Replace nalgebra types in the input and output data by plain arrays

bow-simulation · Aug 27, 2024 · cceea9c · cceea9c
1 parent ef65673
commit cceea9c
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Showing 2 changed files with 23 additions and 24 deletions.
diff --git a/solver/src/bow/output.rs b/solver/src/bow/output.rs
@@ -1,7 +1,6 @@
 use std::fs::File;
 use std::io::{BufReader, Write};
 use std::path::Path;
-use nalgebra::{SMatrix, SVector};
 use serde::{Deserialize, Serialize};
 use soa_derive::StructOfArray;
 use rmpv::Value;
@@ -129,16 +128,16 @@ pub struct State {
     pub time: f64,
     pub draw_length: f64,
 
-    pub limb_pos: Vec<SVector<f64, 3>>,    // x, y, φ
-    pub limb_vel: Vec<SVector<f64, 3>>,    // x, y, φ
-    pub limb_acc: Vec<SVector<f64, 3>>,    // x, y, φ
+    pub limb_pos: Vec<[f64; 3]>,    // x, y, φ
+    pub limb_vel: Vec<[f64; 3]>,    // x, y, φ
+    pub limb_acc: Vec<[f64; 3]>,    // x, y, φ
 
-    pub string_pos: Vec<SVector<f64, 2>>,    // x, y
-    pub string_vel: Vec<SVector<f64, 2>>,    // x, y
-    pub string_acc: Vec<SVector<f64, 2>>,    // x, y
+    pub string_pos: Vec<[f64; 2]>,    // x, y
+    pub string_vel: Vec<[f64; 2]>,    // x, y
+    pub string_acc: Vec<[f64; 2]>,    // x, y
 
-    pub limb_strain: Vec<SVector<f64, 3>>,    // epsilon, kappa, gamma
-    pub limb_force: Vec<SVector<f64, 3>>,     // N, M, Q
+    pub limb_strain: Vec<[f64; 3]>,    // epsilon, kappa, gamma
+    pub limb_force: Vec<[f64; 3]>,     // N, M, Q
 
     pub layer_strain: Vec<Vec<(f64, f64)>>,    // layer, point, back/belly
     pub layer_stress: Vec<Vec<(f64, f64)>>,    // layer, point, back/belly
@@ -166,7 +165,7 @@ pub struct LimbSetup {
 
     // Geometry at eval points
     pub length: Vec<f64>,
-    pub position: Vec<SVector<f64, 3>>,    // x, y, φ
+    pub position: Vec<[f64; 3]>,    // x, y, φ
     pub width: Vec<f64>,
     pub height: Vec<f64>,
 }

diff --git a/solver/src/bow/simulation.rs b/solver/src/bow/simulation.rs
@@ -81,7 +81,7 @@ impl<'a> Simulation<'a> {
         // Additional setup data
         let limb_position = s_eval.iter().map(|&s| {
             let position = profile.position(s);
-            vector![position[0], position[1], profile.angle(s)]
+            [position[0], position[1], profile.angle(s)]
         }).collect();
         let limb_width = s_eval.iter().map(|&s| { section.width(s) }).collect();
         let limb_height = s_eval.iter().map(|&s| { section.height(s) }).collect();
@@ -306,13 +306,13 @@ impl<'a> Simulation<'a> {
         let limb_tip = self.limb_nodes.last().unwrap();
 
         let string_pos = self.string_node.map(|node| vec![
-            vector![ system.get_displacement(limb_tip.x()), system.get_displacement(limb_tip.y()) ],
-            vector![ system.get_displacement(node.x()), system.get_displacement(node.y()) ],
+            [ system.get_displacement(limb_tip.x()), system.get_displacement(limb_tip.y()) ],
+            [ system.get_displacement(node.x()), system.get_displacement(node.y()) ],
         ]).unwrap_or_default();
 
         let string_vel = self.string_node.map(|node| vec![
-            vector![ system.get_velocity(limb_tip.x()), system.get_velocity(limb_tip.y()) ],
-            vector![ system.get_velocity(node.x()), system.get_velocity(node.y()) ],
+            [ system.get_velocity(limb_tip.x()), system.get_velocity(limb_tip.y()) ],
+            [ system.get_velocity(node.x()), system.get_velocity(node.y()) ],
         ]).unwrap_or_default();
 
         /*
@@ -324,15 +324,15 @@ impl<'a> Simulation<'a> {
 
         // Evaluate positions, forces and strains at the limb's evaluation points
 
-        let mut limb_pos = Vec::new();  // TODO: Capacity
-        let mut limb_strain = Vec::<SVector<f64, 3>>::new();  // TODO: Capacity
-        let mut limb_force = Vec::<SVector<f64, 3>>::new();  // TODO: Capacity
+        let mut limb_pos    = Vec::<[f64; 3]>::new();  // TODO: Capacity
+        let mut limb_strain = Vec::<[f64; 3]>::new();  // TODO: Capacity
+        let mut limb_force  = Vec::<[f64; 3]>::new();  // TODO: Capacity
 
         for &element in &self.limb_elements {
             let element = system.element_ref::<BeamElementCoRot>(element);
-            element.eval_positions().for_each(|u| limb_pos.push(u));
-            element.eval_strains().for_each(|e| limb_strain.push(e));
-            element.eval_forces().for_each(|f| limb_force.push(f));
+            element.eval_positions().for_each(|u| limb_pos.push(u.into()));
+            element.eval_strains().for_each(|e| limb_strain.push(e.into()));
+            element.eval_forces().for_each(|f| limb_force.push(f.into()));
         }
 
         // The grip force is the y component of the forces at the start of the limb.
@@ -355,12 +355,12 @@ impl<'a> Simulation<'a> {
             draw_length,
 
             limb_pos,
-            limb_vel: vec![SVector::zeros(); self.model.settings.n_limb_eval_points],
-            limb_acc: vec![SVector::zeros(); self.model.settings.n_limb_eval_points],
+            limb_vel: vec![[0.0; 3]; self.model.settings.n_limb_eval_points],
+            limb_acc: vec![[0.0; 3]; self.model.settings.n_limb_eval_points],
 
             string_pos,
             string_vel,
-            string_acc: vec![SVector::zeros(); 2],
+            string_acc: vec![[0.0; 2]; 2],
 
             limb_strain,
             limb_force,