mbs_dirdyn_struct.h

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#ifndef MBS_DIRDYN_STRUCT_h
#define MBS_DIRDYN_STRUCT_h
 
#include "mbs_aux.h"
#include "mbs_buffer.h"
//#include "integrator.h"
 
#define DOPRI5_NB_ALLOC_VEC 8 
 
 
#define DIRDYN_INTEGRATOR_OPTION_DEFAULT_nmax (int) 1e9
#define DIRDYN_INTEGRATOR_OPTION_DEFAULT_toler 1.0e-3
#define DIRDYN_INTEGRATOR_OPTION_DEFAULT_rtoler 1.0e-3
#define DIRDYN_INTEGRATOR_OPTION_DEFAULT_atoler 1.0e-6
#define DIRDYN_INTEGRATOR_OPTION_DEFAULT_dt_max 1.0e-3
#define DIRDYN_INTEGRATOR_WAYPOINT_TIME_ERROR_max 1.0e-10
 
 
typedef struct MbsDirdynOptions
{
    double t0;
    double tf;
    double dt0;
    int save2file;
    char* resfilename;
    char* respath;
 
    char* animpath;
 
    int save_anim; 
 
    int save_visu; 
 
    int framerate; 
 
    int saveperiod;
 
    int max_save_user;
 
    int buffersize;
    char* buffer_format; 
 
    int realtime; 
 
    int accelred; 
 
    int flag_oneshot; 
 
    int flag_compute_Qc; 
 
    int compute_all_uxd; 
 
    int *compute_Qc;     
 
    /*------------------------------------------*/
    /* Options related to numerical integration */
    /*------------------------------------------*/
    int integrator; 
    // Various
    int verbose;
    int flag_stop_stiff; 
    int flag_precise_dynamics; 
 
    // Baumgarte stabilization qdd = qdd - 2*alpha*qd - beta*beta*q
    int flag_baumgarte_stabilization; 
    double baumgarte_alpha; 
    double baumgarte_beta; 
 
    // Options related to waypoints: force integrator to stop at fixed time
    int flag_waypoint; 
    int flag_solout_wp; 
    double delta_t_wp; 
 
    // Options related to variable time-stepped methods
    int nmax;    
    double toler; 
    double rtoler; 
    double atoler; 
    double dt_max; 
 
    // Options related to integrator that need Jacobian computation
    /*TO BE COMPLETED*/
    int n_freeze; 
    int flag_symbolic_jacobian; 
 
    // Various options
    int show_failed_closure; 
 
} MbsDirdynOptions;
 
typedef void(*initialize_integrator_ptr)(MbsData *mbs_data, MbsDirdyn *mbs_dd,
                                         int(*derivs)(double, double[], double[], MbsData *, MbsDirdyn *),
                                         void (*loop_fct)(MbsData *, MbsDirdyn *),
                                         int (*save_realtime_update)(MbsDirdyn* dd, MbsData* mbs_data)
                                         );
typedef int(*loop_integrator_ptr)(double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd);
typedef void(*finish_integrator_ptr)(MbsData *mbs_data, MbsDirdyn *mbs_dd);
 
struct MbsDirdyn
{
    MbsDirdynOptions* options; 
    MbsAux* mbs_aux;
 
    double tsim; 
    double dt; 
 
    int nState;  
    double *y;
    double *yout;
    double *yd;  
 
    MbsBuffer **buffers;
 
    MbsBuffer **buffer_visu;
 
    MbsGrowingBuffer *user_buffer;
 
    int bufferNb;  
 
    double** savedArrays;
 
    int savePeriodCounter;
 
    // Part related to numerical integrator
    int flag_ongoing_jac_computation; 
 
    void *integrator_struct; // set by initialize_integrator
    initialize_integrator_ptr initialize_integrator;
    loop_integrator_ptr loop_integrator;
    finish_integrator_ptr finish_integrator;
};
 
int mbs_fct_dirdyn(double t, double y[], double dydt[], MbsData *s, MbsDirdyn *dd);
 
int save_realtime_update(MbsDirdyn* dd, MbsData* mbs_data);
 
 
 
#endif