ + ppGpEIpXJ = (xIeJeIe->pvaluepEI()->transposeTimesFullRow(xIeJeIe->pvaluepXJ())); + ppGpEIpXJ = ppGpEIpXJ->plusFullMatrix(xIeJeIe->ppvaluepEIpXJ()->times(xIeJeIe->value())); + ppGpEIpXJ = ppGpEIpXJ->plusFullMatrix(yIeJeIe->pvaluepEI()->transposeTimesFullRow(yIeJeIe->pvaluepXJ())); + ppGpEIpXJ = ppGpEIpXJ->plusFullMatrix(yIeJeIe->ppvaluepEIpXJ()->times(yIeJeIe->value())); + ppGpEIpXJ->magnifySelf(2.0); +} + +void MbD::DistancexyConstraintIqcJqc::calc_ppGpXJpXJ() +{ + //xIeJeIe ppvaluepXJpXJ = 0 + //yIeJeIe ppvaluepXJpXJ = 0 + ppGpXJpXJ = (xIeJeIe->pvaluepXJ()->transposeTimesFullRow(xIeJeIe->pvaluepXJ())); + ppGpXJpXJ = ppGpXJpXJ->plusFullMatrix(yIeJeIe->pvaluepXJ()->transposeTimesFullRow(yIeJeIe->pvaluepXJ())); + ppGpXJpXJ->magnifySelf(2.0); +} + +void MbD::DistancexyConstraintIqcJqc::calc_ppGpXIpEJ() +{ + //xIeJeIe ppvaluepXIpEJ = 0 + //yIeJeIe ppvaluepXIpEJ = 0 + ppGpXIpEJ = (xIeJeIe->pvaluepXI()->transposeTimesFullRow(xIeJeIe->pvaluepEJ())); + ppGpXIpEJ = ppGpXIpEJ->plusFullMatrix(yIeJeIe->pvaluepXI()->transposeTimesFullRow(yIeJeIe->pvaluepEJ())); + ppGpXIpEJ->magnifySelf(2.0); +} + +void MbD::DistancexyConstraintIqcJqc::calc_ppGpEIpEJ() +{ + ppGpEIpEJ = (xIeJeIe->pvaluepEI()->transposeTimesFullRow(xIeJeIe->pvaluepEJ())); + ppGpEIpEJ = ppGpEIpEJ->plusFullMatrix(xIeJeIe->ppvaluepEIpEJ()->times(xIeJeIe->value())); + ppGpEIpEJ = ppGpEIpEJ->plusFullMatrix(yIeJeIe->pvaluepEI()->transposeTimesFullRow(yIeJeIe->pvaluepEJ())); + ppGpEIpEJ = ppGpEIpEJ->plusFullMatrix(yIeJeIe->ppvaluepEIpEJ()->times(yIeJeIe->value())); + ppGpEIpEJ->magnifySelf(2.0); +} + +void MbD::DistancexyConstraintIqcJqc::calc_ppGpXJpEJ() +{ + //xIeJeIe ppvaluepXJpEJ = 0 + //yIeJeIe ppvaluepXJpEJ = 0 + ppGpXJpEJ = (xIeJeIe->pvaluepXJ()->transposeTimesFullRow(xIeJeIe->pvaluepEJ())); + ppGpXJpEJ = ppGpXJpEJ->plusFullMatrix(yIeJeIe->pvaluepXJ()->transposeTimesFullRow(yIeJeIe->pvaluepEJ())); + ppGpXJpEJ->magnifySelf(2.0); +} + +void MbD::DistancexyConstraintIqcJqc::calc_ppGpEJpEJ() +{ + ppGpEJpEJ = (xIeJeIe->pvaluepEJ()->transposeTimesFullRow(xIeJeIe->pvaluepEJ())); + ppGpEJpEJ = ppGpEJpEJ->plusFullMatrix(xIeJeIe->ppvaluepEJpEJ()->times(xIeJeIe->value())); + ppGpEJpEJ = ppGpEJpEJ->plusFullMatrix(yIeJeIe->pvaluepEJ()->transposeTimesFullRow(yIeJeIe->pvaluepEJ())); + ppGpEJpEJ = ppGpEJpEJ->plusFullMatrix(yIeJeIe->ppvaluepEJpEJ()->times(yIeJeIe->value())); + ppGpEJpEJ->magnifySelf(2.0); +} + +void MbD::DistancexyConstraintIqcJqc::calcPostDynCorrectorIteration() +{ + DistancexyConstraintIqcJc::calcPostDynCorrectorIteration(); + this->calc_pGpXJ(); + this->calc_pGpEJ(); + this->calc_ppGpXIpXJ(); + this->calc_ppGpEIpXJ(); + this->calc_ppGpXJpXJ(); + this->calc_ppGpXIpEJ(); + this->calc_ppGpEIpEJ(); + this->calc_ppGpXJpEJ(); + this->calc_ppGpEJpEJ(); +} + +void MbD::DistancexyConstraintIqcJqc::fillAccICIterError(FColDsptr col) +{ + DistancexyConstraintIqcJc::fillAccICIterError(col); + col->atiplusFullVectortimes(iqXJ, pGpXJ, lam); + col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); + auto frmIeqc = std::static_pointer_cast(frmI); + auto frmJeqc = std::static_pointer_cast(frmJ); + auto qXdotI = frmIeqc->qXdot(); + auto qEdotI = frmIeqc->qEdot(); + auto qXdotJ = frmJeqc->qXdot(); + auto qEdotJ = frmJeqc->qEdot(); + double sum = 0.0; + sum += pGpXJ->timesFullColumn(frmJeqc->qXddot()); + sum += pGpEJ->timesFullColumn(frmJeqc->qEddot()); + sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpXJ->timesFullColumn(qXdotJ))); + sum += 2.0 * (qEdotI->transposeTimesFullColumn(ppGpEIpXJ->timesFullColumn(qXdotJ))); + sum += qXdotJ->transposeTimesFullColumn(ppGpXJpXJ->timesFullColumn(qXdotJ)); + sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpEJ->timesFullColumn(qEdotJ))); + sum += 2.0 * (qEdotI->transposeTimesFullColumn(ppGpEIpEJ->timesFullColumn(qEdotJ))); + sum += 2.0 * (qXdotJ->transposeTimesFullColumn(ppGpXJpEJ->timesFullColumn(qEdotJ))); + sum += qEdotJ->transposeTimesFullColumn(ppGpEJpEJ->timesFullColumn(qEdotJ)); + col->atiplusNumber(iG, sum); +} + +void MbD::DistancexyConstraintIqcJqc::fillPosICError(FColDsptr col) +{ + DistancexyConstraintIqcJc::fillPosICError(col); + col->atiplusFullVectortimes(iqXJ, pGpXJ, lam); + col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); +} + +void MbD::DistancexyConstraintIqcJqc::fillPosICJacob(SpMatDsptr mat) +{ + DistancexyConstraintIqcJc::fillPosICJacob(mat); + mat->atijplusFullRow(iG, iqXJ, pGpXJ); + mat->atijplusFullColumn(iqXJ, iG, pGpXJ->transpose()); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); + mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose()); + auto ppGpXIpXJlam = ppGpXIpXJ->times(lam); + mat->atijplusFullMatrix(iqXI, iqXJ, ppGpXIpXJlam); + mat->atijplusTransposeFullMatrix(iqXJ, iqXI, ppGpXIpXJlam); + auto ppGpEIpXJlam = ppGpEIpXJ->times(lam); + mat->atijplusFullMatrix(iqEI, iqXJ, ppGpEIpXJlam); + mat->atijplusTransposeFullMatrix(iqXJ, iqEI, ppGpEIpXJlam); + mat->atijplusFullMatrixtimes(iqXJ, iqXJ, ppGpXJpXJ, lam); + auto ppGpXIpEJlam = ppGpXIpEJ->times(lam); + mat->atijplusFullMatrix(iqXI, iqEJ, ppGpXIpEJlam); + mat->atijplusTransposeFullMatrix(iqEJ, iqXI, ppGpXIpEJlam); + auto ppGpEIpEJlam = ppGpEIpEJ->times(lam); + mat->atijplusFullMatrix(iqEI, iqEJ, ppGpEIpEJlam); + mat->atijplusTransposeFullMatrix(iqEJ, iqEI, ppGpEIpEJlam); + auto ppGpXJpEJlam = ppGpXJpEJ->times(lam); + mat->atijplusFullMatrix(iqXJ, iqEJ, ppGpXJpEJlam); + mat->atijplusTransposeFullMatrix(iqEJ, iqXJ, ppGpXJpEJlam); + mat->atijplusFullMatrixtimes(iqEJ, iqEJ, ppGpEJpEJ, lam); +} + +void MbD::DistancexyConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat) +{ + DistancexyConstraintIqcJc::fillPosKineJacob(mat); + mat->atijplusFullRow(iG, iqXJ, pGpXJ); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); +} + +void MbD::DistancexyConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat) +{ + DistancexyConstraintIqcJc::fillVelICJacob(mat); + mat->atijplusFullRow(iG, iqXJ, pGpXJ); + mat->atijplusFullColumn(iqXJ, iG, pGpXJ->transpose()); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); + mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose()); +} + +void MbD::DistancexyConstraintIqcJqc::init_xyIeJeIe() +{ + xIeJeIe = CREATE::With(frmI, frmJ, 0); + yIeJeIe = CREATE::With(frmI, frmJ, 1); +} + +void MbD::DistancexyConstraintIqcJqc::useEquationNumbers() +{ + DistancexyConstraintIqcJc::useEquationNumbers(); + auto frmJeqc = std::static_pointer_cast(frmJ); + iqXJ = frmJeqc->iqX(); + iqEJ = frmJeqc->iqE(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIqcJqc.h b/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIqcJqc.h new file mode 100644 index 000000000000..3662c66b2bdc --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistancexyConstraintIqcJqc.h @@ -0,0 +1,43 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DistancexyConstraintIqcJc.h" + +namespace MbD { + class DistancexyConstraintIqcJqc : public DistancexyConstraintIqcJc + { + //pGpXJ pGpEJ ppGpXIpXJ ppGpEIpXJ ppGpXJpXJ ppGpXIpEJ ppGpEIpEJ ppGpXJpEJ ppGpEJpEJ iqXJ iqEJ + public: + DistancexyConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj); + + void calc_pGpXJ(); + void calc_pGpEJ(); + void calc_ppGpXIpXJ(); + void calc_ppGpEIpXJ(); + void calc_ppGpXJpXJ(); + void calc_ppGpXIpEJ(); + void calc_ppGpEIpEJ(); + void calc_ppGpXJpEJ(); + void calc_ppGpEJpEJ(); + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void init_xyIeJeIe() override; + void useEquationNumbers() override; + + FRowDsptr pGpXJ, pGpEJ; + FMatDsptr ppGpXIpXJ, ppGpEIpXJ, ppGpXJpXJ, ppGpXIpEJ, ppGpEIpEJ, ppGpXJpEJ, ppGpEJpEJ; + int iqXJ, iqEJ; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistxyIecJec.cpp b/src/3rdParty/OndselSolver/OndselSolver/DistxyIecJec.cpp new file mode 100644 index 000000000000..d380d646568a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistxyIecJec.cpp @@ -0,0 +1,96 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DistxyIecJec.h" + +using namespace MbD; + +MbD::DistxyIecJec::DistxyIecJec() +{ +} + +MbD::DistxyIecJec::DistxyIecJec(EndFrmsptr frmi, EndFrmsptr frmj) : KinematicIeJe(frmi, frmj) +{ +} + +void MbD::DistxyIecJec::calcPostDynCorrectorIteration() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + distxy = std::sqrt(x * x + (y * y)); +} + +void MbD::DistxyIecJec::initialize() +{ + KinematicIeJe::initialize(); + this->init_xyIeJeIe(); +} + +void MbD::DistxyIecJec::initializeGlobally() +{ + xIeJeIe->initializeGlobally(); + yIeJeIe->initializeGlobally(); +} + +void MbD::DistxyIecJec::initializeLocally() +{ + xIeJeIe->initializeLocally(); + yIeJeIe->initializeLocally(); +} + +void MbD::DistxyIecJec::init_xyIeJeIe() +{ + assert(false); +} + +void MbD::DistxyIecJec::postInput() +{ + xIeJeIe->postInput(); + yIeJeIe->postInput(); + KinematicIeJe::postInput(); +} + +void MbD::DistxyIecJec::postPosICIteration() +{ + xIeJeIe->postPosICIteration(); + yIeJeIe->postPosICIteration(); + KinematicIeJe::postPosICIteration(); +} + +void MbD::DistxyIecJec::preAccIC() +{ + xIeJeIe->preAccIC(); + yIeJeIe->preAccIC(); + KinematicIeJe::preAccIC(); +} + +void MbD::DistxyIecJec::prePosIC() +{ + xIeJeIe->prePosIC(); + yIeJeIe->prePosIC(); + KinematicIeJe::prePosIC(); +} + +void MbD::DistxyIecJec::preVelIC() +{ + xIeJeIe->preVelIC(); + yIeJeIe->preVelIC(); + KinematicIeJe::preVelIC(); +} + +void MbD::DistxyIecJec::simUpdateAll() +{ + xIeJeIe->simUpdateAll(); + yIeJeIe->simUpdateAll(); + KinematicIeJe::simUpdateAll(); +} + +double MbD::DistxyIecJec::value() +{ + return distxy; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistxyIecJec.h b/src/3rdParty/OndselSolver/OndselSolver/DistxyIecJec.h new file mode 100644 index 000000000000..d701277fd555 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistxyIecJec.h @@ -0,0 +1,40 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "KinematicIeJe.h" +#include "DispCompIecJecIe.h" + +namespace MbD { + class DistxyIecJec : public KinematicIeJe + { + //distxy xIeJeIe yIeJeIe + public: + DistxyIecJec(); + DistxyIecJec(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPostDynCorrectorIteration() override; + void initialize() override; + void initializeGlobally() override; + void initializeLocally() override; + virtual void init_xyIeJeIe(); + void postInput() override; + void postPosICIteration() override; + void preAccIC() override; + void prePosIC() override; + void preVelIC() override; + void simUpdateAll() override; + double value() override; + + double distxy; + std::shared_ptr xIeJeIe, yIeJeIe; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqcJec.cpp b/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqcJec.cpp new file mode 100644 index 000000000000..12436c2f4182 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqcJec.cpp @@ -0,0 +1,192 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DistxyIeqcJec.h" +#include "CREATE.h" +#include "DispCompIeqcJecIe.h" + +using namespace MbD; + +MbD::DistxyIeqcJec::DistxyIeqcJec() +{ +} + +MbD::DistxyIeqcJec::DistxyIeqcJec(EndFrmsptr frmi, EndFrmsptr frmj) : DistxyIecJec(frmi, frmj) +{ +} + +void MbD::DistxyIeqcJec::calc_ppdistxypEIpEI() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + auto pxpEI = xIeJeIe->pvaluepEI(); + auto pypEI = yIeJeIe->pvaluepEI(); + auto ppxpEIpEI = xIeJeIe->ppvaluepEIpEI(); + auto ppypEIpEI = yIeJeIe->ppvaluepEIpEI(); + for (int i = 0; i < 4; i++) + { + auto& ppdistxypEIpEIi = ppdistxypEIpEI->at(i); + auto& pdistxypEIi = pdistxypEI->at(i); + auto& ppxpEIpEIi = ppxpEIpEI->at(i); + auto& ppypEIpEIi = ppypEIpEI->at(i); + auto& pxpEIi = pxpEI->at(i); + auto& pypEIi = pypEI->at(i); + for (int j = i; j < 4; j++) + { + auto pdistxypEIj = pdistxypEI->at(j); + auto pxpEIj = pxpEI->at(j); + auto pypEIj = pypEI->at(j); + auto term1 = -pdistxypEIi * pdistxypEIj; + auto term2 = ppxpEIpEIi->at(j) * x + ppypEIpEIi->at(j) * y; + auto term3 = pxpEIi * pxpEIj + pypEIi * pypEIj; + auto ppdistxypEIpEIij = (term1 + term2 + term3) / distxy; + ppdistxypEIpEIi->atiput(j, ppdistxypEIpEIij); + if (i < j) ppdistxypEIpEI->atijput(j, i, ppdistxypEIpEIij); + } + } +} + +void MbD::DistxyIeqcJec::calc_ppdistxypXIpEI() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + auto pxpXI = xIeJeIe->pvaluepXI(); + auto pypXI = yIeJeIe->pvaluepXI(); + auto pxpEI = xIeJeIe->pvaluepEI(); + auto pypEI = yIeJeIe->pvaluepEI(); + auto ppxpXIpEI = xIeJeIe->ppvaluepXIpEI(); + auto ppypXIpEI = yIeJeIe->ppvaluepXIpEI(); + for (int i = 0; i < 3; i++) + { + auto& ppdistxypXIpEIi = ppdistxypXIpEI->at(i); + auto& pdistxypXIi = pdistxypXI->at(i); + auto& ppxpXIpEIi = ppxpXIpEI->at(i); + auto& ppypXIpEIi = ppypXIpEI->at(i); + auto& pxpXIi = pxpXI->at(i); + auto& pypXIi = pypXI->at(i); + for (int j = 0; j < 4; j++) + { + auto& pdistxypEIj = pdistxypEI->at(j); + auto& pxpEIj = pxpEI->at(j); + auto& pypEIj = pypEI->at(j); + auto term1 = -pdistxypXIi * pdistxypEIj; + auto term2 = ppxpXIpEIi->at(j) * x + ppypXIpEIi->at(j) * y; + auto term3 = pxpXIi * pxpEIj + pypXIi * pypEIj; + auto ppdistxypXIpEIij = (term1 + term2 + term3) / distxy; + ppdistxypXIpEIi->atiput(j, ppdistxypXIpEIij); + } + } +} + +void MbD::DistxyIeqcJec::calc_ppdistxypXIpXI() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + auto pxpXI = xIeJeIe->pvaluepXI(); + auto pypXI = yIeJeIe->pvaluepXI(); + auto ppxpXIpXI = xIeJeIe->ppvaluepXIpXI(); + auto ppypXIpXI = yIeJeIe->ppvaluepXIpXI(); + for (int i = 0; i < 3; i++) + { + auto& ppdistxypXIpXIi = ppdistxypXIpXI->at(i); + auto& pdistxypXIi = pdistxypXI->at(i); + auto& ppxpXIpXIi = ppxpXIpXI->at(i); + auto& ppypXIpXIi = ppypXIpXI->at(i); + auto& pxpXIi = pxpXI->at(i); + auto& pypXIi = pypXI->at(i); + for (int j = i; j < 3; j++) + { + auto pdistxypXIj = pdistxypXI->at(j); + auto pxpXIj = pxpXI->at(j); + auto pypXIj = pypXI->at(j); + auto term1 = -pdistxypXIi * pdistxypXIj; + auto term2 = ppxpXIpXIi->at(j) * x + ppypXIpXIi->at(j) * y; + auto term3 = pxpXIi * pxpXIj + pypXIi * pypXIj; + auto ppdistxypXIpXIij = (term1 + term2 + term3) / distxy; + ppdistxypXIpXIi->atiput(j, ppdistxypXIpXIij); + if (i < j) ppdistxypXIpXI->atijput(j, i, ppdistxypXIpXIij); + } + } +} + +void MbD::DistxyIeqcJec::calc_pdistxypEI() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + auto pxpEI = xIeJeIe->pvaluepEI(); + auto pypEI = yIeJeIe->pvaluepEI(); + for (int i = 0; i < 4; i++) + { + auto term = pxpEI->at(i) * x + pypEI->at(i) * y; + pdistxypEI->atiput(i, term / distxy); + } +} + +void MbD::DistxyIeqcJec::calc_pdistxypXI() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + auto pxpXI = xIeJeIe->pvaluepXI(); + auto pypXI = yIeJeIe->pvaluepXI(); + for (int i = 0; i < 3; i++) + { + auto term = pxpXI->at(i) * x + pypXI->at(i) * y; + pdistxypXI->atiput(i, term / distxy); + } +} + +void MbD::DistxyIeqcJec::calcPostDynCorrectorIteration() +{ + DistxyIecJec::calcPostDynCorrectorIteration(); + this->calc_pdistxypXI(); + this->calc_pdistxypEI(); + this->calc_ppdistxypXIpXI(); + this->calc_ppdistxypXIpEI(); + this->calc_ppdistxypEIpEI(); +} + +void MbD::DistxyIeqcJec::init_xyIeJeIe() +{ + xIeJeIe = CREATE::With(frmI, frmJ, 0); + yIeJeIe = CREATE::With(frmI, frmJ, 1); +} + +void MbD::DistxyIeqcJec::initialize() +{ + DistxyIecJec::initialize(); + pdistxypXI = std::make_shared>(3); + pdistxypEI = std::make_shared>(4); + ppdistxypXIpXI = std::make_shared>(3, 3); + ppdistxypXIpEI = std::make_shared>(3, 4); + ppdistxypEIpEI = std::make_shared>(4, 4); +} + +FMatDsptr MbD::DistxyIeqcJec::ppvaluepEIpEI() +{ + return ppdistxypEIpEI; +} + +FMatDsptr MbD::DistxyIeqcJec::ppvaluepXIpEI() +{ + return ppdistxypXIpEI; +} + +FMatDsptr MbD::DistxyIeqcJec::ppvaluepXIpXI() +{ + return ppdistxypXIpXI; +} + +FRowDsptr MbD::DistxyIeqcJec::pvaluepEI() +{ + return pdistxypEI; +} + +FRowDsptr MbD::DistxyIeqcJec::pvaluepXI() +{ + return pdistxypXI; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqcJec.h b/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqcJec.h new file mode 100644 index 000000000000..4826251320d7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqcJec.h @@ -0,0 +1,40 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DistxyIecJec.h" + +namespace MbD { + class DistxyIeqcJec : public DistxyIecJec + { + //pdistxypXI pdistxypEI ppdistxypXIpXI ppdistxypXIpEI ppdistxypEIpEI + + public: + DistxyIeqcJec(); + DistxyIeqcJec(EndFrmsptr frmi, EndFrmsptr frmj); + + void calc_ppdistxypEIpEI(); + void calc_ppdistxypXIpEI(); + void calc_ppdistxypXIpXI(); + void calc_pdistxypEI(); + void calc_pdistxypXI(); + void calcPostDynCorrectorIteration() override; + void init_xyIeJeIe() override; + void initialize() override; + FMatDsptr ppvaluepEIpEI() override; + FMatDsptr ppvaluepXIpEI() override; + FMatDsptr ppvaluepXIpXI() override; + FRowDsptr pvaluepEI() override; + FRowDsptr pvaluepXI() override; + + FRowDsptr pdistxypXI, pdistxypEI; + FMatDsptr ppdistxypXIpXI, ppdistxypXIpEI, ppdistxypEIpEI; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqcJeqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqcJeqc.cpp new file mode 100644 index 000000000000..92140ff80e45 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqcJeqc.cpp @@ -0,0 +1,348 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DistxyIeqcJeqc.h" +#include "CREATE.h" +#include "DispCompIeqcJeqcIe.h" + +using namespace MbD; + +MbD::DistxyIeqcJeqc::DistxyIeqcJeqc() +{ +} + +MbD::DistxyIeqcJeqc::DistxyIeqcJeqc(EndFrmsptr frmi, EndFrmsptr frmj) : DistxyIeqcJec(frmi, frmj) +{ +} + +void MbD::DistxyIeqcJeqc::calc_ppdistxypEIpEJ() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + auto pxpEI = xIeJeIe->pvaluepEI(); + auto pypEI = yIeJeIe->pvaluepEI(); + auto pxpEJ = xIeJeIe->pvaluepEJ(); + auto pypEJ = yIeJeIe->pvaluepEJ(); + auto ppxpEIpEJ = xIeJeIe->ppvaluepEIpEJ(); + auto ppypEIpEJ = yIeJeIe->ppvaluepEIpEJ(); + for (int i = 0; i < 4; i++) + { + auto& ppdistxypEIpEJi = ppdistxypEIpEJ->at(i); + auto& pdistxypEIi = pdistxypEI->at(i); + auto& ppxpEIpEJi = ppxpEIpEJ->at(i); + auto& ppypEIpEJi = ppypEIpEJ->at(i); + auto& pxpEIi = pxpEI->at(i); + auto& pypEIi = pypEI->at(i); + for (int j = 0; j < 4; j++) + { + auto& pdistxypEJj = pdistxypEJ->at(j); + auto& pxpEJj = pxpEJ->at(j); + auto& pypEJj = pypEJ->at(j); + auto term1 = -pdistxypEIi * pdistxypEJj; + auto term2 = ppxpEIpEJi->at(j) * x + ppypEIpEJi->at(j) * y; + auto term3 = pxpEIi * pxpEJj + pypEIi * pypEJj; + auto ppdistxypEIpEJij = (term1 + term2 + term3) / distxy; + ppdistxypEIpEJi->atiput(j, ppdistxypEIpEJij); + } + } +} + +void MbD::DistxyIeqcJeqc::calc_ppdistxypEIpXJ() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + auto pxpEI = xIeJeIe->pvaluepEI(); + auto pypEI = yIeJeIe->pvaluepEI(); + auto pxpXJ = xIeJeIe->pvaluepXJ(); + auto pypXJ = yIeJeIe->pvaluepXJ(); + auto ppxpEIpXJ = xIeJeIe->ppvaluepEIpXJ(); + auto ppypEIpXJ = yIeJeIe->ppvaluepEIpXJ(); + for (int i = 0; i < 4; i++) + { + auto& ppdistxypEIpXJi = ppdistxypEIpXJ->at(i); + auto& pdistxypEIi = pdistxypEI->at(i); + auto& ppxpEIpXJi = ppxpEIpXJ->at(i); + auto& ppypEIpXJi = ppypEIpXJ->at(i); + auto& pxpEIi = pxpEI->at(i); + auto& pypEIi = pypEI->at(i); + for (int j = 0; j < 3; j++) + { + auto& pdistxypXJj = pdistxypXJ->at(j); + auto& pxpXJj = pxpXJ->at(j); + auto& pypXJj = pypXJ->at(j); + auto term1 = -pdistxypEIi * pdistxypXJj; + auto term2 = ppxpEIpXJi->at(j) * x + ppypEIpXJi->at(j) * y; + auto term3 = pxpEIi * pxpXJj + pypEIi * pypXJj; + auto ppdistxypEIpXJij = (term1 + term2 + term3) / distxy; + ppdistxypEIpXJi->atiput(j, ppdistxypEIpXJij); + } + } +} + +void MbD::DistxyIeqcJeqc::calc_ppdistxypEJpEJ() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + auto pxpEJ = xIeJeIe->pvaluepEJ(); + auto pypEJ = yIeJeIe->pvaluepEJ(); + auto ppxpEJpEJ = xIeJeIe->ppvaluepEJpEJ(); + auto ppypEJpEJ = yIeJeIe->ppvaluepEJpEJ(); + for (int i = 0; i < 4; i++) + { + auto& ppdistxypEJpEJi = ppdistxypEJpEJ->at(i); + auto& pdistxypEJi = pdistxypEJ->at(i); + auto& ppxpEJpEJi = ppxpEJpEJ->at(i); + auto& ppypEJpEJi = ppypEJpEJ->at(i); + auto& pxpEJi = pxpEJ->at(i); + auto& pypEJi = pypEJ->at(i); + for (int j = i; j < 4; j++) + { + auto& pdistxypEJj = pdistxypEJ->at(j); + auto& pxpEJj = pxpEJ->at(j); + auto& pypEJj = pypEJ->at(j); + auto term1 = -pdistxypEJi * pdistxypEJj; + auto term2 = ppxpEJpEJi->at(j) * x + ppypEJpEJi->at(j) * y; + auto term3 = pxpEJi * pxpEJj + pypEJi * pypEJj; + auto ppdistxypEJpEJij = (term1 + term2 + term3) / distxy; + ppdistxypEJpEJi->atiput(j, ppdistxypEJpEJij); + if (i < j) ppdistxypEJpEJ->atijput(j, i, ppdistxypEJpEJij); + } + } +} + +void MbD::DistxyIeqcJeqc::calc_ppdistxypXIpEJ() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + auto pxpXI = xIeJeIe->pvaluepXI(); + auto pypXI = yIeJeIe->pvaluepXI(); + auto pxpEJ = xIeJeIe->pvaluepEJ(); + auto pypEJ = yIeJeIe->pvaluepEJ(); + auto ppxpXIpEJ = xIeJeIe->ppvaluepXIpEJ(); + auto ppypXIpEJ = yIeJeIe->ppvaluepXIpEJ(); + for (int i = 0; i < 4; i++) + { + auto& ppdistxypXIpEJi = ppdistxypXIpEJ->at(i); + auto& pdistxypXIi = pdistxypXI->at(i); + auto& ppxpXIpEJi = ppxpXIpEJ->at(i); + auto& ppypXIpEJi = ppypXIpEJ->at(i); + auto& pxpXIi = pxpXI->at(i); + auto& pypXIi = pypXI->at(i); + for (int j = 0; j < 4; j++) + { + auto& pdistxypEJj = pdistxypEJ->at(j); + auto& pxpEJj = pxpEJ->at(j); + auto& pypEJj = pypEJ->at(j); + auto term1 = -pdistxypXIi * pdistxypEJj; + auto term2 = ppxpXIpEJi->at(j) * x + ppypXIpEJi->at(j) * y; + auto term3 = pxpXIi * pxpEJj + pypXIi * pypEJj; + auto ppdistxypXIpEJij = (term1 + term2 + term3) / distxy; + ppdistxypXIpEJi->atiput(j, ppdistxypXIpEJij); + } + } +} + +void MbD::DistxyIeqcJeqc::calc_ppdistxypXIpXJ() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + auto pxpXI = xIeJeIe->pvaluepXI(); + auto pypXI = yIeJeIe->pvaluepXI(); + auto pxpXJ = xIeJeIe->pvaluepXJ(); + auto pypXJ = yIeJeIe->pvaluepXJ(); + auto ppxpXIpXJ = xIeJeIe->ppvaluepXIpXJ(); + auto ppypXIpXJ = yIeJeIe->ppvaluepXIpXJ(); + for (int i = 0; i < 4; i++) + { + auto& ppdistxypXIpXJi = ppdistxypXIpXJ->at(i); + auto& pdistxypXIi = pdistxypXI->at(i); + auto& ppxpXIpXJi = ppxpXIpXJ->at(i); + auto& ppypXIpXJi = ppypXIpXJ->at(i); + auto& pxpXIi = pxpXI->at(i); + auto& pypXIi = pypXI->at(i); + for (int j = 0; j < 4; j++) + { + auto& pdistxypXJj = pdistxypXJ->at(j); + auto& pxpXJj = pxpXJ->at(j); + auto& pypXJj = pypXJ->at(j); + auto term1 = -pdistxypXIi * pdistxypXJj; + auto term2 = ppxpXIpXJi->at(j) * x + ppypXIpXJi->at(j) * y; + auto term3 = pxpXIi * pxpXJj + pypXIi * pypXJj; + auto ppdistxypXIpXJij = (term1 + term2 + term3) / distxy; + ppdistxypXIpXJi->atiput(j, ppdistxypXIpXJij); + } + } +} + +void MbD::DistxyIeqcJeqc::calc_ppdistxypXJpEJ() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + auto pxpXJ = xIeJeIe->pvaluepXJ(); + auto pypXJ = yIeJeIe->pvaluepXJ(); + auto pxpEJ = xIeJeIe->pvaluepEJ(); + auto pypEJ = yIeJeIe->pvaluepEJ(); + auto ppxpXJpEJ = xIeJeIe->ppvaluepXJpEJ(); + auto ppypXJpEJ = yIeJeIe->ppvaluepXJpEJ(); + for (int i = 0; i < 4; i++) + { + auto& ppdistxypXJpEJi = ppdistxypXJpEJ->at(i); + auto& pdistxypXJi = pdistxypXJ->at(i); + auto& ppxpXJpEJi = ppxpXJpEJ->at(i); + auto& ppypXJpEJi = ppypXJpEJ->at(i); + auto& pxpXJi = pxpXJ->at(i); + auto& pypXJi = pypXJ->at(i); + for (int j = 0; j < 4; j++) + { + auto& pdistxypEJj = pdistxypEJ->at(j); + auto& pxpEJj = pxpEJ->at(j); + auto& pypEJj = pypEJ->at(j); + auto term1 = -pdistxypXJi * pdistxypEJj; + auto term2 = ppxpXJpEJi->at(j) * x + ppypXJpEJi->at(j) * y; + auto term3 = pxpXJi * pxpEJj + pypXJi * pypEJj; + auto ppdistxypXJpEJij = (term1 + term2 + term3) / distxy; + ppdistxypXJpEJi->atiput(j, ppdistxypXJpEJij); + } + } +} + +void MbD::DistxyIeqcJeqc::calc_ppdistxypXJpXJ() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + auto pxpXJ = xIeJeIe->pvaluepXJ(); + auto pypXJ = yIeJeIe->pvaluepXJ(); + auto ppxpXJpXJ = xIeJeIe->ppvaluepXJpXJ(); + auto ppypXJpXJ = yIeJeIe->ppvaluepXJpXJ(); + for (int i = 0; i < 3; i++) + { + auto& ppdistxypXJpXJi = ppdistxypXJpXJ->at(i); + auto& pdistxypXJi = pdistxypXJ->at(i); + auto& ppxpXJpXJi = ppxpXJpXJ->at(i); + auto& ppypXJpXJi = ppypXJpXJ->at(i); + auto& pxpXJi = pxpXJ->at(i); + auto& pypXJi = pypXJ->at(i); + for (int j = i; j < 3; j++) + { + auto& pdistxypXJj = pdistxypXJ->at(j); + auto& pxpXJj = pxpXJ->at(j); + auto& pypXJj = pypXJ->at(j); + auto term1 = -pdistxypXJi * pdistxypXJj; + auto term2 = ppxpXJpXJi->at(j) * x + ppypXJpXJi->at(j) * y; + auto term3 = pxpXJi * pxpXJj + pypXJi * pypXJj; + auto ppdistxypXJpXJij = (term1 + term2 + term3) / distxy; + ppdistxypXJpXJi->atiput(j, ppdistxypXJpXJij); + if (i < j) ppdistxypXJpXJ->atijput(j, i, ppdistxypXJpXJij); + } + } +} + +void MbD::DistxyIeqcJeqc::calc_pdistxypEJ() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + auto pxpEJ = xIeJeIe->pvaluepEJ(); + auto pypEJ = yIeJeIe->pvaluepEJ(); + for (int i = 0; i < 4; i++) + { + auto term = pxpEJ->at(i) * x + pypEJ->at(i) * y; + pdistxypEJ->atiput(i, term / distxy); + } +} + +void MbD::DistxyIeqcJeqc::calc_pdistxypXJ() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + auto pxpXJ = xIeJeIe->pvaluepXJ(); + auto pypXJ = yIeJeIe->pvaluepXJ(); + for (int i = 0; i < 3; i++) + { + auto term = pxpXJ->at(i) * x + pypXJ->at(i) * y; + pdistxypXJ->atiput(i, term / distxy); + } +} + +void MbD::DistxyIeqcJeqc::calcPostDynCorrectorIteration() +{ + DistxyIeqcJec::calcPostDynCorrectorIteration(); + this->calc_pdistxypXJ(); + this->calc_pdistxypEJ(); + this->calc_ppdistxypXIpXJ(); + this->calc_ppdistxypXIpEJ(); + this->calc_ppdistxypEIpXJ(); + this->calc_ppdistxypEIpEJ(); + this->calc_ppdistxypXJpXJ(); + this->calc_ppdistxypXJpEJ(); + this->calc_ppdistxypEJpEJ(); +} + +void MbD::DistxyIeqcJeqc::init_xyIeJeIe() +{ + xIeJeIe = CREATE::With(frmI, frmJ, 0); + yIeJeIe = CREATE::With(frmI, frmJ, 1); +} + +void MbD::DistxyIeqcJeqc::initialize() +{ + DistxyIeqcJec::initialize(); + pdistxypXJ = std::make_shared>(3); + pdistxypEJ = std::make_shared>(4); + ppdistxypXIpXJ = std::make_shared>(3, 3); + ppdistxypXIpEJ = std::make_shared>(3, 4); + ppdistxypEIpXJ = std::make_shared>(4, 3); + ppdistxypEIpEJ = std::make_shared>(4, 4); + ppdistxypXJpXJ = std::make_shared>(3, 3); + ppdistxypXJpEJ = std::make_shared>(3, 4); + ppdistxypEJpEJ = std::make_shared>(4, 4); +} + +FMatDsptr MbD::DistxyIeqcJeqc::ppvaluepEIpEJ() +{ + return ppdistxypEIpEJ; +} + +FMatDsptr MbD::DistxyIeqcJeqc::ppvaluepEIpXJ() +{ + return ppdistxypEIpXJ; +} + +FMatDsptr MbD::DistxyIeqcJeqc::ppvaluepEJpEJ() +{ + return ppdistxypEJpEJ; +} + +FMatDsptr MbD::DistxyIeqcJeqc::ppvaluepXIpEJ() +{ + return ppdistxypXIpEJ; +} + +FMatDsptr MbD::DistxyIeqcJeqc::ppvaluepXIpXJ() +{ + return ppdistxypXIpXJ; +} + +FMatDsptr MbD::DistxyIeqcJeqc::ppvaluepXJpEJ() +{ + return ppdistxypXJpEJ; +} + +FMatDsptr MbD::DistxyIeqcJeqc::ppvaluepXJpXJ() +{ + return ppdistxypXJpXJ; +} + +FRowDsptr MbD::DistxyIeqcJeqc::pvaluepEJ() +{ + return pdistxypEJ; +} + +FRowDsptr MbD::DistxyIeqcJeqc::pvaluepXJ() +{ + return pdistxypXJ; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqcJeqc.h b/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqcJeqc.h new file mode 100644 index 000000000000..ca8e13bc2766 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqcJeqc.h @@ -0,0 +1,49 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DistxyIeqcJec.h" + +namespace MbD { + class DistxyIeqcJeqc : public DistxyIeqcJec + { + //pdistxypXJ pdistxypEJ ppdistxypXIpXJ ppdistxypXIpEJ ppdistxypEIpXJ ppdistxypEIpEJ ppdistxypXJpXJ ppdistxypXJpEJ ppdistxypEJpEJ + public: + DistxyIeqcJeqc(); + DistxyIeqcJeqc(EndFrmsptr frmi, EndFrmsptr frmj); + + void calc_ppdistxypEIpEJ(); + void calc_ppdistxypEIpXJ(); + void calc_ppdistxypEJpEJ(); + void calc_ppdistxypXIpEJ(); + void calc_ppdistxypXIpXJ(); + void calc_ppdistxypXJpEJ(); + void calc_ppdistxypXJpXJ(); + void calc_pdistxypEJ(); + void calc_pdistxypXJ(); + void calcPostDynCorrectorIteration() override; + void init_xyIeJeIe() override; + void initialize() override; + FMatDsptr ppvaluepEIpEJ() override; + FMatDsptr ppvaluepEIpXJ() override; + FMatDsptr ppvaluepEJpEJ() override; + FMatDsptr ppvaluepXIpEJ() override; + FMatDsptr ppvaluepXIpXJ() override; + FMatDsptr ppvaluepXJpEJ() override; + FMatDsptr ppvaluepXJpXJ() override; + FRowDsptr pvaluepEJ() override; + FRowDsptr pvaluepXJ() override; + + + FRowDsptr pdistxypXJ, pdistxypEJ; + FMatDsptr ppdistxypXIpXJ, ppdistxypXIpEJ, ppdistxypEIpXJ, ppdistxypEIpEJ, ppdistxypXJpXJ, ppdistxypXJpEJ, ppdistxypEJpEJ; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqctJeqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqctJeqc.cpp new file mode 100644 index 000000000000..1fe5c1479a04 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqctJeqc.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "DistxyIeqctJeqc.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqctJeqc.h b/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqctJeqc.h new file mode 100644 index 000000000000..3fd9d53dbbeb --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/DistxyIeqctJeqc.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DistxyIeqcJeqc.h" + +namespace MbD { + class DistxyIeqctJeqc : + public DistxyIeqcJeqc + { + //pdistxypt ppdistxypXIpt ppdistxypEIpt ppdistxypXJpt ppdistxypEJpt ppdistxyptpt + public: + //ToDo: add member functions. + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/EigenDecomposition.cpp b/src/3rdParty/OndselSolver/OndselSolver/EigenDecomposition.cpp new file mode 100644 index 000000000000..2e67d641c351 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EigenDecomposition.cpp @@ -0,0 +1 @@ +#include "EigenDecomposition.h" diff --git a/src/3rdParty/OndselSolver/OndselSolver/EigenDecomposition.h b/src/3rdParty/OndselSolver/OndselSolver/EigenDecomposition.h new file mode 100644 index 000000000000..102ada2fad50 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EigenDecomposition.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "MatrixSolver.h" + +namespace MbD { + class EigenDecomposition : public MatrixSolver + { + + // + public: + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/EndFramec.cpp b/src/3rdParty/OndselSolver/OndselSolver/EndFramec.cpp new file mode 100644 index 000000000000..208039f765d5 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EndFramec.cpp @@ -0,0 +1,109 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include + +#include "EndFramec.h" +#include "MarkerFrame.h" +#include "EndFrameqc.h" +#include "CREATE.h" + +using namespace MbD; + +EndFramec::EndFramec() { +} + +EndFramec::EndFramec(const char* str) : CartesianFrame(str) { +} + +FMatDsptr MbD::EndFramec::aAeO() +{ + return aAOe->transpose(); +} + +System* EndFramec::root() +{ + return markerFrame->root(); +} + +void EndFramec::initialize() +{ +} + +void EndFramec::setMarkerFrame(MarkerFrame* markerFrm) +{ + markerFrame = markerFrm; +} + +MarkerFrame* EndFramec::getMarkerFrame() +{ + return markerFrame; +} + +void EndFramec::initializeLocally() +{ +} + +void EndFramec::initEndFrameqct() +{ + assert(false); +} + +void MbD::EndFramec::initEndFrameqct2() +{ + assert(false); +} + +void EndFramec::calcPostDynCorrectorIteration() +{ + rOeO = markerFrame->rOmO; + aAOe = markerFrame->aAOm; +} + +FColDsptr EndFramec::aAjOe(int j) +{ + return aAOe->column(j); +} + +double EndFramec::riOeO(int i) +{ + return rOeO->at(i); +} + +FColDsptr EndFramec::rmeO() +{ + return rOeO->minusFullColumn(markerFrame->rOmO); +} + +FColDsptr EndFramec::rpep() +{ + return FColDsptr(); +} + +FColFMatDsptr EndFramec::pAOppE() +{ + return FColFMatDsptr(); +} + +FMatDsptr EndFramec::aBOp() +{ + return FMatDsptr(); +} + +std::shared_ptr MbD::EndFramec::newCopyEndFrameqc() +{ + auto frmIeqc = CREATE::With(); + markerFrame->addEndFrame(frmIeqc); + return frmIeqc; +} + +bool MbD::EndFramec::isEndFrameqc() +{ + return false; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/EndFramec.h b/src/3rdParty/OndselSolver/OndselSolver/EndFramec.h new file mode 100644 index 000000000000..d370048712d4 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EndFramec.h @@ -0,0 +1,52 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include + +#include "CartesianFrame.h" +#include "FullColumn.h" //FColDsptr is defined +#include "FullMatrix.h" //FMatDsptr is defined + +namespace MbD { + class MarkerFrame; + class EndFrameqc; + + class EndFramec : public CartesianFrame + { + //markerFrame rOeO aAOe + public: + EndFramec(); + EndFramec(const char* str); + + FMatDsptr aAeO(); + System* root() override; + void initialize() override; + void setMarkerFrame(MarkerFrame* markerFrm); + MarkerFrame* getMarkerFrame(); + void initializeLocally() override; + virtual void initEndFrameqct(); + virtual void initEndFrameqct2(); + void calcPostDynCorrectorIteration() override; + FColDsptr aAjOe(int j); + double riOeO(int i); + virtual FColDsptr rmeO(); + virtual FColDsptr rpep(); + virtual FColFMatDsptr pAOppE(); + virtual FMatDsptr aBOp(); + std::shared_ptr newCopyEndFrameqc(); + virtual bool isEndFrameqc(); + + MarkerFrame* markerFrame; //Use raw pointer when pointing backwards. + FColDsptr rOeO = std::make_shared>(3); + FMatDsptr aAOe = FullMatrix::identitysptr(3); + }; + //using EndFrmsptr = std::shared_ptr; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/EndFrameqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/EndFrameqc.cpp new file mode 100644 index 000000000000..f938f1224833 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EndFrameqc.cpp @@ -0,0 +1,162 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "EndFrameqc.h" +#include "EndFrameqct.h" +#include "Variable.h" +#include "MarkerFrame.h" +#include "CREATE.h" +#include "EndFrameqct2.h" + +using namespace MbD; + +EndFrameqc::EndFrameqc() { +} + +EndFrameqc::EndFrameqc(const char* str) : EndFramec(str) { +} + +void EndFrameqc::initialize() +{ + prOeOpE = std::make_shared>(3, 4); + pprOeOpEpE = std::make_shared>(4, 4); + pAOepE = std::make_shared>(4); + ppAOepEpE = std::make_shared>(4, 4); +} + +void EndFrameqc::initializeGlobally() +{ + pprOeOpEpE = markerFrame->pprOmOpEpE; + ppAOepEpE = markerFrame->ppAOmpEpE; +} + +void EndFrameqc::initEndFrameqct() +{ + endFrameqct = CREATE::With(this->name.data()); + endFrameqct->prOeOpE = prOeOpE; + endFrameqct->pprOeOpEpE = pprOeOpEpE; + endFrameqct->pAOepE = pAOepE; + endFrameqct->ppAOepEpE = ppAOepEpE; + endFrameqct->setMarkerFrame(markerFrame); +} + +void MbD::EndFrameqc::initEndFrameqct2() +{ + endFrameqct = CREATE::With(this->name.data()); + endFrameqct->prOeOpE = prOeOpE; + endFrameqct->pprOeOpEpE = pprOeOpEpE; + endFrameqct->pAOepE = pAOepE; + endFrameqct->ppAOepEpE = ppAOepEpE; + endFrameqct->setMarkerFrame(markerFrame); +} + +FMatFColDsptr EndFrameqc::ppAjOepEpE(int jj) +{ + auto answer = std::make_shared>(4, 4); + for (int i = 0; i < 4; i++) { + auto& answeri = answer->at(i); + auto& ppAOepEipE = ppAOepEpE->at(i); + for (int j = i; j < 4; j++) { + answeri->at(j) = ppAOepEipE->at(j)->column(jj); + } + } + answer->symLowerWithUpper(); + return answer; +} + +void EndFrameqc::calcPostDynCorrectorIteration() +{ + EndFramec::calcPostDynCorrectorIteration(); + prOeOpE = markerFrame->prOmOpE; + pAOepE = markerFrame->pAOmpE; +} + +FMatDsptr EndFrameqc::pAjOepET(int axis) +{ + auto answer = std::make_shared>(4, 3); + for (int i = 0; i < 4; i++) { + auto& answeri = answer->at(i); + auto& pAOepEi = pAOepE->at(i); + for (int j = 0; j < 3; j++) { + auto& answerij = pAOepEi->at(j)->at(axis); + answeri->at(j) = answerij; + } + } + return answer; +} + +FMatDsptr EndFrameqc::ppriOeOpEpE(int ii) +{ + auto answer = std::make_shared>(4, 4); + for (int i = 0; i < 4; i++) { + auto& answeri = answer->at(i); + auto& pprOeOpEipE = pprOeOpEpE->at(i); + for (int j = 0; j < 4; j++) { + auto& answerij = pprOeOpEipE->at(j)->at(ii); + answeri->at(j) = answerij; + } + } + return answer; +} + +int EndFrameqc::iqX() +{ + return markerFrame->iqX(); +} + +int EndFrameqc::iqE() +{ + return markerFrame->iqE(); +} + +FRowDsptr EndFrameqc::priOeOpE(int i) +{ + return prOeOpE->at(i); +} + +FColDsptr EndFrameqc::qXdot() +{ + return markerFrame->qXdot(); +} + +std::shared_ptr> EndFrameqc::qEdot() +{ + return markerFrame->qEdot(); +} + +FColDsptr EndFrameqc::qXddot() +{ + return markerFrame->qXddot(); +} + +FColDsptr EndFrameqc::qEddot() +{ + return markerFrame->qEddot(); +} + +FColDsptr EndFrameqc::rpep() +{ + return markerFrame->rpmp; +} + +FColFMatDsptr EndFrameqc::pAOppE() +{ + return markerFrame->pAOppE(); +} + +FMatDsptr EndFrameqc::aBOp() +{ + return markerFrame->aBOp(); +} + +bool MbD::EndFrameqc::isEndFrameqc() +{ + return true; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/EndFrameqc.h b/src/3rdParty/OndselSolver/OndselSolver/EndFrameqc.h new file mode 100644 index 000000000000..c85ad8d7c435 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EndFrameqc.h @@ -0,0 +1,52 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "EndFramec.h" +#include "Symbolic.h" +#include "EulerParametersDot.h" +#include "EulerParametersDDot.h" + +namespace MbD { + class EndFrameqct; + + class EndFrameqc : public EndFramec + { + //prOeOpE pprOeOpEpE pAOepE ppAOepEpE + public: + EndFrameqc(); + EndFrameqc(const char* str); + void initialize() override; + void initializeGlobally() override; + void initEndFrameqct() override; + void initEndFrameqct2() override; + FMatFColDsptr ppAjOepEpE(int j); + void calcPostDynCorrectorIteration() override; + FMatDsptr pAjOepET(int j); + FMatDsptr ppriOeOpEpE(int i); + int iqX(); + int iqE(); + FRowDsptr priOeOpE(int i); + FColDsptr qXdot(); + std::shared_ptr> qEdot(); + FColDsptr qXddot(); + FColDsptr qEddot(); + FColDsptr rpep() override; + FColFMatDsptr pAOppE() override; + FMatDsptr aBOp() override; + bool isEndFrameqc() override; + + FMatDsptr prOeOpE; + FMatFColDsptr pprOeOpEpE; + FColFMatDsptr pAOepE; + FMatFMatDsptr ppAOepEpE; + std::shared_ptr endFrameqct; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/EndFrameqct.cpp b/src/3rdParty/OndselSolver/OndselSolver/EndFrameqct.cpp new file mode 100644 index 000000000000..efd7b34dc2bc --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EndFrameqct.cpp @@ -0,0 +1,368 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "EndFrameqct.h" +#include "MarkerFrame.h" +#include "System.h" +#include "Symbolic.h" +#include "Time.h" +#include "EulerParameters.h" +#include "CREATE.h" +#include "EulerAngleszxz.h" +#include "EulerAngleszxzDot.h" +#include "EulerAngleszxzDDot.h" + +using namespace MbD; + +EndFrameqct::EndFrameqct() { +} + +EndFrameqct::EndFrameqct(const char* str) : EndFrameqc(str) { +} + +void EndFrameqct::initialize() +{ + EndFrameqc::initialize(); + rmem = std::make_shared>(3); + prmempt = std::make_shared>(3); + pprmemptpt = std::make_shared>(3); + aAme = FullMatrix::identitysptr(3); + pAmept = std::make_shared>(3, 3); + ppAmeptpt = std::make_shared>(3, 3); + pprOeOpEpt = std::make_shared>(3, 4); + pprOeOptpt = std::make_shared>(3); + ppAOepEpt = std::make_shared>(4); + ppAOeptpt = std::make_shared>(3, 3); +} + +void EndFrameqct::initializeLocally() +{ + if (!rmemBlks) { + rmem->zeroSelf(); + prmempt->zeroSelf(); + pprmemptpt->zeroSelf(); + } + if (!phiThePsiBlks) { + aAme->identity(); + pAmept->zeroSelf(); + ppAmeptpt->zeroSelf(); + } +} + +void EndFrameqct::initializeGlobally() +{ + if (rmemBlks) { + initprmemptBlks(); + initpprmemptptBlks(); + } + if (phiThePsiBlks) { + initpPhiThePsiptBlks(); + initppPhiThePsiptptBlks(); + } +} + +void EndFrameqct::initprmemptBlks() +{ + auto& mbdTime = this->root()->time; + prmemptBlks = std::make_shared< FullColumn>(3); + for (int i = 0; i < 3; i++) { + auto& disp = rmemBlks->at(i); + auto var = disp->differentiateWRT(mbdTime); + auto vel = var->simplified(var); + prmemptBlks->at(i) = vel; + } +} + +void EndFrameqct::initpprmemptptBlks() +{ + auto& mbdTime = this->root()->time; + pprmemptptBlks = std::make_shared< FullColumn>(3); + for (int i = 0; i < 3; i++) { + auto& vel = prmemptBlks->at(i); + auto var = vel->differentiateWRT(mbdTime); + auto acc = var->simplified(var); + pprmemptptBlks->at(i) = acc; + } +} + +void EndFrameqct::initpPhiThePsiptBlks() +{ + auto& mbdTime = this->root()->time; + pPhiThePsiptBlks = std::make_shared< FullColumn>(3); + for (int i = 0; i < 3; i++) { + auto& angle = phiThePsiBlks->at(i); + auto var = angle->differentiateWRT(mbdTime); + //std::cout << "var " << *var << std::endl; + auto vel = var->simplified(var); + //std::cout << "vel " << *vel << std::endl; + pPhiThePsiptBlks->at(i) = vel; + } +} + +void EndFrameqct::initppPhiThePsiptptBlks() +{ + auto& mbdTime = this->root()->time; + ppPhiThePsiptptBlks = std::make_shared< FullColumn>(3); + for (int i = 0; i < 3; i++) { + auto& angleVel = pPhiThePsiptBlks->at(i); + auto var = angleVel->differentiateWRT(mbdTime); + auto angleAcc = var->simplified(var); + ppPhiThePsiptptBlks->at(i) = angleAcc; + } +} + +void EndFrameqct::postInput() +{ + this->evalrmem(); + this->evalAme(); + Item::postInput(); +} + +void EndFrameqct::calcPostDynCorrectorIteration() +{ + auto& rOmO = markerFrame->rOmO; + auto& aAOm = markerFrame->aAOm; + rOeO = rOmO->plusFullColumn(aAOm->timesFullColumn(rmem)); + auto& prOmOpE = markerFrame->prOmOpE; + auto& pAOmpE = markerFrame->pAOmpE; + for (int i = 0; i < 3; i++) + { + auto& prOmOpEi = prOmOpE->at(i); + auto& prOeOpEi = prOeOpE->at(i); + for (int j = 0; j < 4; j++) + { + auto prOeOpEij = prOmOpEi->at(j) + pAOmpE->at(j)->at(i)->timesFullColumn(rmem); + prOeOpEi->at(j) = prOeOpEij; + } + } + auto rpep = markerFrame->rpmp->plusFullColumn(markerFrame->aApm->timesFullColumn(rmem)); + pprOeOpEpE = EulerParameters::ppApEpEtimesColumn(rpep); + aAOe = aAOm->timesFullMatrix(aAme); + for (int i = 0; i < 4; i++) + { + pAOepE->at(i) = pAOmpE->at(i)->timesFullMatrix(aAme); + } + auto aApe = markerFrame->aApm->timesFullMatrix(aAme); + ppAOepEpE = EulerParameters::ppApEpEtimesMatrix(aApe); +} + +void EndFrameqct::prePosIC() +{ + time = this->root()->mbdTimeValue(); + this->evalrmem(); + this->evalAme(); + EndFrameqc::prePosIC(); +} + +void EndFrameqct::evalrmem() +{ + if (rmemBlks) { + for (int i = 0; i < 3; i++) + { + auto& expression = rmemBlks->at(i); + double value = expression->getValue(); + rmem->at(i) = value; + } + } +} + +void EndFrameqct::evalAme() +{ + if (phiThePsiBlks) { + auto phiThePsi = CREATE>::With(); + for (int i = 0; i < 3; i++) + { + auto& expression = phiThePsiBlks->at(i); + auto value = expression->getValue(); + phiThePsi->at(i) = value; + } + phiThePsi->calc(); + aAme = phiThePsi->aA; + } +} + +void EndFrameqct::preVelIC() +{ + time = this->root()->mbdTimeValue(); + this->evalrmem(); + this->evalAme(); + Item::preVelIC(); + this->evalprmempt(); + this->evalpAmept(); + auto& aAOm = markerFrame->aAOm; + prOeOpt = aAOm->timesFullColumn(prmempt); + pAOept = aAOm->timesFullMatrix(pAmept); +} + +void EndFrameqct::postVelIC() +{ + auto& pAOmpE = markerFrame->pAOmpE; + for (int i = 0; i < 3; i++) + { + auto& pprOeOpEpti = pprOeOpEpt->at(i); + for (int j = 0; j < 4; j++) + { + auto pprOeOpEptij = pAOmpE->at(j)->at(i)->dot(prmempt); + pprOeOpEpti->atiput(j, pprOeOpEptij); + } + } + for (int i = 0; i < 4; i++) + { + ppAOepEpt->atiput(i, pAOmpE->at(i)->timesFullMatrix(pAmept)); + } +} + +FColDsptr EndFrameqct::pAjOept(int j) +{ + return pAOept->column(j); +} + +FMatDsptr EndFrameqct::ppAjOepETpt(int jj) +{ + auto answer = std::make_shared>(4, 3); + for (int i = 0; i < 4; i++) + { + auto& answeri = answer->at(i); + auto& ppAOepEipt = ppAOepEpt->at(i); + for (int j = 0; j < 3; j++) + { + auto& answerij = ppAOepEipt->at(j)->at(jj); + answeri->atiput(j, answerij); + } + } + return answer; +} + +FColDsptr EndFrameqct::ppAjOeptpt(int j) +{ + return ppAOeptpt->column(j); +} + +double EndFrameqct::priOeOpt(int i) +{ + return prOeOpt->at(i); +} + +FRowDsptr EndFrameqct::ppriOeOpEpt(int i) +{ + return pprOeOpEpt->at(i); +} + +double EndFrameqct::ppriOeOptpt(int i) +{ + return pprOeOptpt->at(i); +} + +void EndFrameqct::evalprmempt() +{ + if (rmemBlks) { + for (int i = 0; i < 3; i++) + { + auto& derivative = prmemptBlks->at(i); + auto value = derivative->getValue(); + prmempt->at(i) = value; + } + } +} + +void EndFrameqct::evalpAmept() +{ + if (phiThePsiBlks) { + auto phiThePsi = CREATE>::With(); + auto phiThePsiDot = CREATE>::With(); + phiThePsiDot->phiThePsi = phiThePsi; + for (int i = 0; i < 3; i++) + { + auto& expression = phiThePsiBlks->at(i); + auto& derivative = pPhiThePsiptBlks->at(i); + auto value = expression->getValue(); + auto valueDot = derivative->getValue(); + phiThePsi->at(i) = value; + phiThePsiDot->at(i) = valueDot; + } + phiThePsi->calc(); + phiThePsiDot->calc(); + pAmept = phiThePsiDot->aAdot; + } +} + +void EndFrameqct::evalpprmemptpt() +{ + if (rmemBlks) { + for (int i = 0; i < 3; i++) + { + auto& secondDerivative = pprmemptptBlks->at(i); + auto value = secondDerivative->getValue(); + pprmemptpt->atiput(i, value); + } + } +} + +void EndFrameqct::evalppAmeptpt() +{ + if (phiThePsiBlks) { + auto phiThePsi = CREATE>::With(); + auto phiThePsiDot = CREATE>::With(); + phiThePsiDot->phiThePsi = phiThePsi; + auto phiThePsiDDot = CREATE>::With(); + phiThePsiDDot->phiThePsiDot = phiThePsiDot; + for (int i = 0; i < 3; i++) + { + auto& expression = phiThePsiBlks->at(i); + auto& derivative = pPhiThePsiptBlks->at(i); + auto& secondDerivative = ppPhiThePsiptptBlks->at(i); + auto value = expression->getValue(); + auto valueDot = derivative->getValue(); + auto valueDDot = secondDerivative->getValue(); + phiThePsi->atiput(i, value); + phiThePsiDot->atiput(i, valueDot); + phiThePsiDDot->atiput(i, valueDDot); + } + phiThePsi->calc(); + phiThePsiDot->calc(); + phiThePsiDDot->calc(); + ppAmeptpt = phiThePsiDDot->aAddot; + } +} + +FColDsptr EndFrameqct::rmeO() +{ + return markerFrame->aAOm->timesFullColumn(rmem); +} + +FColDsptr EndFrameqct::rpep() +{ + auto& rpmp = markerFrame->rpmp; + auto& aApm = markerFrame->aApm; + auto rpep = rpmp->plusFullColumn(aApm->timesFullColumn(rmem)); + return rpep; +} + +void EndFrameqct::preAccIC() +{ + time = this->root()->mbdTimeValue(); + this->evalrmem(); + this->evalAme(); + Item::preVelIC(); + this->evalprmempt(); + this->evalpAmept(); + auto& aAOm = markerFrame->aAOm; + prOeOpt = aAOm->timesFullColumn(prmempt); + pAOept = aAOm->timesFullMatrix(pAmept); + Item::preAccIC(); + this->evalpprmemptpt(); + this->evalppAmeptpt(); + aAOm = markerFrame->aAOm; + pprOeOptpt = aAOm->timesFullColumn(pprmemptpt); + ppAOeptpt = aAOm->timesFullMatrix(ppAmeptpt); +} + +bool MbD::EndFrameqct::isEndFrameqc() +{ + return false; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/EndFrameqct.h b/src/3rdParty/OndselSolver/OndselSolver/EndFrameqct.h new file mode 100644 index 000000000000..98966ab84d33 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EndFrameqct.h @@ -0,0 +1,63 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "EndFrameqc.h" +//#include "Symbolic.h" + +namespace MbD { + class Time; + class Symbolic; + + class EndFrameqct : public EndFrameqc + { + //time rmemBlks prmemptBlks pprmemptptBlks phiThePsiBlks pPhiThePsiptBlks ppPhiThePsiptptBlks + //rmem prmempt pprmemptpt aAme pAmept ppAmeptpt prOeOpt pprOeOpEpt pprOeOptpt pAOept ppAOepEpt ppAOeptpt + public: + EndFrameqct(); + EndFrameqct(const char* str); + void initialize() override; + void initializeLocally() override; + void initializeGlobally() override; + void initprmemptBlks(); + void initpprmemptptBlks(); + virtual void initpPhiThePsiptBlks(); + virtual void initppPhiThePsiptptBlks(); + void postInput() override; + void calcPostDynCorrectorIteration() override; + void prePosIC() override; + void evalrmem(); + virtual void evalAme(); + void preVelIC() override; + void postVelIC() override; + FColDsptr pAjOept(int j); + FMatDsptr ppAjOepETpt(int j); + FColDsptr ppAjOeptpt(int j); + double time = 0.0; + double priOeOpt(int i); + FRowDsptr ppriOeOpEpt(int i); + double ppriOeOptpt(int i); + void evalprmempt(); + virtual void evalpAmept(); + void evalpprmemptpt(); + virtual void evalppAmeptpt(); + FColDsptr rmeO() override; + FColDsptr rpep() override; + void preAccIC() override; + bool isEndFrameqc() override; + + std::shared_ptr> rmemBlks, prmemptBlks, pprmemptptBlks; + std::shared_ptr> phiThePsiBlks, pPhiThePsiptBlks, ppPhiThePsiptptBlks; + FColDsptr rmem, prmempt, pprmemptpt, prOeOpt, pprOeOptpt; + FMatDsptr aAme, pAmept, ppAmeptpt, pAOept, ppAOeptpt; + FMatDsptr pprOeOpEpt; + FColFMatDsptr ppAOepEpt; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/EndFrameqct2.cpp b/src/3rdParty/OndselSolver/OndselSolver/EndFrameqct2.cpp new file mode 100644 index 000000000000..3f9a86bbf653 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EndFrameqct2.cpp @@ -0,0 +1,63 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "EndFrameqct2.h" +#include "MarkerFrame.h" +#include "System.h" +#include "Symbolic.h" +#include "Time.h" +#include "EulerParameters.h" +#include "CREATE.h" +#include "EulerAngleszxz.h" +#include "EulerAngleszxzDot.h" +#include "EulerAngleszxzDDot.h" + +using namespace MbD; + +EndFrameqct2::EndFrameqct2() { +} + +EndFrameqct2::EndFrameqct2(const char* str) : EndFrameqct(str) { +} + +void EndFrameqct2::initpPhiThePsiptBlks() +{ + auto& mbdTime = this->root()->time; + auto eulerAngles = std::static_pointer_cast>(phiThePsiBlks); + //pPhiThePsiptBlks = differentiateWRT(*eulerAngles, mbdTime); + pPhiThePsiptBlks = eulerAngles->differentiateWRT(mbdTime); +} + +void EndFrameqct2::initppPhiThePsiptptBlks() +{ + auto& mbdTime = this->root()->time; + auto eulerAnglesDot = std::static_pointer_cast>(pPhiThePsiptBlks); + ppPhiThePsiptptBlks = eulerAnglesDot->differentiateWRT(mbdTime); +} + +void EndFrameqct2::evalAme() +{ + auto eulerAngles = std::static_pointer_cast>(phiThePsiBlks); + eulerAngles->calc(); + aAme = eulerAngles->aA; +} + +void EndFrameqct2::evalpAmept() +{ + auto eulerAnglesDot = std::static_pointer_cast>(pPhiThePsiptBlks); + eulerAnglesDot->calc(); + pAmept = eulerAnglesDot->aAdot; + +} + +void EndFrameqct2::evalppAmeptpt() +{ + auto eulerAnglesDDot = std::static_pointer_cast>(ppPhiThePsiptptBlks); + eulerAnglesDDot->calc(); + ppAmeptpt = eulerAnglesDDot->aAddot; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/EndFrameqct2.h b/src/3rdParty/OndselSolver/OndselSolver/EndFrameqct2.h new file mode 100644 index 000000000000..53c9cd151d70 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EndFrameqct2.h @@ -0,0 +1,34 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "EndFrameqct.h" +#include "Symbolic.h" +#include "EulerAngles.h" +#include "EulerAnglesDot.h" +#include "EulerAnglesDDot.h" + +namespace MbD { + class Time; + + class EndFrameqct2 : public EndFrameqct + { + // + public: + EndFrameqct2(); + EndFrameqct2(const char* str); + void initpPhiThePsiptBlks() override; + void initppPhiThePsiptptBlks() override; + void evalAme() override; + void evalpAmept() override; + void evalppAmeptpt() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerAngles.cpp b/src/3rdParty/OndselSolver/OndselSolver/EulerAngles.cpp new file mode 100644 index 000000000000..e2a88f9d1bf1 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerAngles.cpp @@ -0,0 +1,9 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "EulerAngles.h" diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerAngles.h b/src/3rdParty/OndselSolver/OndselSolver/EulerAngles.h new file mode 100644 index 000000000000..65e05b47067e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerAngles.h @@ -0,0 +1,115 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include + +#include "EulerArray.h" +#include "FullMatrix.h" +#include "EulerAnglesDot.h" +#include "Symbolic.h" + +namespace MbD { + //template + //class EulerAnglesDot; + + template + class EulerAngles : public EulerArray + { + //rotOrder cA aA + //Used for user input. + public: + EulerAngles() : EulerArray(3) {} + EulerAngles(std::initializer_list list) : EulerArray{ list } {} + void initialize() override; + void calc() override; + std::shared_ptr> differentiateWRT(T var); + void setRotOrder(int i, int j, int k); + + std::shared_ptr> rotOrder; + FColFMatDsptr cA; + FMatDsptr aA; + + }; + template + inline void EulerAngles::initialize() + { + assert(false); + } + template<> + inline void EulerAngles::calc() + { + cA = std::make_shared>(3); + for (int i = 0; i < 3; i++) + { + auto axis = rotOrder->at(i); + auto angle = this->at(i)->getValue(); + if (axis == 1) { + cA->atiput(i, FullMatrix::rotatex(angle)); + } + else if (axis == 2) { + cA->atiput(i, FullMatrix::rotatey(angle)); + } + else if (axis == 3) { + cA->atiput(i, FullMatrix::rotatez(angle)); + } + else { + throw std::runtime_error("Euler angle rotation order must be any permutation of 1,2,3 without consecutive repeats."); + } + } + aA = cA->at(0)->timesFullMatrix(cA->at(1)->timesFullMatrix(cA->at(2))); + } + template<> + inline void EulerAngles::calc() + { + cA = std::make_shared>(3); + for (int i = 0; i < 3; i++) + { + auto axis = rotOrder->at(i); + auto angle = this->at(i); + if (axis == 1) { + cA->atiput(i, FullMatrix::rotatex(angle)); + } + else if (axis == 2) { + cA->atiput(i, FullMatrix::rotatey(angle)); + } + else if (axis == 3) { + cA->atiput(i, FullMatrix::rotatez(angle)); + } + else { + throw std::runtime_error("Euler angle rotation order must be any permutation of 1,2,3 without consecutive repeats."); + } + } + aA = cA->at(0)->timesFullMatrix(cA->at(1)->timesFullMatrix(cA->at(2))); + } + template + inline void EulerAngles::calc() + { + assert(false); + } + template + inline std::shared_ptr> EulerAngles::differentiateWRT(T var) + { + auto derivatives = std::make_shared>(); + std::transform(this->begin(), this->end(), derivatives->begin(), + [var](T term) { return term->differentiateWRT(var); } + ); + derivatives->aEulerAngles = this; + return derivatives; + } + template + inline void EulerAngles::setRotOrder(int i, int j, int k) + { + rotOrder = std::make_shared>(3); + rotOrder->at(0) = i; + rotOrder->at(1) = j; + rotOrder->at(2) = k; + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerAnglesDDot.cpp b/src/3rdParty/OndselSolver/OndselSolver/EulerAnglesDDot.cpp new file mode 100644 index 000000000000..e1c16b664dac --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerAnglesDDot.cpp @@ -0,0 +1,9 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "EulerAnglesDDot.h" diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerAnglesDDot.h b/src/3rdParty/OndselSolver/OndselSolver/EulerAnglesDDot.h new file mode 100644 index 000000000000..43f47bec726c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerAnglesDDot.h @@ -0,0 +1,93 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "EulerArray.h" +#include "FullMatrix.h" + +namespace MbD { + template + class EulerAngles; + template + class EulerAnglesDot; + + template + class EulerAnglesDDot : public EulerArray + { + //aEulerAnglesDot cAddot aAddot alpF alpf + public: + EulerAnglesDDot() : EulerArray(3) {} + void calc() override; + + EulerAnglesDot* aEulerAnglesDot; //Use raw pointer to point backwards + FColFMatDsptr cAddot; + FMatDsptr aAddot; + FColDsptr alpF, alpf; + void aEulerAngles(EulerAngles* eulerAngles); + }; + template + inline void EulerAnglesDDot::calc() + { + aEulerAnglesDot->calc(); + auto aEulerAngles = aEulerAnglesDot->aEulerAngles; + auto rotOrder = aEulerAngles->rotOrder; + auto cA = aEulerAngles->cA; + auto cAdot = aEulerAnglesDot->cAdot; + cAddot = std::make_shared>(3); + for (int i = 0; i < 3; i++) + { + auto axis = rotOrder->at(i); + auto angle = aEulerAngles->at(i)->getValue(); + auto angleDot = aEulerAnglesDot->at(i)->getValue(); + auto angleDDot = this->at(i)->getValue(); + if (axis == 1) { + cAddot->atiput(i, FullMatrix::rotatexrotDotrotDDot(angle, angleDot, angleDDot)); + } + else if (axis == 2) { + cAddot->atiput(i, FullMatrix::rotateyrotDotrotDDot(angle, angleDot, angleDDot)); + } + else if (axis == 3) { + cAddot->atiput(i, FullMatrix::rotatezrotDotrotDDot(angle, angleDot, angleDDot)); + } + else { + throw std::runtime_error("Euler angle rotation order must be any permutation of 1,2,3 without consecutive repeats."); + } + } + auto phiA = cA->at(0); + auto theA = cA->at(1); + auto psiA = cA->at(2); + auto phiAdot = cAdot->at(0); + auto theAdot = cAdot->at(1); + auto psiAdot = cAdot->at(2); + auto phiAddot = cAddot->at(0); + auto theAddot = cAddot->at(1); + auto psiAddot = cAddot->at(2); + + auto term = phiAddot->timesFullMatrix(theA->timesFullMatrix(psiA)); + auto term1 = phiAdot->timesFullMatrix(theAdot->timesFullMatrix(psiA)); + auto term2 = phiAdot->timesFullMatrix(theA->timesFullMatrix(psiAdot)); + auto term3 = phiAdot->timesFullMatrix(theAdot->timesFullMatrix(psiA)); + auto term4 = phiA->timesFullMatrix(theAddot->timesFullMatrix(psiA)); + auto term5 = phiA->timesFullMatrix(theAdot->timesFullMatrix(psiAdot)); + auto term6 = phiAdot->timesFullMatrix(theA->timesFullMatrix(psiAdot)); + auto term7 = phiA->timesFullMatrix(theAdot->timesFullMatrix(psiAdot)); + auto term8 = phiA->timesFullMatrix(theA->timesFullMatrix(psiAddot)); + + aAddot = term->plusFullMatrix(term1)->plusFullMatrix(term2) + ->plusFullMatrix(term3)->plusFullMatrix(term4) + ->plusFullMatrix(term5)->plusFullMatrix(term6) + ->plusFullMatrix(term7)->plusFullMatrix(term8); + } + template + inline void EulerAnglesDDot::aEulerAngles(EulerAngles* eulerAngles) + { + aEulerAnglesDot->aEulerAngles = eulerAngles; + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerAnglesDot.cpp b/src/3rdParty/OndselSolver/OndselSolver/EulerAnglesDot.cpp new file mode 100644 index 000000000000..e5e6cdf597f8 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerAnglesDot.cpp @@ -0,0 +1,9 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "EulerAnglesDot.h" diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerAnglesDot.h b/src/3rdParty/OndselSolver/OndselSolver/EulerAnglesDot.h new file mode 100644 index 000000000000..23a18cd0ecf6 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerAnglesDot.h @@ -0,0 +1,90 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include + +#include "EulerArray.h" +#include "FullMatrix.h" + +namespace MbD { + template + class EulerAngles; + template + class EulerAnglesDDot; + + template + class EulerAnglesDot : public EulerArray + { + //aEulerAngles cAdot aAdot omeF omef + public: + EulerAnglesDot() : EulerArray(3) {} + std::shared_ptr> differentiateWRT(T var); + void calc() override; + + EulerAngles* aEulerAngles = nullptr; //Use raw pointer to point backwards + FColFMatDsptr cAdot; + FMatDsptr aAdot; + FColDsptr omeF, omef; + }; + template + inline std::shared_ptr> EulerAnglesDot::differentiateWRT(T var) + { + auto derivatives = std::make_shared>(); + std::transform(this->begin(), this->end(), derivatives->begin(), + [var](T term) { return term->differentiateWRT(var); } + ); + derivatives->aEulerAnglesDot = this; + return derivatives; + } + template + inline void EulerAnglesDot::calc() + { + aEulerAngles->calc(); + auto& rotOrder = aEulerAngles->rotOrder; + auto& cA = aEulerAngles->cA; + cAdot = std::make_shared>(3); + for (int i = 0; i < 3; i++) + { + auto axis = rotOrder->at(i); + auto angle = aEulerAngles->at(i)->getValue(); + auto angleDot = this->at(i)->getValue(); + if (axis == 1) { + cAdot->atiput(i, FullMatrix::rotatexrotDot(angle, angleDot)); + } + else if (axis == 2) { + cAdot->atiput(i, FullMatrix::rotateyrotDot(angle, angleDot)); + } + else if (axis == 3) { + cAdot->atiput(i, FullMatrix::rotatezrotDot(angle, angleDot)); + } + else { + throw std::runtime_error("Euler angle rotation order must be any permutation of 1,2,3 without consecutive repeats."); + } + } + auto phidot = this->at(0)->getValue(); + auto thedot = this->at(1)->getValue(); + auto psidot = this->at(2)->getValue(); + auto& phiA = cA->at(0); + auto& theA = cA->at(1); + auto& psiA = cA->at(2); + auto& phiAdot = cAdot->at(0); + auto& theAdot = cAdot->at(1); + auto& psiAdot = cAdot->at(2); + + aAdot = phiAdot->timesFullMatrix(theA->timesFullMatrix(psiA)) + ->plusFullMatrix(phiA->timesFullMatrix(theAdot->timesFullMatrix(psiA))) + ->plusFullMatrix(phiA->timesFullMatrix(theA->timesFullMatrix(psiAdot))); + omeF = (phiA->column(0)->times(phidot) + ->plusFullColumn(phiA->timesFullMatrix(theA)->column(1)->times(thedot)) + ->plusFullColumn(aEulerAngles->aA->column(2)->times(psidot))); + omef = aEulerAngles->aA->transposeTimesFullColumn(omeF); + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxz.cpp b/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxz.cpp new file mode 100644 index 000000000000..041888a4015f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxz.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "EulerAngleszxz.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxz.h b/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxz.h new file mode 100644 index 000000000000..6bacdefd6780 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxz.h @@ -0,0 +1,73 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "EulerArray.h" +#include "FullColumn.h" +#include "FullMatrix.h" + +namespace MbD { + + template + class EulerAngleszxz : public EulerArray + { + //phiA theA psiA aA + //Used by EndFrameqct + public: + EulerAngleszxz() : EulerArray(3) {} + void initialize() override; + void calc() override; + + FMatDsptr phiA, theA, psiA, aA; + }; + template + inline void EulerAngleszxz::initialize() + { + phiA = FullMatrix::identitysptr(3); + theA = FullMatrix::identitysptr(3); + psiA = FullMatrix::identitysptr(3); + } + template + inline void EulerAngleszxz::calc() + { + //double zero = 0.0; + double phi = this->at(0); + double sphi = sin(phi); + double cphi = cos(phi); + double the = this->at(1); + double sthe = sin(the); + double cthe = cos(the); + double psi = this->at(2); + double spsi = sin(psi); + double cpsi = cos(psi); + FRowDsptr phiAi; + phiAi = phiA->at(0); + phiAi->at(0) = cphi; + phiAi->at(1) = -sphi; + phiAi = phiA->at(1); + phiAi->at(0) = sphi; + phiAi->at(1) = cphi; + FRowDsptr theAi; + theAi = theA->at(1); + theAi->at(1) = cthe; + theAi->at(2) = -sthe; + theAi = theA->at(2); + theAi->at(1) = sthe; + theAi->at(2) = cthe; + FRowDsptr psiAi; + psiAi = psiA->at(0); + psiAi->at(0) = cpsi; + psiAi->at(1) = -spsi; + psiAi = psiA->at(1); + psiAi->at(0) = spsi; + psiAi->at(1) = cpsi; + aA = phiA->timesFullMatrix(theA->timesFullMatrix(psiA)); + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxzDDot.cpp b/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxzDDot.cpp new file mode 100644 index 000000000000..9d9effea7758 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxzDDot.cpp @@ -0,0 +1,9 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "EulerAngleszxzDDot.h" diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxzDDot.h b/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxzDDot.h new file mode 100644 index 000000000000..69bc344750b3 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxzDDot.h @@ -0,0 +1,96 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "EulerArray.h" +#include "EulerAngleszxzDot.h" + +namespace MbD { + + template + class EulerAngleszxzDDot : public EulerArray + { + //phiThePsiDot phiAddot theAddot psiAddot aAddot + public: + EulerAngleszxzDDot() : EulerArray(3) {} + void initialize() override; + void calc() override; + + std::shared_ptr> phiThePsiDot; + FMatDsptr phiAddot, theAddot, psiAddot, aAddot; + }; + template + inline void EulerAngleszxzDDot::initialize() + { + phiAddot = std::make_shared>(3, 3); + phiAddot->zeroSelf(); + theAddot = std::make_shared>(3, 3); + theAddot->zeroSelf(); + psiAddot = std::make_shared>(3, 3); + psiAddot->zeroSelf(); + } + template + inline void EulerAngleszxzDDot::calc() + { + //| zero phiThePsi phi sphi cphi phidot phiddot cphiddot sphiddot the sthe cthe thedot theddot ctheddot stheddot + // psi spsi cpsi psidot psiddot cpsiddot spsiddot phiA theA psiA phiAdot theAdot psiAdot | + double zero = 0.0; + auto& phiThePsi = phiThePsiDot->phiThePsi; + auto& phi = phiThePsi->at(0); + auto sphi = std::sin(phi); + auto cphi = std::cos(phi); + auto& phidot = phiThePsiDot->at(0); + auto& phiddot = this->at(0); + auto cphiddot = zero - (sphi * phiddot) - (cphi * phidot * phidot); + auto sphiddot = cphi * phiddot - (sphi * phidot * phidot); + auto& the = phiThePsi->at(1); + auto sthe = std::sin(the); + auto cthe = std::cos(the); + auto& thedot = phiThePsiDot->at(1); + auto& theddot = this->at(1); + auto ctheddot = zero - (sthe * theddot) - (cthe * thedot * thedot); + auto stheddot = cthe * theddot - (sthe * thedot * thedot); + auto& psi = phiThePsi->at(2); + auto spsi = std::sin(psi); + auto cpsi = std::cos(psi); + auto& psidot = phiThePsiDot->at(2); + auto& psiddot = this->at(2); + auto cpsiddot = zero - (spsi * psiddot) - (cpsi * psidot * psidot); + auto spsiddot = cpsi * psiddot - (spsi * psidot * psidot); + phiAddot->at(0)->atiput(0, cphiddot); + phiAddot->at(0)->atiput(1, zero - sphiddot); + phiAddot->at(1)->atiput(0, sphiddot); + phiAddot->at(1)->atiput(1, cphiddot); + theAddot->at(1)->atiput(1, ctheddot); + theAddot->at(1)->atiput(2, zero - stheddot); + theAddot->at(2)->atiput(1, stheddot); + theAddot->at(2)->atiput(2, ctheddot); + psiAddot->at(0)->atiput(0, cpsiddot); + psiAddot->at(0)->atiput(1, zero - spsiddot); + psiAddot->at(1)->atiput(0, spsiddot); + psiAddot->at(1)->atiput(1, cpsiddot); + auto& phiA = phiThePsi->phiA; + auto& theA = phiThePsi->theA; + auto& psiA = phiThePsi->psiA; + auto& phiAdot = phiThePsiDot->phiAdot; + auto& theAdot = phiThePsiDot->theAdot; + auto& psiAdot = phiThePsiDot->psiAdot; + auto mat = *(phiAddot->timesFullMatrix(theA->timesFullMatrix(psiA))) + + *(phiAdot->timesFullMatrix(theAdot->timesFullMatrix(psiA))) + + *(phiAdot->timesFullMatrix(theA->timesFullMatrix(psiAdot))) + + *(phiAdot->timesFullMatrix(theAdot->timesFullMatrix(psiA))) + + *(phiA->timesFullMatrix(theAddot->timesFullMatrix(psiA))) + + *(phiA->timesFullMatrix(theAdot->timesFullMatrix(psiAdot))) + + *(phiAdot->timesFullMatrix(theA->timesFullMatrix(psiAdot))) + + *(phiA->timesFullMatrix(theAdot->timesFullMatrix(psiAdot))) + + *(phiA->timesFullMatrix(theA->timesFullMatrix(psiAddot))); + aAddot = std::make_shared>(mat); + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxzDot.cpp b/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxzDot.cpp new file mode 100644 index 000000000000..52f26ba2463c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxzDot.cpp @@ -0,0 +1,9 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "EulerAngleszxzDot.h" diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxzDot.h b/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxzDot.h new file mode 100644 index 000000000000..2037e708ea48 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerAngleszxzDot.h @@ -0,0 +1,80 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "EulerArray.h" +#include "EulerAngleszxz.h" + +namespace MbD { + + template + class EulerAngleszxzDot : public EulerArray + { + //phiThePsi phiAdot theAdot psiAdot aAdot + public: + EulerAngleszxzDot() : EulerArray(3) {} + void initialize() override; + void calc() override; + + std::shared_ptr> phiThePsi; + FMatDsptr phiAdot, theAdot, psiAdot, aAdot; + }; + template + inline void EulerAngleszxzDot::initialize() + { + phiAdot = std::make_shared>(3, 3); + phiAdot->zeroSelf(); + theAdot = std::make_shared>(3, 3); + theAdot->zeroSelf(); + psiAdot = std::make_shared>(3, 3); + psiAdot->zeroSelf(); + } + template + inline void EulerAngleszxzDot::calc() + { + auto phi = phiThePsi->at(0); + auto sphi = std::sin(phi); + auto cphi = std::cos(phi); + auto phidot = this->at(0); + auto minussphiTimesphidot = -(sphi * phidot); + auto cphiTimesphidot = cphi * phidot; + auto the = phiThePsi->at(1); + auto sthe = std::sin(the); + auto cthe = std::cos(the); + auto thedot = this->at(1); + auto minusstheTimesthedot = -(sthe * thedot); + auto ctheTimesthedot = cthe * thedot; + auto psi = phiThePsi->at(2); + auto spsi = std::sin(psi); + auto cpsi = std::cos(psi); + auto psidot = this->at(2); + auto minusspsiTimespsidot = -(spsi * psidot); + auto cpsiTimespsidot = cpsi * psidot; + phiAdot->at(0)->at(0) = minussphiTimesphidot; + phiAdot->at(0)->at(1) = -cphiTimesphidot; + phiAdot->at(1)->at(0) = cphiTimesphidot; + phiAdot->at(1)->at(1) = minussphiTimesphidot; + theAdot->at(1)->at(1) = minusstheTimesthedot; + theAdot->at(1)->at(2) = -ctheTimesthedot; + theAdot->at(2)->at(1) = ctheTimesthedot; + theAdot->at(2)->at(2) = minusstheTimesthedot; + psiAdot->at(0)->at(0) = minusspsiTimespsidot; + psiAdot->at(0)->at(1) = -cpsiTimespsidot; + psiAdot->at(1)->at(0) = cpsiTimespsidot; + psiAdot->at(1)->at(1) = minusspsiTimespsidot; + auto phiA = phiThePsi->phiA; + auto theA = phiThePsi->theA; + auto psiA = phiThePsi->psiA; + auto term1 = phiAdot->timesFullMatrix(theA->timesFullMatrix(psiA)); + auto term2 = phiA->timesFullMatrix(theAdot->timesFullMatrix(psiA)); + auto term3 = phiA->timesFullMatrix(theA->timesFullMatrix(psiAdot)); + aAdot = (term1->plusFullMatrix(term2))->plusFullMatrix(term3); + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerArray.cpp b/src/3rdParty/OndselSolver/OndselSolver/EulerArray.cpp new file mode 100644 index 000000000000..e72b8c5dd149 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerArray.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "EulerArray.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerArray.h b/src/3rdParty/OndselSolver/OndselSolver/EulerArray.h new file mode 100644 index 000000000000..3225e9c4d739 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerArray.h @@ -0,0 +1,44 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FullColumn.h" + +namespace MbD { + + template + class EulerArray : public FullColumn + { + // + public: + EulerArray(size_t count) : FullColumn(count) {} + EulerArray(size_t count, const T& value) : FullColumn(count, value) {} + EulerArray(std::initializer_list list) : FullColumn{ list } {} + void initialize() override; + void equalFullColumn(FColsptr fullCol); + void equalFullColumnAt(FColsptr fullCol, int i); + virtual void calc() = 0; + + }; + template + inline void EulerArray::initialize() + { + } + template + inline void EulerArray::equalFullColumn(FColsptr fullCol) + { + this->equalArrayAt(fullCol, 0); + } + template + inline void EulerArray::equalFullColumnAt(FColsptr fullCol, int i) + { + this->equalArrayAt(fullCol, i); + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerConstraint.cpp b/src/3rdParty/OndselSolver/OndselSolver/EulerConstraint.cpp new file mode 100644 index 000000000000..7e255c1448d9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerConstraint.cpp @@ -0,0 +1,85 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "EulerConstraint.h" +#include "Item.h" +#include "PartFrame.h" + +using namespace MbD; + +EulerConstraint::EulerConstraint() +{ + +} + +EulerConstraint::EulerConstraint(const char* str) : Constraint(str) +{ +} + +void EulerConstraint::initialize() +{ + Constraint::initialize(); + pGpE = std::make_shared>(4); +} + +void EulerConstraint::calcPostDynCorrectorIteration() +{ + auto& qE = static_cast(owner)->qE; + aG = qE->sumOfSquares() - 1.0; + for (int i = 0; i < 4; i++) + { + pGpE->at(i) = 2.0 * qE->at(i); + } +} + +void EulerConstraint::useEquationNumbers() +{ + iqE = static_cast(owner)->iqE; +} + +void EulerConstraint::fillPosICError(FColDsptr col) +{ + Constraint::fillPosICError(col); + col->atiplusFullVectortimes(iqE, pGpE, lam); +} + +void EulerConstraint::fillPosICJacob(SpMatDsptr mat) +{ + //"ppGpEpE is a diag(2,2,2,2)." + mat->atijplusFullRow(iG, iqE, pGpE); + mat->atijplusFullColumn(iqE, iG, pGpE->transpose()); + auto twolam = 2.0 * lam; + for (int i = 0; i < 4; i++) + { + auto ii = iqE + i; + mat->atijplusNumber(ii, ii, twolam); + } +} + +void EulerConstraint::fillPosKineJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqE, pGpE); +} + +void EulerConstraint::fillVelICJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqE, pGpE); + mat->atijplusFullColumn(iqE, iG, pGpE->transpose()); +} + +void EulerConstraint::fillAccICIterError(FColDsptr col) +{ + //"qdotT[ppGpqpq]*qdot." + //"qdotT[2 2 2 2 diag]*qdot." + + col->atiplusFullVectortimes(iqE, pGpE, lam); + auto partFrame = static_cast(owner); + double sum = pGpE->timesFullColumn(partFrame->qEddot); + sum += 2.0 * partFrame->qEdot->sumOfSquares(); + col->atiplusNumber(iG, sum); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerConstraint.h b/src/3rdParty/OndselSolver/OndselSolver/EulerConstraint.h new file mode 100644 index 000000000000..e9685e9c1fff --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerConstraint.h @@ -0,0 +1,37 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include + +#include "Constraint.h" +#include "FullRow.h" //FRowDsptr is defined + +namespace MbD { + class EulerConstraint : public Constraint + { + //pGpE iqE + public: + EulerConstraint(); + EulerConstraint(const char* str); + void initialize() override; + void calcPostDynCorrectorIteration() override; + void useEquationNumbers() override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void fillAccICIterError(FColDsptr col) override; + + FRowDsptr pGpE; //partial derivative of G wrt pE + int iqE = -1; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerParameters.cpp b/src/3rdParty/OndselSolver/OndselSolver/EulerParameters.cpp new file mode 100644 index 000000000000..a9cf51fdd33b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerParameters.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "EulerParameters.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerParameters.h b/src/3rdParty/OndselSolver/OndselSolver/EulerParameters.h new file mode 100644 index 000000000000..c9a1ba941b28 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerParameters.h @@ -0,0 +1,351 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "EulerArray.h" +#include "FullColumn.h" +#include "FullMatrix.h" + +namespace MbD { + + template + class EulerParameters : public EulerArray + { + //Quarternion = {q0, q1, q2, q3} + //EulerParameters = {qE1, qE2, qE3, qE4} is preferred because Smalltalk uses one-based indexing. + // q0 = qE4 + //Note: It is tempting to use quarternions in C++ because of zero-based indexing. + //Note: But that will make it harder to compare computation results with Smalltalk + //aA aB aC pApE + public: + EulerParameters() : EulerArray(4) {} + EulerParameters(size_t count) : EulerArray(count) {} + EulerParameters(size_t count, const T& value) : EulerArray(count, value) {} + EulerParameters(std::initializer_list list) : EulerArray{ list } {} + EulerParameters(FColDsptr axis, double theta) : EulerArray(4) { + auto halfTheta = theta / 2.0; + auto sinHalfTheta = std::sin(halfTheta); + auto cosHalfTheta = std::cos(halfTheta); + axis->normalizeSelf(); + this->atiputFullColumn(0, axis->times(sinHalfTheta)); + this->atiput(3, cosHalfTheta); + this->conditionSelf(); + this->initialize(); + this->calc(); + } + + static std::shared_ptr>> ppApEpEtimesColumn(FColDsptr col); + static FMatDsptr pCpEtimesColumn(FColDsptr col); + static FMatDsptr pCTpEtimesColumn(FColDsptr col); + static std::shared_ptr>> ppApEpEtimesMatrix(FMatDsptr mat); + + + void initialize() override; + void calc() override; + void calcABC(); + void calcpApE(); + void conditionSelf() override; + + FMatDsptr aA; + FMatDsptr aB; + FMatDsptr aC; + FColFMatDsptr pApE; + }; + + template<> + inline FMatFColDsptr EulerParameters::ppApEpEtimesColumn(FColDsptr col) + { + double a2c0 = 2 * col->at(0); + double a2c1 = 2 * col->at(1); + double a2c2 = 2 * col->at(2); + double m2c0 = 0 - a2c0; + double m2c1 = 0 - a2c1; + double m2c2 = 0 - a2c2; + auto col00 = std::make_shared>(ListD{ a2c0, m2c1, m2c2 }); + auto col01 = std::make_shared>(ListD{ a2c1, a2c0, 0 }); + auto col02 = std::make_shared>(ListD{ a2c2, 0, a2c0 }); + auto col03 = std::make_shared>(ListD{ 0, m2c2, a2c1 }); + auto col11 = std::make_shared>(ListD{ m2c0, a2c1, m2c2 }); + auto col12 = std::make_shared>(ListD{ 0, a2c2, a2c1 }); + auto col13 = std::make_shared>(ListD{ a2c2, 0, m2c0 }); + auto col22 = std::make_shared>(ListD{ m2c0, m2c1, a2c2 }); + auto col23 = std::make_shared>(ListD{ m2c1, a2c0, 0 }); + auto col33 = std::make_shared>(ListD{ a2c0, a2c1, a2c2 }); + auto answer = std::make_shared>(4, 4); + auto& row0 = answer->at(0); + row0->at(0) = col00; + row0->at(1) = col01; + row0->at(2) = col02; + row0->at(3) = col03; + auto& row1 = answer->at(1); + row1->at(0) = col01; + row1->at(1) = col11; + row1->at(2) = col12; + row1->at(3) = col13; + auto& row2 = answer->at(2); + row2->at(0) = col02; + row2->at(1) = col12; + row2->at(2) = col22; + row2->at(3) = col23; + auto& row3 = answer->at(3); + row3->at(0) = col03; + row3->at(1) = col13; + row3->at(2) = col23; + row3->at(3) = col33; + return answer; + } + + template<> + inline FMatDsptr EulerParameters::pCpEtimesColumn(FColDsptr col) + { + //"col size = 4." + auto c0 = col->at(0); + auto c1 = col->at(1); + auto c2 = col->at(2); + auto mc0 = -c0; + auto mc1 = -c1; + auto mc2 = -c2; + auto mc3 = -col->at(3); + auto answer = std::make_shared>(3, 4); + auto& row0 = answer->at(0); + auto& row1 = answer->at(1); + auto& row2 = answer->at(2); + row0->atiput(0, mc3); + row0->atiput(1, mc2); + row0->atiput(2, c1); + row0->atiput(3, c0); + row1->atiput(0, c2); + row1->atiput(1, mc3); + row1->atiput(2, mc0); + row1->atiput(3, c1); + row2->atiput(0, mc1); + row2->atiput(1, c0); + row2->atiput(2, mc3); + row2->atiput(3, c2); + return answer; + } + + template + inline FMatDsptr EulerParameters::pCTpEtimesColumn(FColDsptr col) + { + //"col size = 3." + auto c0 = col->at(0); + auto c1 = col->at(1); + auto c2 = col->at(2); + auto mc0 = -c0; + auto mc1 = -c1; + auto mc2 = -c2; + auto answer = std::make_shared>(4, 4); + auto& row0 = answer->at(0); + auto& row1 = answer->at(1); + auto& row2 = answer->at(2); + auto& row3 = answer->at(3); + row0->atiput(0, 0.0); + row0->atiput(1, c2); + row0->atiput(2, mc1); + row0->atiput(3, c0); + row1->atiput(0, mc2); + row1->atiput(1, 0.0); + row1->atiput(2, c0); + row1->atiput(3, c1); + row2->atiput(0, c1); + row2->atiput(1, mc0); + row2->atiput(2, 0.0); + row2->atiput(3, c2); + row3->atiput(0, mc0); + row3->atiput(1, mc1); + row3->atiput(2, mc2); + row3->atiput(3, 0.0); + return answer; + } + + template<> + inline FMatFMatDsptr EulerParameters::ppApEpEtimesMatrix(FMatDsptr mat) + { + FRowDsptr a2m0 = mat->at(0)->times(2.0); + FRowDsptr a2m1 = mat->at(1)->times(2.0); + FRowDsptr a2m2 = mat->at(2)->times(2.0); + FRowDsptr m2m0 = a2m0->negated(); + FRowDsptr m2m1 = a2m1->negated(); + FRowDsptr m2m2 = a2m2->negated(); + FRowDsptr zero = std::make_shared>(3, 0.0); + auto mat00 = std::make_shared>(ListFRD{ a2m0, m2m1, m2m2 }); + auto mat01 = std::make_shared>(ListFRD{ a2m1, a2m0, zero }); + auto mat02 = std::make_shared>(ListFRD{ a2m2, zero, a2m0 }); + auto mat03 = std::make_shared>(ListFRD{ zero, m2m2, a2m1 }); + auto mat11 = std::make_shared>(ListFRD{ m2m0, a2m1, m2m2 }); + auto mat12 = std::make_shared>(ListFRD{ zero, a2m2, a2m1 }); + auto mat13 = std::make_shared>(ListFRD{ a2m2, zero, m2m0 }); + auto mat22 = std::make_shared>(ListFRD{ m2m0, m2m1, a2m2 }); + auto mat23 = std::make_shared>(ListFRD{ m2m1, a2m0, zero }); + auto mat33 = std::make_shared>(ListFRD{ a2m0, a2m1, a2m2 }); + auto answer = std::make_shared>(4, 4); + auto& row0 = answer->at(0); + row0->at(0) = mat00; + row0->at(1) = mat01; + row0->at(2) = mat02; + row0->at(3) = mat03; + auto& row1 = answer->at(1); + row1->at(0) = mat01; + row1->at(1) = mat11; + row1->at(2) = mat12; + row1->at(3) = mat13; + auto& row2 = answer->at(2); + row2->at(0) = mat02; + row2->at(1) = mat12; + row2->at(2) = mat22; + row2->at(3) = mat23; + auto& row3 = answer->at(3); + row3->at(0) = mat03; + row3->at(1) = mat13; + row3->at(2) = mat23; + row3->at(3) = mat33; + return answer; + } + + template<> + inline void EulerParameters::initialize() + { + aA = FullMatrix::identitysptr(3); + aB = std::make_shared>(3, 4); + aC = std::make_shared>(3, 4); + pApE = std::make_shared>(4); + for (int i = 0; i < 4; i++) + { + pApE->at(i) = std::make_shared>(3, 3); + } + } + template + inline void EulerParameters::calc() + { + this->calcABC(); + this->calcpApE(); + } + template<> + inline void EulerParameters::calcABC() + { + double aE0 = this->at(0); + double aE1 = this->at(1); + double aE2 = this->at(2); + double aE3 = this->at(3); + double mE0 = -aE0; + double mE1 = -aE1; + double mE2 = -aE2; + FRowDsptr aBi; + aBi = aB->at(0); + aBi->at(0) = aE3; + aBi->at(1) = mE2; + aBi->at(2) = aE1; + aBi->at(3) = mE0; + aBi = aB->at(1); + aBi->at(0) = aE2; + aBi->at(1) = aE3; + aBi->at(2) = mE0; + aBi->at(3) = mE1; + aBi = aB->at(2); + aBi->at(0) = mE1; + aBi->at(1) = aE0; + aBi->at(2) = aE3; + aBi->at(3) = mE2; + FRowDsptr aCi; + aCi = aC->at(0); + aCi->at(0) = aE3; + aCi->at(1) = aE2; + aCi->at(2) = mE1; + aCi->at(3) = mE0; + aCi = aC->at(1); + aCi->at(0) = mE2; + aCi->at(1) = aE3; + aCi->at(2) = aE0; + aCi->at(3) = mE1; + aCi = aC->at(2); + aCi->at(0) = aE1; + aCi->at(1) = mE0; + aCi->at(2) = aE3; + aCi->at(3) = mE2; + + aA = aB->timesTransposeFullMatrix(aC); + } + template<> + inline void EulerParameters::calcpApE() + { + double a2E0 = 2.0 * (this->at(0)); + double a2E1 = 2.0 * (this->at(1)); + double a2E2 = 2.0 * (this->at(2)); + double a2E3 = 2.0 * (this->at(3)); + double m2E0 = -a2E0; + double m2E1 = -a2E1; + double m2E2 = -a2E2; + double m2E3 = -a2E3; + FMatDsptr pApEk; + pApEk = pApE->at(0); + FRowDsptr pAipEk; + pAipEk = pApEk->at(0); + pAipEk->at(0) = a2E0; + pAipEk->at(1) = a2E1; + pAipEk->at(2) = a2E2; + pAipEk = pApEk->at(1); + pAipEk->at(0) = a2E1; + pAipEk->at(1) = m2E0; + pAipEk->at(2) = m2E3; + pAipEk = pApEk->at(2); + pAipEk->at(0) = a2E2; + pAipEk->at(1) = a2E3; + pAipEk->at(2) = m2E0; + // + pApEk = pApE->at(1); + pAipEk = pApEk->at(0); + pAipEk->at(0) = m2E1; + pAipEk->at(1) = a2E0; + pAipEk->at(2) = a2E3; + pAipEk = pApEk->at(1); + pAipEk->at(0) = a2E0; + pAipEk->at(1) = a2E1; + pAipEk->at(2) = a2E2; + pAipEk = pApEk->at(2); + pAipEk->at(0) = m2E3; + pAipEk->at(1) = a2E2; + pAipEk->at(2) = m2E1; + // + pApEk = pApE->at(2); + pAipEk = pApEk->at(0); + pAipEk->at(0) = m2E2; + pAipEk->at(1) = m2E3; + pAipEk->at(2) = a2E0; + pAipEk = pApEk->at(1); + pAipEk->at(0) = a2E3; + pAipEk->at(1) = m2E2; + pAipEk->at(2) = a2E1; + pAipEk = pApEk->at(2); + pAipEk->at(0) = a2E0; + pAipEk->at(1) = a2E1; + pAipEk->at(2) = a2E2; + // + pApEk = pApE->at(3); + pAipEk = pApEk->at(0); + pAipEk->at(0) = a2E3; + pAipEk->at(1) = m2E2; + pAipEk->at(2) = a2E1; + pAipEk = pApEk->at(1); + pAipEk->at(0) = a2E2; + pAipEk->at(1) = a2E3; + pAipEk->at(2) = m2E0; + pAipEk = pApEk->at(2); + pAipEk->at(0) = m2E1; + pAipEk->at(1) = a2E0; + pAipEk->at(2) = a2E3; + } + template + inline void EulerParameters::conditionSelf() + { + EulerArray::conditionSelf(); + this->normalizeSelf(); + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerParametersDDot.cpp b/src/3rdParty/OndselSolver/OndselSolver/EulerParametersDDot.cpp new file mode 100644 index 000000000000..f32fc3ab0423 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerParametersDDot.cpp @@ -0,0 +1,9 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "EulerParametersDDot.h" diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerParametersDDot.h b/src/3rdParty/OndselSolver/OndselSolver/EulerParametersDDot.h new file mode 100644 index 000000000000..ae83b2e93ddf --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerParametersDDot.h @@ -0,0 +1,29 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "EulerArray.h" +#include "EulerParametersDot.h" + +namespace MbD { + + template + class EulerParametersDDot : public EulerArray + { + //qEdot aAddot aBddot aCddot + public: + EulerParametersDDot(size_t count) : EulerArray(count) {} + EulerParametersDDot(size_t count, const T& value) : EulerArray(count, value) {} + EulerParametersDDot(std::initializer_list list) : EulerArray{ list } {} + + //std::shared_ptr> qEdot; + FMatDsptr aAddot, aBddot, aCddot; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerParametersDot.cpp b/src/3rdParty/OndselSolver/OndselSolver/EulerParametersDot.cpp new file mode 100644 index 000000000000..b68cbdf0567a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerParametersDot.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "EulerParametersDot.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/EulerParametersDot.h b/src/3rdParty/OndselSolver/OndselSolver/EulerParametersDot.h new file mode 100644 index 000000000000..122461268ab9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/EulerParametersDot.h @@ -0,0 +1,203 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "EulerArray.h" +#include "FullColumn.h" +#include "FullMatrix.h" +#include "EulerParameters.h" +//#include "CREATE.h" //Cannot use CREATE.h in subclasses of std::vector. Why? + +namespace MbD { + + template + class EulerParametersDot : public EulerArray + { + //qE aAdot aBdot aCdot pAdotpE + public: + EulerParametersDot(size_t count) : EulerArray(count) {} + EulerParametersDot(size_t count, const T& value) : EulerArray(count, value) {} + EulerParametersDot(std::initializer_list list) : EulerArray{ list } {} + static std::shared_ptr> FromqEOpAndOmegaOpO(std::shared_ptr> qe, FColDsptr omeOpO); + void initialize() override; + void calcAdotBdotCdot(); + void calcpAdotpE(); + FMatDsptr aB(); + FColDsptr omeOpO(); + + std::shared_ptr> qE; + FMatDsptr aAdot, aBdot, aCdot; + FColFMatDsptr pAdotpE; + void calc() override; + + }; + + template + inline std::shared_ptr> EulerParametersDot::FromqEOpAndOmegaOpO(std::shared_ptr> qEOp, FColDsptr omeOpO) + { + //auto answer = CREATE>::With(4); //Cannot use CREATE.h in subclasses of std::vector. Why? + auto answer = std::make_shared>(4); + answer->initialize(); + qEOp->calcABC(); + auto aB = qEOp->aB; + answer->equalFullColumn(aB->transposeTimesFullColumn(omeOpO->times(0.5))); + answer->qE = qEOp; + answer->calc(); + return answer; + } + + template + inline void EulerParametersDot::initialize() + { + aAdot = std::make_shared>(3, 3); + aBdot = std::make_shared>(3, 4); + aCdot = std::make_shared>(3, 4); + pAdotpE = std::make_shared>(4); + for (int i = 0; i < 4; i++) + { + pAdotpE->at(i) = std::make_shared>(3, 3); + } + } + + template + inline void EulerParametersDot::calcAdotBdotCdot() + { + //"aAdot, aBdot and aCdot are all calculated together and only here." + auto aE0dot = this->at(0); + auto aE1dot = this->at(1); + auto aE2dot = this->at(2); + auto aE3dot = this->at(3); + auto mE0dot = -aE0dot; + auto mE1dot = -aE1dot; + auto mE2dot = -aE2dot; + aBdot->at(0)->at(0) = aE3dot; + aBdot->at(0)->at(1) = mE2dot; + aBdot->at(0)->at(2) = aE1dot; + aBdot->at(0)->at(3) = mE0dot; + aBdot->at(1)->at(0) = aE2dot; + aBdot->at(1)->at(1) = aE3dot; + aBdot->at(1)->at(2) = mE0dot; + aBdot->at(1)->at(3) = mE1dot; + aBdot->at(2)->at(0) = mE1dot; + aBdot->at(2)->at(1) = aE0dot; + aBdot->at(2)->at(2) = aE3dot; + aBdot->at(2)->at(3) = mE2dot; + aCdot->at(0)->at(0) = aE3dot; + aCdot->at(0)->at(1) = aE2dot; + aCdot->at(0)->at(2) = mE1dot; + aCdot->at(0)->at(3) = mE0dot; + aCdot->at(1)->at(0) = mE2dot; + aCdot->at(1)->at(1) = aE3dot; + aCdot->at(1)->at(2) = aE0dot; + aCdot->at(1)->at(3) = mE1dot; + aCdot->at(2)->at(0) = aE1dot; + aCdot->at(2)->at(1) = mE0dot; + aCdot->at(2)->at(2) = aE3dot; + aCdot->at(2)->at(3) = mE2dot; + aAdot = this->aB()->timesTransposeFullMatrix(aCdot)->times(2.0); + } + + template + inline void EulerParametersDot::calcpAdotpE() + { + //"Mimic calcpApE" + //"All aE's are actually aEdot's." + double a2E0 = 2.0 * (this->at(0)); + double a2E1 = 2.0 * (this->at(1)); + double a2E2 = 2.0 * (this->at(2)); + double a2E3 = 2.0 * (this->at(3)); + double m2E0 = -a2E0; + double m2E1 = -a2E1; + double m2E2 = -a2E2; + double m2E3 = -a2E3; + FMatDsptr pApEk; + pApEk = pAdotpE->at(0); + FRowDsptr pAipEk; + pAipEk = pApEk->at(0); + pAipEk->at(0) = a2E0; + pAipEk->at(1) = a2E1; + pAipEk->at(2) = a2E2; + pAipEk = pApEk->at(1); + pAipEk->at(0) = a2E1; + pAipEk->at(1) = m2E0; + pAipEk->at(2) = m2E3; + pAipEk = pApEk->at(2); + pAipEk->at(0) = a2E2; + pAipEk->at(1) = a2E3; + pAipEk->at(2) = m2E0; + // + pApEk = pAdotpE->at(1); + pAipEk = pApEk->at(0); + pAipEk->at(0) = m2E1; + pAipEk->at(1) = a2E0; + pAipEk->at(2) = a2E3; + pAipEk = pApEk->at(1); + pAipEk->at(0) = a2E0; + pAipEk->at(1) = a2E1; + pAipEk->at(2) = a2E2; + pAipEk = pApEk->at(2); + pAipEk->at(0) = m2E3; + pAipEk->at(1) = a2E2; + pAipEk->at(2) = m2E1; + // + pApEk = pAdotpE->at(2); + pAipEk = pApEk->at(0); + pAipEk->at(0) = m2E2; + pAipEk->at(1) = m2E3; + pAipEk->at(2) = a2E0; + pAipEk = pApEk->at(1); + pAipEk->at(0) = a2E3; + pAipEk->at(1) = m2E2; + pAipEk->at(2) = a2E1; + pAipEk = pApEk->at(2); + pAipEk->at(0) = a2E0; + pAipEk->at(1) = a2E1; + pAipEk->at(2) = a2E2; + // + pApEk = pAdotpE->at(3); + pAipEk = pApEk->at(0); + pAipEk->at(0) = a2E3; + pAipEk->at(1) = m2E2; + pAipEk->at(2) = a2E1; + pAipEk = pApEk->at(1); + pAipEk->at(0) = a2E2; + pAipEk->at(1) = a2E3; + pAipEk->at(2) = m2E0; + pAipEk = pApEk->at(2); + pAipEk->at(0) = m2E1; + pAipEk->at(1) = a2E0; + pAipEk->at(2) = a2E3; + } + + template + inline FMatDsptr EulerParametersDot::aB() + { + return qE->aB; + } + + template + inline FColDsptr EulerParametersDot::omeOpO() + { + auto aaa = this->aB(); +// auto bbb = aaa->timesFullColumn((MbD::FColsptr)this); + auto bbb = aaa->timesFullColumn(this); + auto ccc = bbb->times(2.0); + return ccc; + //return this->aB->timesFullColumn(this)->times(2.0); + } + + template + inline void EulerParametersDot::calc() + { + qE->calc(); + this->calcAdotBdotCdot(); + this->calcpAdotpE(); + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Exponential.cpp b/src/3rdParty/OndselSolver/OndselSolver/Exponential.cpp new file mode 100644 index 000000000000..9543289ebba0 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Exponential.cpp @@ -0,0 +1,31 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "Exponential.h" + +using namespace MbD; + +MbD::Exponential::Exponential(Symsptr arg) : FunctionX(arg) +{ +} + +double MbD::Exponential::getValue() +{ + return std::log(xx->getValue()); +} + +Symsptr MbD::Exponential::copyWith(Symsptr arg) +{ + return std::make_shared(arg); +} + +std::ostream& MbD::Exponential::printOn(std::ostream& s) const +{ + s << "exp(" << *xx << ")"; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Exponential.h b/src/3rdParty/OndselSolver/OndselSolver/Exponential.h new file mode 100644 index 000000000000..3b3c3e4e2cd7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Exponential.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionX.h" + +namespace MbD { + class Exponential : public FunctionX + { + // + public: + Exponential() = default; + Exponential(Symsptr arg); + double getValue() override; + Symsptr copyWith(Symsptr arg) override; + + std::ostream& printOn(std::ostream& s) const override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ExpressionX.cpp b/src/3rdParty/OndselSolver/OndselSolver/ExpressionX.cpp new file mode 100644 index 000000000000..2efabb739801 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ExpressionX.cpp @@ -0,0 +1,41 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ExpressionX.h" +#include "Constant.h" + +using namespace MbD; + +void MbD::ExpressionX::xexpression(Symsptr arg, Symsptr func) +{ + //" + //Future modification : + //Check that func is a function of arg. + //No need for self to be dependent of arg since self is dependent of func which is indirectly + //dependent of of arg. + //" + + xx = arg; + expression = func; +} + +Symsptr MbD::ExpressionX::differentiateWRTx() +{ + return expression->differentiateWRT(xx); +} + +Symsptr MbD::ExpressionX::differentiateWRT(Symsptr var) +{ + if (this == var.get()) return sptrConstant(1.0); + return expression->differentiateWRT(var); +} + +double MbD::ExpressionX::getValue() +{ + return expression->getValue(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ExpressionX.h b/src/3rdParty/OndselSolver/OndselSolver/ExpressionX.h new file mode 100644 index 000000000000..cd8beb5f9dde --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ExpressionX.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionX.h" + +namespace MbD { + class ExpressionX : public FunctionX + { + // + public: + + void xexpression(Symsptr arg, Symsptr func); + Symsptr differentiateWRTx() override; + Symsptr differentiateWRT(Symsptr var) override; + double getValue() override; + + Symsptr expression = std::make_shared(); + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ExternalSystem.cpp b/src/3rdParty/OndselSolver/OndselSolver/ExternalSystem.cpp new file mode 100644 index 000000000000..49829587104d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ExternalSystem.cpp @@ -0,0 +1,80 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ExternalSystem.h" +#include "CADSystem.h" +#include "ASMTAssembly.h" +#include "System.h" + +using namespace MbD; + +void MbD::ExternalSystem::preMbDrun(std::shared_ptr mbdSys) +{ + if (cadSystem) { + cadSystem->preMbDrun(mbdSys); + } + else if (asmtAssembly) { + asmtAssembly->preMbDrun(mbdSys); + } + else { + assert(false); + } +} + +void MbD::ExternalSystem::updateFromMbD() +{ + if (cadSystem) { + cadSystem->updateFromMbD(); + } + else if (asmtAssembly) { + asmtAssembly->updateFromMbD(); + } + else { + assert(false); + } +} + +void MbD::ExternalSystem::outputFor(AnalysisType type) +{ + if (cadSystem) { + cadSystem->updateFromMbD(); + } + else if (asmtAssembly) { + asmtAssembly->updateFromMbD(); + asmtAssembly->compareResults(type); + asmtAssembly->outputResults(type); + } + else { + assert(false); + } +} + +void MbD::ExternalSystem::logString(std::string& str) +{ + std::cout << str << std::endl; +} + +void MbD::ExternalSystem::logString(double) +{ + assert(false); +} + +void MbD::ExternalSystem::runOndselPiston() +{ + assert(false); +} + +void MbD::ExternalSystem::runPiston() +{ + assert(false); +} + +void MbD::ExternalSystem::postMbDrun() +{ + //Do nothing +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ExternalSystem.h b/src/3rdParty/OndselSolver/OndselSolver/ExternalSystem.h new file mode 100644 index 000000000000..743f0442d78c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ExternalSystem.h @@ -0,0 +1,42 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include "enum.h" +#include + +//#include "CADSystem.h" +//#include "ASMTAssembly.h" + +namespace MbD { + class CADSystem; + class ASMTAssembly; + class System; + + class ExternalSystem + { + // + public: + void preMbDrun(std::shared_ptr mbdSys); + void updateFromMbD(); + void outputFor(AnalysisType type); + void logString(std::string& str); + void logString(double value); + void runOndselPiston(); + void runPiston(); + void postMbDrun(); + + + CADSystem* cadSystem; + ASMTAssembly* asmtAssembly; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/FixedJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/FixedJoint.cpp new file mode 100644 index 000000000000..a193bc1ddbdc --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FixedJoint.cpp @@ -0,0 +1,36 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "FixedJoint.h" +#include "System.h" +#include "CREATE.h" + +using namespace MbD; + +MbD::FixedJoint::FixedJoint() +{ +} + +MbD::FixedJoint::FixedJoint(const char* str) : AtPointJoint(str) +{ +} + +void MbD::FixedJoint::initializeGlobally() +{ + if (constraints->empty()) + { + createAtPointConstraints(); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 1, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 1)); + this->root()->hasChanged = true; + } + else { + Joint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/FixedJoint.h b/src/3rdParty/OndselSolver/OndselSolver/FixedJoint.h new file mode 100644 index 000000000000..5bd915982ca8 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FixedJoint.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AtPointJoint.h" + +namespace MbD { + class FixedJoint : public AtPointJoint + { + // + public: + FixedJoint(); + FixedJoint(const char* str); + void initializeGlobally() override; + + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ForceTorqueData.cpp b/src/3rdParty/OndselSolver/OndselSolver/ForceTorqueData.cpp new file mode 100644 index 000000000000..1b6341c6cff3 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ForceTorqueData.cpp @@ -0,0 +1,18 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ForceTorqueData.h" + +using namespace MbD; + +std::ostream& ForceTorqueData::printOn(std::ostream& s) const +{ + s << "aFIO = " << *aFIO << std::endl; + s << "aTIO = " << *aTIO << std::endl; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ForceTorqueData.h b/src/3rdParty/OndselSolver/OndselSolver/ForceTorqueData.h new file mode 100644 index 000000000000..4ce9242d5621 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ForceTorqueData.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "StateData.h" + +namespace MbD { + class ForceTorqueData : public StateData + { + //aFIO aTIO + public: + std::ostream& printOn(std::ostream& s) const override; + + FColDsptr aFIO, aTIO; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ForceTorqueItem.cpp b/src/3rdParty/OndselSolver/OndselSolver/ForceTorqueItem.cpp new file mode 100644 index 000000000000..e875394c2f90 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ForceTorqueItem.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ForceTorqueItem.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/ForceTorqueItem.h b/src/3rdParty/OndselSolver/OndselSolver/ForceTorqueItem.h new file mode 100644 index 000000000000..206f154d4841 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ForceTorqueItem.h @@ -0,0 +1,21 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Item.h" + +namespace MbD { + class ForceTorqueItem : public Item + { + // + public: + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/FullColumn.cpp b/src/3rdParty/OndselSolver/OndselSolver/FullColumn.cpp new file mode 100644 index 000000000000..e689f7302c7d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FullColumn.cpp @@ -0,0 +1,13 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "FullColumn.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/FullColumn.h b/src/3rdParty/OndselSolver/OndselSolver/FullColumn.h new file mode 100644 index 000000000000..630f8d98148b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FullColumn.h @@ -0,0 +1,249 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include + +#include "FullVector.h" + +namespace MbD { + template + class FullColumn; + using FColDsptr = std::shared_ptr>; + template + using FColsptr = std::shared_ptr>; + template + class FullRow; + template + using FRowsptr = std::shared_ptr>; + class Symbolic; + + template + class FullColumn : public FullVector + { + public: + FullColumn() : FullVector() {} + FullColumn(std::vector vec) : FullVector(vec) {} + FullColumn(size_t count) : FullVector(count) {} + FullColumn(size_t count, const T& value) : FullVector(count, value) {} + FullColumn(typename std::vector::iterator begin, typename std::vector::iterator end) : FullVector(begin, end) {} + FullColumn(std::initializer_list list) : FullVector{ list } {} + FColsptr plusFullColumn(FColsptr fullCol); + FColsptr minusFullColumn(FColsptr fullCol); + FColsptr times(T a); + FColsptr negated(); + void atiputFullColumn(int i, FColsptr fullCol); + void atiplusFullColumn(int i, FColsptr fullCol); + void equalSelfPlusFullColumnAt(FColsptr fullCol, int i); + void atiminusFullColumn(int i, FColsptr fullCol); + void equalFullColumnAt(FColsptr fullCol, int i); + FColsptr copy(); + FRowsptr transpose(); + void atiplusFullColumntimes(int i, FColsptr fullCol, T factor); + T transposeTimesFullColumn(const FColsptr fullCol); + void equalSelfPlusFullColumntimes(FColsptr fullCol, T factor); + FColsptr cross(FColsptr fullCol); + FColsptr simplified(); + double dot(std::shared_ptr> vec); + std::shared_ptr> dot(std::shared_ptr>>> vecvec); + + std::ostream& printOn(std::ostream& s) const override; + }; + template + inline FColsptr FullColumn::plusFullColumn(FColsptr fullCol) + { + int n = (int) this->size(); + auto answer = std::make_shared>(n); + for (int i = 0; i < n; i++) { + answer->at(i) = this->at(i) + fullCol->at(i); + } + return answer; + } + template + inline FColsptr FullColumn::minusFullColumn(FColsptr fullCol) + { + int n = (int) this->size(); + auto answer = std::make_shared>(n); + for (int i = 0; i < n; i++) { + answer->at(i) = this->at(i) - fullCol->at(i); + } + return answer; + } + template<> + inline FColDsptr FullColumn::times(double a) + { + int n = (int)this->size(); + auto answer = std::make_shared>(n); + for (int i = 0; i < n; i++) { + answer->at(i) = this->at(i) * a; + } + return answer; + } + template + inline FColsptr FullColumn::times(T) + { + assert(false); + } + template + inline FColsptr FullColumn::negated() + { + return this->times(-1.0); + } + template + inline void FullColumn::atiputFullColumn(int i, FColsptr fullCol) + { + for (int ii = 0; ii < (int)fullCol->size(); ii++) + { + this->at(i + ii) = fullCol->at(ii); + } + } + template + inline void FullColumn::atiplusFullColumn(int i, FColsptr fullCol) + { + for (int ii = 0; ii < (int)fullCol->size(); ii++) + { + this->at(i + ii) += fullCol->at(ii); + } + } + template + inline void FullColumn::equalSelfPlusFullColumnAt(FColsptr fullCol, int ii) + { + //self is subcolumn of fullCol + for (int i = 0; i < (int)this->size(); i++) + { + this->at(i) += fullCol->at(ii + i); + } + } + template + inline void FullColumn::atiminusFullColumn(int i1, FColsptr fullCol) + { + for (int ii = 0; ii < (int)fullCol->size(); ii++) + { + int i = i1 + ii; + this->at(i) -= fullCol->at(ii); + } + } + template + inline void FullColumn::equalFullColumnAt(FColsptr fullCol, int i) + { + this->equalArrayAt(fullCol, i); + //for (int ii = 0; ii < this->size(); ii++) + //{ + // this->at(ii) = fullCol->at(i + ii); + //} + } + template<> + inline FColDsptr FullColumn::copy() + { + auto n = (int) this->size(); + auto answer = std::make_shared>(n); + for (int i = 0; i < n; i++) + { + answer->at(i) = this->at(i); + } + return answer; + } + template + inline FRowsptr FullColumn::transpose() + { + return std::make_shared>(*this); + } + template + inline void FullColumn::atiplusFullColumntimes(int i1, FColsptr fullCol, T factor) + { + for (int ii = 0; ii < (int)fullCol->size(); ii++) + { + int i = i1 + ii; + this->at(i) += fullCol->at(ii) * factor; + } + } + template + inline T FullColumn::transposeTimesFullColumn(const FColsptr fullCol) + { + return this->dot(fullCol); + } + template + inline void FullColumn::equalSelfPlusFullColumntimes(FColsptr fullCol, T factor) + { + this->equalSelfPlusFullVectortimes(fullCol, factor); + } + template + inline FColsptr FullColumn::cross(FColsptr fullCol) + { + auto a0 = this->at(0); + auto a1 = this->at(1); + auto a2 = this->at(2); + auto b0 = fullCol->at(0); + auto b1 = fullCol->at(1); + auto b2 = fullCol->at(2); + auto answer = std::make_shared>(3); + answer->atiput(0, a1 * b2 - (a2 * b1)); + answer->atiput(1, a2 * b0 - (a0 * b2)); + answer->atiput(2, a0 * b1 - (a1 * b0)); + return answer; + } + //template<> + //inline std::shared_ptr> FullColumn::simplified() + //{ + // auto n = this->size(); + // auto answer = std::make_shared>(n); + // for (int i = 0; i < n; i++) + // { + // auto func = this->at(i); + // answer->at(i) = func->simplified(func); + // } + // return answer; + //} + template + inline FColsptr FullColumn::simplified() + { + assert(false); + return FColsptr(); + } + template + inline double FullColumn::dot(std::shared_ptr> vec) + { + int n = (int)this->size(); + double answer = 0.0; + for (int i = 0; i < n; i++) { + answer += this->at(i) * vec->at(i); + } + return answer; + } + template + inline std::shared_ptr> FullColumn::dot(std::shared_ptr>>> vecvec) + { + int ncol = (int)this->size(); + auto nelem = vecvec->at(0)->size(); + auto answer = std::make_shared>(nelem); + for (int k = 0; k < nelem; k++) { + auto sum = 0.0; + for (int i = 0; i < ncol; i++) + { + sum += this->at(i) * vecvec->at(i)->at(k); + } + answer->at(k) = sum; + } + return answer; + } + template + inline std::ostream& FullColumn::printOn(std::ostream& s) const + { + s << "FullCol{"; + s << this->at(0); + for (int i = 1; i < (int)this->size(); i++) + { + s << ", " << this->at(i); + } + s << "}"; + return s; + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/FullMatrix.cpp b/src/3rdParty/OndselSolver/OndselSolver/FullMatrix.cpp new file mode 100644 index 000000000000..65b2c5a6c446 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FullMatrix.cpp @@ -0,0 +1,12 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "FullMatrix.h" + +using namespace MbD; + diff --git a/src/3rdParty/OndselSolver/OndselSolver/FullMatrix.h b/src/3rdParty/OndselSolver/OndselSolver/FullMatrix.h new file mode 100644 index 000000000000..958e2ab44f60 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FullMatrix.h @@ -0,0 +1,758 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "corecrt_math_defines.h" +#include + +#include "RowTypeMatrix.h" +#include "FullColumn.h" +#include "FullRow.h" + +namespace MbD { + template + class FullMatrix; + using FMatDsptr = std::shared_ptr>; + template + using FMatsptr = std::shared_ptr>; + template + class FullColumn; + using FColDsptr = std::shared_ptr>; + template + class FullRow; + template + class EulerParameters; + template + class DiagonalMatrix; + + using FMatFColDsptr = std::shared_ptr>; + using FMatFMatDsptr = std::shared_ptr>; + using FColFMatDsptr = std::shared_ptr>; + + template + class FullMatrix : public RowTypeMatrix> + { + public: + FullMatrix() {} + FullMatrix(int m) : RowTypeMatrix>(m) + { + } + FullMatrix(int m, int n) { + for (int i = 0; i < m; i++) { + auto row = std::make_shared>(n); + this->push_back(row); + } + } + FullMatrix(std::initializer_list> listOfRows) { + for (auto& row : listOfRows) + { + this->push_back(row); + } + } + FullMatrix(std::initializer_list> list2D) { + for (auto& rowList : list2D) + { + auto row = std::make_shared>(rowList); + this->push_back(row); + } + } + static FMatsptr rotatex(T angle); + static FMatsptr rotatey(T angle); + static FMatsptr rotatez(T angle); + static FMatsptr rotatexrotDot(T angle, T angledot); + static FMatsptr rotateyrotDot(T angle, T angledot); + static FMatsptr rotatezrotDot(T angle, T angledot); + static FMatsptr rotatexrotDotrotDDot(T angle, T angleDot, T angleDDot); + static FMatsptr rotateyrotDotrotDDot(T angle, T angleDot, T angleDDot); + static FMatsptr rotatezrotDotrotDDot(T angle, T angleDot, T angleDDot); + static FMatsptr identitysptr(int n); + static FMatsptr tildeMatrix(FColDsptr col); + void identity(); + FColsptr column(int j); + FColsptr timesFullColumn(FColsptr fullCol); + FColsptr timesFullColumn(FullColumn* fullCol); + FMatsptr timesFullMatrix(FMatsptr fullMat); + FMatsptr timesTransposeFullMatrix(FMatsptr fullMat); + FMatsptr times(T a); + FMatsptr transposeTimesFullMatrix(FMatsptr fullMat); + FMatsptr plusFullMatrix(FMatsptr fullMat); + FMatsptr minusFullMatrix(FMatsptr fullMat); + FMatsptr transpose(); + FMatsptr negated(); + void symLowerWithUpper(); + void atiput(int i, FRowsptr fullRow); + void atijput(int i, int j, T value); + void atijputFullColumn(int i, int j, FColsptr fullCol); + void atijplusFullRow(int i, int j, FRowsptr fullRow); + void atijplusNumber(int i, int j, T value); + void atijminusNumber(int i, int j, T value); + double sumOfSquares() override; + void zeroSelf() override; + FMatsptr copy(); + FullMatrix operator+(const FullMatrix fullMat); + FColsptr transposeTimesFullColumn(const FColsptr fullCol); + void magnifySelf(T factor); + std::shared_ptr> asEulerParameters(); + T trace(); + double maxMagnitude() override; + FColsptr bryantAngles(); + bool isDiagonal(); + bool isDiagonalToWithin(double ratio); + bool equaltol(FMatsptr mat, double ratio); + std::shared_ptr> asDiagonalMatrix(); + void conditionSelfWithTol(double tol); + + std::ostream& printOn(std::ostream& s) const override; + }; + template + inline FMatsptr FullMatrix::rotatex(T the) + { + auto sthe = std::sin(the); + auto cthe = std::cos(the); + auto rotMat = std::make_shared>(3, 3); + auto row0 = rotMat->at(0); + row0->atiput(0, 1.0); + row0->atiput(1, 0.0); + row0->atiput(2, 0.0); + auto row1 = rotMat->at(1); + row1->atiput(0, 0.0); + row1->atiput(1, cthe); + row1->atiput(2, -sthe); + auto row2 = rotMat->at(2); + row2->atiput(0, 0.0); + row2->atiput(1, sthe); + row2->atiput(2, cthe); + return rotMat; + } + template + inline FMatsptr FullMatrix::rotatey(T the) + { + auto sthe = std::sin(the); + auto cthe = std::cos(the); + auto rotMat = std::make_shared>(3, 3); + auto row0 = rotMat->at(0); + row0->atiput(0, cthe); + row0->atiput(1, 0.0); + row0->atiput(2, sthe); + auto row1 = rotMat->at(1); + row1->atiput(0, 0.0); + row1->atiput(1, 1.0); + row1->atiput(2, 0.0); + auto row2 = rotMat->at(2); + row2->atiput(0, -sthe); + row2->atiput(1, 0.0); + row2->atiput(2, cthe); + return rotMat; + } + template + inline FMatsptr FullMatrix::rotatez(T the) + { + auto sthe = std::sin(the); + auto cthe = std::cos(the); + auto rotMat = std::make_shared>(3, 3); + auto row0 = rotMat->at(0); + row0->atiput(0, cthe); + row0->atiput(1, -sthe); + row0->atiput(2, 0.0); + auto row1 = rotMat->at(1); + row1->atiput(0, sthe); + row1->atiput(1, cthe); + row1->atiput(2, 0.0); + auto row2 = rotMat->at(2); + row2->atiput(0, 0.0); + row2->atiput(1, 0.0); + row2->atiput(2, 1.0); + return rotMat; + } + template + inline FMatsptr FullMatrix::rotatexrotDot(T the, T thedot) + { + auto sthe = std::sin(the); + auto cthe = std::cos(the); + auto sthedot = cthe * thedot; + auto cthedot = -sthe * thedot; + auto rotMat = std::make_shared>(3, 3); + auto row0 = rotMat->at(0); + row0->atiput(0, 0.0); + row0->atiput(1, 0.0); + row0->atiput(2, 0.0); + auto row1 = rotMat->at(1); + row1->atiput(0, 0.0); + row1->atiput(1, cthedot); + row1->atiput(2, -sthedot); + auto row2 = rotMat->at(2); + row2->atiput(0, 0.0); + row2->atiput(1, sthedot); + row2->atiput(2, cthedot); + return rotMat; + } + template + inline FMatsptr FullMatrix::rotateyrotDot(T the, T thedot) + { + auto sthe = std::sin(the); + auto cthe = std::cos(the); + auto sthedot = cthe * thedot; + auto cthedot = -sthe * thedot; + auto rotMat = std::make_shared>(3, 3); + auto row0 = rotMat->at(0); + row0->atiput(0, cthedot); + row0->atiput(1, 0.0); + row0->atiput(2, sthedot); + auto row1 = rotMat->at(1); + row1->atiput(0, 0.0); + row1->atiput(1, 0.0); + row1->atiput(2, 0.0); + auto row2 = rotMat->at(2); + row2->atiput(0, -sthedot); + row2->atiput(1, 0.0); + row2->atiput(2, cthedot); + return rotMat; + } + template + inline FMatsptr FullMatrix::rotatezrotDot(T the, T thedot) + { + auto sthe = std::sin(the); + auto cthe = std::cos(the); + auto sthedot = cthe * thedot; + auto cthedot = -sthe * thedot; + auto rotMat = std::make_shared>(3, 3); + auto row0 = rotMat->at(0); + row0->atiput(0, cthedot); + row0->atiput(1, -sthedot); + row0->atiput(2, 0.0); + auto row1 = rotMat->at(1); + row1->atiput(0, sthedot); + row1->atiput(1, cthedot); + row1->atiput(2, 0.0); + auto row2 = rotMat->at(2); + row2->atiput(0, 0.0); + row2->atiput(1, 0.0); + row2->atiput(2, 0.0); + return rotMat; + } + template + inline FMatsptr FullMatrix::rotatexrotDotrotDDot(T the, T thedot, T theddot) + { + auto sthe = std::sin(the); + auto cthe = std::cos(the); + auto sthedot = cthe * thedot; + auto cthedot = -sthe * thedot; + auto stheddot = cthedot * thedot + (cthe * theddot); + auto ctheddot = -(sthedot * thedot) - (sthe * theddot); + auto rotMat = std::make_shared>(3, 3); + auto row0 = rotMat->at(0); + row0->atiput(0, 0.0); + row0->atiput(1, 0.0); + row0->atiput(2, 0.0); + auto row1 = rotMat->at(1); + row1->atiput(0, 0.0); + row1->atiput(1, ctheddot); + row1->atiput(2, -stheddot); + auto row2 = rotMat->at(2); + row2->atiput(0, 0.0); + row2->atiput(1, stheddot); + row2->atiput(2, ctheddot); + return rotMat; + } + template + inline FMatsptr FullMatrix::rotateyrotDotrotDDot(T the, T thedot, T theddot) + { + auto sthe = std::sin(the); + auto cthe = std::cos(the); + auto sthedot = cthe * thedot; + auto cthedot = -sthe * thedot; + auto stheddot = cthedot * thedot + (cthe * theddot); + auto ctheddot = -(sthedot * thedot) - (sthe * theddot); + auto rotMat = std::make_shared>(3, 3); + auto row0 = rotMat->at(0); + row0->atiput(0, ctheddot); + row0->atiput(1, 0.0); + row0->atiput(2, stheddot); + auto row1 = rotMat->at(1); + row1->atiput(0, 0.0); + row1->atiput(1, 0.0); + row1->atiput(2, 0.0); + auto row2 = rotMat->at(2); + row2->atiput(0, -stheddot); + row2->atiput(1, 0.0); + row2->atiput(2, ctheddot); + return rotMat; + } + template + inline FMatsptr FullMatrix::rotatezrotDotrotDDot(T the, T thedot, T theddot) + { + auto sthe = std::sin(the); + auto cthe = std::cos(the); + auto sthedot = cthe * thedot; + auto cthedot = -sthe * thedot; + auto stheddot = cthedot * thedot + (cthe * theddot); + auto ctheddot = -(sthedot * thedot) - (sthe * theddot); + auto rotMat = std::make_shared>(3, 3); + auto row0 = rotMat->at(0); + row0->atiput(0, ctheddot); + row0->atiput(1, -stheddot); + row0->atiput(2, 0.0); + auto row1 = rotMat->at(1); + row1->atiput(0, stheddot); + row1->atiput(1, ctheddot); + row1->atiput(2, 0.0); + auto row2 = rotMat->at(2); + row2->atiput(0, 0.0); + row2->atiput(1, 0.0); + row2->atiput(2, 0.0); + return rotMat; + } + template + inline FMatsptr FullMatrix::identitysptr(int n) + { + auto mat = std::make_shared>(n, n); + mat->identity(); + return mat; + } + template + inline FMatsptr FullMatrix::tildeMatrix(FColDsptr col) + { + //"tildeMatrix is skew symmetric matrix related to angular velocity and cross product." + if (col->size() != 3) throw std::runtime_error("Column is not of dimension 3"); + auto tilde = std::make_shared>(3, 3); + auto c0 = col->at(0); + auto c1 = col->at(1); + auto c2 = col->at(2); + tilde->atijput(0, 0, 0.0); + tilde->atijput(1, 1, 0.0); + tilde->atijput(2, 2, 0.0); + tilde->atijput(1, 2, -c0); + tilde->atijput(0, 2, c1); + tilde->atijput(0, 1, -c2); + tilde->atijput(1, 0, c2); + tilde->atijput(2, 0, -c1); + tilde->atijput(2, 1, c0); + return tilde; + } + template<> + inline void FullMatrix::zeroSelf() + { + for (int i = 0; i < (int)this->size(); i++) { + this->at(i)->zeroSelf(); + } + } + template<> + inline void FullMatrix::identity() { + this->zeroSelf(); + for (int i = 0; i < (int)this->size(); i++) { + this->at(i)->at(i) = 1.0; + } + } + template + inline FColsptr FullMatrix::column(int j) { + int n = (int)this->size(); + auto answer = std::make_shared>(n); + for (int i = 0; i < n; i++) { + answer->at(i) = this->at(i)->at(j); + } + return answer; + } + template + inline FMatsptr FullMatrix::timesFullMatrix(FMatsptr fullMat) + { + int m = this->nrow(); + auto answer = std::make_shared>(m); + for (int i = 0; i < m; i++) { + answer->at(i) = this->at(i)->timesFullMatrix(fullMat); + } + return answer; + } + template + inline FMatsptr FullMatrix::timesTransposeFullMatrix(FMatsptr fullMat) + { + int nrow = this->nrow(); + auto answer = std::make_shared>(nrow); + for (int i = 0; i < nrow; i++) { + answer->at(i) = this->at(i)->timesTransposeFullMatrix(fullMat); + } + return answer; + } + template<> + inline FMatDsptr FullMatrix::times(double a) + { + int m = this->nrow(); + auto answer = std::make_shared>(m); + for (int i = 0; i < m; i++) { + answer->at(i) = this->at(i)->times(a); + } + return answer; + } + template + inline FMatsptr FullMatrix::times(T) + { + assert(false); + } + template + inline FMatsptr FullMatrix::transposeTimesFullMatrix(FMatsptr fullMat) + { + return this->transpose()->timesFullMatrix(fullMat); + } + template + inline FMatsptr FullMatrix::plusFullMatrix(FMatsptr fullMat) + { + int n = (int)this->size(); + auto answer = std::make_shared>(n); + for (int i = 0; i < n; i++) { + answer->at(i) = this->at(i)->plusFullRow(fullMat->at(i)); + } + return answer; + } + template + inline FMatsptr FullMatrix::minusFullMatrix(FMatsptr fullMat) + { + int n = (int)this->size(); + auto answer = std::make_shared>(n); + for (int i = 0; i < n; i++) { + answer->at(i) = this->at(i)->minusFullRow(fullMat->at(i)); + } + return answer; + } + template + inline FMatsptr FullMatrix::transpose() + { + int nrow = this->nrow(); + auto ncol = this->ncol(); + auto answer = std::make_shared>(ncol, nrow); + for (int i = 0; i < nrow; i++) { + auto& row = this->at(i); + for (int j = 0; j < ncol; j++) { + answer->at(j)->at(i) = row->at(j); + } + } + return answer; + } + template + inline FMatsptr FullMatrix::negated() + { + return this->times(-1.0); + } + template + inline void FullMatrix::symLowerWithUpper() + { + int n = (int)this->size(); + for (int i = 0; i < n; i++) { + for (int j = i + 1; j < n; j++) { + this->at(j)->at(i) = this->at(i)->at(j); + } + } + } + template + inline void FullMatrix::atiput(int i, FRowsptr fullRow) + { + this->at(i) = fullRow; + } + template + inline void FullMatrix::atijput(int i, int j, T value) + { + this->at(i)->atiput(j, value); + } + template + inline void FullMatrix::atijputFullColumn(int i1, int j1, FColsptr fullCol) + { + for (int ii = 0; ii < (int)fullCol->size(); ii++) + { + this->at(i1 + ii)->at(j1) = fullCol->at(ii); + } + } + template + inline void FullMatrix::atijplusFullRow(int i, int j, FRowsptr fullRow) + { + this->at(i)->atiplusFullRow(j, fullRow); + } + template + inline void FullMatrix::atijplusNumber(int i, int j, T value) + { + auto rowi = this->at(i); + rowi->at(j) += value; + } + template + inline void FullMatrix::atijminusNumber(int i, int j, T value) + { + auto rowi = this->at(i); + rowi->at(j) -= value; + } + template<> + inline double FullMatrix::sumOfSquares() + { + double sum = 0.0; + for (int i = 0; i < (int)this->size(); i++) + { + sum += this->at(i)->sumOfSquares(); + } + return sum; + } + template + inline double FullMatrix::sumOfSquares() + { + assert(false); + return 0.0; + } + template + inline void FullMatrix::zeroSelf() + { + assert(false); + } + template + inline FMatsptr FullMatrix::copy() + { + auto m = (int)this->size(); + auto answer = std::make_shared>(m); + for (int i = 0; i < m; i++) + { + answer->at(i) = this->at(i)->copy(); + } + return answer; + } + template + inline FullMatrix FullMatrix::operator+(const FullMatrix fullMat) + { + int n = (int)this->size(); + auto answer = FullMatrix(n); + for (int i = 0; i < n; i++) { + answer.at(i) = this->at(i)->plusFullRow(fullMat.at(i)); + } + return answer; + } + template + inline FColsptr FullMatrix::transposeTimesFullColumn(FColsptr fullCol) + { + auto sptr = std::make_shared>(*this); + return fullCol->transpose()->timesFullMatrix(sptr)->transpose(); + } + template + inline void FullMatrix::magnifySelf(T factor) + { + for (int i = 0; i < (int)this->size(); i++) { + this->at(i)->magnifySelf(factor); + } + } + template + inline std::ostream& FullMatrix::printOn(std::ostream& s) const + { + s << "FullMat[" << std::endl; + for (int i = 0; i < (int)this->size(); i++) + { + s << *(this->at(i)) << std::endl; + } + s << "]"; + return s; + } + template + inline std::shared_ptr> FullMatrix::asEulerParameters() + { + //"Given [A], compute Euler parameter." + + auto traceA = this->trace(); + T dum = 0.0; + T dumSq = 0.0; + //auto qE = CREATE>::With(4); //Cannot use CREATE.h in subclasses of std::vector. Why? + auto qE = std::make_shared>(4); + qE->initialize(); + auto OneMinusTraceDivFour = (1.0 - traceA) / 4.0; + for (int i = 0; i < 3; i++) + { + dumSq = this->at(i)->at(i) / 2.0 + OneMinusTraceDivFour; + dum = (dumSq > 0.0) ? std::sqrt(dumSq) : 0.0; + qE->atiput(i, dum); + } + dumSq = (1.0 + traceA) / 4.0; + dum = (dumSq > 0.0) ? std::sqrt(dumSq) : 0.0; + qE->atiput(3, dum); + T max = 0.0; + int maxE = -1; + for (int i = 0; i < 4; i++) + { + auto num = qE->at(i); + if (max < num) { + max = num; + maxE = i; + } + } + + if (maxE == 0) { + auto FourE = 4.0 * qE->at(0); + qE->atiput(1, (this->at(0)->at(1) + this->at(1)->at(0)) / FourE); + qE->atiput(2, (this->at(0)->at(2) + this->at(2)->at(0)) / FourE); + qE->atiput(3, (this->at(2)->at(1) - this->at(1)->at(2)) / FourE); + } + else if (maxE == 1) { + auto FourE = 4.0 * qE->at(1); + qE->atiput(0, (this->at(0)->at(1) + this->at(1)->at(0)) / FourE); + qE->atiput(2, (this->at(1)->at(2) + this->at(2)->at(1)) / FourE); + qE->atiput(3, (this->at(0)->at(2) - this->at(2)->at(0)) / FourE); + } + else if (maxE == 2) { + auto FourE = 4.0 * qE->at(2); + qE->atiput(0, (this->at(0)->at(2) + this->at(2)->at(0)) / FourE); + qE->atiput(1, (this->at(1)->at(2) + this->at(2)->at(1)) / FourE); + qE->atiput(3, (this->at(1)->at(0) - this->at(0)->at(1)) / FourE); + } + else if (maxE == 3) { + auto FourE = 4.0 * qE->at(3); + qE->atiput(0, (this->at(2)->at(1) - this->at(1)->at(2)) / FourE); + qE->atiput(1, (this->at(0)->at(2) - this->at(2)->at(0)) / FourE); + qE->atiput(2, (this->at(1)->at(0) - this->at(0)->at(1)) / FourE); + } + qE->conditionSelf(); + qE->calc(); + return qE; + } + template + inline T FullMatrix::trace() + { + T trace = 0.0; + for (int i = 0; i < (int)this->size(); i++) + { + trace += this->at(i)->at(i); + } + return trace; + } + template + inline double FullMatrix::maxMagnitude() + { + double max = 0.0; + for (int i = 0; i < (int)this->size(); i++) + { + double element = this->at(i)->maxMagnitude(); + if (max < element) max = element; + } + return max; + } + template + inline FColsptr FullMatrix::bryantAngles() + { + auto answer = std::make_shared>(3); + auto sthe1y = this->at(0)->at(2); + T the0x, the1y, the2z, cthe0x, sthe0x, y, x; + if (std::abs(sthe1y) > 0.9999) { + if (sthe1y > 0.0) { + the0x = std::atan2(this->at(1)->at(0), this->at(1)->at(1)); + the1y = OS_M_PI / 2.0; + the2z = 0.0; + } + else { + the0x = std::atan2(this->at(2)->at(1), this->at(2)->at(0)); + the1y = OS_M_PI / -2.0; + the2z = 0.0; + } + } + else { + the0x = std::atan2(-this->at(1)->at(2), this->at(2)->at(2)); + cthe0x = std::cos(the0x); + sthe0x = std::sin(the0x); + y = sthe1y; + if (std::abs(cthe0x) > std::abs(sthe0x)) { + x = this->at(2)->at(2) / cthe0x; + } + else { + x = this->at(1)->at(2) / -sthe0x; + } + the1y = std::atan2(y, x); + the2z = std::atan2(-this->at(0)->at(1), this->at(0)->at(0)); + } + answer->atiput(0, the0x); + answer->atiput(1, the1y); + answer->atiput(2, the2z); + return answer; + } + template + inline bool FullMatrix::isDiagonal() + { + auto m = this->nrow(); + auto n = this->ncol(); + if (m != n) return false; + for (int i = 0; i < m; i++) + { + auto rowi = this->at(i); + for (int j = 0; j < n; j++) + { + if (i != j && rowi->at(j) != 0) return false; + } + } + return true; + } + template + inline bool FullMatrix::isDiagonalToWithin(double ratio) + { + double maxMag = this->maxMagnitude(); + auto tol = ratio * maxMag; + auto nrow = this->nrow(); + if (nrow == this->ncol()) { + for (int i = 0; i < 3; i++) + { + for (int j = i + 1; j < 3; j++) + { + if (std::abs(this->at(i)->at(j)) > tol) return false; + if (std::abs(this->at(j)->at(i)) > tol) return false; + } + } + return true; + } + else { + return false; + } + } + template + inline bool FullMatrix::equaltol(FMatsptr mat2, double tol) + { + if (this->size() != mat2->size()) return false; + for (size_t i = 0; i < this->size(); i++) + { + auto& rowi = this->at(i); + auto& rowi2 = mat2->at(i); + if (rowi->size() != rowi2->size()) return false; + for (size_t j = 0; j < rowi->size(); j++) + { + if (!Array::equaltol((double)rowi->at(j), (double)rowi2->at(j), tol)) return false; + } + } + return true; + } + template + inline std::shared_ptr> FullMatrix::asDiagonalMatrix() + { + int nrow = this->nrow(); + auto diagMat = std::make_shared>(nrow); + for (int i = 0; i < nrow; i++) + { + diagMat->atiput(i, this->at(i)->at(i)); + } + return diagMat; + } + template + inline void FullMatrix::conditionSelfWithTol(double tol) + { + for (auto row : *this) { + row->conditionSelfWithTol(tol); + } + } + template + inline FColsptr FullMatrix::timesFullColumn(FColsptr fullCol) + { + return this->timesFullColumn(fullCol.get()); + } + template + inline FColsptr FullMatrix::timesFullColumn(FullColumn* fullCol) + { + //"a*b = a(i,j)b(j) sum j." + auto nrow = this->nrow(); + auto answer = std::make_shared>(nrow); + for (int i = 0; i < nrow; i++) + { + answer->at(i) = this->at(i)->timesFullColumn(fullCol); + } + return answer; + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/FullMotion.cpp b/src/3rdParty/OndselSolver/OndselSolver/FullMotion.cpp new file mode 100644 index 000000000000..71caf9d04a0c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FullMotion.cpp @@ -0,0 +1,51 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "FullMotion.h" +#include "CREATE.h" +#include "System.h" + +using namespace MbD; + +MbD::FullMotion::FullMotion() +{ +} + +MbD::FullMotion::FullMotion(const char*) +{ +} + +void MbD::FullMotion::connectsItoJ(EndFrmsptr frmi, EndFrmsptr frmj) +{ + Joint::connectsItoJ(frmi, frmj); + std::static_pointer_cast(frmI)->initEndFrameqct2(); +} + +void MbD::FullMotion::initializeGlobally() +{ + if (constraints->empty()) { + initMotions(); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 1)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 1, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 1)); + this->root()->hasChanged = true; + } + else { + PrescribedMotion::initializeGlobally(); + } +} + +void MbD::FullMotion::initMotions() +{ + auto efrmI = std::static_pointer_cast(frmI); + efrmI->rmemBlks = frIJI; + efrmI->phiThePsiBlks = fangIJJ; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/FullMotion.h b/src/3rdParty/OndselSolver/OndselSolver/FullMotion.h new file mode 100644 index 000000000000..1fe9cf331fa3 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FullMotion.h @@ -0,0 +1,32 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "PrescribedMotion.h" +#include "Symbolic.h" +#include "EulerAngles.h" + +namespace MbD { + + class FullMotion : public PrescribedMotion + { + //frIJI fangIJJ + public: + FullMotion(); + FullMotion(const char* str); + void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ) override; + void initializeGlobally() override; + void initMotions() override; + + std::shared_ptr> frIJI; + std::shared_ptr> fangIJJ; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/FullRow.cpp b/src/3rdParty/OndselSolver/OndselSolver/FullRow.cpp new file mode 100644 index 000000000000..3458277ca058 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FullRow.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "FullRow.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/FullRow.h b/src/3rdParty/OndselSolver/OndselSolver/FullRow.h new file mode 100644 index 000000000000..fac8d57884a5 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FullRow.h @@ -0,0 +1,224 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FullVector.h" +//#include "FullColumn.h" + +namespace MbD { + template + class FullRow; + template + using FRowsptr = std::shared_ptr>; + using FRowDsptr = std::shared_ptr>; + template + class FullMatrix; + template + using FMatsptr = std::shared_ptr>; + template + class FullColumn; + template + using FColsptr = std::shared_ptr>; + using ListFRD = std::initializer_list; + + template + class FullRow : public FullVector + { + public: + FullRow() : FullVector() {} + FullRow(std::vector vec) : FullVector(vec) {} + FullRow(size_t count) : FullVector(count) {} + FullRow(size_t count, const T& value) : FullVector(count, value) {} + FullRow(typename std::vector::const_iterator begin, typename std::vector::const_iterator end) : FullVector(begin, end) {} + FullRow(std::initializer_list list) : FullVector{ list } {} + FRowsptr times(T a); + FRowsptr negated(); + FRowsptr plusFullRow(FRowsptr fullRow); + FRowsptr minusFullRow(FRowsptr fullRow); + T timesFullColumn(FColsptr fullCol); + T timesFullColumn(FullColumn* fullCol); + FRowsptr timesFullMatrix(FMatsptr fullMat); + FRowsptr timesTransposeFullMatrix(FMatsptr fullMat); + void equalSelfPlusFullRowTimes(FRowsptr fullRow, double factor); + void equalFullRow(FRowsptr fullRow); + FColsptr transpose(); + FRowsptr copy(); + void atiplusFullRow(int j, FRowsptr fullRow); + FMatsptr transposeTimesFullRow(FRowsptr fullRow); + double dot(std::shared_ptr> vec); + std::shared_ptr> dot(std::shared_ptr>>> vecvec); + + std::ostream& printOn(std::ostream& s) const override; + + }; + + template<> + inline FRowDsptr FullRow::times(double a) + { + int n = (int)this->size(); + auto answer = std::make_shared>(n); + for (int i = 0; i < n; i++) { + answer->at(i) = this->at(i) * a; + } + return answer; + } + template + inline FRowsptr FullRow::times(T) + { + assert(false); + } + template + inline FRowsptr FullRow::negated() + { + return this->times(-1.0); + } + template + inline FRowsptr FullRow::plusFullRow(FRowsptr fullRow) + { + int n = (int) this->size(); + auto answer = std::make_shared>(n); + for (int i = 0; i < n; i++) { + answer->at(i) = this->at(i) + fullRow->at(i); + } + return answer; + } + template + inline FRowsptr FullRow::minusFullRow(FRowsptr fullRow) + { + int n = (int) this->size(); + auto answer = std::make_shared>(n); + for (int i = 0; i < n; i++) { + answer->at(i) = this->at(i) - fullRow->at(i); + } + return answer; + } + template + inline T FullRow::timesFullColumn(FColsptr fullCol) + { + return this->timesFullColumn(fullCol.get()); + } + template + inline T FullRow::timesFullColumn(FullColumn* fullCol) + { + auto answer = this->at(0) * fullCol->at(0); + for (int i = 1; i < (int)this->size(); i++) + { + answer += this->at(i) * fullCol->at(i); + } + return answer; + } + template + inline FRowsptr FullRow::timesTransposeFullMatrix(FMatsptr fullMat) + { + //"a*bT = a(1,j)b(k,j)" + int ncol = fullMat->nrow(); + auto answer = std::make_shared>(ncol); + for (int k = 0; k < ncol; k++) { + answer->at(k) = this->dot(fullMat->at(k)); + } + return answer; + } + template + inline void FullRow::equalSelfPlusFullRowTimes(FRowsptr fullRow, double factor) + { + this->equalSelfPlusFullVectortimes(fullRow, factor); + } + template + inline void FullRow::equalFullRow(FRowsptr fullRow) + { + this->equalArrayAt(fullRow, 0); + } + template + inline FColsptr FullRow::transpose() + { + return std::make_shared>(*this); + } + template<> + inline FRowDsptr FullRow::copy() + { + auto n = (int)this->size(); + auto answer = std::make_shared>(n); + for (int i = 0; i < n; i++) + { + answer->at(i) = this->at(i); + } + return answer; + } + template + inline void FullRow::atiplusFullRow(int j1, FRowsptr fullRow) + { + for (int jj = 0; jj < fullRow->size(); jj++) + { + auto j = j1 + jj; + this->at(j) += fullRow->at(jj); + } + } + template + inline FMatsptr FullRow::transposeTimesFullRow(FRowsptr fullRow) + { + //"a*b = a(i)b(j)" + auto nrow = (int)this->size(); + auto answer = std::make_shared>(nrow); + for (int i = 0; i < nrow; i++) + { + answer->atiput(i, fullRow->times(this->at(i))); + } + return answer; + } + template + inline double FullRow::dot(std::shared_ptr> vec) + { + int n = (int)this->size(); + double answer = 0.0; + for (int i = 0; i < n; i++) { + answer += this->at(i) * vec->at(i); + } + return answer; + } + template + inline std::shared_ptr> FullRow::dot(std::shared_ptr>>> vecvec) + { + auto ncol = (int)this->size(); + auto nelem = vecvec->at(0)->size(); + auto answer = std::make_shared>(nelem); + for (int k = 0; k < (int)nelem; k++) { + auto sum = 0.0; + for (int i = 0; i < ncol; i++) + { + sum += this->at(i) * vecvec->at(i)->at(k); + } + answer->at(k) = sum; + } + return answer; + } + template + inline std::ostream& FullRow::printOn(std::ostream& s) const + { + s << "FullRow{"; + s << this->at(0); + for (int i = 1; i < (int)this->size(); i++) + { + s << ", " << this->at(i); + } + s << "}"; + return s; + } + template + inline FRowsptr FullRow::timesFullMatrix(FMatsptr fullMat) + { + FRowsptr answer = fullMat->at(0)->times(this->at(0)); + for (int j = 1; j < (int) this->size(); j++) + { + answer->equalSelfPlusFullRowTimes(fullMat->at(j), this->at(j)); + } + return answer; + //return FRowsptr(); + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/FullVector.cpp b/src/3rdParty/OndselSolver/OndselSolver/FullVector.cpp new file mode 100644 index 000000000000..efdaa07ae0ed --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FullVector.cpp @@ -0,0 +1,13 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "FullVector.h" + +using namespace MbD; + + diff --git a/src/3rdParty/OndselSolver/OndselSolver/FullVector.h b/src/3rdParty/OndselSolver/OndselSolver/FullVector.h new file mode 100644 index 000000000000..5e44d96777e8 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FullVector.h @@ -0,0 +1,242 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include + +#include "Array.h" + +namespace MbD { + template + class FullVector : public Array + { + public: + FullVector() : Array() {} + FullVector(std::vector vec) : Array(vec) {} + FullVector(size_t count) : Array(count) {} + FullVector(size_t count, const T& value) : Array(count, value) {} + FullVector(typename std::vector::iterator begin, typename std::vector::iterator end) : Array(begin, end) {} + FullVector(std::initializer_list list) : Array{ list } {} + double dot(std::shared_ptr> vec); + void atiplusNumber(int i, T value); + void atiminusNumber(int i, T value); + double sumOfSquares() override; + int numberOfElements() override; + void zeroSelf() override; + void atiplusFullVector(int i, std::shared_ptr> fullVec); + void atiplusFullVectortimes(int i, std::shared_ptr> fullVec, T factor); + void equalSelfPlusFullVectortimes(std::shared_ptr> fullVec, T factor); + double maxMagnitude() override; + void normalizeSelf(); + double length(); + virtual void conditionSelf(); + virtual void conditionSelfWithTol(double tol); + std::shared_ptr> clonesptr(); + bool isIncreasing(); + bool isIncreasingIfExceptionsAreLessThan(double tol); + bool isDecreasingIfExceptionsAreLessThan(double tol); + + + std::ostream& printOn(std::ostream& s) const override; + + }; + template + inline double FullVector::dot(std::shared_ptr> vec) + { + int n = (int)this->size(); + double answer = 0.0; + for (int i = 0; i < n; i++) { + answer += this->at(i) * vec->at(i); + } + return answer; + } + template + inline void FullVector::atiplusNumber(int i, T value) + { + this->at(i) += value; + } + template + inline void FullVector::atiminusNumber(int i, T value) + { + this->at(i) -= value; + } + template<> + inline double FullVector::sumOfSquares() + { + double sum = 0.0; + for (int i = 0; i < (int)this->size(); i++) + { + double element = this->at(i); + sum += element * element; + } + return sum; + } + template + inline double FullVector::sumOfSquares() + { + assert(false); + return 0.0; + } + template + inline int FullVector::numberOfElements() + { + return (int)this->size(); + } + template<> + inline void FullVector::zeroSelf() + { + for (int i = 0; i < (int)this->size(); i++) { + this->at(i) = 0.0; + } + } + template + inline void FullVector::zeroSelf() + { + assert(false); + } + template + inline void FullVector::atiplusFullVector(int i1, std::shared_ptr> fullVec) + { + for (int ii = 0; ii < (int)fullVec->size(); ii++) + { + auto i = i1 + ii; + this->at(i) += fullVec->at(ii); + } + } + template + inline void FullVector::atiplusFullVectortimes(int i1, std::shared_ptr> fullVec, T factor) + { + for (int ii = 0; ii < (int)fullVec->size(); ii++) + { + auto i = i1 + ii; + this->at(i) += fullVec->at(ii) * factor; + } + } + template + inline void FullVector::equalSelfPlusFullVectortimes(std::shared_ptr> fullVec, T factor) + { + for (int i = 0; i < (int)this->size(); i++) + { + this->atiplusNumber(i, fullVec->at(i) * factor); + } + } + template<> + inline double FullVector::maxMagnitude() + { + double max = 0.0; + for (int i = 0; i < (int)this->size(); i++) + { + double element = this->at(i); + if (element < 0.0) element = -element; + if (max < element) max = element; + } + return max; + } + template + inline double FullVector::maxMagnitude() + { + assert(false); + return 0.0; + } + template<> + inline void FullVector::normalizeSelf() + { + double length = this->length(); + if (length == 0.0) throw std::runtime_error("Cannot normalize a null vector."); + this->magnifySelf(1.0 / length); + } + template + inline double FullVector::length() + { + double ssq = 0.0; + for (int i = 0; i < (int)this->size(); i++) + { + double elem = this->at(i); + ssq += elem * elem; + } + return std::sqrt(ssq); + } + template + inline void FullVector::conditionSelf() + { + constexpr double epsilon = std::numeric_limits::epsilon(); + double tol = this->maxMagnitude() * epsilon; + this->conditionSelfWithTol(tol); + } + template<> + inline void FullVector::conditionSelfWithTol(double tol) + { + for (int i = 0; i < (int)this->size(); i++) + { + double element = this->at(i); + if (element < 0.0) element = -element; + if (element < tol) this->atiput(i, 0.0); + } + } + template + inline void FullVector::conditionSelfWithTol(double tol) + { + assert(false && tol != tol); // clang++ flips out with warnings if you don't use 'tol' + // but suppressing that warning breaks Visual Studio. + return; // Visual Studio demands the unused return + } + template + inline std::shared_ptr> FullVector::clonesptr() + { + //Return shallow copy of *this wrapped in shared_ptr + assert(false); + return std::make_shared>(*this); + } + template + inline bool FullVector::isIncreasing() + { + return isIncreasingIfExceptionsAreLessThan(0.0); + } + template + inline bool FullVector::isIncreasingIfExceptionsAreLessThan(double tol) + { + //"Test if elements are increasing." + //"Ok if spoilers are less than tol." + auto next = this->at(0); + for (int i = 1; i < (int)this->size(); i++) + { + auto previous = next; + next = this->at(i); + if (previous > next && (previous - tol > next)) return false; + } + return true; + } + template + inline bool FullVector::isDecreasingIfExceptionsAreLessThan(double tol) + { + //"Test if elements are increasing." + //"Ok if spoilers are less than tol." + auto next = this->at(0); + for (int i = 1; i < (int)this->size(); i++) + { + auto previous = next; + next = this->at(i); + if (previous < next && (previous + tol < next)) return false; + } + return true; + } + template + inline std::ostream& FullVector::printOn(std::ostream& s) const + { + s << "FullVec{"; + s << this->at(0); + for (int i = 1; i < (int)this->size(); i++) + { + s << ", " << this->at(i); + } + s << "}"; + return s; + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Function.cpp b/src/3rdParty/OndselSolver/OndselSolver/Function.cpp new file mode 100644 index 000000000000..f08ed6bf696b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Function.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "Function.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/Function.h b/src/3rdParty/OndselSolver/OndselSolver/Function.h new file mode 100644 index 000000000000..f0080504b340 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Function.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Symbolic.h" + +namespace MbD { + class Function : public Symbolic + { + // + public: + virtual void arguments(Symsptr args) = 0; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/FunctionFromData.cpp b/src/3rdParty/OndselSolver/OndselSolver/FunctionFromData.cpp new file mode 100644 index 000000000000..17930b95f05d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FunctionFromData.cpp @@ -0,0 +1,15 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "FunctionFromData.h" + +using namespace MbD; + +MbD::FunctionFromData::FunctionFromData(Symsptr arg) : FunctionXcParameter(arg) +{ +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/FunctionFromData.h b/src/3rdParty/OndselSolver/OndselSolver/FunctionFromData.h new file mode 100644 index 000000000000..4b874282a06f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FunctionFromData.h @@ -0,0 +1,25 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionXcParameter.h" + +namespace MbD { + class FunctionFromData : public FunctionXcParameter + { + //xvalue xs ys + public: + FunctionFromData() = default; + FunctionFromData(Symsptr arg); + + double xvalue = std::numeric_limits::min(); + std::shared_ptr> xs, ys; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/FunctionWithManyArgs.cpp b/src/3rdParty/OndselSolver/OndselSolver/FunctionWithManyArgs.cpp new file mode 100644 index 000000000000..bd4b2e50edb5 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FunctionWithManyArgs.cpp @@ -0,0 +1,62 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "FunctionWithManyArgs.h" +#include "Symbolic.h" + +using namespace MbD; + +FunctionWithManyArgs::FunctionWithManyArgs() +{ + terms = std::make_shared>(); +} + +FunctionWithManyArgs::FunctionWithManyArgs(Symsptr term) : FunctionWithManyArgs() +{ + terms->push_back(term); +} + +FunctionWithManyArgs::FunctionWithManyArgs(Symsptr term, Symsptr term1) : FunctionWithManyArgs(term) +{ + terms->push_back(term1); +} + +FunctionWithManyArgs::FunctionWithManyArgs(Symsptr term, Symsptr term1, Symsptr term2) : FunctionWithManyArgs(term, term1) +{ + terms->push_back(term2); +} + +FunctionWithManyArgs::FunctionWithManyArgs(std::shared_ptr> _terms) { + terms = std::make_shared>(); + for (int i = 0; i < (int)_terms->size(); i++) + terms->push_back(_terms->at(i)); +} + +std::shared_ptr> FunctionWithManyArgs::getTerms() +{ + return terms; +} + +void MbD::FunctionWithManyArgs::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + for (auto& term : *terms) term->createMbD(mbdSys, mbdUnits); +} + +void MbD::FunctionWithManyArgs::arguments(Symsptr) +{ + assert(false); +} + +bool MbD::FunctionWithManyArgs::isConstant() +{ + for (auto& term : *terms) { + if (!term->isConstant()) return false; + } + return true; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/FunctionWithManyArgs.h b/src/3rdParty/OndselSolver/OndselSolver/FunctionWithManyArgs.h new file mode 100644 index 000000000000..1635d0e67606 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FunctionWithManyArgs.h @@ -0,0 +1,35 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Function.h" +#include "Symbolic.h" +#include "System.h" +#include "Units.h" + +namespace MbD { + + class FunctionWithManyArgs : public Function + { + //terms + public: + FunctionWithManyArgs(); + FunctionWithManyArgs(Symsptr term); + FunctionWithManyArgs(Symsptr term, Symsptr term1); + FunctionWithManyArgs(Symsptr term, Symsptr term1, Symsptr term2); + FunctionWithManyArgs(std::shared_ptr> _terms); + std::shared_ptr> getTerms() override; + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + void arguments(Symsptr args) override; + bool isConstant() override; + + std::shared_ptr> terms; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/FunctionX.cpp b/src/3rdParty/OndselSolver/OndselSolver/FunctionX.cpp new file mode 100644 index 000000000000..7c4f68301dd2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FunctionX.cpp @@ -0,0 +1,104 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "FunctionX.h" +#include "Constant.h" +#include "Sum.h" +#include "Arguments.h" + +using namespace MbD; + +MbD::FunctionX::FunctionX(Symsptr arg) : xx(arg) +{ +} + +void MbD::FunctionX::arguments(Symsptr args) +{ + auto arguments = std::static_pointer_cast(args); + assert(arguments->terms->size() == 1); + xx = arguments->terms->front(); +} + +Symsptr MbD::FunctionX::copyWith(Symsptr) +{ + assert(false); + return Symsptr(); +} + +Symsptr MbD::FunctionX::expandUntil(Symsptr sptr, std::shared_ptr> set) +{ + auto itr = std::find_if(set->begin(), set->end(), [sptr](Symsptr sym) {return sptr.get() == sym.get(); }); + if (itr != set->end()) return sptr; + auto newx = xx->expandUntil(xx, set); + auto copy = copyWith(newx); + if (newx->isConstant()) { + return sptrConstant(copy->getValue()); + } + else { + return copy; + } +} + +Symsptr MbD::FunctionX::simplifyUntil(Symsptr sptr, std::shared_ptr> set) +{ + auto itr = std::find_if(set->begin(), set->end(), [sptr](Symsptr sym) {return sptr.get() == sym.get(); }); + if (itr != set->end()) return sptr; + auto newx = xx->simplifyUntil(xx, set); + auto copy = copyWith(newx); + if (newx->isConstant()) { + return sptrConstant(copy->getValue()); + } + else { + return copy; + } +} + +Symsptr MbD::FunctionX::differentiateWRT(Symsptr var) +{ + if (this == var.get()) return sptrConstant(1.0); + auto dfdx = differentiateWRTx(); + auto dxdvar = xx->differentiateWRT(var); + return Symbolic::times(dfdx, dxdvar); +} + +Symsptr MbD::FunctionX::differentiateWRTx() +{ + assert(false); + return Symsptr(); +} + +void MbD::FunctionX::createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) +{ + xx->createMbD(mbdSys, mbdUnits); +} + +double MbD::FunctionX::getValue() +{ + assert(false); + return 0.0; +} + +double MbD::FunctionX::getValue(double arg) +{ + double answer; + if (xx->isVariable()) { + auto oldVal = xx->getValue(); + xx->setValue(arg); + answer = getValue(); + xx->setValue(oldVal); + } + else { + assert(false); + } + return answer; +} + +bool MbD::FunctionX::isConstant() +{ + return xx->isConstant(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/FunctionX.h b/src/3rdParty/OndselSolver/OndselSolver/FunctionX.h new file mode 100644 index 000000000000..2aa550535e03 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FunctionX.h @@ -0,0 +1,40 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Function.h" + +namespace MbD { + class Symbolic; + //using Symsptr = Symsptr; + + class FunctionX : public Function + { + // + public: + FunctionX() = default; + FunctionX(Symsptr arg); + void arguments(Symsptr args) override; + virtual Symsptr copyWith(Symsptr arg); + Symsptr expandUntil(Symsptr sptr, std::shared_ptr> set) override; + Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr> set) override; + Symsptr differentiateWRT(Symsptr var) override; + virtual Symsptr differentiateWRTx(); + void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits) override; + double getValue() override; + double getValue(double arg) override; + bool isConstant() override; + + Symsptr xx; + + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/FunctionXY.cpp b/src/3rdParty/OndselSolver/OndselSolver/FunctionXY.cpp new file mode 100644 index 000000000000..8ca66f974bff --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FunctionXY.cpp @@ -0,0 +1,34 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "FunctionXY.h" +#include "Sum.h" + +using namespace MbD; + +MbD::FunctionXY::FunctionXY() +{ +} + +MbD::FunctionXY::FunctionXY(Symsptr base, Symsptr exp) : x(base), y(exp) +{ +} + +void MbD::FunctionXY::arguments(Symsptr args) +{ + //args is a Sum with "terms" containing the actual arguments + auto sum = std::static_pointer_cast(args); + assert(sum->terms->size() == 2); + x = sum->terms->at(0); + y = sum->terms->at(1); +} + +bool MbD::FunctionXY::isConstant() +{ + return x->isConstant() && y->isConstant(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/FunctionXY.h b/src/3rdParty/OndselSolver/OndselSolver/FunctionXY.h new file mode 100644 index 000000000000..2bc59f947fe6 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FunctionXY.h @@ -0,0 +1,32 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Function.h" + +namespace MbD { + class Symbolic; + //using Symsptr = Symsptr; + + class FunctionXY : public Function + { + //x y + public: + FunctionXY(); + FunctionXY(Symsptr base, Symsptr exp); + void arguments(Symsptr args) override; + virtual Symsptr differentiateWRTx() = 0; + virtual Symsptr differentiateWRTy() = 0; + bool isConstant() override; + + Symsptr x, y; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/FunctionXcParameter.cpp b/src/3rdParty/OndselSolver/OndselSolver/FunctionXcParameter.cpp new file mode 100644 index 000000000000..b515a645bf29 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FunctionXcParameter.cpp @@ -0,0 +1,15 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "FunctionXcParameter.h" + +using namespace MbD; + +MbD::FunctionXcParameter::FunctionXcParameter(Symsptr arg) : FunctionX(arg) +{ +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/FunctionXcParameter.h b/src/3rdParty/OndselSolver/OndselSolver/FunctionXcParameter.h new file mode 100644 index 000000000000..466b26f12e85 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/FunctionXcParameter.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionX.h" + +namespace MbD { + class FunctionXcParameter : public FunctionX + { + // + public: + FunctionXcParameter() = default; + FunctionXcParameter(Symsptr arg); + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Functions.cpp b/src/3rdParty/OndselSolver/OndselSolver/Functions.cpp new file mode 100644 index 000000000000..e256a834836e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Functions.cpp @@ -0,0 +1,2 @@ +#include "Functions.h" + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Functions.h b/src/3rdParty/OndselSolver/OndselSolver/Functions.h new file mode 100644 index 000000000000..3b8952c94f50 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Functions.h @@ -0,0 +1,19 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Arguments.h" + +namespace MbD { + class Functions : public Arguments + { + public: + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/GEFullMat.cpp b/src/3rdParty/OndselSolver/OndselSolver/GEFullMat.cpp new file mode 100644 index 000000000000..a89f65eaaa4a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GEFullMat.cpp @@ -0,0 +1,73 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "GEFullMat.h" + +using namespace MbD; + +void GEFullMat::forwardEliminateWithPivot(int) +{ + assert(false); +} + +void GEFullMat::backSubstituteIntoDU() +{ + answerX = std::make_shared>(n); + answerX->at(n - 1) = rightHandSideB->at(m - 1) / matrixA->at(m - 1)->at(n - 1); + for (int i = n - 2; i >= 0; i--) + { + auto rowi = matrixA->at(i); + double sum = answerX->at(n) * rowi->at(n); + for (int j = i + 1; j < n - 1; j++) + { + sum += answerX->at(j) * rowi->at(j); + } + answerX->at(i) = (rightHandSideB->at(i) - sum) / rowi->at(i); + } +} + +void GEFullMat::postSolve() +{ + assert(false); +} + +void GEFullMat::preSolvewithsaveOriginal(FMatDsptr, FColDsptr, bool) +{ + assert(false); +} + +void GEFullMat::preSolvewithsaveOriginal(SpMatDsptr, FColDsptr, bool) +{ + assert(false); +} + +double GEFullMat::getmatrixArowimaxMagnitude(int i) +{ + return matrixA->at(i)->maxMagnitude(); +} + +FColDsptr GEFullMat::basicSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) +{ + this->preSolvewithsaveOriginal(fullMat, fullCol, saveOriginal); + for (int p = 0; p < m; p++) + { + this->doPivoting(p); + this->forwardEliminateWithPivot(p); + } + this->backSubstituteIntoDU(); + this->postSolve(); + return answerX; +} + +FColDsptr GEFullMat::basicSolvewithsaveOriginal(SpMatDsptr, FColDsptr, bool) +{ + assert(false); + return FColDsptr(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/GEFullMat.h b/src/3rdParty/OndselSolver/OndselSolver/GEFullMat.h new file mode 100644 index 000000000000..806c9475c4ad --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GEFullMat.h @@ -0,0 +1,30 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "MatrixGaussElimination.h" + +namespace MbD { + class GEFullMat : public MatrixGaussElimination + { + // + public: + void forwardEliminateWithPivot(int p) override; + void backSubstituteIntoDU() override; + void postSolve() override; + FColDsptr basicSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) override; + FColDsptr basicSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override; + void preSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) override; + void preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override; + double getmatrixArowimaxMagnitude(int i) override; + + FMatDsptr matrixA; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/GEFullMatFullPv.cpp b/src/3rdParty/OndselSolver/OndselSolver/GEFullMatFullPv.cpp new file mode 100644 index 000000000000..d8a008515d4b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GEFullMatFullPv.cpp @@ -0,0 +1,59 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "GEFullMatFullPv.h" +#include "SingularMatrixError.h" + +using namespace MbD; + +void GEFullMatFullPv::doPivoting(int p) +{ + //"Do full pivoting." + + //| max pivotRow pivotCol rowi aij mag | + double max = 0.0; + int pivotRow = p; + int pivotCol = p; + for (int i = p; i < m; i++) + { + auto rowi = matrixA->at(i); + for (int j = p; j < n; j++) + { + auto aij = rowi->at(j); + if (aij != 0.0) { + auto mag = aij; + if (mag < 0.0) mag = -mag; + if (max < mag) { + max = mag; + pivotRow = i; + pivotCol = j; + } + } + } + } + if (p != pivotRow) { + matrixA->swapElems(p, pivotRow); + rightHandSideB->swapElems(p, pivotRow); + rowOrder->swapElems(p, pivotRow); + } + if (p != pivotCol) { + for (auto& rowi : *matrixA) { + rowi->swapElems(p, pivotCol); + } + colOrder->swapElems(p, pivotCol); + } + pivotValues->at(p) = max; + if (max < singularPivotTolerance) throwSingularMatrixError(""); +} + +void GEFullMatFullPv::postSolve() +{ + assert(false); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/GEFullMatFullPv.h b/src/3rdParty/OndselSolver/OndselSolver/GEFullMatFullPv.h new file mode 100644 index 000000000000..e0d159491273 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GEFullMatFullPv.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "GEFullMat.h" + +namespace MbD { + class GEFullMatFullPv : public GEFullMat + { + // + public: + void doPivoting(int p) override; + void postSolve() override; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/GEFullMatParPv.cpp b/src/3rdParty/OndselSolver/OndselSolver/GEFullMatParPv.cpp new file mode 100644 index 000000000000..cd7ddfe92831 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GEFullMatParPv.cpp @@ -0,0 +1,55 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "GEFullMatParPv.h" +#include "SingularMatrixError.h" + +using namespace MbD; + +void GEFullMatParPv::doPivoting(int p) +{ + //"Use scalings. Do row pivoting." + + //| app max rowPivot aip mag | + auto app = matrixA->at(p)->at(p); + double max = app * rowScalings->at(p); + if (max < 0.0) max = -max; + auto rowPivot = p; + for (int i = p + 1; i < m; i++) + { + auto aip = matrixA->at(i)->at(p); + if (aip != 0.0) { + auto mag = aip * rowScalings->at(i); + if (mag < 0) mag = -mag; + if (max < mag) { + max = mag; + rowPivot = i; + } + } + } + if (p != rowPivot) { + matrixA->swapElems(p, rowPivot); + rightHandSideB->swapElems(p, rowPivot); + rowScalings->swapElems(p, rowPivot); + rowOrder->swapElems(p, rowPivot); + } + pivotValues->at(p) = max; + if (max < singularPivotTolerance) throwSingularMatrixError(""); +} + +void GEFullMatParPv::postSolve() +{ + assert(false); +} + +void GEFullMatParPv::preSolvewithsaveOriginal(FMatDsptr, FColDsptr, bool) +{ + assert(false); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/GEFullMatParPv.h b/src/3rdParty/OndselSolver/OndselSolver/GEFullMatParPv.h new file mode 100644 index 000000000000..d849369a85dc --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GEFullMatParPv.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "GEFullMat.h" + +namespace MbD { + class GEFullMatParPv : public GEFullMat + { + // + public: + void doPivoting(int p) override; + void postSolve() override; + void preSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) override; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/GESpMat.cpp b/src/3rdParty/OndselSolver/OndselSolver/GESpMat.cpp new file mode 100644 index 000000000000..4beccd3e852a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GESpMat.cpp @@ -0,0 +1,53 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "GESpMat.h" +#include "FullColumn.h" +#include "SparseMatrix.h" + +using namespace MbD; + +FColDsptr GESpMat::solvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) +{ + this->timedSolvewithsaveOriginal(spMat, fullCol, saveOriginal); + return answerX; +} + +FColDsptr GESpMat::basicSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) +{ + this->preSolvewithsaveOriginal(spMat, fullCol, saveOriginal); + for (int p = 0; p < m; p++) + { + this->doPivoting(p); + this->forwardEliminateWithPivot(p); + } + this->backSubstituteIntoDU(); + this->postSolve(); + return answerX; +} + +FColDsptr GESpMat::basicSolvewithsaveOriginal(FMatDsptr, FColDsptr, bool) +{ + assert(false); + return FColDsptr(); +} + +void GESpMat::preSolvewithsaveOriginal(FMatDsptr, FColDsptr, bool) +{ + assert(false); +} + +void GESpMat::preSolvewithsaveOriginal(SpMatDsptr, FColDsptr, bool) +{ + assert(false); +} + +double GESpMat::getmatrixArowimaxMagnitude(int i) +{ + return matrixA->at(i)->maxMagnitude(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/GESpMat.h b/src/3rdParty/OndselSolver/OndselSolver/GESpMat.h new file mode 100644 index 000000000000..f7002dd437a2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GESpMat.h @@ -0,0 +1,31 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "MatrixGaussElimination.h" +#include "SparseMatrix.h" + +namespace MbD { + class GESpMat : public MatrixGaussElimination + { + //markowitzPivotRowCount markowitzPivotColCount privateIndicesOfNonZerosInPivotRow rowPositionsOfNonZerosInPivotColumn + public: + FColDsptr solvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override; + FColDsptr basicSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override; + FColDsptr basicSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) override; + void preSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) override; + void preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override; + double getmatrixArowimaxMagnitude(int i) override; + + SpMatDsptr matrixA; + int markowitzPivotRowCount = -1, markowitzPivotColCount = -1; + std::shared_ptr> rowPositionsOfNonZerosInPivotColumn; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/GESpMatFullPv.cpp b/src/3rdParty/OndselSolver/OndselSolver/GESpMatFullPv.cpp new file mode 100644 index 000000000000..38407d46edb5 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GESpMatFullPv.cpp @@ -0,0 +1,181 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "GESpMatFullPv.h" +#include "SingularMatrixError.h" + +using namespace MbD; + +void GESpMatFullPv::doPivoting(int p) +{ + //"Used by Gauss Elimination only." + //"Do full pivoting." + //"Swap rows but keep columns in place." + //"The elements below the diagonal are removed column by column." + + double max = 0.0; + auto pivotRow = p; + auto pivotCol = p; + for (int j = p; j < n; j++) + { + rowPositionsOfNonZerosInColumns->at(colOrder->at(j))->clear(); + } + for (int i = p; i < m; i++) + { + auto& rowi = matrixA->at(i); + for (auto const& kv : *rowi) { + rowPositionsOfNonZerosInColumns->at(kv.first)->push_back(i); + auto aij = kv.second; + auto mag = aij; + if (mag < 0.0) mag = -mag; + if (max < mag) { + max = mag; + pivotRow = i; + pivotCol = positionsOfOriginalCols->at(kv.first); + } + } + } + if (p != pivotRow) { + matrixA->swapElems(p, pivotRow); + rightHandSideB->swapElems(p, pivotRow); + rowOrder->swapElems(p, pivotRow); + } + if (p != pivotCol) { + colOrder->swapElems(p, pivotCol); + positionsOfOriginalCols->at(colOrder->at(p)) = p; + positionsOfOriginalCols->at(colOrder->at(pivotCol)) = pivotCol; + } + pivotValues->at(p) = max; + if (max < singularPivotTolerance) throwSingularMatrixError(""); + auto jp = colOrder->at(p); + rowPositionsOfNonZerosInPivotColumn = rowPositionsOfNonZerosInColumns->at(jp); + if (rowPositionsOfNonZerosInPivotColumn->front() == p) { + rowPositionsOfNonZerosInPivotColumn->erase(rowPositionsOfNonZerosInPivotColumn->begin()); + } + markowitzPivotColCount = (int)rowPositionsOfNonZerosInPivotColumn->size(); +} +void GESpMatFullPv::forwardEliminateWithPivot(int p) +{ + //app is pivot. + //i > p, j > p + //aip is eliminated. + //apj can cause fill - in. + //Columns are in place. + //"rightHandSideB may be multidimensional." + + auto jp = colOrder->at(p); + auto& rowp = matrixA->at(p); + auto app = rowp->at(jp); + auto elementsInPivotRow = std::make_shared*>>(rowp->size() - 1); + int index = 0; + for (auto const& keyValue : *rowp) { + if (keyValue.first != jp) { + elementsInPivotRow->at(index) = (&keyValue); + index++; + } + } + auto bp = rightHandSideB->at(p); + for (int ii = 0; ii < markowitzPivotColCount; ii++) + { + auto i = rowPositionsOfNonZerosInPivotColumn->at(ii); + auto& spRowi = matrixA->at(i); + if (spRowi->find(jp) == spRowi->end()) continue; + auto aip = spRowi->at(jp); + spRowi->erase(jp); + auto factor = aip / app; + for (auto keyValue : *elementsInPivotRow) + { + auto j = keyValue->first; + auto apj = keyValue->second; + (*spRowi)[j] -= factor * apj; + } + rightHandSideB->at(i) -= bp * factor; + } +} + +void GESpMatFullPv::backSubstituteIntoDU() +{ + //"Use colOrder to get DU in upper triangular with nonzero diagonals." + //"Formula given by Eqn. 9.26 and 9.27 in Chapra's text 2nd Edition." + + double sum, duij, duii{}; + //answerX = rightHandSideB->copyEmpty(); + assert(m == n); + + // TODO: temp +// assert(n > 0); +// auto localLen = colOrder->numberOfElements(); +// assert(n < localLen); + + answerX = std::make_shared>(m); + auto jn = colOrder->at(n); + answerX->at(jn) = rightHandSideB->at(m) / matrixA->at(m)->at(jn); + //auto rhsZeroElement = this->rhsZeroElement(); + for (int i = n - 2; i >= 0; i--) + { + auto& rowi = matrixA->at((int)i); + sum = 0.0; // rhsZeroElement copy. + for (auto const& keyValue : *rowi) { + auto jj = keyValue.first; + auto j = positionsOfOriginalCols->at(jj); + if (j > i) { + duij = keyValue.second; + sum += answerX->at(jj) * duij; + } + else { + duii = keyValue.second; + } + } + auto ji = colOrder->at(i); + answerX->at(ji) = (rightHandSideB->at(i) - sum) / duii; + } +} + +void GESpMatFullPv::postSolve() +{ + assert(false); +} + +void GESpMatFullPv::preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) +{ + //"A conditioned copy of spMat is solved." + if (m != spMat->nrow() || n != spMat->ncol()) { + m = spMat->nrow(); + n = spMat->ncol(); + matrixA = std::make_shared>(m); + pivotValues = std::make_shared>(m); + rowOrder = std::make_shared>(m); + colOrder = std::make_shared>(n); + positionsOfOriginalCols = std::make_shared>(m); + rowPositionsOfNonZerosInColumns = std::make_shared>>>(n); + for (int j = 0; j < n; j++) + { + rowPositionsOfNonZerosInColumns->at(j) = std::make_shared>(); + } + } + if (saveOriginal) { + rightHandSideB = fullCol->copy(); + } + else { + rightHandSideB = fullCol; + } + for (int i = 0; i < m; i++) + { + auto& spRowi = spMat->at(i); + double maxRowMagnitude = spRowi->maxMagnitude(); + if (maxRowMagnitude == 0) { + throwSingularMatrixError(""); + } + matrixA->at(i) = spRowi->conditionedWithTol(singularPivotTolerance * maxRowMagnitude); + rowOrder->at(i) = i; + colOrder->at(i) = i; + positionsOfOriginalCols->at(i) = i; + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/GESpMatFullPv.h b/src/3rdParty/OndselSolver/OndselSolver/GESpMatFullPv.h new file mode 100644 index 000000000000..a0e351f0fa83 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GESpMatFullPv.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "GESpMat.h" + +namespace MbD { + class GESpMatFullPv : public GESpMat + { + //positionsOfOriginalCols rowPositionsOfNonZerosInColumns + public: + void doPivoting(int p) override; + void forwardEliminateWithPivot(int p) override; + void backSubstituteIntoDU() override; + void postSolve() override; + void preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override; + + std::shared_ptr> positionsOfOriginalCols; + std::shared_ptr>>> rowPositionsOfNonZerosInColumns; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/GESpMatFullPvPosIC.cpp b/src/3rdParty/OndselSolver/OndselSolver/GESpMatFullPvPosIC.cpp new file mode 100644 index 000000000000..d4ae23becf7f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GESpMatFullPvPosIC.cpp @@ -0,0 +1,102 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include + +#include "GESpMatFullPvPosIC.h" +#include "SingularMatrixError.h" +#include "PosICNewtonRaphson.h" + +using namespace MbD; + +void GESpMatFullPvPosIC::preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) +{ + GESpMatFullPv::preSolvewithsaveOriginal(spMat, fullCol, saveOriginal); + if (system == nullptr) { + pivotRowLimits = std::make_shared>(); + } + else { + pivotRowLimits = system->pivotRowLimits; + } + pivotRowLimit = -1; +} + +void GESpMatFullPvPosIC::doPivoting(int p) +{ + //"Used by Gauss Elimination only." + //"Swap rows but keep columns in place." + //"The elements below the diagonal are removed column by column." + + double max = 0.0; + auto pivotRow = p; + auto pivotCol = p; + for (int j = p; j < n; j++) + { + rowPositionsOfNonZerosInColumns->at(colOrder->at(j))->clear(); + } + if (p >= pivotRowLimit) { + pivotRowLimit = *std::find_if( + pivotRowLimits->begin(), pivotRowLimits->end(), + [&](int limit) { return limit > p; }); + } + for (int i = p; i < pivotRowLimit; i++) + { + auto& rowi = matrixA->at(i); + for (auto const& kv : *rowi) { + rowPositionsOfNonZerosInColumns->at(kv.first)->push_back(i); + auto aij = kv.second; + auto mag = aij; + if (mag < 0.0) mag = -mag; + if (max < mag) { + max = mag; + pivotRow = i; + pivotCol = positionsOfOriginalCols->at(kv.first); + } + } + } + if (p != pivotRow) { + matrixA->swapElems(p, pivotRow); + rightHandSideB->swapElems(p, pivotRow); + rowOrder->swapElems(p, pivotRow); + } + if (p != pivotCol) { + colOrder->swapElems(p, pivotCol); + positionsOfOriginalCols->at(colOrder->at(p)) = p; + positionsOfOriginalCols->at(colOrder->at(pivotCol)) = pivotCol; + } + pivotValues->at(p) = max; + if (max < singularPivotTolerance) { + auto itr = std::find_if( + pivotRowLimits->begin(), pivotRowLimits->end(), + [&](int limit) { return limit > pivotRowLimit; }); + if (itr == pivotRowLimits->end()) { + auto begin = rowOrder->begin() + p; + auto end = rowOrder->begin() + pivotRowLimit; + auto redundantEqnNos = std::make_shared>(begin, end); + throwSingularMatrixError("", redundantEqnNos); + } + else { + pivotRowLimit = *itr; + } + return this->doPivoting(p); + } + auto jp = colOrder->at(p); + rowPositionsOfNonZerosInPivotColumn = rowPositionsOfNonZerosInColumns->at(jp); + for (int i = pivotRowLimit; i < m; i++) + { + auto& spRowi = matrixA->at(i); + if (spRowi->find(jp) != spRowi->end()) { + rowPositionsOfNonZerosInPivotColumn->push_back(i); + } + } + if (rowPositionsOfNonZerosInPivotColumn->front() == p) { + rowPositionsOfNonZerosInPivotColumn->erase(rowPositionsOfNonZerosInPivotColumn->begin()); + } + markowitzPivotColCount = (int)rowPositionsOfNonZerosInPivotColumn->size(); +} \ No newline at end of file diff --git a/src/3rdParty/OndselSolver/OndselSolver/GESpMatFullPvPosIC.h b/src/3rdParty/OndselSolver/OndselSolver/GESpMatFullPvPosIC.h new file mode 100644 index 000000000000..de6fc6e931ad --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GESpMatFullPvPosIC.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "GESpMatFullPv.h" + +namespace MbD { + class PosICNewtonRaphson; + + class GESpMatFullPvPosIC : public GESpMatFullPv + { + //system pivotRowLimits pivotRowLimit + public: + void preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override; + void doPivoting(int p) override; + + PosICNewtonRaphson* system; //Use raw pointer when pointing backwards. + std::shared_ptr> pivotRowLimits; + int pivotRowLimit; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPv.cpp b/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPv.cpp new file mode 100644 index 000000000000..4f0d47659151 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPv.cpp @@ -0,0 +1,77 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "GESpMatParPv.h" + +using namespace MbD; + +void GESpMatParPv::forwardEliminateWithPivot(int p) +{ + //"rightHandSideB may be multidimensional." + + auto& rowp = matrixA->at(p); + auto app = rowp->at(p); + auto elementsInPivotRow = std::make_shared*>>(rowp->size() - 1); + int index = 0; + for (auto const& keyValue : *rowp) { + if (keyValue.first != p) { + elementsInPivotRow->at(index) = (&keyValue); + index++; + } + } + auto bp = rightHandSideB->at(p); + for (int ii = 0; ii < markowitzPivotColCount; ii++) + { + auto i = rowPositionsOfNonZerosInPivotColumn->at(ii); + auto& rowi = matrixA->at(i); + auto aip = rowi->at(p); + rowi->erase(p); + auto factor = aip / app; + for (auto keyValue : *elementsInPivotRow) + { + auto j = keyValue->first; + auto apj = keyValue->second; + (*rowi)[j] -= factor * apj; + } + rightHandSideB->at(i) -= bp * factor; + } +} + +void GESpMatParPv::backSubstituteIntoDU() +{ + //"DU is upper triangular with nonzero diagonals." + + double sum, duij, duii{}; + //answerX = rightHandSideB->copyEmpty(); + assert(m == n); + answerX = std::make_shared>(m); + answerX->at(n - 1) = rightHandSideB->at(m - 1) / matrixA->at(m - 1)->at(n - 1); + //auto rhsZeroElement = this->rhsZeroElement(); + for (int i = n - 2; i >= 0; i--) + { + auto rowi = matrixA->at(i); + sum = 0.0; // rhsZeroElement copy. + for (auto const& keyValue : *rowi) { + auto j = keyValue.first; + if (j > i) { + duij = keyValue.second; + sum += answerX->at(j) * duij; + } + else { + duii = keyValue.second; + } + } + answerX->at(i) = (rightHandSideB->at(i) - sum) / duii; + } +} + +void GESpMatParPv::postSolve() +{ +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPv.h b/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPv.h new file mode 100644 index 000000000000..cfb8f8c5a2b2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPv.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "GESpMat.h" + +namespace MbD { + class GESpMatParPv : public GESpMat + { + // + public: + void forwardEliminateWithPivot(int p) override; + void backSubstituteIntoDU() override; + void postSolve() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvMarko.cpp b/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvMarko.cpp new file mode 100644 index 000000000000..8de4227e5df3 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvMarko.cpp @@ -0,0 +1,104 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "GESpMatParPvMarko.h" +#include "SingularMatrixError.h" + +using namespace MbD; + +void GESpMatParPvMarko::doPivoting(int p) +{ + //"Search from bottom to top." + //"Check for singular pivot." + //"Do scaling. Do partial pivoting." + //"criterion := mag / (2.0d raisedTo: rowiCount)." + //| lookForFirstNonZeroInPivotCol i rowi aip criterionMax rowPivoti criterion max | + int i, rowPivoti; + double aip, mag, max, criterion, criterionMax; + SpRowDsptr spRowi; + rowPositionsOfNonZerosInPivotColumn->clear(); + auto lookForFirstNonZeroInPivotCol = true; + i = m - 1; + while (lookForFirstNonZeroInPivotCol) { + spRowi = matrixA->at(i); + if (spRowi->find(p) == spRowi->end()) { + if (i <= p) throwSingularMatrixError(""); + } + else { + markowitzPivotColCount = 0; + aip = spRowi->at(p); + mag = aip * rowScalings->at(i); + if (mag < 0) mag = -mag; + max = mag; + criterionMax = mag / std::pow(2.0, spRowi->size()); + rowPivoti = i; + lookForFirstNonZeroInPivotCol = false; + } + i--; + } + while (i >= p) { + spRowi = matrixA->at(i); + if (spRowi->find(p) == spRowi->end()) { + aip = std::numeric_limits::min(); + } + else { + aip = spRowi->at(p); + markowitzPivotColCount++; + mag = aip * rowScalings->at(i); + if (mag < 0) mag = -mag; + criterion = mag / std::pow(2.0, spRowi->size()); + if (criterion > criterionMax) { + max = mag; + criterionMax = criterion; + rowPositionsOfNonZerosInPivotColumn->push_back(rowPivoti); + rowPivoti = i; + } + else { + rowPositionsOfNonZerosInPivotColumn->push_back(i); + } + } + i--; + } + if (p != rowPivoti) { + matrixA->swapElems(p, rowPivoti); + rightHandSideB->swapElems(p, rowPivoti); + rowScalings->swapElems(p, rowPivoti); + if (aip != std::numeric_limits::min()) rowPositionsOfNonZerosInPivotColumn->at((int)markowitzPivotColCount - 1) = rowPivoti; + } + if (max < singularPivotTolerance) throwSingularMatrixError(""); +} + +void GESpMatParPvMarko::preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) +{ + //"Optimized for speed." + if (m != spMat->nrow() || n != spMat->ncol()) { + m = spMat->nrow(); + n = spMat->ncol(); + matrixA = std::make_shared>(m); + rowScalings = std::make_shared>(m); + rowPositionsOfNonZerosInPivotColumn = std::make_shared>(); + } + if (saveOriginal) { + rightHandSideB = fullCol->copy(); + } + else { + rightHandSideB = fullCol; + } + for (int i = 0; i < m; i++) + { + auto& spRowi = spMat->at(i); + double maxRowMagnitude = spRowi->maxMagnitude(); + if (maxRowMagnitude == 0) { + throwSingularMatrixError(""); + } + rowScalings->atiput(i, 1.0 / maxRowMagnitude); + matrixA->atiput(i, spRowi->conditionedWithTol(singularPivotTolerance * maxRowMagnitude)); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvMarko.h b/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvMarko.h new file mode 100644 index 000000000000..f85d081d04cc --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvMarko.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "GESpMatParPv.h" + +namespace MbD { + class GESpMatParPvMarko : public GESpMatParPv + { + // + public: + void doPivoting(int p) override; + void preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvMarkoFast.cpp b/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvMarkoFast.cpp new file mode 100644 index 000000000000..7a23812e7e2e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvMarkoFast.cpp @@ -0,0 +1,104 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include + +#include "GESpMatParPvMarkoFast.h" +#include "SingularMatrixError.h" + +using namespace MbD; + +void GESpMatParPvMarkoFast::preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) +{ + //assert(false); + //"Optimized for speed." + if (m != spMat->nrow() || n != spMat->ncol()) { + m = spMat->nrow(); + n = spMat->ncol(); + matrixA = std::make_shared>(m); + rowPositionsOfNonZerosInPivotColumn = std::make_shared>(); + } + if (saveOriginal) { + rightHandSideB = fullCol->copy(); + } + else { + rightHandSideB = fullCol; + } + for (int i = 0; i < m; i++) + { + auto& spRowi = spMat->at(i); + double maxRowMagnitude = spRowi->maxMagnitude(); + if (maxRowMagnitude == 0) throwSingularMatrixError(""); + auto scaling = 1.0 / maxRowMagnitude; + matrixA->at(i) = spRowi->timesconditionedWithTol(scaling, singularPivotTolerance); + rightHandSideB->atitimes(i, scaling); + } +} + +void GESpMatParPvMarkoFast::doPivoting(int p) +{ + //"Search from bottom to top." + //"Optimized for speed. No check for singular pivot." + //"Do partial pivoting." + //"criterion := mag / (2.0d raisedTo: rowiCount)." + //"Rows are explicitly scaled in preSolve:." + //"Pivot size are nieither checked nor stored." + + //| lookForFirstNonZeroInPivotCol i rowi aip criterionMax rowPivoti criterion max | + int i, rowPivoti; + double aip, max, criterion, criterionMax; + SpRowDsptr spRowi; + rowPositionsOfNonZerosInPivotColumn->clear(); + auto lookForFirstNonZeroInPivotCol = true; + i = m - 1; + while (lookForFirstNonZeroInPivotCol) { + spRowi = matrixA->at(i); + if (spRowi->find(p) == spRowi->end()) { + if (i <= p) throwSingularMatrixError(""); + } + else { + markowitzPivotColCount = 0; + aip = spRowi->at(p); + if (aip < 0) aip = -aip; + max = aip; + criterionMax = aip / std::pow(2.0, spRowi->size()); + rowPivoti = i; + lookForFirstNonZeroInPivotCol = false; + } + i--; + } + while (i >= p) { + spRowi = matrixA->at(i); + if (spRowi->find(p) == spRowi->end()) { + aip = std::numeric_limits::min(); + } + else { + aip = spRowi->at(p); + markowitzPivotColCount++; + if (aip < 0) aip = -aip; + criterion = aip / std::pow(2.0, spRowi->size()); + if (criterion > criterionMax) { + max = aip; + criterionMax = criterion; + rowPositionsOfNonZerosInPivotColumn->push_back(rowPivoti); + rowPivoti = i; + } + else { + rowPositionsOfNonZerosInPivotColumn->push_back(i); + } + } + i--; + } + if (p != rowPivoti) { + matrixA->swapElems(p, rowPivoti); + rightHandSideB->swapElems(p, rowPivoti); + if (aip != std::numeric_limits::min()) rowPositionsOfNonZerosInPivotColumn->at(markowitzPivotColCount - 1) = rowPivoti; + } + if (max < singularPivotTolerance) throwSingularMatrixError(""); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvMarkoFast.h b/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvMarkoFast.h new file mode 100644 index 000000000000..e9a84d5cc702 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvMarkoFast.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "GESpMatParPvMarko.h" + +namespace MbD { + class GESpMatParPvMarkoFast : public GESpMatParPvMarko + { + // + public: + void preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override; + void doPivoting(int p) override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvPrecise.cpp b/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvPrecise.cpp new file mode 100644 index 000000000000..fca7e26e03a9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvPrecise.cpp @@ -0,0 +1,105 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "GESpMatParPvPrecise.h" +#include "SingularMatrixError.h" + +using namespace MbD; + +void GESpMatParPvPrecise::doPivoting(int p) +{ + //"Search from bottom to top." + //"Use scaling vector and partial pivoting with actual swapping of rows." + //"Check for singular pivot." + //"Do scaling. Do partial pivoting." + //| max rowPivot aip mag lookForFirstNonZeroInPivotCol i | + int i, rowPivoti; + double aip, mag, max; + SpRowDsptr spRowi; + rowPositionsOfNonZerosInPivotColumn->clear(); + auto lookForFirstNonZeroInPivotCol = true; + i = m - 1; + while (lookForFirstNonZeroInPivotCol) { + spRowi = matrixA->at(i); + if (spRowi->find(p) == spRowi->end()) { + if (i <= p) throwSingularMatrixError("doPivoting"); + } + else { + markowitzPivotColCount = 0; + aip = spRowi->at(p); + mag = aip * rowScalings->at(i); + if (mag < 0) mag = -mag; + max = mag; + rowPivoti = i; + lookForFirstNonZeroInPivotCol = false; + } + i--; + } + while (i >= p) { + spRowi = matrixA->at(i); + if (spRowi->find(p) == spRowi->end()) { + aip = std::numeric_limits::min(); + } + else { + aip = spRowi->at(p); + markowitzPivotColCount++; + mag = aip * rowScalings->at(i); + if (mag < 0) mag = -mag; + if (mag > max) { + max = mag; + rowPositionsOfNonZerosInPivotColumn->push_back(rowPivoti); + rowPivoti = i; + } + else { + rowPositionsOfNonZerosInPivotColumn->push_back(i); + } + } + i--; + } + if (p != rowPivoti) { + matrixA->swapElems(p, rowPivoti); + rightHandSideB->swapElems(p, rowPivoti); + rowScalings->swapElems(p, rowPivoti); + rowOrder->swapElems(p, rowPivoti); + if (aip != std::numeric_limits::min()) rowPositionsOfNonZerosInPivotColumn->at(markowitzPivotColCount - 1) = rowPivoti; + } + pivotValues->at(p) = max; + if (max < singularPivotTolerance) throwSingularMatrixError("doPivoting"); +} + +void GESpMatParPvPrecise::preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) +{ + //assert(false); + //"A conditioned copy of aMatrix is solved." + if (m != spMat->nrow() || n != spMat->ncol()) { + m = spMat->nrow(); + n = spMat->ncol(); + matrixA = std::make_shared>(m); + rowScalings = std::make_shared>(m); + pivotValues = std::make_shared>(m); + rowOrder = std::make_shared>(m); + rowPositionsOfNonZerosInPivotColumn = std::make_shared>(); + } + if (saveOriginal) { + rightHandSideB = fullCol->copy(); + } + else { + rightHandSideB = fullCol; + } + for (int i = 0; i < m; i++) + { + auto& spRowi = spMat->at(i); + double maxRowMagnitude = spRowi->maxMagnitude(); + if (maxRowMagnitude == 0) throwSingularMatrixError("preSolvewithsaveOriginal"); + rowScalings->at(i) = 1.0 / maxRowMagnitude; + matrixA->at(i) = spRowi->conditionedWithTol(singularPivotTolerance * maxRowMagnitude); + rowOrder->at(i) = i; + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvPrecise.h b/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvPrecise.h new file mode 100644 index 000000000000..0bdda68af858 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GESpMatParPvPrecise.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "GESpMatParPv.h" + +namespace MbD { + class GESpMatParPvPrecise : public GESpMatParPv + { + // + public: + void doPivoting(int p) override; + void preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIJ.cpp b/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIJ.cpp new file mode 100644 index 000000000000..26eb8edfc142 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIJ.cpp @@ -0,0 +1,104 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "GearConstraintIJ.h" +#include "GearConstraintIqcJqc.h" +#include "EndFrameqc.h" + +using namespace MbD; + +MbD::GearConstraintIJ::GearConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj) : ConstraintIJ(frmi, frmj) +{ +} + +std::shared_ptr MbD::GearConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj) +{ + assert(frmi->isEndFrameqc()); + assert(frmj->isEndFrameqc()); + auto gearCon = std::make_shared(frmi, frmj); + gearCon->initorbitsIJ(); + return gearCon; +} + +void MbD::GearConstraintIJ::calcPostDynCorrectorIteration() +{ + aG = orbitJeIe->value() + (this->ratio() * orbitIeJe->value()) - aConstant; +} + +void MbD::GearConstraintIJ::initialize() +{ + ConstraintIJ::initialize(); + this->initorbitsIJ(); +} + +void MbD::GearConstraintIJ::initializeGlobally() +{ + orbitIeJe->initializeGlobally(); + orbitJeIe->initializeGlobally(); +} + +void MbD::GearConstraintIJ::initializeLocally() +{ + orbitIeJe->initializeLocally(); + orbitJeIe->initializeLocally(); +} + +void MbD::GearConstraintIJ::initorbitsIJ() +{ + assert(false); +} + +void MbD::GearConstraintIJ::postInput() +{ + orbitIeJe->postInput(); + orbitJeIe->postInput(); + if (aConstant == std::numeric_limits::min()) { + aConstant = orbitJeIe->value() + (this->ratio() * orbitIeJe->value()); + } + ConstraintIJ::postInput(); +} + +void MbD::GearConstraintIJ::postPosICIteration() +{ + orbitIeJe->postPosICIteration(); + orbitJeIe->postPosICIteration(); + ConstraintIJ::postPosICIteration(); +} + +void MbD::GearConstraintIJ::preAccIC() +{ + orbitIeJe->preAccIC(); + orbitJeIe->preAccIC(); + ConstraintIJ::preAccIC(); +} + +void MbD::GearConstraintIJ::prePosIC() +{ + orbitIeJe->prePosIC(); + orbitJeIe->prePosIC(); + ConstraintIJ::prePosIC(); +} + +void MbD::GearConstraintIJ::preVelIC() +{ + orbitIeJe->preVelIC(); + orbitJeIe->preVelIC(); + ConstraintIJ::preVelIC(); +} + +double MbD::GearConstraintIJ::ratio() +{ + return radiusI / radiusJ; +} + +void MbD::GearConstraintIJ::simUpdateAll() +{ + orbitIeJe->simUpdateAll(); + orbitJeIe->simUpdateAll(); + ConstraintIJ::simUpdateAll(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIJ.h b/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIJ.h new file mode 100644 index 000000000000..a4e769b324b1 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIJ.h @@ -0,0 +1,40 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ConstraintIJ.h" +#include "OrbitAngleZIecJec.h" + +namespace MbD { + class GearConstraintIJ : public ConstraintIJ + { + //orbitIeJe orbitJeIe radiusI radiusJ + public: + GearConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj); + + static std::shared_ptr With(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPostDynCorrectorIteration() override; + void initialize() override; + void initializeGlobally() override; + void initializeLocally() override; + virtual void initorbitsIJ(); + void postInput() override; + void postPosICIteration() override; + void preAccIC() override; + void prePosIC() override; + void preVelIC() override; + double ratio(); + void simUpdateAll() override; + + std::shared_ptr orbitIeJe, orbitJeIe; + double radiusI, radiusJ; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIqcJc.cpp b/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIqcJc.cpp new file mode 100644 index 000000000000..974c50737ada --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIqcJc.cpp @@ -0,0 +1,139 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "GearConstraintIqcJc.h" +#include "EndFrameqc.h" +#include "CREATE.h" +#include "OrbitAngleZIeqcJec.h" + +using namespace MbD; + +MbD::GearConstraintIqcJc::GearConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj) : GearConstraintIJ(frmi, frmj) +{ +} + +void MbD::GearConstraintIqcJc::addToJointForceI(FColDsptr col) +{ + col->equalSelfPlusFullVectortimes(pGpXI, lam); +} + +void MbD::GearConstraintIqcJc::addToJointTorqueI(FColDsptr jointTorque) +{ + auto cForceT = pGpXI->times(lam); + auto frmIeqc = std::static_pointer_cast(frmI); + auto rIpIeIp = frmIeqc->rpep(); + auto pAOIppEI = frmIeqc->pAOppE(); + auto aBOIp = frmIeqc->aBOp(); + auto fpAOIppEIrIpIeIp = std::make_shared>(4, 0.0); + for (int i = 0; i < 4; i++) + { + auto dum = cForceT->timesFullColumn(pAOIppEI->at(i)->timesFullColumn(rIpIeIp)); + fpAOIppEIrIpIeIp->atiput(i, dum); + } + auto lampGpE = pGpEI->transpose()->times(lam); + auto c2Torque = aBOIp->timesFullColumn(lampGpE->minusFullColumn(fpAOIppEIrIpIeIp)); + jointTorque->equalSelfPlusFullColumntimes(c2Torque, 0.5); +} + +void MbD::GearConstraintIqcJc::calc_pGpEI() +{ + pGpEI = orbitJeIe->pvaluepEJ()->plusFullRow(orbitIeJe->pvaluepEI()->times(this->ratio())); +} + +void MbD::GearConstraintIqcJc::calc_pGpXI() +{ + pGpXI = orbitJeIe->pvaluepXJ()->plusFullRow(orbitIeJe->pvaluepXI()->times(this->ratio())); +} + +void MbD::GearConstraintIqcJc::calc_ppGpEIpEI() +{ + ppGpEIpEI = orbitJeIe->ppvaluepEJpEJ()->plusFullMatrix(orbitIeJe->ppvaluepEIpEI()->times(this->ratio())); +} + +void MbD::GearConstraintIqcJc::calc_ppGpXIpEI() +{ + ppGpXIpEI = orbitJeIe->ppvaluepXJpEJ()->plusFullMatrix(orbitIeJe->ppvaluepXIpEI()->times(this->ratio())); +} + +void MbD::GearConstraintIqcJc::calc_ppGpXIpXI() +{ + ppGpXIpXI = orbitJeIe->ppvaluepXJpXJ() + ->plusFullMatrix(orbitIeJe->ppvaluepXIpXI()->times(this->ratio())); +} + +void MbD::GearConstraintIqcJc::calcPostDynCorrectorIteration() +{ + GearConstraintIJ::calcPostDynCorrectorIteration(); + this->calc_pGpXI(); + this->calc_pGpEI(); + this->calc_ppGpXIpXI(); + this->calc_ppGpXIpEI(); + this->calc_ppGpEIpEI(); +} + +void MbD::GearConstraintIqcJc::fillAccICIterError(FColDsptr col) +{ + col->atiplusFullVectortimes(iqXI, pGpXI, lam); + col->atiplusFullVectortimes(iqEI, pGpEI, lam); + auto efrmIqc = std::static_pointer_cast(frmI); + auto qXdotI = efrmIqc->qXdot(); + auto qEdotI = efrmIqc->qEdot(); + auto sum = pGpXI->timesFullColumn(efrmIqc->qXddot()); + sum += pGpEI->timesFullColumn(efrmIqc->qEddot()); + sum += qXdotI->transposeTimesFullColumn(ppGpXIpXI->timesFullColumn(qXdotI)); + sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpEI->timesFullColumn(qEdotI))); + sum += qEdotI->transposeTimesFullColumn(ppGpEIpEI->timesFullColumn(qEdotI)); + col->atiplusNumber(iG, sum); +} + +void MbD::GearConstraintIqcJc::fillPosICError(FColDsptr col) +{ + GearConstraintIJ::fillPosICError(col); + col->atiplusFullVectortimes(iqXI, pGpXI, lam); + col->atiplusFullVectortimes(iqEI, pGpEI, lam); +} + +void MbD::GearConstraintIqcJc::fillPosICJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqXI, pGpXI); + mat->atijplusFullColumn(iqXI, iG, pGpXI->transpose()); + mat->atijplusFullRow(iG, iqEI, pGpEI); + mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose()); + mat->atijplusFullMatrixtimes(iqXI, iqXI, ppGpXIpXI, lam); + auto ppGpXIpEIlam = ppGpXIpEI->times(lam); + mat->atijplusFullMatrix(iqXI, iqEI, ppGpXIpEIlam); + mat->atijplusTransposeFullMatrix(iqEI, iqXI, ppGpXIpEIlam); + mat->atijplusFullMatrixtimes(iqEI, iqEI, ppGpEIpEI, lam); +} + +void MbD::GearConstraintIqcJc::fillPosKineJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqXI, pGpXI); + mat->atijplusFullRow(iG, iqEI, pGpEI); +} + +void MbD::GearConstraintIqcJc::fillVelICJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqXI, pGpXI); + mat->atijplusFullColumn(iqXI, iG, pGpXI->transpose()); + mat->atijplusFullRow(iG, iqEI, pGpEI); + mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose()); +} + +void MbD::GearConstraintIqcJc::initorbitsIJ() +{ + orbitIeJe = CREATE::With(frmI, frmJ); + orbitJeIe = CREATE::With(frmJ, frmI); +} + +void MbD::GearConstraintIqcJc::useEquationNumbers() +{ + auto frmIeqc = std::static_pointer_cast(frmI); + iqXI = frmIeqc->iqX(); + iqEI = frmIeqc->iqE(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIqcJc.h b/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIqcJc.h new file mode 100644 index 000000000000..5c7d34fef875 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIqcJc.h @@ -0,0 +1,41 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "GearConstraintIJ.h" + +namespace MbD { + class GearConstraintIqcJc : public GearConstraintIJ + { + //pGpXI pGpEI ppGpXIpXI ppGpXIpEI ppGpEIpEI iqXI iqEI + public: + GearConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj); + + void addToJointForceI(FColDsptr col) override; + void addToJointTorqueI(FColDsptr col) override; + void calc_pGpEI(); + void calc_pGpXI(); + void calc_ppGpEIpEI(); + void calc_ppGpXIpEI(); + void calc_ppGpXIpXI(); + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void initorbitsIJ() override; + void useEquationNumbers() override; + + FRowDsptr pGpXI, pGpEI; + FMatDsptr ppGpXIpXI, ppGpXIpEI, ppGpEIpEI; + int iqXI, iqEI; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIqcJqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIqcJqc.cpp new file mode 100644 index 000000000000..0793ed6c0dea --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIqcJqc.cpp @@ -0,0 +1,164 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "GearConstraintIqcJqc.h" +#include "EndFrameqc.h" +#include "OrbitAngleZIeqcJeqc.h" +#include "CREATE.h" + +using namespace MbD; + +MbD::GearConstraintIqcJqc::GearConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj) : GearConstraintIqcJc(frmi, frmj) +{ +} + +void MbD::GearConstraintIqcJqc::calc_pGpEJ() +{ + pGpEJ = orbitJeIe->pvaluepEI()->plusFullRow(orbitIeJe->pvaluepEJ()->times(this->ratio())); +} + +void MbD::GearConstraintIqcJqc::calc_pGpXJ() +{ + pGpXJ = orbitJeIe->pvaluepXI()->plusFullRow(orbitIeJe->pvaluepXJ()->times(this->ratio())); +} + +void MbD::GearConstraintIqcJqc::calc_ppGpEIpEJ() +{ + ppGpEIpEJ = orbitJeIe->ppvaluepEIpEJ()->transpose()->plusFullMatrix(orbitIeJe->ppvaluepEIpEJ()->times(this->ratio())); +} + +void MbD::GearConstraintIqcJqc::calc_ppGpEIpXJ() +{ + ppGpEIpXJ = orbitJeIe->ppvaluepXIpEJ()->transpose()->plusFullMatrix(orbitIeJe->ppvaluepEIpXJ()->times(this->ratio())); +} + +void MbD::GearConstraintIqcJqc::calc_ppGpEJpEJ() +{ + ppGpEJpEJ = orbitJeIe->ppvaluepEIpEI()->plusFullMatrix(orbitIeJe->ppvaluepEJpEJ()->times(this->ratio())); +} + +void MbD::GearConstraintIqcJqc::calc_ppGpXIpEJ() +{ + ppGpXIpEJ = orbitJeIe->ppvaluepEIpXJ()->transpose()->plusFullMatrix(orbitIeJe->ppvaluepXIpEJ()->times(this->ratio())); +} + +void MbD::GearConstraintIqcJqc::calc_ppGpXIpXJ() +{ + ppGpXIpXJ = orbitJeIe->ppvaluepXIpXJ()->transpose()->plusFullMatrix(orbitIeJe->ppvaluepXIpXJ()->times(this->ratio())); +} + +void MbD::GearConstraintIqcJqc::calc_ppGpXJpEJ() +{ + ppGpXJpEJ = orbitJeIe->ppvaluepXIpEI()->plusFullMatrix(orbitIeJe->ppvaluepXJpEJ()->times(this->ratio())); +} + +void MbD::GearConstraintIqcJqc::calc_ppGpXJpXJ() +{ + ppGpXJpXJ = orbitJeIe->ppvaluepXIpXI()->plusFullMatrix(orbitIeJe->ppvaluepXJpXJ()->times(this->ratio())); +} + +void MbD::GearConstraintIqcJqc::calcPostDynCorrectorIteration() +{ + GearConstraintIqcJc::calcPostDynCorrectorIteration(); + this->calc_pGpXJ(); + this->calc_pGpEJ(); + this->calc_ppGpXIpXJ(); + this->calc_ppGpXIpEJ(); + this->calc_ppGpEIpXJ(); + this->calc_ppGpEIpEJ(); + this->calc_ppGpXJpXJ(); + this->calc_ppGpXJpEJ(); + this->calc_ppGpEJpEJ(); +} + +void MbD::GearConstraintIqcJqc::fillAccICIterError(FColDsptr col) +{ + GearConstraintIqcJc::fillAccICIterError(col); + col->atiplusFullVectortimes(iqXJ, pGpXJ, lam); + col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); + auto frmIeqc = std::static_pointer_cast(frmI); + auto frmJeqc = std::static_pointer_cast(frmJ); + auto qXdotI = frmIeqc->qXdot(); + auto qEdotI = frmIeqc->qEdot(); + auto qXdotJ = frmJeqc->qXdot(); + auto qEdotJ = frmJeqc->qEdot(); + double sum = 0.0; + sum += pGpXJ->timesFullColumn(frmJeqc->qXddot()); + sum += pGpEJ->timesFullColumn(frmJeqc->qEddot()); + sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpXJ->timesFullColumn(qXdotJ))); + sum += 2.0 * (qEdotI->transposeTimesFullColumn(ppGpEIpXJ->timesFullColumn(qXdotJ))); + sum += qXdotJ->transposeTimesFullColumn(ppGpXJpXJ->timesFullColumn(qXdotJ)); + sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpEJ->timesFullColumn(qEdotJ))); + sum += 2.0 * (qEdotI->transposeTimesFullColumn(ppGpEIpEJ->timesFullColumn(qEdotJ))); + sum += 2.0 * (qXdotJ->transposeTimesFullColumn(ppGpXJpEJ->timesFullColumn(qEdotJ))); + sum += qEdotJ->transposeTimesFullColumn(ppGpEJpEJ->timesFullColumn(qEdotJ)); + col->atiplusNumber(iG, sum); +} + +void MbD::GearConstraintIqcJqc::fillPosICError(FColDsptr col) +{ + GearConstraintIqcJc::fillPosICError(col); + col->atiplusFullVectortimes(iqXJ, pGpXJ, lam); + col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); +} + +void MbD::GearConstraintIqcJqc::fillPosICJacob(SpMatDsptr mat) +{ + GearConstraintIqcJc::fillPosICJacob(mat); + mat->atijplusFullRow(iG, iqXJ, pGpXJ); + mat->atijplusFullColumn(iqXJ, iG, pGpXJ->transpose()); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); + mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose()); + auto ppGpXIpXJlam = ppGpXIpXJ->times(lam); + mat->atijplusFullMatrix(iqXI, iqXJ, ppGpXIpXJlam); + mat->atijplusTransposeFullMatrix(iqXJ, iqXI, ppGpXIpXJlam); + auto ppGpEIpXJlam = ppGpEIpXJ->times(lam); + mat->atijplusFullMatrix(iqEI, iqXJ, ppGpEIpXJlam); + mat->atijplusTransposeFullMatrix(iqXJ, iqEI, ppGpEIpXJlam); + mat->atijplusFullMatrixtimes(iqXJ, iqXJ, ppGpXJpXJ, lam); + auto ppGpXIpEJlam = ppGpXIpEJ->times(lam); + mat->atijplusFullMatrix(iqXI, iqEJ, ppGpXIpEJlam); + mat->atijplusTransposeFullMatrix(iqEJ, iqXI, ppGpXIpEJlam); + auto ppGpEIpEJlam = ppGpEIpEJ->times(lam); + mat->atijplusFullMatrix(iqEI, iqEJ, ppGpEIpEJlam); + mat->atijplusTransposeFullMatrix(iqEJ, iqEI, ppGpEIpEJlam); + auto ppGpXJpEJlam = ppGpXJpEJ->times(lam); + mat->atijplusFullMatrix(iqXJ, iqEJ, ppGpXJpEJlam); + mat->atijplusTransposeFullMatrix(iqEJ, iqXJ, ppGpXJpEJlam); + mat->atijplusFullMatrixtimes(iqEJ, iqEJ, ppGpEJpEJ, lam); +} + +void MbD::GearConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat) +{ + GearConstraintIqcJc::fillPosKineJacob(mat); + mat->atijplusFullRow(iG, iqXJ, pGpXJ); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); +} + +void MbD::GearConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat) +{ + GearConstraintIqcJc::fillVelICJacob(mat); + mat->atijplusFullRow(iG, iqXJ, pGpXJ); + mat->atijplusFullColumn(iqXJ, iG, pGpXJ->transpose()); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); + mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose()); +} + +void MbD::GearConstraintIqcJqc::initorbitsIJ() +{ + orbitIeJe = CREATE::With(frmI, frmJ); + orbitJeIe = CREATE::With(frmJ, frmI); +} + +void MbD::GearConstraintIqcJqc::useEquationNumbers() +{ + GearConstraintIqcJc::useEquationNumbers(); + auto frmJeqc = std::static_pointer_cast(frmJ); + iqXJ = frmJeqc->iqX(); + iqEJ = frmJeqc->iqE(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIqcJqc.h b/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIqcJqc.h new file mode 100644 index 000000000000..af0f97250dc0 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GearConstraintIqcJqc.h @@ -0,0 +1,44 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "GearConstraintIqcJc.h" + +namespace MbD { + class GearConstraintIqcJqc : public GearConstraintIqcJc + { + //pGpXJ pGpEJ ppGpXIpXJ ppGpXIpEJ ppGpEIpXJ ppGpEIpEJ ppGpXJpXJ ppGpXJpEJ ppGpEJpEJ iqXJ iqEJ + public: + GearConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj); + + void calc_pGpEJ(); + void calc_pGpXJ(); + void calc_ppGpEIpEJ(); + void calc_ppGpEIpXJ(); + void calc_ppGpEJpEJ(); + void calc_ppGpXIpEJ(); + void calc_ppGpXIpXJ(); + void calc_ppGpXJpEJ(); + void calc_ppGpXJpXJ(); + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void initorbitsIJ() override; + void useEquationNumbers() override; + + FRowDsptr pGpXJ, pGpEJ; + FMatDsptr ppGpXIpXJ, ppGpXIpEJ, ppGpEIpXJ, ppGpEIpEJ, ppGpXJpXJ, ppGpXJpEJ, ppGpEJpEJ; + int iqXJ, iqEJ; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/GearJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/GearJoint.cpp new file mode 100644 index 000000000000..687a3fbf9e19 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GearJoint.cpp @@ -0,0 +1,48 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "GearJoint.h" +#include "CREATE.h" +#include "GearConstraintIJ.h" +#include "System.h" + +using namespace MbD; + +MbD::GearJoint::GearJoint() +{ +} + +MbD::GearJoint::GearJoint(const char*) +{ +} +// +//void MbD::GearJoint::initializeLocally() +//{ +// if (!constraints->empty()) +// { +// auto constraint = std::static_pointer_cast(constraints->back()); +// constraint->initorbitsIJ(); +// } +// Joint::initializeLocally(); +//} + +void MbD::GearJoint::initializeGlobally() +{ + if (constraints->empty()) + { + auto gearIJ = GearConstraintIJ::With(frmI, frmJ); + gearIJ->radiusI = radiusI; + gearIJ->radiusJ = radiusJ; + gearIJ->setConstant(std::numeric_limits::min()); + addConstraint(gearIJ); + this->root()->hasChanged = true; + } + else { + Joint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/GearJoint.h b/src/3rdParty/OndselSolver/OndselSolver/GearJoint.h new file mode 100644 index 000000000000..cbf285eaf08f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GearJoint.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Joint.h" + +namespace MbD { + class GearJoint : public Joint + { + //radiusI radiusJ aConstant + public: + GearJoint(); + GearJoint(const char* str); + + //void initializeLocally() override; + void initializeGlobally() override; + + double radiusI = 0.0, radiusJ = 0.0, aConstant = 0.0; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/GeneralSpline.cpp b/src/3rdParty/OndselSolver/OndselSolver/GeneralSpline.cpp new file mode 100644 index 000000000000..0c98d39c1311 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GeneralSpline.cpp @@ -0,0 +1,261 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "GeneralSpline.h" +#include "CREATE.h" +#include "GESpMatParPvMarkoFast.h" +#include "DifferentiatedGeneralSpline.h" + +using namespace MbD; + +MbD::GeneralSpline::GeneralSpline(Symsptr arg) : AnyGeneralSpline(arg) +{ +} + +double MbD::GeneralSpline::getValue() +{ + return y(xx->getValue()); +} + +Symsptr MbD::GeneralSpline::differentiateWRTx() +{ + auto self = clonesptr(); + auto& arg = std::static_pointer_cast(self)->xx; + auto deriv = std::make_shared(arg, self, 1); + return deriv; +} + +void MbD::GeneralSpline::arguments(Symsptr args) +{ + auto array = args->getTerms(); + auto& arg = array->at(0); + int order = (int)array->at(1)->getValue(); + int n = ((int)array->size() - 2) / 2; + auto xarray = std::make_shared>(n); + auto yarray = std::make_shared>(n); + for (int i = 0; i < n; i++) + { + int ii = 2 * ((int)i + 1); + xarray->at(i) = array->at(ii)->getValue(); + yarray->at(i) = array->at(ii + 1)->getValue(); + } + initxdegreexsys(arg, order, xarray, yarray); +} + +void MbD::GeneralSpline::initxdegreexsys(Symsptr arg, int order, std::shared_ptr> xarr, std::shared_ptr> yarr) +{ + xx = arg; + degree = order; + xs = xarr; + ys = yarr; + if (!Numeric::isIncreasingVector(xs.get())) throw std::runtime_error("x must be increasing."); + computeDerivatives(); +} + +void MbD::GeneralSpline::computeDerivatives() +{ + //"See derivation in MbDTheory 9spline.fodt." + if (degree == 0) throw std::runtime_error("ToDo: Use ZeroDegreeSpline"); + auto n = (int)xs->size(); + auto p = degree; + auto np = n * p; + auto matrix = std::make_shared>(np, np); + auto bvector = std::make_shared>(np, 0.0); + auto hs = std::make_shared>(n - 1); + double hmax = 0.0; + for (int i = 0; i < n - 1; i++) + { + double h = xs->at((int)i + 1) - xs->at(i); + hmax = std::max(hmax, std::abs(h)); + hs->atiput(i, h); + } + for (int i = 0; i < n - 1; i++) + { + auto offset = i * p; + double hbar = hs->at(i) / hmax; + for (int j = 1; j < p; j++) + { + matrix->atijput(offset + j, offset + j - 1, 1.0); + matrix->atijput(offset + j, offset + j - 1 + p, -1.0); + } + double dum = 1.0; + for (int j = 0; j < p; j++) + { + dum = dum * hbar / (j + 1); + for (int k = j; k < p; k++) + { + matrix->atijput(offset + k - j, offset + k, dum); + } + } + bvector->atiput(offset, ys->at((int)i + 1) - ys->at(i)); + } + if (isCyclic()) { + for (int j = 1; j < p + 1; j++) + { + matrix->atijput(np - j, np - j, 1.0); + matrix->atijput(np - j, p - j, -1.0); + } + } + else { + //"Zero out higher derivatives at node n and node 1 to get the p end equations." + auto count = 0; + auto npass = 0; + while (count < p) { + matrix->atijput(np - count, np - npass, 1.0); + count++; + if (count < p) { + matrix->atijput(np - count, p - npass, 1.0); + count++; + } + } + npass = npass + 1; + } + auto solver = CREATE::With(); + auto derivsVector = solver->solvewithsaveOriginal(matrix, bvector, false); + derivs = std::make_shared>(n, p); + auto hmaxpowers = std::make_shared>(p); + for (int j = 0; j < p; j++) + { + hmaxpowers->atiput(j, std::pow(hmax, j + 1)); + } + for (int i = 0; i < n; i++) + { + auto& derivsi = derivs->at(i); + derivsi->equalArrayAt(derivsVector, (i - 1) * p + 1); + for (int j = 0; j < p; j++) + { + derivsi->atiput(j, derivsi->at(j) / hmaxpowers->at(j)); + } + } +} + +bool MbD::GeneralSpline::isCyclic() +{ + return (ys->size() > 3) && (ys->front() == ys->back()); +} + +double MbD::GeneralSpline::derivativeAt(int n, double xxx) +{ + //"dydx(x) := dydxi + d2ydx2i*hi + d3ydx3i*hi^2/2! +" + //"d2ydx2(x) := d2ydx2i + d3ydx3i*hi + d4ydx4i*hi^2/2! +" + if (n > degree) return 0.0; + calcIndexAndDeltaFor(xxx); + auto& derivsi = derivs->at(index); + double sum = 0.0; + for (int j = degree; j >= n + 1; j--) + { + sum = (sum + derivsi->at((int)j - 1)) * delta / (j - n); + } + return derivsi->at((int)n - 1) + sum; +} + +void MbD::GeneralSpline::calcIndexAndDeltaFor(double xxx) +{ + xvalue = xxx; + if (isCyclic()) { + calcCyclicIndexAndDelta(); + } + else { + calcNonCyclicIndexAndDelta(); + } +} + +void MbD::GeneralSpline::calcCyclicIndexAndDelta() +{ + double xFirst = xs->front(); + double xLast = xs->back(); + xvalue = std::fmod(xvalue - xFirst, xLast - xFirst) + xFirst; + calcIndexAndDelta(); +} + +void MbD::GeneralSpline::calcNonCyclicIndexAndDelta() +{ + double xFirst = xs->front(); + double xLast = xs->back(); + if (xvalue <= xFirst) { + index = 0; + delta = xvalue - xFirst; + } + else { + if (xvalue >= xLast) { + index = (int)xs->size() - 1; + delta = xvalue - xLast; + } + else { + calcIndexAndDelta(); + } + } +} + +void MbD::GeneralSpline::calcIndexAndDelta() +{ + if (!(index < (int)xs->size() - 1) || !(xs->at(index) <= xvalue) || !(xvalue < xs->at((int)index + 1))) { + searchIndexFromto(0, (int)xs->size()); //Using range. + } + delta = xvalue - xs->at(index); +} + +void MbD::GeneralSpline::searchIndexFromto(int first, int last) +{ + //"Assume xs(first) <= xvalue < xs(last)." + if (first + 1 == last) { + index = first; + } + else { + auto middle = (int)std::floor((first + last) / 2); + if (xvalue < xs->at(middle)) { + searchIndexFromto(first, middle); + } + else { + searchIndexFromto(middle, last); + } + } +} + +Symsptr MbD::GeneralSpline::clonesptr() +{ + return std::make_shared(*this); +} + +double MbD::GeneralSpline::y(double xxx) +{ + //"y(x) := yi + dydxi*hi + d2ydx2i*hi^2/2! + d3ydx3i*hi^3/3! +" + + calcIndexAndDeltaFor(xxx); + auto& derivsi = derivs->at(index); + double sum = 0.0; + for (int j = degree; j >= 1; j--) + { + sum = (sum + derivsi->at((int)j - 1)) * delta / j; + } + return ys->at(index) + sum; +} + +std::ostream& MbD::GeneralSpline::printOn(std::ostream& s) const +{ + s << "Spline("; + s << *xx << ", "; + s << degree << ", " << std::endl; + s << "xs{"; + s << xs->at(0); + for (int i = 1; i < (int)xs->size(); i++) + { + s << ", " << xs->at(i); + } + s << "}, " << std::endl; + s << "ys{"; + s << ys->at(0); + for (int i = 1; i < (int)ys->size(); i++) + { + s << ", " << ys->at(i); + } + s << "})" << std::endl; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/GeneralSpline.h b/src/3rdParty/OndselSolver/OndselSolver/GeneralSpline.h new file mode 100644 index 000000000000..f8ee03fab9ab --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/GeneralSpline.h @@ -0,0 +1,42 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AnyGeneralSpline.h" + +namespace MbD { + class GeneralSpline : public AnyGeneralSpline + { + //derivs degree index delta + public: + GeneralSpline() = default; + GeneralSpline(Symsptr arg); + double getValue() override; + Symsptr differentiateWRTx() override; + void arguments(Symsptr args) override; + void initxdegreexsys(Symsptr arg, int order, std::shared_ptr> xarr, std::shared_ptr> yarr); + void computeDerivatives(); + bool isCyclic(); + double derivativeAt(int derivativeOrder, double arg); + void calcIndexAndDeltaFor(double xxx); + void calcCyclicIndexAndDelta(); + void calcNonCyclicIndexAndDelta(); + void calcIndexAndDelta(); + void searchIndexFromto(int start, int end); + Symsptr clonesptr() override; + double y(double xxx); + + std::ostream& printOn(std::ostream& s) const override; + + FMatDsptr derivs; + int degree = -1, index = -1; + double delta = std::numeric_limits::min(); + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ICKineIntegrator.cpp b/src/3rdParty/OndselSolver/OndselSolver/ICKineIntegrator.cpp new file mode 100644 index 000000000000..47b2002b4e93 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ICKineIntegrator.cpp @@ -0,0 +1,50 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ICKineIntegrator.h" +#include "SystemSolver.h" + +using namespace MbD; + +void ICKineIntegrator::runInitialConditionTypeSolution() +{ + system->runPosICKine(); + system->runVelICKine(); + system->runAccICKine(); +} + +void ICKineIntegrator::iStep(int) +{ + assert(false); +} + +void ICKineIntegrator::selectOrder() +{ + assert(false); +} + +void ICKineIntegrator::preRun() +{ + system->Solver::logString("MbD: Starting quasi kinematic analysis."); + QuasiIntegrator::preRun(); +} + +void ICKineIntegrator::firstStep() +{ + assert(false); +} + +void ICKineIntegrator::subsequentSteps() +{ + assert(false); +} + +void MbD::ICKineIntegrator::nextStep() +{ + assert(false); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ICKineIntegrator.h b/src/3rdParty/OndselSolver/OndselSolver/ICKineIntegrator.h new file mode 100644 index 000000000000..8d6a8b5bafa5 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ICKineIntegrator.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "QuasiIntegrator.h" + +namespace MbD { + class ICKineIntegrator : public QuasiIntegrator + { + // + public: + void preRun() override; + void firstStep() override; + void subsequentSteps() override; + void nextStep() override; + void runInitialConditionTypeSolution() override; + void iStep(int i) override; + void selectOrder() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/InLineJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/InLineJoint.cpp new file mode 100644 index 000000000000..31f9faba97b8 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/InLineJoint.cpp @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "InLineJoint.h" +#include "CREATE.h" + +MbD::InLineJoint::InLineJoint() +{ +} + +MbD::InLineJoint::InLineJoint(const char*) +{ +} + +void MbD::InLineJoint::createInLineConstraints() +{ + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 1)); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/InLineJoint.h b/src/3rdParty/OndselSolver/OndselSolver/InLineJoint.h new file mode 100644 index 000000000000..334b4494c2e9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/InLineJoint.h @@ -0,0 +1,26 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Joint.h" + +namespace MbD { + class InLineJoint : public Joint + { + //Abstract class. Create subclasses only. + public: + InLineJoint(); + InLineJoint(const char* str); + virtual void initializeGlobally() = 0; //To prevent instantiation of this class + + void createInLineConstraints(); + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/InPlaneJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/InPlaneJoint.cpp new file mode 100644 index 000000000000..0105a930df08 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/InPlaneJoint.cpp @@ -0,0 +1,25 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "InPlaneJoint.h" +#include "CREATE.h" + +MbD::InPlaneJoint::InPlaneJoint() +{ +} + +MbD::InPlaneJoint::InPlaneJoint(const char*) +{ +} + +void MbD::InPlaneJoint::createInPlaneConstraint() +{ + auto tranCon = CREATE::ConstraintWith(frmI, frmJ, 2); + tranCon->setConstant(offset); + addConstraint(tranCon); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/InPlaneJoint.h b/src/3rdParty/OndselSolver/OndselSolver/InPlaneJoint.h new file mode 100644 index 000000000000..a85ffa622951 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/InPlaneJoint.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Joint.h" + +namespace MbD { + class InPlaneJoint : public Joint + { + //offset + public: + InPlaneJoint(); + InPlaneJoint(const char* str); + virtual void initializeGlobally() = 0; //To prevent instantiation of this class + + void createInPlaneConstraint(); + + double offset = 0.0; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/IndependentVariable.cpp b/src/3rdParty/OndselSolver/OndselSolver/IndependentVariable.cpp new file mode 100644 index 000000000000..9bd92c2b41c2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/IndependentVariable.cpp @@ -0,0 +1,26 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "IndependentVariable.h" +#include "Constant.h" + +using namespace MbD; + +IndependentVariable::IndependentVariable() +{ +} + +Symsptr MbD::IndependentVariable::differentiateWRT(Symsptr var) +{ + if (this == var.get()) { + return sptrConstant(1.0); + } + else { + return sptrConstant(0.0); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/IndependentVariable.h b/src/3rdParty/OndselSolver/OndselSolver/IndependentVariable.h new file mode 100644 index 000000000000..7f5b6e002602 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/IndependentVariable.h @@ -0,0 +1,21 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Variable.h" + +namespace MbD { + class IndependentVariable : public Variable + { + public: + IndependentVariable(); + Symsptr differentiateWRT(Symsptr var) override; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Integral.cpp b/src/3rdParty/OndselSolver/OndselSolver/Integral.cpp new file mode 100644 index 000000000000..934e2e82ab53 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Integral.cpp @@ -0,0 +1,45 @@ +#include "Integral.h" + +using namespace MbD; + +MbD::Integral::Integral(Symsptr, Symsptr) +{ + assert(false); +} + +void MbD::Integral::arguments(Symsptr args) +{ + auto arguments = args->getTerms(); + xx = arguments->at(0); + integrand = arguments->at(1); + expression = integrand->integrateWRT(xx); +} + +Symsptr MbD::Integral::expandUntil(Symsptr, std::shared_ptr> set) +{ + auto expand = expression->expandUntil(expression, set); + auto answer = std::make_shared(); + answer->xx = xx; + answer->expression = expand; + answer->integrand = integrand; + answer->integrationConstant = integrationConstant; + return answer; +} + +Symsptr MbD::Integral::simplifyUntil(Symsptr, std::shared_ptr> set) +{ + auto simple = expression->simplifyUntil(expression, set); + auto answer = std::make_shared(); + answer->xx = xx; + answer->expression = simple; + answer->integrand = integrand; + answer->integrationConstant = integrationConstant; + return answer; +} + +std::ostream& MbD::Integral::printOn(std::ostream& s) const +{ + s << *expression << " + "; + s << *integrationConstant; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Integral.h b/src/3rdParty/OndselSolver/OndselSolver/Integral.h new file mode 100644 index 000000000000..63a647117d37 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Integral.h @@ -0,0 +1,29 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ExpressionX.h" +#include "Constant.h" + +namespace MbD { + class Integral : public ExpressionX + { + public: + Integral() = default; + Integral(Symsptr var, Symsptr integrand); + void arguments(Symsptr args) override; + Symsptr expandUntil(Symsptr sptr, std::shared_ptr> set) override; + Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr> set) override; + + std::ostream& printOn(std::ostream& s) const override; + + Symsptr integrand; + Symsptr integrationConstant = sptrConstant(0.0); + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Integrator.cpp b/src/3rdParty/OndselSolver/OndselSolver/Integrator.cpp new file mode 100644 index 000000000000..2504e0fdba5b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Integrator.cpp @@ -0,0 +1,15 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "Integrator.h" + +using namespace MbD; + +void Integrator::setSystem(Solver*) +{ +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Integrator.h b/src/3rdParty/OndselSolver/OndselSolver/Integrator.h new file mode 100644 index 000000000000..8543618fb247 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Integrator.h @@ -0,0 +1,36 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include "Solver.h" + +namespace MbD { + class SystemSolver; + + class Integrator : public Solver + { + //system direction + public: + void setSystem(Solver* sys) override; + virtual void firstStep() = 0; + virtual void preFirstStep() = 0; + virtual void postFirstStep() = 0; + virtual void subsequentSteps() = 0; + virtual void nextStep() = 0; + virtual void preStep() = 0; + virtual void postStep() = 0; + virtual void runInitialConditionTypeSolution() = 0; + virtual void iStep(int i) = 0; + virtual void selectOrder() = 0; + + double direction = 1; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/IntegratorInterface.cpp b/src/3rdParty/OndselSolver/OndselSolver/IntegratorInterface.cpp new file mode 100644 index 000000000000..3cb293ada593 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/IntegratorInterface.cpp @@ -0,0 +1,84 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "IntegratorInterface.h" +#include "SystemSolver.h" +#include "BasicQuasiIntegrator.h" + +using namespace MbD; + +void IntegratorInterface::initializeGlobally() +{ + tstart = system->startTime(); + hout = system->outputStepSize(); + hmax = system->maxStepSize(); + hmin = system->minStepSize(); + tout = system->firstOutputTime(); + tend = system->endTime(); + direction = (tstart < tend) ? 1.0 : -1.0; +} + +void IntegratorInterface::setSystem(Solver* sys) +{ + system = static_cast(sys); +} + +void IntegratorInterface::logString(std::string& str) +{ + system->logString(str); +} + +void IntegratorInterface::run() +{ + this->preRun(); + this->initializeLocally(); + this->initializeGlobally(); + if (hout > (4 * std::numeric_limits::epsilon()) && (direction * tout < (direction * (tend + (0.1 * direction * hout))))) { + integrator->run(); + } + this->finalize(); + this->reportStats(); + this->postRun(); +} + +int IntegratorInterface::orderMax() +{ + return system->orderMax; +} + +void IntegratorInterface::incrementTime(double tnew) +{ + system->settime(tnew); +} + +void IntegratorInterface::postFirstStep() +{ + assert(false); //Not used. + //system->postFirstStep(); + //if (integrator->istep > 0) { + // //"Noise make checking at the start unreliable." + // this->checkForDiscontinuity(); + //} + //this->checkForOutputThrough(integrator->t); +} + +void IntegratorInterface::interpolateAt(double) +{ + //"Interpolate for system state at tArg and leave system in that state." + assert(false); + //auto yout = integrator->yDerivat(0, tArg); + //auto ydotout = integrator->yDerivat(1, tArg); + //auto yddotout = integrator->yDerivat(2, tArg); + //system->time(tArg); + //system->y(yout); + //system->ydot(ydotout); + //system->yddot(yddotout); + //system->simUpdateAll(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/IntegratorInterface.h b/src/3rdParty/OndselSolver/OndselSolver/IntegratorInterface.h new file mode 100644 index 000000000000..1206b14ecf61 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/IntegratorInterface.h @@ -0,0 +1,43 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Integrator.h" +//#include "BasicQuasiIntegrator.h" + +namespace MbD { + class BasicQuasiIntegrator; + + class IntegratorInterface : public Integrator + { + //tout hout hmin hmax tstart tend integrator + public: + + void initializeGlobally() override; + virtual void preRun() override = 0; + virtual void checkForDiscontinuity() = 0; + + void setSystem(Solver* sys) override; + void logString(std::string& str) override; + void run() override; + int orderMax(); + virtual void incrementTime(double tnew); + + void postFirstStep() override; + virtual double suggestSmallerOrAcceptFirstStepSize(double hnew) = 0; + virtual double suggestSmallerOrAcceptStepSize(double hnew) = 0; + virtual void checkForOutputThrough(double t) = 0; + virtual void interpolateAt(double t); + + SystemSolver* system = nullptr; + double tout = 0.0, hout = 0.0, hmin = 0.0, hmax = 0.0, tstart = 0.0, tend = 0.0; + std::shared_ptr integrator; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Item.cpp b/src/3rdParty/OndselSolver/OndselSolver/Item.cpp new file mode 100644 index 000000000000..52b7c4bfddc7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Item.cpp @@ -0,0 +1,631 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +//#include +#include +//#include +#include +#include + +#include "Item.h" +#include "System.h" +#include "Symbolic.h" + +using namespace MbD; + +Item::Item() { + auto now = std::chrono::high_resolution_clock::now(); + auto nanoseconds = now.time_since_epoch().count(); + name = std::to_string(nanoseconds); +} + +Item::Item(const char* str) : name(str) +{ +} + +System* Item::root() +{ + return owner->root(); +} + +void MbD::Item::noop() +{ + //No Operations +} + +void Item::initialize() +{ +} + +std::ostream& Item::printOn(std::ostream& s) const +{ + std::string str = typeid(*this).name(); + auto classname = str.substr(11, str.size() - 11); + s << classname << std::endl; + return s; +} + +void Item::initializeLocally() +{ +} + +bool MbD::Item::isJointForce() +{ + assert(false); + return false; +} + +bool MbD::Item::isJointTorque() +{ + assert(false); + return false; +} + +bool MbD::Item::isKinedotIJ() +{ + assert(false); + return false; +} + +bool MbD::Item::isKineIJ() +{ + assert(false); + return false; +} + +void Item::initializeGlobally() +{ +} + +void Item::postInput() +{ + //Called once after input + calcPostDynCorrectorIteration(); +} + +void Item::calcPostDynCorrectorIteration() +{ +} + +void MbD::Item::checkForCollisionDiscontinuityBetweenand(double, double) +{ + assert(false); +} + +void Item::removeRedundantConstraints(std::shared_ptr>) +{ +} + +void MbD::Item::setpqsumu(FColDsptr) +{ + assert(false); +} + +void MbD::Item::setpqsumuddot(FColDsptr) +{ + assert(false); +} + +void MbD::Item::setpqsumudot(FColDsptr) +{ + assert(false); +} + +void Item::reactivateRedundantConstraints() +{ +} + +void MbD::Item::registerName() +{ + assert(false); +} + +void Item::fillPosKineError(FColDsptr) +{ +} + +void Item::fillPosKineJacob(SpMatDsptr) +{ +} + +void MbD::Item::fillpqsumu(FColDsptr) +{ + assert(false); +} + +void MbD::Item::fillpqsumudot(FColDsptr) +{ + assert(false); +} + +void Item::fillEssenConstraints(std::shared_ptr>>) +{ + assert(false); +} + +void MbD::Item::fillPerpenConstraints(std::shared_ptr>>) +{ + assert(false); +} + +void MbD::Item::fillpFpy(SpMatDsptr) +{ + assert(false); +} + +void MbD::Item::fillpFpydot(SpMatDsptr) +{ + assert(false); +} + +void Item::fillRedundantConstraints(std::shared_ptr>>) +{ +} + +void MbD::Item::fillStaticError(FColDsptr) +{ + assert(false); +} + +void MbD::Item::fillStaticJacob(FMatDsptr) +{ + assert(false); +} + +void Item::fillConstraints(std::shared_ptr>>) +{ + assert(false); +} + +void MbD::Item::fillDispConstraints(std::shared_ptr>>) +{ + assert(false); +} + +void MbD::Item::fillDynError(FColDsptr) +{ + assert(false); +} + +void Item::fillqsu(FColDsptr) +{ +} + +void Item::fillqsuWeights(DiagMatDsptr) +{ +} + +void MbD::Item::fillqsuWeightsSmall(FColDsptr) +{ + assert(false); +} + +void Item::fillqsulam(FColDsptr) +{ +} + +void Item::setqsulam(FColDsptr) +{ +} + +void MbD::Item::simUpdateAll() +{ + assert(false); +} + +void Item::preDyn() +{ + //"Assume positions, velocities and accelerations are valid." + //"Called once before solving for dynamic solution." + //"Update all variable dependent instance variables needed for runDYNAMICS even if they + //have been calculated in postPosIC, postVelIC and postAccIC." + //"Calculate p, pdot." + //"Default is do nothing." +} + +void MbD::Item::preDynCorrector() +{ + assert(false); +} + +void MbD::Item::preDynCorrectorIteration() +{ + assert(false); +} + +void Item::postDyn() +{ + //"Assume runDYNAMICS ended successfully." + //"Called once at the end of runDYNAMICS." + //"Update all instance variables dependent on p,q,s,u,mu,pdot,qdot,sdot,udot,mudot (lam) + //regardless of whether they are needed." + //"This is a subset of update." + //"Default is do nothing." +} + +void MbD::Item::postDynCorrector() +{ + assert(false); +} + +void MbD::Item::postDynCorrectorIteration() +{ + assert(false); +} + +std::string Item::classname() +{ + std::string str = typeid(*this).name(); + auto answer = str.substr(11, str.size() - 11); + return answer; +} + +void Item::preDynFirstStep() +{ + //"Called before the start of the first step in the dynamic solution." + this->preDynStep(); +} + +void MbD::Item::preDynOutput() +{ + assert(false); +} + +void MbD::Item::preDynPredictor() +{ + assert(false); +} + +void Item::postDynFirstStep() +{ + this->postDynStep(); +} + +void MbD::Item::postDynOutput() +{ + assert(false); +} + +void MbD::Item::postDynPredictor() +{ + assert(false); +} + +void Item::preDynStep() +{ +} + +void MbD::Item::preICRestart() +{ + assert(false); +} + +void Item::postDynStep() +{ + //"Called after the end of a complete step in the dynamic solution." + //"Update info before checking for discontinuities." + //"Default is do nothing." +} + +void Item::storeDynState() +{ +} + +double MbD::Item::suggestSmallerOrAcceptCollisionFirstStepSize(double) +{ + assert(false); + return 0.0; +} + +double MbD::Item::suggestSmallerOrAcceptCollisionStepSize(double) +{ + assert(false); + return 0.0; +} + +double Item::suggestSmallerOrAcceptDynFirstStepSize(double hnew) +{ + //"Default is return hnew." + //"Best to do nothing so as not to disrupt the starting algorithm." + return hnew; +} + +double Item::suggestSmallerOrAcceptDynStepSize(double hnew) +{ + //"Default is return hnew." + return hnew; +} + +void Item::preVelIC() +{ + //"Assume positions are valid." + //"Called once before solving for velocity initial conditions." + //"Update all variable dependent instance variables needed for velIC even if they have + //been calculated in postPosIC." + //"Variables dependent on t are updated." + + this->calcPostDynCorrectorIteration(); +} + +void Item::postVelIC() +{ +} + +void Item::fillqsudot(FColDsptr) +{ +} + +void MbD::Item::fillqsudotPlam(FColDsptr) +{ + assert(false); +} + +void MbD::Item::fillqsudotPlamDeriv(FColDsptr) +{ + assert(false); +} + +void Item::fillqsudotWeights(DiagMatDsptr) +{ +} + +void Item::fillVelICError(FColDsptr) +{ +} + +void Item::fillVelICJacob(SpMatDsptr) +{ +} + +void MbD::Item::getString(std::string) +{ + assert(false); +} + +void Item::setqsudotlam(FColDsptr) +{ +} + +void MbD::Item::setqsudotPlam(FColDsptr) +{ + assert(false); +} + +void MbD::Item::setqsudotPlamDeriv(FColDsptr) +{ + assert(false); +} + +void Item::preAccIC() +{ + this->calcPostDynCorrectorIteration(); +} + +void MbD::Item::preCollision() +{ + assert(false); +} + +void MbD::Item::preCollisionCorrector() +{ + assert(false); +} + +void MbD::Item::preCollisionCorrectorIteration() +{ + assert(false); +} + +void MbD::Item::preCollisionDerivativeIC() +{ + assert(false); +} + +void MbD::Item::preCollisionPredictor() +{ + assert(false); +} + +void MbD::Item::preCollisionStep() +{ + assert(false); +} + +void Item::postAccIC() +{ +} + +void Item::postAccICIteration() +{ +} + +void MbD::Item::postCollisionCorrector() +{ + assert(false); +} + +void MbD::Item::postCollisionCorrectorIteration() +{ + assert(false); +} + +void MbD::Item::postCollisionDerivativeIC() +{ + assert(false); +} + +void MbD::Item::postCollisionPredictor() +{ + assert(false); +} + +void MbD::Item::postCollisionStep() +{ + assert(false); +} + +void Item::fillqsuddotlam(FColDsptr) +{ +} + +void Item::fillAccICIterError(FColDsptr) +{ +} + +void Item::fillAccICIterJacob(SpMatDsptr) +{ +} + +void MbD::Item::fillCollisionDerivativeICError(FColDsptr) +{ + assert(false); +} + +void MbD::Item::fillCollisionDerivativeICJacob(SpMatDsptr) +{ + assert(false); +} + +void MbD::Item::fillCollisionError(FColDsptr) +{ + assert(false); +} + +void MbD::Item::fillCollisionpFpy(SpMatDsptr) +{ + assert(false); +} + +void MbD::Item::fillCollisionpFpydot(SpMatDsptr) +{ + assert(false); +} + +void Item::setqsudot(FColDsptr) +{ +} + +void Item::setqsuddotlam(FColDsptr) +{ +} + +std::shared_ptr Item::stateData() +{ + assert(false); + return std::shared_ptr(); +} + +void MbD::Item::storeCollisionState() +{ + assert(false); +} + +void Item::discontinuityAtaddTypeTo(double, std::shared_ptr>) +{ +} + +void MbD::Item::discontinuityAtICAddTo(std::shared_ptr>) +{ + assert(false); +} + +double Item::checkForDynDiscontinuityBetweenand(double, double t) +{ + //"Check for discontinuity in the last step defined by the interval (tprevious,t]." + //"Default is assume no discontinuity and return t." + + return t; +} + +void Item::constraintsReport() +{ +} + +void Item::setqsu(FColDsptr) +{ +} + +void Item::useEquationNumbers() +{ +} + +void Item::logString(std::string& str) +{ + this->root()->logString(str); +} + +void Item::logString(const char* chars) +{ + std::string str = chars; + this->logString(str); +} + +void MbD::Item::logStringwithArgument(const char*, const char*) +{ + assert(false); +} + +void MbD::Item::logStringwithArguments(const char*, std::shared_ptr>) +{ + assert(false); +} + +void MbD::Item::normalImpulse(double) +{ + assert(false); +} + +void Item::prePosIC() +{ + //"Called once before solving for position initial conditions." + //"Update all variable dependent instance variables needed for posIC." + //"This is a subset of update." + + calcPostDynCorrectorIteration(); +} + +void Item::prePosKine() +{ + this->prePosIC(); +} + +void MbD::Item::preStatic() +{ + assert(false); +} + +void Item::postPosIC() +{ +} + +void Item::postPosICIteration() +{ + this->calcPostDynCorrectorIteration(); +} + +void MbD::Item::postStatic() +{ + assert(false); +} + +void MbD::Item::postStaticIteration() +{ + assert(false); +} + +void Item::fillPosICError(FColDsptr) +{ +} + +void Item::fillPosICJacob(FMatDsptr) +{ +} + +void Item::fillPosICJacob(SpMatDsptr) +{ +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Item.h b/src/3rdParty/OndselSolver/OndselSolver/Item.h new file mode 100644 index 000000000000..7fff0c05d73f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Item.h @@ -0,0 +1,169 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include +#include "FullColumn.h" +#include "FullRow.h" +#include "FullMatrix.h" +#include "DiagonalMatrix.h" +#include "SparseMatrix.h" +#include "enum.h" + +namespace MbD { + class System; + class Constraint; + class StateData; + + class Item + { + //name + public: + Item(); + Item(const char* str); + virtual ~Item() {} + virtual System* root(); + void noop(); + + virtual void calcPostDynCorrectorIteration(); + virtual void checkForCollisionDiscontinuityBetweenand(double impulsePrevious, double impulse); + virtual double checkForDynDiscontinuityBetweenand(double tprev, double t); + virtual std::string classname(); + virtual void constraintsReport(); + virtual void discontinuityAtaddTypeTo(double t, std::shared_ptr> disconTypes); + virtual void discontinuityAtICAddTo(std::shared_ptr> disconTypes); + virtual void fillAccICIterError(FColDsptr col); + virtual void fillAccICIterJacob(SpMatDsptr mat); + virtual void fillCollisionDerivativeICError(FColDsptr col); + virtual void fillCollisionDerivativeICJacob(SpMatDsptr mat); + virtual void fillCollisionError(FColDsptr col); + virtual void fillCollisionpFpy(SpMatDsptr mat); + virtual void fillCollisionpFpydot(SpMatDsptr mat); + virtual void fillConstraints(std::shared_ptr>> allConstraints); + virtual void fillDispConstraints(std::shared_ptr>> dispConstraints); + virtual void fillDynError(FColDsptr col); + virtual void fillEssenConstraints(std::shared_ptr>> essenConstraints); + virtual void fillPerpenConstraints(std::shared_ptr>> perpenConstraints); + virtual void fillpFpy(SpMatDsptr mat); + virtual void fillpFpydot(SpMatDsptr mat); + virtual void fillPosICError(FColDsptr col); + virtual void fillPosICJacob(FMatDsptr mat); + virtual void fillPosICJacob(SpMatDsptr mat); + virtual void fillPosKineError(FColDsptr col); + virtual void fillPosKineJacob(SpMatDsptr mat); + virtual void fillpqsumu(FColDsptr col); + virtual void fillpqsumudot(FColDsptr col); + virtual void fillqsu(FColDsptr col); + virtual void fillqsuddotlam(FColDsptr col); + virtual void fillqsudot(FColDsptr col); + virtual void fillqsudotPlam(FColDsptr col); + virtual void fillqsudotPlamDeriv(FColDsptr col); + virtual void fillqsudotWeights(DiagMatDsptr diagMat); + virtual void fillqsulam(FColDsptr col); + virtual void fillqsuWeights(DiagMatDsptr diagMat); + virtual void fillqsuWeightsSmall(FColDsptr col); + virtual void fillRedundantConstraints(std::shared_ptr>> redunConstraints); + virtual void fillStaticError(FColDsptr col); + virtual void fillStaticJacob(FMatDsptr mat); + virtual void fillVelICError(FColDsptr col); + virtual void fillVelICJacob(SpMatDsptr mat); + virtual void getString(std::string str); + virtual void initialize(); + virtual void initializeGlobally(); + virtual void initializeLocally(); + virtual bool isJointForce(); + virtual bool isJointTorque(); + virtual bool isKinedotIJ(); + virtual bool isKineIJ(); + virtual void logString(std::string& str); + void logString(const char* chars); + virtual void logStringwithArgument(const char* chars, const char* chars1); + virtual void logStringwithArguments(const char* chars, std::shared_ptr> arrayOfChars); + virtual void normalImpulse(double imp); + virtual void postAccIC(); + virtual void postAccICIteration(); + virtual void postCollisionCorrector(); + virtual void postCollisionCorrectorIteration(); + virtual void postCollisionDerivativeIC(); + virtual void postCollisionPredictor(); + virtual void postCollisionStep(); + virtual void postDyn(); + virtual void postDynCorrector(); + virtual void postDynCorrectorIteration(); + virtual void postDynFirstStep(); + virtual void postDynOutput(); + virtual void postDynPredictor(); + virtual void postDynStep(); + virtual void postInput(); + virtual void postPosIC(); + virtual void postPosICIteration(); + virtual void postStatic(); + virtual void postStaticIteration(); + virtual void postVelIC(); + virtual void preAccIC(); + virtual void preCollision(); + virtual void preCollisionCorrector(); + virtual void preCollisionCorrectorIteration(); + virtual void preCollisionDerivativeIC(); + virtual void preCollisionPredictor(); + virtual void preCollisionStep(); + virtual void preDyn(); + virtual void preDynCorrector(); + virtual void preDynCorrectorIteration(); + virtual void preDynFirstStep(); + virtual void preDynOutput(); + virtual void preDynPredictor(); + virtual void preDynStep(); + virtual void preICRestart(); + virtual void prePosIC(); + virtual void prePosKine(); + virtual void preStatic(); + virtual void preVelIC(); + virtual void reactivateRedundantConstraints(); + virtual void registerName(); + virtual void removeRedundantConstraints(std::shared_ptr> redundantEqnNos); + virtual void setpqsumu(FColDsptr col); + virtual void setpqsumuddot(FColDsptr col); + virtual void setpqsumudot(FColDsptr col); + virtual void setqsu(FColDsptr qsuOld); + virtual void setqsuddotlam(FColDsptr col); + virtual void setqsudot(FColDsptr col); + virtual void setqsudotlam(FColDsptr col); + virtual void setqsudotPlam(FColDsptr col); + virtual void setqsudotPlamDeriv(FColDsptr col); + virtual void setqsulam(FColDsptr col); + virtual void simUpdateAll(); + virtual std::shared_ptr stateData(); + virtual void storeCollisionState(); + virtual void storeDynState(); + virtual double suggestSmallerOrAcceptCollisionFirstStepSize(double hnew); + virtual double suggestSmallerOrAcceptCollisionStepSize(double hnew); + virtual double suggestSmallerOrAcceptDynFirstStepSize(double hnew); + virtual double suggestSmallerOrAcceptDynStepSize(double hnew); + virtual void useEquationNumbers(); + + virtual std::ostream& printOn(std::ostream& s) const; + friend std::ostream& operator<<(std::ostream& s, const Item& item) + { + // the following if cannot be false +// if (&item) { + return item.printOn(s); +// } +// else { +// s << "NULL"; +// } + //return s; + } + + std::string name; + Item* owner = nullptr; //Use raw pointer when pointing backwards. + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Joint.cpp b/src/3rdParty/OndselSolver/OndselSolver/Joint.cpp new file mode 100644 index 000000000000..334d207132f9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Joint.cpp @@ -0,0 +1,335 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include +#include + +#include "Joint.h" +#include "Constraint.h" +#include "EndFrameqc.h" +#include "EndFrameqct.h" +#include "CREATE.h" +#include "RedundantConstraint.h" +#include "MarkerFrame.h" +#include "ForceTorqueData.h" +#include "System.h" + +using namespace MbD; + +Joint::Joint() { + +} + +Joint::Joint(const char* str) : Item(str) { + +} + +void Joint::initialize() +{ + constraints = std::make_shared>>(); +} + +void Joint::connectsItoJ(EndFrmsptr frmi, EndFrmsptr frmj) +{ + frmI = frmi; + frmJ = frmj; +} + +void Joint::initializeLocally() +{ + auto frmIqc = std::dynamic_pointer_cast(frmI); + if (frmIqc) { + if (frmIqc->endFrameqct) { + frmI = frmIqc->endFrameqct; + } + } + constraintsDo([](std::shared_ptr constraint) { constraint->initializeLocally(); }); +} + +void Joint::initializeGlobally() +{ + constraintsDo([](std::shared_ptr constraint) { constraint->initializeGlobally(); }); +} + +void Joint::constraintsDo(const std::function)>& f) +{ + std::for_each(constraints->begin(), constraints->end(), f); +} + +void Joint::postInput() +{ + constraintsDo([](std::shared_ptr constraint) { constraint->postInput(); }); + +} + +void Joint::addConstraint(std::shared_ptr con) +{ + con->owner = this; + constraints->push_back(con); +} + +FColDsptr MbD::Joint::aFIeJtIe() +{ + //"aFIeJtIe is joint force on end frame Ie expresses in Ie components." + auto frmIqc = std::dynamic_pointer_cast(frmI); + return frmIqc->aAeO()->timesFullColumn(this->aFIeJtO()); +} + +FColDsptr MbD::Joint::aFIeJtO() +{ + //"aFIeJtO is joint force on end frame Ie expresses in O components." + auto aFIeJtO = std::make_shared >(3); + constraintsDo([&](std::shared_ptr con) { con->addToJointForceI(aFIeJtO); }); + return aFIeJtO; +} + +void Joint::prePosIC() +{ + constraintsDo([](std::shared_ptr constraint) { constraint->prePosIC(); }); +} + +void Joint::prePosKine() +{ + constraintsDo([](std::shared_ptr constraint) { constraint->prePosKine(); }); +} + +void Joint::fillEssenConstraints(std::shared_ptr>> essenConstraints) +{ + constraintsDo([&](std::shared_ptr con) { con->fillEssenConstraints(con, essenConstraints); }); +} + +void Joint::fillDispConstraints(std::shared_ptr>> dispConstraints) +{ + constraintsDo([&](std::shared_ptr con) { con->fillDispConstraints(con, dispConstraints); }); +} + +void Joint::fillPerpenConstraints(std::shared_ptr>> perpenConstraints) +{ + constraintsDo([&](std::shared_ptr con) { con->fillPerpenConstraints(con, perpenConstraints); }); +} + +void Joint::fillRedundantConstraints(std::shared_ptr>> redunConstraints) +{ + constraintsDo([&](std::shared_ptr con) { con->fillRedundantConstraints(con, redunConstraints); }); +} + +void Joint::fillConstraints(std::shared_ptr>> allConstraints) +{ + constraintsDo([&](std::shared_ptr con) { con->fillConstraints(con, allConstraints); }); +} + +void Joint::fillqsulam(FColDsptr col) +{ + constraintsDo([&](std::shared_ptr con) { con->fillqsulam(col); }); +} + +void Joint::fillqsudot(FColDsptr col) +{ + constraintsDo([&](std::shared_ptr con) { con->fillqsudot(col); }); +} + +void Joint::fillqsudotWeights(DiagMatDsptr) +{ +} + +void Joint::useEquationNumbers() +{ + constraintsDo([](std::shared_ptr constraint) { constraint->useEquationNumbers(); }); +} + +void Joint::setqsulam(FColDsptr col) +{ + constraintsDo([&](std::shared_ptr con) { con->setqsulam(col); }); +} + +void Joint::setqsudotlam(FColDsptr col) +{ + constraintsDo([&](std::shared_ptr con) { con->setqsudotlam(col); }); +} + +void Joint::postPosICIteration() +{ + constraintsDo([](std::shared_ptr constraint) { constraint->postPosICIteration(); }); +} + +void Joint::fillPosICError(FColDsptr col) +{ + constraintsDo([&](std::shared_ptr con) { con->fillPosICError(col); }); +} + +void Joint::fillPosICJacob(SpMatDsptr mat) +{ + constraintsDo([&](std::shared_ptr con) { con->fillPosICJacob(mat); }); +} + +void Joint::removeRedundantConstraints(std::shared_ptr> redundantEqnNos) +{ + for (int i = 0; i < (int)constraints->size(); i++) + { + auto& constraint = constraints->at(i); + if (std::find(redundantEqnNos->begin(), redundantEqnNos->end(), constraint->iG) != redundantEqnNos->end()) { + auto redunCon = CREATE::With(); + redunCon->constraint = constraint; + constraints->at(i) = redunCon; + } + } +} + +void Joint::reactivateRedundantConstraints() +{ + for (int i = 0; i < (int)constraints->size(); i++) + { + auto& con = constraints->at(i); + if (con->isRedundant()) { + constraints->at(i) = std::static_pointer_cast(con)->constraint; + } + } +} + +void Joint::constraintsReport() +{ + auto redunCons = std::make_shared>>(); + constraintsDo([&](std::shared_ptr con) { + if (con->isRedundant()) { + redunCons->push_back(con); + } + }); + if (redunCons->size() > 0) { + std::string str = "MbD: " + this->classname() + std::string(" ") + this->name + " has the following constraint(s) removed: "; + this->logString(str); + std::for_each(redunCons->begin(), redunCons->end(), [&](auto& con) { + str = "MbD: " + std::string(" ") + con->classname(); + this->logString(str); + }); + } +} + +void Joint::postPosIC() +{ + constraintsDo([](std::shared_ptr constraint) { constraint->postPosIC(); }); +} + +void Joint::preDyn() +{ + constraintsDo([](std::shared_ptr constraint) { constraint->preDyn(); }); +} + +void Joint::fillPosKineError(FColDsptr col) +{ + constraintsDo([&](std::shared_ptr con) { con->fillPosKineError(col); }); +} + +void Joint::fillPosKineJacob(SpMatDsptr mat) +{ + constraintsDo([&](std::shared_ptr constraint) { constraint->fillPosKineJacob(mat); }); +} + +void MbD::Joint::fillqsuddotlam(FColDsptr col) +{ + constraintsDo([&](std::shared_ptr constraint) { constraint->fillqsuddotlam(col); }); +} + +void Joint::preVelIC() +{ + constraintsDo([](std::shared_ptr constraint) { constraint->preVelIC(); }); +} + +void Joint::fillVelICError(FColDsptr col) +{ + constraintsDo([&](std::shared_ptr con) { con->fillVelICError(col); }); +} + +void Joint::fillVelICJacob(SpMatDsptr mat) +{ + constraintsDo([&](std::shared_ptr constraint) { constraint->fillVelICJacob(mat); }); +} + +void Joint::preAccIC() +{ + constraintsDo([](std::shared_ptr constraint) { constraint->preAccIC(); }); +} + +void Joint::fillAccICIterError(FColDsptr col) +{ + constraintsDo([&](std::shared_ptr con) { con->fillAccICIterError(col); }); +} + +void Joint::fillAccICIterJacob(SpMatDsptr mat) +{ + constraintsDo([&](std::shared_ptr con) { con->fillAccICIterJacob(mat); }); +} + +void Joint::setqsuddotlam(FColDsptr col) +{ + constraintsDo([&](std::shared_ptr con) { con->setqsuddotlam(col); }); +} + +std::shared_ptr Joint::stateData() +{ + //" + //MbD returns aFIeO and aTIeO. + //GEO needs aFImO and aTImO. + //For Motion rImIeO is not zero and is changing. + //aFImO : = aFIeO. + //aTImO : = aTIeO + (rImIeO cross : aFIeO). + //" + + auto answer = std::make_shared(); + auto aFIeO = this->aFX(); + auto aTIeO = this->aTX(); + auto rImIeO = this->frmI->rmeO(); + answer->aFIO = aFIeO; + answer->aTIO = aTIeO->plusFullColumn(rImIeO->cross(aFIeO)); + return answer; +} + +FColDsptr Joint::aFX() +{ + return this->jointForceI(); +} + +FColDsptr MbD::Joint::aTIeJtIe() +{ + //"aTIeJtIe is torque on part containing end frame Ie expressed in Ie components." + return frmI->aAeO()->timesFullColumn(this->aTIeJtO()); +} + +FColDsptr MbD::Joint::aTIeJtO() +{ + //"aTIeJtO is torque on part containing end frame Ie expressed in O components." + auto aTIeJtO = std::make_shared >(3); + constraintsDo([&](std::shared_ptr con) { con->addToJointTorqueI(aTIeJtO); }); + return aTIeJtO; +} + +FColDsptr Joint::jointForceI() +{ + //"jointForceI is force on MbD marker I." + auto jointForce = std::make_shared >(3); + constraintsDo([&](std::shared_ptr con) { con->addToJointForceI(jointForce); }); + return jointForce; +} + +FColDsptr Joint::aTX() +{ + return this->jointTorqueI(); +} + +FColDsptr Joint::jointTorqueI() +{ + //"jointTorqueI is torque on MbD marker I." + auto jointTorque = std::make_shared >(3); + constraintsDo([&](std::shared_ptr con) { con->addToJointTorqueI(jointTorque); }); + return jointTorque; +} + +void Joint::postDynStep() +{ + constraintsDo([](std::shared_ptr constraint) { constraint->postDynStep(); }); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Joint.h b/src/3rdParty/OndselSolver/OndselSolver/Joint.h new file mode 100644 index 000000000000..e6281f72ab3d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Joint.h @@ -0,0 +1,84 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include +#include + +#include "Item.h" + +namespace MbD { + class Constraint; + class EndFramec; + using EndFrmsptr = std::shared_ptr; + + class Joint : public Item + { + //frmI frmJ constraints friction + public: + Joint(); + Joint(const char* str); + + void addConstraint(std::shared_ptr con); + FColDsptr aFIeJtIe(); + FColDsptr aFIeJtO(); + FColDsptr aFX(); + FColDsptr aTIeJtIe(); + FColDsptr aTIeJtO(); + FColDsptr aTX(); + virtual void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ); + void constraintsDo(const std::function )>& f); + void constraintsReport() override; + void fillAccICIterError(FColDsptr col) override; + void fillAccICIterJacob(SpMatDsptr mat) override; + void fillConstraints(std::shared_ptr>> allConstraints) override; + void fillDispConstraints(std::shared_ptr>> dispConstraints) override; + void fillEssenConstraints(std::shared_ptr>> essenConstraints) override; + void fillPerpenConstraints(std::shared_ptr>> perpenConstraints) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineError(FColDsptr col) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillqsuddotlam(FColDsptr col) override; + void fillqsulam(FColDsptr col) override; + void fillqsudot(FColDsptr col) override; + void fillqsudotWeights(DiagMatDsptr diagMat) override; + void fillRedundantConstraints(std::shared_ptr>> redunConstraints) override; + void fillVelICError(FColDsptr col) override; + void fillVelICJacob(SpMatDsptr mat) override; + void initialize() override; + void initializeGlobally() override; + void initializeLocally() override; + FColDsptr jointForceI(); + FColDsptr jointTorqueI(); + void postDynStep() override; + void postInput() override; + void postPosIC() override; + void postPosICIteration() override; + void preAccIC() override; + void preDyn() override; + void prePosIC() override; + void prePosKine() override; + void preVelIC() override; + void reactivateRedundantConstraints() override; + void removeRedundantConstraints(std::shared_ptr> redundantEqnNos) override; + void setqsuddotlam(FColDsptr col) override; + void setqsudotlam(FColDsptr col) override; + void setqsulam(FColDsptr col) override; + std::shared_ptr stateData() override; + void useEquationNumbers() override; + + EndFrmsptr frmI; + EndFrmsptr frmJ; + std::shared_ptr>> constraints; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/KineIntegrator.cpp b/src/3rdParty/OndselSolver/OndselSolver/KineIntegrator.cpp new file mode 100644 index 000000000000..98d62a120cca --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/KineIntegrator.cpp @@ -0,0 +1,53 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "KineIntegrator.h" +#include "SystemSolver.h" +#include "Solver.h" + +using namespace MbD; + +void KineIntegrator::preRun() +{ + system->Solver::logString("MbD: Starting kinematic analysis."); + QuasiIntegrator::preRun(); +} + +void KineIntegrator::firstStep() +{ + assert(false); +} + +void KineIntegrator::subsequentSteps() +{ + assert(false); +} + +void KineIntegrator::nextStep() +{ + assert(false); +} + +void KineIntegrator::runInitialConditionTypeSolution() +{ + system->runPosKine(); + system->runVelKine(); + system->runAccKine(); +} + +void KineIntegrator::iStep(int) +{ + assert(false); +} + +void KineIntegrator::selectOrder() +{ + assert(false); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/KineIntegrator.h b/src/3rdParty/OndselSolver/OndselSolver/KineIntegrator.h new file mode 100644 index 000000000000..f16d920956bc --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/KineIntegrator.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "QuasiIntegrator.h" + +namespace MbD { + class KineIntegrator : public QuasiIntegrator + { + // + public: + void preRun() override; + void firstStep() override; + void subsequentSteps() override; + void nextStep() override; + void runInitialConditionTypeSolution() override; + void iStep(int i) override; + void selectOrder() override; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/KinematicIeJe.cpp b/src/3rdParty/OndselSolver/OndselSolver/KinematicIeJe.cpp new file mode 100644 index 000000000000..b278ec3c7596 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/KinematicIeJe.cpp @@ -0,0 +1,355 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "KinematicIeJe.h" +#include "EndFramec.h" + +using namespace MbD; + +KinematicIeJe::KinematicIeJe() +{ +} + +KinematicIeJe::KinematicIeJe(EndFrmsptr frmi, EndFrmsptr frmj) : frmI(frmi), frmJ(frmj) +{ +} + +bool MbD::KinematicIeJe::isKineIJ() +{ + return true; +} + +void MbD::KinematicIeJe::calc_pvaluepXI() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_pvaluepEI() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepXIpXI() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepXIpEI() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepEIpEI() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_pvaluepXJ() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_pvaluepEJ() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepXIpXJ() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepXIpEJ() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepEIpXJ() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepEIpEJ() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepXJpXJ() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepXJpEJ() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepEJpEJ() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_pvaluepXK() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_pvaluepEK() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepXIpEK() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepEIpEK() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepXJpEK() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepEJpEK() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepEKpEK() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_pvaluept() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvalueptpt() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_value() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepXIpt() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepEIpt() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepXJpt() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepEJpt() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepXKpt() +{ + assert(false); +} + +void MbD::KinematicIeJe::calc_ppvaluepEKpt() +{ + assert(false); +} + +FRowDsptr MbD::KinematicIeJe::pvaluepXI() +{ + assert(false); + return FRowDsptr(); +} + +FRowDsptr MbD::KinematicIeJe::pvaluepEI() +{ + assert(false); + return FRowDsptr(); +} + +FMatDsptr MbD::KinematicIeJe::ppvaluepXIpXI() +{ + assert(false); + return FMatDsptr(); +} + +FMatDsptr MbD::KinematicIeJe::ppvaluepXIpEI() +{ + assert(false); + return FMatDsptr(); +} + +FMatDsptr MbD::KinematicIeJe::ppvaluepEIpEI() +{ + assert(false); + return FMatDsptr(); +} + +FRowDsptr MbD::KinematicIeJe::pvaluepXJ() +{ + assert(false); + return FRowDsptr(); +} + +FRowDsptr MbD::KinematicIeJe::pvaluepEJ() +{ + assert(false); + return FRowDsptr(); +} + +FMatDsptr MbD::KinematicIeJe::ppvaluepXIpXJ() +{ + assert(false); + return FMatDsptr(); +} + +FMatDsptr MbD::KinematicIeJe::ppvaluepXIpEJ() +{ + assert(false); + return FMatDsptr(); +} + +FMatDsptr MbD::KinematicIeJe::ppvaluepEIpXJ() +{ + assert(false); + return FMatDsptr(); +} + +FMatDsptr MbD::KinematicIeJe::ppvaluepEIpEJ() +{ + assert(false); + return FMatDsptr(); +} + +FMatDsptr MbD::KinematicIeJe::ppvaluepXJpXJ() +{ + assert(false); + return FMatDsptr(); +} + +FMatDsptr MbD::KinematicIeJe::ppvaluepXJpEJ() +{ + assert(false); + return FMatDsptr(); +} + +FMatDsptr MbD::KinematicIeJe::ppvaluepEJpEJ() +{ + assert(false); + return FMatDsptr(); +} + +FRowDsptr MbD::KinematicIeJe::pvaluepXK() +{ + assert(false); + return FRowDsptr(); +} + +FRowDsptr MbD::KinematicIeJe::pvaluepEK() +{ + assert(false); + return FRowDsptr(); +} + +FMatDsptr MbD::KinematicIeJe::ppvaluepXIpEK() +{ + assert(false); + return FMatDsptr(); +} + +FMatDsptr MbD::KinematicIeJe::ppvaluepEIpEK() +{ + assert(false); + return FMatDsptr(); +} + +FMatDsptr MbD::KinematicIeJe::ppvaluepXJpEK() +{ + assert(false); + return FMatDsptr(); +} + +FMatDsptr MbD::KinematicIeJe::ppvaluepEJpEK() +{ + assert(false); + return FMatDsptr(); +} + +FMatDsptr MbD::KinematicIeJe::ppvaluepEKpEK() +{ + assert(false); + return FMatDsptr(); +} + +double MbD::KinematicIeJe::pvaluept() +{ + assert(false); + return 0.0; +} + +double MbD::KinematicIeJe::ppvalueptpt() +{ + assert(false); + return 0.0; +} + +FRowDsptr MbD::KinematicIeJe::ppvaluepXIpt() +{ + assert(false); + return FRowDsptr(); +} + +FRowDsptr MbD::KinematicIeJe::ppvaluepEIpt() +{ + assert(false); + return FRowDsptr(); +} + +FRowDsptr MbD::KinematicIeJe::ppvaluepXJpt() +{ + assert(false); + return FRowDsptr(); +} + +FRowDsptr MbD::KinematicIeJe::ppvaluepEJpt() +{ + assert(false); + return FRowDsptr(); +} + +FRowDsptr MbD::KinematicIeJe::ppvaluepXKpt() +{ + assert(false); + return FRowDsptr(); +} + +FRowDsptr MbD::KinematicIeJe::ppvaluepEKpt() +{ + assert(false); + return FRowDsptr(); +} + +double MbD::KinematicIeJe::value() +{ + assert(false); + return 0.0; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/KinematicIeJe.h b/src/3rdParty/OndselSolver/OndselSolver/KinematicIeJe.h new file mode 100644 index 000000000000..ddaba659bbed --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/KinematicIeJe.h @@ -0,0 +1,90 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Item.h" + +namespace MbD { + class EndFramec; + using EndFrmsptr = std::shared_ptr; + + class KinematicIeJe : public Item + { + //frmI frmJ + public: + KinematicIeJe(); + KinematicIeJe(EndFrmsptr frmi, EndFrmsptr frmj); + + bool isKineIJ() override; + virtual void calc_value(); + virtual void calc_pvaluepXI(); + virtual void calc_pvaluepEI(); + virtual void calc_ppvaluepXIpXI(); + virtual void calc_ppvaluepXIpEI(); + virtual void calc_ppvaluepEIpEI(); + virtual void calc_pvaluepXJ(); + virtual void calc_pvaluepEJ(); + virtual void calc_ppvaluepXIpXJ(); + virtual void calc_ppvaluepXIpEJ(); + virtual void calc_ppvaluepEIpXJ(); + virtual void calc_ppvaluepEIpEJ(); + virtual void calc_ppvaluepXJpXJ(); + virtual void calc_ppvaluepXJpEJ(); + virtual void calc_ppvaluepEJpEJ(); + virtual void calc_pvaluepXK(); + virtual void calc_pvaluepEK(); + virtual void calc_ppvaluepXIpEK(); + virtual void calc_ppvaluepEIpEK(); + virtual void calc_ppvaluepXJpEK(); + virtual void calc_ppvaluepEJpEK(); + virtual void calc_ppvaluepEKpEK(); + virtual void calc_pvaluept(); + virtual void calc_ppvaluepXIpt(); + virtual void calc_ppvaluepEIpt(); + virtual void calc_ppvaluepXJpt(); + virtual void calc_ppvaluepEJpt(); + virtual void calc_ppvaluepXKpt(); + virtual void calc_ppvaluepEKpt(); + virtual void calc_ppvalueptpt(); + + virtual FRowDsptr pvaluepXI(); + virtual FRowDsptr pvaluepEI(); + virtual FMatDsptr ppvaluepXIpXI(); + virtual FMatDsptr ppvaluepXIpEI(); + virtual FMatDsptr ppvaluepEIpEI(); + virtual FRowDsptr pvaluepXJ(); + virtual FRowDsptr pvaluepEJ(); + virtual FMatDsptr ppvaluepXIpXJ(); + virtual FMatDsptr ppvaluepXIpEJ(); + virtual FMatDsptr ppvaluepEIpXJ(); + virtual FMatDsptr ppvaluepEIpEJ(); + virtual FMatDsptr ppvaluepXJpXJ(); + virtual FMatDsptr ppvaluepXJpEJ(); + virtual FMatDsptr ppvaluepEJpEJ(); + virtual FRowDsptr pvaluepXK(); + virtual FRowDsptr pvaluepEK(); + virtual FMatDsptr ppvaluepXIpEK(); + virtual FMatDsptr ppvaluepEIpEK(); + virtual FMatDsptr ppvaluepXJpEK(); + virtual FMatDsptr ppvaluepEJpEK(); + virtual FMatDsptr ppvaluepEKpEK(); + virtual double pvaluept(); + virtual double ppvalueptpt(); + virtual FRowDsptr ppvaluepXIpt(); + virtual FRowDsptr ppvaluepEIpt(); + virtual FRowDsptr ppvaluepXJpt(); + virtual FRowDsptr ppvaluepEJpt(); + virtual FRowDsptr ppvaluepXKpt(); + virtual FRowDsptr ppvaluepEKpt(); + virtual double value(); + + EndFrmsptr frmI, frmJ; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/LDUFullMat.cpp b/src/3rdParty/OndselSolver/OndselSolver/LDUFullMat.cpp new file mode 100644 index 000000000000..678915065f13 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LDUFullMat.cpp @@ -0,0 +1,169 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "LDUFullMat.h" + +using namespace MbD; + +FColDsptr LDUFullMat::basicSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) +{ + this->decomposesaveOriginal(fullMat, saveOriginal); + FColDsptr answer = this->forAndBackSubsaveOriginal(fullCol, saveOriginal); + return answer; +} + +FColDsptr LDUFullMat::basicSolvewithsaveOriginal(SpMatDsptr, FColDsptr, bool) +{ + assert(false); + return FColDsptr(); +} + +void LDUFullMat::preSolvewithsaveOriginal(FMatDsptr, FColDsptr, bool) +{ + assert(false); +} + +void LDUFullMat::preSolvewithsaveOriginal(SpMatDsptr, FColDsptr, bool) +{ + assert(false); +} + +void LDUFullMat::forwardEliminateWithPivot(int p) +{ + //"Save factors in lower triangle for LU decomposition." + + //| rowp app rowi aip factor | + auto& rowp = matrixA->at(p); + auto app = rowp->at(p); + for (int i = p + 1; i < m; i++) + { + auto& rowi = matrixA->at(i); + auto aip = rowi->at(p); + auto factor = aip / app; + rowi->at(p) = factor; + if (factor != 0) { + for (int j = p + 1; j < n; j++) + { + rowi->atiminusNumber(j, factor * rowp->at(j)); + } + } + } +} + +void LDUFullMat::postSolve() +{ + assert(false); +} + +void LDUFullMat::preSolvesaveOriginal(FMatDsptr fullMat, bool saveOriginal) +{ + if (saveOriginal) { + matrixA = fullMat->copy(); + } + else { + matrixA = fullMat; + } + if (m != matrixA->nrow() || n != matrixA->ncol()) { + m = matrixA->nrow(); + n = matrixA->ncol(); + pivotValues = std::make_shared>(m); + rowOrder = std::make_shared>(m); + colOrder = std::make_shared>(n); + } + if (m == n) { + for (int i = 0; i < m; i++) + { + rowOrder->at(i) = i; + colOrder->at(i) = i; + } + } + else { + for (int i = 0; i < m; i++) + { + rowOrder->at(i) = i; + } + for (int j = 0; j < n; j++) + { + colOrder->at(j) = j; + } + } + this->findScalingsForRowRange(0, m); +} + +void LDUFullMat::decomposesaveOriginal(FMatDsptr fullMat, bool saveOriginal) +{ + this->preSolvesaveOriginal(fullMat, saveOriginal); + for (int p = 0; p < m; p++) + { + this->doPivoting(p); + this->forwardEliminateWithPivot(p); + } +} + +void LDUFullMat::decomposesaveOriginal(SpMatDsptr, bool) +{ + assert(false); +} + +FMatDsptr LDUFullMat::inversesaveOriginal(FMatDsptr fullMat, bool saveOriginal) +{ + //"ForAndBackSub be optimized for the identity matrix." + + this->decomposesaveOriginal(fullMat, saveOriginal); + rightHandSideB = std::make_shared>(m); + auto matrixAinverse = std::make_shared >(m, n); + for (int j = 0; j < n; j++) + { + rightHandSideB->zeroSelf(); + rightHandSideB->at(j) = 1.0; + this->forAndBackSubsaveOriginal(rightHandSideB, saveOriginal); + matrixAinverse->atijputFullColumn(0, j, answerX); + } + return matrixAinverse; +} + +double LDUFullMat::getmatrixArowimaxMagnitude(int i) +{ + return matrixA->at(i)->maxMagnitude(); +} + +void LDUFullMat::forwardSubstituteIntoL() +{ + //"L is lower triangular with nonzero and ones in diagonal." + auto vectorc = std::make_shared>(n); + for (int i = 0; i < n; i++) + { + auto& rowi = matrixA->at(i); + double sum = 0.0; + for (int j = 0; j < i; j++) + { + sum += rowi->at(j) * vectorc->at(j); + } + vectorc->at(i) = rightHandSideB->at(i) - sum; + } + rightHandSideB = vectorc; +} + +void LDUFullMat::backSubstituteIntoDU() +{ + //"DU is upper triangular with nonzero and arbitrary diagonals." + + //| rowi sum | + answerX = std::make_shared>(n); + answerX->at((int)n - 1) = rightHandSideB->at((int)m - 1) / matrixA->at((int)m - 1)->at((int)n - 1); + for (int i = n - 2; i >= 0; i--) + { + auto& rowi = matrixA->at(i); + double sum = answerX->at((int)n - 1) * rowi->at((int)n - 1); + for (int j = i + 1; j < n - 1; j++) + { + sum += answerX->at(j) * rowi->at(j); + } + answerX->at(i) = (rightHandSideB->at(i) - sum) / rowi->at(i); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/LDUFullMat.h b/src/3rdParty/OndselSolver/OndselSolver/LDUFullMat.h new file mode 100644 index 000000000000..5a75d9ea4219 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LDUFullMat.h @@ -0,0 +1,37 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "MatrixLDU.h" + +namespace MbD { + class LDUFullMat : public MatrixLDU + { + // + public: + FColDsptr basicSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) override; + FColDsptr basicSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override; + void preSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) override; + void preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override; + void forwardEliminateWithPivot(int p) override; + + void postSolve() override; + void preSolvesaveOriginal(FMatDsptr fullMat, bool saveOriginal) override; + void decomposesaveOriginal(SpMatDsptr spMat, bool saveOriginal); + void decomposesaveOriginal(FMatDsptr fullMat, bool saveOriginal); + FMatDsptr inversesaveOriginal(FMatDsptr fullMat, bool saveOriginal); + double getmatrixArowimaxMagnitude(int i) override; + void forwardSubstituteIntoL() override; + void backSubstituteIntoDU() override; + + FMatDsptr matrixA; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/LDUFullMatParPv.cpp b/src/3rdParty/OndselSolver/OndselSolver/LDUFullMatParPv.cpp new file mode 100644 index 000000000000..d0ef28c7146b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LDUFullMatParPv.cpp @@ -0,0 +1,43 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "LDUFullMatParPv.h" +#include "FullMatrix.h" +#include "SingularMatrixError.h" + +using namespace MbD; + +void LDUFullMatParPv::doPivoting(int p) +{ + //"Use scalings. Do row pivoting." + + //| app max rowPivot aip mag | + auto app = matrixA->at(p)->at(p); + double max = app * rowScalings->at(p); + if (max < 0.0) max = -max; + auto rowPivot = p; + for (int i = p + 1; i < m; i++) + { + auto aip = matrixA->at(i)->at(p); + if (aip != 0.0) { + auto mag = aip * rowScalings->at(i); + if (mag < 0) mag = -mag; + if (max < mag) { + max = mag; + rowPivot = i; + } + } + } + if (p != rowPivot) { + matrixA->swapElems(p, rowPivot); + rowScalings->swapElems(p, rowPivot); + rowOrder->swapElems(p, rowPivot); + } + pivotValues->at(p) = max; + if (max < singularPivotTolerance) throwSingularMatrixError(""); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/LDUFullMatParPv.h b/src/3rdParty/OndselSolver/OndselSolver/LDUFullMatParPv.h new file mode 100644 index 000000000000..9e11b8bca0ab --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LDUFullMatParPv.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "LDUFullMat.h" + +namespace MbD { + class LDUFullMatParPv : public LDUFullMat + { + // + public: + void doPivoting(int p) override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/LDUSpMat.cpp b/src/3rdParty/OndselSolver/OndselSolver/LDUSpMat.cpp new file mode 100644 index 000000000000..e88a845da0bd --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LDUSpMat.cpp @@ -0,0 +1,83 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "LDUSpMat.h" +#include "FullColumn.h" + +using namespace MbD; + +FColDsptr LDUSpMat::basicSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) +{ + this->decomposesaveOriginal(spMat, saveOriginal); + FColDsptr answer = this->forAndBackSubsaveOriginal(fullCol, saveOriginal); + return answer; +} + +void LDUSpMat::decomposesaveOriginal(FMatDsptr, bool) +{ + assert(false); +} + +void LDUSpMat::decomposesaveOriginal(SpMatDsptr, bool) +{ + assert(false); +} + +FColDsptr LDUSpMat::forAndBackSubsaveOriginal(FColDsptr, bool) +{ + assert(false); + return FColDsptr(); +} + +double LDUSpMat::getmatrixArowimaxMagnitude(int i) +{ + return matrixA->at(i)->maxMagnitude(); +} + +void LDUSpMat::forwardSubstituteIntoL() +{ + //"L is lower triangular with nonzero and ones in diagonal." + auto vectorc = std::make_shared>(n); + vectorc->at(0) = rightHandSideB->at(0); + for (int i = 1; i < n; i++) + { + auto rowi = matrixA->at(i); + double sum = 0.0; + for (auto const& keyValue : *rowi) { + int j = keyValue.first; + double duij = keyValue.second; + sum += duij * vectorc->at(j); + } + vectorc->at(i) = rightHandSideB->at(i) - sum; + } + rightHandSideB = vectorc; +} + +void LDUSpMat::backSubstituteIntoDU() +{ + //"DU is upper triangular with nonzero diagonals." + + double sum, duij; + for (int i = 0; i < m; i++) + { + rightHandSideB->at(i) = rightHandSideB->at(i) / matrixD->at(i); + } + answerX = std::make_shared>(m); + answerX->at(n - 1) = rightHandSideB->at(m - 1); + for (int i = n - 2; i >= 0; i--) + { + auto rowi = matrixU->at(i); + sum = 0.0; + for (auto const& keyValue : *rowi) { + auto j = keyValue.first; + duij = keyValue.second; + sum += answerX->at(j) * duij; + } + answerX->at(i) = rightHandSideB->at(i) - sum; + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/LDUSpMat.h b/src/3rdParty/OndselSolver/OndselSolver/LDUSpMat.h new file mode 100644 index 000000000000..5965a2495bd9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LDUSpMat.h @@ -0,0 +1,33 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "MatrixLDU.h" +#include "SparseMatrix.h" + +namespace MbD { + class LDUSpMat : public MatrixLDU + { + //matrixL matrixD matrixU markowitzPivotRowCount markowitzPivotColCount privateIndicesOfNonZerosInPivotRow rowPositionsOfNonZerosInPivotColumn + public: + FColDsptr basicSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override; + void decomposesaveOriginal(FMatDsptr fullMat, bool saveOriginal); + void decomposesaveOriginal(SpMatDsptr spMat, bool saveOriginal); + FColDsptr forAndBackSubsaveOriginal(FColDsptr fullCol, bool saveOriginal) override; + double getmatrixArowimaxMagnitude(int i) override; + void forwardSubstituteIntoL() override; + void backSubstituteIntoDU() override; + + SpMatDsptr matrixA, matrixL, matrixU; + DiagMatDsptr matrixD; + int markowitzPivotRowCount, markowitzPivotColCount; + std::shared_ptr> rowPositionsOfNonZerosInPivotColumn; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPv.cpp b/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPv.cpp new file mode 100644 index 000000000000..3c901c18f9d6 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPv.cpp @@ -0,0 +1,9 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "LDUSpMatParPv.h" diff --git a/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPv.h b/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPv.h new file mode 100644 index 000000000000..c5afbff63043 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPv.h @@ -0,0 +1,21 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "LDUSpMat.h" + +namespace MbD { + class LDUSpMatParPv : public LDUSpMat + { + // + public: + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPvMarko.cpp b/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPvMarko.cpp new file mode 100644 index 000000000000..43bf432beb2d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPvMarko.cpp @@ -0,0 +1,75 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "LDUSpMatParPvMarko.h" +#include "SingularMatrixError.h" + +using namespace MbD; + +void LDUSpMatParPvMarko::doPivoting(int p) +{ + //"Search from bottom to top." + //"Check for singular pivot." + //"Do scaling. Do partial pivoting." + //"criterion := mag / (2.0d raisedTo: rowiCount)." + //| lookForFirstNonZeroInPivotCol i rowi aip criterionMax rowPivoti criterion max | + int i, rowPivoti; + double aip, mag, max, criterion, criterionMax; + SpRowDsptr spRowi; + rowPositionsOfNonZerosInPivotColumn->clear(); + auto lookForFirstNonZeroInPivotCol = true; + i = m - 1; + while (lookForFirstNonZeroInPivotCol) { + spRowi = matrixA->at(i); + if (spRowi->find(p) == spRowi->end()) { + if (i <= p) throwSingularMatrixError(""); + } + else { + markowitzPivotColCount = 0; + aip = spRowi->at(p); + mag = aip * rowScalings->at(i); + if (mag < 0) mag = -mag; + max = mag; + criterionMax = mag / std::pow(2.0, spRowi->size()); + rowPivoti = i; + lookForFirstNonZeroInPivotCol = false; + } + i--; + } + while (i >= p) { + spRowi = matrixA->at(i); + if (spRowi->find(p) == spRowi->end()) { + aip = std::numeric_limits::min(); + } + else { + aip = spRowi->at(p); + markowitzPivotColCount++; + mag = aip * rowScalings->at(i); + if (mag < 0) mag = -mag; + criterion = mag / std::pow(2.0, spRowi->size()); + if (criterion > criterionMax) { + max = mag; + criterionMax = criterion; + rowPositionsOfNonZerosInPivotColumn->push_back(rowPivoti); + rowPivoti = i; + } + else { + rowPositionsOfNonZerosInPivotColumn->push_back(i); + } + } + i--; + } + if (p != rowPivoti) { + matrixA->swapElems(p, rowPivoti); + rowScalings->swapElems(p, rowPivoti); + rowOrder->swapElems(p, rowPivoti); + matrixL->swapElems(p, rowPivoti); + if (aip != std::numeric_limits::min()) rowPositionsOfNonZerosInPivotColumn->at(markowitzPivotColCount - 1) = rowPivoti; + } + if (max < singularPivotTolerance) throwSingularMatrixError(""); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPvMarko.h b/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPvMarko.h new file mode 100644 index 000000000000..2505f3afa906 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPvMarko.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "LDUSpMatParPv.h" + +namespace MbD { + class LDUSpMatParPvMarko : public LDUSpMatParPv + { + // + public: + void doPivoting(int p) override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPvPrecise.cpp b/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPvPrecise.cpp new file mode 100644 index 000000000000..7cc4ae4c7aa1 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPvPrecise.cpp @@ -0,0 +1,73 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "LDUSpMatParPvPrecise.h" +#include "SingularMatrixError.h" + +using namespace MbD; + +void LDUSpMatParPvPrecise::doPivoting(int p) +{ + //"Search from bottom to top." + //"Use scaling vector and partial pivoting with actual swapping of rows." + //"Check for singular pivot." + //"Do scaling. Do partial pivoting." + //| max rowPivot aip mag lookForFirstNonZeroInPivotCol i | + int i, rowPivoti; + double aip, mag, max; + SpRowDsptr spRowi; + rowPositionsOfNonZerosInPivotColumn->clear(); + auto lookForFirstNonZeroInPivotCol = true; + i = m - 1; + while (lookForFirstNonZeroInPivotCol) { + spRowi = matrixA->at(i); + if (spRowi->find(p) == spRowi->end()) { + if (i <= p) throwSingularMatrixError(""); + } + else { + markowitzPivotColCount = 0; + aip = spRowi->at(p); + mag = aip * rowScalings->at(i); + if (mag < 0) mag = -mag; + max = mag; + rowPivoti = i; + lookForFirstNonZeroInPivotCol = false; + } + i--; + } + while (i >= p) { + spRowi = matrixA->at(i); + if (spRowi->find(p) == spRowi->end()) { + aip = std::numeric_limits::min(); + } + else { + aip = spRowi->at(p); + markowitzPivotColCount++; + mag = aip * rowScalings->at(i); + if (mag < 0) mag = -mag; + if (mag > max) { + max = mag; + rowPositionsOfNonZerosInPivotColumn->push_back(rowPivoti); + rowPivoti = i; + } + else { + rowPositionsOfNonZerosInPivotColumn->push_back(i); + } + } + i--; + } + if (p != rowPivoti) { + matrixA->swapElems(p, rowPivoti); + rowScalings->swapElems(p, rowPivoti); + rowOrder->swapElems(p, rowPivoti); + matrixL->swapElems(p, rowPivoti); + if (aip != std::numeric_limits::min()) rowPositionsOfNonZerosInPivotColumn->at((int)markowitzPivotColCount - 1) = rowPivoti; + } + pivotValues->at(p) = max; + if (max < singularPivotTolerance) throwSingularMatrixError(""); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPvPrecise.h b/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPvPrecise.h new file mode 100644 index 000000000000..51811d64b6ea --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LDUSpMatParPvPrecise.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "LDUSpMatParPv.h" + +namespace MbD { + class LDUSpMatParPvPrecise : public LDUSpMatParPv + { + // + public: + void doPivoting(int p) override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/LineInPlaneJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/LineInPlaneJoint.cpp new file mode 100644 index 000000000000..a6c71e6d2a34 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LineInPlaneJoint.cpp @@ -0,0 +1,34 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "LineInPlaneJoint.h" +#include "CREATE.h" +#include "System.h" + +using namespace MbD; + +MbD::LineInPlaneJoint::LineInPlaneJoint() +{ +} + +MbD::LineInPlaneJoint::LineInPlaneJoint(const char*) +{ +} + +void MbD::LineInPlaneJoint::initializeGlobally() +{ + if (constraints->empty()) + { + this->createInPlaneConstraint(); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 2)); + this->root()->hasChanged = true; + } + else { + Joint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/LineInPlaneJoint.h b/src/3rdParty/OndselSolver/OndselSolver/LineInPlaneJoint.h new file mode 100644 index 000000000000..cb03d206a5a0 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LineInPlaneJoint.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "InPlaneJoint.h" + +namespace MbD { + class LineInPlaneJoint : public InPlaneJoint + { + // + public: + LineInPlaneJoint(); + LineInPlaneJoint(const char* str); + void initializeGlobally() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/LinearMultiStepMethod.cpp b/src/3rdParty/OndselSolver/OndselSolver/LinearMultiStepMethod.cpp new file mode 100644 index 000000000000..d1e86910f190 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LinearMultiStepMethod.cpp @@ -0,0 +1,56 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "LinearMultiStepMethod.h" +#include "FullColumn.h" + +using namespace MbD; + +FColDsptr MbD::LinearMultiStepMethod::derivativeatpresentpast(int n, double t, FColDsptr y, std::shared_ptr> ypast) +{ + //"Interpolate or extrapolate." + //"dfdt(t) = df0dt + d2f0dt2*(t - t0) + d3f0dt3*(t - t0)^2 / 2! + ..." + + auto answer = this->derivativepresentpast(n, y, ypast); + if (t != time) { + auto dt = t - time; + auto dtpower = 1.0; + for (int i = n + 1; i <= order; i++) + { + auto diydti = this->derivativepresentpast(i, y, ypast); + dtpower = dtpower * dt; + answer->equalSelfPlusFullColumntimes(diydti, dtpower * (OneOverFactorials->at((int)i - n))); + } + } + return answer; +} + +FColDsptr MbD::LinearMultiStepMethod::derivativepresentpast(int, FColDsptr, std::shared_ptr>) +{ + assert(false); + return FColDsptr(); +} + +double MbD::LinearMultiStepMethod::pvdotpv() +{ + assert(false); + return 0.0; +} + +double MbD::LinearMultiStepMethod::firstPastTimeNode() +{ + return timeNodes->at(0); +} + +FColDsptr MbD::LinearMultiStepMethod::derivativepresentpastpresentDerivativepastDerivative(int, + FColDsptr, std::shared_ptr>, + FColDsptr, std::shared_ptr>) +{ + assert(false); + return FColDsptr(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/LinearMultiStepMethod.h b/src/3rdParty/OndselSolver/OndselSolver/LinearMultiStepMethod.h new file mode 100644 index 000000000000..f34ed838a8cb --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LinearMultiStepMethod.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "DifferenceOperator.h" + +namespace MbD { + class LinearMultiStepMethod : public DifferenceOperator + { + // + public: + FColDsptr derivativeatpresentpast(int n, double t, FColDsptr y, std::shared_ptr> ypast); + virtual FColDsptr derivativepresentpast(int order, FColDsptr y, std::shared_ptr> ypast); + virtual double pvdotpv(); + double firstPastTimeNode(); + virtual FColDsptr derivativepresentpastpresentDerivativepastDerivative(int n, + FColDsptr y, std::shared_ptr> ypast, + FColDsptr ydot, std::shared_ptr> ydotpast); + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Ln.cpp b/src/3rdParty/OndselSolver/OndselSolver/Ln.cpp new file mode 100644 index 000000000000..8ca35a0f30a2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Ln.cpp @@ -0,0 +1,25 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "Ln.h" + +using namespace MbD; + +MbD::Ln::Ln(Symsptr arg) : FunctionX(arg) +{ +} + +double MbD::Ln::getValue() +{ + return std::log(xx->getValue()); +} + +Symsptr MbD::Ln::copyWith(Symsptr arg) +{ + return std::make_shared(arg); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Ln.h b/src/3rdParty/OndselSolver/OndselSolver/Ln.h new file mode 100644 index 000000000000..f2d99c0416ec --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Ln.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionX.h" + +namespace MbD { + class Ln : public FunctionX + { + // + public: + Ln() = default; + Ln(Symsptr arg); + double getValue() override; + Symsptr copyWith(Symsptr arg) override; + + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Log10.cpp b/src/3rdParty/OndselSolver/OndselSolver/Log10.cpp new file mode 100644 index 000000000000..687340e088ad --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Log10.cpp @@ -0,0 +1,31 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "Log10.h" + +using namespace MbD; + +MbD::Log10::Log10(Symsptr arg) : FunctionX(arg) +{ +} + +double MbD::Log10::getValue() +{ + return std::log(xx->getValue()); +} + +Symsptr MbD::Log10::copyWith(Symsptr arg) +{ + return std::make_shared(arg); +} + +std::ostream& MbD::Log10::printOn(std::ostream& s) const +{ + s << "lg(" << *xx << ")"; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Log10.h b/src/3rdParty/OndselSolver/OndselSolver/Log10.h new file mode 100644 index 000000000000..31717ce7ddc4 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Log10.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionX.h" + +namespace MbD { + class Log10 : public FunctionX + { + // + public: + Log10() = default; + Log10(Symsptr arg); + double getValue() override; + Symsptr copyWith(Symsptr arg) override; + + std::ostream& printOn(std::ostream& s) const override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/LogN.cpp b/src/3rdParty/OndselSolver/OndselSolver/LogN.cpp new file mode 100644 index 000000000000..27a5dc9f5447 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LogN.cpp @@ -0,0 +1,31 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "LogN.h" + +using namespace MbD; + +MbD::LogN::LogN(Symsptr arg) : FunctionX(arg) +{ +} + +double MbD::LogN::getValue() +{ + return std::log(xx->getValue()); +} + +Symsptr MbD::LogN::copyWith(Symsptr arg) +{ + return std::make_shared(arg); +} + +std::ostream& MbD::LogN::printOn(std::ostream& s) const +{ + s << "ln(" << *xx << ")"; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/LogN.h b/src/3rdParty/OndselSolver/OndselSolver/LogN.h new file mode 100644 index 000000000000..e05dd0ab5bf8 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/LogN.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionX.h" + +namespace MbD { + class LogN : public FunctionX + { + // + public: + LogN() = default; + LogN(Symsptr arg); + double getValue() override; + Symsptr copyWith(Symsptr arg) override; + + std::ostream& printOn(std::ostream& s) const override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynAxialRotationJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynAxialRotationJoint.cpp new file mode 100644 index 000000000000..5795612e0d9b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynAxialRotationJoint.cpp @@ -0,0 +1,37 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "MBDynAxialRotationJoint.h" +#include "ASMTAssembly.h" +#include "ASMTRevoluteJoint.h" +#include "ASMTRotationalMotion.h" + +using namespace MbD; + +void MbD::MBDynAxialRotationJoint::parseMBDyn(std::string line) +{ + MBDynJoint::parseMBDyn(line); + readFunction(arguments); +} + +void MbD::MBDynAxialRotationJoint::createASMT() +{ + MBDynJoint::createASMT(); + auto asmtAsm = asmtAssembly(); + asmtMotion = std::make_shared(); + asmtMotion->setName(name.append("Motion")); + asmtMotion->setMotionJoint(asmtItem->fullName("")); + asmtMotion->setRotationZ(asmtFormulaIntegral()); + asmtAsm->addMotion(asmtMotion); + return; +} + +std::shared_ptr MbD::MBDynAxialRotationJoint::asmtClassNew() +{ + return std::make_shared(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynAxialRotationJoint.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynAxialRotationJoint.h new file mode 100644 index 000000000000..d17a9f31a20a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynAxialRotationJoint.h @@ -0,0 +1,26 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynJoint.h" + +namespace MbD { + class ASMTJoint; + class ASMTRotationalMotion; + + class MBDynAxialRotationJoint : public MBDynJoint + { + public: + void parseMBDyn(std::string line) override; + void createASMT() override; + std::shared_ptr asmtClassNew() override; + + std::shared_ptr asmtMotion; + }; + +} \ No newline at end of file diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynBlock.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynBlock.cpp new file mode 100644 index 000000000000..045ce58361e6 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynBlock.cpp @@ -0,0 +1,3 @@ +#include "MBDynBlock.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynBlock.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynBlock.h new file mode 100644 index 000000000000..04c12d5aa752 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynBlock.h @@ -0,0 +1,18 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynItem.h" + +namespace MbD { + class MBDynBlock : public MBDynItem + { + public: + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynBody.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynBody.cpp new file mode 100644 index 000000000000..cfbf8f5df931 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynBody.cpp @@ -0,0 +1,94 @@ +#include "MBDynBody.h" +#include "MBDynReference.h" +#include "MBDynStructural.h" +#include "SymbolicParser.h" +#include "BasicUserFunction.h" +#include "ASMTPart.h" +#include "ASMTAssembly.h" +#include "MomentOfInertiaSolver.h" + +using namespace MbD; + +void MbD::MBDynBody::initialize() +{ +} + +void MbD::MBDynBody::parseMBDyn(std::string line) +{ + bodyString = line; + arguments = collectArgumentsFor("body", line); + name = readStringOffTop(arguments); + nodeName = readStringOffTop(arguments); + //auto iss = std::istringstream(arguments.at(0)); + //iss >> name; + //arguments.erase(arguments.begin()); + //iss = std::istringstream(arguments.at(0)); + //iss >> nodeName; + //arguments.erase(arguments.begin()); + readMass(arguments); + rPcmP = readPosition(arguments); + readInertiaMatrix(arguments); +} + +void MbD::MBDynBody::readMass(std::vector& args) +{ + auto parser = std::make_shared(); + parser->variables = mbdynVariables(); + auto userFunc = std::make_shared(popOffTop(args), 1.0); + parser->parseUserFunction(userFunc); + auto sym = parser->stack->top(); + mass = sym->getValue(); +} + +void MbD::MBDynBody::readInertiaMatrix(std::vector& args) +{ + auto parser = std::make_shared(); + parser->variables = mbdynVariables(); + aJmat = std::make_shared>(3, 3); + auto str = args.at(0); //Must copy string + if (str.find("diag") != std::string::npos) { + args.erase(args.begin()); + for (int i = 0; i < 3; i++) + { + auto userFunc = std::make_shared(popOffTop(args), 1.0); + parser->parseUserFunction(userFunc); + auto sym = parser->stack->top(); + aJmat->at(i)->at(i) = sym->getValue(); + } + } + else if (str.find("eye") != std::string::npos) { + args.erase(args.begin()); + aJmat->identity(); + } + else { + aJmat = readBasicOrientation(args); + } +} + +void MbD::MBDynBody::createASMT() +{ + auto asmtMassMarker = std::make_shared(); + asmtItem = asmtMassMarker; + asmtMassMarker->setMass(mass); + if (aJmat->isDiagonalToWithin(1.0e-6)) { + asmtMassMarker->setMomentOfInertias(aJmat->asDiagonalMatrix()); + asmtMassMarker->setPosition3D(rPcmP); + asmtMassMarker->setRotationMatrix(FullMatrix::identitysptr(3)); + auto asmtPart = asmtAssembly()->partPartialNamed(nodeName); + asmtPart->setPrincipalMassMarker(asmtMassMarker); + } + else { + auto solver = std::make_shared(); + solver->setm(mass); + solver->setJPP(aJmat); + solver->setrPoP(rPcmP); + solver->setAPo(FullMatrix::identitysptr(3)); + solver->setrPcmP(rPcmP); + solver->calc(); + asmtMassMarker->setMomentOfInertias(solver->aJpp); + asmtMassMarker->setPosition3D(rPcmP); + asmtMassMarker->setRotationMatrix(solver->aAPp); + auto asmtPart = asmtAssembly()->partPartialNamed(nodeName); + asmtPart->setPrincipalMassMarker(asmtMassMarker); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynBody.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynBody.h new file mode 100644 index 000000000000..2151fdc733d1 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynBody.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynElement.h" + +namespace MbD { + class MBDynBody : public MBDynElement + { + public: + void initialize() override; + void parseMBDyn(std::string line) override; + void readMass(std::vector& args); + void readInertiaMatrix(std::vector& args); + void createASMT() override; + + std::string bodyString, nodeName; + double mass = std::numeric_limits::min(); + FColDsptr rPcmP; + FMatDsptr aJmat; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynCase.mov b/src/3rdParty/OndselSolver/OndselSolver/MBDynCase.mov new file mode 100644 index 000000000000..afdeeb070272 --- /dev/null +++ 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0.9984167192933857 0 -0 -0 0 0 0 +3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 +4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 +1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 +2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 +3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 +4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 +1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 +2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0 +3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 +4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 +1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 +2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 +3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 +4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynCase2.mbd b/src/3rdParty/OndselSolver/OndselSolver/MBDynCase2.mbd new file mode 100644 index 000000000000..4fcc7ef577a2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynCase2.mbd @@ -0,0 +1,297 @@ +#----------------------------------------------------------------------------- + # [Data Block] + + begin: data; + problem: initial value; + end: data; + + #----------------------------------------------------------------------------- + # [Problem Block] + + begin: initial value; + initial time: 0.0; + final time: 3.0; + time step: 0.01; + max iterations: 100; + tolerance: 1e-06; + derivatives tolerance: 0.0001; + derivatives max iterations: 100; + derivatives coefficient: auto; + end: initial value; + + #----------------------------------------------------------------------------- + # [Control Data Block] + + begin: control data; + max iterations: 1000; + default orientation: euler321; + omega rotates: no; + print: none; + initial stiffness: 1.0, 1.0; + structural nodes: 4; + rigid bodies: 3; + joints: 6; + end: control data; + + #----------------------------------------------------------------------------- + # [Design Variables] + + #Generic bodies + + #body: 2 + set: integer body_2 = 2; #body label + set: real mass_2 = 1.448636188351172; #mass [kg] + set: real volume_2 = 0.00018337166941154076; #volume [m^3] + + #body: 3 + set: integer body_3 = 3; #body label + set: real mass_3 = 2.8529486557067685; #mass [kg] + set: real volume_3 = 0.0003611327412287049; #volume [m^3] + + #body: 4 + set: integer body_4 = 4; #body label + set: real mass_4 = 10.859427202622141; #mass [kg] + set: real volume_4 = 0.0013746110383066003; #volume [m^3] + + #Nodes + + #node: 1 + set: integer structural_node_1 = 1; #node label + + #node: 2 + set: integer structural_node_2 = 2; #node label + + #node: 3 + set: integer structural_node_3 = 3; #node label + + #node: 4 + set: integer structural_node_4 = 4; #node label + + #Joints + + #joint: 1 + set: integer joint_1 = 1; #joint label + + #joint: 2 + set: integer joint_2 = 2; #joint label + + #joint: 3 + set: integer joint_3 = 3; #joint label + + #joint: 4 + set: integer joint_4 = 4; #joint label + + #joint: 5 + set: integer joint_5 = 5; #joint label + + #joint: 6 + set: integer joint_6 = 6; #joint label + + #Nodes: initial conditions + + #node: 1 + set: real Px_1 = -0.121; #X component of the absolute position [m] + set: real Py_1 = -1.218180697837851e-18; #Y component of the absolute position [m] + set: real Pz_1 = -0.08; #Z component of the absolute position [m] + + set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 2 + set: real Px_2 = -0.047537048944738425; #X component of the absolute position [m] + set: real Py_2 = 0.09742200410568831; #Y component of the absolute position [m] + set: real Pz_2 = -0.030293476812230588; #Z component of the absolute position [m] + + set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 3 + set: real Px_3 = 0.07099630277370235; #X component of the absolute position [m] + set: real Py_3 = -0.07364765799707981; #Y component of the absolute position [m] + set: real Pz_3 = 0.058407900823760565; #Z component of the absolute position [m] + + set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 4 + set: real Px_4 = 0.3723079639890564; #X component of the absolute position [m] + set: real Py_4 = 0.04333150035096042; #Y component of the absolute position [m] + set: real Pz_4 = 0.008140985321785409; #Z component of the absolute position [m] + + set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #----------------------------------------------------------------------------- + # [Intermediate Variables] + + #Moments of inertia and relative center of mass + + #body 2: + set: real Ixx_2 = 0.0028717510150880004; #moment of inertia [kg*m^2] + set: real Iyy_2 = 0.002864447840812; #moment of inertia [kg*m^2] + set: real Izz_2 = 0.0007089594589930001; #moment of inertia [kg*m^2] + + set: real Rx_2 = 7.105427357601002e-18; #X component of the relative center of mass [m] + set: real Ry_2 = 0.0; #Y component of the relative center of mass [m] + set: real Rz_2 = 7.105427357601002e-18; #Z component of the relative center of mass [m] + + #body 3: + set: real Ixx_3 = 0.033837921987970004; #moment of inertia [kg*m^2] + set: real Iyy_3 = 0.033715148099504; #moment of inertia [kg*m^2] + set: real Izz_3 = 0.001956310318013; #moment of inertia [kg*m^2] + + set: real Rx_3 = 2.842170943040401e-17; #X component of the relative center of mass [m] + set: real Ry_3 = -1.4210854715202004e-17; #Y component of the relative center of mass [m] + set: real Rz_3 = 0.0; #Z component of the relative center of mass [m] + + #body 4: + set: real Ixx_4 = 0.07706742098794901; #moment of inertia [kg*m^2] + set: real Iyy_4 = 0.066351815798527; #moment of inertia [kg*m^2] + set: real Izz_4 = 0.061792350456255; #moment of inertia [kg*m^2] + + set: real Rx_4 = 2.842170943040401e-16; #X component of the relative center of mass [m] + set: real Ry_4 = 2.1316282072803006e-17; #Y component of the relative center of mass [m] + set: real Rz_4 = 2.2737367544323206e-16; #Z component of the relative center of mass [m] + + #----------------------------------------------------------------------------- + # [Nodes Block] + + begin: nodes; + + structural: structural_node_1, + static, + Px_1, Py_1, Pz_1, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_1, Vy_1, Vz_1, # [m/s] + Wx_1, Wy_1, Wz_1; # [rad/s] + + structural: structural_node_2, + dynamic, + Px_2, Py_2, Pz_2, # [m] + 3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, # + Vx_2, Vy_2, Vz_2, # [m/s] + Wx_2, Wy_2, Wz_2; # [rad/s] + + structural: structural_node_3, + dynamic, + Px_3, Py_3, Pz_3, # [m] + 3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, # + Vx_3, Vy_3, Vz_3, # [m/s] + Wx_3, Wy_3, Wz_3; # [rad/s] + + structural: structural_node_4, + dynamic, + Px_4, Py_4, Pz_4, # [m] + 3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, # + Vx_4, Vy_4, Vz_4, # [m/s] + Wx_4, Wy_4, Wz_4; # [rad/s] + + end: nodes; + + #----------------------------------------------------------------------------- + # [Elements Block] + + begin: elements; + + #----------------------------------------------------------------------------- + # [Bodies] + + body: body_2, + structural_node_2, # + mass_2, # [kg] + Rx_2, Ry_2, Rz_2, # [m] + diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] + orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005; + + body: body_3, + structural_node_3, # + mass_3, # [kg] + Rx_3, Ry_3, Rz_3, # [m] + diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] + orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283; + + body: body_4, + structural_node_4, # + mass_4, # [kg] + Rx_4, Ry_4, Rz_4, # [m] + diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] + orientation, 3, -8.551421488581235e-05, 0.0, 0.9957768995806164, 2, 0.0, 1.0, 0.0; + + #----------------------------------------------------------------------------- + # [Joints] + + joint: joint_1, + clamp, + structural_node_1, # + -0.121, -1.218180697837851e-18, -0.08, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # + + joint: joint_2, + axial rotation, + structural_node_1, # + 0.0, 1.218180697837851e-18, 0.05, # [m] + orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + structural_node_2, # + -0.03739853284269051, 0.0, 0.0032867622552210634, # [m] + orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, # + string, "model::drive(1, Time)"; # [rad/s] + + joint: joint_3, + revolute hinge, + structural_node_2, # + 0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, # [m] + orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + structural_node_3, # + -0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, # [m] + orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; # + + joint: joint_4, + in line, + structural_node_3, # + 0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, # [m] + 3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, # + structural_node_4, # + offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; # [m] + + joint: joint_5, + in line, + structural_node_1, # + 0.0, 1.2181806978377854e-18, 0.08, # [m] + 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, # + structural_node_4, # + offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; # [m] + + joint: joint_6, + prismatic, + structural_node_1, # + orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1> + structural_node_4, # + orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2> + + #----------------------------------------------------------------------------- + # [Drive callers] + + drive caller: 1, name,"drive:1", ramp, 6.28, 0.0, 1.0, 0.0; + + end: elements; + diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynCase2.mov b/src/3rdParty/OndselSolver/OndselSolver/MBDynCase2.mov new file mode 100644 index 000000000000..cb0b9d79496c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynCase2.mov @@ -0,0 +1,1204 @@ +1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 +2 -0.08360146715730948 0 -0.03328676225522106 1 0 -5.204170427930421e-18 0 1 0 5.204170427930421e-18 0 1 -0 -0 -0 0 0 0 +3 0.08900000000000791 2.369754901583204e-16 -0.004999999999998046 1 5.858835622329662e-15 5.551115123125818e-17 -5.858835622329662e-15 1 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4.366839818791859e-17 4.689241010776064e-17 1.569953331634866 +4 0.1345824992415249 2.029934935695221e-10 -1.256225159407228e-08 1 0 0 0 1 0 0 0 1 -0.002625487708276635 0 0 0 0 0 diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynCase2orig.mbd b/src/3rdParty/OndselSolver/OndselSolver/MBDynCase2orig.mbd new file mode 100644 index 000000000000..dd3512d6f165 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynCase2orig.mbd @@ -0,0 +1,297 @@ +#----------------------------------------------------------------------------- + # [Data Block] + + begin: data; + problem: initial value; + end: data; + + #----------------------------------------------------------------------------- + # [Problem Block] + + begin: initial value; + initial time: 0.0; + final time: 8.0; + time step: 0.01; + max iterations: 100; + tolerance: 1e-06; + derivatives tolerance: 0.0001; + derivatives max iterations: 100; + derivatives coefficient: auto; + end: initial value; + + #----------------------------------------------------------------------------- + # [Control Data Block] + + begin: control data; + max iterations: 1000; + default orientation: euler321; + omega rotates: no; + print: none; + initial stiffness: 1.0, 1.0; + structural nodes: 4; + rigid bodies: 3; + joints: 6; + end: control data; + + #----------------------------------------------------------------------------- + # [Design Variables] + + #Generic bodies + + #body: 2 + set: integer body_2 = 2; #body label + set: real mass_2 = 1.448636188351172; #mass [kg] + set: real volume_2 = 0.00018337166941154076; #volume [m^3] + + #body: 3 + set: integer body_3 = 3; #body label + set: real mass_3 = 2.8529486557067685; #mass [kg] + set: real volume_3 = 0.0003611327412287049; #volume [m^3] + + #body: 4 + set: integer body_4 = 4; #body label + set: real mass_4 = 10.859427202622141; #mass [kg] + set: real volume_4 = 0.0013746110383066003; #volume [m^3] + + #Nodes + + #node: 1 + set: integer structural_node_1 = 1; #node label + + #node: 2 + set: integer structural_node_2 = 2; #node label + + #node: 3 + set: integer structural_node_3 = 3; #node label + + #node: 4 + set: integer structural_node_4 = 4; #node label + + #Joints + + #joint: 1 + set: integer joint_1 = 1; #joint label + + #joint: 2 + set: integer joint_2 = 2; #joint label + + #joint: 3 + set: integer joint_3 = 3; #joint label + + #joint: 4 + set: integer joint_4 = 4; #joint label + + #joint: 5 + set: integer joint_5 = 5; #joint label + + #joint: 6 + set: integer joint_6 = 6; #joint label + + #Nodes: initial conditions + + #node: 1 + set: real Px_1 = -0.121; #X component of the absolute position [m] + set: real Py_1 = -1.218180697837851e-18; #Y component of the absolute position [m] + set: real Pz_1 = -0.08; #Z component of the absolute position [m] + + set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 2 + set: real Px_2 = -0.047537048944738425; #X component of the absolute position [m] + set: real Py_2 = 0.09742200410568831; #Y component of the absolute position [m] + set: real Pz_2 = -0.030293476812230588; #Z component of the absolute position [m] + + set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 3 + set: real Px_3 = 0.07099630277370235; #X component of the absolute position [m] + set: real Py_3 = -0.07364765799707981; #Y component of the absolute position [m] + set: real Pz_3 = 0.058407900823760565; #Z component of the absolute position [m] + + set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 4 + set: real Px_4 = 0.3723079639890564; #X component of the absolute position [m] + set: real Py_4 = 0.04333150035096042; #Y component of the absolute position [m] + set: real Pz_4 = 0.008140985321785409; #Z component of the absolute position [m] + + set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #----------------------------------------------------------------------------- + # [Intermediate Variables] + + #Moments of inertia and relative center of mass + + #body 2: + set: real Ixx_2 = 0.0028717510150880004; #moment of inertia [kg*m^2] + set: real Iyy_2 = 0.002864447840812; #moment of inertia [kg*m^2] + set: real Izz_2 = 0.0007089594589930001; #moment of inertia [kg*m^2] + + set: real Rx_2 = 7.105427357601002e-18; #X component of the relative center of mass [m] + set: real Ry_2 = 0.0; #Y component of the relative center of mass [m] + set: real Rz_2 = 7.105427357601002e-18; #Z component of the relative center of mass [m] + + #body 3: + set: real Ixx_3 = 0.033837921987970004; #moment of inertia [kg*m^2] + set: real Iyy_3 = 0.033715148099504; #moment of inertia [kg*m^2] + set: real Izz_3 = 0.001956310318013; #moment of inertia [kg*m^2] + + set: real Rx_3 = 2.842170943040401e-17; #X component of the relative center of mass [m] + set: real Ry_3 = -1.4210854715202004e-17; #Y component of the relative center of mass [m] + set: real Rz_3 = 0.0; #Z component of the relative center of mass [m] + + #body 4: + set: real Ixx_4 = 0.07706742098794901; #moment of inertia [kg*m^2] + set: real Iyy_4 = 0.066351815798527; #moment of inertia [kg*m^2] + set: real Izz_4 = 0.061792350456255; #moment of inertia [kg*m^2] + + set: real Rx_4 = 2.842170943040401e-16; #X component of the relative center of mass [m] + set: real Ry_4 = 2.1316282072803006e-17; #Y component of the relative center of mass [m] + set: real Rz_4 = 2.2737367544323206e-16; #Z component of the relative center of mass [m] + + #----------------------------------------------------------------------------- + # [Nodes Block] + + begin: nodes; + + structural: structural_node_1, + static, + Px_1, Py_1, Pz_1, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_1, Vy_1, Vz_1, # [m/s] + Wx_1, Wy_1, Wz_1; # [rad/s] + + structural: structural_node_2, + dynamic, + Px_2, Py_2, Pz_2, # [m] + 3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, # + Vx_2, Vy_2, Vz_2, # [m/s] + Wx_2, Wy_2, Wz_2; # [rad/s] + + structural: structural_node_3, + dynamic, + Px_3, Py_3, Pz_3, # [m] + 3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, # + Vx_3, Vy_3, Vz_3, # [m/s] + Wx_3, Wy_3, Wz_3; # [rad/s] + + structural: structural_node_4, + dynamic, + Px_4, Py_4, Pz_4, # [m] + 3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, # + Vx_4, Vy_4, Vz_4, # [m/s] + Wx_4, Wy_4, Wz_4; # [rad/s] + + end: nodes; + + #----------------------------------------------------------------------------- + # [Elements Block] + + begin: elements; + + #----------------------------------------------------------------------------- + # [Bodies] + + body: body_2, + structural_node_2, # + mass_2, # [kg] + Rx_2, Ry_2, Rz_2, # [m] + diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] + orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005; + + body: body_3, + structural_node_3, # + mass_3, # [kg] + Rx_3, Ry_3, Rz_3, # [m] + diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] + orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283; + + body: body_4, + structural_node_4, # + mass_4, # [kg] + Rx_4, Ry_4, Rz_4, # [m] + diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] + orientation, 3, -8.551421488581235e-05, 0.0, 0.9957768995806164, 2, 0.0, 1.0, 0.0; + + #----------------------------------------------------------------------------- + # [Joints] + + joint: joint_1, + clamp, + structural_node_1, # + -0.121, -1.218180697837851e-18, -0.08, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # + + joint: joint_2, + axial rotation, + structural_node_1, # + 0.0, 1.218180697837851e-18, 0.05, # [m] + orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + structural_node_2, # + -0.03739853284269051, 0.0, 0.0032867622552210634, # [m] + orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, # + string, "model::drive(1, Time)"; # [rad/s] + + joint: joint_3, + revolute hinge, + structural_node_2, # + 0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, # [m] + orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + structural_node_3, # + -0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, # [m] + orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; # + + joint: joint_4, + in line, + structural_node_3, # + 0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, # [m] + 3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, # + structural_node_4, # + offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; # [m] + + joint: joint_5, + in line, + structural_node_1, # + 0.0, 1.2181806978377854e-18, 0.08, # [m] + 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, # + structural_node_4, # + offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; # [m] + + joint: joint_6, + prismatic, + structural_node_1, # + orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1> + structural_node_4, # + orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2> + + #----------------------------------------------------------------------------- + # [Drive callers] + + drive caller: 1, name,"drive:1", ramp, 6.28, 0.0, 1.0, 0.0; + + end: elements; + diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynCase2orig.mov b/src/3rdParty/OndselSolver/OndselSolver/MBDynCase2orig.mov new file mode 100644 index 000000000000..25786b989e2e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynCase2orig.mov @@ -0,0 +1,3208 @@ + 1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 + 2 -8.404604e-02 5.749318e-03 -3.328676e-02 8.843217e+00 1.800193e-06 -2.655126e-06 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 + 3 8.806447e-02 5.380640e-03 -5.000024e-03 -2.202577e+00 4.159900e-06 -1.973874e-05 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 + 4 2.735418e-01 2.029935e-10 -1.256225e-08 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 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-1.630152e-17 6.255571e-16 -1.913595e-39 -2.828394e-43 0.000000e+00 diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynCaseDebug1.mbd b/src/3rdParty/OndselSolver/OndselSolver/MBDynCaseDebug1.mbd new file mode 100644 index 000000000000..77c3018e89aa --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynCaseDebug1.mbd @@ -0,0 +1,321 @@ +#----------------------------------------------------------------------------- + # [Data Block] + + begin: data; + problem: initial value; + end: data; + + #----------------------------------------------------------------------------- + # [Problem Block] + + begin: initial value; + initial time: 0.0; + final time: 8.0; + time step: 0.01; + max iterations: 100; + tolerance: 1e-06; + derivatives tolerance: 0.0001; + derivatives max iterations: 100; + derivatives coefficient: auto; + end: initial value; + + #----------------------------------------------------------------------------- + # [Control Data Block] + + begin: control data; + max iterations: 1000; + default orientation: orientation matrix; + omega rotates: no; + print: none; + initial stiffness: 1.0, 1.0; + structural nodes: 5; + rigid bodies: 3; + joints: 6; + end: control data; + + #----------------------------------------------------------------------------- + # [Design Variables] + + #Generic bodies + + #body: 2 + set: integer body_2 = 2; #body label + set: real mass_2 = 0.24147734685710437; #mass [kg] + set: real volume_2 = 3.056675276672207e-05; #volume [m^3] + + #body: 4 + set: integer body_4 = 4; #body label + set: real mass_4 = 0.11253654770310718; #mass [kg] + set: real volume_4 = 1.4245132620646478e-05; #volume [m^3] + + #body: 5 + set: integer body_5 = 5; #body label + set: real mass_5 = 0.11253654770310723; #mass [kg] + set: real volume_5 = 1.4245132620646483e-05; #volume [m^3] + + #Nodes + + #node: 1 + set: integer structural_node_1 = 1; #node label + + #node: 2 + set: integer structural_node_2 = 2; #node label + + #node: 3 + set: integer structural_node_3 = 3; #node label + + #node: 4 + set: integer structural_node_4 = 4; #node label + + #node: 5 + set: integer structural_node_5 = 5; #node label + + #Joints + + #joint: 1 + set: integer joint_1 = 1; #joint label + + #joint: 2 + set: integer joint_2 = 2; #joint label + + #joint: 3 + set: integer joint_3 = 3; #joint label + + #joint: 4 + set: integer joint_4 = 4; #joint label + + #joint: 5 + set: integer joint_5 = 5; #joint label + + #joint: 7 + set: integer joint_7 = 7; #joint label + + #Nodes: initial conditions + + #node: 1 + set: real Px_1 = 0.16912189837562464; #X component of the absolute position [m] + set: real Py_1 = -0.10055206743263254; #Y component of the absolute position [m] + set: real Pz_1 = 0.07867737409397452; #Z component of the absolute position [m] + + set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 2 + set: real Px_2 = 0.018683478687078307; #X component of the absolute position [m] + set: real Py_2 = -0.05533171845235879; #Y component of the absolute position [m] + set: real Pz_2 = 0.1768528076947657; #Z component of the absolute position [m] + + set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 3 + set: real Px_3 = 0.2890983348369078; #X component of the absolute position [m] + set: real Py_3 = -0.06156645049450425; #Y component of the absolute position [m] + set: real Pz_3 = 0.09724597715885096; #Z component of the absolute position [m] + + set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 4 + set: real Px_4 = 0.11637356459110539; #X component of the absolute position [m] + set: real Py_4 = -0.019655254070140387; #Y component of the absolute position [m] + set: real Pz_4 = 0.20651079866339145; #Z component of the absolute position [m] + + set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 5 + set: real Px_5 = 0.15064540729834192; #X component of the absolute position [m] + set: real Py_5 = -0.020536937096322302; #Y component of the absolute position [m] + set: real Pz_5 = 0.06548008210568429; #Z component of the absolute position [m] + + set: real Vx_5 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_5 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_5 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_5 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_5 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_5 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #----------------------------------------------------------------------------- + # [Intermediate Variables] + + #Moments of inertia and relative center of mass + + #body 2: + set: real Ixx_2 = 6.927961737800001e-05; #moment of inertia [kg*m^2] + set: real Iyy_2 = 5.6689424982e-05; #moment of inertia [kg*m^2] + set: real Izz_2 = 2.9053392577e-05; #moment of inertia [kg*m^2] + + set: real Rx_2 = 0.0; #X component of the relative center of mass [m] + set: real Ry_2 = 0.0; #Y component of the relative center of mass [m] + set: real Rz_2 = 0.0; #Z component of the relative center of mass [m] + + #body 4: + set: real Ixx_4 = 7.9157004521e-05; #moment of inertia [kg*m^2] + set: real Iyy_4 = 7.769349168e-05; #moment of inertia [kg*m^2] + set: real Izz_4 = 3.339121993e-06; #moment of inertia [kg*m^2] + + set: real Rx_4 = 0.0; #X component of the relative center of mass [m] + set: real Ry_4 = 0.0; #Y component of the relative center of mass [m] + set: real Rz_4 = 0.0; #Z component of the relative center of mass [m] + + #body 5: + set: real Ixx_5 = 7.9157004521e-05; #moment of inertia [kg*m^2] + set: real Iyy_5 = 7.769349168e-05; #moment of inertia [kg*m^2] + set: real Izz_5 = 3.339121993e-06; #moment of inertia [kg*m^2] + + set: real Rx_5 = 0.0; #X component of the relative center of mass [m] + set: real Ry_5 = 0.0; #Y component of the relative center of mass [m] + set: real Rz_5 = 0.0; #Z component of the relative center of mass [m] + + #----------------------------------------------------------------------------- + # [Nodes Block] + + begin: nodes; + + structural: structural_node_1, + static, + Px_1, Py_1, Pz_1, # [m] + 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926, # + Vx_1, Vy_1, Vz_1, # [m/s] + Wx_1, Wy_1, Wz_1; # [rad/s] + + structural: structural_node_2, + dynamic, + Px_2, Py_2, Pz_2, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_2, Vy_2, Vz_2, # [m/s] + Wx_2, Wy_2, Wz_2; # [rad/s] + + structural: structural_node_3, + static, + Px_3, Py_3, Pz_3, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_3, Vy_3, Vz_3, # [m/s] + Wx_3, Wy_3, Wz_3; # [rad/s] + + structural: structural_node_4, + dynamic, + Px_4, Py_4, Pz_4, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_4, Vy_4, Vz_4, # [m/s] + Wx_4, Wy_4, Wz_4; # [rad/s] + + structural: structural_node_5, + dynamic, + Px_5, Py_5, Pz_5, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_5, Vy_5, Vz_5, # [m/s] + Wx_5, Wy_5, Wz_5; # [rad/s] + + end: nodes; + + #----------------------------------------------------------------------------- + # [Elements Block] + + begin: elements; + + #----------------------------------------------------------------------------- + # [Bodies] + + body: body_2, + structural_node_2, # + mass_2, # [kg] + Rx_2, Ry_2, Rz_2, # [m] + diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] + orientation, 3, -0.35, 0.91, 0.21, 2, 0.78, 0.4, -0.47; + + body: body_4, + structural_node_4, # + mass_4, # [kg] + Rx_4, Ry_4, Rz_4, # [m] + diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] + orientation, 3, 0.78, 0.4, -0.47, 2, -0.36, 0.91, 0.19; + + body: body_5, + structural_node_5, # + mass_5, # [kg] + Rx_5, Ry_5, Rz_5, # [m] + diag, Ixx_5, Iyy_5, Izz_5, # [kg*m^2] + orientation, 3, -0.36, 0.91, 0.19, 2, 0.78, 0.4, -0.47; + + #----------------------------------------------------------------------------- + # [Joints] + + joint: joint_1, + clamp, + structural_node_1, # + 0.16912189837562464, -0.10055206743263254, 0.07867737409397452, # [m] + 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926; # + + joint: joint_2, + axial rotation, + structural_node_1, # + 1.0407603667772492e-11, -0.05247682460581396, -0.00025357557055826873, # [m] + orientation, 3, 1.1102230246251565e-16, -1.0, 0.0, 2, guess, # + structural_node_2, # + 0.006998226646402806, -0.00490348349806041, 0.007426083408032554, # [m] + orientation, 3, 0.5084786344413901, 0.01838554762064229, 0.8608783014778036, 2, guess, # + string, "model::drive(1, Time)"; # [rad/s] + + joint: joint_3, + clamp, + structural_node_3, # + 0.2890983348369078, -0.06156645049450425, 0.09724597715885096, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # + + joint: joint_4, + revolute hinge, + structural_node_2, # + -0.0011629534118987692, 0.02262071327533141, 0.01746668757489371, # [m] + orientation, 3, 0.5084786344412178, 0.018385547620640152, 0.8608783014779054, 2, guess, # + structural_node_4, # + -0.031347177833029705, -0.01617494903756937, 0.018860685712244078, # [m] + orientation, 3, 0.5084786455601428, 0.018385495401303797, 0.860878296025734, 2, guess; # + + joint: joint_5, + revolute hinge, + structural_node_4, # + 0.03388957106083931, 0.016266876514581658, -0.01455629423212079, # [m] + orientation, 3, 0.50847864556046, 0.0183854954014063, 0.8608782960255446, 2, guess, # + structural_node_5, # + -0.016813818553224735, 0.036484433510506876, 0.003343892503690739, # [m] + orientation, 3, 0.5084787180221569, 0.01838550036990011, 0.8608782531198544, 2, guess; # + + joint: joint_7, + revolute hinge, + structural_node_3, # + 1.1368683772161603e-16, 0.0, -1.4210854715202004e-17, # [m] + orientation, 3, 0.5094306516594838, 0.018659363391322903, 0.8603093858070039, 2, guess, # + structural_node_5, # + 0.014271424963118534, -0.03657636101236503, -0.007648283769292526, # [m] + orientation, 3, 0.5084787180221835, 0.018385500369866165, 0.8608782531198396, 2, guess; # + + #----------------------------------------------------------------------------- + # [Drive callers] + + drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 4.0, 0.0; + + end: elements; + diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynCaseDebug1.mov b/src/3rdParty/OndselSolver/OndselSolver/MBDynCaseDebug1.mov new file mode 100644 index 000000000000..c4c9803cb506 --- /dev/null +++ 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derivatives tolerance: 0.0001; + derivatives max iterations: 100; + derivatives coefficient: auto; + end: initial value; + + #----------------------------------------------------------------------------- + # [Control Data Block] + + begin: control data; + max iterations: 1000; + default orientation: orientation matrix; + omega rotates: no; + print: none; + initial stiffness: 1.0, 1.0; + structural nodes: 5; + rigid bodies: 3; + joints: 6; + end: control data; + + #----------------------------------------------------------------------------- + # [Design Variables] + + #Generic bodies + + #body: 2 + set: integer body_2 = 2; #body label + set: real mass_2 = 0.24147734685710437; #mass [kg] + set: real volume_2 = 3.056675276672207e-05; #volume [m^3] + + #body: 4 + set: integer body_4 = 4; #body label + set: real mass_4 = 0.11253654770310718; #mass [kg] + set: real volume_4 = 1.4245132620646478e-05; #volume [m^3] + + #body: 5 + set: integer body_5 = 5; #body label + set: real mass_5 = 0.11253654770310723; #mass [kg] + set: real volume_5 = 1.4245132620646483e-05; #volume [m^3] + + #Nodes + + #node: 1 + set: integer structural_node_1 = 1; #node label + + #node: 2 + set: integer structural_node_2 = 2; #node label + + #node: 3 + set: integer structural_node_3 = 3; #node label + + #node: 4 + set: integer structural_node_4 = 4; #node label + + #node: 5 + set: integer structural_node_5 = 5; #node label + + #Joints + + #joint: 1 + set: integer joint_1 = 1; #joint label + + #joint: 2 + set: integer joint_2 = 2; #joint label + + #joint: 3 + set: integer joint_3 = 3; #joint label + + #joint: 4 + set: integer joint_4 = 4; #joint label + + #joint: 5 + set: integer joint_5 = 5; #joint label + + #joint: 6 + set: integer joint_6 = 6; #joint label + + #Nodes: initial conditions + + #node: 1 + set: real Px_1 = 0.16912189837562464; #X component of the absolute position [m] + set: real Py_1 = -0.10055206743263254; #Y component of the absolute position [m] + set: real Pz_1 = 0.07867737409397452; #Z component of the absolute position [m] + + set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 2 + set: real Px_2 = 0.018683478687078307; #X component of the absolute position [m] + set: real Py_2 = -0.05533171845235879; #Y component of the absolute position [m] + set: real Pz_2 = 0.1768528076947657; #Z component of the absolute position [m] + + set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 3 + set: real Px_3 = 0.2890983348369078; #X component of the absolute position [m] + set: real Py_3 = -0.06156645049450425; #Y component of the absolute position [m] + set: real Pz_3 = 0.09724597715885096; #Z component of the absolute position [m] + + set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 4 + set: real Px_4 = 0.11637356459110539; #X component of the absolute position [m] + set: real Py_4 = -0.019655254070140387; #Y component of the absolute position [m] + set: real Pz_4 = 0.20651079866339145; #Z component of the absolute position [m] + + set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #node: 5 + set: real Px_5 = 0.15064540729834192; #X component of the absolute position [m] + set: real Py_5 = -0.020536937096322302; #Y component of the absolute position [m] + set: real Pz_5 = 0.06548008210568429; #Z component of the absolute position [m] + + set: real Vx_5 = 0.0; #X component of the absolute velocity [m/s] + set: real Vy_5 = 0.0; #Y component of the absolute velocity [m/s] + set: real Vz_5 = 0.0; #Z component of the absolute velocity [m/s] + + set: real Wx_5 = 0.0; #X component of the absolute angular velocity [rad/s] + set: real Wy_5 = 0.0; #Y component of the absolute angular velocity [rad/s] + set: real Wz_5 = 0.0; #Z component of the absolute angular velocity [rad/s] + + #----------------------------------------------------------------------------- + # [Intermediate Variables] + + #Moments of inertia and relative center of mass + + #body 2: + set: real Ixx_2 = 6.927961737800001e-05; #moment of inertia [kg*m^2] + set: real Iyy_2 = 5.6689424982e-05; #moment of inertia [kg*m^2] + set: real Izz_2 = 2.9053392577e-05; #moment of inertia [kg*m^2] + + set: real Rx_2 = 0.0; #X component of the relative center of mass [m] + set: real Ry_2 = 0.0; #Y component of the relative center of mass [m] + set: real Rz_2 = 0.0; #Z component of the relative center of mass [m] + + #body 4: + set: real Ixx_4 = 7.9157004521e-05; #moment of inertia [kg*m^2] + set: real Iyy_4 = 7.769349168e-05; #moment of inertia [kg*m^2] + set: real Izz_4 = 3.339121993e-06; #moment of inertia [kg*m^2] + + set: real Rx_4 = 0.0; #X component of the relative center of mass [m] + set: real Ry_4 = 0.0; #Y component of the relative center of mass [m] + set: real Rz_4 = 0.0; #Z component of the relative center of mass [m] + + #body 5: + set: real Ixx_5 = 7.9157004521e-05; #moment of inertia [kg*m^2] + set: real Iyy_5 = 7.769349168e-05; #moment of inertia [kg*m^2] + set: real Izz_5 = 3.339121993e-06; #moment of inertia [kg*m^2] + + set: real Rx_5 = 0.0; #X component of the relative center of mass [m] + set: real Ry_5 = 0.0; #Y component of the relative center of mass [m] + set: real Rz_5 = 0.0; #Z component of the relative center of mass [m] + + #----------------------------------------------------------------------------- + # [Nodes Block] + + begin: nodes; + + structural: structural_node_1, + static, + Px_1, Py_1, Pz_1, # [m] + 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926, # + Vx_1, Vy_1, Vz_1, # [m/s] + Wx_1, Wy_1, Wz_1; # [rad/s] + + structural: structural_node_2, + dynamic, + Px_2, Py_2, Pz_2, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_2, Vy_2, Vz_2, # [m/s] + Wx_2, Wy_2, Wz_2; # [rad/s] + + structural: structural_node_3, + static, + Px_3, Py_3, Pz_3, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_3, Vy_3, Vz_3, # [m/s] + Wx_3, Wy_3, Wz_3; # [rad/s] + + structural: structural_node_4, + dynamic, + Px_4, Py_4, Pz_4, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_4, Vy_4, Vz_4, # [m/s] + Wx_4, Wy_4, Wz_4; # [rad/s] + + structural: structural_node_5, + dynamic, + Px_5, Py_5, Pz_5, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_5, Vy_5, Vz_5, # [m/s] + Wx_5, Wy_5, Wz_5; # [rad/s] + + end: nodes; + + #----------------------------------------------------------------------------- + # [Elements Block] + + begin: elements; + + #----------------------------------------------------------------------------- + # [Bodies] + + body: body_2, + structural_node_2, # + mass_2, # [kg] + Rx_2, Ry_2, Rz_2, # [m] + diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] + orientation, 3, -0.35, 0.91, 0.21, 2, 0.78, 0.4, -0.47; + + body: body_4, + structural_node_4, # + mass_4, # [kg] + Rx_4, Ry_4, Rz_4, # [m] + diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] + orientation, 3, 0.78, 0.4, -0.47, 2, -0.36, 0.91, 0.19; + + body: body_5, + structural_node_5, # + mass_5, # [kg] + Rx_5, Ry_5, Rz_5, # [m] + diag, Ixx_5, Iyy_5, Izz_5, # [kg*m^2] + orientation, 3, -0.36, 0.91, 0.19, 2, 0.78, 0.4, -0.47; + + #----------------------------------------------------------------------------- + # [Joints] + + joint: joint_1, + clamp, + structural_node_1, # + 0.16912189837562464, -0.10055206743263254, 0.07867737409397452, # [m] + 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926; # + + joint: joint_2, + axial rotation, + structural_node_1, # + 1.0407603667772492e-11, -0.05247682460581396, -0.00025357557055826873, # [m] + orientation, 3, 1.1102230246251565e-16, -1.0, 0.0, 2, guess, # + structural_node_2, # + 0.006998226646402806, -0.00490348349806041, 0.007426083408032554, # [m] + orientation, 3, 0.5084786344413901, 0.01838554762064229, 0.8608783014778036, 2, guess, # + string, "model::drive(1, Time)"; # [rad/s] + + joint: joint_3, + clamp, + structural_node_3, # + 0.2890983348369078, -0.06156645049450425, 0.09724597715885096, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # + + joint: joint_4, + revolute hinge, + structural_node_2, # + -0.0011629534118987692, 0.02262071327533141, 0.01746668757489371, # [m] + orientation, 3, 0.5084786344412178, 0.018385547620640152, 0.8608783014779054, 2, guess, # + structural_node_4, # + -0.031347177833029705, -0.01617494903756937, 0.018860685712244078, # [m] + orientation, 3, 0.5084786455601428, 0.018385495401303797, 0.860878296025734, 2, guess; # + + joint: joint_5, + revolute hinge, + structural_node_4, # + 0.03388957106083931, 0.016266876514581658, -0.01455629423212079, # [m] + orientation, 3, 0.50847864556046, 0.0183854954014063, 0.8608782960255446, 2, guess, # + structural_node_5, # + -0.016813818553224735, 0.036484433510506876, 0.003343892503690739, # [m] + orientation, 3, 0.5084787180221569, 0.01838550036990011, 0.8608782531198544, 2, guess; # + + joint: joint_6, + in line, + structural_node_3, # + 0.0, 0.0, 0.0, # [m] + 3, 0.5094306516594838, 0.018659363391322903, 0.8603093858070039, 2, guess, # + structural_node_5, # + offset, 0.014271424963118534, -0.03657636101236503, -0.007648283769292526; # [m] + + #----------------------------------------------------------------------------- + # [Drive callers] + + drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 4.0, 0.0; + + end: elements; + diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynCaseDebug2.mov 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-0.07508566144719979 0.1164796568601929 0.4930490960189344 -0.8102966676180171 0.3167363246646148 0.8230805580066677 0.3165015918198859 -0.4715560808715236 0.2818527699816769 0.4931998102418684 0.8229902570693295 0.1902034938157359 0.479605409009047 -0.1225866870264327 0.7459864891299668 0.02697331957503039 1.26299021774994 +5 0.2512917484736847 -0.04842231727169068 0.107411722157287 0.7673646284801882 -0.6232463305794941 0.1507167488259315 0.6291127194270155 0.6863484974853634 -0.3648875528909274 0.1239706143108445 0.3748196251782717 0.9187717536845655 0.06997647779414332 0.2370323518208129 -0.04639391148386374 -3.196584113525803 -0.1155818317216119 -5.411967273405817 diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynClampJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynClampJoint.cpp new file mode 100644 index 000000000000..514a24b00d68 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynClampJoint.cpp @@ -0,0 +1,50 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "MBDynClampJoint.h" +#include "ASMTAssembly.h" +#include "ASMTFixedJoint.h" + +using namespace MbD; + +void MbD::MBDynClampJoint::parseMBDyn(std::string statement) +{ + MBDynJoint::parseMBDyn(statement); + assert(joint_type == "clamp"); + return; +} + +void MbD::MBDynClampJoint::createASMT() +{ + MBDynJoint::createASMT(); +} + +void MbD::MBDynClampJoint::readMarkerI(std::vector& args) +{ + //mkr1 should be on assembly which doesn't exist in MBDyn + //mkr2 is on the node + mkr1 = std::make_shared(); + mkr1->owner = this; + mkr1->nodeStr = "Assembly"; + mkr1->rPmP = std::make_shared>(3); + mkr1->aAPm = FullMatrix::identitysptr(3); +} + +void MbD::MBDynClampJoint::readMarkerJ(std::vector& args) +{ + if (args.empty()) return; + mkr2 = std::make_shared(); + mkr2->owner = this; + mkr2->nodeStr = readStringOffTop(args); + mkr2->parseMBDynClamp(args); +} + +std::shared_ptr MbD::MBDynClampJoint::asmtClassNew() +{ + return std::make_shared(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynClampJoint.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynClampJoint.h new file mode 100644 index 000000000000..49ac5b208b7c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynClampJoint.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynJoint.h" + +namespace MbD { + class ASMTJoint; + + class MBDynClampJoint : public MBDynJoint + { + public: + void parseMBDyn(std::string line) override; + void createASMT() override; + void readMarkerI(std::vector& args) override; + void readMarkerJ(std::vector& args) override; + std::shared_ptr asmtClassNew() override; + }; +} \ No newline at end of file diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynControlData.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynControlData.cpp new file mode 100644 index 000000000000..253455dd9258 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynControlData.cpp @@ -0,0 +1,143 @@ +#include "MBDynControlData.h" + +using namespace MbD; + +void MbD::MBDynControlData::initialize() +{ +} + +void MbD::MBDynControlData::parseMBDyn(std::vector& lines) +{ + readMaxIterations(lines); + readDefaultOrientation(lines); + readOmegaRotates(lines); + readPrint(lines); + readInitialStiffness(lines); + readStructuralNodes(lines); + readRigidBodies(lines); + readJoints(lines); + readGravity(lines); + assert(lines.size() == 2); +} + +void MbD::MBDynControlData::readMaxIterations(std::vector& lines) +{ + //max iterations: 1000; + std::vector tokens{ "max", "iterations:" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + std::istringstream iss(*it); + std::string str; + iss >> str; + iss >> str; + iss >> maxIterations; + lines.erase(it); +} + +void MbD::MBDynControlData::readDefaultOrientation(std::vector& lines) +{ + //default orientation: euler321; + std::vector tokens{ "default", "orientation:" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + std::istringstream iss(*it); + std::string str; + iss >> str; + iss >> str; + iss >> defaultOrientation; + lines.erase(it); +} + +void MbD::MBDynControlData::readOmegaRotates(std::vector& lines) +{ + //omega rotates: no; + std::vector tokens{ "omega", "rotates:" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + std::istringstream iss(*it); + std::string str; + iss >> str; + iss >> str; + iss >> omegaRotates; + lines.erase(it); +} + +void MbD::MBDynControlData::readPrint(std::vector& lines) +{ + //print: none; + std::vector tokens{ "print:" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + std::istringstream iss(*it); + std::string str; + iss >> str; + iss >> str; + iss >> print; + lines.erase(it); +} + +void MbD::MBDynControlData::readInitialStiffness(std::vector& lines) +{ + //initial stiffness: 1.0, 1.0; + std::vector tokens{ "initial", "stiffness:" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + std::istringstream iss(*it); + std::string str; + iss >> str; + iss >> str; + iss >> initialStiffness; + iss >> str; + initialStiffness.append(str); + lines.erase(it); +} + +void MbD::MBDynControlData::readStructuralNodes(std::vector& lines) +{ + //structural nodes: 4; + std::vector tokens{ "structural", "nodes:" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + std::istringstream iss(*it); + std::string str; + iss >> str; + iss >> str; + iss >> structuralNodes; + lines.erase(it); +} + +void MbD::MBDynControlData::readRigidBodies(std::vector& lines) +{ + //rigid bodies: 3; + std::vector tokens{ "rigid", "bodies:" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + std::istringstream iss(*it); + std::string str; + iss >> str; + iss >> str; + iss >> rigidBodies; + lines.erase(it); +} + +void MbD::MBDynControlData::readJoints(std::vector& lines) +{ + //joints: 6; + std::vector tokens{ "joints:" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + std::istringstream iss(*it); + std::string str; + iss >> str; + iss >> joints; + lines.erase(it); +} + +void MbD::MBDynControlData::readGravity(std::vector& lines) +{ + //gravity; + std::vector tokens{ "gravity" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + lines.erase(it); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynControlData.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynControlData.h new file mode 100644 index 000000000000..493c375f8678 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynControlData.h @@ -0,0 +1,35 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynBlock.h" + +namespace MbD { + class MBDynControlData : public MBDynBlock + { + public: + void initialize() override; + void parseMBDyn(std::vector& lines) override; + void readMaxIterations(std::vector& lines); + void readDefaultOrientation(std::vector& lines); + void readOmegaRotates(std::vector& lines); + void readPrint(std::vector& lines); + void readInitialStiffness(std::vector& lines); + void readStructuralNodes(std::vector& lines); + void readRigidBodies(std::vector& lines); + void readJoints(std::vector& lines); + void readGravity(std::vector& lines); + + int maxIterations = 1000; + std::string defaultOrientation = "euler321"; + std::string omegaRotates = "no"; + std::string print = "none"; + std::string initialStiffness = "1.0, 1.0"; + int structuralNodes = -1, rigidBodies = -1, joints = -1; + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynData.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynData.cpp new file mode 100644 index 000000000000..383da24664d9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynData.cpp @@ -0,0 +1,15 @@ +#include "MBDynData.h" + +using namespace MbD; + +void MbD::MBDynData::initialize() +{ +} + +void MbD::MBDynData::parseMBDyn(std::vector& lines) +{ + assert(lines.size() == 3); + std::vector tokens{ "problem:", "initial", "value" }; + auto problemit = findLineWith(lines, tokens); + assert(problemit != lines.end()); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynData.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynData.h new file mode 100644 index 000000000000..f16a092544f7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynData.h @@ -0,0 +1,20 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynBlock.h" + +namespace MbD { + class MBDynData : public MBDynBlock + { + public: + void initialize() override; + void parseMBDyn(std::vector& lines) override; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynDrive.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynDrive.cpp new file mode 100644 index 000000000000..6ca485f3eca1 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynDrive.cpp @@ -0,0 +1,151 @@ +#include + +#include "MBDynDrive.h" + +using namespace MbD; + +void MbD::MBDynDrive::parseMBDyn(std::string line) +{ + driveString = line; + arguments = collectArgumentsFor("drive caller", line); + auto iss = std::istringstream(arguments.at(0)); + iss >> name; + arguments.erase(arguments.begin()); + assert(arguments.at(0).find("name") != std::string::npos); + arguments.erase(arguments.begin()); + iss = std::istringstream(arguments.at(0)); + iss >> driveName; + driveName = std::regex_replace(driveName, std::regex("\""), ""); + arguments.erase(arguments.begin()); + readFunction(arguments); +} + +void MbD::MBDynDrive::readFunction(std::vector& args) +{ + if (args.empty()) return; + std::string str = readStringOffTop(args); + if (str == "ramp") { + std::string slope, initValue, initTime, finalTime; + slope = popOffTop(args); + initTime = popOffTop(args); + finalTime = popOffTop(args); + initValue = popOffTop(args); + slope.erase(remove_if(slope.begin(), slope.end(), isspace), slope.end()); + initTime.erase(remove_if(initTime.begin(), initTime.end(), isspace), initTime.end()); + finalTime.erase(remove_if(finalTime.begin(), finalTime.end(), isspace), finalTime.end()); + initValue.erase(remove_if(initValue.begin(), initValue.end(), isspace), initValue.end()); + + //f = slope*(time - t0) + f0 + //rampstep(time, t0, f0, t1, f1) + //t0 = initTime + //f0 = initValue + //t1 = finalTime + //f1 = initValue + slope * (finalTime - initTime) + auto ss = std::stringstream(); + ss << "rampstep(time, " << initTime << ", " << initValue << ", " << finalTime << ", " + << initValue << " + " << slope << "*(" << finalTime << " - " << initTime << "))"; + formula = ss.str(); + } + else if (str == "cosine") { + std::string initial_time, angular_velocity, amplitude, number_of_cycles, initial_value; + initial_time = popOffTop(args); + angular_velocity = popOffTop(args); + amplitude = popOffTop(args); + number_of_cycles = popOffTop(args); + initial_value = popOffTop(args); + initial_time.erase(remove_if(initial_time.begin(), initial_time.end(), isspace), initial_time.end()); + angular_velocity.erase(remove_if(angular_velocity.begin(), angular_velocity.end(), isspace), angular_velocity.end()); + amplitude.erase(remove_if(amplitude.begin(), amplitude.end(), isspace), amplitude.end()); + number_of_cycles.erase(remove_if(number_of_cycles.begin(), number_of_cycles.end(), isspace), number_of_cycles.end()); + initial_value.erase(remove_if(initial_value.begin(), initial_value.end(), isspace), initial_value.end()); + //f(t) = initial_value + amplitude * (1 ? cos (angular_velocity * (t ? initial_time))) + + double nCycle; + if (number_of_cycles.find("forever") != std::string::npos) { + nCycle = 1.0e9; + } + else if (number_of_cycles.find("one") != std::string::npos) { + nCycle = 1.0; + } + else if (number_of_cycles.find("half") != std::string::npos) { + nCycle = 0.5; + } + else { + nCycle = stod(number_of_cycles); + } + double x0 = stod(initial_time); + double y0 = stod(initial_value); + double omega = stod(angular_velocity); + double amp = stod(amplitude); + double x1 = x0 + (2 * OS_M_PI * nCycle / omega); + double y1 = y0 + amp * (1.0 - std::cos(omega * (x1 - x0))); + double f1 = y0; + auto ss = std::stringstream(); + ss << "(" << y0 << " + " << amp << "*(1.0 - cos(" << omega << "*(time - " << x0 << "))))"; + std::string f2 = ss.str(); + double f3 = y1; + double t1 = x0; + double t2 = x1; + ss = std::stringstream(); + ss << "piecewise(time, functions(" << f1 << ", " << f2 << ", " << f3 << "), transitions(" << t1 << ", " << t2 << "))"; + formula = ss.str(); + } + else if (str == "sine") { + std::string initial_time, angular_velocity, amplitude, number_of_cycles, initial_value; + initial_time = popOffTop(args); + angular_velocity = popOffTop(args); + amplitude = popOffTop(args); + number_of_cycles = popOffTop(args); + initial_value = popOffTop(args); + initial_time.erase(remove_if(initial_time.begin(), initial_time.end(), isspace), initial_time.end()); + angular_velocity.erase(remove_if(angular_velocity.begin(), angular_velocity.end(), isspace), angular_velocity.end()); + amplitude.erase(remove_if(amplitude.begin(), amplitude.end(), isspace), amplitude.end()); + number_of_cycles.erase(remove_if(number_of_cycles.begin(), number_of_cycles.end(), isspace), number_of_cycles.end()); + initial_value.erase(remove_if(initial_value.begin(), initial_value.end(), isspace), initial_value.end()); + //f(t) = initial_value + amplitude · sin (angular_velocity · (t − initial_time)) + + double nCycle; + if (number_of_cycles.find("forever") != std::string::npos) { + nCycle = 1.0e9; + } + else if (number_of_cycles.find("one") != std::string::npos) { + nCycle = 0.5; //Different from cosine + } + else if (number_of_cycles.find("half") != std::string::npos) { + nCycle = 0.25; //Different from cosine + } + else { + nCycle = stod(number_of_cycles); + if (nCycle < 0.0) { + nCycle -= 0.75; + } + else if (nCycle > 0.0) { + nCycle -= 0.5; + } + } + double x0 = stod(initial_time); + double y0 = stod(initial_value); + double omega = stod(angular_velocity); + double amp = stod(amplitude); + double x1 = x0 + (2 * OS_M_PI * nCycle / omega); + double y1 = y0 + amp * std::sin(omega * (x1 - x0)); + double f1 = y0; + auto ss = std::stringstream(); + ss << "(" << y0 << " + " << amp << "*sin(" << omega << "*(time - " << x0 << ")))"; + std::string f2 = ss.str(); + double f3 = y1; + double t1 = x0; + double t2 = x1; + ss = std::stringstream(); + ss << "piecewise(time, functions(" << f1 << ", " << f2 << ", " << f3 << "), transitions(" << t1 << ", " << t2 << "))"; + formula = ss.str(); + } + else { + assert(false); + } +} + +void MbD::MBDynDrive::createASMT() +{ + assert(false); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynDrive.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynDrive.h new file mode 100644 index 000000000000..31425e426545 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynDrive.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynElement.h" + +namespace MbD { + class MBDynDrive : public MBDynElement + { + public: + void parseMBDyn(std::string line) override; + void readFunction(std::vector& args); + void createASMT() override; + + std::string driveString, driveName, formula; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynDriveHingeJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynDriveHingeJoint.cpp new file mode 100644 index 000000000000..06f10b9e1c95 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynDriveHingeJoint.cpp @@ -0,0 +1,41 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "MBDynDriveHingeJoint.h" +#include "ASMTMarker.h" +#include "ASMTJoint.h" +#include "ASMTRotationalMotion.h" +#include "ASMTAssembly.h" + +using namespace MbD; + +void MbD::MBDynDriveHingeJoint::parseMBDyn(std::string line) +{ + MBDynJoint::parseMBDyn(line); + readFunction(arguments); +} + +void MbD::MBDynDriveHingeJoint::createASMT() +{ + mkr1->createASMT(); + if (mkr2) mkr2->createASMT(); + auto asmtAsm = asmtAssembly(); + auto asmtMotion = std::make_shared(); + asmtItem = asmtMotion; + asmtMotion->setName(name); + asmtMotion->setMarkerI(mkr1->asmtItem->fullName("")); + asmtMotion->setMarkerJ(mkr2->asmtItem->fullName("")); + asmtMotion->setRotationZ(formula); + asmtAsm->addMotion(asmtMotion); + return; +} + +std::shared_ptr MbD::MBDynDriveHingeJoint::asmtClassNew() +{ + return std::make_shared(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynDriveHingeJoint.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynDriveHingeJoint.h new file mode 100644 index 000000000000..388b44271a1a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynDriveHingeJoint.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynJoint.h" + +namespace MbD { + class ASMTJoint; + + class MBDynDriveHingeJoint : public MBDynJoint + { + public: + void parseMBDyn(std::string line) override; + void createASMT() override; + std::shared_ptr asmtClassNew() override; + }; + +} \ No newline at end of file diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynElement.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynElement.cpp new file mode 100644 index 000000000000..efc3b2d49bb2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynElement.cpp @@ -0,0 +1,11 @@ +#include "MBDynElement.h" + +using namespace MbD; + +void MbD::MBDynElement::initialize() +{ +} + +void MBDynElement::parseMBDyn(std::vector &lines) { + MBDynItem::parseMBDyn(lines); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynElement.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynElement.h new file mode 100644 index 000000000000..9b24e228d61f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynElement.h @@ -0,0 +1,20 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynItem.h" + +namespace MbD { + class MBDynElement : public MBDynItem + { + public: + void parseMBDyn(std::vector& lines) override; + void initialize() override; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynGravity.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynGravity.cpp new file mode 100644 index 000000000000..0ee74b82d645 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynGravity.cpp @@ -0,0 +1,41 @@ +#include + +#include "MBDynGravity.h" +#include "ASMTConstantGravity.h" +#include "ASMTAssembly.h" + +using namespace MbD; + +void MbD::MBDynGravity::parseMBDyn(std::string line) +{ + gravityString = line; + arguments = collectArgumentsFor("gravity", line); + assert(arguments.at(0).find("uniform") != std::string::npos); + arguments.erase(arguments.begin()); + gvec = readPosition(arguments); + assert(arguments.at(0).find("string") != std::string::npos); + arguments.erase(arguments.begin()); + auto iss = std::istringstream(arguments.at(0)); + iss >> formula; + formula = std::regex_replace(formula, std::regex("\""), ""); + double mag; + iss = std::istringstream(formula); + iss >> mag; + + arguments.erase(arguments.begin()); + gvec->normalizeSelf(); + gvec->magnifySelf(mag); +} + +void MbD::MBDynGravity::readFunction(std::vector&) +{ + assert(false); + noop(); +} + +void MbD::MBDynGravity::createASMT() +{ + auto asmtGravity = std::make_shared(); + asmtGravity->setg(gvec); + asmtAssembly()->setConstantGravity(asmtGravity); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynGravity.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynGravity.h new file mode 100644 index 000000000000..0ae1a80b5e28 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynGravity.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynElement.h" + +namespace MbD { + class MBDynGravity : public MBDynElement + { + public: + void parseMBDyn(std::string line) override; + void readFunction(std::vector& args); + void createASMT() override; + + std::string gravityString, formula; + FColDsptr gvec; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynInLineJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynInLineJoint.cpp new file mode 100644 index 000000000000..ef57b98e415f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynInLineJoint.cpp @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "MBDynInLineJoint.h" +#include "ASMTPointInLineJoint.h" + +using namespace MbD; + +void MbD::MBDynInLineJoint::parseMBDyn(std::string line) +{ + MBDynJoint::parseMBDyn(line); +} + +void MbD::MBDynInLineJoint::createASMT() +{ + MBDynJoint::createASMT(); +} + +std::shared_ptr MbD::MBDynInLineJoint::asmtClassNew() +{ + return std::make_shared(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynInLineJoint.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynInLineJoint.h new file mode 100644 index 000000000000..4a4b785ce1bd --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynInLineJoint.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynJoint.h" + +namespace MbD { + class ASMTJoint; + + class MBDynInLineJoint : public MBDynJoint + { + public: + void parseMBDyn(std::string line) override; + void createASMT() override; + std::shared_ptr asmtClassNew() override; + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynInPlaneJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynInPlaneJoint.cpp new file mode 100644 index 000000000000..9ada01439969 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynInPlaneJoint.cpp @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "MBDynInPlaneJoint.h" +#include "ASMTPointInPlaneJoint.h" + +using namespace MbD; + +void MbD::MBDynInPlaneJoint::parseMBDyn(std::string line) +{ + MBDynJoint::parseMBDyn(line); +} + +void MbD::MBDynInPlaneJoint::createASMT() +{ + MBDynJoint::createASMT(); +} + +std::shared_ptr MbD::MBDynInPlaneJoint::asmtClassNew() +{ + return std::make_shared(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynInPlaneJoint.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynInPlaneJoint.h new file mode 100644 index 000000000000..17065302439d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynInPlaneJoint.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynJoint.h" + +namespace MbD { + class ASMTJoint; + + class MBDynInPlaneJoint : public MBDynJoint + { + public: + void parseMBDyn(std::string line) override; + void createASMT() override; + std::shared_ptr asmtClassNew() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynInitialValue.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynInitialValue.cpp new file mode 100644 index 000000000000..7fab3dac86d5 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynInitialValue.cpp @@ -0,0 +1,148 @@ +#include "MBDynInitialValue.h" +#include "ASMTSimulationParameters.h" +#include "ASMTAssembly.h" + +using namespace MbD; + +void MbD::MBDynInitialValue::initialize() +{ +} + +void MbD::MBDynInitialValue::parseMBDyn(std::vector& lines) +{ + readInitialTime(lines); + readFinalTime(lines); + readTimeStep(lines); + readMaxIterations(lines); + readTolerance(lines); + readDerivativesTolerance(lines); + readDerivativesMaxIterations(lines); + readDerivativesCoefficient(lines); + assert(lines.size() == 2); +} + +void MbD::MBDynInitialValue::readInitialTime(std::vector& lines) +{ + //initial time: 0.; + std::vector tokens{ "initial", "time:" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + std::istringstream iss(*it); + std::string str; + iss >> str; + iss >> str; + iss >> initialTime; + lines.erase(it); +} + +void MbD::MBDynInitialValue::readFinalTime(std::vector& lines) +{ + //final time: 5.; + std::vector tokens{ "final", "time:" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + std::istringstream iss(*it); + std::string str; + iss >> str; + iss >> str; + iss >> finalTime; + lines.erase(it); +} + +void MbD::MBDynInitialValue::readTimeStep(std::vector& lines) +{ + //time step: 1.e-2; + std::vector tokens{ "time", "step:" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + std::istringstream iss(*it); + std::string str; + iss >> str; + iss >> str; + iss >> timeStep; + lines.erase(it); +} + +void MbD::MBDynInitialValue::readMaxIterations(std::vector& lines) +{ + //max iterations: 10; + std::vector tokens{ "max", "iterations:" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + std::istringstream iss(*it); + std::string str; + iss >> str; + iss >> str; + iss >> maxIterations; + lines.erase(it); +} + +void MbD::MBDynInitialValue::readTolerance(std::vector& lines) +{ + //tolerance: 1.e-6; + std::vector tokens{ "tolerance:" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + std::istringstream iss(*it); + std::string str; + iss >> str; + iss >> tolerance; + lines.erase(it); +} + +void MbD::MBDynInitialValue::readDerivativesTolerance(std::vector& lines) +{ + //derivatives tolerance: 0.0001; + std::vector tokens{ "derivatives", "tolerance:" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + std::istringstream iss(*it); + std::string str; + iss >> str; + iss >> str; + iss >> derivativesTolerance; + lines.erase(it); +} + +void MbD::MBDynInitialValue::readDerivativesMaxIterations(std::vector& lines) +{ + //derivatives max iterations: 100; + std::vector tokens{ "derivatives", "max", "iterations:" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + std::istringstream iss(*it); + std::string str; + iss >> str; + iss >> str; + iss >> str; + iss >> derivativesMaxIterations; + lines.erase(it); +} + +void MbD::MBDynInitialValue::readDerivativesCoefficient(std::vector& lines) +{ + //derivatives coefficient: auto; + std::vector tokens{ "derivatives", "coefficient:" }; + auto it = findLineWith(lines, tokens); + if (it == lines.end()) return; + std::istringstream iss(*it); + std::string str; + iss >> str; + iss >> str; + iss >> derivativesCoefficient; + lines.erase(it); +} + +void MbD::MBDynInitialValue::createASMT() +{ + auto simulationParameters = std::make_shared(); + asmtItem = simulationParameters; + simulationParameters->settstart(initialTime); + simulationParameters->settend(finalTime); //tstart == tend Initial Conditions only. + simulationParameters->sethmin(1.0e-9); + simulationParameters->sethmax(1.0); + simulationParameters->sethout(timeStep); + simulationParameters->seterrorTol(tolerance); + simulationParameters->setmaxIter(maxIterations); + asmtAssembly()->setSimulationParameters(simulationParameters); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynInitialValue.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynInitialValue.h new file mode 100644 index 000000000000..8c1a4c45e49d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynInitialValue.h @@ -0,0 +1,34 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynBlock.h" + +namespace MbD { + class MBDynInitialValue : public MBDynBlock + { + public: + void initialize() override; + void parseMBDyn(std::vector& lines) override; + void readInitialTime(std::vector& lines); + void readFinalTime(std::vector& lines); + void readTimeStep(std::vector& lines); + void readMaxIterations(std::vector& lines); + void readTolerance(std::vector& lines); + void readDerivativesTolerance(std::vector& lines); + void readDerivativesMaxIterations(std::vector& lines); + void readDerivativesCoefficient(std::vector& lines); + void createASMT() override; + + double initialTime = 0.0, finalTime = 5.0, timeStep = 1.0e-2, tolerance = 1.0e-6; + int maxIterations = 10; + double derivativesTolerance = 1.0e-4; + int derivativesMaxIterations = 100; + std::string derivativesCoefficient = "auto"; + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynItem.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynItem.cpp new file mode 100644 index 000000000000..1f3964b93821 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynItem.cpp @@ -0,0 +1,464 @@ +#include "MBDynItem.h" +#include "MBDynSystem.h" +#include "SymbolicParser.h" +#include "BasicUserFunction.h" +#include "EulerAngles.h" +#include "Constant.h" +#include "MBDynReference.h" +#include "FullMatrix.h" +#include "ASMTItem.h" +#include "MBDynBody.h" +#include "MBDynDrive.h" +#include "MBDynGravity.h" + + +using namespace MbD; + +MBDynSystem* MbD::MBDynItem::root() +{ + return nullptr; +} + +void MbD::MBDynItem::initialize() +{ + assert(false); +} + +void MbD::MBDynItem::noop() +{ + //No Operations +} + +void MbD::MBDynItem::parseMBDyn(std::vector&) +{ + assert(false); +} + +void MbD::MBDynItem::parseMBDyn(std::string) +{ + assert(false); +} + +std::vector MbD::MBDynItem::collectArgumentsFor(std::string title, std::string& statement) +{ + size_t previousPos = 0; + auto pos = statement.find(":"); + auto front = statement.substr(previousPos, pos - previousPos); + assert(front.find(title) != std::string::npos); + auto arguments = std::vector(); + std::string argument; + while (true) { + previousPos = pos; + pos = statement.find(",", pos + 1); + if (pos != std::string::npos) { + argument = statement.substr(previousPos + 1, pos - previousPos - 1); + arguments.push_back(argument); + } + else { + argument = statement.substr(previousPos + 1); + arguments.push_back(argument); + break; + } + } + auto arguments2 = std::vector(); + while (!arguments.empty()) { + argument = arguments[0]; + auto n = std::count(argument.begin(), argument.end(), '"'); + if ((n % 2) == 0) { + arguments2.push_back(argument); + arguments.erase(arguments.begin()); + } + else { + //Need to find matching '"' + auto it = std::find_if(arguments.begin() + 1, arguments.end(), [](const std::string& s) { + auto nn = std::count(s.begin(), s.end(), '"'); + return (nn % 2) == 1; + }); + std::vector needToCombineArgs(arguments.begin(), it + 1); + arguments.erase(arguments.begin(), it + 1); + std::stringstream ss; + ss << needToCombineArgs[0]; + needToCombineArgs.erase(needToCombineArgs.begin()); + for (auto& arg : needToCombineArgs) { + ss << ',' << arg; + } + arguments2.push_back(ss.str()); + } + } + return arguments2; +} + +std::vector::iterator MbD::MBDynItem::findLineWith(std::vector& lines, std::vector& tokens) +{ + auto it = std::find_if(lines.begin(), lines.end(), [&](const std::string& line) { + return lineHasTokens(line, tokens); + }); + return it; +} + +bool MbD::MBDynItem::lineHasTokens(const std::string& line, std::vector& tokens) +{ + size_t index = 0; + for (auto& token : tokens) { + index = line.find(token, index); + if (index == std::string::npos) return false; + index++; + } + return true; +} + +std::shared_ptr>> MbD::MBDynItem::mbdynNodes() +{ + return owner->mbdynNodes(); +} + +std::shared_ptr>> MbD::MBDynItem::mbdynBodies() +{ + return owner->mbdynBodies(); +} + +std::shared_ptr>> MbD::MBDynItem::mbdynJoints() +{ + return owner->mbdynJoints(); +} + +std::shared_ptr>> MbD::MBDynItem::mbdynDrives() +{ + return owner->mbdynDrives(); +} + +std::vector MbD::MBDynItem::nodeNames() +{ + return owner->nodeNames(); +} + +std::shared_ptr> MbD::MBDynItem::mbdynVariables() +{ + return owner->mbdynVariables(); +} + +std::shared_ptr>> MbD::MBDynItem::mbdynReferences() +{ + return owner->mbdynReferences(); +} + +void MbD::MBDynItem::createASMT() +{ + assert(false); +} + +std::shared_ptr MbD::MBDynItem::nodeAt(std::string nodeName) +{ + return owner->nodeAt(nodeName); +} + +int MbD::MBDynItem::nodeidAt(std::string nodeName) +{ + return owner->nodeidAt(nodeName); +} + +std::shared_ptr MbD::MBDynItem::bodyWithNode(std::string nodeName) +{ + return owner->bodyWithNode(nodeName); +} + +std::shared_ptr MbD::MBDynItem::asmtAssembly() +{ + return owner->asmtAssembly(); +} + +std::string MbD::MBDynItem::formulaFromDrive(std::string driveName, std::string varName) +{ + std::vector tokens{ "drive:", driveName }; + auto drives = mbdynDrives(); + auto it = std::find_if(drives->begin(), drives->end(), [&](auto& drive) { + return lineHasTokens(drive->driveName, tokens); + }); + auto& formula = (*it)->formula; + assert(varName == "Time"); + return formula; +} + +void MbD::MBDynItem::logString(std::string& str) +{ + std::cout << str << std::endl; +} + +FColDsptr MbD::MBDynItem::readVector3(std::vector& args) +{ + auto parser = std::make_shared(); + parser->variables = mbdynVariables(); + auto rFfF = std::make_shared>(3); + auto str = args.at(0); //Must copy string + if (str.find("null") != std::string::npos) { + args.erase(args.begin()); + } + else { + for (int i = 0; i < 3; i++) + { + auto userFunc = std::make_shared(popOffTop(args), 1.0); + parser->parseUserFunction(userFunc); + auto& sym = parser->stack->top(); + rFfF->at(i) = sym->getValue(); + } + + } + return rFfF; +} + +FColDsptr MbD::MBDynItem::readPosition(std::vector& args) +{ + auto rOfO = std::make_shared>(3); + if (args.empty()) return rOfO; + auto str = args.at(0); //Must copy string + if (str.find("position") != std::string::npos) { + args.erase(args.begin()); + rOfO = readBasicPosition(args); + } + else if (str.find("orientation") != std::string::npos) { + //Do nothing + } + else if (str.find("reference") != std::string::npos) { + args.erase(args.begin()); + auto refName = readStringOffTop(args); + auto& ref = mbdynReferences()->at(refName); + auto rFfF = readBasicPosition(args); + auto& rOFO = ref->rOfO; + auto& aAOF = ref->aAOf; + rOfO = rOFO->plusFullColumn(aAOF->timesFullColumn(rFfF)); + } + else if (str.find("offset") != std::string::npos) { + args.erase(args.begin()); + rOfO = readBasicPosition(args); + } + else if (str.find("null") != std::string::npos) { + args.erase(args.begin()); + } + else { + rOfO = readBasicPosition(args); + } + return rOfO; +} + +FColDsptr MbD::MBDynItem::readBasicPosition(std::vector& args) +{ + return readVector3(args); +} + +FMatDsptr MbD::MBDynItem::readOrientation(std::vector& args) +{ + auto aAOf = FullMatrix::identitysptr(3); + if (args.empty()) return aAOf; + auto str = args.at(0); //Must copy string + if (str.find("reference") != std::string::npos) { + args.erase(args.begin()); + auto refName = readStringOffTop(args); + auto& ref = mbdynReferences()->at(refName); + auto aAFf = readBasicOrientation(args); + auto& aAOF = ref->aAOf; + aAOf = aAOF->timesFullMatrix(aAFf); + } + else if (str.find("hinge") != std::string::npos) { + args.erase(args.begin()); + aAOf = readOrientation(args); + } + else if (str.find("position") != std::string::npos) { + if (str.find("orientation") != std::string::npos) { + args.erase(args.begin()); + aAOf = readOrientation(args); + } + } + else if (str.find("orientation") != std::string::npos) { + args.erase(args.begin()); + aAOf = readOrientation(args); + } + else { + aAOf = readBasicOrientation(args); + } + return aAOf; +} + +FMatDsptr MbD::MBDynItem::readBasicOrientation(std::vector& args) +{ + auto parser = std::make_shared(); + parser->variables = mbdynVariables(); + auto str = args.at(0); //Must copy string + if (str.find("euler") != std::string::npos) { + args.erase(args.begin()); + auto euler = std::make_shared>(); + euler->rotOrder = std::make_shared>(std::initializer_list{ 1, 2, 3 }); + for (int i = 0; i < 3; i++) + { + auto userFunc = std::make_shared(popOffTop(args), 1.0); + parser->parseUserFunction(userFunc); + auto& sym = parser->stack->top(); + euler->at(i) = sym; + } + euler->calc(); + auto& aAFf = euler->aA; + return aAFf; + } + if (str.find("eye") != std::string::npos) { + args.erase(args.begin()); + auto aAFf = FullMatrix::identitysptr(3); + return aAFf; + } + auto iss = std::istringstream(str); + int integer; + iss >> integer; + if (integer == 1) { + args.erase(args.begin()); + FColDsptr vecX, vecY, vecZ, vec; + vecX = readPosition(args); + vecX->normalizeSelf(); + auto axis = stoi(popOffTop(args)); + str = args.at(0); + if (str.find("guess") != std::string::npos) { + args.erase(args.begin()); + double min = std::numeric_limits::max(); + double max = -1.0; + int imin, imax; + for (int i = 0; i < 3; i++) + { + auto mag = std::abs(vecX->at(i)); + if (mag > max) { + imax = i; + max = mag; + } + if (mag < min) { + imin = i; + min = mag; + } + } + vec = std::make_shared>(3); + vec->at(imin) = 1.0; + vec->at(imax) = -vecX->at(imin) / vecX->at(imax); + } + else { + vec = readPosition(args); + } + vec->normalizeSelf(); + if (axis == 2) { + vecZ = vecX->cross(vec); + vecY = vecZ->cross(vecX); + } + else if (axis == 3) { + vecY = vec->cross(vecX); + vecZ = vecX->cross(vecY); + } + else { + assert(false); + } + auto aAFf = FullMatrix::identitysptr(3); + aAFf->atijputFullColumn(0, 0, vecX); + aAFf->atijputFullColumn(0, 1, vecY); + aAFf->atijputFullColumn(0, 2, vecZ); + return aAFf; + } + if (integer == 3) { + args.erase(args.begin()); + FColDsptr vecX, vecY, vecZ, vec; + vecZ = readPosition(args); + vecZ->normalizeSelf(); + auto axis = stoi(popOffTop(args)); + str = args.at(0); + if (str.find("guess") != std::string::npos) { + args.erase(args.begin()); + double min = std::numeric_limits::max(); + double max = -1.0; + int imin, imax; + for (int i = 0; i < 3; i++) + { + auto mag = std::abs(vecZ->at(i)); + if (mag > max) { + imax = i; + max = mag; + } + if (mag < min) { + imin = i; + min = mag; + } + } + vec = std::make_shared>(3); + vec->at(imin) = 1.0; + vec->at(imax) = -vecZ->at(imin) / vecZ->at(imax); + } + else { + vec = readPosition(args); + } + vec->normalizeSelf(); + if (axis == 2) { + vecX = vec->cross(vecZ); + vecY = vecZ->cross(vecX); + } + else if (axis == 1) { + vecY = vecZ->cross(vec); + vecX = vecY->cross(vecZ); + } + else { + assert(false); + } + auto aAFf = FullMatrix::identitysptr(3); + aAFf->atijputFullColumn(0, 0, vecX); + aAFf->atijputFullColumn(0, 1, vecY); + aAFf->atijputFullColumn(0, 2, vecZ); + return aAFf; + } + auto aAFf = FullMatrix::identitysptr(3); + for (int i = 0; i < 3; i++) + { + auto& rowi = aAFf->at(i); + for (int j = 0; j < 3; j++) + { + auto userFunc = std::make_shared(popOffTop(args), 1.0); + parser->parseUserFunction(userFunc); + auto& sym = parser->stack->top(); + rowi->at(j) = sym->getValue(); + } + } + return aAFf; +} + +std::string MbD::MBDynItem::popOffTop(std::vector& args) +{ + auto str = args.at(0); //Must copy string + args.erase(args.begin()); + return str; +} + +std::string MbD::MBDynItem::readStringOffTop(std::vector& args) +{ + auto iss = std::istringstream(args.at(0)); + args.erase(args.begin()); + std::string str; + iss >> str; + return str; +} + +void MbD::MBDynItem::readName(std::vector& args) +{ + name = readStringOffTop(args); +} + +std::string MbD::MBDynItem::readJointTypeOffTop(std::vector& args) +{ + auto ss = std::stringstream(); + auto iss = std::istringstream(popOffTop(args)); + std::string str; + iss >> str; + ss << str; + while (!iss.eof()) { + ss << ' '; + iss >> str; + ss << str; + } + return ss.str(); +} + +std::string MbD::MBDynItem::readToken(std::string& line) +{ + auto iss = std::istringstream(line); + std::string str; + iss >> str; + return str; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynItem.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynItem.h new file mode 100644 index 000000000000..418679c41120 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynItem.h @@ -0,0 +1,70 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "CREATE.h" + +namespace MbD { + class MBDynSystem; + class MBDynReference; + class MBDynNode; + class ASMTItem; + class MBDynBody; + class MBDynJoint; + class MBDynDrive; + class ASMTAssembly; + + class MBDynItem + { + // + public: + virtual ~MBDynItem() {} + virtual MBDynSystem* root(); + + virtual void initialize(); + void noop(); + //void setName(std::string str); + virtual void parseMBDyn(std::vector& lines); + virtual void parseMBDyn(std::string line); + static std::vector collectArgumentsFor(std::string title, std::string& statement); + std::vector::iterator findLineWith(std::vector& lines, std::vector& tokens); + static bool lineHasTokens(const std::string& line, std::vector& tokens); + virtual std::shared_ptr>> mbdynNodes(); + virtual std::shared_ptr>> mbdynBodies(); + virtual std::shared_ptr>> mbdynJoints(); + virtual std::shared_ptr>> mbdynDrives(); + virtual std::vector nodeNames(); + virtual std::shared_ptr> mbdynVariables(); + virtual std::shared_ptr>> mbdynReferences(); + virtual void createASMT(); + virtual std::shared_ptr nodeAt(std::string nodeName); + virtual int nodeidAt(std::string nodeName); + virtual std::shared_ptr bodyWithNode(std::string nodeName); + virtual std::shared_ptr asmtAssembly(); + virtual std::string formulaFromDrive(std::string driveName, std::string varName); + void logString(std::string& str); + + FColDsptr readVector3(std::vector& args); + FColDsptr readPosition(std::vector& args); + FColDsptr readBasicPosition(std::vector& args); + FMatDsptr readOrientation(std::vector& args); + FMatDsptr readBasicOrientation(std::vector& args); + std::string popOffTop(std::vector& args); + std::string readStringOffTop(std::vector& args); + void readName(std::vector& args); + std::string readJointTypeOffTop(std::vector& args); + std::string readToken(std::string& line); + + std::string name; + MBDynItem* owner = nullptr; + std::shared_ptr asmtItem; + std::vector arguments; + + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynJoint.cpp new file mode 100644 index 000000000000..fe8b22f4e25b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynJoint.cpp @@ -0,0 +1,473 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "MBDynJoint.h" +#include "ASMTMarker.h" +#include "ASMTPart.h" +#include "ASMTJoint.h" +#include "ASMTAssembly.h" +#include "ASMTRevoluteJoint.h" +#include "ASMTRotationalMotion.h" +#include "ASMTPointInLineJoint.h" +#include "ASMTNoRotationJoint.h" +#include "ASMTFixedJoint.h" +#include "ASMTSphericalJoint.h" +#include "MBDynTotalJoint.h" +#include "MBDynClampJoint.h" +#include "MBDynAxialRotationJoint.h" +#include "MBDynDriveHingeJoint.h" +#include "MBDynInLineJoint.h" +#include "MBDynInPlaneJoint.h" +#include "MBDynPrismaticJoint.h" +#include "MBDynRevoluteHingeJoint.h" +#include "MBDynRevolutePinJoint.h" +#include "MBDynSphericalHingeJoint.h" + +using namespace MbD; + +std::shared_ptr MbD::MBDynJoint::newJoint(std::string statement) +{ + //std::shared_ptr joint; + //std::vector tokens{ "total", "joint" }; + std::vector tokens; + tokens = { "axial", "rotation" }; + if (lineHasTokens(statement, tokens)) { + return std::make_shared(); + } + tokens = { "clamp" }; + if (lineHasTokens(statement, tokens)) { + return std::make_shared(); + } + tokens = { "drive", "hinge" }; + if (lineHasTokens(statement, tokens)) { + return std::make_shared(); + } + tokens = { "in", "line" }; + if (lineHasTokens(statement, tokens)) { + return std::make_shared(); + } + tokens = { "in", "plane" }; + if (lineHasTokens(statement, tokens)) { + return std::make_shared(); + } + tokens = { "prismatic" }; + if (lineHasTokens(statement, tokens)) { + return std::make_shared(); + } + tokens = { "revolute", "hinge" }; + if (lineHasTokens(statement, tokens)) { + return std::make_shared(); + } + tokens = { "revolute", "pin" }; + if (lineHasTokens(statement, tokens)) { + return std::make_shared(); + } + tokens = { "spherical", "hinge" }; + if (lineHasTokens(statement, tokens)) { + return std::make_shared(); + } + tokens = { "total", "joint" }; + if (lineHasTokens(statement, tokens)) { + return std::make_shared(); + } + return std::make_shared(); +} + +void MbD::MBDynJoint::initialize() +{ +} + +void MbD::MBDynJoint::parseMBDyn(std::string line) +{ + jointString = line; + arguments = collectArgumentsFor("joint", line); + readName(arguments); + readJointType(arguments); + readMarkerI(arguments); + readMarkerJ(arguments); + +} + +void MbD::MBDynJoint::readJointType(std::vector& args) +{ + joint_type = readJointTypeOffTop(args); +} + +//void MbD::MBDynJoint::parseMBDyn0(std::string line) +//{ +// jointString = line; +// arguments = collectArgumentsFor("joint", line); +// auto ss = std::stringstream(); +// name = readStringOffTop(arguments); +// auto iss = std::istringstream(arguments.at(0)); +// iss >> joint_type; +// if (joint_type == "axial") { +// ss << joint_type; +// iss >> joint_type; +// if (joint_type == "rotation") { +// ss << " " << joint_type; +// joint_type = ss.str(); +// } +// else { +// assert(false); +// } +// arguments.erase(arguments.begin()); +// readMarkerI(arguments); +// readMarkerJ(arguments); +// readFunction(arguments); +// return; +// } +// else if (joint_type == "revolute") { +// ss << joint_type; +// iss >> joint_type; +// if (joint_type == "hinge") { +// ss << " " << joint_type; +// joint_type = ss.str(); +// } +// else { +// assert(false); +// } +// } +// else if (joint_type == "spherical") { +// ss << joint_type; +// iss >> joint_type; +// if (joint_type == "hinge") { +// ss << " " << joint_type; +// joint_type = ss.str(); +// } +// else { +// assert(false); +// } +// } +// else if (joint_type == "drive") { +// ss << joint_type; +// iss >> joint_type; +// if (joint_type == "hinge") { +// ss << " " << joint_type; +// joint_type = ss.str(); +// } +// else { +// assert(false); +// } +// arguments.erase(arguments.begin()); +// readMarkerI(arguments); +// readMarkerJ(arguments); +// readFunction(arguments); +// return; +// } +// else if (joint_type == "in") { +// ss << joint_type; +// iss >> joint_type; +// if (joint_type == "line") { +// ss << " " << joint_type; +// joint_type = ss.str(); +// } +// else { +// assert(false); +// } +// } +// else if (joint_type == "total") { +// ss << joint_type; +// iss >> joint_type; +// if (joint_type == "joint") { +// ss << " " << joint_type; +// joint_type = ss.str(); +// } +// else { +// assert(false); +// } +// arguments.erase(arguments.begin()); +// readTotalJointMarkerI(arguments); +// readTotalJointMarkerJ(arguments); +// readTotalJointFunction(arguments); +// return; +// } +// else if (joint_type == "clamp") { +// //mkr1 should be on assembly which doesn't exist in MBDyn +// //mkr2 is on the node +// arguments.erase(arguments.begin()); +// mkr1 = std::make_shared(); +// mkr1->owner = this; +// mkr1->nodeStr = "Assembly"; +// mkr1->rPmP = std::make_shared>(3); +// mkr1->aAPm = FullMatrix::identitysptr(3); +// readClampMarkerJ(arguments); +// return; +// } +// else if (joint_type == "prismatic") { +// noop(); +// } +// else { +// assert(false); +// } +// arguments.erase(arguments.begin()); +// readMarkerI(arguments); +// readMarkerJ(arguments); +//} + +void MbD::MBDynJoint::readMarkerI(std::vector& args) +{ + mkr1 = std::make_shared(); + mkr1->owner = this; + mkr1->nodeStr = readStringOffTop(args); + auto _nodeNames = nodeNames(); + std::string nodeName; + auto it = std::find_if(args.begin(), args.end(), [&](const std::string& s) { + auto iss = std::istringstream(s); + iss >> nodeName; + if (std::find(_nodeNames.begin(), _nodeNames.end(), nodeName) != _nodeNames.end()) return true; + return false; + }); + auto markerArgs = std::vector(args.begin(), it); + args.erase(args.begin(), it); + mkr1->parseMBDyn(markerArgs); +} + +void MbD::MBDynJoint::readMarkerJ(std::vector& args) +{ + if (args.empty()) return; + mkr2 = std::make_shared(); + mkr2->owner = this; + mkr2->nodeStr = readStringOffTop(args); + mkr2->parseMBDyn(args); +} + +void MbD::MBDynJoint::readTotalJointMarkerI(std::vector& args) +{ + mkr1 = std::make_shared(); + mkr1->owner = this; + mkr1->nodeStr = readStringOffTop(args); + auto _nodeNames = nodeNames(); + std::string nodeName; + auto it = std::find_if(args.begin(), args.end(), [&](const std::string& s) { + auto iss = std::istringstream(s); + iss >> nodeName; + if (std::find(_nodeNames.begin(), _nodeNames.end(), nodeName) != _nodeNames.end()) return true; + return false; + }); + auto markerArgs = std::vector(args.begin(), it); + args.erase(args.begin(), it); + mkr1->parseMBDynTotalJointMarker(markerArgs); +} + +void MbD::MBDynJoint::readTotalJointMarkerJ(std::vector& args) +{ + if (args.empty()) return; + mkr2 = std::make_shared(); + mkr2->owner = this; + mkr2->nodeStr = readStringOffTop(args); + mkr2->parseMBDynTotalJointMarker(args); +} + +void MbD::MBDynJoint::readClampMarkerJ(std::vector& args) +{ + if (args.empty()) return; + mkr2 = std::make_shared(); + mkr2->owner = this; + mkr2->nodeStr = readStringOffTop(args); + mkr2->parseMBDynClamp(args); +} + +void MbD::MBDynJoint::readFunction(std::vector& args) +{ + if (args.empty()) return; + std::string str; + auto iss = std::istringstream(args.at(0)); + iss >> str; + if (str.find("ramp") != std::string::npos) { + args.erase(args.begin()); + std::string slope, initValue, initTime, finalTime; + slope = popOffTop(args); + initTime = popOffTop(args); + finalTime = popOffTop(args); + initValue = popOffTop(args); + //f = slope*(time - t0) + f0 + auto ss = std::stringstream(); + ss << slope << "*(time - " << initTime << ") + " << initValue; + formula = ss.str(); + } + else if (str.find("single") != std::string::npos) { + args.erase(args.begin()); + auto vec3 = readVector3(args); + assert(vec3->at(0) == 0 && vec3->at(1) == 0 && vec3->at(2) == 1); + assert(readStringOffTop(args) == "string"); + formula = popOffTop(args); + formula = std::regex_replace(formula, std::regex("\""), ""); + } + else if (str.find("string") != std::string::npos) { + args.erase(args.begin()); + formula = popOffTop(args); + formula = std::regex_replace(formula, std::regex("\""), ""); + } + else { + assert(false); + } +} + +void MbD::MBDynJoint::readTotalJointFunction(std::vector& args) +{ + std::vector tokens{ "position", "constraint" }; + assert(lineHasTokens(args[0], tokens)); + args.erase(args.begin()); + assert(readStringOffTop(args) == "active"); + assert(readStringOffTop(args) == "active"); + assert(readStringOffTop(args) == "active"); + assert(readStringOffTop(args) == "null"); + std::vector tokens1{ "orientation", "constraint" }; + assert(lineHasTokens(args[0], tokens1)); + args.erase(args.begin()); + assert(readStringOffTop(args) == "active"); + assert(readStringOffTop(args) == "active"); + assert(readStringOffTop(args) == "rotation"); + readFunction(args); +} + +void MbD::MBDynJoint::createASMT() +{ + mkr1->createASMT(); + if (mkr2) mkr2->createASMT(); + auto asmtAsm = asmtAssembly(); + auto asmtJoint = asmtClassNew(); + asmtItem = asmtJoint; + asmtJoint->setName(name); + asmtJoint->setMarkerI(mkr1->asmtItem->fullName("")); + asmtJoint->setMarkerJ(mkr2->asmtItem->fullName("")); + asmtAsm->addJoint(asmtJoint); +} + +std::shared_ptr MbD::MBDynJoint::asmtClassNew() +{ + assert(false); + return std::make_shared(); +} + +//void MbD::MBDynJoint::createASMT() +//{ +// mkr1->createASMT(); +// if (mkr2) mkr2->createASMT(); +// std::shared_ptr asmtJoint; +// if (joint_type == "clamp") { +// auto asmtAsm = asmtAssembly(); +// asmtJoint = std::make_shared(); +// asmtJoint->setName(name); +// asmtJoint->setMarkerI(mkr1->asmtItem->fullName("")); +// asmtJoint->setMarkerJ(mkr2->asmtItem->fullName("")); +// asmtAsm->addJoint(asmtJoint); +// return; +// } +// if (joint_type == "axial rotation") { +// auto asmtAsm = asmtAssembly(); +// asmtJoint = std::make_shared(); +// asmtItem = asmtJoint; +// asmtJoint->setName(name); +// asmtJoint->setMarkerI(mkr1->asmtItem->fullName("")); +// asmtJoint->setMarkerJ(mkr2->asmtItem->fullName("")); +// asmtAsm->addJoint(asmtJoint); +// auto asmtMotion = std::make_shared(); +// asmtItem = asmtMotion; +// asmtMotion->setName(name.append("Motion")); +// asmtMotion->setMotionJoint(asmtJoint->fullName("")); +// asmtMotion->setRotationZ(asmtFormulaIntegral()); +// asmtAsm->addMotion(asmtMotion); +// return; +// } +// if (joint_type == "drive hinge") { +// auto asmtAsm = asmtAssembly(); +// auto asmtMotion = std::make_shared(); +// asmtItem = asmtMotion; +// asmtMotion->setName(name); +// asmtMotion->setMarkerI(mkr1->asmtItem->fullName("")); +// asmtMotion->setMarkerJ(mkr2->asmtItem->fullName("")); +// asmtMotion->setRotationZ(formula); +// asmtAsm->addMotion(asmtMotion); +// return; +// } +// if (joint_type == "revolute hinge") { +// asmtJoint = std::make_shared(); +// } +// else if (joint_type == "spherical hinge") { +// asmtJoint = std::make_shared(); +// } +// else if (joint_type == "in line") { +// asmtJoint = std::make_shared(); +// } +// else if (joint_type == "prismatic") { +// asmtJoint = std::make_shared(); +// } +// else { +// assert(false); +// } +// asmtItem = asmtJoint; +// asmtJoint->setName(name); +// asmtJoint->setMarkerI(mkr1->asmtItem->fullName("")); +// asmtJoint->setMarkerJ(mkr2->asmtItem->fullName("")); +// asmtAssembly()->addJoint(asmtJoint); +//} + +std::string MbD::MBDynJoint::asmtFormula() +{ + auto ss = std::stringstream(); + std::string drivestr = "model::drive"; + size_t previousPos = 0; + auto pos = formula.find(drivestr); + ss << formula.substr(previousPos, pos - previousPos); + while (pos != std::string::npos) { + previousPos = pos; + pos = formula.find('(', pos + 1); + previousPos = pos; + pos = formula.find(',', pos + 1); + auto driveName = formula.substr(previousPos + 1, pos - previousPos - 1); + driveName = readToken(driveName); + previousPos = pos; + pos = formula.find(')', pos + 1); + auto varName = formula.substr(previousPos + 1, pos - previousPos - 1); + varName = readToken(varName); + //Insert drive formula + ss << formulaFromDrive(driveName, varName); + previousPos = pos; + pos = formula.find(drivestr, pos + 1); + ss << formula.substr(previousPos + 1, pos - previousPos); + } + return ss.str(); +} + +std::string MbD::MBDynJoint::asmtFormula(std::string mbdynFormula) +{ + auto ss = std::stringstream(); + std::string drivestr = "model::drive"; + size_t previousPos = 0; + auto pos = mbdynFormula.find(drivestr); + ss << mbdynFormula.substr(previousPos, pos - previousPos); + while (pos != std::string::npos) { + previousPos = pos; + pos = mbdynFormula.find('(', pos + 1); + previousPos = pos; + pos = mbdynFormula.find(',', pos + 1); + auto driveName = mbdynFormula.substr(previousPos + 1, pos - previousPos - 1); + driveName = readToken(driveName); + previousPos = pos; + pos = mbdynFormula.find(')', pos + 1); + auto varName = mbdynFormula.substr(previousPos + 1, pos - previousPos - 1); + varName = readToken(varName); + //Insert drive mbdynFormula + ss << formulaFromDrive(driveName, varName); + previousPos = pos; + pos = mbdynFormula.find(drivestr, pos + 1); + ss << mbdynFormula.substr(previousPos + 1, pos - previousPos); + } + return ss.str(); +} + +std::string MbD::MBDynJoint::asmtFormulaIntegral() +{ + auto ss = std::stringstream(); + ss << "integral(time, " << asmtFormula() << ")"; + return ss.str(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynJoint.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynJoint.h new file mode 100644 index 000000000000..c5b794a3bb5d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynJoint.h @@ -0,0 +1,40 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynElement.h" +#include "MBDynMarker.h" + +namespace MbD { + class ASMTJoint; + + class MBDynJoint : public MBDynElement + { + public: + static std::shared_ptr newJoint(std::string line); + void initialize() override; + void parseMBDyn(std::string line) override; + virtual void readJointType(std::vector& args); + virtual void readMarkerI(std::vector& args); + virtual void readMarkerJ(std::vector& args); + void readTotalJointMarkerI(std::vector& args); + void readTotalJointMarkerJ(std::vector& args); + void readClampMarkerJ(std::vector& args); + virtual void readFunction(std::vector& args); + void readTotalJointFunction(std::vector& args); + void createASMT() override; + virtual std::shared_ptr asmtClassNew(); + std::string asmtFormula(); + std::string asmtFormula(std::string mbdynFormula); + std::string asmtFormulaIntegral(); + + std::string jointString, joint_type; + std::shared_ptr mkr1, mkr2; + std::string formula; + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynMarker.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynMarker.cpp new file mode 100644 index 000000000000..6101bcea4021 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynMarker.cpp @@ -0,0 +1,74 @@ +#include "MBDynMarker.h" +#include "MBDynStructural.h" +#include "ASMTMarker.h" +#include "ASMTPart.h" +#include "ASMTAssembly.h" +#include "MBDynBody.h" +#include "ASMTSpatialContainer.h" + +using namespace MbD; + +void MbD::MBDynMarker::parseMBDyn(std::vector& args) +{ + rPmP = std::make_shared>(3); + aAPm = FullMatrix::identitysptr(3); + if (args.empty()) return; + auto str = args.at(0); //Must copy string + if (str.find("reference") != std::string::npos) { + auto strucNode = std::static_pointer_cast(nodeAt(nodeStr)); + auto rOPO = strucNode->rOfO; + auto aAOP = strucNode->aAOf; + auto rOmO = readPosition(args); + auto aAOm = readOrientation(args); + rPmP = aAOP->transposeTimesFullColumn(rOmO->minusFullColumn(rOPO)); + aAPm = aAOP->transposeTimesFullMatrix(aAOm); + } + else if (str.find("offset") != std::string::npos) { + rPmP = readPosition(args); + } + else { + rPmP = readPosition(args); + aAPm = readOrientation(args); + } +} + +void MbD::MBDynMarker::parseMBDynTotalJointMarker(std::vector& args) +{ + parseMBDyn(args); + aAPm2 = readOrientation(args); + assert(aAPm->equaltol(aAPm2, 1.0e-9)); +} + +void MbD::MBDynMarker::parseMBDynClamp(std::vector& args) +{ + //rOmO = rOPO + aAOP*rPmP + //aAOm = aAOP * aAPm + auto rOmO = std::make_shared>(3); + auto aAOm = FullMatrix::identitysptr(3); + auto rOPO = readPosition(args); + auto aAOP = readOrientation(args); + rPmP = aAOP->transposeTimesFullColumn(rOmO->minusFullColumn(rOPO)); + aAPm = aAOP->transposeTimesFullMatrix(aAOm); +} + +void MbD::MBDynMarker::createASMT() +{ + auto asmtAsm = asmtAssembly(); + if (nodeStr == "Assembly") { + auto mkr = std::make_shared(); + asmtItem = mkr; + mkr->setName(asmtAsm->generateUniqueMarkerName()); + mkr->setPosition3D(rPmP); + mkr->setRotationMatrix(aAPm); + asmtAsm->addMarker(mkr); + } + else { + auto asmtPart = asmtAsm->partPartialNamed(nodeStr); + auto mkr = std::make_shared(); + asmtItem = mkr; + mkr->setName(asmtPart->generateUniqueMarkerName()); + mkr->setPosition3D(rPmP); + mkr->setRotationMatrix(aAPm); + asmtPart->addMarker(mkr); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynMarker.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynMarker.h new file mode 100644 index 000000000000..a69e0fc69da2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynMarker.h @@ -0,0 +1,26 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynItem.h" + +namespace MbD { + + class MBDynMarker : public MBDynItem + { + public: + void parseMBDyn(std::vector& args) override; + void parseMBDynTotalJointMarker(std::vector& args); + void parseMBDynClamp(std::vector& args); + void createASMT() override; + + std::string nodeStr; + FColDsptr rPmP; //part to marker + FMatDsptr aAPm, aAPm2; + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynNode.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynNode.cpp new file mode 100644 index 000000000000..f75302d5aa84 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynNode.cpp @@ -0,0 +1,41 @@ +#include "MBDynNode.h" +#include "ASMTPart.h" +#include "EulerAngles.h" + +using namespace MbD; + +void MbD::MBDynNode::initialize() +{ +} + +void MbD::MBDynNode::parseMBDyn(std::vector&) +{ + assert(false); +} + +void MbD::MBDynNode::outputLine(int i, std::ostream& os) +{ + auto id = nodeidAt(name); + auto asmtPart = std::static_pointer_cast(asmtItem); + auto x = asmtPart->xs->at(i); + auto y = asmtPart->ys->at(i); + auto z = asmtPart->zs->at(i); + auto aA = asmtPart->getRotationMatrix(i); + auto vx = asmtPart->vxs->at(i); + auto vy = asmtPart->vys->at(i); + auto vz = asmtPart->vzs->at(i); + auto omex = asmtPart->omexs->at(i); + auto omey = asmtPart->omeys->at(i); + auto omez = asmtPart->omezs->at(i); + os << id << " "; + os << x << " " << y << " " << z << " "; + auto row = aA->at(0); + os << row->at(0) << " " << row->at(1) << " " << row->at(2) << " "; + row = aA->at(1); + os << row->at(0) << " " << row->at(1) << " " << row->at(2) << " "; + row = aA->at(2); + os << row->at(0) << " " << row->at(1) << " " << row->at(2) << " "; + os << vx << " " << vy << " " << vz << " "; + os << omex << " " << omey << " " << omez << " "; + os << std::endl; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynNode.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynNode.h new file mode 100644 index 000000000000..78428204463f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynNode.h @@ -0,0 +1,21 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynItem.h" + +namespace MbD { + class MBDynNode : public MBDynItem + { + public: + void initialize() override; + void parseMBDyn(std::vector& lines) override; + void outputLine(int i, std::ostream& os); + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynPrismaticJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynPrismaticJoint.cpp new file mode 100644 index 000000000000..49371ddfd7c6 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynPrismaticJoint.cpp @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "MBDynPrismaticJoint.h" +#include "ASMTNoRotationJoint.h" + +using namespace MbD; + +void MbD::MBDynPrismaticJoint::parseMBDyn(std::string line) +{ + MBDynJoint::parseMBDyn(line); +} + +void MbD::MBDynPrismaticJoint::createASMT() +{ + MBDynJoint::createASMT(); +} + +std::shared_ptr MbD::MBDynPrismaticJoint::asmtClassNew() +{ + return std::make_shared(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynPrismaticJoint.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynPrismaticJoint.h new file mode 100644 index 000000000000..f770d6970707 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynPrismaticJoint.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynJoint.h" + +namespace MbD { + class ASMTJoint; + + class MBDynPrismaticJoint : public MBDynJoint + { + public: + void parseMBDyn(std::string line) override; + void createASMT() override; + std::shared_ptr asmtClassNew() override; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynReference.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynReference.cpp new file mode 100644 index 000000000000..0162a5d8b323 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynReference.cpp @@ -0,0 +1,66 @@ +#include "MBDynReference.h" +#include "SymbolicParser.h" +#include "BasicUserFunction.h" +#include "EulerAngles.h" + +using namespace MbD; + +void MbD::MBDynReference::initialize() +{ +} + +void MbD::MBDynReference::parseMBDyn(std::string line) +{ + refString = line; + arguments = collectArgumentsFor("reference", line); + std::istringstream iss(arguments.at(0)); + iss >> name; + arguments.erase(arguments.begin()); + + rOfO = readPosition(arguments); + aAOf = readOrientation(arguments); + readVelocity(arguments); + readOmega(arguments); +} + +void MbD::MBDynReference::readVelocity(std::vector& args) +{ + auto parser = std::make_shared(); + parser->variables = mbdynVariables(); + vOfO = std::make_shared>(3); + auto str = args.at(0); //Must copy string + if (str.find("null") != std::string::npos) { + args.erase(args.begin()); + return; + } + else { + for (int i = 0; i < 3; i++) + { + auto userFunc = std::make_shared(popOffTop(args), 1.0); + parser->parseUserFunction(userFunc); + auto sym = parser->stack->top(); + vOfO->at(i) = sym->getValue(); + } + } +} + +void MbD::MBDynReference::readOmega(std::vector& args) +{ + auto parser = std::make_shared(); + parser->variables = mbdynVariables(); + omeOfO = std::make_shared>(3); + auto str = args.at(0); //Must copy string + if (str.find("null") != std::string::npos) { + args.erase(args.begin()); + return; + } + else { + for (int i = 0; i < 3; i++) + { + auto userFunc = std::make_shared(popOffTop(args), 1.0); + parser->parseUserFunction(userFunc); + auto sym = parser->stack->top(); + omeOfO->at(i) = sym->getValue(); + } + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynReference.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynReference.h new file mode 100644 index 000000000000..dfe9f90e6a1f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynReference.h @@ -0,0 +1,26 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynItem.h" + +namespace MbD { + + class MBDynReference : public MBDynItem + { + public: + void initialize() override; + void parseMBDyn(std::string line) override; + void readVelocity(std::vector& args); + void readOmega(std::vector& args); + + std::string refString, name; + FColDsptr rOfO, vOfO, omeOfO; + FMatDsptr aAOf; + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynRevoluteHingeJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynRevoluteHingeJoint.cpp new file mode 100644 index 000000000000..2e23a445609c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynRevoluteHingeJoint.cpp @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "MBDynRevoluteHingeJoint.h" +#include "ASMTRevoluteJoint.h" + +using namespace MbD; + +void MbD::MBDynRevoluteHingeJoint::parseMBDyn(std::string line) +{ + MBDynJoint::parseMBDyn(line); +} + +void MbD::MBDynRevoluteHingeJoint::createASMT() +{ + MBDynJoint::createASMT(); +} + +std::shared_ptr MbD::MBDynRevoluteHingeJoint::asmtClassNew() +{ + return std::make_shared(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynRevoluteHingeJoint.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynRevoluteHingeJoint.h new file mode 100644 index 000000000000..c87e8a601abc --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynRevoluteHingeJoint.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynJoint.h" + +namespace MbD { + class ASMTJoint; + + class MBDynRevoluteHingeJoint : public MBDynJoint + { + public: + void parseMBDyn(std::string line) override; + void createASMT() override; + std::shared_ptr asmtClassNew() override; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynRevolutePinJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynRevolutePinJoint.cpp new file mode 100644 index 000000000000..ee00bb019114 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynRevolutePinJoint.cpp @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "MBDynRevolutePinJoint.h" +#include "ASMTJoint.h" + +using namespace MbD; + +void MbD::MBDynRevolutePinJoint::parseMBDyn(std::string line) +{ + MBDynJoint::parseMBDyn(line); +} + +void MbD::MBDynRevolutePinJoint::createASMT() +{ + MBDynJoint::createASMT(); +} + +std::shared_ptr MbD::MBDynRevolutePinJoint::asmtClassNew() +{ + assert(false); + return std::make_shared(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynRevolutePinJoint.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynRevolutePinJoint.h new file mode 100644 index 000000000000..471cafdfae7d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynRevolutePinJoint.h @@ -0,0 +1,26 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynJoint.h" + +namespace MbD { + class ASMTJoint; + + class MBDynRevolutePinJoint : public MBDynJoint + { + //Note: this is equivalent to a revolute hinge (see Section 8.12.38) when one node is grounded. + + public: + void parseMBDyn(std::string line) override; + void createASMT() override; + std::shared_ptr asmtClassNew() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynSphericalHingeJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynSphericalHingeJoint.cpp new file mode 100644 index 000000000000..6fc1973c7b01 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynSphericalHingeJoint.cpp @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "MBDynSphericalHingeJoint.h" +#include "ASMTSphericalJoint.h" + +using namespace MbD; + +void MbD::MBDynSphericalHingeJoint::parseMBDyn(std::string line) +{ + MBDynJoint::parseMBDyn(line); +} + +void MbD::MBDynSphericalHingeJoint::createASMT() +{ + MBDynJoint::createASMT(); +} + +std::shared_ptr MbD::MBDynSphericalHingeJoint::asmtClassNew() +{ + return std::make_shared(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynSphericalHingeJoint.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynSphericalHingeJoint.h new file mode 100644 index 000000000000..d342b3017fa7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynSphericalHingeJoint.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynJoint.h" + +namespace MbD { + class ASMTJoint; + + class MBDynSphericalHingeJoint : public MBDynJoint + { + public: + void parseMBDyn(std::string line) override; + void createASMT() override; + std::shared_ptr asmtClassNew() override; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynStructural.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynStructural.cpp new file mode 100644 index 000000000000..c1c8a942b9ff --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynStructural.cpp @@ -0,0 +1,89 @@ +#include "MBDynStructural.h" +#include "SymbolicParser.h" +#include "BasicUserFunction.h" +#include "EulerAngles.h" +#include "Constant.h" +#include "MBDynReference.h" +#include "ASMTPart.h" +#include "ASMTAssembly.h" + +using namespace MbD; + +MbD::MBDynStructural::MBDynStructural() +{ + rOfO = std::make_shared>(3); + aAOf = FullMatrix::identitysptr(3); + vOfO = std::make_shared>(3); + omeOfO = std::make_shared>(3); +} + +void MbD::MBDynStructural::parseMBDyn(std::string line) +{ + strucString = line; + arguments = collectArgumentsFor("structural", line); + std::istringstream iss(arguments.at(0)); + iss >> name; + arguments.erase(arguments.begin()); + iss = std::istringstream(arguments.at(0)); + iss >> type; + arguments.erase(arguments.begin()); + + rOfO = readPosition(arguments); + aAOf = readOrientation(arguments); + readVelocity(arguments); + readOmega(arguments); +} + +void MbD::MBDynStructural::readVelocity(std::vector& args) +{ + auto parser = std::make_shared(); + parser->variables = mbdynVariables(); + vOfO = std::make_shared>(3); + auto str = args.at(0); //Must copy string + if (str.find("null") != std::string::npos) { + args.erase(args.begin()); + return; + } + else { + for (int i = 0; i < 3; i++) + { + auto userFunc = std::make_shared(popOffTop(args), 1.0); + parser->parseUserFunction(userFunc); + auto sym = parser->stack->top(); + vOfO->at(i) = sym->getValue(); + } + } +} + +void MbD::MBDynStructural::readOmega(std::vector& args) +{ + auto parser = std::make_shared(); + parser->variables = mbdynVariables(); + omeOfO = std::make_shared>(3); + auto str = args.at(0); //Must copy string + if (str.find("null") != std::string::npos) { + args.erase(args.begin()); + return; + } + else { + for (int i = 0; i < 3; i++) + { + auto userFunc = std::make_shared(popOffTop(args), 1.0); + parser->parseUserFunction(userFunc); + auto sym = parser->stack->top(); + omeOfO->at(i) = sym->getValue(); + } + } +} + +void MbD::MBDynStructural::createASMT() +{ + auto asmtPart = std::make_shared(); + asmtItem = asmtPart; + asmtPart->setName(name); + asmtPart->setPosition3D(rOfO); + asmtPart->setRotationMatrix(aAOf); + asmtPart->setVelocity3D(vOfO); + asmtPart->setOmega3D(omeOfO); + asmtAssembly()->addPart(asmtPart); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynStructural.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynStructural.h new file mode 100644 index 000000000000..542cd5bf5486 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynStructural.h @@ -0,0 +1,26 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynNode.h" + +namespace MbD { + class MBDynStructural : public MBDynNode + { + public: + MBDynStructural(); + void parseMBDyn(std::string line) override; + void readVelocity(std::vector& args); + void readOmega(std::vector& args); + void createASMT() override; + + std::string strucString, type; + FColDsptr rOfO, vOfO, omeOfO; + FMatDsptr aAOf; + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynSystem.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynSystem.cpp new file mode 100644 index 000000000000..ec20d9cde896 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynSystem.cpp @@ -0,0 +1,452 @@ +#include +#include +#include +#include +#include +#include + +#include "MBDynSystem.h" +#include "CREATE.h" +#include "FullColumn.h" +#include "MBDynInitialValue.h" +#include "MBDynData.h" +#include "MBDynControlData.h" +#include "ASMTAssembly.h" +#include "ASMTConstantGravity.h" +#include "ASMTTime.h" +#include "MBDynBody.h" +#include "MBDynJoint.h" +#include "MBDynStructural.h" +#include "SymbolicParser.h" +#include "BasicUserFunction.h" +#include "MBDynReference.h" +#include "MBDynDrive.h" +#include "MBDynGravity.h" + +using namespace MbD; + +void MbD::MBDynSystem::runFile(const char* filename) +{ + std::ifstream stream(filename); + std::string line; + std::vector lines; + while (std::getline(stream, line)) { + lines.push_back(line); + } + eraseComments(lines); + auto statements = collectStatements(lines); + + auto system = std::make_shared(); + system->setFilename(filename); + system->parseMBDyn(statements); + system->runKINEMATIC(); +} + +void MbD::MBDynSystem::parseMBDyn(std::vector& lines) +{ + readDataBlock(lines); + readInitialValueBlock(lines); + readControlDataBlock(lines); + readLabels(lines); + readVariables(lines); + readReferences(lines); + readNodesBlock(lines); + readElementsBlock(lines); + assert(lines.empty()); +} + +std::shared_ptr>> MbD::MBDynSystem::mbdynNodes() +{ + return nodes; +} + +std::shared_ptr>> MbD::MBDynSystem::mbdynBodies() +{ + return bodies; +} + +std::shared_ptr>> MbD::MBDynSystem::mbdynJoints() +{ + return joints; +} + +std::shared_ptr>> MbD::MBDynSystem::mbdynDrives() +{ + return drives; +} + +std::shared_ptr> MbD::MBDynSystem::mbdynVariables() +{ + return variables; +} + +std::shared_ptr>> MbD::MBDynSystem::mbdynReferences() +{ + return references; +} + +void MbD::MBDynSystem::createASMT() +{ + auto asmtAsm = std::make_shared(); + asmtAsm->mbdynItem = this; + asmtItem = asmtAsm; + asmtItem->setName("Assembly"); + initialValue->createASMT(); + for (auto& node : *nodes) node->createASMT(); + for (auto& body : *bodies) body->createASMT(); + for (auto& joint : *joints) joint->createASMT(); + if (gravity) gravity->createASMT(); +} + +std::shared_ptr MbD::MBDynSystem::nodeAt(std::string nodeName) +{ + for (auto& node : *nodes) { + if (node->name == nodeName) return node; + } + return nullptr; +} + +int MbD::MBDynSystem::nodeidAt(std::string nodeName) +{ + return labels->at(nodeName); +} + +std::shared_ptr MbD::MBDynSystem::bodyWithNode(std::string nodeName) +{ + for (auto& body : *bodies) { + if (body->nodeName == nodeName) return body; + } + return nullptr; +} + +std::shared_ptr MbD::MBDynSystem::asmtAssembly() +{ + return std::static_pointer_cast(asmtItem); +} + +std::vector MbD::MBDynSystem::nodeNames() +{ + auto nodeNames = std::vector(); + for (auto& node : *nodes) { + nodeNames.push_back(node->name); + } + return nodeNames; +} + +void MbD::MBDynSystem::runKINEMATIC() +{ + createASMT(); + auto debugFile1 = filename.substr(0, filename.find_last_of('.')) + "debug1.asmt"; + asmtAssembly()->outputFile(debugFile1); + std::static_pointer_cast(asmtItem)->runKINEMATIC(); + outputFiles(); + auto debugFile2 = filename.substr(0, filename.find_last_of('.')) + "debug2.asmt"; + asmtAssembly()->outputFile(debugFile2); +} + +void MbD::MBDynSystem::outputFiles() +{ + auto movFile = filename.substr(0, filename.find_last_of('.')) + ".mov"; + auto asmtAsm = asmtAssembly(); + auto& asmtTimes = asmtAsm->times; + //auto& asmtParts = asmtAsm->parts; + //auto& asmtJoints = asmtAsm->joints; + //auto& asmtMotions = asmtAsm->motions; + std::ofstream os(movFile); + os << std::setprecision(static_cast(std::numeric_limits::digits10) + 1); + for (int i = 1; i < (int)asmtTimes->size(); i++) + { + for (auto& node : *nodes) { + node->outputLine(i, os); + } + } + os.close(); +} + +void MbD::MBDynSystem::setFilename(std::string str) +{ + std::stringstream ss; + ss << "FileName = " << str << std::endl; + auto str2 = ss.str(); + logString(str2); + filename = str; +} + +void MbD::MBDynSystem::readDataBlock(std::vector& lines) +{ + std::vector tokens{ "begin:", "data" }; + auto beginit = findLineWith(lines, tokens); + std::vector tokens1{ "end:", "data" }; + auto endit = findLineWith(lines, tokens1); + std::vector blocklines = { beginit, endit + 1 }; + parseMBDynData(blocklines); + lines.erase(beginit, endit + 1); +} + +void MbD::MBDynSystem::readInitialValueBlock(std::vector& lines) +{ + std::vector tokens{ "begin:", "initial", "value" }; + auto beginit = findLineWith(lines, tokens); + std::vector tokens1{ "end:", "initial", "value" }; + auto endit = findLineWith(lines, tokens1); + std::vector blocklines = { beginit, endit + 1 }; + initialValue = std::make_shared(); + initialValue->owner = this; + initialValue->parseMBDyn(blocklines); + lines.erase(beginit, endit + 1); +} + +void MbD::MBDynSystem::readControlDataBlock(std::vector& lines) +{ + std::vector tokens{ "begin:", "control", "data" }; + auto beginit = findLineWith(lines, tokens); + std::vector tokens1{ "end:", "control", "data" }; + auto endit = findLineWith(lines, tokens1); + std::vector blocklines = { beginit, endit + 1 }; + controlData = std::make_shared(); + controlData->owner = this; + controlData->parseMBDyn(blocklines); + lines.erase(beginit, endit + 1); +} + +void MbD::MBDynSystem::readLabels(std::vector& lines) +{ + parseMBDynLabels(lines); +} + +void MbD::MBDynSystem::readVariables(std::vector& lines) +{ + parseMBDynVariables(lines); +} + +void MbD::MBDynSystem::readReferences(std::vector& lines) +{ + parseMBDynReferences(lines); +} + +void MbD::MBDynSystem::readNodesBlock(std::vector& lines) +{ + std::vector tokens{ "begin:", "nodes" }; + auto beginit = findLineWith(lines, tokens); + std::vector tokens1{ "end:", "nodes" }; + auto endit = findLineWith(lines, tokens1); + std::vector blocklines = { beginit, endit + 1 }; + parseMBDynNodes(blocklines); + lines.erase(beginit, endit + 1); +} + +void MbD::MBDynSystem::readElementsBlock(std::vector& lines) +{ + std::vector tokens{ "begin:", "elements" }; + auto beginit = findLineWith(lines, tokens); + std::vector tokens1{ "end:", "elements" }; + auto endit = findLineWith(lines, tokens1); + std::vector blocklines = { beginit, endit + 1 }; + parseMBDynElements(blocklines); + lines.erase(beginit, endit + 1); +} + +void MbD::MBDynSystem::eraseComments(std::vector& lines) +{ + for (int i = 0; i < (int)lines.size(); i++) + { + auto& line = lines[i]; + auto it = line.find('#'); + if (it != std::string::npos) { + lines[i] = line.substr(0, it); + } + } + for (int i = (int)lines.size() - 1; i >= 0; i--) { + auto& line = lines[i]; + auto it = std::find_if(line.begin(), line.end(), [](unsigned char ch) { return !std::isspace(ch); }); + if (it == line.end()) lines.erase(lines.begin() + i); + } +} + +std::vector MbD::MBDynSystem::collectStatements(std::vector& lines) +{ + auto statements = std::vector(); + while (!lines.empty()) { + std::stringstream ss; + while (!lines.empty()) { + std::string line = lines[0]; //Must copy string + lines.erase(lines.begin()); + auto i = line.find(';'); + if (i != std::string::npos) { + ss << line.substr(0, i); + if (line.size() > i + 1) { + auto remainder = line.substr(i + 1); + auto it = std::find_if(remainder.begin(), remainder.end(), [](unsigned char ch) { return !std::isspace(ch); }); + if (it != remainder.end()) lines.insert(lines.begin(), remainder); + } + break; + } + else { + ss << line; + } + } + statements.push_back(ss.str()); + } + return statements; +} + +void MbD::MBDynSystem::initialize() +{ +} + +void MbD::MBDynSystem::parseMBDynData(std::vector& lines) +{ + assert(lines.size() == 3); + std::vector tokens{ "problem:", "initial", "value" }; + auto problemit = findLineWith(lines, tokens); + assert(problemit != lines.end()); + data = *problemit; +} + +void MbD::MBDynSystem::parseMBDynNodes(std::vector& lines) +{ + nodes = std::make_shared>>(); + std::vector tokens{ "structural:" }; + while (true) { + auto it = findLineWith(lines, tokens); + if (it != lines.end()) { + auto structural = std::make_shared(); + structural->owner = this; + structural->parseMBDyn(*it); + nodes->push_back(structural); + lines.erase(it); + } + else { + break; + } + } +} + +void MbD::MBDynSystem::parseMBDynElements(std::vector& lines) +{ + assert(lines[0].find("begin: elements") != std::string::npos); + lines.erase(lines.begin()); + bodies = std::make_shared>>(); + joints = std::make_shared>>(); + drives = std::make_shared>>(); + std::vector bodyTokens{ "body:" }; + std::vector jointTokens{ "joint:" }; + std::vector driveTokens{ "drive", "caller:" }; + std::vector gravityTokens{ "gravity" }; + std::vector::iterator it; + while (true) { + it = findLineWith(lines, bodyTokens); + if (it != lines.end()) { + auto body = std::make_shared(); + body->owner = this; + body->parseMBDyn(*it); + bodies->push_back(body); + lines.erase(it); + continue; + } + it = findLineWith(lines, jointTokens); + if (it != lines.end()) { + //auto joint = std::make_shared(); + auto joint = MBDynJoint::newJoint(*it); + joint->owner = this; + joint->parseMBDyn(*it); + joints->push_back(joint); + lines.erase(it); + continue; + } + it = findLineWith(lines, driveTokens); + if (it != lines.end()) { + auto drive = std::make_shared(); + drive->owner = this; + drive->parseMBDyn(*it); + drives->push_back(drive); + lines.erase(it); + continue; + } + it = findLineWith(lines, gravityTokens); + if (it != lines.end()) { + auto grav = std::make_shared(); + grav->owner = this; + grav->parseMBDyn(*it); + gravity = grav; + lines.erase(it); + continue; + } + break; + } + assert(lines[0].find("end: elements") != std::string::npos); + lines.erase(lines.begin()); +} + +void MbD::MBDynSystem::parseMBDynVariables(std::vector& lines) +{ + variables = std::make_shared>(); + std::string str, variable; + std::vector tokens{ "set:", "real" }; + while (true) { + auto it = findLineWith(lines, tokens); + if (it != lines.end()) { + std::istringstream iss(*it); + iss >> str; + iss >> str; + iss >> variable; + iss >> str; + iss >> str; + auto parser = std::make_shared(); + parser->variables = variables; + auto userFunc = std::make_shared(str, 1.0); + parser->parseUserFunction(userFunc); + auto& sym = parser->stack->top(); + //auto val = sym->getValue(); + variables->insert(std::make_pair(variable, sym)); + lines.erase(it); + } + else { + break; + } + } +} + +void MbD::MBDynSystem::parseMBDynLabels(std::vector& lines) +{ + labels = std::make_shared>(); + std::string str, label; + int intValue; + std::vector tokens{ "set:", "integer" }; + while (true) { + auto it = findLineWith(lines, tokens); + if (it != lines.end()) { + std::istringstream iss(*it); + iss >> str; + iss >> str; + iss >> label; + iss >> str; + iss >> intValue; + labels->insert(std::make_pair(label, intValue)); + lines.erase(it); + } + else { + break; + } + } +} + +void MbD::MBDynSystem::parseMBDynReferences(std::vector& lines) +{ + references = std::make_shared>>(); + std::string str, refName; + std::vector tokens{ "reference:" }; + while (true) { + auto it = findLineWith(lines, tokens); + if (it != lines.end()) { + auto reference = std::make_shared(); + reference->owner = this; + reference->parseMBDyn(*it); + references->insert(std::make_pair(reference->name, reference)); + lines.erase(it); + } + else { + break; + } + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynSystem.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynSystem.h new file mode 100644 index 000000000000..f407556e7bd3 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynSystem.h @@ -0,0 +1,79 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include +#include + +#include "MBDynItem.h" + +namespace MbD { + class MBDynData; + class MBDynInitialValue; + class MBDynControlData; + class MBDynNode; + class MBDynElement; + class MBDynLabel; + class MBDynReference; + class MBDynDrive; + class MBDynGravity; + + class MBDynSystem : public MBDynItem + { + public: + static void runFile(const char* chars); + static void eraseComments(std::vector& lines); + static std::vector collectStatements(std::vector& lines); + void initialize() override; + void parseMBDyn(std::vector& lines) override; + void parseMBDynData(std::vector& lines); + void parseMBDynNodes(std::vector& lines); + void parseMBDynElements(std::vector& lines); + void parseMBDynVariables(std::vector& lines); + void parseMBDynLabels(std::vector& lines); + void parseMBDynReferences(std::vector& lines); + std::shared_ptr>> mbdynNodes() override; + std::shared_ptr>> mbdynBodies() override; + std::shared_ptr>> mbdynJoints() override; + std::shared_ptr>> mbdynDrives() override; + std::shared_ptr> mbdynVariables() override; + std::shared_ptr>> mbdynReferences() override; + void createASMT() override; + std::shared_ptr nodeAt(std::string nodeName) override; + int nodeidAt(std::string nodeName) override; + std::shared_ptr bodyWithNode(std::string nodeName) override; + std::shared_ptr asmtAssembly() override; + std::vector nodeNames() override; + + void runKINEMATIC(); + void outputFiles(); + void setFilename(std::string filename); + void readDataBlock(std::vector& lines); + void readInitialValueBlock(std::vector& lines); + void readControlDataBlock(std::vector& lines); + void readLabels(std::vector& lines); + void readVariables(std::vector& lines); + void readReferences(std::vector& lines); + void readNodesBlock(std::vector& lines); + void readElementsBlock(std::vector& lines); + + std::string filename = ""; + std::string data; + std::shared_ptr initialValue; + std::shared_ptr controlData; + std::shared_ptr>> nodes; + std::shared_ptr>> bodies; + std::shared_ptr>> joints; + std::shared_ptr>> drives; + std::shared_ptr gravity; + std::shared_ptr> variables; + std::shared_ptr> labels; + std::shared_ptr>> references; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynTotalJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/MBDynTotalJoint.cpp new file mode 100644 index 000000000000..2b8884fb680c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynTotalJoint.cpp @@ -0,0 +1,123 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "MBDynTotalJoint.h" +#include "ASMTAssembly.h" +#include "ASMTJoint.h" +#include "ASMTGeneralMotion.h" + +using namespace MbD; + +void MbD::MBDynTotalJoint::parseMBDyn(std::string statement) +{ + MBDynJoint::parseMBDyn(statement); + readPositionConstraints(arguments); + readOrientationConstraints(arguments); + return; +} + +void MbD::MBDynTotalJoint::readMarkerI(std::vector& args) +{ + mkr1 = std::make_shared(); + mkr1->owner = this; + mkr1->nodeStr = readStringOffTop(args); + auto _nodeNames = nodeNames(); + std::string nodeName; + auto it = std::find_if(args.begin(), args.end(), [&](const std::string& s) { + auto iss = std::istringstream(s); + iss >> nodeName; + if (std::find(_nodeNames.begin(), _nodeNames.end(), nodeName) != _nodeNames.end()) return true; + return false; + }); + auto markerArgs = std::vector(args.begin(), it); + args.erase(args.begin(), it); + mkr1->parseMBDynTotalJointMarker(markerArgs); +} + +void MbD::MBDynTotalJoint::readMarkerJ(std::vector& args) +{ + if (args.empty()) return; + mkr2 = std::make_shared(); + mkr2->owner = this; + mkr2->nodeStr = readStringOffTop(args); + mkr2->parseMBDynTotalJointMarker(args); +} + +void MbD::MBDynTotalJoint::readPositionConstraints(std::vector& args) +{ + std::vector tokens{ "position", "constraint" }; + assert(lineHasTokens(popOffTop(args), tokens)); + positionConstraints = std::vector(); + positionConstraints.push_back(readStringOffTop(args)); + positionConstraints.push_back(readStringOffTop(args)); + positionConstraints.push_back(readStringOffTop(args)); + readPositionFormulas(args); +} + +void MbD::MBDynTotalJoint::readOrientationConstraints(std::vector& args) +{ + std::vector tokens{ "orientation", "constraint" }; + assert(lineHasTokens(popOffTop(args), tokens)); + orientationConstraints = std::vector(); + orientationConstraints.push_back(readStringOffTop(args)); + orientationConstraints.push_back(readStringOffTop(args)); + orientationConstraints.push_back(readStringOffTop(args)); + readOrientationFormulas(args); +} + +void MbD::MBDynTotalJoint::readPositionFormulas(std::vector& args) +{ + std::string str = readStringOffTop(args); + if (str == "null") return; + assert(false); +} + +void MbD::MBDynTotalJoint::readOrientationFormulas(std::vector& args) +{ + std::string str = readStringOffTop(args); + if (str == "null") { return; } + else if (str == "single") { + auto vec3 = readVector3(args); + assert(vec3->at(0) == 0 && vec3->at(1) == 0 && vec3->at(2) == 1); + assert(readStringOffTop(args) == "string"); + formula = popOffTop(args); + formula = std::regex_replace(formula, std::regex("\""), ""); + orientationFormulas = std::vector(); + for (auto& status : orientationConstraints) { + if (status == "active") { + orientationFormulas.push_back(""); + } + else if (status == "rotation") { + orientationFormulas.push_back(formula); + } + else { assert(false); } + } + return; + } + assert(false); +} + +void MbD::MBDynTotalJoint::createASMT() +{ + mkr1->createASMT(); + if (mkr2) mkr2->createASMT(); + auto asmtAsm = asmtAssembly(); + auto asmtMotion = std::make_shared(); + asmtItem = asmtMotion; + asmtMotion->setName(name); + asmtMotion->setMarkerI(mkr1->asmtItem->fullName("")); + asmtMotion->setMarkerJ(mkr2->asmtItem->fullName("")); + asmtAsm->addMotion(asmtMotion); + for (int i = 0; i < 3; i++) + { + asmtMotion->rIJI->atiput(i, asmtFormula(positionFormulas.at(i))); + asmtMotion->angIJJ->atiput(i, asmtFormula(orientationFormulas.at(i))); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MBDynTotalJoint.h b/src/3rdParty/OndselSolver/OndselSolver/MBDynTotalJoint.h new file mode 100644 index 000000000000..413e6b42a04a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MBDynTotalJoint.h @@ -0,0 +1,30 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include "MBDynJoint.h" + +namespace MbD { + class MBDynTotalJoint : public MBDynJoint + { + public: + void parseMBDyn(std::string line) override; + void readMarkerI(std::vector& args) override; + void readMarkerJ(std::vector& args) override; + void readPositionConstraints(std::vector& args); + void readOrientationConstraints(std::vector& args); + void readPositionFormulas(std::vector& args); + void readOrientationFormulas(std::vector& args); + void createASMT() override; + + std::vector positionConstraints = std::vector(3); + std::vector orientationConstraints = std::vector(3); + std::vector positionFormulas = std::vector(3); + std::vector orientationFormulas = std::vector(3); + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MarkerFrame.cpp b/src/3rdParty/OndselSolver/OndselSolver/MarkerFrame.cpp new file mode 100644 index 000000000000..ac205280550d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MarkerFrame.cpp @@ -0,0 +1,254 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "PartFrame.h" +#include "MarkerFrame.h" +#include "EndFramec.h" +#include "EndFrameqc.h" +#include "EulerParameters.h" +#include "CREATE.h" + +using namespace MbD; + +MarkerFrame::MarkerFrame() +{ +} + +MarkerFrame::MarkerFrame(const char* str) : CartesianFrame(str) { +} + +System* MarkerFrame::root() +{ + return partFrame->root(); +} + +void MarkerFrame::initialize() +{ + prOmOpE = std::make_shared>(3, 4); + pAOmpE = std::make_shared>(4); + endFrames = std::make_shared>(); + auto endFrm = CREATE::With(); + this->addEndFrame(endFrm); +} + +void MarkerFrame::initializeLocally() +{ + pprOmOpEpE = EulerParameters::ppApEpEtimesColumn(rpmp); + ppAOmpEpE = EulerParameters::ppApEpEtimesMatrix(aApm); + for (int i = 0; i < (int)endFrames->size(); i++) + { + auto eFrmqc = std::dynamic_pointer_cast(endFrames->at(i)); + if (eFrmqc) { + if (eFrmqc->endFrameqct) { + endFrames->at(i) = eFrmqc->endFrameqct; + } + } + } + endFramesDo([](EndFrmsptr endFrame) { endFrame->initializeLocally(); }); +} + +void MarkerFrame::initializeGlobally() +{ + endFramesDo([](EndFrmsptr endFrame) { endFrame->initializeGlobally(); }); +} + +void MarkerFrame::postInput() +{ + CartesianFrame::postInput(); + endFramesDo([](EndFrmsptr endFrame) { endFrame->postInput(); }); +} + +void MarkerFrame::calcPostDynCorrectorIteration() +{ + auto rOpO = partFrame->rOpO(); + auto aAOp = partFrame->aAOp(); + rOmO = rOpO->plusFullColumn(aAOp->timesFullColumn(rpmp)); + aAOm = aAOp->timesFullMatrix(aApm); + auto pAOppE = partFrame->pAOppE(); + for (int i = 0; i < 4; i++) + { + auto& pAOppEi = pAOppE->at(i); + prOmOpE->atijputFullColumn(0, i, pAOppEi->timesFullColumn(rpmp)); + pAOmpE->at(i) = pAOppEi->timesFullMatrix(aApm); + } +} + +void MarkerFrame::prePosIC() +{ + CartesianFrame::prePosIC(); + endFramesDo([](EndFrmsptr endFrame) { endFrame->prePosIC(); }); +} + +int MarkerFrame::iqX() +{ + return partFrame->iqX; +} + +int MarkerFrame::iqE() +{ + return partFrame->iqE; +} + +void MarkerFrame::endFramesDo(const std::function& f) +{ + std::for_each(endFrames->begin(), endFrames->end(), f); +} + +void MarkerFrame::fillqsu(FColDsptr col) +{ + endFramesDo([&](const EndFrmsptr& endFrame) { endFrame->fillqsu(col); }); +} + +void MarkerFrame::fillqsuWeights(DiagMatDsptr diagMat) +{ + endFramesDo([&](const EndFrmsptr& endFrame) { endFrame->fillqsuWeights(diagMat); }); +} + +void MbD::MarkerFrame::fillqsuddotlam(FColDsptr col) +{ + endFramesDo([&](const EndFrmsptr& endFrame) { endFrame->fillqsuddotlam(col); }); +} + +void MarkerFrame::fillqsulam(FColDsptr col) +{ + endFramesDo([&](const EndFrmsptr& endFrame) { endFrame->fillqsulam(col); }); +} + +void MarkerFrame::fillqsudot(FColDsptr col) +{ + endFramesDo([&](const EndFrmsptr& endFrame) { endFrame->fillqsudot(col); }); +} + +void MarkerFrame::fillqsudotWeights(DiagMatDsptr diagMat) +{ + endFramesDo([&](const EndFrmsptr& endFrame) { endFrame->fillqsudotWeights(diagMat); }); +} + +void MarkerFrame::setqsu(FColDsptr col) +{ + endFramesDo([&](const EndFrmsptr& endFrame) { endFrame->setqsu(col); }); +} + +void MarkerFrame::setqsulam(FColDsptr col) +{ + endFramesDo([&](const EndFrmsptr& endFrame) { endFrame->setqsulam(col); }); +} + +void MarkerFrame::setqsudot(FColDsptr col) +{ + endFramesDo([&](const EndFrmsptr& endFrame) { endFrame->setqsudot(col); }); +} + +void MarkerFrame::setqsudotlam(FColDsptr col) +{ + endFramesDo([&](const EndFrmsptr& endFrame) { endFrame->setqsudotlam(col); }); +} + +void MarkerFrame::postPosICIteration() +{ + CartesianFrame::postPosICIteration(); + endFramesDo([](EndFrmsptr endFrame) { endFrame->postPosICIteration(); }); +} + +void MarkerFrame::postPosIC() +{ + endFramesDo([](EndFrmsptr endFrame) { endFrame->postPosIC(); }); +} + +void MarkerFrame::preDyn() +{ + endFramesDo([](EndFrmsptr endFrame) { endFrame->preDyn(); }); +} + +void MarkerFrame::storeDynState() +{ + endFramesDo([](EndFrmsptr endFrame) { endFrame->storeDynState(); }); +} + +void MarkerFrame::preVelIC() +{ + CartesianFrame::preVelIC(); + endFramesDo([](EndFrmsptr endFrame) { endFrame->preVelIC(); }); +} + +void MarkerFrame::postVelIC() +{ + endFramesDo([](EndFrmsptr endFrame) { endFrame->postVelIC(); }); +} + +void MarkerFrame::preAccIC() +{ + CartesianFrame::preAccIC(); + endFramesDo([](EndFrmsptr endFrame) { endFrame->preAccIC(); }); +} + +FColDsptr MarkerFrame::qXdot() +{ + return partFrame->qXdot; +} + +std::shared_ptr> MarkerFrame::qEdot() +{ + return partFrame->qEdot; +} + +FColDsptr MarkerFrame::qXddot() +{ + return partFrame->qXddot; +} + +FColDsptr MarkerFrame::qEddot() +{ + return partFrame->qEddot; +} + +void MarkerFrame::setqsuddotlam(FColDsptr col) +{ + endFramesDo([&](const EndFrmsptr& endFrame) { endFrame->setqsuddotlam(col); }); +} + +FColFMatDsptr MarkerFrame::pAOppE() +{ + return partFrame->pAOppE(); +} + +FMatDsptr MarkerFrame::aBOp() +{ + return partFrame->aBOp(); +} + +void MarkerFrame::postDynStep() +{ + endFramesDo([](EndFrmsptr endFrame) { endFrame->postDynStep(); }); +} + +void MarkerFrame::setPartFrame(PartFrame* partFrm) +{ + partFrame = partFrm; +} + +PartFrame* MarkerFrame::getPartFrame() { + return partFrame; +} + +void MarkerFrame::setrpmp(FColDsptr x) +{ + rpmp->copyFrom(x); +} + +void MarkerFrame::setaApm(FMatDsptr mat) +{ + aApm->copyFrom(mat); +} +void MarkerFrame::addEndFrame(EndFrmsptr endFrm) +{ + endFrm->setMarkerFrame(this); + endFrames->push_back(endFrm); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MarkerFrame.h b/src/3rdParty/OndselSolver/OndselSolver/MarkerFrame.h new file mode 100644 index 000000000000..5ee8ceaa38e7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MarkerFrame.h @@ -0,0 +1,86 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include + +#include "CartesianFrame.h" +#include "FullColumn.h" +#include "FullMatrix.h" +#include "EulerParametersDot.h" +#include "EulerParametersDDot.h" + +namespace MbD { + class CartesianFrame; + class PartFrame; + class EndFramec; + using EndFrmsptr = std::shared_ptr; + + class MarkerFrame : public CartesianFrame + { + //partFrame rpmp aApm rOmO aAOm prOmOpE pAOmpE pprOmOpEpE ppAOmpEpE endFrames + public: + MarkerFrame(); + MarkerFrame(const char* str); + System* root() override; + void initialize() override; + void setPartFrame(PartFrame* partFrm); + PartFrame* getPartFrame(); + void setrpmp(FColDsptr x); + void setaApm(FMatDsptr mat); + void addEndFrame(EndFrmsptr x); + void initializeLocally() override; + void initializeGlobally() override; + void calcPostDynCorrectorIteration() override; + int iqX(); + int iqE(); + void endFramesDo(const std::function & f); + void fillqsu(FColDsptr col) override; + void fillqsuWeights(DiagMatDsptr diagMat) override; + void fillqsuddotlam(FColDsptr col) override; + void fillqsulam(FColDsptr col) override; + void fillqsudot(FColDsptr col) override; + void fillqsudotWeights(DiagMatDsptr diagMat) override; + void setqsu(FColDsptr col) override; + void setqsulam(FColDsptr col) override; + void setqsudot(FColDsptr col) override; + void setqsudotlam(FColDsptr col) override; + void setqsuddotlam(FColDsptr col) override; + void storeDynState() override; + void postInput() override; + void postPosICIteration() override; + void postVelIC() override; + void postPosIC() override; + void preDyn() override; + void prePosIC() override; + void preVelIC() override; + void preAccIC() override; + FColDsptr qXdot(); + std::shared_ptr> qEdot(); + FColDsptr qXddot(); + FColDsptr qEddot(); + FColFMatDsptr pAOppE(); + FMatDsptr aBOp(); + void postDynStep() override; + + PartFrame* partFrame; //Use raw pointer when pointing backwards. + FColDsptr rpmp = std::make_shared>(3); + FMatDsptr aApm = FullMatrix::identitysptr(3); + FColDsptr rOmO = std::make_shared>(3); + FMatDsptr aAOm = FullMatrix::identitysptr(3); + FMatDsptr prOmOpE; + FColFMatDsptr pAOmpE; + FMatFColDsptr pprOmOpEpE; + FMatFMatDsptr ppAOmpEpE; + std::shared_ptr> endFrames; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/MatrixDecomposition.cpp b/src/3rdParty/OndselSolver/OndselSolver/MatrixDecomposition.cpp new file mode 100644 index 000000000000..66957943305a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MatrixDecomposition.cpp @@ -0,0 +1,58 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "MatrixDecomposition.h" + +using namespace MbD; + +FColDsptr MbD::MatrixDecomposition::forAndBackSubsaveOriginal(FColDsptr, bool) +{ + assert(false); + return FColDsptr(); +} + +void MatrixDecomposition::applyRowOrderOnRightHandSideB() +{ + FColDsptr answer = std::make_shared>(m); + for (int i = 0; i < m; i++) + { + answer->at(i) = rightHandSideB->at(rowOrder->at(i)); + } + rightHandSideB = answer; +} + +FColDsptr MbD::MatrixDecomposition::basicSolvewithsaveOriginal(FMatDsptr, FColDsptr, bool) +{ + assert(false); + return FColDsptr(); +} + +void MbD::MatrixDecomposition::forwardSubstituteIntoL() +{ + assert(false); +} + +void MbD::MatrixDecomposition::backSubstituteIntoU() +{ + assert(false); +} + +void MbD::MatrixDecomposition::forwardSubstituteIntoLD() +{ + assert(false); +} + +void MbD::MatrixDecomposition::postSolve() +{ + assert(false); +} + +void MbD::MatrixDecomposition::preSolvesaveOriginal(FMatDsptr, bool) +{ + assert(false); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MatrixDecomposition.h b/src/3rdParty/OndselSolver/OndselSolver/MatrixDecomposition.h new file mode 100644 index 000000000000..e63868e75c01 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MatrixDecomposition.h @@ -0,0 +1,29 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "MatrixSolver.h" + +namespace MbD { + class MatrixDecomposition : public MatrixSolver + { + // + public: + virtual FColDsptr forAndBackSubsaveOriginal(FColDsptr fullCol, bool saveOriginal); + virtual void applyRowOrderOnRightHandSideB(); + virtual void forwardSubstituteIntoL(); + virtual void backSubstituteIntoU(); + virtual FColDsptr basicSolvewithsaveOriginal(FMatDsptr aMatrix, FColDsptr aVector, bool saveOriginal); + virtual void forwardSubstituteIntoLD(); + virtual void postSolve(); + virtual void preSolvesaveOriginal(FMatDsptr aMatrix, bool saveOriginal); + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/MatrixGaussElimination.cpp b/src/3rdParty/OndselSolver/OndselSolver/MatrixGaussElimination.cpp new file mode 100644 index 000000000000..9f812ab0b41e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MatrixGaussElimination.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "MatrixGaussElimination.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/MatrixGaussElimination.h b/src/3rdParty/OndselSolver/OndselSolver/MatrixGaussElimination.h new file mode 100644 index 000000000000..1e15d379796a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MatrixGaussElimination.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "MatrixSolver.h" +#include "SparseMatrix.h" + +namespace MbD { + class MatrixGaussElimination : public MatrixSolver + { + // + public: + virtual void forwardEliminateWithPivot(int p) = 0; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/MatrixLDU.cpp b/src/3rdParty/OndselSolver/OndselSolver/MatrixLDU.cpp new file mode 100644 index 000000000000..e676651ae648 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MatrixLDU.cpp @@ -0,0 +1,25 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "MatrixLDU.h" + +using namespace MbD; + +FColDsptr MatrixLDU::forAndBackSubsaveOriginal(FColDsptr fullCol, bool saveOriginal) +{ + if (saveOriginal) { + rightHandSideB = fullCol->copy(); + } + else { + rightHandSideB = fullCol; + } + this->applyRowOrderOnRightHandSideB(); + this->forwardSubstituteIntoL(); + this->backSubstituteIntoDU(); + return answerX; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MatrixLDU.h b/src/3rdParty/OndselSolver/OndselSolver/MatrixLDU.h new file mode 100644 index 000000000000..3b74b5ee5d9f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MatrixLDU.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "MatrixDecomposition.h" + +namespace MbD { + class MatrixLDU : public MatrixDecomposition + { + // + public: + FColDsptr forAndBackSubsaveOriginal(FColDsptr fullCol, bool saveOriginal) override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/MatrixSolver.cpp b/src/3rdParty/OndselSolver/OndselSolver/MatrixSolver.cpp new file mode 100644 index 000000000000..f7cecccfd75a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MatrixSolver.cpp @@ -0,0 +1,81 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include +#include +#include + +#include "MatrixSolver.h" +#include "SparseMatrix.h" +#include "FullMatrix.h" +#include "SingularMatrixError.h" + +using namespace MbD; + +void MatrixSolver::initialize() +{ + Solver::initialize(); + singularPivotTolerance = 4 * std::numeric_limits::epsilon(); +} + +void MatrixSolver::setSystem(Solver*) +{ +} + +FColDsptr MatrixSolver::solvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) +{ + this->timedSolvewithsaveOriginal(spMat, fullCol, saveOriginal); + return answerX; +} + +FColDsptr MatrixSolver::solvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) +{ + this->timedSolvewithsaveOriginal(fullMat, fullCol, saveOriginal); + return answerX; +} + +FColDsptr MatrixSolver::timedSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) +{ + auto start = std::chrono::steady_clock::now(); + + this->basicSolvewithsaveOriginal(spMat, fullCol, saveOriginal); + + auto end = std::chrono::steady_clock::now(); + auto diff = end - start; + millisecondsToRun = std::chrono::duration(diff).count(); + //std::cout << "milliseconds to run = " << millisecondsToRun << std::endl; + return answerX; +} + +FColDsptr MatrixSolver::timedSolvewithsaveOriginal(FMatDsptr, FColDsptr, bool) +{ + return FColDsptr(); +} + +void MatrixSolver::findScalingsForRowRange(int begin, int end) +{ + //"Row element * scaling <= 1.0." + rowScalings = std::make_shared>(m); + for (int i = begin; i < end; i++) + { + double maxRowMagnitude = this->getmatrixArowimaxMagnitude(i); + if (maxRowMagnitude == 0.0) throwSingularMatrixError(""); + rowScalings->at(i) = 1.0 / maxRowMagnitude; + } +} + +void MatrixSolver::throwSingularMatrixError(const char* chars) +{ + throw SingularMatrixError(chars); +} + +void MatrixSolver::throwSingularMatrixError(const char* chars, std::shared_ptr> redunEqnNos) +{ + throw SingularMatrixError(chars, redunEqnNos); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MatrixSolver.h b/src/3rdParty/OndselSolver/OndselSolver/MatrixSolver.h new file mode 100644 index 000000000000..a1486b9c4d21 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MatrixSolver.h @@ -0,0 +1,51 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Solver.h" +#include "RowTypeMatrix.h" +#include "FullMatrix.h" +#include "FullColumn.h" +#include "SparseMatrix.h" + +namespace MbD { + class MatrixSolver : public Solver + { + //m n matrixA answerX rightHandSideB rowOrder colOrder rowScalings pivotValues singularPivotTolerance millisecondsToRun + public: + MatrixSolver(){} + virtual ~MatrixSolver() {} + void initialize() override; + void setSystem(Solver* sys) override; + virtual FColDsptr solvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal); + virtual FColDsptr solvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal); + virtual FColDsptr timedSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal); + virtual FColDsptr timedSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal); + virtual FColDsptr basicSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) = 0; + virtual FColDsptr basicSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) = 0; + virtual void preSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) = 0; + virtual void preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) = 0; + virtual void doPivoting(int p) = 0; + virtual void forwardEliminateWithPivot(int p) = 0; + virtual void backSubstituteIntoDU() = 0; + + virtual void postSolve() = 0; + virtual void findScalingsForRowRange(int begin, int end); + virtual double getmatrixArowimaxMagnitude(int i) = 0; + void throwSingularMatrixError(const char* chars); + void throwSingularMatrixError(const char* chars, std::shared_ptr> redunEqnNos); + + int m = 0, n = 0; + FColDsptr answerX, rightHandSideB, rowScalings, pivotValues; + std::shared_ptr> rowOrder; + std::shared_ptr> colOrder; + double singularPivotTolerance = 0, millisecondsToRun = 0; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/MaximumIterationError.cpp b/src/3rdParty/OndselSolver/OndselSolver/MaximumIterationError.cpp new file mode 100644 index 000000000000..29bb81526526 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MaximumIterationError.cpp @@ -0,0 +1,15 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "MaximumIterationError.h" + +using namespace MbD; + +MaximumIterationError::MaximumIterationError(const std::string& msg) : std::runtime_error(msg) +{ +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MaximumIterationError.h b/src/3rdParty/OndselSolver/OndselSolver/MaximumIterationError.h new file mode 100644 index 000000000000..c7e1a06c82d5 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MaximumIterationError.h @@ -0,0 +1,31 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "NewtonRaphsonError.h" + +namespace MbD { + //class MaximumIterationError : public NewtonRaphsonError + //{ + //public: + // //MaximumIterationError() {} + // MaximumIterationError(const std::string& msg) : NewtonRaphsonError(msg) {} + + // virtual ~MaximumIterationError() noexcept {} + //}; + class MaximumIterationError : virtual public std::runtime_error + { + + public: + //MaximumIterationError(); + explicit MaximumIterationError(const std::string& msg); + virtual ~MaximumIterationError() noexcept {} + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/MbDMath.cpp b/src/3rdParty/OndselSolver/OndselSolver/MbDMath.cpp new file mode 100644 index 000000000000..632aaa5c3058 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MbDMath.cpp @@ -0,0 +1,14 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "MbDMath.h" + +void MbD::MbDMath::noop() +{ + //No Operations +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MbDMath.h b/src/3rdParty/OndselSolver/OndselSolver/MbDMath.h new file mode 100644 index 000000000000..8abf4d2c0ff4 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MbDMath.h @@ -0,0 +1,19 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +namespace MbD { + class MbDMath + { + public: + void noop(); + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/MomentOfInertiaSolver.cpp b/src/3rdParty/OndselSolver/OndselSolver/MomentOfInertiaSolver.cpp new file mode 100644 index 000000000000..ad92789a3d42 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MomentOfInertiaSolver.cpp @@ -0,0 +1,401 @@ +#include "MomentOfInertiaSolver.h" +#include "EulerParameters.h" +#include +#include + +using namespace MbD; + +void MbD::MomentOfInertiaSolver::example1() +{ + auto aJpp = std::make_shared>(ListListD{ + { 1, 0, 0 }, + { 0, 2, 0 }, + { 0, 0, 3 } + }); + + auto rpPp = std::make_shared>(ListD{ 0, 0, 1 }); + auto rotAxis = std::make_shared>(ListD{ 0, 0, 1 }); + auto aApP = std::make_shared>(rotAxis, OS_M_PI*10/180)->aA; + auto solver = std::make_shared(); + solver->setm(4.0); + solver->setJPP(aJpp); + solver->setrPoP(rpPp); + solver->setAPo(aApP); + auto rPcmP = std::make_shared>(ListD{ 0, 0, 0 }); + solver->setrPcmP(rPcmP); + solver->calc(); + auto aJPP = solver->getJoo(); + std::cout << *solver->getJoo() << std::endl; + std::cout << *solver->getJpp() << std::endl; + std::cout << *solver->getAPp() << std::endl; + solver->setm(4.0); + solver->setJPP(aJPP); + auto rPoP = aApP->transposeTimesFullColumn(rpPp->negated()); + solver->setrPoP(rPoP); + auto aAPo = aApP->transpose(); + solver->setAPo(aAPo); + solver->setrPcmP(rPoP); + solver->calc(); + std::cout << *solver->getJoo() << std::endl; + std::cout << *solver->getJpp() << std::endl; + std::cout << *solver->getAPp() << std::endl; +} + +void MbD::MomentOfInertiaSolver::doFullPivoting(int p) +{ + double max = 0.0; + auto pivotRow = p; + auto pivotCol = p; + for (int i = p; i < 3; i++) + { + auto rowi = aJcmPcopy->at(i); + for (int j = p; j < 3; j++) + { + auto aij = rowi->at(j); + if (aij != 0.0) { + auto mag = std::abs(aij); + if (mag > max) { + max = mag; + pivotRow = i; + pivotCol = j; + } + } + } + + } + if (p != pivotRow) aJcmPcopy->swapElems(p, pivotRow); + if (p != pivotCol) { + for (auto& row : *aJcmPcopy) { + row->swapElems(p, pivotCol); + } + colOrder->swapElems(p, pivotCol); + } +} + +void MbD::MomentOfInertiaSolver::forwardEliminateWithPivot(int p) +{ + auto rowp = aJcmPcopy->at(p); + auto app = rowp->at(p); + for (int i = p + 1; i < 3; i++) + { + auto rowi = aJcmPcopy->at(i); + auto aip = rowi->at(p); + if (aip != 0) { + rowi->atiput(p, 0.0); + auto factor = aip / app; + for (int j = p + 1; j < 3; j++) + { + rowi->atiminusNumber(j, factor * rowp->at(j)); + } + } + } +} + +void MbD::MomentOfInertiaSolver::backSubstituteIntoDU() +{ +} + +void MbD::MomentOfInertiaSolver::postSolve() +{ +} + +FColDsptr MbD::MomentOfInertiaSolver::basicSolvewithsaveOriginal(FMatDsptr, FColDsptr, bool) +{ + return FColDsptr(); +} + +FColDsptr MbD::MomentOfInertiaSolver::basicSolvewithsaveOriginal(SpMatDsptr, FColDsptr, bool) +{ + return FColDsptr(); +} + +void MbD::MomentOfInertiaSolver::preSolvewithsaveOriginal(FMatDsptr, FColDsptr, bool) +{ +} + +void MbD::MomentOfInertiaSolver::preSolvewithsaveOriginal(SpMatDsptr, FColDsptr, bool) +{ +} + +double MbD::MomentOfInertiaSolver::getmatrixArowimaxMagnitude(int) +{ + return 0.0; +} + +void MbD::MomentOfInertiaSolver::doPivoting(int) +{ +} + +void MbD::MomentOfInertiaSolver::setm(double mass) +{ + m = mass; +} + +void MbD::MomentOfInertiaSolver::setJPP(FMatDsptr mat) +{ + aJPP = mat; +} + +void MbD::MomentOfInertiaSolver::setrPoP(FColDsptr col) +{ + rPoP = col; +} + +void MbD::MomentOfInertiaSolver::setAPo(FMatDsptr mat) +{ + aAPo = mat; +} + +void MbD::MomentOfInertiaSolver::setrPcmP(FColDsptr col) +{ + rPcmP = col; +} + +FMatDsptr MbD::MomentOfInertiaSolver::getJoo() +{ + return aJoo; +} + +DiagMatDsptr MbD::MomentOfInertiaSolver::getJpp() +{ + return aJpp; +} + +FMatDsptr MbD::MomentOfInertiaSolver::getAPp() +{ + return aAPp; +} + +void MbD::MomentOfInertiaSolver::calc() +{ + calcJoo(); + calcJpp(); + calcAPp(); +} + +void MbD::MomentOfInertiaSolver::calcJoo() +{ + //"aJoo = aAPoT*[aJPP + mass*(rPoPTilde*rPoPTilde + rPoPTilde*rocmPTilde + rocmPTilde*rPoPTilde)]*aAPo" + + if (!rPoP) { + rPoP = rPcmP; + aAPo = FullMatrix::identitysptr(3); + } + auto rocmPtilde = FullMatrix::tildeMatrix(rPcmP->minusFullColumn(rPoP)); + auto rPoPtilde = FullMatrix::tildeMatrix(rPoP); + auto term1 = aJPP; + auto term21 = rPoPtilde->timesFullMatrix(rPoPtilde); + auto term22 = rPoPtilde->timesFullMatrix(rocmPtilde); + auto term23 = term22->transpose(); + auto term2 = term21->plusFullMatrix(term22)->plusFullMatrix(term23)->times(m); + aJoo = aAPo->transposeTimesFullMatrix(term1->plusFullMatrix(term2))->timesFullMatrix(aAPo); + aJoo->symLowerWithUpper(); + aJoo->conditionSelfWithTol(aJoo->maxMagnitude() * 1.0e-6); +} + +void MbD::MomentOfInertiaSolver::calcJpp() +{ + //"aJcmP = aJPP + mass*(rPcmPTilde*rPcmPTilde)" + + auto rPcmPtilde = FullMatrix::tildeMatrix(rPcmP); + aJcmP = aJPP->plusFullMatrix(rPcmPtilde->timesFullMatrix(rPcmPtilde)->times(m)); + aJcmP->symLowerWithUpper(); + aJcmP->conditionSelfWithTol(aJcmP->maxMagnitude() * 1.0e-6); + if (aJcmP->isDiagonal()) { + calcJppFromDiagJcmP(); + } + else { + calcJppFromFullJcmP(); + } +} + +void MbD::MomentOfInertiaSolver::calcAPp() +{ + FColDsptr eigenvector1, eigenvector2, eigenvector0; + auto lam0 = aJpp->at(0); + auto lam1 = aJpp->at(1); + auto lam2 = aJpp->at(2); + if (lam0 == lam1) { + if (lam1 == lam2) { + aAPp = FullMatrix::identitysptr(3); + } + else { + eigenvector1 = eigenvectorFor(lam1); + eigenvector2 = eigenvectorFor(lam2); + eigenvector1->normalizeSelf(); + eigenvector2->normalizeSelf(); + if (eigenvector1->at(1) < 0.0) eigenvector1->negateSelf(); + if (eigenvector2->at(2) < 0.0) eigenvector2->negateSelf(); + eigenvector0 = eigenvector1->cross(eigenvector2); + } + } + else { + eigenvector0 = eigenvectorFor(lam0); + eigenvector1 = eigenvectorFor(lam1); + eigenvector0->normalizeSelf(); + eigenvector1->normalizeSelf(); + if (eigenvector0->at(0) < 0.0) eigenvector0->negateSelf(); + if (eigenvector1->at(1) < 0.0) eigenvector1->negateSelf(); + eigenvector2 = eigenvector0->cross(eigenvector1); + } + aAPp = std::make_shared>(3, 3); + aAPp->atijputFullColumn(0, 0, eigenvector0); + aAPp->atijputFullColumn(0, 1, eigenvector1); + aAPp->atijputFullColumn(0, 2, eigenvector2); +} + +FColDsptr MbD::MomentOfInertiaSolver::eigenvectorFor(double lam) +{ + //"[aJcmP] - lam[I]." + + double e0, e1, e2; + aJcmPcopy = aJcmP->copy(); + colOrder = std::make_shared>(3); + auto eigenvector = std::make_shared>(3); + for (int i = 0; i < 3; i++) + { + colOrder->atiput(i, i); + aJcmPcopy->atijminusNumber(i, i, lam); + } + for (int p = 0; p < 3; p++) + { + doFullPivoting(p); + forwardEliminateWithPivot(p); + } + + auto row0 = aJcmPcopy->at(0); + auto row1 = aJcmPcopy->at(1); + auto row2 = aJcmPcopy->at(2); + auto norm0 = row0->length(); + //auto aaaa = row2->length(); + if ((row2->length() / norm0) > 1.0e-5) throw std::runtime_error("3rd row should be very small."); + if ((row1->length() / norm0) > 1.0e-5) { + e2 = 1.0; + e1 = e2 * -row1->at(2) / row1->at(1); + e0 = -(e1 * row0->at(1) + e2 * row0->at(2)) / row0->at(0); + } + else { + //"Repeated roots." + e2 = 1.0; + e1 = 0.0; + e0 = -(e1 * row0->at(1) + e2 * row0->at(2)) / row0->at(0); + } + + + auto dum = std::make_shared>(ListD{ e0, e1, e2 }); + for (int i = 0; i < 3; i++) + { + eigenvector->atiput(colOrder->at(i), dum->at(i)); + } + return eigenvector; +} + +void MbD::MomentOfInertiaSolver::calcJppFromDiagJcmP() +{ + //"Eigenvalues are orders from smallest to largest." + + double average; + auto sortedJ = std::make_shared>(); + sortedJ->push_back(aJcmP->at(0)->at(0)); + sortedJ->push_back(aJcmP->at(1)->at(1)); + sortedJ->push_back(aJcmP->at(2)->at(2)); + std::sort(sortedJ->begin(), sortedJ->end(), [](double a, double b) { return a < b; }); + auto lam0 = sortedJ->at(0); + auto lam1 = sortedJ->at(1); + auto lam2 = sortedJ->at(2); + if (lam1 == 0 || std::abs((lam0 / lam1) - 1.0) < 1.0e-6) { + if (lam2 == 0 || std::abs((lam1 / lam2) - 1.0) < 1.0e-6) { + //"All are equal." + average = (lam0 + lam1 + lam2) / 3.0; + lam0 = average; + lam1 = average; + lam2 = average; + } + else { + //"lam0 = lam1" + average = (lam0 + lam1) / 2.0; + lam0 = average; + lam1 = average; + } + } + else { + if (std::abs(lam1 / lam2 - 1.0) < 1.0e-6) { + //"lam1 = lam2" + average = (lam1 + lam2) / 2.0; + lam1 = average; + lam2 = average; + } + } + aJpp = std::make_shared>(ListD{ lam0, lam1, lam2 }); +} + +void MbD::MomentOfInertiaSolver::calcJppFromFullJcmP() +{ + //"Eigenvalues are orders from smallest to largest." + //"Rounding error can be significant." + //"e.g. (diag 100.0d 100.0d 1.0d) gives only 8 digit accuracy." + + double average; + auto a00 = aJcmP->at(0)->at(0); + auto a01 = aJcmP->at(0)->at(1); + auto a02 = aJcmP->at(0)->at(2); + auto a11 = aJcmP->at(1)->at(1); + auto a12 = aJcmP->at(1)->at(2); + auto a22 = aJcmP->at(2)->at(2); + auto a = -(a00 + a11 + a22); + auto b = a00 * a11 + (a00 * a22) + (a11 * a22) - (a01 * a01) - (a02 * a02) - (a12 * a12); + auto c = a00 * a12 * a12 + (a11 * a02 * a02) + (a22 * a01 * a01) - (a00 * a11 * a22) - (2.0 * a01 * a02 * a12); + auto aDiv3 = a / 3.0; + auto p = (b / 3.0) - (aDiv3 * aDiv3); + auto q = (c + (2.0 * aDiv3 * aDiv3 * aDiv3) - (aDiv3 * b)) / 2.0; + auto phiDiv3 = modifiedArcCos(-q / std::sqrt(-p * p * p)) / 3.0; + auto twoSqrtMinusp = 2.0 * std::sqrt(-p); + auto piDiv3 = OS_M_PI / 3.0; + auto sortedJ = std::make_shared>(); + sortedJ->push_back(twoSqrtMinusp * std::cos(phiDiv3)); + sortedJ->push_back(twoSqrtMinusp * -std::cos(phiDiv3 + piDiv3)); + sortedJ->push_back(twoSqrtMinusp * -std::cos(phiDiv3 - piDiv3)); + std::sort(sortedJ->begin(), sortedJ->end(), [](double a, double b) { return a < b; }); + auto lam0 = sortedJ->at(0) - aDiv3; + auto lam1 = sortedJ->at(1) - aDiv3; + auto lam2 = sortedJ->at(2) - aDiv3; + if (lam1 == 0 || std::abs((lam0 / lam1) - 1.0) < 1.0e-6) { + if (lam2 == 0 || std::abs((lam1 / lam2) - 1.0) < 1.0e-6) { + //"All are equal." + average = (lam0 + lam1 + lam2) / 3.0; + lam0 = average; + lam1 = average; + lam2 = average; + } + else { + //"lam0 = lam1" + average = (lam0 + lam1) / 2.0; + lam0 = average; + lam1 = average; + } + } + else { + if (std::abs((lam1 / lam2) - 1.0) < 1.0e-6) { + //"lam1 = lam2" + average = (lam1 + lam2) / 2.0; + lam1 = average; + lam2 = average; + } + } + aJpp = std::make_shared>(ListD{ lam0, lam1, lam2 }); +} + +double MbD::MomentOfInertiaSolver::modifiedArcCos(double val) +{ + if (val > 1.0) { + return 0.0; + } + else { + if (val < -1.0) { + return OS_M_PI; + } + else { + return std::acos(val); + } + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/MomentOfInertiaSolver.h b/src/3rdParty/OndselSolver/OndselSolver/MomentOfInertiaSolver.h new file mode 100644 index 000000000000..daa0925337b0 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/MomentOfInertiaSolver.h @@ -0,0 +1,57 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "EigenDecomposition.h" + +namespace MbD { + class MomentOfInertiaSolver : public EigenDecomposition + { + //See document 9100moment.fodt + //m aJPP aJoo rPoP aAPo aJcmP aJcmPcopy rPcmP aJpp aAPp colOrder + //aJoo == aJpp when rPoP == rPcmP and aAPo == aAPp + public: + static void example1(); + void doFullPivoting(int p); + void forwardEliminateWithPivot(int p) override; + void backSubstituteIntoDU() override; + void postSolve() override; + FColDsptr basicSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) override; + FColDsptr basicSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override; + void preSolvewithsaveOriginal(FMatDsptr fullMat, FColDsptr fullCol, bool saveOriginal) override; + void preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override; + double getmatrixArowimaxMagnitude(int i) override; + void doPivoting(int p) override; + + void setm(double mass); + void setJPP(FMatDsptr mat); + void setrPoP(FColDsptr col); + void setAPo(FMatDsptr mat); + void setrPcmP(FColDsptr col); + FMatDsptr getJoo(); + DiagMatDsptr getJpp(); + FMatDsptr getAPp(); + void calc(); + void calcJoo(); + void calcJpp(); + void calcAPp(); + FColDsptr eigenvectorFor(double lam); + void calcJppFromDiagJcmP(); + void calcJppFromFullJcmP(); + double modifiedArcCos(double val); + + + double m = 0.0; + FMatDsptr aJPP, aJoo, aAPo, aJcmP, aJcmPcopy, aAPp; + FColDsptr rPoP, rPcmP; + DiagMatDsptr aJpp; + std::shared_ptr> colOrder; + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Negative.cpp b/src/3rdParty/OndselSolver/OndselSolver/Negative.cpp new file mode 100644 index 000000000000..fdf73fc99850 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Negative.cpp @@ -0,0 +1,52 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "Negative.h" +#include "Constant.h" + +using namespace MbD; + +MbD::Negative::Negative(Symsptr arg) : FunctionX(arg) +{ +} + +double MbD::Negative::getValue() +{ + return -xx->getValue(); +} + +Symsptr MbD::Negative::differentiateWRTx() +{ + return sptrConstant(-1); +} + +Symsptr MbD::Negative::expandUntil(Symsptr, std::shared_ptr> set) +{ + auto expand = xx->expandUntil(xx, set); + return std::make_shared(expand); +} + +Symsptr MbD::Negative::simplifyUntil(Symsptr, std::shared_ptr> set) +{ + auto simple = xx->simplifyUntil(xx, set); + if (simple->isConstant()) { + return sptrConstant(-simple->getValue()); + } + return std::make_shared(simple); +} + +Symsptr MbD::Negative::copyWith(Symsptr arg) +{ + return std::make_shared(arg); +} + +std::ostream& MbD::Negative::printOn(std::ostream& s) const +{ + s << "-(" << *xx << ")"; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Negative.h b/src/3rdParty/OndselSolver/OndselSolver/Negative.h new file mode 100644 index 000000000000..9a736b8e75c8 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Negative.h @@ -0,0 +1,30 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionX.h" + +namespace MbD { + class Negative : public FunctionX + { + // + public: + Negative() = default; + Negative(Symsptr arg); + double getValue() override; + Symsptr differentiateWRTx() override; + Symsptr expandUntil(Symsptr sptr, std::shared_ptr> set) override; + Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr> set) override; + Symsptr copyWith(Symsptr arg) override; + + std::ostream& printOn(std::ostream& s) const override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/NewtonRaphson.cpp b/src/3rdParty/OndselSolver/OndselSolver/NewtonRaphson.cpp new file mode 100644 index 000000000000..8be628a47e68 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/NewtonRaphson.cpp @@ -0,0 +1,150 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include +#include + +#include "NewtonRaphson.h" +#include "SystemSolver.h" +#include "MaximumIterationError.h" + +using namespace MbD; + +void NewtonRaphson::initialize() +{ + dxNorms = std::make_shared>(); + dxTol = 4 * std::numeric_limits::epsilon(); + yNorms = std::make_shared>(); + yNormTol = 1.0e-30; + iterMax = 100; + twoAlp = 2.0e-4; +} + +void NewtonRaphson::initializeLocally() +{ + iterNo = -1; + nDivergence = -1; + nBackTracking = -1; + dxNorms->clear(); + yNorms->clear(); + yNormOld = std::numeric_limits::max(); +} + +void NewtonRaphson::run() +{ + assert(false); + //self preRun. + //self initializeLocally. + //self initializeGlobally. + //self iterate. + //self finalize. + //self reportStats. + //self postRun. +} + +void NewtonRaphson::setSystem(Solver* sys) +{ + system = static_cast(sys); +} + +void NewtonRaphson::iterate() +{ + //" + // Do not skip matrix solution even when yNorm is very small. + // This avoids unexpected behaviors when convergence is still + // possible. + + // Do not skip redundant constraint removal even when yNorm is + // zero. + // " + + iterNo = -1; + this->fillY(); + this->calcyNorm(); + yNorms->push_back(yNorm); + + while (true) { + this->incrementIterNo(); + this->fillPyPx(); + this->solveEquations(); + this->calcDXNormImproveRootCalcYNorm(); + if (this->isConverged()) { + //std::cout << "iterNo = " << iterNo << std::endl; + break; + } + } +} + +void NewtonRaphson::incrementIterNo() +{ + iterNo++; + if (iterNo >= iterMax) { + this->reportStats(); + throw MaximumIterationError(""); + } +} + +bool NewtonRaphson::isConverged() +{ + return this->isConvergedToNumericalLimit(); +} + +void NewtonRaphson::askSystemToUpdate() +{ + assert(false); +} + +bool NewtonRaphson::isConvergedToNumericalLimit() +{ + //"worthIterating is less stringent with IterNo." + //"nDivergenceMax is the number of small divergences allowed." + + auto tooLargeTol = 1.0e-2; + constexpr auto smallEnoughTol = std::numeric_limits::epsilon(); + auto nDecade = log10(tooLargeTol / smallEnoughTol); + auto nDivergenceMax = 3; + auto dxNormIterNo = dxNorms->at(iterNo); + if (iterNo > 0) { + auto dxNormIterNoOld = dxNorms->at(iterNo); + auto farTooLargeError = dxNormIterNo > tooLargeTol; + auto worthIterating = dxNormIterNo > (smallEnoughTol * pow(10.0, (iterNo / iterMax) * nDecade)); + bool stillConverging; + if (dxNormIterNo < (0.5 * dxNormIterNoOld)) { + stillConverging = true; + } + else { + if (!farTooLargeError) nDivergence++; + stillConverging = nDivergence < nDivergenceMax; + } + return !(farTooLargeError || (worthIterating && stillConverging)); + } + else { + auto worthIterating = dxNormIterNo > smallEnoughTol; + return !worthIterating; + } +} + +void NewtonRaphson::calcDXNormImproveRootCalcYNorm() +{ + this->calcdxNorm(); + dxNorms->push_back(dxNorm); + this->updatexold(); + this->xEqualxoldPlusdx(); + this->passRootToSystem(); + this->askSystemToUpdate(); + this->fillY(); + this->calcyNorm(); + yNorms->push_back(yNorm); + yNormOld = yNorm; +} + +void NewtonRaphson::postRun() +{ + system->postNewtonRaphson(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/NewtonRaphson.h b/src/3rdParty/OndselSolver/OndselSolver/NewtonRaphson.h new file mode 100644 index 000000000000..cdbc545ee306 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/NewtonRaphson.h @@ -0,0 +1,54 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include + +#include "Solver.h" +//#include "RowTypeMatrix.h" + +namespace MbD { + template + class FullColumn; + //class RowTypeMatrix; + class SystemSolver; + + class NewtonRaphson : public Solver + { + //system xold x dx dxNorm dxNorms dxTol y yNorm yNormOld yNorms yNormTol pypx iterNo iterMax nDivergence nBackTracking twoAlp lam + public: + void initialize() override; + void initializeLocally() override; + void run() override; + void setSystem(Solver* sys) override; + void iterate(); + virtual void fillY() = 0; + virtual void fillPyPx() = 0; + virtual void calcyNorm() = 0; + virtual void calcdxNorm() = 0; + virtual void solveEquations() = 0; + virtual void incrementIterNo(); + virtual void updatexold() = 0; + virtual void xEqualxoldPlusdx() = 0; + + virtual bool isConverged(); + virtual void askSystemToUpdate(); + virtual void passRootToSystem() = 0; + bool isConvergedToNumericalLimit(); + void calcDXNormImproveRootCalcYNorm(); + void postRun() override; + + SystemSolver* system = nullptr; //Use raw pointer when pointing backwards. + std::shared_ptr> dxNorms, yNorms; + double dxNorm = 0.0, yNorm = 0.0, yNormOld = 0.0, yNormTol = 0.0, dxTol = 0.0, twoAlp = 0.0, lam = 0.0; + int iterNo = -1, iterMax = -1, nDivergence = -1, nBackTracking = -1; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/NewtonRaphsonError.cpp b/src/3rdParty/OndselSolver/OndselSolver/NewtonRaphsonError.cpp new file mode 100644 index 000000000000..32ef2f4d9829 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/NewtonRaphsonError.cpp @@ -0,0 +1,19 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "NewtonRaphsonError.h" + +using namespace MbD; + +//NewtonRaphsonError::NewtonRaphsonError() +//{ +//} + +NewtonRaphsonError::NewtonRaphsonError(const std::string& msg) : std::runtime_error(msg) +{ +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/NewtonRaphsonError.h b/src/3rdParty/OndselSolver/OndselSolver/NewtonRaphsonError.h new file mode 100644 index 000000000000..487544fb5e62 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/NewtonRaphsonError.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include +#include + +namespace MbD { + class NewtonRaphsonError : virtual public std::runtime_error + { + + public: + //NewtonRaphsonError(); + explicit NewtonRaphsonError(const std::string& msg); + virtual ~NewtonRaphsonError() noexcept {} + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/NoRotationJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/NoRotationJoint.cpp new file mode 100644 index 000000000000..d55f8e4a0bbe --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/NoRotationJoint.cpp @@ -0,0 +1,36 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "NoRotationJoint.h" +#include "System.h" +#include "DirectionCosineConstraintIJ.h" +#include "CREATE.h" + +using namespace MbD; + +MbD::NoRotationJoint::NoRotationJoint() +{ +} + +MbD::NoRotationJoint::NoRotationJoint(const char*) +{ +} + +void MbD::NoRotationJoint::initializeGlobally() +{ + if (constraints->empty()) + { + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 1, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 1)); + this->root()->hasChanged = true; + } + else { + Joint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/NoRotationJoint.h b/src/3rdParty/OndselSolver/OndselSolver/NoRotationJoint.h new file mode 100644 index 000000000000..8146e90fd283 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/NoRotationJoint.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Joint.h" + +namespace MbD { + class NoRotationJoint : public Joint + { + // + public: + NoRotationJoint(); + NoRotationJoint(const char* str); + void initializeGlobally() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/NotKinematicError.cpp b/src/3rdParty/OndselSolver/OndselSolver/NotKinematicError.cpp new file mode 100644 index 000000000000..ae60058dd93b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/NotKinematicError.cpp @@ -0,0 +1,15 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "NotKinematicError.h" + +using namespace MbD; + +NotKinematicError::NotKinematicError(const std::string& msg) : std::runtime_error(msg) +{ +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/NotKinematicError.h b/src/3rdParty/OndselSolver/OndselSolver/NotKinematicError.h new file mode 100644 index 000000000000..2b1323624c99 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/NotKinematicError.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include +#include + +namespace MbD { + class NotKinematicError : virtual public std::runtime_error + { + + public: + //NotKinematicError(); + explicit NotKinematicError(const std::string& msg); + virtual ~NotKinematicError() noexcept {} + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Numeric.cpp b/src/3rdParty/OndselSolver/OndselSolver/Numeric.cpp new file mode 100644 index 000000000000..1c82d5f794c6 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Numeric.cpp @@ -0,0 +1,35 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include "corecrt_math_defines.h" +#include + +#include "Numeric.h" + +using namespace MbD; + +double MbD::Numeric::arcTan0to2piYoverX(double y, double x) +{ + //"(y/x) arcTan in the range 0 to 2*pi." + //"Double arcTan0to2piY: 1.0d overX: 1.0d." + + if (y >= 0) { + //"First and second quadrants." + return std::atan2(y, x); + } + else { + //"Third and forth quadrants." + return 2.0 * OS_M_PI + std::atan2(y, x); + } +} + +bool MbD::Numeric::equaltol(double x, double xx, double tol) +{ + return std::abs(x - xx) < tol; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Numeric.h b/src/3rdParty/OndselSolver/OndselSolver/Numeric.h new file mode 100644 index 000000000000..6068d093cf51 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Numeric.h @@ -0,0 +1,39 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include + +#include "MbDMath.h" + +namespace MbD { + class Numeric : public MbDMath + { + // + public: + static double arcTan0to2piYoverX(double y, double x); + static bool equaltol(double x, double xx, double tol); + template + static bool isIncreasingVector(std::vector* vec); + + }; + template + inline bool Numeric::isIncreasingVector(std::vector* vec) + { + T previous, next; + next = vec->at(0); + for (int i = 1; i < (int)vec->size(); i++) + { + previous = next; + next = vec->at(i); + if (previous > next) return false; + } + return true; + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/OndselSolver.aps b/src/3rdParty/OndselSolver/OndselSolver/OndselSolver.aps new file mode 100644 index 000000000000..39204fa585ec Binary files /dev/null and b/src/3rdParty/OndselSolver/OndselSolver/OndselSolver.aps differ diff --git a/src/3rdParty/OndselSolver/OndselSolver/OndselSolver.rc b/src/3rdParty/OndselSolver/OndselSolver/OndselSolver.rc new file mode 100644 index 000000000000..44acb21e0a7d Binary files /dev/null and b/src/3rdParty/OndselSolver/OndselSolver/OndselSolver.rc differ diff --git a/src/3rdParty/OndselSolver/OndselSolver/OndselSolver.vcxproj b/src/3rdParty/OndselSolver/OndselSolver/OndselSolver.vcxproj new file mode 100644 index 000000000000..fc475b72dc18 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/OndselSolver.vcxproj @@ -0,0 +1,843 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + Debug + x64 + + + Release + x64 + + + + 16.0 + 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Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + Header Files + + + + + Resource Files + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/3rdParty/OndselSolver/OndselSolver/OndselSolver.vcxproj.user b/src/3rdParty/OndselSolver/OndselSolver/OndselSolver.vcxproj.user new file mode 100644 index 000000000000..88a550947edb --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/OndselSolver.vcxproj.user @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIecJec.cpp b/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIecJec.cpp new file mode 100644 index 000000000000..d35dd22c8115 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIecJec.cpp @@ -0,0 +1,114 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "corecrt_math_defines.h" + +#include "OrbitAngleZIecJec.h" +#include "Numeric.h" + +using namespace MbD; + +MbD::OrbitAngleZIecJec::OrbitAngleZIecJec() +{ +} + +MbD::OrbitAngleZIecJec::OrbitAngleZIecJec(EndFrmsptr frmi, EndFrmsptr frmj) : KinematicIeJe(frmi, frmj) +{ +} + +void MbD::OrbitAngleZIecJec::calcPostDynCorrectorIteration() +{ + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + auto sumOfSquares = x * x + (y * y); + auto diffOfSquares = y * y - (x * x); + auto sumOfSquaresSquared = sumOfSquares * sumOfSquares; + auto thez0to2pi = Numeric::arcTan0to2piYoverX(y, x); + thez = std::round((thez - thez0to2pi) / (2.0 * OS_M_PI)) * (2.0 * OS_M_PI) + thez0to2pi; + cosOverSSq = x / sumOfSquares; + sinOverSSq = y / sumOfSquares; + twoCosSinOverSSqSq = 2.0 * x * y / sumOfSquaresSquared; + dSqOverSSqSq = diffOfSquares / sumOfSquaresSquared; +} + +void MbD::OrbitAngleZIecJec::initialize() +{ + KinematicIeJe::initialize(); + this->init_xyIeJeIe(); +} + +void MbD::OrbitAngleZIecJec::initializeGlobally() +{ + xIeJeIe->initializeGlobally(); + yIeJeIe->initializeGlobally(); +} + +void MbD::OrbitAngleZIecJec::initializeLocally() +{ + xIeJeIe->initializeLocally(); + yIeJeIe->initializeLocally(); +} + +void MbD::OrbitAngleZIecJec::postInput() +{ + xIeJeIe->postInput(); + yIeJeIe->postInput(); + if (thez == std::numeric_limits::min()) { + auto x = xIeJeIe->value(); + auto y = yIeJeIe->value(); + if (x > 0.0) { + thez = std::atan2(y, x); + } + else { + thez = Numeric::arcTan0to2piYoverX(y, x); + } + } + KinematicIeJe::postInput(); +} + +void MbD::OrbitAngleZIecJec::postPosICIteration() +{ + xIeJeIe->postPosICIteration(); + yIeJeIe->postPosICIteration(); + KinematicIeJe::postPosICIteration(); +} + +void MbD::OrbitAngleZIecJec::preAccIC() +{ + if (thez == std::numeric_limits::min()) this->prePosIC(); + xIeJeIe->preAccIC(); + yIeJeIe->preAccIC(); + KinematicIeJe::preAccIC(); +} + +void MbD::OrbitAngleZIecJec::prePosIC() +{ + xIeJeIe->prePosIC(); + yIeJeIe->prePosIC(); + assert(thez != std::numeric_limits::min()); + KinematicIeJe::prePosIC(); +} + +void MbD::OrbitAngleZIecJec::preVelIC() +{ + xIeJeIe->preVelIC(); + yIeJeIe->preVelIC(); + KinematicIeJe::preVelIC(); +} + +void MbD::OrbitAngleZIecJec::simUpdateAll() +{ + xIeJeIe->simUpdateAll(); + yIeJeIe->simUpdateAll(); + KinematicIeJe::simUpdateAll(); +} + +double MbD::OrbitAngleZIecJec::value() +{ + return thez; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIecJec.h b/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIecJec.h new file mode 100644 index 000000000000..923f86fa029b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIecJec.h @@ -0,0 +1,40 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "KinematicIeJe.h" +#include "DispCompIecJecIe.h" + +namespace MbD { + class OrbitAngleZIecJec : public KinematicIeJe + { + //thez xIeJeIe yIeJeIe cosOverSSq sinOverSSq twoCosSinOverSSqSq dSqOverSSqSq + public: + OrbitAngleZIecJec(); + OrbitAngleZIecJec(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPostDynCorrectorIteration() override; + virtual void init_xyIeJeIe() = 0; + void initialize() override; + void initializeGlobally() override; + void initializeLocally() override; + void postInput() override; + void postPosICIteration() override; + void preAccIC() override; + void prePosIC() override; + void preVelIC() override; + void simUpdateAll() override; + double value() override; + + double thez = std::numeric_limits::min(); + double cosOverSSq, sinOverSSq, twoCosSinOverSSqSq, dSqOverSSqSq; + std::shared_ptr xIeJeIe, yIeJeIe; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIeqcJec.cpp b/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIeqcJec.cpp new file mode 100644 index 000000000000..1dd5298020ad --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIeqcJec.cpp @@ -0,0 +1,169 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "OrbitAngleZIeqcJec.h" +#include "CREATE.h" +#include "DispCompIeqcJecIe.h" + +using namespace MbD; + +MbD::OrbitAngleZIeqcJec::OrbitAngleZIeqcJec() +{ +} + +MbD::OrbitAngleZIeqcJec::OrbitAngleZIeqcJec(EndFrmsptr frmi, EndFrmsptr frmj) : OrbitAngleZIecJec(frmi, frmj) +{ +} + +void MbD::OrbitAngleZIeqcJec::calc_ppthezpEIpEI() +{ + auto pxpEI = xIeJeIe->pvaluepEI(); + auto pypEI = yIeJeIe->pvaluepEI(); + auto ppxpEIpEI = xIeJeIe->ppvaluepEIpEI(); + auto ppypEIpEI = yIeJeIe->ppvaluepEIpEI(); + for (int i = 0; i < 4; i++) + { + auto ppthezpEIpEIi = ppthezpEIpEI->at(i); + auto ppxpEIpEIi = ppxpEIpEI->at(i); + auto ppypEIpEIi = ppypEIpEI->at(i); + auto pxpEIi = pxpEI->at(i); + auto pypEIi = pypEI->at(i); + for (int j = i; j < 4; j++) + { + auto pxpEIj = pxpEI->at(j); + auto pypEIj = pypEI->at(j); + auto term1 = (pxpEIi * pxpEIj - (pypEIi * pypEIj)) * twoCosSinOverSSqSq; + auto term2 = ppypEIpEIi->at(j) * cosOverSSq - (ppxpEIpEIi->at(j) * sinOverSSq); + auto term3 = (pypEIi * pxpEIj + (pxpEIi * pypEIj)) * dSqOverSSqSq; + auto ppthezpEIpEIij = term1 + term2 + term3; + ppthezpEIpEIi->atiput(j, ppthezpEIpEIij); + if (i < j) ppthezpEIpEI->atijput(j, i, ppthezpEIpEIij); + } + } +} + +void MbD::OrbitAngleZIeqcJec::calc_ppthezpXIpEI() +{ + auto pxpXI = xIeJeIe->pvaluepXI(); + auto pypXI = yIeJeIe->pvaluepXI(); + auto pxpEI = xIeJeIe->pvaluepEI(); + auto pypEI = yIeJeIe->pvaluepEI(); + auto ppxpXIpEI = xIeJeIe->ppvaluepXIpEI(); + auto ppypXIpEI = yIeJeIe->ppvaluepXIpEI(); + for (int i = 0; i < 3; i++) + { + auto ppthezpXIpEIi = ppthezpXIpEI->at(i); + auto ppxpXIpEIi = ppxpXIpEI->at(i); + auto ppypXIpEIi = ppypXIpEI->at(i); + auto pxpXIi = pxpXI->at(i); + auto pypXIi = pypXI->at(i); + for (int j = 0; j < 4; j++) + { + auto pxpEIj = pxpEI->at(j); + auto pypEIj = pypEI->at(j); + auto term1 = (pxpXIi * pxpEIj - (pypXIi * pypEIj)) * twoCosSinOverSSqSq; + auto term2 = ppypXIpEIi->at(j) * cosOverSSq - (ppxpXIpEIi->at(j) * sinOverSSq); + auto term3 = (pypXIi * pxpEIj + (pxpXIi * pypEIj)) * dSqOverSSqSq; + ppthezpXIpEIi->atiput(j, term1 + term2 + term3); + } + } +} + +void MbD::OrbitAngleZIeqcJec::calc_ppthezpXIpXI() +{ + //ppxpXIpXI = 0 + //ppypXIpXI = 0 + + auto pxpXI = xIeJeIe->pvaluepXI(); + auto pypXI = yIeJeIe->pvaluepXI(); + for (int i = 0; i < 3; i++) + { + auto ppthezpXIpXIi = ppthezpXIpXI->at(i); + auto pxpXIi = pxpXI->at(i); + auto pypXIi = pypXI->at(i); + for (int j = 0; j < 3; j++) + { + auto pxpXIj = pxpXI->at(j); + auto pypXIj = pypXI->at(j); + auto term1 = (pxpXIi * pxpXIj - (pypXIi * pypXIj)) * twoCosSinOverSSqSq; + auto term3 = (pypXIi * pxpXIj + (pxpXIi * pypXIj)) * dSqOverSSqSq; + ppthezpXIpXIi->atiput(j, term1 + term3); + } + } +} + +void MbD::OrbitAngleZIeqcJec::calc_pthezpEI() +{ + auto pxpEI = xIeJeIe->pvaluepEI(); + auto pypEI = yIeJeIe->pvaluepEI(); + for (int i = 0; i < 4; i++) + { + pthezpEI->atiput(i, pypEI->at(i) * cosOverSSq - (pxpEI->at(i) * sinOverSSq)); + } +} + +void MbD::OrbitAngleZIeqcJec::calc_pthezpXI() +{ + auto pxpXI = xIeJeIe->pvaluepXI(); + auto pypXI = yIeJeIe->pvaluepXI(); + for (int i = 0; i < 3; i++) + { + pthezpXI->atiput(i, pypXI->at(i) * cosOverSSq - (pxpXI->at(i) * sinOverSSq)); + } +} + +void MbD::OrbitAngleZIeqcJec::calcPostDynCorrectorIteration() +{ + OrbitAngleZIecJec::calcPostDynCorrectorIteration(); + this->calc_pthezpXI(); + this->calc_pthezpEI(); + this->calc_ppthezpXIpXI(); + this->calc_ppthezpXIpEI(); + this->calc_ppthezpEIpEI(); +} + +void MbD::OrbitAngleZIeqcJec::init_xyIeJeIe() +{ + xIeJeIe = CREATE::With(frmI, frmJ, 0); + yIeJeIe = CREATE::With(frmI, frmJ, 1); +} + +void MbD::OrbitAngleZIeqcJec::initialize() +{ + OrbitAngleZIecJec::initialize(); + pthezpXI = std::make_shared>(3); + pthezpEI = std::make_shared>(4); + ppthezpXIpXI = std::make_shared>(3, 3); + ppthezpXIpEI = std::make_shared>(3, 4); + ppthezpEIpEI = std::make_shared>(4, 4); +} + +FMatDsptr MbD::OrbitAngleZIeqcJec::ppvaluepEIpEI() +{ + return ppthezpEIpEI; +} + +FMatDsptr MbD::OrbitAngleZIeqcJec::ppvaluepXIpEI() +{ + return ppthezpXIpEI; +} + +FMatDsptr MbD::OrbitAngleZIeqcJec::ppvaluepXIpXI() +{ + return ppthezpXIpXI; +} + +FRowDsptr MbD::OrbitAngleZIeqcJec::pvaluepEI() +{ + return pthezpEI; +} + +FRowDsptr MbD::OrbitAngleZIeqcJec::pvaluepXI() +{ + return pthezpXI; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIeqcJec.h b/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIeqcJec.h new file mode 100644 index 000000000000..65610f3e5ba4 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIeqcJec.h @@ -0,0 +1,39 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "OrbitAngleZIecJec.h" + +namespace MbD { + class OrbitAngleZIeqcJec : public OrbitAngleZIecJec + { + //pthezpXI pthezpEI ppthezpXIpXI ppthezpXIpEI ppthezpEIpEI + public: + OrbitAngleZIeqcJec(); + OrbitAngleZIeqcJec(EndFrmsptr frmi, EndFrmsptr frmj); + + void calc_ppthezpEIpEI(); + void calc_ppthezpXIpEI(); + void calc_ppthezpXIpXI(); + void calc_pthezpEI(); + void calc_pthezpXI(); + void calcPostDynCorrectorIteration() override; + void init_xyIeJeIe() override; + void initialize() override; + FMatDsptr ppvaluepEIpEI() override; + FMatDsptr ppvaluepXIpEI() override; + FMatDsptr ppvaluepXIpXI() override; + FRowDsptr pvaluepEI() override; + FRowDsptr pvaluepXI() override; + + FRowDsptr pthezpXI, pthezpEI; + FMatDsptr ppthezpXIpXI, ppthezpXIpEI, ppthezpEIpEI; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIeqcJeqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIeqcJeqc.cpp new file mode 100644 index 000000000000..79709c68ebb5 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIeqcJeqc.cpp @@ -0,0 +1,297 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "OrbitAngleZIeqcJeqc.h" +#include "CREATE.h" +#include "DispCompIeqcJeqcIe.h" + +using namespace MbD; + +MbD::OrbitAngleZIeqcJeqc::OrbitAngleZIeqcJeqc() +{ +} + +MbD::OrbitAngleZIeqcJeqc::OrbitAngleZIeqcJeqc(EndFrmsptr frmi, EndFrmsptr frmj) : OrbitAngleZIeqcJec(frmi, frmj) +{ +} + +void MbD::OrbitAngleZIeqcJeqc::calc_ppthezpEIpEJ() +{ + auto pxpEI = xIeJeIe->pvaluepEI(); + auto pypEI = yIeJeIe->pvaluepEI(); + auto pxpEJ = xIeJeIe->pvaluepEJ(); + auto pypEJ = yIeJeIe->pvaluepEJ(); + auto ppxpEIpEJ = xIeJeIe->ppvaluepEIpEJ(); + auto ppypEIpEJ = yIeJeIe->ppvaluepEIpEJ(); + for (int i = 0; i < 4; i++) + { + auto ppthezpEIpEJi = ppthezpEIpEJ->at(i); + auto ppxpEIpEJi = ppxpEIpEJ->at(i); + auto ppypEIpEJi = ppypEIpEJ->at(i); + auto pxpEIi = pxpEI->at(i); + auto pypEIi = pypEI->at(i); + for (int j = 0; j < 4; j++) + { + auto pxpEJj = pxpEJ->at(j); + auto pypEJj = pypEJ->at(j); + auto term1 = (pxpEIi * pxpEJj - (pypEIi * pypEJj)) * twoCosSinOverSSqSq; + auto term2 = ppypEIpEJi->at(j) * cosOverSSq - (ppxpEIpEJi->at(j) * sinOverSSq); + auto term3 = (pypEIi * pxpEJj + (pxpEIi * pypEJj)) * dSqOverSSqSq; + ppthezpEIpEJi->atiput(j, term1 + term2 + term3); + } + } +} + +void MbD::OrbitAngleZIeqcJeqc::calc_ppthezpEIpXJ() +{ + //ppxpEIpXJ = 0 + //ppypEIpXJ = 0 + + auto pxpEI = xIeJeIe->pvaluepEI(); + auto pypEI = yIeJeIe->pvaluepEI(); + auto pxpXJ = xIeJeIe->pvaluepXJ(); + auto pypXJ = yIeJeIe->pvaluepXJ(); + for (int i = 0; i < 4; i++) + { + auto ppthezpEIpXJi = ppthezpEIpXJ->at(i); + auto pxpEIi = pxpEI->at(i); + auto pypEIi = pypEI->at(i); + for (int j = 0; j < 3; j++) + { + auto pxpXJj = pxpXJ->at(j); + auto pypXJj = pypXJ->at(j); + auto term1 = (pxpEIi * pxpXJj - (pypEIi * pypXJj)) * twoCosSinOverSSqSq; + auto term3 = (pypEIi * pxpXJj + (pxpEIi * pypXJj)) * dSqOverSSqSq; + ppthezpEIpXJi->atiput(j, term1 + term3); + } + } +} + +void MbD::OrbitAngleZIeqcJeqc::calc_ppthezpEJpEJ() +{ + auto pxpEJ = xIeJeIe->pvaluepEJ(); + auto pypEJ = yIeJeIe->pvaluepEJ(); + auto ppxpEJpEJ = xIeJeIe->ppvaluepEJpEJ(); + auto ppypEJpEJ = yIeJeIe->ppvaluepEJpEJ(); + for (int i = 0; i < 4; i++) + { + auto ppthezpEJpEJi = ppthezpEJpEJ->at(i); + auto ppxpEJpEJi = ppxpEJpEJ->at(i); + auto ppypEJpEJi = ppypEJpEJ->at(i); + auto pxpEJi = pxpEJ->at(i); + auto pypEJi = pypEJ->at(i); + for (int j = i; j < 4; j++) + { + auto pxpEJj = pxpEJ->at(j); + auto pypEJj = pypEJ->at(j); + auto term1 = (pxpEJi * pxpEJj - (pypEJi * pypEJj)) * twoCosSinOverSSqSq; + auto term2 = ppypEJpEJi->at(j) * cosOverSSq - (ppxpEJpEJi->at(j) * sinOverSSq); + auto term3 = (pypEJi * pxpEJj + (pxpEJi * pypEJj)) * dSqOverSSqSq; + auto ppthezpEJpEJij = term1 + term2 + term3; + ppthezpEJpEJi->atiput(j, ppthezpEJpEJij); + if (i < j) ppthezpEJpEJ->atijput(j, i, ppthezpEJpEJij); + } + } +} + +void MbD::OrbitAngleZIeqcJeqc::calc_ppthezpXIpEJ() +{ + //ppxpXIpEJ = 0 + //ppypXIpEJ = 0 + + auto pxpXI = xIeJeIe->pvaluepXI(); + auto pypXI = yIeJeIe->pvaluepXI(); + auto pxpEJ = xIeJeIe->pvaluepEJ(); + auto pypEJ = yIeJeIe->pvaluepEJ(); + for (int i = 0; i < 3; i++) + { + auto ppthezpXIpEJi = ppthezpXIpEJ->at(i); + auto pxpXIi = pxpXI->at(i); + auto pypXIi = pypXI->at(i); + for (int j = 0; j < 4; j++) + { + auto pxpEJj = pxpEJ->at(j); + auto pypEJj = pypEJ->at(j); + auto term1 = (pxpXIi * pxpEJj - (pypXIi * pypEJj)) * twoCosSinOverSSqSq; + auto term3 = (pypXIi * pxpEJj + (pxpXIi * pypEJj)) * dSqOverSSqSq; + ppthezpXIpEJi->atiput(j, term1 + term3); + } + } +} + +void MbD::OrbitAngleZIeqcJeqc::calc_ppthezpXIpXJ() +{ + //ppxpXIpXJ = 0 + //ppypXIpXJ = 0 + + auto pxpXI = xIeJeIe->pvaluepXI(); + auto pypXI = yIeJeIe->pvaluepXI(); + auto pxpXJ = xIeJeIe->pvaluepXJ(); + auto pypXJ = yIeJeIe->pvaluepXJ(); + for (int i = 0; i < 3; i++) + { + auto ppthezpXIpXJi = ppthezpXIpXJ->at(i); + auto pxpXIi = pxpXI->at(i); + auto pypXIi = pypXI->at(i); + for (int j = 0; j < 3; j++) + { + auto pxpXJj = pxpXJ->at(j); + auto pypXJj = pypXJ->at(j); + auto term1 = (pxpXIi * pxpXJj - (pypXIi * pypXJj)) * twoCosSinOverSSqSq; + auto term3 = (pypXIi * pxpXJj + (pxpXIi * pypXJj)) * dSqOverSSqSq; + ppthezpXIpXJi->atiput(j, term1 + term3); + } + } +} + +void MbD::OrbitAngleZIeqcJeqc::calc_ppthezpXJpEJ() +{ + //ppxpXJpEJ = 0 + //ppypXJpEJ = 0 + + auto pxpXJ = xIeJeIe->pvaluepXJ(); + auto pypXJ = yIeJeIe->pvaluepXJ(); + auto pxpEJ = xIeJeIe->pvaluepEJ(); + auto pypEJ = yIeJeIe->pvaluepEJ(); + for (int i = 0; i < 3; i++) + { + auto ppthezpXJpEJi = ppthezpXJpEJ->at(i); + auto pxpXJi = pxpXJ->at(i); + auto pypXJi = pypXJ->at(i); + for (int j = 0; j < 4; j++) + { + auto pxpEJj = pxpEJ->at(j); + auto pypEJj = pypEJ->at(j); + auto term1 = (pxpXJi * pxpEJj - (pypXJi * pypEJj)) * twoCosSinOverSSqSq; + auto term3 = (pypXJi * pxpEJj + (pxpXJi * pypEJj)) * dSqOverSSqSq; + ppthezpXJpEJi->atiput(j, term1 + term3); + } + } +} + +void MbD::OrbitAngleZIeqcJeqc::calc_ppthezpXJpXJ() +{ + //ppxpXJpXJ = 0 + //ppypXJpXJ = 0 + + auto pxpXJ = xIeJeIe->pvaluepXJ(); + auto pypXJ = yIeJeIe->pvaluepXJ(); + for (int i = 0; i < 3; i++) + { + auto ppthezpXJpXJi = ppthezpXJpXJ->at(i); + auto pxpXJi = pxpXJ->at(i); + auto pypXJi = pypXJ->at(i); + for (int j = 0; j < 3; j++) + { + auto pxpXJj = pxpXJ->at(j); + auto pypXJj = pypXJ->at(j); + auto term1 = (pxpXJi * pxpXJj - (pypXJi * pypXJj)) * twoCosSinOverSSqSq; + auto term3 = (pypXJi * pxpXJj + (pxpXJi * pypXJj)) * dSqOverSSqSq; + ppthezpXJpXJi->atiput(j, term1 + term3); + } + } +} + +void MbD::OrbitAngleZIeqcJeqc::calc_pthezpEJ() +{ + auto pxpEJ = xIeJeIe->pvaluepEJ(); + auto pypEJ = yIeJeIe->pvaluepEJ(); + for (int i = 0; i < 4; i++) + { + pthezpEJ->atiput(i, pypEJ->at(i) * cosOverSSq - (pxpEJ->at(i) * sinOverSSq)); + } +} + +void MbD::OrbitAngleZIeqcJeqc::calc_pthezpXJ() +{ + auto pxpXJ = xIeJeIe->pvaluepXJ(); + auto pypXJ = yIeJeIe->pvaluepXJ(); + for (int i = 0; i < 3; i++) + { + pthezpXJ->atiput(i, pypXJ->at(i) * cosOverSSq - (pxpXJ->at(i) * sinOverSSq)); + } +} + +void MbD::OrbitAngleZIeqcJeqc::calcPostDynCorrectorIteration() +{ + OrbitAngleZIeqcJec::calcPostDynCorrectorIteration(); + this->calc_pthezpXJ(); + this->calc_pthezpEJ(); + this->calc_ppthezpXIpXJ(); + this->calc_ppthezpXIpEJ(); + this->calc_ppthezpEIpXJ(); + this->calc_ppthezpEIpEJ(); + this->calc_ppthezpXJpXJ(); + this->calc_ppthezpXJpEJ(); + this->calc_ppthezpEJpEJ(); +} + +void MbD::OrbitAngleZIeqcJeqc::init_xyIeJeIe() +{ + xIeJeIe = CREATE::With(frmI, frmJ, 0); + yIeJeIe = CREATE::With(frmI, frmJ, 1); +} + +void MbD::OrbitAngleZIeqcJeqc::initialize() +{ + OrbitAngleZIeqcJec::initialize(); + pthezpXJ = std::make_shared>(3); + pthezpEJ = std::make_shared>(4); + ppthezpXIpXJ = std::make_shared>(3, 3); + ppthezpXIpEJ = std::make_shared>(3, 4); + ppthezpEIpXJ = std::make_shared>(4, 3); + ppthezpEIpEJ = std::make_shared>(4, 4); + ppthezpXJpXJ = std::make_shared>(3, 3); + ppthezpXJpEJ = std::make_shared>(3, 4); + ppthezpEJpEJ = std::make_shared>(4, 4); +} + +FMatDsptr MbD::OrbitAngleZIeqcJeqc::ppvaluepEIpEJ() +{ + return ppthezpEIpEJ; +} + +FMatDsptr MbD::OrbitAngleZIeqcJeqc::ppvaluepEIpXJ() +{ + return ppthezpEIpXJ; +} + +FMatDsptr MbD::OrbitAngleZIeqcJeqc::ppvaluepEJpEJ() +{ + return ppthezpEJpEJ; +} + +FMatDsptr MbD::OrbitAngleZIeqcJeqc::ppvaluepXIpEJ() +{ + return ppthezpXIpEJ; +} + +FMatDsptr MbD::OrbitAngleZIeqcJeqc::ppvaluepXIpXJ() +{ + return ppthezpXIpXJ; +} + +FMatDsptr MbD::OrbitAngleZIeqcJeqc::ppvaluepXJpEJ() +{ + return ppthezpXJpEJ; +} + +FMatDsptr MbD::OrbitAngleZIeqcJeqc::ppvaluepXJpXJ() +{ + return ppthezpXJpXJ; +} + +FRowDsptr MbD::OrbitAngleZIeqcJeqc::pvaluepEJ() +{ + return pthezpEJ; +} + +FRowDsptr MbD::OrbitAngleZIeqcJeqc::pvaluepXJ() +{ + return pthezpXJ; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIeqcJeqc.h b/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIeqcJeqc.h new file mode 100644 index 000000000000..ec0f8436c840 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/OrbitAngleZIeqcJeqc.h @@ -0,0 +1,48 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "OrbitAngleZIeqcJec.h" + +namespace MbD { + class OrbitAngleZIeqcJeqc : public OrbitAngleZIeqcJec + { + //pthezpXJ pthezpEJ ppthezpXIpXJ ppthezpXIpEJ ppthezpEIpXJ ppthezpEIpEJ ppthezpXJpXJ ppthezpXJpEJ ppthezpEJpEJ + public: + OrbitAngleZIeqcJeqc(); + OrbitAngleZIeqcJeqc(EndFrmsptr frmi, EndFrmsptr frmj); + + void calc_ppthezpEIpEJ(); + void calc_ppthezpEIpXJ(); + void calc_ppthezpEJpEJ(); + void calc_ppthezpXIpEJ(); + void calc_ppthezpXIpXJ(); + void calc_ppthezpXJpEJ(); + void calc_ppthezpXJpXJ(); + void calc_pthezpEJ(); + void calc_pthezpXJ(); + void calcPostDynCorrectorIteration() override; + void init_xyIeJeIe() override; + void initialize() override; + FMatDsptr ppvaluepEIpEJ() override; + FMatDsptr ppvaluepEIpXJ() override; + FMatDsptr ppvaluepEJpEJ() override; + FMatDsptr ppvaluepXIpEJ() override; + FMatDsptr ppvaluepXIpXJ() override; + FMatDsptr ppvaluepXJpEJ() override; + FMatDsptr ppvaluepXJpXJ() override; + FRowDsptr pvaluepEJ() override; + FRowDsptr pvaluepXJ() override; + + + FRowDsptr pthezpXJ, pthezpEJ; + FMatDsptr ppthezpXIpXJ, ppthezpXIpEJ, ppthezpEIpXJ, ppthezpEIpEJ, ppthezpXJpXJ, ppthezpXJpEJ, ppthezpEJpEJ; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Orientation.cpp b/src/3rdParty/OndselSolver/OndselSolver/Orientation.cpp new file mode 100644 index 000000000000..0dfdea4a331b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Orientation.cpp @@ -0,0 +1,35 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "Orientation.h" +#include "CREATE.h" +#include "System.h" + +using namespace MbD; + +MbD::Orientation::Orientation() +{ +} + +MbD::Orientation::Orientation(const char*) +{ +} + +void MbD::Orientation::initializeGlobally() +{ + if (constraints->empty()) { + initMotions(); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 1, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 1)); + this->root()->hasChanged = true; + } + else { + PrescribedMotion::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Orientation.h b/src/3rdParty/OndselSolver/OndselSolver/Orientation.h new file mode 100644 index 000000000000..bc6566dd5867 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Orientation.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "PrescribedMotion.h" + +namespace MbD { + class Orientation : public PrescribedMotion + { + // + public: + Orientation(); + Orientation(const char* str); + void initializeGlobally() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ParallelAxesJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ParallelAxesJoint.cpp new file mode 100644 index 000000000000..380c0f3e4502 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ParallelAxesJoint.cpp @@ -0,0 +1,34 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ParallelAxesJoint.h" +#include "CREATE.h" +#include "System.h" + +using namespace MbD; + +MbD::ParallelAxesJoint::ParallelAxesJoint() +{ +} + +MbD::ParallelAxesJoint::ParallelAxesJoint(const char*) +{ +} + +void MbD::ParallelAxesJoint::initializeGlobally() +{ + if (constraints->empty()) + { + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 1)); + this->root()->hasChanged = true; + } + else { + Joint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ParallelAxesJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ParallelAxesJoint.h new file mode 100644 index 000000000000..4e927ee3eeb9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ParallelAxesJoint.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Joint.h" + +namespace MbD { + class ParallelAxesJoint : public Joint + { + // + public: + ParallelAxesJoint(); + ParallelAxesJoint(const char* str); + void initializeGlobally() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Part.cpp b/src/3rdParty/OndselSolver/OndselSolver/Part.cpp new file mode 100644 index 000000000000..7f24ef062f73 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Part.cpp @@ -0,0 +1,590 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "Part.h" +#include "PartFrame.h" +#include "System.h" +#include "CREATE.h" +#include "EulerParameters.h" +#include "PosVelAccData.h" +#include "FullColumn.h" +#include "FullMatrix.h" +#include "DiagonalMatrix.h" + + +using namespace MbD; + +Part::Part() { +} + +Part::Part(const char* str) : Item(str) { +} + +System* MbD::Part::root() +{ + return system; +} + +void Part::initialize() +{ + partFrame = CREATE::With(); + partFrame->setPart(this); + pTpE = std::make_shared>(4); + ppTpEpE = std::make_shared>(4, 4); + ppTpEpEdot = std::make_shared>(4, 4); +} + +void Part::initializeLocally() +{ + partFrame->initializeLocally(); + if (m > 0) { + mX = std::make_shared>(3, m); + } + else { + mX = std::make_shared>(3, 0.0); + } +} + +void Part::initializeGlobally() +{ + partFrame->initializeGlobally(); +} + +void Part::setqX(FColDsptr x) { + partFrame->setqX(x); +} + +FColDsptr Part::getqX() { + return partFrame->getqX(); +} + +void Part::setaAap(FMatDsptr mat) { + partFrame->setaAap(mat); +} + +void Part::setqE(FColDsptr x) { + partFrame->setqE(x); +} + +FColDsptr Part::getqE() { + return partFrame->getqE(); +} + +void Part::setqXdot(FColDsptr x) { + partFrame->setqXdot(x); +} + +FColDsptr Part::getqXdot() { + return partFrame->getqXdot(); +} + +void Part::setomeOpO(FColDsptr x) { + partFrame->setomeOpO(x); +} + +FColDsptr Part::getomeOpO() { + return partFrame->getomeOpO(); +} + +void Part::setqXddot(FColDsptr x) +{ + partFrame->setqXddot(x); +} + +FColDsptr Part::getqXddot() +{ + return partFrame->getqXddot(); +} + +void Part::setqEddot(FColDsptr x) +{ + partFrame->setqEddot(x); +} + +FColDsptr Part::getqEddot() +{ + return partFrame->getqEddot(); +} + +void Part::qX(FColDsptr x) +{ + partFrame->qX = x; +} + +FColDsptr Part::qX() +{ + return partFrame->qX; +} + +void Part::qE(std::shared_ptr> x) +{ + partFrame->qE = x; +} + +std::shared_ptr> Part::qE() +{ + return partFrame->qE; +} + +void Part::qXdot(FColDsptr x) +{ + partFrame->qXdot = x; +} + +FColDsptr Part::qXdot() +{ + return partFrame->qXdot; +} + +void Part::omeOpO(FColDsptr x) +{ + partFrame->setomeOpO(x); +} + +FColDsptr Part::omeOpO() +{ + return partFrame->omeOpO(); +} + +void Part::qXddot(FColDsptr x) +{ + partFrame->qXddot = x; +} + +FColDsptr Part::qXddot() +{ + return partFrame->qXddot; +} + +void Part::qEddot(FColDsptr x) +{ + //ToDo: Should store EulerParametersDDot + //ToDo: Need alpOpO too + partFrame->qXddot = x; +} + +FColDsptr Part::qEddot() +{ + return partFrame->qEddot; +} + +FMatDsptr Part::aAOp() +{ + return partFrame->aAOp(); +} + +FColDsptr Part::alpOpO() +{ + return partFrame->alpOpO(); +} + +void Part::setSystem(System* sys) +{ + system = sys; +} + +void Part::asFixed() +{ + partFrame->asFixed(); +} + +void Part::postInput() +{ + partFrame->postInput(); + Item::postInput(); +} + +void Part::calcPostDynCorrectorIteration() +{ + this->calcmE(); + this->calcmEdot(); + this->calcpTpE(); + this->calcppTpEpE(); + this->calcppTpEpEdot(); +} + +void Part::prePosIC() +{ + partFrame->prePosIC(); +} + +void Part::prePosKine() +{ + partFrame->prePosKine(); +} + +int MbD::Part::iqX() +{ + return partFrame->iqX; +} + +int MbD::Part::iqE() +{ + return partFrame->iqE; +} + +void Part::iqX(int eqnNo) +{ + partFrame->iqX = eqnNo; +} + +void Part::iqE(int eqnNo) +{ + partFrame->iqE = eqnNo; + +} + +void Part::fillEssenConstraints(std::shared_ptr>> essenConstraints) +{ + partFrame->fillEssenConstraints(essenConstraints); +} + +void Part::fillRedundantConstraints(std::shared_ptr>>) +{ +} + +void Part::fillConstraints(std::shared_ptr>> allConstraints) +{ + partFrame->fillConstraints(allConstraints); +} + +void Part::fillqsu(FColDsptr col) +{ + partFrame->fillqsu(col); +} + +void Part::fillqsuWeights(DiagMatDsptr diagMat) +{ + //"Map wqX and wqE according to inertias. (0 to maximum inertia) map to (minw to maxw)" + //"When the inertias are zero, they are set to a small number for positive definiteness." + //"They are not set to zero because inertialess part may be underconstrained." + //"Avoid having two kinds of singularities to confuse redundant constraint removal." + //"Redundant constraint removal likes equal weights." + //"wqE(4) = 0.0d is ok because there is always the euler parameter constraint." + + auto mMax = this->root()->maximumMass(); + auto aJiMax = this->root()->maximumMomentOfInertia(); + double minw = 1.0e3; + double maxw = 1.0e6; + auto wqX = std::make_shared>(3); + auto wqE = std::make_shared>(4); + if (mMax == 0) { mMax = 1.0; } + for (int i = 0; i < 3; i++) + { + wqX->at(i) = (maxw * m / mMax) + minw; + } + if (aJiMax == 0) { aJiMax = 1.0; } + for (int i = 0; i < 3; i++) + { + auto aJi = aJ->at(i); + wqE->at(i) = (maxw * aJi / aJiMax) + minw; + } + wqE->at(3) = minw; + diagMat->atiputDiagonalMatrix(partFrame->iqX, wqX); + diagMat->atiputDiagonalMatrix(partFrame->iqE, wqE); + partFrame->fillqsuWeights(diagMat); +} + +void MbD::Part::fillqsuddotlam(FColDsptr col) +{ + partFrame->fillqsuddotlam(col); +} + +void Part::fillqsulam(FColDsptr col) +{ + partFrame->fillqsulam(col); +} + +void Part::fillqsudot(FColDsptr col) +{ + partFrame->fillqsudot(col); +} + +void Part::fillqsudotWeights(DiagMatDsptr diagMat) +{ + //"wqXdot and wqEdot are set to their respective inertias." + //"When the inertias are zero, they are set to a small number for positive definiteness." + //"They are not set to zero because inertialess part may be underconstrained." + //"wqEdot(4) = 0.0d is ok because there is always the euler parameter constraint." + + //| mMax aJiMax maxInertia minw maxw aJi wqXdot wqEdot | + auto mMax = this->root()->maximumMass(); + auto aJiMax = this->root()->maximumMomentOfInertia(); + double maxInertia = std::max(mMax, aJiMax); + if (maxInertia == 0) maxInertia = 1.0; + double minw = 1.0e-12 * maxInertia; + double maxw = maxInertia; + auto wqXdot = std::make_shared>(3); + auto wqEdot = std::make_shared>(4); + for (int i = 0; i < 3; i++) + { + wqXdot->at(i) = (maxw * m / maxInertia) + minw; + auto aJi = aJ->at(i); + wqEdot->at(i) = (maxw * aJi / maxInertia) + minw; + } + wqEdot->at(3) = minw; + diagMat->atiputDiagonalMatrix(partFrame->iqX, wqXdot); + diagMat->atiputDiagonalMatrix(partFrame->iqE, wqEdot); + partFrame->fillqsudotWeights(diagMat); +} + +void Part::useEquationNumbers() +{ + partFrame->useEquationNumbers(); +} + +void Part::setqsu(FColDsptr col) +{ + partFrame->setqsu(col); +} + +void Part::setqsulam(FColDsptr col) +{ + partFrame->setqsulam(col); +} + +void Part::setqsudot(FColDsptr col) +{ + partFrame->setqsudot(col); +} + +void Part::setqsudotlam(FColDsptr col) +{ + partFrame->setqsudotlam(col); +} + +void Part::postPosICIteration() +{ + partFrame->postPosICIteration(); +} + +void Part::fillPosICError(FColDsptr col) +{ + partFrame->fillPosICError(col); +} + +void Part::fillPosICJacob(SpMatDsptr mat) +{ + partFrame->fillPosICJacob(mat); +} + +void Part::removeRedundantConstraints(std::shared_ptr> redundantEqnNos) +{ + partFrame->removeRedundantConstraints(redundantEqnNos); +} + +void Part::reactivateRedundantConstraints() +{ + partFrame->reactivateRedundantConstraints(); +} + +void Part::constraintsReport() +{ + partFrame->constraintsReport(); +} + +void Part::postPosIC() +{ + partFrame->postPosIC(); + this->calcmE(); +} + +void Part::preDyn() +{ + partFrame->preDyn(); +} + +void Part::storeDynState() +{ + partFrame->storeDynState(); +} + +void Part::fillPosKineError(FColDsptr col) +{ + partFrame->fillPosKineError(col); +} + +void Part::fillPosKineJacob(SpMatDsptr mat) +{ + partFrame->fillPosKineJacob(mat); +} + +void Part::preVelIC() +{ + partFrame->preVelIC(); +} + +void Part::postVelIC() +{ + partFrame->postVelIC(); + this->calcp(); + this->calcmEdot(); + this->calcpTpE(); + this->calcppTpEpE(); + this->calcppTpEpEdot(); +} + +void Part::fillVelICError(FColDsptr col) +{ + partFrame->fillVelICError(col); +} + +void Part::fillVelICJacob(SpMatDsptr mat) +{ + partFrame->fillVelICJacob(mat); +} + +void Part::preAccIC() +{ + partFrame->preAccIC(); + Item::preAccIC(); +} + +void Part::calcp() +{ + pX = mX->timesFullColumn(partFrame->qXdot); + pE = mE->timesFullColumn(partFrame->qEdot); +} + +//void Part::calcpdot() +//{ +// pXdot = mX->timesFullColumn(partFrame->qXddot); +// pEdot = mEdot->timesFullColumn(partFrame->qEdot)->plusFullColumn(mE->timesFullColumn(partFrame->qEddot)); +//} + +void Part::calcmEdot() +{ + auto aC = partFrame->aC(); + auto aCdot = partFrame->aCdot(); + auto a4J = aJ->times(4.0); + auto term1 = aC->transposeTimesFullMatrix(a4J->timesFullMatrix(aCdot)); + auto term2 = term1->transpose(); + mEdot = term1->plusFullMatrix(term2); +} + +void Part::calcpTpE() +{ + //"pTpE is a column vector." + auto& qEdot = partFrame->qEdot; + auto aC = partFrame->aC(); + auto pCpEtimesqEdot = EulerParameters::pCpEtimesColumn(qEdot); + pTpE = (pCpEtimesqEdot->transposeTimesFullColumn(aJ->timesFullColumn(aC->timesFullColumn(qEdot))))->times(4.0); +} + +void Part::calcppTpEpE() +{ + auto& qEdot = partFrame->qEdot; + auto pCpEtimesqEdot = EulerParameters::pCpEtimesColumn(qEdot); + auto a4J = aJ->times(4.0); + ppTpEpE = pCpEtimesqEdot->transposeTimesFullMatrix(a4J->timesFullMatrix(pCpEtimesqEdot)); +} + +void Part::calcppTpEpEdot() +{ + //| qEdot aC a4J term1 pCpEtimesqEdot term2 | + auto& qEdot = partFrame->qEdot; + auto aC = partFrame->aC(); + auto a4J = aJ->times(4.0); + auto term1 = EulerParameters::pCTpEtimesColumn(a4J->timesFullColumn(aC->timesFullColumn(qEdot))); + auto pCpEtimesqEdot = EulerParameters::pCpEtimesColumn(qEdot); + auto term2 = aC->transposeTimesFullMatrix(a4J->timesFullMatrix(pCpEtimesqEdot)); + ppTpEpEdot = term1->plusFullMatrix(term2)->transpose(); +} + +void Part::calcmE() +{ + auto aC = partFrame->aC(); + mE = aC->transposeTimesFullMatrix(aJ->timesFullMatrix(aC))->times(4.0); +} + +void Part::fillAccICIterError(FColDsptr col) +{ + auto iqX = partFrame->iqX; + auto iqE = partFrame->iqE; + col->atiminusFullColumn(iqX, mX->timesFullColumn(partFrame->qXddot)); + col->atiminusFullColumn(iqE, mEdot->timesFullColumn(partFrame->qEdot)); + col->atiminusFullColumn(iqE, mE->timesFullColumn(partFrame->qEddot)); + col->atiplusFullColumn(iqE, pTpE); + partFrame->fillAccICIterError(col); +} + +void Part::fillAccICIterJacob(SpMatDsptr mat) +{ + auto iqX = partFrame->iqX; + auto iqE = partFrame->iqE; + mat->atijminusDiagonalMatrix(iqX, iqX, mX); + mat->atijminusFullMatrix(iqE, iqE, mE); + partFrame->fillAccICIterJacob(mat); +} + +std::shared_ptr> Part::qEdot() +{ + return partFrame->qEdot; +} + +void Part::setqsuddotlam(FColDsptr col) +{ + partFrame->setqsuddotlam(col); +} + +std::shared_ptr Part::stateData() +{ + //" + //P : = part frame. + //p : = principal frame at cm. + //rOcmO : = rOPO + aAOP * rPcmP. + //aAOp : = aAOP * aAPp. + //vOcmO : = vOPO + aAdotOP * rPcmP + //: = vOPO + (omeOPO cross : aAOP * rPcmP). + //omeOpO : = omeOPO. + //aOcmO : = aOPO + aAddotOP * rPcmP + //: = aOPO + (alpOPO cross : aAOP * rPcmP) + (omeOPO cross : (omeOPO cross : aAOP * rPcmP)). + //alpOpO : = alpOPO. + + //Therefore + //aAOP : = aAOp * aAPpT + //rOPO : = rOcmO - aAOP * rPcmP. + //omeOPO : = omeOpO. + //vOPO : = vOcmO - (omeOPO cross : aAOP * rPcmP). + //alpOPO : = alpOpO. + //aOPO : = aOcmO - (alpOPO cross : aAOP * rPcmP) - (omeOPO cross : (omeOPO cross : + //aAOP * rPcmP)). + //" + + auto rOpO = this->qX(); + auto aAOp = this->aAOp(); + auto vOpO = this->qXdot(); + auto omeOpO = this->omeOpO(); + auto aOpO = this->qXddot(); + auto alpOpO = this->alpOpO(); + auto answer = std::make_shared(); + answer->rFfF = rOpO; + answer->aAFf = aAOp; + answer->vFfF = vOpO; + answer->omeFfF = omeOpO; + answer->aFfF = aOpO; + answer->alpFfF = alpOpO; + return answer; +} + +double Part::suggestSmallerOrAcceptDynStepSize(double hnew) +{ + auto hnew2 = hnew; + hnew2 = partFrame->suggestSmallerOrAcceptDynStepSize(hnew2); + return hnew2; +} + +void Part::postDynStep() +{ + partFrame->postDynStep(); +} + +void MbD::Part::postAccIC() +{ + //calcpdot(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Part.h b/src/3rdParty/OndselSolver/OndselSolver/Part.h new file mode 100644 index 000000000000..a5a0442fe864 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Part.h @@ -0,0 +1,133 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include + +#include "Item.h" +#include "EulerParametersDot.h" + +namespace MbD { + class System; + class PartFrame; + + class Part : public Item + { + //ToDo: ipX ipE m aJ partFrame pX pXdot pE pEdot mX mE mEdot pTpE ppTpEpE ppTpEpEdot + public: + Part(); + Part(const char* str); + System* root() override; + void initialize() override; + void initializeLocally() override; + void initializeGlobally() override; + void setqX(FColDsptr x); + FColDsptr getqX(); + void setaAap(FMatDsptr mat); + void setqE(FColDsptr x); + FColDsptr getqE(); + void setqXdot(FColDsptr x); + FColDsptr getqXdot(); + void setomeOpO(FColDsptr x); + FColDsptr getomeOpO(); + void setqXddot(FColDsptr x); + FColDsptr getqXddot(); + void setqEddot(FColDsptr x); + FColDsptr getqEddot(); + void qX(FColDsptr x); + FColDsptr qX(); + void qE(std::shared_ptr> x); + std::shared_ptr> qE(); + void qXdot(FColDsptr x); + FColDsptr qXdot(); + void omeOpO(FColDsptr x); + FColDsptr omeOpO(); + void qXddot(FColDsptr x); + FColDsptr qXddot(); + void qEddot(FColDsptr x); + FColDsptr qEddot(); + FMatDsptr aAOp(); + FColDsptr alpOpO(); + + void setSystem(System* sys); + void asFixed(); + void postInput() override; + void calcPostDynCorrectorIteration() override; + + void prePosIC() override; + void prePosKine() override; + int iqX(); + int iqE(); + void iqX(int eqnNo); + void iqE(int eqnNo); + void fillEssenConstraints(std::shared_ptr>> essenConstraints) override; + void fillRedundantConstraints(std::shared_ptr>> redunConstraints) override; + void fillConstraints(std::shared_ptr>> allConstraints) override; + void fillqsu(FColDsptr col) override; + void fillqsuWeights(DiagMatDsptr diagMat) override; + void fillqsuddotlam(FColDsptr col) override; + void fillqsulam(FColDsptr col) override; + void fillqsudot(FColDsptr col) override; + void fillqsudotWeights(DiagMatDsptr diagMat) override; + void useEquationNumbers() override; + void setqsu(FColDsptr col) override; + void setqsulam(FColDsptr col) override; + void setqsudot(FColDsptr col) override; + void setqsudotlam(FColDsptr col) override; + void postPosICIteration() override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void removeRedundantConstraints(std::shared_ptr> redundantEqnNos) override; + void reactivateRedundantConstraints() override; + void constraintsReport() override; + void postPosIC() override; + void preDyn() override; + void storeDynState() override; + void fillPosKineError(FColDsptr col) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void preVelIC() override; + void postVelIC() override; + void fillVelICError(FColDsptr col) override; + void fillVelICJacob(SpMatDsptr mat) override; + void preAccIC() override; + void calcp(); +// void calcpdot(); + void calcmEdot(); + void calcpTpE(); + void calcppTpEpE(); + void calcppTpEpEdot(); + void calcmE(); + void fillAccICIterError(FColDsptr col) override; + void fillAccICIterJacob(SpMatDsptr mat) override; + std::shared_ptr> qEdot(); + void setqsuddotlam(FColDsptr col) override; + std::shared_ptr stateData() override; + double suggestSmallerOrAcceptDynStepSize(double hnew) override; + void postDynStep() override; + void postAccIC() override; + + System* system; //Use raw pointer when pointing backwards. + int ipX = -1; + int ipE = -1; + double m = 0.0; + DiagMatDsptr aJ; + std::shared_ptr partFrame; + FColDsptr pX; + FColDsptr pXdot; + FColDsptr pE; + FColDsptr pEdot; + DiagMatDsptr mX; + FMatDsptr mE; + FMatDsptr mEdot; + FColDsptr pTpE; + FMatDsptr ppTpEpE; + FMatDsptr ppTpEpEdot; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/PartFrame.cpp b/src/3rdParty/OndselSolver/OndselSolver/PartFrame.cpp new file mode 100644 index 000000000000..24344cdedb1c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PartFrame.cpp @@ -0,0 +1,537 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "PartFrame.h" +#include "Part.h" +#include "EulerConstraint.h" +#include "AbsConstraint.h" +#include "MarkerFrame.h" +#include "EulerParameters.h" +#include "EulerParametersDot.h" +#include "CREATE.h" +#include "RedundantConstraint.h" +#include "System.h" + +using namespace MbD; + +PartFrame::PartFrame() +{ +} +PartFrame::PartFrame(const char* str) : CartesianFrame(str) +{ +} +System* PartFrame::root() +{ + return part->root(); +} +void PartFrame::initialize() +{ + aGeu = CREATE::With(); + aGeu->owner = this; + aGabs = std::make_shared>>(); + markerFrames = std::make_shared>>(); +} + +void PartFrame::initializeLocally() +{ + markerFramesDo([](std::shared_ptr markerFrame) { markerFrame->initializeLocally(); }); + aGeu->initializeLocally(); + aGabsDo([](std::shared_ptr aGab) { aGab->initializeLocally(); }); +} + +void PartFrame::initializeGlobally() +{ + markerFramesDo([](std::shared_ptr markerFrame) { markerFrame->initializeGlobally(); }); + aGeu->initializeGlobally(); + aGabsDo([](std::shared_ptr aGab) { aGab->initializeGlobally(); }); +} +void PartFrame::setqX(FColDsptr x) { + qX->copyFrom(x); +} + +FColDsptr PartFrame::getqX() { + return qX; +} + +void PartFrame::setqE(FColDsptr x) { + qE->copyFrom(x); +} + +void MbD::PartFrame::setaAap(FMatDsptr mat) +{ + qE = mat->asEulerParameters(); +} + +FColDsptr PartFrame::getqE() { + return qE; +} +void PartFrame::setqXdot(FColDsptr x) { + qXdot = x; +} + +FColDsptr PartFrame::getqXdot() { + return qXdot; +} + +void PartFrame::setomeOpO(FColDsptr omeOpO) { + qEdot = EulerParametersDot::FromqEOpAndOmegaOpO(qE, omeOpO); +} + +FColDsptr PartFrame::getomeOpO() { + return qEdot->omeOpO(); +} + +void PartFrame::setqXddot(FColDsptr x) +{ + qXddot = x; +} + +FColDsptr PartFrame::getqXddot() +{ + return qXddot; +} + +void PartFrame::setqEddot(FColDsptr x) +{ + qEddot = x; +} + +FColDsptr PartFrame::getqEddot() +{ + return qEddot; +} + +FColDsptr PartFrame::omeOpO() +{ + return qEdot->omeOpO(); +} + +void PartFrame::setPart(Part* x) { + part = x; +} + +Part* PartFrame::getPart() { + return part; +} + +void PartFrame::addMarkerFrame(std::shared_ptr markerFrame) +{ + markerFrame->setPartFrame(this); + markerFrames->push_back(markerFrame); +} + +EndFrmsptr PartFrame::endFrame(std::string name) +{ + auto match = std::find_if(markerFrames->begin(), markerFrames->end(), [&](auto& mkr) {return mkr->name == name; }); + return (*match)->endFrames->at(0); +} + +void PartFrame::aGabsDo(const std::function)>& f) +{ + std::for_each(aGabs->begin(), aGabs->end(), f); +} + +void PartFrame::markerFramesDo(const std::function)>& f) +{ + std::for_each(markerFrames->begin(), markerFrames->end(), f); +} + +void PartFrame::removeRedundantConstraints(std::shared_ptr> redundantEqnNos) +{ + if (std::find(redundantEqnNos->begin(), redundantEqnNos->end(), aGeu->iG) != redundantEqnNos->end()) { + auto redunCon = CREATE::With(); + redunCon->constraint = aGeu; + aGeu = redunCon; + } + for (int i = 0; i < (int)aGabs->size(); i++) + { + auto& constraint = aGabs->at(i); + if (std::find(redundantEqnNos->begin(), redundantEqnNos->end(), constraint->iG) != redundantEqnNos->end()) { + auto redunCon = CREATE::With(); + redunCon->constraint = constraint; + aGabs->at(i) = redunCon; + } + } +} + +void PartFrame::reactivateRedundantConstraints() +{ + if (aGeu->isRedundant()) aGeu = std::dynamic_pointer_cast(aGeu)->constraint; + for (int i = 0; i < (int)aGabs->size(); i++) + { + auto& con = aGabs->at(i); + if (con->isRedundant()) { + aGabs->at(i) = std::static_pointer_cast(con)->constraint; + } + } +} + +void PartFrame::constraintsReport() +{ + auto redunCons = std::make_shared>>(); + aGabsDo([&](std::shared_ptr con) { + if (con->isRedundant()) { + redunCons->push_back(con); + } + }); + if (aGeu->isRedundant()) redunCons->push_back(aGeu); + if (redunCons->size() > 0) { + std::string str = "MbD: " + part->classname() + std::string(" ") + part->name + " has the following constraint(s) removed: "; + this->logString(str); + std::for_each(redunCons->begin(), redunCons->end(), [&](auto& con) { + str = "MbD: " + std::string(" ") + std::string(typeid(*con).name()); + this->logString(str); + }); + } +} + +void PartFrame::prePosIC() +{ + iqX = -1; + iqE = -1; + Item::prePosIC(); + markerFramesDo([](std::shared_ptr markerFrm) { markerFrm->prePosIC(); }); + aGeu->prePosIC(); + aGabsDo([](std::shared_ptr aGab) { aGab->prePosIC(); }); +} + +void PartFrame::prePosKine() +{ + iqX = -1; + iqE = -1; + this->calcPostDynCorrectorIteration(); + markerFramesDo([](std::shared_ptr markerFrm) { markerFrm->prePosKine(); }); + aGeu->prePosKine(); + aGabsDo([](std::shared_ptr aGab) { aGab->prePosKine(); }); +} + +FColDsptr PartFrame::rOpO() +{ + return qX; +} + +FMatDsptr PartFrame::aAOp() +{ + return qE->aA; +} + +FMatDsptr PartFrame::aC() +{ + return qE->aC; +} + +FMatDsptr PartFrame::aCdot() +{ + return qEdot->aCdot; +} + +FColDsptr PartFrame::alpOpO() +{ + auto& aB = qE->aB; + auto& aBdot = qEdot->aBdot; + return aBdot->timesFullColumn(qEdot)->plusFullColumn(aB->timesFullColumn(qEddot))->times(2.0); +} + +FColFMatDsptr PartFrame::pAOppE() +{ + return qE->pApE; +} + +void PartFrame::fillEssenConstraints(std::shared_ptr>> essenConstraints) +{ + aGeu->fillEssenConstraints(aGeu, essenConstraints); + aGabsDo([&](std::shared_ptr con) { con->fillEssenConstraints(con, essenConstraints); }); +} + +void PartFrame::fillRedundantConstraints(std::shared_ptr>>) +{ +} + +void PartFrame::fillConstraints(std::shared_ptr>> allConstraints) +{ + aGeu->fillConstraints(aGeu, allConstraints); + aGabsDo([&](std::shared_ptr con) { con->fillConstraints(con, allConstraints); }); +} + +void PartFrame::fillqsu(FColDsptr col) +{ + col->atiputFullColumn(iqX, qX); + col->atiputFullColumn(iqE, qE); + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->fillqsu(col); }); +} + +void PartFrame::fillqsuWeights(DiagMatDsptr diagMat) +{ + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->fillqsuWeights(diagMat); }); +} + +void MbD::PartFrame::fillqsuddotlam(FColDsptr col) +{ + col->atiputFullColumn(iqX, qXddot); + col->atiputFullColumn(iqE, qEddot); + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->fillqsuddotlam(col); }); + aGeu->fillqsuddotlam(col); + aGabsDo([&](std::shared_ptr con) { con->fillqsuddotlam(col); }); +} + +void PartFrame::fillqsulam(FColDsptr col) +{ + col->atiputFullColumn(iqX, qX); + col->atiputFullColumn(iqE, qE); + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->fillqsulam(col); }); + aGeu->fillqsulam(col); + aGabsDo([&](std::shared_ptr con) { con->fillqsulam(col); }); +} + +void PartFrame::fillqsudot(FColDsptr col) +{ + col->atiputFullColumn(iqX, qXdot); + col->atiputFullColumn(iqE, qEdot); + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->fillqsudot(col); }); +} + +void PartFrame::fillqsudotWeights(DiagMatDsptr diagMat) +{ + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->fillqsudotWeights(diagMat); }); +} + +void PartFrame::useEquationNumbers() +{ + markerFramesDo([](std::shared_ptr markerFrame) { markerFrame->useEquationNumbers(); }); + aGeu->useEquationNumbers(); + aGabsDo([](std::shared_ptr con) { con->useEquationNumbers(); }); +} + +void PartFrame::setqsu(FColDsptr col) +{ + qX->equalFullColumnAt(col, iqX); + qE->equalFullColumnAt(col, iqE); + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->setqsu(col); }); + aGeu->setqsu(col); + aGabsDo([&](std::shared_ptr con) { con->setqsu(col); }); +} + +void PartFrame::setqsulam(FColDsptr col) +{ + qX->equalFullColumnAt(col, iqX); + qE->equalFullColumnAt(col, iqE); + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->setqsulam(col); }); + aGeu->setqsulam(col); + aGabsDo([&](std::shared_ptr con) { con->setqsulam(col); }); +} + +void PartFrame::setqsudotlam(FColDsptr col) +{ + qXdot->equalFullColumnAt(col, iqX); + qEdot->equalFullColumnAt(col, iqE); + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->setqsudotlam(col); }); + aGeu->setqsudotlam(col); + aGabsDo([&](std::shared_ptr con) { con->setqsudotlam(col); }); +} + +void PartFrame::setqsudot(FColDsptr col) +{ + qXdot->equalFullColumnAt(col, iqX); + qEdot->equalFullColumnAt(col, iqE); + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->setqsudot(col); }); +} + +void PartFrame::postPosICIteration() +{ + Item::postPosICIteration(); + markerFramesDo([](std::shared_ptr markerFrame) { markerFrame->postPosICIteration(); }); + aGeu->postPosICIteration(); + aGabsDo([](std::shared_ptr con) { con->postPosICIteration(); }); +} + +void PartFrame::fillPosICError(FColDsptr col) +{ + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->fillPosICError(col); }); + aGeu->fillPosICError(col); + aGabsDo([&](std::shared_ptr con) { con->fillPosICError(col); }); +} + +void PartFrame::fillPosICJacob(SpMatDsptr mat) +{ + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->fillPosICJacob(mat); }); + aGeu->fillPosICJacob(mat); + aGabsDo([&](std::shared_ptr con) { con->fillPosICJacob(mat); }); +} + +void PartFrame::postPosIC() +{ + markerFramesDo([](std::shared_ptr markerFrame) { markerFrame->postPosIC(); }); + aGeu->postPosIC(); + aGabsDo([](std::shared_ptr con) { con->postPosIC(); }); +} + +void PartFrame::preDyn() +{ + markerFramesDo([](std::shared_ptr markerFrame) { markerFrame->preDyn(); }); + aGeu->preDyn(); + aGabsDo([](std::shared_ptr aGab) { aGab->preDyn(); }); +} + +void PartFrame::storeDynState() +{ + markerFramesDo([](std::shared_ptr markerFrame) { markerFrame->storeDynState(); }); + aGeu->storeDynState(); + aGabsDo([](std::shared_ptr aGab) { aGab->storeDynState(); }); +} + +void PartFrame::fillPosKineError(FColDsptr col) +{ + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->fillPosKineError(col); }); + aGeu->fillPosKineError(col); + aGabsDo([&](std::shared_ptr con) { con->fillPosKineError(col); }); +} + +void PartFrame::preVelIC() +{ + Item::preVelIC(); + markerFramesDo([](std::shared_ptr markerFrame) { markerFrame->preVelIC(); }); + aGeu->preVelIC(); + aGabsDo([](std::shared_ptr aGab) { aGab->preVelIC(); }); +} + +void PartFrame::postVelIC() +{ + qEdot->calcAdotBdotCdot(); + qEdot->calcpAdotpE(); + markerFramesDo([](std::shared_ptr markerFrame) { markerFrame->postVelIC(); }); + aGeu->postVelIC(); + aGabsDo([](std::shared_ptr aGab) { aGab->postVelIC(); }); +} + +void PartFrame::fillVelICError(FColDsptr col) +{ + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->fillVelICError(col); }); + aGeu->fillVelICError(col); + aGabsDo([&](std::shared_ptr con) { con->fillVelICError(col); }); +} + +void PartFrame::fillVelICJacob(SpMatDsptr mat) +{ + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->fillVelICJacob(mat); }); + aGeu->fillVelICJacob(mat); + aGabsDo([&](std::shared_ptr con) { con->fillVelICJacob(mat); }); +} + +void PartFrame::preAccIC() +{ + qXddot = std::make_shared>(3, 0.0); + qEddot = std::make_shared>(4, 0.0); + Item::preAccIC(); + markerFramesDo([](std::shared_ptr markerFrame) { markerFrame->preAccIC(); }); + aGeu->preAccIC(); + aGabsDo([](std::shared_ptr aGab) { aGab->preAccIC(); }); +} + +void PartFrame::fillAccICIterError(FColDsptr col) +{ + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->fillAccICIterError(col); }); + aGeu->fillAccICIterError(col); + aGabsDo([&](std::shared_ptr con) { con->fillAccICIterError(col); }); +} + +void PartFrame::fillAccICIterJacob(SpMatDsptr mat) +{ + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->fillAccICIterJacob(mat); }); + aGeu->fillAccICIterJacob(mat); + aGabsDo([&](std::shared_ptr con) { con->fillAccICIterJacob(mat); }); +} + +void PartFrame::setqsuddotlam(FColDsptr col) +{ + qXddot->equalFullColumnAt(col, iqX); + qEddot->equalFullColumnAt(col, iqE); + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->setqsuddotlam(col); }); + aGeu->setqsuddotlam(col); + aGabsDo([&](std::shared_ptr con) { con->setqsuddotlam(col); }); +} + +FMatDsptr PartFrame::aBOp() +{ + return qE->aB; +} + +void PartFrame::fillPosKineJacob(SpMatDsptr mat) +{ + markerFramesDo([&](std::shared_ptr markerFrame) { markerFrame->fillPosKineJacob(mat); }); + aGeu->fillPosKineJacob(mat); + aGabsDo([&](std::shared_ptr con) { con->fillPosKineJacob(mat); }); +} + +double PartFrame::suggestSmallerOrAcceptDynStepSize(double hnew) +{ + auto hnew2 = hnew; + auto speed = qXdot->length(); + double htran; + if (speed < 1.0e-15) { + htran = 1.0e99; + } + else { + htran = this->root()->translationLimit() / speed; + } + if (hnew2 > htran) { + this->logString("MbD: Time step limited by translation limit per step."); + hnew2 = htran; + } + auto omegaMagnitude = qEdot->omeOpO()->length(); + double hrot; + if (omegaMagnitude < 1.0e-15) { + hrot = 1.0e99; + } + else { + hrot = this->root()->rotationLimit() / omegaMagnitude; + } + if (hnew2 > hrot) { + this->logString("MbD: Time step limited by rotation limit per step."); + hnew2 = hrot; + } + markerFramesDo([&](std::shared_ptr markerFrame) { hnew2 = markerFrame->suggestSmallerOrAcceptDynStepSize(hnew2); }); + hnew2 = aGeu->suggestSmallerOrAcceptDynStepSize(hnew2); + aGabsDo([&](std::shared_ptr aGab) { hnew2 = aGab->suggestSmallerOrAcceptDynStepSize(hnew2); }); + return hnew2; +} + +void PartFrame::postDynStep() +{ + markerFramesDo([](std::shared_ptr markerFrame) { markerFrame->postDynStep(); }); + aGeu->postDynStep(); + aGabsDo([](std::shared_ptr aGab) { aGab->postDynStep(); }); +} + +void PartFrame::asFixed() +{ + for (int i = 0; i < 6; i++) { + auto con = CREATE::With(i); + con->owner = this; + aGabs->push_back(con); + } +} + +void PartFrame::postInput() +{ + qXddot = std::make_shared>(3, 0.0); + qEddot = std::make_shared>(4, 0.0); + Item::postInput(); + markerFramesDo([](std::shared_ptr markerFrame) { markerFrame->postInput(); }); + aGeu->postInput(); + aGabsDo([](std::shared_ptr aGab) { aGab->postInput(); }); +} + +void PartFrame::calcPostDynCorrectorIteration() +{ + qE->calcABC(); + qE->calcpApE(); + qEdot->calcAdotBdotCdot(); + qEdot->calcpAdotpE(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/PartFrame.h b/src/3rdParty/OndselSolver/OndselSolver/PartFrame.h new file mode 100644 index 000000000000..24bd58bf9d47 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PartFrame.h @@ -0,0 +1,123 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include +#include + +#include "CartesianFrame.h" +#include "EndFramec.h" +#include "FullColumn.h" +#include "EulerParameters.h" +#include "EulerParametersDot.h" +#include "CREATE.h" + +namespace MbD { + class Part; + class MarkerFrame; + class EulerConstraint; + class AbsConstraint; + + class PartFrame : public CartesianFrame + { + //ToDo: part iqX iqE qX qE qXdot qEdot qXddot qEddot aGeu aGabs markerFrames + public: + PartFrame(); + PartFrame(const char* str); + System* root() override; + void initialize() override; + void initializeLocally() override; + void initializeGlobally() override; + void asFixed(); + void postInput() override; + void calcPostDynCorrectorIteration() override; + + void setqX(FColDsptr x); + FColDsptr getqX(); + void setqE(FColDsptr x); + void setaAap(FMatDsptr mat); + FColDsptr getqE(); + void setqXdot(FColDsptr x); + FColDsptr getqXdot(); + void setomeOpO(FColDsptr x); + FColDsptr getomeOpO(); + void setqXddot(FColDsptr x); + FColDsptr getqXddot(); + void setqEddot(FColDsptr x); + FColDsptr getqEddot(); + FColDsptr omeOpO(); + + void setPart(Part* x); + Part* getPart(); + void addMarkerFrame(std::shared_ptr x); + EndFrmsptr endFrame(std::string name); + void aGabsDo(const std::function )>& f); + void markerFramesDo(const std::function )>& f); + void removeRedundantConstraints(std::shared_ptr> redundantEqnNos) override; + void reactivateRedundantConstraints() override; + void constraintsReport() override; + + void prePosIC() override; + void prePosKine() override; + FColDsptr rOpO(); + FMatDsptr aAOp(); + FMatDsptr aC(); + FMatDsptr aCdot(); + FColDsptr alpOpO(); + FColFMatDsptr pAOppE(); + void fillEssenConstraints(std::shared_ptr>> essenConstraints) override; + void fillRedundantConstraints(std::shared_ptr>> redunConstraints) override; + void fillConstraints(std::shared_ptr>> allConstraints) override; + void fillqsu(FColDsptr col) override; + void fillqsuWeights(DiagMatDsptr diagMat) override; + void fillqsuddotlam(FColDsptr col) override; + void fillqsulam(FColDsptr col) override; + void fillqsudot(FColDsptr col) override; + void fillqsudotWeights(DiagMatDsptr diagMat) override; + void useEquationNumbers() override; + void setqsu(FColDsptr col) override; + void setqsulam(FColDsptr col) override; + void setqsudotlam(FColDsptr col) override; + void setqsudot(FColDsptr col) override; + void setqsuddotlam(FColDsptr col) override; + void postPosICIteration() override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void postPosIC() override; + void preDyn() override; + void storeDynState() override; + void fillPosKineError(FColDsptr col) override; + void preVelIC() override; + void postVelIC() override; + void fillVelICError(FColDsptr col) override; + void fillVelICJacob(SpMatDsptr mat) override; + void preAccIC() override; + void fillAccICIterError(FColDsptr col) override; + void fillAccICIterJacob(SpMatDsptr mat) override; + FMatDsptr aBOp(); + void fillPosKineJacob(SpMatDsptr mat) override; + double suggestSmallerOrAcceptDynStepSize(double hnew) override; + void postDynStep() override; + + Part* part = nullptr; //Use raw pointer when pointing backwards. + int iqX = -1; + int iqE = -1; //Position index of frame variables qX and qE in system list of variables + FColDsptr qX = std::make_shared>(3); + std::shared_ptr> qE = CREATE>::With(4); + FColDsptr qXdot = std::make_shared>(3); + std::shared_ptr> qEdot = CREATE>::With(4); + FColDsptr qXddot = std::make_shared>(3); + FColDsptr qEddot = std::make_shared>(4); + std::shared_ptr aGeu; + std::shared_ptr>> aGabs; + std::shared_ptr>> markerFrames; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/PerpendicularJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/PerpendicularJoint.cpp new file mode 100644 index 000000000000..a8c30abdbba2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PerpendicularJoint.cpp @@ -0,0 +1,33 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "PerpendicularJoint.h" +#include "CREATE.h" +#include "System.h" + +using namespace MbD; + +MbD::PerpendicularJoint::PerpendicularJoint() +{ +} + +MbD::PerpendicularJoint::PerpendicularJoint(const char*) +{ +} + +void MbD::PerpendicularJoint::initializeGlobally() +{ + if (constraints->empty()) + { + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 2)); + this->root()->hasChanged = true; + } + else { + Joint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/PerpendicularJoint.h b/src/3rdParty/OndselSolver/OndselSolver/PerpendicularJoint.h new file mode 100644 index 000000000000..9783d022f61f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PerpendicularJoint.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Joint.h" + +namespace MbD { + class PerpendicularJoint : public Joint + { + // + public: + PerpendicularJoint(); + PerpendicularJoint(const char* str); + void initializeGlobally() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/PiecewiseFunction.cpp b/src/3rdParty/OndselSolver/OndselSolver/PiecewiseFunction.cpp new file mode 100644 index 000000000000..23d6e30b3d00 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PiecewiseFunction.cpp @@ -0,0 +1,123 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "PiecewiseFunction.h" + +using namespace MbD; + +MbD::PiecewiseFunction::PiecewiseFunction() +{ + noop(); +} + +MbD::PiecewiseFunction::PiecewiseFunction(Symsptr var, std::shared_ptr> funcs, std::shared_ptr> trans) +{ + assert(var); + assert(functions->empty()); + xx = var; + functions->clear(); + functions->insert(functions->end(), funcs->begin(), funcs->end()); + transitions->clear(); + transitions->insert(transitions->end(), trans->begin(), trans->end()); +} + +Symsptr MbD::PiecewiseFunction::expandUntil(Symsptr, std::shared_ptr> set) +{ + auto expansions = std::make_shared>(); + std::transform(functions->begin(), + functions->end(), + std::back_inserter(*expansions), + [&](auto& func) { return func->expandUntil(func, set); } + ); + return std::make_shared(xx, expansions, transitions); +} + +Symsptr MbD::PiecewiseFunction::simplifyUntil(Symsptr, std::shared_ptr> set) +{ + auto simplifications = std::make_shared>(); + std::transform(functions->begin(), + functions->end(), + std::back_inserter(*simplifications), + [&](auto& func) { return func->simplifyUntil(func, set); } + ); + return std::make_shared(xx, simplifications, transitions); +} + +Symsptr MbD::PiecewiseFunction::differentiateWRTx() +{ + auto derivatives = std::make_shared>(); + std::transform(functions->begin(), + functions->end(), + std::back_inserter(*derivatives), + [&](auto& func) { return func->differentiateWRT(xx); } + ); + return std::make_shared(xx, derivatives, transitions); +} + +Symsptr MbD::PiecewiseFunction::integrateWRT(Symsptr var) +{ + assert(xx == var); + auto integrals = std::make_shared>(); + std::transform(functions->begin(), + functions->end(), + std::back_inserter(*integrals), + [var](auto& func) { return func->integrateWRT(var); } + ); + for (int i = 0; i < (int)transitions->size(); i++) + { + auto x = transitions->at(i)->getValue(); + auto fi = integrals->at(i)->getValue(x); + auto fi1 = integrals->at(i + 1)->getValue(x); + auto integConstant = fi - fi1; + integrals->at(i + 1)->integrationConstant(integConstant); + noop(); + } + return std::make_shared(var, integrals, transitions); +} + +double MbD::PiecewiseFunction::getValue() +{ + auto xval = xx->getValue(); + for (int i = 0; i < (int)transitions->size(); i++) + { + if (xval < transitions->at(i)->getValue()) { + return functions->at(i)->getValue(); + } + } + return functions->back()->getValue(); +} + +void MbD::PiecewiseFunction::arguments(Symsptr args) +{ + auto arguments = args->getTerms(); + xx = arguments->at(0); + functions = arguments->at(1)->getTerms(); + transitions = arguments->at(2)->getTerms(); +} + +std::ostream& MbD::PiecewiseFunction::printOn(std::ostream& s) const +{ + s << "PiecewiseFunction(" << *xx << ", " << std::endl; + s << "functions{" << std::endl; + s << *functions->at(0) << std::endl; + for (int i = 1; i < (int)functions->size(); i++) + { + s << *functions->at(i) << std::endl; + } + s << "}, " << std::endl; + s << "transitions{" << std::endl; + s << *transitions->at(0) << std::endl; + for (int i = 1; i < (int)transitions->size(); i++) + { + s << *transitions->at(i) << std::endl; + } + s << "})" << std::endl; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/PiecewiseFunction.h b/src/3rdParty/OndselSolver/OndselSolver/PiecewiseFunction.h new file mode 100644 index 000000000000..1fcac7f361a0 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PiecewiseFunction.h @@ -0,0 +1,37 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionXcParameter.h" + +namespace MbD { + class Symbolic; + using Symsptr = std::shared_ptr; + + class PiecewiseFunction : public FunctionXcParameter + { + //functions transitions + //func0 tran0 func1 tran1 func2 + public: + PiecewiseFunction(); + PiecewiseFunction(Symsptr var, std::shared_ptr> funcs, std::shared_ptr> trans); + Symsptr expandUntil(Symsptr sptr, std::shared_ptr> set) override; + Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr> set) override; + Symsptr differentiateWRTx() override; + Symsptr integrateWRT(Symsptr var) override; + double getValue() override; + void arguments(Symsptr args) override; + + std::ostream& printOn(std::ostream& s) const override; + + std::shared_ptr> functions = std::make_shared>(); + std::shared_ptr> transitions = std::make_shared>(); + + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/PlanarJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/PlanarJoint.cpp new file mode 100644 index 000000000000..a79fcfa70f50 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PlanarJoint.cpp @@ -0,0 +1,35 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "PlanarJoint.h" +#include "CREATE.h" +#include "System.h" + +using namespace MbD; + +MbD::PlanarJoint::PlanarJoint() +{ +} + +MbD::PlanarJoint::PlanarJoint(const char*) +{ +} + +void MbD::PlanarJoint::initializeGlobally() +{ + if (constraints->empty()) + { + this->createInPlaneConstraint(); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 1)); + this->root()->hasChanged = true; + } + else { + Joint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/PlanarJoint.h b/src/3rdParty/OndselSolver/OndselSolver/PlanarJoint.h new file mode 100644 index 000000000000..2a398adb4d5e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PlanarJoint.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "InPlaneJoint.h" + +namespace MbD { + class PlanarJoint : public InPlaneJoint + { + // + public: + PlanarJoint(); + PlanarJoint(const char* str); + void initializeGlobally() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/PointInLineJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/PointInLineJoint.cpp new file mode 100644 index 000000000000..9ecafae92aae --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PointInLineJoint.cpp @@ -0,0 +1,33 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "PointInLineJoint.h" +#include "CREATE.h" +#include "System.h" + +using namespace MbD; + +MbD::PointInLineJoint::PointInLineJoint() +{ +} + +MbD::PointInLineJoint::PointInLineJoint(const char* str) : InLineJoint(str) +{ +} + +void MbD::PointInLineJoint::initializeGlobally() +{ + if (constraints->empty()) + { + createInLineConstraints(); + this->root()->hasChanged = true; + } + else { + Joint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/PointInLineJoint.h b/src/3rdParty/OndselSolver/OndselSolver/PointInLineJoint.h new file mode 100644 index 000000000000..76331b4106dc --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PointInLineJoint.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "InLineJoint.h" + +namespace MbD { + class PointInLineJoint : public InLineJoint + { + // + public: + PointInLineJoint(); + PointInLineJoint(const char* str); + void initializeGlobally() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/PointInPlaneJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/PointInPlaneJoint.cpp new file mode 100644 index 000000000000..992db5a17965 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PointInPlaneJoint.cpp @@ -0,0 +1,32 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "PointInPlaneJoint.h" +#include "System.h" + +using namespace MbD; + +MbD::PointInPlaneJoint::PointInPlaneJoint() +{ +} + +MbD::PointInPlaneJoint::PointInPlaneJoint(const char*) +{ +} + +void MbD::PointInPlaneJoint::initializeGlobally() +{ + if (constraints->empty()) + { + this->createInPlaneConstraint(); + this->root()->hasChanged = true; + } + else { + Joint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/PointInPlaneJoint.h b/src/3rdParty/OndselSolver/OndselSolver/PointInPlaneJoint.h new file mode 100644 index 000000000000..07925b27e813 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PointInPlaneJoint.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "InPlaneJoint.h" + +namespace MbD { + class PointInPlaneJoint : public InPlaneJoint + { + // + public: + PointInPlaneJoint(); + PointInPlaneJoint(const char* str); + void initializeGlobally() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Polynomial.cpp b/src/3rdParty/OndselSolver/OndselSolver/Polynomial.cpp new file mode 100644 index 000000000000..2993686888ce --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Polynomial.cpp @@ -0,0 +1,122 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "Polynomial.h" +#include "Constant.h" +#include "Sum.h" + +using namespace MbD; + +MbD::Polynomial::Polynomial(Symsptr var, std::shared_ptr> coefficients) +{ + assert(!coefficients->empty()); + xx = var; + std::transform(coefficients->begin(), coefficients->end(), coeffs->begin(), + [&](auto& coeff) { return sptrConstant(coeff); } + ); +} +MbD::Polynomial::Polynomial(Symsptr var, std::shared_ptr> coefficients) +{ + assert(!coefficients->empty()); + xx = var; + coeffs->insert(coeffs->end(), coefficients->begin(), coefficients->end()); +} + +Symsptr MbD::Polynomial::expandUntil(Symsptr, std::shared_ptr> set) +{ + auto newCoeffs = std::make_shared>(); + for (int i = 0; i < (int)coeffs->size(); i++) + { + auto coeff = coeffs->at(i); + auto newCoeff = coeff->expandUntil(coeff, set); + newCoeffs->push_back(newCoeff); + } + return std::make_shared(xx, newCoeffs); +} + +Symsptr MbD::Polynomial::simplifyUntil(Symsptr, std::shared_ptr> set) +{ + auto newCoeffs = std::make_shared>(); + for (int i = 0; i < (int)coeffs->size(); i++) + { + auto coeff = coeffs->at(i); + auto newCoeff = coeff->simplifyUntil(coeff, set); + newCoeffs->push_back(newCoeff); + } + return std::make_shared(xx, newCoeffs); +} + +Symsptr MbD::Polynomial::differentiateWRTx() +{ + //Differentiate powers + if (coeffs->size() == 1) return sptrConstant(0.0); + auto newCoeffs = std::make_shared>(); + for (int i = 1; i < (int)coeffs->size(); i++) + { + auto newCoeff = i * coeffs->at(i)->getValue(); + newCoeffs->push_back(sptrConstant(newCoeff)); + } + auto poly1 = std::make_shared(xx, newCoeffs); + //Differentiate coeffs + auto coeffDerivs = std::make_shared>(); + std::transform(coeffs->begin(), + coeffs->end(), + std::back_inserter(*coeffDerivs), + [&](auto& coeff) { return coeff->differentiateWRT(xx); } + ); + auto poly2 = std::make_shared(xx, coeffDerivs); + return std::make_shared(poly1, poly2); +} + +Symsptr MbD::Polynomial::integrateWRT(Symsptr var) +{ + assert(xx == var); + auto newCoeffs = std::make_shared>(); + newCoeffs->push_back(sptrConstant(0.0)); + for (int i = 0; i < (int)coeffs->size(); i++) + { + auto newCoeff = coeffs->at(i)->getValue() / (i + 1); + newCoeffs->push_back(sptrConstant(newCoeff)); + } + return std::make_shared(var, newCoeffs); +} + +double MbD::Polynomial::getValue() +{ + auto xvalue = xx->getValue(); + auto xpower = 1.0; + auto answer = 0.0; + for (int i = 0; i < (int)coeffs->size(); i++) + { + answer += coeffs->at(i)->getValue() * xpower; + xpower *= xvalue; + } + return answer; +} + +void MbD::Polynomial::integrationConstant(double integConstant) +{ + auto coeff0 = coeffs->at(0); + coeff0->setValue(coeff0->getValue() + integConstant); +} + +std::ostream& MbD::Polynomial::printOn(std::ostream& s) const +{ + s << "Polynomial("; + s << *xx << ", "; + s << "coeffs{"; + s << *coeffs->at(0); + for (int i = 1; i < (int)coeffs->size(); i++) + { + s << ", " << *coeffs->at(i); + } + s << "})"; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Polynomial.h b/src/3rdParty/OndselSolver/OndselSolver/Polynomial.h new file mode 100644 index 000000000000..e9c092e2fb2d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Polynomial.h @@ -0,0 +1,33 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionXcParameter.h" + +namespace MbD { + class Polynomial : public FunctionXcParameter + { + //pn = a0*x^0 + a1*x^1 ... an*x^n + public: + Polynomial(Symsptr var, std::shared_ptr> coeffs); + Polynomial(Symsptr var, std::shared_ptr> coeffs); + Symsptr expandUntil(Symsptr sptr, std::shared_ptr> set) override; + Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr> set) override; + Symsptr differentiateWRTx() override; + Symsptr integrateWRT(Symsptr var) override; + double getValue() override; + void integrationConstant(double integConstant) override; + + std::ostream& printOn(std::ostream& s) const override; + + std::shared_ptr> coeffs = std::make_shared>(); + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/PosICDragNewtonRaphson.cpp b/src/3rdParty/OndselSolver/OndselSolver/PosICDragNewtonRaphson.cpp new file mode 100644 index 000000000000..e9b807bfe6da --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PosICDragNewtonRaphson.cpp @@ -0,0 +1,81 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "PosICDragNewtonRaphson.h" +#include "SystemSolver.h" +#include "Part.h" +#include "Constraint.h" + +using namespace MbD; + +std::shared_ptr MbD::PosICDragNewtonRaphson::With() +{ + auto newtonRaphson = std::make_shared(); + newtonRaphson->initialize(); + return newtonRaphson; +} + +void MbD::PosICDragNewtonRaphson::initializeGlobally() +{ + AnyPosICNewtonRaphson::initializeGlobally(); + iterMax = system->iterMaxPosKine; + dxTol = system->errorTolPosKine; + for (int i = 0; i < qsuWeights->size(); i++) + { + qsuWeights->at(i) = 1.0e3; //minimum weight + } + for (auto& part : *dragParts) { + auto iqX = part->iqX(); + for (int i = 0; i < 3; i++) + { + qsuWeights->at((size_t)iqX + i) = 1.0e6; //maximum weight + } + } +} + +void MbD::PosICDragNewtonRaphson::assignEquationNumbers() +{ + auto parts = system->parts(); + //auto contactEndFrames = system->contactEndFrames(); + //auto uHolders = system->uHolders(); + auto constraints = system->allConstraints(); + int eqnNo = 0; + for (auto& part : *parts) { + part->iqX(eqnNo); + eqnNo = eqnNo + 3; + part->iqE(eqnNo); + eqnNo = eqnNo + 4; + } + //for (auto& endFrm : *contactEndFrames) { + // endFrm->is(eqnNo); + // eqnNo = eqnNo + endFrm->sSize(); + //} + //for (auto& uHolder : *uHolders) { + // uHolder->iu(eqnNo); + // eqnNo += 1; + //} + auto nEqns = eqnNo; //C++ uses index 0. + nqsu = nEqns; + for (auto& con : *constraints) { + con->iG = eqnNo; + eqnNo += 1; + } + //auto lastEqnNo = eqnNo - 1; + nEqns = eqnNo; //C++ uses index 0. + n = nEqns; +} + +bool MbD::PosICDragNewtonRaphson::isConverged() +{ + return dxNorms->at(iterNo) < dxTol || isConvergedToNumericalLimit(); +} + +void MbD::PosICDragNewtonRaphson::setdragParts(std::shared_ptr>> _dragParts) +{ + dragParts = _dragParts; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/PosICDragNewtonRaphson.h b/src/3rdParty/OndselSolver/OndselSolver/PosICDragNewtonRaphson.h new file mode 100644 index 000000000000..8e4debdf30b0 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PosICDragNewtonRaphson.h @@ -0,0 +1,29 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AnyPosICNewtonRaphson.h" + +namespace MbD { + class Part; + + class PosICDragNewtonRaphson : public AnyPosICNewtonRaphson + { + //Kinematics with under constrained system + public: + static std::shared_ptr With(); + void initializeGlobally() override; + void assignEquationNumbers() override; + bool isConverged() override; + void setdragParts(std::shared_ptr>> dragParts); + + std::shared_ptr>> dragParts; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/PosICKineNewtonRaphson.cpp b/src/3rdParty/OndselSolver/OndselSolver/PosICKineNewtonRaphson.cpp new file mode 100644 index 000000000000..14f6fd95e710 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PosICKineNewtonRaphson.cpp @@ -0,0 +1,64 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "PosICKineNewtonRaphson.h" +#include "SystemSolver.h" +#include "Part.h" +#include "Constraint.h" + +using namespace MbD; + +void PosICKineNewtonRaphson::initializeGlobally() +{ + AnyPosICNewtonRaphson::initializeGlobally(); + iterMax = system->iterMaxPosKine; + dxTol = system->errorTolPosKine; +} + +void PosICKineNewtonRaphson::assignEquationNumbers() +{ + auto parts = system->parts(); + //auto contactEndFrames = system->contactEndFrames(); + //auto uHolders = system->uHolders(); + auto constraints = system->allConstraints(); + int eqnNo = 0; + for (auto& part : *parts) { + part->iqX(eqnNo); + eqnNo = eqnNo + 3; + part->iqE(eqnNo); + eqnNo = eqnNo + 4; + } + //for (auto& endFrm : *contactEndFrames) { + // endFrm->is(eqnNo); + // eqnNo = eqnNo + endFrm->sSize(); + //} + //for (auto& uHolder : *uHolders) { + // uHolder->iu(eqnNo); + // eqnNo += 1; + //} + auto nEqns = eqnNo; //C++ uses index 0. + nqsu = nEqns; + for (auto& con : *constraints) { + con->iG = eqnNo; + eqnNo += 1; + } + //auto lastEqnNo = eqnNo - 1; + nEqns = eqnNo; //C++ uses index 0. + n = nEqns; +} + +void MbD::PosICKineNewtonRaphson::preRun() +{ + system->Solver::logString("MbD: Solving for quasi kinematic position."); + PosNewtonRaphson::preRun(); +} + +bool MbD::PosICKineNewtonRaphson::isConverged() +{ + return dxNorms->at(iterNo) < dxTol || isConvergedToNumericalLimit(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/PosICKineNewtonRaphson.h b/src/3rdParty/OndselSolver/OndselSolver/PosICKineNewtonRaphson.h new file mode 100644 index 000000000000..0769f1b482cf --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PosICKineNewtonRaphson.h @@ -0,0 +1,25 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AnyPosICNewtonRaphson.h" + +namespace MbD { + class PosICKineNewtonRaphson : public AnyPosICNewtonRaphson + { + //Kinematics with under constrained system + public: + void initializeGlobally() override; + void assignEquationNumbers() override; + void preRun() override; + bool isConverged() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/PosICNewtonRaphson.cpp b/src/3rdParty/OndselSolver/OndselSolver/PosICNewtonRaphson.cpp new file mode 100644 index 000000000000..69ffa42b5bfd --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PosICNewtonRaphson.cpp @@ -0,0 +1,137 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include + +#include "PosICNewtonRaphson.h" +#include "SingularMatrixError.h" +#include "SystemSolver.h" +#include "Part.h" +#include "Constraint.h" +#include "CREATE.h" +#include "GESpMatParPvPrecise.h" +#include "GESpMatFullPvPosIC.h" + +using namespace MbD; + +void PosICNewtonRaphson::run() +{ + while (true) { + try { + //VectorNewtonRaphson::run(); //Inline to help debugging + preRun(); + initializeLocally(); + initializeGlobally(); + iterate(); + postRun(); + break; + } + catch (SingularMatrixError ex) { + auto redundantEqnNos = ex.getRedundantEqnNos(); + system->partsJointsMotionsDo([&](std::shared_ptr item) { item->removeRedundantConstraints(redundantEqnNos); }); + system->partsJointsMotionsDo([&](std::shared_ptr item) { item->constraintsReport(); }); + system->partsJointsMotionsDo([&](std::shared_ptr item) { item->setqsu(qsuOld); }); + } + } +} + +void PosICNewtonRaphson::preRun() +{ + std::string str("MbD: Assembling system. "); + system->logString(str); + PosNewtonRaphson::preRun(); +} + +void PosICNewtonRaphson::assignEquationNumbers() +{ + auto parts = system->parts(); + //auto contactEndFrames = system->contactEndFrames(); + //auto uHolders = system->uHolders(); + auto essentialConstraints = system->essentialConstraints(); + auto displacementConstraints = system->displacementConstraints(); + auto perpendicularConstraints = system->perpendicularConstraints(); + int eqnNo = 0; + for (auto& part : *parts) { + part->iqX(eqnNo); + eqnNo = eqnNo + 3; + part->iqE(eqnNo); + eqnNo = eqnNo + 4; + } + //for (auto& endFrm : *contactEndFrames) { + // endFrm->is(eqnNo); + // eqnNo = eqnNo + endFrm->sSize(); + //} + //for (auto& uHolder : *uHolders) { + // uHolder->iu(eqnNo); + // eqnNo += 1; + //} + auto nEqns = eqnNo; //C++ uses index 0. + nqsu = nEqns; + for (auto& con : *essentialConstraints) { + con->iG = eqnNo; + eqnNo += 1; + } + auto lastEssenConEqnNo = eqnNo - 1; + for (auto& con : *displacementConstraints) { + con->iG = eqnNo; + eqnNo += 1; + } + auto lastDispConEqnNo = eqnNo - 1; + for (auto& con : *perpendicularConstraints) { + con->iG = eqnNo; + eqnNo += 1; + } + auto lastEqnNo = eqnNo - 1; + nEqns = eqnNo; //C++ uses index 0. + n = nEqns; + auto rangelimits = { lastEssenConEqnNo + 1, lastDispConEqnNo + 1, lastEqnNo + 1 }; + pivotRowLimits = std::make_shared>(rangelimits); +} + +bool PosICNewtonRaphson::isConverged() +{ + return this->isConvergedToNumericalLimit(); +} + +void PosICNewtonRaphson::handleSingularMatrix() +{ + nSingularMatrixError++; + if (nSingularMatrixError == 1) { + this->lookForRedundantConstraints(); + matrixSolver = this->matrixSolverClassNew(); + } + else { + auto& r = *matrixSolver; + std::string str = typeid(r).name(); + if (str.find("GESpMatParPvMarkoFast") != std::string::npos) { + matrixSolver = CREATE::With(); + this->solveEquations(); + } + else { + auto& msRef = *matrixSolver.get(); // extrapolated to suppress warning + str = typeid(msRef).name(); + (void) msRef; // also for warning suppression + if (str.find("GESpMatParPvPrecise") != std::string::npos) { + this->lookForRedundantConstraints(); + matrixSolver = this->matrixSolverClassNew(); + } else { + assert(false); + } + } + } +} + +void PosICNewtonRaphson::lookForRedundantConstraints() +{ + std::string str("MbD: Checking for redundant constraints."); + system->logString(str); + auto posICsolver = CREATE::With(); + posICsolver->system = this; + dx = posICsolver->solvewithsaveOriginal(pypx, y->negated(), false); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/PosICNewtonRaphson.h b/src/3rdParty/OndselSolver/OndselSolver/PosICNewtonRaphson.h new file mode 100644 index 000000000000..798bae9029e2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PosICNewtonRaphson.h @@ -0,0 +1,32 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AnyPosICNewtonRaphson.h" + +namespace MbD { + class PosICNewtonRaphson : public AnyPosICNewtonRaphson + { + //IC with over, fully or under constrained system + //Perform redundant constraint removal for over constrained system + //pivotRowLimits + public: + PosICNewtonRaphson(){} + + void run() override; + void preRun() override; + void assignEquationNumbers() override; + bool isConverged() override; + void handleSingularMatrix() override; + void lookForRedundantConstraints(); + + std::shared_ptr> pivotRowLimits; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/PosKineNewtonRaphson.cpp b/src/3rdParty/OndselSolver/OndselSolver/PosKineNewtonRaphson.cpp new file mode 100644 index 000000000000..70716093a3f9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PosKineNewtonRaphson.cpp @@ -0,0 +1,90 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "PosKineNewtonRaphson.h" +#include "SystemSolver.h" +#include "Part.h" +#include "NotKinematicError.h" +#include "Constraint.h" +#include + +using namespace MbD; + +void PosKineNewtonRaphson::initializeGlobally() +{ + SystemNewtonRaphson::initializeGlobally(); + system->partsJointsMotionsDo([&](std::shared_ptr item) { item->fillqsu(x); }); + iterMax = system->iterMaxPosKine; + dxTol = system->errorTolPosKine; +} + +void PosKineNewtonRaphson::fillPyPx() +{ + pypx->zeroSelf(); + system->partsJointsMotionsDo([&](std::shared_ptr item) { + item->fillPosKineJacob(pypx); + }); +} + +void PosKineNewtonRaphson::passRootToSystem() +{ + system->partsJointsMotionsDo([&](std::shared_ptr item) { item->setqsu(x); }); +} + +void PosKineNewtonRaphson::assignEquationNumbers() +{ + //"Equation order is q,s,u." + auto parts = system->parts(); + //auto contactEndFrames = system->contactEndFrames(); + //auto uHolders = system->uHolders(); + auto constraints = system->allConstraints(); + int varNo = 0; + for (auto& part : *parts) { + part->iqX(varNo); + varNo = varNo + 3; + part->iqE(varNo); + varNo = varNo + 4; + } + //for (auto& endFrm : *contactEndFrames) { + // endFrm->is(varNo); + // varNo = varNo + endFrm->sSize(); + //} + //for (auto& uHolder : *uHolders) { + // uHolder->iu(varNo); + // varNo += 1; + //} + auto eqnNo = 0; + for (auto& con : *constraints) { + con->iG = eqnNo; + eqnNo += 1; + } + n = eqnNo; //C++ uses index 0. + if (varNo != eqnNo) { + std::string str = "MbD: SYSTEM IS NOT PURE KINEMATIC."; + system->logString(str); + throw NotKinematicError(""); + } +} + +void PosKineNewtonRaphson::preRun() +{ + std::string str = "MbD: Solving for kinematic position."; + system->logString(str); + system->partsJointsMotionsDo([](std::shared_ptr item) { item->prePosKine(); }); +} + +void PosKineNewtonRaphson::fillY() +{ + y->zeroSelf(); + system->partsJointsMotionsDo([&](std::shared_ptr item) { + item->fillPosKineError(y); + //std::cout << item->name << *y << std::endl; + //noop(); + }); + //std::cout << "Final" << *y << std::endl; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/PosKineNewtonRaphson.h b/src/3rdParty/OndselSolver/OndselSolver/PosKineNewtonRaphson.h new file mode 100644 index 000000000000..9e62491a2300 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PosKineNewtonRaphson.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "PosNewtonRaphson.h" + +namespace MbD { + class PosKineNewtonRaphson : public PosNewtonRaphson + { + //Kinematics with fully constrained system + public: + void initializeGlobally() override; + void fillPyPx() override; + void passRootToSystem() override; + void assignEquationNumbers() override; + void preRun() override; + void fillY() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/PosNewtonRaphson.cpp b/src/3rdParty/OndselSolver/OndselSolver/PosNewtonRaphson.cpp new file mode 100644 index 000000000000..3de4522328aa --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PosNewtonRaphson.cpp @@ -0,0 +1,54 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include + +#include "PosNewtonRaphson.h" +#include "SystemSolver.h" +#include "SimulationStoppingError.h" + +using namespace MbD; + +void PosNewtonRaphson::preRun() +{ + system->partsJointsMotionsDo([&](std::shared_ptr item) { item->prePosIC(); }); +} + +void PosNewtonRaphson::incrementIterNo() +{ + if (iterNo >= iterMax) + { + std::stringstream ss; + ss << "MbD: No convergence after " << iterNo << " iterations."; + auto str = ss.str(); + system->logString(str); + ss.str(""); + ss << "MbD: A geometrically incompatible system has been specified."; + str = ss.str(); + system->logString(str); + ss.str(""); + ss << "MbD: Or the system parts are distributed too far apart from the assembled positions."; + str = ss.str(); + system->logString(str); + + throw SimulationStoppingError(""); + } + + iterNo++; +} + +void PosNewtonRaphson::askSystemToUpdate() +{ + system->partsJointsMotionsDo([&](std::shared_ptr item) { item->postPosICIteration(); }); +} + +void PosNewtonRaphson::postRun() +{ + system->partsJointsMotionsDo([&](std::shared_ptr item) { item->postPosIC(); }); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/PosNewtonRaphson.h b/src/3rdParty/OndselSolver/OndselSolver/PosNewtonRaphson.h new file mode 100644 index 000000000000..cc96b6d64033 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PosNewtonRaphson.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "SystemNewtonRaphson.h" + +namespace MbD { + class PosNewtonRaphson : public SystemNewtonRaphson + { + // + public: + void preRun() override; + void incrementIterNo() override; + void askSystemToUpdate() override; + void postRun() override; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/PosVelAccData.cpp b/src/3rdParty/OndselSolver/OndselSolver/PosVelAccData.cpp new file mode 100644 index 000000000000..cd061780a51a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PosVelAccData.cpp @@ -0,0 +1,25 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "PosVelAccData.h" + +using namespace MbD; + +std::ostream& PosVelAccData::printOn(std::ostream& s) const +{ + s << "refData = " << *refData << std::endl; + s << "rFfF = " << *rFfF << std::endl; + s << "vFfF = " << *vFfF << std::endl; + s << "omeFfF = " << *omeFfF << std::endl; + s << "aFfF = " << *aFfF << std::endl; + s << "alpFfF = " << *alpFfF << std::endl; + s << "aAFf = " << *aAFf; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/PosVelAccData.h b/src/3rdParty/OndselSolver/OndselSolver/PosVelAccData.h new file mode 100644 index 000000000000..df1ae3b09ff9 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PosVelAccData.h @@ -0,0 +1,25 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "StateData.h" + +namespace MbD { + class PosVelAccData : public StateData + { + //refData rFfF aAFf vFfF omeFfF aFfF alpFfF + public: + std::ostream& printOn(std::ostream& s) const override; + + std::shared_ptr refData; + FColDsptr rFfF, vFfF, omeFfF, aFfF, alpFfF; + FMatDsptr aAFf; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Power.cpp b/src/3rdParty/OndselSolver/OndselSolver/Power.cpp new file mode 100644 index 000000000000..489d924c2f55 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Power.cpp @@ -0,0 +1,47 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "Power.h" +#include "Constant.h" +#include "Ln.h" + +using namespace MbD; + +MbD::Power::Power() +{ +} + +MbD::Power::Power(Symsptr bse, Symsptr ex) : FunctionXY(bse, ex) +{ +} + +Symsptr MbD::Power::differentiateWRTx() +{ + auto yminus1 = Symbolic::sum(y, sptrConstant(-1.0)); + auto power = Symbolic::raisedTo(x, yminus1); + auto deriv = Symbolic::times(y, power); + return deriv->simplified(deriv); +} + +Symsptr MbD::Power::differentiateWRTy() +{ + auto lnterm = std::make_shared(x); + auto deriv = Symbolic::times(clonesptr(), lnterm); + return deriv->simplified(); +} + +Symsptr MbD::Power::simplifyUntil(Symsptr, std::shared_ptr>) +{ + assert(false); + return Symsptr(); +} + +double MbD::Power::getValue() +{ + return std::pow(x->getValue(), y->getValue()); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Power.h b/src/3rdParty/OndselSolver/OndselSolver/Power.h new file mode 100644 index 000000000000..de16653a164d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Power.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionXY.h" + +namespace MbD { + class Power : public FunctionXY + { + // + public: + Power(); + Power(Symsptr base, Symsptr exp); + Symsptr differentiateWRTx() override; + Symsptr differentiateWRTy() override; + + Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr> set) override; + double getValue() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/PrescribedMotion.cpp b/src/3rdParty/OndselSolver/OndselSolver/PrescribedMotion.cpp new file mode 100644 index 000000000000..8c0c122f3fd4 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PrescribedMotion.cpp @@ -0,0 +1,51 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include +#include +#include + +#include "PrescribedMotion.h" +#include "EndFrameqct.h" +#include "Constant.h" + +using namespace MbD; + +PrescribedMotion::PrescribedMotion() { + +} + +PrescribedMotion::PrescribedMotion(const char* str) : Joint(str) { + +} + +void PrescribedMotion::initialize() +{ + Joint::initialize(); + xBlk = std::make_shared(0.0); + yBlk = std::make_shared(0.0); + zBlk = std::make_shared(0.0); + phiBlk = std::make_shared(0.0); + theBlk = std::make_shared(0.0); + psiBlk = std::make_shared(0.0); +} + +void MbD::PrescribedMotion::initMotions() +{ + auto xyzBlkList = std::initializer_list{ xBlk, yBlk, zBlk }; + std::static_pointer_cast(frmI)->rmemBlks = (std::make_shared>(xyzBlkList)); + auto xyzRotBlkList = std::initializer_list{ phiBlk, theBlk, psiBlk }; + std::static_pointer_cast(frmI)->phiThePsiBlks = (std::make_shared>(xyzRotBlkList)); +} + +void PrescribedMotion::connectsItoJ(EndFrmsptr frmi, EndFrmsptr frmj) +{ + Joint::connectsItoJ(frmi, frmj); + std::static_pointer_cast(frmI)->initEndFrameqct(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/PrescribedMotion.h b/src/3rdParty/OndselSolver/OndselSolver/PrescribedMotion.h new file mode 100644 index 000000000000..bc0c828dafe7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/PrescribedMotion.h @@ -0,0 +1,38 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once +#include + +#include "Joint.h" + +namespace MbD { + class Symbolic; + using Symsptr = std::shared_ptr; + class EndFramec; + + class PrescribedMotion : public Joint + { + //xBlk yBlk zBlk phiBlk theBlk psiBlk + public: + PrescribedMotion(); + PrescribedMotion(const char* str); + + void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ) override; + void initialize() override; + virtual void initMotions(); + + Symsptr xBlk; + Symsptr yBlk; + Symsptr zBlk; + Symsptr phiBlk; + Symsptr theBlk; + Symsptr psiBlk; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Product.cpp b/src/3rdParty/OndselSolver/OndselSolver/Product.cpp new file mode 100644 index 000000000000..ee3b0cf5801e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Product.cpp @@ -0,0 +1,172 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include + +#include "Product.h" +#include "Sum.h" +#include "Constant.h" + +using namespace MbD; + +Symsptr MbD::Product::differentiateWRT(Symsptr var) +{ + //"Apply chain rule of differentiation." + // "(xyz)' := x'yz + xy'z + xyz'." + + auto derivatives = std::make_shared>(); + std::transform(terms->begin(), + terms->end(), + std::back_inserter(*derivatives), + [var](Symsptr term) { + return term->differentiateWRT(var); + } + ); + auto derivativeTerms = std::make_shared>(); + for (int i = 0; i < (int)terms->size(); i++) + { + auto& derivative = derivatives->at(i); + auto newTermFunctions = std::make_shared>(*terms); + newTermFunctions->at(i) = derivative; + auto newTerm = std::make_shared(); + newTerm->terms = newTermFunctions; + derivativeTerms->push_back(newTerm); + } + auto answer = std::make_shared(); + answer->terms = derivativeTerms; + return answer; +} + +Symsptr MbD::Product::integrateWRT(Symsptr var) +{ + //ToDo: Integration by parts + auto newTerms = std::make_shared>(); + double factor = 1.0; + for (const auto& term : *terms) { + if (term->isConstant()) { + factor *= term->getValue(); + } + else { + newTerms->push_back(term); + } + } + if (factor == 0.0) { + return sptrConstant(0.0); + } + if (factor == 1.0) { + assert(newTerms->size() == 1); + return newTerms->front()->integrateWRT(var); + } + assert(newTerms->size() == 1); + auto soleIntegral = newTerms->front()->integrateWRT(var); + auto answer = std::make_shared(); + answer->terms->push_back(sptrConstant(factor)); + answer->terms->push_back(soleIntegral); + return answer; +} + +Symsptr Product::expandUntil(Symsptr sptr, std::shared_ptr> set) +{ + auto itr = std::find_if(set->begin(), set->end(), [sptr](Symsptr sym) {return sptr.get() == sym.get(); }); + if (itr != set->end()) { + auto answer = std::make_shared(); + answer->terms = terms; + return answer; + } + auto sumTerms = std::make_shared>(); + auto productTerms = std::make_shared>(); + for (const auto& term : *terms) { + auto newTerm = term->expandUntil(term, set); + if (newTerm->isSum()) { + sumTerms->push_back(newTerm); + } + else if (newTerm->isProduct()) { + productTerms->insert(productTerms->end(), newTerm->getTerms()->begin(), newTerm->getTerms()->end()); + } + else { + productTerms->push_back(newTerm); + } + } + auto factor = std::make_shared(); + factor->terms = productTerms; + //sumOfProductsOfSums = (a + b + ...)*(c + d + ...) + auto sumOfProductsOfSums = std::make_shared(sptrConstant(1)); + for (const auto& term : *sumTerms) { + sumOfProductsOfSums = std::static_pointer_cast(Symbolic::times(sumOfProductsOfSums, term)); + } + return Symbolic::times(factor, sumOfProductsOfSums); +} + +Symsptr Product::simplifyUntil(Symsptr, std::shared_ptr> set) +{ + auto itr = std::find_if(set->begin(), set->end(), [this](Symsptr sym) {return this == (sym.get()); }); + if (itr != set->end()) { + auto answer = std::make_shared(); + answer->terms = terms; + return answer; + } + auto newTerms = std::make_shared>(); + double factor = 1.0; + for (const auto& term : *terms) { + auto newTerm = term->simplifyUntil(term, set); + if (newTerm->isConstant()) { + factor *= term->getValue(); + } + else { + newTerms->push_back(newTerm); + } + } + if (factor == 0.0) { + return sptrConstant(0.0); + } + if (factor != 1.0) { + newTerms->insert(newTerms->begin(), sptrConstant(factor)); + } + auto newSize = (int)newTerms->size(); + if (newSize == 0) { + return sptrConstant(1.0); + } + else if (newSize == 1) { + return newTerms->at(0); + } + else { + auto answer = std::make_shared(); + answer->terms = newTerms; + return answer; + } +} + +std::ostream& Product::printOn(std::ostream& s) const +{ + s << "("; + s << *(this->terms->at(0)); + for (int i = 1; i < (int)this->terms->size(); i++) + { + s << "*" << *(this->terms->at(i)); + } + s << ")"; + return s; +} + +bool Product::isProduct() +{ + return true; +} + +double Product::getValue() +{ + double answer = 1.0; + for (int i = 0; i < (int)terms->size(); i++) answer *= terms->at(i)->getValue(); + return answer; +} + +Symsptr MbD::Product::clonesptr() +{ + return std::make_shared(*this); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Product.h b/src/3rdParty/OndselSolver/OndselSolver/Product.h new file mode 100644 index 000000000000..08af0c3e42e8 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Product.h @@ -0,0 +1,38 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionWithManyArgs.h" +#include "Symbolic.h" +#include "System.h" +#include "Units.h" + +namespace MbD { + + class Product : public FunctionWithManyArgs + { + public: + Product() : FunctionWithManyArgs() {} + Product(Symsptr term) : FunctionWithManyArgs(term) {} + Product(Symsptr term, Symsptr term1) : FunctionWithManyArgs(term, term1) {} + Product(Symsptr term, Symsptr term1, Symsptr term2) : FunctionWithManyArgs(term, term1, term2) {} + Product(std::shared_ptr> _terms) : FunctionWithManyArgs(_terms) {} + Symsptr differentiateWRT(Symsptr var) override; + Symsptr integrateWRT(Symsptr var) override; + Symsptr expandUntil(Symsptr sptr, std::shared_ptr> set) override; + Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr> set) override; + bool isProduct() override; + double getValue() override; + Symsptr clonesptr() override; + + std::ostream& printOn(std::ostream& s) const override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/QuasiIntegrator.cpp b/src/3rdParty/OndselSolver/OndselSolver/QuasiIntegrator.cpp new file mode 100644 index 000000000000..86f7b953161f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/QuasiIntegrator.cpp @@ -0,0 +1,213 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "QuasiIntegrator.h" +#include "Item.h" +#include "SystemSolver.h" +#include "CREATE.h" +#include "BasicQuasiIntegrator.h" +#include "SingularMatrixError.h" +#include "SimulationStoppingError.h" +#include "TooSmallStepSizeError.h" +#include "TooManyTriesError.h" +#include "SingularMatrixError.h" +#include "DiscontinuityError.h" + +using namespace MbD; + +void QuasiIntegrator::preRun() +{ + system->partsJointsMotionsForcesTorquesDo([](std::shared_ptr item) { item->preDyn(); }); +} + +void QuasiIntegrator::initialize() +{ + Solver::initialize(); + integrator = CREATE::With(); + integrator->setSystem(this); +} + +void QuasiIntegrator::run() +{ + try { + try { + try { + IntegratorInterface::run(); + } + catch (SingularMatrixError ex) { + std::stringstream ss; + ss << "MbD: Solver has encountered a singular matrix." << std::endl; + ss << "MbD: Check to see if a massless or a very low mass part is under constrained." << std::endl; + ss << "MbD: Check to see if the system is in a locked position." << std::endl; + ss << "MbD: Check to see if the error tolerance is too demanding." << std::endl; + ss << "MbD: Check to see if a curve-curve is about to have multiple contact points." << std::endl; + auto str = ss.str(); + this->logString(str); + throw SimulationStoppingError(""); + } + } + catch (TooSmallStepSizeError ex) { + std::stringstream ss; + ss << "MbD: Step size is prevented from going below the user specified minimum." << std::endl; + ss << "MbD: Check to see if the system is in a locked position." << std::endl; + ss << "MbD: Check to see if a curve-curve is about to have multiple contact points." << std::endl; + ss << "MbD: If they are not, lower the permitted minimum step size." << std::endl; + auto str = ss.str(); + this->logString(str); + throw SimulationStoppingError(""); + } + } + catch (TooManyTriesError ex) { + std::stringstream ss; + ss << "MbD: Check to see if the error tolerance is too demanding." << std::endl; + auto str = ss.str(); + this->logString(str); + throw SimulationStoppingError(""); + } + +} + +void QuasiIntegrator::preFirstStep() +{ + system->partsJointsMotionsForcesTorquesDo([](std::shared_ptr item) { item->preDynFirstStep(); }); +} + +void QuasiIntegrator::postFirstStep() +{ + system->partsJointsMotionsForcesTorquesDo([](std::shared_ptr item) { item->postDynFirstStep(); }); + if (integrator->istep > 0) { + //"Noise make checking at the start unreliable." + this->checkForDiscontinuity(); + } + this->checkForOutputThrough(integrator->t); +} + +void QuasiIntegrator::preStep() +{ + system->partsJointsMotionsForcesTorquesDo([](std::shared_ptr item) { item->preDynStep(); }); +} + +void QuasiIntegrator::checkForDiscontinuity() +{ + //"Check for discontinuity in (tpast,t] or [t,tpast) if integrating + //backward." + + auto t = integrator->t; + auto tprevious = integrator->tprevious(); + auto epsilon = std::numeric_limits::epsilon(); + double tstartNew; + if (direction == 0) { + tstartNew = epsilon; + } + else { + epsilon = std::abs(t) * epsilon; + tstartNew = ((direction * t) + epsilon) / direction; + } + system->partsJointsMotionsForcesTorquesDo([&](std::shared_ptr item) { tstartNew = item->checkForDynDiscontinuityBetweenand(tprevious, tstartNew); }); + if ((direction * tstartNew) > (direction * t)) { + //"No discontinuity in step" + return; + } + else { + this->checkForOutputThrough(tstartNew); + this->interpolateAt(tstartNew); + system->tstartPastsAddFirst(tstart); + system->tstart = tstartNew; + system->toutFirst = tout; + auto discontinuityTypes = std::make_shared>(); + system->partsJointsMotionsForcesTorquesDo([&](std::shared_ptr item) { item->discontinuityAtaddTypeTo(tstartNew, discontinuityTypes); }); + this->throwDiscontinuityError("", discontinuityTypes); + } +} + +double QuasiIntegrator::suggestSmallerOrAcceptFirstStepSize(double hnew) +{ + auto hnew2 = hnew; + system->partsJointsMotionsForcesTorquesDo([&](std::shared_ptr item) { hnew2 = item->suggestSmallerOrAcceptDynFirstStepSize(hnew2); }); + if (hnew2 > hmax) { + hnew2 = hmax; + std::string str = "StM: Step size is at user specified maximum."; + this->logString(str); + } + if (hnew2 < hmin) { + std::stringstream ss; + ss << "StM: Step size " << hnew2 << " < " << hmin << " user specified minimum."; + auto str = ss.str(); + this->logString(str); + throw TooSmallStepSizeError(""); + } + return hnew2; +} + +double QuasiIntegrator::suggestSmallerOrAcceptStepSize(double hnew) +{ + auto hnew2 = hnew; + system->partsJointsMotionsForcesTorquesDo([&](std::shared_ptr item) { hnew2 = item->suggestSmallerOrAcceptDynStepSize(hnew2); }); + if (hnew2 > hmax) { + hnew2 = hmax; + this->Solver::logString("StM: Step size is at user specified maximum."); + } + if (hnew2 < hmin) { + std::stringstream ss; + ss << "StM: Step size " << hnew2 << " < " << hmin << " user specified minimum."; + auto str = ss.str(); + system->logString(str); + throw TooSmallStepSizeError(""); + } + return hnew2; +} + +void QuasiIntegrator::incrementTime(double tnew) +{ + system->partsJointsMotionsForcesTorquesDo([](std::shared_ptr item) { item->storeDynState(); }); + IntegratorInterface::incrementTime(tnew); +} + +void QuasiIntegrator::throwDiscontinuityError(const char* chars, std::shared_ptr> discontinuityTypes) +{ + throw DiscontinuityError(chars, discontinuityTypes); +} + +void QuasiIntegrator::checkForOutputThrough(double t) +{ + //"Kinematic analysis is done at every tout." + if (direction * t <= (direction * (tend + (0.1 * direction * hout)))) { + if (std::abs(tout - t) < 1.0e-12) { + system->output(); + tout += direction * hout; + } + } + else { + integrator->_continue = false; + } +} + +void QuasiIntegrator::interpolateAt(double tArg) +{ + //"Interpolate for system state at tArg and leave system in that state." + system->time(tArg); + this->runInitialConditionTypeSolution(); +} + +void QuasiIntegrator::postStep() +{ + system->partsJointsMotionsForcesTorquesDo([](std::shared_ptr item) { item->postDynStep(); }); + + if (integrator->istep > 0) { + //"Noise make checking at the start unreliable." + this->checkForDiscontinuity(); + } + this->checkForOutputThrough(integrator->t); +} + +void QuasiIntegrator::postRun() +{ + system->partsJointsMotionsForcesTorquesDo([](std::shared_ptr item) { item->postDyn(); }); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/QuasiIntegrator.h b/src/3rdParty/OndselSolver/OndselSolver/QuasiIntegrator.h new file mode 100644 index 000000000000..12a183092f22 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/QuasiIntegrator.h @@ -0,0 +1,39 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include + +#include "IntegratorInterface.h" +#include "enum.h" + +namespace MbD { + class QuasiIntegrator : public IntegratorInterface + { + // + public: + void preRun() override; + void initialize() override; + void run() override; + void preFirstStep() override; + void postFirstStep() override; + void preStep() override; + void checkForDiscontinuity() override; + double suggestSmallerOrAcceptFirstStepSize(double hnew) override; + double suggestSmallerOrAcceptStepSize(double hnew) override; + void incrementTime(double tnew) override; + void throwDiscontinuityError(const char* chars, std::shared_ptr> discontinuityTypes); + void checkForOutputThrough(double t) override; + void interpolateAt(double t) override; + void postStep() override; + void postRun() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIJ.cpp b/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIJ.cpp new file mode 100644 index 000000000000..d4fb062c80a1 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIJ.cpp @@ -0,0 +1,112 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "RackPinConstraintIJ.h" +#include "RackPinConstraintIqcJqc.h" +#include "EndFrameqc.h" + +using namespace MbD; + +MbD::RackPinConstraintIJ::RackPinConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj) : ConstraintIJ(frmi, frmj) +{ +} + +std::shared_ptr MbD::RackPinConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj) +{ + assert(frmi->isEndFrameqc()); + assert(frmj->isEndFrameqc()); + auto rackPinCon = std::make_shared(frmi, frmj); + rackPinCon->initxIeJeIe(); + rackPinCon->initthezIeJe(); + return rackPinCon; +} + +void MbD::RackPinConstraintIJ::calcPostDynCorrectorIteration() +{ + auto x = xIeJeIe->value(); + auto thez = thezIeJe->value(); + aG = x + (pitchRadius * thez) - aConstant; +} + +void MbD::RackPinConstraintIJ::init_xthez() +{ + assert(false); +} + +void MbD::RackPinConstraintIJ::initxIeJeIe() +{ + assert(false); +} + +void MbD::RackPinConstraintIJ::initthezIeJe() +{ + assert(false); +} + +void MbD::RackPinConstraintIJ::initialize() +{ + ConstraintIJ::initialize(); + this->init_xthez(); +} + +void MbD::RackPinConstraintIJ::initializeGlobally() +{ + xIeJeIe->initializeGlobally(); + thezIeJe->initializeGlobally(); +} + +void MbD::RackPinConstraintIJ::initializeLocally() +{ + xIeJeIe->initializeLocally(); + thezIeJe->initializeLocally(); +} + +void MbD::RackPinConstraintIJ::postInput() +{ + xIeJeIe->postInput(); + thezIeJe->postInput(); + if (aConstant == std::numeric_limits::min()) { + aConstant = xIeJeIe->value() + (pitchRadius * thezIeJe->value()); + } + ConstraintIJ::postInput(); +} + +void MbD::RackPinConstraintIJ::postPosICIteration() +{ + xIeJeIe->postPosICIteration(); + thezIeJe->postPosICIteration(); + ConstraintIJ::postPosICIteration(); +} + +void MbD::RackPinConstraintIJ::preAccIC() +{ + xIeJeIe->preAccIC(); + thezIeJe->preAccIC(); + ConstraintIJ::preAccIC(); +} + +void MbD::RackPinConstraintIJ::prePosIC() +{ + xIeJeIe->prePosIC(); + thezIeJe->prePosIC(); + ConstraintIJ::prePosIC(); +} + +void MbD::RackPinConstraintIJ::preVelIC() +{ + xIeJeIe->preVelIC(); + thezIeJe->preVelIC(); + ConstraintIJ::preVelIC(); +} + +void MbD::RackPinConstraintIJ::simUpdateAll() +{ + xIeJeIe->simUpdateAll(); + thezIeJe->simUpdateAll(); + ConstraintIJ::simUpdateAll(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIJ.h b/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIJ.h new file mode 100644 index 000000000000..ab7afef0b4d7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIJ.h @@ -0,0 +1,43 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ConstraintIJ.h" +#include "DispCompIecJecIe.h" +#include "AngleZIecJec.h" + +namespace MbD { + class RackPinConstraintIJ : public ConstraintIJ + { + //xIeJeIe thezIeJe pitchRadius + public: + RackPinConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj); + + static std::shared_ptr With(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPostDynCorrectorIteration() override; + virtual void init_xthez(); + virtual void initxIeJeIe(); + virtual void initthezIeJe(); + void initialize() override; + void initializeGlobally() override; + void initializeLocally() override; + void postInput() override; + void postPosICIteration() override; + void preAccIC() override; + void prePosIC() override; + void preVelIC() override; + void simUpdateAll() override; + + std::shared_ptr xIeJeIe; + std::shared_ptr thezIeJe; + double pitchRadius; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIqcJc.cpp b/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIqcJc.cpp new file mode 100644 index 000000000000..1ce7c5c6cb25 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIqcJc.cpp @@ -0,0 +1,146 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "RackPinConstraintIqcJc.h" +#include "EndFrameqc.h" +#include "CREATE.h" +#include "AngleZIeqcJec.h" +#include "DispCompIeqcJecIe.h" + +using namespace MbD; + +MbD::RackPinConstraintIqcJc::RackPinConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj) : RackPinConstraintIJ(frmi, frmj) +{ + pGpXI = std::make_shared>(3); + pGpEI = std::make_shared>(4); + ppGpXIpEI = std::make_shared>(3, 4); + ppGpEIpEI = std::make_shared>(4, 4); +} + +void MbD::RackPinConstraintIqcJc::initxIeJeIe() +{ + xIeJeIe = std::make_shared(frmI, frmJ, 0); +} + +void MbD::RackPinConstraintIqcJc::initthezIeJe() +{ + thezIeJe = std::make_shared(frmI, frmJ); +} + +void MbD::RackPinConstraintIqcJc::addToJointForceI(FColDsptr col) +{ + col->equalSelfPlusFullVectortimes(pGpXI, lam); +} + +void MbD::RackPinConstraintIqcJc::addToJointTorqueI(FColDsptr jointTorque) +{ + auto cForceT = pGpXI->times(lam); + auto frmIeqc = std::static_pointer_cast(frmI); + auto rIpIeIp = frmIeqc->rpep(); + auto pAOIppEI = frmIeqc->pAOppE(); + auto aBOIp = frmIeqc->aBOp(); + auto fpAOIppEIrIpIeIp = std::make_shared>(4, 0.0); + for (int i = 0; i < 4; i++) + { + auto dum = cForceT->timesFullColumn(pAOIppEI->at(i)->timesFullColumn(rIpIeIp)); + fpAOIppEIrIpIeIp->atiput(i, dum); + } + auto lampGpE = pGpEI->transpose()->times(lam); + auto c2Torque = aBOIp->timesFullColumn(lampGpE->minusFullColumn(fpAOIppEIrIpIeIp)); + jointTorque->equalSelfPlusFullColumntimes(c2Torque, 0.5); +} + +void MbD::RackPinConstraintIqcJc::calc_pGpEI() +{ + pGpEI = xIeJeIe->pvaluepEI()->plusFullRow(thezIeJe->pvaluepEI()->times(pitchRadius)); +} + +void MbD::RackPinConstraintIqcJc::calc_pGpXI() +{ + pGpXI = xIeJeIe->pvaluepXI(); +} + +void MbD::RackPinConstraintIqcJc::calc_ppGpEIpEI() +{ + ppGpEIpEI = xIeJeIe->ppvaluepEIpEI() + ->plusFullMatrix(thezIeJe->ppvaluepEIpEI()->times(pitchRadius)); +} + +void MbD::RackPinConstraintIqcJc::calc_ppGpXIpEI() +{ + ppGpXIpEI = xIeJeIe->ppvaluepXIpEI(); +} + +void MbD::RackPinConstraintIqcJc::calcPostDynCorrectorIteration() +{ + RackPinConstraintIJ::calcPostDynCorrectorIteration(); + this->calc_pGpXI(); + this->calc_pGpEI(); + this->calc_ppGpXIpEI(); + this->calc_ppGpEIpEI(); +} + +void MbD::RackPinConstraintIqcJc::fillAccICIterError(FColDsptr col) +{ + col->atiplusFullVectortimes(iqXI, pGpXI, lam); + col->atiplusFullVectortimes(iqEI, pGpEI, lam); + auto efrmIqc = std::static_pointer_cast(frmI); + auto qXdotI = efrmIqc->qXdot(); + auto qEdotI = efrmIqc->qEdot(); + auto sum = pGpXI->timesFullColumn(efrmIqc->qXddot()); + sum += pGpEI->timesFullColumn(efrmIqc->qEddot()); + sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpEI->timesFullColumn(qEdotI))); + sum += qEdotI->transposeTimesFullColumn(ppGpEIpEI->timesFullColumn(qEdotI)); + col->atiplusNumber(iG, sum); +} + +void MbD::RackPinConstraintIqcJc::fillPosICError(FColDsptr col) +{ + RackPinConstraintIJ::fillPosICError(col); + col->atiplusFullVectortimes(iqXI, pGpXI, lam); + col->atiplusFullVectortimes(iqEI, pGpEI, lam); +} + +void MbD::RackPinConstraintIqcJc::fillPosICJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqXI, pGpXI); + mat->atijplusFullColumn(iqXI, iG, pGpXI->transpose()); + mat->atijplusFullRow(iG, iqEI, pGpEI); + mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose()); + auto ppGpXIpEIlam = ppGpXIpEI->times(lam); + mat->atijplusFullMatrix(iqXI, iqEI, ppGpXIpEIlam); + mat->atijplusTransposeFullMatrix(iqEI, iqXI, ppGpXIpEIlam); + mat->atijplusFullMatrixtimes(iqEI, iqEI, ppGpEIpEI, lam); +} + +void MbD::RackPinConstraintIqcJc::fillPosKineJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqXI, pGpXI); + mat->atijplusFullRow(iG, iqEI, pGpEI); +} + +void MbD::RackPinConstraintIqcJc::fillVelICJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqXI, pGpXI); + mat->atijplusFullColumn(iqXI, iG, pGpXI->transpose()); + mat->atijplusFullRow(iG, iqEI, pGpEI); + mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose()); +} + +void MbD::RackPinConstraintIqcJc::init_xthez() +{ + xIeJeIe = CREATE::With(frmI, frmJ, 0); + thezIeJe = CREATE::With(frmJ, frmI); +} + +void MbD::RackPinConstraintIqcJc::useEquationNumbers() +{ + auto frmIeqc = std::static_pointer_cast(frmI); + iqXI = frmIeqc->iqX(); + iqEI = frmIeqc->iqE(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIqcJc.h b/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIqcJc.h new file mode 100644 index 000000000000..c118a65d197c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIqcJc.h @@ -0,0 +1,43 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "RackPinConstraintIJ.h" + +namespace MbD { + class RackPinConstraintIqcJc : public RackPinConstraintIJ + { + //pGpXI pGpEI ppGpXIpEI ppGpEIpEI iqXI iqEI + public: + RackPinConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj); + + void initxIeJeIe() override; + void initthezIeJe() override; + void addToJointForceI(FColDsptr col) override; + void addToJointTorqueI(FColDsptr col) override; + void calc_pGpEI(); + void calc_pGpXI(); + void calc_ppGpEIpEI(); + void calc_ppGpXIpEI(); + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void init_xthez() override; + void useEquationNumbers() override; + + FRowDsptr pGpXI, pGpEI; + FMatDsptr ppGpXIpEI, ppGpEIpEI; + int iqXI, iqEI; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIqcJqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIqcJqc.cpp new file mode 100644 index 000000000000..8291ef57a572 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIqcJqc.cpp @@ -0,0 +1,143 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "RackPinConstraintIqcJqc.h" +#include "EndFrameqc.h" +#include "CREATE.h" +#include "DispCompIeqcJeqcIe.h" +#include "AngleZIeqcJeqc.h" + +using namespace MbD; + +MbD::RackPinConstraintIqcJqc::RackPinConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj) : RackPinConstraintIqcJc(frmi, frmj) +{ + pGpXJ = std::make_shared>(3); + pGpEJ = std::make_shared>(4); + ppGpEIpXJ = std::make_shared>(4, 3); + ppGpEIpEJ = std::make_shared>(4, 4); + ppGpEJpEJ = std::make_shared>(4, 4); +} + +void MbD::RackPinConstraintIqcJqc::initxIeJeIe() +{ + xIeJeIe = std::make_shared(frmI, frmJ, 0); +} + +void MbD::RackPinConstraintIqcJqc::initthezIeJe() +{ + thezIeJe = std::make_shared(frmI, frmJ); +} + +void MbD::RackPinConstraintIqcJqc::calc_pGpEJ() +{ + pGpEJ = xIeJeIe->pvaluepEJ()->plusFullRow(thezIeJe->pvaluepEJ()->times(pitchRadius)); +} + +void MbD::RackPinConstraintIqcJqc::calc_pGpXJ() +{ + pGpXJ = xIeJeIe->pvaluepXJ(); +} + +void MbD::RackPinConstraintIqcJqc::calc_ppGpEIpEJ() +{ + ppGpEIpEJ = xIeJeIe->ppvaluepEIpEJ() + ->plusFullMatrix(thezIeJe->ppvaluepEIpEJ()->times(pitchRadius)); +} + +void MbD::RackPinConstraintIqcJqc::calc_ppGpEIpXJ() +{ + ppGpEIpXJ = xIeJeIe->ppvaluepEIpXJ(); +} + +void MbD::RackPinConstraintIqcJqc::calc_ppGpEJpEJ() +{ + ppGpEJpEJ = xIeJeIe->ppvaluepEJpEJ() + ->plusFullMatrix(thezIeJe->ppvaluepEJpEJ()->times(pitchRadius)); +} + +void MbD::RackPinConstraintIqcJqc::calcPostDynCorrectorIteration() +{ + RackPinConstraintIqcJc::calcPostDynCorrectorIteration(); + this->calc_pGpXJ(); + this->calc_pGpEJ(); + this->calc_ppGpEIpXJ(); + this->calc_ppGpEIpEJ(); + this->calc_ppGpEJpEJ(); +} + +void MbD::RackPinConstraintIqcJqc::fillAccICIterError(FColDsptr col) +{ + RackPinConstraintIqcJc::fillAccICIterError(col); + col->atiplusFullVectortimes(iqXJ, pGpXJ, lam); + col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); + auto frmIeqc = std::static_pointer_cast(frmI); + auto frmJeqc = std::static_pointer_cast(frmJ); + auto qEdotI = frmIeqc->qEdot(); + auto qXdotJ = frmJeqc->qXdot(); + auto qEdotJ = frmJeqc->qEdot(); + double sum = 0.0; + sum += pGpXJ->timesFullColumn(frmJeqc->qXddot()); + sum += pGpEJ->timesFullColumn(frmJeqc->qEddot()); + sum += 2.0 * (qEdotI->transposeTimesFullColumn(ppGpEIpXJ->timesFullColumn(qXdotJ))); + sum += 2.0 * (qEdotI->transposeTimesFullColumn(ppGpEIpEJ->timesFullColumn(qEdotJ))); + sum += qEdotJ->transposeTimesFullColumn(ppGpEJpEJ->timesFullColumn(qEdotJ)); + col->atiplusNumber(iG, sum); +} + +void MbD::RackPinConstraintIqcJqc::fillPosICError(FColDsptr col) +{ + RackPinConstraintIqcJc::fillPosICError(col); + col->atiplusFullVectortimes(iqXJ, pGpXJ, lam); + col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); +} + +void MbD::RackPinConstraintIqcJqc::fillPosICJacob(SpMatDsptr mat) +{ + RackPinConstraintIqcJc::fillPosICJacob(mat); + mat->atijplusFullRow(iG, iqXJ, pGpXJ); + mat->atijplusFullColumn(iqXJ, iG, pGpXJ->transpose()); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); + mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose()); + auto ppGpEIpXJlam = ppGpEIpXJ->times(lam); + mat->atijplusFullMatrix(iqEI, iqXJ, ppGpEIpXJlam); + mat->atijplusTransposeFullMatrix(iqXJ, iqEI, ppGpEIpXJlam); + auto ppGpEIpEJlam = ppGpEIpEJ->times(lam); + mat->atijplusFullMatrix(iqEI, iqEJ, ppGpEIpEJlam); + mat->atijplusTransposeFullMatrix(iqEJ, iqEI, ppGpEIpEJlam); + mat->atijplusFullMatrixtimes(iqEJ, iqEJ, ppGpEJpEJ, lam); +} + +void MbD::RackPinConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat) +{ + RackPinConstraintIqcJc::fillPosKineJacob(mat); + mat->atijplusFullRow(iG, iqXJ, pGpXJ); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); +} + +void MbD::RackPinConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat) +{ + RackPinConstraintIqcJc::fillVelICJacob(mat); + mat->atijplusFullRow(iG, iqXJ, pGpXJ); + mat->atijplusFullColumn(iqXJ, iG, pGpXJ->transpose()); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); + mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose()); +} + +void MbD::RackPinConstraintIqcJqc::init_xthez() +{ + xIeJeIe = CREATE::With(frmI, frmJ, 0); + thezIeJe = CREATE::With(frmJ, frmI); +} + +void MbD::RackPinConstraintIqcJqc::useEquationNumbers() +{ + RackPinConstraintIqcJc::useEquationNumbers(); + auto frmJeqc = std::static_pointer_cast(frmJ); + iqXJ = frmJeqc->iqX(); + iqEJ = frmJeqc->iqE(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIqcJqc.h b/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIqcJqc.h new file mode 100644 index 000000000000..c579ea582ec5 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RackPinConstraintIqcJqc.h @@ -0,0 +1,41 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "RackPinConstraintIqcJc.h" + +namespace MbD { + class RackPinConstraintIqcJqc : public RackPinConstraintIqcJc + { + //pGpXJ pGpEJ ppGpEIpXJ ppGpEIpEJ ppGpEJpEJ iqXJ iqEJ + public: + RackPinConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj); + + void initxIeJeIe() override; + void initthezIeJe() override; + void calc_pGpEJ(); + void calc_pGpXJ(); + void calc_ppGpEIpEJ(); + void calc_ppGpEIpXJ(); + void calc_ppGpEJpEJ(); + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void init_xthez() override; + void useEquationNumbers() override; + + FRowDsptr pGpXJ, pGpEJ; + FMatDsptr ppGpEIpXJ, ppGpEIpEJ, ppGpEJpEJ; + int iqXJ = -1, iqEJ = -1; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/RackPinJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/RackPinJoint.cpp new file mode 100644 index 000000000000..f1965270bf66 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RackPinJoint.cpp @@ -0,0 +1,59 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "RackPinJoint.h" +#include "CREATE.h" +#include "System.h" +#include "RackPinConstraintIJ.h" + +using namespace MbD; + +MbD::RackPinJoint::RackPinJoint() +{ +} + +MbD::RackPinJoint::RackPinJoint(const char* str) : Joint(str) +{ +} +// +//void MbD::RackPinJoint::initializeLocally() +//{ +// if (!constraints->empty()) +// { +// auto constraint = std::static_pointer_cast(constraints->front()); +// constraint->initxIeJeIe(); +// constraint->initthezIeJe(); +// } +// Joint::initializeLocally(); +//} + +void MbD::RackPinJoint::initializeGlobally() +{ + if (constraints->empty()) + { + auto rackPinIJ = RackPinConstraintIJ::With(frmI, frmJ); + rackPinIJ->setConstant(std::numeric_limits::min()); + rackPinIJ->pitchRadius = pitchRadius; + addConstraint(rackPinIJ); + this->root()->hasChanged = true; + } + else { + Joint::initializeGlobally(); + } +} + +void MbD::RackPinJoint::connectsItoJ(EndFrmsptr frmIe, EndFrmsptr frmJe) +{ + //"OODS J is on pinion. z axis is axis of pinion." + //"OODS I is on rack. x axis is axis of rack. z axis is parallel to axis of pinion." + //"Subsequent prescribed motions may make frmIe, frmJe become prescribed end frames." + //"Use newCopyEndFrameqc to prevent efrms from becoming EndFrameqct." + + frmI = frmIe->newCopyEndFrameqc(); + frmJ = frmJe->newCopyEndFrameqc(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/RackPinJoint.h b/src/3rdParty/OndselSolver/OndselSolver/RackPinJoint.h new file mode 100644 index 000000000000..21fdbe45bf6c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RackPinJoint.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Joint.h" + +namespace MbD { + class RackPinJoint : public Joint + { + //pitchRadius aConstant + public: + RackPinJoint(); + RackPinJoint(const char* str); + //void initializeLocally() override; + void initializeGlobally() override; + void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ) override; + + double pitchRadius = 1.0, aConstant = 0.0; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/RampStepFunction.cpp b/src/3rdParty/OndselSolver/OndselSolver/RampStepFunction.cpp new file mode 100644 index 000000000000..2c0bff34786b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RampStepFunction.cpp @@ -0,0 +1,62 @@ +#include + +#include "RampStepFunction.h" +#include "Constant.h" +#include "Polynomial.h" + +using namespace MbD; + +MbD::RampStepFunction::RampStepFunction(Symsptr var, std::shared_ptr> consts, std::shared_ptr> trans) +{ + + double x0 = trans->at(0); + double x1 = trans->at(1); + double y0 = consts->at(0); + double y1 = consts->at(1); + initFunctionsTransitions(var, x0, y0, x1, y1); +} + +void MbD::RampStepFunction::arguments(Symsptr args) +{ + auto arguments = args->getTerms(); + auto var = arguments->at(0); + auto symx0 = arguments->at(1); + auto symy0 = arguments->at(2); + auto symx1 = arguments->at(3); + auto symy1 = arguments->at(4); + double x0 = symx0->getValue(); + double y0 = symy0->getValue(); + double x1 = symx1->getValue(); + double y1 = symy1->getValue(); + initFunctionsTransitions(var, x0, y0, x1, y1, symx0, symy0, symx1, symy1); +} + +void MbD::RampStepFunction::initFunctionsTransitions(Symsptr var, double x0, double y0, double x1, double y1) +{ + auto symx0 = sptrConstant(x0); + auto symy0 = sptrConstant(y0); + auto symx1 = sptrConstant(x1); + auto symy1 = sptrConstant(y1); + initFunctionsTransitions(var, x0, y0, x1, y1, symx0, symy0, symx1, symy1); +} + +void MbD::RampStepFunction::initFunctionsTransitions(Symsptr var, double x0, double y0, double x1, double y1, Symsptr symx0, Symsptr symy0, Symsptr symx1, Symsptr symy1) +{ + //(y - y0)/(x - x0) = (y1 - y0)/(x1 - x0) + //y = (x - x0)(y1 - y0)/(x1 - x0) + y0 + //y = (y1 - y0)*x/(x1 - x0) + y0 - (y1 - y0)*x0/(x1 - x0) + xx = var; + auto func0 = symy0; + auto slope = sptrConstant((y1 - y0) / (x1 - x0)); + auto intercept = sptrConstant(y0 - (y1 - y0) * x0 / (x1 - x0)); + auto coeffs = std::make_shared>(); + coeffs->push_back(intercept); + coeffs->push_back(slope); + auto func1 = std::make_shared(var, coeffs); + auto func2 = symy1; + functions->push_back(func0); + functions->push_back(func1); + functions->push_back(func2); + transitions->push_back(symx0); + transitions->push_back(symx1); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/RampStepFunction.h b/src/3rdParty/OndselSolver/OndselSolver/RampStepFunction.h new file mode 100644 index 000000000000..cf79b5ff3f48 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RampStepFunction.h @@ -0,0 +1,25 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "PiecewiseFunction.h" + +namespace MbD { + class RampStepFunction : public PiecewiseFunction + { + public: + RampStepFunction() = default; + RampStepFunction(Symsptr var, std::shared_ptr> consts, std::shared_ptr> trans); + void arguments(Symsptr args) override; + void initFunctionsTransitions(Symsptr var, double x0, double y0, double x1, double y1); + void initFunctionsTransitions(Symsptr var, double x0, double y0, double x1, double y1, Symsptr symx0, Symsptr symy0, Symsptr symx1, Symsptr symy1); + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Reciprocal.cpp b/src/3rdParty/OndselSolver/OndselSolver/Reciprocal.cpp new file mode 100644 index 000000000000..5e31e23a988d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Reciprocal.cpp @@ -0,0 +1,41 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "Reciprocal.h" +#include "Negative.h" +#include "Power.h" +#include "Constant.h" + +using namespace MbD; + +MbD::Reciprocal::Reciprocal(Symsptr arg) : FunctionX(arg) +{ +} + +double MbD::Reciprocal::getValue() +{ + return 1.0 / xx->getValue(); +} + +Symsptr MbD::Reciprocal::differentiateWRTx() +{ + auto two = sptrConstant(2); + auto sq = std::make_shared(xx, two); + return std::make_shared(sq); +} + +Symsptr MbD::Reciprocal::copyWith(Symsptr arg) +{ + return std::make_shared(arg); +} + +std::ostream& MbD::Reciprocal::printOn(std::ostream& s) const +{ + s << "/(" << *xx << ")"; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Reciprocal.h b/src/3rdParty/OndselSolver/OndselSolver/Reciprocal.h new file mode 100644 index 000000000000..6be923d1429c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Reciprocal.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionX.h" + +namespace MbD { + class Reciprocal : public FunctionX + { + // + public: + Reciprocal() = default; + Reciprocal(Symsptr arg); + double getValue() override; + Symsptr differentiateWRTx() override; + Symsptr copyWith(Symsptr arg) override; + + std::ostream& printOn(std::ostream& s) const override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/RedundantConstraint.cpp b/src/3rdParty/OndselSolver/OndselSolver/RedundantConstraint.cpp new file mode 100644 index 000000000000..6ed7957fc062 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RedundantConstraint.cpp @@ -0,0 +1,114 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "RedundantConstraint.h" + +using namespace MbD; + +void RedundantConstraint::removeRedundantConstraints(std::shared_ptr>) +{ +} + +bool RedundantConstraint::isRedundant() +{ + return true; +} + +std::string RedundantConstraint::classname() +{ + auto str = Item::classname() + "->" + constraint->classname(); + return str; +} + +ConstraintType RedundantConstraint::type() +{ + return redundant; +} + +void MbD::RedundantConstraint::fillqsuddotlam(FColDsptr) +{ +} + +void RedundantConstraint::fillqsulam(FColDsptr) +{ +} + +void RedundantConstraint::postInput() +{ +} + +void RedundantConstraint::prePosIC() +{ +} + +void RedundantConstraint::fillEssenConstraints(std::shared_ptr, std::shared_ptr>>) +{ +} + +void RedundantConstraint::fillDispConstraints(std::shared_ptr, std::shared_ptr>>) +{ +} + +void RedundantConstraint::fillPerpenConstraints(std::shared_ptr, std::shared_ptr>>) +{ +} + +void RedundantConstraint::fillConstraints(std::shared_ptr, std::shared_ptr>>) +{ +} + +void RedundantConstraint::fillRedundantConstraints(std::shared_ptr sptr, std::shared_ptr>> redunConstraints) +{ + redunConstraints->push_back(sptr); +} + +void RedundantConstraint::setqsulam(FColDsptr) +{ +} + +void RedundantConstraint::setqsudotlam(FColDsptr) +{ +} + +void RedundantConstraint::fillPosICError(FColDsptr) +{ +} + +void RedundantConstraint::fillPosKineError(FColDsptr) +{ +} + +void RedundantConstraint::fillPosKineJacob(SpMatDsptr) +{ +} + +void RedundantConstraint::preVelIC() +{ +} + +void RedundantConstraint::preAccIC() +{ +} + +void RedundantConstraint::fillAccICIterError(FColDsptr) +{ +} + +void RedundantConstraint::setqsuddotlam(FColDsptr) +{ +} + +void RedundantConstraint::discontinuityAtaddTypeTo(double, std::shared_ptr>) +{ + //"Reactivate all constraints." + assert(false); + //| newSelf | + //newSelf : = self constraint. + //newSelf discontinuityAt : tstartNew addTypeTo : collection. + //self become : newSelf +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/RedundantConstraint.h b/src/3rdParty/OndselSolver/OndselSolver/RedundantConstraint.h new file mode 100644 index 000000000000..55a28630261b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RedundantConstraint.h @@ -0,0 +1,45 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Constraint.h" + +namespace MbD { + class RedundantConstraint : public Constraint + { + // + public: + void removeRedundantConstraints(std::shared_ptr> redundantEqnNos) override; + bool isRedundant() override; + std::string classname() override; + ConstraintType type() override; + void fillqsuddotlam(FColDsptr col) override; + void fillqsulam(FColDsptr col) override; + void postInput() override; + void prePosIC() override; + void fillEssenConstraints(std::shared_ptr sptr, std::shared_ptr>> essenConstraints) override; + void fillDispConstraints(std::shared_ptr sptr, std::shared_ptr>> dispConstraints) override; + void fillPerpenConstraints(std::shared_ptr sptr, std::shared_ptr>> perpenConstraints) override; + void fillConstraints(std::shared_ptr sptr, std::shared_ptr>> redunConstraints) override; + void fillRedundantConstraints(std::shared_ptr sptr, std::shared_ptr>> allConstraints) override; + void setqsulam(FColDsptr col) override; + void setqsudotlam(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosKineError(FColDsptr col) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void preVelIC() override; + void preAccIC() override; + void fillAccICIterError(FColDsptr col) override; + void setqsuddotlam(FColDsptr col) override; + void discontinuityAtaddTypeTo(double t, std::shared_ptr> disconTypes) override; + + std::shared_ptr constraint; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/RevCylJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/RevCylJoint.cpp new file mode 100644 index 000000000000..2ed1f2b8fe9e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RevCylJoint.cpp @@ -0,0 +1,38 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "RevCylJoint.h" +#include "CREATE.h" +#include "DistancexyConstraintIJ.h" +#include "System.h" + +using namespace MbD; + +MbD::RevCylJoint::RevCylJoint() +{ +} + +MbD::RevCylJoint::RevCylJoint(const char* str) : CompoundJoint(str) +{ +} + +void MbD::RevCylJoint::initializeGlobally() +{ + if (constraints->empty()) + { + auto distxyIJ = DistancexyConstraintIJ::With(frmI, frmJ); + distxyIJ->setConstant(distanceIJ); + addConstraint(distxyIJ); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 1)); + this->root()->hasChanged = true; + } + else { + CompoundJoint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/RevCylJoint.h b/src/3rdParty/OndselSolver/OndselSolver/RevCylJoint.h new file mode 100644 index 000000000000..384e3581886f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RevCylJoint.h @@ -0,0 +1,25 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "CompoundJoint.h" + +namespace MbD { + class RevCylJoint : public CompoundJoint + { + // + public: + RevCylJoint(); + RevCylJoint(const char* str); + void initializeGlobally() override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/RevRevJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/RevRevJoint.cpp new file mode 100644 index 000000000000..362e0e88d69d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RevRevJoint.cpp @@ -0,0 +1,39 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "RevRevJoint.h" +#include "CREATE.h" +#include "DistancexyConstraintIJ.h" +#include "System.h" + +using namespace MbD; + +MbD::RevRevJoint::RevRevJoint() +{ +} + +MbD::RevRevJoint::RevRevJoint(const char* str) : CompoundJoint(str) +{ +} + +void MbD::RevRevJoint::initializeGlobally() +{ + if (constraints->empty()) + { + auto distxyIJ = DistancexyConstraintIJ::With(frmI, frmJ); + distxyIJ->setConstant(distanceIJ); + addConstraint(distxyIJ); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 1)); + this->root()->hasChanged = true; + } + else { + CompoundJoint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/RevRevJoint.h b/src/3rdParty/OndselSolver/OndselSolver/RevRevJoint.h new file mode 100644 index 000000000000..6a024dc7ce9d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RevRevJoint.h @@ -0,0 +1,25 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "CompoundJoint.h" + +namespace MbD { + class RevRevJoint : public CompoundJoint + { + // + public: + RevRevJoint(); + RevRevJoint(const char* str); + void initializeGlobally() override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/RevoluteJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/RevoluteJoint.cpp new file mode 100644 index 000000000000..06a058b18bf7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RevoluteJoint.cpp @@ -0,0 +1,37 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "RevoluteJoint.h" +#include "System.h" +#include "AtPointConstraintIJ.h" +#include "DirectionCosineConstraintIJ.h" +#include "CREATE.h" + +using namespace MbD; + +RevoluteJoint::RevoluteJoint() +{ +} + +RevoluteJoint::RevoluteJoint(const char* str) : AtPointJoint(str) +{ +} + +void RevoluteJoint::initializeGlobally() +{ + if (constraints->empty()) + { + createAtPointConstraints(); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 0)); + addConstraint(CREATE::ConstraintWith(frmI, frmJ, 2, 1)); + this->root()->hasChanged = true; + } + else { + Joint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/RevoluteJoint.h b/src/3rdParty/OndselSolver/OndselSolver/RevoluteJoint.h new file mode 100644 index 000000000000..f3895f347ccf --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RevoluteJoint.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AtPointJoint.h" + +namespace MbD { + class RevoluteJoint : public AtPointJoint + { + // + public: + RevoluteJoint(); + RevoluteJoint(const char* str); + void initializeGlobally() override; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/RowTypeMatrix.cpp b/src/3rdParty/OndselSolver/OndselSolver/RowTypeMatrix.cpp new file mode 100644 index 000000000000..c607e8e96aa1 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RowTypeMatrix.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "RowTypeMatrix.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/RowTypeMatrix.h b/src/3rdParty/OndselSolver/OndselSolver/RowTypeMatrix.h new file mode 100644 index 000000000000..143bb43433f5 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/RowTypeMatrix.h @@ -0,0 +1,58 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Array.h" + +namespace MbD { + + template + class RowTypeMatrix : public Array + { + public: + RowTypeMatrix() {} + RowTypeMatrix(int m) : Array(m) {} + RowTypeMatrix(std::initializer_list list) : Array{ list } {} + void copyFrom(std::shared_ptr> x); + virtual void zeroSelf() override = 0; + //double maxMagnitude() override; + int numberOfElements() override; + int nrow() { + return (int)this->size(); + } + int ncol() { + return this->at(0)->numberOfElements(); + } + }; + + template + inline void RowTypeMatrix::copyFrom(std::shared_ptr> x) + { + for (int i = 0; i < (int)x->size(); i++) { + this->at(i)->copyFrom(x->at(i)); + } + } + //template + //inline double RowTypeMatrix::maxMagnitude() + //{ + // double max = 0.0; + // for (int i = 0; i < this->size(); i++) + // { + // double element = this->at(i)->maxMagnitude(); + // if (max < element) max = element; + // } + // return max; + //} + template + inline int RowTypeMatrix::numberOfElements() + { + return this->nrow() * this->ncol(); + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ScalarNewtonRaphson.cpp b/src/3rdParty/OndselSolver/OndselSolver/ScalarNewtonRaphson.cpp new file mode 100644 index 000000000000..58b976c459b5 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ScalarNewtonRaphson.cpp @@ -0,0 +1,43 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ScalarNewtonRaphson.h" +#include "SystemSolver.h" + +using namespace MbD; + +void ScalarNewtonRaphson::initializeGlobally() +{ + assert(false); + //x = system->x; +} + +void ScalarNewtonRaphson::calcyNorm() +{ + yNorm = 0.5 * y * y; +} + +void ScalarNewtonRaphson::solveEquations() +{ + dx = -y / pypx; +} + +void ScalarNewtonRaphson::updatexold() +{ + xold = x; +} + +void ScalarNewtonRaphson::calcdxNorm() +{ + dxNorm = std::abs(dx); +} + +void ScalarNewtonRaphson::xEqualxoldPlusdx() +{ + x = xold + dx; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ScalarNewtonRaphson.h b/src/3rdParty/OndselSolver/OndselSolver/ScalarNewtonRaphson.h new file mode 100644 index 000000000000..3504410c3cc5 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ScalarNewtonRaphson.h @@ -0,0 +1,31 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "NewtonRaphson.h" + +namespace MbD { + class ScalarNewtonRaphson : public NewtonRaphson + { + // + public: + void initializeGlobally() override; + void calcyNorm() override; + void solveEquations() override; + void updatexold() override; + void calcdxNorm() override; + void xEqualxoldPlusdx() override; + + + double xold, x, dx, y; + double pypx; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIJ.cpp b/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIJ.cpp new file mode 100644 index 000000000000..996253f19b51 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIJ.cpp @@ -0,0 +1,112 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "corecrt_math_defines.h" + +#include "ScrewConstraintIJ.h" +#include "ScrewConstraintIqcJqc.h" +#include "EndFrameqc.h" + +using namespace MbD; + +MbD::ScrewConstraintIJ::ScrewConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj) : ConstraintIJ(frmi, frmj) +{ +} + +std::shared_ptr MbD::ScrewConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj) +{ + assert(frmi->isEndFrameqc()); + assert(frmj->isEndFrameqc()); + auto screwCon = std::make_shared(frmi, frmj); + screwCon->initzIeJeIe(); + screwCon->initthezIeJe(); + return screwCon; +} + +void MbD::ScrewConstraintIJ::calcPostDynCorrectorIteration() +{ + auto z = zIeJeIe->value(); + auto thez = thezIeJe->thez; + aG = (2.0 * OS_M_PI * z) - (pitch * thez) - aConstant; +} + +void MbD::ScrewConstraintIJ::init_zthez() +{ + assert(false); +} + +void MbD::ScrewConstraintIJ::initzIeJeIe() +{ + assert(false); +} + +void MbD::ScrewConstraintIJ::initthezIeJe() +{ + assert(false); +} + +void MbD::ScrewConstraintIJ::initialize() +{ + ConstraintIJ::initialize(); + this->init_zthez(); +} + +void MbD::ScrewConstraintIJ::initializeGlobally() +{ + zIeJeIe->initializeGlobally(); + thezIeJe->initializeGlobally(); +} + +void MbD::ScrewConstraintIJ::initializeLocally() +{ + zIeJeIe->initializeLocally(); + thezIeJe->initializeLocally(); +} + +void MbD::ScrewConstraintIJ::postInput() +{ + zIeJeIe->postInput(); + thezIeJe->postInput(); + aConstant = (2.0 * OS_M_PI * zIeJeIe->value()) - (thezIeJe->value() * pitch); + ConstraintIJ::postInput(); +} + +void MbD::ScrewConstraintIJ::postPosICIteration() +{ + zIeJeIe->postPosICIteration(); + thezIeJe->postPosICIteration(); + ConstraintIJ::postPosICIteration(); +} + +void MbD::ScrewConstraintIJ::preAccIC() +{ + zIeJeIe->preAccIC(); + thezIeJe->preAccIC(); + ConstraintIJ::preAccIC(); +} + +void MbD::ScrewConstraintIJ::prePosIC() +{ + zIeJeIe->prePosIC(); + thezIeJe->prePosIC(); + ConstraintIJ::prePosIC(); +} + +void MbD::ScrewConstraintIJ::preVelIC() +{ + zIeJeIe->preVelIC(); + thezIeJe->preVelIC(); + ConstraintIJ::preVelIC(); +} + +void MbD::ScrewConstraintIJ::simUpdateAll() +{ + zIeJeIe->simUpdateAll(); + thezIeJe->simUpdateAll(); + ConstraintIJ::simUpdateAll(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIJ.h b/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIJ.h new file mode 100644 index 000000000000..b6cc905fa075 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIJ.h @@ -0,0 +1,45 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ConstraintIJ.h" +#include "DispCompIecJecIe.h" +#include "AngleZIecJec.h" + +namespace MbD { + class ScrewConstraintIJ : public ConstraintIJ + { + //zIeJeIe thezIeJe pitch + public: + ScrewConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj); + + static std::shared_ptr With(EndFrmsptr frmi, EndFrmsptr frmj); + + void calcPostDynCorrectorIteration() override; + virtual void init_zthez(); + virtual void initzIeJeIe(); + virtual void initthezIeJe(); + void initialize() override; + void initializeGlobally() override; + void initializeLocally() override; + void postInput() override; + void postPosICIteration() override; + void preAccIC() override; + void prePosIC() override; + void preVelIC() override; + void simUpdateAll() override; + + std::shared_ptr zIeJeIe; + std::shared_ptr thezIeJe; + double pitch; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIqcJc.cpp b/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIqcJc.cpp new file mode 100644 index 000000000000..e6ff72b9ef9b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIqcJc.cpp @@ -0,0 +1,148 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "corecrt_math_defines.h" + +#include "ScrewConstraintIqcJc.h" +#include "EndFrameqc.h" +#include "CREATE.h" +#include "DispCompIeqcJecIe.h" +#include "AngleZIeqcJec.h" + +using namespace MbD; + +MbD::ScrewConstraintIqcJc::ScrewConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj) : ScrewConstraintIJ(frmi, frmj) +{ + pGpXI = std::make_shared>(3); + pGpEI = std::make_shared>(4); + ppGpXIpEI = std::make_shared>(3, 4); + ppGpEIpEI = std::make_shared>(4, 4); +} + +void MbD::ScrewConstraintIqcJc::initzIeJeIe() +{ + zIeJeIe = std::make_shared(frmI, frmJ, 2); +} + +void MbD::ScrewConstraintIqcJc::initthezIeJe() +{ + thezIeJe = std::make_shared(frmI, frmJ); +} + +void MbD::ScrewConstraintIqcJc::addToJointForceI(FColDsptr col) +{ + col->equalSelfPlusFullVectortimes(pGpXI, lam); +} + +void MbD::ScrewConstraintIqcJc::addToJointTorqueI(FColDsptr jointTorque) +{ + auto cForceT = pGpXI->times(lam); + auto frmIeqc = std::static_pointer_cast(frmI); + auto rIpIeIp = frmIeqc->rpep(); + auto pAOIppEI = frmIeqc->pAOppE(); + auto aBOIp = frmIeqc->aBOp(); + auto fpAOIppEIrIpIeIp = std::make_shared>(4, 0.0); + for (int i = 0; i < 4; i++) + { + auto dum = cForceT->timesFullColumn(pAOIppEI->at(i)->timesFullColumn(rIpIeIp)); + fpAOIppEIrIpIeIp->atiput(i, dum); + } + auto lampGpE = pGpEI->transpose()->times(lam); + auto c2Torque = aBOIp->timesFullColumn(lampGpE->minusFullColumn(fpAOIppEIrIpIeIp)); + jointTorque->equalSelfPlusFullColumntimes(c2Torque, 0.5); +} + +void MbD::ScrewConstraintIqcJc::calc_pGpEI() +{ + pGpEI = zIeJeIe->pvaluepEI()->times(2.0 * OS_M_PI)->minusFullRow(thezIeJe->pvaluepEI()->times(pitch)); +} + +void MbD::ScrewConstraintIqcJc::calc_pGpXI() +{ + pGpXI = zIeJeIe->pvaluepXI()->times(2.0 * OS_M_PI); +} + +void MbD::ScrewConstraintIqcJc::calc_ppGpEIpEI() +{ + ppGpEIpEI = zIeJeIe->ppvaluepEIpEI()->times(2.0 * OS_M_PI) + ->minusFullMatrix(thezIeJe->ppvaluepEIpEI()->times(pitch)); +} + +void MbD::ScrewConstraintIqcJc::calc_ppGpXIpEI() +{ + ppGpXIpEI = zIeJeIe->ppvaluepXIpEI()->times(2.0 * OS_M_PI); +} + +void MbD::ScrewConstraintIqcJc::calcPostDynCorrectorIteration() +{ + ScrewConstraintIJ::calcPostDynCorrectorIteration(); + this->calc_pGpXI(); + this->calc_pGpEI(); + this->calc_ppGpXIpEI(); + this->calc_ppGpEIpEI(); +} + +void MbD::ScrewConstraintIqcJc::fillAccICIterError(FColDsptr col) +{ + col->atiplusFullVectortimes(iqXI, pGpXI, lam); + col->atiplusFullVectortimes(iqEI, pGpEI, lam); + auto efrmIqc = std::static_pointer_cast(frmI); + auto qXdotI = efrmIqc->qXdot(); + auto qEdotI = efrmIqc->qEdot(); + auto sum = pGpXI->timesFullColumn(efrmIqc->qXddot()); + sum += pGpEI->timesFullColumn(efrmIqc->qEddot()); + sum += 2.0 * (qXdotI->transposeTimesFullColumn(ppGpXIpEI->timesFullColumn(qEdotI))); + sum += qEdotI->transposeTimesFullColumn(ppGpEIpEI->timesFullColumn(qEdotI)); + col->atiplusNumber(iG, sum); +} + +void MbD::ScrewConstraintIqcJc::fillPosICError(FColDsptr col) +{ + ScrewConstraintIJ::fillPosICError(col); + col->atiplusFullVectortimes(iqXI, pGpXI, lam); + col->atiplusFullVectortimes(iqEI, pGpEI, lam); +} + +void MbD::ScrewConstraintIqcJc::fillPosICJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqXI, pGpXI); + mat->atijplusFullColumn(iqXI, iG, pGpXI->transpose()); + mat->atijplusFullRow(iG, iqEI, pGpEI); + mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose()); + auto ppGpXIpEIlam = ppGpXIpEI->times(lam); + mat->atijplusFullMatrix(iqXI, iqEI, ppGpXIpEIlam); + mat->atijplusTransposeFullMatrix(iqEI, iqXI, ppGpXIpEIlam); + mat->atijplusFullMatrixtimes(iqEI, iqEI, ppGpEIpEI, lam); +} + +void MbD::ScrewConstraintIqcJc::fillPosKineJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqXI, pGpXI); + mat->atijplusFullRow(iG, iqEI, pGpEI); +} + +void MbD::ScrewConstraintIqcJc::fillVelICJacob(SpMatDsptr mat) +{ + mat->atijplusFullRow(iG, iqXI, pGpXI); + mat->atijplusFullColumn(iqXI, iG, pGpXI->transpose()); + mat->atijplusFullRow(iG, iqEI, pGpEI); + mat->atijplusFullColumn(iqEI, iG, pGpEI->transpose()); +} + +void MbD::ScrewConstraintIqcJc::init_zthez() +{ + zIeJeIe = CREATE::With(frmI, frmJ, 2); + thezIeJe = CREATE::With(frmJ, frmI); +} + +void MbD::ScrewConstraintIqcJc::useEquationNumbers() +{ + auto frmIeqc = std::static_pointer_cast(frmI); + iqXI = frmIeqc->iqX(); + iqEI = frmIeqc->iqE(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIqcJc.h b/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIqcJc.h new file mode 100644 index 000000000000..fd9e352fec23 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIqcJc.h @@ -0,0 +1,44 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ScrewConstraintIJ.h" + +namespace MbD { + class ScrewConstraintIqcJc : public ScrewConstraintIJ + { + //pGpXI pGpEI ppGpXIpEI ppGpEIpEI iqXI iqEI + public: + ScrewConstraintIqcJc(EndFrmsptr frmi, EndFrmsptr frmj); + + void initzIeJeIe() override; + void initthezIeJe() override; + void addToJointForceI(FColDsptr col) override; + void addToJointTorqueI(FColDsptr col) override; + void calc_pGpEI(); + void calc_pGpXI(); + void calc_ppGpEIpEI(); + void calc_ppGpXIpEI(); + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void init_zthez() override; + void useEquationNumbers() override; + + FRowDsptr pGpXI, pGpEI; + FMatDsptr ppGpXIpEI, ppGpEIpEI; + int iqXI, iqEI; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIqcJqc.cpp b/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIqcJqc.cpp new file mode 100644 index 000000000000..bdc6ab7a363c --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIqcJqc.cpp @@ -0,0 +1,145 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "corecrt_math_defines.h" + +#include "ScrewConstraintIqcJqc.h" +#include "EndFrameqc.h" +#include "CREATE.h" +#include "DispCompIeqcJeqcIe.h" +#include "AngleZIeqcJeqc.h" + +using namespace MbD; + +MbD::ScrewConstraintIqcJqc::ScrewConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj) : ScrewConstraintIqcJc(frmi, frmj) +{ + pGpXJ = std::make_shared>(3); + pGpEJ = std::make_shared>(4); + ppGpEIpXJ = std::make_shared>(4, 3); + ppGpEIpEJ = std::make_shared>(4, 4); + ppGpEJpEJ = std::make_shared>(4, 4); +} + +void MbD::ScrewConstraintIqcJqc::initzIeJeIe() +{ + zIeJeIe = std::make_shared(frmI, frmJ, 2); +} + +void MbD::ScrewConstraintIqcJqc::initthezIeJe() +{ + thezIeJe = std::make_shared(frmI, frmJ); +} + +void MbD::ScrewConstraintIqcJqc::calc_pGpEJ() +{ + pGpEJ = zIeJeIe->pvaluepEJ()->times(2.0 * OS_M_PI)->minusFullRow(thezIeJe->pvaluepEJ()->times(pitch)); +} + +void MbD::ScrewConstraintIqcJqc::calc_pGpXJ() +{ + pGpXJ = zIeJeIe->pvaluepXJ()->times(2.0 * OS_M_PI); +} + +void MbD::ScrewConstraintIqcJqc::calc_ppGpEIpEJ() +{ + ppGpEIpEJ = zIeJeIe->ppvaluepEIpEJ()->times(2.0 * OS_M_PI) + ->minusFullMatrix(thezIeJe->ppvaluepEIpEJ()->times(pitch)); +} + +void MbD::ScrewConstraintIqcJqc::calc_ppGpEIpXJ() +{ + ppGpEIpXJ = zIeJeIe->ppvaluepEIpXJ()->times(2.0 * OS_M_PI); +} + +void MbD::ScrewConstraintIqcJqc::calc_ppGpEJpEJ() +{ + ppGpEJpEJ = zIeJeIe->ppvaluepEJpEJ()->times(2.0 * OS_M_PI) + ->minusFullMatrix(thezIeJe->ppvaluepEJpEJ()->times(pitch)); +} + +void MbD::ScrewConstraintIqcJqc::calcPostDynCorrectorIteration() +{ + ScrewConstraintIqcJc::calcPostDynCorrectorIteration(); + this->calc_pGpXJ(); + this->calc_pGpEJ(); + this->calc_ppGpEIpXJ(); + this->calc_ppGpEIpEJ(); + this->calc_ppGpEJpEJ(); +} + +void MbD::ScrewConstraintIqcJqc::fillAccICIterError(FColDsptr col) +{ + ScrewConstraintIqcJc::fillAccICIterError(col); + col->atiplusFullVectortimes(iqXJ, pGpXJ, lam); + col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); + auto frmIeqc = std::static_pointer_cast(frmI); + auto frmJeqc = std::static_pointer_cast(frmJ); + auto qEdotI = frmIeqc->qEdot(); + auto qXdotJ = frmJeqc->qXdot(); + auto qEdotJ = frmJeqc->qEdot(); + double sum = 0.0; + sum += pGpXJ->timesFullColumn(frmJeqc->qXddot()); + sum += pGpEJ->timesFullColumn(frmJeqc->qEddot()); + sum += 2.0 * (qEdotI->transposeTimesFullColumn(ppGpEIpXJ->timesFullColumn(qXdotJ))); + sum += 2.0 * (qEdotI->transposeTimesFullColumn(ppGpEIpEJ->timesFullColumn(qEdotJ))); + sum += qEdotJ->transposeTimesFullColumn(ppGpEJpEJ->timesFullColumn(qEdotJ)); + col->atiplusNumber(iG, sum); +} + +void MbD::ScrewConstraintIqcJqc::fillPosICError(FColDsptr col) +{ + ScrewConstraintIqcJc::fillPosICError(col); + col->atiplusFullVectortimes(iqXJ, pGpXJ, lam); + col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); +} + +void MbD::ScrewConstraintIqcJqc::fillPosICJacob(SpMatDsptr mat) +{ + ScrewConstraintIqcJc::fillPosICJacob(mat); + mat->atijplusFullRow(iG, iqXJ, pGpXJ); + mat->atijplusFullColumn(iqXJ, iG, pGpXJ->transpose()); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); + mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose()); + auto ppGpEIpXJlam = ppGpEIpXJ->times(lam); + mat->atijplusFullMatrix(iqEI, iqXJ, ppGpEIpXJlam); + mat->atijplusTransposeFullMatrix(iqXJ, iqEI, ppGpEIpXJlam); + auto ppGpEIpEJlam = ppGpEIpEJ->times(lam); + mat->atijplusFullMatrix(iqEI, iqEJ, ppGpEIpEJlam); + mat->atijplusTransposeFullMatrix(iqEJ, iqEI, ppGpEIpEJlam); + mat->atijplusFullMatrixtimes(iqEJ, iqEJ, ppGpEJpEJ, lam); +} + +void MbD::ScrewConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat) +{ + ScrewConstraintIqcJc::fillPosKineJacob(mat); + mat->atijplusFullRow(iG, iqXJ, pGpXJ); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); +} + +void MbD::ScrewConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat) +{ + ScrewConstraintIqcJc::fillVelICJacob(mat); + mat->atijplusFullRow(iG, iqXJ, pGpXJ); + mat->atijplusFullColumn(iqXJ, iG, pGpXJ->transpose()); + mat->atijplusFullRow(iG, iqEJ, pGpEJ); + mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose()); +} + +void MbD::ScrewConstraintIqcJqc::init_zthez() +{ + zIeJeIe = CREATE::With(frmI, frmJ, 2); + thezIeJe = CREATE::With(frmJ, frmI); +} + +void MbD::ScrewConstraintIqcJqc::useEquationNumbers() +{ + ScrewConstraintIqcJc::useEquationNumbers(); + auto frmJeqc = std::static_pointer_cast(frmJ); + iqXJ = frmJeqc->iqX(); + iqEJ = frmJeqc->iqE(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIqcJqc.h b/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIqcJqc.h new file mode 100644 index 000000000000..ff4aabae4b05 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ScrewConstraintIqcJqc.h @@ -0,0 +1,43 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "ScrewConstraintIqcJc.h" + +namespace MbD { + class ScrewConstraintIqcJqc : public ScrewConstraintIqcJc + { + //pGpXJ pGpEJ ppGpEIpXJ ppGpEIpEJ ppGpEJpEJ iqXJ iqEJ + public: + ScrewConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj); + + void initzIeJeIe() override; + void initthezIeJe() override; + void calc_pGpEJ(); + void calc_pGpXJ(); + void calc_ppGpEIpEJ(); + void calc_ppGpEIpXJ(); + void calc_ppGpEJpEJ(); + void calcPostDynCorrectorIteration() override; + void fillAccICIterError(FColDsptr col) override; + void fillPosICError(FColDsptr col) override; + void fillPosICJacob(SpMatDsptr mat) override; + void fillPosKineJacob(SpMatDsptr mat) override; + void fillVelICJacob(SpMatDsptr mat) override; + void init_zthez() override; + void useEquationNumbers() override; + + FRowDsptr pGpXJ, pGpEJ; + FMatDsptr ppGpEIpXJ, ppGpEIpEJ, ppGpEJpEJ; + int iqXJ = -1, iqEJ = -1; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/ScrewJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/ScrewJoint.cpp new file mode 100644 index 000000000000..5b22b5dc9a07 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ScrewJoint.cpp @@ -0,0 +1,57 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "ScrewJoint.h" +#include "CREATE.h" +#include "System.h" +#include "ScrewConstraintIJ.h" + +using namespace MbD; + +MbD::ScrewJoint::ScrewJoint() +{ +} + +MbD::ScrewJoint::ScrewJoint(const char* str) : Joint(str) +{ +} +// +//void MbD::ScrewJoint::initializeLocally() +//{ +// if (!constraints->empty()) +// { +// auto constraint = std::static_pointer_cast(constraints->front()); +// constraint->initzIeJeIe(); +// constraint->initthezIeJe(); +// } +// Joint::initializeLocally(); +//} + +void MbD::ScrewJoint::initializeGlobally() +{ + if (constraints->empty()) + { + auto screwIJ = ScrewConstraintIJ::With(frmI, frmJ); + screwIJ->setConstant(std::numeric_limits::min()); + screwIJ->pitch = pitch; + addConstraint(screwIJ); + this->root()->hasChanged = true; + } + else { + Joint::initializeGlobally(); + } +} + +void MbD::ScrewJoint::connectsItoJ(EndFrmsptr frmIe, EndFrmsptr frmJe) +{ + //"Subsequent prescribed motions may make frmIe, frmJe become prescribed end frames." + //"Use newCopyEndFrameqc to prevent efrms from becoming EndFrameqct." + + frmI = frmIe->newCopyEndFrameqc(); + frmJ = frmJe->newCopyEndFrameqc(); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/ScrewJoint.h b/src/3rdParty/OndselSolver/OndselSolver/ScrewJoint.h new file mode 100644 index 000000000000..17ee8c1db9f0 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/ScrewJoint.h @@ -0,0 +1,27 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Joint.h" + +namespace MbD { + class ScrewJoint : public Joint + { + // + public: + ScrewJoint(); + ScrewJoint(const char* str); + //void initializeLocally() override; + void initializeGlobally() override; + void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ) override; + + double pitch = 1.0, aConstant = 0.0; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/SimulationStoppingError.cpp b/src/3rdParty/OndselSolver/OndselSolver/SimulationStoppingError.cpp new file mode 100644 index 000000000000..fd635e464510 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SimulationStoppingError.cpp @@ -0,0 +1,15 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "SimulationStoppingError.h" + +using namespace MbD; + +SimulationStoppingError::SimulationStoppingError(const std::string& msg) : std::runtime_error(msg) +{ +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/SimulationStoppingError.h b/src/3rdParty/OndselSolver/OndselSolver/SimulationStoppingError.h new file mode 100644 index 000000000000..a9ed5448e8fa --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SimulationStoppingError.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include +#include + +namespace MbD { + class SimulationStoppingError : virtual public std::runtime_error + { + + public: + //SimulationStoppingError(); + explicit SimulationStoppingError(const std::string& msg); + virtual ~SimulationStoppingError() noexcept {} + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Sine.cpp b/src/3rdParty/OndselSolver/OndselSolver/Sine.cpp new file mode 100644 index 000000000000..de190a193f48 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Sine.cpp @@ -0,0 +1,37 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "Sine.h" +#include "Cosine.h" + +using namespace MbD; + +MbD::Sine::Sine(Symsptr arg) : FunctionX(arg) +{ +} + +double MbD::Sine::getValue() +{ + return std::sin(xx->getValue()); +} + +Symsptr MbD::Sine::differentiateWRTx() +{ + return std::make_shared(xx); +} + +Symsptr MbD::Sine::copyWith(Symsptr arg) +{ + return std::make_shared(arg); +} + +std::ostream& MbD::Sine::printOn(std::ostream& s) const +{ + s << "sin(" << *xx << ")"; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Sine.h b/src/3rdParty/OndselSolver/OndselSolver/Sine.h new file mode 100644 index 000000000000..6b16fba937fa --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Sine.h @@ -0,0 +1,28 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionX.h" + +namespace MbD { + class Sine : public FunctionX + { + // + public: + Sine() = default; + Sine(Symsptr arg); + double getValue() override; + Symsptr differentiateWRTx() override; + Symsptr copyWith(Symsptr arg) override; + + std::ostream& printOn(std::ostream& s) const override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/SingularMatrixError.cpp b/src/3rdParty/OndselSolver/OndselSolver/SingularMatrixError.cpp new file mode 100644 index 000000000000..8bde2294d792 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SingularMatrixError.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "SingularMatrixError.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/SingularMatrixError.h b/src/3rdParty/OndselSolver/OndselSolver/SingularMatrixError.h new file mode 100644 index 000000000000..5127943e6bd7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SingularMatrixError.h @@ -0,0 +1,40 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include +#include + +#include "FullColumn.h" + +namespace MbD { + class SingularMatrixError : virtual public std::runtime_error + { + protected: + std::shared_ptr> redundantEqnNos; + + public: + explicit + SingularMatrixError(const std::string& msg, std::shared_ptr> redunEqnNos) : + std::runtime_error(msg), redundantEqnNos(redunEqnNos) + { + } + explicit SingularMatrixError(const std::string& msg) : std::runtime_error(msg) + { + } + + virtual ~SingularMatrixError() noexcept {} + + virtual std::shared_ptr> getRedundantEqnNos() const noexcept { + return redundantEqnNos; + } + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Solver.cpp b/src/3rdParty/OndselSolver/OndselSolver/Solver.cpp new file mode 100644 index 000000000000..e66aa7d00049 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Solver.cpp @@ -0,0 +1,76 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "Solver.h" +#include + +using namespace MbD; + +void MbD::Solver::noop() +{ + //No Operations +} + +void Solver::initialize() +{ +} + +void Solver::initializeLocally() +{ +} + +void Solver::initializeGlobally() +{ + assert(false); +} + +void Solver::assignEquationNumbers() +{ + assert(false); +} + +void Solver::run() +{ + assert(false); +} + +void Solver::preRun() +{ + assert(false); +} + +void Solver::finalize() +{ +} + +void Solver::reportStats() +{ +} + +void Solver::postRun() +{ + assert(false); +} + +void Solver::logString(std::string&) +{ + assert(false); +} + +void Solver::logString(const char* chars) +{ + std::string str = chars; + this->logString(str); +} + +void MbD::Solver::handleSingularMatrix() +{ + assert(false); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Solver.h b/src/3rdParty/OndselSolver/OndselSolver/Solver.h new file mode 100644 index 000000000000..941ce349f1a7 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Solver.h @@ -0,0 +1,36 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include + +namespace MbD { + class Solver + { + //statistics + public: + void noop(); + virtual ~Solver() {} + virtual void initialize(); + virtual void initializeLocally(); + virtual void initializeGlobally(); + virtual void assignEquationNumbers(); + virtual void run(); + virtual void preRun(); + virtual void finalize(); + virtual void reportStats(); + virtual void postRun(); + virtual void logString(std::string& str); + void logString(const char* chars); + virtual void setSystem(Solver* sys) = 0; + virtual void handleSingularMatrix(); + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/SparseColumn.cpp b/src/3rdParty/OndselSolver/OndselSolver/SparseColumn.cpp new file mode 100644 index 000000000000..312df8b7b5d1 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SparseColumn.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "SparseColumn.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/SparseColumn.h b/src/3rdParty/OndselSolver/OndselSolver/SparseColumn.h new file mode 100644 index 000000000000..d8de56c25415 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SparseColumn.h @@ -0,0 +1,23 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "SparseVector.h" + +namespace MbD { + template + class SparseColumn : public SparseVector + { + public: + SparseColumn() {} + SparseColumn(std::initializer_list> list) : SparseVector{ list } {} + SparseColumn(std::initializer_list> list) : SparseVector{ list } {} + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/SparseMatrix.cpp b/src/3rdParty/OndselSolver/OndselSolver/SparseMatrix.cpp new file mode 100644 index 000000000000..04a992267483 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SparseMatrix.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "SparseMatrix.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/SparseMatrix.h b/src/3rdParty/OndselSolver/OndselSolver/SparseMatrix.h new file mode 100644 index 000000000000..549a9095f651 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SparseMatrix.h @@ -0,0 +1,250 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include + +#include "RowTypeMatrix.h" +#include "SparseRow.h" +#include "DiagonalMatrix.h" +#include "FullMatrix.h" + +namespace MbD { + template + class SparseMatrix; + template + using SpMatsptr = std::shared_ptr>; + using SpMatDsptr = std::shared_ptr>; + + template + class SparseMatrix : public RowTypeMatrix> + { + public: + SparseMatrix(int m) : RowTypeMatrix>(m) + { + } + SparseMatrix(int m, int n) { + for (int i = 0; i < m; i++) + { + auto row = std::make_shared>(n); + this->push_back(row); + } + } + SparseMatrix(std::initializer_list>> list2D) { + for (auto& rowList : list2D) + { + auto row = std::make_shared>(rowList); + this->push_back(row); + } + } + void atiput(int i, SpRowsptr spRow); + void atijplusDiagonalMatrix(int i, int j, DiagMatDsptr diagMat); + void atijminusDiagonalMatrix(int i, int j, DiagMatDsptr diagMat); + double sumOfSquares() override; + void zeroSelf() override; + void atijplusFullRow(int i, int j, FRowsptr fullRow); + void atijplusFullColumn(int i, int j, FColsptr fullCol); + void atijplusFullMatrix(int i, int j, FMatDsptr fullMat); + void atijminusFullMatrix(int i, int j, FMatDsptr fullMat); + void atijplusTransposeFullMatrix(int i, int j, FMatDsptr fullMat); + void atijplusFullMatrixtimes(int i, int j, FMatDsptr fullMat, T factor); + void atijminusFullColumn(int i, int j, FColDsptr fullCol); + void atijminusTransposeFullMatrix(int i, int j, FMatDsptr fullMat); + void atijplusNumber(int i, int j, double value); + void atijminusNumber(int i, int j, double value); + void atijput(int i, int j, T value); + double maxMagnitude() override; + FColsptr timesFullColumn(FColsptr fullCol); + SpMatsptr plusSparseMatrix(SpMatsptr spMat); + std::shared_ptr> clonesptr(); + void magnifySelf(T factor); + + std::ostream& printOn(std::ostream& s) const override; + + }; + + template + inline void SparseMatrix::atiput(int i, SpRowsptr spRow) + { + this->at(i) = spRow; + } + + template + inline void SparseMatrix::atijplusDiagonalMatrix(int i, int j, DiagMatDsptr diagMat) + { + auto n = diagMat->nrow(); + for (int ii = 0; ii < n; ii++) + { + this->atijplusNumber(i + ii, j + ii, diagMat->at(ii)); + } + } + + template<> + inline void SparseMatrix::atijminusDiagonalMatrix(int i1, int j1, DiagMatDsptr diagMat) + { + auto n = diagMat->nrow(); + for (int ii = 0; ii < n; ii++) + { + this->atijminusNumber(i1 + ii, j1 + ii, diagMat->at(ii)); + } + } + template + inline double SparseMatrix::sumOfSquares() + { + double sum = 0.0; + for (int i = 0; i < (int)this->size(); i++) + { + sum += this->at(i)->sumOfSquares(); + } + return sum; + } + template<> + inline void SparseMatrix::zeroSelf() + { + for (int i = 0; i < (int)this->size(); i++) { + this->at(i)->zeroSelf(); + } + } + template + inline void SparseMatrix::atijplusFullRow(int i, int j, FRowsptr fullRow) + { + this->at(i)->atiplusFullRow(j, fullRow); + } + template + inline void SparseMatrix::atijplusFullColumn(int i, int j, FColsptr fullCol) + { + for (int ii = 0; ii < (int)fullCol->size(); ii++) + { + this->atijplusNumber(i + ii, j, fullCol->at(ii)); + } + } + template + inline void SparseMatrix::atijminusFullColumn(int i, int j, FColDsptr fullCol) + { + for (int ii = 0; ii < fullCol->size(); ii++) + { + this->atijminusNumber(i + ii, j, fullCol->at(ii)); + } + } + template + inline void SparseMatrix::atijplusFullMatrix(int i, int j, FMatDsptr fullMat) + { + for (int ii = 0; ii < fullMat->nrow(); ii++) + { + this->at(i + ii)->atiplusFullRow(j, fullMat->at(ii)); + } + } + template + inline void SparseMatrix::atijminusFullMatrix(int i, int j, FMatDsptr fullMat) + { + for (int ii = 0; ii < fullMat->nrow(); ii++) + { + this->at(i + ii)->atiminusFullRow(j, fullMat->at(ii)); + } + } + template + inline void SparseMatrix::atijplusTransposeFullMatrix(int i, int j, FMatDsptr fullMat) + { + for (int ii = 0; ii < fullMat->nrow(); ii++) + { + this->atijplusFullColumn(i, j + ii, fullMat->at(ii)->transpose()); + } + } + template + inline void SparseMatrix::atijminusTransposeFullMatrix(int i, int j, FMatDsptr fullMat) + { + for (int ii = 0; ii < fullMat->nrow(); ii++) + { + this->atijminusFullColumn(i, j + ii, fullMat->at(ii)->transpose()); + } + } + template + inline void SparseMatrix::atijplusFullMatrixtimes(int i, int j, FMatDsptr fullMat, T factor) + { + for (int ii = 0; ii < fullMat->nrow(); ii++) + { + this->at(i + ii)->atiplusFullRowtimes(j, fullMat->at(ii), factor); + } + } + template + inline void SparseMatrix::atijplusNumber(int i, int j, double value) + { + this->at(i)->atiplusNumber(j, value); + } + template + inline void SparseMatrix::atijminusNumber(int i, int j, double value) + { + this->at(i)->atiminusNumber(j, value); + } + template + inline void SparseMatrix::atijput(int i, int j, T value) + { + this->at(i)->atiput(j, value); + } + template + inline double SparseMatrix::maxMagnitude() + { + double max = 0.0; + for (int i = 0; i < (int)this->size(); i++) + { + double element = this->at(i)->maxMagnitude(); + if (max < element) max = element; + } + return max; + } + template + inline std::ostream& SparseMatrix::printOn(std::ostream& s) const + { + s << "SpMat[" << std::endl; + for (int i = 0; i < (int)this->size(); i++) + { + s << *(this->at(i)) << std::endl; + } + s << "]" << std::endl; + return s; + } + template + inline FColsptr SparseMatrix::timesFullColumn(FColsptr fullCol) + { + //"a*b = a(i,j)b(j) sum j." + auto nrow = this->nrow(); + auto answer = std::make_shared>(nrow); + for (int i = 0; i < nrow; i++) + { + answer->at(i) = this->at(i)->timesFullColumn(fullCol); + } + return answer; + } + template + inline SpMatsptr SparseMatrix::plusSparseMatrix(SpMatsptr spMat) + { + //"a + b." + //"Assume all checking of validity of this operation has been done." + //"Just evaluate quickly." + + auto answer = clonesptr(); + for (int i = 0; i < answer->size(); i++) + { + answer->atiput(i, answer->at(i)->plusSparseRow(spMat->at(i))); + } + return answer; + } + template + inline std::shared_ptr> SparseMatrix::clonesptr() + { + return std::make_shared>(*this); + } + template + inline void SparseMatrix::magnifySelf(T factor) + { + for (int i = 0; i < (int)this->size(); i++) { + this->at(i)->magnifySelf(factor); + } + } +} \ No newline at end of file diff --git a/src/3rdParty/OndselSolver/OndselSolver/SparseRow.cpp b/src/3rdParty/OndselSolver/OndselSolver/SparseRow.cpp new file mode 100644 index 000000000000..3f4884866d66 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SparseRow.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "SparseRow.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/SparseRow.h b/src/3rdParty/OndselSolver/OndselSolver/SparseRow.h new file mode 100644 index 000000000000..1a3fa48891ca --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SparseRow.h @@ -0,0 +1,120 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include + +#include "SparseVector.h" +#include "FullRow.h" + +namespace MbD { + template + class SparseRow; + template + using SpRowsptr = std::shared_ptr>; + using SpRowDsptr = std::shared_ptr>; + + template + class SparseRow : public SparseVector + { + public: + SparseRow() {} + SparseRow(int n) : SparseVector(n) {} + SparseRow(std::initializer_list> list) : SparseVector{ list } {} + SparseRow(std::initializer_list> list) : SparseVector{ list } {} + SpRowDsptr timesconditionedWithTol(double scaling, double tol); + SpRowDsptr conditionedWithTol(double tol); + void atiplusFullRow(int j, FRowsptr fullRow); + void atiminusFullRow(int j, FRowsptr fullRow); + void atiplusFullRowtimes(int j, FRowsptr fullRow, double factor); + T timesFullColumn(FColsptr fullCol); + SpRowsptr plusSparseRow(SpRowsptr spMat); + SpRowsptr clonesptr(); + + }; + template<> + inline SpRowDsptr SparseRow::timesconditionedWithTol(double scaling, double tol) + { + auto answer = std::make_shared>(this->numberOfElements()); + for (auto const& keyValue : *this) + { + auto val = keyValue.second * scaling; + if (std::abs(val) >= tol) (*answer)[keyValue.first] = val; + } + return answer; + } + template<> + inline SpRowDsptr SparseRow::conditionedWithTol(double tol) + { + auto answer = std::make_shared>(this->numberOfElements()); + for (auto const& keyValue : *this) + { + auto val = keyValue.second; + if (std::abs(val) >= tol) (*answer)[keyValue.first] = val; + } + return answer; + } + template + inline void SparseRow::atiplusFullRow(int j, FRowsptr fullRow) + { + for (int jj = 0; jj < (int)fullRow->size(); jj++) + { + (*this)[j + jj] += fullRow->at(jj); + } + } + template + inline void SparseRow::atiminusFullRow(int j, FRowsptr fullRow) + { + for (int jj = 0; jj < (int)fullRow->size(); jj++) + { + (*this)[j + jj] -= fullRow->at(jj); + } + } + template + inline void SparseRow::atiplusFullRowtimes(int j, FRowsptr fullRow, double factor) + { + for (int jj = 0; jj < (int)fullRow->size(); jj++) + { + (*this)[j + jj] += fullRow->at(jj) * factor; + } + } + template + inline T SparseRow::timesFullColumn(FColsptr fullCol) + { + T sum = 0.0; + for (auto const& keyValue : *this) { + sum += fullCol->at(keyValue.first) * keyValue.second; + } + return sum; + } + template + inline SpRowsptr SparseRow::plusSparseRow(SpRowsptr spRow) + { + auto answer = clonesptr(); + for (auto const& keyValue : *spRow) + { + auto key = keyValue.first; + auto val = keyValue.second; + if (answer->find(key) == answer->end()) { + (*answer)[key] = val; + } + else { + (*answer)[key] = val + answer->at(key); + } + } + return answer; + } + template + inline std::shared_ptr> SparseRow::clonesptr() + { + return std::make_shared>(*this); + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/SparseVector.cpp b/src/3rdParty/OndselSolver/OndselSolver/SparseVector.cpp new file mode 100644 index 000000000000..4dcd6aaebadf --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SparseVector.cpp @@ -0,0 +1,11 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "SparseVector.h" + +using namespace MbD; diff --git a/src/3rdParty/OndselSolver/OndselSolver/SparseVector.h b/src/3rdParty/OndselSolver/OndselSolver/SparseVector.h new file mode 100644 index 000000000000..484aa1466a8a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SparseVector.h @@ -0,0 +1,131 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include +#include + +namespace MbD { + template + class SparseVector : public std::map + { + public: + int n; + SparseVector() {} + SparseVector(int n) : std::map(), n(n) {} + SparseVector(std::initializer_list> list) : std::map{ list } {} + SparseVector(std::initializer_list> list) { + for (auto& pair : list) { + int i = 0; + int index; + T value; + for (auto& element : pair) { + if (i == 0) index = (int)std::round(element); + if (i == 1) value = element; + i++; + } + this->insert(std::pair(index, value)); + } + } + virtual ~SparseVector() {} + double rootMeanSquare(); + int numberOfElements(); + double sumOfSquares(); + void atiput(int i, T value); + void atiplusNumber(int i, double value); + void atiminusNumber(int i, double value); + void zeroSelf(); + double maxMagnitude(); + void magnifySelf(T factor); + + virtual std::ostream& printOn(std::ostream& s) const; + friend std::ostream& operator<<(std::ostream& s, const SparseVector& spVec) + { + return spVec.printOn(s); + } + }; + template + inline double SparseVector::rootMeanSquare() + { + return std::sqrt(this->sumOfSquares() / this->numberOfElements()); + } + template + inline int SparseVector::numberOfElements() + { + return n; + } + template + inline double SparseVector::sumOfSquares() + { + double sum = 0.0; + for (auto const& keyValue : *this) + { + sum += keyValue.second * keyValue.second; + } + return sum; + } + template + inline void SparseVector::atiput(int i, T value) + { + (*this)[i] = value; + } + template<> + inline void SparseVector::atiplusNumber(int i, double value) + { + (*this)[i] += value; + } + template + inline void SparseVector::atiminusNumber(int i, double value) + { + (*this)[i] -= value; + } + template<> + inline void SparseVector::zeroSelf() + { + this->clear(); + } + template + inline double SparseVector::maxMagnitude() + { + double max = 0.0; + for (const auto& keyValue : *this) { + auto val = keyValue.second; + if (val < 0.0) val = -val; + if (max < val) max = val; + } + return max; + } + template + inline void SparseVector::magnifySelf(T factor) + { + for (const auto& keyValue : *this) { + auto key = keyValue.first; + auto val = keyValue.second; + val *= factor; + this->at(key) = val; + } + } + template + inline std::ostream& SparseVector::printOn(std::ostream& s) const + { + s << "{"; + auto index = 0; + for (const auto& keyValue : *this) { + if (index > 0) s << ", "; + s << keyValue.first; + s << "->"; + s << keyValue.second; + index++; + } + s << "}"; + return s; + } +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/SphSphJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/SphSphJoint.cpp new file mode 100644 index 000000000000..e4d32f7dd0c6 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SphSphJoint.cpp @@ -0,0 +1,36 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "SphSphJoint.h" +#include "CREATE.h" +#include "DistanceConstraintIJ.h" +#include "System.h" + +using namespace MbD; + +MbD::SphSphJoint::SphSphJoint() +{ +} + +MbD::SphSphJoint::SphSphJoint(const char* str) : CompoundJoint(str) +{ +} + +void MbD::SphSphJoint::initializeGlobally() +{ + if (constraints->empty()) + { + auto distxyIJ = DistanceConstraintIJ::With(frmI, frmJ); + distxyIJ->setConstant(distanceIJ); + addConstraint(distxyIJ); + this->root()->hasChanged = true; + } + else { + CompoundJoint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/SphSphJoint.h b/src/3rdParty/OndselSolver/OndselSolver/SphSphJoint.h new file mode 100644 index 000000000000..608fcd4d26b5 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SphSphJoint.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "CompoundJoint.h" + +namespace MbD { + class SphSphJoint : public CompoundJoint + { + // + public: + SphSphJoint(); + SphSphJoint(const char* str); + void initializeGlobally() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/SphericalJoint.cpp b/src/3rdParty/OndselSolver/OndselSolver/SphericalJoint.cpp new file mode 100644 index 000000000000..e15bca92299e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SphericalJoint.cpp @@ -0,0 +1,33 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "SphericalJoint.h" +#include "CREATE.h" +#include "System.h" + +using namespace MbD; + +MbD::SphericalJoint::SphericalJoint() +{ +} + +MbD::SphericalJoint::SphericalJoint(const char* str) : AtPointJoint(str) +{ +} + +void MbD::SphericalJoint::initializeGlobally() +{ + if (constraints->empty()) + { + createAtPointConstraints(); + this->root()->hasChanged = true; + } + else { + Joint::initializeGlobally(); + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/SphericalJoint.h b/src/3rdParty/OndselSolver/OndselSolver/SphericalJoint.h new file mode 100644 index 000000000000..44b597c5497d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SphericalJoint.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "AtPointJoint.h" + +namespace MbD { + class SphericalJoint : public AtPointJoint + { + // + public: + SphericalJoint(); + SphericalJoint(const char* str); + void initializeGlobally() override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/StableBackwardDifference.cpp b/src/3rdParty/OndselSolver/OndselSolver/StableBackwardDifference.cpp new file mode 100644 index 000000000000..470010555275 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/StableBackwardDifference.cpp @@ -0,0 +1,102 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "StableBackwardDifference.h" +#include "FullColumn.h" + +using namespace MbD; + +void StableBackwardDifference::formTaylorMatrix() +{ + //This form is numerically more stable and is preferred over the full Taylor Matrix. + //For method order 3: + //| (t1 - t) (t1 - t) ^ 2 / 2! (t1 - t) ^ 3 / 3!| |qd(t) | = | q(t1) - q(t) | + //| (t2 - t) (t2 - t) ^ 2 / 2! (t2 - t) ^ 3 / 3!| |qdd(t) | |q(t2) - q(t) | + //| (t3 - t) (t3 - t) ^ 2 / 2! (t3 - t) ^ 3 / 3!| |qddd(t)| |q(t3) - q(t) | + + this->instantiateTaylorMatrix(); + for (int i = 0; i < order; i++) + { + this->formTaylorRowwithTimeNodederivative(i, i, 0); + } +} + +double MbD::StableBackwardDifference::pvdotpv() +{ + //"pvdotpv = operatorMatrix timesColumn: #(-1.0d ... -1.0d)." + + auto& coeffs = operatorMatrix->at(0); + auto sum = 0.0; + for (int i = 0; i < order; i++) + { + sum -= coeffs->at(i); + } + return sum; +} + +FColDsptr MbD::StableBackwardDifference::derivativepresentpastpresentDerivativepastDerivative( + int, FColDsptr, std::shared_ptr>, FColDsptr, + std::shared_ptr>) +{ + assert(false); + return FColDsptr(); +} + +void StableBackwardDifference::instantiateTaylorMatrix() +{ + if (taylorMatrix == nullptr || (taylorMatrix->nrow() != (order))) { + taylorMatrix = std::make_shared>(order, order); + } +} + +void StableBackwardDifference::formTaylorRowwithTimeNodederivative(int i, int ii, int k) +{ + //| rowi hi hipower aij | + auto& rowi = taylorMatrix->at(i); + if (k > 0) { + for (int j = 0; j < k - 2; j++) + { + rowi->at(j) = 0.0; + } + rowi->at((int)k - 1) = 1.0; + } + + auto hi = timeNodes->at(ii) - time; + auto hipower = 1.0; + for (int j = k; j < order; j++) + { + hipower *= hi; + auto aij = hipower * OneOverFactorials->at((int)(j - k + 1)); + rowi->at(j) = aij; + } +} + +FColDsptr MbD::StableBackwardDifference::derivativepresentpast(int deriv, FColDsptr y, std::shared_ptr> ypast) +{ + //"Answer ith derivative given present value and past values." + + if (deriv == 0) { + return std::static_pointer_cast>(y->clonesptr()); + } + else { + if (deriv <= order) { + auto series = std::make_shared>(order); + for (int i = 0; i < order; i++) + { + series->at(i) = ypast->at(i)->minusFullColumn(y); + } + auto& coeffs = operatorMatrix->at((int)deriv - 1); + auto answer = coeffs->dot(series); + return std::static_pointer_cast>(answer); + } + else { + auto ySize = (int)y->size(); + return std::make_shared>(ySize, 0.0); + } + } +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/StableBackwardDifference.h b/src/3rdParty/OndselSolver/OndselSolver/StableBackwardDifference.h new file mode 100644 index 000000000000..ac4f5ed6aee8 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/StableBackwardDifference.h @@ -0,0 +1,31 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FullRow.h" +#include "LinearMultiStepMethod.h" + +namespace MbD { + class StableBackwardDifference : public LinearMultiStepMethod + { + // + public: + FColDsptr derivativepresentpast(int order, FColDsptr y, std::shared_ptr> ypast) override; + void instantiateTaylorMatrix() override; + void formTaylorRowwithTimeNodederivative(int i, int ii, int k) override; + void formTaylorMatrix() override; + double pvdotpv() override; + FColDsptr derivativepresentpastpresentDerivativepastDerivative(int n, + FColDsptr y, std::shared_ptr> ypast, + FColDsptr ydot, std::shared_ptr> ydotpast) override; + FColDsptr derivativewith(int deriv, std::shared_ptr> series); + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/StateData.cpp b/src/3rdParty/OndselSolver/OndselSolver/StateData.cpp new file mode 100644 index 000000000000..ec3809f058df --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/StateData.cpp @@ -0,0 +1,19 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "StateData.h" + +using namespace MbD; + +StateData::StateData() +{ +} + +void StateData::initialize() +{ +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/StateData.h b/src/3rdParty/OndselSolver/OndselSolver/StateData.h new file mode 100644 index 000000000000..e9134451cc4f --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/StateData.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "Item.h" + +namespace MbD { + class StateData : public Item + { + // + public: + StateData(); + void initialize() override; + + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/StepFunction.cpp b/src/3rdParty/OndselSolver/OndselSolver/StepFunction.cpp new file mode 100644 index 000000000000..48c0e4698b39 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/StepFunction.cpp @@ -0,0 +1,25 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "StepFunction.h" +#include "Constant.h" + +using namespace MbD; + +MbD::StepFunction::StepFunction(Symsptr var, std::shared_ptr> consts, std::shared_ptr> trans) +{ + xx = var; + std::transform(consts->begin(), consts->end(), functions->begin(), + [&](auto& constant) { return sptrConstant(constant); } + ); + std::transform(trans->begin(), trans->end(), transitions->begin(), + [&](auto& constant) { return sptrConstant(constant); } + ); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/StepFunction.h b/src/3rdParty/OndselSolver/OndselSolver/StepFunction.h new file mode 100644 index 000000000000..c50d163a7f76 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/StepFunction.h @@ -0,0 +1,21 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "PiecewiseFunction.h" + +namespace MbD { + class StepFunction : public PiecewiseFunction + { + public: + StepFunction(Symsptr var, std::shared_ptr> consts, std::shared_ptr> trans); + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Sum.cpp b/src/3rdParty/OndselSolver/OndselSolver/Sum.cpp new file mode 100644 index 000000000000..ea0e1a5f9252 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Sum.cpp @@ -0,0 +1,182 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include + +#include "Sum.h" +#include "Constant.h" +#include + +using namespace MbD; + +Symsptr MbD::Sum::parseExpression(std::string& expression) +{ + std::istringstream iss(expression); + auto sum = std::make_shared(); + sum->parse(iss); + return sum->simplified(sum); +} + +void MbD::Sum::parse(std::istringstream& iss) +{ + iss >> std::ws; + char c = iss.peek(); + if (c == '+') { + parsePlusTerm(iss); + } + else if (c == '-') { + parseMinusTerm(iss); + } + else { + parseTerm(iss); + } +} + +void MbD::Sum::parseTerm(std::istringstream&) +{ +} + +void MbD::Sum::parsePlusTerm(std::istringstream& iss) +{ + iss.get(); +} + +void MbD::Sum::parseMinusTerm(std::istringstream&) +{ +} + +Symsptr Sum::expandUntil(Symsptr sptr, std::shared_ptr> set) +{ + auto itr = std::find_if(set->begin(), set->end(), [sptr](Symsptr sym) {return sptr.get() == sym.get(); }); + if (itr != set->end()) { + auto answer = std::make_shared(); + answer->terms = terms; + return answer; + } + auto newTerms = std::make_shared>(); + for (const auto& term : *terms) { + auto newTerm = term->expandUntil(term, set); + if (newTerm->isSum()) { + newTerms->insert(newTerms->end(), newTerm->getTerms()->begin(), newTerm->getTerms()->end()); + } + else { + newTerms->push_back(newTerm); + } + } + auto newSize = newTerms->size(); + if (newSize == 0) { + return sptrConstant(0.0); + } + else if (newSize == 1) { + return newTerms->at(0); + } + else { + auto answer = std::make_shared(); + answer->terms = newTerms; + return answer; + } +} + +Symsptr Sum::simplifyUntil(Symsptr, std::shared_ptr> set) +{ + auto itr = std::find_if(set->begin(), set->end(), [this](Symsptr sym) {return this == (sym.get()); }); + if (itr != set->end()) { + auto answer = std::make_shared(); + answer->terms = terms; + return answer; + } + auto newTerms = std::make_shared>(); + double constant = 0.0; + for (const auto& term : *terms) { + auto newTerm = term->simplifyUntil(term, set); + if (newTerm->isConstant()) { + constant += term->getValue(); + } + else { + newTerms->push_back(newTerm); + } + } + if (constant != 0.0) { + newTerms->insert(newTerms->begin(), sptrConstant(constant)); + } + auto newSize = newTerms->size(); + if (newSize == 0) { + return sptrConstant(0.0); + } + else if (newSize == 1) { + return newTerms->at(0); + } + else { + auto answer = std::make_shared(); + answer->terms = newTerms; + return answer; + } +} + +bool Sum::isSum() +{ + return true; +} + +double Sum::getValue() +{ + double answer = 0.0; + for (int i = 0; i < (int)terms->size(); i++) answer += terms->at(i)->getValue(); + return answer; +} + +Symsptr MbD::Sum::clonesptr() +{ + return std::make_shared(*this); +} + +Symsptr MbD::Sum::differentiateWRT(Symsptr var) +{ + auto derivatives = std::make_shared>(); + std::transform(terms->begin(), + terms->end(), + std::back_inserter(*derivatives), + [var](Symsptr term) { return term->differentiateWRT(var); } + ); + auto answer = std::make_shared(); + answer->terms = derivatives; + return answer; +} + +Symsptr MbD::Sum::integrateWRT(Symsptr var) +{ + auto simple = simplified(); + if (simple->isSum()) { + auto newTerms = simple->getTerms(); + auto integrals = std::make_shared>(); + std::transform(newTerms->begin(), + newTerms->end(), + std::back_inserter(*integrals), + [var](Symsptr term) { return term->integrateWRT(var); } + ); + auto answer = std::make_shared(); + answer->terms = integrals; + return answer; + } + else { + return simple->integrateWRT(var); + } +} + +std::ostream& Sum::printOn(std::ostream& s) const +{ + s << "("; + s << *(this->terms->at(0)); + for (int i = 1; i < (int)this->terms->size(); i++) + { + s << " + " << *(this->terms->at(i)); + } + s << ")"; + return s; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Sum.h b/src/3rdParty/OndselSolver/OndselSolver/Sum.h new file mode 100644 index 000000000000..49b168efeb16 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Sum.h @@ -0,0 +1,40 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include "FunctionWithManyArgs.h" + +namespace MbD { + class Sum : public FunctionWithManyArgs + { + public: + static Symsptr parseExpression(std::string& expression); + void parse(std::istringstream& iss); + void parseTerm(std::istringstream& iss); + void parsePlusTerm(std::istringstream& iss); + void parseMinusTerm(std::istringstream& iss); + + Sum() : FunctionWithManyArgs() {} + Sum(Symsptr term) : FunctionWithManyArgs(term) {} + Sum(Symsptr term, Symsptr term1) : FunctionWithManyArgs(term, term1) {} + Sum(Symsptr term, Symsptr term1, Symsptr term2) : FunctionWithManyArgs(term, term1, term2) {} + Sum(std::shared_ptr> _terms) : FunctionWithManyArgs(_terms) {} + Symsptr expandUntil(Symsptr sptr, std::shared_ptr> set) override; + Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr> set) override; + bool isSum() override; + double getValue() override; + Symsptr clonesptr() override; + Symsptr differentiateWRT(Symsptr var) override; + Symsptr integrateWRT(Symsptr var) override; + + std::ostream& printOn(std::ostream& s) const override; + + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/Symbolic.cpp b/src/3rdParty/OndselSolver/OndselSolver/Symbolic.cpp new file mode 100644 index 000000000000..8fcc0bf76dbf --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Symbolic.cpp @@ -0,0 +1,228 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include +#include +#include + +#include "Symbolic.h" +#include "Constant.h" +#include "Product.h" +#include "Sum.h" +#include "Power.h" + +using namespace MbD; + +Symbolic::Symbolic() +{ +} + +Symsptr MbD::Symbolic::times(Symsptr arg, Symsptr arg1) +{ + if (arg->isProduct()) { + if (arg1->isProduct()) { + auto newTerms = arg->getTerms(); + auto arg1Terms = arg1->getTerms(); + newTerms->insert(newTerms->end(), arg1Terms->begin(), arg1Terms->end()); + return std::make_shared(newTerms); + } + else { + auto newTerms = arg->getTerms(); + newTerms->insert(newTerms->end(), arg1); + return std::make_shared(newTerms); + } + } + else { + if (arg1->isProduct()) { + auto newTerms = arg1->getTerms(); + newTerms->insert(newTerms->begin(), arg); + return std::make_shared(newTerms); + } + else { + return std::make_shared(arg, arg1); + } + } +} + +Symsptr MbD::Symbolic::sum(Symsptr arg, Symsptr arg1) +{ + if (arg->isSum()) { + if (arg1->isSum()) { + auto newTerms = arg->getTerms(); + auto arg1Terms = arg1->getTerms(); + newTerms->insert(newTerms->end(), arg1Terms->begin(), arg1Terms->end()); + return std::make_shared(newTerms); + } + else { + auto newTerms = arg->getTerms(); + newTerms->insert(newTerms->end(), arg1); + return std::make_shared(newTerms); + } + } + else { + if (arg1->isSum()) { + auto newTerms = arg1->getTerms(); + newTerms->insert(newTerms->begin(), arg); + return std::make_shared(newTerms); + } + else { + return std::make_shared(arg, arg1); + } + } +} + +void Symbolic::initialize() +{ +} + +Symsptr MbD::Symbolic::differentiateWRT(Symsptr) +{ + assert(false); + return Symsptr(); +} + +Symsptr MbD::Symbolic::integrateWRT(Symsptr) +{ + assert(false); + return Symsptr(); +} + +Symsptr MbD::Symbolic::simplified() +{ + //std::cout << "sptr " << *sptr << std::endl; + auto set = std::make_shared>(); + auto expanded = this->expandUntil(set); + //std::cout << "expanded " << *expanded << std::endl; + auto set1 = std::make_shared>(); + auto simplified = expanded->simplifyUntil(expanded, set1); + //std::cout << "simplified " << *simplified << std::endl; + return simplified; +} + +Symsptr Symbolic::simplified(Symsptr sptr) +{ + //std::cout << "sptr " << *sptr << std::endl; + auto set = std::make_shared>(); + auto expanded = sptr->expandUntil(sptr, set); + //std::cout << "expanded " << *expanded << std::endl; + auto set1 = std::make_shared>(); + auto simplified = expanded->simplifyUntil(expanded, set1); + //std::cout << "simplified " << *simplified << std::endl; + return simplified; +} + +Symsptr MbD::Symbolic::expandUntil(std::shared_ptr> set) +{ + return expandUntil(clonesptr(), set); +} + +Symsptr Symbolic::expandUntil(Symsptr sptr, std::shared_ptr>) +{ + assert(false); + return sptr; +} + +Symsptr Symbolic::simplifyUntil(Symsptr sptr, std::shared_ptr>) +{ + assert(false); + return sptr; +} + +bool MbD::Symbolic::isZero() +{ + return false; +} + +bool MbD::Symbolic::isOne() +{ + return false; +} + +bool Symbolic::isSum() +{ + return false; +} + +bool Symbolic::isProduct() +{ + return false; +} + +bool Symbolic::isConstant() +{ + return false; +} + +std::ostream& Symbolic::printOn(std::ostream& s) const +{ + std::string str = typeid(*this).name(); + auto classname = str.substr(11, str.size() - 11); + s << classname; + return s; +} + +std::shared_ptr> Symbolic::getTerms() +{ + assert(false); + return std::make_shared>(); +} + +void MbD::Symbolic::addTerm(Symsptr trm) +{ + getTerms()->push_back(trm); +} + +double Symbolic::getValue() +{ + assert(false); + return 0.0; +} + +double MbD::Symbolic::getValue(double) +{ + assert(false); + return 0.0; +} + +void MbD::Symbolic::setValue(double) +{ + assert(false); +} + +void MbD::Symbolic::createMbD(std::shared_ptr, std::shared_ptr) +{ + assert(false); + return; +} + +Symsptr MbD::Symbolic::clonesptr() +{ + //Return shallow copy of *this wrapped in shared_ptr + assert(false); + return std::make_shared(*this); +} + +std::shared_ptr MbD::Symbolic::sptrConstant(double value) +{ + return std::make_shared(value); +} + +bool MbD::Symbolic::isVariable() +{ + return false; +} + +void MbD::Symbolic::integrationConstant(double) +{ + assert(false); +} + +Symsptr MbD::Symbolic::raisedTo(Symsptr x, Symsptr y) +{ + return std::make_shared(x, y); +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/Symbolic.h b/src/3rdParty/OndselSolver/OndselSolver/Symbolic.h new file mode 100644 index 000000000000..f1b91c50a50a --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/Symbolic.h @@ -0,0 +1,66 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include +#include +#include + +#include "MbDMath.h" +#include "System.h" +#include "Units.h" +//#include "Constant.h" + +namespace MbD { + class Constant; + class Symbolic; + using Symsptr = std::shared_ptr; + + class Symbolic : public MbDMath + { + public: + Symbolic(); + virtual ~Symbolic() {} + static Symsptr times(Symsptr arg, Symsptr arg1); + static Symsptr sum(Symsptr arg, Symsptr arg1); + static Symsptr raisedTo(Symsptr x, Symsptr y); + + virtual void initialize(); + virtual Symsptr differentiateWRT(Symsptr var); + virtual Symsptr integrateWRT(Symsptr var); + virtual Symsptr simplified(); + virtual Symsptr simplified(Symsptr sptr); + virtual Symsptr expandUntil(std::shared_ptr> set); + virtual Symsptr expandUntil(Symsptr sptr, std::shared_ptr> set); + virtual Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr> set); + virtual bool isZero(); + virtual bool isOne(); + virtual bool isSum(); + virtual bool isProduct(); + virtual bool isConstant(); + virtual std::shared_ptr> getTerms(); + virtual void addTerm(Symsptr trm); + virtual double getValue(); + virtual double getValue(double arg); + virtual void setValue(double val); + virtual void createMbD(std::shared_ptr mbdSys, std::shared_ptr mbdUnits); + virtual Symsptr clonesptr(); + std::shared_ptr sptrConstant(double value); + virtual bool isVariable(); + virtual void integrationConstant(double integConstant); + + virtual std::ostream& printOn(std::ostream& s) const; + friend std::ostream& operator<<(std::ostream& s, const Symbolic& sym) + { + return sym.printOn(s); + } + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/SymbolicParser.cpp b/src/3rdParty/OndselSolver/OndselSolver/SymbolicParser.cpp new file mode 100644 index 000000000000..162061a163da --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SymbolicParser.cpp @@ -0,0 +1,540 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "corecrt_math_defines.h" +#include +#include + +#include "SymbolicParser.h" +#include "BasicUserFunction.h" +#include "Constant.h" +#include "Sum.h" +#include "Product.h" +#include "CREATE.h" +#include "Power.h" +#include "Abs.h" +#include "ArcTan.h" +#include "Sine.h" +#include "Cosine.h" +#include "Negative.h" +#include "Reciprocal.h" +#include "GeneralSpline.h" +#include "ArcSine.h" +#include "Integral.h" +#include "RampStepFunction.h" +#include "Arguments.h" +#include "Functions.h" +#include "Transitions.h" + +MbD::SymbolicParser::SymbolicParser() +{ + variables = std::make_shared>(); + stack = std::make_shared>(); + buffer = std::make_shared(); +} + +void MbD::SymbolicParser::initialize() +{ + variables = std::make_shared>(); + stack = std::make_shared>(); + buffer = std::make_shared(); + +} + +void MbD::SymbolicParser::parseUserFunction(Symsptr userFunc) +{ + auto usrFunc = std::static_pointer_cast(userFunc); + units = usrFunc->units; + this->parseString(usrFunc->funcText); + Symsptr func = stack->top(); + stack->pop(); + stack->push(Symbolic::times(func, std::make_shared(usrFunc->myUnit))); +} + +void MbD::SymbolicParser::parseString(std::string expr) +{ + buffer->clear(); + while (!stack->empty()) { + stack->pop(); + } + source = std::make_shared(expr); + hereChar = source->get(); + prevEnd = -1; + scanToken(); + expression(); + if (tokenType != "end") expected("Nothing more"); + if (stack->size() != 1) notify("Stack size error, compiler bug!"); +} + +bool MbD::SymbolicParser::commaExpression() +{ + if (peekForTypeNoPush(",")) { + if (expression()) return true; + expected("expression"); + } + return false; +} + +bool MbD::SymbolicParser::plusTerm() +{ + if (peekForTypeNoPush("+")) { + if (plainTerm()) return true; + expected("plainTerm"); + } + return false; +} + +bool MbD::SymbolicParser::minusTerm() +{ + if (peekForTypeNoPush("-")) { + if (term()) { + Symsptr trm = stack->top(); + stack->pop(); + auto negativeTrm = std::make_shared(trm); + Symsptr sum = stack->top(); + sum->addTerm(negativeTrm); + return true; + } + expected("term"); + } + return false; +} + +bool MbD::SymbolicParser::plainTerm() +{ + if (term()) { + Symsptr trm = stack->top(); + stack->pop(); + Symsptr sum = stack->top(); + sum->addTerm(trm); + return true; + } + return false; +} + +bool MbD::SymbolicParser::term() +{ + auto product = std::make_shared(); + stack->push(product); + if (plainFunction()) { + while (timesFunction() || divideByFunction()) {} + Symsptr term = stack->top(); + if (term->isProduct()) { + if (term->isOne()) { + stack->pop(); + } + else if (term->getTerms()->size() == 1) { + stack->pop(); + stack->push(term->getTerms()->front()); + } + } + else { + notify("SymbolicParser error"); + } + return true; + } + return false; +} + +bool MbD::SymbolicParser::plainFunction() +{ + if (symfunction()) { + Symsptr trm = stack->top(); + stack->pop(); + Symsptr product = stack->top(); + product->addTerm(trm); + return true; + } + return false; +} + +bool MbD::SymbolicParser::timesFunction() +{ + if (peekForTypeNoPush("*")) { + if (plainFunction()) return true; + expected("plainFunction"); + } + return false; +} + +bool MbD::SymbolicParser::divideByFunction() +{ + if (peekForTypeNoPush("/")) { + if (symfunction()) { + Symsptr trm = stack->top(); + stack->pop(); + auto reciprocalTrm = std::make_shared(trm); + Symsptr product = stack->top(); + product->addTerm(reciprocalTrm); + return true; + } + expected("function"); + } + return false; +} + +bool MbD::SymbolicParser::peekForTypeNoPush(std::string c) +{ + //"Test to see if tokenType matches aType. If so, advance to the next token, leaving the stack unchanged" + + if (tokenType == c) { + scanToken(); + return true; + } + return false; +} + +std::string MbD::SymbolicParser::scanToken() +{ + prevEnd = (int)source->tellg(); + prevEnd--; + while (std::isspace(hereChar) || isNextLineTag(hereChar)) { + hereChar = source->get(); + } + if (hereChar == EOF) { + mark = prevEnd + 1; + tokenType = "end"; + return token = ""; + } + mark = (int)source->tellg(); + if (std::isalpha(hereChar)) { + xLetter(); + } + else if (std::isdigit(hereChar)) { + xDigit(); + } + else if (hereChar == '\"') { + xDoubleQuote(); + } + else { + token = std::string(1, hereChar); + tokenType = token; + hereChar = source->get(); + } + return token; +} + +void MbD::SymbolicParser::xLetter() +{ + buffer->str(""); + buffer->clear(); + *buffer << hereChar; + while (true) { + hereChar = source->get(); + if (hereChar == EOF) break; + if (!std::isalnum(hereChar) && hereChar != '_') break; + *buffer << hereChar; + } + tokenType = "word"; + token = buffer->str(); +} + +void MbD::SymbolicParser::xDigit() +{ + tokenType = "number"; + if (hereChar != EOF) { + auto pos = source->tellg(); + std::streamoff offset = -1; + pos += offset; + source->seekg(pos); + } + double mantissa = 0.0; + int exponent = 0; + *source >> mantissa; + hereChar = source->peek(); + if ((hereChar == 'd') || (hereChar == 'e')) { + hereChar = source->get(); + char peekChar = source->peek(); + if (std::isdigit(peekChar) || (peekChar == '+') || (peekChar == '-')) { + *source >> exponent; + } + } + token = ""; + tokenNum = mantissa * std::pow(10.0, exponent); + hereChar = source->get(); +} + +void MbD::SymbolicParser::xDoubleQuote() +{ + tokenType = "comment"; + if (hereChar != EOF) { + auto pos = source->tellg(); + std::streamoff offset = -1; + pos += offset; + source->seekg(pos); + } + *source >> std::quoted(token); + hereChar = source->get(); +} + +bool MbD::SymbolicParser::symfunction() +{ + if (expressionInParentheses() || constant() || namedFunction() || variable()) { + raisedTo(); + return true; + } + else { + notify("Unrecognized symbol ->"); + } + return false; +} + +bool MbD::SymbolicParser::expression() +{ + if (token == "" && tokenType == "end") { + auto symNum = std::make_shared(0.0); + stack->push(symNum); + return true; + } + auto sum = std::make_shared(); + stack->push(sum); + if (plusTerm() || minusTerm() || plainTerm()) { + while (plusTerm() || minusTerm()) {} + Symsptr term = stack->top(); + if (term->isSum()) { + auto sum1 = std::static_pointer_cast(term); + if (sum1->isZero()) { + stack->pop(); + } + else if (sum1->terms->size() == 1) { + stack->pop(); + stack->push(sum1->terms->front()); + } + } + else { + notify("Compiler error!"); + } + return true; + } + return false; +} + +bool MbD::SymbolicParser::expressionInParentheses() +{ + if (peekForTypeNoPush("(")) { + if (expression()) { + if (peekForTypeNoPush(")")) { + return true; + } + else { + expected(")"); + } + } + else { + expected("expression"); + } + } + return false; +} + +bool MbD::SymbolicParser::constant() +{ + if (signedNumber()) { + return true; + } + if (peekForTypevalue("word", "pi")) { + auto symconst = std::make_shared(OS_M_PI); + stack->push(symconst); + return true; + } + return false; +} + +bool MbD::SymbolicParser::namedFunction() +{ + return intrinsic(); +} + +bool MbD::SymbolicParser::intrinsic() +{ + Symsptr symfunc = nullptr; + if (peekForTypevalue("word", "abs")) { + symfunc = std::make_shared(); + } + else if (peekForTypevalue("word", "asin") || peekForTypevalue("word", "arcsin")) { + symfunc = std::make_shared(); + } + else if (peekForTypevalue("word", "arctan")) { + symfunc = std::make_shared(); + } + else if (peekForTypevalue("word", "cos")) { + symfunc = std::make_shared(); + } + else if (peekForTypevalue("word", "sin")) { + symfunc = std::make_shared(); + } + else if (peekForTypevalue("word", "spline")) { + symfunc = std::make_shared(); + } + else if (peekForTypevalue("word", "integral")) { + symfunc = std::make_shared(); + } + else if (peekForTypevalue("word", "rampstep")) { + symfunc = std::make_shared(); + } + else if (peekForTypevalue("word", "piecewise")) { + symfunc = std::make_shared(); + } + else if (peekForTypevalue("word", "functions")) { + symfunc = std::make_shared(); + } + else if (peekForTypevalue("word", "transitions")) { + symfunc = std::make_shared(); + } + if (symfunc != nullptr) { + stack->push(symfunc); + if (peekForTypeNoPush("(")) { + auto startsize = stack->size(); + if (expression()) { + while (commaExpression()) {} + if (stack->size() > startsize) { + combineStackTo((int)startsize); + if (peekForTypeNoPush(")")) { + Symsptr args = stack->top(); //args is a Sum with "terms" containing the actual arguments + stack->pop(); + auto func = std::static_pointer_cast(stack->top()); + func->arguments(args); + return true; + } + expected(")"); + } + } + expected("expression"); + } + expected("("); + } + return false; +} + +bool MbD::SymbolicParser::variable() +{ + if ((tokenType == "word") && (variables->count(token) == 1)) { + auto& var = variables->at(token); + stack->push(var); + scanToken(); + return true; + } + return false; +} + +bool MbD::SymbolicParser::raisedTo() +{ + if (peekForTypeNoPush("^")) { + if (symfunction()) { + Symsptr exp = stack->top(); + stack->pop(); + Symsptr base = stack->top(); + stack->pop(); + auto pow = std::make_shared(base, exp); + stack->push(pow); + return true; + } + expected("function"); + } + return false; +} + +bool MbD::SymbolicParser::expected(std::string) +{ + return false; +} + +bool MbD::SymbolicParser::signedNumber() +{ + if (tokenType == "number") { + auto symNum = std::make_shared(tokenNum); + stack->push(symNum); + scanToken(); + return true; + } + if ((token == "+") && (hereChar != EOF) && (std::isdigit(hereChar) || (hereChar == '.'))) { + //"no intervening delimiters" + scanToken(); + auto symNum = std::make_shared(tokenNum); + stack->push(symNum); + scanToken(); + return true; + } + if ((token == "-") && (hereChar != EOF) && (std::isdigit(hereChar) || (hereChar == '.'))) { + //"no intervening delimiters" + scanToken(); + auto symNum = std::make_shared(-tokenNum); + stack->push(symNum); + scanToken(); + return true; + } + return false; +} + +bool MbD::SymbolicParser::peekForTypevalue(std::string type, std::string symbol) +{ + if ((tokenType == type) && (token == symbol)) { + scanToken(); + return true; + } + return false; +} + +void MbD::SymbolicParser::notify(std::string msg) +{ + notifyat(msg, mark); +} + +void MbD::SymbolicParser::notifyat(std::string, int) +{ + //"Temporarily reset source in order to get full contents" + auto p = source->tellg(); + source->seekg(0); + auto contents = source->str(); + source->seekg(p); + assert(false); + //SyntaxErrorException new + //targetClass : class; + //messageText: aString; + //source: contents; + //position: position; + //raiseSignal +} + +void MbD::SymbolicParser::combineStackTo(int pos) +{ + auto args = std::make_shared>(); + while ((int)stack->size() > pos) { + Symsptr arg = stack->top(); + stack->pop(); + args->push_back(arg); + } + std::reverse(args->begin(), args->end()); + auto sum = std::make_shared(); + sum->terms = args; + stack->push(sum); +} + +bool MbD::SymbolicParser::isNextLineTag(char c) +{ + //Skip tag in asmt file + auto pos = source->tellg(); + char ch = c; + if (ch == '<') { + ch = source->get(); + if (ch == 'n') { + ch = source->get(); + if (ch == '>') { + return true; + } + else { + source->seekg(pos); + } + } + else { + source->seekg(pos); + } + } + return false; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/SymbolicParser.h b/src/3rdParty/OndselSolver/OndselSolver/SymbolicParser.h new file mode 100644 index 000000000000..72b46a5ee94e --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SymbolicParser.h @@ -0,0 +1,70 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include +#include + +#include "Symbolic.h" +#include "ASMTItem.h" +#include "ASMTItemIJ.h" + +namespace MbD { + class SymbolicParser + { + // + public: + SymbolicParser(); + void initialize(); + void parseUserFunction(Symsptr userFunc); + void parseString(std::string expr); + bool commaExpression(); + bool plusTerm(); + bool minusTerm(); + bool plainTerm(); + bool term(); + bool plainFunction(); + bool timesFunction(); + bool divideByFunction(); + bool peekForTypeNoPush(std::string c); + std::string scanToken(); + void xLetter(); + void xDigit(); + void xDoubleQuote(); + bool symfunction(); + bool expression(); + bool expressionInParentheses(); + bool constant(); + bool namedFunction(); + bool intrinsic(); + bool variable(); + bool raisedTo(); + bool expected(std::string msg); + bool signedNumber(); + bool peekForTypevalue(std::string type, std::string symbol); + void notify(std::string msg); + void notifyat(std::string msg, int mrk); + void combineStackTo(int pos); + bool isNextLineTag(char c); + + ASMTItem* owner = nullptr; + std::shared_ptr> variables; + std::shared_ptr> geoIJs; + std::shared_ptr units; + int mark = -1, prevEnd = -1; + char hereChar = '\0'; + std::string token, tokenType; + double tokenNum = -1.0e100; + std::shared_ptr source; + std::shared_ptr buffer; + std::shared_ptr> stack; + }; +} + diff --git a/src/3rdParty/OndselSolver/OndselSolver/SyntaxError.cpp b/src/3rdParty/OndselSolver/OndselSolver/SyntaxError.cpp new file mode 100644 index 000000000000..06d43514e9c2 --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SyntaxError.cpp @@ -0,0 +1,15 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include "SyntaxError.h" + +using namespace MbD; + +SyntaxError::SyntaxError(const std::string& msg) : std::runtime_error(msg) +{ +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/SyntaxError.h b/src/3rdParty/OndselSolver/OndselSolver/SyntaxError.h new file mode 100644 index 000000000000..aee253f8db6d --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/SyntaxError.h @@ -0,0 +1,24 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#pragma once + +#include +#include +#include + +namespace MbD { + class SyntaxError : virtual public std::runtime_error + { + + public: + //SyntaxError(); + explicit SyntaxError(const std::string& msg); + virtual ~SyntaxError() noexcept {} + }; +} diff --git a/src/3rdParty/OndselSolver/OndselSolver/System.cpp b/src/3rdParty/OndselSolver/OndselSolver/System.cpp new file mode 100644 index 000000000000..49ec1a4b181b --- /dev/null +++ b/src/3rdParty/OndselSolver/OndselSolver/System.cpp @@ -0,0 +1,236 @@ +/*************************************************************************** + * Copyright (c) 2023 Ondsel, Inc. * + * * + * This file is part of OndselSolver. * + * * + * See LICENSE file for details about copyright. * + ***************************************************************************/ + +#include + +#include "System.h" +#include "Part.h" +#include "Joint.h" +#include "ForceTorqueItem.h" +#include "SystemSolver.h" +#include "Time.h" +#include "CREATE.h" +#include "ExternalSystem.h" +#include "PrescribedMotion.h" + +using namespace MbD; + +System::System() { + externalSystem = std::make_shared(); + time = std::make_shared