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The goal of this document is to give a global view of the timestepping implementation in SICONOS.
<h1>Global Stack</h1>
<ul>
<li>Model::initialize
<ul>
<li>Topology::initialize</li>
<span style="padding-left:20px"><font size="-1">calculate relative degrees and number of index sets</font></span>
<li>Simulation::initalize</li>
<ul>
<li>EventManager::initialize</li>
<span style="padding-left:20px"><font size="-1">e.g. save data</font></span>
<li>DynamicSystem::initialize</li>
<li>OneStepIntegrator::initialize</li>
<li>TimeStepping::initLevelMax</li>
<span style="padding-left:20px"><font size="-1">define number of index sets by Simulation strategy and relative degree of UnitaryRelation</font></span>
<li>Topology::indexSetsResize</li>
<span style="padding-left:20px"><font size="-1">resizes vector of UnitaryRelationsGraph to include graphs of active UnitaryRelation in specific updateIndexSet method</font></span>
<li>Timestepping::initOSNS</li>
<span style="padding-left:20px"><font size="-1">initialize position depending index sets and OSNS</font></span>
</ul>
</ul>
<li>TimeStepping::computeOneStep -> TimeStepping::advanceToEvent -> TimeStepping::NewtonSolve</li>
<li>TimeStepping::nextStep</li>
</ul>
<h2>TimeStepping::newtonSolve</h2>
<ul>
<li>TimeStepping::computeInitialResidu</li>
<li>CASE : LINEAR</li>
<ul>
<li>TimeStepping::prepareNewtonIteration</li>
<li>TimeStepping::computeFreeState</li>
<li>TimeStepping::computeOneStepNSProblem(SICONOS_OSNSP_TimeStepping_VELOCITY)</li>
<li>TimeStepping::(Default)CheckSolverOutput</li>
<li>TimeStepping::update</li>
<li>TimeStepping::saveYandLambdaInMemory</li>
</ul>
<li>CASE : NONLINEAR -> LOOP WITH INDIVIDUAL STEP :</li>
<ul>
<li>TimeStepping::prepareNewtonIteration</li>
<li>TimeStepping::computeFreeState</li>
<li>TimeStepping::computeOneStepNSProblem(SICONOS_OSNSP_TimeStepping_VELOCITY)</li>
<li>TimeStepping::(Default)CheckSolverOutput</li>
<li>TimeStepping::update</li>
<li><strong>TimeStepping:newtonCheckConvergence</strong></li>
<li>TimeStepping::saveYandLambdaInMemory</li>
</ul>
</ul>
<h3>TimeStepping::computeInitialResidu</h3>
<ul>
<li>Relation::computeh <em>(virtual)</em> -> Relation::computeOutput</em></li>
<span style="padding-left:20px"><font size="-1">compute local gaps for all Relations</font></span>
<li>Relation::computeg <em>(virtual)</em> -> Relation::computeInput</li>
<span style="padding-left:20px"><font size="-1">compute local forces for all Relations</font></span>
<li>DynamicalSystem::updatePlugins</li>
<span style="padding-left:20px"><font size="-1">update plugin functions for the DynamicalSystem graph</font></span>
<li><font color="#FF0000">OneStepIntegrator</font>::computeResidu <em>(virtual)</em></li>
<span style="padding-left:20px"><font size="-1">compute the <strong>global free residu</strong> DS->residuFree and the <strong>global residu</strong> DS->workFree for all OneStepIntegrators to cope with nonlinearities in velocity equation</font></span>
<li>Relation::computeResiduY <em>(virtual)</em></li>
<span style="padding-left:20px"><font size="-1">compute the <strong>local free residu</strong> for output Relations (gaps) to cope their nonlinearities if switched on</font></span>
</ul>
<h3>TimeStepping::prepareNewtonIteration</h3>
<ul>
<li>Moreau::computeW</li>
<span style="padding-left:20px"><font size="-1">compute the iteration matrix for OneStepIntegrators</font></span>
<li>Relation::computeJach <em>(virtual)</em></li>
<span style="padding-left:20px"><font size="-1">compute output Jacobians for all Relations</font></span>
<li>Relation::computeJacg <em>(virtual)</em></li>
<span style="padding-left:20px"><font size="-1">compute input Jacobians for all Relations</font></span>
<li>DynamicalSystem::preparStep</li>
<span style="padding-left:20px"><font size="-1">prepare the DynamicalSystem graph : only to prepare for external software</font></span>
<li>Relation::preparNewtonIteration</li>
<span style="padding-left:20px"><font size="-1">prepare all Relations : only to prepare for external software</font></span>
<li>OneStepNonsmoothProblem::setHasBeUpdated</li>
<span style="padding-left:20px"><font size="-1">inform all OneStepNonsmoothProblems about changed topology due to new index sets after Timestepping::nextStep</font></span>
</ul>
<h3>TimeStepping::computeFreeState</h3>
<span style="padding-left:20px">-> <font color="#FF0000">OneStepIntegrator</font>::computeFreeState <em>(virtual)</em></span><br/>
<span style="padding-left:20px"><font size="-1">compute the global free state for all OneStepIntegrators in connected DynamicalSystems in DS->workFree</font></span>
<h3>Simulation::computeOneStepNSProblem</h3>
<span style="padding-left:20px">-> OneStepNonsmoothProblem::compute <em>(virtual)</em></span><br/>
<span style="padding-left:20px"><font size="-1">solve all OneStepNonsmoothProblems</font></span>
<ul>
<li>OneStepNonsmoothProblem::preCompute <em>(virtual) -</em></li>
<span style="padding-left:20px"><font size="-1">calculate input for numerical solution method from local values (cf. Section 'Building of Numerics Matrix')</font></span>
<li>Solve OneStepNonsmoothProblem</li>
<span style="padding-left:20px"><font size="-1">interface to numerical solution method</font></span>
<li>OneStepNonsmoothProblem::postCompute <em>(virtual)</em></li>
<span style="padding-left:20px"><font size="-1">restore local gap and force from numerical solution method output</font></span>
</ul>
<h3>TimeStepping::(Default)CheckSolverOutput</h3>
<span style="padding-left:20px"><font size="-1">reaction on numerical solution method flags</font></span>
<h3>TimeStepping::update</h3>
<ul>
<li>Simulation::updateInput</li>
<ul>
<li>OneStepIntegrator::resetNonsmoothPart <em>(virtual)</em></li>
<span style="padding-left:20px"><font size="-1">set global force to zero for all Interactions</font></span>
<li>Interaction::computeInput -> Relation::computeInput <em>(virtual)</em></li>
<span style="padding-left:20px"><font size="-1">compute global force from local forces for all Interactions</font></span>
</ul>
<li><font color="#FF0000">OneStepIntegrator</font>::updateState <em>(virtual)</em></li>
<span style="padding-left:20px"><font size="-1">compute new state for all OneStepIntegrators</font></span>
<li>TimeStepping::updateWorldFromDS</li>
<span style="padding-left:20px"><font size="-1">update connected software, e.g. CAD, with new state</font></span>
<li>Simulation::updateOutput -> Interaction::computeOutput -> Relation::computeOutput <em>(virtual)</em></li>
<span style="padding-left:20px"><font size="-1">compute local gaps from global values for all Interactions</font></span>
</ul>
<h3>TimeStepping::newtonCheckConvergence</h3>
<li><font color="#FF0000">OneStepIntegrator</font>::computeResidu <em>(virtual)</em></li>
<span style="padding-left:20px"><font size="-1">compute the <strong>global free residu</strong> DS->residuFree and the <strong>global residu</strong> DS->workFree for all OneStepIntegrators to cope with nonlinearities in velocity equation</font></span>
<li>Relation::computeResiduY <em>(virtual)</li>
<span style="padding-left:20px"><font size="-1">compute the <strong>local free residu</strong> for output Relations (gaps) to cope their nonlinearities if switched on</font></span>
<li>Relation::computeResiduR <em>(virtual)</em></li>
<span style="padding-left:20px"><font size="-1">compute the <strong>local free residu</strong> for input Relations (forces) to cope their nonlinearities if switched on</font></span>
<h3>TimeStepping::saveYandLambdaInMemory</h3>
<span style="padding-left:20px">-> Interaction::swapInMemory <em>(virtual)</em></span><br/>
<span style="padding-left:20px">-> Interaction::swapTimeStepInMemory <em>(virtual)</em></span><br/>
<span style="padding-left:20px"><font size="-1">save local gap and force for having initial guess and possibility to calculate Jacobians in next Newton step</font></span>
<h3>Building of Numerics Matrix</h3>
<span style="padding-left:20px">-> OneStepNonsmoothProblem::preCompute</span><br/>
<span style="padding-left:20px"><font size="-1">implemented only for LinearOSNS involving LinearOSNS::_M OSNSMatrix, LinearOSNS::_q SiconosVector</font></span>
<ul>
<li>OneStepNonsmoothProblem::updateUnitaryBlocks</li>
<ul>
<li>OneStepNonsmoothProblem::computeDiagUnitaryBlocks</li>
<li>OneStepNonsmoothProblem::computeUnitaryBlocks</li>
</ul>
<li>OSNSMatrix_M::fill(indexset)</li>
<li>_keepLambdaAndYState if switched on</li>
<li>LinearOSNS::computeq -> LinearOSNS::computeqBlock -> <font color="#FF0000">OneStepIntegrator</font>::computeFreeOutput</li>
<span style="padding-left:20px"><font size="-1">not implemented for Moreau2</font></span>
</ul>
<h2>TimeStepping::nextStep</h2>
<span style="padding-left:20px">-> Simulation::processEvent -> EventsManager::processEvents -> EventsManager::OptimizedProcessEvent</span><br/>
<ul>
<li>TimeDiscretizationEvent::process -> Simulation::saveInMemory</li>
<ul>
<li>OneStepIntegrator::saveInMemory -> DynamicalSystem::swapInMemory <em>(virtual)</em></li>
<span style="padding-left:20px"><font size="-1">save state and set global force to zero <strong>WHY</strong></font></span>
<li>OneStepNonsmoothProblem::saveInMemory -> Interaction::swapInMemory <em>(virtual)</em></li>
<li>OneStepNonsmoothProblem::saveTimeStepInMemory -> Interaction::swapTimeStepInMemory <em>(virtual)</em></li>
<span style="padding-left:20px"><font size="-1">save local gap and force</font></span>
</ul>
<li>Simulation::updateIndexSets</li>
<span style="padding-left:20px"><font size="-1">only position depending for TimeStepping and Newton loop does not depend on position</font></span>
<ul>
<li>TimeStepping::updateIndexSet</li>
<li>Topology::indexSet::update_vertices_indices</li>
<li>Topology::indexSet::update_edges_indices</li>
</ul>
<li>TimeDiscretization::increment</li>
<li>EventManager::update</li>
</ul>
<h2>TimeSteppingProjectOnConstraints::newtonSolve</h2>
<span style="padding-left:20px"><font size="-1">projection on position only for NewtonEulerDS with kinetic metric</font></span>
<ul>
<li>TimeSteppingProjectOnConstraints::newtonSolve</li>
<ul>
<li>TimeStepping::computeOneStepNSProblem</li>
<li>NewtonEulerDS::normalizeq</li>
<li>NewtonEulerDS::updateT</li>
<li>TimeStepping::updateWorldFromDS</li>
<li>Relation::computeh</li>
<li>Relation::computeJach</li>
</ul>
</ul>
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