Module of solver parameters. More...

Functions/Subroutines
subroutine	initialize_CONSTANTS (formulation, integrator, time_step, penaltycoef, psicoef, omegacoef, gravity)
	Inicialization of solver constants and parameters.
subroutine	initialize_CALLBACKS (forces, stiffness, damping, PQbarPrho, PMbarPrhoVdot, dgdy, dgdp, AdjInit, gfun, guiada, normal_collision)
	Initialization of solver callbacks: the user provides the subtoutines that the solver calls if necessary. It needs a previous call to constants::initialize_CONSTANTS.
subroutine	setDIM (newDIM)
subroutine	setNRT (newNRT)
subroutine	setNMT (newNMT)
subroutine	setNIN (newNIN)
Variables
REAL(8), dimension(3), pointer	PROTECTED
REAL(8), dimension(3)	g = (/0.d0,0.d0,-9.81d0/)
REAL(8)	dt = 1.d-2
REAL(8)	alfa = 1.d9
REAL(8)	psi = 1.d0
REAL(8)	omega = 10.d0
REAL(8)	tolNRppos = 1.d-10
REAL(8)	pivgdlval = 1.d15
INTEGER	maxiteppos = 1000
INTEGER, parameter	Dynamics = 1
INTEGER, parameter	Kinematics = 2
INTEGER, parameter	Sensitivity_ADJ = 3
INTEGER, parameter	Sensitivity_TLM = 4
INTEGER, parameter	E_RK = 1
INTEGER, parameter	I_RK = 2
INTEGER, parameter	I_RK_ADJ = 3
INTEGER, parameter	I_RK_TLM = 4
INTEGER	SWFORM = Dynamics
INTEGER	SWINT = E_RK
INTEGER	DIM = 0
INTEGER	NRT = 0
INTEGER	NIN = 0
INTEGER	NMT = 0
PROCEDURE(callback_forces), pointer	pforces_user
PROCEDURE(callback_stiffness), pointer	pstiffness_user
PROCEDURE(callback_damping), pointer	pdamping_user
PROCEDURE(callback_PQbarPrho), pointer	pqro_user
PROCEDURE(callback_PMbarPrhoVdot), pointer	pmpv_user
PROCEDURE(callback_dgdy), pointer	pdgdy_user
PROCEDURE(callback_dgdp), pointer	pdgdp_user
PROCEDURE(callback_AdjInit), pointer	padjinit_user
PROCEDURE(callback_gfun), pointer	pgfun_user
PROCEDURE(callback_guiada), pointer	pguiada
PROCEDURE(callback_normal_collision), pointer	pnormal_collision

Detailed Description

Module of solver parameters.

Function/Subroutine Documentation

subroutine CONSTANTS::initialize_CALLBACKS	(	PROCEDURE(callback_forces),optional	forces,
		PROCEDURE(callback_stiffness),optional	stiffness,
		PROCEDURE(callback_damping),optional	damping,
		PROCEDURE(callback_PQbarPrho),optional	PQbarPrho,
		PROCEDURE(callback_PMbarPrhoVdot),optional	PMbarPrhoVdot,
		PROCEDURE(callback_dgdy),optional	dgdy,
		PROCEDURE(callback_dgdp),optional	dgdp,
		PROCEDURE(callback_AdjInit),optional	AdjInit,
		PROCEDURE(callback_gfun),optional	gfun,
		PROCEDURE(callback_guiada),optional	guiada,
		PROCEDURE(callback_normal_collision),optional	normal_collision
	)

Initialization of solver callbacks: the user provides the subtoutines that the solver calls if necessary. It needs a previous call to constants::initialize_CONSTANTS.

Parameters:

forces	pointer to the subrutine of user forces. If it is not provided, MBSVT understands that user forces are not present and no call is performed.
PQbarPrho	${\bar Q}_{\rho}$ .
PMbarPrhoVdot	${\bar M}_{\rho}{\dot v}$ .
normal_colision,pointer	to subroutine of colission detection.

subroutine CONSTANTS::initialize_CONSTANTS	(	INTEGER,intent(in),optional	formulation,
		INTEGER,intent(in),optional	integrator,
		REAL(8),intent(in),optional	time_step,
		REAL(8),intent(in),optional	penaltycoef,
		REAL(8),intent(in),optional	psicoef,
		REAL(8),intent(in),optional	omegacoef,
		REAL(8),dimension(3),intent(in),optional	gravity
	)

Inicialization of solver constants and parameters.

Parameters:

formulation	there is only constants::Kinematics and constants::Dynamics.
integrator	numerical integrator for the dynamics. MBSVT uses FATODE integrators. The supported integrators are ERK so far.
time_step	paso de tiempo.
penaltycoef,psicoef,omegacoef	coeficientes para los términos de penalización.
gravity	aceleración de la gravedad (vector).