dopri5 dirdyn strucure

MBsysC/mbs_common/mbs_module/mbs_dirdyn.c

@@ -37,8 +37,9 @@ MbsDirdyn* mbs_new_dirdyn(MbsData* mbs_data){
 
 MbsDirdyn* mbs_new_dirdyn_aux(MbsData* mbs_data, MbsAux* mbs_aux){
 
-    MbsDirdyn* dirdyn;
+    MbsDirdyn *dirdyn;
     MbsDirdynOptions* opts;
+    DirdynDopri5 *dopr;
 
     // Initialize the direct dynamic structure
     dirdyn = (MbsDirdyn*)malloc(sizeof(MbsDirdyn));
@@ -74,14 +75,19 @@ MbsDirdyn* mbs_new_dirdyn_aux(MbsData* mbs_data, MbsAux* mbs_aux){
     dirdyn->savePeriodCounter = 0;
 
     // adaptive time step
-    dirdyn->adapt_flag_save = 0;
+    dopr = (DirdynDopri5*) malloc(sizeof(DirdynDopri5));
+    dopr->flag_save = 0;
+
+    dirdyn->dopri5 = dopr;
 
     return dirdyn;
 }
 
 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 
-void mbs_delete_dirdyn(MbsDirdyn* dirdyn, MbsData* mbs_data){
+void mbs_delete_dirdyn(MbsDirdyn* dirdyn, MbsData* mbs_data)
+{
+    free(dirdyn->dopri5);
     free(dirdyn->options);
     freeMbsAux(dirdyn->mbs_aux, mbs_data);
     free(dirdyn);
@@ -141,8 +147,8 @@ void mbs_dirdyn_init(MbsDirdyn* dd, MbsData* mbs_data){
     dd->yd   = (double*) malloc(dd->nState*sizeof(double));
 
     // adaptive time step
-    dd->adapt_dydt_save = (double*) malloc(dd->nState*sizeof(double));
-    dd->adapt_solout_last_t = mbs_data->t0 - mbs_data->dt0;
+    dd->dopri5->dydt_save = (double*) malloc(dd->nState*sizeof(double));
+    dd->dopri5->solout_last_t = mbs_data->t0 - mbs_data->dt0;
 
     // real-time modules activated
     #ifdef REAL_TIME
@@ -360,10 +366,10 @@ void mbs_dirdyn_finish(MbsDirdyn* dd, MbsData* mbs_data){
     // user finalization
     user_finish(mbs_data, dd);
 
+    free(dd->dopri5->dydt_save);
     free(dd->y);
     free(dd->yd);
     free(dd->yout);
-    free(dd->adapt_dydt_save);
     
     if(dd->options->save2file){
         // write the buffer (in case they were not saved automatically)
@@ -524,12 +530,15 @@ double loop_dopri5(double cur_t0, double cur_tf, double dt0, double **dopri5_all
 void fcn_dopri5(unsigned n, long nr, double tsim, double y[], double dydt[], MbsData *s, MbsDirdyn *dd)
 {
     int i;
+    double *dydt_save;
+
+    dydt_save = dd->dopri5->dydt_save;
 
-    if ( (!nr) && dd->adapt_flag_save ) // use previously computed solution dor first time step
+    if ( (!nr) && dd->dopri5->flag_save ) // use previously computed solution dor first time step
     {
         for(i=0; i<n; i++)
         {
-            dydt[i] = dd->adapt_dydt_save[i];
+            dydt[i] = dydt_save[i];
         }
     }
     else // compute new solution
@@ -540,10 +549,10 @@ void fcn_dopri5(unsigned n, long nr, double tsim, double y[], double dydt[], Mbs
         {
             for(i=0; i<n; i++)
             {
-                dd->adapt_dydt_save[i] = dydt[i];
+                dydt_save[i] = dydt[i];
             }
 
-            dd->adapt_flag_save = 1;
+            dd->dopri5->flag_save = 1;
         }
     }
 }
@@ -561,9 +570,9 @@ void fcn_dopri5(unsigned n, long nr, double tsim, double y[], double dydt[], Mbs
  */
 void solout_dopri5(long nr, double tsim_old, double tsim, double y[], unsigned n, int* irtrn, MbsData *s, MbsDirdyn *dd)
 {
-    if (tsim > dd->adapt_solout_last_t)
+    if (tsim > dd->dopri5->solout_last_t)
     {
-        dd->adapt_solout_last_t = tsim;
+        dd->dopri5->solout_last_t = tsim;
 
          // user loop
         user_loop(s, dd);

MBsysC/mbs_common/mbs_module/mbs_dirdyn.h

@@ -75,6 +75,19 @@ typedef struct MbsDirdynOptions
 
 } MbsDirdynOptions;
 
+ /**
+  * Dopri5 structure for dirdyn
+  */
+typedef struct DirdynDopri5
+{
+    int flag_save;
+
+    double solout_last_t;
+
+    double *dydt_save;
+    
+
+} DirdynDopri5;
 
  /**
   * General structure of the direct dynamic module
@@ -107,10 +120,7 @@ typedef struct MbsDirdyn
     /** counter for checking wheter results must be saved */
     int savePeriodCounter;
 
-    // adaptive time step
-    int adapt_flag_save;
-    double *adapt_dydt_save;
-    double adapt_solout_last_t;
+    DirdynDopri5 *dopri5; ///< Dopri5 structure for dirdyn
 
 } MbsDirdyn;