1# Siconos is a program dedicated to modeling, simulation and control 2# of non smooth dynamical systems. 3# 4# Copyright 2021 INRIA. 5# 6# Licensed under the Apache License, Version 2.0 (the "License"); 7# you may not use this file except in compliance with the License. 8# You may obtain a copy of the License at 9# 10# http://www.apache.org/licenses/LICENSE-2.0 11# 12# Unless required by applicable law or agreed to in writing, software 13# distributed under the License is distributed on an "AS IS" BASIS, 14# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15# See the License for the specific language governing permissions and 16# limitations under the License. 17# 18 19This is the changelog for the Siconos package, www.siconos.gforge.inria.fr. 20Entries are written backwards. That is, items at the bottom 21of the file were added first, and each subsequent addition is placed on a line 22 before it. 23 24 25-------------------------------------------------------------------------------- 26 Current (in development branch siconos/master) --> 4.5.0.rc 27-------------------------------------------------------------------------------- 28 29-------------------------------------------------------------------------------- 30 v 4.4.0 31-------------------------------------------------------------------------------- 32 33Main changes: 34 [...] 35 * [numerics] add sparse linear solver with a sparse rhs based on csparse 36 * [numerics] new implementation of NM_LU_solve and NM_Cholesky_solve 37 * [kernel] new implementation of linear solvers in SimpleMatrix 38 The class SimpleMatrix owns a internal NumericsMatrix thats is used for 39 linear system solving, based on Siconos/Numerics 40 * [numerics] add balancing matrice framework 41 * [numerics] add freezing contacts in Gauss seidel solvers 42 * [externals] add LDL support 43 * [mechanics] modify broadphase for Bullet 44 * [numerics] render the truncation in NM_entry 45 * [numerics] add matrix versioning 46 * [misc] automates the generation of docker end-user images 'siconos-ready' 47 48-------------------------------------------------------------------------------- 49 v4.3.x 50-------------------------------------------------------------------------------- 51Main changes: 52 [...] 53 54 Remove examples from siconos repository : moved to a dedicated repo 55 (https://gricad-gitlab.univ-grenoble-alpes.fr/nonsmooth/siconos-tutorials) 56 57 * [kernel, mechanics] implement 2D rigid bodies with Bullet contact detection. 58 59 * [numerics, kernel, mechanics] add rolling friction in 2D and 3D 60 61 * [numerics] add gfc3d_ipm 62 First implementation of Interior Point Method for GlobalFrictionalContact Problem 63 64 * [kernel] add SPARSE_COORDINATE type of matrices 65 66 * [numerics] add Cholesky and LDLT factorization 67 68 * [io] add raw_export from hdf5 fot plotting (gnuplot, for instance ) 69 add edge rendering in vview 70 71 * [kernel] add SecondOrderDS as a superclass for mechanical systems 72 LagrangianDS, NewtonEulerDS) 73 74 * [numerics] rework the test framework for the numerics solvers 75 76 77-------------------------------------------------------------------------------- 78 v4.2.x 79-------------------------------------------------------------------------------- 80Main changes: 81 [...] 82 83 * [kernel] remove Model class 84 85 86 * [kernel,mechanics,control,io] new API for the initilaization of simulation. 87 It is no longer mandatory to call for simulation initialize before running 88 a simulation. Warning: this modification is quit deep and changes a lot the 89 internal implementation of initialization of objects 90 91 * [kernel] add _relationMatrices and _relationVectors in Interaction 92 The objective is to be able to use modeling classes without resorting to 93 work matrices and vectors. Work matrices are only used for simulation purpose. 94 These matrices and vectors are stored in interaction rather than in Relation to 95 continue to be able to use just one relation in multiple interaction. If this 96 option continue to be chosen, we could also move relation matrices of LagrangianR 97 and NewtonEuler R. 98 99 * [kernel] remove work vectors and matrices, computeLinearizedOutput/Input, 100 prepareNewtonIteration from Relation classes. 101 102 * [kernel] Important change in initMemory of DS 103 The memory is only initialized if we need more steps in Memory. 104 This hacks is done to avoid multiple memory resetting if multiple simulations shared the same memory 105 In the latter case, this has to be done more carefully in the future. 106 107 * [kernel] separate initialization of DSlink and work vectors and matrices in Relation. 108 rename initialize --> initializeDSLink 109 rename initcomponents --> initializeWorkVectorsAndMatrices 110 111 * [numerics] add GFC3D_ADMM solvers 112 113 * [numerics] add NM_transpose() function and correct bug in NM_gemm() 114 115 * [numerics] add various ways of computing rho in NSN 116 117 * [numerics] add ConvexQP PG solver for LCP 118 119 * [numerics] new ConvexQP problem with PG algo 120 replace fc3d PG by convex PG 121 use ConvexQP as tangent problem in fc3d Panagiotoupoulos 122 123 * [numerics] correct the relative norm computation in LCP 124 * [numerics] new implementation of projected gradient algorithm for quadratic program on Cylinder 125 correct armijo type line search as proposed in 126 Calamai, P.H. and More, J.J., Projected gradient methods for linearly constrained problems, Mathematical Programming, 39 (1987), 93-116. 127 * [numerics] use enum for options in VI solvers EG and FPP 128 * [numerics] add gfc3d_VI_FixedPointProjection solver 129 130 131 * [mechanics] occ: new interface with OpenCascade, similar to the 132 interface with Bullet 133 * [io] mechanics_io, vview: OpenCascade Contactors, cf OCC_Examples 134 * [io] mechanics_io: management of external C plugins 135 136-------------------------------------------------------------------------------- 137 v4.1.0 138-------------------------------------------------------------------------------- 139Main changes: 140 * [kernel] refactoring the initialization of classes 141 lazy initialization driven by the simulation classes. 142 move of buffer and work vectors and matrices towards the graph 143 144 * [kernel] add Simulation::prepareIntegratorForDS to link the OSI 145 and DS and initialize dynamically-added DSs without requiring to 146 access Topology. 147 148 * [kernel] Addition of std::string casting and std:iostream 149 compatibility for SiconosAlgebra classes ("std::cout << myvector;") 150 151 * [kernel] Addition of InteractionManager class used to manage 152 Interactions that exist sporadically (e.g. collisions; inherited 153 from in [mechanics] as SiconosCollisionManager) 154 155 * [kernel] new implementation of MoreauJeanGOSI. 156 157 * [numerics] optimization of existing frictional contact solvers. 158 Especially, the semismooth Newton solvers are optimized with respect to the rho 159 parameter. The iterative solvers are also optimized with respect to the error computation 160 that is now adaptive for VI_FP and VI_EG solvers 161 162 * [numerics] ConvexQP is a new class of problem for solving QP over convex set giving 163 the projection onto the set. New solvers for frictional contact problems have been 164 added based on a successive approximations by convexification. 165 166 * [numerics] new solvers for frictional contact problems based on the Panagiotopoulos 167 approach (alternating normal and tangent problems) 168 169 * [numerics] update and correct global friction contact solvers. 170 new gfc3d_VI_* solvers. Update lmgc_driver for gfc3d 171 172 * [numerics] add functionalities and test in NumericsMatrix for sparse storage 173 174 * [numerics] make more solvers storage-agnostic. 175 176 * [numerics] remove LinearSystem (superseded by NM_gesv) 177 178 * [numerics] add better error management: see the example in numerics/swig/numerics.i 179 Instead of exiting, the library can now handle fatal error and return 180 more gracefully 181 182 * [numerics] PATHVI is now supported 183 184 * [io] siconos_vview: advance time automatically during video recording 185 186 * [io] siconos_vview: optionally disable rendering of contact forces 187 188 * [io] mechanics_io: time_of_birth and time_of_death properties 189 added for dynamically adding/removing objects from the scene 190 191 * [io] mechanics_io: added support for joint friction, joint 192 stops, joint coupling. 193 194 * [io] mechanics_io: added support for position-level 195 DirectProjection constraint resolution method, see 196 examples/Mechanics/DirectProjection. 197 198 * [io] added siconos_filter: tool to manipulate mechanics_io hdf5 files. 199 200 * [io] added siconos_run: tool to execute empty hdf5 files. 201 202 * [mechanics] new system for collision handling that hides 203 engine-specific implementation (Bullet), see BodyDS and ContactR 204 classes along with SiconosShape derivatives and SiconosContactor; 205 plane, sphere, prism, cylinder, mesh, heightmap supported. 206 207 * [mechanics] fixed handling of initial orientation offsets in all joints 208 209 * [mechanics] abstract NewtonEulerJointR introduced, supporting 210 measurement and calculation of forces in the degrees of freedom; 211 some PID examples given in examples/Mechanics/JointsTests. 212 213 * [mechanics] new joint relations supported: CylindricalJointR, FixedJointR 214 215 * [mechanics] relations between degrees of freedom added, allowing 216 for joint friction, joint stops, and coupled DoFs: JointFrictionR, 217 JointStopR, CouplerJointR. 218 219-------------------------------------------------------------------------------- 220 v4.0.0 221-------------------------------------------------------------------------------- 222Main changes: 223 224 * Software license change: GNU General Public License is replaced 225 everywhere by Apache license, version 2.0 except for the code in 226 directory named 'external' which is distributed under GNU Lesser 227 General Public License or equivalent. 228 229 * [numerics] overflows & NaN avoided with static analysis in generated 230 functions and jacobians (AlartCurnier, JeanMoreau, NaturalMap) 231 232 * [kernel] cleaning and rewriting of methods in NewtonEulerDS and NewtonEulerR 233 to be more explicit(avoid the use of DSlink in particular) 234 235 * [kernel] move some methods in Simulation to NonSmoothDynamicalSystem 236 (reset, swapInMemory, updateOutput, updateInput) and change the initialization 237 process. Remoce the weak_ptr to model. 238 239 * [kernel] remove DynamicalSystemsSet from OSI. 240 241 * [kernel] move simulation attibutes into the graph (WMap, W boundaryMap, ... ) 242 243 * [mechanics] siconos_vview (python) : fix for the visualization of static 244 objects + add -vtk-exports option for the visualization with paraview 245 246 * [io] mechanics_io (python) : implementation of restart from positions and 247 velocities ("cold restart") 248 249 * issue: [io] serialization needs boost <= 1.57 250 251-------------------------------------------------------------------------------- 252v3.8.0 253-------------------------------------------------------------------------------- 254Main Changes: 255 256 * [control] Creation of the Control module in Siconos 257 * [control] add new simulation wrapper to simplify the creation of a 258 simulation 259 260 * [externals] Create new externals module, a collection of codes 261 usesd in Siconos, but written by other people. This includes CSparse, 262 HEM5, LSODAR, LUMOD, ... 263 264 * [kernel] Add Boundary conditions for the NewtonEulerDS and fix a bug in the 265 LagrangianDS boundary condition 266 * [kernel] Development of D1MinusLinear for NEwtonEulerDS and LagrangianDS 267 with Half explicit scheme at the velocity level. See paper with T. Schindler 268 in CMAME 2015 269 * [kernel] NewtonEulerDS Add internal forces and associated jacobians to improve 270 the convergence of the Newton loop. Remove adhoc update of T and MObjToAbs 271 * [kernel] MoreauJeanOSI Add a correct treatment of NewtonEuler DS with the Newton 272 Loop 273 274 * [numerics] Add relaxation in NSGS solvers for FC3D 275 * [numerics] Add SOCLCP solvers 276 * [numerics] Improve updating rule for FP and EG solvers for VI 277 * [numerics] Update LMGC drivers for GFC3D 278 * [numerics] add GAMS interface + new solvers for FC3D based on AVI 279 reformulation 280 * [numerics] update PATH (from M. Ferris & co) glue code 281 * [numerics] partial fix for lexicographic Lemke. Thanks to Tobenna Peter, Igwe 282 for reporting the issue. Only LCP_LEMKE is fixed for now 283 * [numerics] new Lemke solver with rank-one updates. Currently 284 experimental (unstable). This uses LUMOD from M. Saunders, SOL, Stanford 285 * [numerics] enhance NumericsMatrix API 286 * [numerics] add an HDF5 logger 287 288 289################## Old Changelog files before merge 290 291This is the changelog for the Siconos/Numerics package, www.siconos.gforge.inria.fr. 292Entries are written backwards. That is, items at the bottom 293of the file were added first, and each subsequent addition is placed on a line 294before it. 295Do not hesitate to use the emacs mode Change Log for editing this file 296 297-------------------------------------------------------------------------------- 298 v3.7.0 299-------------------------------------------------------------------------------- 300Main Changes: 301 302 * add generic Newton-based with linesearch solvers for MCP and NCP 303 * rework LCP Solvers: fix some of them (FB and min merit functions) and add 304 new algorithm like Bard-type and Murty's rule. 305 * new AVI solver based on the work by Cao & Ferris. It is also used to 306 solve Relay problem 307 * new solver for box VI based on a merit function. 308 * add a callback mechanism to gather solver informations. 309 310-------------------------------------------------------------------------------- 311 v3.6.0 312-------------------------------------------------------------------------------- 313 314Changes: 315 * Cleaning Doxygen warning 316 * Numerics/src/hairer/ Add E. Hairer ode solvers (RADAU, HEM5) 317 * Numerics/src/NonSmoothSolvers/MLCP/MLCP_Solvers.h New mlcp pgs SBM solver (not stable) 318 * Numerics/src/NonSmoothSolvers/FrictionContact/GlobalFrictionContact3D rename 319 Primal Friction Cintact problem into Global Friction Contact problem 320 * GLOBALAC -> LOCALAC: former Sparse Global Alart Curnier 3D 321 friction contact solver, added in 3.4.0, is renamed Local Alart 322 Curnier : LOCALAC ("Global" word conflicts with Global coordinates) 323 * GlobalFrictionContact: add Sparse global Alart Curnier solver 324 (GLOBALAC) : use MUMPS if present (compilation with 325 -DWITH_MUMPS=ON) otherwise use embedded Timothy Davis lusol 326 * support for sparse matrices (coordinates and csc) in NumericsMatrix 327 328-------------------------------------------------------------------------------- 329 v3.5.0 25/10/2012 330-------------------------------------------------------------------------------- 331 332Changes: 333 * MixedComplementarity.* add structure and first test with FB algorithm 334 * MixedLinearComplementarity.* change the data structure to take into 335 account two storage types (M,q) and (A,B,C,D,a,b) 336 * Relay Fix huge bug in Relay with lb!=-1 and ub!=1 337 * FrictionContact Add LMGC driver. Add FrictionContact2D 338 solvers based on LCP reformulation and LEMKE and ENUM solvers 339 * LA.h: transform macros used to wrap LAPACK/BLAS functions into 340 static inline functions. This should not induced any loss of 341 performance 342 * Enable Numerics to be build with a C++ Compiler (needed by Visual 343 Studio). In this case it sets BUILD_AS_CPP. 344 * Misc changes for crosscompiling to Windows using mingw and Visual 345 Studio. The files SiconosCompat.h and SiconosCompat.c contains some 346 functions not defined by VS (most of them are C99) 347 348 349-------------------------------------------------------------------------------- 350 v3.4.0 351-------------------------------------------------------------------------------- 352 353Changes: 354 * Sparse Global Alart Curnier : MUMPS verbose if Numerics verbose 355 mode is on (icntl(4)=0, icntl(10)=1, icntl(11)=1) 356 * some signatures updates for swig interface 357 * *.h update Doxygen documentation. 358 * FrictionContact renumbering FrictionContact Solver. 359 360-------------------------------------------------------------------------------- 361 v3.3.0 362-------------------------------------------------------------------------------- 363 364Changes: 365 * FrictionContact3D Add ExtraGradient and HyperPlaneProjection 366 methods for solving 3D frictional contact problems as VI. 367 * FrictionContact3D Add tests and clean up old test series. 368 * lcp_enum deals with degenerated systems using dgels or dgesv. 369 * GenericMechanicalProblem: Build a reduced equivalent problem, 370 equalities are either substituted or written in one block. 371 * Sparse global Alart Curnier (with MUMPS solver) & gp line search. 372 373-------------------------------------------------------------------------------- 374 v3.2.0 - r2330 375-------------------------------------------------------------------------------- 376 377Changes: 378 3792010-09 Maurice Bremond <Maurice.Bremond@inrialpes.fr> 380 * Global Alart Curnier (dense version only) 381 with line search (GP) 382 3832010-09 Vincent Acary <vincent.Acary@Inrialpes.Fr> 384 * fix bugs in Alart Curnier CKPS and STD 385 * line search (GP) added 386 3872010 Olivier Bonnefon <olivier.bonnefon@inrialpes.fr> 388 * MLCP: Blocks of equalities and inequalities can be mixed. 389 * Solver name is replaced by an interger id. 390 * GenericMechanicalProblem: a problem where the equalities, inequalities and friction contact 3D are mixed. 391 * Quartic formulation of a unitary friction contact 3D like a polynome(artan(theta)) or a polynome of nu. 392 393 394-------------------------------------------------------------------------------- 395 v3.0.0 - 396-------------------------------------------------------------------------------- 397Notes: 398 399Changes: 4002010-01-12 Vincent Acary <vincent.acary@inrialpes.fr> 401 * Start Relay solver with ENUM and Lemke scheme 402 403 4042008-01-01 Olivier Bonnefon <olivier.bonnefon@inrialpes.fr> 405 * NonSmoothSolvers Add MLCP solvers. 406 407 4082008-01 Franck Perignon <Franck.Perignon@inrialpes.fr> 409 * NSSpack: split into several dir (one for each solver/formulation) 410 => create NSSTools, LCP ... 411 * Add header files 412 413 4142007-11-12 Franck Perignon <Franck.Perignon@inrialpes.fr> 415 416 * NSSPack.h: split into lcp_solvers.h, pfc_3D_solvers.h ... 417 * Add utilities to handle with blocks-matrices in pfc_3D solvers 418 419-------------------------------------------------------------------------------- 420 v2.1.1 - August, 23rd 2007 (release 839) 421-------------------------------------------------------------------------------- 422Notes: 423 424Changes: 425 426-------------------------------------------------------------------------------- 427 v2.1.0 - June, 28th 2007 (release 809) 428------------------------------------------------------------------------------- 429Notes: 430 431Changes: 432 4332007-03-02 Vincent Acary <vincent,acary@inrialpes.fr> 434 435 * lcp_solver : Modification of the convergence criteria 436 * lcp_solver : Renaming lcp_nlgs into lcp_pgs 437 * lcp_solver : Renaming lcp_sor into lcp_psor 438 439-------------------------------------------------------------------------------- 440 v2.0.1 - December, 14th 2006 (release 626) 441-------------------------------------------------------------------------------- 442Notes: 443 444Main Changes: 445 446-------------------------------------------------------------------------------- 447 v2.0.0 - November, 30th 2006 448-------------------------------------------------------------------------------- 449Notes: 450 451Main Changes: 4522006-10-09 Franck Perignon <franck.perignon@inrialpes.fr> 453 454 * Remove lemke routines and keep only lexicoLemke 455 456-------------------------------------------------------------------------------- 457 v1.3.0 - 07 september 2006 (release 567) 458-------------------------------------------------------------------------------- 459Notes: 460 461Changes: 462 4632006-09-07 Pascal Denoyelle <pascal.denoyelle@inrialpes.fr> 464 465 * Add LCP solver for block matrices 466 * Review convergence criteria for LCP solvers 467 468-------------------------------------------------------------------------------- 469 v1.2.0 - (release 508) 470-------------------------------------------------------------------------------- 471Notes: 472 473Changes: 474 4752006-03-24 Vincent Acary <vincent.acary@inrialpes.fr> 476 477 * INSTALL, src/Makefile.am, src/dummy.cpp 478 First draft of a linking strategy on MacOsX 479 4802006-03-22 Vincent Acary <vincent.acary@inrialpes.fr> 481 482 * lcp_solver.c, lcp_sor.c, lcp_newton_FB.c, NSSpack.h 483 Removing not reliable solvers. 484 Adding Draft version of the sor algorihm and the newton based on 485 Fischer-Bursmeister function. 486 4872006-02-27 Franck Perignon <franck.perignon@inrialpes.fr> 488 489 * configure.ac -> run autoupdate to remove obsolete macros. 490 Warning: must add insure related part after. 491 Keep configure.ac.old to work with older 492 autotools version. 493 494 4952006-02-24 Franck Perignon <franck.perignon@inrialpes.fr> 496 497 * Makefile.am -> make install also install doc in @prefix@ 498 499-------------------------------------------------------------------------------- 500 v1.1.1 - 15 February 2006 (release 421) 501-------------------------------------------------------------------------------- 502 503Notes: 504 505Changes: 5062006-02-15 Vincent Acary <vincent.acary@inrialpes.fr> 507 508 * /macros/ac_f77_library_ldflags.m4 : This file is added and 509 replaced the system defined macro. A small correction is done 510 to neglect -lcrt2.o option at linking on MacOsX. This bug will 511 be normally corrected in further version of autoconf. 512 5132006-02-13 Vincent Acary <vincent.acary@inrialpes.fr> 514 515 * /src/NSSpack/test/Makefile.am 516 Use of the variable XFAIL_TESTS for tests expected failures 517 5182006-02-10 Franck Perignon <franck.perignon@inrialpes.fr> 519 Vincent Acary <vincent.acary@inrialpes.fr> 520 521 * Update macros m4 for cppunit => the same as in kernel 522 (this to correct install bug 494) 523 Minor changes in configure.ac, (--with-name rather than 524 --with-local-name) 525 * Update obsolete keywords in Doxygen config file 526 * Changes in headers files for odepack: add usefull functions 527 for Lsodar solver in Kernel. 528 529-------------------------------------------------------------------------------- 530 v1.1.0 - February 2006 (release 385) 531-------------------------------------------------------------------------------- 532 533Notes: 534 535Changes: 536 5372006-01-31 Franck Perignon <franck.perignon@inrialpes.fr> 538 Vincent Acary <vincent.acary@inrialpes.fr> 539 540 * rename reconf.sh in autogen.sh and m4 directory in macros 541 Use standard acx_blas and lapack macros. 542 Warning: new options for configure ( -> configure --help for details ) 543 544 5452006-01-20 Vincent Acary <vincent.acary@inrialpes.fr> 546 547 * configure.ac, src/utils/blaslapack.h, f2c.h: Add workaround for 548 gcc-4.0.2 gfortran-4.0.2 and so on. Use of a local f2c.h for gcc4. 549 use of the macro AC_F77_LIBRARY_LDFLAGS for linking gcc and gfortran 550 compiled codes 551 552-------------------------------------------------------------------------------- 553 v1.0 - November 2005 (release 341) 554-------------------------------------------------------------------------------- 555 556 - Solverpack renamed in NSSPack 557 - Fixed warnings on invalid pointer type due to integer types 558 - Matlab interface 559 560-------------------------------------------------------------------------------- 561 v1.0 - October 2005 (release 304) 562-------------------------------------------------------------------------------- 563 564 Numerical algorihtms for: 565 - ODE time integration (odepack directory) 566 - LCP solvers (solverpack directory) 567 - Relay solvers ( " " ) 568 - 2D and 3D contact friction solvers ( " ) 569 570 571-------------------------------------------------------------------------------- 572 v3.7.0 573-------------------------------------------------------------------------------- 574Main Changes: 575 576 * unify Relation API + rework computeh and computeg such that they 577 have no hidden side-effect 578 * First Order Relations are now stateless 579 * Fix newton-loop for First Order Systems + relations. The fully 580 non-linear case is now supported 581 * translation of siconos script in Python to improve portability. 582 * Removal of XML-related code 583 584-------------------------------------------------------------------------------- 585 v3.6.0 October 2013 586-------------------------------------------------------------------------------- 587Main Changes: 588 589 * Update ublas bindings. 590 * Add interface to eigenproblems solvers from boost ublas (bindings) 591 * Fix bug in interactions (lambda's reset) 592 * Remove using namespace std to obtain compatible signature between .hpp and *.cpp. 593 Start to clean doxygen warning 594 * Add lambdaMemory in interaction and 595 rename Interaction swapInMemory --> swapInOldVariables 596 rename Interaction swapInTimeStepInMemory --> swapInMemory 597 * Complete implementation of D1MinusLinear for LagrangianDS and NewtonEulerDS. 598 work on serevral nonlinear examples. SliderCrank, RockingBLock, ... 599 * /Kernel/src/modelingTools/DynamicalSystem.cpp Rename _workspace in DS 600 * /Kernel/src/simulationTools/Hem5.hpp First HEM5 integration 601 * /Kernel/src/simulationTools/MLCP.hpp New mlcp pgs SBM solver (not stable) 602 * move multibodyTools in a new module : Mechanics 603 * Add VisitorMaker for the creation of visitors on base classes 604 (example of usage in Mechanics/MechanicsIO.cpp) 605 * Support boost up to version 1.53 606 * EventsManager has been rewritten and the drift in time has been 607 removed 608 * Sliding Mode Controller have been updated and improved 609 * SiconosAlgebra has been reworked: the interface has been clean up 610 and SimpleMatrix.cpp has been splitted to lower the memory used during 611 the compilation 612 613-------------------------------------------------------------------------------- 614 v3.5.0 October 2012 615-------------------------------------------------------------------------------- 616Main Changes: 617 * Remove unneeded Plugin class 618 * Include C++ header instead of C ones (math.h -> cmath, ...) 619 * Misc. changes to enable crosscompilation to windows with mingw and 620 Visual Studio 621 * Transform some classes into namespace (ioMatrix, iovector, SSL). 622 Split SSL in 2 : SSL and SSLH (SSL Helper). The latter is the one used 623 in the code, the former contains the Plateform specific part. 624 * Remove UnitaryRelation 625 * SiconosAlgebra. SimpleVector is removed and now is SiconosVector. 626 * TimeSteppingProjectOnConstraints, TimeSteppingCombinedProjection 627 Rewrite entirely the code the use lambda[0] mand p[0]. 628 Add MoreauProjectOnConstraintsOSI to use a temporary vector for 629 storing q before projection. 630 * FirstOrderType2Radd computation of computeInput 631 * TimeStepping add _isNewtonConverge 632 633-------------------------------------------------------------------------------- 634 v3.4.0 March 2012 635-------------------------------------------------------------------------------- 636Main Changes: 637 * serialization hooks & some minor modifications to be boost serializable 638 * controlTools: add some new Actuator (PID and various SMC) and Sensor 639 (LinearSensor). API is not fixed yet. 640 * modelingTools: add a new objets ControlDynamicalSystem and 641 ControlFirstOrderLinearSystem aiming at providing a class handling 642 most details that are of no interest for control engineers 643 * modelingTools, simulationTools: add a bunch of copy contructor 644 (First Order Systems, Timediscretisation, ...) 645 * Fix a bug in the way we compute levels 646 * TimeSteppingProjectOnConstraints add treatment of Lagrangian system 647 Correct a bug in the construction of the Jacobian Matrix in the projection 648 operator. 649 * LagrangianR, NewtonEulerR remove useless attributes (_yProj) 650 * SchatzmanPaoli Add a draft (for linear systems) of the Schatzman-Paoli 651 scheme 652 653-------------------------------------------------------------------------------- 654 v3.3.0 655-------------------------------------------------------------------------------- 656Main Changes: 657 * NewtonEuler: Fix a bug in nablaqT computation. 658 * NewtonEuler: Include nabla _v (Omega I Omega) in the OSNSP 659 formulation. 660 * computeFreeOutput in OSI. Complete move of SiconosVisitor from 661 LinearOSNS in OSI concerning the computation of free outputs 662 * FirstOrderLinearDS and Moreau OSI. Correct some evaluations for 663 FirstOrderLinearDS 664 * Moreau. Add ThetaGamma schemes (x2) for FirstOrderDS 665 * NSDS. Review the computation of IsLinear 666 * Topology. Review and change isTimeInvariant 667 * Moreau. Start Sparse tests for LagrangianDS 668 * Newton in Timestepping. Review of th global process 669 * MultibodyTools : interface with Bullet collision 670 detection (broad phase and narrow phase) 671 * fix a bug with multiple edges in UnitaryRelations graph and the 672 computation of unitary blocks 673 674-------------------------------------------------------------------------------- 675 v3.2.0 - r2330 676-------------------------------------------------------------------------------- 677Notes: 678 679Main Changes: 680 6812010 Maurice Bremond <maurice.bremond@inrialpes.fr> 682 * Newton Euler Spheres under multibodyTools/3D 683 * unitary blocks stored on graph vertices and edges 684 6852010 Olivier Bonnefon <olivier.bonnefon@inrialpes.fr> 686 * Add some examples using the NewtonEuler approach. 687 * GenericMechanicalProblem, a new OSNSP using the corresponding solver in Numerics. 688 6892010-01-12 Vincent Acary <vincent.acary@inrialpes.fr> 690 * Add the BoundaryCondition classe to deal with the boundary conditions. 691 * Start RelayNSL and Relay ONSNS 692 * Plug Relay Driver for PGS, ENUM and Lemke scheme 693 694-------------------------------------------------------------------------------- 695 v3.1.0 - March 2009 696-------------------------------------------------------------------------------- 697 6982009 October Maurice Bremond <maurice.bremond@inrialpes.fr> 699 * from get<Member>Ptr() to member() 700 * member prefix with _ 701 702[...] 703 7042009 Olivier Bonnefon <olivier.bonnefon@inrialpes.fr> 705 * Add FirsrtOrderType2R, a type of first order relation. 706 * Add NewtonEulerDS, NewtonEulerR and a bouncing ball example based on the NewtonEuler. 707 * Add an electrical example using ideal switch. 708 7092009 March Maurice Bremond <maurice.bremond@inrialpes.fr> 710 * Add SiconosGraph, to replace maps of DynamicalSystems and maps 711 of UnitaryRelations. 712 7132008 December Maurice Bremond <maurice.bremond@inrialpes.fr> 714 * Sparse Matrix : from siconos coordinates storage to boost storage 715 with compress Row 716 7172008 October Franck Perignon <franck.perignon@inrialpes.fr> 718 * Add DynamicalSystem Factory 719 * Add M(x) in FirstOrder DS 720 * Add Relation Factory 721 * Remove DefaultPlugin lib/file 722 * Remove Model from TimeDiscretisation 723 + review of building/initialization process (to avoid cycling) 724 7252008 September Maurice Bremond <Maurice.Bremond@inrialpes.fr>, Franck Perignon <franck.perignon@inrialpes.fr> 726 * Use Smart pointers utilities for memory management 727 => review all files 728 729-------------------------------------------------------------------------------- 730 v3.0.0 - August 2008 731-------------------------------------------------------------------------------- 732Notes: 733 734Changes: 735 7362007 September Franck Perignon <franck.perignon@inrialpes.fr> 737 * Review event-driven 738 * Review "sets" management 739 * Replace Interaction/UnitaryRelation/DynamicalSystem/Set classes 740 with a template class SiconosSet 741 742-------------------------------------------------------------------------------- 743 v2.1.1 - August, 23rd 2007 (release 839) 744-------------------------------------------------------------------------------- 745 746Notes: 747 748Changes: 749 7502007 July Franck Perignon <franck.perignon@inrialpes.fr> 751 * Review SiconosAlgebra tool to improve computation times 752 (use ublas or ublas/atlas functions in a better way ...) 753 754-------------------------------------------------------------------------------- 755 v2.1.0 - June, 28th 2007 (release 809) 756-------------------------------------------------------------------------------- 757Notes: 758 759Changes: 760 7612007-02-28 Franck Perignon <franck.perignon@inrialpes.fr> 762 * Add LagrangianRheonomousR and LagrangianCompliantR Relations. 763 7642007-02-27 Franck Perignon <franck.perignon@inrialpes.fr> 765 * Review Relations organization: add/rename LinearTIR in FirstOrderLinearTIR, 766 add derived classes for LagrangianR. 767 7682007-02-08 Franck Perignon <franck.perignon@inrialpes.fr> 769 * Add a module controlTools 770 * Add Sensor, SensorFactory and SensorEvents in controlTools 771 * Add an EventsFactory 772 * Add EventsManager in Simulation (before: only present in EventDriven case) 773 * Create a "main" header file for each XXXTools location + one "SiconosKernel.h" 774 7752007-01-30 Franck Perignon <franck.perignon@inrialpes.fr> 776 * Add an abstract DynamicalSystem class, base of FirstOrder, Lagrangian ... 777 * Rename DynamicalSystem in FirstOrderDynamicalSystem, LinearDS in FirstOrderLinearDynamicalSystem 778 * Add a z, vector of parameters, ("discret" state) in DS 779 * Remove control (u,T) from DS. (future version: actuators/sensors to handle control, from outside, through z parameter) 780 7812007-01-23 Vincent Acary <Vincent.Acary@inrialpes.fr> 782 * configure.ac, MakefilePluginSample.in, ... : 783 Change the name of the variable SICONOS_EXT_LDFLAGS into 784 SICONOS_EXT_LIBS. Change MakefilePluginSample.am to avoid the use of 785 KernelCOnfig.sh (future remove). Add some bad tricks to allow the use 786 of the original ATLAS sources. Compilation and execution works on 787 MacOsX(intel). 788 7892007-01-16 Vincent Acary <Vincent.Acary@inrialpes.fr> 790 * configure.ac : 791 Move check for Lapack and Blas into the check macro for Numerics. 792 Should be replaced in future by only Atlas checking 793 794 7952007-01-10 Franck Perignon <franck.perignon@inrialpes.fr> 796 * Add Control class + resulting changes in DynamicalSystem, NSDS ... 797 798-------------------------------------------------------------------------------- 799 v2.0.1 - December, 14th 2006 (release 626) 800-------------------------------------------------------------------------------- 801Notes: 802 803Main Changes: 804 8052006-12-14 Franck Perignon <franck.perignon@inrialpes.fr> 806 * Updates for gcc4.1.1 compatibility (-ffriend-injection, ...) 807 808-------------------------------------------------------------------------------- 809 v2.0.0 - 30 November 2006 (release 616) 810-------------------------------------------------------------------------------- 811Notes: 812 813Main Changes: 814 8152006-10-11 Franck Perignon <franck.perignon@inrialpes.fr> 816 * Remove all lapack++ depencies; replace them by Boost-Ublas 817 Thus Vectors and Matrices are now fully based on Boost 818 * Review/update Doxygen doc - Based on v1.5.1. 819 Model/reference file for doc: Interaction.h 820 * Add boost/bindings in the sources (src/boost) 821 8222006-10-09 Franck Perignon <franck.perignon@inrialpes.fr> 823 * Add cppunit tests for MySimple and MyBlock matrices (boost) 824 8252006-09-26 Franck Perignon <franck.perignon@inrialpes.fr> 826 * Add Boost matrices and vectors in Kernel (from Aziz branch) 827 (MySiconosMatrix, MySimpleMatrix, MyBlockMatrix, MySiconosVector, 828 ioMatrix, ioVector classes) 829 830------------------------------------------------------------------------------- 831 v1.3.0 - 07 september 2006 (release 567) 832-------------------------------------------------------------------------------- 833 834Main Changes: 835 8362006-09-07 Franck Perignon <franck.perignon@inrialpes.fr> 837 * EventDriven for Lagrangian systems 838 8392006-07-10 Franck Perignon <franck.perignon@inrialpes.fr> 840 * Temporary blockVector version with copy of contain to provide contiguous save of 841 values in Memory 842 * Remove InteractionLink class 843 * Update TimeStepping/OSNS/OSI (use of indexSets) 844 * Update all samples 845 * add "size" arg. in non smooth law 846 8472006-06-28 Franck Perignon <franck.perignon@inrialpes.fr> 848 * Review constructors for Interaction, Relation and NonSmooth Law 849 8502006-06-22 Franck Perignon <franck.perignon@inrialpes.fr> 851 * Strategy renamed Simulation 852 8532006-06-07 Franck Perignon <franck.perignon@inrialpes.fr> 854 * add UnitaryRelation class 855 * add UnitaryRelationsSet class -> IndexSets management in Topology 856 857-------------------------------------------------------------------------------- 858 v1.2.0 - (release 508) 859-------------------------------------------------------------------------------- 860 861Main Changes: 862 8632006-05-21 Franck Perignon <franck.perignon@inrialpes.fr> 864 * add InteractionsSet class to manage set of Interactions for NSDS, Interaction, OSI ... 865 8662006-05-17 Franck Perignon <franck.perignon@inrialpes.fr> 867 * add DSSet class to manage set of Dynamical Systems for NSDS, Interaction, OSI ... 868 * Change the way relation and nslaw are handled by Interaction. See Doc/Dev_Notes/Interaction for details 869 * add Doc/Dev_Notes/Interaction 870 8712006-05-15 Franck Perignon <franck.perignon@inrialpes.fr> 872 * remove all nana related files and functions 873 8742006-05-02 Franck Perignon <franck.perignon@inrialpes.fr> 875 * various changes in SiconosDOMTreeTools, StrategyXML and OSIXML. 876 * review Moreau/Lsodar/OSI 877 * add SiconosTemplates directory in src/utils 878 8792006-04-10 Franck Perignon <franck.perignon@inrialpes.fr> 880 881 * Review DS and derived classes: remove vectorField/xDot 882 -> rhs (right-hand side) = f(x,t) + Tu 883 add computeRhs and computeJacobianXRhs in all derived classes, 884 plug-in for f(x,t) and its Jacobian. 885 Add/correct initialize(t) function in all DS classes, to compute/reset 886 state at time t. 887 8882006-03-28 Franck Perignon <franck.perignon@inrialpes.fr> 889 890 * Add LinearTIDS class 891 8922006-03-22 Franck Perignon <franck.perignon@inrialpes.fr> 893 894 * Set correct links between DynamicalSystem and its derived classes. 895 * Add tests for DS and derived classes. 896 8972006-03-21 Franck Perignon <franck.perignon@inrialpes.fr> 898 899 * Add BlockMatrix class, derived from SiconosMatrix. 900 * Add test functions for Matrices 901 9022006-03-16 Franck Perignon <franck.perignon@inrialpes.fr> 903 904 * Add SimpleMatrix class, derived from SiconosMatrix. 905 SiconosMatrix is now an abstract class 906 * Rename Composite in Block 907 9082006-03-13 Franck Perignon <franck.perignon@inrialpes.fr> 909 910 * lapackpp2.4.7 is now required 911 9122006-03-02 Franck Perignon <franck.perignon@inrialpes.fr> 913 914 * general review of Model/Strategy and TimeDiscretisation 915 9162006-02-28 Franck Perignon <franck.perignon@inrialpes.fr> 917 918 * global_Tests -> add this directory and related files 919 to allow "global" tests, ie automatic running of chosen 920 samples. 921 9222006-02-27 Franck Perignon <franck.perignon@inrialpes.fr> 923 924 * configure.ac -> run autoupdate to remove obsolete macros. 925 Warning: must add insure related part after. 926 Keep configure.ac.old to work with older 927 autotools version. 928 929-------------------------------------------------------------------------------- 930 v1.1.2 - (release 428) 931-------------------------------------------------------------------------------- 932Notes: bugs fixing version 933 934Changes: 935 9362006-02-24 Franck Perignon <franck.perignon@inrialpes.fr> 937 938 * add Event, EventsComparison and EventsManager 939 classes in simulation tools 940 => used in EventDriven strategy 941 * Makefile.am -> make install also install doc in @prefix@ 942 * Remove Adams class 943 9442006-02-22 Vincent Acary <vincent.acary@inrialpes.fr> 945 Franck Perignon <franck.perignon@inrialpes.fr> 946 * update configure.ac to generate automatically 947 siconos/siconos, siconos/MakefilePluginSample, 948 KernelConfig.sh. 949 9502006-02-19 Vincent Acary <vincent.acary@inrialpes.fr> 951 952 * /macros/ac_f77_library_ldflags.m4 : This file is added and 953 replaced the system defined macro. A small correction is done 954 to neglect -lcrt2.o option at linking on MacOsX. This bug will 955 be normally corrected in further version of autoconf. 956-------------------------------------------------------------------------------- 957 v1.1.1 - February 2006 (release 421) 958-------------------------------------------------------------------------------- 959 960Notes: 961 962Changes: 963 9642006-02-13 Franck Perignon <franck.perignon@inrialpes.fr> 965 966 * corrections in Moreau in order to handle u plug-in 967 for linear DS. 968 9692006-02-10 Franck Perignon <franck.perignon@inrialpes.fr> 970 971 * update Doxygen config file 972 * minor changes in m4 files and configure.ac (see install bug 495) 973 * prepare Event-Driven and Lsodar (Warning: first version, unstable!!) 974 and review of other related classes (OneStepIntegrator, xml ...) 975 976-------------------------------------------------------------------------------- 977 v1.1.0 - February 2006 (release 388) 978-------------------------------------------------------------------------------- 979 980Notes: 981 982 This new version includes friction modeling and simulation for 983 Lagrangian systems in 2D (3D version in devel) 984 985Changes: 986 9872006-02-02 Franck Perignon <franck.perignon@inrialpes.fr> 988 989 * Add macros/acx_lapackpp.m4 (corresponding to lapackpp 2.4.6) 990 9912006-02-01 Vincent Acary <vincent.acary@inrialpes.fr> Franck Perignon <franck.perignon@inrialpes.fr> 992 993 * Upgrade SiconosModelXml, configure and make to allow "make check" without install or setenv ... 994 9952006-01-31 Franck Perignon <franck.perignon@inrialpes.fr> 996 Vincent Acary <vincent.acary@inrialpes.fr> 997 998 * rename reconf.sh in autogen.sh and m4 directory in macros 999 Use standard acx_blas and lapack macros. 1000 Warning: new options for configure ( -> configure --help for details ) 1001 10022006-01-30 Vincent Acary <vincent.acary@inrialpes.fr> Franck Perignon <franck.perignon@inrialpes.fr> 1003 1004 * configure.ac, plugin_test/Makefile plugin/test/Makefile, preparation 1005 of the version v1.1.0 1006 * plugin_test -> plugin/test 1007 10082006-01-20 Vincent Acary <vincent.acary@inrialpes.fr> 1009 1010 * configure.ac: Add workaround for gcc-4.0.2 gfortran-4.0.2. 1011 Use of the macro AC_F77_LIBRARY_LDFLAGS for linking gcc and 1012 gfortran compiled codes 1013 10142006-15-01 Franck Perignon <franck.perignon@inrialpes.fr> 1015 1016 * src/simulationTools: review non-smooth problem solvers management 1017 10182005-12-22 Franck Perignon <franck.perignon@inrialpes.fr> 1019 1020 * src/simulationTools: add friction problem simulation tools (2D) 1021 * src/xml: add xml files for friction problems (2D) 1022 1023 1024-------------------------------------------------------------------------------- 1025 v1.0 - October 2005 (release 341) 1026-------------------------------------------------------------------------------- 1027 1028 - add modeling of Lagrangian (non linear) relations + related simulation part 1029 and cppunit tests + general review of all kind of relations. 1030 - Insure tests ok 1031 - add user-defined parameters list in all plug-in 1032 - add samples "Ball in a bowl", "robotic arm", 1033 - Fix various bugs in configure and m4 files (local libraries loading) 1034 1035-------------------------------------------------------------------------------- 1036 v1.0 - October 2005 (release 304) 1037-------------------------------------------------------------------------------- 1038 1039 Modeling of: 1040 - Linear Complementarity systems 1041 - Lagrangian dynamical systems with unilateral constraints 1042 - Linear relations 1043 - Complementarity conditions and Newton impact law. 1044 1045 Simulation: 1046 - Moreau Time-stepping scheme 1047 - Newton-Raphson 1048 - Linear Complementarity Problems 1049 1050-------------------------------------------------------------------------------- 1051 v3.7.0 1052-------------------------------------------------------------------------------- 1053Main Changes: 1054 1055 * add generic Newton-based with linesearch solvers for MCP and NCP 1056 * rework LCP Solvers: fix some of them (FB and min merit functions) and add 1057 new algorithm like Bard-type and Murty's rule. 1058 * new AVI solver based on the work by Cao & Ferris. It is also used to 1059 solve Relay problem 1060 * new solver for box VI based on a merit function. 1061 * add a callback mechanism to gather solver informations. 1062 1063-------------------------------------------------------------------------------- 1064 v3.6.0 1065-------------------------------------------------------------------------------- 1066 1067Changes: 1068 * Cleaning Doxygen warning 1069 * Numerics/src/hairer/ Add E. Hairer ode solvers (RADAU, HEM5) 1070 * Numerics/src/NonSmoothSolvers/MLCP/MLCP_Solvers.h New mlcp pgs SBM solver (not stable) 1071 * Numerics/src/NonSmoothSolvers/FrictionContact/GlobalFrictionContact3D rename 1072 Primal Friction Cintact problem into Global Friction Contact problem 1073 * GLOBALAC -> LOCALAC: former Sparse Global Alart Curnier 3D 1074 friction contact solver, added in 3.4.0, is renamed Local Alart 1075 Curnier : LOCALAC ("Global" word conflicts with Global coordinates) 1076 * GlobalFrictionContact: add Sparse global Alart Curnier solver 1077 (GLOBALAC) : use MUMPS if present (compilation with 1078 -DWITH_MUMPS=ON) otherwise use embedded Timothy Davis lusol 1079 * support for sparse matrices (coordinates and csc) in NumericsMatrix 1080 1081-------------------------------------------------------------------------------- 1082 v3.5.0 25/10/2012 1083-------------------------------------------------------------------------------- 1084 1085Changes: 1086 * MixedComplementarity.* add structure and first test with FB algorithm 1087 * MixedLinearComplementarity.* change the data structure to take into 1088 account two storage types (M,q) and (A,B,C,D,a,b) 1089 * Relay Fix huge bug in Relay with lb!=-1 and ub!=1 1090 * FrictionContact Add LMGC driver. Add FrictionContact2D 1091 solvers based on LCP reformulation and LEMKE and ENUM solvers 1092 * LA.h: transform macros used to wrap LAPACK/BLAS functions into 1093 static inline functions. This should not induced any loss of 1094 performance 1095 * Enable Numerics to be build with a C++ Compiler (needed by Visual 1096 Studio). In this case it sets BUILD_AS_CPP. 1097 * Misc changes for crosscompiling to Windows using mingw and Visual 1098 Studio. The files SiconosCompat.h and SiconosCompat.c contains some 1099 functions not defined by VS (most of them are C99) 1100 1101 1102-------------------------------------------------------------------------------- 1103 v3.4.0 1104-------------------------------------------------------------------------------- 1105 1106Changes: 1107 * Sparse Global Alart Curnier : MUMPS verbose if Numerics verbose 1108 mode is on (icntl(4)=0, icntl(10)=1, icntl(11)=1) 1109 * some signatures updates for swig interface 1110 * *.h update Doxygen documentation. 1111 * FrictionContact renumbering FrictionContact Solver. 1112 1113-------------------------------------------------------------------------------- 1114 v3.3.0 1115-------------------------------------------------------------------------------- 1116 1117Changes: 1118 * FrictionContact3D Add ExtraGradient and HyperPlaneProjection 1119 methods for solving 3D frictional contact problems as VI. 1120 * FrictionContact3D Add tests and clean up old test series. 1121 * lcp_enum deals with degenerated systems using dgels or dgesv. 1122 * GenericMechanicalProblem: Build a reduced equivalent problem, 1123 equalities are either substituted or written in one block. 1124 * Sparse global Alart Curnier (with MUMPS solver) & gp line search. 1125 1126-------------------------------------------------------------------------------- 1127 v3.2.0 - r2330 1128-------------------------------------------------------------------------------- 1129 1130Changes: 1131 11322010-09 Maurice Bremond <Maurice.Bremond@inrialpes.fr> 1133 * Global Alart Curnier (dense version only) 1134 with line search (GP) 1135 11362010-09 Vincent Acary <vincent.Acary@Inrialpes.Fr> 1137 * fix bugs in Alart Curnier CKPS and STD 1138 * line search (GP) added 1139 11402010 Olivier Bonnefon <olivier.bonnefon@inrialpes.fr> 1141 * MLCP: Blocks of equalities and inequalities can be mixed. 1142 * Solver name is replaced by an interger id. 1143 * GenericMechanicalProblem: a problem where the equalities, inequalities and friction contact 3D are mixed. 1144 * Quartic formulation of a unitary friction contact 3D like a polynome(artan(theta)) or a polynome of nu. 1145 1146 1147-------------------------------------------------------------------------------- 1148 v3.0.0 - 1149-------------------------------------------------------------------------------- 1150Notes: 1151 1152Changes: 11532010-01-12 Vincent Acary <vincent.acary@inrialpes.fr> 1154 * Start Relay solver with ENUM and Lemke scheme 1155 1156 11572008-01-01 Olivier Bonnefon <olivier.bonnefon@inrialpes.fr> 1158 * NonSmoothSolvers Add MLCP solvers. 1159 1160 11612008-01 Franck Perignon <Franck.Perignon@inrialpes.fr> 1162 * NSSpack: split into several dir (one for each solver/formulation) 1163 => create NSSTools, LCP ... 1164 * Add header files 1165 1166 11672007-11-12 Franck Perignon <Franck.Perignon@inrialpes.fr> 1168 1169 * NSSPack.h: split into lcp_solvers.h, pfc_3D_solvers.h ... 1170 * Add utilities to handle with blocks-matrices in pfc_3D solvers 1171 1172-------------------------------------------------------------------------------- 1173 v2.1.1 - August, 23rd 2007 (release 839) 1174-------------------------------------------------------------------------------- 1175Notes: 1176 1177Changes: 1178 1179-------------------------------------------------------------------------------- 1180 v2.1.0 - June, 28th 2007 (release 809) 1181------------------------------------------------------------------------------- 1182Notes: 1183 1184Changes: 1185 11862007-03-02 Vincent Acary <vincent,acary@inrialpes.fr> 1187 1188 * lcp_solver : Modification of the convergence criteria 1189 * lcp_solver : Renaming lcp_nlgs into lcp_pgs 1190 * lcp_solver : Renaming lcp_sor into lcp_psor 1191 1192-------------------------------------------------------------------------------- 1193 v2.0.1 - December, 14th 2006 (release 626) 1194-------------------------------------------------------------------------------- 1195Notes: 1196 1197Main Changes: 1198 1199-------------------------------------------------------------------------------- 1200 v2.0.0 - November, 30th 2006 1201-------------------------------------------------------------------------------- 1202Notes: 1203 1204Main Changes: 12052006-10-09 Franck Perignon <franck.perignon@inrialpes.fr> 1206 1207 * Remove lemke routines and keep only lexicoLemke 1208 1209-------------------------------------------------------------------------------- 1210 v1.3.0 - 07 september 2006 (release 567) 1211-------------------------------------------------------------------------------- 1212Notes: 1213 1214Changes: 1215 12162006-09-07 Pascal Denoyelle <pascal.denoyelle@inrialpes.fr> 1217 1218 * Add LCP solver for block matrices 1219 * Review convergence criteria for LCP solvers 1220 1221-------------------------------------------------------------------------------- 1222 v1.2.0 - (release 508) 1223-------------------------------------------------------------------------------- 1224Notes: 1225 1226Changes: 1227 12282006-03-24 Vincent Acary <vincent.acary@inrialpes.fr> 1229 1230 * INSTALL, src/Makefile.am, src/dummy.cpp 1231 First draft of a linking strategy on MacOsX 1232 12332006-03-22 Vincent Acary <vincent.acary@inrialpes.fr> 1234 1235 * lcp_solver.c, lcp_sor.c, lcp_newton_FB.c, NSSpack.h 1236 Removing not reliable solvers. 1237 Adding Draft version of the sor algorihm and the newton based on 1238 Fischer-Bursmeister function. 1239 12402006-02-27 Franck Perignon <franck.perignon@inrialpes.fr> 1241 1242 * configure.ac -> run autoupdate to remove obsolete macros. 1243 Warning: must add insure related part after. 1244 Keep configure.ac.old to work with older 1245 autotools version. 1246 1247 12482006-02-24 Franck Perignon <franck.perignon@inrialpes.fr> 1249 1250 * Makefile.am -> make install also install doc in @prefix@ 1251 1252-------------------------------------------------------------------------------- 1253 v1.1.1 - 15 February 2006 (release 421) 1254-------------------------------------------------------------------------------- 1255 1256Notes: 1257 1258Changes: 12592006-02-15 Vincent Acary <vincent.acary@inrialpes.fr> 1260 1261 * /macros/ac_f77_library_ldflags.m4 : This file is added and 1262 replaced the system defined macro. A small correction is done 1263 to neglect -lcrt2.o option at linking on MacOsX. This bug will 1264 be normally corrected in further version of autoconf. 1265 12662006-02-13 Vincent Acary <vincent.acary@inrialpes.fr> 1267 1268 * /src/NSSpack/test/Makefile.am 1269 Use of the variable XFAIL_TESTS for tests expected failures 1270 12712006-02-10 Franck Perignon <franck.perignon@inrialpes.fr> 1272 Vincent Acary <vincent.acary@inrialpes.fr> 1273 1274 * Update macros m4 for cppunit => the same as in kernel 1275 (this to correct install bug 494) 1276 Minor changes in configure.ac, (--with-name rather than 1277 --with-local-name) 1278 * Update obsolete keywords in Doxygen config file 1279 * Changes in headers files for odepack: add usefull functions 1280 for Lsodar solver in Kernel. 1281 1282-------------------------------------------------------------------------------- 1283 v1.1.0 - February 2006 (release 385) 1284-------------------------------------------------------------------------------- 1285 1286Notes: 1287 1288Changes: 1289 12902006-01-31 Franck Perignon <franck.perignon@inrialpes.fr> 1291 Vincent Acary <vincent.acary@inrialpes.fr> 1292 1293 * rename reconf.sh in autogen.sh and m4 directory in macros 1294 Use standard acx_blas and lapack macros. 1295 Warning: new options for configure ( -> configure --help for details ) 1296 1297 12982006-01-20 Vincent Acary <vincent.acary@inrialpes.fr> 1299 1300 * configure.ac, src/utils/blaslapack.h, f2c.h: Add workaround for 1301 gcc-4.0.2 gfortran-4.0.2 and so on. Use of a local f2c.h for gcc4. 1302 use of the macro AC_F77_LIBRARY_LDFLAGS for linking gcc and gfortran 1303 compiled codes 1304 1305-------------------------------------------------------------------------------- 1306 v1.0 - November 2005 (release 341) 1307-------------------------------------------------------------------------------- 1308 1309 - Solverpack renamed in NSSPack 1310 - Fixed warnings on invalid pointer type due to integer types 1311 - Matlab interface 1312 1313-------------------------------------------------------------------------------- 1314 v1.0 - October 2005 (release 304) 1315-------------------------------------------------------------------------------- 1316 1317 Numerical algorihtms for: 1318 - ODE time integration (odepack directory) 1319 - LCP solvers (solverpack directory) 1320 - Relay solvers ( " " ) 1321 - 2D and 3D contact friction solvers ( " ) 1322 1323 1324-------------------------------------------------------------------------------- 1325 v3.7.0 1326-------------------------------------------------------------------------------- 1327Main Changes: 1328 1329 * unify Relation API + rework computeh and computeg such that they 1330 have no hidden side-effect 1331 * First Order Relations are now stateless 1332 * Fix newton-loop for First Order Systems + relations. The fully 1333 non-linear case is now supported 1334 * translation of siconos script in Python to improve portability. 1335 * Removal of XML-related code 1336 1337-------------------------------------------------------------------------------- 1338 v3.6.0 October 2013 1339-------------------------------------------------------------------------------- 1340Main Changes: 1341 1342 * Update ublas bindings. 1343 * Add interface to eigenproblems solvers from boost ublas (bindings) 1344 * Fix bug in interactions (lambda's reset) 1345 * Remove using namespace std to obtain compatible signature between .hpp and *.cpp. 1346 Start to clean doxygen warning 1347 * Add lambdaMemory in interaction and 1348 rename Interaction swapInMemory --> swapInOldVariables 1349 rename Interaction swapInTimeStepInMemory --> swapInMemory 1350 * Complete implementation of D1MinusLinear for LagrangianDS and NewtonEulerDS. 1351 work on serevral nonlinear examples. SliderCrank, RockingBLock, ... 1352 * /Kernel/src/modelingTools/DynamicalSystem.cpp Rename _workspace in DS 1353 * /Kernel/src/simulationTools/Hem5.hpp First HEM5 integration 1354 * /Kernel/src/simulationTools/MLCP.hpp New mlcp pgs SBM solver (not stable) 1355 * move multibodyTools in a new module : Mechanics 1356 * Add VisitorMaker for the creation of visitors on base classes 1357 (example of usage in Mechanics/MechanicsIO.cpp) 1358 * Support boost up to version 1.53 1359 * EventsManager has been rewritten and the drift in time has been 1360 removed 1361 * Sliding Mode Controller have been updated and improved 1362 * SiconosAlgebra has been reworked: the interface has been clean up 1363 and SimpleMatrix.cpp has been splitted to lower the memory used during 1364 the compilation 1365 1366-------------------------------------------------------------------------------- 1367 v3.5.0 October 2012 1368-------------------------------------------------------------------------------- 1369Main Changes: 1370 * Remove unneeded Plugin class 1371 * Include C++ header instead of C ones (math.h -> cmath, ...) 1372 * Misc. changes to enable crosscompilation to windows with mingw and 1373 Visual Studio 1374 * Transform some classes into namespace (ioMatrix, iovector, SSL). 1375 Split SSL in 2 : SSL and SSLH (SSL Helper). The latter is the one used 1376 in the code, the former contains the Plateform specific part. 1377 * Remove UnitaryRelation 1378 * SiconosAlgebra. SimpleVector is removed and now is SiconosVector. 1379 * TimeSteppingProjectOnConstraints, TimeSteppingCombinedProjection 1380 Rewrite entirely the code the use lambda[0] mand p[0]. 1381 Add MoreauProjectOnConstraintsOSI to use a temporary vector for 1382 storing q before projection. 1383 * FirstOrderType2Radd computation of computeInput 1384 * TimeStepping add _isNewtonConverge 1385 1386-------------------------------------------------------------------------------- 1387 v3.4.0 March 2012 1388-------------------------------------------------------------------------------- 1389Main Changes: 1390 * serialization hooks & some minor modifications to be boost serializable 1391 * controlTools: add some new Actuator (PID and various SMC) and Sensor 1392 (LinearSensor). API is not fixed yet. 1393 * modelingTools: add a new objets ControlDynamicalSystem and 1394 ControlFirstOrderLinearSystem aiming at providing a class handling 1395 most details that are of no interest for control engineers 1396 * modelingTools, simulationTools: add a bunch of copy contructor 1397 (First Order Systems, Timediscretisation, ...) 1398 * Fix a bug in the way we compute levels 1399 * TimeSteppingProjectOnConstraints add treatment of Lagrangian system 1400 Correct a bug in the construction of the Jacobian Matrix in the projection 1401 operator. 1402 * LagrangianR, NewtonEulerR remove useless attributes (_yProj) 1403 * SchatzmanPaoli Add a draft (for linear systems) of the Schatzman-Paoli 1404 scheme 1405 1406-------------------------------------------------------------------------------- 1407 v3.3.0 1408-------------------------------------------------------------------------------- 1409Main Changes: 1410 * NewtonEuler: Fix a bug in nablaqT computation. 1411 * NewtonEuler: Include nabla _v (Omega I Omega) in the OSNSP 1412 formulation. 1413 * computeFreeOutput in OSI. Complete move of SiconosVisitor from 1414 LinearOSNS in OSI concerning the computation of free outputs 1415 * FirstOrderLinearDS and Moreau OSI. Correct some evaluations for 1416 FirstOrderLinearDS 1417 * Moreau. Add ThetaGamma schemes (x2) for FirstOrderDS 1418 * NSDS. Review the computation of IsLinear 1419 * Topology. Review and change isTimeInvariant 1420 * Moreau. Start Sparse tests for LagrangianDS 1421 * Newton in Timestepping. Review of th global process 1422 * MultibodyTools : interface with Bullet collision 1423 detection (broad phase and narrow phase) 1424 * fix a bug with multiple edges in UnitaryRelations graph and the 1425 computation of unitary blocks 1426 1427-------------------------------------------------------------------------------- 1428 v3.2.0 - r2330 1429-------------------------------------------------------------------------------- 1430Notes: 1431 1432Main Changes: 1433 14342010 Maurice Bremond <maurice.bremond@inrialpes.fr> 1435 * Newton Euler Spheres under multibodyTools/3D 1436 * unitary blocks stored on graph vertices and edges 1437 14382010 Olivier Bonnefon <olivier.bonnefon@inrialpes.fr> 1439 * Add some examples using the NewtonEuler approach. 1440 * GenericMechanicalProblem, a new OSNSP using the corresponding solver in Numerics. 1441 14422010-01-12 Vincent Acary <vincent.acary@inrialpes.fr> 1443 * Add the BoundaryCondition classe to deal with the boundary conditions. 1444 * Start RelayNSL and Relay ONSNS 1445 * Plug Relay Driver for PGS, ENUM and Lemke scheme 1446 1447-------------------------------------------------------------------------------- 1448 v3.1.0 - March 2009 1449-------------------------------------------------------------------------------- 1450 14512009 October Maurice Bremond <maurice.bremond@inrialpes.fr> 1452 * from get<Member>Ptr() to member() 1453 * member prefix with _ 1454 1455[...] 1456 14572009 Olivier Bonnefon <olivier.bonnefon@inrialpes.fr> 1458 * Add FirsrtOrderType2R, a type of first order relation. 1459 * Add NewtonEulerDS, NewtonEulerR and a bouncing ball example based on the NewtonEuler. 1460 * Add an electrical example using ideal switch. 1461 14622009 March Maurice Bremond <maurice.bremond@inrialpes.fr> 1463 * Add SiconosGraph, to replace maps of DynamicalSystems and maps 1464 of UnitaryRelations. 1465 14662008 December Maurice Bremond <maurice.bremond@inrialpes.fr> 1467 * Sparse Matrix : from siconos coordinates storage to boost storage 1468 with compress Row 1469 14702008 October Franck Perignon <franck.perignon@inrialpes.fr> 1471 * Add DynamicalSystem Factory 1472 * Add M(x) in FirstOrder DS 1473 * Add Relation Factory 1474 * Remove DefaultPlugin lib/file 1475 * Remove Model from TimeDiscretisation 1476 + review of building/initialization process (to avoid cycling) 1477 14782008 September Maurice Bremond <Maurice.Bremond@inrialpes.fr>, Franck Perignon <franck.perignon@inrialpes.fr> 1479 * Use Smart pointers utilities for memory management 1480 => review all files 1481 1482-------------------------------------------------------------------------------- 1483 v3.0.0 - August 2008 1484-------------------------------------------------------------------------------- 1485Notes: 1486 1487Changes: 1488 14892007 September Franck Perignon <franck.perignon@inrialpes.fr> 1490 * Review event-driven 1491 * Review "sets" management 1492 * Replace Interaction/UnitaryRelation/DynamicalSystem/Set classes 1493 with a template class SiconosSet 1494 1495-------------------------------------------------------------------------------- 1496 v2.1.1 - August, 23rd 2007 (release 839) 1497-------------------------------------------------------------------------------- 1498 1499Notes: 1500 1501Changes: 1502 15032007 July Franck Perignon <franck.perignon@inrialpes.fr> 1504 * Review SiconosAlgebra tool to improve computation times 1505 (use ublas or ublas/atlas functions in a better way ...) 1506 1507-------------------------------------------------------------------------------- 1508 v2.1.0 - June, 28th 2007 (release 809) 1509-------------------------------------------------------------------------------- 1510Notes: 1511 1512Changes: 1513 15142007-02-28 Franck Perignon <franck.perignon@inrialpes.fr> 1515 * Add LagrangianRheonomousR and LagrangianCompliantR Relations. 1516 15172007-02-27 Franck Perignon <franck.perignon@inrialpes.fr> 1518 * Review Relations organization: add/rename LinearTIR in FirstOrderLinearTIR, 1519 add derived classes for LagrangianR. 1520 15212007-02-08 Franck Perignon <franck.perignon@inrialpes.fr> 1522 * Add a module controlTools 1523 * Add Sensor, SensorFactory and SensorEvents in controlTools 1524 * Add an EventsFactory 1525 * Add EventsManager in Simulation (before: only present in EventDriven case) 1526 * Create a "main" header file for each XXXTools location + one "SiconosKernel.h" 1527 15282007-01-30 Franck Perignon <franck.perignon@inrialpes.fr> 1529 * Add an abstract DynamicalSystem class, base of FirstOrder, Lagrangian ... 1530 * Rename DynamicalSystem in FirstOrderDynamicalSystem, LinearDS in FirstOrderLinearDynamicalSystem 1531 * Add a z, vector of parameters, ("discret" state) in DS 1532 * Remove control (u,T) from DS. (future version: actuators/sensors to handle control, from outside, through z parameter) 1533 15342007-01-23 Vincent Acary <Vincent.Acary@inrialpes.fr> 1535 * configure.ac, MakefilePluginSample.in, ... : 1536 Change the name of the variable SICONOS_EXT_LDFLAGS into 1537 SICONOS_EXT_LIBS. Change MakefilePluginSample.am to avoid the use of 1538 KernelCOnfig.sh (future remove). Add some bad tricks to allow the use 1539 of the original ATLAS sources. Compilation and execution works on 1540 MacOsX(intel). 1541 15422007-01-16 Vincent Acary <Vincent.Acary@inrialpes.fr> 1543 * configure.ac : 1544 Move check for Lapack and Blas into the check macro for Numerics. 1545 Should be replaced in future by only Atlas checking 1546 1547 15482007-01-10 Franck Perignon <franck.perignon@inrialpes.fr> 1549 * Add Control class + resulting changes in DynamicalSystem, NSDS ... 1550 1551-------------------------------------------------------------------------------- 1552 v2.0.1 - December, 14th 2006 (release 626) 1553-------------------------------------------------------------------------------- 1554Notes: 1555 1556Main Changes: 1557 15582006-12-14 Franck Perignon <franck.perignon@inrialpes.fr> 1559 * Updates for gcc4.1.1 compatibility (-ffriend-injection, ...) 1560 1561-------------------------------------------------------------------------------- 1562 v2.0.0 - 30 November 2006 (release 616) 1563-------------------------------------------------------------------------------- 1564Notes: 1565 1566Main Changes: 1567 15682006-10-11 Franck Perignon <franck.perignon@inrialpes.fr> 1569 * Remove all lapack++ depencies; replace them by Boost-Ublas 1570 Thus Vectors and Matrices are now fully based on Boost 1571 * Review/update Doxygen doc - Based on v1.5.1. 1572 Model/reference file for doc: Interaction.h 1573 * Add boost/bindings in the sources (src/boost) 1574 15752006-10-09 Franck Perignon <franck.perignon@inrialpes.fr> 1576 * Add cppunit tests for MySimple and MyBlock matrices (boost) 1577 15782006-09-26 Franck Perignon <franck.perignon@inrialpes.fr> 1579 * Add Boost matrices and vectors in Kernel (from Aziz branch) 1580 (MySiconosMatrix, MySimpleMatrix, MyBlockMatrix, MySiconosVector, 1581 ioMatrix, ioVector classes) 1582 1583------------------------------------------------------------------------------- 1584 v1.3.0 - 07 september 2006 (release 567) 1585-------------------------------------------------------------------------------- 1586 1587Main Changes: 1588 15892006-09-07 Franck Perignon <franck.perignon@inrialpes.fr> 1590 * EventDriven for Lagrangian systems 1591 15922006-07-10 Franck Perignon <franck.perignon@inrialpes.fr> 1593 * Temporary blockVector version with copy of contain to provide contiguous save of 1594 values in Memory 1595 * Remove InteractionLink class 1596 * Update TimeStepping/OSNS/OSI (use of indexSets) 1597 * Update all samples 1598 * add "size" arg. in non smooth law 1599 16002006-06-28 Franck Perignon <franck.perignon@inrialpes.fr> 1601 * Review constructors for Interaction, Relation and NonSmooth Law 1602 16032006-06-22 Franck Perignon <franck.perignon@inrialpes.fr> 1604 * Strategy renamed Simulation 1605 16062006-06-07 Franck Perignon <franck.perignon@inrialpes.fr> 1607 * add UnitaryRelation class 1608 * add UnitaryRelationsSet class -> IndexSets management in Topology 1609 1610-------------------------------------------------------------------------------- 1611 v1.2.0 - (release 508) 1612-------------------------------------------------------------------------------- 1613 1614Main Changes: 1615 16162006-05-21 Franck Perignon <franck.perignon@inrialpes.fr> 1617 * add InteractionsSet class to manage set of Interactions for NSDS, Interaction, OSI ... 1618 16192006-05-17 Franck Perignon <franck.perignon@inrialpes.fr> 1620 * add DSSet class to manage set of Dynamical Systems for NSDS, Interaction, OSI ... 1621 * Change the way relation and nslaw are handled by Interaction. See Doc/Dev_Notes/Interaction for details 1622 * add Doc/Dev_Notes/Interaction 1623 16242006-05-15 Franck Perignon <franck.perignon@inrialpes.fr> 1625 * remove all nana related files and functions 1626 16272006-05-02 Franck Perignon <franck.perignon@inrialpes.fr> 1628 * various changes in SiconosDOMTreeTools, StrategyXML and OSIXML. 1629 * review Moreau/Lsodar/OSI 1630 * add SiconosTemplates directory in src/utils 1631 16322006-04-10 Franck Perignon <franck.perignon@inrialpes.fr> 1633 1634 * Review DS and derived classes: remove vectorField/xDot 1635 -> rhs (right-hand side) = f(x,t) + Tu 1636 add computeRhs and computeJacobianXRhs in all derived classes, 1637 plug-in for f(x,t) and its Jacobian. 1638 Add/correct initialize(t) function in all DS classes, to compute/reset 1639 state at time t. 1640 16412006-03-28 Franck Perignon <franck.perignon@inrialpes.fr> 1642 1643 * Add LinearTIDS class 1644 16452006-03-22 Franck Perignon <franck.perignon@inrialpes.fr> 1646 1647 * Set correct links between DynamicalSystem and its derived classes. 1648 * Add tests for DS and derived classes. 1649 16502006-03-21 Franck Perignon <franck.perignon@inrialpes.fr> 1651 1652 * Add BlockMatrix class, derived from SiconosMatrix. 1653 * Add test functions for Matrices 1654 16552006-03-16 Franck Perignon <franck.perignon@inrialpes.fr> 1656 1657 * Add SimpleMatrix class, derived from SiconosMatrix. 1658 SiconosMatrix is now an abstract class 1659 * Rename Composite in Block 1660 16612006-03-13 Franck Perignon <franck.perignon@inrialpes.fr> 1662 1663 * lapackpp2.4.7 is now required 1664 16652006-03-02 Franck Perignon <franck.perignon@inrialpes.fr> 1666 1667 * general review of Model/Strategy and TimeDiscretisation 1668 16692006-02-28 Franck Perignon <franck.perignon@inrialpes.fr> 1670 1671 * global_Tests -> add this directory and related files 1672 to allow "global" tests, ie automatic running of chosen 1673 samples. 1674 16752006-02-27 Franck Perignon <franck.perignon@inrialpes.fr> 1676 1677 * configure.ac -> run autoupdate to remove obsolete macros. 1678 Warning: must add insure related part after. 1679 Keep configure.ac.old to work with older 1680 autotools version. 1681 1682-------------------------------------------------------------------------------- 1683 v1.1.2 - (release 428) 1684-------------------------------------------------------------------------------- 1685Notes: bugs fixing version 1686 1687Changes: 1688 16892006-02-24 Franck Perignon <franck.perignon@inrialpes.fr> 1690 1691 * add Event, EventsComparison and EventsManager 1692 classes in simulation tools 1693 => used in EventDriven strategy 1694 * Makefile.am -> make install also install doc in @prefix@ 1695 * Remove Adams class 1696 16972006-02-22 Vincent Acary <vincent.acary@inrialpes.fr> 1698 Franck Perignon <franck.perignon@inrialpes.fr> 1699 * update configure.ac to generate automatically 1700 siconos/siconos, siconos/MakefilePluginSample, 1701 KernelConfig.sh. 1702 17032006-02-19 Vincent Acary <vincent.acary@inrialpes.fr> 1704 1705 * /macros/ac_f77_library_ldflags.m4 : This file is added and 1706 replaced the system defined macro. A small correction is done 1707 to neglect -lcrt2.o option at linking on MacOsX. This bug will 1708 be normally corrected in further version of autoconf. 1709-------------------------------------------------------------------------------- 1710 v1.1.1 - February 2006 (release 421) 1711-------------------------------------------------------------------------------- 1712 1713Notes: 1714 1715Changes: 1716 17172006-02-13 Franck Perignon <franck.perignon@inrialpes.fr> 1718 1719 * corrections in Moreau in order to handle u plug-in 1720 for linear DS. 1721 17222006-02-10 Franck Perignon <franck.perignon@inrialpes.fr> 1723 1724 * update Doxygen config file 1725 * minor changes in m4 files and configure.ac (see install bug 495) 1726 * prepare Event-Driven and Lsodar (Warning: first version, unstable!!) 1727 and review of other related classes (OneStepIntegrator, xml ...) 1728 1729-------------------------------------------------------------------------------- 1730 v1.1.0 - February 2006 (release 388) 1731-------------------------------------------------------------------------------- 1732 1733Notes: 1734 1735 This new version includes friction modeling and simulation for 1736 Lagrangian systems in 2D (3D version in devel) 1737 1738Changes: 1739 17402006-02-02 Franck Perignon <franck.perignon@inrialpes.fr> 1741 1742 * Add macros/acx_lapackpp.m4 (corresponding to lapackpp 2.4.6) 1743 17442006-02-01 Vincent Acary <vincent.acary@inrialpes.fr> Franck Perignon <franck.perignon@inrialpes.fr> 1745 1746 * Upgrade SiconosModelXml, configure and make to allow "make check" without install or setenv ... 1747 17482006-01-31 Franck Perignon <franck.perignon@inrialpes.fr> 1749 Vincent Acary <vincent.acary@inrialpes.fr> 1750 1751 * rename reconf.sh in autogen.sh and m4 directory in macros 1752 Use standard acx_blas and lapack macros. 1753 Warning: new options for configure ( -> configure --help for details ) 1754 17552006-01-30 Vincent Acary <vincent.acary@inrialpes.fr> Franck Perignon <franck.perignon@inrialpes.fr> 1756 1757 * configure.ac, plugin_test/Makefile plugin/test/Makefile, preparation 1758 of the version v1.1.0 1759 * plugin_test -> plugin/test 1760 17612006-01-20 Vincent Acary <vincent.acary@inrialpes.fr> 1762 1763 * configure.ac: Add workaround for gcc-4.0.2 gfortran-4.0.2. 1764 Use of the macro AC_F77_LIBRARY_LDFLAGS for linking gcc and 1765 gfortran compiled codes 1766 17672006-15-01 Franck Perignon <franck.perignon@inrialpes.fr> 1768 1769 * src/simulationTools: review non-smooth problem solvers management 1770 17712005-12-22 Franck Perignon <franck.perignon@inrialpes.fr> 1772 1773 * src/simulationTools: add friction problem simulation tools (2D) 1774 * src/xml: add xml files for friction problems (2D) 1775 1776 1777-------------------------------------------------------------------------------- 1778 v1.0 - October 2005 (release 341) 1779-------------------------------------------------------------------------------- 1780 1781 - add modeling of Lagrangian (non linear) relations + related simulation part 1782 and cppunit tests + general review of all kind of relations. 1783 - Insure tests ok 1784 - add user-defined parameters list in all plug-in 1785 - add samples "Ball in a bowl", "robotic arm", 1786 - Fix various bugs in configure and m4 files (local libraries loading) 1787 1788-------------------------------------------------------------------------------- 1789 v1.0 - October 2005 (release 304) 1790-------------------------------------------------------------------------------- 1791 1792 Modeling of: 1793 - Linear Complementarity systems 1794 - Lagrangian dynamical systems with unilateral constraints 1795 - Linear relations 1796 - Complementarity conditions and Newton impact law. 1797 1798 Simulation: 1799 - Moreau Time-stepping scheme 1800 - Newton-Raphson 1801 - Linear Complementarity Problems 1802 1803-------------------------------------------------------------------------------- 1804 v3.7.0 1805-------------------------------------------------------------------------------- 1806Main Changes: 1807 1808 * add the possibility of multiples contactors (bullet collision 1809 objects) for one Newton Euleur dynamical system. 1810 * add the possibility of multiples nslaws between collision groups. 1811 * BulletDS : inertia matrix may be modified by the user. 1812 1813-------------------------------------------------------------------------------- 1814 v3.6.0 - October 2013 1815-------------------------------------------------------------------------------- 1816 * Mechanics is a new Siconos module which gather former classes 1817 from Kernel/multibodyTools 1818 * Clean doxygen warning 1819 * Add computation of the second derivative in time in some joints. 1820 * Brute-force import of Multibody Toolbox for mechanisms from CAD software 1821 18223.7.0 1823 * MechanicsIO : bugs fixes in positions and contact forces output. 1824 18253.6.0 1826 * MechanicsIO get positions velocities and contact points 1827 informations (positions, normals, contact forces) 1828 18293.4.0 1830 * boost serialization of a Siconos Model with two functions : 1831 save(SP::Model&,std::string filename) 1832 load(std::string filename) 1833