gsDynamicRK4.hpp

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#pragma once
 
namespace gismo
{
template <class T, bool _NL>
template <bool _nonlinear>
typename std::enable_if<(_nonlinear==false), gsStatus>::type
gsDynamicRK4<T,_NL>::_step_impl(const T t, const T dt, gsVector<T> & U, gsVector<T> & V, gsVector<T> & A) const
{
  /*
  */
  gsVector<T> Uold = U;
  gsVector<T> Vold = V;
  gsVector<T> Aold = A;
 
  index_t N = U.rows();
  gsVector<T> sol(2*N);
  sol.topRows(N) = Uold;
  sol.bottomRows(N) = Vold;
 
  gsVector<T> F, R; //R is the residual vector, and the new _computeForce give the inline factor
  gsSparseMatrix<T> M, Minv, C, K;
 
  // Computed at t=t0
  this->_computeMass(t,M);
  this->_computeMassInverse(M,Minv);
  // this->_computeForce(t,F);
  this->_computeDamping(U,t,C); //C is damping
  this->_computeJacobian(U,t,K);
 
  // this->_initOutput();
  // Initialize parameters for RK4
  gsVector<T> k1(2*N), k2(2*N), k3(2*N), k4(2*N);
  gsVector<T> Utmp, Vtmp;
 
  //Step1 (calculate k1)
  _computeForce(t, F);
  R = F - K * Uold;
  k1.topRows(N) = Vold;
  k1.bottomRows(N) = Minv * (R - C * Vold);
 
  //Step2 (calculate k2)
  Utmp = Uold + dt/2. * k1.topRows(N);
  Vtmp = Vold + dt/2. * k1.bottomRows(N);
  _computeForce(t + dt/2.,F);
  R = F - K * Utmp;
  k2.topRows(N) = Vtmp;
  k2.bottomRows(N) = Minv * ( R - C * Vtmp);
 
  //Step3 (calculate k3)
  Utmp = Uold + dt/2. * k2.topRows(N);
  Vtmp = Vold + dt/2. * k2.bottomRows(N);
  _computeForce(t + dt/2., F);
  R =  F - K * Utmp;
  k3.topRows(N) = Vtmp;
  k3.bottomRows(N) = Minv * ( R - C * Vtmp);
 
  //Step4 (calculate k4)
  Utmp = Uold + dt/2. * k3.topRows(N);
  Vtmp = Vold + dt/2. * k3.bottomRows(N);
  _computeForce(t + dt/2., F);
  R = F - K * Utmp;
  k4.topRows(N) = Vtmp;
  k4.bottomRows(N) = Minv * ( R - C * Vtmp);
 
  sol += 1./6 * dt * (k1 + 2.*k2 + 2.*k3 + k4);
 
  U = std::move(sol.topRows(N)); //Use std move to update vectors to avoid unnecessary copying
  V = std::move(sol.bottomRows(N));
 
  if (math::isinf(sol.norm()) || math::isnan(sol.norm()))
    return gsStatus::NotConverged;
  else
    return gsStatus::Success;
}
 
 
template <class T, bool _NL>
template <bool _nonlinear>
typename std::enable_if<(_nonlinear==true), gsStatus>::type
gsDynamicRK4<T,_NL>::_step_impl(const T t, const T dt, gsVector<T> & U, gsVector<T> & V, gsVector<T> & A) const
{
  /*
  */
  gsVector<T> Uold = U;
  gsVector<T> Vold = V;
  gsVector<T> Aold = A;
 
  index_t N = U.rows();
  gsVector<T> sol(2*N);
  sol.topRows(N) = Uold;
  sol.bottomRows(N) = Vold;
 
  gsVector<T> F, R; //R is the residual vector, and the new _computeForce give the inline factor
  gsSparseMatrix<T> M, Minv, C, K;
 
  // Computed at t=t0
  this->_computeMass(t,M);
  this->_computeMassInverse(M,Minv);
  // this->_computeForce(t,F);
  this->_computeDamping(U,t,C); //C is damping
  this->_computeJacobian(U,t,K);
 
  // this->_initOutput();
  // Initialize parameters for RK4
  gsVector<T> k1(2*N), k2(2*N), k3(2*N), k4(2*N);
  gsVector<T> Utmp, Vtmp;
 
  //Step1 (calculate k1)
  _computeResidual(Uold, t, R);
  k1.topRows(N) = Vold;
  k1.bottomRows(N) = Minv * (R - C * Vold);
 
  //Step2 (calculate k2)
  Utmp = Uold + dt/2. * k1.topRows(N);
  Vtmp = Vold + dt/2. * k1.bottomRows(N);
  _computeResidual(Utmp,t + dt/2.,R);
  k2.topRows(N) = Vtmp;
  k2.bottomRows(N) = Minv * ( R - C * Vtmp);
 
  //Step3 (calculate k3)
  Utmp = Uold + dt/2. * k2.topRows(N);
  Vtmp = Vold + dt/2. * k2.bottomRows(N);
  _computeResidual(Utmp,t + dt/2.,R);
  k3.topRows(N) = Vtmp;
  k3.bottomRows(N) = Minv * ( R - C * Vtmp);
 
  //Step4 (calculate k4)
  Utmp = Uold + dt/2. * k3.topRows(N);
  Vtmp = Vold + dt/2. * k3.bottomRows(N);
  _computeResidual(Utmp,t + dt/2.,R);
  k4.topRows(N) = Vtmp;
  k4.bottomRows(N) = Minv * ( R - C * Vtmp);
 
  sol += 1./6 * dt * (k1 + 2.*k2 + 2.*k3 + k4);
 
  U = std::move(sol.topRows(N)); //Use std move to update vectors to avoid unnecessary copying
  V = std::move(sol.bottomRows(N));
 
  if (math::isinf(sol.norm()) || math::isnan(sol.norm()))
    return gsStatus::NotConverged;
  else
    return gsStatus::Success;
}
 
template <class T, bool _NL>
gsStatus gsDynamicRK4<T,_NL>::_step(const T t, const T dt,
                                        gsVector<T> & U, gsVector<T> & V,
                                        gsVector<T> & A) const
{
    gsStatus status = gsStatus::NotStarted;
    status = _step_impl<_NL>(t,dt,U,V,A);
    return status;
}
 
template <class T, bool _NL>
void gsDynamicRK4<T,_NL>::_initOutput() const
{
  if (m_options.getSwitch("Verbose"))
  {
    gsInfo<<"\t";
    gsInfo<<std::setw(4)<<std::left<<"It.";
    gsInfo<<std::setw(17)<<std::left<<"|R|";
    gsInfo<<"\n";    
  }
}
 
template <class T, bool _NL>
void gsDynamicRK4<T,_NL>::_stepOutput(const index_t it, const T resnorm, const T /*updatenorm*/) const
{
  if (m_options.getSwitch("Verbose"))
  {
    gsInfo<<"\t";
    gsInfo<<std::setw(4)<<std::left<<it;
    gsInfo<<std::setw(17)<<std::left<<resnorm;
    gsInfo<<"\n";    
  }
}
 
} // namespace gismo