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Utility Subroutines

Utility Subroutines

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Utility Subroutines

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There are two types of Utility subroutines:

Analysis control subroutines, which are built-in subroutines provided by MotionSolve that allow a user-written subroutine to perform various types of analysis, generate output and modify the model defined in the XML input file.
Data Access subroutines, which are built-in subroutines provided by MotionSolve that allow a user-written subroutine to access model parameter or information state.

These are listed below with a brief description of each.  See each subroutine’s documentation for more details on its use.

Analysis Control Subroutines

Name

Purpose

ANALYS

Performs a specified MotionSolve analysis.

DATOUT

Writes simulation information to all the output files.

MODIFY

Allows modification of a model attribute.

Data Access Subroutines

Name

Purpose

ADD_MASS_PROPERTY

Returns aggregate mass data for a set of bodies.

AKISPL

Uses the AKIMA method to interpolate values defined in a REFERENCE_SPLINE element.

BISTOP

Evaluates a BITSTOP function (gap element).

BODY_MASS_PROPERTY

Returns the mass, c.g., and inertia tensor for a body or the entire model.

CHEBY

Evaluates a CHEBYSHEV polynomial function.

CUBSPL

Uses the cubic spline method to interpolate values defined in a REFERENCE_SPLINE element.

ERRMES

Outputs error messages from user subroutines during MotionSolve execution.

FITSPL

Uses the FITSPL method to interpolate values defined in a REFERENCE_SPLINE element.

FMIN_SLSQP

SLSQP optimizer is a sequential least squares programming algorithm for nonlinear, constrained gradient-based optimization

FORCOS

Evaluates a Fourier Cosine series.

FORSIN

Evaluates a Fourier Sine series.

GET_CONTACT_POST

Used to extract rigid body contact results.

GET_FULL_MATRIX_DATA

Returns the data defined in a full REFERENCE_MATRIX element.

GET_GRAVITY

Returns the gravitational acceleration specified in the FORCE_ GRAVITY modeling element.

GET_MATRIX_INFO

Returns information about a REFERENCE_MATRIX element.

GET_NCONTACTS

Used to extract the number of rigid body contacts during the simulation.

GET_POST_STATES

Extracts state variables in a MotionSolve model.

GET_SPARSE_MATRIX_DATA

Returns the data from a sparse REFERENCE_MATRIX element.

GETCPU

Returns the CPU time used up during MotionSolve execution.

GETINM

Returns the mode that MotionSolve is in – interactive or batch.

GETINT

Returns the integrator type during a MotionSolve run.

GETMOD

Returns the analysis mode during MotionSolve execution.

GETSLV

Returns the active linear solver.

GETSTM

Returns the current MotionSolve simulation time.

GETVER

Returns the MotionSolve version number.

GTARAY

Returns values stored in an IC REFERENCE_ARRAY entity.

GTCMAT

Returns the compliance matrix between “N” REFERENCE_MARKERS in a MotionSolve model.

GTCURV

Returns the coordinates of a point on a B-spline or user-written curve created with the REFERENCE_SPLINE entity.

GTINAM

Returns the base-name of the MotionSolve input XML file.

GTONAM

Returns the base-name of the MotionSolve output file.

GTSTRG

Retrieves values stored in a REFERENCE_STRING entity.

GTUNTS

Returns model UNITS information from MotionSolve.

HAVSIN

Evaluates a Haversine function.

IMPACT

Models a contact force or collision phenomena.

ISTRNG

Converts an integer to a string.

MODFNC

Retrieves model data specified in the XML input file.

MODINF

Retrieves the mode numbers and the corresponding mode frequencies of a BODY_FLEXIBLE element.

MODSET

Modifies model data specified in the XML input file.

NMODES

Returns the number of modal coordinates corresponding in a BODY_FLEXIBLE element.

POLY

Evaluates a generic polynomial.

PUT_SPLINE

Used in conjunction with SPLINE_READ.  It is used to store data read by SPLINE_READ within MotionSolve.

QUISPL

Returns the interpolated values for data in a REFERENCE_SPLINE element, with interpolation being performed by a fifth order spline.

RCNVRT

Convert rotational coordinates between the various supported representations.

RELOAD_MODEL

Loads a model defined in a MotionSolve XML input file into memory and makes it the current model.

RELPAR

Returns the user-defined work array data.

RSTRNG

Converts a double precision variable to a string.

SAVE_MODEL

Saves the current model from a user-written CONSUB.

SAVPAR

Saves the user-defined work array data.

SET_ATTRIBUTE

Modifies the attribute accessed by the last MODFNC or MODSET call.

SET_DISCRETE_INTERFACE

Instructs the solver to call the user-written subroutine discretely and only after successful integration steps.

SET_GSE_ALGEBRAIC_EQN

Used in a GSESUB to specify the implicit, algebraic equations in the CONTROL_STATEEQN element.

SET_GSE_NONZERO_ENTRY

Used in a GSESUB to specify the nonzero entries of the Jacobian matrix associated with the GSE XX, XU, YX and YU matrices.

SHF

Evaluates a Simple Harmonic Function.

STEP

Evaluates a Step function via cubic polynomial approximation.

STEP5

Evaluates a Step function via polynomial of the fifth order approximation.

STR2DBLARY

Converts string data into double or double array.

STR2INTARY

Converts string data into integer or integer array.

SUBTRACT_MASS_PROPERTY

Returns mass data for one set of bodies minus another set of bodies.

SYSARY

Returns state dependent information to a user subroutine.

SYSFNC

Returns state dependent information to a user subroutine.

TCNVRT

Converts translational coordinates between the various supported representations.

TIMGET

Returns the time corresponding to the last successful simulations step.

UCOMAR

Specifies the MARKER states used by UCOSUB to define a user defined constraint.

UCOVAR

Specifies the PART states used by UCOSUB to define a user defined constraint.

USRMES

Outputs user messages during MotionSolve execution.