[Fix] finish integrator called twice #263

MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_bader.c

@@ -186,5 +186,5 @@ void error_bader(MbsData *mbs_data, MbsDirdyn *dd, int err) {
     mbs_msg(">>DIRDYN>>\n");
     mbs_msg(">>DIRDYN>> Error during integration in direct dynamics at time %g s !\n", mbs_data->tsim);
     mbs_msg(">>DIRDYN>> During Bader integrator [%d] \n", err);
-    finish_bader(mbs_data, dd);
+    // finish_bader(mbs_data, dd); // already called in mbs_dirdyn_finish
 }

MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_custom.c

@@ -123,5 +123,5 @@ void error_custom(MbsData *mbs_data, MbsDirdyn *dd, int err) {
     mbs_msg("\t >>Custom>>\n");
     mbs_msg("\t >>Custom>> Error during integration in direct dynamics at time %g s !\n", mbs_data->tsim);
     mbs_msg("\t >>Custom>> During Custom integrator [%d] \n", err);
-    finish_custom(mbs_data, dd);
+    // finish_custom(mbs_data, dd); // already called in mbs_dirdyn_finish
 }
\ No newline at end of file

MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_dopri5.c

@@ -153,5 +153,5 @@ void error_dopri5(MbsData *mbs_data, MbsDirdyn *dd, int err) {
     mbs_msg("\t >>DIRDYN>>\n");
     mbs_msg("\t >>DIRDYN>> Error during integration in direct dynamics at time %g s !\n", mbs_data->tsim);
     mbs_msg("\t >>DIRDYN>> During Dopri 5 integrator [%d] \n", err);
-    finish_dopri5(mbs_data, dd);
+    // finish_dopri5(mbs_data, dd); // already called in mbs_dirdyn_finish
 }
\ No newline at end of file

MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_euler_explicit.c

@@ -128,7 +128,7 @@ void error_eulerEx(MbsData *mbs_data, MbsDirdyn *dd, int err)
     mbs_msg("\t >>Euler explicit>>\n");
     mbs_msg("\t >>Euler explicit>> Error during integration in direct dynamics at time %g s !\n", mbs_data->tsim);
     mbs_msg("\t >>Euler explicit>> During time integration [%d] \n", err);
-    finish_eulerEx(mbs_data, dd);
+    // finish_eulerEx(mbs_data, dd); // already called in mbs_dirdyn_finish
 }
 
 

MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_euler_implicit.c

@@ -151,5 +151,5 @@ void error_euler_implicit(MbsData *mbs_data, MbsDirdyn *dd, int err) {
     mbs_msg(">>DIRDYN>>\n");
     mbs_msg(">>DIRDYN>> Error during integration in direct dynamics at time %g s !\n", mbs_data->tsim);
     mbs_msg(">>DIRDYN>> During Euler Implicit integrator [%d] \n", err);
-    finish_euler_implicit(mbs_data, dd);
+    // finish_euler_implicit(mbs_data, dd); // already called in mbs_dirdyn_finish
 }
\ No newline at end of file

MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_rk4.c

@@ -122,5 +122,5 @@ void error_rk4(MbsData *mbs_data, MbsDirdyn *dd, int err) {
     mbs_msg("\t >>RK4>>\n");
     mbs_msg("\t >>RK4>> Error during integration in direct dynamics at time %g s !\n", mbs_data->tsim);
     mbs_msg("\t >>RK4>> During RK4 integrator [%d] \n", err);
-    finish_rk4(mbs_data, dd);
+    // finish_rk4(mbs_data, dd); // already called in mbs_dirdyn_finish
 }
\ No newline at end of file

MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_rosenbrock.c

@@ -169,5 +169,5 @@ void error_rosenbrock(MbsData *mbs_data, MbsDirdyn *dd, int err)
     mbs_msg("\t >>Rosenbrock>>\n");
     mbs_msg("\t >>Rosenbrock>> Error during integration in direct dynamics at time %g s !\n", mbs_data->tsim);
     mbs_msg("\t >>Rosenbrock>> During Rosenbrock integrator [%d] \n", err);
-    finish_rosenbrock(mbs_data, dd);
+    // finish_rosenbrock(mbs_data, dd); // already called in mbs_dirdyn_finish
 }
\ No newline at end of file

MBsysC/mbs_common/mbs_numerics/mbs_integrators/mbs_w_methods.c

@@ -146,6 +146,10 @@ int loop_w_methods(double t0, double tf, MbsData *mbs_data, MbsDirdyn *mbs_dd) {
 
 void finish_w_methods(MbsData *mbs_data, MbsDirdyn *dd) {
 
+    if (!dd) {
+        return;
+    }
+
     if (dd->nState != 0)
     {
         free_dvec_0(((MbsDirdynWMethods *)dd->integrator_struct)->dfdx);
@@ -180,5 +184,5 @@ void error_w_methods(MbsData *mbs_data, MbsDirdyn *dd, int err) {
     mbs_msg("\t >>DIRDYN>>\n");
     mbs_msg("\t >>DIRDYN>> Error during integration in direct dynamics at time %g s !\n", mbs_data->tsim);
     mbs_msg("\t >>DIRDYN>> During W Methods integrator [%d] \n", err);
-    finish_w_methods(mbs_data, dd);
+    // finish_w_methods(mbs_data, dd); // already called in mbs_dirdyn_finish
 }
\ No newline at end of file