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#include <iostream> |
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< |
#include <cstdlib> |
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< |
#include <cmath> |
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< |
|
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> |
#include <stdlib.h> |
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> |
#include <math.h> |
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> |
#include "Rattle.hpp" |
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> |
#include "Roll.hpp" |
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#ifdef IS_MPI |
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#include "mpiSimulation.hpp" |
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#include <unistd.h> |
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#endif //is_mpi |
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|
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#ifdef PROFILE |
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#include "mdProfile.hpp" |
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#endif // profile |
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|
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#include "Integrator.hpp" |
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#include "simError.h" |
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|
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|
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< |
Integrator::Integrator( SimInfo *theInfo, ForceFields* the_ff ){ |
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|
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> |
template<typename T> Integrator<T>::Integrator(SimInfo* theInfo, |
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> |
ForceFields* the_ff){ |
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info = theInfo; |
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myFF = the_ff; |
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isFirst = 1; |
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nMols = info->n_mol; |
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|
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// give a little love back to the SimInfo object |
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|
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if( info->the_integrator != NULL ) delete info->the_integrator; |
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info->the_integrator = this; |
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|
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if (info->the_integrator != NULL){ |
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delete info->the_integrator; |
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} |
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|
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nAtoms = info->n_atoms; |
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integrableObjects = info->integrableObjects; |
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|
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std::cerr << "integ nAtoms = " << nAtoms << "\n"; |
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> |
consFramework = new RollFramework(info); |
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|
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// check for constraints |
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if(consFramework == NULL){ |
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sprintf(painCave.errMsg, |
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"Integrator::Intergrator() Error: Memory allocation error for RattleFramework" ); |
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painCave.isFatal = 1; |
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simError(); |
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} |
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|
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constrainedA = NULL; |
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constrainedB = NULL; |
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/* |
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// check for constraints |
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|
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constrainedA = NULL; |
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constrainedB = NULL; |
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constrainedDsqr = NULL; |
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moving = NULL; |
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moved = NULL; |
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oldPos = NULL; |
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|
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moving = NULL; |
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moved = NULL; |
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oldPos = NULL; |
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|
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nConstrained = 0; |
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|
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checkConstraints(); |
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*/ |
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} |
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|
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Integrator::~Integrator() { |
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|
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if( nConstrained ){ |
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template<typename T> Integrator<T>::~Integrator(){ |
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if (consFramework != NULL) |
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delete consFramework; |
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/* |
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if (nConstrained){ |
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delete[] constrainedA; |
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delete[] constrainedB; |
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delete[] constrainedDsqr; |
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delete[] moved; |
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delete[] oldPos; |
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} |
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|
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*/ |
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} |
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void Integrator::checkConstraints( void ){ |
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/* |
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template<typename T> void Integrator<T>::checkConstraints(void){ |
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isConstrained = 0; |
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Constraint *temp_con; |
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Constraint *dummy_plug; |
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Constraint* temp_con; |
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Constraint* dummy_plug; |
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temp_con = new Constraint[info->n_SRI]; |
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nConstrained = 0; |
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int constrained = 0; |
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|
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|
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SRI** theArray; |
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for(int i = 0; i < nMols; i++){ |
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|
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theArray = (SRI**) molecules[i].getMyBonds(); |
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for(int j=0; j<molecules[i].getNBonds(); j++){ |
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|
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for (int i = 0; i < nMols; i++){ |
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|
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theArray = (SRI * *) molecules[i].getMyBonds(); |
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for (int j = 0; j < molecules[i].getNBonds(); j++){ |
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constrained = theArray[j]->is_constrained(); |
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|
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std::cerr << "Is the folowing bond constrained \n"; |
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theArray[j]->printMe(); |
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|
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if(constrained){ |
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|
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std::cerr << "Yes\n"; |
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if (constrained){ |
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dummy_plug = theArray[j]->get_constraint(); |
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temp_con[nConstrained].set_a(dummy_plug->get_a()); |
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temp_con[nConstrained].set_b(dummy_plug->get_b()); |
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temp_con[nConstrained].set_dsqr(dummy_plug->get_dsqr()); |
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|
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dummy_plug = theArray[j]->get_constraint(); |
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temp_con[nConstrained].set_a( dummy_plug->get_a() ); |
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temp_con[nConstrained].set_b( dummy_plug->get_b() ); |
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temp_con[nConstrained].set_dsqr( dummy_plug->get_dsqr() ); |
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|
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nConstrained++; |
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constrained = 0; |
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} |
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else std::cerr << "No.\n"; |
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nConstrained++; |
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constrained = 0; |
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} |
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} |
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|
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theArray = (SRI**) molecules[i].getMyBends(); |
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for(int j=0; j<molecules[i].getNBends(); j++){ |
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|
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theArray = (SRI * *) molecules[i].getMyBends(); |
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for (int j = 0; j < molecules[i].getNBends(); j++){ |
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constrained = theArray[j]->is_constrained(); |
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|
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if(constrained){ |
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|
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dummy_plug = theArray[j]->get_constraint(); |
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temp_con[nConstrained].set_a( dummy_plug->get_a() ); |
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temp_con[nConstrained].set_b( dummy_plug->get_b() ); |
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temp_con[nConstrained].set_dsqr( dummy_plug->get_dsqr() ); |
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|
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nConstrained++; |
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constrained = 0; |
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|
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if (constrained){ |
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dummy_plug = theArray[j]->get_constraint(); |
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temp_con[nConstrained].set_a(dummy_plug->get_a()); |
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> |
temp_con[nConstrained].set_b(Dummy_plug->get_b()); |
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> |
temp_con[nConstrained].set_dsqr(dummy_plug->get_dsqr()); |
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> |
|
| 115 |
> |
nConstrained++; |
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> |
constrained = 0; |
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} |
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} |
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|
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< |
theArray = (SRI**) molecules[i].getMyTorsions(); |
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< |
for(int j=0; j<molecules[i].getNTorsions(); j++){ |
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< |
|
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> |
theArray = (SRI * *) molecules[i].getMyTorsions(); |
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> |
for (int j = 0; j < molecules[i].getNTorsions(); j++){ |
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constrained = theArray[j]->is_constrained(); |
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< |
|
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< |
if(constrained){ |
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< |
|
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< |
dummy_plug = theArray[j]->get_constraint(); |
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< |
temp_con[nConstrained].set_a( dummy_plug->get_a() ); |
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temp_con[nConstrained].set_b( dummy_plug->get_b() ); |
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temp_con[nConstrained].set_dsqr( dummy_plug->get_dsqr() ); |
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< |
|
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< |
nConstrained++; |
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< |
constrained = 0; |
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> |
|
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> |
if (constrained){ |
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> |
dummy_plug = theArray[j]->get_constraint(); |
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> |
temp_con[nConstrained].set_a(dummy_plug->get_a()); |
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> |
temp_con[nConstrained].set_b(dummy_plug->get_b()); |
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> |
temp_con[nConstrained].set_dsqr(dummy_plug->get_dsqr()); |
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> |
|
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> |
nConstrained++; |
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> |
constrained = 0; |
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} |
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} |
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} |
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|
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< |
if(nConstrained > 0){ |
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|
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> |
|
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> |
if (nConstrained > 0){ |
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isConstrained = 1; |
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|
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< |
if(constrainedA != NULL ) delete[] constrainedA; |
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< |
if(constrainedB != NULL ) delete[] constrainedB; |
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< |
if(constrainedDsqr != NULL ) delete[] constrainedDsqr; |
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|
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< |
constrainedA = new int[nConstrained]; |
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< |
constrainedB = new int[nConstrained]; |
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> |
if (constrainedA != NULL) |
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> |
delete[] constrainedA; |
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> |
if (constrainedB != NULL) |
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> |
delete[] constrainedB; |
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> |
if (constrainedDsqr != NULL) |
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> |
delete[] constrainedDsqr; |
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> |
|
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> |
constrainedA = new int[nConstrained]; |
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> |
constrainedB = new int[nConstrained]; |
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constrainedDsqr = new double[nConstrained]; |
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< |
|
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< |
for( int i = 0; i < nConstrained; i++){ |
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< |
|
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> |
|
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> |
for (int i = 0; i < nConstrained; i++){ |
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constrainedA[i] = temp_con[i].get_a(); |
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constrainedB[i] = temp_con[i].get_b(); |
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constrainedDsqr[i] = temp_con[i].get_dsqr(); |
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|
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} |
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|
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< |
|
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< |
// save oldAtoms to check for lode balanceing later on. |
| 159 |
< |
|
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> |
|
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> |
// save oldAtoms to check for lode balancing later on. |
| 159 |
> |
|
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oldAtoms = nAtoms; |
| 161 |
< |
|
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> |
|
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moving = new int[nAtoms]; |
| 163 |
< |
moved = new int[nAtoms]; |
| 163 |
> |
moved = new int[nAtoms]; |
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|
| 165 |
< |
oldPos = new double[nAtoms*3]; |
| 165 |
> |
oldPos = new double[nAtoms * 3]; |
| 166 |
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} |
| 167 |
< |
|
| 167 |
> |
|
| 168 |
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delete[] temp_con; |
| 169 |
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} |
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+ |
*/ |
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|
| 172 |
+ |
template<typename T> void Integrator<T>::integrate(void){ |
| 173 |
|
|
| 174 |
< |
void Integrator::integrate( void ){ |
| 175 |
< |
|
| 176 |
< |
int i, j; // loop counters |
| 169 |
< |
|
| 170 |
< |
double runTime = info->run_time; |
| 171 |
< |
double sampleTime = info->sampleTime; |
| 172 |
< |
double statusTime = info->statusTime; |
| 174 |
> |
double runTime = info->run_time; |
| 175 |
> |
double sampleTime = info->sampleTime; |
| 176 |
> |
double statusTime = info->statusTime; |
| 177 |
|
double thermalTime = info->thermalTime; |
| 178 |
+ |
double resetTime = info->resetTime; |
| 179 |
|
|
| 180 |
+ |
double difference; |
| 181 |
|
double currSample; |
| 182 |
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double currThermal; |
| 183 |
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double currStatus; |
| 184 |
< |
double currTime; |
| 184 |
> |
double currReset; |
| 185 |
|
|
| 186 |
|
int calcPot, calcStress; |
| 181 |
– |
int isError; |
| 187 |
|
|
| 188 |
< |
tStats = new Thermo( info ); |
| 189 |
< |
statOut = new StatWriter( info ); |
| 190 |
< |
dumpOut = new DumpWriter( info ); |
| 188 |
> |
tStats = new Thermo(info); |
| 189 |
> |
statOut = new StatWriter(info); |
| 190 |
> |
dumpOut = new DumpWriter(info); |
| 191 |
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|
| 192 |
|
atoms = info->atoms; |
| 188 |
– |
DirectionalAtom* dAtom; |
| 193 |
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|
| 194 |
|
dt = info->dt; |
| 195 |
|
dt2 = 0.5 * dt; |
| 196 |
|
|
| 197 |
< |
// initialize the forces before the first step |
| 197 |
> |
readyCheck(); |
| 198 |
|
|
| 199 |
< |
myFF->doForces(1,1); |
| 199 |
> |
// remove center of mass drift velocity (in case we passed in a configuration |
| 200 |
> |
// that was drifting |
| 201 |
> |
tStats->removeCOMdrift(); |
| 202 |
> |
//tStats->removeAngularMomentum(); |
| 203 |
|
|
| 204 |
< |
if( info->setTemp ){ |
| 205 |
< |
|
| 206 |
< |
tStats->velocitize(); |
| 204 |
> |
// initialize the retraints if necessary |
| 205 |
> |
if (info->useSolidThermInt && !info->useLiquidThermInt) { |
| 206 |
> |
myFF->initRestraints(); |
| 207 |
|
} |
| 208 |
+ |
|
| 209 |
+ |
// initialize the forces before the first step |
| 210 |
+ |
|
| 211 |
+ |
calcForce(1, 1); |
| 212 |
+ |
|
| 213 |
+ |
//execute constraint algorithm to make sure at the very beginning the system is constrained |
| 214 |
+ |
//consFramework->doPreConstraint(); |
| 215 |
+ |
//consFramework->doConstrainA(); |
| 216 |
+ |
//calcForce(1, 1); |
| 217 |
+ |
//consFramework->doConstrainB(); |
| 218 |
|
|
| 219 |
< |
dumpOut->writeDump( 0.0 ); |
| 220 |
< |
statOut->writeStat( 0.0 ); |
| 221 |
< |
|
| 219 |
> |
if (info->setTemp){ |
| 220 |
> |
thermalize(); |
| 221 |
> |
} |
| 222 |
> |
|
| 223 |
|
calcPot = 0; |
| 224 |
|
calcStress = 0; |
| 225 |
< |
currSample = sampleTime; |
| 226 |
< |
currThermal = thermalTime; |
| 227 |
< |
currStatus = statusTime; |
| 228 |
< |
currTime = 0.0;; |
| 225 |
> |
currSample = sampleTime + info->getTime(); |
| 226 |
> |
currThermal = thermalTime+ info->getTime(); |
| 227 |
> |
currStatus = statusTime + info->getTime(); |
| 228 |
> |
currReset = resetTime + info->getTime(); |
| 229 |
|
|
| 230 |
+ |
dumpOut->writeDump(info->getTime()); |
| 231 |
+ |
statOut->writeStat(info->getTime()); |
| 232 |
|
|
| 213 |
– |
readyCheck(); |
| 233 |
|
|
| 234 |
|
#ifdef IS_MPI |
| 235 |
< |
strcpy( checkPointMsg, |
| 217 |
< |
"The integrator is ready to go." ); |
| 235 |
> |
strcpy(checkPointMsg, "The integrator is ready to go."); |
| 236 |
|
MPIcheckPoint(); |
| 237 |
|
#endif // is_mpi |
| 238 |
|
|
| 239 |
< |
while( currTime < runTime ){ |
| 240 |
< |
|
| 241 |
< |
if( (currTime+dt) >= currStatus ){ |
| 239 |
> |
while (info->getTime() < runTime && !stopIntegrator()){ |
| 240 |
> |
difference = info->getTime() + dt - currStatus; |
| 241 |
> |
if (difference > 0 || fabs(difference) < 1e-4 ){ |
| 242 |
|
calcPot = 1; |
| 243 |
|
calcStress = 1; |
| 244 |
|
} |
| 245 |
|
|
| 246 |
< |
std::cerr << currTime << "\n"; |
| 246 |
> |
#ifdef PROFILE |
| 247 |
> |
startProfile( pro1 ); |
| 248 |
> |
#endif |
| 249 |
> |
|
| 250 |
> |
integrateStep(calcPot, calcStress); |
| 251 |
|
|
| 252 |
< |
integrateStep( calcPot, calcStress ); |
| 253 |
< |
|
| 232 |
< |
currTime += dt; |
| 252 |
> |
#ifdef PROFILE |
| 253 |
> |
endProfile( pro1 ); |
| 254 |
|
|
| 255 |
< |
if( info->setTemp ){ |
| 256 |
< |
if( currTime >= currThermal ){ |
| 257 |
< |
tStats->velocitize(); |
| 258 |
< |
currThermal += thermalTime; |
| 255 |
> |
startProfile( pro2 ); |
| 256 |
> |
#endif // profile |
| 257 |
> |
|
| 258 |
> |
info->incrTime(dt); |
| 259 |
> |
|
| 260 |
> |
if (info->setTemp){ |
| 261 |
> |
if (info->getTime() >= currThermal){ |
| 262 |
> |
thermalize(); |
| 263 |
> |
currThermal += thermalTime; |
| 264 |
|
} |
| 265 |
|
} |
| 266 |
|
|
| 267 |
< |
if( currTime >= currSample ){ |
| 268 |
< |
dumpOut->writeDump( currTime ); |
| 267 |
> |
if (info->getTime() >= currSample){ |
| 268 |
> |
dumpOut->writeDump(info->getTime()); |
| 269 |
|
currSample += sampleTime; |
| 270 |
|
} |
| 271 |
|
|
| 272 |
< |
if( currTime >= currStatus ){ |
| 273 |
< |
statOut->writeStat( currTime ); |
| 274 |
< |
calcPot = 0; |
| 272 |
> |
if (info->getTime() >= currStatus){ |
| 273 |
> |
statOut->writeStat(info->getTime()); |
| 274 |
> |
calcPot = 0; |
| 275 |
|
calcStress = 0; |
| 276 |
|
currStatus += statusTime; |
| 277 |
< |
} |
| 277 |
> |
} |
| 278 |
|
|
| 279 |
+ |
if (info->resetIntegrator){ |
| 280 |
+ |
if (info->getTime() >= currReset){ |
| 281 |
+ |
this->resetIntegrator(); |
| 282 |
+ |
currReset += resetTime; |
| 283 |
+ |
} |
| 284 |
+ |
} |
| 285 |
+ |
|
| 286 |
+ |
#ifdef PROFILE |
| 287 |
+ |
endProfile( pro2 ); |
| 288 |
+ |
#endif //profile |
| 289 |
+ |
|
| 290 |
|
#ifdef IS_MPI |
| 291 |
< |
strcpy( checkPointMsg, |
| 255 |
< |
"successfully took a time step." ); |
| 291 |
> |
strcpy(checkPointMsg, "successfully took a time step."); |
| 292 |
|
MPIcheckPoint(); |
| 293 |
|
#endif // is_mpi |
| 258 |
– |
|
| 294 |
|
} |
| 295 |
|
|
| 296 |
< |
dumpOut->writeFinal(currTime); |
| 296 |
> |
// dump out a file containing the omega values for the final configuration |
| 297 |
> |
if (info->useSolidThermInt && !info->useLiquidThermInt) |
| 298 |
> |
myFF->dumpzAngle(); |
| 299 |
> |
|
| 300 |
|
|
| 301 |
|
delete dumpOut; |
| 302 |
|
delete statOut; |
| 303 |
|
} |
| 304 |
|
|
| 305 |
< |
void Integrator::integrateStep( int calcPot, int calcStress ){ |
| 305 |
> |
template<typename T> void Integrator<T>::integrateStep(int calcPot, |
| 306 |
> |
int calcStress){ |
| 307 |
> |
// Position full step, and velocity half step |
| 308 |
|
|
| 309 |
+ |
#ifdef PROFILE |
| 310 |
+ |
startProfile(pro3); |
| 311 |
+ |
#endif //profile |
| 312 |
|
|
| 313 |
< |
|
| 314 |
< |
// Position full step, and velocity half step |
| 313 |
> |
//save old state (position, velocity etc) |
| 314 |
> |
consFramework->doPreConstraint(); |
| 315 |
|
|
| 316 |
< |
preMove(); |
| 316 |
> |
#ifdef PROFILE |
| 317 |
> |
endProfile(pro3); |
| 318 |
> |
|
| 319 |
> |
startProfile(pro4); |
| 320 |
> |
#endif // profile |
| 321 |
> |
|
| 322 |
|
moveA(); |
| 275 |
– |
if( nConstrained ) constrainA(); |
| 323 |
|
|
| 324 |
+ |
#ifdef PROFILE |
| 325 |
+ |
endProfile(pro4); |
| 326 |
+ |
|
| 327 |
+ |
startProfile(pro5); |
| 328 |
+ |
#endif//profile |
| 329 |
+ |
|
| 330 |
+ |
|
| 331 |
+ |
#ifdef IS_MPI |
| 332 |
+ |
strcpy(checkPointMsg, "Succesful moveA\n"); |
| 333 |
+ |
MPIcheckPoint(); |
| 334 |
+ |
#endif // is_mpi |
| 335 |
+ |
|
| 336 |
|
// calc forces |
| 337 |
+ |
calcForce(calcPot, calcStress); |
| 338 |
|
|
| 339 |
< |
myFF->doForces(calcPot,calcStress); |
| 339 |
> |
#ifdef IS_MPI |
| 340 |
> |
strcpy(checkPointMsg, "Succesful doForces\n"); |
| 341 |
> |
MPIcheckPoint(); |
| 342 |
> |
#endif // is_mpi |
| 343 |
|
|
| 344 |
+ |
#ifdef PROFILE |
| 345 |
+ |
endProfile( pro5 ); |
| 346 |
+ |
|
| 347 |
+ |
startProfile( pro6 ); |
| 348 |
+ |
#endif //profile |
| 349 |
+ |
|
| 350 |
+ |
consFramework->doPreConstraint(); |
| 351 |
+ |
|
| 352 |
|
// finish the velocity half step |
| 353 |
< |
|
| 353 |
> |
|
| 354 |
|
moveB(); |
| 355 |
< |
if( nConstrained ) constrainB(); |
| 356 |
< |
|
| 355 |
> |
|
| 356 |
> |
#ifdef PROFILE |
| 357 |
> |
endProfile(pro6); |
| 358 |
> |
#endif // profile |
| 359 |
> |
|
| 360 |
> |
#ifdef IS_MPI |
| 361 |
> |
strcpy(checkPointMsg, "Succesful moveB\n"); |
| 362 |
> |
MPIcheckPoint(); |
| 363 |
> |
#endif // is_mpi |
| 364 |
|
} |
| 365 |
|
|
| 366 |
|
|
| 367 |
< |
void Integrator::moveA( void ){ |
| 368 |
< |
|
| 291 |
< |
int i, j; |
| 367 |
> |
template<typename T> void Integrator<T>::moveA(void){ |
| 368 |
> |
size_t i, j; |
| 369 |
|
DirectionalAtom* dAtom; |
| 370 |
|
double Tb[3], ji[3]; |
| 294 |
– |
double A[3][3], I[3][3]; |
| 295 |
– |
double angle; |
| 371 |
|
double vel[3], pos[3], frc[3]; |
| 372 |
|
double mass; |
| 373 |
+ |
double omega; |
| 374 |
+ |
|
| 375 |
+ |
for (i = 0; i < integrableObjects.size() ; i++){ |
| 376 |
+ |
integrableObjects[i]->getVel(vel); |
| 377 |
+ |
integrableObjects[i]->getPos(pos); |
| 378 |
+ |
integrableObjects[i]->getFrc(frc); |
| 379 |
+ |
|
| 380 |
+ |
mass = integrableObjects[i]->getMass(); |
| 381 |
|
|
| 382 |
< |
for( i=0; i<nAtoms; i++ ){ |
| 300 |
< |
|
| 301 |
< |
atoms[i]->getVel( vel ); |
| 302 |
< |
atoms[i]->getPos( pos ); |
| 303 |
< |
atoms[i]->getFrc( frc ); |
| 304 |
< |
|
| 305 |
< |
mass = atoms[i]->getMass(); |
| 306 |
< |
|
| 307 |
< |
for (j=0; j < 3; j++) { |
| 382 |
> |
for (j = 0; j < 3; j++){ |
| 383 |
|
// velocity half step |
| 384 |
< |
vel[j] += ( dt2 * frc[j] / mass ) * eConvert; |
| 384 |
> |
vel[j] += (dt2 * frc[j] / mass) * eConvert; |
| 385 |
|
// position whole step |
| 386 |
|
pos[j] += dt * vel[j]; |
| 387 |
|
} |
| 388 |
|
|
| 389 |
< |
atoms[i]->setVel( vel ); |
| 390 |
< |
atoms[i]->setPos( pos ); |
| 389 |
> |
integrableObjects[i]->setVel(vel); |
| 390 |
> |
integrableObjects[i]->setPos(pos); |
| 391 |
|
|
| 392 |
< |
if( atoms[i]->isDirectional() ){ |
| 392 |
> |
if (integrableObjects[i]->isDirectional()){ |
| 393 |
|
|
| 319 |
– |
dAtom = (DirectionalAtom *)atoms[i]; |
| 320 |
– |
|
| 394 |
|
// get and convert the torque to body frame |
| 322 |
– |
|
| 323 |
– |
dAtom->getTrq( Tb ); |
| 324 |
– |
dAtom->lab2Body( Tb ); |
| 395 |
|
|
| 396 |
+ |
integrableObjects[i]->getTrq(Tb); |
| 397 |
+ |
integrableObjects[i]->lab2Body(Tb); |
| 398 |
+ |
|
| 399 |
|
// get the angular momentum, and propagate a half step |
| 400 |
|
|
| 401 |
< |
dAtom->getJ( ji ); |
| 401 |
> |
integrableObjects[i]->getJ(ji); |
| 402 |
|
|
| 403 |
< |
for (j=0; j < 3; j++) |
| 403 |
> |
for (j = 0; j < 3; j++) |
| 404 |
|
ji[j] += (dt2 * Tb[j]) * eConvert; |
| 332 |
– |
|
| 333 |
– |
// use the angular velocities to propagate the rotation matrix a |
| 334 |
– |
// full time step |
| 405 |
|
|
| 406 |
< |
dAtom->getA(A); |
| 337 |
< |
dAtom->getI(I); |
| 338 |
< |
|
| 339 |
< |
// rotate about the x-axis |
| 340 |
< |
angle = dt2 * ji[0] / I[0][0]; |
| 341 |
< |
this->rotate( 1, 2, angle, ji, A ); |
| 406 |
> |
this->rotationPropagation( integrableObjects[i], ji ); |
| 407 |
|
|
| 408 |
< |
// rotate about the y-axis |
| 344 |
< |
angle = dt2 * ji[1] / I[1][1]; |
| 345 |
< |
this->rotate( 2, 0, angle, ji, A ); |
| 346 |
< |
|
| 347 |
< |
// rotate about the z-axis |
| 348 |
< |
angle = dt * ji[2] / I[2][2]; |
| 349 |
< |
this->rotate( 0, 1, angle, ji, A); |
| 350 |
< |
|
| 351 |
< |
// rotate about the y-axis |
| 352 |
< |
angle = dt2 * ji[1] / I[1][1]; |
| 353 |
< |
this->rotate( 2, 0, angle, ji, A ); |
| 354 |
< |
|
| 355 |
< |
// rotate about the x-axis |
| 356 |
< |
angle = dt2 * ji[0] / I[0][0]; |
| 357 |
< |
this->rotate( 1, 2, angle, ji, A ); |
| 358 |
< |
|
| 408 |
> |
integrableObjects[i]->setJ(ji); |
| 409 |
|
|
| 410 |
< |
dAtom->setJ( ji ); |
| 361 |
< |
dAtom->setA( A ); |
| 362 |
< |
|
| 363 |
< |
} |
| 410 |
> |
} |
| 411 |
|
} |
| 412 |
+ |
|
| 413 |
+ |
consFramework->doConstrainA(); |
| 414 |
|
} |
| 415 |
|
|
| 416 |
|
|
| 417 |
< |
void Integrator::moveB( void ){ |
| 417 |
> |
template<typename T> void Integrator<T>::moveB(void){ |
| 418 |
|
int i, j; |
| 370 |
– |
DirectionalAtom* dAtom; |
| 419 |
|
double Tb[3], ji[3]; |
| 420 |
|
double vel[3], frc[3]; |
| 421 |
|
double mass; |
| 422 |
|
|
| 423 |
< |
for( i=0; i<nAtoms; i++ ){ |
| 424 |
< |
|
| 425 |
< |
atoms[i]->getVel( vel ); |
| 378 |
< |
atoms[i]->getFrc( frc ); |
| 423 |
> |
for (i = 0; i < integrableObjects.size(); i++){ |
| 424 |
> |
integrableObjects[i]->getVel(vel); |
| 425 |
> |
integrableObjects[i]->getFrc(frc); |
| 426 |
|
|
| 427 |
< |
mass = atoms[i]->getMass(); |
| 427 |
> |
mass = integrableObjects[i]->getMass(); |
| 428 |
|
|
| 429 |
|
// velocity half step |
| 430 |
< |
for (j=0; j < 3; j++) |
| 431 |
< |
vel[j] += ( dt2 * frc[j] / mass ) * eConvert; |
| 385 |
< |
|
| 386 |
< |
atoms[i]->setVel( vel ); |
| 387 |
< |
|
| 388 |
< |
if( atoms[i]->isDirectional() ){ |
| 430 |
> |
for (j = 0; j < 3; j++) |
| 431 |
> |
vel[j] += (dt2 * frc[j] / mass) * eConvert; |
| 432 |
|
|
| 433 |
< |
dAtom = (DirectionalAtom *)atoms[i]; |
| 433 |
> |
integrableObjects[i]->setVel(vel); |
| 434 |
|
|
| 435 |
< |
// get and convert the torque to body frame |
| 435 |
> |
if (integrableObjects[i]->isDirectional()){ |
| 436 |
|
|
| 437 |
< |
dAtom->getTrq( Tb ); |
| 395 |
< |
dAtom->lab2Body( Tb ); |
| 437 |
> |
// get and convert the torque to body frame |
| 438 |
|
|
| 439 |
+ |
integrableObjects[i]->getTrq(Tb); |
| 440 |
+ |
integrableObjects[i]->lab2Body(Tb); |
| 441 |
+ |
|
| 442 |
|
// get the angular momentum, and propagate a half step |
| 443 |
|
|
| 444 |
< |
dAtom->getJ( ji ); |
| 444 |
> |
integrableObjects[i]->getJ(ji); |
| 445 |
|
|
| 446 |
< |
for (j=0; j < 3; j++) |
| 446 |
> |
for (j = 0; j < 3; j++) |
| 447 |
|
ji[j] += (dt2 * Tb[j]) * eConvert; |
| 403 |
– |
|
| 448 |
|
|
| 449 |
< |
dAtom->setJ( ji ); |
| 449 |
> |
|
| 450 |
> |
integrableObjects[i]->setJ(ji); |
| 451 |
|
} |
| 452 |
+ |
|
| 453 |
|
} |
| 454 |
+ |
|
| 455 |
+ |
consFramework->doConstrainB(); |
| 456 |
|
} |
| 457 |
|
|
| 458 |
< |
void Integrator::preMove( void ){ |
| 458 |
> |
/* |
| 459 |
> |
template<typename T> void Integrator<T>::preMove(void){ |
| 460 |
|
int i, j; |
| 461 |
|
double pos[3]; |
| 462 |
|
|
| 463 |
< |
if( nConstrained ){ |
| 463 |
> |
if (nConstrained){ |
| 464 |
> |
for (i = 0; i < nAtoms; i++){ |
| 465 |
> |
atoms[i]->getPos(pos); |
| 466 |
|
|
| 467 |
< |
for(i=0; i < nAtoms; i++) { |
| 468 |
< |
|
| 418 |
< |
atoms[i]->getPos( pos ); |
| 419 |
< |
|
| 420 |
< |
for (j = 0; j < 3; j++) { |
| 421 |
< |
oldPos[3*i + j] = pos[j]; |
| 467 |
> |
for (j = 0; j < 3; j++){ |
| 468 |
> |
oldPos[3 * i + j] = pos[j]; |
| 469 |
|
} |
| 423 |
– |
|
| 470 |
|
} |
| 471 |
< |
} |
| 471 |
> |
} |
| 472 |
|
} |
| 473 |
|
|
| 474 |
< |
void Integrator::constrainA(){ |
| 475 |
< |
|
| 430 |
< |
int i,j,k; |
| 474 |
> |
template<typename T> void Integrator<T>::constrainA(){ |
| 475 |
> |
int i, j; |
| 476 |
|
int done; |
| 477 |
|
double posA[3], posB[3]; |
| 478 |
|
double velA[3], velB[3]; |
| 487 |
|
double gab; |
| 488 |
|
int iteration; |
| 489 |
|
|
| 490 |
< |
for( i=0; i<nAtoms; i++){ |
| 490 |
> |
for (i = 0; i < nAtoms; i++){ |
| 491 |
|
moving[i] = 0; |
| 492 |
< |
moved[i] = 1; |
| 492 |
> |
moved[i] = 1; |
| 493 |
|
} |
| 494 |
|
|
| 495 |
|
iteration = 0; |
| 496 |
|
done = 0; |
| 497 |
< |
while( !done && (iteration < maxIteration )){ |
| 453 |
< |
|
| 497 |
> |
while (!done && (iteration < maxIteration)){ |
| 498 |
|
done = 1; |
| 499 |
< |
for(i=0; i<nConstrained; i++){ |
| 456 |
< |
|
| 499 |
> |
for (i = 0; i < nConstrained; i++){ |
| 500 |
|
a = constrainedA[i]; |
| 501 |
|
b = constrainedB[i]; |
| 459 |
– |
|
| 460 |
– |
ax = (a*3) + 0; |
| 461 |
– |
ay = (a*3) + 1; |
| 462 |
– |
az = (a*3) + 2; |
| 502 |
|
|
| 503 |
< |
bx = (b*3) + 0; |
| 504 |
< |
by = (b*3) + 1; |
| 505 |
< |
bz = (b*3) + 2; |
| 503 |
> |
ax = (a * 3) + 0; |
| 504 |
> |
ay = (a * 3) + 1; |
| 505 |
> |
az = (a * 3) + 2; |
| 506 |
|
|
| 507 |
< |
if( moved[a] || moved[b] ){ |
| 508 |
< |
|
| 509 |
< |
atoms[a]->getPos( posA ); |
| 510 |
< |
atoms[b]->getPos( posB ); |
| 511 |
< |
|
| 512 |
< |
for (j = 0; j < 3; j++ ) |
| 507 |
> |
bx = (b * 3) + 0; |
| 508 |
> |
by = (b * 3) + 1; |
| 509 |
> |
bz = (b * 3) + 2; |
| 510 |
> |
|
| 511 |
> |
if (moved[a] || moved[b]){ |
| 512 |
> |
atoms[a]->getPos(posA); |
| 513 |
> |
atoms[b]->getPos(posB); |
| 514 |
> |
|
| 515 |
> |
for (j = 0; j < 3; j++) |
| 516 |
|
pab[j] = posA[j] - posB[j]; |
| 475 |
– |
|
| 476 |
– |
//periodic boundary condition |
| 517 |
|
|
| 518 |
< |
info->wrapVector( pab ); |
| 518 |
> |
//periodic boundary condition |
| 519 |
|
|
| 520 |
< |
pabsq = pab[0] * pab[0] + pab[1] * pab[1] + pab[2] * pab[2]; |
| 520 |
> |
info->wrapVector(pab); |
| 521 |
|
|
| 522 |
< |
rabsq = constrainedDsqr[i]; |
| 483 |
< |
diffsq = rabsq - pabsq; |
| 522 |
> |
pabsq = pab[0] * pab[0] + pab[1] * pab[1] + pab[2] * pab[2]; |
| 523 |
|
|
| 524 |
< |
// the original rattle code from alan tidesley |
| 525 |
< |
if (fabs(diffsq) > (tol*rabsq*2)) { |
| 487 |
< |
rab[0] = oldPos[ax] - oldPos[bx]; |
| 488 |
< |
rab[1] = oldPos[ay] - oldPos[by]; |
| 489 |
< |
rab[2] = oldPos[az] - oldPos[bz]; |
| 524 |
> |
rabsq = constrainedDsqr[i]; |
| 525 |
> |
diffsq = rabsq - pabsq; |
| 526 |
|
|
| 527 |
< |
info->wrapVector( rab ); |
| 527 |
> |
// the original rattle code from alan tidesley |
| 528 |
> |
if (fabs(diffsq) > (tol * rabsq * 2)){ |
| 529 |
> |
rab[0] = oldPos[ax] - oldPos[bx]; |
| 530 |
> |
rab[1] = oldPos[ay] - oldPos[by]; |
| 531 |
> |
rab[2] = oldPos[az] - oldPos[bz]; |
| 532 |
|
|
| 533 |
< |
rpab = rab[0] * pab[0] + rab[1] * pab[1] + rab[2] * pab[2]; |
| 533 |
> |
info->wrapVector(rab); |
| 534 |
|
|
| 535 |
< |
rpabsq = rpab * rpab; |
| 535 |
> |
rpab = rab[0] * pab[0] + rab[1] * pab[1] + rab[2] * pab[2]; |
| 536 |
|
|
| 537 |
+ |
rpabsq = rpab * rpab; |
| 538 |
|
|
| 498 |
– |
if (rpabsq < (rabsq * -diffsq)){ |
| 539 |
|
|
| 540 |
+ |
if (rpabsq < (rabsq * -diffsq)){ |
| 541 |
|
#ifdef IS_MPI |
| 542 |
< |
a = atoms[a]->getGlobalIndex(); |
| 543 |
< |
b = atoms[b]->getGlobalIndex(); |
| 542 |
> |
a = atoms[a]->getGlobalIndex(); |
| 543 |
> |
b = atoms[b]->getGlobalIndex(); |
| 544 |
|
#endif //is_mpi |
| 545 |
< |
sprintf( painCave.errMsg, |
| 546 |
< |
"Constraint failure in constrainA at atom %d and %d.\n", |
| 547 |
< |
a, b ); |
| 548 |
< |
painCave.isFatal = 1; |
| 549 |
< |
simError(); |
| 550 |
< |
} |
| 545 |
> |
sprintf(painCave.errMsg, |
| 546 |
> |
"Constraint failure in constrainA at atom %d and %d.\n", a, |
| 547 |
> |
b); |
| 548 |
> |
painCave.isFatal = 1; |
| 549 |
> |
simError(); |
| 550 |
> |
} |
| 551 |
|
|
| 552 |
< |
rma = 1.0 / atoms[a]->getMass(); |
| 553 |
< |
rmb = 1.0 / atoms[b]->getMass(); |
| 552 |
> |
rma = 1.0 / atoms[a]->getMass(); |
| 553 |
> |
rmb = 1.0 / atoms[b]->getMass(); |
| 554 |
|
|
| 555 |
< |
gab = diffsq / ( 2.0 * ( rma + rmb ) * rpab ); |
| 555 |
> |
gab = diffsq / (2.0 * (rma + rmb) * rpab); |
| 556 |
|
|
| 557 |
|
dx = rab[0] * gab; |
| 558 |
|
dy = rab[1] * gab; |
| 559 |
|
dz = rab[2] * gab; |
| 560 |
|
|
| 561 |
< |
posA[0] += rma * dx; |
| 562 |
< |
posA[1] += rma * dy; |
| 563 |
< |
posA[2] += rma * dz; |
| 561 |
> |
posA[0] += rma * dx; |
| 562 |
> |
posA[1] += rma * dy; |
| 563 |
> |
posA[2] += rma * dz; |
| 564 |
|
|
| 565 |
< |
atoms[a]->setPos( posA ); |
| 565 |
> |
atoms[a]->setPos(posA); |
| 566 |
|
|
| 567 |
< |
posB[0] -= rmb * dx; |
| 568 |
< |
posB[1] -= rmb * dy; |
| 569 |
< |
posB[2] -= rmb * dz; |
| 567 |
> |
posB[0] -= rmb * dx; |
| 568 |
> |
posB[1] -= rmb * dy; |
| 569 |
> |
posB[2] -= rmb * dz; |
| 570 |
|
|
| 571 |
< |
atoms[b]->setPos( posB ); |
| 571 |
> |
atoms[b]->setPos(posB); |
| 572 |
|
|
| 573 |
|
dx = dx / dt; |
| 574 |
|
dy = dy / dt; |
| 575 |
|
dz = dz / dt; |
| 576 |
|
|
| 577 |
< |
atoms[a]->getVel( velA ); |
| 577 |
> |
atoms[a]->getVel(velA); |
| 578 |
|
|
| 579 |
< |
velA[0] += rma * dx; |
| 580 |
< |
velA[1] += rma * dy; |
| 581 |
< |
velA[2] += rma * dz; |
| 579 |
> |
velA[0] += rma * dx; |
| 580 |
> |
velA[1] += rma * dy; |
| 581 |
> |
velA[2] += rma * dz; |
| 582 |
|
|
| 583 |
< |
atoms[a]->setVel( velA ); |
| 583 |
> |
atoms[a]->setVel(velA); |
| 584 |
|
|
| 585 |
< |
atoms[b]->getVel( velB ); |
| 585 |
> |
atoms[b]->getVel(velB); |
| 586 |
|
|
| 587 |
< |
velB[0] -= rmb * dx; |
| 588 |
< |
velB[1] -= rmb * dy; |
| 589 |
< |
velB[2] -= rmb * dz; |
| 587 |
> |
velB[0] -= rmb * dx; |
| 588 |
> |
velB[1] -= rmb * dy; |
| 589 |
> |
velB[2] -= rmb * dz; |
| 590 |
|
|
| 591 |
< |
atoms[b]->setVel( velB ); |
| 591 |
> |
atoms[b]->setVel(velB); |
| 592 |
|
|
| 593 |
< |
moving[a] = 1; |
| 594 |
< |
moving[b] = 1; |
| 595 |
< |
done = 0; |
| 596 |
< |
} |
| 593 |
> |
moving[a] = 1; |
| 594 |
> |
moving[b] = 1; |
| 595 |
> |
done = 0; |
| 596 |
> |
} |
| 597 |
|
} |
| 598 |
|
} |
| 599 |
< |
|
| 600 |
< |
for(i=0; i<nAtoms; i++){ |
| 560 |
< |
|
| 599 |
> |
|
| 600 |
> |
for (i = 0; i < nAtoms; i++){ |
| 601 |
|
moved[i] = moving[i]; |
| 602 |
|
moving[i] = 0; |
| 603 |
|
} |
| 605 |
|
iteration++; |
| 606 |
|
} |
| 607 |
|
|
| 608 |
< |
if( !done ){ |
| 609 |
< |
|
| 610 |
< |
sprintf( painCave.errMsg, |
| 611 |
< |
"Constraint failure in constrainA, too many iterations: %d\n", |
| 572 |
< |
iteration ); |
| 608 |
> |
if (!done){ |
| 609 |
> |
sprintf(painCave.errMsg, |
| 610 |
> |
"Constraint failure in constrainA, too many iterations: %d\n", |
| 611 |
> |
iteration); |
| 612 |
|
painCave.isFatal = 1; |
| 613 |
|
simError(); |
| 614 |
|
} |
| 615 |
|
|
| 616 |
|
} |
| 617 |
|
|
| 618 |
< |
void Integrator::constrainB( void ){ |
| 619 |
< |
|
| 581 |
< |
int i,j,k; |
| 618 |
> |
template<typename T> void Integrator<T>::constrainB(void){ |
| 619 |
> |
int i, j; |
| 620 |
|
int done; |
| 621 |
|
double posA[3], posB[3]; |
| 622 |
|
double velA[3], velB[3]; |
| 625 |
|
int a, b, ax, ay, az, bx, by, bz; |
| 626 |
|
double rma, rmb; |
| 627 |
|
double dx, dy, dz; |
| 628 |
< |
double rabsq, pabsq, rvab; |
| 591 |
< |
double diffsq; |
| 628 |
> |
double rvab; |
| 629 |
|
double gab; |
| 630 |
|
int iteration; |
| 631 |
|
|
| 632 |
< |
for(i=0; i<nAtoms; i++){ |
| 632 |
> |
for (i = 0; i < nAtoms; i++){ |
| 633 |
|
moving[i] = 0; |
| 634 |
|
moved[i] = 1; |
| 635 |
|
} |
| 636 |
|
|
| 637 |
|
done = 0; |
| 638 |
|
iteration = 0; |
| 639 |
< |
while( !done && (iteration < maxIteration ) ){ |
| 603 |
< |
|
| 639 |
> |
while (!done && (iteration < maxIteration)){ |
| 640 |
|
done = 1; |
| 641 |
|
|
| 642 |
< |
for(i=0; i<nConstrained; i++){ |
| 607 |
< |
|
| 642 |
> |
for (i = 0; i < nConstrained; i++){ |
| 643 |
|
a = constrainedA[i]; |
| 644 |
|
b = constrainedB[i]; |
| 645 |
|
|
| 646 |
< |
ax = (a*3) + 0; |
| 647 |
< |
ay = (a*3) + 1; |
| 648 |
< |
az = (a*3) + 2; |
| 646 |
> |
ax = (a * 3) + 0; |
| 647 |
> |
ay = (a * 3) + 1; |
| 648 |
> |
az = (a * 3) + 2; |
| 649 |
|
|
| 650 |
< |
bx = (b*3) + 0; |
| 651 |
< |
by = (b*3) + 1; |
| 652 |
< |
bz = (b*3) + 2; |
| 650 |
> |
bx = (b * 3) + 0; |
| 651 |
> |
by = (b * 3) + 1; |
| 652 |
> |
bz = (b * 3) + 2; |
| 653 |
|
|
| 654 |
< |
if( moved[a] || moved[b] ){ |
| 654 |
> |
if (moved[a] || moved[b]){ |
| 655 |
> |
atoms[a]->getVel(velA); |
| 656 |
> |
atoms[b]->getVel(velB); |
| 657 |
|
|
| 658 |
< |
atoms[a]->getVel( velA ); |
| 659 |
< |
atoms[b]->getVel( velB ); |
| 660 |
< |
|
| 624 |
< |
vxab = velA[0] - velB[0]; |
| 625 |
< |
vyab = velA[1] - velB[1]; |
| 626 |
< |
vzab = velA[2] - velB[2]; |
| 658 |
> |
vxab = velA[0] - velB[0]; |
| 659 |
> |
vyab = velA[1] - velB[1]; |
| 660 |
> |
vzab = velA[2] - velB[2]; |
| 661 |
|
|
| 662 |
< |
atoms[a]->getPos( posA ); |
| 663 |
< |
atoms[b]->getPos( posB ); |
| 662 |
> |
atoms[a]->getPos(posA); |
| 663 |
> |
atoms[b]->getPos(posB); |
| 664 |
|
|
| 665 |
< |
for (j = 0; j < 3; j++) |
| 665 |
> |
for (j = 0; j < 3; j++) |
| 666 |
|
rab[j] = posA[j] - posB[j]; |
| 633 |
– |
|
| 634 |
– |
info->wrapVector( rab ); |
| 635 |
– |
|
| 636 |
– |
rma = 1.0 / atoms[a]->getMass(); |
| 637 |
– |
rmb = 1.0 / atoms[b]->getMass(); |
| 667 |
|
|
| 668 |
< |
rvab = rab[0] * vxab + rab[1] * vyab + rab[2] * vzab; |
| 640 |
< |
|
| 641 |
< |
gab = -rvab / ( ( rma + rmb ) * constrainedDsqr[i] ); |
| 668 |
> |
info->wrapVector(rab); |
| 669 |
|
|
| 670 |
< |
if (fabs(gab) > tol) { |
| 671 |
< |
|
| 645 |
< |
dx = rab[0] * gab; |
| 646 |
< |
dy = rab[1] * gab; |
| 647 |
< |
dz = rab[2] * gab; |
| 648 |
< |
|
| 649 |
< |
velA[0] += rma * dx; |
| 650 |
< |
velA[1] += rma * dy; |
| 651 |
< |
velA[2] += rma * dz; |
| 670 |
> |
rma = 1.0 / atoms[a]->getMass(); |
| 671 |
> |
rmb = 1.0 / atoms[b]->getMass(); |
| 672 |
|
|
| 673 |
< |
atoms[a]->setVel( velA ); |
| 673 |
> |
rvab = rab[0] * vxab + rab[1] * vyab + rab[2] * vzab; |
| 674 |
|
|
| 675 |
< |
velB[0] -= rmb * dx; |
| 656 |
< |
velB[1] -= rmb * dy; |
| 657 |
< |
velB[2] -= rmb * dz; |
| 675 |
> |
gab = -rvab / ((rma + rmb) * constrainedDsqr[i]); |
| 676 |
|
|
| 677 |
< |
atoms[b]->setVel( velB ); |
| 678 |
< |
|
| 679 |
< |
moving[a] = 1; |
| 680 |
< |
moving[b] = 1; |
| 681 |
< |
done = 0; |
| 682 |
< |
} |
| 677 |
> |
if (fabs(gab) > tol){ |
| 678 |
> |
dx = rab[0] * gab; |
| 679 |
> |
dy = rab[1] * gab; |
| 680 |
> |
dz = rab[2] * gab; |
| 681 |
> |
|
| 682 |
> |
velA[0] += rma * dx; |
| 683 |
> |
velA[1] += rma * dy; |
| 684 |
> |
velA[2] += rma * dz; |
| 685 |
> |
|
| 686 |
> |
atoms[a]->setVel(velA); |
| 687 |
> |
|
| 688 |
> |
velB[0] -= rmb * dx; |
| 689 |
> |
velB[1] -= rmb * dy; |
| 690 |
> |
velB[2] -= rmb * dz; |
| 691 |
> |
|
| 692 |
> |
atoms[b]->setVel(velB); |
| 693 |
> |
|
| 694 |
> |
moving[a] = 1; |
| 695 |
> |
moving[b] = 1; |
| 696 |
> |
done = 0; |
| 697 |
> |
} |
| 698 |
|
} |
| 699 |
|
} |
| 700 |
|
|
| 701 |
< |
for(i=0; i<nAtoms; i++){ |
| 701 |
> |
for (i = 0; i < nAtoms; i++){ |
| 702 |
|
moved[i] = moving[i]; |
| 703 |
|
moving[i] = 0; |
| 704 |
|
} |
| 705 |
< |
|
| 705 |
> |
|
| 706 |
|
iteration++; |
| 707 |
|
} |
| 675 |
– |
|
| 676 |
– |
if( !done ){ |
| 708 |
|
|
| 709 |
< |
|
| 710 |
< |
sprintf( painCave.errMsg, |
| 711 |
< |
"Constraint failure in constrainB, too many iterations: %d\n", |
| 712 |
< |
iteration ); |
| 709 |
> |
if (!done){ |
| 710 |
> |
sprintf(painCave.errMsg, |
| 711 |
> |
"Constraint failure in constrainB, too many iterations: %d\n", |
| 712 |
> |
iteration); |
| 713 |
|
painCave.isFatal = 1; |
| 714 |
|
simError(); |
| 715 |
< |
} |
| 685 |
< |
|
| 715 |
> |
} |
| 716 |
|
} |
| 717 |
+ |
*/ |
| 718 |
+ |
template<typename T> void Integrator<T>::rotationPropagation |
| 719 |
+ |
( StuntDouble* sd, double ji[3] ){ |
| 720 |
|
|
| 721 |
< |
void Integrator::rotate( int axes1, int axes2, double angle, double ji[3], |
| 722 |
< |
double A[3][3] ){ |
| 721 |
> |
double angle; |
| 722 |
> |
double A[3][3], I[3][3]; |
| 723 |
> |
int i, j, k; |
| 724 |
|
|
| 725 |
< |
int i,j,k; |
| 725 |
> |
// use the angular velocities to propagate the rotation matrix a |
| 726 |
> |
// full time step |
| 727 |
> |
|
| 728 |
> |
sd->getA(A); |
| 729 |
> |
sd->getI(I); |
| 730 |
> |
|
| 731 |
> |
if (sd->isLinear()) { |
| 732 |
> |
i = sd->linearAxis(); |
| 733 |
> |
j = (i+1)%3; |
| 734 |
> |
k = (i+2)%3; |
| 735 |
> |
|
| 736 |
> |
angle = dt2 * ji[j] / I[j][j]; |
| 737 |
> |
this->rotate( k, i, angle, ji, A ); |
| 738 |
> |
|
| 739 |
> |
angle = dt * ji[k] / I[k][k]; |
| 740 |
> |
this->rotate( i, j, angle, ji, A); |
| 741 |
> |
|
| 742 |
> |
angle = dt2 * ji[j] / I[j][j]; |
| 743 |
> |
this->rotate( k, i, angle, ji, A ); |
| 744 |
> |
|
| 745 |
> |
} else { |
| 746 |
> |
// rotate about the x-axis |
| 747 |
> |
angle = dt2 * ji[0] / I[0][0]; |
| 748 |
> |
this->rotate( 1, 2, angle, ji, A ); |
| 749 |
> |
|
| 750 |
> |
// rotate about the y-axis |
| 751 |
> |
angle = dt2 * ji[1] / I[1][1]; |
| 752 |
> |
this->rotate( 2, 0, angle, ji, A ); |
| 753 |
> |
|
| 754 |
> |
// rotate about the z-axis |
| 755 |
> |
angle = dt * ji[2] / I[2][2]; |
| 756 |
> |
sd->addZangle(angle); |
| 757 |
> |
this->rotate( 0, 1, angle, ji, A); |
| 758 |
> |
|
| 759 |
> |
// rotate about the y-axis |
| 760 |
> |
angle = dt2 * ji[1] / I[1][1]; |
| 761 |
> |
this->rotate( 2, 0, angle, ji, A ); |
| 762 |
> |
|
| 763 |
> |
// rotate about the x-axis |
| 764 |
> |
angle = dt2 * ji[0] / I[0][0]; |
| 765 |
> |
this->rotate( 1, 2, angle, ji, A ); |
| 766 |
> |
|
| 767 |
> |
} |
| 768 |
> |
sd->setA( A ); |
| 769 |
> |
} |
| 770 |
> |
|
| 771 |
> |
template<typename T> void Integrator<T>::rotate(int axes1, int axes2, |
| 772 |
> |
double angle, double ji[3], |
| 773 |
> |
double A[3][3]){ |
| 774 |
> |
int i, j, k; |
| 775 |
|
double sinAngle; |
| 776 |
|
double cosAngle; |
| 777 |
|
double angleSqr; |
| 783 |
|
|
| 784 |
|
// initialize the tempA |
| 785 |
|
|
| 786 |
< |
for(i=0; i<3; i++){ |
| 787 |
< |
for(j=0; j<3; j++){ |
| 786 |
> |
for (i = 0; i < 3; i++){ |
| 787 |
> |
for (j = 0; j < 3; j++){ |
| 788 |
|
tempA[j][i] = A[i][j]; |
| 789 |
|
} |
| 790 |
|
} |
| 791 |
|
|
| 792 |
|
// initialize the tempJ |
| 793 |
|
|
| 794 |
< |
for( i=0; i<3; i++) tempJ[i] = ji[i]; |
| 795 |
< |
|
| 794 |
> |
for (i = 0; i < 3; i++) |
| 795 |
> |
tempJ[i] = ji[i]; |
| 796 |
> |
|
| 797 |
|
// initalize rot as a unit matrix |
| 798 |
|
|
| 799 |
|
rot[0][0] = 1.0; |
| 803 |
|
rot[1][0] = 0.0; |
| 804 |
|
rot[1][1] = 1.0; |
| 805 |
|
rot[1][2] = 0.0; |
| 806 |
< |
|
| 806 |
> |
|
| 807 |
|
rot[2][0] = 0.0; |
| 808 |
|
rot[2][1] = 0.0; |
| 809 |
|
rot[2][2] = 1.0; |
| 810 |
< |
|
| 810 |
> |
|
| 811 |
|
// use a small angle aproximation for sin and cosine |
| 812 |
|
|
| 813 |
< |
angleSqr = angle * angle; |
| 813 |
> |
angleSqr = angle * angle; |
| 814 |
|
angleSqrOver4 = angleSqr / 4.0; |
| 815 |
|
top = 1.0 - angleSqrOver4; |
| 816 |
|
bottom = 1.0 + angleSqrOver4; |
| 823 |
|
|
| 824 |
|
rot[axes1][axes2] = sinAngle; |
| 825 |
|
rot[axes2][axes1] = -sinAngle; |
| 826 |
< |
|
| 826 |
> |
|
| 827 |
|
// rotate the momentum acoording to: ji[] = rot[][] * ji[] |
| 828 |
< |
|
| 829 |
< |
for(i=0; i<3; i++){ |
| 828 |
> |
|
| 829 |
> |
for (i = 0; i < 3; i++){ |
| 830 |
|
ji[i] = 0.0; |
| 831 |
< |
for(k=0; k<3; k++){ |
| 831 |
> |
for (k = 0; k < 3; k++){ |
| 832 |
|
ji[i] += rot[i][k] * tempJ[k]; |
| 833 |
|
} |
| 834 |
|
} |
| 835 |
|
|
| 836 |
< |
// rotate the Rotation matrix acording to: |
| 836 |
> |
// rotate the Rotation matrix acording to: |
| 837 |
|
// A[][] = A[][] * transpose(rot[][]) |
| 838 |
|
|
| 839 |
|
|
| 841 |
|
// calculation as: |
| 842 |
|
// transpose(A[][]) = transpose(A[][]) * transpose(rot[][]) |
| 843 |
|
|
| 844 |
< |
for(i=0; i<3; i++){ |
| 845 |
< |
for(j=0; j<3; j++){ |
| 844 |
> |
for (i = 0; i < 3; i++){ |
| 845 |
> |
for (j = 0; j < 3; j++){ |
| 846 |
|
A[j][i] = 0.0; |
| 847 |
< |
for(k=0; k<3; k++){ |
| 848 |
< |
A[j][i] += tempA[i][k] * rot[j][k]; |
| 847 |
> |
for (k = 0; k < 3; k++){ |
| 848 |
> |
A[j][i] += tempA[i][k] * rot[j][k]; |
| 849 |
|
} |
| 850 |
|
} |
| 851 |
|
} |
| 852 |
|
} |
| 853 |
+ |
|
| 854 |
+ |
template<typename T> void Integrator<T>::calcForce(int calcPot, int calcStress){ |
| 855 |
+ |
myFF->doForces(calcPot, calcStress); |
| 856 |
+ |
} |
| 857 |
+ |
|
| 858 |
+ |
template<typename T> void Integrator<T>::thermalize(){ |
| 859 |
+ |
tStats->velocitize(); |
| 860 |
+ |
} |
| 861 |
+ |
|
| 862 |
+ |
template<typename T> double Integrator<T>::getConservedQuantity(void){ |
| 863 |
+ |
return tStats->getTotalE(); |
| 864 |
+ |
} |
| 865 |
+ |
template<typename T> string Integrator<T>::getAdditionalParameters(void){ |
| 866 |
+ |
//By default, return a null string |
| 867 |
+ |
//The reason we use string instead of char* is that if we use char*, we will |
| 868 |
+ |
//return a pointer point to local variable which might cause problem |
| 869 |
+ |
return string(); |
| 870 |
+ |
} |
| 871 |
+ |
|
| 872 |
+ |
|
| 873 |
+ |
template<typename T> void Integrator<T>::printQuaternion(StuntDouble* sd){ |
| 874 |
+ |
Mat4x4d S; |
| 875 |
+ |
double I[3][3]; |
| 876 |
+ |
Vector4d j4; |
| 877 |
+ |
Vector3d j; |
| 878 |
+ |
Vector3d tempJ; |
| 879 |
+ |
Vector4d qdot; |
| 880 |
+ |
Vector4d omega4; |
| 881 |
+ |
Mat4x4d I4; |
| 882 |
+ |
Quaternion q; |
| 883 |
+ |
double I0; |
| 884 |
+ |
Vector4d p_qua; |
| 885 |
+ |
|
| 886 |
+ |
if (sd->isDirectional()){ |
| 887 |
+ |
sd->getQ(q.vec); |
| 888 |
+ |
sd->getI(I); |
| 889 |
+ |
sd->getJ(j.vec); |
| 890 |
+ |
|
| 891 |
+ |
//omega4[0] = 0.0; |
| 892 |
+ |
//omega4[1] = j[0]/I[0][0]; |
| 893 |
+ |
//omega4[2] = j[1]/I[1][1]; |
| 894 |
+ |
//omega4[3] = j[2]/I[2][2]; |
| 895 |
+ |
|
| 896 |
+ |
//S = getS(q); |
| 897 |
+ |
//qdot = 0.5 * S * omega4; |
| 898 |
+ |
|
| 899 |
+ |
//I0 = (qdot[1] * q[1] * I[0][0] + qdot[2] * q[2] * I[1][1] + qdot[3] * q[3] * I[2][2])/(qdot[1] * q[1]+ qdot[2] * q[2] + qdot[3] * q[3]); |
| 900 |
+ |
|
| 901 |
+ |
//I4.element[0][0] = I0; |
| 902 |
+ |
//I4.element[1][1] = I[0][0]; |
| 903 |
+ |
//I4.element[2][2] = I[1][1]; |
| 904 |
+ |
//I4.element[3][3] = I[2][2]; |
| 905 |
+ |
|
| 906 |
+ |
S = getS(q); |
| 907 |
+ |
j4[0] = 0.0; |
| 908 |
+ |
j4[1] = j[0]; |
| 909 |
+ |
j4[2] = j[1]; |
| 910 |
+ |
j4[3] = j[2]; |
| 911 |
+ |
|
| 912 |
+ |
p_qua = 2 * S * j4; |
| 913 |
+ |
|
| 914 |
+ |
j4 = 0.5 * S.transpose() * p_qua; |
| 915 |
+ |
//cout << "q0^2 + q1^2 + q2^2 + q3^2 = " << q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3] << endl; |
| 916 |
+ |
//cout << "q0*q0dot + q1*q1dot + q2 *q2dot + q3*q3dot = " <<q[0]*qdot[0] + q[1]*qdot[1] + q[2]*qdot[2] + q[3]*qdot[3] << endl; |
| 917 |
+ |
//cout << "q1*q1dot* Ixx + q2*q2dot* Iyy + q3 *q3dot* Izz = " << qdot[1] * q[1] * I[0][0] + qdot[2] * q[2] * I[1][1] + qdot[3] * q[3] * I[2][2] << endl; |
| 918 |
+ |
//cout << "q1*q1dot + q2 *q2dot + q3*q3dot = " << qdot[1] * q[1]+ qdot[2] * q[2] + qdot[3] * q[3] << endl; |
| 919 |
+ |
//cout << "I0 = " << I0 << endl; |
| 920 |
+ |
cout << "p_qua[0] = " << p_qua[0] << endl; |
| 921 |
+ |
} |
| 922 |
+ |
} |
| 923 |
+ |
|
| 924 |
+ |
template<typename T> Mat4x4d Integrator<T>::getS(const Quaternion& q){ |
| 925 |
+ |
Mat4x4d result; |
| 926 |
+ |
|
| 927 |
+ |
result.element[0][0] = q.x; |
| 928 |
+ |
result.element[0][1] = -q.y; |
| 929 |
+ |
result.element[0][2] = -q.z; |
| 930 |
+ |
result.element[0][3] = -q.w; |
| 931 |
+ |
|
| 932 |
+ |
result.element[1][0] = q.y; |
| 933 |
+ |
result.element[1][1] = q.x; |
| 934 |
+ |
result.element[1][2] = -q.w; |
| 935 |
+ |
result.element[1][3] = q.z; |
| 936 |
+ |
|
| 937 |
+ |
result.element[2][0] = q.z; |
| 938 |
+ |
result.element[2][1] = q.w; |
| 939 |
+ |
result.element[2][2] = q.x; |
| 940 |
+ |
result.element[2][3] = -q.y; |
| 941 |
+ |
|
| 942 |
+ |
result.element[3][0] = q.w; |
| 943 |
+ |
result.element[3][1] = -q.z; |
| 944 |
+ |
result.element[3][2] = q.y; |
| 945 |
+ |
result.element[3][3] = q.x; |
| 946 |
+ |
|
| 947 |
+ |
return result; |
| 948 |
+ |
} |
| 949 |
+ |
|
