MBDyn (C) is a multibody analysis code. http://www.mbdyn.org Copyright (C) 1996-2007 Pierangelo Masarati Paolo Mantegazza MBDyn 1.2.7-Engineering Enhancements: Bug fixes: - fixed Schur data manager output bug - fixed rod with offset bug when offset != 0 - fixed output of deformable hinge - fixed Jacobian matrix of deformable displacement joint - fixed Jacobian matrix contribution of revolute pin - fixed beam3 "from nodes" orientation input - fixed model::anglerel computation - fixed test on minimum time step MBDyn 1.2.6 Enhancements: - streamlined and improved modal element input - added output meter for selective output MBDyn 1.2.5 Enhancements: - added trigger drive to switch on rotor trim element - added "range" to node/element output specifications - added new functions to "model" namespace - added "hint" infrastructure to enhance driven element (sponsored by Hutchinson CDR) - added "guess" for orientation matrix input - added '\' to read non-print chars in strings Backward compatibility issues: - a '\' at the end of a line inside a string causes the end of line to be eaten (shell-like) Known issues: Bug fixes: - re-fixed "derivatives" update - fixed initial assembly of inactive driven elements (noted by Israel Wander) - fixed logic of colamd Naive solution manager - fixed aerodynamic coefficients normalization in rotor trim - fixed C-style comment parsing (/**/ was failing) - fixed manual *.tex *.eps files MBDyn 1.2.4 Enhancements: - template and wheel2 modules added to distribution - added viscoelastic generic constitutive law with tension/torsion coupling - added "fc511" aerodynamic cofficients format input (by permission) Backward compatibility issues: - s/solver/linear solver/ - dynamic structural node accelerations are now off by default Known issues: Bug fixes: - fixed "derivatives" update - fixed SuperLU memory leak - fixed (mostly socket) portability issues for Cygwin and FreeBSD (patches from Kay Lehmann). - fixed dynamic node accelerations postprocessing - fixed compile with gcc3.2/icc8.0 MBDyn 1.2.3 Enhancements: - added matrix-free nonlinear solver (BiCGStab/GMRES by Giuseppe Quaranta) - added ideal gimbal joint - reworked matrix/matrix and matrix/vector product - added "print symbol table" directive - added deformable joint (elastic only) - added private data to deformable hinge - added private data to deformable displacement joint - changed default for "derivatives coefficient"; reworked diagnostics for derivatives failure (noted by Aakash Dalwani) - added support for scalar SuperLU (by Marco Morandini) - improved support for aerodynamic coefficients Backward compatibility issues: - s/(deformable displacement )hinge/\1joint/ Known issues: Bug fixes: - fixed stream opening sequence MBDyn 1.2.2 Enhancements: - honor describe dofs directive in initial assembly - added support for equation description - added support for namespaces in math parser - added model:: namespace with basic functions - added self-generating binary input for modal element - added socket2stream/stream2socket utilities for easy socket I/O piping - rewritten viscous and viscoelastic hinge joint Backward compatibility issues: - "output file name" statement in "control data" is no longer supported Known issues: - local socket drive/output need work Bug fixes: - fixed angular acceleration bug with ScalarDof - fixed jacobian output during modified NR - fixed Schur solver API bug in driven elements - fixed "naive" support of parallel assembly - fixed default model name for adams output - fixed modal inertia computation when clamped (problem noted by Fabio Riva and Luca Zucchetti) - fixed rigid body inertia reference point in restart - fixed output file name handling (scalar and parallel) - fixed modal inertia matrix computation (problem noted by Fabio Riva and Luca Zucchetti) - fixed test for node type in Body MBDyn 1.2.1 Enhancements: - added provisions for detailed dof stats - added linear and angular acceleration to dynamic structural nodes output - enabled dynamic structural nodes acceleration for dof plugin and drive - added momentum and momenta moment and their derivatives as automatic structural element private data - added SimulinkInterface code and example (contrib by Michele Attolico) - improved local and inet socket input/output Backward compatibility issues: Known issues: - local socket drive/output need work Bug fixes: - fixed relative rotation private data in revolute joints (problem noted by Roger Polston) - parallel is working now MBDyn 1.2.0 Enhancements: - added predefined drive callers - added support for inertia log to modal joint - added inertia log supports joints and loadable elements - added crypt utility to encrypt credentials - improved auth handling and docs - added support for generic modules - added generic module support for loadable elements - added generic module support for joints - added c81merge utility for c81 files blending - inertia can be output to stdout as well Backward compatibility issues: - merged columns 10 and 11 into disk angle for rotor elements output - --enable-loadable has been replaced by --enable-runtime-loading - --with-static-modules added to statically link (known) modules Known issues: - parallel is not working yet Bug fixes: - fixed .vol generation script for EasyAnim - fixed potential bug in c81 data input - fixed distance joint initial assembly (problem noted by Stefania Gualdi) MBDyn 1.2-Beta.4 Enhancements: - modal joint uses gravity Bug fixes: - fixed more C++ issues to compile with gcc 3.4.0 MBDyn 1.2-Beta.3 (unannounced) Enhancements: - added discrete Coulomb friction model (by Marco Morandini) - added constitutive law output to elements - added "sramp" (saturated ramp) function to math parser - added "setenv" statement - added environment vars expansion in file names - added separate definition of constitutive laws - added "bailout" output mode (residual at divergence) - added "stop" function in math parser - added brake joint (by Marco Morandini) - added awk scripts to prepare input for EasyAnim - added parts velocities in ADAMS/View output - added first order BDF integrator Bug fixes: - fixed aeromodal bug for v=0 - fixed solver diagnostics incremental activation - fixed 3 node beam constitutive law type selection - fixed C++ templates to compile with gcc 3.4.0 Backward compatibility issues: - bind now uses "name" instead of "string"; compatibility preserved - rod joints now output stroke velocity as column 18, so output appended by the constitutive laws is now shifted by 1 MBDyn 1.2-Beta.2 Bug fixes: - fixed dof count in initial assembly dof stats print - fixed element drive input - fixed ADAMS res output MBDyn 1.2-Beta.1 Enhancements: - implement separate induced velocity correction factors for hover and forward flight - added -W (--working-dir) switch - added inertia properties computation of element blocks - output can occur at selected time steps only - disable plaintext auth if crypt is not available (this code should be trimmed off, it's useless ;) - RelativeFrame dummy struct nodes can have offset and orientation with respect to the reference node - added ".log" file for miscellaneous logs - added ".air" file for air properties output - added standard air provisions - set default load path to module install dir (libexec) - improve modules installation - clamp joint reactions also output in node reference frame - added internal forces and couples (i.e. between two nodes) - added electric motor (uses electric nodes) - allow residual/jacobian output for model debug purposes - use a drive for the delay parameter of rotors - allow extra amplitude scaling in file drives - allow previous-step dof plugin - improve private data handling - added sample'n'hold parameter node - non-wrapping angles in plane hinge joints priv data - modal element active mode listing - added revolute/universal rotation joints, e.g. revolute/universal joints with no position constraint - added Umfpack 4.1 support - added "exit" statement - reworked distance joints (1 dof instead of 4); d=0 not allowed any more - selected loadable elements (modules) can be read as joints - parameter nodes value is output in .prm files - very rough implementation of aircraft instruments - improved API - added a cycle to better approximate reference induced velocity in helicopter rotors - added convergence test based on solution - selected scaling of residual before testing - specialized tests for residual and solution: none, norm and minmax - added ALTER file for normal modes only in "etc/modal.d/MBDyn_NASTRAN_alter_3.nas" - added RTAI support for soft/hard real-time simulations - allow to clamp the modal element, thus not requiring the modal node (save 18 dofs) - added general framework for friction (by Marco Morandini) - added compressed column matrix - added 'element' plugins to allow direct access to element private data from math parser (companion of 'dof' plugin) - added 'element' drive to allow direct access to element private data from math parser (companion of 'dof' drive) - added multithreaded assembly (experimental) - compact column form and multithread assembly works also with Y12 - direct access compact column matrix for further improvements - support for multithread SuperLU solver (experimental) - viscoelastic rods also output length rate - shock absorber allows separate metering based on stroke rate - beamslider joint - provision for external aerodynamic forces Backward compatibility issues: - struct node type does not default to dynamic any more - the syntax of most nodes changed; backward compatibility is preserved; if run with -PP warnings are issued - changed module API (callback structure holds info fields) - rotor elements do not use any more a colon ':' as separator between the keyword "induced velocity" and the induced velocity type - changed symbol table output format - the syntax of nonlinear solver is changed; backward compatibility is NOT preserved Bug fixes: - do not output RelativeFrame dummy struct nodes in external motion format (ADAMS/MotionView) - fixed time handling - fixed force and couple initial assembly - fix rotor output when no induced velocity is used - fix modal element when modal node is not in the origin of the FEM reference frame - fix utils/dae-intg (optional) - fix dof plugin parameter node input (+ overall improvements) - fix point where airstream speed is evaluated for aerodynamic body - fixed endless loop bug when silencing output with '-s' - detect nested comments (/* ... /* ... */) and warn Known issues: - the static shapes extraction NASTRAN ALTER in "etc/modal.d/MBDyn_NASTRAN_alter_1.nas" apparently don't work - parallel has been disabled