outside memory allocation dopri5

MBprojects/PendulumSpringC/workR/src/main.c

@@ -69,6 +69,16 @@ int main(int argc, char const *argv[])
     mbs_dirdyn->options->save2file = 1;
     mbs_dirdyn->options->respath = PROJECT_SOURCE_DIR"/../resultsR";
 
+
+
+    mbs_dirdyn->options->adapt_time_step = 1;
+    mbs_dirdyn->options->adapt_rtoler = 1.0e-14;
+    mbs_dirdyn->options->adapt_atoler = 1.0e-14;
+    mbs_dirdyn->options->adapt_dt_max = 0.001;
+    mbs_dirdyn->options->adapt_verbose = 1;
+    
+    //mbs_dirdyn->options->realtime = 1;
+
     mbs_run_dirdyn(mbs_dirdyn, mbs_data);
     
     mbs_delete_dirdyn(mbs_dirdyn, mbs_data);

MBsysC/mbs_common/mbs_module/mbs_dirdyn.c

@@ -22,6 +22,8 @@
 #include "set_output.h"
 #include "dopri5.h"
 
+#define DOPRI5_NB_ALLOC_VEC 8 ///< number of vectors to allocate for dopri5
+
 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 
 MbsDirdyn* mbs_new_dirdyn(MbsData* mbs_data){
@@ -251,6 +253,7 @@ void mbs_dirdyn_loop(MbsDirdyn* dd, MbsData* mbs_data){
     FILE *animFile;
     FILE *fileout_dopri5;
     int i;
+    double **dopri5_alloc_tab;
 
     // NUMERICAL INTEGRATION
     // - - - - - - - - - - -
@@ -266,12 +269,29 @@ void mbs_dirdyn_loop(MbsDirdyn* dd, MbsData* mbs_data){
             fileout_dopri5 = NULL;
         }
 
+        // allocated vectors for dopri5
+        dopri5_alloc_tab = (double**) malloc(DOPRI5_NB_ALLOC_VEC*sizeof(double*));
+
+        for(i=0; i<DOPRI5_NB_ALLOC_VEC; i++)
+        {
+            dopri5_alloc_tab[i] = (double*) malloc (dd->nState*sizeof(double));
+        }
+
         dopri5(dd->nState, mbs_fct_dirdyn, dd->options->t0, dd->y, dd->options->tf, &(dd->options->adapt_rtoler), &(dd->options->adapt_atoler),
-            0, solout_dopri5, 1, fileout_dopri5, 0.0, 0.0, 0.0, 0.0, 0.0, dd->options->adapt_dt_max, dd->options->dt0, dd->options->adapt_nmax, 1, 0, 0, NULL, 0, mbs_data, dd);
+            0, solout_dopri5, 1, fileout_dopri5, 0.0, 0.0, 0.0, 0.0, 0.0, dd->options->adapt_dt_max, dd->options->dt0, dd->options->adapt_nmax,
+            1, 0, 0, NULL, 0, dopri5_alloc_tab, mbs_data, dd);
+
+        // release memory allocated for dopri5 vectors
+        for(i=0; i<DOPRI5_NB_ALLOC_VEC; i++)
+        {
+            free(dopri5_alloc_tab[i]);
+        }
+        free(dopri5_alloc_tab);
     }
     else
     {
-        while(dd->tsim < dd->options->tf){
+        while(dd->tsim < dd->options->tf)
+        {
 
             // user loop
             user_loop(mbs_data, dd);

MBsysC/mbs_common/mbs_module/mbs_dirdyn.h

@@ -107,10 +107,6 @@ typedef struct MbsDirdyn
     /** counter for checking wheter results must be saved */
     int savePeriodCounter;
 
-    // adaptive time step
-    double adapt_last_t_save; ///< last time a value was saved [s]
-    double adapt_last_t_rt;   ///< last time the real-time modules were called [s]
-
 } MbsDirdyn;
 
 

MBsysC/mbs_common/mbs_numerics/dopri5.c

@@ -9,7 +9,7 @@
 static long      nfcn, nstep, naccpt, nrejct;
 static double    hout, xold, xout;
 static unsigned  nrds, *indir;
-static double    *yy1, *k1, *k2, *k3, *k4, *k5, *k6, *ysti;
+double *yy1, *k1, *k2, *k3, *k4, *k5, *k6, *ysti;
 static double    *rcont1, *rcont2, *rcont3, *rcont4, *rcont5;
 
 
@@ -446,13 +446,13 @@ static int dopcor (unsigned n, FcnEqDiff fcn, double x, double* y, double xend,
 
 
 /* front-end */
-// modif: MbsData *s, MbsDirdyn *dd added
+// modif: double **dopri5_alloc_tab, MbsData *s, MbsDirdyn *dd added
 int dopri5
  (unsigned n, FcnEqDiff fcn, double x, double* y, double xend, double* rtoler,
     double* atoler, int itoler, SolTrait solout, int iout, FILE* fileout, double uround,
     double safe, double fac1, double fac2, double beta, double hmax, double h,
     long nmax, int meth, long nstiff, unsigned nrdens, unsigned* icont, unsigned licont,
-    MbsData *s, MbsDirdyn *dd)
+    double **dopri5_alloc_tab, MbsData *s, MbsDirdyn *dd)
 {
     int       arret, idid;
     unsigned  i;
@@ -597,14 +597,14 @@ int dopri5
         hmax = xend - x;
 
     /* is there enough free memory for the method ? */
-    yy1 = (double*) malloc (n*sizeof(double));
-    k1 = (double*) malloc (n*sizeof(double));
-    k2 = (double*) malloc (n*sizeof(double));
-    k3 = (double*) malloc (n*sizeof(double));
-    k4 = (double*) malloc (n*sizeof(double));
-    k5 = (double*) malloc (n*sizeof(double));
-    k6 = (double*) malloc (n*sizeof(double));
-    ysti = (double*) malloc (n*sizeof(double));
+    yy1  = dopri5_alloc_tab[0];
+    k1   = dopri5_alloc_tab[1];
+    k2   = dopri5_alloc_tab[2];
+    k3   = dopri5_alloc_tab[3];
+    k4   = dopri5_alloc_tab[4];
+    k5   = dopri5_alloc_tab[5];
+    k6   = dopri5_alloc_tab[6];
+    ysti = dopri5_alloc_tab[7];
 
     if (!yy1 || !k1 || !k2 || !k3 || !k4 || !k5 || !k6 || !ysti)
     {
@@ -616,22 +616,7 @@ int dopri5
     /* when a failure has occured, we return -1 */
     if (arret)
     {
-        if (ysti)
-            free (ysti);
-        if (k6)
-            free (k6);
-        if (k5)
-            free (k5);
-        if (k4)
-            free (k4);
-        if (k3)
-            free (k3);
-        if (k2)
-            free (k2);
-        if (k1)
-            free (k1);
-        if (yy1)
-            free (yy1);
+        /* modif: remove yy1, k1, k2, k3, k4, k5, k6, ysti memory release (free) */
         if (indir)
             free (indir);
         if (rcont5)
@@ -651,14 +636,9 @@ int dopri5
     {
         idid = dopcor (n, fcn, x, y, xend, hmax, h, rtoler, atoler, itoler, fileout,
                      solout, iout, nmax, uround, meth, nstiff, safe, beta, fac1, fac2, icont, s, dd); // modif: s and dd added
-        free (ysti);
-        free (k6);
-        free (k5);    /* reverse order freeing too increase chances */
-        free (k4);    /* of efficient dynamic memory managing       */
-        free (k3);
-        free (k2);
-        free (k1);
-        free (yy1);
+        
+        /* modif: remove yy1, k1, k2, k3, k4, k5, k6, ysti memory release (free) */
+
         if (indir)
             free (indir);
         if (rcont5)

MBsysC/mbs_common/mbs_numerics/dopri5.h

@@ -212,8 +212,9 @@ extern int dopri5
     unsigned nrdens, /* number of components for which dense outpout is required */
     unsigned* icont, /* indexes of components for which dense output is required, >= nrdens */
     unsigned licont, /* declared length of icon */
-    MbsData *s,      /* Robotran main fields */
-    MbsDirdyn *dd    /* direct dynamics */
+    double **dopri5_alloc_tab, /* modif: tabular of allocated vectors */
+    MbsData *s,      /* modif: Robotran main fields */
+    MbsDirdyn *dd    /* modif: direct dynamics */
 ); // modif: MbsData *s, MbsDirdyn *dd added
 
 extern double contd5