$Header: /var/cvs/mbdyn/mbdyn/mbdyn-web/download/CHANGELOG-1.3.txt,v 1.1 2014/07/23 08:19:40 masarati Exp $ MBDyn (C) is a multibody analysis code. http://www.mbdyn.org Copyright (C) 1996-2010 Pierangelo Masarati Paolo Mantegazza MBDyn 1.3.18 Enhancements: - added initial values for socket stream drive Backward compatibility issues: - fixed typo in angular velocity priv data string selection in total joint family Known issues: Bug fixes: - fixed dof/eq description of driven elements - added missing mbc_py_interface.py file MBDyn 1.3.17 Enhancements: - improved sanity checks when using arpack for eigenanalysis - improved error checking in fixed/variable step file driver (noted by Stefan van't'Hoff) - added alpha-first generic aerodynamic element - allow to fine-tune when initial eigenanalysis is performed - added C++ interface to external forces peer library - added "sample and hold" (Mattia Mattaboni) Backward compatibility issues: Known issues: Bug fixes: - loosely/not coupled ext force needs not set convergence (noted by Tingnan Zhang) - fixed data manager cleanup - fixed revolute joint private data "rz" computation (noted by Stefan van't'Hoff) - fixed 2D mesh all-nodes automatic selection in CodeAster CMS macro - fixed external structural mapping when no mapping required - fixed viscous/viscoelastic symbolic constitutive laws - fixed VHUB computation in module-aerodyn (Fanzhong Meng) - fixed minor issues in external structural mapping - fixed PrivDriveCaller ("element", "node") when used with arg - fixed output flag in module-wheel2 - fixed case detection in structural node private data (noted by Louis Gagnon) - fixed "log" scalar function arg positiveness check MBDyn 1.3.16 Enhancements: - optimized full matrix handler operations - support multiple eigenanalyses per simulation - added "receive first" option to stream input - added structural mapping scripts (Giuseppe Quaranta) - improved external structural mapping force (Giuseppe Quaranta) - allow user-defined induced velocity models - allow induced velocity models based on sectional forces - added "slug2kg" and "kg2slug" constants to symbol table - reworked input manual - added sanity checks in c81 data - added "at most" max iterations feature - added "timestep" drive caller - added "mult" drive caller Backward compatibility issues: - edge interface changed, to conform to EDGE 5.1 - changed GenericAerodynamicForce input format - aeromodal element syntax changed - precision of some built-in symbol table constants increased - TCL plugin fixed and moved to run-time loadable module Known issues: Bug fixes: - fix EDGE communication (noted by Luca Cavagna) - fix output meter initial output (noted by Doug Baldwin) - fix "output every" in stream output (noted by Doug Baldwin) - fix "input every" in stream input (noted by Doug Baldwin) - fix GenericAerodynamicForce (noted by Stefan van't'Hoff) - fixed max iterations count (off-by-one) The features related to fluid-structure interaction introduced in this release were partially supported by the School of Energy Resources of the University of Wyoming MBDyn 1.3.15 Enhancements: - added support for KLU (Marco Morandini) - added "closest next" drive caller support - added nodal external force support to peer library (mbc.h) - added relative frame external force support - added peer library libmbc with python wrapping - added solver diagnostics output meter - added structural mapping external force - reworked user-defined element support Backward compatibility issues: - "run.time" is now "time" in NetCDF output - scalar variables dropped "1" dimension in NetCDF output - syntax of external structural force changed Known issues: Bug fixes: - fixed modal mapping with reference node - fixed socket cleanup in case of error MBDyn 1.3.14 Enhancements: - added c81 data interpolation w/ Theodorsen unsteady aero Backward compatibility issues: - structural nodes "accelerations" needs "yes" or "no" - Theodorsen unsteady aero needs be followed by "c81" keyword Known issues: Bug fixes: MBDyn 1.3.13 Enhancements: - math symbol table reworked with STL - added "direct" drive caller - added NetCDF support to aerodynamic body & beam2/3 - added c81 data interpolation - added reference configuration & indexes to eig output - added extra info to inertia private data (Mattia Mattaboni) Backward compatibility issues: - TypedValue no longer inherits const'ness in assignments Known issues: Bug fixes: - fixed type detection in GiNaC constitutive law The features introduced in this release were partially sponsored by REpower Systems AG MBDyn 1.3.12 Enhancements: - added gust models for basic wind profiles - added drop tolerance (Umfpack) - added matrix scaling (Naive) Backward compatibility issues: Known issues: Bug fixes: - fixed build without sockets (noted by Subhasis Sarkar) - fixed scalar filter when order == 1 MBDyn 1.3.11 Enhancements: - added peer libraries for modal external force (mbc.h) - added NetCDF support to beam2/3 - added support for gust models run-time loading - added piecewise constant shape - added tip loss handling to aerodynamic elements - added referenced direction capability to rigid body kinematics - added modal mapping external modal force element Backward compatibility issues: - syntax of "modal" joint "diag damping" changed Known issues: Bug fixes: - fixed nonzero angular velocity modal joint initial assembly - fixed socket-based external force loose coupling - fixed Theodorsen unsteady aero handling of multiple points - fixed AerodynamicBeam2/3 AfterConvergence w/ int. states - fixed "inertia" element when inertia tensor is singular - fixed "diag damping" in "modal" joint - fixed issues with rotor inflows at very low angular speed (Mattia Mattaboni; noted by Jinwei Shen) - fixed preconditioning issue in matrix free solver - fixed index bug in GenelStateSpaceMIMO::AssJac() - fixed invalid density issue in rotor (noted by Jinwei Shen) - fixed sanity check in transpose sparse matrix-vector mult. - fixed realloc issue in subvector MBDyn 1.3.10 Enhancements: - added accelerations output to dummy structural nodes - added experimental cycloidal rotor inflow models (Mattia Mattaboni) - added better Fortran compiler detection - added referenced direction capability to "total joint" and "total pin joint" elements - added support for variable step file driver - added "const" variant of fixed/variable step file drivers - added "echo" of socket stream file drivers (all three above suggested by Doug Baldwin) - added "echo" of stream output elements - added socket support to external force - added general external modal force - added viscous body element - added accelerations priv data to dummy structural nodes - added Jacobian matrix contribution of state space SISO/MIMO elements when input is a ScalarNode - added embryonic Scicos interface (by Tommaso Solcia) Backward compatibility issues: - the "imposed displacement", "imposed displacement pin" and "imposed orientation" joints are now mimicked by "total joint" and "total pin joint" - allow "position" in deformable hinge (ignored by now) - the (implicit) label of "air properties" is now "1". - "jacobian" in aerodynamic elements needs yes/no/ arg Known issues: Bug fixes: - fix error message when math parser unable to cast value (noted by Romuald Noret) - only output valid frequencies if permuting with LAPACK - fix non-blocking socket stream drivers/output elements (noted by Doug Baldwin) - fix endless loop detection using "change" variable time step strategy (noted by Patrick Rix) - detect whether "jacobian" is needed in aero elements (noted by Patrick Rix) - fix strain output of deformable joint - wait for creation of unix sockets MBDyn 1.3.9 Enhancements: - allow initialization of SISO/MIMO state - added mbd.vim syntax file - added time-variant viscoelastic constitutive law - added support for Euler 313 & 321 orientations Backward compatibility issues: Known issues: Bug fixes: - fix differential abstract node parsing of derivative initial value - fix total joint describe dof/equation - fix viscoelastic deformable joint jacobian MBDyn 1.3.8 Enhancements: - permute and scale matrix for lapack eigenanalysis - add frequency range for partial eigenanalysis output - add (experimental) support for eigensolution with JDQZ - allow setting initial value in modal joint card - add incomplete FEM file detection to modal joint (noted by Luca Cavagna) - add "attached" viscous/viscoelastic deformable joint and "invariant" elastic deformable joint (partially contributed by Doug Baldwin) - add Jacobian of aerodynamic body/beam2/beam3 (contributions by Alessandro Fumagalli) - add 2D unsteady Theodorsen model (Mattia Mattaboni) - add internal states support in aerodynamic body/beam2/beam3 - add support for scalar values to discrete control elem - honor default output orientation for reference frames - add echo of C81 data - add '%' operator to math parser - add over/underflow check in math parser (noted by Patrick Rix) Backward compatibility issues: - the format of the modal joint output changed - the format of the modal force input changed - the "imposed displacement" and "imposed orientation" joints have been removed; use the "total joint" instead Known issues: - RTAI mailboxes have problems... Bug fixes: - fixed naive solver default pivot factor (noted by Kristopher Ellis) - fixed consistency checks in modal joint/force input (noted by Luca Cavagna) - fixed modal joint SetValue() (noted by Luca Cavagna) - fixed electric elements input - fixed consistently honor drive caller references - try to reduce time step in case of divergence (Marco Morandini, noted by Patrick Rix) MBDyn 1.3.7 Enhancements: - add {xyz}unitvec function to model namespace - release module-aerodyn for wind-turbine modeling - struct force/couple with 3D drive (supersedes original) - downgrade linear viscoelastic const. laws as appropriate Backward compatibility issues: - runtime loadable modules now loaded as libmodule-.la - syntax of force elements changed - output format of force elements changed - naive is the default solver unless umfpack is available; y12 is optional, built by default unless explicitly disabled Known issues: Bug fixes: - fix libtool handling of modules (Marco Morandini) - fix absolute internal force output - fix Code Aster macros install path (noted by Tomislav Maric) - fix exception handling in GiNaC constitutive law (noted by Christophe Trophime) - write file/line number in error when a variable is redefined - fix eigenvalue postprocessing - fix sqrt() arg checking (0 is valid) MBDyn 1.3.6 Enhancements: Backward compatibility issues: Known issues: Bug fixes: - fix plane hinge family eq. description - fix (hacked) build on Mac 10.5.X (Leopard) (noted by Min Mao) - fix LAPACK detection (noted Shreyas Ananthan) - fix type in aerod2.f (noted Shreyas Ananthan) - fix build error in GPC-related elements - fix and improve eigenanalysis options detection - fix MSYS/MinGW build MBDyn 1.3.5 Enhancements: - rework exception handling - allow to control convergence test - allow interrupt within iterations (CTRL^C twice) - add support for generic external forces - add file-based interface with EDGE - allow socket stream element to output all kinematics - add POSIX soft real-time support - add "other {position,orientation,node}" reference types - add "abort if broken" keyword to stream output elements - add RTAI-based motion output - add embryonic relative frame dynamics & aerodynamics - clamp joint more resilient to large transient violations - add direct eigensolution based on LAPACK & ARPACK - use HP's atomic_ops for spinlock in multithread (by Marco Morandini) Backward compatibility issues: - now immediate abort requires CTRL^C three times - changed real-time args order (not backward compatible) - changed stream output elements default port (to 9011) Known issues: Bug fixes: - fix "cardano hinge" keyword detection (Marco Morandini) - fix radial flow correction - fix structural node acceleration priv data (noted by Alessandro Colombo) - fix check for file drivers early dereferencing (noted by Doug Baldwin) - do not remove module dir while making distclean - fix check for module load early call (noted by Riccardo Gori) - minor fix to clamp joint inverse dynamics MBDyn 1.3.4-Beta Enhancements: - configurable orientation output for gimbal rotation joint - more beam private data available - add run-time computation of sets' inertia properties - abs2rel.awk handles accelerations and RefOnly mode - preliminary support for substructure output (by Michele Frumusa) - RTAI output uses stream output syntax for values - allow drives as input to scalar filter/state space genels - allow state space filters in descriptor form - add "TimeStep" and "Step" vars to math parser - allow fixed step driver to count steps - add provisions to combine multiple gust models - allow binding to air properties - add bailout support to drives (Marco Morandini) - allow controllable/observable canonical forms of scalar filters - add balancing of state space filter matrices - allow to use strings for FEM labels in modal joint - add "from file" keyword for FEM node number in modal joint Backward compatibility issues: - the binary format of modal fem data changed; old files "should" be still usable Known issues: - odd operator precedence for power/unary minus Bug fixes: - MSYS/MinGW needs to explicitly include stdint.h - MSG_WAITALL is not defined on Cygwin - driven joints need to be used in initial assembly - fix uninitialized parameter in beam2 initial assembly - fix variable init and assignment in math parser (thanks to Alessandro Fumagalli) - fix "allow nonroot" in RTAI support - fix tic count initialization in RTAI support - fix optional log process execution in RTAI support - fix linear scalar function input - fix crash when using model namespace too early - fix nested elements usage during initial assembly - fix scalar filter (using state space SISO) - fix one-time leak in modal joint - fix crasher in revolute hinge friction dof/eq description - fix one-time leak in elements with friction - fix Crank-Nicolson spelling MBDyn 1.3.3-Beta Enhancements: - add OpenMPI support - allow accelerations in external force output - allow accelerations in external modal force output - add support for nested elements - add elastic and viscous variants of nlsf/nlp const. laws - add dof/equation description to solution/residual output - add dof description to linear solver diagnostics - add support for octave-compatible sparse matrix output Backward compatibility issues: Known issues: - document limitation of invariant angular const. law wrapper Bug fixes: - fix Schur matrix/vector handlers destructors - fix solver first step with Schur data manager - fix array allocation when --enable-debug - fix Jacobian of invariant angular const. law wrapper - allow references in invariant angular const. law wrapper - fix c81 table lookup MBDyn 1.3.2-Beta Enhancements: - added "tanh" drive caller - allow elastic/viscous variants of nlsf/nlp const. laws (suggested by Rudi Jaeger) - rework logical operators on math data structures - add relative private data to structural nodes - allow using drives as output values in streams (noted by Rudi Jaeger) - add framework for joint regularization (suggested by Alessandro Fumagalli) - add select timeout to stream drives (patch by Rudi Jaeger) - add invariant angular constitutive law wrapper - add temperature and training dependent const. law wrapper - add modal force - add external modal force (file-based) - add boolean type to math parser - better handling of boolean expressions - NetCDF output of inertia - NetCDF listing of node/element labels Backward compatibility issues: - removed (useless) '-a' and '-n' options Known issues: Bug fixes: - fix "remark" in combination with -s - only default to linear elastic for 1D constitutive laws (noted by Rudi Jaeger) - fix ann viscoelastic constitutive law - fix symbolic viscoelastic/symbolic 1D constitutive law (noted by Mattia Mattaboni) - reset ANN structure (noted by Mattia Mattaboni) - allow accelerations in dynamic node's private data even if not explicitly enabled (noted by Rudi Jaeger) - fix gimbal formulation (noted by Marco Morandini, thanks to CppAd) - fix accelerations output (noted by Michele Frumusa) - matrix handlers: copy constructor must be private - fix issue with external force (file-based) - fix sign(0) (= 0) in math parser MBDyn 1.3.1-Alpha Enhancements: - added simple thermo framework (Marco Morandini) - added (experimental) third order step solver (by Marco Morandini) - added TAUCS linear solver (experimental) (by Marco Morandini) - added "ad hoc" (Radau IIA) third-order integrator - automated installation of share data in $prefix/share - reworked support for EasyAnim - added drive displacement and drive displacement pin joints - added cubic elastic and viscoelastic constitutive laws - added capability to run static analyses with gravity and reference centrifugal forces - added access to modal element FEM nodes position, velocity and acceleration as private data - added truncated Fourier series drive - added generic external forces for loose/tight coupling with external software via files - added support for user-defined drives - added drive derivative where appropriate - added support for user-defined constitutive laws - added scalar function-based drive caller - added support for user-defined scalar functions - added scalar function-based constitutive laws - improved double viscoelastic constitutive law - added support for streamed output for EasyAnim - added extrapolation to fixed step file driver - added "air properties" private data - added priv data to nodes - added "node" drive, in analogy to "element" drive - added preliminary NetCDF binary output support (thanks to Patrick Rix) - added node priv data plugin to math parser - added 3D and 6D support for GiNaC-based symbolic const. law - added invariant deformable hinge joint (needs work) - added imposed displacement joint (and pin) - added reaction moments to drive hinge private data - added "exp" scalar function - added configurable orientation output - added support for new orientation output to abs2rel.awk - added support for "accelerations" in "default output" - added SubMatrix helpers to add Vec3 straight and trasposed - added TotalJoint (Alessandro Fumagalli) - added model connectivity description - added A' * x = b support in solution manager - added TotalPinJoint - added support for run-time modules in Fortran 90 - added support for scalar functions in model namespace - added Chebychev polynomials as scalar function - added units namespace module based on UNIDATA's UDUNITS - misc. cleanup to allow building with MinGW - added nonlinear constitutive laws based on scalar functions (sponsored by Hutchinson CdR; acks to Dr. Daniel Benoualid) - added "pivot" dummy node (suggested by Nicola Turini) - added support for private data in driven elements Backward compatibility issues: - per-element output removed from modal joints - spherical hinge output now refers to node 1 instead of 2 - "conservative" forces and couples renamed to "absolute" - remove "isotropic" from "symbolic" constitutive laws - remove '-m' switch (send email on completion) - added detection of improper use of min/max time step Known issues: Bug fixes: - fixed orientation matrix input check and diagnostics - fixed misc one-time leaks - fixed initialization of fixed step file drive - fixed --enable-runtime-loading configuration - fixed output of drive hinge - fixed offset dummy node orientation handling (noted by I. Wander) - fixed misc errors in utils/* - fixed corrupted binary FEM file leftover when parse fails - fixed bug in .log of deformable joint(s) (noted by Jerome Merel) - fixed minor memory issue in fixed step file driver - added column check to file drive (noted by Marco Mantegazza and Fabio Veroni) - fixed "log" scalar function ("base" needed to be explicit) - fixed use of uninitialized values in model parsing - fixed scale/test inheritance issue (Marco Morandini) - fixed one-time memory leaks (shutdown) - fixed initial assembly max iteration count - fixed variable time step retry in beam2/beam3 - fixed drive hinge initial assembly (noted by Patrick Rix) - fixed rigid body Jacobian matrix with gravity - fixed build with PowerPC (thanks to Torsten Sadowski) - fixed dummy nodes output selection (noted by Nicola Turini) - fixed Vec6/Mat6x6 passing by reference - fixed sign in ExpandableRowVector::Sub()