Examples with SparseBlockMatrix maspack.matrix.SparseBlockMatrix used on opensource projects

Example 1 with SparseBlockMatrix

use of maspack.matrix.SparseBlockMatrix in project artisynth_core by artisynth.

the class FemModel3d method createStiffnessMatrix.

// builds a Stiffness matrix, where entries are ordered by node numbers
public SparseBlockMatrix createStiffnessMatrix() {
    if (!myStressesValidP || !myStiffnessesValidP) {
        updateStressAndStiffness();
    }
    SparseBlockMatrix M = new SparseBlockMatrix();
    int nnodes = numNodes();
    int[] sizes = new int[nnodes];
    for (int i = 0; i < nnodes; ++i) {
        sizes[i] = 3;
    }
    M.addRows(sizes, sizes.length);
    M.addCols(sizes, sizes.length);
    M.setVerticallyLinked(true);
    int idx = 0;
    for (FemNode3d node : getNodes()) {
        node.setIndex(idx++);
    }
    // create solve blocks
    for (FemNode3d node : getNodes()) {
        MatrixBlock blk = node.createSolveBlock();
        M.addBlock(node.getIndex(), node.getIndex(), blk);
    }
    for (int i = 0; i < myNodes.size(); i++) {
        FemNode3d node = myNodes.get(i);
        for (FemNodeNeighbor nbr : getNodeNeighbors(node)) {
            FemNode3d other = nbr.getNode();
            Matrix3x3Block blk = null;
            if (other != node) {
                blk = new Matrix3x3Block();
                M.addBlock(node.getIndex(), nbr.getNode().getIndex(), blk);
            } else {
                blk = (Matrix3x3Block) M.getBlock(node.getIndex(), node.getIndex());
            }
            nbr.addPosJacobian(blk, -1.0);
        }
    }
    return M;
}

Example 2 with SparseBlockMatrix

use of maspack.matrix.SparseBlockMatrix in project artisynth_core by artisynth.

the class ForceTargetTerm method createForceJacobian.

private void createForceJacobian() {
    MechModel mechMod = (MechModel) myMech;
    SparseBlockMatrix GT = new SparseBlockMatrix();
    VectorNd dg = new VectorNd();
    mechMod.getBilateralConstraints(GT, dg);
    if (debug) {
        System.out.println("num con = " + mechMod.bodyConnectors().size());
        System.out.println(GT.colSize());
        System.out.println(GT.rowSize());
        System.out.println(GT.getSize());
        System.out.println(GT.numBlocks());
        System.out.println(GT.getBlock(0, 0));
        System.out.println(GT.getBlock(0, 1));
        System.out.println(GT.getBlock(0, 2));
        System.out.println(GT.getBlock(1, 0));
    }
    // find the number of bilateral constraints for each connector
    int[] connectorSizes = new int[mechMod.bodyConnectors().size()];
    int[] targetToConnectorMap = new int[myForceTargets.size()];
    int targetIdx = 0;
    for (ForceTarget ft : myForceTargets) {
        int connectorIdx = 0;
        for (BodyConnector connector : mechMod.bodyConnectors()) {
            if (debug) {
                System.out.println(connector.getName());
                System.out.println(ft.getName());
            }
            if (ft.getConnector() == connector) {
                targetToConnectorMap[targetIdx] = connectorIdx;
                targetIdx++;
            }
            if (connector.isEnabled() == true) {
                if (debug) {
                    System.out.println(connector.numBilateralConstraints());
                }
                connectorSizes[connectorIdx] = connector.numBilateralConstraints();
                connectorIdx++;
            }
        }
    }
    myForJacobian = new SparseBlockMatrix(new int[0], connectorSizes);
    for (int i = 0; i < myForceTargets.size(); i++) {
        ForceTarget target = myForceTargets.get(i);
        // TODO: non-enabled connectors should not add to Jacobian -- need to fix
        target.addForceJacobian(myForJacobian, i, targetToConnectorMap[i]);
    }
    if (debug) {
        System.out.println("Jc = " + myForJacobian);
    }
}

Example 3 with SparseBlockMatrix

use of maspack.matrix.SparseBlockMatrix in project artisynth_core by artisynth.

the class MechSystemBase method writeBilateralConstraintMatrix.

public void writeBilateralConstraintMatrix(String fileName, Matrix.WriteFormat matfmt) throws IOException {
    PrintWriter pw = ArtisynthIO.newIndentingPrintWriter(fileName);
    SparseBlockMatrix GT = mySolver.createActiveBilateralMatrix(0);
    NumberFormat fmt = new NumberFormat("%g");
    GT.write(pw, fmt, matfmt);
    pw.close();
}

Example 4 with SparseBlockMatrix

use of maspack.matrix.SparseBlockMatrix in project artisynth_core by artisynth.

the class MechSystemBase method writeMassMatrix.

public void writeMassMatrix(String fileName, Matrix.WriteFormat matfmt) throws IOException {
    updatePosState();
    PrintWriter pw = ArtisynthIO.newIndentingPrintWriter(fileName);
    SparseBlockMatrix M = mySolver.createActiveMassMatrix(0);
    NumberFormat fmt = new NumberFormat("%g");
    M.write(pw, fmt, matfmt);
    pw.close();
}

Example 5 with SparseBlockMatrix

use of maspack.matrix.SparseBlockMatrix in project artisynth_core by artisynth.

the class MechSystemBase method writeStiffnessMatrix.

public void writeStiffnessMatrix(String fileName, double h, Matrix.WriteFormat matfmt) throws IOException {
    updatePosState();
    SparseBlockMatrix K = mySolver.createActiveStiffnessMatrix(h);
    PrintWriter pw = ArtisynthIO.newIndentingPrintWriter(fileName);
    int size = getActiveVelStateSize();
    NumberFormat fmt = new NumberFormat("%g");
    K.write(pw, fmt, matfmt, size, size);
    pw.close();
}