Diff of the two buildlogs: -- --- b1/build.log 2025-10-09 12:12:29.286408923 +0000 +++ b2/build.log 2025-10-09 12:24:46.103163875 +0000 @@ -1,6 +1,6 @@ I: pbuilder: network access will be disabled during build -I: Current time: Wed Nov 11 06:21:21 -12 2026 -I: pbuilder-time-stamp: 1794421281 +I: Current time: Fri Oct 10 02:12:31 +14 2025 +I: pbuilder-time-stamp: 1760011951 I: Building the build Environment I: extracting base tarball [/var/cache/pbuilder/unstable-reproducible-base.tgz] I: copying local configuration @@ -27,53 +27,85 @@ dpkg-source: info: applying 0004_upstream_PR_813.patch I: Not using root during the build. I: Installing the build-deps -I: user script /srv/workspace/pbuilder/2931851/tmp/hooks/D02_print_environment starting +I: user script /srv/workspace/pbuilder/1214119/tmp/hooks/D01_modify_environment starting +debug: Running on ionos1-amd64. +I: Changing host+domainname to test build reproducibility +I: Adding a custom variable just for the fun of it... +I: Changing /bin/sh to bash +'/bin/sh' -> '/bin/bash' +lrwxrwxrwx 1 root root 9 Oct 9 12:13 /bin/sh -> /bin/bash +I: Setting pbuilder2's login shell to /bin/bash +I: Setting pbuilder2's GECOS to second user,second room,second work-phone,second home-phone,second other +I: user script /srv/workspace/pbuilder/1214119/tmp/hooks/D01_modify_environment finished +I: user script /srv/workspace/pbuilder/1214119/tmp/hooks/D02_print_environment starting I: set - BUILDDIR='/build/reproducible-path' - BUILDUSERGECOS='first user,first room,first work-phone,first home-phone,first other' - BUILDUSERNAME='pbuilder1' - BUILD_ARCH='amd64' - DEBIAN_FRONTEND='noninteractive' - DEB_BUILD_OPTIONS='buildinfo=+all reproducible=+all parallel=42 ' - DISTRIBUTION='unstable' - HOME='/root' - HOST_ARCH='amd64' + BASH=/bin/sh + BASHOPTS=checkwinsize:cmdhist:complete_fullquote:extquote:force_fignore:globasciiranges:globskipdots:hostcomplete:interactive_comments:patsub_replacement:progcomp:promptvars:sourcepath + BASH_ALIASES=() + BASH_ARGC=() + BASH_ARGV=() + BASH_CMDS=() + BASH_LINENO=([0]="12" [1]="0") + BASH_LOADABLES_PATH=/usr/local/lib/bash:/usr/lib/bash:/opt/local/lib/bash:/usr/pkg/lib/bash:/opt/pkg/lib/bash:. + BASH_SOURCE=([0]="/tmp/hooks/D02_print_environment" [1]="/tmp/hooks/D02_print_environment") + BASH_VERSINFO=([0]="5" [1]="3" [2]="3" [3]="1" [4]="release" [5]="x86_64-pc-linux-gnu") + BASH_VERSION='5.3.3(1)-release' + BUILDDIR=/build/reproducible-path + BUILDUSERGECOS='second user,second room,second work-phone,second home-phone,second other' + BUILDUSERNAME=pbuilder2 + BUILD_ARCH=amd64 + DEBIAN_FRONTEND=noninteractive + DEB_BUILD_OPTIONS='buildinfo=+all reproducible=+all parallel=40 ' + DIRSTACK=() + DISTRIBUTION=unstable + EUID=0 + FUNCNAME=([0]="Echo" [1]="main") + GROUPS=() + HOME=/root + HOSTNAME=i-capture-the-hostname + HOSTTYPE=x86_64 + HOST_ARCH=amd64 IFS=' ' - INVOCATION_ID='5b597dcb6e104464aff972a4238b339d' - LANG='C' - LANGUAGE='en_US:en' - LC_ALL='C' - MAIL='/var/mail/root' - OPTIND='1' - PATH='/usr/sbin:/usr/bin:/sbin:/bin:/usr/games' - PBCURRENTCOMMANDLINEOPERATION='build' - PBUILDER_OPERATION='build' - PBUILDER_PKGDATADIR='/usr/share/pbuilder' - PBUILDER_PKGLIBDIR='/usr/lib/pbuilder' - PBUILDER_SYSCONFDIR='/etc' - PPID='2931851' - PS1='# ' - PS2='> ' + INVOCATION_ID=d98d4ab4fd34409684a31a19940b44bf + LANG=C + LANGUAGE=et_EE:et + LC_ALL=C + MACHTYPE=x86_64-pc-linux-gnu + MAIL=/var/mail/root + OPTERR=1 + OPTIND=1 + OSTYPE=linux-gnu + PATH=/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path + PBCURRENTCOMMANDLINEOPERATION=build + PBUILDER_OPERATION=build + PBUILDER_PKGDATADIR=/usr/share/pbuilder + PBUILDER_PKGLIBDIR=/usr/lib/pbuilder + PBUILDER_SYSCONFDIR=/etc + PIPESTATUS=([0]="0") + POSIXLY_CORRECT=y + PPID=1214119 PS4='+ ' - PWD='/' - SHELL='/bin/bash' - SHLVL='2' - SUDO_COMMAND='/usr/bin/timeout -k 18.1h 18h /usr/bin/ionice -c 3 /usr/bin/nice /usr/sbin/pbuilder --build --configfile /srv/reproducible-results/rbuild-debian/r-b-build.L2IOXeCG/pbuilderrc_LM5a --distribution unstable --hookdir /etc/pbuilder/first-build-hooks --debbuildopts -b --basetgz /var/cache/pbuilder/unstable-reproducible-base.tgz --buildresult /srv/reproducible-results/rbuild-debian/r-b-build.L2IOXeCG/b1 --logfile b1/build.log simbody_3.7+dfsg-5.dsc' - SUDO_GID='110' - SUDO_HOME='/var/lib/jenkins' - SUDO_UID='105' - SUDO_USER='jenkins' - TERM='unknown' - TZ='/usr/share/zoneinfo/Etc/GMT+12' - USER='root' - _='/usr/bin/systemd-run' - http_proxy='http://213.165.73.152:3128' + PWD=/ + SHELL=/bin/bash + SHELLOPTS=braceexpand:errexit:hashall:interactive-comments:posix + SHLVL=3 + SUDO_COMMAND='/usr/bin/timeout -k 24.1h 24h /usr/bin/ionice -c 3 /usr/bin/nice -n 11 /usr/bin/unshare --uts -- /usr/sbin/pbuilder --build --configfile /srv/reproducible-results/rbuild-debian/r-b-build.L2IOXeCG/pbuilderrc_TJHt --distribution unstable --hookdir /etc/pbuilder/rebuild-hooks --debbuildopts -b --basetgz /var/cache/pbuilder/unstable-reproducible-base.tgz --buildresult /srv/reproducible-results/rbuild-debian/r-b-build.L2IOXeCG/b2 --logfile b2/build.log simbody_3.7+dfsg-5.dsc' + SUDO_GID=110 + SUDO_HOME=/var/lib/jenkins + SUDO_UID=105 + SUDO_USER=jenkins + TERM=unknown + TZ=/usr/share/zoneinfo/Etc/GMT-14 + UID=0 + USER=root + _='I: set' + http_proxy=http://46.16.76.132:3128 I: uname -a - Linux ionos5-amd64 6.12.48+deb13-amd64 #1 SMP PREEMPT_DYNAMIC Debian 6.12.48-1 (2025-09-20) x86_64 GNU/Linux + Linux i-capture-the-hostname 6.12.48+deb13-amd64 #1 SMP PREEMPT_DYNAMIC Debian 6.12.48-1 (2025-09-20) x86_64 GNU/Linux I: ls -l /bin - lrwxrwxrwx 1 root root 7 Aug 10 2025 /bin -> usr/bin -I: user script /srv/workspace/pbuilder/2931851/tmp/hooks/D02_print_environment finished + lrwxrwxrwx 1 root root 7 Aug 10 12:30 /bin -> usr/bin +I: user script /srv/workspace/pbuilder/1214119/tmp/hooks/D02_print_environment finished -> Attempting to satisfy build-dependencies -> Creating pbuilder-satisfydepends-dummy package Package: pbuilder-satisfydepends-dummy @@ -359,7 +391,7 @@ Get: 234 http://deb.debian.org/debian unstable/main amd64 libxi-dev amd64 2:1.8.2-1 [241 kB] Get: 235 http://deb.debian.org/debian unstable/main amd64 libxmu-headers all 2:1.1.3-3 [68.5 kB] Get: 236 http://deb.debian.org/debian unstable/main amd64 libxmu-dev amd64 2:1.1.3-3+b4 [65.3 kB] -Fetched 430 MB in 53s (8175 kB/s) +Fetched 430 MB in 22s (19.2 MB/s) Preconfiguring packages ... Selecting previously unselected package libexpat1:amd64. (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 19856 files and directories currently installed.) @@ -1134,8 +1166,8 @@ Setting up tzdata (2025b-5) ... Current default time zone: 'Etc/UTC' -Local time is now: Wed Nov 11 18:26:12 UTC 2026. -Universal Time is now: Wed Nov 11 18:26:12 UTC 2026. +Local time is now: Thu Oct 9 12:15:35 UTC 2025. +Universal Time is now: Thu Oct 9 12:15:35 UTC 2025. Run 'dpkg-reconfigure tzdata' if you wish to change it. Setting up libxcb-present0:amd64 (1.17.0-2+b1) ... @@ -1351,7 +1383,11 @@ Building tag database... -> Finished parsing the build-deps I: Building the package -I: Running cd /build/reproducible-path/simbody-3.7+dfsg/ && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games" HOME="/nonexistent/first-build" dpkg-buildpackage -us -uc -b && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games" HOME="/nonexistent/first-build" dpkg-genchanges -S > ../simbody_3.7+dfsg-5_source.changes +I: user script /srv/workspace/pbuilder/1214119/tmp/hooks/A99_set_merged_usr starting +Not re-configuring usrmerge for unstable +I: user script /srv/workspace/pbuilder/1214119/tmp/hooks/A99_set_merged_usr finished +hostname: Name or service not known +I: Running cd /build/reproducible-path/simbody-3.7+dfsg/ && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path" HOME="/nonexistent/second-build" dpkg-buildpackage -us -uc -b && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path" HOME="/nonexistent/second-build" dpkg-genchanges -S > ../simbody_3.7+dfsg-5_source.changes dpkg-buildpackage: info: source package simbody dpkg-buildpackage: info: source version 3.7+dfsg-5 dpkg-buildpackage: info: source distribution unstable @@ -1814,8 +1850,8 @@ command to set the policy and suppress this warning. This warning is for project developers. Use -Wno-dev to suppress it. --- Configuring done (2.2s) --- Generating done (0.7s) +-- Configuring done (5.6s) +-- Generating done (2.6s) CMake Warning: Manually-specified variables were not used by the project: @@ -1830,7 +1866,7 @@ debian/rules override_dh_auto_build-indep make[1]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg' dh_auto_build -- doxygen - cd obj-x86_64-linux-gnu && make -j42 INSTALL="install --strip-program=true" doxygen VERBOSE=1 + cd obj-x86_64-linux-gnu && make -j40 INSTALL="install --strip-program=true" doxygen VERBOSE=1 make[2]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' /usr/bin/cmake -S/build/reproducible-path/simbody-3.7+dfsg -B/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu --check-build-system CMakeFiles/Makefile.cmake 0 make -f CMakeFiles/Makefile2 doxygen @@ -1923,7 +1959,7 @@ make[2]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[1]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg' dh_auto_build -O--buildsystem=cmake -Nsimbody-doc - cd obj-x86_64-linux-gnu && make -j42 INSTALL="install --strip-program=true" VERBOSE=1 + cd obj-x86_64-linux-gnu && make -j40 INSTALL="install --strip-program=true" VERBOSE=1 make[1]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' /usr/bin/cmake -S/build/reproducible-path/simbody-3.7+dfsg -B/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu --check-build-system CMakeFiles/Makefile.cmake 0 /usr/bin/cmake -E cmake_progress_start /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/CMakeFiles /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu//CMakeFiles/progress.marks @@ -1953,81 +1989,81 @@ make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/build.make SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 0%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/About.cpp.o [ 0%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/NiceTypeName.cpp.o +[ 0%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/ParallelExecutor.cpp.o [ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/ParallelWorkQueue.cpp.o -[ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/PrivateInstantiations.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/About.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/About.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/About.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/About.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/NiceTypeName.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/NiceTypeName.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/NiceTypeName.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/NiceTypeName.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/ParallelExecutor.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/ParallelExecutor.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/ParallelExecutor.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/ParallelExecutor.cpp [ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/Pathname.cpp.o -[ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/Plugin.cpp.o -[ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/About.cpp.o [ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/Parallel2DExecutor.cpp.o -[ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/Timing.cpp.o -[ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/String.cpp.o -[ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/ParallelExecutor.cpp.o -[ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/tinyxml.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/NiceTypeName.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/NiceTypeName.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/NiceTypeName.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/NiceTypeName.cpp -[ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/tinyxmlparser.cpp.o +[ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/Plugin.cpp.o +[ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/PrivateInstantiations.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/ParallelWorkQueue.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/ParallelWorkQueue.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/ParallelWorkQueue.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/ParallelWorkQueue.cpp -[ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Scalar/src/Scalar.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/Pathname.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/Pathname.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/Pathname.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/Pathname.cpp -[ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/SmallMatrix/src/SmallMatrix.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/About.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/About.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/About.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/About.cpp +[ 2%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/Xml.cpp.o +[ 2%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/tinyxmlparser.cpp.o +[ 2%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/Timing.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/Parallel2DExecutor.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/Parallel2DExecutor.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/Parallel2DExecutor.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/Parallel2DExecutor.cpp -[ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/CoordinateAxis.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/ParallelExecutor.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/ParallelExecutor.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/ParallelExecutor.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/ParallelExecutor.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/Pathname.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/Pathname.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/Pathname.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/Pathname.cpp +[ 2%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Scalar/src/Scalar.cpp.o +[ 2%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/String.cpp.o +[ 2%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/SmallMatrix/src/SmallMatrix.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/Plugin.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/Plugin.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/Plugin.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/Plugin.cpp +[ 2%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/MassProperties.cpp.o +[ 2%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/tinyxml.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/PrivateInstantiations.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/PrivateInstantiations.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/PrivateInstantiations.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/PrivateInstantiations.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/String.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/String.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/String.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/String.cpp -[ 1%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/UnitVec.cpp.o -[ 2%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/Xml.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/Timing.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/Timing.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/Timing.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/Timing.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/String.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/String.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/String.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/String.cpp +[ 2%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/CoordinateAxis.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/Xml.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/Xml.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/Xml.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/Xml.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/tinyxml.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/tinyxml.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/tinyxml.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/tinyxml.cpp -[ 3%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/MassProperties.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/tinyxmlparser.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/tinyxmlparser.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/tinyxmlparser.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/tinyxmlparser.cpp [ 3%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Quaternion.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Scalar/src/Scalar.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Scalar/src/Scalar.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Scalar/src/Scalar.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/src/Scalar.cpp -[ 3%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Transform.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/src/Xml.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/src/Xml.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/src/Xml.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/src/Xml.cpp +[ 3%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Rotation.cpp.o +[ 3%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/UnitVec.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/SmallMatrix/src/SmallMatrix.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/SmallMatrix/src/SmallMatrix.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/SmallMatrix/src/SmallMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/src/SmallMatrix.cpp +[ 3%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Transform.cpp.o +[ 3%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/ElementFilter.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/CoordinateAxis.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Mechanics/src/CoordinateAxis.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Mechanics/src/CoordinateAxis.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/src/CoordinateAxis.cpp +[ 3%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Geometry/src/DecorativeGeometry.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/MassProperties.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Mechanics/src/MassProperties.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Mechanics/src/MassProperties.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/src/MassProperties.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Quaternion.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Quaternion.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Quaternion.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/src/Quaternion.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Transform.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Transform.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Transform.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/src/Transform.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/UnitVec.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Mechanics/src/UnitVec.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Mechanics/src/UnitVec.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/src/UnitVec.cpp [ 3%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/MatrixCharacteristics.cpp.o -[ 3%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/Event.cpp.o -[ 3%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/EventReporter.cpp.o [ 4%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/MatrixHelper.cpp.o -[ 4%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Rotation.cpp.o -[ 4%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/ElementFilter.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/MatrixCharacteristics.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/MatrixCharacteristics.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/MatrixCharacteristics.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/src/MatrixCharacteristics.cpp -[ 4%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/EventHandler.cpp.o -[ 4%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Geometry/src/DecorativeGeometry.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Rotation.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Rotation.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Rotation.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/src/Rotation.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/MatrixHelper.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/MatrixHelper.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/MatrixHelper.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/src/MatrixHelper.cpp +[ 4%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/Event.cpp.o [ 4%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Geometry/src/PolygonalMesh.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/Event.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Simulation/src/Event.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Simulation/src/Event.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/src/Event.cpp +[ 4%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/EventReporter.cpp.o +[ 4%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/EventHandler.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Transform.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Transform.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Mechanics/src/Transform.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/src/Transform.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Mechanics/src/UnitVec.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Mechanics/src/UnitVec.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Mechanics/src/UnitVec.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/src/UnitVec.cpp +[ 4%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/Measure.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/ElementFilter.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/ElementFilter.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/ElementFilter.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/src/ElementFilter.cpp +[ 4%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/Study.cpp.o +[ 5%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/State.cpp.o +[ 5%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/System.cpp.o +[ 5%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/Subsystem.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/MatrixCharacteristics.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/MatrixCharacteristics.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/MatrixCharacteristics.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/src/MatrixCharacteristics.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/MatrixHelper.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/MatrixHelper.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/BigMatrix/src/MatrixHelper.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/src/MatrixHelper.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Geometry/src/DecorativeGeometry.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Geometry/src/DecorativeGeometry.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Geometry/src/DecorativeGeometry.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/src/DecorativeGeometry.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Geometry/src/PolygonalMesh.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Geometry/src/PolygonalMesh.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Geometry/src/PolygonalMesh.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/src/PolygonalMesh.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/Event.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Simulation/src/Event.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Simulation/src/Event.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/src/Event.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/EventHandler.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Simulation/src/EventHandler.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Simulation/src/EventHandler.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/src/EventHandler.cpp +[ 5%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Random/src/Random.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/EventReporter.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Simulation/src/EventReporter.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Simulation/src/EventReporter.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/src/EventReporter.cpp -[ 5%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/State.cpp.o -[ 5%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/Subsystem.cpp.o -[ 5%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/Study.cpp.o -[ 5%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/System.cpp.o -[ 5%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/Measure.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/Study.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Simulation/src/Study.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Simulation/src/Study.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/src/Study.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/Measure.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Simulation/src/Measure.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Simulation/src/Measure.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/src/Measure.cpp +[ 6%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Polynomial/src/PolynomialRootFinder.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/State.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Simulation/src/State.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Simulation/src/State.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/src/State.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/Study.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Simulation/src/Study.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Simulation/src/Study.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/src/Study.cpp +[ 6%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Random/src/SFMT.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/Subsystem.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Simulation/src/Subsystem.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Simulation/src/Subsystem.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/src/Subsystem.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/Measure.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Simulation/src/Measure.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Simulation/src/Measure.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/src/Measure.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Simulation/src/System.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Simulation/src/System.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Simulation/src/System.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/src/System.cpp -[ 5%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Random/src/Random.cpp.o -[ 5%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Polynomial/src/cpoly.cpp.o -[ 5%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Random/src/SFMT.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Random/src/Random.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Random/src/Random.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Random/src/Random.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/src/Random.cpp -[ 6%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Polynomial/src/PolynomialRootFinder.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Random/src/SFMT.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Random/src/SFMT.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Random/src/SFMT.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/src/SFMT.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Polynomial/src/PolynomialRootFinder.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Polynomial/src/PolynomialRootFinder.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Polynomial/src/PolynomialRootFinder.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/src/PolynomialRootFinder.cpp +[ 6%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Polynomial/src/cpoly.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Polynomial/src/cpoly.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Polynomial/src/cpoly.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Polynomial/src/cpoly.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/src/cpoly.cpp [ 6%] Building CXX object SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Polynomial/src/rpoly.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_BUILDING_SHARED_LIBRARY -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -DSimTKcommon_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKcommon/sharedTarget/CMakeFiles/SimTKcommon.dir/__/Polynomial/src/rpoly.cpp.o -MF CMakeFiles/SimTKcommon.dir/__/Polynomial/src/rpoly.cpp.o.d -o CMakeFiles/SimTKcommon.dir/__/Polynomial/src/rpoly.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/src/rpoly.cpp @@ -2041,32 +2077,32 @@ make -f SimTKcommon/tests/CMakeFiles/MatVecTest.dir/build.make SimTKcommon/tests/CMakeFiles/MatVecTest.dir/depend make -f SimTKcommon/tests/CMakeFiles/OrientationTest.dir/build.make SimTKcommon/tests/CMakeFiles/OrientationTest.dir/depend make -f SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/build.make SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/depend +make -f SimTKcommon/tests/CMakeFiles/RandomTest.dir/build.make SimTKcommon/tests/CMakeFiles/RandomTest.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/BNTTest.dir/DependInfo.cmake "--color=" -make -f SimTKcommon/tests/CMakeFiles/RandomTest.dir/build.make SimTKcommon/tests/CMakeFiles/RandomTest.dir/depend make -f SimTKcommon/tests/CMakeFiles/RotationTest.dir/build.make SimTKcommon/tests/CMakeFiles/RotationTest.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/MatVecTest.dir/DependInfo.cmake "--color=" -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/OrientationTest.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/SFMTTest.dir/build.make SimTKcommon/tests/CMakeFiles/SFMTTest.dir/depend -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/build.make SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/OrientationTest.dir/DependInfo.cmake "--color=" +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/RandomTest.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/StateTest.dir/build.make SimTKcommon/tests/CMakeFiles/StateTest.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/RotationTest.dir/DependInfo.cmake "--color=" +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/TestArray.dir/build.make SimTKcommon/tests/CMakeFiles/TestArray.dir/depend -make -f SimTKcommon/tests/CMakeFiles/TestAtomic.dir/build.make SimTKcommon/tests/CMakeFiles/TestAtomic.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/SFMTTest.dir/DependInfo.cmake "--color=" -make -f SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/build.make SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/depend +make -f SimTKcommon/tests/CMakeFiles/TestAtomic.dir/build.make SimTKcommon/tests/CMakeFiles/TestAtomic.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/DependInfo.cmake "--color=" -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/build.make SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/depend make -f SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/build.make SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/depend +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/StateTest.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestArray.dir/DependInfo.cmake "--color=" @@ -2074,247 +2110,250 @@ make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestAtomic.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/TestIteratorRange.dir/build.make SimTKcommon/tests/CMakeFiles/TestIteratorRange.dir/depend -make -f SimTKcommon/tests/CMakeFiles/TestMassProperties.dir/build.make SimTKcommon/tests/CMakeFiles/TestMassProperties.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/DependInfo.cmake "--color=" +make -f SimTKcommon/tests/CMakeFiles/TestMassProperties.dir/build.make SimTKcommon/tests/CMakeFiles/TestMassProperties.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/DependInfo.cmake "--color=" -make -f SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/build.make SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestFunction.dir/DependInfo.cmake "--color=" +make -f SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/build.make SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/depend make -f SimTKcommon/tests/CMakeFiles/TestParallel2DExecutor.dir/build.make SimTKcommon/tests/CMakeFiles/TestParallel2DExecutor.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestIteratorRange.dir/DependInfo.cmake "--color=" -make -f SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/build.make SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestMassProperties.dir/DependInfo.cmake "--color=" -make -f SimTKcommon/tests/CMakeFiles/TestParallelWorkQueue.dir/build.make SimTKcommon/tests/CMakeFiles/TestParallelWorkQueue.dir/depend +make -f SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/build.make SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/DependInfo.cmake "--color=" +make -f SimTKcommon/tests/CMakeFiles/TestParallelWorkQueue.dir/build.make SimTKcommon/tests/CMakeFiles/TestParallelWorkQueue.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestParallel2DExecutor.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/TestPlugin.dir/build.make SimTKcommon/tests/CMakeFiles/TestPlugin.dir/depend -make -f SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/build.make SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/DependInfo.cmake "--color=" +make -f SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/build.make SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/depend make -f SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/build.make SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestParallelWorkQueue.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/TestScalar.dir/build.make SimTKcommon/tests/CMakeFiles/TestScalar.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/DependInfo.cmake "--color=" +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestPlugin.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/TestSimulation.dir/build.make SimTKcommon/tests/CMakeFiles/TestSimulation.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/DependInfo.cmake "--color=" -make -f SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/build.make SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/depend +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestScalar.dir/DependInfo.cmake "--color=" +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestSimulation.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/DependInfo.cmake "--color=" +make -f SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/build.make SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/depend make -f SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/build.make SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/depend -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestScalar.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/TestXml.dir/build.make SimTKcommon/tests/CMakeFiles/TestXml.dir/depend -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestSimulation.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/build.make SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests 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'/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestXml.dir/DependInfo.cmake "--color=" make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/build.make SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/build +make -f SimTKcommon/tests/CMakeFiles/BNTTest.dir/build.make SimTKcommon/tests/CMakeFiles/BNTTest.dir/build +make -f SimTKcommon/tests/CMakeFiles/RandomTest.dir/build.make SimTKcommon/tests/CMakeFiles/RandomTest.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/DependInfo.cmake "--color=" make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/MatVecTest.dir/build.make SimTKcommon/tests/CMakeFiles/MatVecTest.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/StateTest.dir/build.make SimTKcommon/tests/CMakeFiles/StateTest.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/build.make SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/build +make -f SimTKcommon/tests/CMakeFiles/RotationTest.dir/build.make SimTKcommon/tests/CMakeFiles/RotationTest.dir/build +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/build.make 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'/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/sharedTarget /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/DependInfo.cmake "--color=" make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/StateTest.dir/build.make SimTKcommon/tests/CMakeFiles/StateTest.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/build.make SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/SFMTTest.dir/build.make SimTKcommon/tests/CMakeFiles/SFMTTest.dir/build +make -f SimTKcommon/tests/CMakeFiles/TestArray.dir/build.make SimTKcommon/tests/CMakeFiles/TestArray.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/TestAtomic.dir/build.make SimTKcommon/tests/CMakeFiles/TestAtomic.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/build.make SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/build +make -f SimTKcommon/tests/CMakeFiles/TestFunction.dir/build.make SimTKcommon/tests/CMakeFiles/TestFunction.dir/build +make[3]: Entering directory 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SimTKcommon/tests/CMakeFiles/TestPlugin.dir/build.make SimTKcommon/tests/CMakeFiles/TestPlugin.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/build.make SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/build.make SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/build make -f SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/build.make SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKcommon/tests/CMakeFiles/TestScalar.dir/build.make SimTKcommon/tests/CMakeFiles/TestScalar.dir/build +make -f SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/build.make SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/build.make SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/MatVecTest.dir/MatVecTest.cpp.o make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestSimulation.dir/build.make SimTKcommon/tests/CMakeFiles/TestSimulation.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/build.make SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKcommon/tests/CMakeFiles/TestXml.dir/build.make SimTKcommon/tests/CMakeFiles/TestXml.dir/build -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/TestBigMatrix.cpp.o make -f SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/build.make SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/build +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/MatVecTest.dir/MatVecTest.cpp.o -MF CMakeFiles/MatVecTest.dir/MatVecTest.cpp.o.d -o CMakeFiles/MatVecTest.dir/MatVecTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/MatVecTest.cpp +make -f SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/build.make SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/build +[ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/BNTTest.dir/BNTTest.cpp.o +[ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/RandomTest.dir/RandomTest.cpp.o +make -f SimTKcommon/tests/CMakeFiles/TestSimulation.dir/build.make SimTKcommon/tests/CMakeFiles/TestSimulation.dir/build +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/TestBigMatrix.cpp.o -MF CMakeFiles/TestBigMatrix.dir/TestBigMatrix.cpp.o.d -o CMakeFiles/TestBigMatrix.dir/TestBigMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestBigMatrix.cpp make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/SpatialAlgebraTest.cpp.o make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/RandomTest.dir/RandomTest.cpp.o -MF CMakeFiles/RandomTest.dir/RandomTest.cpp.o.d -o CMakeFiles/RandomTest.dir/RandomTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/RandomTest.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/BNTTest.dir/BNTTest.cpp.o -MF CMakeFiles/BNTTest.dir/BNTTest.cpp.o.d -o CMakeFiles/BNTTest.dir/BNTTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/BNTTest.cpp make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/TestBigMatrix.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/SpatialAlgebraTest.cpp.o -MF CMakeFiles/SpatialAlgebraTest.dir/SpatialAlgebraTest.cpp.o.d -o CMakeFiles/SpatialAlgebraTest.dir/SpatialAlgebraTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/SpatialAlgebraTest.cpp +[ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/RotationTest.dir/RotationTest.cpp.o +[ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/OrientationTest.dir/OrientationTest.cpp.o +[ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/TestNiceTypeName.cpp.o +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/PolynomialTest.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/TestNiceTypeName.cpp.o -MF CMakeFiles/TestNiceTypeName.dir/TestNiceTypeName.cpp.o.d -o CMakeFiles/TestNiceTypeName.dir/TestNiceTypeName.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestNiceTypeName.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/RotationTest.dir/RotationTest.cpp.o -MF CMakeFiles/RotationTest.dir/RotationTest.cpp.o.d -o CMakeFiles/RotationTest.dir/RotationTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/RotationTest.cpp [ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/StateTest.dir/StateTest.cpp.o -[ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/TestCloneOnWritePtr.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/TestBigMatrix.cpp.o -MF CMakeFiles/TestBigMatrix.dir/TestBigMatrix.cpp.o.d -o CMakeFiles/TestBigMatrix.dir/TestBigMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestBigMatrix.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/OrientationTest.dir/OrientationTest.cpp.o -MF CMakeFiles/OrientationTest.dir/OrientationTest.cpp.o.d -o CMakeFiles/OrientationTest.dir/OrientationTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/OrientationTest.cpp +[ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/SFMTTest.dir/SFMTTest.cpp.o +[ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/TestIteratorRange.dir/TestIteratorRange.cpp.o +[ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/TestArray.dir/TestArray.cpp.o +make -f SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/build.make SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/build +[ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/TestPlugin.dir/TestPlugin.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/StateTest.dir/StateTest.cpp.o -MF CMakeFiles/StateTest.dir/StateTest.cpp.o.d -o CMakeFiles/StateTest.dir/StateTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/StateTest.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/TestCloneOnWritePtr.cpp.o -MF CMakeFiles/TestCloneOnWritePtr.dir/TestCloneOnWritePtr.cpp.o.d -o CMakeFiles/TestCloneOnWritePtr.dir/TestCloneOnWritePtr.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestCloneOnWritePtr.cpp -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/DependInfo.cmake "--color=" -[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/TestNiceTypeName.cpp.o -[ 8%] Building CXX object SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/TestPrivateImplementation.cpp.o -[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/TestPolygonalMesh.cpp.o -[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestScalar.dir/TestScalar.cpp.o -[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestParallel2DExecutor.dir/TestParallel2DExecutor.cpp.o -[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestSimulation.dir/TestSimulation.cpp.o -[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestPlugin.dir/TestPlugin.cpp.o -[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/TestParallelExecutor.cpp.o -[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestXml.dir/TestXml.cpp.o -[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestIteratorRange.dir/TestIteratorRange.cpp.o -[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestParallelWorkQueue.dir/TestParallelWorkQueue.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/SFMTTest.dir/SFMTTest.cpp.o -MF CMakeFiles/SFMTTest.dir/SFMTTest.cpp.o.d -o CMakeFiles/SFMTTest.dir/SFMTTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/SFMTTest.cpp +[ 6%] Building CXX object SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/TestCloneOnWritePtr.cpp.o +[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestFunction.dir/TestFunction.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/PolynomialTest.cpp.o -MF CMakeFiles/PolynomialTest.dir/PolynomialTest.cpp.o.d -o CMakeFiles/PolynomialTest.dir/PolynomialTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/PolynomialTest.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestPlugin.dir/TestPlugin.cpp.o -MF CMakeFiles/TestPlugin.dir/TestPlugin.cpp.o.d -o CMakeFiles/TestPlugin.dir/TestPlugin.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestPlugin.cpp [ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestAtomic.dir/TestAtomic.cpp.o -[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestArray.dir/TestArray.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestArray.dir/TestArray.cpp.o -MF CMakeFiles/TestArray.dir/TestArray.cpp.o.d -o CMakeFiles/TestArray.dir/TestArray.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestArray.cpp [ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestMassProperties.dir/TestMassProperties.cpp.o -[ 9%] Building CXX object SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/TestVectorMath.cpp.o -[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/TestSmallMatrix.cpp.o -[ 9%] Building CXX object SimTKcommon/tests/CMakeFiles/TestFunction.dir/TestFunction.cpp.o -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/RotationTest.dir/build.make SimTKcommon/tests/CMakeFiles/RotationTest.dir/build -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/MatVecTest.dir/build.make SimTKcommon/tests/CMakeFiles/MatVecTest.dir/build +[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestParallel2DExecutor.dir/TestParallel2DExecutor.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/TestCloneOnWritePtr.cpp.o -MF CMakeFiles/TestCloneOnWritePtr.dir/TestCloneOnWritePtr.cpp.o.d -o CMakeFiles/TestCloneOnWritePtr.dir/TestCloneOnWritePtr.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestCloneOnWritePtr.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestFunction.dir/TestFunction.cpp.o -MF CMakeFiles/TestFunction.dir/TestFunction.cpp.o.d -o CMakeFiles/TestFunction.dir/TestFunction.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestFunction.cpp +[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestParallelWorkQueue.dir/TestParallelWorkQueue.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestAtomic.dir/TestAtomic.cpp.o -MF CMakeFiles/TestAtomic.dir/TestAtomic.cpp.o.d -o CMakeFiles/TestAtomic.dir/TestAtomic.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestAtomic.cpp -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestFunction.dir/TestFunction.cpp.o -MF CMakeFiles/TestFunction.dir/TestFunction.cpp.o.d -o CMakeFiles/TestFunction.dir/TestFunction.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestFunction.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestPlugin.dir/TestPlugin.cpp.o -MF CMakeFiles/TestPlugin.dir/TestPlugin.cpp.o.d -o CMakeFiles/TestPlugin.dir/TestPlugin.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestPlugin.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/TestSmallMatrix.cpp.o -MF CMakeFiles/TestSmallMatrix.dir/TestSmallMatrix.cpp.o.d -o CMakeFiles/TestSmallMatrix.dir/TestSmallMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestSmallMatrix.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestSimulation.dir/TestSimulation.cpp.o -MF CMakeFiles/TestSimulation.dir/TestSimulation.cpp.o.d -o CMakeFiles/TestSimulation.dir/TestSimulation.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestSimulation.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestParallel2DExecutor.dir/TestParallel2DExecutor.cpp.o -MF CMakeFiles/TestParallel2DExecutor.dir/TestParallel2DExecutor.cpp.o.d -o CMakeFiles/TestParallel2DExecutor.dir/TestParallel2DExecutor.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestParallel2DExecutor.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestParallelWorkQueue.dir/TestParallelWorkQueue.cpp.o -MF CMakeFiles/TestParallelWorkQueue.dir/TestParallelWorkQueue.cpp.o.d -o CMakeFiles/TestParallelWorkQueue.dir/TestParallelWorkQueue.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestParallelWorkQueue.cpp -make -f SimTKcommon/tests/CMakeFiles/BNTTest.dir/build.make SimTKcommon/tests/CMakeFiles/BNTTest.dir/build -make -f SimTKcommon/tests/CMakeFiles/OrientationTest.dir/build.make SimTKcommon/tests/CMakeFiles/OrientationTest.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/TestParallelExecutor.cpp.o +[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestScalar.dir/TestScalar.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestScalar.dir/TestScalar.cpp.o -MF CMakeFiles/TestScalar.dir/TestScalar.cpp.o.d -o CMakeFiles/TestScalar.dir/TestScalar.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestScalar.cpp +[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/TestPolygonalMesh.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestMassProperties.dir/TestMassProperties.cpp.o -MF CMakeFiles/TestMassProperties.dir/TestMassProperties.cpp.o.d -o CMakeFiles/TestMassProperties.dir/TestMassProperties.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestMassProperties.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/TestParallelExecutor.cpp.o -MF CMakeFiles/TestParallelExecutor.dir/TestParallelExecutor.cpp.o.d -o CMakeFiles/TestParallelExecutor.dir/TestParallelExecutor.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestParallelExecutor.cpp make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/build.make SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/build -make -f SimTKcommon/tests/CMakeFiles/SFMTTest.dir/build.make SimTKcommon/tests/CMakeFiles/SFMTTest.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/build.make SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/build -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/TestNiceTypeName.cpp.o -MF CMakeFiles/TestNiceTypeName.dir/TestNiceTypeName.cpp.o.d -o CMakeFiles/TestNiceTypeName.dir/TestNiceTypeName.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestNiceTypeName.cpp -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 9%] Building CXX object SimTKcommon/tests/CMakeFiles/RotationTest.dir/RotationTest.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/RotationTest.dir/RotationTest.cpp.o -MF CMakeFiles/RotationTest.dir/RotationTest.cpp.o.d -o CMakeFiles/RotationTest.dir/RotationTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/RotationTest.cpp -[ 9%] Building CXX object SimTKcommon/tests/CMakeFiles/MatVecTest.dir/MatVecTest.cpp.o -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/MatVecTest.dir/MatVecTest.cpp.o -MF CMakeFiles/MatVecTest.dir/MatVecTest.cpp.o.d -o CMakeFiles/MatVecTest.dir/MatVecTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/MatVecTest.cpp -make -f SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/build.make SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 9%] Building CXX object SimTKcommon/tests/CMakeFiles/BNTTest.dir/BNTTest.cpp.o -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/build.make SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/build -[ 9%] Building CXX object SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/PolynomialTest.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/BNTTest.dir/BNTTest.cpp.o -MF CMakeFiles/BNTTest.dir/BNTTest.cpp.o.d -o CMakeFiles/BNTTest.dir/BNTTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/BNTTest.cpp -[ 9%] Building CXX object SimTKcommon/tests/CMakeFiles/RandomTest.dir/RandomTest.cpp.o -[ 9%] Building CXX object SimTKcommon/tests/CMakeFiles/OrientationTest.dir/OrientationTest.cpp.o -[ 9%] Building CXX object SimTKcommon/tests/CMakeFiles/SFMTTest.dir/SFMTTest.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/RandomTest.dir/RandomTest.cpp.o -MF CMakeFiles/RandomTest.dir/RandomTest.cpp.o.d -o CMakeFiles/RandomTest.dir/RandomTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/RandomTest.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/OrientationTest.dir/OrientationTest.cpp.o -MF CMakeFiles/OrientationTest.dir/OrientationTest.cpp.o.d -o CMakeFiles/OrientationTest.dir/OrientationTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/OrientationTest.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/SFMTTest.dir/SFMTTest.cpp.o -MF CMakeFiles/SFMTTest.dir/SFMTTest.cpp.o.d -o CMakeFiles/SFMTTest.dir/SFMTTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/SFMTTest.cpp -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 9%] Building CXX object SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/SpatialAlgebraTest.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/PolynomialTest.cpp.o -MF CMakeFiles/PolynomialTest.dir/PolynomialTest.cpp.o.d -o CMakeFiles/PolynomialTest.dir/PolynomialTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/PolynomialTest.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/SpatialAlgebraTest.cpp.o -MF CMakeFiles/SpatialAlgebraTest.dir/SpatialAlgebraTest.cpp.o.d -o CMakeFiles/SpatialAlgebraTest.dir/SpatialAlgebraTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/SpatialAlgebraTest.cpp -[ 9%] Building CXX object SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/BigMatrixTest.cpp.o +[ 7%] Building CXX object SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/BigMatrixTest.cpp.o +[ 7%] Building CXX object SimTKcommon/tests/CMakeFiles/TestXml.dir/TestXml.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/TestPolygonalMesh.cpp.o -MF CMakeFiles/TestPolygonalMesh.dir/TestPolygonalMesh.cpp.o.d -o CMakeFiles/TestPolygonalMesh.dir/TestPolygonalMesh.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestPolygonalMesh.cpp +[ 8%] Building CXX object SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/TestVectorMath.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/adhoc && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/BigMatrixTest.cpp.o -MF CMakeFiles/BigMatrixTest.dir/BigMatrixTest.cpp.o.d -o CMakeFiles/BigMatrixTest.dir/BigMatrixTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/adhoc/BigMatrixTest.cpp -[ 9%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/FactorQTZ.cpp.o -[ 9%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/Factor.cpp.o -[ 10%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/FactorSVD.cpp.o -[ 10%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/LapackInterface.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestXml.dir/TestXml.cpp.o -MF CMakeFiles/TestXml.dir/TestXml.cpp.o.d -o CMakeFiles/TestXml.dir/TestXml.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestXml.cpp +[ 9%] Building CXX object SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/TestPrivateImplementation.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/TestVectorMath.cpp.o -MF CMakeFiles/TestVectorMath.dir/TestVectorMath.cpp.o.d -o CMakeFiles/TestVectorMath.dir/TestVectorMath.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestVectorMath.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/TestPrivateImplementation.cpp.o -MF CMakeFiles/TestPrivateImplementation.dir/TestPrivateImplementation.cpp.o.d -o CMakeFiles/TestPrivateImplementation.dir/TestPrivateImplementation.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestPrivateImplementation.cpp +[ 9%] Building CXX object SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/TestSmallMatrix.cpp.o +[ 9%] Building CXX object SimTKcommon/tests/CMakeFiles/TestSimulation.dir/TestSimulation.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestSimulation.dir/TestSimulation.cpp.o -MF CMakeFiles/TestSimulation.dir/TestSimulation.cpp.o.d -o CMakeFiles/TestSimulation.dir/TestSimulation.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestSimulation.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SimTKCOMMON_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SimTKCOMMON_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SimTKCOMMON_LIBRARY_NAME=SimTKcommon -DSimTK_SimTKCOMMON_MAJOR_VERSION=3 -DSimTK_SimTKCOMMON_MINOR_VERSION=7 -DSimTK_SimTKCOMMON_PATCH_VERSION=0 -DSimTK_SimTKCOMMON_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/TestSmallMatrix.cpp.o -MF CMakeFiles/TestSmallMatrix.dir/TestSmallMatrix.cpp.o.d -o CMakeFiles/TestSmallMatrix.dir/TestSmallMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/TestSmallMatrix.cpp +[ 10%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/Factor.cpp.o [ 10%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/LapackConvert.cpp.o [ 10%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/Eigen.cpp.o -[ 10%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes.c.o +[ 10%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/FactorSVD.cpp.o +[ 10%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/LapackInterface.cpp.o +[ 10%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/FactorQTZ.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/Factor.cpp.o -MF CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/Factor.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/Factor.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/src/Factor.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/FactorQTZ.cpp.o -MF CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/FactorQTZ.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/FactorQTZ.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/src/FactorQTZ.cpp -[ 10%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_bandpre.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/FactorSVD.cpp.o -MF CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/FactorSVD.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/FactorSVD.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/src/FactorSVD.cpp -[ 10%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_band.c.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/LapackConvert.cpp.o -MF CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/LapackConvert.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/LapackConvert.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/src/LapackConvert.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/Eigen.cpp.o -MF CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/Eigen.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/Eigen.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/src/Eigen.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/LapackInterface.cpp.o -MF CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/LapackInterface.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/LapackInterface.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/src/LapackInterface.cpp -[ 10%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_dense.c.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/FactorQTZ.cpp.o -MF CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/FactorQTZ.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/FactorQTZ.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/src/FactorQTZ.cpp +[ 10%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes.c.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/LapackConvert.cpp.o -MF CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/LapackConvert.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/LapackConvert.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/src/LapackConvert.cpp +[ 10%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_bandpre.c.o [ 11%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_bbdpre.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes.c -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_band.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_band.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_band.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_band.c +[ 11%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_band.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_bandpre.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_bandpre.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_bandpre.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_bandpre.c -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_dense.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_dense.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_dense.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_dense.c cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_bbdpre.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_bbdpre.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_bbdpre.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_bbdpre.c -[ 11%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_ic.c.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_band.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_band.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_band.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_band.c +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/LapackInterface.cpp.o -MF CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/LapackInterface.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/LinearAlgebra/src/LapackInterface.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/src/LapackInterface.cpp +[ 11%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_dense.c.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_dense.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_dense.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_dense.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_dense.c [ 11%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_direct.c.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_ic.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_ic.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_ic.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_ic.c cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_direct.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_direct.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_direct.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_direct.c +[ 11%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_ic.c.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_ic.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_ic.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_ic.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_ic.c [ 11%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_io.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_io.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_io.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_io.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_io.c [ 11%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_lapack.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_lapack.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_lapack.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_lapack.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_lapack.c +[ 11%] Linking CXX executable ../../SFMTTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/SFMTTest.dir/link.txt --verbose=1 [ 11%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_nls.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_nls.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_nls.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_nls.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_nls.c [ 12%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_proj.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_proj.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_proj.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_proj.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_proj.c [ 12%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_root.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_root.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_root.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_root.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_root.c +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SFMTTest.dir/link.d CMakeFiles/SFMTTest.dir/SFMTTest.cpp.o -o ../../SFMTTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 12%] Built target SFMTTest [ 12%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_spbcgs.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_spbcgs.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_spbcgs.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_spbcgs.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_spbcgs.c -[ 12%] Linking CXX executable ../../SFMTTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/SFMTTest.dir/link.txt --verbose=1 [ 12%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_spgmr.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_spgmr.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_spgmr.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_spgmr.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_spgmr.c [ 12%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/cpodes/cpodes_spils.c.o @@ -2324,28 +2363,32 @@ [ 12%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/nvec_ser/fnvector_serial.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/nvec_ser/fnvector_serial.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/nvec_ser/fnvector_serial.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/nvec_ser/fnvector_serial.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/nvec_ser/fnvector_serial.c [ 13%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/nvec_ser/nvector_serial.c.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/nvec_ser/nvector_serial.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/nvec_ser/nvector_serial.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/nvec_ser/nvector_serial.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/nvec_ser/nvector_serial.c -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SFMTTest.dir/link.d CMakeFiles/SFMTTest.dir/SFMTTest.cpp.o -o ../../SFMTTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' [ 13%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_band.c.o -[ 13%] Built target SFMTTest -[ 13%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_dense.c.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/nvec_ser/nvector_serial.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/nvec_ser/nvector_serial.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/nvec_ser/nvector_serial.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/nvec_ser/nvector_serial.c cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_band.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_band.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_band.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_band.c +[ 13%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_dense.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_dense.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_dense.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_dense.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_dense.c -[ 13%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_iterative.c.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_iterative.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_iterative.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_iterative.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_iterative.c [ 13%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_direct.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_direct.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_direct.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_direct.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_direct.c +[ 13%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_iterative.c.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_iterative.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_iterative.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_iterative.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_iterative.c +/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/MatVecTest.cpp: In function 'void testMiscellaneous()': +/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/MatVecTest.cpp:330:85: warning: casting 'SimTK::Vec<2, std::complex, 1>' to 'SimTK::Vec<2, SimTK::negator >, 1>&' does not use 'SimTK::Vec::Vec(const SimTK::Vec::TNeg, SS>&) [with int SS = 1; int M = 2; ELT = SimTK::negator >; int STRIDE = 1; typename SimTK::CNT::TNeg = std::complex]' [-Wcast-user-defined] + 330 | Vec<2,negator >,1>& negCv2 = (Vec<2,negator >,1>&)cv2; + | ^~~ +/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/MatVecTest.cpp:405:40: warning: casting 'SimTK::Vec<2>' to 'SimTK::Vec<2>::TNeg&' {aka 'SimTK::Vec<2, SimTK::negator, 1>&'} does not use 'SimTK::Vec::Vec(const SimTK::Vec::TNeg, SS>&) [with int SS = 1; int M = 2; ELT = SimTK::negator; int STRIDE = 1; typename SimTK::CNT::TNeg = double]' [-Wcast-user-defined] + 405 | Vec<2>::TNeg& nv1 = (Vec<2>::TNeg&)v1; + | ^~ [ 13%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_lapack.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_lapack.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_lapack.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_lapack.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_lapack.c [ 14%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_math.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_math.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_math.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_math.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_math.c [ 14%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_nvector.c.o +[ 14%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_spgmr.c.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_spgmr.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_spgmr.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_spgmr.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_spgmr.c cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_nvector.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_nvector.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_nvector.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_nvector.c [ 14%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_spbcgs.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_spbcgs.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_spbcgs.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_spbcgs.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_spbcgs.c -[ 14%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_spgmr.c.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_spgmr.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_spgmr.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_spgmr.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_spgmr.c [ 14%] Building C object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_sptfqmr.c.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_sptfqmr.c.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_sptfqmr.c.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/sundials/src/sundials/sundials_sptfqmr.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_sptfqmr.c [ 14%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/CPodes/SimTKcpodes.cpp.o @@ -2362,150 +2405,153 @@ cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/Integrator.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/Integrator.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/Integrator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/Integrator.cpp [ 15%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKutta2Integrator.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKutta2Integrator.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKutta2Integrator.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKutta2Integrator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/RungeKutta2Integrator.cpp -[ 15%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKutta3Integrator.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKutta3Integrator.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKutta3Integrator.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKutta3Integrator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/RungeKutta3Integrator.cpp -/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/MatVecTest.cpp: In function 'void testMiscellaneous()': -/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/MatVecTest.cpp:330:85: warning: casting 'SimTK::Vec<2, std::complex, 1>' to 'SimTK::Vec<2, SimTK::negator >, 1>&' does not use 'SimTK::Vec::Vec(const SimTK::Vec::TNeg, SS>&) [with int SS = 1; int M = 2; ELT = SimTK::negator >; int STRIDE = 1; typename SimTK::CNT::TNeg = std::complex]' [-Wcast-user-defined] - 330 | Vec<2,negator >,1>& negCv2 = (Vec<2,negator >,1>&)cv2; - | ^~~ -/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/MatVecTest.cpp:405:40: warning: casting 'SimTK::Vec<2>' to 'SimTK::Vec<2>::TNeg&' {aka 'SimTK::Vec<2, SimTK::negator, 1>&'} does not use 'SimTK::Vec::Vec(const SimTK::Vec::TNeg, SS>&) [with int SS = 1; int M = 2; ELT = SimTK::negator; int STRIDE = 1; typename SimTK::CNT::TNeg = double]' [-Wcast-user-defined] - 405 | Vec<2>::TNeg& nv1 = (Vec<2>::TNeg&)v1; - | ^~ -[ 16%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKuttaFeldbergIntegrator.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKuttaFeldbergIntegrator.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKuttaFeldbergIntegrator.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKuttaFeldbergIntegrator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/RungeKuttaFeldbergIntegrator.cpp -[ 16%] Linking CXX executable ../../TestAtomic +[ 15%] Linking CXX executable ../../TestAtomic cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestAtomic.dir/link.txt --verbose=1 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestAtomic.dir/link.d CMakeFiles/TestAtomic.dir/TestAtomic.cpp.o -o ../../TestAtomic -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 16%] Built target TestAtomic -[ 16%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKuttaMersonIntegrator.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKuttaMersonIntegrator.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKuttaMersonIntegrator.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKuttaMersonIntegrator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/RungeKuttaMersonIntegrator.cpp -[ 16%] Linking CXX executable ../../RandomTest +[ 15%] Built target TestAtomic +[ 15%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKutta3Integrator.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKutta3Integrator.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKutta3Integrator.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKutta3Integrator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/RungeKutta3Integrator.cpp +[ 15%] Linking CXX executable ../../RandomTest cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/RandomTest.dir/link.txt --verbose=1 -[ 16%] Linking CXX executable ../../TestParallelWorkQueue +[ 15%] Linking CXX executable ../../TestIteratorRange +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestIteratorRange.dir/link.txt --verbose=1 +[ 15%] Linking CXX executable ../../TestParallelWorkQueue cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestParallelWorkQueue.dir/link.txt --verbose=1 -[ 16%] Linking CXX executable ../../TestPolygonalMesh -cd 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/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/SemiExplicitEuler2Integrator.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/SemiExplicitEuler2Integrator.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/SemiExplicitEuler2Integrator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/SemiExplicitEuler2Integrator.cpp +[ 15%] Built target RandomTest +[ 15%] Linking CXX executable ../../TestPolygonalMesh +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestPolygonalMesh.dir/link.txt --verbose=1 +[ 16%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKuttaFeldbergIntegrator.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKuttaFeldbergIntegrator.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKuttaFeldbergIntegrator.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKuttaFeldbergIntegrator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/RungeKuttaFeldbergIntegrator.cpp +[ 17%] Linking CXX executable ../../TestParallel2DExecutor +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestParallel2DExecutor.dir/link.txt --verbose=1 +[ 17%] Linking CXX executable ../../PolynomialTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/PolynomialTest.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestIteratorRange.dir/link.d CMakeFiles/TestIteratorRange.dir/TestIteratorRange.cpp.o -o ../../TestIteratorRange -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 17%] Built target TestIteratorRange +[ 17%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKuttaMersonIntegrator.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKuttaMersonIntegrator.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKuttaMersonIntegrator.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/RungeKuttaMersonIntegrator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/RungeKuttaMersonIntegrator.cpp /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestParallelWorkQueue.dir/link.d CMakeFiles/TestParallelWorkQueue.dir/TestParallelWorkQueue.cpp.o -o ../../TestParallelWorkQueue -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 16%] Built target TestParallelWorkQueue -[ 16%] Linking CXX executable ../../PolynomialTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/PolynomialTest.dir/link.txt --verbose=1 -[ 16%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/SemiExplicitEulerIntegrator.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/SemiExplicitEulerIntegrator.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/SemiExplicitEulerIntegrator.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/SemiExplicitEulerIntegrator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/SemiExplicitEulerIntegrator.cpp /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestPolygonalMesh.dir/link.d CMakeFiles/TestPolygonalMesh.dir/TestPolygonalMesh.cpp.o -o ../../TestPolygonalMesh -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 17%] Built target TestParallelWorkQueue +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 17%] Built target TestPolygonalMesh +[ 17%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/SemiExplicitEuler2Integrator.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/SemiExplicitEuler2Integrator.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/SemiExplicitEuler2Integrator.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/SemiExplicitEuler2Integrator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/SemiExplicitEuler2Integrator.cpp +[ 17%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/SemiExplicitEulerIntegrator.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/SemiExplicitEulerIntegrator.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/SemiExplicitEulerIntegrator.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/SemiExplicitEulerIntegrator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/SemiExplicitEulerIntegrator.cpp +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestParallel2DExecutor.dir/link.d CMakeFiles/TestParallel2DExecutor.dir/TestParallel2DExecutor.cpp.o -o ../../TestParallel2DExecutor -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 16%] Built target TestPolygonalMesh -[ 16%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/TimeStepper.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/TimeStepper.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/TimeStepper.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/TimeStepper.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/TimeStepper.cpp -[ 16%] Linking CXX executable ../../TestParallelExecutor -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestParallelExecutor.dir/link.txt --verbose=1 -[ 17%] Linking CXX executable ../../TestParallel2DExecutor -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestParallel2DExecutor.dir/link.txt --verbose=1 -[ 17%] Linking CXX executable ../../TestIteratorRange -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestIteratorRange.dir/link.txt --verbose=1 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/PolynomialTest.dir/link.d CMakeFiles/PolynomialTest.dir/PolynomialTest.cpp.o -o ../../PolynomialTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 17%] Linking CXX executable ../../TestPrivateImplementation +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestPrivateImplementation.dir/link.txt --verbose=1 [ 17%] Built target PolynomialTest -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestIteratorRange.dir/link.d CMakeFiles/TestIteratorRange.dir/TestIteratorRange.cpp.o -o ../../TestIteratorRange -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestParallelExecutor.dir/link.d CMakeFiles/TestParallelExecutor.dir/TestParallelExecutor.cpp.o -o ../../TestParallelExecutor -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 17%] Linking CXX executable ../../TestParallelExecutor +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestParallelExecutor.dir/link.txt --verbose=1 +[ 17%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/TimeStepper.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/TimeStepper.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/TimeStepper.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/TimeStepper.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/TimeStepper.cpp +[ 17%] Built target TestParallel2DExecutor [ 17%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/VerletIntegrator.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Integrators/src/VerletIntegrator.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Integrators/src/VerletIntegrator.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Integrators/src/VerletIntegrator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/VerletIntegrator.cpp +[ 17%] Linking CXX executable ../../TestNiceTypeName +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestNiceTypeName.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestParallelExecutor.dir/link.d CMakeFiles/TestParallelExecutor.dir/TestParallelExecutor.cpp.o -o ../../TestParallelExecutor -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 17%] Built target TestIteratorRange -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time 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directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' [ 17%] Built target TestParallelExecutor [ 17%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpAdaptiveMuUpdate.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpAlgBuilder.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpAlgBuilder.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpAlgBuilder.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpAlgBuilder.cpp +/usr/bin/c++ -g -O2 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpAlgorithmRegOp.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpAlgorithmRegOp.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpAlgorithmRegOp.cpp.o -c 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpAugRestoSystemSolver.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpAugRestoSystemSolver.cpp.o.d -o 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpBacktrackingLineSearch.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpBacktrackingLineSearch.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpBacktrackingLineSearch.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpBacktrackingLineSearch.cpp -[ 18%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpBlas.cpp.o +[ 19%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpBlas.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include 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-fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpBlas.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpBlas.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpBlas.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpBlas.cpp -[ 18%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundMatrix.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpCompoundMatrix.cpp -[ 19%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundSymMatrix.cpp.o -cd 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundVector.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundVector.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundVector.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpCompoundVector.cpp [ 19%] Linking CXX executable ../../RotationTest cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/RotationTest.dir/link.txt --verbose=1 -[ 20%] Linking CXX executable ../../TestScalar -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestScalar.dir/link.txt --verbose=1 +[ 19%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundMatrix.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpCompoundMatrix.cpp +[ 20%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundSymMatrix.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundSymMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundSymMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundSymMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpCompoundSymMatrix.cpp /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/RotationTest.dir/link.d CMakeFiles/RotationTest.dir/RotationTest.cpp.o -o ../../RotationTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 20%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundVector.cpp.o make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundVector.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundVector.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpCompoundVector.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpCompoundVector.cpp [ 20%] Built target RotationTest [ 20%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDebug.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDebug.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDebug.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDebug.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpDebug.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestScalar.dir/link.d CMakeFiles/TestScalar.dir/TestScalar.cpp.o -o ../../TestScalar -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 20%] Linking CXX executable ../../BNTTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/BNTTest.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/BNTTest.dir/link.d CMakeFiles/BNTTest.dir/BNTTest.cpp.o -o ../../BNTTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 20%] Built target TestScalar [ 20%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDefaultIterateInitializer.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDefaultIterateInitializer.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDefaultIterateInitializer.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDefaultIterateInitializer.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpDefaultIterateInitializer.cpp +[ 20%] Built target BNTTest [ 20%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDenseGenMatrix.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDenseGenMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDenseGenMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDenseGenMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpDenseGenMatrix.cpp +[ 20%] Linking CXX executable ../../OrientationTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/OrientationTest.dir/link.txt --verbose=1 [ 20%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDenseSymMatrix.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDenseSymMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDenseSymMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDenseSymMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpDenseSymMatrix.cpp [ 20%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDenseVector.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDenseVector.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDenseVector.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDenseVector.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpDenseVector.cpp [ 21%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDiagMatrix.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDiagMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDiagMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpDiagMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpDiagMatrix.cpp +[ 21%] Linking CXX executable ../../SpatialAlgebraTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/SpatialAlgebraTest.dir/link.txt --verbose=1 [ 21%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpExactHessianUpdater.cpp.o -[ 21%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpExpansionMatrix.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpExactHessianUpdater.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpExactHessianUpdater.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpExactHessianUpdater.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpExactHessianUpdater.cpp +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpExpansionMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpExpansionMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpExpansionMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpExpansionMatrix.cpp -[ 21%] Linking CXX executable 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'/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 21%] Built target SpatialAlgebraTest [ 21%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpFilter.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpFilterLSAcceptor.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpFilterLSAcceptor.cpp.o.d -o 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SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpGenTMatrix.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpGradientScaling.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpGradientScaling.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpGradientScaling.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpGradientScaling.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic 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-DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpIdentityMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpIdentityMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpIdentityMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpIdentityMatrix.cpp +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestFunction.dir/link.d CMakeFiles/TestFunction.dir/TestFunction.cpp.o -o ../../TestFunction -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestCloneOnWritePtr.dir/link.d CMakeFiles/TestCloneOnWritePtr.dir/TestCloneOnWritePtr.cpp.o -o ../../TestCloneOnWritePtr -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 22%] Built target TestCloneOnWritePtr [ 22%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpInterfacesRegOp.cpp.o -[ 22%] Linking CXX executable ../../SpatialAlgebraTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/SpatialAlgebraTest.dir/link.txt --verbose=1 +[ 22%] Built target TestFunction cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpInterfacesRegOp.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpInterfacesRegOp.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpInterfacesRegOp.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpInterfacesRegOp.cpp +[ 22%] Linking CXX executable ../../TestMassProperties +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestMassProperties.dir/link.txt --verbose=1 [ 22%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpIpoptAlg.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpIpoptAlg.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpIpoptAlg.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpIpoptAlg.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpIpoptAlg.cpp [ 22%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpIpoptApplication.cpp.o @@ -2514,58 +2560,55 @@ cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpIpoptCalculatedQuantities.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpIpoptCalculatedQuantities.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpIpoptCalculatedQuantities.cpp.o -c 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong 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-lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 22%] Built target TestMassProperties [ 23%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpIteratesVector.cpp.o -[ 23%] Linking CXX executable ../../TestCloneOnWritePtr cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpIteratesVector.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpIteratesVector.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpIteratesVector.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpIteratesVector.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestCloneOnWritePtr.dir/link.txt --verbose=1 [ 23%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpJournalist.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpJournalist.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpJournalist.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpJournalist.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpJournalist.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SpatialAlgebraTest.dir/link.d CMakeFiles/SpatialAlgebraTest.dir/SpatialAlgebraTest.cpp.o -o ../../SpatialAlgebraTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 23%] Linking CXX executable ../../TestXml +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestXml.dir/link.txt --verbose=1 [ 23%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLapack.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLapack.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLapack.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLapack.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpLapack.cpp -[ 23%] Built target SpatialAlgebraTest [ 23%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLapackSolverInterface.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLapackSolverInterface.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLapackSolverInterface.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLapackSolverInterface.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpLapackSolverInterface.cpp [ 23%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLeastSquareMults.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLeastSquareMults.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLeastSquareMults.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLeastSquareMults.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpLeastSquareMults.cpp -[ 23%] Linking CXX executable ../../TestMassProperties -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestMassProperties.dir/link.txt --verbose=1 [ 23%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLimMemQuasiNewtonUpdater.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLeastSquareMults.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLeastSquareMults.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLeastSquareMults.cpp.o -c 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLimMemQuasiNewtonUpdater.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLimMemQuasiNewtonUpdater.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLimMemQuasiNewtonUpdater.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpLimMemQuasiNewtonUpdater.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestCloneOnWritePtr.dir/link.d CMakeFiles/TestCloneOnWritePtr.dir/TestCloneOnWritePtr.cpp.o -o ../../TestCloneOnWritePtr -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestXml.dir/link.d CMakeFiles/TestXml.dir/TestXml.cpp.o -o ../../TestXml -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 23%] Built target TestCloneOnWritePtr [ 24%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLinearSolversRegOp.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLinearSolversRegOp.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLinearSolversRegOp.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLinearSolversRegOp.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpLinearSolversRegOp.cpp [ 24%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLoqoMuOracle.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLinearSolversRegOp.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLinearSolversRegOp.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLinearSolversRegOp.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpLinearSolversRegOp.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLoqoMuOracle.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLoqoMuOracle.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLoqoMuOracle.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpLoqoMuOracle.cpp [ 24%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLowRankAugSystemSolver.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLowRankAugSystemSolver.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLowRankAugSystemSolver.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLowRankAugSystemSolver.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpLowRankAugSystemSolver.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestMassProperties.dir/link.d CMakeFiles/TestMassProperties.dir/TestMassProperties.cpp.o -o ../../TestMassProperties -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 24%] Built target TestMassProperties +[ 24%] Linking CXX executable ../../TestVectorMath +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestVectorMath.dir/link.txt --verbose=1 +[ 24%] Built target TestXml [ 24%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLowRankUpdateSymMatrix.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLowRankUpdateSymMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLowRankUpdateSymMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpLowRankUpdateSymMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpLowRankUpdateSymMatrix.cpp [ 24%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpMatrix.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpMatrix.cpp [ 24%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpMonotoneMuUpdate.cpp.o -[ 24%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpMultiVectorMatrix.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpMonotoneMuUpdate.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpMonotoneMuUpdate.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpMonotoneMuUpdate.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpMonotoneMuUpdate.cpp +[ 24%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpMultiVectorMatrix.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpMultiVectorMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpMultiVectorMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpMultiVectorMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpMultiVectorMatrix.cpp -[ 24%] Linking CXX executable ../../TestXml -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestXml.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestVectorMath.dir/link.d CMakeFiles/TestVectorMath.dir/TestVectorMath.cpp.o -o ../../TestVectorMath -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 24%] Built target TestVectorMath [ 25%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpNLPScaling.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpNLPScaling.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpNLPScaling.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpNLPScaling.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpNLPScaling.cpp +[ 25%] Linking CXX executable ../../StateTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/StateTest.dir/link.txt --verbose=1 [ 25%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpObserver.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpObserver.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpObserver.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpObserver.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpObserver.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestXml.dir/link.d CMakeFiles/TestXml.dir/TestXml.cpp.o -o ../../TestXml -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -[ 25%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOptionsList.cpp.o -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOptionsList.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOptionsList.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOptionsList.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpOptionsList.cpp [ 25%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOptErrorConvCheck.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOptErrorConvCheck.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOptErrorConvCheck.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOptErrorConvCheck.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpOptErrorConvCheck.cpp -[ 25%] Built target TestXml +[ 25%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOptionsList.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOptionsList.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOptionsList.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOptionsList.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpOptionsList.cpp [ 25%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOrigIpoptNLP.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOrigIpoptNLP.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOrigIpoptNLP.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOrigIpoptNLP.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpOrigIpoptNLP.cpp [ 25%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpOrigIterationOutput.cpp.o @@ -2576,20 +2619,19 @@ cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpPDPerturbationHandler.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpPDPerturbationHandler.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpPDPerturbationHandler.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpPDPerturbationHandler.cpp [ 26%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpProbingMuOracle.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpProbingMuOracle.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpProbingMuOracle.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpProbingMuOracle.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpProbingMuOracle.cpp +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/StateTest.dir/link.d CMakeFiles/StateTest.dir/StateTest.cpp.o -o ../../StateTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 26%] Built target StateTest [ 26%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpQualityFunctionMuOracle.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpQualityFunctionMuOracle.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpQualityFunctionMuOracle.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpQualityFunctionMuOracle.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpQualityFunctionMuOracle.cpp [ 26%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRegOptions.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRegOptions.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRegOptions.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRegOptions.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpRegOptions.cpp [ 26%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoFilterConvCheck.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoFilterConvCheck.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoFilterConvCheck.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoFilterConvCheck.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpRestoFilterConvCheck.cpp -[ 26%] Linking CXX executable ../../TestVectorMath -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestVectorMath.dir/link.txt --verbose=1 -[ 26%] Linking CXX executable ../../StateTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/StateTest.dir/link.txt --verbose=1 [ 26%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoIpoptNLP.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoFilterConvCheck.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoFilterConvCheck.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoFilterConvCheck.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpRestoFilterConvCheck.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoIpoptNLP.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoIpoptNLP.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoIpoptNLP.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpRestoIpoptNLP.cpp [ 27%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoIterateInitializer.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoIterateInitializer.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoIterateInitializer.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoIterateInitializer.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpRestoIterateInitializer.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoIpoptNLP.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoIpoptNLP.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoIpoptNLP.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpRestoIpoptNLP.cpp [ 27%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoIterationOutput.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoIterationOutput.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoIterationOutput.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoIterationOutput.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpRestoIterationOutput.cpp [ 27%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoMinC_1Nrm.cpp.o @@ -2598,19 +2640,13 @@ cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoRestoPhase.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoRestoPhase.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpRestoRestoPhase.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpRestoRestoPhase.cpp [ 27%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpScaledMatrix.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpScaledMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpScaledMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpScaledMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpScaledMatrix.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/StateTest.dir/link.d CMakeFiles/StateTest.dir/StateTest.cpp.o -o ../../StateTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 27%] Built target StateTest [ 27%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSolveStatistics.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSolveStatistics.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSolveStatistics.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSolveStatistics.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpSolveStatistics.cpp [ 27%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpStdAugSystemSolver.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpStdAugSystemSolver.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpStdAugSystemSolver.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpStdAugSystemSolver.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpStdAugSystemSolver.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestVectorMath.dir/link.d CMakeFiles/TestVectorMath.dir/TestVectorMath.cpp.o -o ../../TestVectorMath -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 27%] Built target TestVectorMath [ 28%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpStdCInterface.cpp.o -[ 28%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpStdInterfaceTNLP.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpStdCInterface.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpStdCInterface.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpStdCInterface.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpStdCInterface.cpp +[ 28%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpStdInterfaceTNLP.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpStdInterfaceTNLP.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpStdInterfaceTNLP.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpStdInterfaceTNLP.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpStdInterfaceTNLP.cpp [ 28%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSumMatrix.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSumMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSumMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSumMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpSumMatrix.cpp @@ -2618,28 +2654,40 @@ cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSumSymMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSumSymMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSumSymMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpSumSymMatrix.cpp [ 28%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSymMatrix.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSymMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSymMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSymMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpSymMatrix.cpp +[ 28%] Linking CXX executable ../../TestSmallMatrix +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestSmallMatrix.dir/link.txt --verbose=1 [ 28%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSymScaledMatrix.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSymScaledMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSymScaledMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSymScaledMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpSymScaledMatrix.cpp [ 29%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSymTMatrix.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSymTMatrix.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSymTMatrix.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpSymTMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpSymTMatrix.cpp [ 29%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTNLPAdapter.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTNLPAdapter.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTNLPAdapter.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTNLPAdapter.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpTNLPAdapter.cpp +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestSmallMatrix.dir/link.d CMakeFiles/TestSmallMatrix.dir/TestSmallMatrix.cpp.o -o ../../TestSmallMatrix -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 29%] Built target TestSmallMatrix [ 29%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTSymLinearSolver.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTSymLinearSolver.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTSymLinearSolver.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTSymLinearSolver.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpTSymLinearSolver.cpp -[ 29%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTimingStatistics.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTimingStatistics.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTimingStatistics.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTimingStatistics.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpTimingStatistics.cpp [ 29%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTaggedObject.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTaggedObject.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTaggedObject.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTaggedObject.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpTaggedObject.cpp +[ 29%] Linking CXX executable ../../TestBigMatrix +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestBigMatrix.dir/link.txt --verbose=1 +[ 29%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTimingStatistics.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTimingStatistics.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTimingStatistics.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTimingStatistics.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpTimingStatistics.cpp [ 29%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTripletHelper.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTripletHelper.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTripletHelper.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTripletHelper.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpTripletHelper.cpp -[ 29%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTripletToCSRConverter.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTripletToCSRConverter.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTripletToCSRConverter.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTripletToCSRConverter.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpTripletToCSRConverter.cpp [ 30%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTripletToDenseConverter.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTripletToDenseConverter.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTripletToDenseConverter.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTripletToDenseConverter.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpTripletToDenseConverter.cpp +[ 30%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTripletToCSRConverter.cpp.o [ 30%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpUserScaling.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTripletToCSRConverter.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTripletToCSRConverter.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpTripletToCSRConverter.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpTripletToCSRConverter.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpUserScaling.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpUserScaling.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpUserScaling.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpUserScaling.cpp [ 30%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpUtils.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpUtils.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpUtils.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpUtils.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpUtils.cpp +[ 30%] Linking CXX executable ../../MatVecTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/MatVecTest.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestBigMatrix.dir/link.d CMakeFiles/TestBigMatrix.dir/TestBigMatrix.cpp.o -o ../../TestBigMatrix -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 30%] Built target TestBigMatrix [ 30%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpVector.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpVector.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpVector.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpVector.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpVector.cpp [ 30%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/IpOpt/IpWarmStartIterateInitializer.cpp.o @@ -2654,8 +2702,9 @@ cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/CMAESOptimizer.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/CMAESOptimizer.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/CMAESOptimizer.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/CMAESOptimizer.cpp [ 31%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/InteriorPointOptimizer.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/InteriorPointOptimizer.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/InteriorPointOptimizer.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/InteriorPointOptimizer.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/InteriorPointOptimizer.cpp -[ 31%] Linking CXX executable ../../TestBigMatrix -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestBigMatrix.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/MatVecTest.dir/link.d CMakeFiles/MatVecTest.dir/MatVecTest.cpp.o -o ../../MatVecTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 31%] Built target MatVecTest [ 31%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/LBFGSBOptimizer.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/LBFGSBOptimizer.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/LBFGSBOptimizer.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/LBFGSBOptimizer.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/LBFGSBOptimizer.cpp [ 31%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/LBFGSOptimizer.cpp.o @@ -2664,21 +2713,17 @@ cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/Optimizer.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/Optimizer.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/Optimizer.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/Optimizer.cpp [ 32%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/OptimizerRep.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/OptimizerRep.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/OptimizerRep.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/OptimizerRep.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/OptimizerRep.cpp -[ 32%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/CollisionDetectionAlgorithm.cpp.o [ 32%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/lbfgs.cpp.o -[ 32%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/lbfgsb.cpp.o -[ 32%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/BicubicSurface.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/lbfgs.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/lbfgs.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/lbfgs.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/lbfgs.cpp +[ 32%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/lbfgsb.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Optimizers/src/lbfgsb.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Optimizers/src/lbfgsb.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Optimizers/src/lbfgsb.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/lbfgsb.cpp +[ 32%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/BicubicSurface.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/BicubicSurface.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/BicubicSurface.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/BicubicSurface.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/BicubicSurface.cpp +[ 32%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/CollisionDetectionAlgorithm.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/CollisionDetectionAlgorithm.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/CollisionDetectionAlgorithm.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/CollisionDetectionAlgorithm.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/CollisionDetectionAlgorithm.cpp [ 32%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/Contact.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/Contact.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/Contact.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/Contact.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/Contact.cpp -[ 32%] Linking CXX executable ../../TestSmallMatrix -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestSmallMatrix.dir/link.txt --verbose=1 -[ 33%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry.cpp.o /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/c-cmaes/cmaes.c: In function 'szCat': -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/ContactGeometry.cpp /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/c-cmaes/cmaes.c:3121:5: warning: '__builtin___strncat_chk' specified bound depends on the length of the source argument [-Wstringop-overflow=] 3121 | strncat ((char *)szBuf, sz2, | ^ @@ -2697,9 +2742,8 @@ /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/c-cmaes/cmaes.c:3128:35: note: length computed here 3128 | (unsigned)intMin((int)strlen(sz4)+1, 698 - (int)strlen((char const *)szBuf))); | ^~~~~~~~~~~ -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestBigMatrix.dir/link.d CMakeFiles/TestBigMatrix.dir/TestBigMatrix.cpp.o -o ../../TestBigMatrix -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 33%] Built target TestBigMatrix +[ 33%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/ContactGeometry.cpp [ 33%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_Brick.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_Brick.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_Brick.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_Brick.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/ContactGeometry_Brick.cpp [ 33%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_Cylinder.cpp.o @@ -2710,41 +2754,40 @@ cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_HalfSpace.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_HalfSpace.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_HalfSpace.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/ContactGeometry_HalfSpace.cpp [ 33%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_SmoothHeightMap.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_SmoothHeightMap.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_SmoothHeightMap.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_SmoothHeightMap.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/ContactGeometry_SmoothHeightMap.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestSmallMatrix.dir/link.d CMakeFiles/TestSmallMatrix.dir/TestSmallMatrix.cpp.o -o ../../TestSmallMatrix -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 33%] Linking CXX executable ../../TestPlugin +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestPlugin.dir/link.txt --verbose=1 [ 33%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_Sphere.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_Sphere.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_Sphere.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_Sphere.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/ContactGeometry_Sphere.cpp -[ 33%] Built target TestSmallMatrix [ 34%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_Torus.cpp.o -[ 34%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_TriangleMesh.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_Torus.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_Torus.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_Torus.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/ContactGeometry_Torus.cpp +[ 34%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_TriangleMesh.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_TriangleMesh.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_TriangleMesh.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactGeometry_TriangleMesh.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/ContactGeometry_TriangleMesh.cpp +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestPlugin.dir/link.d CMakeFiles/TestPlugin.dir/TestPlugin.cpp.o -o ../../TestPlugin -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 34%] Built target TestPlugin [ 34%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactTracker.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactTracker.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactTracker.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/ContactTracker.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/ContactTracker.cpp [ 34%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/GCVSPLUtil.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/GCVSPLUtil.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/GCVSPLUtil.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/GCVSPLUtil.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/GCVSPLUtil.cpp -[ 34%] Linking CXX executable ../../MatVecTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/MatVecTest.dir/link.txt --verbose=1 [ 34%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/Geo.cpp [ 34%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo_Box.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo_Box.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo_Box.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo_Box.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/Geo_Box.cpp [ 35%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo_Point.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo_Point.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo_Point.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo_Point.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/Geo_Point.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/MatVecTest.dir/link.d CMakeFiles/MatVecTest.dir/MatVecTest.cpp.o -o ../../MatVecTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 35%] Built target MatVecTest +[ 35%] Linking CXX executable ../../TestArray +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestArray.dir/link.txt --verbose=1 [ 35%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo_Sphere.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo_Sphere.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo_Sphere.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo_Sphere.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/Geo_Sphere.cpp -[ 35%] Linking CXX executable ../../TestPlugin -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestPlugin.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestPlugin.dir/link.d CMakeFiles/TestPlugin.dir/TestPlugin.cpp.o -o ../../TestPlugin -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestArray.dir/link.d CMakeFiles/TestArray.dir/TestArray.cpp.o -o ../../TestArray -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 35%] Built target TestPlugin +[ 35%] Built target TestArray [ 35%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo_Triangle.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo_Triangle.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo_Triangle.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/Geo_Triangle.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/Geo_Triangle.cpp [ 35%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/Geodesic.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/Geodesic.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/Geodesic.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/Geodesic.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/Geodesic.cpp +[ 35%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/OBBTree.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/OBBTree.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/OBBTree.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/OBBTree.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/OBBTree.cpp /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpTNLPAdapter.cpp: In member function 'virtual bool SimTKIpopt::TNLPAdapter::GetSpaces(SimTKIpopt::SmartPtr&, SimTKIpopt::SmartPtr&, SimTKIpopt::SmartPtr&, SimTKIpopt::SmartPtr&, SimTKIpopt::SmartPtr&, SimTKIpopt::SmartPtr&, SimTKIpopt::SmartPtr&, SimTKIpopt::SmartPtr&, SimTKIpopt::SmartPtr&, SimTKIpopt::SmartPtr&, SimTKIpopt::SmartPtr&, SimTKIpopt::SmartPtr&, SimTKIpopt::SmartPtr&, SimTKIpopt::SmartPtr&)': /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/src/IpOpt/IpTNLPAdapter.cpp:390:112: warning: '__builtin___sprintf_chk' may write a terminating nul past the end of the destination [-Wformat-overflow=] 390 | sprintf(string, "There are inconsistent bounds on constraint %d: lower = %25.16e and upper = %25.16e.", i, lower_bound, upper_bound); @@ -2766,28 +2809,21 @@ | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 32 | __va_arg_pack ()); | ~~~~~~~~~~~~~~~~~ -[ 35%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/OBBTree.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/OBBTree.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/OBBTree.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/OBBTree.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/OBBTree.cpp +[ 35%] Linking CXX executable ../../../BigMatrixTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/BigMatrixTest.dir/link.txt --verbose=1 [ 35%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/OrientedBoundingBox.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/OrientedBoundingBox.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/OrientedBoundingBox.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/OrientedBoundingBox.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/OrientedBoundingBox.cpp [ 35%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/gcvspl.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/Geometry/src/gcvspl.cpp.o -MF CMakeFiles/SimTKmath.dir/__/Geometry/src/gcvspl.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/Geometry/src/gcvspl.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/src/gcvspl.cpp +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/BigMatrixTest.dir/link.d CMakeFiles/BigMatrixTest.dir/BigMatrixTest.cpp.o -o ../../../BigMatrixTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 35%] Built target BigMatrixTest [ 36%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/src/About.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/src/About.cpp.o -MF CMakeFiles/SimTKmath.dir/__/src/About.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/src/About.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/src/About.cpp [ 36%] Building CXX object SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/src/Differentiator.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_BUILDING_SHARED_LIBRARY -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -DSimTKmath_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/src/Differentiator.cpp.o -MF CMakeFiles/SimTKmath.dir/__/src/Differentiator.cpp.o.d -o 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/__/src/MultibodyGraphMaker.cpp.o -MF CMakeFiles/SimTKmath.dir/__/src/MultibodyGraphMaker.cpp.o.d -o CMakeFiles/SimTKmath.dir/__/src/MultibodyGraphMaker.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/src/MultibodyGraphMaker.cpp -[ 36%] Linking CXX executable ../../TestArray -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestArray.dir/link.txt --verbose=1 -[ 36%] Linking CXX executable ../../../BigMatrixTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/BigMatrixTest.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestArray.dir/link.d CMakeFiles/TestArray.dir/TestArray.cpp.o -o ../../TestArray -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 36%] Built target TestArray -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/BigMatrixTest.dir/link.d CMakeFiles/BigMatrixTest.dir/BigMatrixTest.cpp.o -o ../../../BigMatrixTest 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../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm @@ -2803,811 +2839,811 @@ make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bndL.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bndL.dir/depend make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_non.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_non.dir/depend make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsNewtCrd_dns.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsNewtCrd_dns.dir/depend -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dns.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dns.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bnd.dir/DependInfo.cmake "--color=" +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dns.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dns.dir/depend +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bndL.dir/DependInfo.cmake "--color=" -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_non.dir/DependInfo.cmake "--color=" make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dns.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dns.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsNewtCrd_dns.dir/DependInfo.cmake "--color=" make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dnsL.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dnsL.dir/depend -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dns.dir/DependInfo.cmake "--color=" make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsVanDPol_non.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsVanDPol_non.dir/depend -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests 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'/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend_test.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/tests 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SimTKmath/tests/CMakeFiles/DifferentiatorTest.dir/depend +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx.dir/DependInfo.cmake "--color=" +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/EigenTest.dir/build.make SimTKmath/tests/CMakeFiles/EigenTest.dir/depend cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/CMAESTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/ExplicitEulerIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/ExplicitEulerIntegratorTest.dir/depend +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/CPodesIntegratorTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/FactorLUTest.dir/build.make SimTKmath/tests/CMakeFiles/FactorLUTest.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/DifferentiatorTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/FactorQTZTest.dir/build.make SimTKmath/tests/CMakeFiles/FactorQTZTest.dir/depend +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/EigenTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/FactorSVDTest.dir/build.make SimTKmath/tests/CMakeFiles/FactorSVDTest.dir/depend +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/ExplicitEulerIntegratorTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/IntegratorTest.dir/depend -make -f SimTKmath/tests/CMakeFiles/IpoptDiffTest.dir/build.make SimTKmath/tests/CMakeFiles/IpoptDiffTest.dir/depend +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx_lap.dir/DependInfo.cmake "--color=" +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/CpsAdamsXCpp.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/FactorLUTest.dir/DependInfo.cmake "--color=" +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/FactorQTZTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/IpoptTest.dir/build.make SimTKmath/tests/CMakeFiles/IpoptTest.dir/depend +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/EigenTest.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/FactorSVDTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/depend +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/FactorQTZTest.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/IntegratorTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/depend -make -f SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/IpoptDiffTest.dir/DependInfo.cmake "--color=" +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendEs.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/LBFGSTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSTest.dir/depend -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/IpoptTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/depend +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/DifferentiatorTest.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/DependInfo.cmake "--color=" +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/ExplicitEulerIntegratorTest.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/depend -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/DependInfo.cmake "--color=" -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/FactorLUTest.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/DependInfo.cmake "--color=" +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg 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SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsNewtCrd_dns.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsNewtCrd_dns.dir/build -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dns.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dns.dir/build -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/DependInfo.cmake "--color=" -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/DependInfo.cmake "--color=" +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests 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'/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/CPodesIntegratorTest.dir/DependInfo.cmake "--color=" +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/DependInfo.cmake "--color=" make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bnd.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bnd.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bndL.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bndL.dir/build -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_non.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_non.dir/build -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/build.make 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SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsNewtCrd_dns.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsNewtCrd_dns.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsVanDPol_non.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsVanDPol_non.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f 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SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/CpsAdamsXCpp.dir/build.make SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/CpsAdamsXCpp.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/build.make SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/build +make -f SimTKmath/tests/CMakeFiles/BestAvailableTest.dir/build.make SimTKmath/tests/CMakeFiles/BestAvailableTest.dir/build +make -f SimTKmath/tests/CMakeFiles/FactorSVDTest.dir/build.make SimTKmath/tests/CMakeFiles/FactorSVDTest.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f 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Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendLr.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendLr.dir/build make[3]: Entering directory 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SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bnd.dir/cpsAdvDiff_bnd.c.o make -f SimTKmath/tests/CMakeFiles/CPodesIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/CPodesIntegratorTest.dir/build +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/build +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory 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make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include 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'/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx_lap.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx_lap.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/EigenTest.dir/build.make SimTKmath/tests/CMakeFiles/EigenTest.dir/build +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 36%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsNewtCrd_dns.dir/cpsNewtCrd_dns.c.o -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 36%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dns.dir/cpsPend_dns.c.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include 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/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include 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SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bndL.dir/cpsAdvDiff_bndL.c.o -MF CMakeFiles/cpsAdvDiff_bndL.dir/cpsAdvDiff_bndL.c.o.d -o CMakeFiles/cpsAdvDiff_bndL.dir/cpsAdvDiff_bndL.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsAdvDiff_bndL.c +[ 36%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsNewtCrd_dns.dir/cpsNewtCrd_dns.c.o +make -f SimTKmath/tests/CMakeFiles/FactorLUTest.dir/build.make SimTKmath/tests/CMakeFiles/FactorLUTest.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/FactorSVDTest.dir/build.make SimTKmath/tests/CMakeFiles/FactorSVDTest.dir/build -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/tests/CMakeFiles/IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/IntegratorTest.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsNewtCrd_dns.dir/cpsNewtCrd_dns.c.o -MF CMakeFiles/cpsNewtCrd_dns.dir/cpsNewtCrd_dns.c.o.d -o CMakeFiles/cpsNewtCrd_dns.dir/cpsNewtCrd_dns.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsNewtCrd_dns.c -make -f SimTKmath/tests/CMakeFiles/FactorLUTest.dir/build.make SimTKmath/tests/CMakeFiles/FactorLUTest.dir/build -[ 37%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/cpsPend_dnsL.c.o -make -f SimTKmath/tests/CMakeFiles/IpoptDiffTest.dir/build.make SimTKmath/tests/CMakeFiles/IpoptDiffTest.dir/build +make -f SimTKmath/tests/CMakeFiles/IpoptTest.dir/build.make SimTKmath/tests/CMakeFiles/IpoptTest.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dns.dir/cpsRoberts_dns.c.o -MF CMakeFiles/cpsRoberts_dns.dir/cpsRoberts_dns.c.o.d -o CMakeFiles/cpsRoberts_dns.dir/cpsRoberts_dns.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsRoberts_dns.c -make -f SimTKmath/tests/CMakeFiles/IpoptTest.dir/build.make SimTKmath/tests/CMakeFiles/IpoptTest.dir/build +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/build +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsNewtCrd_dns.dir/cpsNewtCrd_dns.c.o -MF CMakeFiles/cpsNewtCrd_dns.dir/cpsNewtCrd_dns.c.o.d -o CMakeFiles/cpsNewtCrd_dns.dir/cpsNewtCrd_dns.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsNewtCrd_dns.c +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/build -[ 37%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bnd.dir/cpsAdvDiff_bnd.c.o make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dns.dir/cpsPend_dns.c.o -MF CMakeFiles/cpsPend_dns.dir/cpsPend_dns.c.o.d -o CMakeFiles/cpsPend_dns.dir/cpsPend_dns.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsPend_dns.c -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/cpsPend_dnsL.c.o -MF CMakeFiles/cpsPend_dnsL.dir/cpsPend_dnsL.c.o.d -o CMakeFiles/cpsPend_dnsL.dir/cpsPend_dnsL.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsPend_dnsL.c -[ 37%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_non.dir/cpsAdvDiff_non.c.o make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 37%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bndL.dir/cpsAdvDiff_bndL.c.o -[ 37%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx_lap.dir/cpsbanx_lap.c.o make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend_test.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend_test.dir/build +make -f SimTKmath/tests/CMakeFiles/FactorQTZTest.dir/build.make SimTKmath/tests/CMakeFiles/FactorQTZTest.dir/build make -f SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/build -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bnd.dir/cpsAdvDiff_bnd.c.o -MF CMakeFiles/cpsAdvDiff_bnd.dir/cpsAdvDiff_bnd.c.o.d -o CMakeFiles/cpsAdvDiff_bnd.dir/cpsAdvDiff_bnd.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsAdvDiff_bnd.c -[ 37%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/newton.c.o -make -f SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/build -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_non.dir/cpsAdvDiff_non.c.o -MF CMakeFiles/cpsAdvDiff_non.dir/cpsAdvDiff_non.c.o.d -o CMakeFiles/cpsAdvDiff_non.dir/cpsAdvDiff_non.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsAdvDiff_non.c -make -f SimTKmath/tests/CMakeFiles/LBFGSTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSTest.dir/build -make -f SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/build -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx_lap.dir/cpsbanx_lap.c.o -MF CMakeFiles/cpsbanx_lap.dir/cpsbanx_lap.c.o.d -o CMakeFiles/cpsbanx_lap.dir/cpsbanx_lap.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsbanx_lap.c -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bndL.dir/cpsAdvDiff_bndL.c.o -MF CMakeFiles/cpsAdvDiff_bndL.dir/cpsAdvDiff_bndL.c.o.d -o CMakeFiles/cpsAdvDiff_bndL.dir/cpsAdvDiff_bndL.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsAdvDiff_bndL.c -[ 38%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/cpsadamsx.c.o -make -f SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/build -[ 38%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsVanDPol_non.dir/cpsVanDPol_non.c.o make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 38%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend.dir/pend.c.o +make -f SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/newton.c.o -MF CMakeFiles/newton.dir/newton.c.o.d -o CMakeFiles/newton.dir/newton.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/newton.c -make -f SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/depend -[ 38%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dnsL.dir/cpsRoberts_dnsL.c.o -[ 38%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendEs.dir/pendEs.c.o make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/depend -[ 38%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx.dir/cpsdenx.c.o +[ 36%] Building CXX object SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/PendLrCpp.cpp.o make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 36%] Building CXX object SimTKmath/tests/CMakeFiles/BestAvailableTest.dir/BestAvailableTest.cpp.o +make -f SimTKmath/tests/CMakeFiles/LBFGSTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSTest.dir/build +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/EigenTest.dir/build.make SimTKmath/tests/CMakeFiles/EigenTest.dir/build +[ 36%] Building CXX object SimTKmath/tests/CMakeFiles/FactorSVDTest.dir/FactorSVDTest.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/PendLrCpp.cpp.o -MF CMakeFiles/PendLrCpp.dir/PendLrCpp.cpp.o.d -o CMakeFiles/PendLrCpp.dir/PendLrCpp.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/tests/PendLrCpp.cpp +make -f SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/build +[ 37%] Building CXX object SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/RungeKutta2IntegratorTest.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/BestAvailableTest.dir/BestAvailableTest.cpp.o -MF CMakeFiles/BestAvailableTest.dir/BestAvailableTest.cpp.o.d -o CMakeFiles/BestAvailableTest.dir/BestAvailableTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/BestAvailableTest.cpp make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/FactorSVDTest.dir/FactorSVDTest.cpp.o -MF CMakeFiles/FactorSVDTest.dir/FactorSVDTest.cpp.o.d -o CMakeFiles/FactorSVDTest.dir/FactorSVDTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/FactorSVDTest.cpp +[ 38%] Building CXX object SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/CpsAdamsXCpp.dir/CpsAdamsXCpp.cpp.o make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/DependInfo.cmake "--color=" -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendEs.dir/pendEs.c.o -MF CMakeFiles/pendEs.dir/pendEs.c.o.d -o CMakeFiles/pendEs.dir/pendEs.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/pendEs.c -[ 38%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx.dir/cpsbanx.c.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx.dir/cpsdenx.c.o -MF CMakeFiles/cpsdenx.dir/cpsdenx.c.o.d -o CMakeFiles/cpsdenx.dir/cpsdenx.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsdenx.c +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong 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/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/DependInfo.cmake "--color=" -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend.dir/pend.c.o -MF CMakeFiles/pend.dir/pend.c.o.d -o CMakeFiles/pend.dir/pend.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/pend.c -[ 38%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/initroot1.c.o -[ 39%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx_lap.dir/cpsdenx_lap.c.o -[ 39%] Building CXX object SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/CpsAdamsXCpp.dir/CpsAdamsXCpp.cpp.o -cd 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SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dnsL.dir/cpsRoberts_dnsL.c.o -MF CMakeFiles/cpsRoberts_dnsL.dir/cpsRoberts_dnsL.c.o.d -o CMakeFiles/cpsRoberts_dnsL.dir/cpsRoberts_dnsL.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsRoberts_dnsL.c -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/cpsadamsx.c.o -MF CMakeFiles/cpsadamsx.dir/cpsadamsx.c.o.d -o CMakeFiles/cpsadamsx.dir/cpsadamsx.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsadamsx.c +[ 39%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/cpsadamsx.c.o +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/IpoptDiffTest.dir/build.make SimTKmath/tests/CMakeFiles/IpoptDiffTest.dir/build [ 40%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendLr.dir/pendLr.c.o -[ 40%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend_test.dir/pend_test.c.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/CpsAdamsXCpp.dir/CpsAdamsXCpp.cpp.o -MF CMakeFiles/CpsAdamsXCpp.dir/CpsAdamsXCpp.cpp.o.d -o CMakeFiles/CpsAdamsXCpp.dir/CpsAdamsXCpp.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/tests/CpsAdamsXCpp.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendLr.dir/pendLr.c.o -MF CMakeFiles/pendLr.dir/pendLr.c.o.d -o CMakeFiles/pendLr.dir/pendLr.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/pendLr.c -[ 40%] Building CXX object SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/PendLrCpp.cpp.o -[ 40%] Building CXX object SimTKmath/tests/CMakeFiles/BestAvailableTest.dir/BestAvailableTest.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx.dir/cpsbanx.c.o -MF CMakeFiles/cpsbanx.dir/cpsbanx.c.o.d -o CMakeFiles/cpsbanx.dir/cpsbanx.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsbanx.c -[ 40%] Building CXX object SimTKmath/tests/CMakeFiles/CMAESTest.dir/CMAESTest.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/initroot1.c.o -MF CMakeFiles/initroot1.dir/initroot1.c.o.d -o CMakeFiles/initroot1.dir/initroot1.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/initroot1.c -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include 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-ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend_test.dir/pend_test.c.o -MF CMakeFiles/pend_test.dir/pend_test.c.o.d -o CMakeFiles/pend_test.dir/pend_test.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/pend_test.c [ 40%] Building CXX object SimTKmath/tests/CMakeFiles/CPodesIntegratorTest.dir/CPodesIntegratorTest.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/PendLrCpp.cpp.o -MF CMakeFiles/PendLrCpp.dir/PendLrCpp.cpp.o.d -o CMakeFiles/PendLrCpp.dir/PendLrCpp.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/tests/PendLrCpp.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx_lap.dir/cpsdenx_lap.c.o -MF CMakeFiles/cpsdenx_lap.dir/cpsdenx_lap.c.o.d -o CMakeFiles/cpsdenx_lap.dir/cpsdenx_lap.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsdenx_lap.c -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/BestAvailableTest.dir/BestAvailableTest.cpp.o -MF CMakeFiles/BestAvailableTest.dir/BestAvailableTest.cpp.o.d -o CMakeFiles/BestAvailableTest.dir/BestAvailableTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/BestAvailableTest.cpp +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/CMAESTest.dir/build.make SimTKmath/tests/CMakeFiles/CMAESTest.dir/build +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendLr.dir/pendLr.c.o -MF CMakeFiles/pendLr.dir/pendLr.c.o.d -o CMakeFiles/pendLr.dir/pendLr.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/pendLr.c [ 40%] Building CXX object SimTKmath/tests/CMakeFiles/DifferentiatorTest.dir/DifferentiatorTest.cpp.o -[ 40%] Building CXX object SimTKmath/tests/CMakeFiles/EigenTest.dir/EigenTest.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/DifferentiatorTest.dir/DifferentiatorTest.cpp.o -MF CMakeFiles/DifferentiatorTest.dir/DifferentiatorTest.cpp.o.d -o CMakeFiles/DifferentiatorTest.dir/DifferentiatorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/DifferentiatorTest.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/CMAESTest.dir/CMAESTest.cpp.o -MF CMakeFiles/CMAESTest.dir/CMAESTest.cpp.o.d -o CMakeFiles/CMAESTest.dir/CMAESTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/CMAESTest.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/CPodesIntegratorTest.dir/CPodesIntegratorTest.cpp.o -MF CMakeFiles/CPodesIntegratorTest.dir/CPodesIntegratorTest.cpp.o.d -o CMakeFiles/CPodesIntegratorTest.dir/CPodesIntegratorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/CPodesIntegratorTest.cpp +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 40%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx_lap.dir/cpsbanx_lap.c.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/DifferentiatorTest.dir/DifferentiatorTest.cpp.o -MF CMakeFiles/DifferentiatorTest.dir/DifferentiatorTest.cpp.o.d -o CMakeFiles/DifferentiatorTest.dir/DifferentiatorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/DifferentiatorTest.cpp +[ 40%] Building CXX object SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/LBFGSBDiffTest.cpp.o [ 40%] Building CXX object SimTKmath/tests/CMakeFiles/ExplicitEulerIntegratorTest.dir/ExplicitEulerIntegratorTest.cpp.o +[ 40%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend.dir/pend.c.o +[ 40%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx.dir/cpsbanx.c.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/LBFGSBDiffTest.cpp.o -MF CMakeFiles/LBFGSBDiffTest.dir/LBFGSBDiffTest.cpp.o.d -o CMakeFiles/LBFGSBDiffTest.dir/LBFGSBDiffTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/LBFGSBDiffTest.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx_lap.dir/cpsbanx_lap.c.o -MF CMakeFiles/cpsbanx_lap.dir/cpsbanx_lap.c.o.d -o CMakeFiles/cpsbanx_lap.dir/cpsbanx_lap.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsbanx_lap.c +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/ExplicitEulerIntegratorTest.dir/ExplicitEulerIntegratorTest.cpp.o -MF CMakeFiles/ExplicitEulerIntegratorTest.dir/ExplicitEulerIntegratorTest.cpp.o.d -o CMakeFiles/ExplicitEulerIntegratorTest.dir/ExplicitEulerIntegratorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/ExplicitEulerIntegratorTest.cpp +[ 40%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx.dir/cpsdenx.c.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend.dir/pend.c.o -MF CMakeFiles/pend.dir/pend.c.o.d -o CMakeFiles/pend.dir/pend.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/pend.c +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx.dir/cpsbanx.c.o -MF CMakeFiles/cpsbanx.dir/cpsbanx.c.o.d -o CMakeFiles/cpsbanx.dir/cpsbanx.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsbanx.c +[ 40%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx_lap.dir/cpsdenx_lap.c.o +[ 40%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendEs.dir/pendEs.c.o +[ 40%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/initroot1.c.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx.dir/cpsdenx.c.o -MF CMakeFiles/cpsdenx.dir/cpsdenx.c.o.d -o CMakeFiles/cpsdenx.dir/cpsdenx.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsdenx.c +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx_lap.dir/cpsdenx_lap.c.o -MF CMakeFiles/cpsdenx_lap.dir/cpsdenx_lap.c.o.d -o CMakeFiles/cpsdenx_lap.dir/cpsdenx_lap.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/cpsdenx_lap.c +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendEs.dir/pendEs.c.o -MF CMakeFiles/pendEs.dir/pendEs.c.o.d -o CMakeFiles/pendEs.dir/pendEs.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/pendEs.c +[ 40%] Building CXX object SimTKmath/tests/CMakeFiles/FactorLUTest.dir/FactorLUTest.cpp.o [ 40%] Building CXX object SimTKmath/tests/CMakeFiles/IntegratorTest.dir/IntegratorTest.cpp.o -[ 40%] Building CXX object SimTKmath/tests/CMakeFiles/FactorQTZTest.dir/FactorQTZTest.cpp.o +[ 40%] Building C object SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/newton.c.o [ 40%] Building CXX object SimTKmath/tests/CMakeFiles/IpoptTest.dir/IpoptTest.cpp.o -[ 40%] Building CXX object SimTKmath/tests/CMakeFiles/FactorLUTest.dir/FactorLUTest.cpp.o -[ 40%] Building CXX object SimTKmath/tests/CMakeFiles/FactorSVDTest.dir/FactorSVDTest.cpp.o -[ 40%] Building CXX object SimTKmath/tests/CMakeFiles/IpoptDiffTest.dir/IpoptDiffTest.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/initroot1.c.o -MF CMakeFiles/initroot1.dir/initroot1.c.o.d -o CMakeFiles/initroot1.dir/initroot1.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/initroot1.c +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/FactorLUTest.dir/FactorLUTest.cpp.o -MF CMakeFiles/FactorLUTest.dir/FactorLUTest.cpp.o.d -o CMakeFiles/FactorLUTest.dir/FactorLUTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/FactorLUTest.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cc -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/newton.c.o -MF CMakeFiles/newton.dir/newton.c.o.d -o CMakeFiles/newton.dir/newton.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/newton.c +[ 40%] Building CXX object SimTKmath/tests/CMakeFiles/FactorQTZTest.dir/FactorQTZTest.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/IntegratorTest.dir/IntegratorTest.cpp.o -MF CMakeFiles/IntegratorTest.dir/IntegratorTest.cpp.o.d -o CMakeFiles/IntegratorTest.dir/IntegratorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/IntegratorTest.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/IpoptTest.dir/IpoptTest.cpp.o -MF CMakeFiles/IpoptTest.dir/IpoptTest.cpp.o.d -o CMakeFiles/IpoptTest.dir/IpoptTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/IpoptTest.cpp +[ 40%] Building CXX object SimTKmath/tests/CMakeFiles/EigenTest.dir/EigenTest.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/FactorQTZTest.dir/FactorQTZTest.cpp.o -MF CMakeFiles/FactorQTZTest.dir/FactorQTZTest.cpp.o.d -o CMakeFiles/FactorQTZTest.dir/FactorQTZTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/FactorQTZTest.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/FactorLUTest.dir/FactorLUTest.cpp.o -MF CMakeFiles/FactorLUTest.dir/FactorLUTest.cpp.o.d -o CMakeFiles/FactorLUTest.dir/FactorLUTest.cpp.o -c 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/EigenTest.dir/EigenTest.cpp.o -MF CMakeFiles/EigenTest.dir/EigenTest.cpp.o.d -o CMakeFiles/EigenTest.dir/EigenTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/EigenTest.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/IntegratorTest.dir/IntegratorTest.cpp.o -MF CMakeFiles/IntegratorTest.dir/IntegratorTest.cpp.o.d -o CMakeFiles/IntegratorTest.dir/IntegratorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/IntegratorTest.cpp -[ 40%] Building CXX object SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/LBFGSBDiffTest.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/FactorSVDTest.dir/FactorSVDTest.cpp.o -MF CMakeFiles/FactorSVDTest.dir/FactorSVDTest.cpp.o.d -o CMakeFiles/FactorSVDTest.dir/FactorSVDTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/FactorSVDTest.cpp -cd 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/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/IpoptDiffTest.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/LBFGSBDiffTest.cpp.o -MF CMakeFiles/LBFGSBDiffTest.dir/LBFGSBDiffTest.cpp.o.d -o CMakeFiles/LBFGSBDiffTest.dir/LBFGSBDiffTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/LBFGSBDiffTest.cpp -[ 41%] Building CXX object SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/RungeKutta3IntegratorTest.cpp.o -[ 41%] Building CXX object SimTKmath/tests/CMakeFiles/LBFGSTest.dir/LBFGSTest.cpp.o -[ 41%] Building CXX object SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/LBFGSBTest.cpp.o -[ 42%] Building CXX object SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/RungeKutta2IntegratorTest.cpp.o -[ 42%] Building CXX object SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/LBFGSDiffTest.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/LBFGSTest.dir/LBFGSTest.cpp.o -MF CMakeFiles/LBFGSTest.dir/LBFGSTest.cpp.o.d -o CMakeFiles/LBFGSTest.dir/LBFGSTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/LBFGSTest.cpp +[ 41%] Building CXX object SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/LBFGSDiffTest.cpp.o +[ 41%] Building CXX object SimTKmath/tests/CMakeFiles/IpoptDiffTest.dir/IpoptDiffTest.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/RungeKutta3IntegratorTest.cpp.o -MF CMakeFiles/RungeKutta3IntegratorTest.dir/RungeKutta3IntegratorTest.cpp.o.d -o 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -I/include -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -MD -MT SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend_test.dir/pend_test.c.o -MF CMakeFiles/pend_test.dir/pend_test.c.o.d -o CMakeFiles/pend_test.dir/pend_test.c.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests/pend_test.c +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/LBFGSBTest.cpp.o -MF CMakeFiles/LBFGSBTest.dir/LBFGSBTest.cpp.o.d -o CMakeFiles/LBFGSBTest.dir/LBFGSBTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/LBFGSBTest.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/LBFGSDiffTest.cpp.o -MF CMakeFiles/LBFGSDiffTest.dir/LBFGSDiffTest.cpp.o.d -o CMakeFiles/LBFGSDiffTest.dir/LBFGSDiffTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/LBFGSDiffTest.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/LBFGSTest.dir/LBFGSTest.cpp.o -MF CMakeFiles/LBFGSTest.dir/LBFGSTest.cpp.o.d -o CMakeFiles/LBFGSTest.dir/LBFGSTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/LBFGSTest.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/IpoptDiffTest.dir/IpoptDiffTest.cpp.o -MF CMakeFiles/IpoptDiffTest.dir/IpoptDiffTest.cpp.o.d -o CMakeFiles/IpoptDiffTest.dir/IpoptDiffTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/IpoptDiffTest.cpp +[ 41%] Building CXX object SimTKmath/tests/CMakeFiles/CMAESTest.dir/CMAESTest.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/CMAESTest.dir/CMAESTest.cpp.o -MF CMakeFiles/CMAESTest.dir/CMAESTest.cpp.o.d -o CMakeFiles/CMAESTest.dir/CMAESTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/CMAESTest.cpp +make[3]: Entering directory 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/LBFGSBTest.cpp.o -MF CMakeFiles/LBFGSBTest.dir/LBFGSBTest.cpp.o.d -o CMakeFiles/LBFGSBTest.dir/LBFGSBTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/LBFGSBTest.cpp -[ 42%] Building CXX object SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/RungeKuttaFeldbergIntegratorTest.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include 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SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/RungeKuttaFeldbergIntegratorTest.cpp.o -MF CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/RungeKuttaFeldbergIntegratorTest.cpp.o.d -o CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/RungeKuttaFeldbergIntegratorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/RungeKuttaFeldbergIntegratorTest.cpp -[ 42%] Building CXX object SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/RungeKuttaMersonIntegratorTest.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/RungeKuttaMersonIntegratorTest.cpp.o -MF CMakeFiles/RungeKuttaMersonIntegratorTest.dir/RungeKuttaMersonIntegratorTest.cpp.o.d -o CMakeFiles/RungeKuttaMersonIntegratorTest.dir/RungeKuttaMersonIntegratorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/RungeKuttaMersonIntegratorTest.cpp -[ 42%] Linking C executable ../../../../../../cpsRoberts_dns -[ 42%] Linking C executable ../../../../../../initroot1 -[ 42%] Linking C executable ../../../../../../cpsPend_dnsL -cd 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-ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/pendLr.dir/link.d CMakeFiles/pendLr.dir/pendLr.c.o -o ../../../../../../pendLr -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/pend.dir/link.d CMakeFiles/pend.dir/pend.c.o -o ../../../../../../pend 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make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/cpsPend_dns.dir/link.txt --verbose=1 /usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/cpsbanx_lap.dir/link.d CMakeFiles/cpsbanx_lap.dir/cpsbanx_lap.c.o -o ../../../../../../cpsbanx_lap -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -/usr/bin/cc -g -O2 -Werror=implicit-function-declaration 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'/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/DependInfo.cmake "--color=" +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests 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SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/build +make -f SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 45%] Building CXX object SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/RungeKuttaMersonIntegratorTest.cpp.o +[ 45%] Building CXX object SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/RungeKuttaFeldbergIntegratorTest.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/RungeKuttaMersonIntegratorTest.cpp.o -MF CMakeFiles/RungeKuttaMersonIntegratorTest.dir/RungeKuttaMersonIntegratorTest.cpp.o.d -o CMakeFiles/RungeKuttaMersonIntegratorTest.dir/RungeKuttaMersonIntegratorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/RungeKuttaMersonIntegratorTest.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/RungeKuttaFeldbergIntegratorTest.cpp.o -MF 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-fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/cpsNewtCrd_dns.dir/link.d CMakeFiles/cpsNewtCrd_dns.dir/cpsNewtCrd_dns.c.o -o ../../../../../../cpsNewtCrd_dns -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/cpsdenx_lap.dir/link.d CMakeFiles/cpsdenx_lap.dir/cpsdenx_lap.c.o -o ../../../../../../cpsdenx_lap -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm /usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/cpsAdvDiff_non.dir/link.d CMakeFiles/cpsAdvDiff_non.dir/cpsAdvDiff_non.c.o -o ../../../../../../cpsAdvDiff_non -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/build -/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/cpsPend_dns.dir/link.d CMakeFiles/cpsPend_dns.dir/cpsPend_dns.c.o -o ../../../../../../cpsPend_dns -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -[ 45%] Built target cpsAdvDiff_bnd -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 45%] Built target cpsVanDPol_non +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 45%] Built target pendLr +/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/pendEs.dir/link.d CMakeFiles/pendEs.dir/pendEs.c.o -o ../../../../../../pendEs -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 45%] Built target cpsNewtCrd_dns +[ 45%] Built target cpsAdvDiff_bndL +[ 45%] Built target pendEs +[ 45%] Built target cpsdenx_lap +[ 45%] Built target cpsAdvDiff_bnd +make -f SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/depend make -f SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/depend make -f SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/build.make SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/depend -/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/cpsAdvDiff_bndL.dir/link.d CMakeFiles/cpsAdvDiff_bndL.dir/cpsAdvDiff_bndL.c.o -o ../../../../../../cpsAdvDiff_bndL -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -[ 45%] Built target cpsbanx_lap -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/DependInfo.cmake "--color=" -[ 45%] Built target cpsPend_dnsL -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/DependInfo.cmake "--color=" +/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/cpsbanx.dir/link.d CMakeFiles/cpsbanx.dir/cpsbanx.c.o -o ../../../../../../cpsbanx -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make -f SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/build.make SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/depend +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/build.make SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/depend +make -f SimTKmath/tests/CMakeFiles/TestGeo.dir/build.make SimTKmath/tests/CMakeFiles/TestGeo.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/DependInfo.cmake "--color=" -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 45%] Built target cpsPend_dns -[ 45%] Building CXX object SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/SemiExplicitEuler2IntegratorTest.cpp.o -make -f SimTKmath/tests/CMakeFiles/TestGeo.dir/build.make SimTKmath/tests/CMakeFiles/TestGeo.dir/depend -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/SemiExplicitEuler2IntegratorTest.cpp.o -MF CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/SemiExplicitEuler2IntegratorTest.cpp.o.d -o CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/SemiExplicitEuler2IntegratorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/SemiExplicitEuler2IntegratorTest.cpp make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestGeo.dir/DependInfo.cmake "--color=" -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/build -/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/cpsRoberts_dnsL.dir/link.d CMakeFiles/cpsRoberts_dnsL.dir/cpsRoberts_dnsL.c.o -o ../../../../../../cpsRoberts_dnsL -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/cpsdenx.dir/link.d CMakeFiles/cpsdenx.dir/cpsdenx.c.o -o ../../../../../../cpsdenx -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/build.make SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/build -[ 45%] Built target cpsAdvDiff_bndL +[ 45%] Built target cpsbanx +make -f SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/build.make SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/DependInfo.cmake "--color=" make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/build.make SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/build +make -f SimTKmath/tests/CMakeFiles/TestGeo.dir/build.make SimTKmath/tests/CMakeFiles/TestGeo.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/build.make SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/build.make SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/depend make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/build.make SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/build.make SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/build -/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/cpsdenx_lap.dir/link.d CMakeFiles/cpsdenx_lap.dir/cpsdenx_lap.c.o -o ../../../../../../cpsdenx_lap -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/TestGeo.dir/build.make SimTKmath/tests/CMakeFiles/TestGeo.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/pendLr.dir/link.d CMakeFiles/pendLr.dir/pendLr.c.o -o ../../../../../../pendLr -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/pendEs.dir/link.d CMakeFiles/pendEs.dir/pendEs.c.o -o ../../../../../../pendEs -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 45%] Built target cpsRoberts_dnsL -[ 45%] Building CXX object SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/SemiExplicitEulerIntegratorTest.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/SemiExplicitEulerIntegratorTest.cpp.o -MF CMakeFiles/SemiExplicitEulerIntegratorTest.dir/SemiExplicitEulerIntegratorTest.cpp.o.d -o CMakeFiles/SemiExplicitEulerIntegratorTest.dir/SemiExplicitEulerIntegratorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/SemiExplicitEulerIntegratorTest.cpp -make -f SimTKmath/tests/CMakeFiles/TestSpline.dir/build.make SimTKmath/tests/CMakeFiles/TestSpline.dir/depend -/usr/bin/cc -g -O2 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/SimpleDifferentiatorTest.cpp.o -MF CMakeFiles/SimpleDifferentiatorTest.dir/SimpleDifferentiatorTest.cpp.o.d -o CMakeFiles/SimpleDifferentiatorTest.dir/SimpleDifferentiatorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/SimpleDifferentiatorTest.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/TestBicubicSurface.cpp.o -MF CMakeFiles/TestBicubicSurface.dir/TestBicubicSurface.cpp.o.d -o CMakeFiles/TestBicubicSurface.dir/TestBicubicSurface.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/TestBicubicSurface.cpp make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestSpline.dir/DependInfo.cmake "--color=" -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/DependInfo.cmake "--color=" [ 46%] Building CXX object SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/TestContactGeometry.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/DependInfo.cmake "--color=" +[ 46%] Building CXX object SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/TestMultibodyGraphMaker.cpp.o +[ 46%] Built target newton +[ 46%] Built target cpsAdvDiff_non +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/TestBicubicSurface.cpp.o -MF CMakeFiles/TestBicubicSurface.dir/TestBicubicSurface.cpp.o.d -o CMakeFiles/TestBicubicSurface.dir/TestBicubicSurface.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/TestBicubicSurface.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/TestContactGeometry.cpp.o -MF CMakeFiles/TestContactGeometry.dir/TestContactGeometry.cpp.o.d -o CMakeFiles/TestContactGeometry.dir/TestContactGeometry.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/TestContactGeometry.cpp -[ 46%] Built target cpsdenx_lap -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/build.make SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/build +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/TestMultibodyGraphMaker.cpp.o -MF CMakeFiles/TestMultibodyGraphMaker.dir/TestMultibodyGraphMaker.cpp.o.d -o CMakeFiles/TestMultibodyGraphMaker.dir/TestMultibodyGraphMaker.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/TestMultibodyGraphMaker.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/TestGeo.dir/TestGeo.cpp.o -MF CMakeFiles/TestGeo.dir/TestGeo.cpp.o.d -o CMakeFiles/TestGeo.dir/TestGeo.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/TestGeo.cpp +[ 46%] Built target cpsdenx +make -f SimTKmath/tests/CMakeFiles/TestSpline.dir/build.make SimTKmath/tests/CMakeFiles/TestSpline.dir/depend +/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/cpsRoberts_dnsL.dir/link.d CMakeFiles/cpsRoberts_dnsL.dir/cpsRoberts_dnsL.c.o -o ../../../../../../cpsRoberts_dnsL -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/pend_test.dir/link.d CMakeFiles/pend_test.dir/pend_test.c.o -o ../../../../../../pend_test -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make -f SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/build.make SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 46%] Building CXX object SimTKmath/tests/CMakeFiles/TestGeo.dir/TestGeo.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestSpline.dir/DependInfo.cmake "--color=" +/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/cpsPend_dnsL.dir/link.d CMakeFiles/cpsPend_dnsL.dir/cpsPend_dnsL.c.o -o ../../../../../../cpsPend_dnsL -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/cpsRoberts_dns.dir/link.d CMakeFiles/cpsRoberts_dns.dir/cpsRoberts_dns.c.o -o ../../../../../../cpsRoberts_dns -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make -f SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/build.make SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/depend +/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/cpsadamsx.dir/link.d CMakeFiles/cpsadamsx.dir/cpsadamsx.c.o -o ../../../../../../cpsadamsx -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/DependInfo.cmake "--color=" -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/TestGeo.dir/TestGeo.cpp.o -MF CMakeFiles/TestGeo.dir/TestGeo.cpp.o.d -o CMakeFiles/TestGeo.dir/TestGeo.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/TestGeo.cpp -[ 46%] Built target pendEs -make -f SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/build.make SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/depend -[ 46%] Built target pend 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-rdynamic -Wl,--dependency-file=CMakeFiles/initroot1.dir/link.d CMakeFiles/initroot1.dir/initroot1.c.o -o ../../../../../../initroot1 -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/cpsVanDPol_non.dir/link.d CMakeFiles/cpsVanDPol_non.dir/cpsVanDPol_non.c.o -o ../../../../../../cpsVanDPol_non 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/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/depend make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/TestSpline.dir/build.make SimTKmath/tests/CMakeFiles/TestSpline.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/DependInfo.cmake "--color=" +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/build +make -f SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/build +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/newton.dir/link.d CMakeFiles/newton.dir/newton.c.o -o ../../../../../../newton -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 46%] Building CXX object SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/TestMultibodyGraphMaker.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/TestMultibodyGraphMaker.cpp.o -MF CMakeFiles/TestMultibodyGraphMaker.dir/TestMultibodyGraphMaker.cpp.o.d -o CMakeFiles/TestMultibodyGraphMaker.dir/TestMultibodyGraphMaker.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/TestMultibodyGraphMaker.cpp +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/build.make SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/build +make -f SimTKmath/tests/CMakeFiles/TestSpline.dir/build.make SimTKmath/tests/CMakeFiles/TestSpline.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/build.make SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/build -[ 46%] Built target cpsRoberts_dns make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 46%] Built target cpsAdvDiff_non -[ 46%] Built target pendLr +[ 46%] Built target initroot1 +[ 46%] Built target pend_test +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 46%] Built target cpsRoberts_dnsL +[ 46%] Built target cpsVanDPol_non +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 46%] Built target cpsPend_dnsL +[ 46%] Built target cpsPend_dns +[ 46%] Building CXX object SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/SemiExplicitEuler2IntegratorTest.cpp.o +[ 46%] Building CXX object SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/SemiExplicitEulerIntegratorTest.cpp.o +[ 46%] Building CXX object SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/TestTriangleMesh.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/SemiExplicitEuler2IntegratorTest.cpp.o -MF CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/SemiExplicitEuler2IntegratorTest.cpp.o.d -o CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/SemiExplicitEuler2IntegratorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/SemiExplicitEuler2IntegratorTest.cpp +[ 46%] Building CXX object SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/SimpleDifferentiatorTest.cpp.o +[ 46%] Building CXX object SimTKmath/tests/CMakeFiles/TestSpline.dir/TestSpline.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/TestTriangleMesh.cpp.o -MF CMakeFiles/TestTriangleMesh.dir/TestTriangleMesh.cpp.o.d -o CMakeFiles/TestTriangleMesh.dir/TestTriangleMesh.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/TestTriangleMesh.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/SemiExplicitEulerIntegratorTest.cpp.o -MF CMakeFiles/SemiExplicitEulerIntegratorTest.dir/SemiExplicitEulerIntegratorTest.cpp.o.d -o CMakeFiles/SemiExplicitEulerIntegratorTest.dir/SemiExplicitEulerIntegratorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/SemiExplicitEulerIntegratorTest.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/SimpleDifferentiatorTest.cpp.o -MF CMakeFiles/SimpleDifferentiatorTest.dir/SimpleDifferentiatorTest.cpp.o.d -o CMakeFiles/SimpleDifferentiatorTest.dir/SimpleDifferentiatorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/SimpleDifferentiatorTest.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/TestSpline.dir/TestSpline.cpp.o -MF CMakeFiles/TestSpline.dir/TestSpline.cpp.o.d -o CMakeFiles/TestSpline.dir/TestSpline.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/TestSpline.cpp +[ 46%] Built target cpsadamsx +make -f SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/build.make SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/build +[ 46%] Built target cpsRoberts_dns +make -f SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/depend make -f SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/build.make SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/depend make -f Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/build.make Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/depend -[ 46%] Built target cpsdenx +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/DependInfo.cmake "--color=" +[ 46%] Building CXX object SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/TimeStepperTest.cpp.o make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/TimeStepperTest.cpp.o -MF CMakeFiles/TimeStepperTest.dir/TimeStepperTest.cpp.o.d -o CMakeFiles/TimeStepperTest.dir/TimeStepperTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/TimeStepperTest.cpp +make -f SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/build.make SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/sharedTarget /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/build.make SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/build -[ 46%] Building CXX object SimTKmath/tests/CMakeFiles/TestSpline.dir/TestSpline.cpp.o +[ 46%] Building CXX object SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/nlpqlp.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/adhoc && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/nlpqlp.cpp.o -MF CMakeFiles/nlpqlp.dir/nlpqlp.cpp.o.d -o CMakeFiles/nlpqlp.dir/nlpqlp.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/adhoc/nlpqlp.cpp make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/TestSpline.dir/TestSpline.cpp.o -MF CMakeFiles/TestSpline.dir/TestSpline.cpp.o.d -o CMakeFiles/TestSpline.dir/TestSpline.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/TestSpline.cpp -[ 46%] Building CXX object SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/TestTriangleMesh.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/TestTriangleMesh.cpp.o -MF CMakeFiles/TestTriangleMesh.dir/TestTriangleMesh.cpp.o.d -o CMakeFiles/TestTriangleMesh.dir/TestTriangleMesh.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/TestTriangleMesh.cpp -[ 46%] Building CXX object SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/TimeStepperTest.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/TimeStepperTest.cpp.o -MF CMakeFiles/TimeStepperTest.dir/TimeStepperTest.cpp.o.d -o CMakeFiles/TimeStepperTest.dir/TimeStepperTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/TimeStepperTest.cpp -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/build.make Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 46%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/About.cpp.o -/usr/bin/cc -g -O2 -Werror=implicit-function-declaration -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/cpsNewtCrd_dns.dir/link.d CMakeFiles/cpsNewtCrd_dns.dir/cpsNewtCrd_dns.c.o -o ../../../../../../cpsNewtCrd_dns -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../../libSimTKmath.so.3.7 ../../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/About.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/About.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/About.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/About.cpp -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/DependInfo.cmake "--color=" +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/sharedTarget /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/DependInfo.cmake "--color=" make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/build -[ 46%] Built target newton make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/build.make SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/build +make -f Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/build.make Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 46%] Building CXX object SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/VerletIntegratorTest.cpp.o +[ 46%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/AssemblyCondition_OrientationSensors.cpp.o +[ 46%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/About.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/VerletIntegratorTest.cpp.o -MF CMakeFiles/VerletIntegratorTest.dir/VerletIntegratorTest.cpp.o.d -o CMakeFiles/VerletIntegratorTest.dir/VerletIntegratorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/VerletIntegratorTest.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/About.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/About.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/About.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/About.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/AssemblyCondition_OrientationSensors.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/AssemblyCondition_OrientationSensors.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/AssemblyCondition_OrientationSensors.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/AssemblyCondition_OrientationSensors.cpp +[ 46%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Body.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 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/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 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-[ 47%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/AssemblyCondition_OrientationSensors.cpp.o -[ 47%] Built target cpsNewtCrd_dns -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/AssemblyCondition_OrientationSensors.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/AssemblyCondition_OrientationSensors.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/AssemblyCondition_OrientationSensors.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/AssemblyCondition_OrientationSensors.cpp -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/AssemblyCondition_Markers.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/AssemblyCondition_Markers.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/AssemblyCondition_Markers.cpp.o -c 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/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/VerletIntegratorTest.cpp.o -MF CMakeFiles/VerletIntegratorTest.dir/VerletIntegratorTest.cpp.o.d -o CMakeFiles/VerletIntegratorTest.dir/VerletIntegratorTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/VerletIntegratorTest.cpp -[ 47%] Building CXX object SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/nlpqlp.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/adhoc && /usr/bin/c++ -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMMATH_AUTHORS=\"Jack.Middleton_Michael.Sherman\" -DSimTK_SIMMATH_COPYRIGHT_YEARS=\"2005-10\" -DSimTK_SIMMATH_LIBRARY_NAME=SimTKmath -DSimTK_SIMMATH_MAJOR_VERSION=3 -DSimTK_SIMMATH_MINOR_VERSION=7 -DSimTK_SIMMATH_PATCH_VERSION=0 -DSimTK_SIMMATH_SVN_REVISION=\"\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time 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-DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Body.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Body.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Body.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Body.cpp [ 47%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/CablePath.cpp.o -[ 47%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/CableSpring.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/CablePath.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/CablePath.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/CablePath.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/CablePath.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/CableSpring.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/CableSpring.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/CableSpring.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/CableSpring.cpp -[ 47%] Built target cpsadamsx -[ 47%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/CableTrackerSubsystem.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/CableTrackerSubsystem.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/CableTrackerSubsystem.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/CableTrackerSubsystem.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/CableTrackerSubsystem.cpp [ 47%] Linking CXX executable ../../../../../PendLrCpp -[ 47%] Linking CXX executable ../../../../../CpsAdamsXCpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/PendLrCpp.dir/link.txt --verbose=1 -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/CpsAdamsXCpp.dir/link.txt --verbose=1 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/PendLrCpp.dir/link.d CMakeFiles/PendLrCpp.dir/PendLrCpp.cpp.o -o ../../../../../PendLrCpp -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../libSimTKmath.so.3.7 ../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 47%] Linking CXX executable ../../../../../CpsAdamsXCpp make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/CpsAdamsXCpp.dir/link.txt --verbose=1 [ 47%] Built target PendLrCpp -[ 47%] Linking CXX executable ../../SimpleDifferentiatorTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/SimpleDifferentiatorTest.dir/link.txt --verbose=1 -[ 47%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/CompliantContactSubsystem.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 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-DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/CableSpring.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/CableSpring.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/CableSpring.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/CableSpring.cpp /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/CpsAdamsXCpp.dir/link.d CMakeFiles/CpsAdamsXCpp.dir/CpsAdamsXCpp.cpp.o -o ../../../../../CpsAdamsXCpp -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../../../libSimTKmath.so.3.7 ../../../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' [ 47%] Built target CpsAdamsXCpp +[ 47%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/CableTrackerSubsystem.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/CableTrackerSubsystem.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/CableTrackerSubsystem.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/CableTrackerSubsystem.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/CableTrackerSubsystem.cpp [ 47%] Linking CXX executable ../../FactorSVDTest +[ 47%] Linking CXX executable ../../LBFGSBDiffTest +[ 47%] Linking CXX executable ../../LBFGSDiffTest cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/FactorSVDTest.dir/link.txt --verbose=1 -[ 48%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/ConditionalConstraint.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/ConditionalConstraint.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/ConditionalConstraint.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/ConditionalConstraint.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/ConditionalConstraint.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SimpleDifferentiatorTest.dir/link.d CMakeFiles/SimpleDifferentiatorTest.dir/SimpleDifferentiatorTest.cpp.o -o ../../SimpleDifferentiatorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 48%] Built target SimpleDifferentiatorTest -[ 48%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Constraint.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Constraint.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Constraint.cpp -[ 48%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_LineOnLineContact.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_LineOnLineContact.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Constraint_LineOnLineContact.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Constraint_LineOnLineContact.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Constraint_LineOnLineContact.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/FactorSVDTest.dir/link.d CMakeFiles/FactorSVDTest.dir/FactorSVDTest.cpp.o -o ../../FactorSVDTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 48%] Linking CXX executable ../../LBFGSTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/LBFGSTest.dir/link.txt --verbose=1 -[ 48%] Linking CXX executable ../../LBFGSDiffTest cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/LBFGSDiffTest.dir/link.txt --verbose=1 -[ 48%] Built target FactorSVDTest -[ 48%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_PointOnPlaneContact.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_PointOnPlaneContact.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Constraint_PointOnPlaneContact.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Constraint_PointOnPlaneContact.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Constraint_PointOnPlaneContact.cpp -[ 48%] Linking CXX executable ../../DifferentiatorTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/DifferentiatorTest.dir/link.txt --verbose=1 -[ 48%] Linking CXX executable ../../FactorLUTest -[ 48%] Linking CXX executable ../../LBFGSBDiffTest -[ 48%] Linking CXX executable ../../IpoptTest -[ 48%] Linking CXX executable ../../BestAvailableTest -[ 48%] Linking CXX executable ../../EigenTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/FactorLUTest.dir/link.txt --verbose=1 -[ 48%] Linking CXX executable ../../LBFGSBTest cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/LBFGSBDiffTest.dir/link.txt --verbose=1 -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/EigenTest.dir/link.txt --verbose=1 +[ 47%] Linking CXX executable ../../BestAvailableTest cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/BestAvailableTest.dir/link.txt --verbose=1 +[ 47%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/CompliantContactSubsystem.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/CompliantContactSubsystem.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/CompliantContactSubsystem.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/CompliantContactSubsystem.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/CompliantContactSubsystem.cpp +[ 47%] Linking CXX executable ../../LBFGSBTest cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/LBFGSBTest.dir/link.txt --verbose=1 -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/IpoptTest.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/LBFGSTest.dir/link.d CMakeFiles/LBFGSTest.dir/LBFGSTest.cpp.o -o ../../LBFGSTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 47%] Linking CXX executable ../../FactorLUTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/FactorLUTest.dir/link.txt --verbose=1 +[ 47%] Linking CXX executable ../../EigenTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/EigenTest.dir/link.txt --verbose=1 +[ 48%] Linking CXX executable ../../IpoptDiffTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/IpoptDiffTest.dir/link.txt --verbose=1 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/LBFGSDiffTest.dir/link.d CMakeFiles/LBFGSDiffTest.dir/LBFGSDiffTest.cpp.o -o ../../LBFGSDiffTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 48%] Built target LBFGSTest -[ 48%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_Rod.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_Rod.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Constraint_Rod.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Constraint_Rod.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Constraint_Rod.cpp -[ 48%] Built target LBFGSDiffTest -[ 48%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_SphereOnPlaneContact.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT 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-ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/LBFGSBTest.dir/link.d CMakeFiles/LBFGSBTest.dir/LBFGSBTest.cpp.o -o ../../LBFGSBTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/EigenTest.dir/link.d CMakeFiles/EigenTest.dir/EigenTest.cpp.o -o ../../EigenTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 48%] Built target BestAvailableTest +[ 48%] Built target LBFGSBDiffTest +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/FactorSVDTest.dir/link.d CMakeFiles/FactorSVDTest.dir/FactorSVDTest.cpp.o -o ../../FactorSVDTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 49%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/ConditionalConstraint.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Constraint.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Constraint.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Constraint.cpp +[ 49%] Built target FactorSVDTest +[ 49%] Built target LBFGSDiffTest +[ 49%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_LineOnLineContact.cpp.o +[ 49%] Linking CXX executable ../../LBFGSTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/LBFGSTest.dir/link.txt --verbose=1 +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_LineOnLineContact.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Constraint_LineOnLineContact.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Constraint_LineOnLineContact.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Constraint_LineOnLineContact.cpp +[ 49%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_PointOnPlaneContact.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_PointOnPlaneContact.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Constraint_PointOnPlaneContact.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Constraint_PointOnPlaneContact.cpp.o -c 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CMakeFiles/EigenTest.dir/EigenTest.cpp.o -o ../../EigenTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/IpoptDiffTest.dir/link.d CMakeFiles/IpoptDiffTest.dir/IpoptDiffTest.cpp.o -o ../../IpoptDiffTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/LBFGSBDiffTest.dir/link.d CMakeFiles/LBFGSBDiffTest.dir/LBFGSBDiffTest.cpp.o -o ../../LBFGSBDiffTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/LBFGSBTest.dir/link.d CMakeFiles/LBFGSBTest.dir/LBFGSBTest.cpp.o -o ../../LBFGSBTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/FactorLUTest.dir/link.d CMakeFiles/FactorLUTest.dir/FactorLUTest.cpp.o -o ../../FactorLUTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -[ 49%] Linking CXX executable ../../IpoptDiffTest -[ 49%] Built target BestAvailableTest make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 49%] Built target IpoptTest -[ 49%] Built target DifferentiatorTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/IpoptDiffTest.dir/link.txt --verbose=1 +[ 49%] Linking CXX executable ../../IpoptTest +[ 49%] Linking CXX executable ../../DifferentiatorTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/IpoptTest.dir/link.txt --verbose=1 +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/DifferentiatorTest.dir/link.txt --verbose=1 +[ 49%] Built target FactorLUTest [ 49%] Built target EigenTest [ 49%] Built target LBFGSBTest -[ 49%] Built target LBFGSBDiffTest +[ 49%] Linking CXX executable ../../SimpleDifferentiatorTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/SimpleDifferentiatorTest.dir/link.txt --verbose=1 +[ 49%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_Rod.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_Rod.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Constraint_Rod.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Constraint_Rod.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Constraint_Rod.cpp +[ 49%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_SphereOnPlaneContact.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_SphereOnPlaneContact.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Constraint_SphereOnPlaneContact.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Constraint_SphereOnPlaneContact.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Constraint_SphereOnPlaneContact.cpp +[ 49%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_SphereOnSphereContact.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_SphereOnSphereContact.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Constraint_SphereOnSphereContact.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Constraint_SphereOnSphereContact.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Constraint_SphereOnSphereContact.cpp +[ 49%] Built target IpoptDiffTest [ 50%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/ContactTrackerSubsystem.cpp.o -[ 50%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_SphereOnSphereContact.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Constraint_SphereOnSphereContact.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Constraint_SphereOnSphereContact.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Constraint_SphereOnSphereContact.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Constraint_SphereOnSphereContact.cpp +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/DecorationSubsystem.cpp.o -MF 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/ElasticFoundationForce.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/ElasticFoundationForce.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/ElasticFoundationForce.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/ElasticFoundationForce.cpp +[ 50%] Built target DifferentiatorTest +[ 50%] Built target IpoptTest +[ 50%] Built target LBFGSTest [ 50%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/ForceSubsystem.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/ForceSubsystem.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/ForceSubsystem.cpp.o.d 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/ElasticFoundationForce.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/ElasticFoundationForce.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/ElasticFoundationForce.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/ElasticFoundationForce.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Force.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Force.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Force.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Force.cpp -[ 50%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Force_Gravity.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Force_Gravity.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Force_Gravity.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Force_Gravity.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Force_Gravity.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/ForceSubsystem.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/ForceSubsystem.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/ForceSubsystem.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/ForceSubsystem.cpp [ 50%] Linking CXX executable ../../FactorQTZTest cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/FactorQTZTest.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/IpoptDiffTest.dir/link.d CMakeFiles/IpoptDiffTest.dir/IpoptDiffTest.cpp.o -o ../../IpoptDiffTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/FactorQTZTest.dir/link.d CMakeFiles/FactorQTZTest.dir/FactorQTZTest.cpp.o -o ../../FactorQTZTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 50%] Built target IpoptDiffTest -[ 51%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Force_Instantiations.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Force_Instantiations.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Force_Instantiations.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Force_Instantiations.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Force_Instantiations.cpp -[ 51%] Linking CXX executable ../../TestContactGeometry +[ 50%] Built target FactorQTZTest +[ 50%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Force_Gravity.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Force_Gravity.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Force_Gravity.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Force_Gravity.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Force_Gravity.cpp +[ 50%] Linking CXX executable ../../TestContactGeometry cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestContactGeometry.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/FactorQTZTest.dir/link.d CMakeFiles/FactorQTZTest.dir/FactorQTZTest.cpp.o -o ../../FactorQTZTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestContactGeometry.dir/link.d CMakeFiles/TestContactGeometry.dir/TestContactGeometry.cpp.o -o ../../TestContactGeometry -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 51%] Built target FactorQTZTest +[ 50%] Linking CXX executable ../../TestMultibodyGraphMaker +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestMultibodyGraphMaker.dir/link.txt --verbose=1 +[ 51%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Force_Instantiations.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Force_Instantiations.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Force_Instantiations.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Force_Instantiations.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Force_Instantiations.cpp +[ 51%] Linking CXX executable ../../CMAESTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/CMAESTest.dir/link.txt --verbose=1 +[ 51%] Built target TestContactGeometry [ 51%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Force_LinearBushing.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 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CMakeFiles/CMAESTest.dir/CMAESTest.cpp.o -o ../../CMAESTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 51%] Built target TestContactGeometry [ 51%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Force_Thermostat.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/GeneralForceSubsystem.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/GeneralForceSubsystem.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/GeneralForceSubsystem.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/GeneralForceSubsystem.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/CMAESTest.dir/link.txt --verbose=1 [ 51%] Linking CXX executable ../../TestTriangleMesh +[ 51%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/GeneralForceSubsystem.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestTriangleMesh.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/CMAESTest.dir/link.d CMakeFiles/CMAESTest.dir/CMAESTest.cpp.o -o ../../CMAESTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 51%] Built target CMAESTest -[ 51%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/HuntCrossleyForce.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/HuntCrossleyForce.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/HuntCrossleyForce.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/HuntCrossleyForce.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/HuntCrossleyForce.cpp -[ 51%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/HuntCrossleyContact.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/HuntCrossleyContact.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/HuntCrossleyContact.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/HuntCrossleyContact.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/HuntCrossleyContact.cpp +cd 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/GeneralForceSubsystem.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/GeneralForceSubsystem.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/GeneralForceSubsystem.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/GeneralForceSubsystem.cpp /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestTriangleMesh.dir/link.d CMakeFiles/TestTriangleMesh.dir/TestTriangleMesh.cpp.o -o ../../TestTriangleMesh -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' [ 51%] Built target TestTriangleMesh -[ 52%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/ImpulseSolver.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/ImpulseSolver.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/ImpulseSolver.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/ImpulseSolver.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/ImpulseSolver.cpp -[ 52%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/LocalEnergyMinimizer.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/LocalEnergyMinimizer.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/LocalEnergyMinimizer.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/LocalEnergyMinimizer.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/LocalEnergyMinimizer.cpp -[ 52%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Matter_Instantiations.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Matter_Instantiations.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Matter_Instantiations.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Matter_Instantiations.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Matter_Instantiations.cpp +[ 51%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/HuntCrossleyContact.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/HuntCrossleyContact.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/HuntCrossleyContact.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/HuntCrossleyContact.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/HuntCrossleyContact.cpp +[ 53%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/HuntCrossleyForce.cpp.o +[ 53%] Linking CXX executable ../../RungeKutta2IntegratorTest +[ 53%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/ImpulseSolver.cpp.o [ 53%] Linking CXX executable ../../CPodesIntegratorTest +[ 53%] Linking CXX executable ../../TestGeo +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/RungeKutta2IntegratorTest.dir/link.txt --verbose=1 cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/CPodesIntegratorTest.dir/link.txt --verbose=1 -[ 53%] Linking CXX executable ../../RungeKuttaFeldbergIntegratorTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/link.txt --verbose=1 -[ 53%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/MobilizedBody.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/MobilizedBody.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/MobilizedBody.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/MobilizedBody.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/MobilizedBody.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestGeo.dir/link.txt --verbose=1 +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/HuntCrossleyForce.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/HuntCrossleyForce.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/HuntCrossleyForce.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/HuntCrossleyForce.cpp +[ 54%] Linking CXX executable ../../ExplicitEulerIntegratorTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/ImpulseSolver.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/ImpulseSolver.cpp.o.d 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-DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/LocalEnergyMinimizer.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/LocalEnergyMinimizer.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/LocalEnergyMinimizer.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/LocalEnergyMinimizer.cpp +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestGeo.dir/link.d CMakeFiles/TestGeo.dir/TestGeo.cpp.o -o ../../TestGeo -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExplicitEulerIntegratorTest.dir/link.d CMakeFiles/ExplicitEulerIntegratorTest.dir/ExplicitEulerIntegratorTest.cpp.o -o ../../ExplicitEulerIntegratorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/RungeKutta2IntegratorTest.dir/link.d CMakeFiles/RungeKutta2IntegratorTest.dir/RungeKutta2IntegratorTest.cpp.o -o ../../RungeKutta2IntegratorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/CPodesIntegratorTest.dir/link.d CMakeFiles/CPodesIntegratorTest.dir/CPodesIntegratorTest.cpp.o -o ../../CPodesIntegratorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 54%] Linking CXX executable ../../RungeKuttaMersonIntegratorTest +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 55%] Linking CXX executable ../../RungeKuttaMersonIntegratorTest cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/RungeKuttaMersonIntegratorTest.dir/link.txt --verbose=1 -[ 54%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Motion.cpp.o -[ 54%] Linking CXX executable ../../RungeKutta2IntegratorTest -[ 55%] Linking CXX executable ../../ExplicitEulerIntegratorTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExplicitEulerIntegratorTest.dir/link.txt --verbose=1 -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Motion.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Motion.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Motion.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Motion.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/RungeKutta2IntegratorTest.dir/link.txt --verbose=1 +[ 55%] Linking CXX executable ../../IntegratorTest +[ 55%] Linking CXX executable ../../TestSpline +[ 55%] Built target TestGeo +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/IntegratorTest.dir/link.txt --verbose=1 +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestSpline.dir/link.txt --verbose=1 +[ 55%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Matter_Instantiations.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Matter_Instantiations.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Matter_Instantiations.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Matter_Instantiations.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Matter_Instantiations.cpp +[ 55%] Built target RungeKutta2IntegratorTest [ 55%] Built target CPodesIntegratorTest -[ 55%] Linking CXX executable ../../RungeKutta3IntegratorTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E 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Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/MobilizedBody.cpp.o +[ 55%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Motion.cpp.o [ 55%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/MultibodySystem.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/MobilizedBody.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/MobilizedBody.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/MobilizedBody.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/MobilizedBody.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/Motion.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/Motion.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/Motion.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/Motion.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/MultibodySystem.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/MultibodySystem.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/MultibodySystem.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/MultibodySystem.cpp +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/IntegratorTest.dir/link.d CMakeFiles/IntegratorTest.dir/IntegratorTest.cpp.o -o ../../IntegratorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' [ 56%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/OBSOLETE_LengthConstraints.cpp.o +[ 57%] Linking CXX executable ../../TimeStepperTest cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/OBSOLETE_LengthConstraints.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/OBSOLETE_LengthConstraints.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/OBSOLETE_LengthConstraints.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/OBSOLETE_LengthConstraints.cpp -[ 57%] Linking CXX executable ../../SemiExplicitEuler2IntegratorTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/link.txt --verbose=1 +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TimeStepperTest.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/RungeKuttaMersonIntegratorTest.dir/link.d CMakeFiles/RungeKuttaMersonIntegratorTest.dir/RungeKuttaMersonIntegratorTest.cpp.o -o ../../RungeKuttaMersonIntegratorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestSpline.dir/link.d CMakeFiles/TestSpline.dir/TestSpline.cpp.o -o ../../TestSpline -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 57%] Built target IntegratorTest +[ 57%] Built target TestSpline [ 57%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/ObservedPointFitter.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/ObservedPointFitter.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/ObservedPointFitter.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/ObservedPointFitter.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/ObservedPointFitter.cpp -[ 57%] Linking CXX executable ../../IntegratorTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/IntegratorTest.dir/link.txt --verbose=1 [ 57%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/PGSImpulseSolver.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/PGSImpulseSolver.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/PGSImpulseSolver.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/PGSImpulseSolver.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/PGSImpulseSolver.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/RungeKutta2IntegratorTest.dir/link.d CMakeFiles/RungeKutta2IntegratorTest.dir/RungeKutta2IntegratorTest.cpp.o -o ../../RungeKutta2IntegratorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExplicitEulerIntegratorTest.dir/link.d CMakeFiles/ExplicitEulerIntegratorTest.dir/ExplicitEulerIntegratorTest.cpp.o -o ../../ExplicitEulerIntegratorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -[ 57%] Built target RungeKutta2IntegratorTest -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/RungeKuttaMersonIntegratorTest.dir/link.d CMakeFiles/RungeKuttaMersonIntegratorTest.dir/RungeKuttaMersonIntegratorTest.cpp.o -o ../../RungeKuttaMersonIntegratorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/RungeKutta3IntegratorTest.dir/link.d CMakeFiles/RungeKutta3IntegratorTest.dir/RungeKutta3IntegratorTest.cpp.o -o ../../RungeKutta3IntegratorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 57%] Built target ExplicitEulerIntegratorTest -[ 57%] Built target RungeKutta3IntegratorTest [ 57%] Built target RungeKuttaMersonIntegratorTest [ 57%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/PLUSImpulseSolver.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/PLUSImpulseSolver.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/PLUSImpulseSolver.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/PLUSImpulseSolver.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/PLUSImpulseSolver.cpp +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TimeStepperTest.dir/link.d CMakeFiles/TimeStepperTest.dir/TimeStepperTest.cpp.o -o ../../TimeStepperTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' [ 57%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/RigidBodyNode.cpp [ 57%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNodeSpec.cpp.o -[ 57%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNodeSpec_Derived.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNodeSpec.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNodeSpec.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNodeSpec.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/RigidBodyNodeSpec.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNodeSpec_Derived.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNodeSpec_Derived.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNodeSpec_Derived.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/RigidBodyNodeSpec_Derived.cpp +[ 57%] Linking CXX executable ../../RungeKuttaFeldbergIntegratorTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/link.txt --verbose=1 [ 57%] Linking CXX executable ../../SemiExplicitEulerIntegratorTest cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/SemiExplicitEulerIntegratorTest.dir/link.txt --verbose=1 -[ 58%] Linking CXX executable ../../TimeStepperTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TimeStepperTest.dir/link.txt --verbose=1 -[ 58%] Linking CXX executable ../../TestGeo -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestGeo.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/link.d CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/SemiExplicitEuler2IntegratorTest.cpp.o -o ../../SemiExplicitEuler2IntegratorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 58%] Built target SemiExplicitEuler2IntegratorTest -[ 59%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode_LoneParticle.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode_LoneParticle.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode_LoneParticle.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode_LoneParticle.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/RigidBodyNode_LoneParticle.cpp -[ 59%] Linking CXX executable ../../TestSpline -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestSpline.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/IntegratorTest.dir/link.d CMakeFiles/IntegratorTest.dir/IntegratorTest.cpp.o -o ../../IntegratorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -[ 59%] Linking CXX executable ../../VerletIntegratorTest -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 57%] Linking CXX executable ../../VerletIntegratorTest cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/VerletIntegratorTest.dir/link.txt --verbose=1 -[ 59%] Built target IntegratorTest +[ 57%] Linking CXX executable ../../RungeKutta3IntegratorTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/RungeKutta3IntegratorTest.dir/link.txt --verbose=1 +[ 57%] Linking CXX executable ../../TestBicubicSurface +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestBicubicSurface.dir/link.txt --verbose=1 +[ 57%] Built target TimeStepperTest +[ 57%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNodeSpec_Derived.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNodeSpec_Derived.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNodeSpec_Derived.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNodeSpec_Derived.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/RigidBodyNodeSpec_Derived.cpp +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/link.d CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/RungeKuttaFeldbergIntegratorTest.cpp.o -o ../../RungeKuttaFeldbergIntegratorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SemiExplicitEulerIntegratorTest.dir/link.d CMakeFiles/SemiExplicitEulerIntegratorTest.dir/SemiExplicitEulerIntegratorTest.cpp.o -o ../../SemiExplicitEulerIntegratorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -[ 59%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode_Weld.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode_Weld.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode_Weld.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode_Weld.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/RigidBodyNode_Weld.cpp make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 59%] Built target SemiExplicitEulerIntegratorTest -[ 59%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SemiExplicitEulerTimeStepper.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SemiExplicitEulerTimeStepper.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/SemiExplicitEulerTimeStepper.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/SemiExplicitEulerTimeStepper.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/SemiExplicitEulerTimeStepper.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TimeStepperTest.dir/link.d CMakeFiles/TimeStepperTest.dir/TimeStepperTest.cpp.o -o ../../TimeStepperTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestSpline.dir/link.d CMakeFiles/TestSpline.dir/TestSpline.cpp.o -o ../../TestSpline -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/RungeKutta3IntegratorTest.dir/link.d CMakeFiles/RungeKutta3IntegratorTest.dir/RungeKutta3IntegratorTest.cpp.o -o ../../RungeKutta3IntegratorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 59%] Built target TimeStepperTest -[ 59%] Built target TestSpline -[ 59%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubsystemRep.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubsystemRep.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubsystemRep.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubsystemRep.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/SimbodyMatterSubsystemRep.cpp -[ 59%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubsystem.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubsystem.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubsystem.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubsystem.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/SimbodyMatterSubsystem.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestGeo.dir/link.d CMakeFiles/TestGeo.dir/TestGeo.cpp.o -o ../../TestGeo -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestBicubicSurface.dir/link.d CMakeFiles/TestBicubicSurface.dir/TestBicubicSurface.cpp.o -o ../../TestBicubicSurface -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 59%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubtree.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubtree.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubtree.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubtree.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/SimbodyMatterSubtree.cpp -[ 59%] Built target TestGeo -[ 60%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SmoothSphereHalfSpaceForce.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SmoothSphereHalfSpaceForce.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/SmoothSphereHalfSpaceForce.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/SmoothSphereHalfSpaceForce.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/SmoothSphereHalfSpaceForce.cpp /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/VerletIntegratorTest.dir/link.d CMakeFiles/VerletIntegratorTest.dir/VerletIntegratorTest.cpp.o -o ../../VerletIntegratorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 57%] Built target RungeKuttaFeldbergIntegratorTest +[ 57%] Built target RungeKutta3IntegratorTest make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 60%] Built target VerletIntegratorTest -[ 60%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/TextDataEventReporter.cpp.o +[ 57%] Built target SemiExplicitEulerIntegratorTest +[ 57%] Built target VerletIntegratorTest +[ 57%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode_Weld.cpp.o +[ 58%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode_LoneParticle.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode_Weld.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode_Weld.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode_Weld.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/RigidBodyNode_Weld.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode_LoneParticle.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode_LoneParticle.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/RigidBodyNode_LoneParticle.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/RigidBodyNode_LoneParticle.cpp +[ 58%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SemiExplicitEulerTimeStepper.cpp.o +[ 58%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubsystem.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SemiExplicitEulerTimeStepper.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/SemiExplicitEulerTimeStepper.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/SemiExplicitEulerTimeStepper.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/SemiExplicitEulerTimeStepper.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubsystem.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubsystem.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubsystem.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/SimbodyMatterSubsystem.cpp +[ 58%] Built target TestBicubicSurface +[ 58%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubsystemRep.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubsystemRep.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubsystemRep.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubsystemRep.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/SimbodyMatterSubsystemRep.cpp +[ 58%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubtree.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubtree.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubtree.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/SimbodyMatterSubtree.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/SimbodyMatterSubtree.cpp +[ 58%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/TextDataEventReporter.cpp.o +[ 59%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SmoothSphereHalfSpaceForce.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/TextDataEventReporter.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/TextDataEventReporter.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/TextDataEventReporter.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/TextDataEventReporter.cpp -[ 60%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/Visualizer.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/src/SmoothSphereHalfSpaceForce.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/src/SmoothSphereHalfSpaceForce.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/src/SmoothSphereHalfSpaceForce.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/src/SmoothSphereHalfSpaceForce.cpp +[ 59%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/Visualizer.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/Visualizer.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/Visualizer.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/Visualizer.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/src/Visualizer.cpp -[ 60%] Linking CXX executable ../../TestBicubicSurface -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestBicubicSurface.dir/link.txt --verbose=1 +[ 60%] Linking CXX executable ../../SemiExplicitEuler2IntegratorTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/link.txt --verbose=1 [ 60%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/VisualizerGeometry.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/VisualizerGeometry.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/VisualizerGeometry.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/VisualizerGeometry.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/src/VisualizerGeometry.cpp +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/link.d CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/SemiExplicitEuler2IntegratorTest.cpp.o -o ../../SemiExplicitEuler2IntegratorTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' [ 60%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/VisualizerProtocol.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/VisualizerProtocol.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/VisualizerProtocol.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/VisualizerProtocol.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/src/VisualizerProtocol.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestBicubicSurface.dir/link.d CMakeFiles/TestBicubicSurface.dir/TestBicubicSurface.cpp.o -o ../../TestBicubicSurface -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 60%] Built target TestBicubicSurface +[ 60%] Built target SemiExplicitEuler2IntegratorTest [ 60%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/Visualizer_InputListener.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_BUILDING_SHARED_LIBRARY -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -DSimTKsimbody_EXPORTS -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -fPIC -MD -MT Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/Visualizer_InputListener.cpp.o -MF CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/Visualizer_InputListener.cpp.o.d -o CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/Visualizer_InputListener.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/src/Visualizer_InputListener.cpp [ 60%] Building CXX object Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/__/Visualizer/src/Visualizer_Reporter.cpp.o @@ -3624,15 +3660,18 @@ make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' [ 61%] Built target SimTKsimbody make -f Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/build.make Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/depend +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/simbody-visualizer /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/Visualizer/simbody-visualizer /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/DependInfo.cmake "--color=" +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/CMakeFiles/GazeboBasicControllerResponse.dir/build.make Simbody/tests/CMakeFiles/GazeboBasicControllerResponse.dir/depend +make -f Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/build.make Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/build make -f Simbody/tests/CMakeFiles/GazeboInelasticCollision.dir/build.make Simbody/tests/CMakeFiles/GazeboInelasticCollision.dir/depend make -f Simbody/tests/CMakeFiles/GazeboReactionForce.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForce.dir/depend -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/simbody-visualizer /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/Visualizer/simbody-visualizer /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/DependInfo.cmake "--color=" make -f Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/depend -make -f Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/depend +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/GazeboBasicControllerResponse.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/GazeboInelasticCollision.dir/DependInfo.cmake "--color=" make -f Simbody/tests/CMakeFiles/TestAngleConversions.dir/build.make Simbody/tests/CMakeFiles/TestAngleConversions.dir/depend @@ -3642,32 +3681,32 @@ make -f Simbody/tests/CMakeFiles/TestConstraints.dir/build.make Simbody/tests/CMakeFiles/TestConstraints.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/DependInfo.cmake "--color=" +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/DependInfo.cmake "--color=" make -f Simbody/tests/CMakeFiles/TestCustomConstraints.dir/build.make Simbody/tests/CMakeFiles/TestCustomConstraints.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestAngleConversions.dir/DependInfo.cmake "--color=" -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/DependInfo.cmake "--color=" make -f Simbody/tests/CMakeFiles/TestCustomMobilizedBodies.dir/build.make Simbody/tests/CMakeFiles/TestCustomMobilizedBodies.dir/depend -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/DependInfo.cmake "--color=" make -f Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/build.make Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/depend -make -f Simbody/tests/CMakeFiles/TestForces.dir/build.make Simbody/tests/CMakeFiles/TestForces.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestConstraints.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/CMakeFiles/TestForces.dir/build.make Simbody/tests/CMakeFiles/TestForces.dir/depend +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/DependInfo.cmake "--color=" make -f Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/build.make Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestCustomConstraints.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestCustomMobilizedBodies.dir/DependInfo.cmake "--color=" -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestForces.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/CMakeFiles/TestGravity.dir/build.make Simbody/tests/CMakeFiles/TestGravity.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/CMakeFiles/TestGravity.dir/build.make Simbody/tests/CMakeFiles/TestGravity.dir/depend +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestForces.dir/DependInfo.cmake "--color=" make -f Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/build.make Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/depend +make -f Simbody/tests/CMakeFiles/TestLinearBushing.dir/build.make Simbody/tests/CMakeFiles/TestLinearBushing.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/CMakeFiles/TestLinearBushing.dir/build.make Simbody/tests/CMakeFiles/TestLinearBushing.dir/depend make -f Simbody/tests/CMakeFiles/TestLoneParticle.dir/build.make Simbody/tests/CMakeFiles/TestLoneParticle.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestGravity.dir/DependInfo.cmake "--color=" @@ -3678,307 +3717,304 @@ make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestLinearBushing.dir/DependInfo.cmake "--color=" make -f Simbody/tests/CMakeFiles/TestMobilizerReactionForces.dir/build.make Simbody/tests/CMakeFiles/TestMobilizerReactionForces.dir/depend -make -f Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/build.make Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestLoneParticle.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/build.make Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/build.make Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/depend cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestMassMatrix.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/build.make Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/depend cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestMobilizedBody.dir/DependInfo.cmake "--color=" make -f Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/build.make Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestMobilizerReactionForces.dir/DependInfo.cmake "--color=" make -f Simbody/tests/CMakeFiles/TestParallelForces.dir/build.make Simbody/tests/CMakeFiles/TestParallelForces.dir/depend -make -f Simbody/tests/CMakeFiles/TestPimpl1.dir/build.make Simbody/tests/CMakeFiles/TestPimpl1.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/build.make Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestParallelForces.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/CMakeFiles/TestPimpl1.dir/build.make Simbody/tests/CMakeFiles/TestPimpl1.dir/depend +make -f Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/build.make Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/depend +make -f Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/build.make Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestPimpl1.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/build.make Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/DependInfo.cmake "--color=" make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 61%] Building CXX object Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/simbody-visualizer.cpp.o +[ 61%] Building CXX object Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/lodepng.cpp.o make -f Simbody/tests/CMakeFiles/GazeboBasicControllerResponse.dir/build.make Simbody/tests/CMakeFiles/GazeboBasicControllerResponse.dir/build +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/CMakeFiles/GazeboInelasticCollision.dir/build.make Simbody/tests/CMakeFiles/GazeboInelasticCollision.dir/build -make -f Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/GazeboReactionForce.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForce.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/GazeboReactionForce.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForce.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/build.make Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/build +make -f Simbody/tests/CMakeFiles/TestCustomConstraints.dir/build.make Simbody/tests/CMakeFiles/TestCustomConstraints.dir/build +make -f Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/build.make Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/Visualizer/simbody-visualizer && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/simbody-visualizer.cpp.o -MF CMakeFiles/simbody-visualizer.dir/simbody-visualizer.cpp.o.d -o CMakeFiles/simbody-visualizer.dir/simbody-visualizer.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/simbody-visualizer/simbody-visualizer.cpp +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/TestGravity.dir/build.make Simbody/tests/CMakeFiles/TestGravity.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/Visualizer/simbody-visualizer && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/lodepng.cpp.o -MF CMakeFiles/simbody-visualizer.dir/lodepng.cpp.o.d -o CMakeFiles/simbody-visualizer.dir/lodepng.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/simbody-visualizer/lodepng.cpp make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/CMakeFiles/TestAngleConversions.dir/build.make Simbody/tests/CMakeFiles/TestAngleConversions.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/build.make Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/build -make -f Simbody/tests/CMakeFiles/TestConstraints.dir/build.make Simbody/tests/CMakeFiles/TestConstraints.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestCustomConstraints.dir/build.make Simbody/tests/CMakeFiles/TestCustomConstraints.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/build +make -f Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/build.make Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/build +make -f Simbody/tests/CMakeFiles/TestConstraints.dir/build.make Simbody/tests/CMakeFiles/TestConstraints.dir/build make -f Simbody/tests/CMakeFiles/TestForces.dir/build.make Simbody/tests/CMakeFiles/TestForces.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/build.make Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/CMakeFiles/TestCustomMobilizedBodies.dir/build.make Simbody/tests/CMakeFiles/TestCustomMobilizedBodies.dir/build -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/build.make Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/build -make -f Simbody/tests/CMakeFiles/TestGravity.dir/build.make Simbody/tests/CMakeFiles/TestGravity.dir/build -make -f Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/build.make Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/build -make -f Simbody/tests/CMakeFiles/TestLinearBushing.dir/build.make Simbody/tests/CMakeFiles/TestLinearBushing.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestMassMatrix.dir/build.make Simbody/tests/CMakeFiles/TestMassMatrix.dir/build +make -f Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/build.make Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/build +make -f Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/build.make Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestMobilizedBody.dir/build.make Simbody/tests/CMakeFiles/TestMobilizedBody.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/TestMassMatrix.dir/build.make Simbody/tests/CMakeFiles/TestMassMatrix.dir/build make -f Simbody/tests/CMakeFiles/TestMobilizerReactionForces.dir/build.make Simbody/tests/CMakeFiles/TestMobilizerReactionForces.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/build.make Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/build.make Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/build -make -f Simbody/tests/CMakeFiles/TestParallelForces.dir/build.make Simbody/tests/CMakeFiles/TestParallelForces.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/build.make Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/CMakeFiles/TestLoneParticle.dir/build.make Simbody/tests/CMakeFiles/TestLoneParticle.dir/build +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/TestLinearBushing.dir/build.make Simbody/tests/CMakeFiles/TestLinearBushing.dir/build +make -f Simbody/tests/CMakeFiles/TestMobilizedBody.dir/build.make Simbody/tests/CMakeFiles/TestMobilizedBody.dir/build +make -f Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/build.make Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/build.make Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/build -make -f Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/build.make Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/build +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/TestParallelForces.dir/build.make Simbody/tests/CMakeFiles/TestParallelForces.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/build.make Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 62%] Building CXX object Simbody/tests/CMakeFiles/GazeboInelasticCollision.dir/GazeboInelasticCollision.cpp.o -[ 62%] Building CXX object Simbody/tests/CMakeFiles/GazeboBasicControllerResponse.dir/GazeboBasicControllerResponse.cpp.o +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/build.make Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/build +[ 61%] Building CXX object Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/TestElasticFoundationForce.cpp.o +[ 61%] Building CXX object Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/GazeboReactionForceWithAppliedForceCompliant.cpp.o make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 61%] Building CXX object Simbody/tests/CMakeFiles/TestGravity.dir/TestGravity.cpp.o make -f Simbody/tests/CMakeFiles/TestPimpl1.dir/build.make Simbody/tests/CMakeFiles/TestPimpl1.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 62%] Building CXX object Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/GazeboReactionForceWithAppliedForceCompliant.cpp.o +[ 61%] Building CXX object Simbody/tests/CMakeFiles/TestConstraints.dir/TestConstraints.cpp.o +[ 62%] Building CXX object Simbody/tests/CMakeFiles/GazeboInelasticCollision.dir/GazeboInelasticCollision.cpp.o +[ 62%] Building CXX object Simbody/tests/CMakeFiles/GazeboBasicControllerResponse.dir/GazeboBasicControllerResponse.cpp.o [ 62%] Building CXX object Simbody/tests/CMakeFiles/GazeboReactionForce.dir/GazeboReactionForce.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/GazeboBasicControllerResponse.dir/GazeboBasicControllerResponse.cpp.o -MF CMakeFiles/GazeboBasicControllerResponse.dir/GazeboBasicControllerResponse.cpp.o.d -o CMakeFiles/GazeboBasicControllerResponse.dir/GazeboBasicControllerResponse.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/GazeboBasicControllerResponse.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/GazeboInelasticCollision.dir/GazeboInelasticCollision.cpp.o -MF CMakeFiles/GazeboInelasticCollision.dir/GazeboInelasticCollision.cpp.o.d -o CMakeFiles/GazeboInelasticCollision.dir/GazeboInelasticCollision.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/GazeboInelasticCollision.cpp +[ 62%] Building CXX object Simbody/tests/CMakeFiles/TestCustomConstraints.dir/TestCustomConstraints.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/GazeboReactionForceWithAppliedForceCompliant.cpp.o -MF CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/GazeboReactionForceWithAppliedForceCompliant.cpp.o.d -o CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/GazeboReactionForceWithAppliedForceCompliant.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/GazeboReactionForceWithAppliedForceCompliant.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestGravity.dir/TestGravity.cpp.o -MF CMakeFiles/TestGravity.dir/TestGravity.cpp.o.d -o CMakeFiles/TestGravity.dir/TestGravity.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestGravity.cpp make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/GazeboInelasticCollision.dir/GazeboInelasticCollision.cpp.o -MF CMakeFiles/GazeboInelasticCollision.dir/GazeboInelasticCollision.cpp.o.d -o CMakeFiles/GazeboInelasticCollision.dir/GazeboInelasticCollision.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/GazeboInelasticCollision.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestConstraints.dir/TestConstraints.cpp.o -MF CMakeFiles/TestConstraints.dir/TestConstraints.cpp.o.d -o CMakeFiles/TestConstraints.dir/TestConstraints.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestConstraints.cpp +[ 62%] Building CXX object Simbody/tests/CMakeFiles/TestForces.dir/TestForces.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/TestElasticFoundationForce.cpp.o -MF CMakeFiles/TestElasticFoundationForce.dir/TestElasticFoundationForce.cpp.o.d -o CMakeFiles/TestElasticFoundationForce.dir/TestElasticFoundationForce.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestElasticFoundationForce.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/GazeboReactionForce.dir/GazeboReactionForce.cpp.o -MF CMakeFiles/GazeboReactionForce.dir/GazeboReactionForce.cpp.o.d -o CMakeFiles/GazeboReactionForce.dir/GazeboReactionForce.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/GazeboReactionForce.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestCustomConstraints.dir/TestCustomConstraints.cpp.o -MF CMakeFiles/TestCustomConstraints.dir/TestCustomConstraints.cpp.o.d -o CMakeFiles/TestCustomConstraints.dir/TestCustomConstraints.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestCustomConstraints.cpp +[ 62%] Building CXX object Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/TestHuntCrossleyForce.cpp.o +[ 62%] Building CXX object Simbody/tests/CMakeFiles/TestMassMatrix.dir/TestMassMatrix.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/GazeboBasicControllerResponse.dir/GazeboBasicControllerResponse.cpp.o -MF CMakeFiles/GazeboBasicControllerResponse.dir/GazeboBasicControllerResponse.cpp.o.d -o CMakeFiles/GazeboBasicControllerResponse.dir/GazeboBasicControllerResponse.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/GazeboBasicControllerResponse.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestForces.dir/TestForces.cpp.o -MF CMakeFiles/TestForces.dir/TestForces.cpp.o.d -o CMakeFiles/TestForces.dir/TestForces.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestForces.cpp [ 62%] Building CXX object Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/GazeboReactionForceWithAppliedForceRigid.cpp.o -[ 63%] Building CXX object Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/TestCollisionDetectionAlgorithm.cpp.o +[ 62%] Building CXX object Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/TestCollisionDetectionAlgorithm.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/TestHuntCrossleyForce.cpp.o -MF CMakeFiles/TestHuntCrossleyForce.dir/TestHuntCrossleyForce.cpp.o.d -o CMakeFiles/TestHuntCrossleyForce.dir/TestHuntCrossleyForce.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestHuntCrossleyForce.cpp [ 63%] Building CXX object Simbody/tests/CMakeFiles/TestAngleConversions.dir/TestAngleConversions.cpp.o -[ 63%] Building CXX object Simbody/tests/CMakeFiles/TestConstraints.dir/TestConstraints.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/GazeboReactionForce.dir/GazeboReactionForce.cpp.o -MF CMakeFiles/GazeboReactionForce.dir/GazeboReactionForce.cpp.o.d -o CMakeFiles/GazeboReactionForce.dir/GazeboReactionForce.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/GazeboReactionForce.cpp -[ 63%] Building CXX object Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/simbody-visualizer.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/GazeboReactionForceWithAppliedForceCompliant.cpp.o -MF CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/GazeboReactionForceWithAppliedForceCompliant.cpp.o.d -o CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/GazeboReactionForceWithAppliedForceCompliant.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/GazeboReactionForceWithAppliedForceCompliant.cpp -[ 63%] Building CXX object Simbody/tests/CMakeFiles/TestForces.dir/TestForces.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/TestCollisionDetectionAlgorithm.cpp.o -MF CMakeFiles/TestCollisionDetectionAlgorithm.dir/TestCollisionDetectionAlgorithm.cpp.o.d -o CMakeFiles/TestCollisionDetectionAlgorithm.dir/TestCollisionDetectionAlgorithm.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestCollisionDetectionAlgorithm.cpp -[ 63%] Building CXX object Simbody/tests/CMakeFiles/TestCustomConstraints.dir/TestCustomConstraints.cpp.o -[ 63%] Building CXX object Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/TestElasticFoundationForce.cpp.o -[ 63%] Building CXX object Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/lodepng.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestConstraints.dir/TestConstraints.cpp.o -MF CMakeFiles/TestConstraints.dir/TestConstraints.cpp.o.d -o CMakeFiles/TestConstraints.dir/TestConstraints.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestConstraints.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestMassMatrix.dir/TestMassMatrix.cpp.o -MF CMakeFiles/TestMassMatrix.dir/TestMassMatrix.cpp.o.d -o CMakeFiles/TestMassMatrix.dir/TestMassMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestMassMatrix.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/GazeboReactionForceWithAppliedForceRigid.cpp.o -MF CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/GazeboReactionForceWithAppliedForceRigid.cpp.o.d -o CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/GazeboReactionForceWithAppliedForceRigid.cpp.o -c 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/TestElasticFoundationForce.cpp.o -MF CMakeFiles/TestElasticFoundationForce.dir/TestElasticFoundationForce.cpp.o.d -o CMakeFiles/TestElasticFoundationForce.dir/TestElasticFoundationForce.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestElasticFoundationForce.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestCustomConstraints.dir/TestCustomConstraints.cpp.o -MF CMakeFiles/TestCustomConstraints.dir/TestCustomConstraints.cpp.o.d -o CMakeFiles/TestCustomConstraints.dir/TestCustomConstraints.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestCustomConstraints.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/Visualizer/simbody-visualizer && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/lodepng.cpp.o -MF CMakeFiles/simbody-visualizer.dir/lodepng.cpp.o.d -o CMakeFiles/simbody-visualizer.dir/lodepng.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/simbody-visualizer/lodepng.cpp -[ 63%] Building CXX object Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/TestHuntCrossleyForce.cpp.o -[ 64%] Building CXX object Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/TestFunctionBasedMobilizedBodies.cpp.o [ 64%] Building CXX object Simbody/tests/CMakeFiles/TestCustomMobilizedBodies.dir/TestCustomMobilizedBodies.cpp.o -[ 64%] Building CXX object Simbody/tests/CMakeFiles/TestGravity.dir/TestGravity.cpp.o -[ 64%] Building CXX object Simbody/tests/CMakeFiles/TestLinearBushing.dir/TestLinearBushing.cpp.o -[ 64%] Building CXX object Simbody/tests/CMakeFiles/TestMassMatrix.dir/TestMassMatrix.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/TestCollisionDetectionAlgorithm.cpp.o -MF CMakeFiles/TestCollisionDetectionAlgorithm.dir/TestCollisionDetectionAlgorithm.cpp.o.d -o CMakeFiles/TestCollisionDetectionAlgorithm.dir/TestCollisionDetectionAlgorithm.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestCollisionDetectionAlgorithm.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestCustomMobilizedBodies.dir/TestCustomMobilizedBodies.cpp.o -MF CMakeFiles/TestCustomMobilizedBodies.dir/TestCustomMobilizedBodies.cpp.o.d -o 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/TestHuntCrossleyForce.cpp.o -MF CMakeFiles/TestHuntCrossleyForce.dir/TestHuntCrossleyForce.cpp.o.d -o CMakeFiles/TestHuntCrossleyForce.dir/TestHuntCrossleyForce.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestHuntCrossleyForce.cpp -[ 64%] Building CXX object Simbody/tests/CMakeFiles/TestMobilizerReactionForces.dir/TestMobilizerReactionForces.cpp.o [ 64%] Building CXX object Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/TestNoseHooverThermostat.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/TestFunctionBasedMobilizedBodies.cpp.o -MF CMakeFiles/TestFunctionBasedMobilizedBodies.dir/TestFunctionBasedMobilizedBodies.cpp.o.d -o CMakeFiles/TestFunctionBasedMobilizedBodies.dir/TestFunctionBasedMobilizedBodies.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestFunctionBasedMobilizedBodies.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestGravity.dir/TestGravity.cpp.o -MF CMakeFiles/TestGravity.dir/TestGravity.cpp.o.d -o CMakeFiles/TestGravity.dir/TestGravity.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestGravity.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestCustomMobilizedBodies.dir/TestCustomMobilizedBodies.cpp.o -MF CMakeFiles/TestCustomMobilizedBodies.dir/TestCustomMobilizedBodies.cpp.o.d -o CMakeFiles/TestCustomMobilizedBodies.dir/TestCustomMobilizedBodies.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestCustomMobilizedBodies.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestMassMatrix.dir/TestMassMatrix.cpp.o -MF CMakeFiles/TestMassMatrix.dir/TestMassMatrix.cpp.o.d -o CMakeFiles/TestMassMatrix.dir/TestMassMatrix.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestMassMatrix.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestLinearBushing.dir/TestLinearBushing.cpp.o -MF CMakeFiles/TestLinearBushing.dir/TestLinearBushing.cpp.o.d -o CMakeFiles/TestLinearBushing.dir/TestLinearBushing.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestLinearBushing.cpp +[ 64%] Building CXX object Simbody/tests/CMakeFiles/TestMobilizerReactionForces.dir/TestMobilizerReactionForces.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/TestOrientedBoundingBox.cpp.o -MF CMakeFiles/TestOrientedBoundingBox.dir/TestOrientedBoundingBox.cpp.o.d -o CMakeFiles/TestOrientedBoundingBox.dir/TestOrientedBoundingBox.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestOrientedBoundingBox.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/TestNoseHooverThermostat.cpp.o -MF CMakeFiles/TestNoseHooverThermostat.dir/TestNoseHooverThermostat.cpp.o.d -o CMakeFiles/TestNoseHooverThermostat.dir/TestNoseHooverThermostat.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestNoseHooverThermostat.cpp +[ 64%] Building CXX object Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/TestFunctionBasedMobilizedBodies.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestMobilizerReactionForces.dir/TestMobilizerReactionForces.cpp.o -MF CMakeFiles/TestMobilizerReactionForces.dir/TestMobilizerReactionForces.cpp.o.d -o CMakeFiles/TestMobilizerReactionForces.dir/TestMobilizerReactionForces.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestMobilizerReactionForces.cpp +[ 64%] Building CXX object Simbody/tests/CMakeFiles/TestLinearBushing.dir/TestLinearBushing.cpp.o +[ 64%] Building CXX object Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/TestObservedPointFitter.cpp.o [ 65%] Building CXX object Simbody/tests/CMakeFiles/TestMobilizedBody.dir/TestMobilizedBody.cpp.o -[ 65%] Building CXX object Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/TestObservedPointFitter.cpp.o -[ 65%] Building CXX object Simbody/tests/CMakeFiles/TestParallelForces.dir/TestParallelForces.cpp.o -[ 65%] Building CXX object Simbody/tests/CMakeFiles/TestLoneParticle.dir/TestLoneParticle.cpp.o [ 65%] Building CXX object Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/TestSmoothSphereHalfSpaceForce.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/TestFunctionBasedMobilizedBodies.cpp.o -MF CMakeFiles/TestFunctionBasedMobilizedBodies.dir/TestFunctionBasedMobilizedBodies.cpp.o.d -o CMakeFiles/TestFunctionBasedMobilizedBodies.dir/TestFunctionBasedMobilizedBodies.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestFunctionBasedMobilizedBodies.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/TestObservedPointFitter.cpp.o -MF CMakeFiles/TestObservedPointFitter.dir/TestObservedPointFitter.cpp.o.d -o CMakeFiles/TestObservedPointFitter.dir/TestObservedPointFitter.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestObservedPointFitter.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestLinearBushing.dir/TestLinearBushing.cpp.o -MF CMakeFiles/TestLinearBushing.dir/TestLinearBushing.cpp.o.d -o CMakeFiles/TestLinearBushing.dir/TestLinearBushing.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestLinearBushing.cpp +[ 65%] Building CXX object Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/TestReverseMobilizers.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/TestSmoothSphereHalfSpaceForce.cpp.o -MF CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/TestSmoothSphereHalfSpaceForce.cpp.o.d -o CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/TestSmoothSphereHalfSpaceForce.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestSmoothSphereHalfSpaceForce.cpp +[ 65%] Building CXX object Simbody/tests/CMakeFiles/TestLoneParticle.dir/TestLoneParticle.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/TestReverseMobilizers.cpp.o -MF CMakeFiles/TestReverseMobilizers.dir/TestReverseMobilizers.cpp.o.d -o CMakeFiles/TestReverseMobilizers.dir/TestReverseMobilizers.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestReverseMobilizers.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestMobilizedBody.dir/TestMobilizedBody.cpp.o -MF CMakeFiles/TestMobilizedBody.dir/TestMobilizedBody.cpp.o.d -o CMakeFiles/TestMobilizedBody.dir/TestMobilizedBody.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestMobilizedBody.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestParallelForces.dir/TestParallelForces.cpp.o -MF CMakeFiles/TestParallelForces.dir/TestParallelForces.cpp.o.d -o CMakeFiles/TestParallelForces.dir/TestParallelForces.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestParallelForces.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestLoneParticle.dir/TestLoneParticle.cpp.o -MF CMakeFiles/TestLoneParticle.dir/TestLoneParticle.cpp.o.d -o CMakeFiles/TestLoneParticle.dir/TestLoneParticle.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestLoneParticle.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/TestSmoothSphereHalfSpaceForce.cpp.o -MF CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/TestSmoothSphereHalfSpaceForce.cpp.o.d -o CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/TestSmoothSphereHalfSpaceForce.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestSmoothSphereHalfSpaceForce.cpp -[ 65%] Building CXX object Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/TestReverseMobilizers.cpp.o +[ 65%] Building CXX object Simbody/tests/CMakeFiles/TestParallelForces.dir/TestParallelForces.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestParallelForces.dir/TestParallelForces.cpp.o -MF CMakeFiles/TestParallelForces.dir/TestParallelForces.cpp.o.d -o CMakeFiles/TestParallelForces.dir/TestParallelForces.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestParallelForces.cpp [ 66%] Building CXX object Simbody/tests/CMakeFiles/TestPimpl1.dir/TestPimpl1.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestPimpl1.dir/TestPimpl1.cpp.o -MF CMakeFiles/TestPimpl1.dir/TestPimpl1.cpp.o.d -o CMakeFiles/TestPimpl1.dir/TestPimpl1.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestPimpl1.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/TestReverseMobilizers.cpp.o -MF CMakeFiles/TestReverseMobilizers.dir/TestReverseMobilizers.cpp.o.d -o CMakeFiles/TestReverseMobilizers.dir/TestReverseMobilizers.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/TestReverseMobilizers.cpp -[ 66%] Linking CXX executable ../../TestPimpl1 +[ 67%] Linking CXX executable ../../TestSmoothSphereHalfSpaceForce +[ 67%] Linking CXX executable ../../TestNoseHooverThermostat +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/link.txt --verbose=1 +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestNoseHooverThermostat.dir/link.txt --verbose=1 +[ 67%] Linking CXX executable ../../TestPimpl1 cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestPimpl1.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestPimpl1.dir/link.d CMakeFiles/TestPimpl1.dir/TestPimpl1.cpp.o -o ../../TestPimpl1 -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 66%] Built target TestPimpl1 -[ 66%] Linking CXX executable ../../TestParallelForces -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestParallelForces.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestParallelForces.dir/link.d CMakeFiles/TestParallelForces.dir/TestParallelForces.cpp.o -o ../../TestParallelForces -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 66%] Built target TestParallelForces -[ 66%] Linking CXX executable ../../TestOrientedBoundingBox +[ 67%] Linking CXX executable ../../TestOrientedBoundingBox cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestOrientedBoundingBox.dir/link.txt --verbose=1 +[ 67%] Linking CXX executable ../../TestHuntCrossleyForce +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestHuntCrossleyForce.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestPimpl1.dir/link.d CMakeFiles/TestPimpl1.dir/TestPimpl1.cpp.o -o ../../TestPimpl1 -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestOrientedBoundingBox.dir/link.d CMakeFiles/TestOrientedBoundingBox.dir/TestOrientedBoundingBox.cpp.o -o ../../TestOrientedBoundingBox -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/link.d CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/TestSmoothSphereHalfSpaceForce.cpp.o -o ../../TestSmoothSphereHalfSpaceForce -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 66%] Linking CXX executable ../../TestHuntCrossleyForce -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestHuntCrossleyForce.dir/link.txt --verbose=1 -[ 66%] Built target TestOrientedBoundingBox -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestHuntCrossleyForce.dir/link.d CMakeFiles/TestHuntCrossleyForce.dir/TestHuntCrossleyForce.cpp.o -o ../../TestHuntCrossleyForce -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 66%] Built target TestHuntCrossleyForce -[ 67%] Linking CXX executable ../../GazeboReactionForceWithAppliedForceRigid -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/link.txt --verbose=1 -[ 67%] Linking CXX executable ../../TestNoseHooverThermostat -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestNoseHooverThermostat.dir/link.txt --verbose=1 -[ 67%] Linking CXX executable ../../TestAngleConversions -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestAngleConversions.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/link.d CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/GazeboReactionForceWithAppliedForceRigid.cpp.o -o ../../GazeboReactionForceWithAppliedForceRigid -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestNoseHooverThermostat.dir/link.d CMakeFiles/TestNoseHooverThermostat.dir/TestNoseHooverThermostat.cpp.o -o ../../TestNoseHooverThermostat -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestHuntCrossleyForce.dir/link.d CMakeFiles/TestHuntCrossleyForce.dir/TestHuntCrossleyForce.cpp.o -o ../../TestHuntCrossleyForce -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestAngleConversions.dir/link.d CMakeFiles/TestAngleConversions.dir/TestAngleConversions.cpp.o -o ../../TestAngleConversions -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 67%] Linking CXX executable ../../TestAngleConversions +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestAngleConversions.dir/link.txt --verbose=1 +[ 67%] Built target TestOrientedBoundingBox +[ 67%] Built target TestHuntCrossleyForce [ 67%] Built target TestNoseHooverThermostat -[ 67%] Linking CXX executable ../../TestForces -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestForces.dir/link.txt --verbose=1 -[ 67%] Built target GazeboReactionForceWithAppliedForceRigid -[ 67%] Built target TestAngleConversions -[ 68%] Linking CXX executable ../../TestSmoothSphereHalfSpaceForce -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/link.txt --verbose=1 -[ 68%] Linking CXX executable ../../TestElasticFoundationForce -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestElasticFoundationForce.dir/link.txt --verbose=1 -[ 69%] Linking CXX executable ../../TestObservedPointFitter -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestObservedPointFitter.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestForces.dir/link.d CMakeFiles/TestForces.dir/TestForces.cpp.o -o ../../TestForces -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 67%] Built target TestPimpl1 +[ 67%] Built target TestSmoothSphereHalfSpaceForce +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestAngleConversions.dir/link.d CMakeFiles/TestAngleConversions.dir/TestAngleConversions.cpp.o -o ../../TestAngleConversions -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 67%] Linking CXX executable ../../GazeboInelasticCollision +[ 67%] Linking CXX executable ../../TestParallelForces +[ 67%] Linking CXX executable ../../TestElasticFoundationForce make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 69%] Linking CXX executable ../../GazeboReactionForceWithAppliedForceCompliant -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/link.txt --verbose=1 -[ 69%] Built target TestForces -[ 69%] Linking CXX executable ../../TestLoneParticle -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestLoneParticle.dir/link.txt --verbose=1 -[ 69%] Linking CXX executable ../../GazeboInelasticCollision cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/GazeboInelasticCollision.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/link.d CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/TestSmoothSphereHalfSpaceForce.cpp.o -o ../../TestSmoothSphereHalfSpaceForce -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestObservedPointFitter.dir/link.d CMakeFiles/TestObservedPointFitter.dir/TestObservedPointFitter.cpp.o -o ../../TestObservedPointFitter -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestParallelForces.dir/link.txt --verbose=1 +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestElasticFoundationForce.dir/link.txt --verbose=1 +[ 67%] Built target TestAngleConversions +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestParallelForces.dir/link.d CMakeFiles/TestParallelForces.dir/TestParallelForces.cpp.o -o ../../TestParallelForces -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/GazeboInelasticCollision.dir/link.d CMakeFiles/GazeboInelasticCollision.dir/GazeboInelasticCollision.cpp.o -o ../../GazeboInelasticCollision -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 69%] Built target TestObservedPointFitter -[ 69%] Built target TestSmoothSphereHalfSpaceForce -[ 69%] Linking CXX executable ../../GazeboBasicControllerResponse -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/GazeboBasicControllerResponse.dir/link.txt --verbose=1 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestElasticFoundationForce.dir/link.d CMakeFiles/TestElasticFoundationForce.dir/TestElasticFoundationForce.cpp.o -o ../../TestElasticFoundationForce -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 67%] Linking CXX executable ../../GazeboReactionForceWithAppliedForceCompliant +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/link.txt --verbose=1 make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 69%] Built target TestElasticFoundationForce +[ 67%] Built target TestParallelForces +[ 67%] Built target TestElasticFoundationForce +[ 67%] Built target GazeboInelasticCollision /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/link.d CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/GazeboReactionForceWithAppliedForceCompliant.cpp.o -o ../../GazeboReactionForceWithAppliedForceCompliant -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 69%] Built target GazeboReactionForceWithAppliedForceCompliant -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestLoneParticle.dir/link.d CMakeFiles/TestLoneParticle.dir/TestLoneParticle.cpp.o -o ../../TestLoneParticle -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 69%] Linking CXX executable ../../TestCustomMobilizedBodies -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestCustomMobilizedBodies.dir/link.txt --verbose=1 -[ 69%] Built target TestLoneParticle -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/GazeboInelasticCollision.dir/link.d CMakeFiles/GazeboInelasticCollision.dir/GazeboInelasticCollision.cpp.o -o ../../GazeboInelasticCollision -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 69%] Built target GazeboInelasticCollision -[ 69%] Linking CXX executable ../../GazeboReactionForce +[ 67%] Built target GazeboReactionForceWithAppliedForceCompliant +[ 67%] Linking CXX executable ../../GazeboBasicControllerResponse +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/GazeboBasicControllerResponse.dir/link.txt --verbose=1 +[ 67%] Linking CXX executable ../../GazeboReactionForce cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/GazeboReactionForce.dir/link.txt --verbose=1 +[ 68%] Linking CXX executable ../../TestObservedPointFitter +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestObservedPointFitter.dir/link.txt --verbose=1 +[ 69%] Linking CXX executable ../../GazeboReactionForceWithAppliedForceRigid +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/link.txt --verbose=1 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/GazeboBasicControllerResponse.dir/link.d CMakeFiles/GazeboBasicControllerResponse.dir/GazeboBasicControllerResponse.cpp.o -o ../../GazeboBasicControllerResponse -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 69%] Built target GazeboBasicControllerResponse -[ 69%] Linking CXX executable ../../TestMobilizedBody -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestMobilizedBody.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestCustomMobilizedBodies.dir/link.d CMakeFiles/TestCustomMobilizedBodies.dir/TestCustomMobilizedBodies.cpp.o -o ../../TestCustomMobilizedBodies -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/GazeboReactionForce.dir/link.d CMakeFiles/GazeboReactionForce.dir/GazeboReactionForce.cpp.o -o ../../GazeboReactionForce -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestObservedPointFitter.dir/link.d CMakeFiles/TestObservedPointFitter.dir/TestObservedPointFitter.cpp.o -o ../../TestObservedPointFitter -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 69%] Built target GazeboReactionForce -[ 69%] Built target TestCustomMobilizedBodies -[ 69%] Linking CXX executable ../../TestReverseMobilizers -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestReverseMobilizers.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestMobilizedBody.dir/link.d CMakeFiles/TestMobilizedBody.dir/TestMobilizedBody.cpp.o -o ../../TestMobilizedBody -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 69%] Built target TestMobilizedBody -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestReverseMobilizers.dir/link.d CMakeFiles/TestReverseMobilizers.dir/TestReverseMobilizers.cpp.o -o ../../TestReverseMobilizers -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 69%] Built target TestReverseMobilizers +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/link.d CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/GazeboReactionForceWithAppliedForceRigid.cpp.o -o ../../GazeboReactionForceWithAppliedForceRigid -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' [ 70%] Linking CXX executable ../../TestGravity +[ 70%] Built target GazeboBasicControllerResponse +[ 70%] Built target GazeboReactionForce cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestGravity.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestGravity.dir/link.d CMakeFiles/TestGravity.dir/TestGravity.cpp.o -o ../../TestGravity -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 70%] Built target TestGravity +[ 70%] Linking CXX executable ../../TestMobilizedBody +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestMobilizedBody.dir/link.txt --verbose=1 +[ 70%] Linking CXX executable ../../TestLoneParticle +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestLoneParticle.dir/link.txt --verbose=1 +[ 70%] Linking CXX executable ../../TestCustomMobilizedBodies +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestCustomMobilizedBodies.dir/link.txt --verbose=1 [ 71%] Linking CXX executable ../../TestCollisionDetectionAlgorithm cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestCollisionDetectionAlgorithm.dir/link.txt --verbose=1 +[ 71%] Linking CXX executable ../../TestForces +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestForces.dir/link.txt --verbose=1 +[ 71%] Built target GazeboReactionForceWithAppliedForceRigid +[ 71%] Built target TestObservedPointFitter [ 71%] Linking CXX executable ../../TestMobilizerReactionForces cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestMobilizerReactionForces.dir/link.txt --verbose=1 -[ 71%] Linking CXX executable ../../TestFunctionBasedMobilizedBodies -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestFunctionBasedMobilizedBodies.dir/link.txt --verbose=1 +[ 71%] Linking CXX executable ../../TestReverseMobilizers +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestReverseMobilizers.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestForces.dir/link.d CMakeFiles/TestForces.dir/TestForces.cpp.o -o ../../TestForces -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestMobilizedBody.dir/link.d CMakeFiles/TestMobilizedBody.dir/TestMobilizedBody.cpp.o -o ../../TestMobilizedBody -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestCustomMobilizedBodies.dir/link.d CMakeFiles/TestCustomMobilizedBodies.dir/TestCustomMobilizedBodies.cpp.o -o ../../TestCustomMobilizedBodies -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestGravity.dir/link.d CMakeFiles/TestGravity.dir/TestGravity.cpp.o -o ../../TestGravity -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestLoneParticle.dir/link.d CMakeFiles/TestLoneParticle.dir/TestLoneParticle.cpp.o -o ../../TestLoneParticle -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestCollisionDetectionAlgorithm.dir/link.d CMakeFiles/TestCollisionDetectionAlgorithm.dir/TestCollisionDetectionAlgorithm.cpp.o -o ../../TestCollisionDetectionAlgorithm -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 71%] Built target TestForces +[ 71%] Built target TestLoneParticle +[ 71%] Built target TestMobilizedBody [ 71%] Built target TestCollisionDetectionAlgorithm +[ 71%] Built target TestCustomMobilizedBodies +[ 71%] Built target TestGravity +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestReverseMobilizers.dir/link.d CMakeFiles/TestReverseMobilizers.dir/TestReverseMobilizers.cpp.o -o ../../TestReverseMobilizers -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestMobilizerReactionForces.dir/link.d CMakeFiles/TestMobilizerReactionForces.dir/TestMobilizerReactionForces.cpp.o -o ../../TestMobilizerReactionForces -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 72%] Linking CXX executable ../../TestLinearBushing -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestLinearBushing.dir/link.txt --verbose=1 -[ 72%] Built target TestMobilizerReactionForces -[ 72%] Linking CXX executable ../../TestCustomConstraints -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestCustomConstraints.dir/link.txt --verbose=1 +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 71%] Built target TestReverseMobilizers +[ 71%] Built target TestMobilizerReactionForces +[ 71%] Linking CXX executable ../../TestFunctionBasedMobilizedBodies +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestFunctionBasedMobilizedBodies.dir/link.txt --verbose=1 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestFunctionBasedMobilizedBodies.dir/link.d CMakeFiles/TestFunctionBasedMobilizedBodies.dir/TestFunctionBasedMobilizedBodies.cpp.o -o ../../TestFunctionBasedMobilizedBodies -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 72%] Built target TestFunctionBasedMobilizedBodies +[ 71%] Built target TestFunctionBasedMobilizedBodies [ 72%] Linking CXX executable ../../TestConstraints +[ 72%] Linking CXX executable ../../TestCustomConstraints +[ 72%] Linking CXX executable ../../TestLinearBushing +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestLinearBushing.dir/link.txt --verbose=1 cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestConstraints.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestLinearBushing.dir/link.d CMakeFiles/TestLinearBushing.dir/TestLinearBushing.cpp.o -o ../../TestLinearBushing -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestCustomConstraints.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestConstraints.dir/link.d CMakeFiles/TestConstraints.dir/TestConstraints.cpp.o -o ../../TestConstraints -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 72%] Built target TestLinearBushing +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestLinearBushing.dir/link.d CMakeFiles/TestLinearBushing.dir/TestLinearBushing.cpp.o -o ../../TestLinearBushing -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestCustomConstraints.dir/link.d CMakeFiles/TestCustomConstraints.dir/TestCustomConstraints.cpp.o -o ../../TestCustomConstraints -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 72%] Built target TestCustomConstraints -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestConstraints.dir/link.d CMakeFiles/TestConstraints.dir/TestConstraints.cpp.o -o ../../TestConstraints -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' [ 72%] Built target TestConstraints +[ 72%] Built target TestCustomConstraints +[ 72%] Built target TestLinearBushing [ 73%] Linking CXX executable ../../../simbody-visualizer cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/Visualizer/simbody-visualizer && /usr/bin/cmake -E cmake_link_script CMakeFiles/simbody-visualizer.dir/link.txt --verbose=1 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/simbody-visualizer.dir/link.d "CMakeFiles/simbody-visualizer.dir/simbody-visualizer.cpp.o" "CMakeFiles/simbody-visualizer.dir/lodepng.cpp.o" -o ../../../simbody-visualizer -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../../../libSimTKsimbody.so.3.7 -lglut -lXmu -lXi -lGL -lGLU ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm @@ -3987,1069 +4023,1074 @@ make -f Simbody/tests/adhoc/CMakeFiles/BilateralContactConstraints.dir/build.make Simbody/tests/adhoc/CMakeFiles/BilateralContactConstraints.dir/depend make -f Simbody/tests/adhoc/CMakeFiles/CableOverBicubicSurfaces.dir/build.make Simbody/tests/adhoc/CMakeFiles/CableOverBicubicSurfaces.dir/depend make -f Simbody/tests/adhoc/CMakeFiles/CoarseRNA.dir/build.make Simbody/tests/adhoc/CMakeFiles/CoarseRNA.dir/depend -make -f 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/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/CableOverBicubicSurfaces.dir/DependInfo.cmake "--color=" make -f Simbody/tests/adhoc/CMakeFiles/ContactBigMeshes.dir/build.make Simbody/tests/adhoc/CMakeFiles/ContactBigMeshes.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc 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'/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/ElasticFoundation.dir/DependInfo.cmake "--color=" make -f Simbody/tests/adhoc/CMakeFiles/JunkMain2.dir/build.make Simbody/tests/adhoc/CMakeFiles/JunkMain2.dir/depend +make -f Simbody/tests/adhoc/CMakeFiles/LockUnlockConstraint.dir/build.make Simbody/tests/adhoc/CMakeFiles/LockUnlockConstraint.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/FreeWater.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/adhoc/CMakeFiles/LockUnlockConstraint.dir/build.make Simbody/tests/adhoc/CMakeFiles/LockUnlockConstraint.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/build.make Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/depend cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/GeometryPlayground.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/build.make Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc 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'/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/LockUnlockConstraint.dir/DependInfo.cmake "--color=" +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/DependInfo.cmake "--color=" make -f Simbody/tests/adhoc/CMakeFiles/ParallelIpoptTest.dir/build.make Simbody/tests/adhoc/CMakeFiles/ParallelIpoptTest.dir/depend -make -f Simbody/tests/adhoc/CMakeFiles/PassThrough.dir/build.make Simbody/tests/adhoc/CMakeFiles/PassThrough.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/MiscConstraints.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/adhoc/CMakeFiles/PassThrough.dir/build.make Simbody/tests/adhoc/CMakeFiles/PassThrough.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/MovingMusclePointMomentArm.dir/DependInfo.cmake "--color=" make -f Simbody/tests/adhoc/CMakeFiles/PendulumExample.dir/build.make 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make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/PassThrough.dir/DependInfo.cmake "--color=" make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu 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+make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/build.make Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/depend +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg 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'/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/adhoc/CMakeFiles/CableOverBicubicSurfaces.dir/build.make Simbody/tests/adhoc/CMakeFiles/CableOverBicubicSurfaces.dir/build +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/FreeWater.dir/build.make Simbody/tests/adhoc/CMakeFiles/FreeWater.dir/build +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving 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Simbody/tests/adhoc/CMakeFiles/GeometryPlayground.dir/build.make Simbody/tests/adhoc/CMakeFiles/GeometryPlayground.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/JunkMain1.dir/build.make Simbody/tests/adhoc/CMakeFiles/JunkMain1.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/adhoc/CMakeFiles/JunkMain2.dir/build.make Simbody/tests/adhoc/CMakeFiles/JunkMain2.dir/build -make -f Simbody/tests/adhoc/CMakeFiles/LockUnlockConstraint.dir/build.make Simbody/tests/adhoc/CMakeFiles/LockUnlockConstraint.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/LockUnlockConstraint.dir/build.make 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directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/adhoc/CMakeFiles/MovingMusclePointMomentArm.dir/build.make Simbody/tests/adhoc/CMakeFiles/MovingMusclePointMomentArm.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/adhoc/CMakeFiles/OpenSimPartyDemoCable.dir/build.make Simbody/tests/adhoc/CMakeFiles/OpenSimPartyDemoCable.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/adhoc/CMakeFiles/ParallelIpoptTest.dir/build.make Simbody/tests/adhoc/CMakeFiles/ParallelIpoptTest.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/adhoc/CMakeFiles/PassThrough.dir/build.make Simbody/tests/adhoc/CMakeFiles/PassThrough.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/PendulumExample.dir/build.make Simbody/tests/adhoc/CMakeFiles/PendulumExample.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/RadusDrifter.dir/build.make Simbody/tests/adhoc/CMakeFiles/RadusDrifter.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/depend -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/depend make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/PendulumExample.dir/build.make Simbody/tests/adhoc/CMakeFiles/PendulumExample.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/adhoc/CMakeFiles/PrescribedMotionPlayground.dir/build.make Simbody/tests/adhoc/CMakeFiles/PrescribedMotionPlayground.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 74%] Building CXX object Simbody/tests/adhoc/CMakeFiles/BilateralContactConstraints.dir/BilateralContactConstraints.cpp.o +make -f Simbody/tests/adhoc/CMakeFiles/RadusDrifter.dir/build.make Simbody/tests/adhoc/CMakeFiles/RadusDrifter.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/DependInfo.cmake "--color=" -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/DependInfo.cmake "--color=" make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/RattleBack_ReverseEllipsoid.dir/build.make Simbody/tests/adhoc/CMakeFiles/RattleBack_ReverseEllipsoid.dir/build -make -f Simbody/tests/adhoc/CMakeFiles/RigidContact1.dir/build.make Simbody/tests/adhoc/CMakeFiles/RigidContact1.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/build -make -f Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/build.make Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/build -make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/depend -[ 73%] Building CXX object Simbody/tests/adhoc/CMakeFiles/CoarseRNA.dir/CoarseRNA.cpp.o +make -f Simbody/tests/adhoc/CMakeFiles/RattleBack_ReverseEllipsoid.dir/build.make Simbody/tests/adhoc/CMakeFiles/RattleBack_ReverseEllipsoid.dir/build +make -f Simbody/tests/adhoc/CMakeFiles/RigidContact1.dir/build.make Simbody/tests/adhoc/CMakeFiles/RigidContact1.dir/build +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/BilateralContactConstraints.dir/BilateralContactConstraints.cpp.o -MF CMakeFiles/BilateralContactConstraints.dir/BilateralContactConstraints.cpp.o.d -o CMakeFiles/BilateralContactConstraints.dir/BilateralContactConstraints.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/BilateralContactConstraints.cpp +make -f Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/build.make Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/build +[ 75%] Building CXX object Simbody/tests/adhoc/CMakeFiles/ContactBigMeshes.dir/ContactBigMeshes.cpp.o +[ 75%] Building CXX object Simbody/tests/adhoc/CMakeFiles/CompliantBlockImpact.dir/CompliantBlockImpact.cpp.o make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/SphericalCoordsMobilizerTest.dir/build.make Simbody/tests/adhoc/CMakeFiles/SphericalCoordsMobilizerTest.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/TestMultibodyPerformance.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestMultibodyPerformance.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 74%] Building CXX object Simbody/tests/adhoc/CMakeFiles/ContactBrickTest.dir/ContactBrickTest.cpp.o -[ 74%] Building CXX object Simbody/tests/adhoc/CMakeFiles/ContactTest.dir/ContactTest.cpp.o -[ 74%] Building CXX object Simbody/tests/adhoc/CMakeFiles/ElasticFoundation.dir/ElasticFoundation.cpp.o -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/DependInfo.cmake "--color=" -[ 75%] Building CXX object Simbody/tests/adhoc/CMakeFiles/BilateralContactConstraints.dir/BilateralContactConstraints.cpp.o -[ 75%] Building CXX object Simbody/tests/adhoc/CMakeFiles/ContactBigMeshes.dir/ContactBigMeshes.cpp.o -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/ContactBrickTest.dir/ContactBrickTest.cpp.o -MF CMakeFiles/ContactBrickTest.dir/ContactBrickTest.cpp.o.d -o CMakeFiles/ContactBrickTest.dir/ContactBrickTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/ContactBrickTest.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/DependInfo.cmake "--color=" -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/ContactTest.dir/ContactTest.cpp.o -MF CMakeFiles/ContactTest.dir/ContactTest.cpp.o.d -o CMakeFiles/ContactTest.dir/ContactTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/ContactTest.cpp -make -f Simbody/tests/adhoc/CMakeFiles/SphericalCoordsMobilizerTest.dir/build.make Simbody/tests/adhoc/CMakeFiles/SphericalCoordsMobilizerTest.dir/build -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/ElasticFoundation.dir/ElasticFoundation.cpp.o -MF CMakeFiles/ElasticFoundation.dir/ElasticFoundation.cpp.o.d -o CMakeFiles/ElasticFoundation.dir/ElasticFoundation.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/ElasticFoundation.cpp -make -f Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/build -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/CoarseRNA.dir/CoarseRNA.cpp.o -MF CMakeFiles/CoarseRNA.dir/CoarseRNA.cpp.o.d -o CMakeFiles/CoarseRNA.dir/CoarseRNA.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/CoarseRNA.cpp -[ 73%] Building CXX object Simbody/tests/adhoc/CMakeFiles/CompliantBlockImpact.dir/CompliantBlockImpact.cpp.o [ 75%] Building CXX object Simbody/tests/adhoc/CMakeFiles/CableOverBicubicSurfaces.dir/CableOverBicubicSurfaces.cpp.o -make -f Simbody/tests/adhoc/CMakeFiles/TestMultibodyPerformance.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestMultibodyPerformance.dir/build -[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/FreeWater.dir/FreeWater.cpp.o -make -f Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/build +make -f Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/build +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/CompliantBlockImpact.dir/CompliantBlockImpact.cpp.o -MF CMakeFiles/CompliantBlockImpact.dir/CompliantBlockImpact.cpp.o.d -o CMakeFiles/CompliantBlockImpact.dir/CompliantBlockImpact.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/CompliantBlockImpact.cpp make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/BilateralContactConstraints.dir/BilateralContactConstraints.cpp.o -MF CMakeFiles/BilateralContactConstraints.dir/BilateralContactConstraints.cpp.o.d -o CMakeFiles/BilateralContactConstraints.dir/BilateralContactConstraints.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/BilateralContactConstraints.cpp -[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/GeometryPlayground.dir/GeometryPlayground.cpp.o -[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/LockUnlockConstraint.dir/LockUnlockConstraint.cpp.o +make -f Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/build +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/ContactBigMeshes.dir/ContactBigMeshes.cpp.o -MF CMakeFiles/ContactBigMeshes.dir/ContactBigMeshes.cpp.o.d -o CMakeFiles/ContactBigMeshes.dir/ContactBigMeshes.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/ContactBigMeshes.cpp +make -f Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/build +make -f Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" 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-MF CMakeFiles/RadusDrifter.dir/RadusDrifter.cpp.o.d -o CMakeFiles/RadusDrifter.dir/RadusDrifter.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/RadusDrifter.cpp make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/build make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/build -[ 78%] Building CXX object Simbody/tests/adhoc/CMakeFiles/RattleBack_ReverseEllipsoid.dir/RattleBack_ReverseEllipsoid.cpp.o -make -f Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/build.make Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/depend -make -f Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/build.make Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/depend -make -f Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/build.make Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/depend -[ 78%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/TestRiboseMobilizer.cpp.o +[ 75%] Building CXX object Simbody/tests/adhoc/CMakeFiles/CoarseRNA.dir/CoarseRNA.cpp.o make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/RattleBack_ReverseEllipsoid.dir/RattleBack_ReverseEllipsoid.cpp.o -MF CMakeFiles/RattleBack_ReverseEllipsoid.dir/RattleBack_ReverseEllipsoid.cpp.o.d -o CMakeFiles/RattleBack_ReverseEllipsoid.dir/RattleBack_ReverseEllipsoid.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/RattleBack_ReverseEllipsoid.cpp -[ 78%] Building CXX object Simbody/tests/adhoc/CMakeFiles/PrescribedMotionPlayground.dir/PrescribedMotionPlayground.cpp.o -[ 78%] Building CXX object Simbody/tests/adhoc/CMakeFiles/RigidContact1.dir/RigidContact1.cpp.o make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 75%] Building CXX object Simbody/tests/adhoc/CMakeFiles/ElasticFoundation.dir/ElasticFoundation.cpp.o +make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/DependInfo.cmake "--color=" -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/build.make Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/depend -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/TestRiboseMobilizer.cpp.o -MF CMakeFiles/TestRiboseMobilizer.dir/TestRiboseMobilizer.cpp.o.d -o CMakeFiles/TestRiboseMobilizer.dir/TestRiboseMobilizer.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/TestRiboseMobilizer.cpp -[ 78%] Building CXX object Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/SBPendulum1.cpp.o -make -f examples/CMakeFiles/ChainExample.dir/build.make examples/CMakeFiles/ChainExample.dir/depend +make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/build +make -f Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/build.make Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/build +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/CoarseRNA.dir/CoarseRNA.cpp.o -MF CMakeFiles/CoarseRNA.dir/CoarseRNA.cpp.o.d -o CMakeFiles/CoarseRNA.dir/CoarseRNA.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/CoarseRNA.cpp +[ 75%] Building CXX object Simbody/tests/adhoc/CMakeFiles/ContactTest.dir/ContactTest.cpp.o +make -f Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/build.make Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/RigidContact1.dir/RigidContact1.cpp.o -MF CMakeFiles/RigidContact1.dir/RigidContact1.cpp.o.d -o CMakeFiles/RigidContact1.dir/RigidContact1.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/RigidContact1.cpp +make -f Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/build.make Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/build +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/ElasticFoundation.dir/ElasticFoundation.cpp.o -MF CMakeFiles/ElasticFoundation.dir/ElasticFoundation.cpp.o.d -o CMakeFiles/ElasticFoundation.dir/ElasticFoundation.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/ElasticFoundation.cpp +make -f Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/build.make Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/DependInfo.cmake "--color=" -make -f examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/build.make examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/depend -make -f examples/CMakeFiles/ConstrainedOptimization.dir/build.make examples/CMakeFiles/ConstrainedOptimization.dir/depend -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/SBPendulum1.cpp.o -MF CMakeFiles/SBPendulum1.dir/SBPendulum1.cpp.o.d -o CMakeFiles/SBPendulum1.dir/SBPendulum1.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/SBPendulum1.cpp make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/DependInfo.cmake "--color=" +make -f examples/CMakeFiles/ChainExample.dir/build.make examples/CMakeFiles/ChainExample.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ChainExample.dir/DependInfo.cmake "--color=" +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/ContactTest.dir/ContactTest.cpp.o -MF CMakeFiles/ContactTest.dir/ContactTest.cpp.o.d -o CMakeFiles/ContactTest.dir/ContactTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/ContactTest.cpp make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ConstrainedOptimization.dir/DependInfo.cmake "--color=" -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/build -[ 78%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/TestPLUS_SingleBrick.cpp.o make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/TestPLUS_SingleBrick.cpp.o -MF CMakeFiles/TestPLUS_SingleBrick.dir/TestPLUS_SingleBrick.cpp.o.d -o CMakeFiles/TestPLUS_SingleBrick.dir/TestPLUS_SingleBrick.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/TestPLUS_SingleBrick.cpp +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/RadusDrifter.dir/RadusDrifter.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/UnilateralPointContactWithFriction.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/TimsBoxPGS.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/LockUnlockConstraint.dir/LockUnlockConstraint.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/ParallelIpoptTest.dir/ParallelIpoptTest.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/MovingMusclePointMomentArm.dir/MovingMusclePointMomentArm.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/ContactBrickTest.dir/ContactBrickTest.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/WristMomentArm.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/TestPLUS_SingleBrick.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/GeometryPlayground.dir/GeometryPlayground.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/LookAtPolygonalMesh.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/RattleBack_ReverseEllipsoid.dir/RattleBack_ReverseEllipsoid.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/TestThermostat.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/OpenSimPartyDemoCable.dir/OpenSimPartyDemoCable.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/JunkMain1.dir/JunkMain1.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/MiscConstraints.dir/MiscConstraints.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/TimsBoxBristle.cpp.o +[ 80%] Building CXX object Simbody/tests/adhoc/CMakeFiles/PendulumExample.dir/PendulumExample.cpp.o +[ 80%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TestMultibodyPerformance.dir/TestMultibodyPerformance.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/PassThrough.dir/PassThrough.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/RigidContact1.dir/RigidContact1.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/SBPendulum1.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/TimsBox.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/PrescribedMotionPlayground.dir/PrescribedMotionPlayground.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/TwoPendulums.cpp.o +[ 78%] Building CXX object Simbody/tests/adhoc/CMakeFiles/JunkMain2.dir/JunkMain2.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/TimsBoxPGS.cpp.o -MF CMakeFiles/TimsBoxPGS.dir/TimsBoxPGS.cpp.o.d -o CMakeFiles/TimsBoxPGS.dir/TimsBoxPGS.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/TimsBoxPGS.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/ParallelIpoptTest.dir/ParallelIpoptTest.cpp.o -MF CMakeFiles/ParallelIpoptTest.dir/ParallelIpoptTest.cpp.o.d -o CMakeFiles/ParallelIpoptTest.dir/ParallelIpoptTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/ParallelIpoptTest.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/MovingMusclePointMomentArm.dir/MovingMusclePointMomentArm.cpp.o -MF CMakeFiles/MovingMusclePointMomentArm.dir/MovingMusclePointMomentArm.cpp.o.d -o CMakeFiles/MovingMusclePointMomentArm.dir/MovingMusclePointMomentArm.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/MovingMusclePointMomentArm.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/SBPendulum1.cpp.o -MF CMakeFiles/SBPendulum1.dir/SBPendulum1.cpp.o.d -o CMakeFiles/SBPendulum1.dir/SBPendulum1.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/SBPendulum1.cpp +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/UnilateralPointContact.cpp.o +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/TimsBoxHybrid.cpp.o +[ 80%] Building CXX object Simbody/tests/adhoc/CMakeFiles/FreeWater.dir/FreeWater.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/RigidContact1.dir/RigidContact1.cpp.o -MF CMakeFiles/RigidContact1.dir/RigidContact1.cpp.o.d -o CMakeFiles/RigidContact1.dir/RigidContact1.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/RigidContact1.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/RadusDrifter.dir/RadusDrifter.cpp.o -MF CMakeFiles/RadusDrifter.dir/RadusDrifter.cpp.o.d -o CMakeFiles/RadusDrifter.dir/RadusDrifter.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/RadusDrifter.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/TimsBoxBristle.cpp.o -MF CMakeFiles/TimsBoxBristle.dir/TimsBoxBristle.cpp.o.d -o CMakeFiles/TimsBoxBristle.dir/TimsBoxBristle.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/TimsBoxBristle.cpp +[ 79%] Building CXX object Simbody/tests/adhoc/CMakeFiles/SphericalCoordsMobilizerTest.dir/SphericalCoordsMobilizerTest.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/PrescribedMotionPlayground.dir/PrescribedMotionPlayground.cpp.o -MF CMakeFiles/PrescribedMotionPlayground.dir/PrescribedMotionPlayground.cpp.o.d -o CMakeFiles/PrescribedMotionPlayground.dir/PrescribedMotionPlayground.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/PrescribedMotionPlayground.cpp -[ 79%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TestMultibodyPerformance.dir/TestMultibodyPerformance.cpp.o -[ 79%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/TestThermostat.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/TestThermostat.cpp.o -MF CMakeFiles/TestThermostat.dir/TestThermostat.cpp.o.d -o CMakeFiles/TestThermostat.dir/TestThermostat.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/TestThermostat.cpp -[ 80%] Building CXX object Simbody/tests/adhoc/CMakeFiles/SphericalCoordsMobilizerTest.dir/SphericalCoordsMobilizerTest.cpp.o -[ 80%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/TimsBox.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/TestMultibodyPerformance.dir/TestMultibodyPerformance.cpp.o -MF CMakeFiles/TestMultibodyPerformance.dir/TestMultibodyPerformance.cpp.o.d -o CMakeFiles/TestMultibodyPerformance.dir/TestMultibodyPerformance.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/TestMultibodyPerformance.cpp -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/UnilateralPointContactWithFriction.cpp.o -MF CMakeFiles/UnilateralPointContactWithFriction.dir/UnilateralPointContactWithFriction.cpp.o.d -o CMakeFiles/UnilateralPointContactWithFriction.dir/UnilateralPointContactWithFriction.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/UnilateralPointContactWithFriction.cpp +[ 76%] Building CXX object examples/CMakeFiles/ChainExample.dir/ChainExample.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/ContactBrickTest.dir/ContactBrickTest.cpp.o -MF CMakeFiles/ContactBrickTest.dir/ContactBrickTest.cpp.o.d -o CMakeFiles/ContactBrickTest.dir/ContactBrickTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/ContactBrickTest.cpp +[ 76%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/TestRiboseMobilizer.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/TimsBoxHybrid.cpp.o -MF CMakeFiles/TimsBoxHybrid.dir/TimsBoxHybrid.cpp.o.d -o CMakeFiles/TimsBoxHybrid.dir/TimsBoxHybrid.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/TimsBoxHybrid.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/PendulumExample.dir/PendulumExample.cpp.o -MF CMakeFiles/PendulumExample.dir/PendulumExample.cpp.o.d -o CMakeFiles/PendulumExample.dir/PendulumExample.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/PendulumExample.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/FreeWater.dir/FreeWater.cpp.o -MF CMakeFiles/FreeWater.dir/FreeWater.cpp.o.d -o CMakeFiles/FreeWater.dir/FreeWater.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/FreeWater.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include 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/build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/SphericalCoordsMobilizerTest.cpp -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/build.make Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/build -make -f Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/build.make Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/build -make -f examples/CMakeFiles/ChainExample.dir/build.make examples/CMakeFiles/ChainExample.dir/build -[ 80%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/TimsBoxBristle.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/GeometryPlayground.dir/GeometryPlayground.cpp.o -MF CMakeFiles/GeometryPlayground.dir/GeometryPlayground.cpp.o.d -o CMakeFiles/GeometryPlayground.dir/GeometryPlayground.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/GeometryPlayground.cpp +[ 80%] Linking CXX executable ../../TestMassMatrix +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestMassMatrix.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestMassMatrix.dir/link.d CMakeFiles/TestMassMatrix.dir/TestMassMatrix.cpp.o -o ../../TestMassMatrix -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 80%] Built target TestMassMatrix +make -f examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/build.make examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/depend +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/DependInfo.cmake "--color=" make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/build.make Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/build -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/TimsBoxBristle.cpp.o -MF CMakeFiles/TimsBoxBristle.dir/TimsBoxBristle.cpp.o.d -o CMakeFiles/TimsBoxBristle.dir/TimsBoxBristle.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/TimsBoxBristle.cpp make -f examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/build.make examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 80%] Building CXX object examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/ConstrainedNumericalDiffOptimization.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ConstrainedNumericalDiffOptimization" -MD -MT examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/ConstrainedNumericalDiffOptimization.cpp.o -MF CMakeFiles/ConstrainedNumericalDiffOptimization.dir/ConstrainedNumericalDiffOptimization.cpp.o.d -o CMakeFiles/ConstrainedNumericalDiffOptimization.dir/ConstrainedNumericalDiffOptimization.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ConstrainedNumericalDiffOptimization.cpp +[ 80%] Linking CXX executable ../../../ParallelIpoptTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/ParallelIpoptTest.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ParallelIpoptTest.dir/link.d CMakeFiles/ParallelIpoptTest.dir/ParallelIpoptTest.cpp.o -o ../../../ParallelIpoptTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 80%] Linking CXX executable ../ConstrainedNumericalDiffOptimization +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ConstrainedNumericalDiffOptimization.dir/link.txt --verbose=1 +[ 80%] Built target ParallelIpoptTest +make -f examples/CMakeFiles/ConstrainedOptimization.dir/build.make examples/CMakeFiles/ConstrainedOptimization.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/ConstrainedOptimization.dir/build.make examples/CMakeFiles/ConstrainedOptimization.dir/build -[ 80%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/TimsBoxHybrid.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/TimsBoxHybrid.cpp.o -MF CMakeFiles/TimsBoxHybrid.dir/TimsBoxHybrid.cpp.o.d -o CMakeFiles/TimsBoxHybrid.dir/TimsBoxHybrid.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/TimsBoxHybrid.cpp -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ConstrainedOptimization.dir/DependInfo.cmake "--color=" make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/build.make Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/build -[ 80%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/TimsBoxPGS.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/TimsBoxPGS.cpp.o -MF CMakeFiles/TimsBoxPGS.dir/TimsBoxPGS.cpp.o.d -o CMakeFiles/TimsBoxPGS.dir/TimsBoxPGS.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/TimsBoxPGS.cpp +make -f examples/CMakeFiles/ConstrainedOptimization.dir/build.make examples/CMakeFiles/ConstrainedOptimization.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 80%] Building CXX object Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/WristMomentArm.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/WristMomentArm.cpp.o -MF CMakeFiles/WristMomentArm.dir/WristMomentArm.cpp.o.d -o CMakeFiles/WristMomentArm.dir/WristMomentArm.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/WristMomentArm.cpp -[ 80%] Building CXX object Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/UnilateralPointContact.cpp.o -[ 80%] Building CXX object examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/ConstrainedNumericalDiffOptimization.cpp.o -[ 80%] Building CXX object Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/TwoPendulums.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ConstrainedNumericalDiffOptimization" -MD -MT examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/ConstrainedNumericalDiffOptimization.cpp.o -MF CMakeFiles/ConstrainedNumericalDiffOptimization.dir/ConstrainedNumericalDiffOptimization.cpp.o.d -o CMakeFiles/ConstrainedNumericalDiffOptimization.dir/ConstrainedNumericalDiffOptimization.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ConstrainedNumericalDiffOptimization.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/UnilateralPointContact.cpp.o -MF CMakeFiles/UnilateralPointContact.dir/UnilateralPointContact.cpp.o.d -o CMakeFiles/UnilateralPointContact.dir/UnilateralPointContact.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/UnilateralPointContact.cpp -[ 80%] Building CXX object examples/CMakeFiles/ChainExample.dir/ChainExample.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/TwoPendulums.cpp.o -MF CMakeFiles/TwoPendulums.dir/TwoPendulums.cpp.o.d -o CMakeFiles/TwoPendulums.dir/TwoPendulums.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/TwoPendulums.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ChainExample" -MD -MT examples/CMakeFiles/ChainExample.dir/ChainExample.cpp.o -MF CMakeFiles/ChainExample.dir/ChainExample.cpp.o.d -o CMakeFiles/ChainExample.dir/ChainExample.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ChainExample.cpp -[ 80%] Building CXX object Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/UnilateralPointContactWithFriction.cpp.o [ 80%] Building CXX object examples/CMakeFiles/ConstrainedOptimization.dir/ConstrainedOptimization.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/c++ -DSIMBODY_PATH_FROM_LIBDIR_TO_VIZ_DIR=\"../../libexec/simbody\" -DSIMBODY_VISUALIZER_INSTALL_DIR=\"/usr/lib/x86_64-linux-gnu/simbody/libexec/\" -DSIMBODY_VISUALIZER_REL_INSTALL_DIR=\"libexec/simbody/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -DSimTK_SIMBODY_LIBRARY_NAME=SimTKsimbody -DSimTK_SIMBODY_MAJOR_VERSION=3 -DSimTK_SIMBODY_MINOR_VERSION=7 -DSimTK_SIMBODY_PATCH_VERSION=0 -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/UnilateralPointContactWithFriction.cpp.o -MF CMakeFiles/UnilateralPointContactWithFriction.dir/UnilateralPointContactWithFriction.cpp.o.d -o CMakeFiles/UnilateralPointContactWithFriction.dir/UnilateralPointContactWithFriction.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc/UnilateralPointContactWithFriction.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ConstrainedOptimization" -MD -MT examples/CMakeFiles/ConstrainedOptimization.dir/ConstrainedOptimization.cpp.o -MF CMakeFiles/ConstrainedOptimization.dir/ConstrainedOptimization.cpp.o.d -o CMakeFiles/ConstrainedOptimization.dir/ConstrainedOptimization.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ConstrainedOptimization.cpp -[ 80%] Linking CXX executable ../../TestMassMatrix -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestMassMatrix.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestMassMatrix.dir/link.d CMakeFiles/TestMassMatrix.dir/TestMassMatrix.cpp.o -o ../../TestMassMatrix -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic 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cmake_link_script CMakeFiles/JunkMain2.dir/link.txt --verbose=1 +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/OpenSimPartyDemoCable.dir/link.txt --verbose=1 +[ 81%] Linking CXX executable ../../../LookAtPolygonalMesh +[ 81%] Linking CXX executable ../../../SphericalCoordsMobilizerTest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/LookAtPolygonalMesh.dir/link.txt --verbose=1 +[ 81%] Linking CXX executable ../../../RattleBack_ReverseEllipsoid +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/SphericalCoordsMobilizerTest.dir/link.txt --verbose=1 +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/RattleBack_ReverseEllipsoid.dir/link.txt --verbose=1 +[ 81%] Built target ConstrainedNumericalDiffOptimization make -f examples/CMakeFiles/Differentiator.dir/build.make examples/CMakeFiles/Differentiator.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/Differentiator.dir/DependInfo.cmake "--color=" +[ 81%] Linking CXX executable ../../../ElasticFoundation +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/ElasticFoundation.dir/link.txt --verbose=1 make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f examples/CMakeFiles/Differentiator.dir/build.make examples/CMakeFiles/Differentiator.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 80%] Building CXX object examples/CMakeFiles/Differentiator.dir/Differentiator.cpp.o +[ 81%] Building CXX object examples/CMakeFiles/Differentiator.dir/Differentiator.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="Differentiator" -MD -MT examples/CMakeFiles/Differentiator.dir/Differentiator.cpp.o -MF CMakeFiles/Differentiator.dir/Differentiator.cpp.o.d -o CMakeFiles/Differentiator.dir/Differentiator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/Differentiator.cpp -[ 80%] Linking CXX executable ../ConstrainedNumericalDiffOptimization -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ConstrainedNumericalDiffOptimization.dir/link.txt --verbose=1 -[ 80%] Linking CXX executable ../ConstrainedOptimization -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ConstrainedOptimization.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ConstrainedNumericalDiffOptimization.dir/link.d CMakeFiles/ConstrainedNumericalDiffOptimization.dir/ConstrainedNumericalDiffOptimization.cpp.o -o ../ConstrainedNumericalDiffOptimization -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 81%] Linking CXX executable ../../../BilateralContactConstraints +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/BilateralContactConstraints.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/OpenSimPartyDemoCable.dir/link.d CMakeFiles/OpenSimPartyDemoCable.dir/OpenSimPartyDemoCable.cpp.o -o ../../../OpenSimPartyDemoCable -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 80%] Built target ConstrainedNumericalDiffOptimization +[ 81%] Built target OpenSimPartyDemoCable make -f examples/CMakeFiles/DzhanibekovEffect.dir/build.make examples/CMakeFiles/DzhanibekovEffect.dir/depend +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/LookAtPolygonalMesh.dir/link.d CMakeFiles/LookAtPolygonalMesh.dir/LookAtPolygonalMesh.cpp.o -o ../../../LookAtPolygonalMesh -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ElasticFoundation.dir/link.d CMakeFiles/ElasticFoundation.dir/ElasticFoundation.cpp.o -o ../../../ElasticFoundation -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SphericalCoordsMobilizerTest.dir/link.d CMakeFiles/SphericalCoordsMobilizerTest.dir/SphericalCoordsMobilizerTest.cpp.o -o ../../../SphericalCoordsMobilizerTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/DzhanibekovEffect.dir/DependInfo.cmake "--color=" +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/RattleBack_ReverseEllipsoid.dir/link.d CMakeFiles/RattleBack_ReverseEllipsoid.dir/RattleBack_ReverseEllipsoid.cpp.o -o ../../../RattleBack_ReverseEllipsoid -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 81%] Linking CXX executable ../../../ContactBigMeshes +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/ContactBigMeshes.dir/link.txt --verbose=1 make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/DzhanibekovEffect.dir/build.make examples/CMakeFiles/DzhanibekovEffect.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 80%] 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="DzhanibekovEffect" -MD -MT examples/CMakeFiles/DzhanibekovEffect.dir/DzhanibekovEffect.cpp.o -MF CMakeFiles/DzhanibekovEffect.dir/DzhanibekovEffect.cpp.o.d -o CMakeFiles/DzhanibekovEffect.dir/DzhanibekovEffect.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/DzhanibekovEffect.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ConstrainedOptimization.dir/link.d CMakeFiles/ConstrainedOptimization.dir/ConstrainedOptimization.cpp.o -o ../ConstrainedOptimization -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/JunkMain1.dir/link.d CMakeFiles/JunkMain1.dir/JunkMain1.cpp.o -o ../../../JunkMain1 -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/JunkMain2.dir/link.d CMakeFiles/JunkMain2.dir/JunkMain2.cpp.o -o ../../../JunkMain2 -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 81%] Linking CXX executable ../../../CableOverBicubicSurfaces +[ 81%] Built target ElasticFoundation +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/CableOverBicubicSurfaces.dir/link.txt --verbose=1 make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 80%] Built target ConstrainedOptimization +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/CMakeFiles/DzhanibekovEffect.dir/build.make examples/CMakeFiles/DzhanibekovEffect.dir/build make -f examples/CMakeFiles/ExampleAmysIKProblem.dir/build.make examples/CMakeFiles/ExampleAmysIKProblem.dir/depend -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleAmysIKProblem.dir/DependInfo.cmake "--color=" make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/ExampleAmysIKProblem.dir/build.make examples/CMakeFiles/ExampleAmysIKProblem.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 80%] Building CXX object examples/CMakeFiles/ExampleAmysIKProblem.dir/ExampleAmysIKProblem.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleAmysIKProblem" -MD -MT examples/CMakeFiles/ExampleAmysIKProblem.dir/ExampleAmysIKProblem.cpp.o -MF CMakeFiles/ExampleAmysIKProblem.dir/ExampleAmysIKProblem.cpp.o.d -o CMakeFiles/ExampleAmysIKProblem.dir/ExampleAmysIKProblem.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleAmysIKProblem.cpp -[ 80%] Linking CXX executable ../../../RattleBack_ReverseEllipsoid -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/RattleBack_ReverseEllipsoid.dir/link.txt --verbose=1 -[ 80%] Linking CXX executable ../../../JunkMain2 -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/JunkMain2.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/RattleBack_ReverseEllipsoid.dir/link.d CMakeFiles/RattleBack_ReverseEllipsoid.dir/RattleBack_ReverseEllipsoid.cpp.o -o ../../../RattleBack_ReverseEllipsoid -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 80%] Built target RattleBack_ReverseEllipsoid +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleAmysIKProblem.dir/DependInfo.cmake "--color=" +[ 81%] Built target RattleBack_ReverseEllipsoid +[ 81%] Built target JunkMain1 make -f examples/CMakeFiles/ExampleAssemblerPlayground.dir/build.make examples/CMakeFiles/ExampleAssemblerPlayground.dir/depend +[ 81%] Building CXX object examples/CMakeFiles/DzhanibekovEffect.dir/DzhanibekovEffect.cpp.o +make -f examples/CMakeFiles/ExampleCablePath.dir/build.make examples/CMakeFiles/ExampleCablePath.dir/depend +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="DzhanibekovEffect" -MD -MT examples/CMakeFiles/DzhanibekovEffect.dir/DzhanibekovEffect.cpp.o -MF CMakeFiles/DzhanibekovEffect.dir/DzhanibekovEffect.cpp.o.d -o CMakeFiles/DzhanibekovEffect.dir/DzhanibekovEffect.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/DzhanibekovEffect.cpp make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleAssemblerPlayground.dir/DependInfo.cmake "--color=" -[ 80%] Linking CXX executable ../../../ParallelIpoptTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/ParallelIpoptTest.dir/link.txt --verbose=1 -[ 80%] Linking CXX executable ../../../JunkMain1 -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/ExampleAssemblerPlayground.dir/build.make examples/CMakeFiles/ExampleAssemblerPlayground.dir/build -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/JunkMain1.dir/link.txt --verbose=1 -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 80%] Building CXX object examples/CMakeFiles/ExampleAssemblerPlayground.dir/ExampleAssemblerPlayground.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleAssemblerPlayground" -MD -MT examples/CMakeFiles/ExampleAssemblerPlayground.dir/ExampleAssemblerPlayground.cpp.o -MF CMakeFiles/ExampleAssemblerPlayground.dir/ExampleAssemblerPlayground.cpp.o.d -o CMakeFiles/ExampleAssemblerPlayground.dir/ExampleAssemblerPlayground.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleAssemblerPlayground.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/JunkMain2.dir/link.d CMakeFiles/JunkMain2.dir/JunkMain2.cpp.o -o ../../../JunkMain2 -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ParallelIpoptTest.dir/link.d CMakeFiles/ParallelIpoptTest.dir/ParallelIpoptTest.cpp.o -o ../../../ParallelIpoptTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 80%] Built target ParallelIpoptTest -make -f examples/CMakeFiles/ExampleCablePath.dir/build.make examples/CMakeFiles/ExampleCablePath.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/CMakeFiles/ExampleAmysIKProblem.dir/build.make examples/CMakeFiles/ExampleAmysIKProblem.dir/build cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleCablePath.dir/DependInfo.cmake "--color=" -[ 80%] Linking CXX executable ../../../RadusDrifter -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/RadusDrifter.dir/link.txt --verbose=1 +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 81%] Building CXX object examples/CMakeFiles/ExampleAmysIKProblem.dir/ExampleAmysIKProblem.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleAmysIKProblem" -MD -MT examples/CMakeFiles/ExampleAmysIKProblem.dir/ExampleAmysIKProblem.cpp.o -MF CMakeFiles/ExampleAmysIKProblem.dir/ExampleAmysIKProblem.cpp.o.d -o CMakeFiles/ExampleAmysIKProblem.dir/ExampleAmysIKProblem.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleAmysIKProblem.cpp +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/CMakeFiles/ExampleAssemblerPlayground.dir/build.make examples/CMakeFiles/ExampleAssemblerPlayground.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f examples/CMakeFiles/ExampleCablePath.dir/build.make examples/CMakeFiles/ExampleCablePath.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 80%] Building CXX object examples/CMakeFiles/ExampleCablePath.dir/ExampleCablePath.cpp.o +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 81%] Building CXX object examples/CMakeFiles/ExampleCablePath.dir/ExampleCablePath.cpp.o +[ 81%] Building CXX object examples/CMakeFiles/ExampleAssemblerPlayground.dir/ExampleAssemblerPlayground.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleAssemblerPlayground" -MD -MT examples/CMakeFiles/ExampleAssemblerPlayground.dir/ExampleAssemblerPlayground.cpp.o -MF CMakeFiles/ExampleAssemblerPlayground.dir/ExampleAssemblerPlayground.cpp.o.d -o CMakeFiles/ExampleAssemblerPlayground.dir/ExampleAssemblerPlayground.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleAssemblerPlayground.cpp cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleCablePath" -MD -MT examples/CMakeFiles/ExampleCablePath.dir/ExampleCablePath.cpp.o -MF CMakeFiles/ExampleCablePath.dir/ExampleCablePath.cpp.o.d -o CMakeFiles/ExampleCablePath.dir/ExampleCablePath.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleCablePath.cpp -[ 80%] Built target JunkMain2 +[ 81%] Built target JunkMain2 +[ 81%] Built target LookAtPolygonalMesh +[ 81%] Built target SphericalCoordsMobilizerTest make -f examples/CMakeFiles/ExampleClosedTopologyMechanism.dir/build.make examples/CMakeFiles/ExampleClosedTopologyMechanism.dir/depend +make -f examples/CMakeFiles/ExampleContactPlayground.dir/build.make examples/CMakeFiles/ExampleContactPlayground.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleClosedTopologyMechanism.dir/DependInfo.cmake "--color=" -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong 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examples/CMakeFiles/ExampleContactPlayground.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 81%] Building CXX object examples/CMakeFiles/ExampleContactPlayground.dir/ExampleContactPlayground.cpp.o +[ 82%] Building CXX object examples/CMakeFiles/ExampleContactPlayground.dir/ExampleContactPlayground.cpp.o +[ 82%] Building CXX object examples/CMakeFiles/ExampleClosedTopologyMechanism.dir/ExampleClosedTopologyMechanism.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include 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-ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleContactPlayground" -MD -MT examples/CMakeFiles/ExampleContactPlayground.dir/ExampleContactPlayground.cpp.o -MF CMakeFiles/ExampleContactPlayground.dir/ExampleContactPlayground.cpp.o.d -o CMakeFiles/ExampleContactPlayground.dir/ExampleContactPlayground.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleContactPlayground.cpp -[ 81%] Linking CXX executable ../Differentiator -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/Differentiator.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleCustomConstraint" -MD -MT examples/CMakeFiles/ExampleCustomConstraint.dir/ExampleCustomConstraint.cpp.o -MF CMakeFiles/ExampleCustomConstraint.dir/ExampleCustomConstraint.cpp.o.d -o CMakeFiles/ExampleCustomConstraint.dir/ExampleCustomConstraint.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleCustomConstraint.cpp +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro 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../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 81%] Linking CXX executable ../../../FreeWater -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/FreeWater.dir/link.txt --verbose=1 -[ 81%] Built target RadusDrifter -make -f examples/CMakeFiles/ExampleCustomConstraint.dir/build.make examples/CMakeFiles/ExampleCustomConstraint.dir/depend -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples 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-fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/Differentiator.dir/link.d CMakeFiles/Differentiator.dir/Differentiator.cpp.o -o ../Differentiator -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/CableOverBicubicSurfaces.dir/link.d CMakeFiles/CableOverBicubicSurfaces.dir/CableOverBicubicSurfaces.cpp.o -o ../../../CableOverBicubicSurfaces -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 82%] Linking CXX executable ../../../LookAtPolygonalMesh -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/LookAtPolygonalMesh.dir/link.txt --verbose=1 -[ 82%] Built target Differentiator +[ 82%] Linking CXX executable ../../../PendulumExample +[ 82%] Linking CXX executable ../../../TestThermostat +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/PendulumExample.dir/link.txt --verbose=1 +[ 82%] Linking CXX executable ../../../TestRiboseMobilizer +[ 82%] Linking CXX executable ../../../RadusDrifter +cd 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Linking CXX executable ../../../PassThrough +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/PassThrough.dir/link.txt --verbose=1 +[ 82%] Linking CXX executable ../../../TestMultibodyPerformance +[ 82%] Built target CableOverBicubicSurfaces +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestMultibodyPerformance.dir/link.txt --verbose=1 make -f examples/CMakeFiles/ExampleEventHandler.dir/build.make examples/CMakeFiles/ExampleEventHandler.dir/depend +[ 82%] Built target ContactBigMeshes +[ 82%] Built target BilateralContactConstraints make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg 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-fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ElasticFoundation.dir/link.d CMakeFiles/ElasticFoundation.dir/ElasticFoundation.cpp.o -o ../../../ElasticFoundation -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 83%] Building CXX object examples/CMakeFiles/ExampleEventHandler.dir/ExampleEventHandler.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleEventHandler" -MD -MT examples/CMakeFiles/ExampleEventHandler.dir/ExampleEventHandler.cpp.o -MF CMakeFiles/ExampleEventHandler.dir/ExampleEventHandler.cpp.o.d -o CMakeFiles/ExampleEventHandler.dir/ExampleEventHandler.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleEventHandler.cpp -[ 83%] Built target ElasticFoundation make -f examples/CMakeFiles/ExampleEventReporter.dir/build.make examples/CMakeFiles/ExampleEventReporter.dir/depend +make -f examples/CMakeFiles/ExampleGears.dir/build.make examples/CMakeFiles/ExampleGears.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleEventReporter.dir/DependInfo.cmake "--color=" -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/ExampleEventReporter.dir/build.make examples/CMakeFiles/ExampleEventReporter.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 84%] Building CXX object examples/CMakeFiles/ExampleEventReporter.dir/ExampleEventReporter.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleEventReporter" -MD -MT examples/CMakeFiles/ExampleEventReporter.dir/ExampleEventReporter.cpp.o -MF CMakeFiles/ExampleEventReporter.dir/ExampleEventReporter.cpp.o.d -o CMakeFiles/ExampleEventReporter.dir/ExampleEventReporter.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleEventReporter.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/FreeWater.dir/link.d CMakeFiles/FreeWater.dir/FreeWater.cpp.o -o ../../../FreeWater -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 84%] Built target FreeWater -make -f examples/CMakeFiles/ExampleGears.dir/build.make examples/CMakeFiles/ExampleGears.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleGears.dir/DependInfo.cmake "--color=" -[ 84%] Linking CXX executable ../../../CompliantBlockImpact -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/CompliantBlockImpact.dir/link.txt --verbose=1 +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/CMakeFiles/ExampleEventHandler.dir/build.make examples/CMakeFiles/ExampleEventHandler.dir/build make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f examples/CMakeFiles/ExampleGears.dir/build.make examples/CMakeFiles/ExampleGears.dir/build +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/CMakeFiles/ExampleEventReporter.dir/build.make examples/CMakeFiles/ExampleEventReporter.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 84%] Linking CXX executable ../../../PassThrough -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/PassThrough.dir/link.txt --verbose=1 -[ 84%] Building CXX object examples/CMakeFiles/ExampleGears.dir/ExampleGears.cpp.o +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 83%] Building CXX object examples/CMakeFiles/ExampleEventReporter.dir/ExampleEventReporter.cpp.o +[ 83%] Building CXX object examples/CMakeFiles/ExampleEventHandler.dir/ExampleEventHandler.cpp.o +[ 83%] Building CXX object examples/CMakeFiles/ExampleGears.dir/ExampleGears.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleGears" -MD -MT examples/CMakeFiles/ExampleGears.dir/ExampleGears.cpp.o -MF CMakeFiles/ExampleGears.dir/ExampleGears.cpp.o.d -o CMakeFiles/ExampleGears.dir/ExampleGears.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleGears.cpp -[ 84%] Linking CXX executable ../../../SphericalCoordsMobilizerTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/SphericalCoordsMobilizerTest.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ContactBigMeshes.dir/link.d CMakeFiles/ContactBigMeshes.dir/ContactBigMeshes.cpp.o -o ../../../ContactBigMeshes -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleEventReporter" -MD -MT examples/CMakeFiles/ExampleEventReporter.dir/ExampleEventReporter.cpp.o -MF CMakeFiles/ExampleEventReporter.dir/ExampleEventReporter.cpp.o.d -o CMakeFiles/ExampleEventReporter.dir/ExampleEventReporter.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleEventReporter.cpp +[ 84%] Linking CXX executable ../../../MovingMusclePointMomentArm +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/MovingMusclePointMomentArm.dir/link.txt --verbose=1 +[ 85%] Linking CXX executable ../ChainExample +[ 85%] Linking CXX executable ../../../CoarseRNA +[ 85%] Linking CXX executable ../../../LockUnlockConstraint +[ 85%] Linking CXX executable ../../../ContactTest +[ 85%] Linking CXX executable ../../../CompliantBlockImpact +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/CoarseRNA.dir/link.txt --verbose=1 +cd 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-Wl,--dependency-file=CMakeFiles/TestRiboseMobilizer.dir/link.d CMakeFiles/TestRiboseMobilizer.dir/TestRiboseMobilizer.cpp.o -o ../../../TestRiboseMobilizer -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 84%] Linking CXX executable ../../../CableOverBicubicSurfaces -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/CableOverBicubicSurfaces.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/LookAtPolygonalMesh.dir/link.d CMakeFiles/LookAtPolygonalMesh.dir/LookAtPolygonalMesh.cpp.o -o ../../../LookAtPolygonalMesh -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestMultibodyPerformance.dir/link.d CMakeFiles/TestMultibodyPerformance.dir/TestMultibodyPerformance.cpp.o -o ../../../TestMultibodyPerformance -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack 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Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/ContactBrickTest.dir/link.txt --verbose=1 make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 85%] Built target RadusDrifter +[ 85%] Built target TestMultibodyPerformance make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f examples/CMakeFiles/ExampleGeodesic.dir/build.make examples/CMakeFiles/ExampleGeodesic.dir/build -make -f examples/CMakeFiles/ExampleIMUTracking.dir/build.make examples/CMakeFiles/ExampleIMUTracking.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/CMakeFiles/ExampleIMUTracking.dir/build.make examples/CMakeFiles/ExampleIMUTracking.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 84%] Building CXX object examples/CMakeFiles/ExampleGeodesic.dir/ExampleGeodesic.cpp.o -[ 84%] Building CXX object examples/CMakeFiles/ExampleIMUTracking.dir/ExampleIMUTracking.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleGeodesic" -MD -MT examples/CMakeFiles/ExampleGeodesic.dir/ExampleGeodesic.cpp.o -MF CMakeFiles/ExampleGeodesic.dir/ExampleGeodesic.cpp.o.d -o CMakeFiles/ExampleGeodesic.dir/ExampleGeodesic.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleGeodesic.cpp -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleIMUTracking" -MD -MT examples/CMakeFiles/ExampleIMUTracking.dir/ExampleIMUTracking.cpp.o -MF CMakeFiles/ExampleIMUTracking.dir/ExampleIMUTracking.cpp.o.d -o CMakeFiles/ExampleIMUTracking.dir/ExampleIMUTracking.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleIMUTracking.cpp -[ 84%] Linking CXX executable ../ChainExample -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ChainExample.dir/link.txt --verbose=1 -[ 84%] Built target MovingMusclePointMomentArm make -f examples/CMakeFiles/ExampleKneeJoint.dir/build.make examples/CMakeFiles/ExampleKneeJoint.dir/depend +[ 85%] Building CXX object examples/CMakeFiles/ExampleGeodesic.dir/ExampleGeodesic.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleGeodesic" -MD -MT examples/CMakeFiles/ExampleGeodesic.dir/ExampleGeodesic.cpp.o -MF CMakeFiles/ExampleGeodesic.dir/ExampleGeodesic.cpp.o.d -o CMakeFiles/ExampleGeodesic.dir/ExampleGeodesic.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleGeodesic.cpp +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleIMUTracking.dir/DependInfo.cmake "--color=" cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleKneeJoint.dir/DependInfo.cmake "--color=" +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestThermostat.dir/link.d CMakeFiles/TestThermostat.dir/TestThermostat.cpp.o -o ../../../TestThermostat -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleKneeJoint" -MD -MT examples/CMakeFiles/ExampleKneeJoint.dir/ExampleKneeJoint.cpp.o -MF CMakeFiles/ExampleKneeJoint.dir/ExampleKneeJoint.cpp.o.d -o CMakeFiles/ExampleKneeJoint.dir/ExampleKneeJoint.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleKneeJoint.cpp -[ 84%] Linking CXX executable ../../../TestMultibodyPerformance -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestMultibodyPerformance.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SphericalCoordsMobilizerTest.dir/link.d CMakeFiles/SphericalCoordsMobilizerTest.dir/SphericalCoordsMobilizerTest.cpp.o -o ../../../SphericalCoordsMobilizerTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic 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-Wl,--dependency-file=CMakeFiles/CoarseRNA.dir/link.d CMakeFiles/CoarseRNA.dir/CoarseRNA.cpp.o -o ../../../CoarseRNA -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/MiscConstraints.dir/link.d CMakeFiles/MiscConstraints.dir/MiscConstraints.cpp.o -o ../../../MiscConstraints -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 84%] Built target CompliantBlockImpact +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ChainExample.dir/link.d CMakeFiles/ChainExample.dir/ChainExample.cpp.o -o ../ChainExample -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/CMakeFiles/ExampleKneeJoint.dir/build.make examples/CMakeFiles/ExampleKneeJoint.dir/build +make -f examples/CMakeFiles/ExampleIMUTracking.dir/build.make examples/CMakeFiles/ExampleIMUTracking.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 85%] Built target TestThermostat make -f examples/CMakeFiles/ExampleLongPendulum.dir/build.make examples/CMakeFiles/ExampleLongPendulum.dir/depend -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/PassThrough.dir/link.d CMakeFiles/PassThrough.dir/PassThrough.cpp.o -o ../../../PassThrough -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 85%] Built target PassThrough make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleLongPendulum.dir/DependInfo.cmake "--color=" -make[3]: Leaving directory 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-make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/ExampleLongPendulum.dir/build.make examples/CMakeFiles/ExampleLongPendulum.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/DependInfo.cmake "--color=" -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 84%] Built target CableOverBicubicSurfaces +[ 85%] Built target CompliantBlockImpact make -f examples/CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/build.make examples/CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/DependInfo.cmake "--color=" -[ 84%] Building CXX object examples/CMakeFiles/ExampleLongPendulum.dir/ExampleLongPendulum.cpp.o +[ 85%] Built target ChainExample +[ 85%] Built target MiscConstraints +make -f examples/CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/build.make examples/CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/depend +make -f examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/build.make examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/depend +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/DependInfo.cmake "--color=" +[ 85%] Building CXX object examples/CMakeFiles/ExampleIMUTracking.dir/ExampleIMUTracking.cpp.o +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/DependInfo.cmake "--color=" +[ 85%] Building CXX object examples/CMakeFiles/ExampleKneeJoint.dir/ExampleKneeJoint.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleIMUTracking" -MD -MT examples/CMakeFiles/ExampleIMUTracking.dir/ExampleIMUTracking.cpp.o -MF CMakeFiles/ExampleIMUTracking.dir/ExampleIMUTracking.cpp.o.d -o CMakeFiles/ExampleIMUTracking.dir/ExampleIMUTracking.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleIMUTracking.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleKneeJoint" -MD -MT examples/CMakeFiles/ExampleKneeJoint.dir/ExampleKneeJoint.cpp.o -MF CMakeFiles/ExampleKneeJoint.dir/ExampleKneeJoint.cpp.o.d -o CMakeFiles/ExampleKneeJoint.dir/ExampleKneeJoint.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleKneeJoint.cpp +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/CMakeFiles/ExampleLongPendulum.dir/build.make examples/CMakeFiles/ExampleLongPendulum.dir/build make -f examples/CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/build.make examples/CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/build -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include 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examples/CMakeFiles/ExampleLongPendulum.dir/ExampleLongPendulum.cpp.o -MF CMakeFiles/ExampleLongPendulum.dir/ExampleLongPendulum.cpp.o.d -o CMakeFiles/ExampleLongPendulum.dir/ExampleLongPendulum.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleLongPendulum.cpp +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f examples/CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/build.make examples/CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 84%] Building CXX object examples/CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/ExampleMotor-TorqueLimited-Constraint.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleMotor-TorqueLimited-Constraint" -MD -MT examples/CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/ExampleMotor-TorqueLimited-Constraint.cpp.o -MF CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/ExampleMotor-TorqueLimited-Constraint.cpp.o.d -o CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/ExampleMotor-TorqueLimited-Constraint.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleMotor-TorqueLimited-Constraint.cpp -[ 84%] Building CXX object examples/CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/ExampleMotor-TorqueLimited-Controller.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleMotor-TorqueLimited-Controller" -MD -MT examples/CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/ExampleMotor-TorqueLimited-Controller.cpp.o -MF CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/ExampleMotor-TorqueLimited-Controller.cpp.o.d -o CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/ExampleMotor-TorqueLimited-Controller.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleMotor-TorqueLimited-Controller.cpp -[ 84%] Built target SphericalCoordsMobilizerTest -make -f examples/CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/build.make examples/CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/depend -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/DependInfo.cmake "--color=" +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f examples/CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/build.make examples/CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/build +make -f examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/build.make examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 84%] Building CXX object examples/CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/ExampleMotor-TorqueLimited-Motion.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleMotor-TorqueLimited-Motion" -MD -MT examples/CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/ExampleMotor-TorqueLimited-Motion.cpp.o -MF CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/ExampleMotor-TorqueLimited-Motion.cpp.o.d -o CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/ExampleMotor-TorqueLimited-Motion.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleMotor-TorqueLimited-Motion.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ChainExample.dir/link.d CMakeFiles/ChainExample.dir/ChainExample.cpp.o -o ../ChainExample -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 84%] Built target ChainExample -make -f examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/build.make examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/DependInfo.cmake "--color=" +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ContactTest.dir/link.d CMakeFiles/ContactTest.dir/ContactTest.cpp.o -o ../../../ContactTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/build.make examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 84%] Building CXX object examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/ExampleMotorWithSpeedControl.cpp.o +[ 85%] Building CXX object examples/CMakeFiles/ExampleLongPendulum.dir/ExampleLongPendulum.cpp.o +[ 85%] Building CXX object examples/CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/ExampleMotor-TorqueLimited-Constraint.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleLongPendulum" -MD -MT examples/CMakeFiles/ExampleLongPendulum.dir/ExampleLongPendulum.cpp.o -MF 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleMotorWithSpeedControl" -MD -MT examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/ExampleMotorWithSpeedControl.cpp.o -MF CMakeFiles/ExampleMotorWithSpeedControl.dir/ExampleMotorWithSpeedControl.cpp.o.d -o 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-DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include 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/build/reproducible-path/simbody-3.7+dfsg/examples/ExampleMotor-TorqueLimited-Controller.cpp +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/LockUnlockConstraint.dir/link.d CMakeFiles/LockUnlockConstraint.dir/LockUnlockConstraint.cpp.o -o ../../../LockUnlockConstraint -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 85%] Linking CXX executable ../../../ContactBrickTest -[ 85%] Linking CXX executable ../../../LockUnlockConstraint -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/ContactBrickTest.dir/link.txt --verbose=1 -[ 85%] Linking CXX executable ../../../ContactTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/LockUnlockConstraint.dir/link.txt --verbose=1 -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/ContactTest.dir/link.txt --verbose=1 -[ 85%] Built target TestMultibodyPerformance +[ 85%] Built target ContactTest make -f examples/CMakeFiles/ExamplePendulum.dir/build.make examples/CMakeFiles/ExamplePendulum.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" 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-DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExamplePendulum" -MD -MT examples/CMakeFiles/ExamplePendulum.dir/ExamplePendulum.cpp.o -MF CMakeFiles/ExamplePendulum.dir/ExamplePendulum.cpp.o.d -o CMakeFiles/ExamplePendulum.dir/ExamplePendulum.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExamplePendulum.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 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../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/BilateralContactConstraints.dir/link.d CMakeFiles/BilateralContactConstraints.dir/BilateralContactConstraints.cpp.o -o ../../../BilateralContactConstraints -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/OpenSimPartyDemoCable.dir/link.d CMakeFiles/OpenSimPartyDemoCable.dir/OpenSimPartyDemoCable.cpp.o -o ../../../OpenSimPartyDemoCable -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 86%] Linking CXX executable ../../../TestThermostat -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestThermostat.dir/link.txt --verbose=1 -[ 86%] Built target OpenSimPartyDemoCable +[ 85%] Built target LockUnlockConstraint make -f examples/CMakeFiles/ExampleSampleAndHold.dir/build.make examples/CMakeFiles/ExampleSampleAndHold.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleSampleAndHold.dir/DependInfo.cmake "--color=" -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ContactBrickTest.dir/link.d CMakeFiles/ContactBrickTest.dir/ContactBrickTest.cpp.o -o ../../../ContactBrickTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/CMakeFiles/ExamplePendulum.dir/build.make examples/CMakeFiles/ExamplePendulum.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f examples/CMakeFiles/ExampleSampleAndHold.dir/build.make examples/CMakeFiles/ExampleSampleAndHold.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 86%] Building CXX object examples/CMakeFiles/ExamplePendulum.dir/ExamplePendulum.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExamplePendulum" -MD -MT examples/CMakeFiles/ExamplePendulum.dir/ExamplePendulum.cpp.o -MF CMakeFiles/ExamplePendulum.dir/ExamplePendulum.cpp.o.d -o CMakeFiles/ExamplePendulum.dir/ExamplePendulum.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExamplePendulum.cpp [ 86%] Building CXX object examples/CMakeFiles/ExampleSampleAndHold.dir/ExampleSampleAndHold.cpp.o -[ 86%] Built target ContactBrickTest cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleSampleAndHold" -MD -MT examples/CMakeFiles/ExampleSampleAndHold.dir/ExampleSampleAndHold.cpp.o -MF CMakeFiles/ExampleSampleAndHold.dir/ExampleSampleAndHold.cpp.o.d -o CMakeFiles/ExampleSampleAndHold.dir/ExampleSampleAndHold.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleSampleAndHold.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ContactTest.dir/link.d CMakeFiles/ContactTest.dir/ContactTest.cpp.o -o ../../../ContactTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 86%] Built target PendulumExample +[ 86%] Built target CoarseRNA +[ 86%] Built target FreeWater make -f examples/CMakeFiles/ExampleScissorLift.dir/build.make examples/CMakeFiles/ExampleScissorLift.dir/depend -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 86%] Built target MovingMusclePointMomentArm make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleScissorLift.dir/DependInfo.cmake "--color=" -[ 86%] Built target ContactTest -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/ExampleScissorLift.dir/build.make examples/CMakeFiles/ExampleScissorLift.dir/build make -f examples/CMakeFiles/ExampleSimplePlanarMechanism.dir/build.make examples/CMakeFiles/ExampleSimplePlanarMechanism.dir/depend -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/LockUnlockConstraint.dir/link.d CMakeFiles/LockUnlockConstraint.dir/LockUnlockConstraint.cpp.o -o ../../../LockUnlockConstraint -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/CMakeFiles/ExampleTwoBoxCollide.dir/build.make examples/CMakeFiles/ExampleTwoBoxCollide.dir/depend +make -f examples/CMakeFiles/ExampleWrapping.dir/build.make examples/CMakeFiles/ExampleWrapping.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleSimplePlanarMechanism.dir/DependInfo.cmake "--color=" +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleTwoBoxCollide.dir/DependInfo.cmake "--color=" +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleWrapping.dir/DependInfo.cmake "--color=" make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 86%] Building CXX object examples/CMakeFiles/ExampleScissorLift.dir/ExampleScissorLift.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleScissorLift" -MD -MT examples/CMakeFiles/ExampleScissorLift.dir/ExampleScissorLift.cpp.o -MF CMakeFiles/ExampleScissorLift.dir/ExampleScissorLift.cpp.o.d -o CMakeFiles/ExampleScissorLift.dir/ExampleScissorLift.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleScissorLift.cpp -[ 86%] Built target LockUnlockConstraint make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f examples/CMakeFiles/ExampleSimplePlanarMechanism.dir/build.make examples/CMakeFiles/ExampleSimplePlanarMechanism.dir/build -make -f examples/CMakeFiles/ExampleTwoBoxCollide.dir/build.make examples/CMakeFiles/ExampleTwoBoxCollide.dir/depend -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/CMakeFiles/ExampleScissorLift.dir/build.make examples/CMakeFiles/ExampleScissorLift.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleTwoBoxCollide.dir/DependInfo.cmake "--color=" -[ 86%] Built target BilateralContactConstraints -[ 86%] Built target CoarseRNA -make -f examples/CMakeFiles/ExampleWrapping.dir/build.make examples/CMakeFiles/ExampleWrapping.dir/depend -make -f examples/CMakeFiles/JaredsDude.dir/build.make examples/CMakeFiles/JaredsDude.dir/depend -[ 86%] Built target PendulumExample make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleWrapping.dir/DependInfo.cmake "--color=" +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/CMakeFiles/ExampleWrapping.dir/build.make examples/CMakeFiles/ExampleWrapping.dir/build +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/CMakeFiles/ExampleTwoBoxCollide.dir/build.make examples/CMakeFiles/ExampleTwoBoxCollide.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/JaredsDude.dir/DependInfo.cmake "--color=" -make -f examples/CMakeFiles/ParameterConstrainedOptimization.dir/build.make examples/CMakeFiles/ParameterConstrainedOptimization.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ParameterConstrainedOptimization.dir/DependInfo.cmake "--color=" +[ 86%] Building CXX object examples/CMakeFiles/ExampleScissorLift.dir/ExampleScissorLift.cpp.o [ 86%] Building CXX object examples/CMakeFiles/ExampleSimplePlanarMechanism.dir/ExampleSimplePlanarMechanism.cpp.o +[ 86%] Building CXX object examples/CMakeFiles/ExampleWrapping.dir/ExampleWrapping.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 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-I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleSimplePlanarMechanism" -MD -MT examples/CMakeFiles/ExampleSimplePlanarMechanism.dir/ExampleSimplePlanarMechanism.cpp.o -MF CMakeFiles/ExampleSimplePlanarMechanism.dir/ExampleSimplePlanarMechanism.cpp.o.d -o CMakeFiles/ExampleSimplePlanarMechanism.dir/ExampleSimplePlanarMechanism.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleSimplePlanarMechanism.cpp +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" 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-ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ExampleWrapping" -MD -MT examples/CMakeFiles/ExampleWrapping.dir/ExampleWrapping.cpp.o -MF CMakeFiles/ExampleWrapping.dir/ExampleWrapping.cpp.o.d -o CMakeFiles/ExampleWrapping.dir/ExampleWrapping.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ExampleWrapping.cpp -[ 87%] Linking CXX executable ../../../TestRiboseMobilizer -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestRiboseMobilizer.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestThermostat.dir/link.d CMakeFiles/TestThermostat.dir/TestThermostat.cpp.o -o ../../../TestThermostat -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 86%] Linking CXX executable ../ConstrainedOptimization +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ConstrainedOptimization.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/RigidContact1.dir/link.d CMakeFiles/RigidContact1.dir/RigidContact1.cpp.o -o ../../../RigidContact1 -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/Differentiator.dir/link.d CMakeFiles/Differentiator.dir/Differentiator.cpp.o -o ../Differentiator -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. 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/usr/bin/cmake -E cmake_link_script CMakeFiles/SBPendulum1.dir/link.txt --verbose=1 +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/TwoPendulums.dir/link.txt --verbose=1 +make -f examples/CMakeFiles/ParameterConstrainedOptimization.dir/build.make examples/CMakeFiles/ParameterConstrainedOptimization.dir/depend +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ParameterConstrainedOptimization.dir/DependInfo.cmake "--color=" +[ 86%] 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/usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="PendulumNoViz" -MD -MT examples/CMakeFiles/PendulumNoViz.dir/PendulumNoViz.cpp.o -MF CMakeFiles/PendulumNoViz.dir/PendulumNoViz.cpp.o.d -o CMakeFiles/PendulumNoViz.dir/PendulumNoViz.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/PendulumNoViz.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TestRiboseMobilizer.dir/link.d CMakeFiles/TestRiboseMobilizer.dir/TestRiboseMobilizer.cpp.o -o ../../../TestRiboseMobilizer -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 87%] Built target TestRiboseMobilizer -make -f examples/CMakeFiles/Rattleback.dir/build.make examples/CMakeFiles/Rattleback.dir/depend +make -f examples/CMakeFiles/Rattleback.dir/build.make examples/CMakeFiles/Rattleback.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/Rattleback.dir/DependInfo.cmake "--color=" +[ 87%] Building CXX object examples/CMakeFiles/ParameterConstrainedOptimization.dir/ParameterConstrainedOptimization.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="ParameterConstrainedOptimization" -MD -MT examples/CMakeFiles/ParameterConstrainedOptimization.dir/ParameterConstrainedOptimization.cpp.o -MF CMakeFiles/ParameterConstrainedOptimization.dir/ParameterConstrainedOptimization.cpp.o.d -o CMakeFiles/ParameterConstrainedOptimization.dir/ParameterConstrainedOptimization.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/ParameterConstrainedOptimization.cpp make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/Rattleback.dir/build.make examples/CMakeFiles/Rattleback.dir/build +make -f examples/CMakeFiles/PendulumNoViz.dir/build.make examples/CMakeFiles/PendulumNoViz.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 87%] Building CXX object examples/CMakeFiles/PendulumNoViz.dir/PendulumNoViz.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security 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-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/RigidContact1.dir/link.d CMakeFiles/RigidContact1.dir/RigidContact1.cpp.o -o ../../../RigidContact1 -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TwoPendulums.dir/link.d CMakeFiles/TwoPendulums.dir/TwoPendulums.cpp.o -o ../../../TwoPendulums -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SBPendulum1.dir/link.d CMakeFiles/SBPendulum1.dir/SBPendulum1.cpp.o -o ../../../SBPendulum1 -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 89%] Built target RigidContact1 -make -f examples/CMakeFiles/SimbodyInstallTest.dir/build.make examples/CMakeFiles/SimbodyInstallTest.dir/depend -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/SimbodyInstallTest.dir/DependInfo.cmake "--color=" +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 89%] Linking CXX executable ../../../PrescribedMotionPlayground [ 89%] Linking CXX executable ../../../UnilateralPointContact cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/UnilateralPointContact.dir/link.txt --verbose=1 -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/SimbodyInstallTest.dir/build.make examples/CMakeFiles/SimbodyInstallTest.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 89%] Building CXX object examples/CMakeFiles/SimbodyInstallTest.dir/SimbodyInstallTest.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include 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-ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="SimbodyInstallTest" -MD -MT examples/CMakeFiles/SimbodyInstallTest.dir/SimbodyInstallTest.cpp.o -MF CMakeFiles/SimbodyInstallTest.dir/SimbodyInstallTest.cpp.o.d -o CMakeFiles/SimbodyInstallTest.dir/SimbodyInstallTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/SimbodyInstallTest.cpp -[ 90%] Linking CXX executable ../../../PrescribedMotionPlayground cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/PrescribedMotionPlayground.dir/link.txt --verbose=1 -[ 91%] Linking CXX executable ../../../WristMomentArm -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/WristMomentArm.dir/link.txt --verbose=1 -[ 91%] Linking CXX executable ../../../TimsBoxBristle +[ 89%] Linking CXX executable ../../../TimsBoxBristle cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/TimsBoxBristle.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/DzhanibekovEffect.dir/link.d CMakeFiles/DzhanibekovEffect.dir/DzhanibekovEffect.cpp.o -o ../DzhanibekovEffect -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 91%] Linking CXX executable ../../../MiscConstraints -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/MiscConstraints.dir/link.txt --verbose=1 -[ 91%] Built target DzhanibekovEffect +[ 90%] Linking CXX executable ../../../TimsBoxHybrid +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/TimsBoxHybrid.dir/link.txt --verbose=1 +[ 90%] Built target SBPendulum1 +[ 90%] Built target TwoPendulums +make -f examples/CMakeFiles/SimbodyInstallTest.dir/build.make examples/CMakeFiles/SimbodyInstallTest.dir/depend make -f examples/CMakeFiles/SimbodyInstallTestNoViz.dir/build.make examples/CMakeFiles/SimbodyInstallTestNoViz.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/SimbodyInstallTest.dir/DependInfo.cmake "--color=" +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/SimbodyInstallTestNoViz.dir/DependInfo.cmake "--color=" -[ 92%] Linking CXX executable ../../../TimsBoxHybrid -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/TimsBoxHybrid.dir/link.txt --verbose=1 make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/CMakeFiles/SimbodyInstallTest.dir/build.make examples/CMakeFiles/SimbodyInstallTest.dir/build +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f examples/CMakeFiles/SimbodyInstallTestNoViz.dir/build.make examples/CMakeFiles/SimbodyInstallTestNoViz.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TwoPendulums.dir/link.d CMakeFiles/TwoPendulums.dir/TwoPendulums.cpp.o -o ../../../TwoPendulums -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -[ 92%] Building CXX object examples/CMakeFiles/SimbodyInstallTestNoViz.dir/SimbodyInstallTestNoViz.cpp.o -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 90%] Building CXX object examples/CMakeFiles/SimbodyInstallTest.dir/SimbodyInstallTest.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="SimbodyInstallTest" -MD -MT examples/CMakeFiles/SimbodyInstallTest.dir/SimbodyInstallTest.cpp.o -MF CMakeFiles/SimbodyInstallTest.dir/SimbodyInstallTest.cpp.o.d -o CMakeFiles/SimbodyInstallTest.dir/SimbodyInstallTest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/SimbodyInstallTest.cpp +[ 90%] Building CXX object examples/CMakeFiles/SimbodyInstallTestNoViz.dir/SimbodyInstallTestNoViz.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="SimbodyInstallTestNoViz" -MD -MT examples/CMakeFiles/SimbodyInstallTestNoViz.dir/SimbodyInstallTestNoViz.cpp.o -MF CMakeFiles/SimbodyInstallTestNoViz.dir/SimbodyInstallTestNoViz.cpp.o.d -o CMakeFiles/SimbodyInstallTestNoViz.dir/SimbodyInstallTestNoViz.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/SimbodyInstallTestNoViz.cpp -[ 92%] Built target TwoPendulums +[ 91%] Linking CXX executable ../../../WristMomentArm +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/WristMomentArm.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/PrescribedMotionPlayground.dir/link.d CMakeFiles/PrescribedMotionPlayground.dir/PrescribedMotionPlayground.cpp.o -o ../../../PrescribedMotionPlayground -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/UnilateralPointContact.dir/link.d CMakeFiles/UnilateralPointContact.dir/UnilateralPointContact.cpp.o -o ../../../UnilateralPointContact -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 91%] Built target UnilateralPointContact make -f examples/CMakeFiles/SimpleDifferentiator.dir/build.make examples/CMakeFiles/SimpleDifferentiator.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/SimpleDifferentiator.dir/DependInfo.cmake "--color=" +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TimsBoxHybrid.dir/link.d CMakeFiles/TimsBoxHybrid.dir/TimsBoxHybrid.cpp.o -o ../../../TimsBoxHybrid -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f examples/CMakeFiles/SimpleDifferentiator.dir/build.make examples/CMakeFiles/SimpleDifferentiator.dir/build +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TimsBoxBristle.dir/link.d CMakeFiles/TimsBoxBristle.dir/TimsBoxBristle.cpp.o -o ../../../TimsBoxBristle -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 92%] Building CXX object examples/CMakeFiles/SimpleDifferentiator.dir/SimpleDifferentiator.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include 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-fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="SimpleDifferentiator" -MD -MT examples/CMakeFiles/SimpleDifferentiator.dir/SimpleDifferentiator.cpp.o -MF CMakeFiles/SimpleDifferentiator.dir/SimpleDifferentiator.cpp.o.d -o CMakeFiles/SimpleDifferentiator.dir/SimpleDifferentiator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/SimpleDifferentiator.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/UnilateralPointContact.dir/link.d CMakeFiles/UnilateralPointContact.dir/UnilateralPointContact.cpp.o -o ../../../UnilateralPointContact -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 92%] Built target UnilateralPointContact +[ 91%] Building CXX object examples/CMakeFiles/SimpleDifferentiator.dir/SimpleDifferentiator.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="SimpleDifferentiator" -MD -MT examples/CMakeFiles/SimpleDifferentiator.dir/SimpleDifferentiator.cpp.o -MF CMakeFiles/SimpleDifferentiator.dir/SimpleDifferentiator.cpp.o.d -o CMakeFiles/SimpleDifferentiator.dir/SimpleDifferentiator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/SimpleDifferentiator.cpp +[ 91%] Built target TimsBoxBristle make -f examples/CMakeFiles/SimpleIntegrator.dir/build.make examples/CMakeFiles/SimpleIntegrator.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/SimpleIntegrator.dir/DependInfo.cmake "--color=" -[ 92%] Linking CXX executable ../../../SBPendulum1 -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/SBPendulum1.dir/link.txt --verbose=1 make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f examples/CMakeFiles/SimpleIntegrator.dir/build.make examples/CMakeFiles/SimpleIntegrator.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 92%] Building CXX object examples/CMakeFiles/SimpleIntegrator.dir/SimpleIntegrator.cpp.o +[ 91%] Building CXX object examples/CMakeFiles/SimpleIntegrator.dir/SimpleIntegrator.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="SimpleIntegrator" -MD -MT examples/CMakeFiles/SimpleIntegrator.dir/SimpleIntegrator.cpp.o -MF CMakeFiles/SimpleIntegrator.dir/SimpleIntegrator.cpp.o.d -o CMakeFiles/SimpleIntegrator.dir/SimpleIntegrator.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/SimpleIntegrator.cpp -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/PrescribedMotionPlayground.dir/link.d CMakeFiles/PrescribedMotionPlayground.dir/PrescribedMotionPlayground.cpp.o -o ../../../PrescribedMotionPlayground -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/WristMomentArm.dir/link.d CMakeFiles/WristMomentArm.dir/WristMomentArm.cpp.o -o ../../../WristMomentArm -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -[ 92%] Built target PrescribedMotionPlayground -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 91%] Built target PrescribedMotionPlayground +[ 91%] Built target TimsBoxHybrid make -f examples/CMakeFiles/TheoJansenStrandbeest.dir/build.make examples/CMakeFiles/TheoJansenStrandbeest.dir/depend +make -f examples/CMakeFiles/UnconstrainedNumericalDiffOptimization.dir/build.make examples/CMakeFiles/UnconstrainedNumericalDiffOptimization.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/TheoJansenStrandbeest.dir/DependInfo.cmake "--color=" -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/TheoJansenStrandbeest.dir/build.make examples/CMakeFiles/TheoJansenStrandbeest.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 92%] Building CXX object examples/CMakeFiles/TheoJansenStrandbeest.dir/TheoJansenStrandbeest.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="TheoJansenStrandbeest" -MD -MT examples/CMakeFiles/TheoJansenStrandbeest.dir/TheoJansenStrandbeest.cpp.o -MF CMakeFiles/TheoJansenStrandbeest.dir/TheoJansenStrandbeest.cpp.o.d -o CMakeFiles/TheoJansenStrandbeest.dir/TheoJansenStrandbeest.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/TheoJansenStrandbeest.cpp -[ 92%] Built target WristMomentArm -make -f examples/CMakeFiles/UnconstrainedNumericalDiffOptimization.dir/build.make examples/CMakeFiles/UnconstrainedNumericalDiffOptimization.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/UnconstrainedNumericalDiffOptimization.dir/DependInfo.cmake "--color=" -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TimsBoxHybrid.dir/link.d CMakeFiles/TimsBoxHybrid.dir/TimsBoxHybrid.cpp.o -o ../../../TimsBoxHybrid -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TimsBoxBristle.dir/link.d CMakeFiles/TimsBoxBristle.dir/TimsBoxBristle.cpp.o -o ../../../TimsBoxBristle -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make -f examples/CMakeFiles/TheoJansenStrandbeest.dir/build.make examples/CMakeFiles/TheoJansenStrandbeest.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f examples/CMakeFiles/UnconstrainedNumericalDiffOptimization.dir/build.make examples/CMakeFiles/UnconstrainedNumericalDiffOptimization.dir/build -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include 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-DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include 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'/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/UserGuide.dir/DependInfo.cmake "--color=" -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SBPendulum1.dir/link.d CMakeFiles/SBPendulum1.dir/SBPendulum1.cpp.o -o ../../../SBPendulum1 -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f examples/CMakeFiles/UnconstrainedOptimization.dir/build.make examples/CMakeFiles/UnconstrainedOptimization.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 92%] Building CXX object examples/CMakeFiles/UnconstrainedOptimization.dir/UnconstrainedOptimization.cpp.o +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="UnconstrainedOptimization" -MD -MT examples/CMakeFiles/UnconstrainedOptimization.dir/UnconstrainedOptimization.cpp.o -MF CMakeFiles/UnconstrainedOptimization.dir/UnconstrainedOptimization.cpp.o.d -o CMakeFiles/UnconstrainedOptimization.dir/UnconstrainedOptimization.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/UnconstrainedOptimization.cpp +[ 92%] Linking CXX executable ../../../GeometryPlayground +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script 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../../../UnilateralPointContactWithFriction -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/GeometryPlayground.dir/link.d CMakeFiles/GeometryPlayground.dir/GeometryPlayground.cpp.o -o ../../../GeometryPlayground -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/UserGuide.dir/build.make examples/CMakeFiles/UserGuide.dir/build -make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 92%] Built target SBPendulum1 +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 93%] Built target UnilateralPointContactWithFriction +[ 93%] Built target GeometryPlayground +make -f examples/CMakeFiles/UserGuide.dir/build.make examples/CMakeFiles/UserGuide.dir/depend make -f examples/CMakeFiles/UserGuideLimits.dir/build.make examples/CMakeFiles/UserGuideLimits.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu 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94%] Building CXX object examples/CMakeFiles/UserGuide.dir/UserGuide.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -DSIMBODY_EXAMPLE_NAME="UserGuide" -MD -MT examples/CMakeFiles/UserGuide.dir/UserGuide.cpp.o -MF CMakeFiles/UserGuide.dir/UserGuide.cpp.o.d -o CMakeFiles/UserGuide.dir/UserGuide.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/UserGuide.cpp make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f examples/CMakeFiles/UserGuideLimits.dir/build.make examples/CMakeFiles/UserGuideLimits.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/CMakeFiles/UserGuide.dir/build.make examples/CMakeFiles/UserGuide.dir/build +make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 94%] Linking CXX executable ../SimpleDifferentiator +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/SimpleDifferentiator.dir/link.txt --verbose=1 [ 94%] Building CXX object examples/CMakeFiles/UserGuideLimits.dir/UserGuideLimits.cpp.o cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include 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CMakeFiles/UserGuide.dir/UserGuide.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/UserGuide.cpp +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/DzhanibekovEffect.dir/link.d CMakeFiles/DzhanibekovEffect.dir/DzhanibekovEffect.cpp.o -o ../DzhanibekovEffect -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SimpleDifferentiator.dir/link.d CMakeFiles/SimpleDifferentiator.dir/SimpleDifferentiator.cpp.o -o ../SimpleDifferentiator -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 95%] Linking CXX executable ../../../TimsBox +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/TimsBox.dir/link.txt --verbose=1 +[ 95%] Linking CXX executable ../ExampleClosedTopologyMechanism +[ 95%] Linking CXX executable ../ParameterConstrainedOptimization +[ 95%] Built target DzhanibekovEffect +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ParameterConstrainedOptimization.dir/link.txt --verbose=1 +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleClosedTopologyMechanism.dir/link.txt --verbose=1 make -f examples/BricardMechanism/CMakeFiles/BricardMechanism.dir/build.make examples/BricardMechanism/CMakeFiles/BricardMechanism.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples/BricardMechanism /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/BricardMechanism 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-DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT examples/BricardMechanism/CMakeFiles/BricardMechanism.dir/ExampleBricardMechanism.cpp.o -MF CMakeFiles/BricardMechanism.dir/ExampleBricardMechanism.cpp.o.d -o CMakeFiles/BricardMechanism.dir/ExampleBricardMechanism.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/BricardMechanism/ExampleBricardMechanism.cpp -[ 94%] Linking CXX executable ../../../GeometryPlayground -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/GeometryPlayground.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/GeometryPlayground.dir/link.d CMakeFiles/GeometryPlayground.dir/GeometryPlayground.cpp.o -o ../../../GeometryPlayground -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 94%] Built target GeometryPlayground +[ 95%] Built target SimpleDifferentiator make -f examples/Gazebo2Simbody/CMakeFiles/Gazebo2Simbody.dir/build.make examples/Gazebo2Simbody/CMakeFiles/Gazebo2Simbody.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples/Gazebo2Simbody /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/Gazebo2Simbody /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/Gazebo2Simbody/CMakeFiles/Gazebo2Simbody.dir/DependInfo.cmake "--color=" make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f examples/Gazebo2Simbody/CMakeFiles/Gazebo2Simbody.dir/build.make examples/Gazebo2Simbody/CMakeFiles/Gazebo2Simbody.dir/build make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 94%] Building CXX object examples/Gazebo2Simbody/CMakeFiles/Gazebo2Simbody.dir/Gazebo2Simbody.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/Gazebo2Simbody && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSIMBODY_EXAMPLE_NAME=\"Gazebo2Simbody\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT examples/Gazebo2Simbody/CMakeFiles/Gazebo2Simbody.dir/Gazebo2Simbody.cpp.o -MF CMakeFiles/Gazebo2Simbody.dir/Gazebo2Simbody.cpp.o.d -o CMakeFiles/Gazebo2Simbody.dir/Gazebo2Simbody.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/Gazebo2Simbody/Gazebo2Simbody.cpp -[ 94%] Linking CXX executable ../../../UnilateralPointContactWithFriction -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/UnilateralPointContactWithFriction.dir/link.txt --verbose=1 -[ 94%] Linking CXX executable ../ParameterConstrainedOptimization -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ParameterConstrainedOptimization.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/UnilateralPointContactWithFriction.dir/link.d CMakeFiles/UnilateralPointContactWithFriction.dir/UnilateralPointContactWithFriction.cpp.o -o ../../../UnilateralPointContactWithFriction -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -[ 95%] Linking CXX executable ../SimpleDifferentiator -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/SimpleDifferentiator.dir/link.txt --verbose=1 [ 95%] Linking CXX executable ../ExampleCustomConstraint -[ 95%] Linking CXX executable ../../../TimsBox -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/TimsBox.dir/link.txt --verbose=1 cd 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-DSIMBODY_EXAMPLE_NAME=\"Gazebo2Simbody\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include 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CMakeFiles/ParameterConstrainedOptimization.dir/ParameterConstrainedOptimization.cpp.o -o ../ParameterConstrainedOptimization -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 95%] Built target ParameterConstrainedOptimization make -f examples/TaskSpaceControl-UR10/CMakeFiles/TaskSpaceControl-UR10.dir/build.make examples/TaskSpaceControl-UR10/CMakeFiles/TaskSpaceControl-UR10.dir/depend make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples/TaskSpaceControl-UR10 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CMakeFiles/ExampleClosedTopologyMechanism.dir/ExampleClosedTopologyMechanism.cpp.o -o ../ExampleClosedTopologyMechanism -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 95%] Building CXX object examples/TaskSpaceControl-UR10/CMakeFiles/TaskSpaceControl-UR10.dir/TaskSpaceControl-UR10.cpp.o -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/TaskSpaceControl-UR10 && /usr/bin/c++ -DSIMBODY_EXAMPLES_INSTALL_SRC=\"/usr/share/doc/simbody/examples/src/\" -DSIMBODY_EXAMPLE_NAME=\"TaskSpaceControl-UR10\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT examples/TaskSpaceControl-UR10/CMakeFiles/TaskSpaceControl-UR10.dir/TaskSpaceControl-UR10.cpp.o -MF CMakeFiles/TaskSpaceControl-UR10.dir/TaskSpaceControl-UR10.cpp.o.d -o CMakeFiles/TaskSpaceControl-UR10.dir/TaskSpaceControl-UR10.cpp.o -c /build/reproducible-path/simbody-3.7+dfsg/examples/TaskSpaceControl-UR10/TaskSpaceControl-UR10.cpp -[ 95%] Linking CXX executable ../../../TestPLUS_SingleBrick -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/TestPLUS_SingleBrick.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ParameterConstrainedOptimization.dir/link.d CMakeFiles/ParameterConstrainedOptimization.dir/ParameterConstrainedOptimization.cpp.o -o ../ParameterConstrainedOptimization -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SimpleDifferentiator.dir/link.d CMakeFiles/SimpleDifferentiator.dir/SimpleDifferentiator.cpp.o -o ../SimpleDifferentiator -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleGears.dir/link.d CMakeFiles/ExampleGears.dir/ExampleGears.cpp.o -o ../ExampleGears -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleCustomConstraint.dir/link.d CMakeFiles/ExampleCustomConstraint.dir/ExampleCustomConstraint.cpp.o -o ../ExampleCustomConstraint -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleCablePath.dir/link.d CMakeFiles/ExampleCablePath.dir/ExampleCablePath.cpp.o -o ../ExampleCablePath -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleEventHandler.dir/link.d CMakeFiles/ExampleEventHandler.dir/ExampleEventHandler.cpp.o -o ../ExampleEventHandler -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 95%] Linking CXX executable ../ExampleEventReporter -[ 95%] Linking CXX executable ../ExampleClosedTopologyMechanism -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleEventReporter.dir/link.txt --verbose=1 -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleClosedTopologyMechanism.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TimsBox.dir/link.d CMakeFiles/TimsBox.dir/TimsBox.cpp.o -o ../../../TimsBox -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 95%] Built target ExampleCustomConstraint -[ 95%] Built target TimsBox +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 95%] Linking CXX executable ../ExampleScissorLift +[ 95%] Linking CXX executable ../UnconstrainedNumericalDiffOptimization +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/UnconstrainedNumericalDiffOptimization.dir/link.txt --verbose=1 +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleScissorLift.dir/link.txt --verbose=1 +[ 95%] Linking CXX executable 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include 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-DSIMBODY_EXAMPLE_NAME=\"TaskSpaceControl-UR10\" -DSimTK_SIMBODY_AUTHORS=\"Michael.Sherman_Peter.Eastman\" -DSimTK_SIMBODY_COPYRIGHT_YEARS=\"2005-18\" -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Scalar/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/SmallMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Mechanics/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/BigMatrix/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Simulation/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Random/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT examples/TaskSpaceControl-Atlas/CMakeFiles/TaskSpaceControl-Atlas.dir/__/shared/TaskSpace.cpp.o -MF CMakeFiles/TaskSpaceControl-Atlas.dir/__/shared/TaskSpace.cpp.o.d -o CMakeFiles/TaskSpaceControl-Atlas.dir/__/shared/TaskSpace.cpp.o -c 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-I/build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/Polynomial/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/./include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/LinearAlgebra/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Optimizers/include -I/build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Geometry/include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/./include -I/build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/include -I/build/reproducible-path/simbody-3.7+dfsg/examples -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -MD -MT examples/TaskSpaceControl-Atlas/CMakeFiles/TaskSpaceControl-Atlas.dir/TaskSpaceControl-Atlas.cpp.o -MF 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/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/UserGuide.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleEventHandler.dir/link.d CMakeFiles/ExampleEventHandler.dir/ExampleEventHandler.cpp.o -o ../ExampleEventHandler -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection 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../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleLongPendulum.dir/link.d CMakeFiles/ExampleLongPendulum.dir/ExampleLongPendulum.cpp.o -o ../ExampleLongPendulum -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 97%] Built target ExampleEventHandler -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/UnconstrainedNumericalDiffOptimization.dir/link.d CMakeFiles/UnconstrainedNumericalDiffOptimization.dir/UnconstrainedNumericalDiffOptimization.cpp.o -o ../UnconstrainedNumericalDiffOptimization -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleSimplePlanarMechanism.dir/link.d CMakeFiles/ExampleSimplePlanarMechanism.dir/ExampleSimplePlanarMechanism.cpp.o -o ../ExampleSimplePlanarMechanism -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleScissorLift.dir/link.d CMakeFiles/ExampleScissorLift.dir/ExampleScissorLift.cpp.o -o ../ExampleScissorLift -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 98%] Linking CXX executable ../ExampleTwoBoxCollide make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 97%] Built target ExampleCablePath -[ 97%] Built target ExampleLongPendulum -[ 97%] Built target UnconstrainedNumericalDiffOptimization -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleGears.dir/link.d CMakeFiles/ExampleGears.dir/ExampleGears.cpp.o -o ../ExampleGears -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 97%] Built target ExampleGears -[ 98%] Linking CXX executable ../ExampleMotor-TorqueLimited-Constraint -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleGeodesic.dir/link.d CMakeFiles/ExampleGeodesic.dir/ExampleGeodesic.cpp.o -o ../ExampleGeodesic -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleTwoBoxCollide.dir/link.txt --verbose=1 +[ 98%] Built target UnconstrainedNumericalDiffOptimization +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TimsBoxPGS.dir/link.d CMakeFiles/TimsBoxPGS.dir/TimsBoxPGS.cpp.o -o ../../../TimsBoxPGS -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 98%] Built target TestPLUS_SingleBrick +[ 98%] Built target SimpleIntegrator make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 98%] Linking CXX executable ../ExampleMotor-TorqueLimited-Motion -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/link.txt --verbose=1 [ 98%] Built target ExampleGeodesic -[ 98%] Linking CXX executable ../UserGuideLimits +[ 98%] Built target ExampleScissorLift +[ 98%] Built target TimsBoxPGS [ 98%] Linking CXX executable ../ExampleContactPlayground -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/UserGuideLimits.dir/link.txt --verbose=1 cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleContactPlayground.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/UserGuide.dir/link.d CMakeFiles/UserGuide.dir/UserGuide.cpp.o -o ../UserGuide -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 98%] Built target UserGuide -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleAssemblerPlayground.dir/link.d CMakeFiles/ExampleAssemblerPlayground.dir/ExampleAssemblerPlayground.cpp.o -o ../ExampleAssemblerPlayground -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 98%] Linking CXX executable ../ExampleKneeJoint -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleKneeJoint.dir/link.txt --verbose=1 -[ 98%] Built target ExampleAssemblerPlayground -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/UserGuideLimits.dir/link.d CMakeFiles/UserGuideLimits.dir/UserGuideLimits.cpp.o -o ../UserGuideLimits -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 98%] Built target UserGuideLimits +[ 98%] Linking CXX executable ../PendulumNoViz +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/PendulumNoViz.dir/link.txt --verbose=1 +[ 98%] Built target ExampleSimplePlanarMechanism +[ 98%] Built target ExampleIMUTracking +[ 98%] Linking CXX executable ../ExampleWrapping +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleWrapping.dir/link.txt --verbose=1 +[ 98%] Linking CXX executable ../ExampleAssemblerPlayground +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleAssemblerPlayground.dir/link.txt --verbose=1 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/link.d "CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/ExampleMotor-TorqueLimited-Motion.cpp.o" -o ../ExampleMotor-TorqueLimited-Motion -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/PendulumNoViz.dir/link.d CMakeFiles/PendulumNoViz.dir/PendulumNoViz.cpp.o -o ../PendulumNoViz -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 98%] Built target ExampleMotor-TorqueLimited-Motion -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleContactPlayground.dir/link.d CMakeFiles/ExampleContactPlayground.dir/ExampleContactPlayground.cpp.o -o ../ExampleContactPlayground -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/link.d "CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/ExampleMotor-TorqueLimited-Constraint.cpp.o" -o ../ExampleMotor-TorqueLimited-Constraint -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 98%] Linking CXX executable ../SimpleIntegrator -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/SimpleIntegrator.dir/link.txt --verbose=1 -[ 98%] Built target ExampleContactPlayground -[ 98%] Built target ExampleMotor-TorqueLimited-Constraint -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleKneeJoint.dir/link.d CMakeFiles/ExampleKneeJoint.dir/ExampleKneeJoint.cpp.o -o ../ExampleKneeJoint -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleContactPlayground.dir/link.d CMakeFiles/ExampleContactPlayground.dir/ExampleContactPlayground.cpp.o -o ../ExampleContactPlayground -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/UnconstrainedOptimization.dir/link.d CMakeFiles/UnconstrainedOptimization.dir/UnconstrainedOptimization.cpp.o -o ../UnconstrainedOptimization -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 98%] Built target ExampleKneeJoint -[ 98%] Linking CXX executable ../PendulumNoViz -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/PendulumNoViz.dir/link.txt --verbose=1 -[ 98%] Linking CXX executable ../ExampleTwoBoxCollide -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleTwoBoxCollide.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SimpleIntegrator.dir/link.d CMakeFiles/SimpleIntegrator.dir/SimpleIntegrator.cpp.o -o ../SimpleIntegrator -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 98%] Built target SimpleIntegrator -[ 98%] Linking CXX executable ../ExampleScissorLift -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleScissorLift.dir/link.txt --verbose=1 -[ 98%] Linking CXX executable ../ExamplePendulum -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExamplePendulum.dir/link.txt --verbose=1 -[ 98%] Linking CXX executable ../ExampleWrapping -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleWrapping.dir/link.txt --verbose=1 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleTwoBoxCollide.dir/link.d CMakeFiles/ExampleTwoBoxCollide.dir/ExampleTwoBoxCollide.cpp.o -o ../ExampleTwoBoxCollide -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 98%] Built target ExampleTwoBoxCollide -[ 99%] Linking CXX executable ../ExampleIMUTracking -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleIMUTracking.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/PendulumNoViz.dir/link.d CMakeFiles/PendulumNoViz.dir/PendulumNoViz.cpp.o -o ../PendulumNoViz -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExamplePendulum.dir/link.d CMakeFiles/ExamplePendulum.dir/ExamplePendulum.cpp.o -o ../ExamplePendulum -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +[ 98%] Linking CXX executable ../SimbodyInstallTest make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 99%] Built target PendulumNoViz -[ 99%] Linking CXX executable ../SimbodyInstallTest +[ 98%] Built target ExampleMotor-TorqueLimited-Motion +[ 98%] Linking CXX executable ../ExampleMotorWithSpeedControl +[ 98%] Built target PendulumNoViz cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/SimbodyInstallTest.dir/link.txt --verbose=1 +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleMotorWithSpeedControl.dir/link.txt --verbose=1 +[ 98%] Built target ExampleTwoBoxCollide +[ 98%] Built target UnconstrainedOptimization +[ 98%] Built target ExampleContactPlayground +[ 98%] Built target ExamplePendulum +[ 98%] Linking CXX executable ../ExampleKneeJoint +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleKneeJoint.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SimbodyInstallTest.dir/link.d CMakeFiles/SimbodyInstallTest.dir/SimbodyInstallTest.cpp.o -o ../SimbodyInstallTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleAssemblerPlayground.dir/link.d CMakeFiles/ExampleAssemblerPlayground.dir/ExampleAssemblerPlayground.cpp.o -o ../ExampleAssemblerPlayground -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleWrapping.dir/link.d CMakeFiles/ExampleWrapping.dir/ExampleWrapping.cpp.o -o ../ExampleWrapping -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleScissorLift.dir/link.d CMakeFiles/ExampleScissorLift.dir/ExampleScissorLift.cpp.o -o ../ExampleScissorLift -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExamplePendulum.dir/link.d CMakeFiles/ExamplePendulum.dir/ExamplePendulum.cpp.o -o ../ExamplePendulum -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleMotorWithSpeedControl.dir/link.d CMakeFiles/ExampleMotorWithSpeedControl.dir/ExampleMotorWithSpeedControl.cpp.o -o ../ExampleMotorWithSpeedControl -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 99%] Built target ExampleScissorLift -[ 99%] Built target ExampleWrapping +[ 98%] Linking CXX executable ../UserGuide +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/UserGuide.dir/link.txt --verbose=1 +[ 99%] Linking CXX executable ../ExampleMotor-TorqueLimited-Constraint +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/link.txt --verbose=1 [ 99%] Linking CXX executable ../Rattleback +[ 99%] Built target ExampleAssemblerPlayground +[ 99%] Linking CXX executable ../UserGuideLimits +[ 99%] Built target SimbodyInstallTest +[ 99%] Built target ExampleWrapping +[ 99%] Built target ExampleMotorWithSpeedControl +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/UserGuideLimits.dir/link.txt --verbose=1 cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/Rattleback.dir/link.txt --verbose=1 -[ 99%] Built target ExamplePendulum -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleIMUTracking.dir/link.d CMakeFiles/ExampleIMUTracking.dir/ExampleIMUTracking.cpp.o -o ../ExampleIMUTracking -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 99%] Built target ExampleIMUTracking -[ 99%] Linking CXX executable ../ExampleMotorWithSpeedControl -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleMotorWithSpeedControl.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SimbodyInstallTest.dir/link.d CMakeFiles/SimbodyInstallTest.dir/SimbodyInstallTest.cpp.o -o ../SimbodyInstallTest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/UserGuideLimits.dir/link.d CMakeFiles/UserGuideLimits.dir/UserGuideLimits.cpp.o -o ../UserGuideLimits -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 99%] Built target SimbodyInstallTest /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/Rattleback.dir/link.d CMakeFiles/Rattleback.dir/Rattleback.cpp.o -o ../Rattleback -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 99%] Built target Rattleback -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleMotorWithSpeedControl.dir/link.d CMakeFiles/ExampleMotorWithSpeedControl.dir/ExampleMotorWithSpeedControl.cpp.o -o ../ExampleMotorWithSpeedControl -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 99%] Linking CXX executable ../ExampleSampleAndHold [ 99%] Linking CXX executable ../SimbodyInstallTestNoViz -[ 99%] Linking CXX executable ../ExampleMotor-TorqueLimited-Controller cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/SimbodyInstallTestNoViz.dir/link.txt --verbose=1 -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleSampleAndHold.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/UserGuide.dir/link.d CMakeFiles/UserGuide.dir/UserGuide.cpp.o -o ../UserGuide -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 99%] Built target UserGuideLimits +[ 99%] Linking CXX executable ../ExampleMotor-TorqueLimited-Controller cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/link.txt --verbose=1 -[ 99%] Linking CXX executable ../../../TimsBoxPGS -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc && /usr/bin/cmake -E cmake_link_script CMakeFiles/TimsBoxPGS.dir/link.txt --verbose=1 -[ 99%] Built target ExampleMotorWithSpeedControl +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/link.d "CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/ExampleMotor-TorqueLimited-Constraint.cpp.o" -o ../ExampleMotor-TorqueLimited-Constraint -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleKneeJoint.dir/link.d CMakeFiles/ExampleKneeJoint.dir/ExampleKneeJoint.cpp.o -o ../ExampleKneeJoint -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 99%] Linking CXX executable ../ExampleSampleAndHold +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleSampleAndHold.dir/link.txt --verbose=1 +[ 99%] Built target ExampleKneeJoint [ 99%] Linking CXX executable ../JaredsDude cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/JaredsDude.dir/link.txt --verbose=1 -[100%] Linking CXX executable ../ExampleAmysIKProblem -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleAmysIKProblem.dir/link.txt --verbose=1 +[ 99%] Built target UserGuide +[ 99%] Built target ExampleMotor-TorqueLimited-Constraint +[ 99%] Built target Rattleback /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/SimbodyInstallTestNoViz.dir/link.d CMakeFiles/SimbodyInstallTestNoViz.dir/SimbodyInstallTestNoViz.cpp.o -o ../SimbodyInstallTestNoViz -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TimsBoxPGS.dir/link.d CMakeFiles/TimsBoxPGS.dir/TimsBoxPGS.cpp.o -o ../../../TimsBoxPGS -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu ../../../libSimTKsimbody.so.3.7 ../../../libSimTKmath.so.3.7 ../../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleSampleAndHold.dir/link.d CMakeFiles/ExampleSampleAndHold.dir/ExampleSampleAndHold.cpp.o -o ../ExampleSampleAndHold -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/link.d "CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/ExampleMotor-TorqueLimited-Controller.cpp.o" -o ../ExampleMotor-TorqueLimited-Controller -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/link.d "CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/ExampleMotor-TorqueLimited-Controller.cpp.o" -o ../ExampleMotor-TorqueLimited-Controller -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleSampleAndHold.dir/link.d CMakeFiles/ExampleSampleAndHold.dir/ExampleSampleAndHold.cpp.o -o ../ExampleSampleAndHold -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/JaredsDude.dir/link.d CMakeFiles/JaredsDude.dir/JaredsDude.cpp.o -o ../JaredsDude -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[100%] Built target ExampleMotor-TorqueLimited-Controller -[100%] Built target TimsBoxPGS -[100%] Built target SimbodyInstallTestNoViz -[100%] Built target ExampleSampleAndHold -[100%] Built target JaredsDude +[ 99%] Built target SimbodyInstallTestNoViz +[ 99%] Built target ExampleMotor-TorqueLimited-Controller +[ 99%] Built target ExampleSampleAndHold +[ 99%] Built target JaredsDude +[ 99%] Linking CXX executable ../TheoJansenStrandbeest +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/TheoJansenStrandbeest.dir/link.txt --verbose=1 +/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TheoJansenStrandbeest.dir/link.d CMakeFiles/TheoJansenStrandbeest.dir/TheoJansenStrandbeest.cpp.o -o ../TheoJansenStrandbeest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 99%] Built target TheoJansenStrandbeest +[100%] Linking CXX executable ../ExampleAmysIKProblem +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/ExampleAmysIKProblem.dir/link.txt --verbose=1 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/ExampleAmysIKProblem.dir/link.d CMakeFiles/ExampleAmysIKProblem.dir/ExampleAmysIKProblem.cpp.o -o ../ExampleAmysIKProblem -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' [100%] Built target ExampleAmysIKProblem @@ -5058,21 +5099,16 @@ /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/BricardMechanism.dir/link.d CMakeFiles/BricardMechanism.dir/ExampleBricardMechanism.cpp.o -o ../../BricardMechanism -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' [100%] Built target BricardMechanism -[100%] Linking CXX executable ../TheoJansenStrandbeest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples && /usr/bin/cmake -E cmake_link_script CMakeFiles/TheoJansenStrandbeest.dir/link.txt --verbose=1 -/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TheoJansenStrandbeest.dir/link.d CMakeFiles/TheoJansenStrandbeest.dir/TheoJansenStrandbeest.cpp.o -o ../TheoJansenStrandbeest -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../libSimTKsimbody.so.3.7 ../libSimTKmath.so.3.7 ../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[100%] Built target TheoJansenStrandbeest [100%] Linking CXX executable ../../Gazebo2Simbody +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/Gazebo2Simbody && /usr/bin/cmake -E cmake_link_script CMakeFiles/Gazebo2Simbody.dir/link.txt --verbose=1 [100%] Linking CXX executable ../../TaskSpaceControl-UR10 cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/TaskSpaceControl-UR10 && /usr/bin/cmake -E cmake_link_script CMakeFiles/TaskSpaceControl-UR10.dir/link.txt --verbose=1 -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/Gazebo2Simbody && /usr/bin/cmake -E cmake_link_script CMakeFiles/Gazebo2Simbody.dir/link.txt --verbose=1 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/Gazebo2Simbody.dir/link.d CMakeFiles/Gazebo2Simbody.dir/Gazebo2Simbody.cpp.o -o ../../Gazebo2Simbody -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm -make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[100%] Built target Gazebo2Simbody /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TaskSpaceControl-UR10.dir/link.d "CMakeFiles/TaskSpaceControl-UR10.dir/TaskSpaceControl-UR10.cpp.o" "CMakeFiles/TaskSpaceControl-UR10.dir/UR10.cpp.o" "CMakeFiles/TaskSpaceControl-UR10.dir/__/shared/TaskSpace.cpp.o" -o ../../TaskSpaceControl-UR10 -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' [100%] Built target TaskSpaceControl-UR10 +[100%] Built target Gazebo2Simbody [100%] Linking CXX executable ../../TaskSpaceControl-Atlas cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/TaskSpaceControl-Atlas && /usr/bin/cmake -E cmake_link_script CMakeFiles/TaskSpaceControl-Atlas.dir/link.txt --verbose=1 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/reproducible-path/simbody-3.7+dfsg=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=c++11 -Wl,-z,relro -Wl,-z,now -rdynamic -Wl,--dependency-file=CMakeFiles/TaskSpaceControl-Atlas.dir/link.d "CMakeFiles/TaskSpaceControl-Atlas.dir/TaskSpaceControl-Atlas.cpp.o" "CMakeFiles/TaskSpaceControl-Atlas.dir/Atlas.cpp.o" "CMakeFiles/TaskSpaceControl-Atlas.dir/URDFReader.cpp.o" "CMakeFiles/TaskSpaceControl-Atlas.dir/__/shared/TaskSpace.cpp.o" -o ../../TaskSpaceControl-Atlas -Wl,-rpath,/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu: ../../libSimTKsimbody.so.3.7 ../../libSimTKmath.so.3.7 ../../libSimTKcommon.so.3.7 -lblas -llapack -lblas -llapack -lpthread -lrt -ldl -lm @@ -5082,10 +5118,10 @@ /usr/bin/cmake -E cmake_progress_start /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/CMakeFiles 0 make[1]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' dh_auto_test -O--buildsystem=cmake -Nsimbody-doc - cd obj-x86_64-linux-gnu && make -j42 test ARGS\+=--verbose ARGS\+=-j42 + cd obj-x86_64-linux-gnu && make -j40 test ARGS\+=--verbose ARGS\+=-j40 make[1]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' Running tests... -/usr/bin/ctest --force-new-ctest-process --verbose -j42 +/usr/bin/ctest --force-new-ctest-process --verbose -j40 UpdateCTestConfiguration from :/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/DartConfiguration.tcl Parse Config file:/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/DartConfiguration.tcl UpdateCTestConfiguration from :/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/DartConfiguration.tcl @@ -5338,18 +5374,6 @@ 40: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/cpsbanx_lap 40: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests 40: Test timeout computed to be: 1500 -test 41 - Start 41: cpsdenx - -41: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/cpsdenx -41: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests -41: Test timeout computed to be: 1500 -test 42 - Start 42: cpsdenx_lap - -42: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/cpsdenx_lap -42: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests -42: Test timeout computed to be: 1500 1: Inf Inf(1,2) (3,4) (Inf,Inf) 1: 1 2 3 1: 4 NaN -3 @@ -5608,7 +5632,7 @@ 2: Mat<2,5,float>.sqrt()= 2: [1,1.414213538169861,1.732050776481628,2,2.2360680103302] 2: [2.449489831924438,2.645751237869263,2.828427076339722,3,3.162277698516846] -2: m25f@0x7ffccd930050 m15v2f@0x7ffccd930050 +2: m25f@0x7ffc702bfa90 m15v2f@0x7ffc702bfa90 2: Mat<1,5,Vec<2,float> >= 2: [~[1,6],~[2,7],~[3,8],~[4,9],~[5,10]] 2: Mat<1,5,Vec<2,float> >.normalize()= @@ -6073,11 +6097,11 @@ 2: H.diag()[2,1] 2: Ht[2,3] 2: Ht.diag()[2,1] -2: testMiscellaneous done. real/CPU ms: 1.1 / 1.1 +2: testMiscellaneous done. real/CPU ms: 1.3 / 1.3 2: testMatInverse ... 2: testMatInverse done. real/CPU ms: 0.4 / 0.4 2: -2: MatVecTest done. real/CPU ms: 1.7 / 1.7 +2: MatVecTest done. real/CPU ms: 1.8 / 1.8 3: q1=~[0.998748,-0.0500289,0.00014294,-7.14698e-05] 3: avOrig=~[-0.100100000000000008,70,-0.200000000000000011,0.100000000000000006] av1=~[0.100100000000000008,-0.999994897998229604,0.00285712827999494174,-0.00142856413999747087] 3: q2-q1=~[0,0,0,0] @@ -6328,7 +6352,7 @@ 5: Done 8: Starting test SpatialAlgebraTest ... 8: testPhiMatrix ... -8: testPhiMatrix done. real/CPU ms: 0.0 / 0.0 +8: testPhiMatrix done. real/CPU ms: 0.1 / 0.1 8: testMiscSpatialAlgebra ... 8: 8: TEST: uninitialized should be NaN in Debug, random crap in Release @@ -6373,12 +6397,12 @@ 8: [0,1,0] 8: [0,0,1] 8: ] -8: sv (0x7ffc5d00e2f0)=~[~[1,2,-3],~[0.1,-0.2,0.3]] -8: sv6(0x7ffc5d00e2f0)=~[1,2,-3,0.1,-0.2,0.3] +8: sv (0x7ffeab7a2800)=~[~[1,2,-3],~[0.1,-0.2,0.3]] +8: sv6(0x7ffeab7a2800)=~[1,2,-3,0.1,-0.2,0.3] 8: sv.normalize() =~[~[0.267261,0.534522,-0.801784],~[0.267261,-0.534522,0.801784]] 8: sv6.normalize()=~[0.265935,0.53187,-0.797805,0.0265935,-0.053187,0.0797805] -8: nsv (0x7ffc5d00e2f0)=~[~[-1,-2,3],~[-0.1,0.2,-0.3]] -8: nsv6(0x7ffc5d00e2f0)=~[-1,-2,3,-0.1,0.2,-0.3] +8: nsv (0x7ffeab7a2800)=~[~[-1,-2,3],~[-0.1,0.2,-0.3]] +8: nsv6(0x7ffeab7a2800)=~[-1,-2,3,-0.1,0.2,-0.3] 8: nsv.normalize() =~[~[-0.267261,-0.534522,0.801784],~[-0.267261,0.534522,-0.801784]] 8: nsv6.normalize()=~[-0.265935,-0.53187,0.797805,-0.0265935,0.053187,-0.0797805] 8: after sv=sv.normalize(), sv=~[~[0.267261,0.534522,-0.801784],~[0.267261,-0.534522,0.801784]] @@ -6645,9 +6669,9 @@ 8: [0,69,-46,23,0,0] 8: [-69,0,23,0,23,0] 8: [46,-23,0,0,0,23] -8: testMiscSpatialAlgebra done. real/CPU ms: 0.5 / 0.5 +8: testMiscSpatialAlgebra done. real/CPU ms: 0.6 / 0.6 8: -8: SpatialAlgebraTest done. real/CPU ms: 0.6 / 0.6 +8: SpatialAlgebraTest done. real/CPU ms: 0.7 / 0.7 9: Starting test StateTest ... 9: testCacheValidity ... 9: testCacheValidity done. real/CPU ms: 0.4 / 0.4 @@ -6692,9 +6716,9 @@ 9: Infinity: 0 9: testMisc done. real/CPU ms: 0.1 / 0.1 9: testConsistent ... -9: testConsistent done. real/CPU ms: 3.1 / 3.1 +9: testConsistent done. real/CPU ms: 3.3 / 3.3 9: -9: StateTest done. real/CPU ms: 3.7 / 3.7 +9: StateTest done. real/CPU ms: 3.8 / 3.8 10: Starting test TestArray ... 10: testTypeMismatch ... 10: testTypeMismatch done. real/CPU ms: 0.0 / 0.0 @@ -6705,7 +6729,7 @@ 10: testInsert ... 10: testInsert done. real/CPU ms: 0.1 / 0.1 10: testArrayViewAssignment ... -10: testArrayViewAssignment done. real/CPU ms: 0.1 / 0.1 +10: testArrayViewAssignment done. real/CPU ms: 0.0 / 0.0 10: testInputIterator ... 10: testInputIterator done. real/CPU ms: 0.0 / 0.0 10: testNiceTypeName ... @@ -6723,7 +6747,7 @@ 10: Array_ using name(): N5SimTK6Array_INS_6StringEcEE 10: Array_ using namestr(): SimTK::Array_ 10: Array_ using xmlstr(): SimTK::Array_{SimTK::String,char} -10: testNiceTypeName done. real/CPU ms: 0.1 / 0.1 +10: testNiceTypeName done. real/CPU ms: 0.2 / 0.2 10: testMemoryFootprint ... 10: testMemoryFootprint done. real/CPU ms: 0.0 / 0.0 10: testConstruction ... @@ -6771,13 +6795,13 @@ 10: oa=(-4,-4,-4,-4,-4) 10: testConstruction done. real/CPU ms: 0.1 / 0.1 10: testConversion ... -10: v=<1 2 3 4 5 6> &v[0]=0x5587a1e397e0 -10: a= (1,2,3,4,5,6) &a[0]=0x5587a1e39800 -10: av=(1,2,3,4,5,6) &av[0]=0x5587a1e397e0 -10: ca=(1,2,3,4,5,6) &ca[0]=0x5587a1e397e0 -10: toArray= (1,2,3,4,5,6) &a[0]=0x5587a1e397e0 -10: toArrayView= (1,2,3,4,5,6) &av[0]=0x5587a1e397e0 -10: toArrayViewConst=(1,2,3,4,5,6) &ca[0]=0x5587a1e397e0 +10: v=<1 2 3 4 5 6> &v[0]=0x55fb1300d7e0 +10: a= (1,2,3,4,5,6) &a[0]=0x55fb1300d800 +10: av=(1,2,3,4,5,6) &av[0]=0x55fb1300d7e0 +10: ca=(1,2,3,4,5,6) &ca[0]=0x55fb1300d7e0 +10: toArray= (1,2,3,4,5,6) &a[0]=0x55fb1300d7e0 +10: toArrayView= (1,2,3,4,5,6) &av[0]=0x55fb1300d7e0 +10: toArrayViewConst=(1,2,3,4,5,6) &ca[0]=0x55fb1300d7e0 10: testConversion done. real/CPU ms: 0.0 / 0.0 10: testBoolIndex ... 10: wisdom=(don't worry it's not loaded,this too shall pass) @@ -6790,12 +6814,12 @@ 10: testNonRandomIterator done. real/CPU ms: 0.0 / 0.0 10: testSpeedStdVector ... 10: std::vector sum=509499 -10: testSpeedStdVector done. real/CPU ms: 9.5 / 9.5 +10: testSpeedStdVector done. real/CPU ms: 9.2 / 9.2 10: testSpeedSimTKArray ... 10: Array sum=509499 -10: testSpeedSimTKArray done. real/CPU ms: 11.7 / 11.7 +10: testSpeedSimTKArray done. real/CPU ms: 11.8 / 11.8 10: -10: TestArray done. real/CPU ms: 21.8 / 21.7 +10: TestArray done. real/CPU ms: 21.7 / 21.7 12: f(v)=~[1,2,3] 12: Done 13: Starting test TestCloneOnWritePtr ... @@ -6818,7 +6842,7 @@ 13: # alive: 0 14: Starting test TestFunction ... 14: testConstant ... -14: testConstant done. real/CPU ms: 0.1 / 0.1 +14: testConstant done. real/CPU ms: 0.0 / 0.0 14: testLinear ... 14: testLinear done. real/CPU ms: 0.0 / 0.0 14: testPolynomial ... @@ -6830,7 +6854,7 @@ 14: testStep ... 14: testStep done. real/CPU ms: 0.0 / 0.0 14: -14: TestFunction done. real/CPU ms: 0.3 / 0.3 +14: TestFunction done. real/CPU ms: 0.2 / 0.2 15: Starting test TestIteratorRange ... 15: testFirstLast ... 15: testFirstLast done. real/CPU ms: 0.0 / 0.0 @@ -6850,7 +6874,7 @@ 16: testArticulatedInertia ... 16: testArticulatedInertia done. real/CPU ms: 0.0 / 0.0 16: testManualABIShift ... -16: testManualABIShift done. real/CPU ms: 55.2 / 55.1 +16: testManualABIShift done. real/CPU ms: 51.1 / 51.0 16: testPhiABIShift ... 17: Starting test TestArray ... 17: testCanonicalize ... @@ -6872,13 +6896,13 @@ 17: TestArray done. real/CPU ms: 0.4 / 0.4 19: Starting test TestParallelExecutor ... 19: testParallelExecution ... -19: testParallelExecution done. real/CPU ms: 58.8 / 119.5 +19: testParallelExecution done. real/CPU ms: 57.4 / 107.5 19: testSingleThreadedExecution ... 19: testSingleThreadedExecution done. real/CPU ms: 0.0 / 0.0 19: testResizeThreads ... 19: testResizeThreads done. real/CPU ms: 0.0 / 0.0 19: -19: TestParallelExecutor done. real/CPU ms: 58.9 / 119.6 +19: TestParallelExecutor done. real/CPU ms: 57.5 / 107.6 20: Done 21: Starting test TestPlugin ... 21: testPathname ... @@ -6892,9 +6916,9 @@ 21: installDir(SimTK_INSTALL_DIR,/LunchTime/snacks): '/usr/local/LunchTime/snacks/' 21: installDir(LocalAppData,SimTK): '/usr/local/SimTK/' 21: Pathname::getFunctionLibraryDirectory() is located in: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/ -21: testPathname done. real/CPU ms: 0.5 / 0.5 +21: testPathname done. real/CPU ms: 0.8 / 0.5 21: testDeconstructFileName ... -21: testDeconstructFileName done. real/CPU ms: 0.1 / 0.1 +21: testDeconstructFileName done. real/CPU ms: 0.0 / 0.0 21: testPlugin ... 21: LOAD ATTEMPT: '/usr/local/SimTK/lib/plugins/c:/temp/libTestRuntimeDLL_d.so' ... FAILED! 21: LOAD ATTEMPT: '/usr/local/SimTK/lib/plugins/c:/temp/libTestRuntimeDLL.so' ... FAILED! @@ -6913,21 +6937,21 @@ 21: LOAD ATTEMPT: '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/c:/temp/libTestRuntimeDLL.so' ... FAILED! 21: testPlugin done. real/CPU ms: 0.3 / 0.3 21: -21: TestPlugin done. real/CPU ms: 1.0 / 1.0 +21: TestPlugin done. real/CPU ms: 1.2 / 1.0 22: Done -23: h=MyHandle (name=Fred):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffd45c48d10 is OWNER of Implementation @0x559ddc78c2b0 (handle count=1) -23: after disown h=MyHandle (name=Fred):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffd45c48d10 is REFERENCE to Implementation @0x559ddc78c2b0 (handle count=2) -23: empty=MyHandle (name=Fred):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffd45c48d18 is OWNER of Implementation @0x559ddc78c2b0 (handle count=2) -23: h2=MyHandle (name=Fred):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffd45c48d20 is OWNER of Implementation @0x559ddc78c430 (handle count=1) -23: hderived=DerivedHandle (real=27):MyHandle (name=Joe):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffd45c48d28 is OWNER of Implementation @0x559ddc78d4d0 (handle count=1) -23: h3=MyHandle (name=Joe):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffd45c48d30 is OWNER of Implementation @0x559ddc78d520 (handle count=1) +23: h=MyHandle (name=Fred):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffe48b7f120 is OWNER of Implementation @0x55b075b282b0 (handle count=1) +23: after disown h=MyHandle (name=Fred):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffe48b7f120 is REFERENCE to Implementation @0x55b075b282b0 (handle count=2) +23: empty=MyHandle (name=Fred):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffe48b7f128 is OWNER of Implementation @0x55b075b282b0 (handle count=2) +23: h2=MyHandle (name=Fred):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffe48b7f130 is OWNER of Implementation @0x55b075b28430 (handle count=1) +23: hderived=DerivedHandle (real=27):MyHandle (name=Joe):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffe48b7f138 is OWNER of Implementation @0x55b075b294d0 (handle count=1) +23: h3=MyHandle (name=Joe):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffe48b7f140 is OWNER of Implementation @0x55b075b29520 (handle count=1) 23: downcast h3.getReal()=27 -23: d2=DerivedHandle (real=27):MyHandle (name=Joe):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffd45c48d38 is OWNER of Implementation @0x559ddc78d570 (handle count=1) +23: d2=DerivedHandle (real=27):MyHandle (name=Joe):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffe48b7f148 is OWNER of Implementation @0x55b075b29570 (handle count=1) 23: dempty=DerivedHandle IS EMPTY -23: dempty=h, dempty=DerivedHandle (real=27):MyHandle (name=Joe):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffd45c48d40 is OWNER of Implementation @0x559ddc78d5c0 (handle count=1) -23: dd=DerDerivedHandle (string=hi there):DerivedHandle (real=22.345):MyHandle (name=):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffd45c48d48 is OWNER of Implementation @0x559ddc78d610 (handle count=1) -23: dd.upcast() =DerivedHandle (real=22.345):MyHandle (name=):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffd45c48d48 is OWNER of Implementation @0x559ddc78d610 (handle count=1) -23: dd.upcast^2()= MyHandle (name=):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffd45c48d48 is OWNER of Implementation @0x559ddc78d610 (handle count=1) +23: dempty=h, dempty=DerivedHandle (real=27):MyHandle (name=Joe):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffe48b7f150 is OWNER of Implementation @0x55b075b295c0 (handle count=1) +23: dd=DerDerivedHandle (string=hi there):DerivedHandle (real=22.345):MyHandle (name=):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffe48b7f158 is OWNER of Implementation @0x55b075b29610 (handle count=1) +23: dd.upcast() =DerivedHandle (real=22.345):MyHandle (name=):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffe48b7f158 is OWNER of Implementation @0x55b075b29610 (handle count=1) +23: dd.upcast^2()= MyHandle (name=):PIMPLHandle<8MyHandle,13MyHandle_Impl> @0x7ffe48b7f158 is OWNER of Implementation @0x55b075b29610 (handle count=1) 23: sizeof(MyHandle)=8 sizeof(DerivedHandle)=8 sizeof(DerDerivedHandle)=8 24: Starting test TestScalar ... 24: testIsNaN ... @@ -6949,7 +6973,7 @@ 24: testStep ... 24: testStep done. real/CPU ms: 0.0 / 0.0 24: -24: TestScalar done. real/CPU ms: 0.1 / 0.1 +24: TestScalar done. real/CPU ms: 0.2 / 0.2 25: vectorResult index=0 25: mv def value=29 25: mv def value now=-19 @@ -7377,7 +7401,7 @@ 25: Done 26: Starting test TestSmallMatrix ... 26: testSymMat ... -26: testSymMat done. real/CPU ms: 0.0 / 0.0 +26: testSymMat done. real/CPU ms: 0.1 / 0.1 26: testInverse<1> ... 26: testInverse<1> done. real/CPU ms: 0.0 / 0.0 26: testInverse<2> ... @@ -7399,11 +7423,11 @@ 26: testAppendRowCol ... 26: testAppendRowCol done. real/CPU ms: 0.0 / 0.0 26: -26: TestSmallMatrix done. real/CPU ms: 0.3 / 0.3 +26: TestSmallMatrix done. real/CPU ms: 0.4 / 0.4 27: Done 28: Starting test TestXml ... 28: testStringConvert ... -28: testStringConvert done. real/CPU ms: 0.2 / 0.2 +28: testStringConvert done. real/CPU ms: 0.3 / 0.3 28: testXmlFromString ... 28: Path of this executable: '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestXml' 28: Executable directory: '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/' @@ -7664,7 +7688,7 @@ 28: 28: testXmlFromScratch done. real/CPU ms: 0.1 / 0.1 28: -28: TestXml done. real/CPU ms: 0.5 / 0.5 +28: TestXml done. real/CPU ms: 0.6 / 0.6 29: 29: 2-D Advection-Diffusion Equation 29: Mesh dimensions = 10 X 5 @@ -7687,29 +7711,64 @@ 29: nst = 142 nfe = 174 nsetups = 23 nfeLS = 0 nje = 3 29: nni = 170 ncfn = 0 netf = 3 29: - 1/108 Test #1: BNTTest ........................................ Passed 0.11 sec - 2/108 Test #2: MatVecTest ..................................... Passed 0.11 sec - 3/108 Test #3: OrientationTest ................................ Passed 0.11 sec - 4/108 Test #4: PolynomialTest ................................. Passed 0.11 sec - 5/108 Test #5: RandomTest ..................................... Passed 0.11 sec - 6/108 Test #7: SFMTTest ....................................... Passed 0.10 sec - 7/108 Test #8: SpatialAlgebraTest ............................. Passed 0.10 sec - 8/108 Test #9: StateTest ...................................... Passed 0.10 sec - 9/108 Test #10: TestArray ...................................... Passed 0.10 sec - 10/108 Test #12: TestBigMatrix .................................. Passed 0.10 sec - 11/108 Test #13: TestCloneOnWritePtr ............................ Passed 0.09 sec - 12/108 Test #14: TestFunction ................................... Passed 0.09 sec - 13/108 Test #15: TestIteratorRange .............................. Passed 0.09 sec - 14/108 Test #17: TestNiceTypeName ............................... Passed 0.09 sec - 15/108 Test #20: TestParallelWorkQueue .......................... Passed 0.08 sec - 16/108 Test #21: TestPlugin ..................................... Passed 0.08 sec - 17/108 Test #22: TestPolygonalMesh .............................. Passed 0.08 sec - 18/108 Test #23: TestPrivateImplementation ...................... Passed 0.07 sec - 19/108 Test #24: TestScalar ..................................... Passed 0.07 sec - 20/108 Test #26: TestSmallMatrix ................................ Passed 0.07 sec - 21/108 Test #27: TestVectorMath ................................. Passed 0.07 sec - 22/108 Test #28: TestXml ........................................ Passed 0.07 sec - 23/108 Test #29: cpsAdvDiff_bnd ................................. Passed 0.06 sec +30: +30: 2-D Advection-Diffusion Equation +30: Mesh dimensions = 10 X 5 +30: Total system size = 50 +30: Tolerance parameters: reltol = 0 abstol = 1e-05 +30: +30: At t = 0 max.norm(u) = 8.954716e+01 +30: At t = 0.10 max.norm(u) = 4.132889e+00 nst = 85 +30: At t = 0.20 max.norm(u) = 1.039294e+00 nst = 103 +30: At t = 0.30 max.norm(u) = 2.979829e-01 nst = 113 +30: At t = 0.40 max.norm(u) = 8.765773e-02 nst = 120 +30: At t = 0.50 max.norm(u) = 2.625636e-02 nst = 126 +30: At t = 0.60 max.norm(u) = 7.830412e-03 nst = 130 +30: At t = 0.70 max.norm(u) = 2.329379e-03 nst = 134 +30: At t = 0.80 max.norm(u) = 6.953371e-04 nst = 137 +30: At t = 0.90 max.norm(u) = 2.116125e-04 nst = 140 +30: At t = 1.00 max.norm(u) = 6.542859e-05 nst = 142 +30: +30: Final Statistics: +30: nst = 142 nfe = 174 nsetups = 23 nfeLS = 0 nje = 3 +30: nni = 170 ncfn = 0 netf = 3 +30: + 1/108 Test #1: BNTTest ........................................ Passed 0.12 sec + 2/108 Test #2: MatVecTest ..................................... Passed 0.12 sec + 3/108 Test #3: OrientationTest ................................ Passed 0.12 sec + 4/108 Test #4: PolynomialTest ................................. Passed 0.12 sec + 5/108 Test #5: RandomTest ..................................... Passed 0.12 sec + 6/108 Test #7: SFMTTest ....................................... Passed 0.11 sec + 7/108 Test #8: SpatialAlgebraTest ............................. Passed 0.11 sec + 8/108 Test #9: StateTest ...................................... Passed 0.11 sec + 9/108 Test #10: TestArray ...................................... Passed 0.11 sec + 10/108 Test #12: TestBigMatrix .................................. Passed 0.11 sec + 11/108 Test #13: TestCloneOnWritePtr ............................ Passed 0.11 sec + 12/108 Test #14: TestFunction ................................... Passed 0.10 sec + 13/108 Test #15: TestIteratorRange .............................. Passed 0.10 sec + 14/108 Test #17: TestNiceTypeName ............................... Passed 0.10 sec + 15/108 Test #20: TestParallelWorkQueue .......................... Passed 0.09 sec + 16/108 Test #21: TestPlugin ..................................... Passed 0.09 sec + 17/108 Test #22: TestPolygonalMesh .............................. Passed 0.09 sec + 18/108 Test #23: TestPrivateImplementation ...................... Passed 0.09 sec + 19/108 Test #24: TestScalar ..................................... Passed 0.09 sec + 20/108 Test #26: TestSmallMatrix ................................ Passed 0.08 sec + 21/108 Test #27: TestVectorMath ................................. Passed 0.08 sec + 22/108 Test #28: TestXml ........................................ Passed 0.08 sec + 23/108 Test #29: cpsAdvDiff_bnd ................................. Passed 0.08 sec + 24/108 Test #30: cpsAdvDiff_bndL ................................ Passed 0.07 sec +test 41 + Start 41: cpsdenx + +41: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/cpsdenx +41: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests +41: Test timeout computed to be: 1500 +test 42 + Start 42: cpsdenx_lap + +42: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/cpsdenx_lap +42: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests +42: Test timeout computed to be: 1500 test 43 Start 43: initroot1 @@ -7842,14 +7901,13 @@ 64: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/LBFGSBTest 64: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests 64: Test timeout computed to be: 1500 -test 65 - Start 65: LBFGSDiffTest - -65: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/LBFGSDiffTest -65: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests -65: Test timeout computed to be: 1500 - 24/108 Test #19: TestParallelExecutor ........................... Passed 0.13 sec - 25/108 Test #25: TestSimulation ................................. Passed 0.12 sec +16: testPhiABIShift done. real/CPU ms: 36.4 / 36.4 +16: testFastABIShift ... +16: testFastABIShift done. real/CPU ms: 12.0 / 12.0 +16: +16: TestMassProperties done. real/CPU ms: 106.5 / 106.4 + 25/108 Test #19: TestParallelExecutor ........................... Passed 0.37 sec + 26/108 Test #25: TestSimulation ................................. Passed 0.36 sec 31: 31: t max.err qu hu 31: 0.010 1.4690e-07 3 1.1459e-02 @@ -7867,30 +7925,7 @@ 31: Number of error test failures = 0 31: Initial step size = 1.9301e-09 31: - 26/108 Test #31: cpsAdvDiff_non ................................. Passed 0.11 sec -30: -30: 2-D Advection-Diffusion Equation -30: Mesh dimensions = 10 X 5 -30: Total system size = 50 -30: Tolerance parameters: reltol = 0 abstol = 1e-05 -30: -30: At t = 0 max.norm(u) = 8.954716e+01 -30: At t = 0.10 max.norm(u) = 4.132889e+00 nst = 85 -30: At t = 0.20 max.norm(u) = 1.039294e+00 nst = 103 -30: At t = 0.30 max.norm(u) = 2.979829e-01 nst = 113 -30: At t = 0.40 max.norm(u) = 8.765773e-02 nst = 120 -30: At t = 0.50 max.norm(u) = 2.625636e-02 nst = 126 -30: At t = 0.60 max.norm(u) = 7.830412e-03 nst = 130 -30: At t = 0.70 max.norm(u) = 2.329379e-03 nst = 134 -30: At t = 0.80 max.norm(u) = 6.953371e-04 nst = 137 -30: At t = 0.90 max.norm(u) = 2.116125e-04 nst = 140 -30: At t = 1.00 max.norm(u) = 6.542859e-05 nst = 142 -30: -30: Final Statistics: -30: nst = 142 nfe = 174 nsetups = 23 nfeLS = 0 nje = 3 -30: nni = 170 ncfn = 0 netf = 3 -30: - 27/108 Test #30: cpsAdvDiff_bndL ................................ Passed 0.11 sec + 27/108 Test #31: cpsAdvDiff_non ................................. Passed 0.34 sec 32: 32: Final Statistics: 32: h0u = 6.05404e-11 @@ -7905,7 +7940,9 @@ 32: nfeLS = 8 nje = 1 32: nni = 72 ncfn = 0 netf = 6 32: nproj = 33 nce = 61 nsetupsP = 31 nprf = 0 - 28/108 Test #32: cpsNewtCrd_dns ................................. Passed 0.11 sec + 28/108 Test #32: cpsNewtCrd_dns ................................. Passed 0.34 sec +11: Done + 29/108 Test #11: TestAtomic ..................................... Passed 0.38 sec 33: 33: 33: 1.00e-05 @@ -7931,9 +7968,7 @@ 33: 1.00e-09 33: YES 3.46e-12 2.63e-06 3.09e-10 1.18e-04 | 0.00e+00 | 6082 6752+408 325 (102) | 0 6 33: NO 1.39e-06 1.70e-03 1.12e-04 3.90e-02 | 5.67e-06 | 6661 7124+448 348 (112) | 0 2 - 29/108 Test #33: cpsPend_dns .................................... Passed 0.11 sec -11: Done - 30/108 Test #11: TestAtomic ..................................... Passed 0.15 sec + 30/108 Test #33: cpsPend_dns .................................... Passed 0.34 sec 34: -------------- 1.000000 -1.0000000000 -0.0000000155 0.0000000005 0.0000005826 0.0000000000 34: -------------- 2.000000 1.0000000000 0.0000004808 -0.0000000005 0.0000003591 0.0000000000 34: -------------- 3.000000 -1.0000000000 0.0000002465 0.0000000001 0.0000017515 0.0000000000 @@ -7972,7 +8007,7 @@ 34: nni = 5033 ncfn = 0 netf = 44 34: nproj = 4553 nce = 6206 nsetupsP = 4510 nprf = 0 34: nge = 0 - 31/108 Test #34: cpsPend_dnsL ................................... Passed 0.11 sec + 31/108 Test #34: cpsPend_dnsL ................................... Passed 0.34 sec 35: At t = 2.6391e-01 y = 9.899653e-01 3.470564e-05 1.000000e-02 35: rootsfound[] = 0 1 35: At t = 4.0000e-01 y = 9.851641e-01 3.386242e-05 1.480205e-02 @@ -7995,7 +8030,7 @@ 35: nst = 536 nfe = 790 nsetups = 116 nfeLS = 0 nje = 12 35: nni = 786 ncfn = 0 netf = 32 nge = 591 35: - 32/108 Test #35: cpsRoberts_dns ................................. Passed 0.11 sec + 32/108 Test #35: cpsRoberts_dns ................................. Passed 0.34 sec 36: At t = 2.6391e-01 y = 9.899653e-01 3.470564e-05 1.000000e-02 36: rootsfound[] = 0 1 36: At t = 4.0000e-01 y = 9.851641e-01 3.386242e-05 1.480205e-02 @@ -8018,7 +8053,7 @@ 36: nst = 536 nfe = 790 nsetups = 116 nfeLS = 0 nje = 12 36: nni = 786 ncfn = 0 netf = 32 nge = 591 36: - 33/108 Test #36: cpsRoberts_dnsL ................................ Passed 0.10 sec + 33/108 Test #36: cpsRoberts_dnsL ................................ Passed 0.34 sec 37: 37: t x xdot qu hu 37: 1.39284 1.68010e+00 -2.91056e-01 5 9.8626e-02 @@ -8035,7 +8070,7 @@ 37: Number of error test failures = 15 37: Initial step size = 3.9426e-09 37: - 34/108 Test #37: cpsVanDPol_non ................................. Passed 0.10 sec + 34/108 Test #37: cpsVanDPol_non ................................. Passed 0.33 sec 38: Van der Pol 38: 38: @@ -8075,7 +8110,7 @@ 38: Number of error test failures = 0 38: Initial step size = 1.9301e-09 38: - 35/108 Test #38: cpsadamsx ...................................... Passed 0.10 sec + 35/108 Test #38: cpsadamsx ...................................... Passed 0.33 sec 39: 39: 2-D Advection-Diffusion Equation 39: Mesh dimensions = 10 X 5 @@ -8098,7 +8133,7 @@ 39: nst = 142 nfe = 174 nsetups = 23 nfeLS = 0 nje = 3 39: nni = 170 ncfn = 0 netf = 3 39: - 36/108 Test #39: cpsbanx ........................................ Passed 0.10 sec + 36/108 Test #39: cpsbanx ........................................ Passed 0.33 sec 40: 40: 2-D Advection-Diffusion Equation 40: Mesh dimensions = 10 X 5 @@ -8121,53 +8156,13 @@ 40: nst = 142 nfe = 174 nsetups = 23 nfeLS = 0 nje = 3 40: nni = 170 ncfn = 0 netf = 3 40: - 37/108 Test #40: cpsbanx_lap .................................... Passed 0.10 sec -41: At t = 2.6391e-01 y = 9.899653e-01 3.470564e-05 1.000000e-02 -41: rootsfound[] = 0 1 -41: At t = 4.0000e-01 y = 9.851641e-01 3.386242e-05 1.480205e-02 -41: At t = 4.0000e+00 y = 9.055097e-01 2.240338e-05 9.446793e-02 -41: At t = 4.0000e+01 y = 7.158014e-01 9.185060e-06 2.841895e-01 -41: At t = 4.0000e+02 y = 4.505419e-01 3.223113e-06 5.494549e-01 -41: At t = 4.0000e+03 y = 1.832057e-01 8.942854e-07 8.167934e-01 -41: At t = 4.0000e+04 y = 3.898153e-02 1.621745e-07 9.610183e-01 -41: At t = 4.0000e+05 y = 4.936102e-03 1.984115e-08 9.950639e-01 -41: At t = 4.0000e+06 y = 5.165912e-04 2.067419e-09 9.994834e-01 -41: At t = 2.0807e+07 y = 1.000000e-04 4.000395e-10 9.999000e-01 -41: rootsfound[] = -1 0 -41: At t = 4.0000e+07 y = 5.202658e-05 2.081170e-10 9.999480e-01 -41: At t = 4.0000e+08 y = 5.202811e-06 2.081135e-11 9.999948e-01 -41: At t = 4.0000e+09 y = 5.206210e-07 2.082485e-12 9.999995e-01 -41: At t = 4.0000e+10 y = 5.012244e-08 2.004898e-13 9.999999e-01 -41: -41: Final Statistics: -41: h0u = 8.23626e-14 -41: nst = 536 nfe = 790 nsetups = 116 nfeLS = 0 nje = 12 -41: nni = 786 ncfn = 0 netf = 32 nge = 591 -41: - 38/108 Test #41: cpsdenx ........................................ Passed 0.10 sec -42: At t = 2.6391e-01 y = 9.899653e-01 3.470564e-05 1.000000e-02 -42: rootsfound[] = 0 1 -42: At t = 4.0000e-01 y = 9.851641e-01 3.386242e-05 1.480205e-02 -42: At t = 4.0000e+00 y = 9.055097e-01 2.240338e-05 9.446793e-02 -42: At t = 4.0000e+01 y = 7.158014e-01 9.185060e-06 2.841895e-01 -42: At t = 4.0000e+02 y = 4.505419e-01 3.223113e-06 5.494549e-01 -42: At t = 4.0000e+03 y = 1.832057e-01 8.942854e-07 8.167934e-01 -42: At t = 4.0000e+04 y = 3.898153e-02 1.621745e-07 9.610183e-01 -42: At t = 4.0000e+05 y = 4.936102e-03 1.984115e-08 9.950639e-01 -42: At t = 4.0000e+06 y = 5.165912e-04 2.067419e-09 9.994834e-01 -42: At t = 2.0807e+07 y = 1.000000e-04 4.000395e-10 9.999000e-01 -42: rootsfound[] = -1 0 -42: At t = 4.0000e+07 y = 5.202658e-05 2.081170e-10 9.999480e-01 -42: At t = 4.0000e+08 y = 5.202811e-06 2.081135e-11 9.999948e-01 -42: At t = 4.0000e+09 y = 5.206210e-07 2.082485e-12 9.999995e-01 -42: At t = 4.0000e+10 y = 5.012244e-08 2.004898e-13 9.999999e-01 -42: -42: Final Statistics: -42: h0u = 8.23626e-14 -42: nst = 536 nfe = 790 nsetups = 116 nfeLS = 0 nje = 12 -42: nni = 786 ncfn = 0 netf = 32 nge = 591 -42: - 39/108 Test #42: cpsdenx_lap .................................... Passed 0.10 sec + 37/108 Test #40: cpsbanx_lap .................................... Passed 0.33 sec +test 65 + Start 65: LBFGSDiffTest + +65: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/LBFGSDiffTest +65: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests +65: Test timeout computed to be: 1500 test 66 Start 66: LBFGSTest @@ -8240,35 +8235,50 @@ 77: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestMultibodyGraphMaker 77: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests 77: Test timeout computed to be: 1500 -test 78 - Start 78: TestSpline - -78: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestSpline -78: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests -78: Test timeout computed to be: 1500 -test 79 - Start 79: TestTriangleMesh - -79: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestTriangleMesh -79: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests -79: Test timeout computed to be: 1500 -test 80 - Start 80: TimeStepperTest - -80: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TimeStepperTest -80: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests -80: Test timeout computed to be: 1500 -test 81 - Start 81: VerletIntegratorTest - -81: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/VerletIntegratorTest -81: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests -81: Test timeout computed to be: 1500 -16: testPhiABIShift done. real/CPU ms: 38.0 / 38.0 -16: testFastABIShift ... -16: testFastABIShift done. real/CPU ms: 17.5 / 17.5 -16: -16: TestMassProperties done. real/CPU ms: 116.9 / 116.8 +41: At t = 2.6391e-01 y = 9.899653e-01 3.470564e-05 1.000000e-02 +41: rootsfound[] = 0 1 +41: At t = 4.0000e-01 y = 9.851641e-01 3.386242e-05 1.480205e-02 +41: At t = 4.0000e+00 y = 9.055097e-01 2.240338e-05 9.446793e-02 +41: At t = 4.0000e+01 y = 7.158014e-01 9.185060e-06 2.841895e-01 +41: At t = 4.0000e+02 y = 4.505419e-01 3.223113e-06 5.494549e-01 +41: At t = 4.0000e+03 y = 1.832057e-01 8.942854e-07 8.167934e-01 +41: At t = 4.0000e+04 y = 3.898153e-02 1.621745e-07 9.610183e-01 +41: At t = 4.0000e+05 y = 4.936102e-03 1.984115e-08 9.950639e-01 +41: At t = 4.0000e+06 y = 5.165912e-04 2.067419e-09 9.994834e-01 +41: At t = 2.0807e+07 y = 1.000000e-04 4.000395e-10 9.999000e-01 +41: rootsfound[] = -1 0 +41: At t = 4.0000e+07 y = 5.202658e-05 2.081170e-10 9.999480e-01 +41: At t = 4.0000e+08 y = 5.202811e-06 2.081135e-11 9.999948e-01 +41: At t = 4.0000e+09 y = 5.206210e-07 2.082485e-12 9.999995e-01 +41: At t = 4.0000e+10 y = 5.012244e-08 2.004898e-13 9.999999e-01 +41: +41: Final Statistics: +41: h0u = 8.23626e-14 +41: nst = 536 nfe = 790 nsetups = 116 nfeLS = 0 nje = 12 +41: nni = 786 ncfn = 0 netf = 32 nge = 591 +41: +42: At t = 2.6391e-01 y = 9.899653e-01 3.470564e-05 1.000000e-02 +42: rootsfound[] = 0 1 +42: At t = 4.0000e-01 y = 9.851641e-01 3.386242e-05 1.480205e-02 +42: At t = 4.0000e+00 y = 9.055097e-01 2.240338e-05 9.446793e-02 +42: At t = 4.0000e+01 y = 7.158014e-01 9.185060e-06 2.841895e-01 +42: At t = 4.0000e+02 y = 4.505419e-01 3.223113e-06 5.494549e-01 +42: At t = 4.0000e+03 y = 1.832057e-01 8.942854e-07 8.167934e-01 +42: At t = 4.0000e+04 y = 3.898153e-02 1.621745e-07 9.610183e-01 +42: At t = 4.0000e+05 y = 4.936102e-03 1.984115e-08 9.950639e-01 +42: At t = 4.0000e+06 y = 5.165912e-04 2.067419e-09 9.994834e-01 +42: At t = 2.0807e+07 y = 1.000000e-04 4.000395e-10 9.999000e-01 +42: rootsfound[] = -1 0 +42: At t = 4.0000e+07 y = 5.202658e-05 2.081170e-10 9.999480e-01 +42: At t = 4.0000e+08 y = 5.202811e-06 2.081135e-11 9.999948e-01 +42: At t = 4.0000e+09 y = 5.206210e-07 2.082485e-12 9.999995e-01 +42: At t = 4.0000e+10 y = 5.012244e-08 2.004898e-13 9.999999e-01 +42: +42: Final Statistics: +42: h0u = 8.23626e-14 +42: nst = 536 nfe = 790 nsetups = 116 nfeLS = 0 nje = 12 +42: nni = 786 ncfn = 0 netf = 32 nge = 591 +42: 43: 0.000000e+00 0.000000e+00 0.000000e+00 6.000000e-01 0.000000e+00 0 0 0 43: 3.432259e-10 3.432259e-10 3.432259e-10 6.000000e-01 0.000000e+00 0 0 0 43: 3.432602e-06 3.432602e-06 3.432602e-06 6.000000e-01 0.000000e+00 0 0 0 @@ -8481,6 +8491,20 @@ 43: 9.847231e+00 -4.100000e-01 -4.100000e-01 -2.000000e-01 4.000000e-01 0 -1 0 43: 9.912110e+00 -4.682711e-01 -4.682711e-01 -2.000000e-01 4.000000e-01 0 0 0 43: 1.000000e+01 -5.440216e-01 -5.440216e-01 -2.000000e-01 4.000000e-01 0 0 0 +44: +44: Final Statistics: +44: h0u = 6.05404e-11 +44: nst = 110 nfe = 134 nsetups = 25 +44: nfeLS = 16 nje = 2 +44: nni = 130 ncfn = 0 netf = 5 +44: nproj = 87 nce = 125 nsetupsP = 86 nprf = 0 +44: +44: Final Statistics: +44: h0u = 7.3562e-11 +44: nst = 50 nfe = 76 nsetups = 22 +44: nfeLS = 8 nje = 1 +44: nni = 72 ncfn = 0 netf = 6 +44: nproj = 33 nce = 61 nsetupsP = 31 nprf = 0 45: double 8 45: long double 16 45: float 4 @@ -9133,13 +9157,60 @@ 49: Number of error test failures = 0 49: Initial step size = 1.9301e-09 49: +50: ==> SimTKcommon library version: 3.7.0 +50: SimTK_about_SimTKcommon(): +50: about(version)='3.7.0' +50: about(library)='SimTKcommon' +50: about(type)='shared' +50: about(debug)='debug' +50: about(authors)='"Michael.Sherman_Peter.Eastman"' +50: about(copyright)='Copyright (c) "2005-10" Stanford University, "Michael.Sherman_Peter.Eastman"' +50: about(svn_revision)='' +50: -------------- 1.000000 -1.0000000000 -0.0000000356 0.0000000002 0.0000001857 0.0000000000 +50: -------------- 2.000000 1.0000000000 0.0000001626 -0.0000000005 -0.0000004909 0.0000000000 +50: -------------- 3.000000 -1.0000000000 0.0000004065 0.0000000006 -0.0000002480 0.0000000000 +50: -------------- 4.000000 1.0000000000 0.0000008481 -0.0000000008 0.0000017480 -0.0000000000 +50: -------------- 5.000000 -1.0000000000 0.0000012459 0.0000000008 0.0000043667 0.0000000000 +50: -------------- 6.000000 1.0000000000 0.0000016813 -0.0000000002 0.0000080989 0.0000000000 +50: -------------- 7.000000 -1.0000000000 0.0000014532 0.0000000011 0.0000132754 0.0000000000 +50: -------------- 8.000000 1.0000000000 0.0000019596 -0.0000000005 0.0000178747 -0.0000000000 +50: -------------- 9.000000 -1.0000000000 0.0000016618 0.0000000004 0.0000238011 0.0000000000 +50: -------------- 10.000000 1.0000000000 0.0000021199 -0.0000000008 0.0000287929 -0.0000000000 +50: -------------- 11.000000 -1.0000000000 0.0000027133 0.0000000018 0.0000358465 0.0000000000 +50: -------------- 12.000000 1.0000000000 0.0000023650 -0.0000000014 0.0000437360 0.0000000000 +50: -------------- 13.000000 -1.0000000000 0.0000029557 0.0000000006 0.0000516188 -0.0000000000 +50: -------------- 14.000000 1.0000000000 0.0000026695 -0.0000000013 0.0000604184 0.0000000000 +50: -------------- 15.000000 -1.0000000000 0.0000032597 0.0000000003 0.0000693019 0.0000000000 +50: -------------- 16.000000 1.0000000000 0.0000029967 -0.0000000013 0.0000790964 0.0000000000 +50: -------------- 17.000000 -1.0000000000 0.0000035696 0.0000000010 0.0000890433 0.0000000000 +50: -------------- 18.000000 1.0000000000 0.0000032687 -0.0000000011 0.0000997347 0.0000000000 +50: -------------- 19.000000 -1.0000000000 0.0000036937 0.0000000012 0.0001099650 0.0000000000 +50: -------------- 20.000000 1.0000000000 0.0000040329 -0.0000000005 0.0001216025 -0.0000000000 +50: -------------- 21.000000 -1.0000000000 0.0000043677 0.0000000009 0.0001341976 0.0000000000 +50: -------------- 22.000000 1.0000000000 0.0000048072 -0.0000000024 0.0001476982 0.0000000000 +50: -------------- 23.000000 -1.0000000000 0.0000045672 0.0000000019 0.0001624948 0.0000000000 +50: -------------- 24.000000 1.0000000000 0.0000049275 -0.0000000016 0.0001767203 0.0000000000 +50: -------------- 25.000000 -1.0000000000 0.0000053631 0.0000000012 0.0001920224 0.0000000000 +50: -------------- 26.000000 1.0000000000 0.0000051353 -0.0000000022 0.0002087710 0.0000000000 +50: -------------- 27.000000 -1.0000000000 0.0000056416 0.0000000018 0.0002249427 -0.0000000000 +50: -------------- 28.000000 1.0000000000 0.0000053436 -0.0000000017 0.0002424424 0.0000000000 +50: -------------- 29.000000 -1.0000000000 0.0000058014 0.0000000023 0.0002590076 -0.0000000000 +50: -------------- 30.000000 1.0000000000 0.0000063937 -0.0000000013 0.0002776348 -0.0000000000 +50: +50: Final Statistics: +50: h0u = 2.70299e-11 +50: nst = 4587 nfe = 5045 nsetups = 292 +50: nfeLS = 312 nje = 78 +50: nni = 5041 ncfn = 0 netf = 48 +50: nproj = 4378 nce = 6177 nsetupsP = 4331 nprf = 0 +50: nge = 0 52: Starting test CMAES ... 52: testCMAESAvailable ... 52: testCMAESAvailable done. real/CPU ms: 0.0 / 0.0 52: testTwoOrMoreParameters ... 52: testTwoOrMoreParameters done. real/CPU ms: 0.1 / 0.1 52: testMaxIterations ... -52: testMaxIterations done. real/CPU ms: 14.4 / 14.4 +52: testMaxIterations done. real/CPU ms: 15.0 / 15.0 52: testCigtabOptimum ... 54: 0.001 0.01 -1e-07 54: 0.00103142 0.00999999 -1.03142e-07 @@ -11787,7 +11858,7 @@ 61: Number of equality constraint Jacobian evaluations = 8 61: Number of inequality constraint Jacobian evaluations = 8 61: Number of Lagrangian Hessian evaluations = 0 -61: Total CPU secs in IPOPT (w/o function evaluations) = 0.003 +61: Total CPU secs in IPOPT (w/o function evaluations) = 0.005 61: Total CPU secs in NLP function evaluations = 0.000 61: 61: EXIT: Optimal Solution Found. @@ -13557,6 +13628,155 @@ 62: Succeeded... 62: reference_theta = 3.618643e-03 reference_gradBarrTDelta = -7.845736e-01 62: +63: LBFGSBDiffTest.cpp: f = 0.000000 params = 1.000000 0.999999 1.000000 1.000002 1.000003 1.000004 1.000007 1.000011 1.000021 1.000039 1.000079 1.000160 1.000324 1.000650 1.001301 1.002604 1.005215 1.010458 1.021026 1.042497 1.086800 1.181134 1.395078 1.946243 3.787864 + 38/108 Test #16: TestMassProperties ............................. Passed 0.47 sec + 39/108 Test #41: cpsdenx ........................................ Passed 0.46 sec + 40/108 Test #42: cpsdenx_lap .................................... Passed 0.46 sec + 41/108 Test #43: initroot1 ...................................... Passed 0.46 sec + 42/108 Test #44: newton ......................................... Passed 0.46 sec + 43/108 Test #45: pend ........................................... Passed 0.46 sec + 44/108 Test #46: pendEs ......................................... Passed 0.46 sec + 45/108 Test #47: pendLr ......................................... Passed 0.46 sec + 46/108 Test #48: pend_test ...................................... Passed 0.45 sec + 47/108 Test #49: CpsAdamsXCpp ................................... Passed 0.45 sec + 48/108 Test #50: PendLrCpp ...................................... Passed 0.45 sec + 49/108 Test #51: BestAvailableTest .............................. Passed 0.45 sec + 50/108 Test #54: DifferentiatorTest ............................. Passed 0.45 sec + 51/108 Test #55: EigenTest ...................................... Passed 0.44 sec + 52/108 Test #57: FactorLUTest ................................... Passed 0.44 sec + 53/108 Test #58: FactorQTZTest .................................. Passed 0.44 sec + 54/108 Test #59: FactorSVDTest .................................. Passed 0.44 sec + 55/108 Test #60: IntegratorTest ................................. Passed 0.44 sec + 56/108 Test #61: IpoptDiffTest .................................. Passed 0.44 sec + 57/108 Test #63: LBFGSBDiffTest ................................. Passed 0.43 sec +test 78 + Start 78: TestSpline + +78: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestSpline +78: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests +78: Test timeout computed to be: 1500 +test 79 + Start 79: TestTriangleMesh + +79: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestTriangleMesh +79: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests +79: Test timeout computed to be: 1500 +test 80 + Start 80: TimeStepperTest + +80: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TimeStepperTest +80: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests +80: Test timeout computed to be: 1500 +test 81 + Start 81: VerletIntegratorTest + +81: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/VerletIntegratorTest +81: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests +81: Test timeout computed to be: 1500 +test 82 + Start 82: GazeboBasicControllerResponse + +82: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/GazeboBasicControllerResponse +82: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +82: Test timeout computed to be: 1500 +test 83 + Start 83: GazeboInelasticCollision + +83: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/GazeboInelasticCollision +83: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +83: Test timeout computed to be: 1500 +test 84 + Start 84: GazeboReactionForce + +84: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/GazeboReactionForce +84: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +84: Test timeout computed to be: 1500 +test 85 + Start 85: GazeboReactionForceWithAppliedForceCompliant + +85: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/GazeboReactionForceWithAppliedForceCompliant +85: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +85: Test timeout computed to be: 1500 +test 86 + Start 86: GazeboReactionForceWithAppliedForceRigid + +86: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/GazeboReactionForceWithAppliedForceRigid +86: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +86: Test timeout computed to be: 1500 +test 87 + Start 87: TestAngleConversions + +87: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestAngleConversions +87: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +87: Test timeout computed to be: 1500 +test 88 + Start 88: TestCollisionDetectionAlgorithm + +88: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestCollisionDetectionAlgorithm +88: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +88: Test timeout computed to be: 1500 +test 89 + Start 89: TestConstraints + +89: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestConstraints +89: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +89: Test timeout computed to be: 1500 +test 90 + Start 90: TestCustomConstraints + +90: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestCustomConstraints +90: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +90: Test timeout computed to be: 1500 +test 91 + Start 91: TestCustomMobilizedBodies + +91: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestCustomMobilizedBodies +91: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +91: Test timeout computed to be: 1500 +test 92 + Start 92: TestElasticFoundationForce + +92: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestElasticFoundationForce +92: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +92: Test timeout computed to be: 1500 +test 93 + Start 93: TestForces + +93: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestForces +93: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +93: Test timeout computed to be: 1500 +test 94 + Start 94: TestFunctionBasedMobilizedBodies + +94: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestFunctionBasedMobilizedBodies +94: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +94: Test timeout computed to be: 1500 +test 95 + Start 95: TestGravity + +95: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestGravity +95: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +95: Test timeout computed to be: 1500 +test 96 + Start 96: TestHuntCrossleyForce + +96: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestHuntCrossleyForce +96: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +96: Test timeout computed to be: 1500 +test 97 + Start 97: TestLinearBushing + +97: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestLinearBushing +97: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +97: Test timeout computed to be: 1500 +52: testCigtabOptimum done. real/CPU ms: 347.4 / 113.4 +52: testParameterLimits ... +52: testParameterLimits done. real/CPU ms: 80.5 / 0.5 +52: testSigmaAndAckleyOptimum ... +52: testSigmaAndAckleyOptimum done. real/CPU ms: 4.1 / 4.0 +52: testDropWaveOptimumLambda ... +52: testDropWaveOptimumLambda done. real/CPU ms: 77.2 / 77.2 +52: testMaxFunEvals ... 62: ************************************************** 62: *** Update HessianMatrix for Iteration 9: 62: ************************************************** @@ -14943,548 +15163,137 @@ 62: curr_z_U[ 4]= 7.9719463579766168e-05 62: DenseVector "curr_slack_s_L" with 1 elements: 62: curr_slack_s_L[ 1]= 2.2537571349902718e-04 -62: DenseVector "curr_slack_s_U" with 0 elements: -62: DenseVector "curr_v_L" with 1 elements: -62: curr_v_L[ 1]= 1.2258654905765380e+00 -62: DenseVector "curr_v_U" with 0 elements: -62: -62: -62: ***Current NLP Values for Iteration 16: -62: -62: (scaled) (unscaled) -62: Objective...............: 1.4210710270105065e+00 1.7052852324126079e+01 -62: Dual infeasibility......: 3.8222857433016837e-02 4.5867428919620201e-01 -62: Constraint violation....: 6.6588628587812095e-04 3.2695140739562594e-03 -62: Complementarity.........: 4.7175576605293520e-04 5.6610691926352224e-03 -62: Overall NLP error.......: 3.8222857433016837e-02 4.5867428919620201e-01 -62: -62: DenseVector "grad_f" with 4 elements: -62: grad_f[ 1]= 1.2037950977309768e+00 -62: grad_f[ 2]= 1.1663833069583732e-01 -62: grad_f[ 3]= 1.9997166402917066e-01 -62: grad_f[ 4]= 8.1658737024538397e-01 -62: DenseVector "curr_c" with 1 elements: -62: curr_c[ 1]= 3.2695140739562594e-04 -62: DenseVector "curr_d" with 1 elements: -62: curr_d[ 1]=-6.6588668587812098e-04 -62: DenseVector "curr_d - curr_s" with 1 elements: -62: curr_d - curr_s[ 1]=-8.9126199937714817e-04 -62: -62: -62: -62: ************************************************** -62: *** Update Barrier Parameter for Iteration 16: -62: ************************************************** -62: -62: Staying in free mu mode. -62: The current filter has 7 entries. -62: phi theta iter -62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 -62: 2 1.4423332860357938e+00 1.0274010163965094e-04 6 -62: 3 1.4413235016815467e+00 1.2643682542685304e-04 7 -62: 4 1.4131282557471663e+00 1.6036198022143809e-02 9 -62: 5 1.4039314102134561e+00 3.7639712904795834e-02 11 -62: 6 1.4049317607873903e+00 3.4167612122773236e-02 12 -62: 7 1.4210710270105065e+00 1.2182134067727740e-03 16 -62: Solving the Primal Dual System for the affine step -62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 -62: delta_c=0.000000e+00 delta_d=0.000000e+00 -62: Factorization successful. -62: Number of trial factorizations performed: 1 -62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 -62: delta_c=0.000000e+00 delta_d=0.000000e+00 -62: Solving the Primal Dual System for the centering step -62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 6.699183897369e-08 q = 6.699183897369e-08 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 6.563614303647e-08 q = 6.563614303647e-08 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 3.80e-01 d_inf = 0.000000000000e+00 p_inf = 4.630980289846e-11 cmpl = 9.265206380704e-09 q = 9.311516183603e-09 a_pri = 9.90e-01 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 6.13e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 2.466738116660e-08 q = 2.466738116660e-08 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 2.36e-01 d_inf = 0.000000000000e+00 p_inf = 2.811255518862e-10 cmpl = 3.521218934576e-09 q = 3.802344486463e-09 a_pri = 9.75e-01 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 1.47e-01 d_inf = 0.000000000000e+00 p_inf = 5.187223757798e-10 cmpl = 1.381798096776e-09 q = 1.900520472555e-09 a_pri = 9.66e-01 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.18e-02 d_inf = 8.390349014231e-07 p_inf = 6.987666456090e-10 cmpl = 9.307289100016e-10 q = 8.406643969787e-07 a_pri = 9.61e-01 a_dual = 9.60e-01 xi = 0.00e+00 -62: sigma = 1.81e-01 d_inf = 0.000000000000e+00 p_inf = 4.199808488808e-10 cmpl = 2.072368931843e-09 q = 2.492349780724e-09 a_pri = 9.69e-01 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 1.26e-01 d_inf = 4.164038938845e-08 p_inf = 5.845695402089e-10 cmpl = 1.120396104698e-09 q = 4.334535503336e-08 a_pri = 9.64e-01 a_dual = 9.91e-01 xi = 0.00e+00 -62: sigma = 1.60e-01 d_inf = 0.000000000000e+00 p_inf = 4.798599617327e-10 cmpl = 1.627130784114e-09 q = 2.106990745847e-09 a_pri = 9.67e-01 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 1.39e-01 d_inf = 0.000000000000e+00 p_inf = 5.434428994124e-10 cmpl = 1.241561433201e-09 q = 1.785004332614e-09 a_pri = 9.65e-01 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 1.34e-01 d_inf = 8.533387399684e-10 p_inf = 5.589877636819e-10 cmpl = 1.172131287761e-09 q = 2.584457791411e-09 a_pri = 9.65e-01 a_dual = 9.99e-01 xi = 0.00e+00 -62: Sigma = 1.387915e-01 -62: Barrier parameter mu computed by oracle is 3.774662e-05 -62: Barrier parameter mu after safeguards is 3.774662e-05 -62: Barrier Parameter: 3.774662e-05 -62: -62: ************************************************** -62: *** Solving the Primal Dual System for Iteration 16: -62: ************************************************** -62: -62: max-norm resid_x 1.387779e-17 -62: max-norm resid_s 8.153200e-17 -62: max-norm resid_c 6.938894e-18 -62: max-norm resid_d 9.649399e-18 -62: max-norm resid_zL 8.809143e-20 -62: max-norm resid_zU 5.421011e-20 -62: max-norm resid_vL 3.388132e-21 -62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 3.82e-02 nrm_sol = 3.41e-02 nrm_resid = 8.15e-17 -62: residual_ratio = 1.126812e-15 -62: Factorization successful. -62: max-norm resid_x 6.938894e-18 -62: max-norm resid_s 0.000000e+00 -62: max-norm resid_c 4.119968e-18 -62: max-norm resid_d 3.577867e-18 -62: max-norm resid_zL 4.065758e-20 -62: max-norm resid_zU 5.421011e-20 -62: max-norm resid_vL 3.345780e-20 -62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 3.82e-02 nrm_sol = 3.41e-02 nrm_resid = 6.94e-18 -62: residual_ratio = 9.589885e-17 -62: -62: ************************************************** -62: *** Finding Acceptable Trial Point for Iteration 16: -62: ************************************************** -62: -62: --> Starting filter line search in iteration 16 <-- -62: Mu has changed in line search - resetting watchdog counters. -62: The current filter has 0 entries. -62: Relative step size for delta_x = 1.443233e-02 -62: minimal step size ALPHA_MIN = 3.069034E-10 -62: Starting checks for alpha (primal) = 9.65e-01 -62: Checking acceptability for trial step size alpha_primal_test= 9.652727e-01: -62: New values of barrier function = 1.4190391998950056e+00 (reference 1.4214382310562210e+00): -62: New values of constraint violation = 8.7375515487369919e-04 (reference 1.2182134067727740e-03): -62: reference_theta = 1.218213e-03 reference_gradBarrTDelta = -1.984686e-03 -62: Checking sufficient reduction... -62: Succeeded... -62: Checking filter acceptability... -62: Succeeded... -62: reference_theta = 1.218213e-03 reference_gradBarrTDelta = -1.984686e-03 -62: -62: ************************************************** -62: *** Update HessianMatrix for Iteration 17: -62: ************************************************** -62: -62: In limited-memory update, s_new_max is 3.294816e-02 -62: Limited-Memory test for skipping: -62: s^Ty = -1.501251e-03 snrm = 4.747483e-02 ynrm = 2.918171e+00 -62: Skip the update. -62: Number of successive iterations with skipping: 1 -62: -62: -62: ************************************************** -62: *** Summary of Iteration: 17: -62: ************************************************** -62: -62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls -62: 17 1.7021260e+01 6.37e-04 3.43e-02 -4.4 3.41e-02 - 1.00e+00 9.65e-01h 1 sigma=1.39e-01 qf=12Ws -62: -62: ************************************************** -62: *** Beginning Iteration 17 from the following point: -62: ************************************************** -62: -62: Current barrier parameter mu = 3.7746616004054278e-05 -62: Current fraction-to-the-boundary parameter tau = 9.8999999999999999e-01 -62: -62: ||curr_x||_inf = 4.8385486265029867e+00 -62: ||curr_s||_inf = 3.8552159716154655e-05 -62: ||curr_y_c||_inf = 1.5620998516049150e-01 -62: ||curr_y_d||_inf = 1.2204078672565069e+00 -62: ||curr_z_L||_inf = 2.0586206827808762e-02 -62: ||curr_z_U||_inf = 3.1385466323776237e-05 -62: ||curr_v_L||_inf = 1.2202115208560962e+00 -62: ||curr_v_U||_inf = 0.0000000000000000e+00 -62: -62: ||delta_x||_inf = 3.4133524319629849e-02 -62: ||delta_s||_inf = 1.9354442061749835e-04 -62: ||delta_y_c||_inf = 1.5780445324613842e-04 -62: ||delta_y_d||_inf = 5.6539673694464406e-03 -62: ||delta_z_L||_inf = 1.9667694345854355e-03 -62: ||delta_z_U||_inf = 1.9458449595414966e-03 -62: ||delta_v_L||_inf = 5.6539697204419596e-03 -62: ||delta_v_U||_inf = 0.0000000000000000e+00 -62: DenseVector "curr_x" with 4 elements: -62: curr_x[ 1]= 1.0002533573580408e+00 -62: curr_x[ 2]= 4.8385486265029867e+00 -62: curr_x[ 3]= 3.6926742768170837e+00 -62: curr_x[ 4]= 1.3980216366349938e+00 -62: DenseVector "curr_s" with 1 elements: -62: curr_s[ 1]= 3.8552159716154655e-05 -62: DenseVector "curr_y_c" with 1 elements: -62: curr_y_c[ 1]= 1.5620998516049150e-01 -62: DenseVector "curr_y_d" with 1 elements: -62: curr_y_d[ 1]=-1.2204078672565069e+00 -62: DenseVector "curr_slack_x_L" with 4 elements: -62: curr_slack_x_L[ 1]= 2.5336735804082355e-04 -62: curr_slack_x_L[ 2]= 3.8385486365029866e+00 -62: curr_slack_x_L[ 3]= 2.6926742868170837e+00 -62: curr_slack_x_L[ 4]= 3.9802164663499384e-01 -62: DenseVector "curr_slack_x_U" with 4 elements: -62: curr_slack_x_U[ 1]= 3.9997466926419589e+00 -62: curr_slack_x_U[ 2]= 1.6145142349701302e-01 -62: curr_slack_x_U[ 3]= 1.3073257731829160e+00 -62: curr_slack_x_U[ 4]= 3.6019784133650061e+00 -62: DenseVector "curr_z_L" with 4 elements: -62: curr_z_L[ 1]= 2.0586206827808762e-02 -62: curr_z_L[ 2]= 1.0116474755836487e-05 -62: curr_z_L[ 3]= 1.3494256180128248e-05 -62: curr_z_L[ 4]= 9.6630271842416404e-05 -62: DenseVector "curr_z_U" with 4 elements: -62: curr_z_U[ 1]= 9.0710827192484720e-06 -62: curr_z_U[ 2]= 2.6543786728741147e-05 -62: curr_z_U[ 3]= 3.1385466323776237e-05 -62: curr_z_U[ 4]= 1.1133023302921933e-05 -62: DenseVector "curr_slack_s_L" with 1 elements: -62: curr_slack_s_L[ 1]= 3.8552559716154656e-05 -62: DenseVector "curr_slack_s_U" with 0 elements: -62: DenseVector "curr_v_L" with 1 elements: -62: curr_v_L[ 1]= 1.2202115208560962e+00 -62: DenseVector "curr_v_U" with 0 elements: -62: -62: -62: ***Current NLP Values for Iteration 17: -62: -62: (scaled) (unscaled) -62: Objective...............: 1.4184383631941118e+00 1.7021260358329343e+01 -62: Dual infeasibility......: 3.4348641964650081e-02 4.1218370357580097e-01 -62: Constraint violation....: 5.9846248454409085e-04 2.3674011061345368e-03 -62: Complementarity.........: 4.7042277524144542e-05 5.6450733028973459e-04 -62: Overall NLP error.......: 3.4348641964650081e-02 4.1218370357580097e-01 -62: -62: DenseVector "grad_f" with 4 elements: -62: grad_f[ 1]= 1.2269654897670117e+00 -62: grad_f[ 2]= 1.1653131964194463e-01 -62: grad_f[ 3]= 1.9986465297527795e-01 -62: grad_f[ 4]= 7.9449092752681205e-01 -62: DenseVector "curr_c" with 1 elements: -62: curr_c[ 1]= 2.3674011061345369e-04 -62: DenseVector "curr_d" with 1 elements: -62: curr_d[ 1]=-5.9846288454409088e-04 -62: DenseVector "curr_d - curr_s" with 1 elements: -62: curr_d - curr_s[ 1]=-6.3701504426024553e-04 -62: -62: -62: -62: ************************************************** -62: *** Update Barrier Parameter for Iteration 17: -62: ************************************************** -62: -62: Staying in free mu mode. -62: The current filter has 7 entries. -62: phi theta iter -62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 -62: 2 1.4423332860357938e+00 1.0274010163965094e-04 6 -62: 3 1.4413235016815467e+00 1.2643682542685304e-04 7 -62: 4 1.4131282557471663e+00 1.6036198022143809e-02 9 -62: 5 1.4039314102134561e+00 3.7639712904795834e-02 11 -62: 6 1.4049317607873903e+00 3.4167612122773236e-02 12 -62: 7 1.4184383631941118e+00 8.7375515487369919e-04 17 -62: Solving the Primal Dual System for the affine step -62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 -62: delta_c=0.000000e+00 delta_d=0.000000e+00 -62: Factorization successful. -62: Number of trial factorizations performed: 1 -62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 -62: delta_c=0.000000e+00 delta_d=0.000000e+00 -62: Solving the Primal Dual System for the centering step -62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.342541004182e-09 q = 1.342541004182e-09 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.305123661661e-09 q = 1.305123661661e-09 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 3.93e-01 d_inf = 0.000000000000e+00 p_inf = 5.798229308858e-08 cmpl = 2.204359226885e-10 q = 5.820272901127e-08 a_pri = 4.99e-01 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 6.21e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 3.680721142919e-10 q = 3.680721142919e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 7.62e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 6.256514955856e-10 q = 6.256514955856e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 5.34e-01 d_inf = 0.000000000000e+00 p_inf = 4.651710797572e-09 cmpl = 2.839518554899e-10 q = 4.935662653062e-09 a_pri = 8.58e-01 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 6.75e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 4.521452616587e-10 q = 4.521452616587e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 5.88e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 3.248479163216e-10 q = 3.248479163216e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 5.67e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 3.014447885788e-10 q = 3.014447885788e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 5.54e-01 d_inf = 0.000000000000e+00 p_inf = 3.925280704237e-10 cmpl = 2.926592308144e-10 q = 6.851873012381e-10 a_pri = 9.59e-01 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 5.75e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 3.100864396259e-10 q = 3.100864396259e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 5.62e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 2.962875100894e-10 q = 2.962875100894e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: Sigma = 5.622042e-01 -62: Barrier parameter mu computed by oracle is 1.796472e-05 -62: Barrier parameter mu after safeguards is 1.796472e-05 -62: Barrier Parameter: 1.796472e-05 -62: -62: ************************************************** -62: *** Solving the Primal Dual System for Iteration 17: -62: ************************************************** -62: -62: max-norm resid_x 1.734723e-17 -62: max-norm resid_s 4.163336e-17 -62: max-norm resid_c 7.318365e-19 -62: max-norm resid_d 8.565197e-18 -62: max-norm resid_zL 3.388132e-21 -62: max-norm resid_zU 6.776264e-21 -62: max-norm resid_vL 1.694066e-21 -62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 3.43e-02 nrm_sol = 7.06e-02 nrm_resid = 4.16e-17 -62: residual_ratio = 3.966209e-16 -62: Factorization successful. -62: max-norm resid_x 1.387779e-17 -62: max-norm resid_s 0.000000e+00 -62: max-norm resid_c 1.355253e-19 -62: max-norm resid_d 3.252607e-19 -62: max-norm resid_zL 0.000000e+00 -62: max-norm resid_zU 1.694066e-21 -62: max-norm resid_vL 4.235165e-22 -62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 3.43e-02 nrm_sol = 7.06e-02 nrm_resid = 1.39e-17 -62: residual_ratio = 1.322070e-16 -62: -62: ************************************************** -62: *** Finding Acceptable Trial Point for Iteration 17: -62: ************************************************** -62: -62: --> Starting filter line search in iteration 17 <-- -62: Mu has changed in line search - resetting watchdog counters. -62: The current filter has 0 entries. -62: Relative step size for delta_x = 2.794361e-03 -62: minimal step size ALPHA_MIN = 5.000000E-07 -62: Starting checks for alpha (primal) = 1.00e+00 -62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: -62: New values of barrier function = 1.4192706414275185e+00 (reference 1.4187243190290253e+00): -62: New values of constraint violation = 3.5617837340798622e-05 (reference 8.7375515487369919e-04): -62: reference_theta = 8.737552e-04 reference_gradBarrTDelta = 4.821015e-04 -62: Checking sufficient reduction... -62: Succeeded... -62: Checking filter acceptability... -62: Succeeded... -62: reference_theta = 8.737552e-04 reference_gradBarrTDelta = 4.821015e-04 -62: -62: ************************************************** -62: *** Update HessianMatrix for Iteration 18: -62: ************************************************** -62: -62: In limited-memory update, s_new_max is 1.311302e-02 -62: Limited-Memory test for skipping: -62: s^Ty = -1.470338e-03 snrm = 1.648368e-02 ynrm = 2.812978e+00 -62: Skip the update. -62: Number of successive iterations with skipping: 2 -62: -62: -62: ************************************************** -62: *** Summary of Iteration: 18: -62: ************************************************** -62: -62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls -62: 18 1.7026719e+01 2.72e-05 1.19e-02 -4.7 1.31e-02 - 1.00e+00 1.00e+00h 1 sigma=5.62e-01 qf=12Ws -62: -62: ************************************************** -62: *** Beginning Iteration 18 from the following point: -62: ************************************************** -62: -62: Current barrier parameter mu = 1.7964723324220601e-05 -62: Current fraction-to-the-boundary parameter tau = 9.8999999999999999e-01 -62: -62: ||curr_x||_inf = 4.8286027063155545e+00 -62: ||curr_s||_inf = 1.6493282345725026e-05 -62: ||curr_y_c||_inf = 1.3822953825543866e-01 -62: ||curr_y_d||_inf = 1.1641566721453842e+00 -62: ||curr_z_L||_inf = 9.1207729038260646e-02 -62: ||curr_z_U||_inf = 1.0963496361041248e-04 -62: ||curr_v_L||_inf = 1.1641566723250314e+00 -62: ||curr_v_U||_inf = 0.0000000000000000e+00 -62: -62: ||delta_x||_inf = 1.3113024365257011e-02 -62: ||delta_s||_inf = 2.2058877370429629e-05 -62: ||delta_y_c||_inf = 1.7980446905052860e-02 -62: ||delta_y_d||_inf = 5.6251195111122733e-02 -62: ||delta_z_L||_inf = 7.0621522210451884e-02 -62: ||delta_z_U||_inf = 8.3091176881671332e-05 -62: ||delta_v_L||_inf = 5.6054848531064835e-02 -62: ||delta_v_U||_inf = 0.0000000000000000e+00 -62: DenseVector "curr_x" with 4 elements: -62: curr_x[ 1]= 1.0000034648908109e+00 -62: curr_x[ 2]= 4.8286027063155545e+00 -62: curr_x[ 3]= 3.7057873011823408e+00 -62: curr_x[ 4]= 1.3971403526518937e+00 -62: DenseVector "curr_s" with 1 elements: -62: curr_s[ 1]= 1.6493282345725026e-05 -62: DenseVector "curr_y_c" with 1 elements: -62: curr_y_c[ 1]= 1.3822953825543866e-01 -62: DenseVector "curr_y_d" with 1 elements: -62: curr_y_d[ 1]=-1.1641566721453842e+00 -62: DenseVector "curr_slack_x_L" with 4 elements: -62: curr_slack_x_L[ 1]= 3.4748908109838439e-06 -62: curr_slack_x_L[ 2]= 3.8286027163155545e+00 -62: curr_slack_x_L[ 3]= 2.7057873111823407e+00 -62: curr_slack_x_L[ 4]= 3.9714036265189379e-01 -62: DenseVector "curr_slack_x_U" with 4 elements: -62: curr_slack_x_U[ 1]= 3.9999965851091890e+00 -62: curr_slack_x_U[ 2]= 1.7139734368444515e-01 -62: curr_slack_x_U[ 3]= 1.2942127488176589e+00 -62: curr_slack_x_U[ 4]= 3.6028596973481060e+00 -62: DenseVector "curr_z_L" with 4 elements: -62: curr_z_L[ 1]= 9.1207729038260646e-02 -62: curr_z_L[ 2]= 4.7062946664076389e-06 -62: curr_z_L[ 3]= 6.6059875497106145e-06 -62: curr_z_L[ 4]= 4.5348995934461305e-05 -62: DenseVector "curr_z_U" with 4 elements: -62: curr_z_U[ 1]= 4.4908985266551144e-06 -62: curr_z_U[ 2]= 1.0963496361041248e-04 -62: curr_z_U[ 3]= 1.4056390599642903e-05 -62: curr_z_U[ 4]= 4.9847361390282704e-06 -62: DenseVector "curr_slack_s_L" with 1 elements: -62: curr_slack_s_L[ 1]= 1.6493682345725027e-05 -62: DenseVector "curr_slack_s_U" with 0 elements: -62: DenseVector "curr_v_L" with 1 elements: -62: curr_v_L[ 1]= 1.1641566723250314e+00 -62: DenseVector "curr_v_U" with 0 elements: -62: -62: -62: ***Current NLP Values for Iteration 18: -62: -62: (scaled) (unscaled) -62: Objective...............: 1.4188932762443678e+00 1.7026719314932414e+01 -62: Dual infeasibility......: 1.1928696631277672e-02 1.4314435957533206e-01 -62: Constraint violation....: 2.7171184407848161e-05 2.7171184407848159e-04 -62: Complementarity.........: 1.9201230353985366e-05 2.3041476424782439e-04 -62: Overall NLP error.......: 1.1928696631277672e-02 1.4314435957533206e-01 -62: -62: DenseVector "grad_f" with 4 elements: -62: grad_f[ 1]= 1.2265025876604776e+00 -62: grad_f[ 2]= 1.1642876613255526e-01 -62: grad_f[ 3]= 1.9976209946588858e-01 -62: grad_f[ 4]= 7.9453554233508639e-01 -62: DenseVector "curr_c" with 1 elements: -62: curr_c[ 1]= 2.7171184407848161e-05 -62: DenseVector "curr_d" with 1 elements: -62: curr_d[ 1]= 8.0466294127745639e-06 -62: DenseVector "curr_d - curr_s" with 1 elements: -62: curr_d - curr_s[ 1]=-8.4466529329504623e-06 -62: -62: -62: -62: ************************************************** -62: *** Update Barrier Parameter for Iteration 18: -62: ************************************************** -62: -62: Staying in free mu mode. -62: The current filter has 6 entries. -62: phi theta iter -62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 -62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 -62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 -62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 -62: 5 1.4184383631941118e+00 8.7375515487369919e-04 17 -62: 6 1.4188932762443678e+00 3.5617837340798622e-05 18 -62: Solving the Primal Dual System for the affine step -62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 -62: delta_c=0.000000e+00 delta_d=0.000000e+00 -63: LBFGSBDiffTest.cpp: f = 0.000000 params = 1.000000 0.999999 1.000000 1.000002 1.000003 1.000004 1.000007 1.000011 1.000021 1.000039 1.000079 1.000160 1.000324 1.000650 1.001301 1.002604 1.005215 1.010458 1.021026 1.042497 1.086800 1.181134 1.395078 1.946243 3.787864 64: LBFGSBTest.cpp: f = 0.000000 params = 1.000000 1.000000 1.000000 1.000001 1.000001 1.000003 1.000005 1.000010 1.000020 1.000041 1.000081 1.000163 1.000325 1.000651 1.001301 1.002605 1.005216 1.010459 1.021027 1.042497 1.086800 1.181134 1.395078 1.946243 3.787864 + 58/108 Test #64: LBFGSBTest ..................................... Passed 0.60 sec 65: LBFGSDiffTest.cpp: results= 2.000167 -2.000055 - 40/108 Test #16: TestMassProperties ............................. Passed 0.22 sec - 41/108 Test #43: initroot1 ...................................... Passed 0.13 sec - 42/108 Test #45: pend ........................................... Passed 0.13 sec - 43/108 Test #46: pendEs ......................................... Passed 0.13 sec - 44/108 Test #47: pendLr ......................................... Passed 0.13 sec - 45/108 Test #48: pend_test ...................................... Passed 0.13 sec - 46/108 Test #49: CpsAdamsXCpp ................................... Passed 0.12 sec - 47/108 Test #51: BestAvailableTest .............................. Passed 0.12 sec - 48/108 Test #54: DifferentiatorTest ............................. Passed 0.12 sec - 49/108 Test #55: EigenTest ...................................... Passed 0.11 sec - 50/108 Test #57: FactorLUTest ................................... Passed 0.11 sec - 51/108 Test #58: FactorQTZTest .................................. Passed 0.11 sec - 52/108 Test #59: FactorSVDTest .................................. Passed 0.11 sec - 53/108 Test #60: IntegratorTest ................................. Passed 0.10 sec - 54/108 Test #61: IpoptDiffTest .................................. Passed 0.10 sec - 55/108 Test #63: LBFGSBDiffTest ................................. Passed 0.10 sec - 56/108 Test #64: LBFGSBTest ..................................... Passed 0.10 sec - 57/108 Test #65: LBFGSDiffTest .................................. Passed 0.09 sec -test 82 - Start 82: GazeboBasicControllerResponse - -82: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/GazeboBasicControllerResponse -82: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -82: Test timeout computed to be: 1500 -test 83 - Start 83: GazeboInelasticCollision - -83: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/GazeboInelasticCollision -83: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -83: Test timeout computed to be: 1500 -test 84 - Start 84: GazeboReactionForce - -84: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/GazeboReactionForce -84: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -84: Test timeout computed to be: 1500 -test 85 - Start 85: GazeboReactionForceWithAppliedForceCompliant - -85: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/GazeboReactionForceWithAppliedForceCompliant -85: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -85: Test timeout computed to be: 1500 -test 86 - Start 86: GazeboReactionForceWithAppliedForceRigid - -86: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/GazeboReactionForceWithAppliedForceRigid -86: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -86: Test timeout computed to be: 1500 -test 87 - Start 87: TestAngleConversions - -87: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestAngleConversions -87: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -87: Test timeout computed to be: 1500 -test 88 - Start 88: TestCollisionDetectionAlgorithm - -88: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestCollisionDetectionAlgorithm -88: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -88: Test timeout computed to be: 1500 -test 89 - Start 89: TestConstraints - -89: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestConstraints -89: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -89: Test timeout computed to be: 1500 -test 90 - Start 90: TestCustomConstraints - -90: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestCustomConstraints -90: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -90: Test timeout computed to be: 1500 -test 91 - Start 91: TestCustomMobilizedBodies - -91: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestCustomMobilizedBodies -91: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -91: Test timeout computed to be: 1500 -test 92 - Start 92: TestElasticFoundationForce - -92: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestElasticFoundationForce -92: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -92: Test timeout computed to be: 1500 -test 93 - Start 93: TestForces - -93: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestForces -93: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -93: Test timeout computed to be: 1500 -test 94 - Start 94: TestFunctionBasedMobilizedBodies - -94: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestFunctionBasedMobilizedBodies -94: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -94: Test timeout computed to be: 1500 -test 95 - Start 95: TestGravity - -95: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestGravity -95: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -95: Test timeout computed to be: 1500 -test 96 - Start 96: TestHuntCrossleyForce - -96: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestHuntCrossleyForce -96: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -96: Test timeout computed to be: 1500 -test 97 - Start 97: TestLinearBushing - -97: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestLinearBushing -97: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -97: Test timeout computed to be: 1500 + 59/108 Test #65: LBFGSDiffTest .................................. Passed 0.35 sec +66: LBFGSTest.cpp results = 2.000167 -2.000055 + 60/108 Test #66: LBFGSTest ...................................... Passed 0.35 sec +73: exact = -2.541115991807 +73: approx= -2.541115573494 err=1.646e-07 + 61/108 Test #73: SimpleDifferentiatorTest ....................... Passed 0.34 sec +74: Starting test Testing Bicubic Interpolation ... +74: testHint ... +74: testHint done. real/CPU ms: 0.2 / 0.2 +74: +74: --------------------------------------------- +74: +74: +74: ANALYTICAL FUNCTION COMPARISON: +74: Testing bicubic surface against: f(x,y) = 0 +74: Testing bicubic surface against: f(x,y) = 2*x+y +74: Testing bicubic surface against: f(x,y) = x*y +74: Testing bicubic surface against: f(x,y) = cos( (3*x^2 + y^2)^0.5 ) +74: Testing bicubic surface against: f(x,y) = 3*x^2 + y^2 +74: +74: +74: *Test Passed*. Constructor with x,y,f,fx,fy,fxy specified, +74: Smoothness parameter 0.000000 tested +74: Additional smoothness parameters not tested because +74: surface will not pass through the knot points +74: --------------------------------------------- +74: +74: --------------------------------------------- +74: +74: +74: BICUBIC COEFFICIENT VALIDATION: +74: Testing that the bicubic interpolation coefficients +74: are being solved correctly by asserting fV - A*aV = 0 +74: +74: +74: *Test Passed*. Constructor with x,y,f specified, +74: Smoothness parameter 0.000000 and 0.500000 tested +74: --------------------------------------------- +74: +74: +74: --------------------------------------------- +74: +74: +74: BICUBIC DERIVATIVE & CONTINUITY TESTING: +74: 1. Derivative are tested for consistency by ensuring that +74: numerical derivatives of f(x,y) match values returned +74: by the function. +74: Partial derivatives tested: fx,fy,fxy,fxx,fyy +74: +74: 2. Continuity is tested by asserting that a linear extrapolation +74: from a a point near a knot is equal to the value of the surface +74: of f(x,y) at the knot. Surfaces tested f, fx, fy, fxy, fxx, fyy. +74: +74: +74: *Test Passed*. Constructor with x,y,f specified, +74: Smoothness parameter 0.000000 and 0.500000 tested +74: --------------------------------------------- +74: +74: +74: --------------------------------------------- +74: +74: +74: COPY CONSTRUCTOR AND = OPERATOR TESTING: +74: Tested by using the copy constructor and equal operator +74: and comparing the values of the internally stored matrices +74: of x,y,f,fx,fy,fxy between the different surfaces, and then +74: comparing values of f,fx,fy,fxy,fxx,fyy,fxyy,fxxy,fxxx,fyyy +74: between the different surface objects across the patch +74: *Test Passed*. +74: +74: --------------------------------------------- +74: +74: Testing Bicubic Interpolation done. real/CPU ms: 7.7 / 7.7 + 62/108 Test #74: TestBicubicSurface ............................. Passed 0.34 sec +75: Done + 63/108 Test #75: TestContactGeometry ............................ Passed 0.34 sec +76: Starting test TestGeo ... +76: testMiscGeo ... +76: testMiscGeo done. real/CPU ms: 0.0 / 0.0 +76: testBox ... +76: testBox done. real/CPU ms: 0.0 / 0.0 +76: testTriMeshBoundingSphere ... +76: testTriMeshBoundingSphere done. real/CPU ms: 117.5 / 117.5 +76: testRandomPoints ... +77: Starting test TestMultibodyGraphMaker ... +77: testSerialChain ... +77: testSerialChain done. real/CPU ms: 0.0 / 0.1 +77: testIntermediateMasslessBody ... +77: testIntermediateMasslessBody done. real/CPU ms: 0.0 / 0.0 +77: testTerminalMasslessBody ... +77: testTerminalMasslessBody done. real/CPU ms: 0.1 / 0.1 +77: testLoop ... +77: testLoop done. real/CPU ms: 0.1 / 0.1 +77: +77: TestMultibodyGraphMaker done. real/CPU ms: 0.3 / 0.3 +77: +77: MULTIBODY GRAPH +77: --------------- +77: +77: 5 BODIES: +77: 0 0: ground mass=inf mob=-1 master=-1 +77: jointsAsParent=[ 0] jointsAsChild=[ 3] slaves=[] +77: 1 1: body1 mass=1.8 mob=0 master=-1 +77: jointsAsParent=[ 1] jointsAsChild=[ 0] slaves=[] +77: 2 2: body2 mass=1.8 mob=2 master=-1 +77: jointsAsParent=[ 2] jointsAsChild=[ 1] slaves=[] +77: 3 1: body3 mass=1.8 mob=1 master=-1 +77: jointsAsParent=[ 3] jointsAsChild=[ 2] slaves=[ 4] +77: 4 3: #body3_slave_1 mass=nan mob=3 master=3 +77: jointsAsParent=[] jointsAsChild=[ 2] slaves=[] +77: +77: 4 JOINTS: +77: 0 0: pin1 ground->body1 pin loopc=-1 +77: 1 2: pin2 body1->body2 pin loopc=-1 +77: 2 3: pin3 body2->body3 pin loopc=-1 +77: 3 1: pin4 body3->ground pin loopc=-1 +77: +77: 4 MOBILIZERS: +77: 0 1: pin1 ground->body1 pin 0 +77: 1 1: pin4 ground->body3 pin 3 REV +77: 2 2: pin2 body1->body2 pin 1 +77: 3 3: pin3 body2->#body3_slave_1 pin 2 +77: +77: 0 LOOP CONSTRAINTS: +77: +77: ----- END OF MULTIBODY GRAPH. +77: + 64/108 Test #77: TestMultibodyGraphMaker ........................ Passed 0.33 sec test 98 Start 98: TestLoneParticle @@ -15497,736 +15306,2637 @@ 99: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestMassMatrix 99: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests 99: Test timeout computed to be: 1500 -52: testCigtabOptimum done. real/CPU ms: 71.3 / 71.3 -52: testParameterLimits ... -52: testParameterLimits done. real/CPU ms: 0.2 / 0.2 -52: testSigmaAndAckleyOptimum ... -52: testSigmaAndAckleyOptimum done. real/CPU ms: 2.5 / 2.5 -52: testDropWaveOptimumLambda ... -52: testDropWaveOptimumLambda done. real/CPU ms: 42.0 / 42.0 -52: testMaxFunEvals ... -62: Factorization successful. -62: Number of trial factorizations performed: 1 -62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 -62: delta_c=0.000000e+00 delta_d=0.000000e+00 -62: Solving the Primal Dual System for the centering step -62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 2.654280267083e-10 q = 2.654280267083e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 2.601171061145e-10 q = 2.601171061145e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 4.07e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 4.333825311634e-11 q = 4.333825311634e-11 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 6.30e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.045948634878e-10 q = 1.045948634878e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 2.69e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.878326006955e-11 q = 1.878326006955e-11 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 1.84e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 8.686119295875e-12 q = 8.686119295875e-12 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 1.32e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 4.384949447410e-12 q = 4.384949447410e-12 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.92e-02 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 2.467231665437e-12 q = 2.467231665437e-12 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 7.91e-02 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.564844717801e-12 q = 1.564844717801e-12 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 6.67e-02 d_inf = 1.730786790838e-10 p_inf = 0.000000000000e+00 cmpl = 1.166760281263e-12 q = 1.742454393651e-10 a_pri = 1.00e+00 a_dual = 9.98e-01 xi = 0.00e+00 -62: sigma = 8.68e-02 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.884024740521e-12 q = 1.884024740521e-12 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 7.43e-02 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.383340679532e-12 q = 1.383340679532e-12 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: Sigma = 7.434751e-02 -62: Barrier parameter mu computed by oracle is 1.208783e-06 -62: Barrier parameter mu after safeguards is 1.208783e-06 -62: Barrier Parameter: 1.208783e-06 -62: -62: ************************************************** -62: *** Solving the Primal Dual System for Iteration 18: -62: ************************************************** -62: -62: max-norm resid_x 5.009014e-17 -62: max-norm resid_s 1.001803e-16 -62: max-norm resid_c 6.064756e-19 -62: max-norm resid_d 4.616330e-19 -62: max-norm resid_zL 3.388132e-21 -62: max-norm resid_zU 3.388132e-21 -62: max-norm resid_vL 3.970467e-21 -62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 1.19e-02 nrm_sol = 1.18e-02 nrm_resid = 1.00e-16 -62: residual_ratio = 4.220855e-15 -62: Factorization successful. -62: max-norm resid_x 8.131516e-20 -62: max-norm resid_s 0.000000e+00 -62: max-norm resid_c 5.183842e-19 -62: max-norm resid_d 8.978549e-20 -62: max-norm resid_zL 2.067952e-23 -62: max-norm resid_zU 3.388132e-21 -62: max-norm resid_vL 4.453540e-21 -62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 1.19e-02 nrm_sol = 1.18e-02 nrm_resid = 5.18e-19 -62: residual_ratio = 2.184087e-17 -62: -62: ************************************************** -62: *** Finding Acceptable Trial Point for Iteration 18: -62: ************************************************** -62: -62: --> Starting filter line search in iteration 18 <-- -62: Mu has changed in line search - resetting watchdog counters. -62: The current filter has 0 entries. -62: Relative step size for delta_x = 2.508804e-03 -62: minimal step size ALPHA_MIN = 8.037669E-11 -62: Starting checks for alpha (primal) = 1.00e+00 -62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: -62: New values of barrier function = 1.4187004587583210e+00 (reference 1.4189186678208334e+00): -62: New values of constraint violation = 2.9238900864773567e-05 (reference 3.5617837340798622e-05): -62: reference_theta = 3.561784e-05 reference_gradBarrTDelta = -2.215682e-04 -62: Checking sufficient reduction... -62: Succeeded... -62: Checking filter acceptability... -62: Succeeded... -62: reference_theta = 3.561784e-05 reference_gradBarrTDelta = -2.215682e-04 -62: -62: ************************************************** -62: *** Update HessianMatrix for Iteration 19: -62: ************************************************** -62: -62: Resetting Limited-Memory Update. -62: -62: -62: ************************************************** -62: *** Summary of Iteration: 19: -62: ************************************************** -62: -62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls -62: 19 1.7024081e+01 2.16e-05 1.06e-02 -5.9 1.18e-02 - 1.00e+00 1.00e+00h 1 sigma=7.43e-02 qf=12Wr -62: -62: ************************************************** -62: *** Beginning Iteration 19 from the following point: -62: ************************************************** -62: -62: Current barrier parameter mu = 1.2087830736316696e-06 -62: Current fraction-to-the-boundary parameter tau = 9.8999999999999999e-01 -62: -62: ||curr_x||_inf = 4.8200942174128043e+00 -62: ||curr_s||_inf = 1.0853484829358646e-06 -62: ||curr_y_c||_inf = 1.3718592169673849e-01 -62: ||curr_y_d||_inf = 1.1608100413976707e+00 -62: ||curr_z_L||_inf = 9.3134514144659800e-02 -62: ||curr_z_U||_inf = 1.6100319670478983e-06 -62: ||curr_v_L||_inf = 1.1608100414097584e+00 -62: ||curr_v_U||_inf = 0.0000000000000000e+00 -62: -62: ||delta_x||_inf = 1.1805897414199615e-02 -62: ||delta_s||_inf = 1.5407933862789162e-05 -62: ||delta_y_c||_inf = 1.0436165587001691e-03 -62: ||delta_y_d||_inf = 3.3466307477135588e-03 -62: ||delta_z_L||_inf = 1.9267851063991513e-03 -62: ||delta_z_U||_inf = 1.0802493164336458e-04 -62: ||delta_v_L||_inf = 3.3466309152729141e-03 -62: ||delta_v_U||_inf = 0.0000000000000000e+00 -62: DenseVector "curr_x" with 4 elements: -62: curr_x[ 1]= 1.0000131696692938e+00 -62: curr_x[ 2]= 4.8200942174128043e+00 -62: curr_x[ 3]= 3.7175931985965405e+00 -62: curr_x[ 4]= 1.3951279614823608e+00 -62: DenseVector "curr_s" with 1 elements: -62: curr_s[ 1]= 1.0853484829358646e-06 -62: DenseVector "curr_y_c" with 1 elements: -62: curr_y_c[ 1]= 1.3718592169673849e-01 -62: DenseVector "curr_y_d" with 1 elements: -62: curr_y_d[ 1]=-1.1608100413976707e+00 -62: DenseVector "curr_slack_x_L" with 4 elements: -62: curr_slack_x_L[ 1]= 1.3179669293816865e-05 -62: curr_slack_x_L[ 2]= 3.8200942274128042e+00 -62: curr_slack_x_L[ 3]= 2.7175932085965404e+00 -62: curr_slack_x_L[ 4]= 3.9512797148236090e-01 -62: DenseVector "curr_slack_x_U" with 4 elements: -62: curr_slack_x_U[ 1]= 3.9999868803307059e+00 -62: curr_slack_x_U[ 2]= 1.7990583258719539e-01 -62: curr_slack_x_U[ 3]= 1.2824068514034592e+00 -62: curr_slack_x_U[ 4]= 3.6048720885176389e+00 -62: DenseVector "curr_z_L" with 4 elements: -62: curr_z_L[ 1]= 9.3134514144659800e-02 -62: curr_z_L[ 2]= 3.2618336821734205e-07 -62: curr_z_L[ 3]= 4.1791661067631574e-07 -62: curr_z_L[ 4]= 3.2735101109249165e-06 -62: DenseVector "curr_z_U" with 4 elements: -62: curr_z_U[ 1]= 3.0220692220267609e-07 -62: curr_z_U[ 2]= 1.6100319670478983e-06 -62: curr_z_U[ 3]= 1.0622143695624058e-06 -62: curr_z_U[ 4]= 3.3272231930801630e-07 -62: DenseVector "curr_slack_s_L" with 1 elements: -62: curr_slack_s_L[ 1]= 1.0857484829358646e-06 -62: DenseVector "curr_slack_s_U" with 0 elements: -62: DenseVector "curr_v_L" with 1 elements: -62: curr_v_L[ 1]= 1.1608100414097584e+00 -62: DenseVector "curr_v_U" with 0 elements: -62: -62: -62: ***Current NLP Values for Iteration 19: -62: -62: (scaled) (unscaled) -62: Objective...............: 1.4186734344718559e+00 1.7024081213662271e+01 -62: Dual infeasibility......: 1.0649217158554835e-02 1.2779060590265801e-01 -62: Constraint violation....: 2.1582340956882720e-05 2.1582340956882720e-04 -62: Complementarity.........: 1.3621909851860354e-06 1.6346291822232427e-05 -62: Overall NLP error.......: 1.0649217158554835e-02 1.2779060590265801e-01 -62: -62: DenseVector "grad_f" with 4 elements: -62: grad_f[ 1]= 1.2251215925152661e+00 -62: grad_f[ 2]= 1.1626219457135301e-01 -62: grad_f[ 3]= 1.9959552790468632e-01 -62: grad_f[ 4]= 7.9481884950343118e-01 -62: DenseVector "curr_c" with 1 elements: -62: curr_c[ 1]= 2.1582340956882720e-05 -62: DenseVector "curr_d" with 1 elements: -62: curr_d[ 1]=-6.5712114249549812e-06 -62: DenseVector "curr_d - curr_s" with 1 elements: -62: curr_d - curr_s[ 1]=-7.6565599078908466e-06 -62: -62: -62: -62: ************************************************** -62: *** Update Barrier Parameter for Iteration 19: -62: ************************************************** -62: -62: Staying in free mu mode. -62: The current filter has 6 entries. -62: phi theta iter -62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 -62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 -62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 -62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 -62: 5 1.4184383631941118e+00 8.7375515487369919e-04 17 -62: 6 1.4186734344718559e+00 2.9238900864773567e-05 19 -62: Solving the Primal Dual System for the affine step -62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 -62: delta_c=0.000000e+00 delta_d=0.000000e+00 -62: Factorization successful. -62: Number of trial factorizations performed: 1 -62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 -62: delta_c=0.000000e+00 delta_d=0.000000e+00 -62: Solving the Primal Dual System for the centering step -62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.300162467767e-12 q = 1.300162467767e-12 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.274306821559e-12 q = 1.274306821559e-12 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 7.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 8.124193998702e-13 q = 8.124193998702e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 8.67e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 9.766243816872e-13 q = 9.766243816872e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 7.43e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 7.184875563239e-13 q = 7.184875563239e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 7.14e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 6.633192145565e-13 q = 6.633192145565e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 6.96e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 6.303251645788e-13 q = 6.303251645788e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 6.85e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 6.103545914484e-13 q = 6.103545914484e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 6.78e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.981728564898e-13 q = 5.981728564898e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 6.74e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.907055342274e-13 q = 5.907055342274e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 6.71e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.861139294726e-13 q = 5.861139294726e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 6.70e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.832851203753e-13 q = 5.832851203753e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 6.67e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.787225065878e-13 q = 5.787225065878e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: Sigma = 6.669353e-01 -62: Barrier parameter mu computed by oracle is 7.575758e-07 -62: Barrier parameter mu after safeguards is 7.575758e-07 -62: Barrier Parameter: 7.575758e-07 -62: -62: ************************************************** -62: *** Solving the Primal Dual System for Iteration 19: -62: ************************************************** -62: -62: max-norm resid_x 2.385245e-18 -62: max-norm resid_s 1.782428e-16 -62: max-norm resid_c 2.951063e-18 -62: max-norm resid_d 1.736418e-19 -62: max-norm resid_zL 1.058791e-22 -62: max-norm resid_zU 1.058791e-22 -62: max-norm resid_vL 7.299869e-23 -62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 1.06e-02 nrm_sol = 1.06e-02 nrm_resid = 1.78e-16 -62: residual_ratio = 8.405156e-15 -62: Factorization successful. -62: max-norm resid_x 1.734723e-18 -62: max-norm resid_s 0.000000e+00 -62: max-norm resid_c 9.520650e-19 -62: max-norm resid_d 3.811648e-19 -62: max-norm resid_zL 5.293956e-23 -62: max-norm resid_zU 1.058791e-22 -62: max-norm resid_vL 5.500751e-23 -62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 1.06e-02 nrm_sol = 1.06e-02 nrm_resid = 1.73e-18 -62: residual_ratio = 8.180200e-17 -62: -62: ************************************************** -62: *** Finding Acceptable Trial Point for Iteration 19: -62: ************************************************** -62: -62: --> Starting filter line search in iteration 19 <-- -62: Mu has changed in line search - resetting watchdog counters. -62: The current filter has 0 entries. -62: Relative step size for delta_x = 2.237826e-03 -62: minimal step size ALPHA_MIN = 9.040371E-11 -62: Starting checks for alpha (primal) = 1.00e+00 -62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: -62: New values of barrier function = 1.4185284053242224e+00 (reference 1.4186903712943002e+00): -62: New values of constraint violation = 2.3373536465201121e-05 (reference 2.9238900864773567e-05): -62: reference_theta = 2.923890e-05 reference_gradBarrTDelta = -1.617129e-04 -62: Checking sufficient reduction... -62: Succeeded... -62: Checking filter acceptability... -62: Succeeded... -62: reference_theta = 2.923890e-05 reference_gradBarrTDelta = -1.617129e-04 -62: -62: ************************************************** -62: *** Update HessianMatrix for Iteration 20: -62: ************************************************** -62: -62: In limited-memory update, s_new_max is 1.055715e-02 -62: Limited-Memory test for skipping: -62: s^Ty = -4.704726e-06 snrm = 1.315948e-02 ynrm = 2.806480e+00 -62: Skip the update. -62: Number of successive iterations with skipping: 1 -62: -62: -62: ************************************************** -62: *** Summary of Iteration: 20: -62: ************************************************** -62: -62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls -62: 20 1.7022129e+01 1.73e-05 9.53e-03 -6.1 1.06e-02 - 1.00e+00 1.00e+00h 1 sigma=6.67e-01 qf=13Ws -62: -62: ************************************************** -62: *** Beginning Iteration 20 from the following point: -62: ************************************************** -62: -62: Current barrier parameter mu = 7.5757575757575762e-07 -62: Current fraction-to-the-boundary parameter tau = 9.8999999999999999e-01 -62: -62: ||curr_x||_inf = 4.8124301811231209e+00 -62: ||curr_s||_inf = 6.5319348290470448e-07 -62: ||curr_y_c||_inf = 1.3693627943899728e-01 -62: ||curr_y_d||_inf = 1.1597765420258201e+00 -62: ||curr_z_L||_inf = 9.2750760008645711e-02 -62: ||curr_z_U||_inf = 4.1423693908954134e-06 -62: ||curr_v_L||_inf = 1.1597765420333959e+00 -62: ||curr_v_U||_inf = 0.0000000000000000e+00 -62: -62: ||delta_x||_inf = 1.0557152332594896e-02 -62: ||delta_s||_inf = 4.3215500003116011e-07 -62: ||delta_y_c||_inf = 2.4964225774121363e-04 -62: ||delta_y_d||_inf = 1.0334993718505475e-03 -62: ||delta_z_L||_inf = 3.8375413601408567e-04 -62: ||delta_z_U||_inf = 2.5323374238475155e-06 -62: ||delta_v_L||_inf = 1.0334993763624542e-03 -62: ||delta_v_U||_inf = 0.0000000000000000e+00 -62: DenseVector "curr_x" with 4 elements: -62: curr_x[ 1]= 1.0000081785165471e+00 -62: curr_x[ 2]= 4.8124301811231209e+00 -62: curr_x[ 3]= 3.7281503509291354e+00 -62: curr_x[ 4]= 1.3934014236599763e+00 -62: DenseVector "curr_s" with 1 elements: -62: curr_s[ 1]= 6.5319348290470448e-07 -62: DenseVector "curr_y_c" with 1 elements: -62: curr_y_c[ 1]= 1.3693627943899728e-01 -62: DenseVector "curr_y_d" with 1 elements: -62: curr_y_d[ 1]=-1.1597765420258201e+00 -62: DenseVector "curr_slack_x_L" with 4 elements: -62: curr_slack_x_L[ 1]= 8.1885165471584642e-06 -62: curr_slack_x_L[ 2]= 3.8124301911231209e+00 -62: curr_slack_x_L[ 3]= 2.7281503609291353e+00 -62: curr_slack_x_L[ 4]= 3.9340143365997637e-01 -62: DenseVector "curr_slack_x_U" with 4 elements: -62: curr_slack_x_U[ 1]= 3.9999918714834526e+00 -62: curr_slack_x_U[ 2]= 1.8756986887687876e-01 -62: curr_slack_x_U[ 3]= 1.2718496990708643e+00 -62: curr_slack_x_U[ 4]= 3.6065986263400234e+00 -62: DenseVector "curr_z_L" with 4 elements: -62: curr_z_L[ 1]= 9.2750760008645711e-02 -62: curr_z_L[ 2]= 1.9896777238964469e-07 -62: curr_z_L[ 3]= 2.7714366737157320e-07 -62: curr_z_L[ 4]= 1.9315959680882761e-06 -62: DenseVector "curr_z_U" with 4 elements: -62: curr_z_U[ 1]= 1.8939418350097540e-07 -62: curr_z_U[ 2]= 4.1423693908954134e-06 -62: curr_z_U[ 3]= 5.9948971392638754e-07 -62: curr_z_U[ 4]= 2.0999394189834008e-07 -62: DenseVector "curr_slack_s_L" with 1 elements: -62: curr_slack_s_L[ 1]= 6.5359348290470451e-07 -62: DenseVector "curr_slack_s_U" with 0 elements: -62: DenseVector "curr_v_L" with 1 elements: -62: curr_v_L[ 1]= 1.1597765420333959e+00 -62: DenseVector "curr_v_U" with 0 elements: -62: -62: -62: ***Current NLP Values for Iteration 20: -62: -62: (scaled) (unscaled) -62: Objective...............: 1.4185107472437406e+00 1.7022128966924889e+01 -62: Dual infeasibility......: 9.5294325268768191e-03 1.1435319032252184e-01 -62: Constraint violation....: 1.7317187538168355e-05 1.7317187538168355e-04 -62: Complementarity.........: 7.7698368348984882e-07 9.3238042018781867e-06 -62: Overall NLP error.......: 9.5294325268768191e-03 1.1435319032252184e-01 -62: -62: DenseVector "grad_f" with 4 elements: -62: grad_f[ 1]= 1.2239402259564538e+00 -62: grad_f[ 2]= 1.1611773496804803e-01 -62: grad_f[ 3]= 1.9945106830138137e-01 -62: grad_f[ 4]= 7.9505556153595347e-01 -62: DenseVector "curr_c" with 1 elements: -62: curr_c[ 1]= 1.7317187538168355e-05 -62: DenseVector "curr_d" with 1 elements: -62: curr_d[ 1]=-5.4031554441280603e-06 -62: DenseVector "curr_d - curr_s" with 1 elements: -62: curr_d - curr_s[ 1]=-6.0563489270327650e-06 -62: -62: -62: -62: ************************************************** -62: *** Update Barrier Parameter for Iteration 20: -62: ************************************************** -62: -62: Staying in free mu mode. -62: The current filter has 6 entries. -62: phi theta iter -62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 -62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 -62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 -62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 -62: 5 1.4184383631941118e+00 8.7375515487369919e-04 17 -62: 6 1.4185107472437406e+00 2.3373536465201121e-05 20 -62: Solving the Primal Dual System for the affine step -62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 -62: delta_c=0.000000e+00 delta_d=0.000000e+00 -62: Factorization successful. -62: Number of trial factorizations performed: 1 -62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 -62: delta_c=0.000000e+00 delta_d=0.000000e+00 -62: Solving the Primal Dual System for the centering step -62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.783992015339e-13 q = 5.783992015339e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.668557123070e-13 q = 5.668557123070e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: Sigma = 9.958740e-01 -62: Barrier parameter mu computed by oracle is 7.575758e-07 -62: Barrier parameter mu after safeguards is 7.575758e-07 -62: Barrier Parameter: 7.575758e-07 -62: -62: ************************************************** -62: *** Solving the Primal Dual System for Iteration 20: -62: ************************************************** -62: -62: max-norm resid_x 1.734723e-18 -62: max-norm resid_s 2.151057e-16 -62: max-norm resid_c 1.389134e-18 -62: max-norm resid_d 6.327336e-19 -62: max-norm resid_zL 9.388500e-23 -62: max-norm resid_zU 8.977495e-23 -62: max-norm resid_vL 6.514047e-23 -62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 9.53e-03 nrm_sol = 9.45e-03 nrm_resid = 2.15e-16 -62: residual_ratio = 1.133517e-14 -62: Factorization successful. -62: max-norm resid_x 0.000000e+00 -62: max-norm resid_s 0.000000e+00 -62: max-norm resid_c 8.470329e-20 -62: max-norm resid_d 6.098637e-20 -62: max-norm resid_zL 1.033976e-25 -62: max-norm resid_zU 1.292470e-26 -62: max-norm resid_vL 0.000000e+00 -62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 9.53e-03 nrm_sol = 9.45e-03 nrm_resid = 8.47e-20 -62: residual_ratio = 4.463509e-18 -62: -62: ************************************************** -62: *** Finding Acceptable Trial Point for Iteration 20: -62: ************************************************** -62: -62: --> Starting filter line search in iteration 20 <-- -62: The current filter has 0 entries. -62: Relative step size for delta_x = 1.998119e-03 -62: minimal step size ALPHA_MIN = 9.007927E-11 -62: Starting checks for alpha (primal) = 1.00e+00 -62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: -62: New values of barrier function = 1.4183983425117337e+00 (reference 1.4185284053242224e+00): -62: New values of constraint violation = 1.8745199946346515e-05 (reference 2.3373536465201121e-05): -62: reference_theta = 2.337354e-05 reference_gradBarrTDelta = -1.297387e-04 -62: Checking sufficient reduction... -62: Succeeded... -62: Checking filter acceptability... -62: Succeeded... -62: reference_theta = 2.337354e-05 reference_gradBarrTDelta = -1.297387e-04 -62: -62: ************************************************** -62: *** Update HessianMatrix for Iteration 21: -62: ************************************************** -62: -62: In limited-memory update, s_new_max is 9.447405e-03 -62: Limited-Memory test for skipping: -62: s^Ty = -4.420476e-06 snrm = 1.179503e-02 ynrm = 2.805032e+00 -62: Skip the update. -62: Number of successive iterations with skipping: 2 -62: -62: -62: ************************************************** -62: *** Summary of Iteration: 21: -62: ************************************************** -62: -62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls -62: 21 1.7020568e+01 1.39e-05 8.53e-03 -6.1 9.45e-03 - 1.00e+00 1.00e+00h 1 sigma=9.96e-01 qf=2Ws -62: -62: ************************************************** -62: *** Beginning Iteration 21 from the following point: -62: ************************************************** -62: -62: Current barrier parameter mu = 7.5757575757575762e-07 -62: Current fraction-to-the-boundary parameter tau = 9.9047056747312323e-01 -62: -62: ||curr_x||_inf = 4.8055352516191450e+00 -62: ||curr_s||_inf = 6.5336568530396381e-07 -62: ||curr_y_c||_inf = 1.3669054280408224e-01 -62: ||curr_y_d||_inf = 1.1587876272904800e+00 -62: ||curr_z_L||_inf = 9.2506859233076083e-02 -62: ||curr_z_U||_inf = 3.8866285774536293e-06 -62: ||curr_v_L||_inf = 1.1587876272980557e+00 -62: ||curr_v_U||_inf = 0.0000000000000000e+00 -62: -62: ||delta_x||_inf = 9.4474054269818118e-03 -62: ||delta_s||_inf = 1.7220239925929605e-10 -62: ||delta_y_c||_inf = 2.4573663491504456e-04 -62: ||delta_y_d||_inf = 9.8891473534021344e-04 -62: ||delta_z_L||_inf = 2.4390077556962531e-04 -62: ||delta_z_U||_inf = 2.5574081344178446e-07 -62: ||delta_v_L||_inf = 9.8891473534017376e-04 -62: ||delta_v_U||_inf = 0.0000000000000000e+00 -62: DenseVector "curr_x" with 4 elements: -62: curr_x[ 1]= 1.0000081793985887e+00 -62: curr_x[ 2]= 4.8055352516191450e+00 -62: curr_x[ 3]= 3.7375977563561174e+00 -62: curr_x[ 4]= 1.3918752533834475e+00 -62: DenseVector "curr_s" with 1 elements: -62: curr_s[ 1]= 6.5336568530396381e-07 -62: DenseVector "curr_y_c" with 1 elements: -62: curr_y_c[ 1]= 1.3669054280408224e-01 -62: DenseVector "curr_y_d" with 1 elements: -62: curr_y_d[ 1]=-1.1587876272904800e+00 -62: DenseVector "curr_slack_x_L" with 4 elements: -62: curr_slack_x_L[ 1]= 8.1893985887093734e-06 -62: curr_slack_x_L[ 2]= 3.8055352616191449e+00 -62: curr_slack_x_L[ 3]= 2.7375977663561173e+00 -62: curr_slack_x_L[ 4]= 3.9187526338344758e-01 -62: DenseVector "curr_slack_x_U" with 4 elements: -62: curr_slack_x_U[ 1]= 3.9999918706014110e+00 -62: curr_slack_x_U[ 2]= 1.9446479838085473e-01 -62: curr_slack_x_U[ 3]= 1.2624022936438823e+00 -62: curr_slack_x_U[ 4]= 3.6081247966165524e+00 -62: DenseVector "curr_z_L" with 4 elements: -62: curr_z_L[ 1]= 9.2506859233076083e-02 -62: curr_z_L[ 2]= 1.9907187497021829e-07 -62: curr_z_L[ 3]= 2.7672868761216640e-07 -62: curr_z_L[ 4]= 1.9332001280550758e-06 -62: DenseVector "curr_z_U" with 4 elements: -62: curr_z_U[ 1]= 1.8939432430942756e-07 -62: curr_z_U[ 2]= 3.8866285774536293e-06 -62: curr_z_U[ 3]= 6.0010186778367105e-07 -62: curr_z_U[ 4]= 2.0996383282933926e-07 -62: DenseVector "curr_slack_s_L" with 1 elements: -62: curr_slack_s_L[ 1]= 6.5376568530396384e-07 -62: DenseVector "curr_slack_s_U" with 0 elements: -62: DenseVector "curr_v_L" with 1 elements: -62: curr_v_L[ 1]= 1.1587876272980557e+00 -62: DenseVector "curr_v_U" with 0 elements: -62: -62: -62: ***Current NLP Values for Iteration 21: -62: -62: (scaled) (unscaled) -62: Objective...............: 1.4183807050357737e+00 1.7020568460429285e+01 -62: Dual infeasibility......: 8.5310442604245654e-03 1.0237253112509478e-01 -62: Constraint violation....: 1.3912271787575037e-05 1.3912271787575037e-04 -62: Complementarity.........: 7.5757575757575741e-07 9.0909090909090893e-06 -62: Overall NLP error.......: 8.5310442604245654e-03 1.0237253112509478e-01 -62: -62: DenseVector "grad_f" with 4 elements: -62: grad_f[ 1]= 1.2228957246946603e+00 -62: grad_f[ 2]= 1.1599055317382756e-01 -62: grad_f[ 3]= 1.9932388650716087e-01 -62: grad_f[ 4]= 7.9526827037745085e-01 -62: DenseVector "curr_c" with 1 elements: -62: curr_c[ 1]= 1.3912271787575037e-05 -62: DenseVector "curr_d" with 1 elements: -62: curr_d[ 1]=-4.1795624734675134e-06 -62: DenseVector "curr_d - curr_s" with 1 elements: -62: curr_d - curr_s[ 1]=-4.8329281587714774e-06 -62: -62: -62: -62: ************************************************** -62: *** Update Barrier Parameter for Iteration 21: -62: ************************************************** -62: -62: Staying in free mu mode. -62: The current filter has 5 entries. -62: phi theta iter -62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 -62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 -62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 -62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 -62: 5 1.4183807050357737e+00 1.8745199946346515e-05 21 -62: Solving the Primal Dual System for the affine step -62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 -62: delta_c=0.000000e+00 delta_d=0.000000e+00 -62: Factorization successful. -62: Number of trial factorizations performed: 1 -62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 -62: delta_c=0.000000e+00 delta_d=0.000000e+00 -62: Solving the Primal Dual System for the centering step -62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.734916770394e-13 q = 5.734916770394e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.620521369683e-13 q = 5.620521369683e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: Sigma = 1.000261e+00 -62: Barrier parameter mu computed by oracle is 7.575758e-07 -62: Barrier parameter mu after safeguards is 7.575758e-07 -62: Barrier Parameter: 7.575758e-07 -62: -62: ************************************************** -62: *** Solving the Primal Dual System for Iteration 21: -62: ************************************************** -62: -62: max-norm resid_x 2.168404e-18 -62: max-norm resid_s 7.903834e-17 -62: max-norm resid_c 1.744888e-19 -62: max-norm resid_d 3.100141e-19 -62: max-norm resid_zL 2.129990e-22 -62: max-norm resid_zU 1.067063e-22 -62: max-norm resid_vL 2.460862e-23 -62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 8.53e-03 nrm_sol = 8.46e-03 nrm_resid = 7.90e-17 -62: residual_ratio = 4.651426e-15 -62: Factorization successful. -62: max-norm resid_x 0.000000e+00 -62: max-norm resid_s 0.000000e+00 -62: max-norm resid_c 8.639736e-20 -62: max-norm resid_d 1.067262e-19 -62: max-norm resid_zL 4.135903e-25 -62: max-norm resid_zU 5.169879e-26 -62: max-norm resid_vL 0.000000e+00 -62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 8.53e-03 nrm_sol = 8.46e-03 nrm_resid = 1.07e-19 -62: residual_ratio = 6.280860e-18 -62: -62: ************************************************** -62: *** Finding Acceptable Trial Point for Iteration 21: -62: ************************************************** -62: -62: --> Starting filter line search in iteration 21 <-- -62: The current filter has 0 entries. -62: Relative step size for delta_x = 1.785977e-03 -62: minimal step size ALPHA_MIN = 8.976051E-11 -62: Starting checks for alpha (primal) = 1.00e+00 -62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: -62: New values of barrier function = 1.4182936718153074e+00 (reference 1.4183983425117337e+00): -62: New values of constraint violation = 1.5052703405009670e-05 (reference 1.8745199946346515e-05): -62: reference_theta = 1.874520e-05 reference_gradBarrTDelta = -1.044179e-04 -62: Checking sufficient reduction... -62: Succeeded... -62: Checking filter acceptability... -62: Succeeded... -62: reference_theta = 1.874520e-05 reference_gradBarrTDelta = -1.044179e-04 -62: -62: ************************************************** -62: *** Update HessianMatrix for Iteration 22: -62: ************************************************** -62: -62: Resetting Limited-Memory Update. -62: -62: -62: ************************************************** -62: *** Summary of Iteration: 22: -62: ************************************************** -62: -62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls -62: 22 1.7019313e+01 1.12e-05 7.64e-03 -6.1 8.46e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Wr -62: -62: ************************************************** -62: *** Beginning Iteration 22 from the following point: -62: ************************************************** -62: -62: Current barrier parameter mu = 7.5757575757575762e-07 -62: Current fraction-to-the-boundary parameter tau = 9.9146895573957539e-01 -62: -62: ||curr_x||_inf = 4.7993300160778061e+00 -62: ||curr_s||_inf = 6.5385514772312466e-07 -62: ||curr_y_c||_inf = 1.3647349630874958e-01 -62: ||curr_y_d||_inf = 1.1579203246549841e+00 -62: ||curr_z_L||_inf = 9.2284842182063967e-02 -62: ||curr_z_U||_inf = 3.7716765085395991e-06 -62: ||curr_v_L||_inf = 1.1579203246625598e+00 -62: ||curr_v_U||_inf = 0.0000000000000000e+00 -62: -62: ||delta_x||_inf = 8.4612387009455493e-03 -62: ||delta_s||_inf = 4.8946241916087481e-10 -62: ||delta_y_c||_inf = 2.1704649533265899e-04 -62: ||delta_y_d||_inf = 8.6730263549604687e-04 -62: ||delta_z_L||_inf = 2.2201705101211529e-04 -62: ||delta_z_U||_inf = 1.1495206891403016e-07 -62: ||delta_v_L||_inf = 8.6730263549600708e-04 -62: ||delta_v_U||_inf = 0.0000000000000000e+00 -62: DenseVector "curr_x" with 4 elements: -62: curr_x[ 1]= 1.0000081990555230e+00 -62: curr_x[ 2]= 4.7993300160778061e+00 -62: curr_x[ 3]= 3.7460589950570631e+00 -62: curr_x[ 4]= 1.3905282866508906e+00 -62: DenseVector "curr_s" with 1 elements: -62: curr_s[ 1]= 6.5385514772312466e-07 -62: DenseVector "curr_y_c" with 1 elements: -62: curr_y_c[ 1]= 1.3647349630874958e-01 -62: DenseVector "curr_y_d" with 1 elements: -62: curr_y_d[ 1]=-1.1579203246549841e+00 -62: DenseVector "curr_slack_x_L" with 4 elements: -62: curr_slack_x_L[ 1]= 8.2090555230118767e-06 -62: curr_slack_x_L[ 2]= 3.7993300260778060e+00 -62: curr_slack_x_L[ 3]= 2.7460590050570630e+00 -62: curr_slack_x_L[ 4]= 3.9052829665089062e-01 -62: DenseVector "curr_slack_x_U" with 4 elements: -62: curr_slack_x_U[ 1]= 3.9999918509444767e+00 -62: curr_slack_x_U[ 2]= 2.0067003392219362e-01 -62: curr_slack_x_U[ 3]= 1.2539410549429366e+00 -62: curr_slack_x_U[ 4]= 3.6094717633491094e+00 -62: DenseVector "curr_z_L" with 4 elements: -62: curr_z_L[ 1]= 9.2284842182063967e-02 -62: curr_z_L[ 2]= 1.9939666650907649e-07 -62: curr_z_L[ 3]= 2.7587481965976588e-07 -62: curr_z_L[ 4]= 1.9398512354983519e-06 -62: DenseVector "curr_z_U" with 4 elements: -62: curr_z_U[ 1]= 1.8939432524015745e-07 -62: curr_z_U[ 2]= 3.7716765085395991e-06 -62: curr_z_U[ 3]= 6.0412862568760466e-07 -62: curr_z_U[ 4]= 2.0988546293854158e-07 -62: DenseVector "curr_slack_s_L" with 1 elements: -62: curr_slack_s_L[ 1]= 6.5425514772312469e-07 +test 100 + Start 100: TestMobilizedBody + +100: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestMobilizedBody +100: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +100: Test timeout computed to be: 1500 +test 101 + Start 101: TestMobilizerReactionForces + +101: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestMobilizerReactionForces +101: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +101: Test timeout computed to be: 1500 +test 102 + Start 102: TestNoseHooverThermostat + +102: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestNoseHooverThermostat +102: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +102: Test timeout computed to be: 1500 +test 103 + Start 103: TestObservedPointFitter + +103: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestObservedPointFitter +103: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +103: Test timeout computed to be: 1500 +test 104 + Start 104: TestOrientedBoundingBox + +104: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestOrientedBoundingBox +104: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +104: Test timeout computed to be: 1500 +78: Starting test TestSpline ... +78: testSpline ... +78: testSpline done. real/CPU ms: 0.1 / 0.1 +78: testSplineFitter ... +78: testSplineFitter done. real/CPU ms: 1.1 / 1.1 +78: testRealSpline ... +78: testRealSpline done. real/CPU ms: 0.1 / 0.1 +78: testNaturalCubicSpline ... +78: testNaturalCubicSpline done. real/CPU ms: 1.4 / 1.4 +78: +78: TestSpline done. real/CPU ms: 2.7 / 2.7 +79: Starting test TestTriangleMesh ... +79: testTriangleMesh ... +79: testTriangleMesh done. real/CPU ms: 0.4 / 0.5 +79: testIncorrectMeshes ... +79: testIncorrectMeshes done. real/CPU ms: 0.4 / 0.4 +79: testOBBTree ... +79: testOBBTree done. real/CPU ms: 1.9 / 1.9 +79: testRayIntersection ... +79: testRayIntersection done. real/CPU ms: 0.3 / 0.3 +79: testSmoothMesh ... +79: testSmoothMesh done. real/CPU ms: 0.3 / 0.3 +79: testFindNearestPoint ... +79: testFindNearestPoint done. real/CPU ms: 0.2 / 0.2 +79: testBoundingSphere ... +79: testBoundingSphere done. real/CPU ms: 94.2 / 94.1 +79: +79: TestTriangleMesh done. real/CPU ms: 97.9 / 97.9 +80: Done +82: Starting test TrikeyWheelResponse ... +82: X_IF=~[0,-0.24,0.1] +82: [1,0,0] +82: [0,6.12323399573677e-17,-1] +82: [0,1,6.12323399573677e-17] +82: X_OM=~[0,0,0] +82: [1,0,0] +82: [0,6.12323399573677e-17,-1] +82: [0,1,6.12323399573677e-17] +82: X_IF=~[0.294827722162885,0.140150485824423,0.1] +82: [-0.583960357601762,-4.97073221524889e-17,0.811782175678687] +82: [0.811782175678687,-3.57572591382971e-17,0.583960357601762] +82: [0,1,6.12323399573677e-17] +82: X_OM=~[0,0,0] +82: [1,0,0] +82: [0,6.12323399573677e-17,-1] +82: [0,1,6.12323399573677e-17] +82: X_IF=~[-0.294827722162885,0.140150485824423,0.1] +82: [-0.583960357601762,4.97073221524889e-17,-0.811782175678686] +82: [-0.811782175678686,-3.57572591382971e-17,0.583960357601762] +82: [0,1,6.12323399573677e-17] +82: X_OM=~[0,0,0] +82: [1,0,0] +82: [0,6.12323399573677e-17,-1] +82: [0,1,6.12323399573677e-17] +82: runOnce ... +83: Starting test GazeboInelasticCollision ... +83: runOnce ... +84: Starting test GazeboReactionForce ... +84: runOnce ... +85: Starting test GazeboReactionForce ... +85: runOnce ... +86: Starting test GazeboReactionForce ... +86: runOnce ... +86: LOW ACCURACY +86: Using acc=0.01 consTol=0.001, captureVel=0.002, minCORvel=0.002, stickVel=0.002 +86: Proximal unilateral contacts: (0,2,4,6) +86: Distal unilateral contacts: (1,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=0 -> mu=0.15 +86: DBG: Uni fric 2 verr speed=0 -> mu=0.15 +86: DBG: Uni fric 4 verr speed=0 -> mu=0.15 +86: DBG: Uni fric 6 verr speed=0 -> mu=0.15 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0 0 0 0 0 0 0 0 0 0 0 0] +86: verrExt=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] +86: total verr=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] +86: DYN t=0: verrStart=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: verrApplied=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) +86: : mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) +86: +86: ***** Sliding interval 1 start +86: active=(0,4,5,1,6,7,2,8,9,3,10,11) +86: mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) +86: piTotal=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: verrLeft=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: verrApplied=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 4 uni contacts +86: Participating contact 0 is Rolling; vel=0,0, mag=0 +86: Participating contact 1 is Rolling; vel=0,0, mag=0 +86: Participating contact 2 is Rolling; vel=0,0, mag=0 +86: Participating contact 3 is Rolling; vel=0,0, mag=0 +86: +86: ....... Active set iter 1 start +86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) +86: Participating UniCont 0 (ix=0): cond=UniActive/Rolling, vel=0,0, mag=0 +86: Participating UniCont 1 (ix=2): cond=UniActive/Rolling, vel=0,0, mag=0 +86: Participating UniCont 2 (ix=4): cond=UniActive/Rolling, vel=0,0, mag=0 +86: Participating UniCont 3 (ix=6): cond=UniActive/Rolling, vel=0,0, mag=0 +86: fillMult2Active: +86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) +86: : mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) +86: DBG: active normal 0 has v=-5.28481; guess pi=-0.01 +86: DBG: active normal 3 has v=-8.99822; guess pi=-0.01 +86: DBG: active normal 6 has v=9.18767; guess pi=0.01 +86: DBG: active normal 9 has v=5.47426; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] +86: : rhsActive=~[-5.28481 0.000114402 -5.23471 -8.99822 0.000114402 -8.94832 9.18767 -3.7135 -5.23471 5.47426 -3.7135 -8.94832] +86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0 0.01 0 0 0.01 0 0] +86: Jacobian num vs. analytic norm=2.33066e-09 +86: DBG: >>>> Start NEWTON solve with errNorm=21.5573... +86: > NEWTON iter 1: errNorm=21.5573(v) -> deltaNorm=25.107(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0 0.01 0 0 0.01 0 0] +86: > errActive=~[5.27527 -0.000114403 5.22517 8.98869 -0.000114403 8.93879 -9.17816 3.7135 5.22517 -5.46474 3.7135 8.93879] +86: > deltaPi=~[6.95915 -0.974358 -4.81454 10.8816 -0.974358 -2.86583 -15.912 0.974358 -4.81454 -11.9895 0.974358 -2.86583] +86: DBG: Line search iter 1: back=1, prevNorm=21.5573. +86: > piNow=~[-6.96915 0.974358 4.81454 -10.8916 0.974358 2.86583 15.922 -0.974358 4.81454 11.9995 -0.974358 2.86583] +86: > errNow=~[-8.88178e-16 4.79285e-16 -2.66454e-15 -3.55271e-15 4.79285e-16 -1.77636e-15 1.77636e-15 -1.33227e-15 -2.66454e-15 8.88178e-16 -1.33227e-15 -1.77636e-15] normNow=6.47106e-15 +86: DBG: Improvement rate now/prev at iter 1 is 3.0018e-16 +86: DBG: <<<< NEWTON done in 1 iters; norm=6.47106e-15. +86: DBG: Worst offender is normal contact 2 err=15.922 ... +86: DBG: ... but it's Rolling, so that must go first. +86: DBG: switch worst fric 2 from roll->impend err=nan +86: rolling impulse was ~[-0,0] +86: +86: ....... Active set iter 2 start +86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) +86: Participating UniCont 0 (ix=0): cond=UniActive/Rolling, vel=0,0, mag=0 +86: Participating UniCont 1 (ix=2): cond=UniActive/Rolling, vel=0,0, mag=0 +86: Participating UniCont 2 (ix=4): cond=UniActive/Impending, vel=0,0, mag=0 +86: Participating UniCont 3 (ix=6): cond=UniActive/Rolling, vel=0,0, mag=0 +86: fillMult2Active: +86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) +86: : mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) +86: DBG: active normal 0 has v=-5.28481; guess pi=-0.01 +86: DBG: active normal 3 has v=-8.99822; guess pi=-0.01 +86: DBG: active normal 6 has v=9.18767; guess pi=0.01 +86: DBG: active normal 9 has v=5.47426; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] +86: : rhsActive=~[-5.28481 0.000114402 -5.23471 -8.99822 0.000114402 -8.94832 9.18767 -3.7135 -5.23471 5.47426 -3.7135 -8.94832] +86: : pi was=~[-6.96915 -10.8916 0 0 0.207357 1.0246 0.525894 1.54678 -0 0 -0 0] +86: : piActive=~[-0.01 0.207357 1.0246 -0.01 0.525894 1.54678 0.01 -0 0 0.01 -0 0] +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: Updated 1 pairs of rows in Jacobian:DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 +86: Jacobian num vs. analytic norm=3.8943e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=22.2437... +86: > NEWTON iter 1: errNorm=22.2437(v) -> deltaNorm=25.4144(pi) +86: > piActive=~[-0.01 0.207357 1.0246 -0.01 0.525894 1.54678 0.01 -0 0 0.01 -0 0] +86: > errActive=~[5.81964 0.0247023 5.80976 9.67253 0.0247023 9.63122 -9.85949 0 0 -6.0066 3.84617 9.63122] +86: > deltaPi=~[6.95915 -1.26702 -7.28598 10.8816 -1.26702 -2.75172 -15.9119 4.91076e-05 7.41787e-05 -11.9895 3.26724 -2.75172] +86: DBG: Line search iter 1: back=1, prevNorm=22.2437. +86: DBG: Updated impending slipVel 2 to -3.9968e-15,-2.66454e-15 +86: > piNow=~[-6.96915 1.47438 8.31059 -10.8916 1.79291 4.2985 15.9219 -4.91076e-05 -7.41787e-05 11.9995 -3.26724 2.75172] +86: > errNow=~[-8.88178e-16 -8.27653e-17 -2.66454e-15 -1.77636e-15 -8.27653e-17 -3.55271e-15 1.77636e-15 -2.35891e-19 -3.56322e-19 1.77636e-15 -3.9968e-15 -3.55271e-15] normNow=7.65419e-15 +86: DBG: Improvement rate now/prev at iter 1 is 3.44106e-16 +86: DBG: <<<< NEWTON done in 1 iters; norm=7.65419e-15. +86: DBG: Worst offender is normal contact 2 err=15.9219 ... +86: DBG: ... normal contact 2 released. +86: +86: ....... Active set iter 3 start +86: : active=(0,4,5,1,6,7,3,10,11) +86: Participating UniCont 0 (ix=0): cond=UniActive/Rolling, vel=0,0, mag=0 +86: Participating UniCont 1 (ix=2): cond=UniActive/Rolling, vel=0,0, mag=0 +86: Participating UniCont 2 (ix=4): cond=UniOff/Impending, vel=-3.9968e-15,-2.66454e-15, mag=4.80356e-15 +86: Participating UniCont 3 (ix=6): cond=UniActive/Rolling, vel=0,0, mag=0 +86: fillMult2Active: +86: : active=(0,4,5,1,6,7,3,10,11) +86: : mult2active=(0,3,-1111111111,6,1,2,4,5,-1111111111,-1111111111,7,8) +86: DBG: active normal 0 has v=-5.28481; guess pi=-0.01 +86: DBG: active normal 3 has v=-8.99822; guess pi=-0.01 +86: DBG: active normal 6 has v=5.47426; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] +86: : rhsActive=~[-5.28481 0.000114402 -5.23471 -8.99822 0.000114402 -8.94832 5.47426 -3.7135 -8.94832] +86: : pi was=~[-6.96915 -10.8916 0 0 0.182607 1.0293 0.62892 1.50783 -4.91076e-05 -7.41787e-05 -0 0] +86: : piActive=~[-0.01 0.182607 1.0293 -0.01 0.62892 1.50783 0.01 -0 0] +86: Jacobian num vs. analytic norm=2.16579e-09 +86: DBG: >>>> Start NEWTON solve with errNorm=19.9205... +86: > NEWTON iter 1: errNorm=19.9205(v) -> deltaNorm=40.7416(pi) +86: > piActive=~[-0.01 0.182607 1.0293 -0.01 0.62892 1.50783 0.01 -0 0] +86: > errActive=~[5.81617 0.0289938 5.80922 9.66419 0.0289938 9.61955 -6.00338 3.83932 9.61955] +86: > deltaPi=~[-8.9628 -1.23036 -7.27626 26.8035 -1.23036 -2.77367 -27.9115 3.27224 -2.77367] +86: DBG: Line search iter 1: back=1, prevNorm=19.9205. +86: > piNow=~[8.9528 1.41296 8.30556 -26.8135 1.85928 4.2815 27.9215 -3.27224 2.77367] +86: > errNow=~[5.32907e-15 -4.13508e-15 -8.88178e-16 -1.77636e-15 -4.13508e-15 3.55271e-15 -3.55271e-15 -1.33227e-15 3.55271e-15] normNow=1.03044e-14 +86: DBG: Improvement rate now/prev at iter 1 is 5.17278e-16 +86: DBG: <<<< NEWTON done in 1 iters; norm=1.03044e-14. +86: DBG: Worst offender is normal contact 3 err=27.9215 ... +86: DBG: ... but it's Rolling, so that must go first. +86: DBG: switch worst fric 3 from roll->impend err=nan +86: rolling impulse was ~[-0,0] +86: +86: ....... Active set iter 4 start +86: : active=(0,4,5,1,6,7,3,10,11) +86: Participating UniCont 0 (ix=0): cond=UniActive/Rolling, vel=0,0, mag=0 +86: Participating UniCont 1 (ix=2): cond=UniActive/Rolling, vel=0,0, mag=0 +86: Participating UniCont 2 (ix=4): cond=UniOff/Impending, vel=-3.9968e-15,-2.66454e-15, mag=4.80356e-15 +86: Participating UniCont 3 (ix=6): cond=UniActive/Impending, vel=0,0, mag=0 +86: fillMult2Active: +86: : active=(0,4,5,1,6,7,3,10,11) +86: : mult2active=(0,3,-1111111111,6,1,2,4,5,-1111111111,-1111111111,7,8) +86: DBG: active normal 0 has v=-5.28481; guess pi=-0.01 +86: DBG: active normal 3 has v=-8.99822; guess pi=-0.01 +86: DBG: active normal 6 has v=5.47426; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] +86: : rhsActive=~[-5.28481 0.000114402 -5.23471 -8.99822 0.000114402 -8.94832 5.47426 -3.7135 -8.94832] +86: : pi was=~[0 -26.8135 0 0 0 0 1.60206 3.68919 -4.91076e-05 -7.41787e-05 -0 0] +86: : piActive=~[-0.01 0 0 -0.01 1.60206 3.68919 0.01 -0 0] +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: Updated 1 pairs of rows in Jacobian:DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 +86: Jacobian num vs. analytic norm=6.30286e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=17.6761... +86: > NEWTON iter 1: errNorm=17.6761(v) -> deltaNorm=41.3902(pi) +86: > piActive=~[-0.01 0 0 -0.01 1.60206 3.68919 0.01 -0 0] +86: > errActive=~[5.71897 0.0147106 5.70351 10.3113 0.0147106 10.2965 -5.90481 0 0] +86: > deltaPi=~[-8.9628 0.800998 -11.5777 26.8035 0.800998 -0.093949 -27.9115 6.37235e-05 0.000142398] +86: DBG: Line search iter 1: back=1, prevNorm=17.6761. +86: DBG: Updated impending slipVel 3 to 4.44089e-16,0 +86: > piNow=~[8.9528 -0.800998 11.5777 -26.8135 0.801062 3.78314 27.9215 -6.37235e-05 -0.000142398] +86: > errNow=~[-1.77636e-15 1.64433e-16 -1.77636e-15 0 1.64433e-16 0 1.77636e-15 -2.82989e-20 -6.32374e-20] normNow=3.08552e-15 +86: DBG: Improvement rate now/prev at iter 1 is 1.74559e-16 +86: DBG: <<<< NEWTON done in 1 iters; norm=3.08552e-15. +86: DBG: Worst offender is normal contact 3 err=27.9215 ... +86: DBG: ... normal contact 3 released. +86: +86: ....... Active set iter 5 start +86: : active=(0,4,5,1,6,7) +86: Participating UniCont 0 (ix=0): cond=UniActive/Rolling, vel=0,0, mag=0 +86: Participating UniCont 1 (ix=2): cond=UniActive/Rolling, vel=0,0, mag=0 +86: Participating UniCont 2 (ix=4): cond=UniOff/Impending, vel=-3.9968e-15,-2.66454e-15, mag=4.80356e-15 +86: Participating UniCont 3 (ix=6): cond=UniOff/Impending, vel=4.44089e-16,0, mag=4.44089e-16 +86: fillMult2Active: +86: : active=(0,4,5,1,6,7) +86: : mult2active=(0,3,-1111111111,-1111111111,1,2,4,5,-1111111111,-1111111111,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-5.28481; guess pi=-0.01 +86: DBG: active normal 3 has v=-8.99822; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] +86: : rhsActive=~[-5.28481 0.000114402 -5.23471 -8.99822 0.000114402 -8.94832] +86: : pi was=~[0 -26.8135 0 0 -0 0 0.801062 3.78314 -4.91076e-05 -7.41787e-05 -6.37235e-05 -0.000142398] +86: : piActive=~[-0.01 -0 0 -0.01 0.801062 3.78314] +86: Jacobian num vs. analytic norm=1.31515e-09 +86: DBG: >>>> Start NEWTON solve with errNorm=16.7147... +86: > NEWTON iter 1: errNorm=16.7147(v) -> deltaNorm=19.2525(pi) +86: > piActive=~[-0.01 -0 0 -0.01 0.801062 3.78314] +86: > errActive=~[5.74687 -0.0223683 5.70607 10.3331 -0.0223683 10.3451] +86: > deltaPi=~[4.69855 0.400531 2.08355 12.5424 0.400531 13.6605] +86: DBG: Line search iter 1: back=1, prevNorm=16.7147. +86: > piNow=~[-4.70855 -0.400531 -2.08355 -12.5524 0.400531 -9.87737] +86: > errNow=~[1.77636e-15 -7.28082e-16 0 1.77636e-15 -7.28082e-16 1.77636e-15] normNow=3.24446e-15 +86: DBG: Improvement rate now/prev at iter 1 is 1.94109e-16 +86: DBG: <<<< NEWTON done in 1 iters; norm=3.24446e-15. +86: DBG: switch worst fric 1 from roll->impend err=8.00264 +86: rolling impulse was ~[0.0762878,-1.88131] +86: +86: ....... Active set iter 6 start +86: : active=(0,4,5,1,6,7) +86: Participating UniCont 0 (ix=0): cond=UniActive/Rolling, vel=0,0, mag=0 +86: Participating UniCont 1 (ix=2): cond=UniActive/Impending, vel=0,0, mag=0 +86: Participating UniCont 2 (ix=4): cond=UniOff/Impending, vel=-3.9968e-15,-2.66454e-15, mag=4.80356e-15 +86: Participating UniCont 3 (ix=6): cond=UniOff/Impending, vel=4.44089e-16,0, mag=4.44089e-16 +86: fillMult2Active: +86: : active=(0,4,5,1,6,7) +86: : mult2active=(0,3,-1111111111,-1111111111,1,2,4,5,-1111111111,-1111111111,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-5.28481; guess pi=-0.01 +86: DBG: active normal 3 has v=-8.99822; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] +86: : rhsActive=~[-5.28481 0.000114402 -5.23471 -8.99822 0.000114402 -8.94832] +86: : pi was=~[-4.70855 -12.5524 0 0 -0.133331 -0.693583 0.0762878 -1.88131 -4.91076e-05 -7.41787e-05 -6.37235e-05 -0.000142398] +86: : piActive=~[-0.01 -0.133331 -0.693583 -0.01 0.0762878 -1.88131] +86: DBG: Updated impending slipVel 1 to 0.0152906,8.15634 +86: Updated 1 pairs of rows in Jacobian:DBG: Updated impending slipVel 1 to 0.0152907,8.15634 +86: DBG: Updated impending slipVel 1 to 0.0152906,8.15634 +86: DBG: Updated impending slipVel 1 to 0.0152906,8.15634 +86: DBG: Updated impending slipVel 1 to 0.0152907,8.15634 +86: DBG: Updated impending slipVel 1 to 0.0152906,8.15634 +86: DBG: Updated impending slipVel 1 to 0.0152907,8.15634 +86: DBG: Updated impending slipVel 1 to 0.0152906,8.15634 +86: DBG: Updated impending slipVel 1 to 0.0152907,8.15634 +86: DBG: Updated impending slipVel 1 to 0.0152906,8.15634 +86: DBG: Updated impending slipVel 1 to 0.0152907,8.15634 +86: DBG: Updated impending slipVel 1 to 0.0152907,8.15634 +86: DBG: Updated impending slipVel 1 to 0.0152906,8.15634 +86: Jacobian num vs. analytic norm=4.55924e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=18.6995... +86: > NEWTON iter 1: errNorm=18.6995(v) -> deltaNorm=28.0746(pi) +86: > piActive=~[-0.01 -0.133331 -0.693583 -0.01 0.0762878 -1.88131] +86: > errActive=~[4.79878 0.0152906 4.73879 8.24429 0.622207 -15.3569] +86: > deltaPi=~[-1.29631 -12.1911 7.49354 23.8453 -0.00481284 -3.62335] +86: DBG: Line search iter 1: back=1, prevNorm=18.6995. +86: DBG: Updated impending slipVel 1 to -2.99016e-15,0.202315 +86: > piNow=~[1.28631 12.0578 -8.18713 -23.8553 0.0811006 1.74204] +86: > errNow=~[-1.77636e-15 -2.99016e-15 -1.77636e-15 0 0.0164079 -0.3715] normNow=0.371863 +86: DBG: Improvement rate now/prev at iter 1 is 0.0198862 +86: Updated 1 pairs of rows in Jacobian:DBG: Updated impending slipVel 1 to 1.55415e-08,0.202315 +86: DBG: Updated impending slipVel 1 to -1.55415e-08,0.202315 +86: DBG: Updated impending slipVel 1 to -4.43099e-08,0.202315 +86: DBG: Updated impending slipVel 1 to 4.43099e-08,0.202315 +86: DBG: Updated impending slipVel 1 to -1.55562e-08,0.202315 +86: DBG: Updated impending slipVel 1 to 1.55562e-08,0.202315 +86: DBG: Updated impending slipVel 1 to -1.52509e-08,0.202315 +86: DBG: Updated impending slipVel 1 to 1.52509e-08,0.202315 +86: DBG: Updated impending slipVel 1 to -4.43099e-08,0.202315 +86: DBG: Updated impending slipVel 1 to 4.43099e-08,0.202315 +86: DBG: Updated impending slipVel 1 to 1.52656e-08,0.202315 +86: DBG: Updated impending slipVel 1 to -1.52656e-08,0.202315 +86: Jacobian num vs. analytic norm=2.34694e-09 +86: > NEWTON iter 2: errNorm=0.371863(v) -> deltaNorm=5.04795(pi) +86: > piActive=~[1.28631 12.0578 -8.18713 -23.8553 0.0811006 1.74204] +86: > errActive=~[-1.77636e-15 -2.99016e-15 -1.77636e-15 0 0.0164079 -0.3715] +86: > deltaPi=~[-1.36108 -2.85554 1.38576 2.56622 0.0995138 -2.63808] +86: DBG: Line search iter 1: back=1, prevNorm=0.371863. +86: DBG: Updated impending slipVel 1 to 2.84996e-16,0.248249 +86: > piNow=~[2.64739 14.9133 -9.57289 -26.4215 -0.0184132 4.38012] +86: > errNow=~[8.88178e-16 2.84996e-16 -8.88178e-16 0 -0.00457105 0.103496] normNow=0.103597 +86: DBG: Improvement rate now/prev at iter 2 is 0.278589 +86: Updated 1 pairs of rows in Jacobian:DBG: Updated impending slipVel 1 to 1.55415e-08,0.248249 +86: DBG: Updated impending slipVel 1 to -1.55415e-08,0.248249 +86: DBG: Updated impending slipVel 1 to -4.43099e-08,0.248249 +86: DBG: Updated impending slipVel 1 to 4.43099e-08,0.248249 +86: DBG: Updated impending slipVel 1 to -1.55562e-08,0.248249 +86: DBG: Updated impending slipVel 1 to 1.55562e-08,0.248249 +86: DBG: Updated impending slipVel 1 to -1.52509e-08,0.248248 +86: DBG: Updated impending slipVel 1 to 1.52509e-08,0.248249 +86: DBG: Updated impending slipVel 1 to -4.43099e-08,0.248249 +86: DBG: Updated impending slipVel 1 to 4.43099e-08,0.248249 +86: DBG: Updated impending slipVel 1 to 1.52656e-08,0.248248 +86: DBG: Updated impending slipVel 1 to -1.52656e-08,0.248249 +86: Jacobian num vs. analytic norm=1.83092e-09 +86: > NEWTON iter 3: errNorm=0.103597(v) -> deltaNorm=0.90311(pi) +86: > piActive=~[2.64739 14.9133 -9.57289 -26.4215 -0.0184132 4.38012] +86: > errActive=~[8.88178e-16 2.84996e-16 -8.88178e-16 0 -0.00457105 0.103496] +86: > deltaPi=~[0.243506 0.510874 -0.247921 -0.459112 -0.0178036 0.471969] +86: DBG: Line search iter 1: back=1, prevNorm=0.103597. +86: DBG: Updated impending slipVel 1 to 8.37682e-17,0.240031 +86: > piNow=~[2.40389 14.4025 -9.32497 -25.9624 -0.000609535 3.90815] +86: > errNow=~[0 8.37682e-17 8.88178e-16 1.77636e-15 -0.000146307 0.00331263] normNow=0.00331586 +86: DBG: Improvement rate now/prev at iter 3 is 0.0320074 +86: Updated 1 pairs of rows in Jacobian:DBG: Updated impending slipVel 1 to 1.55415e-08,0.240031 +86: DBG: Updated impending slipVel 1 to -1.55415e-08,0.240031 +86: DBG: Updated impending slipVel 1 to -4.43099e-08,0.240031 +86: DBG: Updated impending slipVel 1 to 4.43099e-08,0.240031 +86: DBG: Updated impending slipVel 1 to -1.55562e-08,0.240031 +86: DBG: Updated impending slipVel 1 to 1.55562e-08,0.240031 +86: DBG: Updated impending slipVel 1 to -1.52509e-08,0.240031 +86: DBG: Updated impending slipVel 1 to 1.52509e-08,0.240031 +86: DBG: Updated impending slipVel 1 to -4.43099e-08,0.240031 +86: DBG: Updated impending slipVel 1 to 4.43099e-08,0.240031 +86: DBG: Updated impending slipVel 1 to 1.52656e-08,0.240031 +86: DBG: Updated impending slipVel 1 to -1.52656e-08,0.240031 +86: Jacobian num vs. analytic norm=1.41836e-09 +86: > NEWTON iter 4: errNorm=0.00331586(v) -> deltaNorm=0.0308832(pi) +86: > piActive=~[2.40389 14.4025 -9.32497 -25.9624 -0.000609535 3.90815] +86: > errActive=~[0 8.37682e-17 8.88178e-16 1.77636e-15 -0.000146307 0.00331263] +86: > deltaPi=~[0.00832703 0.0174701 -0.00847804 -0.0157 -0.000608822 0.0161397] +86: DBG: Line search iter 1: back=1, prevNorm=0.00331586. +86: DBG: Updated impending slipVel 1 to -1.66032e-16,0.23975 +86: > piNow=~[2.39556 14.385 -9.31649 -25.9467 -7.13626e-07 3.89201] +86: > errNow=~[1.77636e-15 -1.66032e-16 8.88178e-16 0 -1.71092e-07 3.87379e-06] normNow=3.87757e-06 +86: DBG: Improvement rate now/prev at iter 4 is 0.0011694 +86: Updated 1 pairs of rows in Jacobian:DBG: Updated impending slipVel 1 to 1.55415e-08,0.23975 +86: DBG: Updated impending slipVel 1 to -1.55415e-08,0.23975 +86: DBG: Updated impending slipVel 1 to -4.43099e-08,0.23975 +86: DBG: Updated impending slipVel 1 to 4.43099e-08,0.23975 +86: DBG: Updated impending slipVel 1 to -1.55562e-08,0.23975 +86: DBG: Updated impending slipVel 1 to 1.55562e-08,0.23975 +86: DBG: Updated impending slipVel 1 to -1.52509e-08,0.23975 +86: DBG: Updated impending slipVel 1 to 1.52509e-08,0.23975 +86: DBG: Updated impending slipVel 1 to -4.43099e-08,0.23975 +86: DBG: Updated impending slipVel 1 to 4.43099e-08,0.23975 +86: DBG: Updated impending slipVel 1 to 1.52656e-08,0.23975 +86: DBG: Updated impending slipVel 1 to -1.52656e-08,0.23975 +86: Jacobian num vs. analytic norm=1.19224e-09 +86: > NEWTON iter 5: errNorm=3.87757e-06(v) -> deltaNorm=3.61995e-05(pi) +86: > piActive=~[2.39556 14.385 -9.31649 -25.9467 -7.13626e-07 3.89201] +86: > errActive=~[1.77636e-15 -1.66032e-16 8.88178e-16 0 -1.71092e-07 3.87379e-06] +86: > deltaPi=~[9.76046e-06 2.04774e-05 -9.93746e-06 -1.84026e-05 -7.13625e-07 1.8918e-05] +86: DBG: Line search iter 1: back=1, prevNorm=3.87757e-06. +86: DBG: Updated impending slipVel 1 to 1.43792e-17,0.23975 +86: > piNow=~[2.39555 14.385 -9.31648 -25.9466 -9.80463e-13 3.892] +86: > errNow=~[-1.77636e-15 1.43792e-17 0 1.77636e-15 -2.35122e-13 5.32219e-12] normNow=5.32738e-12 +86: DBG: Improvement rate now/prev at iter 5 is 1.3739e-06 +86: DBG: <<<< NEWTON done in 5 iters; norm=5.32738e-12. +86: DBG: switch worst fric 0 from roll->impend err=17.1384 +86: rolling impulse was ~[0,-0] +86: +86: ....... Active set iter 7 start +86: : active=(0,4,5,1,6,7) +86: Participating UniCont 0 (ix=0): cond=UniActive/Impending, vel=0,0, mag=0 +86: Participating UniCont 1 (ix=2): cond=UniActive/Impending, vel=1.43792e-17,0.23975, mag=0.23975 +86: Participating UniCont 2 (ix=4): cond=UniOff/Impending, vel=-3.9968e-15,-2.66454e-15, mag=4.80356e-15 +86: Participating UniCont 3 (ix=6): cond=UniOff/Impending, vel=4.44089e-16,0, mag=4.44089e-16 +86: fillMult2Active: +86: : active=(0,4,5,1,6,7) +86: : mult2active=(0,3,-1111111111,-1111111111,1,2,4,5,-1111111111,-1111111111,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-5.28481; guess pi=-0.01 +86: DBG: active normal 3 has v=-8.99822; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] +86: : rhsActive=~[-5.28481 0.000114402 -5.23471 -8.99822 0.000114402 -8.94832] +86: : pi was=~[0 -25.9466 0 0 0 -0 -9.80463e-13 3.892 -4.91076e-05 -7.41787e-05 -6.37235e-05 -0.000142398] +86: : piActive=~[-0.01 0 -0 -0.01 -9.80463e-13 3.892] +86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 +86: DBG: Updated impending slipVel 1 to -0.059525,10.398 +86: Updated 2 pairs of rows in Jacobian:DBG: Updated impending slipVel 0 to -0.059525,5.70695 +86: DBG: Updated impending slipVel 1 to -0.059525,10.398 +86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 +86: DBG: Updated impending slipVel 1 to -0.059525,10.398 +86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 +86: DBG: Updated impending slipVel 1 to -0.059525,10.398 +86: DBG: Updated impending slipVel 0 to -0.0595249,5.70695 +86: DBG: Updated impending slipVel 1 to -0.0595249,10.398 +86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 +86: DBG: Updated impending slipVel 1 to -0.059525,10.398 +86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 +86: DBG: Updated impending slipVel 1 to -0.059525,10.398 +86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 +86: DBG: Updated impending slipVel 1 to -0.059525,10.398 +86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 +86: DBG: Updated impending slipVel 1 to -0.059525,10.398 +86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 +86: DBG: Updated impending slipVel 1 to -0.059525,10.398 +86: DBG: Updated impending slipVel 0 to -0.0595249,5.70695 +86: DBG: Updated impending slipVel 1 to -0.0595249,10.398 +86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 +86: DBG: Updated impending slipVel 1 to -0.059525,10.398 +86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 +86: DBG: Updated impending slipVel 1 to -0.059525,10.398 +86: Jacobian num vs. analytic norm=6.63021e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=42.1566... +86: > NEWTON iter 1: errNorm=42.1566(v) -> deltaNorm=30.7247(pi) +86: > piActive=~[-0.01 0 -0 -0.01 -9.80463e-13 3.892] +86: > errActive=~[5.77312 8.92875e-05 -0.00856042 10.359 8.92874e-05 40.4541] +86: > deltaPi=~[8.4231 0.0132872 -1.26335 29.2344 0.0251626 -4.09999] +86: DBG: Line search iter 1: back=1, prevNorm=42.1566. +86: DBG: Updated impending slipVel 0 to -0.419107,0.0193818 +86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 +86: > piNow=~[-8.4331 -0.0132872 1.26335 -29.2444 -0.0251626 7.99198] +86: > errNow=~[0 0.524581 0.50553 1.77636e-15 1.81666 3.6002] normNow=4.09786 +86: DBG: Improvement rate now/prev at iter 1 is 0.0972057 +86: Updated 2 pairs of rows in Jacobian:DBG: Updated impending slipVel 0 to -0.419107,0.0193814 +86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 +86: DBG: Updated impending slipVel 0 to -0.419107,0.0193821 +86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 +86: DBG: Updated impending slipVel 0 to -0.419107,0.0193817 +86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 +86: DBG: Updated impending slipVel 0 to -0.419107,0.0193818 +86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 +86: DBG: Updated impending slipVel 0 to -0.419107,0.0193814 +86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 +86: DBG: Updated impending slipVel 0 to -0.419107,0.0193821 +86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 +86: DBG: Updated impending slipVel 0 to -0.419107,0.0193816 +86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 +86: DBG: Updated impending slipVel 0 to -0.419107,0.0193819 +86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 +86: DBG: Updated impending slipVel 0 to -0.419107,0.0193817 +86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 +86: DBG: Updated impending slipVel 0 to -0.419107,0.0193818 +86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 +86: DBG: Updated impending slipVel 0 to -0.419107,0.0193816 +86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 +86: DBG: Updated impending slipVel 0 to -0.419107,0.0193819 +86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 +86: Jacobian num vs. analytic norm=4.37647e-09 +86: > NEWTON iter 2: errNorm=4.09786(v) -> deltaNorm=7.37543(pi) +86: > piActive=~[-8.4331 -0.0132872 1.26335 -29.2444 -0.0251626 7.99198] +86: > errActive=~[0 0.524581 0.50553 1.77636e-15 1.81666 3.6002] +86: > deltaPi=~[-1.61019 1.16523 1.77413 -4.60586 2.0273 4.68776] +86: DBG: Line search iter 1: back=1, prevNorm=4.09786. +86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 +86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 +86: > piNow=~[-6.82291 -1.17852 -0.510773 -24.6385 -2.05246 3.30422] +86: > errNow=~[-8.88178e-16 -0.0908158 -0.125655 -1.77636e-15 0.0792361 0.241738] normNow=0.297913 +86: DBG: Improvement rate now/prev at iter 2 is 0.0726997 +86: Updated 2 pairs of rows in Jacobian:DBG: Updated impending slipVel 0 to -0.471387,-0.119982 +86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 +86: DBG: Updated impending slipVel 0 to -0.471387,-0.119981 +86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 +86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 +86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 +86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 +86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 +86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 +86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 +86: DBG: Updated impending slipVel 0 to -0.471387,-0.119981 +86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 +86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 +86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 +86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 +86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 +86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 +86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 +86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 +86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 +86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 +86: DBG: Updated impending slipVel 1 to -0.471387,0.658951 +86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 +86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 +86: Jacobian num vs. analytic norm=2.80679e-09 +86: > NEWTON iter 3: errNorm=0.297913(v) -> deltaNorm=0.552036(pi) +86: > piActive=~[-6.82291 -1.17852 -0.510773 -24.6385 -2.05246 3.30422] +86: > errActive=~[-8.88178e-16 -0.0908158 -0.125655 -1.77636e-15 0.0792361 0.241738] +86: > deltaPi=~[0.224423 -0.139268 -0.259801 -0.268353 0.0484838 0.305158] +86: DBG: Line search iter 1: back=1, prevNorm=0.297913. +86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 +86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 +86: > piNow=~[-7.04734 -1.03925 -0.250972 -24.3702 -2.10095 2.99906] +86: > errNow=~[0 -0.00412578 -0.00675705 1.77636e-15 0.00204394 0.00738983] normNow=0.0110212 +86: DBG: Improvement rate now/prev at iter 3 is 0.0369947 +86: Updated 2 pairs of rows in Jacobian:DBG: Updated impending slipVel 0 to -0.451084,-0.103485 +86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 +86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 +86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 +86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 +86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 +86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 +86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 +86: DBG: Updated impending slipVel 0 to -0.451084,-0.103485 +86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 +86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 +86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 +86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 +86: DBG: Updated impending slipVel 1 to -0.451084,0.641093 +86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 +86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 +86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 +86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 +86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 +86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 +86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 +86: DBG: Updated impending slipVel 1 to -0.451084,0.641093 +86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 +86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 +86: Jacobian num vs. analytic norm=4.30966e-09 +86: > NEWTON iter 4: errNorm=0.0110212(v) -> deltaNorm=0.0249624(pi) +86: > piActive=~[-7.04734 -1.03925 -0.250972 -24.3702 -2.10095 2.99906] +86: > errActive=~[0 -0.00412578 -0.00675705 1.77636e-15 0.00204394 0.00738983] +86: > deltaPi=~[0.01381 -0.00651407 -0.015665 -0.00766157 0.000386998 0.00925903] +86: DBG: Line search iter 1: back=1, prevNorm=0.0110212. +86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 +86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 +86: > piNow=~[-7.06115 -1.03274 -0.235307 -24.3625 -2.10133 2.9898] +86: > errNow=~[-8.88178e-16 -1.02529e-05 -2.04947e-05 -1.77636e-15 1.35235e-06 1.00489e-05] normNow=2.50592e-05 +86: DBG: Improvement rate now/prev at iter 4 is 0.00227373 +86: Updated 2 pairs of rows in Jacobian:DBG: Updated impending slipVel 0 to -0.450096,-0.102537 +86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 +86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 +86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 +86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 +86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 +86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 +86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 +86: DBG: Updated impending slipVel 0 to -0.450096,-0.102537 +86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 +86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 +86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 +86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 +86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 +86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 +86: DBG: Updated impending slipVel 1 to -0.450096,0.640399 +86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 +86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 +86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 +86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 +86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 +86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 +86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 +86: DBG: Updated impending slipVel 1 to -0.450096,0.640399 +86: Jacobian num vs. analytic norm=3.1976e-09 +86: > NEWTON iter 5: errNorm=2.50592e-05(v) -> deltaNorm=6.70078e-05(pi) +86: > piActive=~[-7.06115 -1.03274 -0.235307 -24.3625 -2.10133 2.9898] +86: > errActive=~[-8.88178e-16 -1.02529e-05 -2.04947e-05 -1.77636e-15 1.35235e-06 1.00489e-05] +86: > deltaPi=~[4.27263e-05 -1.48735e-05 -4.77484e-05 -6.6842e-06 -3.70335e-06 1.02463e-05] +86: DBG: Line search iter 1: back=1, prevNorm=2.50592e-05. +86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 +86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 +86: > piNow=~[-7.06119 -1.03272 -0.235259 -24.3625 -2.10133 2.98979] +86: > errNow=~[8.88178e-16 -6.62355e-11 -1.63904e-10 0 -9.00324e-12 2.75615e-11] normNow=1.79143e-10 +86: DBG: Improvement rate now/prev at iter 5 is 7.14879e-06 +86: Updated 2 pairs of rows in Jacobian:DBG: Updated impending slipVel 0 to -0.450093,-0.102534 +86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 +86: DBG: Updated impending slipVel 0 to -0.450093,-0.102533 +86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 +86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 +86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 +86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 +86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 +86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 +86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 +86: DBG: Updated impending slipVel 0 to -0.450093,-0.102533 +86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 +86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 +86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 +86: DBG: Updated impending slipVel 0 to -0.450093,-0.102533 +86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 +86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 +86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 +86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 +86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 +86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 +86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 +86: DBG: Updated impending slipVel 0 to -0.450093,-0.102533 +86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 +86: Jacobian num vs. analytic norm=4.60889e-09 +86: > NEWTON iter 6: errNorm=1.79143e-10(v) -> deltaNorm=5.22962e-10(pi) +86: > piActive=~[-7.06119 -1.03272 -0.235259 -24.3625 -2.10133 2.98979] +86: > errActive=~[8.88178e-16 -6.62355e-11 -1.63904e-10 0 -9.00324e-12 2.75615e-11] +86: > deltaPi=~[3.44414e-10 -8.46079e-11 -3.80914e-10 1.55193e-11 -4.82775e-11 6.51888e-12] +86: DBG: Line search iter 1: back=1, prevNorm=1.79143e-10. +86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 +86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 +86: > piNow=~[-7.06119 -1.03272 -0.235259 -24.3625 -2.10133 2.98979] +86: > errNow=~[0 2.77556e-16 -1.41553e-15 1.77636e-15 0 0] normNow=2.28828e-15 +86: DBG: Improvement rate now/prev at iter 6 is 1.27735e-05 +86: DBG: <<<< NEWTON done in 6 iters; norm=2.28828e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: SP interval 1 end: s=1 +86: : m_piActive=~[-7.06119 -1.03272 -0.235259 -24.3625 -2.10133 2.98979] +86: : m_verrLeft=~[0 -1.77636e-15 0.808484 0.808484 0.450093 0.102534 0.450093 -0.640397 -0.292837 0.102534 -0.292837 -0.640397] +86: : verrAppliedLeft=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-7.06119 verr=0 pi*v=-0 +86: DBG: 1: pi=-24.3625 verr=-1.77636e-15 pi*v=4.32765e-14 +86: DBG: 2: pi=0 verr=0.808484 pi*v=0 +86: DBG: 3: pi=0 verr=0.808484 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-7.06119 -24.3625 0 0 -1.03272 -0.235259 -2.10133 2.98979 0 0 0 0] errNorm=2.28828e-15 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=4): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.15 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Impending slipV=-0.450093 -0.102534, |slipV|=0.461624 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (6,7) effMu=0.15 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Impending slipV=-0.450093 0.640397, |slipV|=0.782747 +86: 2: UnilateralContactIndex 4, normal MultiplierIndex 2, sign=1, hasFriction: 1 +86: friction MultIndices: (8,9) effMu=0.15 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniOff friction cond=Impending slipV=-3.9968e-15 -2.66454e-15, |slipV|=4.80356e-15 +86: 3: UnilateralContactIndex 6, normal MultiplierIndex 3, sign=1, hasFriction: 1 +86: friction MultIndices: (10,11) effMu=0.15 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniOff friction cond=Impending slipV=4.44089e-16 0, |slipV|=4.44089e-16 +86: ------------------------------ +86: +86: dynamics impulse=~[-7.06119 -24.3625 0 0 -1.03272 -0.235259 -2.10133 2.98979 0 0 0 0] +86: updated verrStart=~[0 -1.77636e-15 0.808484 0.808484 0.450093 0.102534 0.450093 -0.640397 -0.292837 0.102534 -0.292837 -0.640397] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.37438 0.122577 -0.102552 -0.354356 -0.0155415 0.351089 -0.0155415 0.126742 -0.239888 0.351089 -0.239888 0.126742] +86: [0.122577 0.373699 -0.353922 -0.1028 0.0152509 0.126742 0.0152509 0.350921 0.23943 0.126742 0.23943 0.350921] +86: [-0.102552 -0.353922 0.372997 0.121627 -0.0155415 -0.125844 -0.0155415 -0.349757 -0.239455 -0.125844 -0.239455 -0.349757] +86: [-0.354356 -0.1028 0.121627 0.373182 0.0152509 -0.350191 0.0152509 -0.125579 0.239863 -0.350191 0.239863 -0.125579] +86: [-0.0155415 0.0152509 -0.0155415 0.0152509 0.0443099 0.0155562 0.0443099 -0.0152656 0.0134882 0.0155562 0.0134882 -0.0152656] +86: [0.351089 0.126742 -0.125844 -0.350191 0.0155562 0.374393 0.0155562 0.122564 -0.236273 0.374393 -0.236273 0.122564] +86: [-0.0155415 0.0152509 -0.0155415 0.0152509 0.0443099 0.0155562 0.0443099 -0.0152656 0.0134882 0.0155562 0.0134882 -0.0152656] +86: [0.126742 0.350921 -0.349757 -0.125579 -0.0152656 0.122564 -0.0152656 0.373712 0.235882 0.122564 0.235882 0.373712] +86: [-0.239888 0.23943 -0.239455 0.239863 0.0134882 -0.236273 0.0134882 0.235882 0.485644 -0.236273 0.485644 0.235882] +86: [0.351089 0.126742 -0.125844 -0.350191 0.0155562 0.374393 0.0155562 0.122564 -0.236273 0.374393 -0.236273 0.122564] +86: [-0.239888 0.23943 -0.239455 0.239863 0.0134882 -0.236273 0.0134882 0.235882 0.485644 -0.236273 0.485644 0.235882] +86: [0.126742 0.350921 -0.349757 -0.125579 -0.0152656 0.122564 -0.0152656 0.373712 0.235882 0.122564 0.235882 0.373712] +86: D=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: rcond(A+D)=0.50635 rank=2 +86: rhs=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0 0] +86: -> pi=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: resid active=~[0 0] +86: resid=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[9.64562e-16 -9.64562e-16 0.808484 0.808484 0.450093 0.102534 0.450093 -0.640397 -0.292837 0.102534 -0.292837 -0.640397] +86: perr=~[0 0 0 0 0] +86: END OF STEP (0,0.001): +86: verr=~[-0.000300324 0.000300324 0.808184 0.808784 0.450369 0.102533 0.449817 -0.640397 -0.292561 0.103739 -0.293113 -0.639191] +86: perr=~[-1.50162e-07 1.50162e-07 0.000808334 0.000808634 2.22045e-16] +86: constraint status: +86: 0: cont UniActive fric Impending +86: 2: cont UniActive fric Impending +86: 4: cont UniOff fric Impending +86: 6: cont UniOff fric Impending +86: Proximal unilateral contacts: (0,2,4,6) +86: Distal unilateral contacts: (1,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=0.461893 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.782588 -> mu=0.1 +86: DBG: Uni fric 4 verr speed=0.310409 -> mu=0.1 +86: DBG: Uni fric 6 verr speed=0.703193 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000300324 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1,2,3) +86: participating multx: (0,4,5,1,6,7,2,8,9,3,10,11) +86: verr=~[-0.000300324 0.000300324 0.808184 0.808784 0.450369 0.102533 0.449817 -0.640397 -0.292561 0.103739 -0.293113 -0.639191] +86: IMP t=0.001 verr=~[-0.000300324 0.000300324 0.808184 0.808784 0.450369 0.102533 0.449817 -0.640397 -0.292561 0.103739 -0.293113 -0.639191] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) +86: : mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) +86: +86: ***** Sliding interval 1 start +86: active=(0,4,5,1,6,7,2,8,9,3,10,11) +86: mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) +86: piTotal=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: verrLeft=~[-0.000300324 0.000300324 0.808184 0.808784 0.450369 0.102533 0.449817 -0.640397 -0.292561 0.103739 -0.293113 -0.639191] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 4 uni contacts +86: Participating contact 0 is Sliding; vel=0.450369,0.102533, mag=0.461893 +86: Participating contact 1 is Sliding; vel=0.449817,-0.640397, mag=0.782588 +86: Participating contact 2 is Sliding; vel=-0.292561,0.103739, mag=0.310409 +86: Participating contact 3 is Sliding; vel=-0.293113,-0.639191, mag=0.703193 +86: +86: ....... Active set iter 1 start +86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.450369,0.102533, mag=0.461893 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.449817,-0.640397, mag=0.782588 +86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=-0.292561,0.103739, mag=0.310409 +86: Participating UniCont 3 (ix=6): cond=UniActive/Sliding, vel=-0.293113,-0.639191, mag=0.703193 +86: fillMult2Active: +86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) +86: : mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) +86: DBG: active normal 0 has v=-0.000300324; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000300324; guess pi=0.01 +86: DBG: active normal 6 has v=0.808184; guess pi=0.01 +86: DBG: active normal 9 has v=0.808784; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.000300324 0.000300324 0.808184 0.808784 0.450369 0.102533 0.449817 -0.640397 -0.292561 0.103739 -0.293113 -0.639191] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000300324 0.450369 0.102533 0.000300324 0.449817 -0.640397 0.808184 -0.292561 0.103739 0.808784 -0.293113 -0.639191] +86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 0.01 0 0 0.01 0 0 0.01 0 0] +86: Updated 4 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.43342e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.13638... +86: > NEWTON iter 1: errNorm=1.13638(v) -> deltaNorm=20.7938(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0 0.01 0 0 0.01 0 0] +86: > errActive=~[-0.00679027 -0.000450369 -0.000102533 -0.00234909 0 0 -0.805742 0 0 -0.801301 0 0] +86: > deltaPi=~[-10.0187 0.975865 0.22217 -10.0263 2.14663e-05 -3.05612e-05 -10.773 -3.78209e-05 1.34109e-05 -10.6967 -1.66082e-05 -3.62176e-05] +86: DBG: Line search iter 1: back=1, prevNorm=1.13638. +86: > piNow=~[10.0087 -0.975865 -0.22217 10.0363 -2.14663e-05 3.05612e-05 10.783 3.78209e-05 -1.34109e-05 10.7067 1.66082e-05 3.62176e-05] +86: > errNow=~[-2.70845e-15 -0.450746 -0.102619 -7.04677e-16 -1.67993e-05 2.39168e-05 2.33147e-15 1.174e-05 -4.16286e-06 5.55112e-16 1.16788e-05 2.54679e-05] normNow=0.462279 +86: DBG: Improvement rate now/prev at iter 1 is 0.406801 +86: Updated 4 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.67612e-09 +86: > NEWTON iter 2: errNorm=0.462279(v) -> deltaNorm=1.00771(pi) +86: > piActive=~[10.0087 -0.975865 -0.22217 10.0363 -2.14663e-05 3.05612e-05 10.783 3.78209e-05 -1.34109e-05 10.7067 1.66082e-05 3.62176e-05] +86: > errActive=~[-2.70845e-15 -0.450746 -0.102619 -7.04677e-16 -1.67993e-05 2.39168e-05 2.33147e-15 1.174e-05 -4.16286e-06 5.55112e-16 1.16788e-05 2.54679e-05] +86: > deltaPi=~[0.0726154 -0.975865 -0.22217 0.0339158 -2.14663e-05 3.05612e-05 -0.0382584 3.78209e-05 -1.34109e-05 -0.076958 1.66082e-05 3.62176e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.462279. +86: > piNow=~[9.93611 2.63012e-13 5.98965e-14 10.0024 7.21037e-14 -1.027e-13 10.8213 1.15405e-13 -4.09327e-14 10.7837 1.04183e-13 2.2726e-13] +86: > errNow=~[5.27573e-16 1.21483e-13 2.76658e-14 7.99436e-16 5.64274e-14 -8.03721e-14 4.44089e-16 3.58228e-14 -1.27059e-14 -3.33067e-16 7.32605e-14 1.59807e-13] normNow=2.39831e-13 +86: DBG: Improvement rate now/prev at iter 2 is 5.188e-13 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.39831e-13. +86: DBG: Worst offender is normal contact 2 err=10.8213 ... +86: DBG: ... normal contact 2 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,4,5,1,6,7,3,10,11) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.450369,0.102533, mag=0.461893 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.449817,-0.640397, mag=0.782588 +86: Participating UniCont 2 (ix=4): cond=UniOff/Sliding, vel=-0.292561,0.103739, mag=0.310409 +86: Participating UniCont 3 (ix=6): cond=UniActive/Sliding, vel=-0.293113,-0.639191, mag=0.703193 +86: fillMult2Active: +86: : active=(0,4,5,1,6,7,3,10,11) +86: : mult2active=(0,3,-1111111111,6,1,2,4,5,-1111111111,-1111111111,7,8) +86: DBG: active normal 0 has v=-0.000300324; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000300324; guess pi=0.01 +86: DBG: active normal 6 has v=0.808784; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.000300324 0.000300324 0.808184 0.808784 0.450369 0.102533 0.449817 -0.640397 -0.292561 0.103739 -0.293113 -0.639191] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000300324 0.450369 0.102533 0.000300324 0.449817 -0.640397 0.808784 -0.293113 -0.639191] +86: : pi was=~[0 0 0 0 2.63012e-13 5.98965e-14 7.21037e-14 -1.027e-13 1.15405e-13 -4.09327e-14 1.04183e-13 2.2726e-13] +86: : piActive=~[-0.01 2.63012e-13 5.98965e-14 0.01 7.21037e-14 -1.027e-13 0.01 1.04183e-13 2.2726e-13] +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.27999e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.802543... +86: > NEWTON iter 1: errNorm=0.802543(v) -> deltaNorm=29.9182(pi) +86: > piActive=~[-0.01 2.63012e-13 5.98965e-14 0.01 7.21037e-14 -1.027e-13 0.01 1.04183e-13 2.2726e-13] +86: > errActive=~[-0.00576971 -0.000450369 -0.000102533 0.00118038 5.64274e-14 -8.03721e-14 -0.802522 7.32605e-14 1.59807e-13] +86: > deltaPi=~[-20.8388 2.03084 0.462351 0.678541 -1.45275e-06 2.06825e-06 -21.3552 -3.3157e-05 -7.23055e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.802543. +86: > piNow=~[20.8288 -2.03084 -0.462351 -0.668541 1.45275e-06 -2.06825e-06 21.3652 3.3157e-05 7.23055e-05] +86: > errNow=~[-3.61831e-15 -0.93803 -0.213557 -1.85903e-15 -0.030071 0.0428115 1.11022e-16 2.33158e-05 5.08448e-05] normNow=0.963454 +86: DBG: GOT WORSE @iter 1: backtrack to back=0.5 +86: DBG: Line search iter 2: back=0.5, prevNorm=0.802543. +86: > piNow=~[10.4094 -1.01542 -0.231175 -0.32927 7.26375e-07 -1.03413e-06 10.6876 1.65785e-05 3.61528e-05] +86: > errNow=~[-0.00288485 -0.469015 -0.106778 0.00059019 -0.0148106 0.0210856 -0.401261 1.16579e-05 2.54224e-05] normNow=0.626945 +86: DBG: Improvement rate now/prev at iter 1 is 0.781197 +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.77929e-09 +86: > NEWTON iter 2: errNorm=0.626945(v) -> deltaNorm=15.047(pi) +86: > piActive=~[10.4094 -1.01542 -0.231175 -0.32927 7.26375e-07 -1.03413e-06 10.6876 1.65785e-05 3.61528e-05] +86: > errActive=~[-0.00288485 -0.469015 -0.106778 0.00059019 -0.0148106 0.0210856 -0.401261 1.16579e-05 2.54224e-05] +86: > deltaPi=~[-10.3245 -1.01542 -0.231175 0.433175 -0.0438232 0.0623904 -10.8876 1.65785e-05 3.61527e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.626945. +86: > piNow=~[20.7339 -3.46092e-11 -7.88208e-12 -0.762445 0.043824 -0.0623914 21.5752 1.48016e-11 3.22759e-11] +86: > errNow=~[-1.34002e-15 -1.59858e-11 -3.64068e-12 -1.352e-16 -6.69506e-10 9.53163e-10 4.44089e-16 1.04084e-11 2.26962e-11] normNow=1.16518e-09 +86: DBG: Improvement rate now/prev at iter 2 is 1.85851e-09 +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.16593e-09 +86: > NEWTON iter 3: errNorm=1.16518e-09(v) -> deltaNorm=1.88646e-09(pi) +86: > piActive=~[20.7339 -3.46092e-11 -7.88208e-12 -0.762445 0.043824 -0.0623914 21.5752 1.48016e-11 3.22759e-11] +86: > errActive=~[-1.34002e-15 -1.59858e-11 -3.64068e-12 -1.352e-16 -6.69506e-10 9.53163e-10 4.44089e-16 1.04084e-11 2.26962e-11] +86: > deltaPi=~[4.56057e-10 -3.46092e-11 -7.88208e-12 -1.06491e-09 -7.94293e-10 1.13082e-09 5.51855e-10 1.48016e-11 3.22759e-11] +86: DBG: Line search iter 1: back=1, prevNorm=1.16518e-09. +86: > piNow=~[20.7339 3.85537e-22 8.79445e-23 -0.762445 0.043824 -0.0623914 21.5752 -1.84044e-22 -4.01312e-22] +86: > errNow=~[1.2252e-15 1.78077e-22 4.0621e-23 -3.37024e-16 0 0 -2.22045e-16 -1.29419e-22 -2.822e-22] normNow=1.28997e-15 +86: DBG: Improvement rate now/prev at iter 3 is 1.10709e-06 +86: DBG: <<<< NEWTON done in 3 iters; norm=1.28997e-15. +86: DBG: Worst offender is normal contact 3 err=21.5752 ... +86: DBG: ... normal contact 3 released. +86: +86: ....... Active set iter 3 start +86: : active=(0,4,5,1,6,7) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.450369,0.102533, mag=0.461893 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.449817,-0.640397, mag=0.782588 +86: Participating UniCont 2 (ix=4): cond=UniOff/Sliding, vel=-0.292561,0.103739, mag=0.310409 +86: Participating UniCont 3 (ix=6): cond=UniOff/Sliding, vel=-0.293113,-0.639191, mag=0.703193 +86: fillMult2Active: +86: : active=(0,4,5,1,6,7) +86: : mult2active=(0,3,-1111111111,-1111111111,1,2,4,5,-1111111111,-1111111111,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000300324; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000300324; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.000300324 0.000300324 0.808184 0.808784 0.450369 0.102533 0.449817 -0.640397 -0.292561 0.103739 -0.293113 -0.639191] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000300324 0.450369 0.102533 0.000300324 0.449817 -0.640397] +86: : pi was=~[0 -0.762445 0 0 3.85537e-22 8.79445e-23 0.043824 -0.0623914 1.15405e-13 -4.09327e-14 -1.84044e-22 -4.01312e-22] +86: : piActive=~[-0.01 3.85537e-22 8.79445e-23 0.01 0.043824 -0.0623914] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.3849e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0635441... +86: > NEWTON iter 1: errNorm=0.0635441(v) -> deltaNorm=0.0772538(pi) +86: > piActive=~[-0.01 3.85537e-22 8.79445e-23 0.01 0.043824 -0.0623914] +86: > errActive=~[-0.010834 -0.000450369 -0.000102533 -0.0189735 0.0342961 -0.0488267] +86: > deltaPi=~[-0.00879067 -0.000117948 -2.68526e-05 0.00881163 0.043824 -0.0623914] +86: DBG: Line search iter 1: back=1, prevNorm=0.0635441. +86: > piNow=~[-0.00120933 0.000117948 2.68526e-05 0.00118837 1.88656e-08 -2.68586e-08] +86: > errNow=~[-8.99888e-18 1.47469e-08 3.35737e-09 -3.41524e-18 1.4764e-08 -2.10192e-08] normNow=2.98082e-08 +86: DBG: Improvement rate now/prev at iter 1 is 4.69094e-07 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000235763 +86: > NEWTON iter 2: errNorm=2.98082e-08(v) -> deltaNorm=5.1359e-08(pi) +86: > piActive=~[-0.00120933 0.000117948 2.68526e-05 0.00118837 1.88656e-08 -2.68586e-08] +86: > errActive=~[-8.99888e-18 1.47469e-08 3.35737e-09 -3.41524e-18 1.4764e-08 -2.10192e-08] +86: > deltaPi=~[-2.59172e-09 3.21792e-08 7.32609e-09 2.15623e-08 1.88624e-08 -2.6854e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.98082e-08. +86: > piNow=~[-0.00120933 0.000117916 2.68453e-05 0.00118835 3.24364e-12 -4.61791e-12] +86: > errNow=~[0 2.95068e-13 6.71767e-14 5.42101e-20 2.53843e-12 -3.61392e-12] normNow=4.42669e-12 +86: DBG: Improvement rate now/prev at iter 2 is 0.000148506 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.42669e-12. +86: DBG: Worst offender is normal contact 1 err=0.00118835 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 4 start +86: : active=(0,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.450369,0.102533, mag=0.461893 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=0.449817,-0.640397, mag=0.782588 +86: Participating UniCont 2 (ix=4): cond=UniOff/Sliding, vel=-0.292561,0.103739, mag=0.310409 +86: Participating UniCont 3 (ix=6): cond=UniOff/Sliding, vel=-0.293113,-0.639191, mag=0.703193 +86: fillMult2Active: +86: : active=(0,4,5) +86: : mult2active=(0,-1111111111,-1111111111,-1111111111,1,2,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000300324; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.000300324 0.000300324 0.808184 0.808784 0.450369 0.102533 0.449817 -0.640397 -0.292561 0.103739 -0.293113 -0.639191] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000300324 0.450369 0.102533] +86: : pi was=~[-0.00120933 0 0 0 0.000117916 2.68453e-05 3.24364e-12 -4.61791e-12 1.15405e-13 -4.09327e-14 -1.84044e-22 -4.01312e-22] +86: : piActive=~[-0.01 0.000117916 2.68453e-05] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.72049e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00345385... +86: > NEWTON iter 1: errNorm=0.00345385(v) -> deltaNorm=0.00918296(pi) +86: > piActive=~[-0.01 0.000117916 2.68453e-05] +86: > errActive=~[-0.0034299 -0.000395905 -9.01337e-05] +86: > deltaPi=~[-0.00918287 3.82082e-05 8.69868e-06] +86: DBG: Line search iter 1: back=1, prevNorm=0.00345385. +86: > piNow=~[-0.000817128 7.97074e-05 1.81466e-05] +86: > errNow=~[4.33681e-19 1.54049e-08 3.50716e-09] normNow=1.57991e-08 +86: DBG: Improvement rate now/prev at iter 1 is 4.57434e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.00025347 +86: > NEWTON iter 2: errNorm=1.57991e-08(v) -> deltaNorm=3.52635e-08(pi) +86: > piActive=~[-0.000817128 7.97074e-05 1.81466e-05] +86: > errActive=~[4.33681e-19 1.54049e-08 3.50716e-09] +86: > deltaPi=~[-5.80518e-09 3.39146e-08 7.72116e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.57991e-08. +86: > piNow=~[-0.000817122 7.96735e-05 1.81389e-05] +86: > errNow=~[0 1.43473e-12 3.26637e-13] normNow=1.47144e-12 +86: DBG: Improvement rate now/prev at iter 2 is 9.31344e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.47144e-12. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.450369,0.102533] to ~[0.450352,0.102812] +86: DBG: Friction 0 rotated 0.034166 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.000817122 7.96735e-05 1.81389e-05] +86: : m_verrLeft=~[0 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.000817122 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.000395946 pi*v=0 +86: DBG: 2: pi=0 verr=0.808104 pi*v=0 +86: DBG: 3: pi=0 verr=0.8085 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.000817122 0 0 0 7.96735e-05 1.81389e-05 0 0 0 0 0 0] errNorm=1.47144e-12 +86: Postcompression verr=~[0 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] +86: impulse=~[-0.000817122 0 0 0 7.96735e-05 1.81389e-05 0 0 0 0 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.000817122 0 0 0 7.96735e-05 1.81389e-05 0 0 0 0 0 0]-> du ~[-0.000204419 0.000380351 -0.000176154 -0.000190606 -1.68628e-05 0.000197973 -0.000744373 0.000529733] +86: Now verr0=~[-5.42101e-20 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[-5.42101e-20 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] +86: verrExt=~[-2.42031 -5.19617 5.33355 2.55769 0.0397125 -2.38082 0.0375948 -5.23247 -2.8097 -2.37243 -2.81182 -5.22409] +86: total verr=~[-2.42031 -5.19577 6.14166 3.36619 0.490065 -2.27801 0.487395 -5.87277 -3.10245 -2.26841 -3.10512 -5.86318] +86: DYN t=0.001: verrStart=~[-5.42101e-20 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] +86: verrApplied=~[-2.42031 -5.19617 5.33355 2.55769 0.0397125 -2.38082 0.0375948 -5.23247 -2.8097 -2.37243 -2.81182 -5.22409] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) +86: : mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) +86: +86: ***** Sliding interval 1 start +86: active=(0,4,5,1,6,7,2,8,9,3,10,11) +86: mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) +86: piTotal=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: verrLeft=~[-5.42101e-20 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] +86: verrApplied=~[-2.42031 -5.19617 5.33355 2.55769 0.0397125 -2.38082 0.0375948 -5.23247 -2.8097 -2.37243 -2.81182 -5.22409] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 4 uni contacts +86: Participating contact 0 is Sliding; vel=0.450352,0.102812, mag=0.461939 +86: Participating contact 1 is Sliding; vel=0.4498,-0.640294, mag=0.782494 +86: Participating contact 2 is Sliding; vel=-0.292754,0.104017, mag=0.310684 +86: Participating contact 3 is Sliding; vel=-0.293306,-0.639089, mag=0.70318 +86: +86: ....... Active set iter 1 start +86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.450352,0.102812, mag=0.461939 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.4498,-0.640294, mag=0.782494 +86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=-0.292754,0.104017, mag=0.310684 +86: Participating UniCont 3 (ix=6): cond=UniActive/Sliding, vel=-0.293306,-0.639089, mag=0.70318 +86: fillMult2Active: +86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) +86: : mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) +86: DBG: active normal 0 has v=-2.42031; guess pi=-0.01 +86: DBG: active normal 3 has v=-5.19577; guess pi=-0.01 +86: DBG: active normal 6 has v=6.14166; guess pi=0.01 +86: DBG: active normal 9 has v=3.36619; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[-5.42101e-20 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[-2.42031 -5.19617 5.33355 2.55769 0.0397125 -2.38082 0.0375948 -5.23247 -2.8097 -2.37243 -2.81182 -5.22409] +86: : rhsActive=~[-2.42031 0.490065 -2.27801 -5.19577 0.487395 -5.87277 6.14166 -3.10245 -2.26841 3.36619 -3.10512 -5.86318] +86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0 0.01 0 0 0.01 0 0] +86: Updated 4 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.43349e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=9.03217... +86: > NEWTON iter 1: errNorm=9.03217(v) -> deltaNorm=26.3696(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0 0.01 0 0 0.01 0 0] +86: > errActive=~[2.4108 -0.000450352 -0.000102812 5.18629 -0.0004498 0.000640294 -6.13215 0 0 -3.35666 0 0] +86: > deltaPi=~[-10.5034 1.02298 0.233539 -4.52678 0.259628 -0.369583 -19.2873 -6.76966e-05 2.40531e-05 -13.8289 -2.14859e-05 -4.68159e-05] +86: DBG: Line search iter 1: back=1, prevNorm=9.03217. +86: > piNow=~[10.4934 -1.02298 -0.233539 4.51678 -0.259628 0.369583 19.2973 6.76966e-05 -2.40531e-05 13.8389 2.14859e-05 4.68159e-05] +86: > errNow=~[-1.33227e-15 -0.472555 -0.107881 -8.88178e-16 -0.203158 0.289196 1.77636e-15 2.10322e-05 -7.4729e-06 8.88178e-16 1.51084e-05 3.292e-05] normNow=0.599879 +86: DBG: Improvement rate now/prev at iter 1 is 0.0664158 +86: Updated 4 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.3388e-09 +86: > NEWTON iter 2: errNorm=0.599879(v) -> deltaNorm=1.16013(pi) +86: > piActive=~[10.4934 -1.02298 -0.233539 4.51678 -0.259628 0.369583 19.2973 6.76966e-05 -2.40531e-05 13.8389 2.14859e-05 4.68159e-05] +86: > errActive=~[-1.33227e-15 -0.472555 -0.107881 -8.88178e-16 -0.203158 0.289196 1.77636e-15 2.10322e-05 -7.4729e-06 8.88178e-16 1.51084e-05 3.292e-05] +86: > deltaPi=~[0.0534095 -1.02298 -0.233539 -0.136081 -0.259628 0.369583 0.122512 6.76966e-05 -2.40531e-05 -0.0669779 2.14859e-05 4.68159e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.599879. +86: > piNow=~[10.44 1.75859e-13 4.03566e-14 4.65287 -1.42852e-12 2.03326e-12 19.1748 -1.1556e-13 4.10134e-14 13.9059 5.44198e-14 1.18311e-13] +86: > errNow=~[-4.44089e-16 8.12363e-14 1.86423e-14 8.88178e-16 -1.11781e-12 1.59102e-12 0 -3.59027e-14 1.27422e-14 -2.22045e-15 3.82669e-14 8.3194e-14] normNow=1.94875e-12 +86: DBG: Improvement rate now/prev at iter 2 is 3.24857e-12 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.94875e-12. +86: DBG: Worst offender is normal contact 2 err=19.1748 ... +86: DBG: ... normal contact 2 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,4,5,1,6,7,3,10,11) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.450352,0.102812, mag=0.461939 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.4498,-0.640294, mag=0.782494 +86: Participating UniCont 2 (ix=4): cond=UniOff/Sliding, vel=-0.292754,0.104017, mag=0.310684 +86: Participating UniCont 3 (ix=6): cond=UniActive/Sliding, vel=-0.293306,-0.639089, mag=0.70318 +86: fillMult2Active: +86: : active=(0,4,5,1,6,7,3,10,11) +86: : mult2active=(0,3,-1111111111,6,1,2,4,5,-1111111111,-1111111111,7,8) +86: DBG: active normal 0 has v=-2.42031; guess pi=-0.01 +86: DBG: active normal 3 has v=-5.19577; guess pi=-0.01 +86: DBG: active normal 6 has v=3.36619; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[-5.42101e-20 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[-2.42031 -5.19617 5.33355 2.55769 0.0397125 -2.38082 0.0375948 -5.23247 -2.8097 -2.37243 -2.81182 -5.22409] +86: : rhsActive=~[-2.42031 0.490065 -2.27801 -5.19577 0.487395 -5.87277 3.36619 -3.10512 -5.86318] +86: : pi was=~[0 0 0 0 1.75859e-13 4.03566e-14 -1.42852e-12 2.03326e-12 -1.1556e-13 4.10134e-14 5.44198e-14 1.18311e-13] +86: : piActive=~[-0.01 1.75859e-13 4.03566e-14 -0.01 -1.42852e-12 2.03326e-12 0.01 5.44198e-14 1.18311e-13] +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.27979e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=6.63524... +86: > NEWTON iter 1: errNorm=6.63524(v) -> deltaNorm=45.6566(pi) +86: > piActive=~[-0.01 1.75859e-13 4.03566e-14 -0.01 -1.42852e-12 2.03326e-12 0.01 5.44198e-14 1.18311e-13] +86: > errActive=~[2.41182 -0.000450352 -0.000102812 5.18982 -0.0004498 0.000640294 -3.35788 3.82669e-14 8.3194e-14] +86: > deltaPi=~[-29.3142 2.85681 0.652189 13.3142 -0.765888 1.09025 -32.2114 -5.00466e-05 -0.000109047] +86: DBG: Line search iter 1: back=1, prevNorm=6.63524. +86: > piNow=~[29.3042 -2.85681 -0.652189 -13.3242 0.765888 -1.09025 32.2214 5.00466e-05 0.000109047] +86: > errNow=~[-4.44089e-16 -1.31967 -0.301272 1.77636e-15 -2.23073e-05 3.17547e-05 -2.22045e-15 3.51918e-05 7.668e-05] normNow=1.35363 +86: DBG: Improvement rate now/prev at iter 1 is 0.204006 +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.11504e-09 +86: > NEWTON iter 2: errNorm=1.35363(v) -> deltaNorm=2.95748(pi) +86: > piActive=~[29.3042 -2.85681 -0.652189 -13.3242 0.765888 -1.09025 32.2214 5.00466e-05 0.000109047] +86: > errActive=~[-4.44089e-16 -1.31967 -0.301272 1.77636e-15 -2.23073e-05 3.17547e-05 -2.22045e-15 3.51918e-05 7.668e-05] +86: > deltaPi=~[0.107341 -2.85681 -0.652189 0.196954 -0.01135 0.0161568 -0.330474 5.00466e-05 0.000109047] +87: Done +89: Starting test TestConstraints ... +89: testBallConstraint ... +89: testBallConstraint done. real/CPU ms: 1.8 / 1.8 +89: testConstantAngleConstraint ... +89: testConstantAngleConstraint done. real/CPU ms: 1.0 / 1.0 +89: testConstantOrientationConstraint ... +89: testConstantOrientationConstraint done. real/CPU ms: 1.2 / 1.2 +89: testConstantSpeedConstraint ... +89: testConstantSpeedConstraint done. real/CPU ms: 0.7 / 0.7 +89: testNoSlip1DConstraint ... +89: testNoSlip1DConstraint done. real/CPU ms: 0.7 / 0.7 +89: testPointInPlaneConstraint ... +89: testPointInPlaneConstraint done. real/CPU ms: 1.0 / 1.0 +89: testPointOnLineConstraint ... +89: testPointOnLineConstraint done. real/CPU ms: 1.0 / 1.0 +89: testRodConstraint ... +89: testRodConstraint done. real/CPU ms: 0.8 / 0.8 +89: testWeldConstraint ... +89: testWeldConstraint done. real/CPU ms: 0.9 / 0.9 +89: testWeldConstraintWithPreAssembly ... +89: testWeldConstraintWithPreAssembly done. real/CPU ms: 2.3 / 2.3 +89: testConstraintForces ... +89: testConstraintForces done. real/CPU ms: 0.5 / 0.5 +89: testConstraintMatrices ... +89: testConstraintMatrices done. real/CPU ms: 3.6 / 3.6 +89: testConstraintAccelerationErrors ... +89: testConstraintAccelerationErrors done. real/CPU ms: 3.4 / 3.4 +89: testDisablingConstraints ... +90: Starting test TestCustomConstraints ... +90: testCoordinateCoupler1 ... +90: testCoordinateCoupler1 done. real/CPU ms: 2.4 / 2.4 +90: testCoordinateCoupler2 ... +90: testCoordinateCoupler2 done. real/CPU ms: 89.9 / 89.8 +90: testCoordinateCoupler3 ... +94: FunctionBased MobilizedBodies vs. Built-in Types: +94: Pin: Passed +94: Skewed Pin: Passed +94: Slider: Passed +94: Skewed Slider: Passed +94: Cylinder: Passed +94: Universal: Passed +94: Planar: Passed +94: Gimbal: Passed +94: Functions with Multiple Arguments: Passed +95: Starting test TestGravity ... +95: testConstruction ... +95: testConstruction done. real/CPU ms: 0.2 / 0.2 +95: testParameters ... +95: testParameters done. real/CPU ms: 0.6 / 0.6 +95: testForces ... +95: testForces done. real/CPU ms: 0.6 / 0.6 +95: +95: TestGravity done. real/CPU ms: 1.4 / 1.4 + 65/108 Test #6: RotationTest ................................... Passed 0.87 sec + 66/108 Test #78: TestSpline ..................................... Passed 0.28 sec + 67/108 Test #80: TimeStepperTest ................................ Passed 0.16 sec + 68/108 Test #87: TestAngleConversions ........................... Passed 0.15 sec +test 105 + Start 105: TestParallelForces + +105: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestParallelForces +105: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +105: Test timeout computed to be: 1500 +test 106 + Start 106: TestPimpl1 + +106: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestPimpl1 +106: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +106: Test timeout computed to be: 1500 +test 107 + Start 107: TestReverseMobilizers + +107: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestReverseMobilizers +107: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +107: Test timeout computed to be: 1500 +test 108 + Start 108: TestSmoothSphereHalfSpaceForce + +108: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestSmoothSphereHalfSpaceForce +108: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests +108: Test timeout computed to be: 1500 + 69/108 Test #79: TestTriangleMesh ............................... Passed 0.17 sec +86: DBG: Line search iter 1: back=1, prevNorm=1.35363. +86: > piNow=~[29.1969 4.70735e-14 1.03251e-14 -13.5212 0.777238 -1.1064 32.5518 4.9658e-14 1.07751e-13] +86: > errNow=~[1.77636e-15 2.17451e-14 4.76955e-15 -1.77636e-15 -1.85851e-13 2.64566e-13 -4.44089e-16 3.49185e-14 7.57684e-14] normNow=3.34661e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.47233e-13 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.34661e-13. +86: DBG: Worst offender is normal contact 3 err=32.5518 ... +86: DBG: ... normal contact 3 released. +86: +86: ....... Active set iter 3 start +86: : active=(0,4,5,1,6,7) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.450352,0.102812, mag=0.461939 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.4498,-0.640294, mag=0.782494 +86: Participating UniCont 2 (ix=4): cond=UniOff/Sliding, vel=-0.292754,0.104017, mag=0.310684 +86: Participating UniCont 3 (ix=6): cond=UniOff/Sliding, vel=-0.293306,-0.639089, mag=0.70318 +86: fillMult2Active: +86: : active=(0,4,5,1,6,7) +86: : mult2active=(0,3,-1111111111,-1111111111,1,2,4,5,-1111111111,-1111111111,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-2.42031; guess pi=-0.01 +86: DBG: active normal 3 has v=-5.19577; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-5.42101e-20 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[-2.42031 -5.19617 5.33355 2.55769 0.0397125 -2.38082 0.0375948 -5.23247 -2.8097 -2.37243 -2.81182 -5.22409] +86: : rhsActive=~[-2.42031 0.490065 -2.27801 -5.19577 0.487395 -5.87277] +86: : pi was=~[0 -13.5212 0 0 4.70735e-14 1.03251e-14 0.777238 -1.1064 -1.1556e-13 4.10134e-14 4.9658e-14 1.07751e-13] +86: : piActive=~[-0.01 4.70735e-14 1.03251e-14 -0.01 0.777238 -1.1064] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.38465e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=5.42443... +86: > NEWTON iter 1: errNorm=5.42443(v) -> deltaNorm=12.5532(pi) +86: > piActive=~[-0.01 4.70735e-14 1.03251e-14 -0.01 0.777238 -1.1064] +86: > errActive=~[2.26268 -0.000450352 -0.000102812 4.81529 0.607734 -0.865114] +86: > deltaPi=~[2.10811 -0.206491 -0.0471402 12.3726 0.0654766 -0.0932065] +86: DBG: Line search iter 1: back=1, prevNorm=5.42443. +86: > piNow=~[-2.11811 0.206491 0.0471402 -12.3826 0.711761 -1.0132] +86: > errNow=~[-4.44089e-16 -3.53637e-06 -8.07326e-07 0 -2.07297e-05 2.95088e-05] normNow=3.62443e-05 +86: DBG: Improvement rate now/prev at iter 1 is 6.68167e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.33548e-10 +86: > NEWTON iter 2: errNorm=3.62443e-05(v) -> deltaNorm=5.34208e-05(pi) +86: > piActive=~[-2.11811 0.206491 0.0471402 -12.3826 0.711761 -1.0132] +86: > errActive=~[-4.44089e-16 -3.53637e-06 -8.07326e-07 0 -2.07297e-05 2.95088e-05] +86: > deltaPi=~[-1.75401e-06 -7.48448e-06 -1.70865e-06 -3.06786e-05 -2.47283e-05 3.52009e-05] +86: DBG: Line search iter 1: back=1, prevNorm=3.62443e-05. +86: > piNow=~[-2.11811 0.206498 0.0471419 -12.3826 0.711786 -1.01323] +86: > errNow=~[0 5.55112e-17 1.38778e-17 -8.88178e-16 1.11022e-16 0] normNow=8.96917e-16 +86: DBG: Improvement rate now/prev at iter 2 is 2.47465e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.96917e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.450352,0.102812] to ~[0.587338,0.120622] +86: DBG: Friction 0 rotated 1.25426 deg, less than max 30 +86: slipVel 1 from ~[0.4498,-0.640294] to ~[0.586594,-0.880362] +86: DBG: Friction 1 rotated 1.41176 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-2.11811 0.206498 0.0471419 -12.3826 0.711786 -1.01323] +86: : m_verrLeft=~[0 8.88178e-16 1.22071 1.22071 0.587338 0.120622 0.586594 -0.880362 -0.413646 0.122353 -0.41439 -0.878632] +86: : verrAppliedLeft=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-2.11811 verr=0 pi*v=-0 +86: DBG: 1: pi=-12.3826 verr=8.88178e-16 pi*v=-1.09979e-14 +86: DBG: 2: pi=0 verr=1.22071 pi*v=0 +86: DBG: 3: pi=0 verr=1.22071 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-2.11811 -12.3826 0 0 0.206498 0.0471419 0.711786 -1.01323 0 0 0 0] errNorm=8.96917e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=4): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.450352 0.102812, |slipV|=0.461939 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (6,7) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.4498 -0.640294, |slipV|=0.782494 +86: 2: UnilateralContactIndex 4, normal MultiplierIndex 2, sign=1, hasFriction: 1 +86: friction MultIndices: (8,9) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.292754 0.104017, |slipV|=0.310684 +86: 3: UnilateralContactIndex 6, normal MultiplierIndex 3, sign=1, hasFriction: 1 +86: friction MultIndices: (10,11) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.293306 -0.639089, |slipV|=0.70318 +86: ------------------------------ +86: +86: dynamics impulse=~[-2.11811 -12.3826 0 0 0.206498 0.0471419 0.711786 -1.01323 0 0 0 0] +86: updated verrStart=~[0 8.88178e-16 1.22071 1.22071 0.587338 0.120622 0.586594 -0.880362 -0.413646 0.122353 -0.41439 -0.878632] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[-0.000150162 0.000150162 0.808334 0.808634 0 0 0 0 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.373777 0.121304 -0.102056 -0.35453 -0.0158962 0.350848 -0.0160626 0.126711 -0.239829 0.35063 -0.239996 0.126493] +86: [0.121304 0.371812 -0.352947 -0.102438 0.0151783 0.126155 0.0153447 0.35022 0.239041 0.125605 0.239207 0.34967] +86: [-0.102056 -0.352947 0.372973 0.122082 -0.0154507 -0.12604 -0.015617 -0.350007 -0.239214 -0.12549 -0.23938 -0.349456] +86: [-0.35453 -0.102438 0.122082 0.374174 0.0156238 -0.350734 0.0157903 -0.126498 0.239656 -0.350515 0.239823 -0.126279] +86: [-0.0158962 0.0151783 -0.0154507 0.0156238 0.0443407 0.0151913 0.044318 -0.0153832 0.0137411 0.0152144 0.0137184 -0.0153601] +86: [0.350848 0.126155 -0.12604 -0.350734 0.0151913 0.374476 0.0150047 0.123216 -0.235887 0.374277 -0.236073 0.123017] +86: [-0.0160626 0.0153447 -0.015617 0.0157903 0.044318 0.0150047 0.0442956 -0.0151968 0.0140912 0.0150275 0.0140687 -0.0151739] +86: [0.126711 0.35022 -0.350007 -0.126498 -0.0153832 0.123216 -0.0151968 0.374259 0.235478 0.122645 0.235665 0.373687] +86: [-0.239829 0.239041 -0.239214 0.239656 0.0137411 -0.235887 0.0140912 0.235478 0.484719 -0.236236 0.485069 0.235129] +86: [0.35063 0.125605 -0.12549 -0.350515 0.0152144 0.374277 0.0150275 0.122645 -0.236236 0.374079 -0.236423 0.122446] +86: [-0.239996 0.239207 -0.23938 0.239823 0.0137184 -0.236073 0.0140687 0.235665 0.485069 -0.236423 0.485419 0.235315] +86: [0.126493 0.34967 -0.349456 -0.126279 -0.0153601 0.123017 -0.0151739 0.373687 0.235129 0.122446 0.235315 0.373116] +86: D=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: rcond(A+D)=0.508978 rank=2 +86: rhs=~[-0.000150162 0.000150162 0.808334 0.808634 0 0 0 0 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[-0.000595904 0.000598278] +86: -> pi=~[-0.000595904 0.000598278 0 0 0 0 0 0 0 0 0 0] +86: resid active=~[0 0] +86: resid=~[0 0 -0.808484 -0.808484 1.85534e-05 -0.000133596 1.87522e-05 0.000134022 0.000285928 -0.000133795 0.000286127 0.000133823] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[3.50929e-16 1.13361e-15 1.22071 1.22071 0.587338 0.120622 0.586594 -0.880362 -0.413646 0.122353 -0.41439 -0.878632] +86: perr=~[-1.50162e-07 1.50162e-07 0.000808334 0.000808634 2.22045e-16] +86: END OF STEP (0.001,0.002): +86: verr=~[-0.000610956 0.000610956 1.2201 1.22132 0.587839 0.120621 0.586093 -0.880361 -0.413141 0.124844 -0.414887 -0.876139] +86: perr=~[-4.5564e-07 4.5564e-07 0.00202874 0.00202965 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: 4: cont UniOff fric Sliding +86: 6: cont UniOff fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=0.600087 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.05761 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000610956 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.000610956 0.000610956 0.587839 0.120621 0.586093 -0.880361] +86: IMP t=0.002 verr=~[-0.000610956 0.000610956 0.587839 0.120621 0.586093 -0.880361] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-0.000610956 0.000610956 0.587839 0.120621 0.586093 -0.880361] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.587839,0.120621, mag=0.600087 +86: Participating contact 1 is Sliding; vel=0.586093,-0.880361, mag=1.05761 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.587839,0.120621, mag=0.600087 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.586093,-0.880361, mag=1.05761 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.000610956; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000610956; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.000610956 0.000610956 0.587839 0.120621 0.586093 -0.880361] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000610956 0.587839 0.120621 0.000610956 0.586093 -0.880361] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.52943e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00274981... +86: > NEWTON iter 1: errNorm=0.00274981(v) -> deltaNorm=0.0106904(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.00192715 -0.000587839 -0.000120621 0.00186747 0 0] +86: > deltaPi=~[-0.00754867 -0.000240157 -4.9279e-05 0.00756586 -1.56175e-08 2.34587e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.00274981. +86: > piNow=~[-0.00245133 0.000240157 4.9279e-05 0.00243414 1.56175e-08 -2.34587e-08] +86: > errNow=~[-3.25261e-19 1.65288e-08 3.39161e-09 1.0842e-19 1.65172e-08 -2.48102e-08] normNow=3.42501e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.24554e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.60522e-05 +86: > NEWTON iter 2: errNorm=3.42501e-08(v) -> deltaNorm=4.4216e-08(pi) +86: > piActive=~[-0.00245133 0.000240157 4.9279e-05 0.00243414 1.56175e-08 -2.34587e-08] +86: > errActive=~[-3.25261e-19 1.65288e-08 3.39161e-09 1.0842e-19 1.65172e-08 -2.48102e-08] +86: > deltaPi=~[-1.50824e-09 2.76916e-08 5.68217e-09 1.89609e-08 1.56168e-08 -2.34578e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.42501e-08. +86: > piNow=~[-0.00245133 0.00024013 4.92733e-05 0.00243412 6.59402e-13 -9.90478e-13] +86: > errNow=~[0 5.48627e-14 1.12575e-14 1.0842e-19 6.97391e-13 -1.04754e-12] normNow=1.25969e-12 +86: DBG: Improvement rate now/prev at iter 2 is 3.67793e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.25969e-12. +86: DBG: Worst offender is normal contact 1 err=0.00243412 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.587839,0.120621, mag=0.600087 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=0.586093,-0.880361, mag=1.05761 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000610956; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.000610956 0.000610956 0.587839 0.120621 0.586093 -0.880361] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000610956 0.587839 0.120621] +86: : pi was=~[-0.00245133 0 0.00024013 4.92733e-05 6.59402e-13 -9.90478e-13] +86: : piActive=~[-0.01 0.00024013 4.92733e-05] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.23525e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00312627... +86: > NEWTON iter 1: errNorm=0.00312627(v) -> deltaNorm=0.00833265(pi) +86: > piActive=~[-0.01 0.00024013 4.92733e-05] +86: > errActive=~[-0.00309328 -0.00044374 -9.10531e-05] +86: > deltaPi=~[-0.00833229 7.67317e-05 1.57449e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.00312627. +86: > piNow=~[-0.00166771 0.000163398 3.35284e-05] +86: > errNow=~[0 1.82446e-08 3.74369e-09] normNow=1.86247e-08 +86: DBG: Improvement rate now/prev at iter 1 is 5.95748e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.00552e-05 +86: > NEWTON iter 2: errNorm=1.86247e-08(v) -> deltaNorm=3.1825e-08(pi) +86: > piActive=~[-0.00166771 0.000163398 3.35284e-05] +86: > errActive=~[0 1.82446e-08 3.74369e-09] +86: > deltaPi=~[-4.57844e-09 3.08512e-08 6.33049e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.86247e-08. +86: > piNow=~[-0.00166771 0.000163367 3.35221e-05] +86: > errNow=~[-1.0842e-19 3.59047e-13 7.36746e-14] normNow=3.66528e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.96797e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.66528e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.587839,0.120621] to ~[0.587803,0.121189] +86: DBG: Friction 0 rotated 0.0537692 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00166771 0.000163367 3.35221e-05] +86: : m_verrLeft=~[1.0842e-19 0.000801038 0.587803 0.121189 0.586057 -0.880154] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.00166771 verr=1.0842e-19 pi*v=-1.80813e-22 +86: DBG: 1: pi=0 verr=0.000801038 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00166771 0 0.000163367 3.35221e-05 0 0] errNorm=3.66528e-13 +86: Postcompression verr=~[1.0842e-19 0.000801038 0.587803 0.121189 0.586057 -0.880154] +86: impulse=~[-0.00166771 0 0.000163367 3.35221e-05 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00166771 0 0.000163367 3.35221e-05 0 0]-> du ~[-0.000419528 0.000771529 -0.000360318 -0.00038756 -3.56047e-05 0.000400519 -0.00150572 0.0010552] +86: Now verr0=~[0 0.000801038 0.587803 0.121189 0.586057 -0.880154] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0 0.000801038 0.587803 0.121189 0.586057 -0.880154] +86: verrExt=~[0.45666 -1.32773 0.0891274 0.502889 0.0857381 -1.44151] +86: total verr=~[0.45666 -1.32692 0.676931 0.624079 0.671795 -2.32166] +86: DYN t=0.002: verrStart=~[0 0.000801038 0.587803 0.121189 0.586057 -0.880154] +86: verrApplied=~[0.45666 -1.32773 0.0891274 0.502889 0.0857381 -1.44151] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0 0.000801038 0.587803 0.121189 0.586057 -0.880154] +86: verrApplied=~[0.45666 -1.32773 0.0891274 0.502889 0.0857381 -1.44151] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.587803,0.121189, mag=0.600166 +86: Participating contact 1 is Sliding; vel=0.586057,-0.880154, mag=1.05742 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.587803,0.121189, mag=0.600166 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.586057,-0.880154, mag=1.05742 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.45666; guess pi=0.01 +86: DBG: active normal 3 has v=-1.32692; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0 0.000801038 0.587803 0.121189 0.586057 -0.880154] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.45666 -1.32773 0.0891274 0.502889 0.0857381 -1.44151] +86: : rhsActive=~[0.45666 0.676931 0.624079 -1.32692 0.671795 -2.32166] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.52895e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.40014... +86: > NEWTON iter 1: errNorm=1.40014(v) -> deltaNorm=4.96303(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[-0.454122 0 0 1.32445 -0.000586057 0.000880154] +86: > deltaPi=~[-2.66984 9.73997e-06 2.00812e-06 4.16287 -0.231266 0.34732] +86: DBG: Line search iter 1: back=1, prevNorm=1.40014. +86: > piNow=~[2.67984 -9.73997e-06 -2.00812e-06 -4.17287 0.231266 -0.34732] +86: > errNow=~[2.22045e-16 -5.8456e-06 -1.2052e-06 0 -9.0875e-06 1.36478e-05] normNow=1.7449e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.24624e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.21705e-10 +86: > NEWTON iter 2: errNorm=1.7449e-05(v) -> deltaNorm=2.02623e-05(pi) +86: > piActive=~[2.67984 -9.73997e-06 -2.00812e-06 -4.17287 0.231266 -0.34732] +86: > errActive=~[2.22045e-16 -5.8456e-06 -1.2052e-06 0 -9.0875e-06 1.36478e-05] +86: > deltaPi=~[2.15638e-07 -9.73997e-06 -2.00812e-06 -1.00691e-05 -8.03597e-06 1.20686e-05] +86: DBG: Line search iter 1: back=1, prevNorm=1.7449e-05. +86: > piNow=~[2.67984 1.09555e-17 2.25777e-18 -4.17286 0.231274 -0.347332] +86: > errNow=~[-2.77556e-16 6.57514e-18 1.35504e-18 -4.44089e-16 1.11022e-16 -2.22045e-16] normNow=5.79592e-16 +86: DBG: Improvement rate now/prev at iter 2 is 3.32163e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.79592e-16. +86: DBG: Worst offender is normal contact 0 err=2.67984 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=0.587803,0.121189, mag=0.600166 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.586057,-0.880154, mag=1.05742 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-1.32692; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0 0.000801038 0.587803 0.121189 0.586057 -0.880154] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.45666 -1.32773 0.0891274 0.502889 0.0857381 -1.44151] +86: : rhsActive=~[-1.32692 0.671795 -2.32166] +86: : pi was=~[0 -4.17286 1.09555e-17 2.25777e-18 0.231274 -0.347332] +86: : piActive=~[-0.01 0.231274 -0.347332] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.93875e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.28442... +86: > NEWTON iter 1: errNorm=1.28442(v) -> deltaNorm=3.36111(pi) +86: > piActive=~[-0.01 0.231274 -0.347332] +86: > errActive=~[1.20664 0.243967 -0.366396] +86: > deltaPi=~[3.36015 0.0444957 -0.0668247] +86: DBG: Line search iter 1: back=1, prevNorm=1.28442. +86: > piNow=~[-3.37015 0.186778 -0.280508] +86: > errNow=~[2.22045e-16 -7.33517e-06 1.10161e-05] normNow=1.32348e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.03041e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.47851e-11 +86: > NEWTON iter 2: errNorm=1.32348e-05(v) -> deltaNorm=1.46336e-05(pi) +86: > piActive=~[-3.37015 0.186778 -0.280508] +86: > errActive=~[2.22045e-16 -7.33517e-06 1.10161e-05] +86: > deltaPi=~[-8.88481e-06 -6.44444e-06 9.67841e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.32348e-05. +86: > piNow=~[-3.37014 0.186785 -0.280517] +86: > errNow=~[0 1.66533e-16 -2.22045e-16] normNow=2.77556e-16 +86: DBG: Improvement rate now/prev at iter 2 is 2.09717e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.77556e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[0.586057,-0.880154] to ~[0.711127,-1.04825] +86: DBG: Friction 1 rotated 0.494847 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-3.37014 0.186785 -0.280517] +86: : m_verrLeft=~[0.892432 0 0.714826 1.07322 0.711127 -1.04825] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.892432 pi*v=0 +86: DBG: 1: pi=-3.37014 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -3.37014 0 0 0.186785 -0.280517] errNorm=2.77556e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.587803 0.121189, |slipV|=0.600166 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.586057 -0.880154, |slipV|=1.05742 +86: ------------------------------ +86: +86: dynamics impulse=~[0 -3.37014 0 0 0.186785 -0.280517] +86: updated verrStart=~[0.892432 0 0.714826 1.07322 0.711127 -1.04825] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[-0.00045564 0.00045564 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.371748 0.117937 -0.0165167 0.349355 -0.0169072 0.125298] +86: [0.117937 0.36578 0.0150068 0.123832 0.0153941 0.346037] +86: [-0.0165167 0.0150068 0.04442 0.014583 0.0443673 -0.0156598] +86: [0.349355 0.123832 0.014583 0.373496 0.014146 0.122829] +86: [-0.0169072 0.0153941 0.0443673 0.014146 0.044316 -0.0152253] +86: [0.125298 0.346037 -0.0156598 0.122829 -0.0152253 0.37208] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.515243 rank=2 +86: rhs=~[-0.00045564 0.00045564 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[-0.00180554 0.00182782] +86: -> pi=~[-0.00180554 0.00182782 0 0 0 0] +86: resid active=~[-1.0842e-19 0] +86: resid=~[-1.0842e-19 0 5.72515e-05 -0.000404432 5.86644e-05 0.000406264] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[0.892432 4.44089e-16 0.714826 1.07322 0.711127 -1.04825] +86: perr=~[-4.5564e-07 4.5564e-07 0] +86: END OF STEP (0.002,0.003): +86: verr=~[0.891946 0.000486315 0.717475 1.07342 0.708478 -1.04844] +86: perr=~[0.000891733 6.98797e-07 0] +86: constraint status: +86: 0: cont UniOff fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.29112 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.26538 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.891946 0.000486315 0.717475 1.07342 0.708478 -1.04844] +86: verrExt=~[2.73132 1.8113 0.111361 2.80317 0.106315 1.70985] +86: total verr=~[3.62327 1.81179 0.828836 3.87659 0.814793 0.661407] +86: DYN t=0.003: verrStart=~[0.891946 0.000486315 0.717475 1.07342 0.708478 -1.04844] +86: verrApplied=~[2.73132 1.8113 0.111361 2.80317 0.106315 1.70985] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.891946 0.000486315 0.717475 1.07342 0.708478 -1.04844] +86: verrApplied=~[2.73132 1.8113 0.111361 2.80317 0.106315 1.70985] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.717475,1.07342, mag=1.29112 +86: Participating contact 1 is Sliding; vel=0.708478,-1.04844, mag=1.26538 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.717475,1.07342, mag=1.29112 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.708478,-1.04844, mag=1.26538 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=3.62327; guess pi=0.01 +86: DBG: active normal 3 has v=1.81179; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[0.891946 0.000486315 0.717475 1.07342 0.708478 -1.04844] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[2.73132 1.8113 0.111361 2.80317 0.106315 1.70985] +86: : rhsActive=~[3.62327 0.828836 3.87659 1.81179 0.814793 0.661407] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.73387e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=4.04461... +86: > NEWTON iter 1: errNorm=4.04461(v) -> deltaNorm=9.4117(pi) +86: > piActive=~[0.01 0 0 0.01 0 0] +86: > errActive=~[-3.61846 0 0 -1.80711 0 0] +86: > deltaPi=~[-9.15575 1.89515e-05 2.83535e-05 -2.18001 4.54649e-06 -6.72815e-06] +86: DBG: Line search iter 1: back=1, prevNorm=4.04461. +86: > piNow=~[9.16575 -1.89515e-05 -2.83535e-05 2.19001 -4.54649e-06 6.72815e-06] +86: > errNow=~[-2.66454e-15 -2.44688e-05 -3.66079e-05 4.44089e-16 -5.75303e-06 8.51364e-06] normNow=4.52155e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.11792e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.89791e-10 +86: > NEWTON iter 2: errNorm=4.52155e-05(v) -> deltaNorm=4.2909e-05(pi) +86: > piActive=~[9.16575 -1.89515e-05 -2.83535e-05 2.19001 -4.54649e-06 6.72815e-06] +86: > errActive=~[-2.66454e-15 -2.44688e-05 -3.66079e-05 4.44089e-16 -5.75303e-06 8.51364e-06] +86: > deltaPi=~[2.44732e-05 -1.89515e-05 -2.83535e-05 -3.6362e-06 -4.54649e-06 6.72815e-06] +86: DBG: Line search iter 1: back=1, prevNorm=4.52155e-05. +86: > piNow=~[9.16572 6.02952e-17 9.02259e-17 2.19001 -1.58133e-16 2.34012e-16] +86: > errNow=~[0 7.78486e-17 1.16493e-16 0 -2.00098e-16 2.96114e-16] normNow=3.83867e-16 +86: DBG: Improvement rate now/prev at iter 2 is 8.48972e-12 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.83867e-16. +86: DBG: Worst offender is normal contact 0 err=9.16572 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=0.717475,1.07342, mag=1.29112 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.708478,-1.04844, mag=1.26538 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=1.81179; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[0.891946 0.000486315 0.717475 1.07342 0.708478 -1.04844] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[2.73132 1.8113 0.111361 2.80317 0.106315 1.70985] +86: : rhsActive=~[1.81179 0.814793 0.661407] +86: : pi was=~[0 0 6.02952e-17 9.02259e-17 -1.58133e-16 2.34012e-16] +86: : piActive=~[0.01 -1.58133e-16 2.34012e-16] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.71337e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.80824... +86: > NEWTON iter 1: errNorm=1.80824(v) -> deltaNorm=5.09406(pi) +86: > piActive=~[0.01 -1.58133e-16 2.34012e-16] +86: > errActive=~[-1.80824 -2.00098e-16 2.96114e-16] +86: > deltaPi=~[-5.09406 1.06239e-05 -1.57218e-05] +86: DBG: Line search iter 1: back=1, prevNorm=1.80824. +86: > piNow=~[5.10406 -1.06239e-05 1.57218e-05] +86: > errNow=~[0 -1.34432e-05 1.98939e-05] normNow=2.40102e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.32782e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.47389e-11 +86: > NEWTON iter 2: errNorm=2.40102e-05(v) -> deltaNorm=2.38442e-05(pi) +86: > piActive=~[5.10406 -1.06239e-05 1.57218e-05] +86: > errActive=~[0 -1.34432e-05 1.98939e-05] +86: > deltaPi=~[-1.44397e-05 -1.06239e-05 1.57218e-05] +86: DBG: Line search iter 1: back=1, prevNorm=2.40102e-05. +86: > piNow=~[5.10407 -1.15613e-16 1.71084e-16] +86: > errNow=~[0 -1.46294e-16 2.16485e-16] normNow=2.61281e-16 +86: DBG: Improvement rate now/prev at iter 2 is 1.08821e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.61281e-16. +86: DBG: Worst offender is normal contact 1 err=5.10407 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 3 start +86: : active=() +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=0.717475,1.07342, mag=1.29112 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=0.708478,-1.04844, mag=1.26538 +86: fillMult2Active: +86: : active=() +86: : mult2active=(-1111111111,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111) +86: initializeNewton: +86: : verrLeft was=~[0.891946 0.000486315 0.717475 1.07342 0.708478 -1.04844] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[2.73132 1.8113 0.111361 2.80317 0.106315 1.70985] +86: : rhsActive=~[] +86: : pi was=~[0 0 6.02952e-17 9.02259e-17 -1.15613e-16 1.71084e-16] +86: : piActive=~[] +86: SP interval 1 end: s=1 +86: : m_piActive=~[] +86: : m_verrLeft=~[3.62327 1.81179 0.828836 3.87659 0.814793 0.661407] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=3.62327 pi*v=0 +86: DBG: 1: pi=0 verr=1.81179 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[0 0 0 0 0 0] errNorm=0 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.717475 1.07342, |slipV|=1.29112 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.708478 -1.04844, |slipV|=1.26538 +86: ------------------------------ +86: +86: dynamics impulse=~[0 0 0 0 0 0] +86: updated verrStart=~[3.62327 1.81179 0.828836 3.87659 0.814793 0.661407] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.891733 0.000698797 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 0 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: DBG: no bilateral participators. Nothing to do. +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[3.62327 1.81179 0.828836 3.87659 0.814793 0.661407] +86: perr=~[0.000891733 6.98797e-07 0] +86: END OF STEP (0.003,0.004): +86: verr=~[3.62988 1.80519 0.835637 3.8728 0.807993 0.665191] +86: perr=~[0.00451831 0.00180919 -1.11022e-16] +86: constraint status: +86: 0: cont UniOff fric Sliding +86: 2: cont UniOff fric Sliding +86: Proximal unilateral contacts: (6) +86: Distal unilateral contacts: (0,1,2,3,4,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 6 verr speed=2.51171 -> mu=0.1 +86: DBG: Uni contact 6 verr vel=-2.30747 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: () +86: participating multx: (0,1,2) +86: verr=~[-2.30747 -2.41373 0.694702] +86: IMP t=0.004 verr=~[-2.30747 -2.41373 0.694702] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[-2.30747 -2.41373 0.694702] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=-2.41373,0.694702, mag=2.51171 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=6): cond=UniActive/Sliding, vel=-2.41373,0.694702, mag=2.51171 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-2.30747; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-2.30747 -2.41373 0.694702] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-2.30747 -2.41373 0.694702] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.35581e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=2.30381... +86: > NEWTON iter 1: errNorm=2.30381(v) -> deltaNorm=5.8946(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[2.30381 0.00241373 -0.000694702] +86: > deltaPi=~[5.86525 0.564584 -0.162495] +86: DBG: Line search iter 1: back=1, prevNorm=2.30381. +86: > piNow=~[-5.87525 -0.564584 0.162495] +86: > errNow=~[-4.44089e-16 5.27335e-05 -1.51774e-05] normNow=5.48742e-05 +86: DBG: Improvement rate now/prev at iter 1 is 2.38189e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.12719e-10 +86: > NEWTON iter 2: errNorm=5.48742e-05(v) -> deltaNorm=2.51347e-05(pi) +86: > piActive=~[-5.87525 -0.564584 0.162495] +86: > errActive=~[-4.44089e-16 5.27335e-05 -1.51774e-05] +86: > deltaPi=~[-1.47168e-05 1.95808e-05 -5.6356e-06] +86: DBG: Line search iter 1: back=1, prevNorm=5.48742e-05. +86: > piNow=~[-5.87524 -0.564604 0.1625] +86: > errNow=~[-4.44089e-16 -2.22045e-16 1.66533e-16] normNow=5.23691e-16 +86: DBG: Improvement rate now/prev at iter 2 is 9.54349e-12 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.23691e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-2.41373,0.694702] to ~[-0.769714,0.0462972] +86: DBG: Friction 0 rotated 12.6144 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-5.87524 -0.564604 0.1625] +86: : m_verrLeft=~[4.44089e-16 -0.769714 0.0462972] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-5.87524 verr=4.44089e-16 pi*v=-2.60913e-15 +86: SP FINAL 1 intervals, piTotal=~[-5.87524 -0.564604 0.1625] errNorm=5.23691e-16 +86: Postcompression verr=~[4.44089e-16 -0.769714 0.0462972] +86: impulse=~[-5.87524 -0.564604 0.1625] +86: Next expansion impulse=~[0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-5.87524 -0.564604 0.1625]-> du ~[1.70682 -2.78776 1.53542 1.3969 0.098112 -1.33138 5.50273 -3.61888] +86: Now verr0=~[1.77636e-15 -0.769714 0.0462972] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[1.77636e-15 -0.769714 0.0462972] +86: verrExt=~[-3.86115 -0.449528 3.30672] +86: total verr=~[-3.86115 -1.21924 3.35301] +86: DYN t=0.004: verrStart=~[1.77636e-15 -0.769714 0.0462972] +86: verrApplied=~[-3.86115 -0.449528 3.30672] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[1.77636e-15 -0.769714 0.0462972] +86: verrApplied=~[-3.86115 -0.449528 3.30672] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=-0.769714,0.0462972, mag=0.771105 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=6): cond=UniActive/Sliding, vel=-0.769714,0.0462972, mag=0.771105 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-3.86115; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[1.77636e-15 -0.769714 0.0462972] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-3.86115 -0.449528 3.30672] +86: : rhsActive=~[-3.86115 -1.21924 3.35301] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.87227e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=3.85749... +86: > NEWTON iter 1: errNorm=3.85749(v) -> deltaNorm=9.91427(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[3.85749 0.000769714 -4.62972e-05] +86: > deltaPi=~[9.86497 0.985679 -0.0592872] +86: DBG: Line search iter 1: back=1, prevNorm=3.85749. +86: > piNow=~[-9.87497 -0.985679 0.0592872] +86: > errNow=~[8.88178e-16 2.82837e-05 -1.70123e-06] normNow=2.83348e-05 +86: DBG: Improvement rate now/prev at iter 1 is 7.34541e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.20131e-10 +86: > NEWTON iter 2: errNorm=2.83348e-05(v) -> deltaNorm=4.15263e-05(pi) +86: > piActive=~[-9.87497 -0.985679 0.0592872] +86: > errActive=~[8.88178e-16 2.82837e-05 -1.70123e-06] +86: > deltaPi=~[-2.32268e-05 3.4361e-05 -2.06677e-06] +86: DBG: Line search iter 1: back=1, prevNorm=2.83348e-05. +86: > piNow=~[-9.87495 -0.985713 0.0592893] +86: > errNow=~[-4.44089e-16 0 0] normNow=4.44089e-16 +86: DBG: Improvement rate now/prev at iter 2 is 1.56729e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.44089e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.769714,0.0462972] to ~[1.60815,2.34615] +86: DBG: TOO BIG: Sliding fric 0; endmag=2.8444, rot=120.986 deg > 30 +86: DBG: --> returning stepLength=0.157517 (dist to origin=0.568397) +86: DBG: -->max change solutions: -0.387867 and 0.119384; returning 0.119384 +86: DBG: Frac=0.119384 reduces angle to 30 degrees. +86: SP interval 1 end: s=0.119384 +86: : m_piActive=~[-1.17891 -0.117678 0.00707817] +86: : m_verrLeft=~[1.66533e-15 -0.485835 0.320862] +86: : verrAppliedLeft=~[-3.40019 -0.395862 2.91195] +86: : piELeft=~[0 0 0] +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 2 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[-1.17891 -0.117678 0.00707817] +86: verrLeft=~[1.66533e-15 -0.485835 0.320862] +86: verrApplied=~[-3.40019 -0.395862 2.91195] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=-0.485835,0.320862, mag=0.582227 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=6): cond=UniActive/Sliding, vel=-0.485835,0.320862, mag=0.582227 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-3.40019; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[1.66533e-15 -0.485835 0.320862] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-3.40019 -0.395862 2.91195] +86: : rhsActive=~[-3.40019 -0.881697 3.23281] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.16872e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=3.39653... +86: > NEWTON iter 1: errNorm=3.39653(v) -> deltaNorm=8.68411(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[3.39653 0.000485835 -0.000320862] +86: > deltaPi=~[8.64092 0.721843 -0.476729] +86: DBG: Line search iter 1: back=1, prevNorm=3.39653. +86: > piNow=~[-8.65092 -0.721843 0.476729] +86: > errNow=~[0 1.56373e-05 -1.03274e-05] normNow=1.87398e-05 +86: DBG: Improvement rate now/prev at iter 1 is 5.51732e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.33419e-10 +86: > NEWTON iter 2: errNorm=1.87398e-05(v) -> deltaNorm=3.71453e-05(pi) +86: > piActive=~[-8.65092 -0.721843 0.476729] +86: > errActive=~[0 1.56373e-05 -1.03274e-05] +86: > deltaPi=~[-2.19102e-05 2.50294e-05 -1.65302e-05] +86: DBG: Line search iter 1: back=1, prevNorm=1.87398e-05. +86: > piNow=~[-8.6509 -0.721868 0.476746] +86: > errNow=~[0 -5.55112e-17 1.11022e-16] normNow=1.24127e-16 +86: DBG: Improvement rate now/prev at iter 2 is 6.62371e-12 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.24127e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.485835,0.320862] to ~[1.43515,2.17093] +86: DBG: TOO BIG: Sliding fric 0; endmag=2.60243, rot=90.0257 deg > 30 +86: DBG: --> returning stepLength=0.0477532 (dist to origin=0.568127) +86: DBG: -->max change solutions: -0.148371 and 0.114366; returning 0.114366 +86: DBG: Frac=0.114366 reduces angle to 30 degrees. +86: SP interval 2 end: s=0.114366 +86: : m_piActive=~[-0.989365 -0.0825569 0.0545234] +86: : m_verrLeft=~[1.38778e-15 -0.26614 0.532447] +86: : verrAppliedLeft=~[-3.01133 -0.350589 2.57892] +86: : piELeft=~[0 0 0] +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 3 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[-2.16827 -0.200235 0.0616015] +86: verrLeft=~[1.38778e-15 -0.26614 0.532447] +86: verrApplied=~[-3.01133 -0.350589 2.57892] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=-0.26614,0.532447, mag=0.595256 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=6): cond=UniActive/Sliding, vel=-0.26614,0.532447, mag=0.595256 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-3.01133; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[1.38778e-15 -0.26614 0.532447] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-3.01133 -0.350589 2.57892] +86: : rhsActive=~[-3.01133 -0.616729 3.11137] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.21725e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=3.00766... +86: > NEWTON iter 1: errNorm=3.00766(v) -> deltaNorm=7.79161(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[3.00766 0.00026614 -0.000532447] +86: > deltaPi=~[7.75284 0.347065 -0.694347] +86: DBG: Line search iter 1: back=1, prevNorm=3.00766. +86: > piNow=~[-7.76284 -0.347065 0.694347] +86: > errNow=~[4.44089e-16 7.68569e-06 -1.53762e-05] normNow=1.719e-05 +86: DBG: Improvement rate now/prev at iter 1 is 5.71541e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.86458e-10 +86: > NEWTON iter 2: errNorm=1.719e-05(v) -> deltaNorm=3.16667e-05(pi) +86: > piActive=~[-7.76284 -0.347065 0.694347] +86: > errActive=~[4.44089e-16 7.68569e-06 -1.53762e-05] +86: > deltaPi=~[-1.61002e-05 1.21917e-05 -2.43911e-05] +86: DBG: Line search iter 1: back=1, prevNorm=1.719e-05. +86: > piNow=~[-7.76283 -0.347077 0.694372] +86: > errNow=~[0 -2.77556e-17 5.55112e-17] normNow=6.20634e-17 +86: DBG: Improvement rate now/prev at iter 2 is 3.61043e-12 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.20634e-17. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.26614,0.532447] to ~[1.26137,1.99936] +86: DBG: TOO BIG: Sliding fric 0; endmag=2.364, rot=58.8051 deg > 30 +86: DBG: --> returning stepLength=0 (dist to origin=0.595256) +86: DBG: -->max change solutions: -0.14407 and 0.207164; returning 0.207164 +86: DBG: Frac=0.207164 reduces angle to 30 degrees. +86: SP interval 3 end: s=0.207164 +86: : m_piActive=~[-1.60818 -0.071902 0.143849] +86: : m_verrLeft=~[1.11022e-15 0.0503046 0.836339] +86: : verrAppliedLeft=~[-2.38749 -0.277959 2.04466] +86: : piELeft=~[0 0 0] +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 4 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[-3.77645 -0.272137 0.205451] +86: verrLeft=~[1.11022e-15 0.0503046 0.836339] +86: verrApplied=~[-2.38749 -0.277959 2.04466] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=0.0503046,0.836339, mag=0.83785 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=6): cond=UniActive/Sliding, vel=0.0503046,0.836339, mag=0.83785 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-2.38749; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[1.11022e-15 0.0503046 0.836339] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-2.38749 -0.277959 2.04466] +86: : rhsActive=~[-2.38749 -0.227655 2.881] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.12089e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=2.38383... +86: > NEWTON iter 1: errNorm=2.38383(v) -> deltaNorm=6.35462(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[2.38383 -5.03046e-05 -0.000836339] +86: > deltaPi=~[6.32299 -0.0380219 -0.632133] +86: DBG: Line search iter 1: back=1, prevNorm=2.38383. +86: > piNow=~[-6.33299 0.0380219 0.632133] +86: > errNow=~[4.44089e-16 -1.18479e-06 -1.96977e-05] normNow=1.97333e-05 +86: DBG: Improvement rate now/prev at iter 1 is 8.27801e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.15221e-11 +86: > NEWTON iter 2: errNorm=1.97333e-05(v) -> deltaNorm=2.38406e-05(pi) +86: > piActive=~[-6.33299 0.0380219 0.632133] +86: > errActive=~[4.44089e-16 -1.18479e-06 -1.96977e-05] +86: > deltaPi=~[-6.68687e-06 -1.37394e-06 -2.28424e-05] +86: DBG: Line search iter 1: back=1, prevNorm=1.97333e-05. +86: > piNow=~[-6.33298 0.0380233 0.632156] +86: > errNow=~[0 0 1.11022e-16] normNow=1.11022e-16 +86: DBG: Improvement rate now/prev at iter 2 is 5.62613e-12 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.11022e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.0503046,0.836339] to ~[1.13779,1.88058] +86: DBG: Friction 0 rotated 27.7327 deg, less than max 30 +86: SP interval 4 end: s=1 +86: : m_piActive=~[-6.33298 0.0380233 0.632156] +86: : m_verrLeft=~[0 1.13779 1.88058] +86: : verrAppliedLeft=~[0 0 0] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-10.1094 verr=0 pi*v=-0 +86: SP FINAL 4 intervals, piTotal=~[-10.1094 -0.234114 0.837606] errNorm=1.11022e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 6, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0503046 0.836339, |slipV|=0.83785 +86: ------------------------------ +86: +86: dynamics impulse=~[-10.1094 -0.234114 0.837606] +86: updated verrStart=~[0 1.13779 1.88058] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.181054 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.366289 0.24028 -0.12168] +86: [0.24028 0.474381 0.218621] +86: [-0.12168 0.218621 0.350399] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[0.181054 0 0] +86: active=(0) +86: -> piActive=~[0.494293] +86: -> pi=~[0.494293 0 0] +86: resid active=~[0] +86: resid=~[0 0.118769 -0.0601455] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[1.77636e-15 1.13779 1.88058] +86: perr=~[0.000181054 -1.11022e-16] +86: END OF STEP (0.004,0.005): +86: verr=~[-0.000210717 1.14298 1.88961] +86: perr=~[0.000180949 0] +86: constraint status: +86: 6: cont UniActive fric Sliding +86: Proximal unilateral contacts: (4,6) +86: Distal unilateral contacts: (0,1,2,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 4 verr speed=2.26978 -> mu=0.1 +86: DBG: Uni fric 6 verr speed=2.2084 -> mu=0.1 +86: DBG: Uni contact 4 verr vel=-2.00984 -> cor=0 +86: DBG: Uni contact 6 verr vel=-0.000210717 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0,1) +86: observers: () +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-2.00984 -0.000210717 1.14209 1.96152 1.14298 1.88961] +86: IMP t=0.005 verr=~[-2.00984 -0.000210717 1.14209 1.96152 1.14298 1.88961] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-2.00984 -0.000210717 1.14209 1.96152 1.14298 1.88961] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=1.14209,1.96152, mag=2.26978 +86: Participating contact 1 is Sliding; vel=1.14298,1.88961, mag=2.2084 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=1.14209,1.96152, mag=2.26978 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=1.14298,1.88961, mag=2.2084 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-2.00984; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.000210717; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-2.00984 -0.000210717 1.14209 1.96152 1.14298 1.88961] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-2.00984 1.14209 1.96152 -0.000210717 1.14298 1.88961] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.17961e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=2.00546... +86: > NEWTON iter 1: errNorm=2.00546(v) -> deltaNorm=7.02556(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[2.00546 -0.00114209 -0.00196152 -0.00446451 -0.00114298 -0.00188961] +86: > deltaPi=~[6.60938 -0.333055 -0.572017 -2.27708 0.117331 0.193975] +86: DBG: Line search iter 1: back=1, prevNorm=2.00546. +86: > piNow=~[-6.61938 0.333055 0.572017 2.26708 -0.117331 -0.193975] +86: > errNow=~[0 -2.81172e-05 -4.82908e-05 5.41234e-16 -0.259113 -0.428373] normNow=0.500642 +86: DBG: Improvement rate now/prev at iter 1 is 0.249639 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.32677e-10 +86: > NEWTON iter 2: errNorm=0.500642(v) -> deltaNorm=0.375168(pi) +86: > piActive=~[-6.61938 0.333055 0.572017 2.26708 -0.117331 -0.193975] +86: > errActive=~[0 -2.81172e-05 -4.82908e-05 5.41234e-16 -0.259113 -0.428373] +86: > deltaPi=~[-0.276894 0.0139201 0.0239075 0.109191 -0.117331 -0.193975] +86: DBG: Line search iter 1: back=1, prevNorm=0.500642. +86: > piNow=~[-6.34248 0.319135 0.548109 2.15789 4.0961e-12 6.77189e-12] +86: > errNow=~[4.44089e-16 2.68863e-12 4.61786e-12 -3.24014e-16 9.04581e-12 1.4955e-11] normNow=1.82766e-11 +86: DBG: Improvement rate now/prev at iter 2 is 3.65062e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.82766e-11. +86: DBG: Worst offender is normal contact 1 err=2.15789 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=1.14209,1.96152, mag=2.26978 +86: Participating UniCont 1 (ix=6): cond=UniOff/Sliding, vel=1.14298,1.88961, mag=2.2084 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-2.00984; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-2.00984 -0.000210717 1.14209 1.96152 1.14298 1.88961] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-2.00984 1.14209 1.96152] +86: : pi was=~[-6.34248 0 0.319135 0.548109 4.0961e-12 6.77189e-12] +86: : piActive=~[-0.01 0.319135 0.548109] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.45467e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=2.36431... +86: > NEWTON iter 1: errNorm=2.36431(v) -> deltaNorm=5.6863(pi) +86: > piActive=~[-0.01 0.319135 0.548109] +86: > errActive=~[1.87723 0.723225 1.24213] +86: > deltaPi=~[5.68593 0.0325433 0.0558926] +86: DBG: Line search iter 1: back=1, prevNorm=2.36431. +86: > piNow=~[-5.69593 0.286592 0.492217] +86: > errNow=~[-4.44089e-16 -2.41887e-05 -4.15437e-05] normNow=4.80726e-05 +86: DBG: Improvement rate now/prev at iter 1 is 2.03326e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.50396e-10 +86: > NEWTON iter 2: errNorm=4.80726e-05(v) -> deltaNorm=2.34077e-05(pi) +86: > piActive=~[-5.69593 0.286592 0.492217] +86: > errActive=~[-4.44089e-16 -2.41887e-05 -4.15437e-05] +86: > deltaPi=~[-1.22343e-05 -1.00412e-05 -1.72457e-05] +86: DBG: Line search iter 1: back=1, prevNorm=4.80726e-05. +86: > piNow=~[-5.69592 0.286602 0.492234] +86: > errNow=~[0 2.22045e-16 2.22045e-16] normNow=3.14018e-16 +86: DBG: Improvement rate now/prev at iter 2 is 6.53217e-12 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.14018e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[1.14209,1.96152] to ~[-0.104065,1.22264] +86: DBG: TOO BIG: Sliding fric 0; endmag=1.22706, rot=35.075 deg > 30 +86: DBG: --> returning stepLength=1 (dist to origin=1.22706) +86: DBG: -->max change solutions: 51.3139 and 0.912706; returning 0.912706 +86: DBG: Frac=0.912706 reduces angle to 30 degrees. +86: SP interval 1 end: s=0.912706 +86: : m_piActive=~[-5.1987 0.261583 0.449265] +86: : m_verrLeft=~[-0.175447 0.639887 0.00471659 1.28714 -0.00276758 0.159945] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 2 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[-5.1987 0 0.261583 0.449265 0 0] +86: verrLeft=~[-0.175447 0.639887 0.00471659 1.28714 -0.00276758 0.159945] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.00471659,1.28714, mag=1.28715 +86: Participating contact 1 is Sliding; vel=-0.00276758,0.159945, mag=0.159969 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=0.00471659,1.28714, mag=1.28715 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.00276758,0.159945, mag=0.159969 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.175447; guess pi=-0.01 +86: DBG: active normal 3 has v=0.639887; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.175447 0.639887 0.00471659 1.28714 -0.00276758 0.159945] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.175447 0.00471659 1.28714 0.639887 -0.00276758 0.159945] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.83136e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.660438... +86: > NEWTON iter 1: errNorm=0.660438(v) -> deltaNorm=2.52109(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[0.17318 -4.71659e-06 -0.00128714 -0.637326 0 0] +86: > deltaPi=~[1.18723 -0.000438694 -0.119718 -2.22083 -1.43117e-07 8.27106e-06] +86: DBG: Line search iter 1: back=1, prevNorm=0.660438. +86: > piNow=~[-1.19723 0.000438694 0.119718 2.23083 1.43117e-07 -8.27106e-06] +86: > errNow=~[1.11022e-16 -2.08582e-08 -5.69212e-06 -2.22045e-16 2.28942e-08 -1.32311e-06] normNow=5.84395e-06 +86: DBG: Improvement rate now/prev at iter 1 is 8.84861e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.47075e-10 +86: > NEWTON iter 2: errNorm=5.84395e-06(v) -> deltaNorm=1.24864e-05(pi) +86: > piActive=~[-1.19723 0.000438694 0.119718 2.23083 1.43117e-07 -8.27106e-06] +86: > errActive=~[1.11022e-16 -2.08582e-08 -5.69212e-06 -2.22045e-16 2.28942e-08 -1.32311e-06] +86: > deltaPi=~[-7.62842e-06 -1.34096e-08 -3.65942e-06 -3.98683e-06 1.43117e-07 -8.27106e-06] +86: DBG: Line search iter 1: back=1, prevNorm=5.84395e-06. +86: > piNow=~[-1.19722 0.000438707 0.119722 2.23083 5.16219e-18 -2.98396e-16] +86: > errNow=~[-2.77556e-17 9.32414e-18 2.58127e-15 1.11022e-16 8.25788e-19 -4.7734e-17] normNow=2.58426e-15 +86: DBG: Improvement rate now/prev at iter 2 is 4.42211e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.58426e-15. +86: DBG: Worst offender is normal contact 1 err=2.23083 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=0.00471659,1.28714, mag=1.28715 +86: Participating UniCont 1 (ix=6): cond=UniOff/Sliding, vel=-0.00276758,0.159945, mag=0.159969 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.175447; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.175447 0.639887 0.00471659 1.28714 -0.00276758 0.159945] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.175447 0.00471659 1.28714] +86: : pi was=~[-1.19722 0 0.000438707 0.119722 5.16219e-18 -2.98396e-16] +86: : piActive=~[-0.01 0.000438707 0.119722] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.79449e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.220431... +86: > NEWTON iter 1: errNorm=0.220431(v) -> deltaNorm=0.505379(pi) +86: > piActive=~[-0.01 0.000438707 0.119722] +86: > errActive=~[0.158864 0.000559966 0.152813] +86: > deltaPi=~[0.500694 0.000251577 0.0686545] +86: DBG: Line search iter 1: back=1, prevNorm=0.220431. +86: > piNow=~[-0.510694 0.00018713 0.0510672] +86: > errNow=~[-2.77556e-17 -8.79655e-09 -2.40055e-06] normNow=2.40056e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.08903e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.84371e-09 +86: > NEWTON iter 2: errNorm=2.40056e-06(v) -> deltaNorm=1.90239e-06(pi) +86: > piActive=~[-0.510694 0.00018713 0.0510672] +86: > errActive=~[-2.77556e-17 -8.79655e-09 -2.40055e-06] +86: > deltaPi=~[-6.01185e-07 -6.61383e-09 -1.80489e-06] +86: DBG: Line search iter 1: back=1, prevNorm=2.40056e-06. +86: > piNow=~[-0.510693 0.000187137 0.051069] +86: > errNow=~[0 4.03865e-18 1.1241e-15] normNow=1.12411e-15 +86: DBG: Improvement rate now/prev at iter 2 is 4.68268e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.12411e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.00471659,1.28714] to ~[-0.0937083,1.21231] +86: DBG: Friction 0 rotated 4.62998 deg, less than max 30 +86: SP interval 2 end: s=1 +86: : m_piActive=~[-0.510693 0.000187137 0.051069] +86: : m_verrLeft=~[0 0.711217 -0.0937083 1.21231 -0.101912 -0.00544808] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-5.70939 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.711217 pi*v=0 +86: SP FINAL 2 intervals, piTotal=~[-5.70939 0 0.26177 0.500334 0 0] errNorm=1.12411e-15 +86: Postcompression verr=~[0 0.711217 -0.0937083 1.21231 -0.101912 -0.00544808] +86: impulse=~[-5.70939 0 0.26177 0.500334 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-5.70939 0 0.26177 0.500334 0 0]-> du ~[-1.31703 -2.60163 -1.14406 1.31683 -0.0895073 -1.25031 4.9813 -5.35855] +86: Now verr0=~[2.22045e-16 0.711217 -0.0937083 1.21231 -0.101912 -0.00544808] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[2.22045e-16 0.711217 -0.0937083 1.21231 -0.101912 -0.00544808] +86: verrExt=~[-4.87734 -5.01042 -0.128935 4.96216 -0.130446 4.7638] +86: total verr=~[-4.87734 -4.2992 -0.222644 6.17446 -0.232358 4.75835] +86: DYN t=0.005: verrStart=~[2.22045e-16 0.711217 -0.0937083 1.21231 -0.101912 -0.00544808] +86: verrApplied=~[-4.87734 -5.01042 -0.128935 4.96216 -0.130446 4.7638] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[2.22045e-16 0.711217 -0.0937083 1.21231 -0.101912 -0.00544808] +86: verrApplied=~[-4.87734 -5.01042 -0.128935 4.96216 -0.130446 4.7638] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0937083,1.21231, mag=1.21593 +86: Participating contact 1 is Sliding; vel=-0.101912,-0.00544808, mag=0.102058 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.0937083,1.21231, mag=1.21593 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.101912,-0.00544808, mag=0.102058 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-4.87734; guess pi=-0.01 +86: DBG: active normal 3 has v=-4.2992; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[2.22045e-16 0.711217 -0.0937083 1.21231 -0.101912 -0.00544808] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-4.87734 -5.01042 -0.128935 4.96216 -0.130446 4.7638] +86: : rhsActive=~[-4.87734 -0.222644 6.17446 -4.2992 -0.232358 4.75835] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.54509e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=6.49528... +86: > NEWTON iter 1: errNorm=6.49528(v) -> deltaNorm=14.3279(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[4.87296 9.37083e-05 -0.00121231 4.29453 0.000101912 5.44808e-06] +86: > deltaPi=~[12.6971 0.0979272 -1.26689 6.48343 0.648393 0.0346621] +86: DBG: Line search iter 1: back=1, prevNorm=6.49528. +86: > piNow=~[-12.7071 -0.0979272 1.26689 -6.49343 -0.648393 -0.0346621] +86: > errNow=~[2.66454e-15 4.43196e-06 -5.73365e-05 8.88178e-16 2.46118e-06 1.31571e-07] normNow=5.75603e-05 +86: DBG: Improvement rate now/prev at iter 1 is 8.86187e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.20552e-10 +86: > NEWTON iter 2: errNorm=5.75603e-05(v) -> deltaNorm=8.62539e-05(pi) +86: > piActive=~[-12.7071 -0.0979272 1.26689 -6.49343 -0.648393 -0.0346621] +86: > errActive=~[2.66454e-15 4.43196e-06 -5.73365e-05 8.88178e-16 2.46118e-06 1.31571e-07] +86: > deltaPi=~[1.95228e-05 3.79539e-06 -4.91011e-05 -6.57604e-05 1.75489e-05 9.38136e-07] +86: DBG: Line search iter 1: back=1, prevNorm=5.75603e-05. +86: > piNow=~[-12.7072 -0.097931 1.26694 -6.49336 -0.64841 -0.034663] +86: > errNow=~[-8.88178e-16 0 0 0 -5.55112e-17 -2.60209e-18] normNow=8.89915e-16 +86: DBG: Improvement rate now/prev at iter 2 is 1.54606e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.89915e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.0937083,1.21231] to ~[-0.769642,1.92856] +86: DBG: Friction 0 rotated 17.3357 deg, less than max 30 +86: slipVel 1 from ~[-0.101912,-0.00544808] to ~[-0.783069,0.0494747] +86: DBG: Friction 1 rotated 6.6752 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-12.7072 -0.097931 1.26694 -6.49336 -0.64841 -0.034663] +86: : m_verrLeft=~[8.88178e-16 0 -0.769642 1.92856 -0.783069 0.0494747] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-12.7072 verr=8.88178e-16 pi*v=-1.12862e-14 +86: DBG: 1: pi=-6.49336 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-12.7072 -6.49336 -0.097931 1.26694 -0.64841 -0.034663] errNorm=8.89915e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0937083 1.21231, |slipV|=1.21593 +86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.101912 -0.00544808, |slipV|=0.102058 +86: ------------------------------ +86: +86: dynamics impulse=~[-12.7072 -6.49336 -0.097931 1.26694 -0.64841 -0.034663] +86: updated verrStart=~[8.88178e-16 0 -0.769642 1.92856 -0.783069 0.0494747] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.880324 0.180949 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.332473 0.105726 -0.21625 -0.10995 -0.217855 -0.312376] +86: [0.105726 0.361797 0.238724 -0.340352 0.240495 -0.117546] +86: [-0.21625 0.238724 0.457145 -0.236901 0.460644 0.208223] +86: [-0.10995 -0.340352 -0.236901 0.366707 -0.238867 0.114069] +86: [-0.217855 0.240495 0.460644 -0.238867 0.464172 0.209974] +86: [-0.312376 -0.117546 0.208223 0.114069 0.209974 0.339957] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.529659 rank=2 +86: rhs=~[0.880324 0.180949 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[2.74373 -0.301644] +86: -> pi=~[2.74373 -0.301644 0 0 0 0] +86: resid active=~[3.33067e-16 5.55112e-17] +86: resid=~[3.33067e-16 5.55112e-17 -0.665342 -0.199008 -0.67028 -0.821619] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-1.33227e-15 -2.66454e-15 -0.769642 1.92856 -0.783069 0.0494747] +86: perr=~[0.000880324 0.000180949 0] +86: END OF STEP (0.005,0.006): +86: verr=~[0.00179373 -0.00174365 -0.7678 1.93562 -0.78476 0.0565699] +86: perr=~[0.000881221 0.000180077 -1.11022e-16] +86: constraint status: +86: 4: cont UniActive fric Sliding +86: 6: cont UniActive fric Sliding +86: Proximal unilateral contacts: (4,6) +86: Distal unilateral contacts: (0,1,2,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 4 verr speed=2.08234 -> mu=0.1 +86: DBG: Uni fric 6 verr speed=0.786797 -> mu=0.1 +86: DBG: Uni contact 6 verr vel=-0.00174365 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.00179373 -0.00174365 -0.7678 1.93562 -0.78476 0.0565699] +86: IMP t=0.006 verr=~[0.00179373 -0.00174365 -0.7678 1.93562 -0.78476 0.0565699] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00179373 -0.00174365 -0.7678 1.93562 -0.78476 0.0565699] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.7678,1.93562, mag=2.08234 +86: Participating contact 1 is Sliding; vel=-0.78476,0.0565699, mag=0.786797 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.7678,1.93562, mag=2.08234 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.78476,0.0565699, mag=0.786797 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.00179373; guess pi=0.01 +86: DBG: active normal 3 has v=-0.00174365; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00179373 -0.00174365 -0.7678 1.93562 -0.78476 0.0565699] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.00179373 -0.7678 1.93562 -0.00174365 -0.78476 0.0565699] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.29167e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00119558... +86: > NEWTON iter 1: errNorm=0.00119558(v) -> deltaNorm=0.00446128(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.000384205 0 0 -0.000814101 0.00078476 -5.65699e-05] +86: > deltaPi=~[0.0026942 3.7003e-09 -9.32846e-09 -0.00349589 0.00064874 -4.67648e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.00119558. +86: > piNow=~[0.0073058 -3.7003e-09 9.32846e-09 -0.00650411 -0.00064874 4.67648e-05] +86: > errNow=~[-2.1684e-19 -7.7053e-09 1.94251e-08 -2.1684e-19 -1.0219e-08 7.3664e-10] normNow=2.32739e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.94665e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.60972e-05 +86: > NEWTON iter 2: errNorm=2.32739e-08(v) -> deltaNorm=2.96302e-08(pi) +86: > piActive=~[0.0073058 -3.7003e-09 9.32846e-09 -0.00650411 -0.00064874 4.67648e-05] +86: > errActive=~[-2.1684e-19 -7.7053e-09 1.94251e-08 -2.1684e-19 -1.0219e-08 7.3664e-10] +86: > deltaPi=~[-1.27256e-08 -3.70034e-09 9.32854e-09 2.23362e-08 -1.07604e-08 7.75671e-10] +86: DBG: Line search iter 1: back=1, prevNorm=2.32739e-08. +86: > piNow=~[0.00730581 3.27422e-14 -8.2543e-14 -0.00650413 -0.000648729 4.6764e-05] + 70/108 Test #95: TestGravity .................................... Passed 0.14 sec 62: DenseVector "curr_slack_s_U" with 0 elements: 62: DenseVector "curr_v_L" with 1 elements: -62: curr_v_L[ 1]= 1.1579203246625598e+00 +62: curr_v_L[ 1]= 1.2258654905765380e+00 62: DenseVector "curr_v_U" with 0 elements: 62: 62: -62: ***Current NLP Values for Iteration 22: +62: ***Current NLP Values for Iteration 16: 62: 62: (scaled) (unscaled) -62: Objective...............: 1.4182760541997255e+00 1.7019312650396706e+01 -62: Dual infeasibility......: 7.6430868456945052e-03 9.1717042148334066e-02 -62: Constraint violation....: 1.1191182785807996e-05 1.1191182785807996e-04 -62: Complementarity.........: 7.5757575757575762e-07 9.0909090909090927e-06 -62: Overall NLP error.......: 7.6430868456945052e-03 9.1717042148334066e-02 +62: Objective...............: 1.4210710270105065e+00 1.7052852324126079e+01 +62: Dual infeasibility......: 3.8222857433016837e-02 4.5867428919620201e-01 +62: Constraint violation....: 6.6588628587812095e-04 3.2695140739562594e-03 +62: Complementarity.........: 4.7175576605293520e-04 5.6610691926352224e-03 +62: Overall NLP error.......: 3.8222857433016837e-02 4.5867428919620201e-01 62: 62: DenseVector "grad_f" with 4 elements: -62: grad_f[ 1]= 1.2219737096464796e+00 -62: grad_f[ 2]= 1.1587830730579325e-01 -62: grad_f[ 3]= 1.9921164063912658e-01 -62: grad_f[ 4]= 7.9545628945267544e-01 +62: grad_f[ 1]= 1.2037950977309768e+00 +62: grad_f[ 2]= 1.1663833069583732e-01 +62: grad_f[ 3]= 1.9997166402917066e-01 +62: grad_f[ 4]= 8.1658737024538397e-01 62: DenseVector "curr_c" with 1 elements: -62: curr_c[ 1]= 1.1191182785807996e-05 +62: curr_c[ 1]= 3.2695140739562594e-04 62: DenseVector "curr_d" with 1 elements: -62: curr_d[ 1]=-3.2076654714785491e-06 +62: curr_d[ 1]=-6.6588668587812098e-04 62: DenseVector "curr_d - curr_s" with 1 elements: -62: curr_d - curr_s[ 1]=-3.8615206192016740e-06 +62: curr_d - curr_s[ 1]=-8.9126199937714817e-04 62: 62: 62: 62: ************************************************** -62: *** Update Barrier Parameter for Iteration 22: +62: *** Update Barrier Parameter for Iteration 16: 62: ************************************************** 62: 62: Staying in free mu mode. -62: The current filter has 5 entries. +62: The current filter has 7 entries. 62: phi theta iter 62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 -62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 -62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 -62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 -62: 5 1.4182760541997255e+00 1.5052703405009670e-05 22 +62: 2 1.4423332860357938e+00 1.0274010163965094e-04 6 +62: 3 1.4413235016815467e+00 1.2643682542685304e-04 7 +62: 4 1.4131282557471663e+00 1.6036198022143809e-02 9 +62: 5 1.4039314102134561e+00 3.7639712904795834e-02 11 +62: 6 1.4049317607873903e+00 3.4167612122773236e-02 12 +62: 7 1.4210710270105065e+00 1.2182134067727740e-03 16 62: Solving the Primal Dual System for the affine step 62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 62: delta_c=0.000000e+00 delta_d=0.000000e+00 @@ -16236,174 +17946,187 @@ 62: delta_c=0.000000e+00 delta_d=0.000000e+00 62: Solving the Primal Dual System for the centering step 62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.736879867051e-13 q = 5.736879867051e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.622483738318e-13 q = 5.622483738318e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: Sigma = 1.000113e+00 -62: Barrier parameter mu computed by oracle is 7.575758e-07 -62: Barrier parameter mu after safeguards is 7.575758e-07 -62: Barrier Parameter: 7.575758e-07 +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 6.699183897369e-08 q = 6.699183897369e-08 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 6.563614303647e-08 q = 6.563614303647e-08 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 3.80e-01 d_inf = 0.000000000000e+00 p_inf = 4.630980289846e-11 cmpl = 9.265206380704e-09 q = 9.311516183603e-09 a_pri = 9.90e-01 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 6.13e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 2.466738116660e-08 q = 2.466738116660e-08 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 2.36e-01 d_inf = 0.000000000000e+00 p_inf = 2.811255518862e-10 cmpl = 3.521218934576e-09 q = 3.802344486463e-09 a_pri = 9.75e-01 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 1.47e-01 d_inf = 0.000000000000e+00 p_inf = 5.187223757798e-10 cmpl = 1.381798096776e-09 q = 1.900520472555e-09 a_pri = 9.66e-01 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.18e-02 d_inf = 8.390349014231e-07 p_inf = 6.987666456090e-10 cmpl = 9.307289100016e-10 q = 8.406643969787e-07 a_pri = 9.61e-01 a_dual = 9.60e-01 xi = 0.00e+00 +62: sigma = 1.81e-01 d_inf = 0.000000000000e+00 p_inf = 4.199808488808e-10 cmpl = 2.072368931843e-09 q = 2.492349780724e-09 a_pri = 9.69e-01 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 1.26e-01 d_inf = 4.164038938845e-08 p_inf = 5.845695402089e-10 cmpl = 1.120396104698e-09 q = 4.334535503336e-08 a_pri = 9.64e-01 a_dual = 9.91e-01 xi = 0.00e+00 +62: sigma = 1.60e-01 d_inf = 0.000000000000e+00 p_inf = 4.798599617327e-10 cmpl = 1.627130784114e-09 q = 2.106990745847e-09 a_pri = 9.67e-01 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 1.39e-01 d_inf = 0.000000000000e+00 p_inf = 5.434428994124e-10 cmpl = 1.241561433201e-09 q = 1.785004332614e-09 a_pri = 9.65e-01 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 1.34e-01 d_inf = 8.533387399684e-10 p_inf = 5.589877636819e-10 cmpl = 1.172131287761e-09 q = 2.584457791411e-09 a_pri = 9.65e-01 a_dual = 9.99e-01 xi = 0.00e+00 +62: Sigma = 1.387915e-01 +62: Barrier parameter mu computed by oracle is 3.774662e-05 +62: Barrier parameter mu after safeguards is 3.774662e-05 +62: Barrier Parameter: 3.774662e-05 62: 62: ************************************************** -62: *** Solving the Primal Dual System for Iteration 22: +62: *** Solving the Primal Dual System for Iteration 16: 62: ************************************************** 62: -62: max-norm resid_x 2.428613e-17 -62: max-norm resid_s 1.649072e-16 -62: max-norm resid_c 1.258691e-18 -62: max-norm resid_d 8.317864e-19 -62: max-norm resid_zL 9.512577e-23 -62: max-norm resid_zU 2.812414e-23 -62: max-norm resid_vL 3.546537e-23 +62: max-norm resid_x 1.387779e-17 +62: max-norm resid_s 8.153200e-17 +62: max-norm resid_c 6.938894e-18 +62: max-norm resid_d 9.649399e-18 +62: max-norm resid_zL 8.809143e-20 +62: max-norm resid_zU 5.421011e-20 +62: max-norm resid_vL 3.388132e-21 62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 7.64e-03 nrm_sol = 7.58e-03 nrm_resid = 1.65e-16 -62: residual_ratio = 1.083040e-14 +62: nrm_rhs = 3.82e-02 nrm_sol = 3.41e-02 nrm_resid = 8.15e-17 +62: residual_ratio = 1.126812e-15 62: Factorization successful. -62: max-norm resid_x 8.673617e-19 +62: max-norm resid_x 6.938894e-18 62: max-norm resid_s 0.000000e+00 -62: max-norm resid_c 3.472835e-19 -62: max-norm resid_d 1.380664e-19 -62: max-norm resid_zL 4.135903e-25 -62: max-norm resid_zU 5.169879e-26 -62: max-norm resid_vL 0.000000e+00 +62: max-norm resid_c 4.119968e-18 +62: max-norm resid_d 3.577867e-18 +62: max-norm resid_zL 4.065758e-20 +62: max-norm resid_zU 5.421011e-20 +62: max-norm resid_vL 3.345780e-20 62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 7.64e-03 nrm_sol = 7.58e-03 nrm_resid = 8.67e-19 -62: residual_ratio = 5.696465e-17 +62: nrm_rhs = 3.82e-02 nrm_sol = 3.41e-02 nrm_resid = 6.94e-18 +62: residual_ratio = 9.589885e-17 62: 62: ************************************************** -62: *** Finding Acceptable Trial Point for Iteration 22: +62: *** Finding Acceptable Trial Point for Iteration 16: 62: ************************************************** 62: -62: --> Starting filter line search in iteration 22 <-- +62: --> Starting filter line search in iteration 16 <-- +62: Mu has changed in line search - resetting watchdog counters. 62: The current filter has 0 entries. -62: Relative step size for delta_x = 1.597795e-03 -62: minimal step size ALPHA_MIN = 8.946142E-11 -62: Starting checks for alpha (primal) = 1.00e+00 -62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: -62: New values of barrier function = 1.4182093442251904e+00 (reference 1.4182936718153074e+00): -62: New values of constraint violation = 1.2103313309103914e-05 (reference 1.5052703405009670e-05): -62: reference_theta = 1.505270e-05 reference_gradBarrTDelta = -8.412958e-05 +62: Relative step size for delta_x = 1.443233e-02 +62: minimal step size ALPHA_MIN = 3.069034E-10 +62: Starting checks for alpha (primal) = 9.65e-01 +62: Checking acceptability for trial step size alpha_primal_test= 9.652727e-01: +62: New values of barrier function = 1.4190391998950056e+00 (reference 1.4214382310562210e+00): +62: New values of constraint violation = 8.7375515487369919e-04 (reference 1.2182134067727740e-03): +62: reference_theta = 1.218213e-03 reference_gradBarrTDelta = -1.984686e-03 62: Checking sufficient reduction... 62: Succeeded... 62: Checking filter acceptability... 62: Succeeded... -62: reference_theta = 1.505270e-05 reference_gradBarrTDelta = -8.412958e-05 +62: reference_theta = 1.218213e-03 reference_gradBarrTDelta = -1.984686e-03 62: 62: ************************************************** -62: *** Update HessianMatrix for Iteration 23: +62: *** Update HessianMatrix for Iteration 17: 62: ************************************************** 62: -62: In limited-memory update, s_new_max is 7.583228e-03 +62: In limited-memory update, s_new_max is 3.294816e-02 62: Limited-Memory test for skipping: -62: s^Ty = -2.776931e-06 snrm = 9.493283e-03 ynrm = 2.802646e+00 +62: s^Ty = -1.501251e-03 snrm = 4.747483e-02 ynrm = 2.918171e+00 62: Skip the update. 62: Number of successive iterations with skipping: 1 62: 62: 62: ************************************************** -62: *** Summary of Iteration: 23: +62: *** Summary of Iteration: 17: 62: ************************************************** 62: 62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls -62: 23 1.7018301e+01 9.01e-06 6.85e-03 -6.1 7.58e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Ws +62: 17 1.7021260e+01 6.37e-04 3.43e-02 -4.4 3.41e-02 - 1.00e+00 9.65e-01h 1 sigma=1.39e-01 qf=12Ws 62: 62: ************************************************** -62: *** Beginning Iteration 23 from the following point: +62: *** Beginning Iteration 17 from the following point: 62: ************************************************** 62: -62: Current barrier parameter mu = 7.5757575757575762e-07 -62: Current fraction-to-the-boundary parameter tau = 9.9235691315430552e-01 +62: Current barrier parameter mu = 3.7746616004054278e-05 +62: Current fraction-to-the-boundary parameter tau = 9.8999999999999999e-01 62: -62: ||curr_x||_inf = 4.7937444914696652e+00 -62: ||curr_s||_inf = 6.5429057983762289e-07 -62: ||curr_y_c||_inf = 1.3627903536697997e-01 -62: ||curr_y_d||_inf = 1.1571503327258486e+00 -62: ||curr_z_L||_inf = 9.2092813171935697e-02 -62: ||curr_z_U||_inf = 3.6702488718815410e-06 -62: ||curr_v_L||_inf = 1.1571503327334243e+00 +62: ||curr_x||_inf = 4.8385486265029867e+00 +62: ||curr_s||_inf = 3.8552159716154655e-05 +62: ||curr_y_c||_inf = 1.5620998516049150e-01 +62: ||curr_y_d||_inf = 1.2204078672565069e+00 +62: ||curr_z_L||_inf = 2.0586206827808762e-02 +62: ||curr_z_U||_inf = 3.1385466323776237e-05 +62: ||curr_v_L||_inf = 1.2202115208560962e+00 62: ||curr_v_U||_inf = 0.0000000000000000e+00 62: -62: ||delta_x||_inf = 7.5832282994215735e-03 -62: ||delta_s||_inf = 4.3543211449818615e-10 -62: ||delta_y_c||_inf = 1.9446094176962000e-04 -62: ||delta_y_d||_inf = 7.6999192913554078e-04 -62: ||delta_z_L||_inf = 1.9202901012827599e-04 -62: ||delta_z_U||_inf = 1.0142763665805821e-07 -62: ||delta_v_L||_inf = 7.6999192913550099e-04 +62: ||delta_x||_inf = 3.4133524319629849e-02 +62: ||delta_s||_inf = 1.9354442061749835e-04 +62: ||delta_y_c||_inf = 1.5780445324613842e-04 +62: ||delta_y_d||_inf = 5.6539673694464406e-03 +62: ||delta_z_L||_inf = 1.9667694345854355e-03 +62: ||delta_z_U||_inf = 1.9458449595414966e-03 +62: ||delta_v_L||_inf = 5.6539697204419596e-03 62: ||delta_v_U||_inf = 0.0000000000000000e+00 62: DenseVector "curr_x" with 4 elements: -62: curr_x[ 1]= 1.0000082161844570e+00 -62: curr_x[ 2]= 4.7937444914696652e+00 -62: curr_x[ 3]= 3.7536422233564846e+00 -62: curr_x[ 4]= 1.3893370719635436e+00 +62: curr_x[ 1]= 1.0002533573580408e+00 +62: curr_x[ 2]= 4.8385486265029867e+00 +62: curr_x[ 3]= 3.6926742768170837e+00 +62: curr_x[ 4]= 1.3980216366349938e+00 62: DenseVector "curr_s" with 1 elements: -62: curr_s[ 1]= 6.5429057983762289e-07 +62: curr_s[ 1]= 3.8552159716154655e-05 62: DenseVector "curr_y_c" with 1 elements: -62: curr_y_c[ 1]= 1.3627903536697997e-01 +62: curr_y_c[ 1]= 1.5620998516049150e-01 62: DenseVector "curr_y_d" with 1 elements: -62: curr_y_d[ 1]=-1.1571503327258486e+00 +62: curr_y_d[ 1]=-1.2204078672565069e+00 62: DenseVector "curr_slack_x_L" with 4 elements: -62: curr_slack_x_L[ 1]= 8.2261844570608034e-06 -62: curr_slack_x_L[ 2]= 3.7937445014696651e+00 -62: curr_slack_x_L[ 3]= 2.7536422333564845e+00 -62: curr_slack_x_L[ 4]= 3.8933708196354366e-01 +62: curr_slack_x_L[ 1]= 2.5336735804082355e-04 +62: curr_slack_x_L[ 2]= 3.8385486365029866e+00 +62: curr_slack_x_L[ 3]= 2.6926742868170837e+00 +62: curr_slack_x_L[ 4]= 3.9802164663499384e-01 62: DenseVector "curr_slack_x_U" with 4 elements: -62: curr_slack_x_U[ 1]= 3.9999918338155425e+00 -62: curr_slack_x_U[ 2]= 2.0625555853033450e-01 -62: curr_slack_x_U[ 3]= 1.2463578266435151e+00 -62: curr_slack_x_U[ 4]= 3.6106629780364559e+00 +62: curr_slack_x_U[ 1]= 3.9997466926419589e+00 +62: curr_slack_x_U[ 2]= 1.6145142349701302e-01 +62: curr_slack_x_U[ 3]= 1.3073257731829160e+00 +62: curr_slack_x_U[ 4]= 3.6019784133650061e+00 62: DenseVector "curr_z_L" with 4 elements: -62: curr_z_L[ 1]= 9.2092813171935697e-02 -62: curr_z_L[ 2]= 1.9969033681092180e-07 -62: curr_z_L[ 3]= 2.7511562367922132e-07 -62: curr_z_L[ 4]= 1.9457912355530161e-06 +62: curr_z_L[ 1]= 2.0586206827808762e-02 +62: curr_z_L[ 2]= 1.0116474755836487e-05 +62: curr_z_L[ 3]= 1.3494256180128248e-05 +62: curr_z_L[ 4]= 9.6630271842416404e-05 62: DenseVector "curr_z_U" with 4 elements: -62: curr_z_U[ 1]= 1.8939432605118983e-07 -62: curr_z_U[ 2]= 3.6702488718815410e-06 -62: curr_z_U[ 3]= 6.0780927449675550e-07 -62: curr_z_U[ 4]= 2.0981622480596640e-07 +62: curr_z_U[ 1]= 9.0710827192484720e-06 +62: curr_z_U[ 2]= 2.6543786728741147e-05 +62: curr_z_U[ 3]= 3.1385466323776237e-05 +62: curr_z_U[ 4]= 1.1133023302921933e-05 62: DenseVector "curr_slack_s_L" with 1 elements: -62: curr_slack_s_L[ 1]= 6.5469057983762292e-07 +62: curr_slack_s_L[ 1]= 3.8552559716154656e-05 62: DenseVector "curr_slack_s_U" with 0 elements: 62: DenseVector "curr_v_L" with 1 elements: -62: curr_v_L[ 1]= 1.1571503327334243e+00 +62: curr_v_L[ 1]= 1.2202115208560962e+00 62: DenseVector "curr_v_U" with 0 elements: 62: 62: -62: ***Current NLP Values for Iteration 23: +62: ***Current NLP Values for Iteration 17: 62: 62: (scaled) (unscaled) -62: Objective...............: 1.4181917438061302e+00 1.7018300925673564e+01 -62: Dual infeasibility......: 6.8520019126822648e-03 8.2224022952187170e-02 -62: Constraint violation....: 9.0122429028838279e-06 9.0122429028838269e-05 -62: Complementarity.........: 7.5757575757575752e-07 9.0909090909090910e-06 -62: Overall NLP error.......: 6.8520019126822648e-03 8.2224022952187170e-02 +62: Objective...............: 1.4184383631941118e+00 1.7021260358329343e+01 +62: Dual infeasibility......: 3.4348641964650081e-02 4.1218370357580097e-01 +62: Constraint violation....: 5.9846248454409085e-04 2.3674011061345368e-03 +62: Complementarity.........: 4.7042277524144542e-05 5.6450733028973459e-04 +62: Overall NLP error.......: 3.4348641964650081e-02 4.1218370357580097e-01 62: 62: DenseVector "grad_f" with 4 elements: -62: grad_f[ 1]= 1.2211581837785879e+00 -62: grad_f[ 2]= 1.1577904058443331e-01 -62: grad_f[ 3]= 1.9911237391776662e-01 -62: grad_f[ 4]= 7.9562278118070373e-01 +62: grad_f[ 1]= 1.2269654897670117e+00 +62: grad_f[ 2]= 1.1653131964194463e-01 +62: grad_f[ 3]= 1.9986465297527795e-01 +62: grad_f[ 4]= 7.9449092752681205e-01 62: DenseVector "curr_c" with 1 elements: -62: curr_c[ 1]= 9.0122429028838279e-06 +62: curr_c[ 1]= 2.3674011061345369e-04 62: DenseVector "curr_d" with 1 elements: -62: curr_d[ 1]=-2.4367798263824625e-06 +62: curr_d[ 1]=-5.9846288454409088e-04 62: DenseVector "curr_d - curr_s" with 1 elements: -62: curr_d - curr_s[ 1]=-3.0910704062200854e-06 +62: curr_d - curr_s[ 1]=-6.3701504426024553e-04 62: 62: 62: 62: ************************************************** -62: *** Update Barrier Parameter for Iteration 23: +62: *** Update Barrier Parameter for Iteration 17: 62: ************************************************** 62: 62: Staying in free mu mode. -62: The current filter has 5 entries. +62: The current filter has 7 entries. 62: phi theta iter 62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 -62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 -62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 -62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 -62: 5 1.4181917438061302e+00 1.2103313309103914e-05 23 +62: 2 1.4423332860357938e+00 1.0274010163965094e-04 6 +62: 3 1.4413235016815467e+00 1.2643682542685304e-04 7 +62: 4 1.4131282557471663e+00 1.6036198022143809e-02 9 +62: 5 1.4039314102134561e+00 3.7639712904795834e-02 11 +62: 6 1.4049317607873903e+00 3.4167612122773236e-02 12 +62: 7 1.4184383631941118e+00 8.7375515487369919e-04 17 62: Solving the Primal Dual System for the affine step 62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 62: delta_c=0.000000e+00 delta_d=0.000000e+00 @@ -16413,174 +18136,186 @@ 62: delta_c=0.000000e+00 delta_d=0.000000e+00 62: Solving the Primal Dual System for the centering step 62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.737380912565e-13 q = 5.737380912565e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.623006880342e-13 q = 5.623006880342e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: Sigma = 1.000090e+00 -62: Barrier parameter mu computed by oracle is 7.575758e-07 -62: Barrier parameter mu after safeguards is 7.575758e-07 -62: Barrier Parameter: 7.575758e-07 +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.342541004182e-09 q = 1.342541004182e-09 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.305123661661e-09 q = 1.305123661661e-09 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 3.93e-01 d_inf = 0.000000000000e+00 p_inf = 5.798229308858e-08 cmpl = 2.204359226885e-10 q = 5.820272901127e-08 a_pri = 4.99e-01 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 6.21e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 3.680721142919e-10 q = 3.680721142919e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 7.62e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 6.256514955856e-10 q = 6.256514955856e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 5.34e-01 d_inf = 0.000000000000e+00 p_inf = 4.651710797572e-09 cmpl = 2.839518554899e-10 q = 4.935662653062e-09 a_pri = 8.58e-01 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 6.75e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 4.521452616587e-10 q = 4.521452616587e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 5.88e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 3.248479163216e-10 q = 3.248479163216e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 5.67e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 3.014447885788e-10 q = 3.014447885788e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 5.54e-01 d_inf = 0.000000000000e+00 p_inf = 3.925280704237e-10 cmpl = 2.926592308144e-10 q = 6.851873012381e-10 a_pri = 9.59e-01 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 5.75e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 3.100864396259e-10 q = 3.100864396259e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 5.62e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 2.962875100894e-10 q = 2.962875100894e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: Sigma = 5.622042e-01 +62: Barrier parameter mu computed by oracle is 1.796472e-05 +62: Barrier parameter mu after safeguards is 1.796472e-05 +62: Barrier Parameter: 1.796472e-05 62: 62: ************************************************** -62: *** Solving the Primal Dual System for Iteration 23: +62: *** Solving the Primal Dual System for Iteration 17: 62: ************************************************** 62: -62: max-norm resid_x 5.529431e-18 -62: max-norm resid_s 3.903128e-17 -62: max-norm resid_c 1.429792e-18 -62: max-norm resid_d 7.072725e-20 -62: max-norm resid_zL 8.437242e-23 -62: max-norm resid_zU 1.644554e-22 -62: max-norm resid_vL 1.613002e-23 +62: max-norm resid_x 1.734723e-17 +62: max-norm resid_s 4.163336e-17 +62: max-norm resid_c 7.318365e-19 +62: max-norm resid_d 8.565197e-18 +62: max-norm resid_zL 3.388132e-21 +62: max-norm resid_zU 6.776264e-21 +62: max-norm resid_vL 1.694066e-21 62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 6.85e-03 nrm_sol = 6.80e-03 nrm_resid = 3.90e-17 -62: residual_ratio = 2.858914e-15 +62: nrm_rhs = 3.43e-02 nrm_sol = 7.06e-02 nrm_resid = 4.16e-17 +62: residual_ratio = 3.966209e-16 62: Factorization successful. -62: max-norm resid_x 8.673617e-19 +62: max-norm resid_x 1.387779e-17 62: max-norm resid_s 0.000000e+00 -62: max-norm resid_c 1.727947e-19 -62: max-norm resid_d 7.072725e-20 +62: max-norm resid_c 1.355253e-19 +62: max-norm resid_d 3.252607e-19 62: max-norm resid_zL 0.000000e+00 -62: max-norm resid_zU 0.000000e+00 -62: max-norm resid_vL 0.000000e+00 +62: max-norm resid_zU 1.694066e-21 +62: max-norm resid_vL 4.235165e-22 62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 6.85e-03 nrm_sol = 6.80e-03 nrm_resid = 8.67e-19 -62: residual_ratio = 6.353142e-17 +62: nrm_rhs = 3.43e-02 nrm_sol = 7.06e-02 nrm_resid = 1.39e-17 +62: residual_ratio = 1.322070e-16 62: 62: ************************************************** -62: *** Finding Acceptable Trial Point for Iteration 23: +62: *** Finding Acceptable Trial Point for Iteration 17: 62: ************************************************** 62: -62: --> Starting filter line search in iteration 23 <-- +62: --> Starting filter line search in iteration 17 <-- +62: Mu has changed in line search - resetting watchdog counters. 62: The current filter has 0 entries. -62: Relative step size for delta_x = 1.430584e-03 -62: minimal step size ALPHA_MIN = 8.919772E-11 +62: Relative step size for delta_x = 2.794361e-03 +62: minimal step size ALPHA_MIN = 5.000000E-07 62: Starting checks for alpha (primal) = 1.00e+00 62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: -62: New values of barrier function = 1.4181413431853451e+00 (reference 1.4182093442251904e+00): -62: New values of constraint violation = 9.7430123595366337e-06 (reference 1.2103313309103914e-05): -62: reference_theta = 1.210331e-05 reference_gradBarrTDelta = -6.784542e-05 +62: New values of barrier function = 1.4192706414275185e+00 (reference 1.4187243190290253e+00): +62: New values of constraint violation = 3.5617837340798622e-05 (reference 8.7375515487369919e-04): +62: reference_theta = 8.737552e-04 reference_gradBarrTDelta = 4.821015e-04 62: Checking sufficient reduction... 62: Succeeded... 62: Checking filter acceptability... 62: Succeeded... -62: reference_theta = 1.210331e-05 reference_gradBarrTDelta = -6.784542e-05 +62: reference_theta = 8.737552e-04 reference_gradBarrTDelta = 4.821015e-04 62: 62: ************************************************** -62: *** Update HessianMatrix for Iteration 24: +62: *** Update HessianMatrix for Iteration 18: 62: ************************************************** 62: -62: In limited-memory update, s_new_max is 6.800483e-03 +62: In limited-memory update, s_new_max is 1.311302e-02 62: Limited-Memory test for skipping: -62: s^Ty = -2.207101e-06 snrm = 8.523277e-03 ynrm = 2.801650e+00 +62: s^Ty = -1.470338e-03 snrm = 1.648368e-02 ynrm = 2.812978e+00 62: Skip the update. 62: Number of successive iterations with skipping: 2 62: 62: 62: ************************************************** -62: *** Summary of Iteration: 24: +62: *** Summary of Iteration: 18: 62: ************************************************** 62: 62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls -62: 24 1.7017485e+01 7.26e-06 6.15e-03 -6.1 6.80e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Ws +62: 18 1.7026719e+01 2.72e-05 1.19e-02 -4.7 1.31e-02 - 1.00e+00 1.00e+00h 1 sigma=5.62e-01 qf=12Ws 62: 62: ************************************************** -62: *** Beginning Iteration 24 from the following point: +62: *** Beginning Iteration 18 from the following point: 62: ************************************************** 62: -62: Current barrier parameter mu = 7.5757575757575762e-07 -62: Current fraction-to-the-boundary parameter tau = 9.9314799808731768e-01 +62: Current barrier parameter mu = 1.7964723324220601e-05 +62: Current fraction-to-the-boundary parameter tau = 9.8999999999999999e-01 62: -62: ||curr_x||_inf = 4.7887159950526605e+00 -62: ||curr_s||_inf = 6.5467820843497111e-07 -62: ||curr_y_c||_inf = 1.3610470966854751e-01 -62: ||curr_y_d||_inf = 1.1564657203379691e+00 -62: ||curr_z_L||_inf = 9.1926153030350288e-02 -62: ||curr_z_U||_inf = 3.5835151767087070e-06 -62: ||curr_v_L||_inf = 1.1564657203455451e+00 +62: ||curr_x||_inf = 4.8286027063155545e+00 +62: ||curr_s||_inf = 1.6493282345725026e-05 +62: ||curr_y_c||_inf = 1.3822953825543866e-01 +62: ||curr_y_d||_inf = 1.1641566721453842e+00 +62: ||curr_z_L||_inf = 9.1207729038260646e-02 +62: ||curr_z_U||_inf = 1.0963496361041248e-04 +62: ||curr_v_L||_inf = 1.1641566723250314e+00 62: ||curr_v_U||_inf = 0.0000000000000000e+00 62: -62: ||delta_x||_inf = 6.8004834423156515e-03 -62: ||delta_s||_inf = 3.8762859734821044e-10 -62: ||delta_y_c||_inf = 1.7432569843244721e-04 -62: ||delta_y_d||_inf = 6.8461238787931832e-04 -62: ||delta_z_L||_inf = 1.6666014158541386e-04 -62: ||delta_z_U||_inf = 8.6733695172834022e-08 -62: ||delta_v_L||_inf = 6.8461238787927853e-04 +62: ||delta_x||_inf = 1.3113024365257011e-02 +62: ||delta_s||_inf = 2.2058877370429629e-05 +62: ||delta_y_c||_inf = 1.7980446905052860e-02 +62: ||delta_y_d||_inf = 5.6251195111122733e-02 +62: ||delta_z_L||_inf = 7.0621522210451884e-02 +62: ||delta_z_U||_inf = 8.3091176881671332e-05 +62: ||delta_v_L||_inf = 5.6054848531064835e-02 62: ||delta_v_U||_inf = 0.0000000000000000e+00 62: DenseVector "curr_x" with 4 elements: -62: curr_x[ 1]= 1.0000082311070799e+00 -62: curr_x[ 2]= 4.7887159950526605e+00 -62: curr_x[ 3]= 3.7604427067988002e+00 -62: curr_x[ 4]= 1.3882816542713434e+00 +62: curr_x[ 1]= 1.0000034648908109e+00 +62: curr_x[ 2]= 4.8286027063155545e+00 +62: curr_x[ 3]= 3.7057873011823408e+00 +62: curr_x[ 4]= 1.3971403526518937e+00 62: DenseVector "curr_s" with 1 elements: -62: curr_s[ 1]= 6.5467820843497111e-07 +62: curr_s[ 1]= 1.6493282345725026e-05 62: DenseVector "curr_y_c" with 1 elements: -62: curr_y_c[ 1]= 1.3610470966854751e-01 +62: curr_y_c[ 1]= 1.3822953825543866e-01 62: DenseVector "curr_y_d" with 1 elements: -62: curr_y_d[ 1]=-1.1564657203379691e+00 +62: curr_y_d[ 1]=-1.1641566721453842e+00 62: DenseVector "curr_slack_x_L" with 4 elements: -62: curr_slack_x_L[ 1]= 8.2411070799759401e-06 -62: curr_slack_x_L[ 2]= 3.7887160050526605e+00 -62: curr_slack_x_L[ 3]= 2.7604427167988002e+00 -62: curr_slack_x_L[ 4]= 3.8828166427134347e-01 +62: curr_slack_x_L[ 1]= 3.4748908109838439e-06 +62: curr_slack_x_L[ 2]= 3.8286027163155545e+00 +62: curr_slack_x_L[ 3]= 2.7057873111823407e+00 +62: curr_slack_x_L[ 4]= 3.9714036265189379e-01 62: DenseVector "curr_slack_x_U" with 4 elements: -62: curr_slack_x_U[ 1]= 3.9999918188929198e+00 -62: curr_slack_x_U[ 2]= 2.1128405494733915e-01 -62: curr_slack_x_U[ 3]= 1.2395573432011995e+00 -62: curr_slack_x_U[ 4]= 3.6117183957286563e+00 +62: curr_slack_x_U[ 1]= 3.9999965851091890e+00 +62: curr_slack_x_U[ 2]= 1.7139734368444515e-01 +62: curr_slack_x_U[ 3]= 1.2942127488176589e+00 +62: curr_slack_x_U[ 4]= 3.6028596973481060e+00 62: DenseVector "curr_z_L" with 4 elements: -62: curr_z_L[ 1]= 9.1926153030350288e-02 -62: curr_z_L[ 2]= 1.9995545283164280e-07 -62: curr_z_L[ 3]= 2.7443828002705235e-07 -62: curr_z_L[ 4]= 1.9510840740883183e-06 +62: curr_z_L[ 1]= 9.1207729038260646e-02 +62: curr_z_L[ 2]= 4.7062946664076389e-06 +62: curr_z_L[ 3]= 6.6059875497106145e-06 +62: curr_z_L[ 4]= 4.5348995934461305e-05 62: DenseVector "curr_z_U" with 4 elements: -62: curr_z_U[ 1]= 1.8939432675775631e-07 -62: curr_z_U[ 2]= 3.5835151767087070e-06 -62: curr_z_U[ 3]= 6.1114804930006966e-07 -62: curr_z_U[ 4]= 2.0975491715148941e-07 +62: curr_z_U[ 1]= 4.4908985266551144e-06 +62: curr_z_U[ 2]= 1.0963496361041248e-04 +62: curr_z_U[ 3]= 1.4056390599642903e-05 +62: curr_z_U[ 4]= 4.9847361390282704e-06 62: DenseVector "curr_slack_s_L" with 1 elements: -62: curr_slack_s_L[ 1]= 6.5507820843497114e-07 +62: curr_slack_s_L[ 1]= 1.6493682345725027e-05 62: DenseVector "curr_slack_s_U" with 0 elements: 62: DenseVector "curr_v_L" with 1 elements: -62: curr_v_L[ 1]= 1.1564657203455451e+00 +62: curr_v_L[ 1]= 1.1641566723250314e+00 62: DenseVector "curr_v_U" with 0 elements: 62: 62: -62: ***Current NLP Values for Iteration 24: +62: ***Current NLP Values for Iteration 18: 62: 62: (scaled) (unscaled) -62: Objective...............: 1.4181237577197465e+00 1.7017485092636960e+01 -62: Dual infeasibility......: 6.1463472585062285e-03 7.3756167102074749e-02 -62: Constraint violation....: 7.2646257770259130e-06 7.2646257770259126e-05 -62: Complementarity.........: 7.5757575757575762e-07 9.0909090909090927e-06 -62: Overall NLP error.......: 6.1463472585062285e-03 7.3756167102074749e-02 +62: Objective...............: 1.4188932762443678e+00 1.7026719314932414e+01 +62: Dual infeasibility......: 1.1928696631277672e-02 1.4314435957533206e-01 +62: Constraint violation....: 2.7171184407848161e-05 2.7171184407848159e-04 +62: Complementarity.........: 1.9201230353985366e-05 2.3041476424782439e-04 +62: Overall NLP error.......: 1.1928696631277672e-02 1.4314435957533206e-01 62: 62: DenseVector "grad_f" with 4 elements: -62: grad_f[ 1]= 1.2204355289972657e+00 -62: grad_f[ 2]= 1.1569109011385806e-01 -62: grad_f[ 3]= 1.9902442344719140e-01 -62: grad_f[ 4]= 7.9577046109784066e-01 +62: grad_f[ 1]= 1.2265025876604776e+00 +62: grad_f[ 2]= 1.1642876613255526e-01 +62: grad_f[ 3]= 1.9976209946588858e-01 +62: grad_f[ 4]= 7.9453554233508639e-01 62: DenseVector "curr_c" with 1 elements: -62: curr_c[ 1]= 7.2646257770259130e-06 +62: curr_c[ 1]= 2.7171184407848161e-05 62: DenseVector "curr_d" with 1 elements: -62: curr_d[ 1]=-1.8237083740757498e-06 +62: curr_d[ 1]= 8.0466294127745639e-06 62: DenseVector "curr_d - curr_s" with 1 elements: -62: curr_d - curr_s[ 1]=-2.4783865825107207e-06 +62: curr_d - curr_s[ 1]=-8.4466529329504623e-06 62: 62: 62: 62: ************************************************** -62: *** Update Barrier Parameter for Iteration 24: +62: *** Update Barrier Parameter for Iteration 18: 62: ************************************************** 62: 62: Staying in free mu mode. -62: The current filter has 5 entries. +62: The current filter has 6 entries. 62: phi theta iter 62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 -62: 5 1.4181237577197465e+00 9.7430123595366337e-06 24 +62: 5 1.4184383631941118e+00 8.7375515487369919e-04 17 +62: 6 1.4188932762443678e+00 3.5617837340798622e-05 18 62: Solving the Primal Dual System for the affine step 62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 62: delta_c=0.000000e+00 delta_d=0.000000e+00 @@ -16590,170 +18325,182 @@ 62: delta_c=0.000000e+00 delta_d=0.000000e+00 62: Solving the Primal Dual System for the centering step 62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.737792897962e-13 q = 5.737792897962e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.623437405283e-13 q = 5.623437405283e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: Sigma = 1.000069e+00 -62: Barrier parameter mu computed by oracle is 7.575758e-07 -62: Barrier parameter mu after safeguards is 7.575758e-07 -62: Barrier Parameter: 7.575758e-07 +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 2.654280267083e-10 q = 2.654280267083e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 2.601171061145e-10 q = 2.601171061145e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 4.07e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 4.333825311634e-11 q = 4.333825311634e-11 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 6.30e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.045948634878e-10 q = 1.045948634878e-10 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 2.69e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.878326006955e-11 q = 1.878326006955e-11 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 1.84e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 8.686119295875e-12 q = 8.686119295875e-12 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 1.32e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 4.384949447410e-12 q = 4.384949447410e-12 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.92e-02 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 2.467231665437e-12 q = 2.467231665437e-12 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 7.91e-02 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.564844717801e-12 q = 1.564844717801e-12 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 6.67e-02 d_inf = 1.730786790838e-10 p_inf = 0.000000000000e+00 cmpl = 1.166760281263e-12 q = 1.742454393651e-10 a_pri = 1.00e+00 a_dual = 9.98e-01 xi = 0.00e+00 +62: sigma = 8.68e-02 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.884024740521e-12 q = 1.884024740521e-12 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 7.43e-02 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.383340679532e-12 q = 1.383340679532e-12 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: Sigma = 7.434751e-02 +62: Barrier parameter mu computed by oracle is 1.208783e-06 +62: Barrier parameter mu after safeguards is 1.208783e-06 +62: Barrier Parameter: 1.208783e-06 62: 62: ************************************************** -62: *** Solving the Primal Dual System for Iteration 24: +62: *** Solving the Primal Dual System for Iteration 18: 62: ************************************************** 62: -62: max-norm resid_x 1.734723e-18 -62: max-norm resid_s 1.040834e-16 -62: max-norm resid_c 3.032378e-19 -62: max-norm resid_d 9.063253e-20 -62: max-norm resid_zL 9.243743e-23 -62: max-norm resid_zU 1.257315e-22 -62: max-norm resid_vL 8.065011e-23 +62: max-norm resid_x 5.009014e-17 +62: max-norm resid_s 1.001803e-16 +62: max-norm resid_c 6.064756e-19 +62: max-norm resid_d 4.616330e-19 +62: max-norm resid_zL 3.388132e-21 +62: max-norm resid_zU 3.388132e-21 +62: max-norm resid_vL 3.970467e-21 62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 6.15e-03 nrm_sol = 6.10e-03 nrm_resid = 1.04e-16 -62: residual_ratio = 8.497854e-15 +62: nrm_rhs = 1.19e-02 nrm_sol = 1.18e-02 nrm_resid = 1.00e-16 +62: residual_ratio = 4.220855e-15 62: Factorization successful. -62: max-norm resid_x 8.673617e-19 +62: max-norm resid_x 8.131516e-20 62: max-norm resid_s 0.000000e+00 -62: max-norm resid_c 3.472835e-19 -62: max-norm resid_d 4.828088e-20 -62: max-norm resid_zL 2.067952e-25 -62: max-norm resid_zU 3.944305e-31 -62: max-norm resid_vL 5.169879e-26 +62: max-norm resid_c 5.183842e-19 +62: max-norm resid_d 8.978549e-20 +62: max-norm resid_zL 2.067952e-23 +62: max-norm resid_zU 3.388132e-21 +62: max-norm resid_vL 4.453540e-21 62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 6.15e-03 nrm_sol = 6.10e-03 nrm_resid = 8.67e-19 -62: residual_ratio = 7.081545e-17 +62: nrm_rhs = 1.19e-02 nrm_sol = 1.18e-02 nrm_resid = 5.18e-19 +62: residual_ratio = 2.184087e-17 62: 62: ************************************************** -62: *** Finding Acceptable Trial Point for Iteration 24: +62: *** Finding Acceptable Trial Point for Iteration 18: 62: ************************************************** 62: -62: --> Starting filter line search in iteration 24 <-- +62: --> Starting filter line search in iteration 18 <-- +62: Mu has changed in line search - resetting watchdog counters. 62: The current filter has 0 entries. -62: Relative step size for delta_x = 1.281782e-03 -62: minimal step size ALPHA_MIN = 8.896480E-11 +62: Relative step size for delta_x = 2.508804e-03 +62: minimal step size ALPHA_MIN = 8.037669E-11 62: Starting checks for alpha (primal) = 1.00e+00 62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: -62: New values of barrier function = 1.4180864628060115e+00 (reference 1.4181413431853451e+00): -62: New values of constraint violation = 7.8509738223551465e-06 (reference 9.7430123595366337e-06): -62: reference_theta = 9.743012e-06 reference_gradBarrTDelta = -5.475768e-05 +62: New values of barrier function = 1.4187004587583210e+00 (reference 1.4189186678208334e+00): +62: New values of constraint violation = 2.9238900864773567e-05 (reference 3.5617837340798622e-05): +62: reference_theta = 3.561784e-05 reference_gradBarrTDelta = -2.215682e-04 62: Checking sufficient reduction... 62: Succeeded... 62: Checking filter acceptability... 62: Succeeded... -62: reference_theta = 9.743012e-06 reference_gradBarrTDelta = -5.475768e-05 +62: reference_theta = 3.561784e-05 reference_gradBarrTDelta = -2.215682e-04 62: 62: ************************************************** -62: *** Update HessianMatrix for Iteration 25: +62: *** Update HessianMatrix for Iteration 19: 62: ************************************************** 62: 62: Resetting Limited-Memory Update. 62: 62: 62: ************************************************** -62: *** Summary of Iteration: 25: +62: *** Summary of Iteration: 19: 62: ************************************************** 62: 62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls -62: 25 1.7016827e+01 5.86e-06 5.52e-03 -6.1 6.10e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Wr +62: 19 1.7024081e+01 2.16e-05 1.06e-02 -5.9 1.18e-02 - 1.00e+00 1.00e+00h 1 sigma=7.43e-02 qf=12Wr 62: 62: ************************************************** -62: *** Beginning Iteration 25 from the following point: +62: *** Beginning Iteration 19 from the following point: 62: ************************************************** 62: -62: Current barrier parameter mu = 7.5757575757575762e-07 -62: Current fraction-to-the-boundary parameter tau = 9.9385365274149373e-01 +62: Current barrier parameter mu = 1.2087830736316696e-06 +62: Current fraction-to-the-boundary parameter tau = 9.8999999999999999e-01 62: -62: ||curr_x||_inf = 4.7841883414131283e+00 -62: ||curr_s||_inf = 6.5502368572149168e-07 -62: ||curr_y_c||_inf = 1.3594836049611722e-01 -62: ||curr_y_d||_inf = 1.1558562247715798e+00 -62: ||curr_z_L||_inf = 9.1781024383433440e-02 -62: ||curr_z_U||_inf = 3.5087874578533060e-06 -62: ||curr_v_L||_inf = 1.1558562247791557e+00 +62: ||curr_x||_inf = 4.8200942174128043e+00 +62: ||curr_s||_inf = 1.0853484829358646e-06 +62: ||curr_y_c||_inf = 1.3718592169673849e-01 +62: ||curr_y_d||_inf = 1.1608100413976707e+00 +62: ||curr_z_L||_inf = 9.3134514144659800e-02 +62: ||curr_z_U||_inf = 1.6100319670478983e-06 +62: ||curr_v_L||_inf = 1.1608100414097584e+00 62: ||curr_v_U||_inf = 0.0000000000000000e+00 62: -62: ||delta_x||_inf = 6.1018515423110244e-03 -62: ||delta_s||_inf = 3.4547728652056050e-10 -62: ||delta_y_c||_inf = 1.5634917243030356e-04 -62: ||delta_y_d||_inf = 6.0949556638924957e-04 -62: ||delta_z_L||_inf = 1.4512864691684728e-04 -62: ||delta_z_U||_inf = 7.4727718855401238e-08 -62: ||delta_v_L||_inf = 6.0949556638943182e-04 +62: ||delta_x||_inf = 1.1805897414199615e-02 +62: ||delta_s||_inf = 1.5407933862789162e-05 +62: ||delta_y_c||_inf = 1.0436165587001691e-03 +62: ||delta_y_d||_inf = 3.3466307477135588e-03 +62: ||delta_z_L||_inf = 1.9267851063991513e-03 +62: ||delta_z_U||_inf = 1.0802493164336458e-04 +62: ||delta_v_L||_inf = 3.3466309152729141e-03 62: ||delta_v_U||_inf = 0.0000000000000000e+00 62: DenseVector "curr_x" with 4 elements: -62: curr_x[ 1]= 1.0000082441448030e+00 -62: curr_x[ 2]= 4.7841883414131283e+00 -62: curr_x[ 3]= 3.7665445583411112e+00 -62: curr_x[ 4]= 1.3873449913908111e+00 +62: curr_x[ 1]= 1.0000131696692938e+00 +62: curr_x[ 2]= 4.8200942174128043e+00 +62: curr_x[ 3]= 3.7175931985965405e+00 +62: curr_x[ 4]= 1.3951279614823608e+00 62: DenseVector "curr_s" with 1 elements: -62: curr_s[ 1]= 6.5502368572149168e-07 +62: curr_s[ 1]= 1.0853484829358646e-06 62: DenseVector "curr_y_c" with 1 elements: -62: curr_y_c[ 1]= 1.3594836049611722e-01 +62: curr_y_c[ 1]= 1.3718592169673849e-01 62: DenseVector "curr_y_d" with 1 elements: -62: curr_y_d[ 1]=-1.1558562247715798e+00 +62: curr_y_d[ 1]=-1.1608100413976707e+00 62: DenseVector "curr_slack_x_L" with 4 elements: -62: curr_slack_x_L[ 1]= 8.2541448030992726e-06 -62: curr_slack_x_L[ 2]= 3.7841883514131283e+00 -62: curr_slack_x_L[ 3]= 2.7665445683411112e+00 -62: curr_slack_x_L[ 4]= 3.8734500139081118e-01 +62: curr_slack_x_L[ 1]= 1.3179669293816865e-05 +62: curr_slack_x_L[ 2]= 3.8200942274128042e+00 +62: curr_slack_x_L[ 3]= 2.7175932085965404e+00 +62: curr_slack_x_L[ 4]= 3.9512797148236090e-01 62: DenseVector "curr_slack_x_U" with 4 elements: -62: curr_slack_x_U[ 1]= 3.9999918058551964e+00 -62: curr_slack_x_U[ 2]= 2.1581170858687138e-01 -62: curr_slack_x_U[ 3]= 1.2334554916588885e+00 -62: curr_slack_x_U[ 4]= 3.6126550586091888e+00 +62: curr_slack_x_U[ 1]= 3.9999868803307059e+00 +62: curr_slack_x_U[ 2]= 1.7990583258719539e-01 +62: curr_slack_x_U[ 3]= 1.2824068514034592e+00 +62: curr_slack_x_U[ 4]= 3.6048720885176389e+00 62: DenseVector "curr_z_L" with 4 elements: -62: curr_z_L[ 1]= 9.1781024383433440e-02 -62: curr_z_L[ 2]= 2.0019475875151346e-07 -62: curr_z_L[ 3]= 2.7383331352374536e-07 -62: curr_z_L[ 4]= 1.9558051164477834e-06 +62: curr_z_L[ 1]= 9.3134514144659800e-02 +62: curr_z_L[ 2]= 3.2618336821734205e-07 +62: curr_z_L[ 3]= 4.1791661067631574e-07 +62: curr_z_L[ 4]= 3.2735101109249165e-06 62: DenseVector "curr_z_U" with 4 elements: -62: curr_z_U[ 1]= 1.8939432737507527e-07 -62: curr_z_U[ 2]= 3.5087874578533060e-06 -62: curr_z_U[ 3]= 6.1417480717500619e-07 -62: curr_z_U[ 4]= 2.0970053723639024e-07 +62: curr_z_U[ 1]= 3.0220692220267609e-07 +62: curr_z_U[ 2]= 1.6100319670478983e-06 +62: curr_z_U[ 3]= 1.0622143695624058e-06 +62: curr_z_U[ 4]= 3.3272231930801630e-07 62: DenseVector "curr_slack_s_L" with 1 elements: -62: curr_slack_s_L[ 1]= 6.5542368572149171e-07 +62: curr_slack_s_L[ 1]= 1.0857484829358646e-06 62: DenseVector "curr_slack_s_U" with 0 elements: 62: DenseVector "curr_v_L" with 1 elements: -62: curr_v_L[ 1]= 1.1558562247791557e+00 +62: curr_v_L[ 1]= 1.1608100414097584e+00 62: DenseVector "curr_v_U" with 0 elements: 62: 62: -62: ***Current NLP Values for Iteration 25: +62: ***Current NLP Values for Iteration 19: 62: 62: (scaled) (unscaled) -62: Objective...............: 1.4180688903952972e+00 1.7016826684743567e+01 -62: Dual infeasibility......: 5.5162021738789395e-03 6.6194426086547270e-02 -62: Constraint violation....: 5.8609577081369938e-06 5.8609577081369935e-05 -62: Complementarity.........: 7.5757575757575762e-07 9.0909090909090927e-06 -62: Overall NLP error.......: 5.5162021738789395e-03 6.6194426086547270e-02 +62: Objective...............: 1.4186734344718559e+00 1.7024081213662271e+01 +62: Dual infeasibility......: 1.0649217158554835e-02 1.2779060590265801e-01 +62: Constraint violation....: 2.1582340956882720e-05 2.1582340956882720e-04 +62: Complementarity.........: 1.3621909851860354e-06 1.6346291822232427e-05 +62: Overall NLP error.......: 1.0649217158554835e-02 1.2779060590265801e-01 62: 62: DenseVector "grad_f" with 4 elements: -62: grad_f[ 1]= 1.2197941099101912e+00 -62: grad_f[ 2]= 1.1561303573865100e-01 -62: grad_f[ 3]= 1.9894636907198432e-01 -62: grad_f[ 4]= 7.9590165679933400e-01 +62: grad_f[ 1]= 1.2251215925152661e+00 +62: grad_f[ 2]= 1.1626219457135301e-01 +62: grad_f[ 3]= 1.9959552790468632e-01 +62: grad_f[ 4]= 7.9481884950343118e-01 62: DenseVector "curr_c" with 1 elements: -62: curr_c[ 1]= 5.8609577081369938e-06 +62: curr_c[ 1]= 2.1582340956882720e-05 62: DenseVector "curr_d" with 1 elements: -62: curr_d[ 1]=-1.3349924284966620e-06 +62: curr_d[ 1]=-6.5712114249549812e-06 62: DenseVector "curr_d - curr_s" with 1 elements: -62: curr_d - curr_s[ 1]=-1.9900161142181536e-06 +62: curr_d - curr_s[ 1]=-7.6565599078908466e-06 62: 62: 62: 62: ************************************************** -62: *** Update Barrier Parameter for Iteration 25: +62: *** Update Barrier Parameter for Iteration 19: 62: ************************************************** 62: 62: Staying in free mu mode. -62: The current filter has 5 entries. +62: The current filter has 6 entries. 62: phi theta iter 62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 -62: 5 1.4180688903952972e+00 7.8509738223551465e-06 25 +62: 5 1.4184383631941118e+00 8.7375515487369919e-04 17 +62: 6 1.4186734344718559e+00 2.9238900864773567e-05 19 62: Solving the Primal Dual System for the affine step 62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 62: delta_c=0.000000e+00 delta_d=0.000000e+00 @@ -16763,174 +18510,187 @@ 62: delta_c=0.000000e+00 delta_d=0.000000e+00 62: Solving the Primal Dual System for the centering step 62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.738105105831e-13 q = 5.738105105831e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.623765892731e-13 q = 5.623765892731e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: Sigma = 1.000054e+00 +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.300162467767e-12 q = 1.300162467767e-12 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 1.274306821559e-12 q = 1.274306821559e-12 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 7.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 8.124193998702e-13 q = 8.124193998702e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 8.67e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 9.766243816872e-13 q = 9.766243816872e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 7.43e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 7.184875563239e-13 q = 7.184875563239e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 7.14e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 6.633192145565e-13 q = 6.633192145565e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 6.96e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 6.303251645788e-13 q = 6.303251645788e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 6.85e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 6.103545914484e-13 q = 6.103545914484e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 6.78e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.981728564898e-13 q = 5.981728564898e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 6.74e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.907055342274e-13 q = 5.907055342274e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 6.71e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.861139294726e-13 q = 5.861139294726e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 6.70e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.832851203753e-13 q = 5.832851203753e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 6.67e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.787225065878e-13 q = 5.787225065878e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: Sigma = 6.669353e-01 62: Barrier parameter mu computed by oracle is 7.575758e-07 62: Barrier parameter mu after safeguards is 7.575758e-07 62: Barrier Parameter: 7.575758e-07 62: 62: ************************************************** -62: *** Solving the Primal Dual System for Iteration 25: +62: *** Solving the Primal Dual System for Iteration 19: 62: ************************************************** 62: -62: max-norm resid_x 1.431147e-17 -62: max-norm resid_s 1.293453e-16 -62: max-norm resid_c 2.600391e-19 -62: max-norm resid_d 5.183842e-19 -62: max-norm resid_zL 2.229252e-22 -62: max-norm resid_zU 6.121137e-23 -62: max-norm resid_vL 1.695720e-23 +62: max-norm resid_x 2.385245e-18 +62: max-norm resid_s 1.782428e-16 +62: max-norm resid_c 2.951063e-18 +62: max-norm resid_d 1.736418e-19 +62: max-norm resid_zL 1.058791e-22 +62: max-norm resid_zU 1.058791e-22 +62: max-norm resid_vL 7.299869e-23 62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 5.52e-03 nrm_sol = 5.48e-03 nrm_resid = 1.29e-16 -62: residual_ratio = 1.176525e-14 +62: nrm_rhs = 1.06e-02 nrm_sol = 1.06e-02 nrm_resid = 1.78e-16 +62: residual_ratio = 8.405156e-15 62: Factorization successful. -62: max-norm resid_x 0.000000e+00 +62: max-norm resid_x 1.734723e-18 62: max-norm resid_s 0.000000e+00 -62: max-norm resid_c 4.768795e-19 -62: max-norm resid_d 1.753358e-19 -62: max-norm resid_zL 2.067952e-25 -62: max-norm resid_zU 1.654361e-24 -62: max-norm resid_vL 0.000000e+00 +62: max-norm resid_c 9.520650e-19 +62: max-norm resid_d 3.811648e-19 +62: max-norm resid_zL 5.293956e-23 +62: max-norm resid_zU 1.058791e-22 +62: max-norm resid_vL 5.500751e-23 62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 5.52e-03 nrm_sol = 5.48e-03 nrm_resid = 4.77e-19 -62: residual_ratio = 4.337695e-17 +62: nrm_rhs = 1.06e-02 nrm_sol = 1.06e-02 nrm_resid = 1.73e-18 +62: residual_ratio = 8.180200e-17 62: 62: ************************************************** -62: *** Finding Acceptable Trial Point for Iteration 25: +62: *** Finding Acceptable Trial Point for Iteration 19: 62: ************************************************** 62: -62: --> Starting filter line search in iteration 25 <-- +62: --> Starting filter line search in iteration 19 <-- +62: Mu has changed in line search - resetting watchdog counters. 62: The current filter has 0 entries. -62: Relative step size for delta_x = 1.149186e-03 -62: minimal step size ALPHA_MIN = 8.875865E-11 +62: Relative step size for delta_x = 2.237826e-03 +62: minimal step size ALPHA_MIN = 9.040371E-11 62: Starting checks for alpha (primal) = 1.00e+00 62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: -62: New values of barrier function = 1.4180421392593510e+00 (reference 1.4180864628060115e+00): -62: New values of constraint violation = 6.3320545818757967e-06 (reference 7.8509738223551465e-06): -62: reference_theta = 7.850974e-06 reference_gradBarrTDelta = -4.422653e-05 +62: New values of barrier function = 1.4185284053242224e+00 (reference 1.4186903712943002e+00): +62: New values of constraint violation = 2.3373536465201121e-05 (reference 2.9238900864773567e-05): +62: reference_theta = 2.923890e-05 reference_gradBarrTDelta = -1.617129e-04 62: Checking sufficient reduction... 62: Succeeded... 62: Checking filter acceptability... 62: Succeeded... -62: reference_theta = 7.850974e-06 reference_gradBarrTDelta = -4.422653e-05 +62: reference_theta = 2.923890e-05 reference_gradBarrTDelta = -1.617129e-04 62: 62: ************************************************** -62: *** Update HessianMatrix for Iteration 26: +62: *** Update HessianMatrix for Iteration 20: 62: ************************************************** 62: -62: In limited-memory update, s_new_max is 5.477645e-03 +62: In limited-memory update, s_new_max is 1.055715e-02 62: Limited-Memory test for skipping: -62: s^Ty = -1.403864e-06 snrm = 6.879047e-03 ynrm = 2.799975e+00 +62: s^Ty = -4.704726e-06 snrm = 1.315948e-02 ynrm = 2.806480e+00 62: Skip the update. 62: Number of successive iterations with skipping: 1 62: 62: 62: ************************************************** -62: *** Summary of Iteration: 26: +62: *** Summary of Iteration: 20: 62: ************************************************** 62: 62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls -62: 26 1.7016295e+01 4.73e-06 4.95e-03 -6.1 5.48e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Ws +62: 20 1.7022129e+01 1.73e-05 9.53e-03 -6.1 1.06e-02 - 1.00e+00 1.00e+00h 1 sigma=6.67e-01 qf=13Ws 62: 62: ************************************************** -62: *** Beginning Iteration 26 from the following point: +62: *** Beginning Iteration 20 from the following point: 62: ************************************************** 62: 62: Current barrier parameter mu = 7.5757575757575762e-07 -62: Current fraction-to-the-boundary parameter tau = 9.9448379782612106e-01 +62: Current fraction-to-the-boundary parameter tau = 9.8999999999999999e-01 62: -62: ||curr_x||_inf = 4.7801111375752292e+00 -62: ||curr_s||_inf = 6.5533192427868525e-07 -62: ||curr_y_c||_inf = 1.3580807191111857e-01 -62: ||curr_y_d||_inf = 1.1553129595586622e+00 -62: ||curr_z_L||_inf = 9.1654256283764987e-02 -62: ||curr_z_U||_inf = 3.4440657587724647e-06 -62: ||curr_v_L||_inf = 1.1553129595662381e+00 +62: ||curr_x||_inf = 4.8124301811231209e+00 +62: ||curr_s||_inf = 6.5319348290470448e-07 +62: ||curr_y_c||_inf = 1.3693627943899728e-01 +62: ||curr_y_d||_inf = 1.1597765420258201e+00 +62: ||curr_z_L||_inf = 9.2750760008645711e-02 +62: ||curr_z_U||_inf = 4.1423693908954134e-06 +62: ||curr_v_L||_inf = 1.1597765420333959e+00 62: ||curr_v_U||_inf = 0.0000000000000000e+00 62: -62: ||delta_x||_inf = 5.4776453460578132e-03 -62: ||delta_s||_inf = 3.0823855719358567e-10 -62: ||delta_y_c||_inf = 1.4028858499864216e-04 -62: ||delta_y_d||_inf = 5.4326521291748206e-04 -62: ||delta_z_L||_inf = 1.2676809966845760e-04 -62: ||delta_z_U||_inf = 6.4721699080841402e-08 -62: ||delta_v_L||_inf = 5.4326521291766432e-04 +62: ||delta_x||_inf = 1.0557152332594896e-02 +62: ||delta_s||_inf = 4.3215500003116011e-07 +62: ||delta_y_c||_inf = 2.4964225774121363e-04 +62: ||delta_y_d||_inf = 1.0334993718505475e-03 +62: ||delta_z_L||_inf = 3.8375413601408567e-04 +62: ||delta_z_U||_inf = 2.5323374238475155e-06 +62: ||delta_v_L||_inf = 1.0334993763624542e-03 62: ||delta_v_U||_inf = 0.0000000000000000e+00 62: DenseVector "curr_x" with 4 elements: -62: curr_x[ 1]= 1.0000082555660570e+00 -62: curr_x[ 2]= 4.7801111375752292e+00 -62: curr_x[ 3]= 3.7720222036871691e+00 -62: curr_x[ 4]= 1.3865124656521304e+00 +62: curr_x[ 1]= 1.0000081785165471e+00 +62: curr_x[ 2]= 4.8124301811231209e+00 +62: curr_x[ 3]= 3.7281503509291354e+00 +62: curr_x[ 4]= 1.3934014236599763e+00 62: DenseVector "curr_s" with 1 elements: -62: curr_s[ 1]= 6.5533192427868525e-07 +62: curr_s[ 1]= 6.5319348290470448e-07 62: DenseVector "curr_y_c" with 1 elements: -62: curr_y_c[ 1]= 1.3580807191111857e-01 +62: curr_y_c[ 1]= 1.3693627943899728e-01 62: DenseVector "curr_y_d" with 1 elements: -62: curr_y_d[ 1]=-1.1553129595586622e+00 +62: curr_y_d[ 1]=-1.1597765420258201e+00 62: DenseVector "curr_slack_x_L" with 4 elements: -62: curr_slack_x_L[ 1]= 8.2655660570418732e-06 -62: curr_slack_x_L[ 2]= 3.7801111475752291e+00 -62: curr_slack_x_L[ 3]= 2.7720222136871691e+00 -62: curr_slack_x_L[ 4]= 3.8651247565213043e-01 +62: curr_slack_x_L[ 1]= 8.1885165471584642e-06 +62: curr_slack_x_L[ 2]= 3.8124301911231209e+00 +62: curr_slack_x_L[ 3]= 2.7281503609291353e+00 +62: curr_slack_x_L[ 4]= 3.9340143365997637e-01 62: DenseVector "curr_slack_x_U" with 4 elements: -62: curr_slack_x_U[ 1]= 3.9999917944339427e+00 -62: curr_slack_x_U[ 2]= 2.1988891242477049e-01 -62: curr_slack_x_U[ 3]= 1.2279778463128306e+00 -62: curr_slack_x_U[ 4]= 3.6134875843478693e+00 +62: curr_slack_x_U[ 1]= 3.9999918714834526e+00 +62: curr_slack_x_U[ 2]= 1.8756986887687876e-01 +62: curr_slack_x_U[ 3]= 1.2718496990708643e+00 +62: curr_slack_x_U[ 4]= 3.6065986263400234e+00 62: DenseVector "curr_z_L" with 4 elements: -62: curr_z_L[ 1]= 9.1654256283764987e-02 -62: curr_z_L[ 2]= 2.0041074121779922e-07 -62: curr_z_L[ 3]= 2.7329246904332382e-07 -62: curr_z_L[ 4]= 1.9600201705173063e-06 +62: curr_z_L[ 1]= 9.2750760008645711e-02 +62: curr_z_L[ 2]= 1.9896777238964469e-07 +62: curr_z_L[ 3]= 2.7714366737157320e-07 +62: curr_z_L[ 4]= 1.9315959680882761e-06 62: DenseVector "curr_z_U" with 4 elements: -62: curr_z_U[ 1]= 1.8939432791585655e-07 -62: curr_z_U[ 2]= 3.4440657587724647e-06 -62: curr_z_U[ 3]= 6.1691726575926045e-07 -62: curr_z_U[ 4]= 2.0965222646323721e-07 +62: curr_z_U[ 1]= 1.8939418350097540e-07 +62: curr_z_U[ 2]= 4.1423693908954134e-06 +62: curr_z_U[ 3]= 5.9948971392638754e-07 +62: curr_z_U[ 4]= 2.0999394189834008e-07 62: DenseVector "curr_slack_s_L" with 1 elements: -62: curr_slack_s_L[ 1]= 6.5573192427868528e-07 +62: curr_slack_s_L[ 1]= 6.5359348290470451e-07 62: DenseVector "curr_slack_s_U" with 0 elements: 62: DenseVector "curr_v_L" with 1 elements: -62: curr_v_L[ 1]= 1.1553129595662381e+00 +62: curr_v_L[ 1]= 1.1597765420333959e+00 62: DenseVector "curr_v_U" with 0 elements: 62: 62: -62: ***Current NLP Values for Iteration 26: +62: ***Current NLP Values for Iteration 20: 62: 62: (scaled) (unscaled) -62: Objective...............: 1.4180245782858223e+00 1.7016294939429869e+01 -62: Dual infeasibility......: 4.9529335625778780e-03 5.9435202750934536e-02 -62: Constraint violation....: 4.7321288782598010e-06 4.7321288782598010e-05 -62: Complementarity.........: 7.5757575757575762e-07 9.0909090909090927e-06 -62: Overall NLP error.......: 4.9529335625778780e-03 5.9435202750934536e-02 +62: Objective...............: 1.4185107472437406e+00 1.7022128966924889e+01 +62: Dual infeasibility......: 9.5294325268768191e-03 1.1435319032252184e-01 +62: Constraint violation....: 1.7317187538168355e-05 1.7317187538168355e-04 +62: Complementarity.........: 7.7698368348984882e-07 9.3238042018781867e-06 +62: Overall NLP error.......: 9.5294325268768191e-03 1.1435319032252184e-01 62: 62: DenseVector "grad_f" with 4 elements: -62: grad_f[ 1]= 1.2192239424811899e+00 -62: grad_f[ 2]= 1.1554365934144828e-01 -62: grad_f[ 3]= 1.9887699267478159e-01 -62: grad_f[ 4]= 7.9601837126369945e-01 +62: grad_f[ 1]= 1.2239402259564538e+00 +62: grad_f[ 2]= 1.1611773496804803e-01 +62: grad_f[ 3]= 1.9945106830138137e-01 +62: grad_f[ 4]= 7.9505556153595347e-01 62: DenseVector "curr_c" with 1 elements: -62: curr_c[ 1]= 4.7321288782598010e-06 +62: curr_c[ 1]= 1.7317187538168355e-05 62: DenseVector "curr_d" with 1 elements: -62: curr_d[ 1]=-9.4459377933731045e-07 +62: curr_d[ 1]=-5.4031554441280603e-06 62: DenseVector "curr_d - curr_s" with 1 elements: -62: curr_d - curr_s[ 1]=-1.5999257036159957e-06 +62: curr_d - curr_s[ 1]=-6.0563489270327650e-06 62: 62: 62: 62: ************************************************** -62: *** Update Barrier Parameter for Iteration 26: +62: *** Update Barrier Parameter for Iteration 20: 62: ************************************************** 62: 62: Staying in free mu mode. -62: The current filter has 5 entries. +62: The current filter has 6 entries. 62: phi theta iter 62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 -62: 5 1.4180245782858223e+00 6.3320545818757967e-06 26 +62: 5 1.4184383631941118e+00 8.7375515487369919e-04 17 +62: 6 1.4185107472437406e+00 2.3373536465201121e-05 20 62: Solving the Primal Dual System for the affine step 62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 62: delta_c=0.000000e+00 delta_d=0.000000e+00 @@ -16940,164 +18700,164 @@ 62: delta_c=0.000000e+00 delta_d=0.000000e+00 62: Solving the Primal Dual System for the centering step 62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.738344359319e-13 q = 5.738344359319e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.624019446098e-13 q = 5.624019446098e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: Sigma = 1.000042e+00 +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.783992015339e-13 q = 5.783992015339e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.668557123070e-13 q = 5.668557123070e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: Sigma = 9.958740e-01 62: Barrier parameter mu computed by oracle is 7.575758e-07 62: Barrier parameter mu after safeguards is 7.575758e-07 62: Barrier Parameter: 7.575758e-07 62: 62: ************************************************** -62: *** Solving the Primal Dual System for Iteration 26: +62: *** Solving the Primal Dual System for Iteration 20: 62: ************************************************** 62: -62: max-norm resid_x 1.496199e-17 -62: max-norm resid_s 1.082576e-16 -62: max-norm resid_c 6.505213e-19 -62: max-norm resid_d 4.478687e-19 -62: max-norm resid_zL 1.710196e-22 -62: max-norm resid_zU 2.200900e-22 -62: max-norm resid_vL 1.048968e-22 +62: max-norm resid_x 1.734723e-18 +62: max-norm resid_s 2.151057e-16 +62: max-norm resid_c 1.389134e-18 +62: max-norm resid_d 6.327336e-19 +62: max-norm resid_zL 9.388500e-23 +62: max-norm resid_zU 8.977495e-23 +62: max-norm resid_vL 6.514047e-23 62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 4.95e-03 nrm_sol = 4.92e-03 nrm_resid = 1.08e-16 -62: residual_ratio = 1.096573e-14 +62: nrm_rhs = 9.53e-03 nrm_sol = 9.45e-03 nrm_resid = 2.15e-16 +62: residual_ratio = 1.133517e-14 62: Factorization successful. -62: max-norm resid_x 8.673617e-19 +62: max-norm resid_x 0.000000e+00 62: max-norm resid_s 0.000000e+00 -62: max-norm resid_c 1.727947e-19 -62: max-norm resid_d 3.811648e-20 -62: max-norm resid_zL 4.135903e-25 -62: max-norm resid_zU 1.654361e-24 +62: max-norm resid_c 8.470329e-20 +62: max-norm resid_d 6.098637e-20 +62: max-norm resid_zL 1.033976e-25 +62: max-norm resid_zU 1.292470e-26 62: max-norm resid_vL 0.000000e+00 62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 4.95e-03 nrm_sol = 4.92e-03 nrm_resid = 8.67e-19 -62: residual_ratio = 8.785765e-17 +62: nrm_rhs = 9.53e-03 nrm_sol = 9.45e-03 nrm_resid = 8.47e-20 +62: residual_ratio = 4.463509e-18 62: 62: ************************************************** -62: *** Finding Acceptable Trial Point for Iteration 26: +62: *** Finding Acceptable Trial Point for Iteration 20: 62: ************************************************** 62: -62: --> Starting filter line search in iteration 26 <-- +62: --> Starting filter line search in iteration 20 <-- 62: The current filter has 0 entries. -62: Relative step size for delta_x = 1.030888e-03 -62: minimal step size ALPHA_MIN = 8.857587E-11 +62: Relative step size for delta_x = 1.998119e-03 +62: minimal step size ALPHA_MIN = 9.007927E-11 62: Starting checks for alpha (primal) = 1.00e+00 62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: -62: New values of barrier function = 1.4180063186651293e+00 (reference 1.4180421392593510e+00): -62: New values of constraint violation = 5.1110781145929621e-06 (reference 6.3320545818757967e-06): -62: reference_theta = 6.332055e-06 reference_gradBarrTDelta = -3.574368e-05 +62: New values of barrier function = 1.4183983425117337e+00 (reference 1.4185284053242224e+00): +62: New values of constraint violation = 1.8745199946346515e-05 (reference 2.3373536465201121e-05): +62: reference_theta = 2.337354e-05 reference_gradBarrTDelta = -1.297387e-04 62: Checking sufficient reduction... 62: Succeeded... 62: Checking filter acceptability... 62: Succeeded... -62: reference_theta = 6.332055e-06 reference_gradBarrTDelta = -3.574368e-05 +62: reference_theta = 2.337354e-05 reference_gradBarrTDelta = -1.297387e-04 62: 62: ************************************************** -62: *** Update HessianMatrix for Iteration 27: +62: *** Update HessianMatrix for Iteration 21: 62: ************************************************** 62: -62: In limited-memory update, s_new_max is 4.919420e-03 +62: In limited-memory update, s_new_max is 9.447405e-03 62: Limited-Memory test for skipping: -62: s^Ty = -1.122928e-06 snrm = 6.183296e-03 ynrm = 2.799272e+00 +62: s^Ty = -4.420476e-06 snrm = 1.179503e-02 ynrm = 2.805032e+00 62: Skip the update. 62: Number of successive iterations with skipping: 2 62: 62: 62: ************************************************** -62: *** Summary of Iteration: 27: +62: *** Summary of Iteration: 21: 62: ************************************************** 62: 62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls -62: 27 1.7015865e+01 3.82e-06 4.45e-03 -6.1 4.92e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Ws +62: 21 1.7020568e+01 1.39e-05 8.53e-03 -6.1 9.45e-03 - 1.00e+00 1.00e+00h 1 sigma=9.96e-01 qf=2Ws 62: 62: ************************************************** -62: *** Beginning Iteration 27 from the following point: +62: *** Beginning Iteration 21 from the following point: 62: ************************************************** 62: 62: Current barrier parameter mu = 7.5757575757575762e-07 -62: Current fraction-to-the-boundary parameter tau = 9.9504706643742213e-01 +62: Current fraction-to-the-boundary parameter tau = 9.9047056747312323e-01 62: -62: ||curr_x||_inf = 4.7764391608994092e+00 -62: ||curr_s||_inf = 6.5560720568455160e-07 -62: ||curr_y_c||_inf = 1.3568214214550192e-01 -62: ||curr_y_d||_inf = 1.1548282054866545e+00 -62: ||curr_z_L||_inf = 9.1543213390773481e-02 -62: ||curr_z_U||_inf = 3.3877525711734749e-06 -62: ||curr_v_L||_inf = 1.1548282054942303e+00 +62: ||curr_x||_inf = 4.8055352516191450e+00 +62: ||curr_s||_inf = 6.5336568530396381e-07 +62: ||curr_y_c||_inf = 1.3669054280408224e-01 +62: ||curr_y_d||_inf = 1.1587876272904800e+00 +62: ||curr_z_L||_inf = 9.2506859233076083e-02 +62: ||curr_z_U||_inf = 3.8866285774536293e-06 +62: ||curr_v_L||_inf = 1.1587876272980557e+00 62: ||curr_v_U||_inf = 0.0000000000000000e+00 62: -62: ||delta_x||_inf = 4.9194196423690811e-03 -62: ||delta_s||_inf = 2.7528140586640020e-10 -62: ||delta_y_c||_inf = 1.2592976561666275e-04 -62: ||delta_y_d||_inf = 4.8475407200776228e-04 -62: ||delta_z_L||_inf = 1.1104289299151007e-04 -62: ||delta_z_U||_inf = 5.6313187598989976e-08 -62: ||delta_v_L||_inf = 4.8475407200794458e-04 +62: ||delta_x||_inf = 9.4474054269818118e-03 +62: ||delta_s||_inf = 1.7220239925929605e-10 +62: ||delta_y_c||_inf = 2.4573663491504456e-04 +62: ||delta_y_d||_inf = 9.8891473534021344e-04 +62: ||delta_z_L||_inf = 2.4390077556962531e-04 +62: ||delta_z_U||_inf = 2.5574081344178446e-07 +62: ||delta_v_L||_inf = 9.8891473534017376e-04 62: ||delta_v_U||_inf = 0.0000000000000000e+00 62: DenseVector "curr_x" with 4 elements: -62: curr_x[ 1]= 1.0000082655959264e+00 -62: curr_x[ 2]= 4.7764391608994092e+00 -62: curr_x[ 3]= 3.7769416233295381e+00 -62: curr_x[ 4]= 1.3857714884052161e+00 +62: curr_x[ 1]= 1.0000081793985887e+00 +62: curr_x[ 2]= 4.8055352516191450e+00 +62: curr_x[ 3]= 3.7375977563561174e+00 +62: curr_x[ 4]= 1.3918752533834475e+00 62: DenseVector "curr_s" with 1 elements: -62: curr_s[ 1]= 6.5560720568455160e-07 +62: curr_s[ 1]= 6.5336568530396381e-07 62: DenseVector "curr_y_c" with 1 elements: -62: curr_y_c[ 1]= 1.3568214214550192e-01 +62: curr_y_c[ 1]= 1.3669054280408224e-01 62: DenseVector "curr_y_d" with 1 elements: -62: curr_y_d[ 1]=-1.1548282054866545e+00 +62: curr_y_d[ 1]=-1.1587876272904800e+00 62: DenseVector "curr_slack_x_L" with 4 elements: -62: curr_slack_x_L[ 1]= 8.2755959264213530e-06 -62: curr_slack_x_L[ 2]= 3.7764391708994092e+00 -62: curr_slack_x_L[ 3]= 2.7769416333295380e+00 -62: curr_slack_x_L[ 4]= 3.8577149840521618e-01 +62: curr_slack_x_L[ 1]= 8.1893985887093734e-06 +62: curr_slack_x_L[ 2]= 3.8055352616191449e+00 +62: curr_slack_x_L[ 3]= 2.7375977663561173e+00 +62: curr_slack_x_L[ 4]= 3.9187526338344758e-01 62: DenseVector "curr_slack_x_U" with 4 elements: -62: curr_slack_x_U[ 1]= 3.9999917844040733e+00 -62: curr_slack_x_U[ 2]= 2.2356088910059047e-01 -62: curr_slack_x_U[ 3]= 1.2230584266704616e+00 -62: curr_slack_x_U[ 4]= 3.6142285615947838e+00 +62: curr_slack_x_U[ 1]= 3.9999918706014110e+00 +62: curr_slack_x_U[ 2]= 1.9446479838085473e-01 +62: curr_slack_x_U[ 3]= 1.2624022936438823e+00 +62: curr_slack_x_U[ 4]= 3.6081247966165524e+00 62: DenseVector "curr_z_L" with 4 elements: -62: curr_z_L[ 1]= 9.1543213390773481e-02 -62: curr_z_L[ 2]= 2.0060565193420724e-07 -62: curr_z_L[ 3]= 2.7280853432611679e-07 -62: curr_z_L[ 4]= 1.9637867746570378e-06 +62: curr_z_L[ 1]= 9.2506859233076083e-02 +62: curr_z_L[ 2]= 1.9907187497021829e-07 +62: curr_z_L[ 3]= 2.7672868761216640e-07 +62: curr_z_L[ 4]= 1.9332001280550758e-06 62: DenseVector "curr_z_U" with 4 elements: -62: curr_z_U[ 1]= 1.8939432839075761e-07 -62: curr_z_U[ 2]= 3.3877525711734749e-06 -62: curr_z_U[ 3]= 6.1940094015090461e-07 -62: curr_z_U[ 4]= 2.0960924657027044e-07 +62: curr_z_U[ 1]= 1.8939432430942756e-07 +62: curr_z_U[ 2]= 3.8866285774536293e-06 +62: curr_z_U[ 3]= 6.0010186778367105e-07 +62: curr_z_U[ 4]= 2.0996383282933926e-07 62: DenseVector "curr_slack_s_L" with 1 elements: -62: curr_slack_s_L[ 1]= 6.5600720568455163e-07 +62: curr_slack_s_L[ 1]= 6.5376568530396384e-07 62: DenseVector "curr_slack_s_U" with 0 elements: 62: DenseVector "curr_v_L" with 1 elements: -62: curr_v_L[ 1]= 1.1548282054942303e+00 +62: curr_v_L[ 1]= 1.1587876272980557e+00 62: DenseVector "curr_v_U" with 0 elements: 62: 62: -62: ***Current NLP Values for Iteration 27: +62: ***Current NLP Values for Iteration 21: 62: 62: (scaled) (unscaled) -62: Objective...............: 1.4179887677423217e+00 1.7015865212907862e+01 -62: Dual infeasibility......: 4.4490027940735982e-03 5.3388033528883175e-02 -62: Constraint violation....: 3.8233149602717734e-06 3.8233149602717731e-05 -62: Complementarity.........: 7.5757575757575762e-07 9.0909090909090927e-06 -62: Overall NLP error.......: 4.4490027940735982e-03 5.3388033528883175e-02 +62: Objective...............: 1.4183807050357737e+00 1.7020568460429285e+01 +62: Dual infeasibility......: 8.5310442604245654e-03 1.0237253112509478e-01 +62: Constraint violation....: 1.3912271787575037e-05 1.3912271787575037e-04 +62: Complementarity.........: 7.5757575757575741e-07 9.0909090909090893e-06 +62: Overall NLP error.......: 8.5310442604245654e-03 1.0237253112509478e-01 62: 62: DenseVector "grad_f" with 4 elements: -62: grad_f[ 1]= 1.2187164254601912e+00 -62: grad_f[ 2]= 1.1548191188603213e-01 -62: grad_f[ 3]= 1.9881524521936544e-01 -62: grad_f[ 4]= 7.9612233452320735e-01 +62: grad_f[ 1]= 1.2228957246946603e+00 +62: grad_f[ 2]= 1.1599055317382756e-01 +62: grad_f[ 3]= 1.9932388650716087e-01 +62: grad_f[ 4]= 7.9526827037745085e-01 62: DenseVector "curr_c" with 1 elements: -62: curr_c[ 1]= 3.8233149602717734e-06 +62: curr_c[ 1]= 1.3912271787575037e-05 62: DenseVector "curr_d" with 1 elements: -62: curr_d[ 1]=-6.3215594863663688e-07 +62: curr_d[ 1]=-4.1795624734675134e-06 62: DenseVector "curr_d - curr_s" with 1 elements: -62: curr_d - curr_s[ 1]=-1.2877631543211885e-06 +62: curr_d - curr_s[ 1]=-4.8329281587714774e-06 62: 62: 62: 62: ************************************************** -62: *** Update Barrier Parameter for Iteration 27: +62: *** Update Barrier Parameter for Iteration 21: 62: ************************************************** 62: 62: Staying in free mu mode. @@ -17107,7 +18867,7 @@ 62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 -62: 5 1.4179887677423217e+00 5.1110781145929621e-06 27 +62: 5 1.4183807050357737e+00 1.8745199946346515e-05 21 62: Solving the Primal Dual System for the affine step 62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 62: delta_c=0.000000e+00 delta_d=0.000000e+00 @@ -17117,160 +18877,160 @@ 62: delta_c=0.000000e+00 delta_d=0.000000e+00 62: Solving the Primal Dual System for the centering step 62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.738528949156e-13 q = 5.738528949156e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.624216621146e-13 q = 5.624216621146e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: Sigma = 1.000033e+00 +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.734916770394e-13 q = 5.734916770394e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.620521369683e-13 q = 5.620521369683e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: Sigma = 1.000261e+00 62: Barrier parameter mu computed by oracle is 7.575758e-07 62: Barrier parameter mu after safeguards is 7.575758e-07 62: Barrier Parameter: 7.575758e-07 62: 62: ************************************************** -62: *** Solving the Primal Dual System for Iteration 27: +62: *** Solving the Primal Dual System for Iteration 21: 62: ************************************************** 62: -62: max-norm resid_x 1.333569e-17 -62: max-norm resid_s 7.296681e-17 -62: max-norm resid_c 4.989024e-19 -62: max-norm resid_d 6.352747e-22 -62: max-norm resid_zL 7.392927e-23 -62: max-norm resid_zU 2.072087e-22 -62: max-norm resid_vL 4.120393e-23 +62: max-norm resid_x 2.168404e-18 +62: max-norm resid_s 7.903834e-17 +62: max-norm resid_c 1.744888e-19 +62: max-norm resid_d 3.100141e-19 +62: max-norm resid_zL 2.129990e-22 +62: max-norm resid_zU 1.067063e-22 +62: max-norm resid_vL 2.460862e-23 62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 4.45e-03 nrm_sol = 4.42e-03 nrm_resid = 7.30e-17 -62: residual_ratio = 8.227368e-15 +62: nrm_rhs = 8.53e-03 nrm_sol = 8.46e-03 nrm_resid = 7.90e-17 +62: residual_ratio = 4.651426e-15 62: Factorization successful. -62: max-norm resid_x 8.673617e-19 +62: max-norm resid_x 0.000000e+00 62: max-norm resid_s 0.000000e+00 -62: max-norm resid_c 1.304431e-19 -62: max-norm resid_d 6.352747e-22 -62: max-norm resid_zL 2.067952e-25 -62: max-norm resid_zU 1.972152e-31 -62: max-norm resid_vL 5.169879e-26 +62: max-norm resid_c 8.639736e-20 +62: max-norm resid_d 1.067262e-19 +62: max-norm resid_zL 4.135903e-25 +62: max-norm resid_zU 5.169879e-26 +62: max-norm resid_vL 0.000000e+00 62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 4.45e-03 nrm_sol = 4.42e-03 nrm_resid = 8.67e-19 -62: residual_ratio = 9.779933e-17 +62: nrm_rhs = 8.53e-03 nrm_sol = 8.46e-03 nrm_resid = 1.07e-19 +62: residual_ratio = 6.280860e-18 62: 62: ************************************************** -62: *** Finding Acceptable Trial Point for Iteration 27: +62: *** Finding Acceptable Trial Point for Iteration 21: 62: ************************************************** 62: -62: --> Starting filter line search in iteration 27 <-- +62: --> Starting filter line search in iteration 21 <-- 62: The current filter has 0 entries. -62: Relative step size for delta_x = 9.252338e-04 -62: minimal step size ALPHA_MIN = 8.841355E-11 +62: Relative step size for delta_x = 1.785977e-03 +62: minimal step size ALPHA_MIN = 8.976051E-11 62: Starting checks for alpha (primal) = 1.00e+00 62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: -62: New values of barrier function = 1.4179773531548852e+00 (reference 1.4180063186651293e+00): -62: New values of constraint violation = 4.1284638651936657e-06 (reference 5.1110781145929621e-06): -62: reference_theta = 5.111078e-06 reference_gradBarrTDelta = -2.890438e-05 +62: New values of barrier function = 1.4182936718153074e+00 (reference 1.4183983425117337e+00): +62: New values of constraint violation = 1.5052703405009670e-05 (reference 1.8745199946346515e-05): +62: reference_theta = 1.874520e-05 reference_gradBarrTDelta = -1.044179e-04 62: Checking sufficient reduction... 62: Succeeded... 62: Checking filter acceptability... 62: Succeeded... -62: reference_theta = 5.111078e-06 reference_gradBarrTDelta = -2.890438e-05 +62: reference_theta = 1.874520e-05 reference_gradBarrTDelta = -1.044179e-04 62: 62: ************************************************** -62: *** Update HessianMatrix for Iteration 28: +62: *** Update HessianMatrix for Iteration 22: 62: ************************************************** 62: 62: Resetting Limited-Memory Update. 62: 62: 62: ************************************************** -62: *** Summary of Iteration: 28: +62: *** Summary of Iteration: 22: 62: ************************************************** 62: 62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls -62: 28 1.7015518e+01 3.09e-06 4.00e-03 -6.1 4.42e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Wr +62: 22 1.7019313e+01 1.12e-05 7.64e-03 -6.1 8.46e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Wr 62: 62: ************************************************** -62: *** Beginning Iteration 28 from the following point: +62: *** Beginning Iteration 22 from the following point: 62: ************************************************** 62: 62: Current barrier parameter mu = 7.5757575757575762e-07 -62: Current fraction-to-the-boundary parameter tau = 9.9555099720592644e-01 +62: Current fraction-to-the-boundary parameter tau = 9.9146895573957539e-01 62: -62: ||curr_x||_inf = 4.7731318087681300e+00 -62: ||curr_s||_inf = 6.5585327144707049e-07 -62: ||curr_y_c||_inf = 1.3556905831836466e-01 -62: ||curr_y_d||_inf = 1.1543952373169155e+00 -62: ||curr_z_L||_inf = 9.1445693578629250e-02 -62: ||curr_z_U||_inf = 3.3385592170972829e-06 -62: ||curr_v_L||_inf = 1.1543952373244912e+00 +62: ||curr_x||_inf = 4.7993300160778061e+00 +62: ||curr_s||_inf = 6.5385514772312466e-07 +62: ||curr_y_c||_inf = 1.3647349630874958e-01 +62: ||curr_y_d||_inf = 1.1579203246549841e+00 +62: ||curr_z_L||_inf = 9.2284842182063967e-02 +62: ||curr_z_U||_inf = 3.7716765085395991e-06 +62: ||curr_v_L||_inf = 1.1579203246625598e+00 62: ||curr_v_U||_inf = 0.0000000000000000e+00 62: -62: ||delta_x||_inf = 4.4197877935435786e-03 -62: ||delta_s||_inf = 2.4606576251889126e-10 -62: ||delta_y_c||_inf = 1.1308382713727159e-04 -62: ||delta_y_d||_inf = 4.3296816973902974e-04 -62: ||delta_z_L||_inf = 9.7519812144235502e-05 -62: ||delta_z_U||_inf = 4.9193354076191993e-08 -62: ||delta_v_L||_inf = 4.3296816973899000e-04 +62: ||delta_x||_inf = 8.4612387009455493e-03 +62: ||delta_s||_inf = 4.8946241916087481e-10 +62: ||delta_y_c||_inf = 2.1704649533265899e-04 +62: ||delta_y_d||_inf = 8.6730263549604687e-04 +62: ||delta_z_L||_inf = 2.2201705101211529e-04 +62: ||delta_z_U||_inf = 1.1495206891403016e-07 +62: ||delta_v_L||_inf = 8.6730263549600708e-04 62: ||delta_v_U||_inf = 0.0000000000000000e+00 62: DenseVector "curr_x" with 4 elements: -62: curr_x[ 1]= 1.0000082744239791e+00 -62: curr_x[ 2]= 4.7731318087681300e+00 -62: curr_x[ 3]= 3.7813614111230818e+00 -62: curr_x[ 4]= 1.3851111777727816e+00 +62: curr_x[ 1]= 1.0000081990555230e+00 +62: curr_x[ 2]= 4.7993300160778061e+00 +62: curr_x[ 3]= 3.7460589950570631e+00 +62: curr_x[ 4]= 1.3905282866508906e+00 62: DenseVector "curr_s" with 1 elements: -62: curr_s[ 1]= 6.5585327144707049e-07 +62: curr_s[ 1]= 6.5385514772312466e-07 62: DenseVector "curr_y_c" with 1 elements: -62: curr_y_c[ 1]= 1.3556905831836466e-01 +62: curr_y_c[ 1]= 1.3647349630874958e-01 62: DenseVector "curr_y_d" with 1 elements: -62: curr_y_d[ 1]=-1.1543952373169155e+00 +62: curr_y_d[ 1]=-1.1579203246549841e+00 62: DenseVector "curr_slack_x_L" with 4 elements: -62: curr_slack_x_L[ 1]= 8.2844239791546315e-06 -62: curr_slack_x_L[ 2]= 3.7731318187681300e+00 -62: curr_slack_x_L[ 3]= 2.7813614211230817e+00 -62: curr_slack_x_L[ 4]= 3.8511118777278164e-01 +62: curr_slack_x_L[ 1]= 8.2090555230118767e-06 +62: curr_slack_x_L[ 2]= 3.7993300260778060e+00 +62: curr_slack_x_L[ 3]= 2.7460590050570630e+00 +62: curr_slack_x_L[ 4]= 3.9052829665089062e-01 62: DenseVector "curr_slack_x_U" with 4 elements: -62: curr_slack_x_U[ 1]= 3.9999917755760208e+00 -62: curr_slack_x_U[ 2]= 2.2686824123186966e-01 -62: curr_slack_x_U[ 3]= 1.2186386388769179e+00 -62: curr_slack_x_U[ 4]= 3.6148888722272181e+00 +62: curr_slack_x_U[ 1]= 3.9999918509444767e+00 +62: curr_slack_x_U[ 2]= 2.0067003392219362e-01 +62: curr_slack_x_U[ 3]= 1.2539410549429366e+00 +62: curr_slack_x_U[ 4]= 3.6094717633491094e+00 62: DenseVector "curr_z_L" with 4 elements: -62: curr_z_L[ 1]= 9.1445693578629250e-02 -62: curr_z_L[ 2]= 2.0078152905231206e-07 -62: curr_z_L[ 3]= 2.7237518882918869e-07 -62: curr_z_L[ 4]= 1.9671553497344552e-06 +62: curr_z_L[ 1]= 9.2284842182063967e-02 +62: curr_z_L[ 2]= 1.9939666650907649e-07 +62: curr_z_L[ 3]= 2.7587481965976588e-07 +62: curr_z_L[ 4]= 1.9398512354983519e-06 62: DenseVector "curr_z_U" with 4 elements: -62: curr_z_U[ 1]= 1.8939432880875424e-07 -62: curr_z_U[ 2]= 3.3385592170972829e-06 -62: curr_z_U[ 3]= 6.2164927014987434e-07 -62: curr_z_U[ 4]= 2.0957096029017332e-07 +62: curr_z_U[ 1]= 1.8939432524015745e-07 +62: curr_z_U[ 2]= 3.7716765085395991e-06 +62: curr_z_U[ 3]= 6.0412862568760466e-07 +62: curr_z_U[ 4]= 2.0988546293854158e-07 62: DenseVector "curr_slack_s_L" with 1 elements: -62: curr_slack_s_L[ 1]= 6.5625327144707052e-07 +62: curr_slack_s_L[ 1]= 6.5425514772312469e-07 62: DenseVector "curr_slack_s_U" with 0 elements: 62: DenseVector "curr_v_L" with 1 elements: -62: curr_v_L[ 1]= 1.1543952373244912e+00 +62: curr_v_L[ 1]= 1.1579203246625598e+00 62: DenseVector "curr_v_U" with 0 elements: 62: 62: -62: ***Current NLP Values for Iteration 28: +62: ***Current NLP Values for Iteration 22: 62: 62: (scaled) (unscaled) -62: Objective...............: 1.4179598110883438e+00 1.7015517733060125e+01 -62: Dual infeasibility......: 3.9978064182453789e-03 4.7973677018944547e-02 -62: Constraint violation....: 3.0909112396670936e-06 3.0909112396670935e-05 +62: Objective...............: 1.4182760541997255e+00 1.7019312650396706e+01 +62: Dual infeasibility......: 7.6430868456945052e-03 9.1717042148334066e-02 +62: Constraint violation....: 1.1191182785807996e-05 1.1191182785807996e-04 62: Complementarity.........: 7.5757575757575762e-07 9.0909090909090927e-06 -62: Overall NLP error.......: 3.9978064182453789e-03 4.7973677018944547e-02 +62: Overall NLP error.......: 7.6430868456945052e-03 9.1717042148334066e-02 62: 62: DenseVector "grad_f" with 4 elements: -62: grad_f[ 1]= 1.2182641213827199e+00 -62: grad_f[ 2]= 1.1542688656416039e-01 -62: grad_f[ 3]= 1.9876021989749373e-01 -62: grad_f[ 4]= 7.9621504602595516e-01 +62: grad_f[ 1]= 1.2219737096464796e+00 +62: grad_f[ 2]= 1.1587830730579325e-01 +62: grad_f[ 3]= 1.9921164063912658e-01 +62: grad_f[ 4]= 7.9545628945267544e-01 62: DenseVector "curr_c" with 1 elements: -62: curr_c[ 1]= 3.0909112396670936e-06 +62: curr_c[ 1]= 1.1191182785807996e-05 62: DenseVector "curr_d" with 1 elements: -62: curr_d[ 1]=-3.8169935407950105e-07 +62: curr_d[ 1]=-3.2076654714785491e-06 62: DenseVector "curr_d - curr_s" with 1 elements: -62: curr_d - curr_s[ 1]=-1.0375526255265716e-06 +62: curr_d - curr_s[ 1]=-3.8615206192016740e-06 62: 62: 62: 62: ************************************************** -62: *** Update Barrier Parameter for Iteration 28: +62: *** Update Barrier Parameter for Iteration 22: 62: ************************************************** 62: 62: Staying in free mu mode. @@ -17280,7 +19040,7 @@ 62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 -62: 5 1.4179598110883438e+00 4.1284638651936657e-06 28 +62: 5 1.4182760541997255e+00 1.5052703405009670e-05 22 62: Solving the Primal Dual System for the affine step 62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 62: delta_c=0.000000e+00 delta_d=0.000000e+00 @@ -17290,164 +19050,164 @@ 62: delta_c=0.000000e+00 delta_d=0.000000e+00 62: Solving the Primal Dual System for the centering step 62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.738672217151e-13 q = 5.738672217151e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.624370986362e-13 q = 5.624370986362e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: Sigma = 1.000026e+00 +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.736879867051e-13 q = 5.736879867051e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.622483738318e-13 q = 5.622483738318e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: Sigma = 1.000113e+00 62: Barrier parameter mu computed by oracle is 7.575758e-07 62: Barrier parameter mu after safeguards is 7.575758e-07 62: Barrier Parameter: 7.575758e-07 62: 62: ************************************************** -62: *** Solving the Primal Dual System for Iteration 28: +62: *** Solving the Primal Dual System for Iteration 22: 62: ************************************************** 62: -62: max-norm resid_x 2.499086e-17 -62: max-norm resid_s 8.131516e-17 -62: max-norm resid_c 1.952411e-19 -62: max-norm resid_d 1.670772e-19 -62: max-norm resid_zL 1.108422e-22 -62: max-norm resid_zU 1.554841e-22 -62: max-norm resid_vL 1.155985e-22 +62: max-norm resid_x 2.428613e-17 +62: max-norm resid_s 1.649072e-16 +62: max-norm resid_c 1.258691e-18 +62: max-norm resid_d 8.317864e-19 +62: max-norm resid_zL 9.512577e-23 +62: max-norm resid_zU 2.812414e-23 +62: max-norm resid_vL 3.546537e-23 62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 4.00e-03 nrm_sol = 3.97e-03 nrm_resid = 8.13e-17 -62: residual_ratio = 1.020256e-14 +62: nrm_rhs = 7.64e-03 nrm_sol = 7.58e-03 nrm_resid = 1.65e-16 +62: residual_ratio = 1.083040e-14 62: Factorization successful. -62: max-norm resid_x 5.421011e-20 +62: max-norm resid_x 8.673617e-19 62: max-norm resid_s 0.000000e+00 -62: max-norm resid_c 1.736418e-19 -62: max-norm resid_d 9.762055e-20 -62: max-norm resid_zL 2.067952e-25 -62: max-norm resid_zU 2.584939e-26 -62: max-norm resid_vL 5.169879e-26 +62: max-norm resid_c 3.472835e-19 +62: max-norm resid_d 1.380664e-19 +62: max-norm resid_zL 4.135903e-25 +62: max-norm resid_zU 5.169879e-26 +62: max-norm resid_vL 0.000000e+00 62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 4.00e-03 nrm_sol = 3.97e-03 nrm_resid = 1.74e-19 -62: residual_ratio = 2.178671e-17 +62: nrm_rhs = 7.64e-03 nrm_sol = 7.58e-03 nrm_resid = 8.67e-19 +62: residual_ratio = 5.696465e-17 62: 62: ************************************************** -62: *** Finding Acceptable Trial Point for Iteration 28: +62: *** Finding Acceptable Trial Point for Iteration 22: 62: ************************************************** 62: -62: --> Starting filter line search in iteration 28 <-- +62: --> Starting filter line search in iteration 22 <-- 62: The current filter has 0 entries. -62: Relative step size for delta_x = 8.307822e-04 -62: minimal step size ALPHA_MIN = 8.826918E-11 +62: Relative step size for delta_x = 1.597795e-03 +62: minimal step size ALPHA_MIN = 8.946142E-11 62: Starting checks for alpha (primal) = 1.00e+00 62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: -62: New values of barrier function = 1.4179539188236050e+00 (reference 1.4179773531548852e+00): -62: New values of constraint violation = 3.3368647064720564e-06 (reference 4.1284638651936657e-06): -62: reference_theta = 4.128464e-06 reference_gradBarrTDelta = -2.338565e-05 +62: New values of barrier function = 1.4182093442251904e+00 (reference 1.4182936718153074e+00): +62: New values of constraint violation = 1.2103313309103914e-05 (reference 1.5052703405009670e-05): +62: reference_theta = 1.505270e-05 reference_gradBarrTDelta = -8.412958e-05 62: Checking sufficient reduction... 62: Succeeded... 62: Checking filter acceptability... 62: Succeeded... -62: reference_theta = 4.128464e-06 reference_gradBarrTDelta = -2.338565e-05 +62: reference_theta = 1.505270e-05 reference_gradBarrTDelta = -8.412958e-05 62: 62: ************************************************** -62: *** Update HessianMatrix for Iteration 29: +62: *** Update HessianMatrix for Iteration 23: 62: ************************************************** 62: -62: In limited-memory update, s_new_max is 3.972270e-03 +62: In limited-memory update, s_new_max is 7.583228e-03 62: Limited-Memory test for skipping: -62: s^Ty = -7.219461e-07 snrm = 5.000157e-03 ynrm = 2.798082e+00 +62: s^Ty = -2.776931e-06 snrm = 9.493283e-03 ynrm = 2.802646e+00 62: Skip the update. 62: Number of successive iterations with skipping: 1 62: 62: 62: ************************************************** -62: *** Summary of Iteration: 29: +62: *** Summary of Iteration: 23: 62: ************************************************** 62: 62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls -62: 29 1.7015237e+01 2.50e-06 3.59e-03 -6.1 3.97e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Ws +62: 23 1.7018301e+01 9.01e-06 6.85e-03 -6.1 7.58e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Ws 62: 62: ************************************************** -62: *** Beginning Iteration 29 from the following point: +62: *** Beginning Iteration 23 from the following point: 62: ************************************************** 62: 62: Current barrier parameter mu = 7.5757575757575762e-07 -62: Current fraction-to-the-boundary parameter tau = 9.9600219358175457e-01 +62: Current fraction-to-the-boundary parameter tau = 9.9235691315430552e-01 62: -62: ||curr_x||_inf = 4.7701526107966323e+00 -62: ||curr_s||_inf = 6.5607339927294072e-07 -62: ||curr_y_c||_inf = 1.3546747423088415e-01 -62: ||curr_y_d||_inf = 1.1540081794747745e+00 -62: ||curr_z_L||_inf = 9.1359847272556971e-02 -62: ||curr_z_U||_inf = 3.2954349391034596e-06 -62: ||curr_v_L||_inf = 1.1540081794823505e+00 +62: ||curr_x||_inf = 4.7937444914696652e+00 +62: ||curr_s||_inf = 6.5429057983762289e-07 +62: ||curr_y_c||_inf = 1.3627903536697997e-01 +62: ||curr_y_d||_inf = 1.1571503327258486e+00 +62: ||curr_z_L||_inf = 9.2092813171935697e-02 +62: ||curr_z_U||_inf = 3.6702488718815410e-06 +62: ||curr_v_L||_inf = 1.1571503327334243e+00 62: ||curr_v_U||_inf = 0.0000000000000000e+00 62: -62: ||delta_x||_inf = 3.9722698755958541e-03 -62: ||delta_s||_inf = 2.2012782587016955e-10 -62: ||delta_y_c||_inf = 1.0158408748050640e-04 -62: ||delta_y_d||_inf = 3.8705784214090904e-04 -62: ||delta_z_L||_inf = 8.5846306072274870e-05 -62: ||delta_z_U||_inf = 4.3124277993823368e-08 -62: ||delta_v_L||_inf = 3.8705784214086930e-04 +62: ||delta_x||_inf = 7.5832282994215735e-03 +62: ||delta_s||_inf = 4.3543211449818615e-10 +62: ||delta_y_c||_inf = 1.9446094176962000e-04 +62: ||delta_y_d||_inf = 7.6999192913554078e-04 +62: ||delta_z_L||_inf = 1.9202901012827599e-04 +62: ||delta_z_U||_inf = 1.0142763665805821e-07 +62: ||delta_v_L||_inf = 7.6999192913550099e-04 62: ||delta_v_U||_inf = 0.0000000000000000e+00 62: DenseVector "curr_x" with 4 elements: -62: curr_x[ 1]= 1.0000082822105469e+00 -62: curr_x[ 2]= 4.7701526107966323e+00 -62: curr_x[ 3]= 3.7853336809986775e+00 -62: curr_x[ 4]= 1.3845220945456049e+00 +62: curr_x[ 1]= 1.0000082161844570e+00 +62: curr_x[ 2]= 4.7937444914696652e+00 +62: curr_x[ 3]= 3.7536422233564846e+00 +62: curr_x[ 4]= 1.3893370719635436e+00 62: DenseVector "curr_s" with 1 elements: -62: curr_s[ 1]= 6.5607339927294072e-07 +62: curr_s[ 1]= 6.5429057983762289e-07 62: DenseVector "curr_y_c" with 1 elements: -62: curr_y_c[ 1]= 1.3546747423088415e-01 +62: curr_y_c[ 1]= 1.3627903536697997e-01 62: DenseVector "curr_y_d" with 1 elements: -62: curr_y_d[ 1]=-1.1540081794747745e+00 +62: curr_y_d[ 1]=-1.1571503327258486e+00 62: DenseVector "curr_slack_x_L" with 4 elements: -62: curr_slack_x_L[ 1]= 8.2922105469895868e-06 -62: curr_slack_x_L[ 2]= 3.7701526207966323e+00 -62: curr_slack_x_L[ 3]= 2.7853336909986774e+00 -62: curr_slack_x_L[ 4]= 3.8452210454560498e-01 +62: curr_slack_x_L[ 1]= 8.2261844570608034e-06 +62: curr_slack_x_L[ 2]= 3.7937445014696651e+00 +62: curr_slack_x_L[ 3]= 2.7536422333564845e+00 +62: curr_slack_x_L[ 4]= 3.8933708196354366e-01 62: DenseVector "curr_slack_x_U" with 4 elements: -62: curr_slack_x_U[ 1]= 3.9999917677894530e+00 -62: curr_slack_x_U[ 2]= 2.2984743920336737e-01 -62: curr_slack_x_U[ 3]= 1.2146663690013222e+00 -62: curr_slack_x_U[ 4]= 3.6154779554543950e+00 +62: curr_slack_x_U[ 1]= 3.9999918338155425e+00 +62: curr_slack_x_U[ 2]= 2.0625555853033450e-01 +62: curr_slack_x_U[ 3]= 1.2463578266435151e+00 +62: curr_slack_x_U[ 4]= 3.6106629780364559e+00 62: DenseVector "curr_z_L" with 4 elements: -62: curr_z_L[ 1]= 9.1359847272556971e-02 -62: curr_z_L[ 2]= 2.0094021675271253e-07 -62: curr_z_L[ 3]= 2.7198687810692657e-07 -62: curr_z_L[ 4]= 1.9701701739321991e-06 +62: curr_z_L[ 1]= 9.2092813171935697e-02 +62: curr_z_L[ 2]= 1.9969033681092180e-07 +62: curr_z_L[ 3]= 2.7511562367922132e-07 +62: curr_z_L[ 4]= 1.9457912355530161e-06 62: DenseVector "curr_z_U" with 4 elements: -62: curr_z_U[ 1]= 1.8939432917743795e-07 -62: curr_z_U[ 2]= 3.2954349391034596e-06 -62: curr_z_U[ 3]= 6.2368375004522116e-07 -62: curr_z_U[ 4]= 2.0953681554571918e-07 +62: curr_z_U[ 1]= 1.8939432605118983e-07 +62: curr_z_U[ 2]= 3.6702488718815410e-06 +62: curr_z_U[ 3]= 6.0780927449675550e-07 +62: curr_z_U[ 4]= 2.0981622480596640e-07 62: DenseVector "curr_slack_s_L" with 1 elements: -62: curr_slack_s_L[ 1]= 6.5647339927294075e-07 +62: curr_slack_s_L[ 1]= 6.5469057983762292e-07 62: DenseVector "curr_slack_s_U" with 0 elements: 62: DenseVector "curr_v_L" with 1 elements: -62: curr_v_L[ 1]= 1.1540081794823505e+00 +62: curr_v_L[ 1]= 1.1571503327334243e+00 62: DenseVector "curr_v_U" with 0 elements: 62: 62: -62: ***Current NLP Values for Iteration 29: +62: ***Current NLP Values for Iteration 23: 62: 62: (scaled) (unscaled) -62: Objective...............: 1.4179363845795454e+00 1.7015236614954546e+01 -62: Dual infeasibility......: 3.5935438718364891e-03 4.3122526462037868e-02 -62: Constraint violation....: 2.5001567564686414e-06 2.5001567564686411e-05 -62: Complementarity.........: 7.5757575757575762e-07 9.0909090909090927e-06 -62: Overall NLP error.......: 3.5935438718364891e-03 4.3122526462037868e-02 +62: Objective...............: 1.4181917438061302e+00 1.7018300925673564e+01 +62: Dual infeasibility......: 6.8520019126822648e-03 8.2224022952187170e-02 +62: Constraint violation....: 9.0122429028838279e-06 9.0122429028838269e-05 +62: Complementarity.........: 7.5757575757575752e-07 9.0909090909090910e-06 +62: Overall NLP error.......: 6.8520019126822648e-03 8.2224022952187170e-02 62: 62: DenseVector "grad_f" with 4 elements: -62: grad_f[ 1]= 1.2178605769559039e+00 -62: grad_f[ 2]= 1.1537779678742489e-01 -62: grad_f[ 3]= 1.9871113012075825e-01 -62: grad_f[ 4]= 7.9629780955198304e-01 +62: grad_f[ 1]= 1.2211581837785879e+00 +62: grad_f[ 2]= 1.1577904058443331e-01 +62: grad_f[ 3]= 1.9911237391776662e-01 +62: grad_f[ 4]= 7.9562278118070373e-01 62: DenseVector "curr_c" with 1 elements: -62: curr_c[ 1]= 2.5001567564686414e-06 +62: curr_c[ 1]= 9.0122429028838279e-06 62: DenseVector "curr_d" with 1 elements: -62: curr_d[ 1]=-1.8063455073047408e-07 +62: curr_d[ 1]=-2.4367798263824625e-06 62: DenseVector "curr_d - curr_s" with 1 elements: -62: curr_d - curr_s[ 1]=-8.3670795000341482e-07 +62: curr_d - curr_s[ 1]=-3.0910704062200854e-06 62: 62: 62: 62: ************************************************** -62: *** Update Barrier Parameter for Iteration 29: +62: *** Update Barrier Parameter for Iteration 23: 62: ************************************************** 62: 62: Staying in free mu mode. @@ -17457,7 +19217,7 @@ 62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 -62: 5 1.4179363845795454e+00 3.3368647064720564e-06 29 +62: 5 1.4181917438061302e+00 1.2103313309103914e-05 23 62: Solving the Primal Dual System for the affine step 62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 62: delta_c=0.000000e+00 delta_d=0.000000e+00 @@ -17467,92 +19227,2587 @@ 62: delta_c=0.000000e+00 delta_d=0.000000e+00 62: Solving the Primal Dual System for the centering step 62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.738783993512e-13 q = 5.738783993512e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.624492565989e-13 q = 5.624492565989e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: Sigma = 1.000021e+00 +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.737380912565e-13 q = 5.737380912565e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.623006880342e-13 q = 5.623006880342e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: Sigma = 1.000090e+00 62: Barrier parameter mu computed by oracle is 7.575758e-07 62: Barrier parameter mu after safeguards is 7.575758e-07 62: Barrier Parameter: 7.575758e-07 62: 62: ************************************************** -62: *** Solving the Primal Dual System for Iteration 29: +62: *** Solving the Primal Dual System for Iteration 23: 62: ************************************************** 62: -62: max-norm resid_x 5.800482e-18 -62: max-norm resid_s 1.550409e-16 -62: max-norm resid_c 2.168404e-19 -62: max-norm resid_d 4.891615e-20 -62: max-norm resid_zL 2.781395e-22 -62: max-norm resid_zU 1.703992e-22 -62: max-norm resid_vL 1.517359e-22 +62: max-norm resid_x 5.529431e-18 +62: max-norm resid_s 3.903128e-17 +62: max-norm resid_c 1.429792e-18 +62: max-norm resid_d 7.072725e-20 +62: max-norm resid_zL 8.437242e-23 +62: max-norm resid_zU 1.644554e-22 +62: max-norm resid_vL 1.613002e-23 62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 3.59e-03 nrm_sol = 3.57e-03 nrm_resid = 1.55e-16 -62: residual_ratio = 2.163952e-14 +62: nrm_rhs = 6.85e-03 nrm_sol = 6.80e-03 nrm_resid = 3.90e-17 +62: residual_ratio = 2.858914e-15 62: Factorization successful. -62: max-norm resid_x 5.421011e-20 +62: max-norm resid_x 8.673617e-19 62: max-norm resid_s 0.000000e+00 -62: max-norm resid_c 2.168404e-19 -62: max-norm resid_d 4.891615e-20 -62: max-norm resid_zL 2.067952e-25 +62: max-norm resid_c 1.727947e-19 +62: max-norm resid_d 7.072725e-20 +62: max-norm resid_zL 0.000000e+00 62: max-norm resid_zU 0.000000e+00 -62: max-norm resid_vL 2.584939e-26 +62: max-norm resid_vL 0.000000e+00 62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 3.59e-03 nrm_sol = 3.57e-03 nrm_resid = 2.17e-19 -62: residual_ratio = 3.026507e-17 +62: nrm_rhs = 6.85e-03 nrm_sol = 6.80e-03 nrm_resid = 8.67e-19 +62: residual_ratio = 6.353142e-17 62: 62: ************************************************** -62: *** Finding Acceptable Trial Point for Iteration 29: +62: *** Finding Acceptable Trial Point for Iteration 23: 62: ************************************************** 62: -62: --> Starting filter line search in iteration 29 <-- -62: Mu has changed in line search - resetting watchdog counters. +62: --> Starting filter line search in iteration 23 <-- 62: The current filter has 0 entries. -62: Relative step size for delta_x = 7.462732e-04 -62: minimal step size ALPHA_MIN = 8.814060E-11 +62: Relative step size for delta_x = 1.430584e-03 +62: minimal step size ALPHA_MIN = 8.919772E-11 62: Starting checks for alpha (primal) = 1.00e+00 62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: -62: New values of barrier function = 1.4179349507617285e+00 (reference 1.4179539188236050e+00): -62: New values of constraint violation = 2.6985653694903071e-06 (reference 3.3368647064720564e-06): -62: reference_theta = 3.336865e-06 reference_gradBarrTDelta = -1.892921e-05 +62: New values of barrier function = 1.4181413431853451e+00 (reference 1.4182093442251904e+00): +62: New values of constraint violation = 9.7430123595366337e-06 (reference 1.2103313309103914e-05): +62: reference_theta = 1.210331e-05 reference_gradBarrTDelta = -6.784542e-05 62: Checking sufficient reduction... 62: Succeeded... 62: Checking filter acceptability... 62: Succeeded... -62: reference_theta = 3.336865e-06 reference_gradBarrTDelta = -1.892921e-05 +62: reference_theta = 1.210331e-05 reference_gradBarrTDelta = -6.784542e-05 62: 62: ************************************************** -62: *** Update HessianMatrix for Iteration 30: +62: *** Update HessianMatrix for Iteration 24: 62: ************************************************** 62: -62: In limited-memory update, s_new_max is 3.571166e-03 +62: In limited-memory update, s_new_max is 6.800483e-03 62: Limited-Memory test for skipping: -62: s^Ty = -5.800725e-07 snrm = 4.498093e-03 ynrm = 2.797581e+00 +62: s^Ty = -2.207101e-06 snrm = 8.523277e-03 ynrm = 2.801650e+00 62: Skip the update. 62: Number of successive iterations with skipping: 2 62: 62: 62: ************************************************** -62: *** Summary of Iteration: 30: +62: *** Summary of Iteration: 24: 62: ************************************************** 62: 62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls -62: 30 1.7015009e+01 2.02e-06 3.23e-03 -6.1 3.57e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Ws +62: 24 1.7017485e+01 7.26e-06 6.15e-03 -6.1 6.80e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Ws 62: 62: ************************************************** -62: *** Beginning Iteration 30 from the following point: +62: *** Beginning Iteration 24 from the following point: 62: ************************************************** 62: -62: Current barrier parameter mu = 7.5757575757575773e-07 -62: Current fraction-to-the-boundary parameter tau = 9.9640645612816348e-01 +62: Current barrier parameter mu = 7.5757575757575762e-07 +62: Current fraction-to-the-boundary parameter tau = 9.9314799808731768e-01 62: -62: ||curr_x||_inf = 4.7674687956850281e+00 -62: ||curr_s||_inf = 6.5627046726556726e-07 -62: ||curr_y_c||_inf = 1.3537619089340375e-01 -62: ||curr_y_d||_inf = 1.1536618853622396e+00 -62: ||curr_z_L||_inf = 9.1284113471708436e-02 -62: ||curr_z_U||_inf = 3.2575147327371870e-06 -62: ||curr_v_L||_inf = 1.1536618853698155e+00 -62: ||curr_v_U||_inf = 0.0000000000000000e+00 +62: ||curr_x||_inf = 4.7887159950526605e+00 +62: ||curr_s||_inf = 6.5467820843497111e-07 +62: ||curr_y_c||_inf = 1.3610470966854751e-01 +62: ||curr_y_d||_inf = 1.1564657203379691e+00 +62: ||curr_z_L||_inf = 9.1926153030350288e-02 +62: ||curr_z_U||_inf = 3.5835151767087070e-06 +62: ||curr_v_L||_inf = 1.1564657203455451e+00 +62: ||curr_v_U||_inf = 0.0000000000000000e+00 +62: +62: ||delta_x||_inf = 6.8004834423156515e-03 +62: ||delta_s||_inf = 3.8762859734821044e-10 +62: ||delta_y_c||_inf = 1.7432569843244721e-04 +62: ||delta_y_d||_inf = 6.8461238787931832e-04 +62: ||delta_z_L||_inf = 1.6666014158541386e-04 +62: ||delta_z_U||_inf = 8.6733695172834022e-08 +62: ||delta_v_L||_inf = 6.8461238787927853e-04 +62: ||delta_v_U||_inf = 0.0000000000000000e+00 +62: DenseVector "curr_x" with 4 elements: +62: curr_x[ 1]= 1.0000082311070799e+00 +62: curr_x[ 2]= 4.7887159950526605e+00 +62: curr_x[ 3]= 3.7604427067988002e+00 +62: curr_x[ 4]= 1.3882816542713434e+00 +62: DenseVector "curr_s" with 1 elements: +62: curr_s[ 1]= 6.5467820843497111e-07 +62: DenseVector "curr_y_c" with 1 elements: +62: curr_y_c[ 1]= 1.3610470966854751e-01 +62: DenseVector "curr_y_d" with 1 elements: +62: curr_y_d[ 1]=-1.1564657203379691e+00 +62: DenseVector "curr_slack_x_L" with 4 elements: +62: curr_slack_x_L[ 1]= 8.2411070799759401e-06 +62: curr_slack_x_L[ 2]= 3.7887160050526605e+00 +62: curr_slack_x_L[ 3]= 2.7604427167988002e+00 +62: curr_slack_x_L[ 4]= 3.8828166427134347e-01 +62: DenseVector "curr_slack_x_U" with 4 elements: +62: curr_slack_x_U[ 1]= 3.9999918188929198e+00 +62: curr_slack_x_U[ 2]= 2.1128405494733915e-01 +62: curr_slack_x_U[ 3]= 1.2395573432011995e+00 +62: curr_slack_x_U[ 4]= 3.6117183957286563e+00 +62: DenseVector "curr_z_L" with 4 elements: +62: curr_z_L[ 1]= 9.1926153030350288e-02 +62: curr_z_L[ 2]= 1.9995545283164280e-07 +62: curr_z_L[ 3]= 2.7443828002705235e-07 +62: curr_z_L[ 4]= 1.9510840740883183e-06 +62: DenseVector "curr_z_U" with 4 elements: +62: curr_z_U[ 1]= 1.8939432675775631e-07 +62: curr_z_U[ 2]= 3.5835151767087070e-06 +62: curr_z_U[ 3]= 6.1114804930006966e-07 +62: curr_z_U[ 4]= 2.0975491715148941e-07 +62: DenseVector "curr_slack_s_L" with 1 elements: +62: curr_slack_s_L[ 1]= 6.5507820843497114e-07 +62: DenseVector "curr_slack_s_U" with 0 elements: +62: DenseVector "curr_v_L" with 1 elements: +62: curr_v_L[ 1]= 1.1564657203455451e+00 +62: DenseVector "curr_v_U" with 0 elements: +62: +62: +62: ***Current NLP Values for Iteration 24: +62: +62: (scaled) (unscaled) +62: Objective...............: 1.4181237577197465e+00 1.7017485092636960e+01 +62: Dual infeasibility......: 6.1463472585062285e-03 7.3756167102074749e-02 +62: Constraint violation....: 7.2646257770259130e-06 7.2646257770259126e-05 +62: Complementarity.........: 7.5757575757575762e-07 9.0909090909090927e-06 +62: Overall NLP error.......: 6.1463472585062285e-03 7.3756167102074749e-02 +62: +62: DenseVector "grad_f" with 4 elements: +62: grad_f[ 1]= 1.2204355289972657e+00 +62: grad_f[ 2]= 1.1569109011385806e-01 +62: grad_f[ 3]= 1.9902442344719140e-01 +62: grad_f[ 4]= 7.9577046109784066e-01 +62: DenseVector "curr_c" with 1 elements: +62: curr_c[ 1]= 7.2646257770259130e-06 +62: DenseVector "curr_d" with 1 elements: +62: curr_d[ 1]=-1.8237083740757498e-06 +62: DenseVector "curr_d - curr_s" with 1 elements: +62: curr_d - curr_s[ 1]=-2.4783865825107207e-06 +62: +62: +62: +62: ************************************************** +62: *** Update Barrier Parameter for Iteration 24: +62: ************************************************** +62: +62: Staying in free mu mode. +62: The current filter has 5 entries. +62: phi theta iter +62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 +62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 +62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 +62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 +62: 5 1.4181237577197465e+00 9.7430123595366337e-06 24 +62: Solving the Primal Dual System for the affine step +62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 +62: delta_c=0.000000e+00 delta_d=0.000000e+00 +62: Factorization successful. +62: Number of trial factorizations performed: 1 +62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 +62: delta_c=0.000000e+00 delta_d=0.000000e+00 +62: Solving the Primal Dual System for the centering step +62: Factorization successful. +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.737792897962e-13 q = 5.737792897962e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.623437405283e-13 q = 5.623437405283e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: Sigma = 1.000069e+00 +62: Barrier parameter mu computed by oracle is 7.575758e-07 +62: Barrier parameter mu after safeguards is 7.575758e-07 +62: Barrier Parameter: 7.575758e-07 +62: +62: ************************************************** +62: *** Solving the Primal Dual System for Iteration 24: +62: ************************************************** +62: +62: max-norm resid_x 1.734723e-18 +62: max-norm resid_s 1.040834e-16 +62: max-norm resid_c 3.032378e-19 +62: max-norm resid_d 9.063253e-20 +62: max-norm resid_zL 9.243743e-23 +62: max-norm resid_zU 1.257315e-22 +62: max-norm resid_vL 8.065011e-23 +62: max-norm resid_vU 0.000000e+00 +62: nrm_rhs = 6.15e-03 nrm_sol = 6.10e-03 nrm_resid = 1.04e-16 +62: residual_ratio = 8.497854e-15 +62: Factorization successful. +62: max-norm resid_x 8.673617e-19 +62: max-norm resid_s 0.000000e+00 +62: max-norm resid_c 3.472835e-19 +62: max-norm resid_d 4.828088e-20 +62: max-norm resid_zL 2.067952e-25 +62: max-norm resid_zU 3.944305e-31 +62: max-norm resid_vL 5.169879e-26 +62: max-norm resid_vU 0.000000e+00 +62: nrm_rhs = 6.15e-03 nrm_sol = 6.10e-03 nrm_resid = 8.67e-19 +62: residual_ratio = 7.081545e-17 +62: +62: ************************************************** +62: *** Finding Acceptable Trial Point for Iteration 24: +62: ************************************************** +62: +62: --> Starting filter line search in iteration 24 <-- +62: The current filter has 0 entries. +62: Relative step size for delta_x = 1.281782e-03 +62: minimal step size ALPHA_MIN = 8.896480E-11 +62: Starting checks for alpha (primal) = 1.00e+00 +62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: +62: New values of barrier function = 1.4180864628060115e+00 (reference 1.4181413431853451e+00): +62: New values of constraint violation = 7.8509738223551465e-06 (reference 9.7430123595366337e-06): +62: reference_theta = 9.743012e-06 reference_gradBarrTDelta = -5.475768e-05 +62: Checking sufficient reduction... +62: Succeeded... +62: Checking filter acceptability... +62: Succeeded... +62: reference_theta = 9.743012e-06 reference_gradBarrTDelta = -5.475768e-05 +62: +62: ************************************************** +62: *** Update HessianMatrix for Iteration 25: +62: ************************************************** +62: +62: Resetting Limited-Memory Update. +62: +62: +62: ************************************************** +62: *** Summary of Iteration: 25: +62: ************************************************** +62: +62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls +62: 25 1.7016827e+01 5.86e-06 5.52e-03 -6.1 6.10e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Wr +62: +62: ************************************************** +62: *** Beginning Iteration 25 from the following point: +62: ************************************************** +62: +62: Current barrier parameter mu = 7.5757575757575762e-07 +62: Current fraction-to-the-boundary parameter tau = 9.9385365274149373e-01 +62: +62: ||curr_x||_inf = 4.7841883414131283e+00 +62: ||curr_s||_inf = 6.5502368572149168e-07 +62: ||curr_y_c||_inf = 1.3594836049611722e-01 +62: ||curr_y_d||_inf = 1.1558562247715798e+00 +62: ||curr_z_L||_inf = 9.1781024383433440e-02 +62: ||curr_z_U||_inf = 3.5087874578533060e-06 +62: ||curr_v_L||_inf = 1.1558562247791557e+00 +62: ||curr_v_U||_inf = 0.0000000000000000e+00 +62: +62: ||delta_x||_inf = 6.1018515423110244e-03 +62: ||delta_s||_inf = 3.4547728652056050e-10 +62: ||delta_y_c||_inf = 1.5634917243030356e-04 +62: ||delta_y_d||_inf = 6.0949556638924957e-04 +62: ||delta_z_L||_inf = 1.4512864691684728e-04 +62: ||delta_z_U||_inf = 7.4727718855401238e-08 +62: ||delta_v_L||_inf = 6.0949556638943182e-04 +62: ||delta_v_U||_inf = 0.0000000000000000e+00 +62: DenseVector "curr_x" with 4 elements: +62: curr_x[ 1]= 1.0000082441448030e+00 +62: curr_x[ 2]= 4.7841883414131283e+00 +62: curr_x[ 3]= 3.7665445583411112e+00 +62: curr_x[ 4]= 1.3873449913908111e+00 +62: DenseVector "curr_s" with 1 elements: +62: curr_s[ 1]= 6.5502368572149168e-07 +62: DenseVector "curr_y_c" with 1 elements: +62: curr_y_c[ 1]= 1.3594836049611722e-01 +62: DenseVector "curr_y_d" with 1 elements: +62: curr_y_d[ 1]=-1.1558562247715798e+00 +62: DenseVector "curr_slack_x_L" with 4 elements: +62: curr_slack_x_L[ 1]= 8.2541448030992726e-06 +62: curr_slack_x_L[ 2]= 3.7841883514131283e+00 +62: curr_slack_x_L[ 3]= 2.7665445683411112e+00 +62: curr_slack_x_L[ 4]= 3.8734500139081118e-01 +62: DenseVector "curr_slack_x_U" with 4 elements: +62: curr_slack_x_U[ 1]= 3.9999918058551964e+00 +62: curr_slack_x_U[ 2]= 2.1581170858687138e-01 +62: curr_slack_x_U[ 3]= 1.2334554916588885e+00 +62: curr_slack_x_U[ 4]= 3.6126550586091888e+00 +62: DenseVector "curr_z_L" with 4 elements: +62: curr_z_L[ 1]= 9.1781024383433440e-02 +62: curr_z_L[ 2]= 2.0019475875151346e-07 +62: curr_z_L[ 3]= 2.7383331352374536e-07 +62: curr_z_L[ 4]= 1.9558051164477834e-06 +62: DenseVector "curr_z_U" with 4 elements: +62: curr_z_U[ 1]= 1.8939432737507527e-07 +62: curr_z_U[ 2]= 3.5087874578533060e-06 +62: curr_z_U[ 3]= 6.1417480717500619e-07 +62: curr_z_U[ 4]= 2.0970053723639024e-07 +62: DenseVector "curr_slack_s_L" with 1 elements: +97: Starting test TestLinearBushing ... +97: testParameterSetting ... +97: testParameterSetting done. real/CPU ms: 0.7 / 0.7 +97: testKinematicsAndEnergyConservation ... +97: t=0 +97: E=23.5429 +97: mobilizer q=~[-0.0929716,-0.847409,0.294512,-0.694517,-0.892617,-0.0196967] +97: bushing q=~[-0.0929716,-0.847409,0.294512,-0.694517,-0.892617,-0.0196967] +97: mobilizer qd=~[0.79068,0.742149,0.961644,-0.851712,-0.846691,-0.0251848] +97: bushing qd=~[0.79068,0.742149,0.961644,-0.851712,-0.846691,-0.0251848] +97: t=5 +97: E=9.88032 +97: E-XW=23.5429 final-init=9.146e-06 +97: mobilizer q=~[-0.0948091,-0.074734,0.0477373,0.0188118,0.0322412,-0.0956953] +97: bushing q=~[-0.0948091,-0.074734,0.0477373,0.0188118,0.0322412,-0.0956953] +97: mobilizer qd=~[-0.30805,-0.0880786,-0.233928,-0.212841,-0.370749,-0.10154] +97: bushing qd=~[-0.30805,-0.0880786,-0.233928,-0.212841,-0.370749,-0.10154] +97: testKinematicsAndEnergyConservation done. real/CPU ms: 68.0 / 67.9 +97: testKinematicsAndEnergyConservationUsingBushingMobilizer ... +97: t=0 +97: E=18.8622 +97: mobilizer q=~[-0.922896,0.579915,-0.214199,0.0208109,0.96333,-0.0899017] +97: bushing q=~[-0.922896,0.579915,-0.214199,0.0208109,0.96333,-0.0899017] +97: mobilizer qd=~[0.811191,0.791736,-0.582036,-0.940425,0.110249,-0.69324] +97: bushing qd=~[0.811191,0.791736,-0.582036,-0.940425,0.110249,-0.69324] +97: t=5 +97: E=3.54551 +97: E-XW=18.8622 final-init=1.68158e-05 +97: mobilizer q=~[-0.0403736,-0.0692424,-0.0488368,0.072207,0.0679623,-0.149441] +97: bushing q=~[-0.0403736,-0.0692424,-0.0488368,0.072207,0.0679623,-0.149441] +97: mobilizer qd=~[0.0481456,0.015035,-0.22427,0.140108,-0.0687976,0.154129] +97: bushing qd=~[0.0481456,0.015035,-0.22427,0.140108,-0.0687976,0.154129] +97: testKinematicsAndEnergyConservationUsingBushingMobilizer done. real/CPU ms: 45.0 / 45.0 +97: testForces ... +97: testForces done. real/CPU ms: 0.6 / 0.6 +97: testForcesUsingReverseBushingMobilizer ... +97: +97: brick1 .q=~[0.744978,-0.233701,0.32712,0.532339,0,0,0] +97: bushing.q=~[-0.000108924,-0.827453,-1.24092,0.123271,-0.621985,1.61181] +97: brick2 .q=~[-0.000108924,-0.827453,-1.24092,0.123271,-0.621985,1.61181] +97: F_GF=~[~[0.147794,-1.30503,-0.490063],~[0.284058,0.641285,0.523956]] +97: Reaction force on brick2=~[~[0.147794,-1.30503,-0.490063],~[0.284058,0.641285,0.523956]] +97: testForcesUsingReverseBushingMobilizer done. real/CPU ms: 0.5 / 0.5 +97: +97: TestLinearBushing done. real/CPU ms: 114.9 / 114.9 +96: Done + 71/108 Test #96: TestHuntCrossleyForce .......................... Passed 0.14 sec +52: testMaxFunEvals done. real/CPU ms: 101.3 / 101.3 +52: testSeed ... +91: Done + 72/108 Test #91: TestCustomMobilizedBodies ...................... Passed 0.16 sec +88: Done + 73/108 Test #88: TestCollisionDetectionAlgorithm ................ Passed 0.16 sec +98: Starting test TestLoneParticle ... +98: testFree ... +98: testFree done. real/CPU ms: 1.2 / 1.2 +98: testPrescribePosition ... +98: testPrescribePosition done. real/CPU ms: 0.7 / 0.7 +98: testPrescribeVelocity ... +98: testPrescribeVelocity done. real/CPU ms: 0.6 / 0.6 +98: testPrescribeAcceleration ... +98: testPrescribeAcceleration done. real/CPU ms: 0.6 / 0.6 +98: +98: TestLoneParticle done. real/CPU ms: 3.2 / 3.2 + 74/108 Test #98: TestLoneParticle ............................... Passed 0.14 sec +99: Starting test TestMassMatrix ... +99: testPositionKinematics ... +99: System COM=~[-0.626737,0.970848,0.383451] +99: testPositionKinematics done. real/CPU ms: 1.2 / 1.2 +99: testVelocityKinematics ... +99: System COM vel=~[0.316299,-0.059646,-0.323058] +99: testVelocityKinematics done. real/CPU ms: 0.9 / 0.9 +99: testRel2Cart ... +99: testRel2Cart done. real/CPU ms: 0.5 / 0.5 +99: testJacobianBiasTerms ... +99: testJacobianBiasTerms done. real/CPU ms: 1.0 / 1.0 +99: testCompositeBodyInertia ... +99: testCompositeBodyInertia done. real/CPU ms: 0.3 / 0.3 +99: testArticulatedBodyInertia ... +99: testArticulatedBodyInertia done. real/CPU ms: 1.0 / 1.0 +99: testArticulatedBodyVelocity ... +99: testArticulatedBodyVelocity done. real/CPU ms: 1.3 / 1.3 +99: testUnconstrainedSystem ... +99: testUnconstrainedSystem done. real/CPU ms: 1.7 / 1.7 +99: testConstrainedSystem ... +99: testConstrainedSystem done. real/CPU ms: 1.5 / 1.5 +99: testTaskJacobians ... +99: testTaskJacobians done. real/CPU ms: 2.2 / 2.2 +99: +99: TestMassMatrix done. real/CPU ms: 11.8 / 11.8 + 75/108 Test #99: TestMassMatrix ................................. Passed 0.13 sec +100: Starting test TestMobilizedBody ... +100: testCalculationMethods ... +100: testCalculationMethods done. real/CPU ms: 0.8 / 0.9 +100: testWeld ... +100: testWeld done. real/CPU ms: 102.1 / 102.0 +100: testGimbal ... +101: Starting test TestMobilizerReactionForces ... +101: testByComparingToConstraints ... +101: testByComparingToConstraints done. real/CPU ms: 1.6 / 1.6 +101: testByComparingToConstraints2 ... +101: testByComparingToConstraints2 done. real/CPU ms: 0.6 / 0.6 +101: testByComparingToSDFAST ... +101: testByComparingToSDFAST done. real/CPU ms: 0.4 / 0.4 +101: testByComparingToSDFAST2 ... +101: testByComparingToSDFAST2 done. real/CPU ms: 0.3 / 0.3 +101: testByComparingToSDFASTWithConstraint ... +101: testByComparingToSDFASTWithConstraint done. real/CPU ms: 0.6 / 0.6 +101: testFreeMobilizer ... +101: testFreeMobilizer done. real/CPU ms: 0.4 / 0.4 +101: +101: TestMobilizerReactionForces done. real/CPU ms: 4.1 / 4.1 + 76/108 Test #101: TestMobilizerReactionForces .................... Passed 0.13 sec +86: > errNow=~[0 6.81805e-14 -1.71883e-13 2.1684e-19 1.54318e-13 -1.11241e-14] normNow=2.41102e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.03593e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.41102e-13. +86: DBG: Worst offender is normal contact 0 err=0.00730581 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.7678,1.93562, mag=2.08234 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.78476,0.0565699, mag=0.786797 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.00174365; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00179373 -0.00174365 -0.7678 1.93562 -0.78476 0.0565699] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00174365 -0.78476 0.0565699] +86: : pi was=~[0 -0.00650413 3.27422e-14 -8.2543e-14 -0.000648729 4.6764e-05] +86: : piActive=~[-0.01 -0.000648729 4.6764e-05] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.93072e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00200099... +86: > NEWTON iter 1: errNorm=0.00200099(v) -> deltaNorm=0.00542942(pi) +86: > piActive=~[-0.01 -0.000648729 4.6764e-05] +86: > errActive=~[-0.001982 0.000274342 -1.97761e-05] +86: > deltaPi=~[-0.00542599 -0.000192492 1.38759e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.00200099. +86: > piNow=~[-0.00457401 -0.000456237 3.28881e-05] +86: > errNow=~[-1.0842e-18 -1.58609e-08 1.14334e-09] normNow=1.5902e-08 +86: DBG: Improvement rate now/prev at iter 1 is 7.94709e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.40022e-05 +86: > NEWTON iter 2: errNorm=1.5902e-08(v) -> deltaNorm=2.30008e-08(pi) +86: > piActive=~[-0.00457401 -0.000456237 3.28881e-05] +86: > errActive=~[-1.0842e-18 -1.58609e-08 1.14334e-09] +86: > deltaPi=~[1.31074e-08 -1.88517e-08 1.35893e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.5902e-08. +86: > piNow=~[-0.00457402 -0.000456219 3.28867e-05] +86: > errNow=~[2.1684e-19 1.83057e-13 -1.31958e-14] normNow=1.83532e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.15414e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.83532e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.78476,0.0565699] to ~[-0.783464,0.0561279] +86: DBG: Friction 1 rotated 0.0253525 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00457402 -0.000456219 3.28867e-05] +86: : m_verrLeft=~[0.0021687 -2.1684e-19 -0.766515 1.93397 -0.783464 0.0561279] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.0021687 pi*v=0 +86: DBG: 1: pi=-0.00457402 verr=-2.1684e-19 pi*v=9.91833e-22 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00457402 0 0 -0.000456219 3.28867e-05] errNorm=1.83532e-13 +86: Postcompression verr=~[0.0021687 -2.1684e-19 -0.766515 1.93397 -0.783464 0.0561279] +86: impulse=~[0 -0.00457402 0 0 -0.000456219 3.28867e-05] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00457402 0 0 -0.000456219 3.28867e-05]-> du ~[0.00135023 -0.00204995 0.00120932 0.00102047 7.22486e-05 -0.000978313 0.00399274 -0.00233948] +86: Now verr0=~[0.0021687 -2.22045e-16 -0.766515 1.93397 -0.783464 0.0561279] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.0021687 -2.22045e-16 -0.766515 1.93397 -0.783464 0.0561279] +86: verrExt=~[-5.474 -5.55126 -0.0210776 5.46854 -0.0216456 5.41161] +86: total verr=~[-5.47183 -5.55126 -0.787593 7.40251 -0.805109 5.46774] +86: DYN t=0.006: verrStart=~[0.0021687 -2.22045e-16 -0.766515 1.93397 -0.783464 0.0561279] +86: verrApplied=~[-5.474 -5.55126 -0.0210776 5.46854 -0.0216456 5.41161] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.0021687 -2.22045e-16 -0.766515 1.93397 -0.783464 0.0561279] +86: verrApplied=~[-5.474 -5.55126 -0.0210776 5.46854 -0.0216456 5.41161] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.766515,1.93397, mag=2.08034 +86: Participating contact 1 is Sliding; vel=-0.783464,0.0561279, mag=0.785471 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.766515,1.93397, mag=2.08034 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.783464,0.0561279, mag=0.785471 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-5.47183; guess pi=-0.01 +86: DBG: active normal 3 has v=-5.55126; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.0021687 -2.22045e-16 -0.766515 1.93397 -0.783464 0.0561279] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-5.474 -5.55126 -0.0210776 5.46854 -0.0216456 5.41161] +86: : rhsActive=~[-5.47183 -0.787593 7.40251 -5.55126 -0.805109 5.46774] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.28294e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=7.78851... +86: > NEWTON iter 1: errNorm=7.78851(v) -> deltaNorm=17.4012(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[5.46764 0.000766515 -0.00193397 5.54669 0.000783464 -5.61279e-05] +86: > deltaPi=~[14.7211 0.542758 -1.36942 9.11527 0.91016 -0.0652045] +86: DBG: Line search iter 1: back=1, prevNorm=7.78851. +86: > piNow=~[-14.7311 -0.542758 1.36942 -9.12527 -0.91016 0.0652045] +86: > errNow=~[1.77636e-15 4.20313e-05 -0.000106048 8.88178e-16 2.66011e-05 -1.90572e-06] normNow=0.00011715 +86: DBG: Improvement rate now/prev at iter 1 is 1.50414e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.6652e-10 +86: > NEWTON iter 2: errNorm=0.00011715(v) -> deltaNorm=0.000120828(pi) +86: > piActive=~[-14.7311 -0.542758 1.36942 -9.12527 -0.91016 0.0652045] +86: > errActive=~[1.77636e-15 4.20313e-05 -0.000106048 8.88178e-16 2.66011e-05 -1.90572e-06] +86: > deltaPi=~[4.02669e-05 2.16878e-05 -5.47198e-05 -9.44065e-05 2.44499e-05 -1.75161e-06] +86: DBG: Line search iter 1: back=1, prevNorm=0.00011715. +86: > piNow=~[-14.7311 -0.54278 1.36947 -9.12517 -0.910185 0.0652063] +86: > errNow=~[-1.77636e-15 0 -4.44089e-16 0 -3.33067e-16 2.77556e-17] normNow=1.86128e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.5888e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.86128e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.766515,1.93397] to ~[-0.714298,1.92969] +86: DBG: Friction 0 rotated 1.30785 deg, less than max 30 +86: slipVel 1 from ~[-0.783464,0.0561279] to ~[-0.730496,0.134857] +86: DBG: Friction 1 rotated 6.36193 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-14.7311 -0.54278 1.36947 -9.12517 -0.910185 0.0652063] +86: : m_verrLeft=~[1.77636e-15 0 -0.714298 1.92969 -0.730496 0.134857] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-14.7311 verr=1.77636e-15 pi*v=-2.61678e-14 +86: DBG: 1: pi=-9.12517 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-14.7311 -9.12517 -0.54278 1.36947 -0.910185 0.0652063] errNorm=1.86128e-15 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.766515 1.93397, |slipV|=2.08034 +86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.783464 0.0561279, |slipV|=0.785471 +86: ------------------------------ +86: +86: dynamics impulse=~[-14.7311 -9.12517 -0.54278 1.36947 -0.910185 0.0652063] +86: updated verrStart=~[1.77636e-15 0 -0.714298 1.92969 -0.730496 0.134857] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.881221 0.180077 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.318503 0.10071 -0.207466 -0.105574 -0.209366 -0.299148] +86: [0.10071 0.356485 0.237441 -0.33609 0.239622 -0.114284] +86: [-0.207466 0.237441 0.446353 -0.236137 0.450588 0.198616] +86: [-0.105574 -0.33609 -0.236137 0.363746 -0.238577 0.111239] +86: [-0.209366 0.239622 0.450588 -0.238577 0.454868 0.2007] +86: [-0.299148 -0.114284 0.198616 0.111239 0.2007 0.327778] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.534137 rank=2 +86: rhs=~[0.881221 0.180077 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[2.86276 -0.303608] +86: -> pi=~[2.86276 -0.303608 0 0 0 0] +86: resid active=~[-2.22045e-16 2.77556e-17] +86: resid=~[-2.22045e-16 2.77556e-17 -0.666015 -0.200195 -0.672115 -0.821691] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[2.66454e-15 -8.88178e-16 -0.714298 1.92969 -0.730496 0.134857] +86: perr=~[0.000881221 0.000180077 -1.11022e-16] +86: END OF STEP (0.006,0.007): +86: verr=~[0.0019628 -0.00188123 -0.712581 1.93748 -0.732003 0.142688] +86: perr=~[0.000882203 0.000179136 0] +86: constraint status: +86: 4: cont UniActive fric Sliding +86: 6: cont UniActive fric Sliding +86: Proximal unilateral contacts: (4,6) +86: Distal unilateral contacts: (0,1,2,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 4 verr speed=2.06437 -> mu=0.1 +86: DBG: Uni fric 6 verr speed=0.74578 -> mu=0.1 +86: DBG: Uni contact 6 verr vel=-0.00188123 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.0019628 -0.00188123 -0.712581 1.93748 -0.732003 0.142688] +86: IMP t=0.007 verr=~[0.0019628 -0.00188123 -0.712581 1.93748 -0.732003 0.142688] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.0019628 -0.00188123 -0.712581 1.93748 -0.732003 0.142688] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.712581,1.93748, mag=2.06437 +86: Participating contact 1 is Sliding; vel=-0.732003,0.142688, mag=0.74578 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.712581,1.93748, mag=2.06437 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.732003,0.142688, mag=0.74578 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.0019628; guess pi=0.01 +86: DBG: active normal 3 has v=-0.00188123; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.0019628 -0.00188123 -0.712581 1.93748 -0.732003 0.142688] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.0019628 -0.712581 1.93748 -0.00188123 -0.732003 0.142688] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.17591e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00100761... +86: > NEWTON iter 1: errNorm=0.00100761(v) -> deltaNorm=0.00339832(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.000133632 0 0 -0.000664255 0.000732003 -0.000142688] +86: > deltaPi=~[0.00167506 2.15372e-09 -5.85588e-09 -0.00286955 0.000699883 -0.000136427] +86: DBG: Line search iter 1: back=1, prevNorm=0.00100761. +86: > piNow=~[0.00832494 -2.15372e-09 5.85588e-09 -0.00713045 -0.000699883 0.000136427] +86: > errNow=~[0 -4.44606e-09 1.20887e-08 -2.1684e-19 -7.82418e-09 1.52515e-09] normNow=1.51475e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.50331e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.23668e-05 +86: > NEWTON iter 2: errNorm=1.51475e-08(v) -> deltaNorm=2.12917e-08(pi) +86: > piActive=~[0.00832494 -2.15372e-09 5.85588e-09 -0.00713045 -0.000699883 0.000136427] +86: > errActive=~[0 -4.44606e-09 1.20887e-08 -2.1684e-19 -7.82418e-09 1.52515e-09] +86: > deltaPi=~[-8.73148e-09 -2.15373e-09 5.85592e-09 1.59854e-08 -8.92237e-09 1.73922e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.51475e-08. +86: > piNow=~[0.00832495 1.6198e-14 -4.40419e-14 -0.00713046 -0.000699874 0.000136425] +86: > errNow=~[4.33681e-19 3.34387e-14 -9.09187e-14 -2.1684e-19 8.57171e-14 -1.67087e-14] normNow=1.30426e-13 +86: DBG: Improvement rate now/prev at iter 2 is 8.61039e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.30426e-13. +86: DBG: Worst offender is normal contact 0 err=0.00832495 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.712581,1.93748, mag=2.06437 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.732003,0.142688, mag=0.74578 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.00188123; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.0019628 -0.00188123 -0.712581 1.93748 -0.732003 0.142688] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00188123 -0.732003 0.142688] +86: : pi was=~[0 -0.00713046 1.6198e-14 -4.40419e-14 -0.000699874 0.000136425] +86: : piActive=~[-0.01 -0.000699874 0.000136425] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.77794e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0018273... +86: > NEWTON iter 1: errNorm=0.0018273(v) -> deltaNorm=0.00501346(pi) +86: > piActive=~[-0.01 -0.000699874 0.000136425] +86: > errActive=~[-0.00181473 0.000210051 -4.09449e-05] +86: > deltaPi=~[-0.00500889 -0.000209965 4.09281e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.0018273. +86: > piNow=~[-0.00499111 -0.000489909 9.54971e-05] +86: > errNow=~[-6.50521e-19 -1.36573e-08 2.6622e-09] normNow=1.39144e-08 +86: DBG: Improvement rate now/prev at iter 1 is 7.61472e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.11476e-05 +86: > NEWTON iter 2: errNorm=1.39144e-08(v) -> deltaNorm=2.14944e-08(pi) +86: > piActive=~[-0.00499111 -0.000489909 9.54971e-05] +86: > errActive=~[-6.50521e-19 -1.36573e-08 2.6622e-09] +86: > deltaPi=~[1.26263e-08 -1.70737e-08 3.32814e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.39144e-08. +86: > piNow=~[-0.00499112 -0.000489892 9.54938e-05] +86: > errNow=~[0 1.38153e-13 -2.693e-14] normNow=1.40753e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.01157e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.40753e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.732003,0.142688] to ~[-0.730615,0.142193] +86: DBG: Friction 1 rotated 0.0169685 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00499112 -0.000489892 9.54938e-05] +86: : m_verrLeft=~[0.00237496 0 -0.711208 1.9357 -0.730615 0.142193] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.00237496 pi*v=0 +86: DBG: 1: pi=-0.00499112 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00499112 0 0 -0.000489892 9.54938e-05] errNorm=1.40753e-13 +86: Postcompression verr=~[0.00237496 0 -0.711208 1.9357 -0.730615 0.142193] +86: impulse=~[0 -0.00499112 0 0 -0.000489892 9.54938e-05] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00499112 0 0 -0.000489892 9.54938e-05]-> du ~[0.00144508 -0.00222524 0.00129187 0.00110581 7.55459e-05 -0.00106268 0.00430386 -0.00242529] +86: Now verr0=~[0.00237496 0 -0.711208 1.9357 -0.730615 0.142193] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.00237496 0 -0.711208 1.9357 -0.730615 0.142193] +86: verrExt=~[-5.65393 -5.81835 -0.0633145 5.72126 -0.0641725 5.65266] +86: total verr=~[-5.65155 -5.81835 -0.774522 7.65696 -0.794787 5.79485] +86: DYN t=0.007: verrStart=~[0.00237496 0 -0.711208 1.9357 -0.730615 0.142193] +86: verrApplied=~[-5.65393 -5.81835 -0.0633145 5.72126 -0.0641725 5.65266] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00237496 0 -0.711208 1.9357 -0.730615 0.142193] +86: verrApplied=~[-5.65393 -5.81835 -0.0633145 5.72126 -0.0641725 5.65266] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.711208,1.9357, mag=2.06222 +86: Participating contact 1 is Sliding; vel=-0.730615,0.142193, mag=0.744323 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.711208,1.9357, mag=2.06222 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.730615,0.142193, mag=0.744323 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-5.65155; guess pi=-0.01 +86: DBG: active normal 3 has v=-5.81835; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00237496 0 -0.711208 1.9357 -0.730615 0.142193] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-5.65393 -5.81835 -0.0633145 5.72126 -0.0641725 5.65266] +86: : rhsActive=~[-5.65155 -0.774522 7.65696 -5.81835 -0.794787 5.79485] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.16653e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=8.10527... +86: > NEWTON iter 1: errNorm=8.10527(v) -> deltaNorm=18.5443(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[5.64752 0.000711208 -0.0019357 5.81386 0.000730615 -0.000142193] +86: > deltaPi=~[15.655 0.540226 -1.47034 9.76752 0.959709 -0.186779] +86: DBG: Line search iter 1: back=1, prevNorm=8.10527. +86: > piNow=~[-15.665 -0.540226 1.47034 -9.77752 -0.959709 0.186779] +86: > errNow=~[3.55271e-15 4.14725e-05 -0.000112876 0 2.65818e-05 -5.17337e-06] normNow=0.000123265 +86: DBG: Improvement rate now/prev at iter 1 is 1.5208e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.75843e-10 +86: > NEWTON iter 2: errNorm=0.000123265(v) -> deltaNorm=0.000125934(pi) +86: > piActive=~[-15.665 -0.540226 1.47034 -9.77752 -0.959709 0.186779] +86: > errActive=~[3.55271e-15 4.14725e-05 -0.000112876 0 2.65818e-05 -5.17337e-06] +86: > deltaPi=~[3.81438e-05 2.14261e-05 -5.83156e-05 -9.92189e-05 2.59736e-05 -5.055e-06] +86: DBG: Line search iter 1: back=1, prevNorm=0.000123265. +86: > piNow=~[-15.665 -0.540248 1.47039 -9.77742 -0.959735 0.186784] +86: > errNow=~[0 0 0 0 -3.33067e-16 8.32667e-17] normNow=3.43318e-16 +86: DBG: Improvement rate now/prev at iter 2 is 2.78519e-12 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.43318e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.711208,1.9357] to ~[-0.62843,1.89623] +86: DBG: Friction 0 rotated 1.83844 deg, less than max 30 +86: slipVel 1 from ~[-0.730615,0.142193] to ~[-0.646165,0.257074] +86: DBG: Friction 1 rotated 10.6817 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-15.665 -0.540248 1.47039 -9.77742 -0.959735 0.186784] +86: : m_verrLeft=~[0 0 -0.62843 1.89623 -0.646165 0.257074] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-15.665 verr=0 pi*v=-0 +86: DBG: 1: pi=-9.77742 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-15.665 -9.77742 -0.540248 1.47039 -0.959735 0.186784] errNorm=3.43318e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.711208 1.9357, |slipV|=2.06222 +86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.730615 0.142193, |slipV|=0.744323 +86: ------------------------------ +86: +86: dynamics impulse=~[-15.665 -9.77742 -0.540248 1.47039 -0.959735 0.186784] +86: updated verrStart=~[0 0 -0.62843 1.89623 -0.646165 0.257074] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.882203 0.179136 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.306502 0.0968593 -0.199462 -0.102448 -0.201616 -0.287871] +86: [0.0968593 0.351408 0.235477 -0.332286 0.238039 -0.11201] +86: [-0.199462 0.235477 0.43588 -0.234825 0.440782 0.189956] +86: [-0.102448 -0.332286 -0.234825 0.36149 -0.237713 0.109488] +86: [-0.201616 0.238039 0.440782 -0.237713 0.445744 0.192331] +86: [-0.287871 -0.11201 0.189956 0.109488 0.192331 0.317571] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.5358 rank=2 +86: rhs=~[0.882203 0.179136 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[2.97646 -0.310639] +86: -> pi=~[2.97646 -0.310639 0 0 0 0] +86: resid active=~[0 5.55112e-17] +86: resid=~[0 5.55112e-17 -0.66684 -0.201711 -0.674046 -0.822041] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[4.44089e-15 4.88498e-15 -0.62843 1.89623 -0.646165 0.257074] +86: perr=~[0.000882203 0.000179136 0] +86: END OF STEP (0.007,0.008): +86: verr=~[0.00202111 -0.00189586 -0.626951 1.90461 -0.647376 0.265493] +86: perr=~[0.000883213 0.000178189 -2.22045e-16] +86: constraint status: +86: 4: cont UniActive fric Sliding +86: 6: cont UniActive fric Sliding +86: Proximal unilateral contacts: (4,6) +86: Distal unilateral contacts: (0,1,2,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 4 verr speed=2.00514 -> mu=0.1 +86: DBG: Uni fric 6 verr speed=0.699702 -> mu=0.1 +86: DBG: Uni contact 6 verr vel=-0.00189586 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.00202111 -0.00189586 -0.626951 1.90461 -0.647376 0.265493] +86: IMP t=0.008 verr=~[0.00202111 -0.00189586 -0.626951 1.90461 -0.647376 0.265493] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00202111 -0.00189586 -0.626951 1.90461 -0.647376 0.265493] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.626951,1.90461, mag=2.00514 +86: Participating contact 1 is Sliding; vel=-0.647376,0.265493, mag=0.699702 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.626951,1.90461, mag=2.00514 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.647376,0.265493, mag=0.699702 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.00202111; guess pi=0.01 +86: DBG: active normal 3 has v=-0.00189586; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00202111 -0.00189586 -0.626951 1.90461 -0.647376 0.265493] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.00202111 -0.626951 1.90461 -0.00189586 -0.647376 0.265493] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.91059e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.000941548... +86: > NEWTON iter 1: errNorm=0.000941548(v) -> deltaNorm=0.00294079(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[4.0985e-06 0 0 -0.000630011 0.000647376 -0.000265493] +86: > deltaPi=~[0.00104005 1.2113e-09 -3.67981e-09 -0.00265074 0.000679975 -0.000278863] +86: DBG: Line search iter 1: back=1, prevNorm=0.000941548. +86: > piNow=~[0.00895995 -1.2113e-09 3.67981e-09 -0.00734926 -0.000679975 0.000278863] +86: > errNow=~[-4.33681e-19 -2.42884e-09 7.37855e-09 0 -6.39197e-09 2.62139e-09] normNow=1.03957e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.10411e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.048e-05 +86: > NEWTON iter 2: errNorm=1.03957e-08(v) -> deltaNorm=1.65244e-08(pi) +86: > piActive=~[0.00895995 -1.2113e-09 3.67981e-09 -0.00734926 -0.000679975 0.000278863] +86: > errActive=~[-4.33681e-19 -2.42884e-09 7.37855e-09 0 -6.39197e-09 2.62139e-09] +86: > deltaPi=~[-5.61995e-09 -1.21131e-09 3.67983e-09 1.232e-08 -7.9955e-09 3.27901e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.03957e-08. +86: > piNow=~[0.00895996 8.15284e-15 -2.47674e-14 -0.00734927 -0.000679967 0.000278859] +86: > errNow=~[0 1.63476e-14 -4.96623e-14 -2.1684e-19 5.49984e-14 -2.25552e-14] normNow=7.91653e-14 +86: DBG: Improvement rate now/prev at iter 2 is 7.61518e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.91653e-14. +86: DBG: Worst offender is normal contact 0 err=0.00895996 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.626951,1.90461, mag=2.00514 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.647376,0.265493, mag=0.699702 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.00189586; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00202111 -0.00189586 -0.626951 1.90461 -0.647376 0.265493] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00189586 -0.647376 0.265493] +86: : pi was=~[0 -0.00734927 8.15284e-15 -2.47674e-14 -0.000679967 0.000278859] +86: : piActive=~[-0.01 -0.000679967 0.000278859] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.6063e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00177348... +86: > NEWTON iter 1: errNorm=0.00177348(v) -> deltaNorm=0.00492061(pi) +86: > piActive=~[-0.01 -0.000679967 0.000278859] +86: > errActive=~[-0.00176376 0.000171602 -7.0375e-05] +86: > deltaPi=~[-0.0049154 -0.000209515 8.59234e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.00177348. +86: > piNow=~[-0.0050846 -0.000470453 0.000192936] +86: > errNow=~[-4.33681e-19 -1.1853e-08 4.86098e-09] normNow=1.2811e-08 +86: DBG: Improvement rate now/prev at iter 1 is 7.22365e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.00779e-05 +86: > NEWTON iter 2: errNorm=1.2811e-08(v) -> deltaNorm=2.1295e-08(pi) +86: > piActive=~[-0.0050846 -0.000470453 0.000192936] +86: > errActive=~[-4.33681e-19 -1.1853e-08 4.86098e-09] +86: > deltaPi=~[1.27835e-08 -1.57574e-08 6.46224e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.2811e-08. +86: > piNow=~[-0.00508461 -0.000470437 0.000192929] +86: > errNow=~[0 1.19197e-13 -4.88834e-14] normNow=1.28831e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.00563e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.28831e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.647376,0.265493] to ~[-0.646006,0.264957] +86: DBG: Friction 1 rotated 0.00195902 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00508461 -0.000470437 0.000192929] +86: : m_verrLeft=~[0.00246242 0 -0.625598 1.9028 -0.646006 0.264957] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.00246242 pi*v=0 +86: DBG: 1: pi=-0.00508461 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00508461 0 0 -0.000470437 0.000192929] errNorm=1.28831e-13 +86: Postcompression verr=~[0.00246242 0 -0.625598 1.9028 -0.646006 0.264957] +86: impulse=~[0 -0.00508461 0 0 -0.000470437 0.000192929] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00508461 0 0 -0.000470437 0.000192929]-> du ~[0.00142631 -0.00227519 0.00127179 0.00112871 7.30818e-05 -0.00108849 0.00437225 -0.0024019] +86: Now verr0=~[0.00246242 -4.44089e-16 -0.625598 1.9028 -0.646006 0.264957] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.00246242 -4.44089e-16 -0.625598 1.9028 -0.646006 0.264957] +86: verrExt=~[-5.50718 -5.79785 -0.156658 5.70291 -0.158607 5.56294] +86: total verr=~[-5.50472 -5.79785 -0.782256 7.60571 -0.804613 5.82789] +86: DYN t=0.008: verrStart=~[0.00246242 -4.44089e-16 -0.625598 1.9028 -0.646006 0.264957] +86: verrApplied=~[-5.50718 -5.79785 -0.156658 5.70291 -0.158607 5.56294] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00246242 -4.44089e-16 -0.625598 1.9028 -0.646006 0.264957] +86: verrApplied=~[-5.50718 -5.79785 -0.156658 5.70291 -0.158607 5.56294] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.625598,1.9028, mag=2.00301 +86: Participating contact 1 is Sliding; vel=-0.646006,0.264957, mag=0.698231 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.625598,1.9028, mag=2.00301 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.646006,0.264957, mag=0.698231 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-5.50472; guess pi=-0.01 +86: DBG: active normal 3 has v=-5.79785; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00246242 -4.44089e-16 -0.625598 1.9028 -0.646006 0.264957] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-5.50718 -5.79785 -0.156658 5.70291 -0.158607 5.56294] +86: : rhsActive=~[-5.50472 -0.782256 7.60571 -5.79785 -0.804613 5.82789] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.90127e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=7.98892... +86: > NEWTON iter 1: errNorm=7.98892(v) -> deltaNorm=18.4908(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[5.50081 0.000625598 -0.0019028 5.79344 0.000646006 -0.000264957] +86: > deltaPi=~[15.4139 0.481715 -1.46517 10.0466 0.930406 -0.381603] +86: DBG: Line search iter 1: back=1, prevNorm=7.98892. +86: > piNow=~[-15.4239 -0.481715 1.46517 -10.0566 -0.930406 0.381603] +86: > errNow=~[2.66454e-15 3.59185e-05 -0.000109249 -1.77636e-15 2.4175e-05 -9.91531e-06] normNow=0.000117933 +86: DBG: Improvement rate now/prev at iter 1 is 1.47621e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.4433e-10 +86: > NEWTON iter 2: errNorm=0.000117933(v) -> deltaNorm=0.000120911(pi) +86: > piActive=~[-15.4239 -0.481715 1.46517 -10.0566 -0.930406 0.381603] +86: > errActive=~[2.66454e-15 3.59185e-05 -0.000109249 -1.77636e-15 2.4175e-05 -9.91531e-06] +86: > deltaPi=~[3.03399e-05 1.88799e-05 -5.74246e-05 -9.62932e-05 2.57142e-05 -1.05466e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.000117933. +86: > piNow=~[-15.4239 -0.481734 1.46523 -10.0565 -0.930431 0.381613] +86: > errNow=~[-8.88178e-16 1.11022e-16 -4.44089e-16 8.88178e-16 -3.33067e-16 5.55112e-17] normNow=1.37887e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.1692e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.37887e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.625598,1.9028] to ~[-0.529012,1.84247] +86: DBG: Friction 0 rotated 2.17978 deg, less than max 30 +86: slipVel 1 from ~[-0.646006,0.264957] to ~[-0.547052,0.394533] +86: DBG: Friction 1 rotated 13.4982 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-15.4239 -0.481734 1.46523 -10.0565 -0.930431 0.381613] +86: : m_verrLeft=~[8.88178e-16 -1.77636e-15 -0.529012 1.84247 -0.547052 0.394533] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-15.4239 verr=8.88178e-16 pi*v=-1.36992e-14 +86: DBG: 1: pi=-10.0565 verr=-1.77636e-15 pi*v=1.78639e-14 +86: SP FINAL 1 intervals, piTotal=~[-15.4239 -10.0565 -0.481734 1.46523 -0.930431 0.381613] errNorm=1.37887e-15 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.625598 1.9028, |slipV|=2.00301 +86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.646006 0.264957, |slipV|=0.698231 +86: ------------------------------ +86: +86: dynamics impulse=~[-15.4239 -10.0565 -0.481734 1.46523 -0.930431 0.381613] +86: updated verrStart=~[8.88178e-16 -1.77636e-15 -0.529012 1.84247 -0.547052 0.394533] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.883213 0.178189 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.296763 0.0942422 -0.192519 -0.100576 -0.194884 -0.278914] +86: [0.0942422 0.346829 0.23304 -0.329177 0.235939 -0.11078] +86: [-0.192519 0.23304 0.426271 -0.233198 0.431751 0.182595] +86: [-0.100576 -0.329177 -0.233198 0.360139 -0.236491 0.108825] +86: [-0.194884 0.235939 0.431751 -0.236491 0.437309 0.185217] +86: [-0.278914 -0.11078 0.182595 0.108825 0.185217 0.309755] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.534897 rank=2 +86: rhs=~[0.883213 0.178189 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[3.07867 -0.322787] +86: -> pi=~[3.07867 -0.322787 0 0 0 0] +86: resid active=~[-2.22045e-16 -1.11022e-16] +86: resid=~[-2.22045e-16 -1.11022e-16 -0.667924 -0.203387 -0.67614 -0.822925] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-2.22045e-15 -3.9968e-15 -0.529012 1.84247 -0.547052 0.394533] +86: perr=~[0.000883213 0.000178189 -2.22045e-16] +86: END OF STEP (0.008,0.009): +86: verr=~[0.00198361 -0.00180173 -0.527801 1.85139 -0.54794 0.403483] +86: perr=~[0.000884205 0.000177288 0] +86: constraint status: +86: 4: cont UniActive fric Sliding +86: 6: cont UniActive fric Sliding +86: Proximal unilateral contacts: (4,6) +86: Distal unilateral contacts: (0,1,2,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 4 verr speed=1.92515 -> mu=0.1 +86: DBG: Uni fric 6 verr speed=0.680468 -> mu=0.1 +86: DBG: Uni contact 6 verr vel=-0.00180173 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.00198361 -0.00180173 -0.527801 1.85139 -0.54794 0.403483] +86: IMP t=0.009 verr=~[0.00198361 -0.00180173 -0.527801 1.85139 -0.54794 0.403483] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00198361 -0.00180173 -0.527801 1.85139 -0.54794 0.403483] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.527801,1.85139, mag=1.92515 +86: Participating contact 1 is Sliding; vel=-0.54794,0.403483, mag=0.680468 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.527801,1.85139, mag=1.92515 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.54794,0.403483, mag=0.680468 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.00198361; guess pi=0.01 +86: DBG: active normal 3 has v=-0.00180173; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00198361 -0.00180173 -0.527801 1.85139 -0.54794 0.403483] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.00198361 -0.527801 1.85139 -0.00180173 -0.54794 0.403483] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.60572e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.000976034... +86: > NEWTON iter 1: errNorm=0.000976034(v) -> deltaNorm=0.00299235(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[-1.98571e-05 0 0 -0.000699437 0.00054794 -0.000403483] +86: > deltaPi=~[0.000803704 8.20754e-10 -2.87899e-09 -0.00279079 0.000580523 -0.000427476] +86: DBG: Line search iter 1: back=1, prevNorm=0.000976034. +86: > piNow=~[0.0091963 -8.20754e-10 2.87899e-09 -0.00720921 -0.000580523 0.000427476] +86: > errNow=~[-4.33681e-19 -1.58008e-09 5.54249e-09 2.1684e-19 -5.69602e-09 4.19433e-09] normNow=9.1243e-09 +86: DBG: Improvement rate now/prev at iter 1 is 9.34834e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.78119e-06 +86: > NEWTON iter 2: errNorm=9.1243e-09(v) -> deltaNorm=1.49097e-08(pi) +86: > piActive=~[0.0091963 -8.20754e-10 2.87899e-09 -0.00720921 -0.000580523 0.000427476] +86: > errActive=~[-4.33681e-19 -1.58008e-09 5.54249e-09 2.1684e-19 -5.69602e-09 4.19433e-09] +86: > deltaPi=~[-2.74713e-09 -8.20757e-10 2.879e-09 1.09195e-08 -7.49151e-09 5.51647e-09] +86: DBG: Line search iter 1: back=1, prevNorm=9.1243e-09. +86: > piNow=~[0.0091963 3.31712e-15 -1.16356e-14 -0.00720923 -0.000580516 0.00042747] +86: > errNow=~[8.67362e-19 6.38596e-15 -2.24003e-14 0 4.28773e-14 -3.15732e-14] normNow=5.81196e-14 +86: DBG: Improvement rate now/prev at iter 2 is 6.36976e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.81196e-14. +86: DBG: Worst offender is normal contact 0 err=0.0091963 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.527801,1.85139, mag=1.92515 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.54794,0.403483, mag=0.680468 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.00180173; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00198361 -0.00180173 -0.527801 1.85139 -0.54794 0.403483] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00180173 -0.54794 0.403483] +86: : pi was=~[0 -0.00720923 3.31712e-15 -1.16356e-14 -0.000580516 0.00042747] +86: : piActive=~[-0.01 -0.000580516 0.00042747] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.53466e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00181914... +86: > NEWTON iter 1: errNorm=0.00181914(v) -> deltaNorm=0.0051115(pi) +86: > piActive=~[-0.01 -0.000580516 0.00042747] +86: > errActive=~[-0.0018092 0.000152918 -0.000112603] +86: > deltaPi=~[-0.00510625 -0.000186436 0.000137285] +86: DBG: Line search iter 1: back=1, prevNorm=0.00181914. +86: > piNow=~[-0.00489375 -0.00039408 0.000290185] +86: > errNow=~[4.33681e-19 -1.04219e-08 7.6743e-09] normNow=1.29426e-08 +86: DBG: Improvement rate now/prev at iter 1 is 7.1147e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.05799e-05 +86: > NEWTON iter 2: errNorm=1.29426e-08(v) -> deltaNorm=2.20278e-08(pi) +86: > piActive=~[-0.00489375 -0.00039408 0.000290185] +86: > errActive=~[4.33681e-19 -1.04219e-08 7.6743e-09] +86: > deltaPi=~[1.30982e-08 -1.42612e-08 1.05014e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.29426e-08. +86: > piNow=~[-0.00489376 -0.000394065 0.000290175] +86: > errNow=~[2.1684e-19 1.11588e-13 -8.21695e-14] normNow=1.38578e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.07071e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.38578e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.54794,0.403483] to ~[-0.54668,0.402925] +86: DBG: Friction 1 rotated 0.0251317 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00489376 -0.000394065 0.000290175] +86: : m_verrLeft=~[0.00244167 -2.1684e-19 -0.526558 1.84966 -0.54668 0.402925] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.00244167 pi*v=0 +86: DBG: 1: pi=-0.00489376 verr=-2.1684e-19 pi*v=1.06117e-21 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00489376 0 0 -0.000394065 0.000290175] errNorm=1.38578e-13 +86: Postcompression verr=~[0.00244167 -2.1684e-19 -0.526558 1.84966 -0.54668 0.402925] +86: impulse=~[0 -0.00489376 0 0 -0.000394065 0.000290175] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00489376 0 0 -0.000394065 0.000290175]-> du ~[0.00131309 -0.00220762 0.0011673 0.00109323 6.58791e-05 -0.00105901 0.0042182 -0.00228768] +86: Now verr0=~[0.00244167 4.44089e-16 -0.526558 1.84966 -0.54668 0.402925] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.00244167 4.44089e-16 -0.526558 1.84966 -0.54668 0.402925] +86: verrExt=~[-5.18272 -5.5841 -0.247068 5.50179 -0.250363 5.28527] +86: total verr=~[-5.18028 -5.5841 -0.773626 7.35146 -0.797044 5.6882] +86: DYN t=0.009: verrStart=~[0.00244167 4.44089e-16 -0.526558 1.84966 -0.54668 0.402925] +86: verrApplied=~[-5.18272 -5.5841 -0.247068 5.50179 -0.250363 5.28527] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00244167 4.44089e-16 -0.526558 1.84966 -0.54668 0.402925] +86: verrApplied=~[-5.18272 -5.5841 -0.247068 5.50179 -0.250363 5.28527] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.526558,1.84966, mag=1.92315 +86: Participating contact 1 is Sliding; vel=-0.54668,0.402925, mag=0.679123 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.526558,1.84966, mag=1.92315 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.54668,0.402925, mag=0.679123 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-5.18028; guess pi=-0.01 +86: DBG: active normal 3 has v=-5.5841; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00244167 4.44089e-16 -0.526558 1.84966 -0.54668 0.402925] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-5.18272 -5.5841 -0.247068 5.50179 -0.250363 5.28527] +86: : rhsActive=~[-5.18028 -0.773626 7.35146 -5.5841 -0.797044 5.6882] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.59703e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=7.61113... +86: > NEWTON iter 1: errNorm=7.61113(v) -> deltaNorm=17.6686(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[5.17646 0.000526558 -0.00184966 5.57975 0.00054668 -0.000402925] +86: > deltaPi=~[14.4312 0.395384 -1.38888 10.0411 0.809061 -0.59631] +86: DBG: Line search iter 1: back=1, prevNorm=7.61113. +86: > piNow=~[-14.4412 -0.395384 1.38888 -10.0511 -0.809061 0.59631] +86: > errNow=~[8.88178e-16 2.83048e-05 -9.94275e-05 8.88178e-16 2.04468e-05 -1.50701e-05] normNow=0.000106453 +86: DBG: Improvement rate now/prev at iter 1 is 1.39864e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.41225e-10 +86: > NEWTON iter 2: errNorm=0.000106453(v) -> deltaNorm=0.000109065(pi) +86: > piActive=~[-14.4412 -0.395384 1.38888 -10.0511 -0.809061 0.59631] +86: > errActive=~[8.88178e-16 2.83048e-05 -9.94275e-05 8.88178e-16 2.04468e-05 -1.50701e-05] +86: > deltaPi=~[1.84921e-05 1.52242e-05 -5.34788e-05 -8.74076e-05 2.30715e-05 -1.70046e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.000106453. +86: > piNow=~[-14.4412 -0.395399 1.38894 -10.051 -0.809084 0.596327] +86: > errNow=~[8.88178e-16 0 -4.44089e-16 0 -2.22045e-16 1.11022e-16] normNow=1.02358e-15 +86: DBG: Improvement rate now/prev at iter 2 is 9.61531e-12 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.02358e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.526558,1.84966] to ~[-0.429208,1.77957] +86: DBG: Friction 0 rotated 2.33049 deg, less than max 30 +86: slipVel 1 from ~[-0.54668,0.402925] to ~[-0.44658,0.530492] +86: DBG: Friction 1 rotated 13.5169 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-14.4412 -0.395399 1.38894 -10.051 -0.809084 0.596327] +86: : m_verrLeft=~[-8.88178e-16 -8.88178e-16 -0.429208 1.77957 -0.44658 0.530492] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-14.4412 verr=-8.88178e-16 pi*v=1.28264e-14 +86: DBG: 1: pi=-10.051 verr=-8.88178e-16 pi*v=8.92707e-15 +86: SP FINAL 1 intervals, piTotal=~[-14.4412 -10.051 -0.395399 1.38894 -0.809084 0.596327] errNorm=1.02358e-15 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.526558 1.84966, |slipV|=1.92315 +86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.54668 0.402925, |slipV|=0.679123 +86: ------------------------------ +86: +86: dynamics impulse=~[-14.4412 -10.051 -0.395399 1.38894 -0.809084 0.596327] +86: updated verrStart=~[-8.88178e-16 -8.88178e-16 -0.429208 1.77957 -0.44658 0.530492] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.884205 0.177288 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.289073 0.0926981 -0.186625 -0.0997601 -0.189161 -0.272123] +86: [0.0926981 0.342814 0.230351 -0.326812 0.233537 -0.110434] +86: [-0.186625 0.230351 0.417755 -0.231492 0.423725 0.176561] +86: [-0.0997601 -0.326812 -0.231492 0.359719 -0.235139 0.109065] +86: [-0.189161 0.233537 0.423725 -0.235139 0.429789 0.179389] +86: [-0.272123 -0.110434 0.176561 0.109065 0.179389 0.304215] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.532005 rank=2 +86: rhs=~[0.884205 0.177288 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[3.16758 -0.339371] +86: -> pi=~[3.16758 -0.339371 0 0 0 0] +86: resid active=~[2.22045e-16 5.55112e-17] +86: resid=~[2.22045e-16 5.55112e-17 -0.669324 -0.205088 -0.678439 -0.824495] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-1.33227e-15 -1.33227e-15 -0.429208 1.77957 -0.44658 0.530492] +86: perr=~[0.000884205 0.000177288 0] +86: END OF STEP (0.009,0.01): +86: verr=~[0.00188074 -0.00162967 -0.428239 1.78902 -0.447174 0.539965] +86: perr=~[0.000885145 0.000176473 0] +86: constraint status: +86: 4: cont UniActive fric Sliding +86: 6: cont UniActive fric Sliding +86: Proximal unilateral contacts: (4,6) +86: Distal unilateral contacts: (0,1,2,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 4 verr speed=1.83956 -> mu=0.1 +86: DBG: Uni fric 6 verr speed=0.70109 -> mu=0.1 +86: DBG: Uni contact 6 verr vel=-0.00162967 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.00188074 -0.00162967 -0.428239 1.78902 -0.447174 0.539965] +86: IMP t=0.01 verr=~[0.00188074 -0.00162967 -0.428239 1.78902 -0.447174 0.539965] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00188074 -0.00162967 -0.428239 1.78902 -0.447174 0.539965] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.428239,1.78902, mag=1.83956 +86: Participating contact 1 is Sliding; vel=-0.447174,0.539965, mag=0.70109 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.428239,1.78902, mag=1.83956 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.447174,0.539965, mag=0.70109 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.00188074; guess pi=0.01 +86: DBG: active normal 3 has v=-0.00162967; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00188074 -0.00162967 -0.428239 1.78902 -0.447174 0.539965] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.00188074 -0.428239 1.78902 -0.00162967 -0.447174 0.539965] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.33289e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00109722... +86: > NEWTON iter 1: errNorm=0.00109722(v) -> deltaNorm=0.0034076(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[2.98874e-05 0 0 -0.000843488 0.000447174 -0.000539965] +86: > deltaPi=~[0.000935729 8.114e-10 -3.38971e-09 -0.00320538 0.000433386 -0.000523317] +86: DBG: Line search iter 1: back=1, prevNorm=0.00109722. +86: > piNow=~[0.00906427 -8.114e-10 3.38971e-09 -0.00679462 -0.000433386 0.000523317] +86: > errNow=~[-4.33681e-19 -1.49262e-09 6.23557e-09 2.1684e-19 -5.33909e-09 6.44699e-09] normNow=1.05442e-08 +86: DBG: Improvement rate now/prev at iter 1 is 9.60991e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.00766e-05 +86: > NEWTON iter 2: errNorm=1.05442e-08(v) -> deltaNorm=1.58995e-08(pi) +86: > piActive=~[0.00906427 -8.114e-10 3.38971e-09 -0.00679462 -0.000433386 0.000523317] +86: > errActive=~[-4.33681e-19 -1.49262e-09 6.23557e-09 2.1684e-19 -5.33909e-09 6.44699e-09] +86: > deltaPi=~[4.41112e-10 -8.11399e-10 3.38971e-09 1.10978e-08 -6.90763e-09 8.34101e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.05442e-08. +86: > piNow=~[0.00906427 -4.65541e-16 1.94485e-15 -0.00679463 -0.00043338 0.000523309] +86: > errNow=~[4.33681e-19 -8.56389e-16 3.57766e-15 -2.1684e-19 4.00349e-14 -4.83425e-14] normNow=6.28754e-14 +86: DBG: Improvement rate now/prev at iter 2 is 5.96304e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.28754e-14. +86: DBG: Worst offender is normal contact 0 err=0.00906427 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.428239,1.78902, mag=1.83956 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.447174,0.539965, mag=0.70109 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.00162967; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00188074 -0.00162967 -0.428239 1.78902 -0.447174 0.539965] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00162967 -0.447174 0.539965] +86: : pi was=~[0 -0.00679463 -4.65541e-16 1.94485e-15 -0.00043338 0.000523309] +86: : piActive=~[-0.01 -0.00043338 0.000523309] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.61147e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00193473... +86: > NEWTON iter 1: errNorm=0.00193473(v) -> deltaNorm=0.00551026(pi) +86: > piActive=~[-0.01 -0.00043338 0.000523309] +86: > errActive=~[-0.00192163 0.000143336 -0.000173079] +86: > deltaPi=~[-0.00550546 -0.000146692 0.000177132] +86: DBG: Line search iter 1: back=1, prevNorm=0.00193473. +86: > piNow=~[-0.00449454 -0.000286687 0.000346177] +86: > errNow=~[6.50521e-19 -9.17025e-09 1.10731e-08] normNow=1.43773e-08 +86: DBG: Improvement rate now/prev at iter 1 is 7.43118e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.29218e-05 +86: > NEWTON iter 2: errNorm=1.43773e-08(v) -> deltaNorm=2.32691e-08(pi) +86: > piActive=~[-0.00449454 -0.000286687 0.000346177] +86: > errActive=~[6.50521e-19 -9.17025e-09 1.10731e-08] +86: > deltaPi=~[1.31581e-08 -1.22409e-08 1.4781e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.43773e-08. +86: > piNow=~[-0.00449456 -0.000286675 0.000346162] +86: > errNow=~[0 1.08447e-13 -1.30951e-13] normNow=1.70026e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.1826e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.70026e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.447174,0.539965] to ~[-0.446074,0.539414] +86: DBG: Friction 1 rotated 0.0404801 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00449456 -0.000286675 0.000346162] +86: : m_verrLeft=~[0.00233391 0 -0.427156 1.78745 -0.446074 0.539414] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.00233391 pi*v=0 +86: DBG: 1: pi=-0.00449456 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00449456 0 0 -0.000286675 0.000346162] errNorm=1.70026e-13 +86: Postcompression verr=~[0.00233391 0 -0.427156 1.78745 -0.446074 0.539414] +86: impulse=~[0 -0.00449456 0 0 -0.000286675 0.000346162] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00449456 0 0 -0.000286675 0.000346162]-> du ~[0.00114568 -0.00204201 0.00101622 0.00100898 5.55215e-05 -0.000982683 0.00388349 -0.00209662] +86: Now verr0=~[0.00233391 4.44089e-16 -0.427156 1.78745 -0.446074 0.539414] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.00233391 4.44089e-16 -0.427156 1.78745 -0.446074 0.539414] +86: verrExt=~[-4.75864 -5.23144 -0.309691 5.16708 -0.314145 4.89532] +86: total verr=~[-4.7563 -5.23144 -0.736847 6.95453 -0.76022 5.43473] +86: DYN t=0.01: verrStart=~[0.00233391 4.44089e-16 -0.427156 1.78745 -0.446074 0.539414] +86: verrApplied=~[-4.75864 -5.23144 -0.309691 5.16708 -0.314145 4.89532] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00233391 4.44089e-16 -0.427156 1.78745 -0.446074 0.539414] +86: verrApplied=~[-4.75864 -5.23144 -0.309691 5.16708 -0.314145 4.89532] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.427156,1.78745, mag=1.83778 +86: Participating contact 1 is Sliding; vel=-0.446074,0.539414, mag=0.699964 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.427156,1.78745, mag=1.83778 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.446074,0.539414, mag=0.699964 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-4.7563; guess pi=-0.01 +86: DBG: active normal 3 has v=-5.23144; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00233391 4.44089e-16 -0.427156 1.78745 -0.446074 0.539414] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-4.75864 -5.23144 -0.309691 5.16708 -0.314145 4.89532] +86: : rhsActive=~[-4.7563 -0.736847 6.95453 -5.23144 -0.76022 5.43473] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.32522e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=7.06467... +86: > NEWTON iter 1: errNorm=7.06467(v) -> deltaNorm=16.3888(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[4.75255 0.000427156 -0.00178745 5.22712 0.000446074 -0.000539414] +86: > deltaPi=~[13.0542 0.30364 -1.27059 9.77327 0.623447 -0.7539] +86: DBG: Line search iter 1: back=1, prevNorm=7.06467. +86: > piNow=~[-13.0642 -0.30364 1.27059 -9.78327 -0.623447 0.7539] +86: > errNow=~[-8.88178e-16 2.07706e-05 -8.69152e-05 0 1.6239e-05 -1.96369e-05] normNow=9.29246e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.31534e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.64797e-10 +86: > NEWTON iter 2: errNorm=9.29246e-05(v) -> deltaNorm=9.43542e-05(pi) +86: > piActive=~[-13.0642 -0.30364 1.27059 -9.78327 -0.623447 0.7539] +86: > errActive=~[-8.88178e-16 2.07706e-05 -8.69152e-05 0 1.6239e-05 -1.96369e-05] +86: > deltaPi=~[5.79227e-06 1.14366e-05 -4.78569e-05 -7.49142e-05 1.84256e-05 -2.22811e-05] +86: DBG: Line search iter 1: back=1, prevNorm=9.29246e-05. +86: > piNow=~[-13.0642 -0.303652 1.27064 -9.78319 -0.623465 0.753923] +86: > errNow=~[8.88178e-16 0 -4.44089e-16 0 -5.55112e-17 2.22045e-16] normNow=1.01905e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.09664e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.01905e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.427156,1.78745] to ~[-0.336559,1.7142] +86: DBG: Friction 0 rotated 2.33229 deg, less than max 30 +86: slipVel 1 from ~[-0.446074,0.539414] to ~[-0.352607,0.655434] +86: DBG: Friction 1 rotated 11.3103 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-13.0642 -0.303652 1.27064 -9.78319 -0.623465 0.753923] +86: : m_verrLeft=~[-1.77636e-15 0 -0.336559 1.7142 -0.352607 0.655434] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-13.0642 verr=-1.77636e-15 pi*v=2.32067e-14 +86: DBG: 1: pi=-9.78319 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-13.0642 -9.78319 -0.303652 1.27064 -0.623465 0.753923] errNorm=1.01905e-15 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.427156 1.78745, |slipV|=1.83778 +86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.446074 0.539414, |slipV|=0.699964 +86: ------------------------------ +86: +86: dynamics impulse=~[-13.0642 -9.78319 -0.303652 1.27064 -0.623465 0.753923] +86: updated verrStart=~[-1.77636e-15 0 -0.336559 1.7142 -0.352607 0.655434] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.885145 0.176473 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.28307 0.0920072 -0.181655 -0.0997578 -0.184328 -0.267169] +86: [0.0920072 0.339323 0.227575 -0.325141 0.231 -0.110764] +86: [-0.181655 0.227575 0.410376 -0.229881 0.416753 0.171745] +86: [-0.0997578 -0.325141 -0.229881 0.360168 -0.233833 0.109986] +86: [-0.184328 0.231 0.416753 -0.233833 0.42324 0.174746] +86: [-0.267169 -0.110764 0.171745 0.109986 0.174746 0.300647] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.527694 rank=2 +86: rhs=~[0.885145 0.176473 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[3.2438 -0.35948] +86: -> pi=~[3.2438 -0.35948 0 0 0 0] +86: resid active=~[-1.11022e-16 0] +86: resid=~[-1.11022e-16 0 -0.671062 -0.206712 -0.680963 -0.826825] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[6.21725e-15 5.32907e-15 -0.336559 1.7142 -0.352607 0.655434] +86: perr=~[0.000885145 0.000176473 0] +86: END OF STEP (0.01,0.011): +86: verr=~[0.0017412 -0.00140999 -0.335787 1.72417 -0.352958 0.665423] +86: perr=~[0.000886016 0.000175768 -1.11022e-16] +86: constraint status: +86: 4: cont UniActive fric Sliding +86: 6: cont UniActive fric Sliding +86: Proximal unilateral contacts: (4,6) +86: Distal unilateral contacts: (0,1,2,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 4 verr speed=1.75656 -> mu=0.1 +86: DBG: Uni fric 6 verr speed=0.753238 -> mu=0.1 +86: DBG: Uni contact 6 verr vel=-0.00140999 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.0017412 -0.00140999 -0.335787 1.72417 -0.352958 0.665423] +86: IMP t=0.011 verr=~[0.0017412 -0.00140999 -0.335787 1.72417 -0.352958 0.665423] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.0017412 -0.00140999 -0.335787 1.72417 -0.352958 0.665423] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.335787,1.72417, mag=1.75656 +86: Participating contact 1 is Sliding; vel=-0.352958,0.665423, mag=0.753238 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.335787,1.72417, mag=1.75656 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.352958,0.665423, mag=0.753238 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.0017412; guess pi=0.01 +86: DBG: active normal 3 has v=-0.00140999; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.0017412 -0.00140999 -0.335787 1.72417 -0.352958 0.665423] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.0017412 -0.335787 1.72417 -0.00140999 -0.352958 0.665423] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.11917e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00128444... +86: > NEWTON iter 1: errNorm=0.00128444(v) -> deltaNorm=0.00411295(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.000123076 0 0 -0.00103309 0.000352958 -0.000665423] +86: > deltaPi=~[0.0013767 9.80285e-10 -5.03348e-09 -0.00382621 0.000289303 -0.000545416] +86: DBG: Line search iter 1: back=1, prevNorm=0.00128444. +86: > piNow=~[0.0086233 -9.80285e-10 5.03348e-09 -0.00617379 -0.000289303 0.000545416] +86: > errNow=~[0 -1.72193e-09 8.84162e-09 2.1684e-19 -5.03041e-09 9.48371e-09] normNow=1.40137e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.09104e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.14708e-05 +86: > NEWTON iter 2: errNorm=1.40137e-08(v) -> deltaNorm=1.91007e-08(pi) +86: > piActive=~[0.0086233 -9.80285e-10 5.03348e-09 -0.00617379 -0.000289303 0.000545416] +86: > errActive=~[0 -1.72193e-09 8.84162e-09 2.1684e-19 -5.03041e-09 9.48371e-09] +86: > deltaPi=~[4.05087e-09 -9.80281e-10 5.03346e-09 1.23573e-08 -6.0994e-09 1.1499e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.40137e-08. +86: > piNow=~[0.00862329 -3.87879e-15 1.99165e-14 -0.0061738 -0.000289297 0.000545404] +86: > errNow=~[-4.33681e-19 -6.81334e-15 3.49845e-14 2.1684e-19 4.26162e-14 -8.03432e-14] normNow=9.76806e-14 +86: DBG: Improvement rate now/prev at iter 2 is 6.97034e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.76806e-14. +86: DBG: Worst offender is normal contact 0 err=0.00862329 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.335787,1.72417, mag=1.75656 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.352958,0.665423, mag=0.753238 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.00140999; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.0017412 -0.00140999 -0.335787 1.72417 -0.352958 0.665423] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00140999 -0.352958 0.665423] +86: : pi was=~[0 -0.0061738 -3.87879e-15 1.99165e-14 -0.000289297 0.000545404] +86: : piActive=~[-0.01 -0.000289297 0.000545404] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.80572e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00209954... +86: > NEWTON iter 1: errNorm=0.00209954(v) -> deltaNorm=0.00605269(pi) +86: > piActive=~[-0.01 -0.000289297 0.000545404] +86: > errActive=~[-0.00207966 0.000135049 -0.000254604] +86: > deltaPi=~[-0.00604861 -0.000104129 0.000196312] +86: DBG: Line search iter 1: back=1, prevNorm=0.00209954. +86: > piNow=~[-0.00395139 -0.000185168 0.000349092] +86: > errNow=~[4.33681e-19 -7.95226e-09 1.49922e-08] normNow=1.69707e-08 +86: DBG: Improvement rate now/prev at iter 1 is 8.08306e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.7959e-05 +86: > NEWTON iter 2: errNorm=1.69707e-08(v) -> deltaNorm=2.48869e-08(pi) +86: > piActive=~[-0.00395139 -0.000185168 0.000349092] +86: > errActive=~[4.33681e-19 -7.95226e-09 1.49922e-08] +86: > deltaPi=~[1.29824e-08 -9.94924e-09 1.8757e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.69707e-08. +86: > piNow=~[-0.0039514 -0.000185158 0.000349073] +86: > errNow=~[0 1.09252e-13 -2.0597e-13] normNow=2.33152e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.37385e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.33152e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.352958,0.665423] to ~[-0.352038,0.66491] +86: DBG: Friction 1 rotated 0.0435855 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.0039514 -0.000185158 0.000349073] +86: : m_verrLeft=~[0.00216326 0 -0.334881 1.72281 -0.352038 0.66491] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.00216326 pi*v=0 +86: DBG: 1: pi=-0.0039514 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.0039514 0 0 -0.000185158 0.000349073] errNorm=2.33152e-13 +86: Postcompression verr=~[0.00216326 0 -0.334881 1.72281 -0.352038 0.66491] +86: impulse=~[0 -0.0039514 0 0 -0.000185158 0.000349073] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.0039514 0 0 -0.000185158 0.000349073]-> du ~[0.000958823 -0.00180257 0.00085041 0.000888147 4.36796e-05 -0.00087039 0.00341638 -0.0018452] +86: Now verr0=~[0.00216326 0 -0.334881 1.72281 -0.352038 0.66491] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.00216326 0 -0.334881 1.72281 -0.352038 0.66491] +86: verrExt=~[-4.27218 -4.77034 -0.336161 4.72505 -0.341307 4.42951] +86: total verr=~[-4.27001 -4.77034 -0.671042 6.44786 -0.693346 5.09442] +86: DYN t=0.011: verrStart=~[0.00216326 0 -0.334881 1.72281 -0.352038 0.66491] +86: verrApplied=~[-4.27218 -4.77034 -0.336161 4.72505 -0.341307 4.42951] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +62: curr_slack_s_L[ 1]= 6.5542368572149171e-07 +62: DenseVector "curr_slack_s_U" with 0 elements: +62: DenseVector "curr_v_L" with 1 elements: +62: curr_v_L[ 1]= 1.1558562247791557e+00 +62: DenseVector "curr_v_U" with 0 elements: +62: +62: +62: ***Current NLP Values for Iteration 25: +62: +62: (scaled) (unscaled) +62: Objective...............: 1.4180688903952972e+00 1.7016826684743567e+01 +62: Dual infeasibility......: 5.5162021738789395e-03 6.6194426086547270e-02 +62: Constraint violation....: 5.8609577081369938e-06 5.8609577081369935e-05 +62: Complementarity.........: 7.5757575757575762e-07 9.0909090909090927e-06 +62: Overall NLP error.......: 5.5162021738789395e-03 6.6194426086547270e-02 +62: +62: DenseVector "grad_f" with 4 elements: +62: grad_f[ 1]= 1.2197941099101912e+00 +62: grad_f[ 2]= 1.1561303573865100e-01 +62: grad_f[ 3]= 1.9894636907198432e-01 +62: grad_f[ 4]= 7.9590165679933400e-01 +62: DenseVector "curr_c" with 1 elements: +62: curr_c[ 1]= 5.8609577081369938e-06 +62: DenseVector "curr_d" with 1 elements: +62: curr_d[ 1]=-1.3349924284966620e-06 +62: DenseVector "curr_d - curr_s" with 1 elements: +62: curr_d - curr_s[ 1]=-1.9900161142181536e-06 +62: +62: +62: +62: ************************************************** +62: *** Update Barrier Parameter for Iteration 25: +62: ************************************************** +62: +62: Staying in free mu mode. +62: The current filter has 5 entries. +62: phi theta iter +62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 +62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 +62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 +62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 +62: 5 1.4180688903952972e+00 7.8509738223551465e-06 25 +62: Solving the Primal Dual System for the affine step +62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 +62: delta_c=0.000000e+00 delta_d=0.000000e+00 +62: Factorization successful. +62: Number of trial factorizations performed: 1 +62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 +62: delta_c=0.000000e+00 delta_d=0.000000e+00 +62: Solving the Primal Dual System for the centering step +62: Factorization successful. +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.738105105831e-13 q = 5.738105105831e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.623765892731e-13 q = 5.623765892731e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: Sigma = 1.000054e+00 +62: Barrier parameter mu computed by oracle is 7.575758e-07 +62: Barrier parameter mu after safeguards is 7.575758e-07 +62: Barrier Parameter: 7.575758e-07 +62: +62: ************************************************** +62: *** Solving the Primal Dual System for Iteration 25: +62: ************************************************** +62: +62: max-norm resid_x 1.431147e-17 +62: max-norm resid_s 1.293453e-16 +62: max-norm resid_c 2.600391e-19 +62: max-norm resid_d 5.183842e-19 +62: max-norm resid_zL 2.229252e-22 +62: max-norm resid_zU 6.121137e-23 +62: max-norm resid_vL 1.695720e-23 +62: max-norm resid_vU 0.000000e+00 +62: nrm_rhs = 5.52e-03 nrm_sol = 5.48e-03 nrm_resid = 1.29e-16 +62: residual_ratio = 1.176525e-14 +62: Factorization successful. +62: max-norm resid_x 0.000000e+00 +62: max-norm resid_s 0.000000e+00 +62: max-norm resid_c 4.768795e-19 +62: max-norm resid_d 1.753358e-19 +62: max-norm resid_zL 2.067952e-25 +62: max-norm resid_zU 1.654361e-24 +62: max-norm resid_vL 0.000000e+00 +62: max-norm resid_vU 0.000000e+00 +62: nrm_rhs = 5.52e-03 nrm_sol = 5.48e-03 nrm_resid = 4.77e-19 +62: residual_ratio = 4.337695e-17 +62: +62: ************************************************** +62: *** Finding Acceptable Trial Point for Iteration 25: +62: ************************************************** +62: +62: --> Starting filter line search in iteration 25 <-- +62: The current filter has 0 entries. +62: Relative step size for delta_x = 1.149186e-03 +62: minimal step size ALPHA_MIN = 8.875865E-11 +62: Starting checks for alpha (primal) = 1.00e+00 +62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: +62: New values of barrier function = 1.4180421392593510e+00 (reference 1.4180864628060115e+00): +62: New values of constraint violation = 6.3320545818757967e-06 (reference 7.8509738223551465e-06): +62: reference_theta = 7.850974e-06 reference_gradBarrTDelta = -4.422653e-05 +62: Checking sufficient reduction... +62: Succeeded... +62: Checking filter acceptability... +62: Succeeded... +62: reference_theta = 7.850974e-06 reference_gradBarrTDelta = -4.422653e-05 +62: +62: ************************************************** +62: *** Update HessianMatrix for Iteration 26: +62: ************************************************** +62: +62: In limited-memory update, s_new_max is 5.477645e-03 +62: Limited-Memory test for skipping: +62: s^Ty = -1.403864e-06 snrm = 6.879047e-03 ynrm = 2.799975e+00 +62: Skip the update. +62: Number of successive iterations with skipping: 1 +62: +62: +62: ************************************************** +62: *** Summary of Iteration: 26: +62: ************************************************** +62: +62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls +62: 26 1.7016295e+01 4.73e-06 4.95e-03 -6.1 5.48e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Ws +62: +62: ************************************************** +62: *** Beginning Iteration 26 from the following point: +62: ************************************************** +62: +62: Current barrier parameter mu = 7.5757575757575762e-07 +62: Current fraction-to-the-boundary parameter tau = 9.9448379782612106e-01 +62: +62: ||curr_x||_inf = 4.7801111375752292e+00 +62: ||curr_s||_inf = 6.5533192427868525e-07 +62: ||curr_y_c||_inf = 1.3580807191111857e-01 +62: ||curr_y_d||_inf = 1.1553129595586622e+00 +62: ||curr_z_L||_inf = 9.1654256283764987e-02 +62: ||curr_z_U||_inf = 3.4440657587724647e-06 +62: ||curr_v_L||_inf = 1.1553129595662381e+00 +62: ||curr_v_U||_inf = 0.0000000000000000e+00 +62: +62: ||delta_x||_inf = 5.4776453460578132e-03 +62: ||delta_s||_inf = 3.0823855719358567e-10 +62: ||delta_y_c||_inf = 1.4028858499864216e-04 +62: ||delta_y_d||_inf = 5.4326521291748206e-04 +62: ||delta_z_L||_inf = 1.2676809966845760e-04 +62: ||delta_z_U||_inf = 6.4721699080841402e-08 +62: ||delta_v_L||_inf = 5.4326521291766432e-04 +62: ||delta_v_U||_inf = 0.0000000000000000e+00 +62: DenseVector "curr_x" with 4 elements: +62: curr_x[ 1]= 1.0000082555660570e+00 +62: curr_x[ 2]= 4.7801111375752292e+00 +62: curr_x[ 3]= 3.7720222036871691e+00 +62: curr_x[ 4]= 1.3865124656521304e+00 +62: DenseVector "curr_s" with 1 elements: +62: curr_s[ 1]= 6.5533192427868525e-07 +62: DenseVector "curr_y_c" with 1 elements: +62: curr_y_c[ 1]= 1.3580807191111857e-01 +62: DenseVector "curr_y_d" with 1 elements: +62: curr_y_d[ 1]=-1.1553129595586622e+00 +62: DenseVector "curr_slack_x_L" with 4 elements: +62: curr_slack_x_L[ 1]= 8.2655660570418732e-06 +62: curr_slack_x_L[ 2]= 3.7801111475752291e+00 +62: curr_slack_x_L[ 3]= 2.7720222136871691e+00 +62: curr_slack_x_L[ 4]= 3.8651247565213043e-01 +62: DenseVector "curr_slack_x_U" with 4 elements: +62: curr_slack_x_U[ 1]= 3.9999917944339427e+00 +62: curr_slack_x_U[ 2]= 2.1988891242477049e-01 +62: curr_slack_x_U[ 3]= 1.2279778463128306e+00 +62: curr_slack_x_U[ 4]= 3.6134875843478693e+00 +62: DenseVector "curr_z_L" with 4 elements: +62: curr_z_L[ 1]= 9.1654256283764987e-02 +62: curr_z_L[ 2]= 2.0041074121779922e-07 +62: curr_z_L[ 3]= 2.7329246904332382e-07 +62: curr_z_L[ 4]= 1.9600201705173063e-06 +62: DenseVector "curr_z_U" with 4 elements: +62: curr_z_U[ 1]= 1.8939432791585655e-07 +62: curr_z_U[ 2]= 3.4440657587724647e-06 +62: curr_z_U[ 3]= 6.1691726575926045e-07 +62: curr_z_U[ 4]= 2.0965222646323721e-07 +62: DenseVector "curr_slack_s_L" with 1 elements: +62: curr_slack_s_L[ 1]= 6.5573192427868528e-07 +62: DenseVector "curr_slack_s_U" with 0 elements: +62: DenseVector "curr_v_L" with 1 elements: +62: curr_v_L[ 1]= 1.1553129595662381e+00 +62: DenseVector "curr_v_U" with 0 elements: +62: +62: +62: ***Current NLP Values for Iteration 26: +62: +62: (scaled) (unscaled) +62: Objective...............: 1.4180245782858223e+00 1.7016294939429869e+01 +62: Dual infeasibility......: 4.9529335625778780e-03 5.9435202750934536e-02 +62: Constraint violation....: 4.7321288782598010e-06 4.7321288782598010e-05 +62: Complementarity.........: 7.5757575757575762e-07 9.0909090909090927e-06 +62: Overall NLP error.......: 4.9529335625778780e-03 5.9435202750934536e-02 +62: +62: DenseVector "grad_f" with 4 elements: +62: grad_f[ 1]= 1.2192239424811899e+00 +62: grad_f[ 2]= 1.1554365934144828e-01 +62: grad_f[ 3]= 1.9887699267478159e-01 +62: grad_f[ 4]= 7.9601837126369945e-01 +62: DenseVector "curr_c" with 1 elements: +62: curr_c[ 1]= 4.7321288782598010e-06 +62: DenseVector "curr_d" with 1 elements: +62: curr_d[ 1]=-9.4459377933731045e-07 +62: DenseVector "curr_d - curr_s" with 1 elements: +62: curr_d - curr_s[ 1]=-1.5999257036159957e-06 +62: +62: +62: +62: ************************************************** +62: *** Update Barrier Parameter for Iteration 26: +62: ************************************************** +62: +62: Staying in free mu mode. +62: The current filter has 5 entries. +62: phi theta iter +62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 +62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 +62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 +62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 +62: 5 1.4180245782858223e+00 6.3320545818757967e-06 26 +62: Solving the Primal Dual System for the affine step +62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 +62: delta_c=0.000000e+00 delta_d=0.000000e+00 +62: Factorization successful. +62: Number of trial factorizations performed: 1 +62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 +62: delta_c=0.000000e+00 delta_d=0.000000e+00 +62: Solving the Primal Dual System for the centering step +62: Factorization successful. +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.738344359319e-13 q = 5.738344359319e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.624019446098e-13 q = 5.624019446098e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: Sigma = 1.000042e+00 +62: Barrier parameter mu computed by oracle is 7.575758e-07 +62: Barrier parameter mu after safeguards is 7.575758e-07 +62: Barrier Parameter: 7.575758e-07 +62: +62: ************************************************** +62: *** Solving the Primal Dual System for Iteration 26: +62: ************************************************** +62: +62: max-norm resid_x 1.496199e-17 +62: max-norm resid_s 1.082576e-16 +62: max-norm resid_c 6.505213e-19 +62: max-norm resid_d 4.478687e-19 +62: max-norm resid_zL 1.710196e-22 +62: max-norm resid_zU 2.200900e-22 +62: max-norm resid_vL 1.048968e-22 +62: max-norm resid_vU 0.000000e+00 +62: nrm_rhs = 4.95e-03 nrm_sol = 4.92e-03 nrm_resid = 1.08e-16 +62: residual_ratio = 1.096573e-14 +62: Factorization successful. +62: max-norm resid_x 8.673617e-19 +62: max-norm resid_s 0.000000e+00 +62: max-norm resid_c 1.727947e-19 +62: max-norm resid_d 3.811648e-20 +62: max-norm resid_zL 4.135903e-25 +62: max-norm resid_zU 1.654361e-24 +62: max-norm resid_vL 0.000000e+00 +62: max-norm resid_vU 0.000000e+00 +62: nrm_rhs = 4.95e-03 nrm_sol = 4.92e-03 nrm_resid = 8.67e-19 +62: residual_ratio = 8.785765e-17 +62: +62: ************************************************** +62: *** Finding Acceptable Trial Point for Iteration 26: +62: ************************************************** +62: +62: --> Starting filter line search in iteration 26 <-- +62: The current filter has 0 entries. +62: Relative step size for delta_x = 1.030888e-03 +62: minimal step size ALPHA_MIN = 8.857587E-11 +62: Starting checks for alpha (primal) = 1.00e+00 +62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: +62: New values of barrier function = 1.4180063186651293e+00 (reference 1.4180421392593510e+00): +62: New values of constraint violation = 5.1110781145929621e-06 (reference 6.3320545818757967e-06): +62: reference_theta = 6.332055e-06 reference_gradBarrTDelta = -3.574368e-05 +62: Checking sufficient reduction... +62: Succeeded... +62: Checking filter acceptability... +62: Succeeded... +62: reference_theta = 6.332055e-06 reference_gradBarrTDelta = -3.574368e-05 +62: +62: ************************************************** +62: *** Update HessianMatrix for Iteration 27: +62: ************************************************** +62: +62: In limited-memory update, s_new_max is 4.919420e-03 +62: Limited-Memory test for skipping: +62: s^Ty = -1.122928e-06 snrm = 6.183296e-03 ynrm = 2.799272e+00 +62: Skip the update. +62: Number of successive iterations with skipping: 2 +62: +62: +62: ************************************************** +62: *** Summary of Iteration: 27: +62: ************************************************** +62: +62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls +62: 27 1.7015865e+01 3.82e-06 4.45e-03 -6.1 4.92e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Ws +62: +62: ************************************************** +62: *** Beginning Iteration 27 from the following point: +62: ************************************************** +62: +62: Current barrier parameter mu = 7.5757575757575762e-07 +62: Current fraction-to-the-boundary parameter tau = 9.9504706643742213e-01 +62: +62: ||curr_x||_inf = 4.7764391608994092e+00 +62: ||curr_s||_inf = 6.5560720568455160e-07 +62: ||curr_y_c||_inf = 1.3568214214550192e-01 +62: ||curr_y_d||_inf = 1.1548282054866545e+00 +62: ||curr_z_L||_inf = 9.1543213390773481e-02 +62: ||curr_z_U||_inf = 3.3877525711734749e-06 +62: ||curr_v_L||_inf = 1.1548282054942303e+00 +62: ||curr_v_U||_inf = 0.0000000000000000e+00 +62: +62: ||delta_x||_inf = 4.9194196423690811e-03 +62: ||delta_s||_inf = 2.7528140586640020e-10 +62: ||delta_y_c||_inf = 1.2592976561666275e-04 +62: ||delta_y_d||_inf = 4.8475407200776228e-04 +62: ||delta_z_L||_inf = 1.1104289299151007e-04 +62: ||delta_z_U||_inf = 5.6313187598989976e-08 +62: ||delta_v_L||_inf = 4.8475407200794458e-04 +62: ||delta_v_U||_inf = 0.0000000000000000e+00 +62: DenseVector "curr_x" with 4 elements: +62: curr_x[ 1]= 1.0000082655959264e+00 +62: curr_x[ 2]= 4.7764391608994092e+00 +62: curr_x[ 3]= 3.7769416233295381e+00 +62: curr_x[ 4]= 1.3857714884052161e+00 +62: DenseVector "curr_s" with 1 elements: +62: curr_s[ 1]= 6.5560720568455160e-07 +62: DenseVector "curr_y_c" with 1 elements: +62: curr_y_c[ 1]= 1.3568214214550192e-01 +62: DenseVector "curr_y_d" with 1 elements: +62: curr_y_d[ 1]=-1.1548282054866545e+00 +62: DenseVector "curr_slack_x_L" with 4 elements: +62: curr_slack_x_L[ 1]= 8.2755959264213530e-06 +62: curr_slack_x_L[ 2]= 3.7764391708994092e+00 +62: curr_slack_x_L[ 3]= 2.7769416333295380e+00 +62: curr_slack_x_L[ 4]= 3.8577149840521618e-01 +62: DenseVector "curr_slack_x_U" with 4 elements: +62: curr_slack_x_U[ 1]= 3.9999917844040733e+00 +62: curr_slack_x_U[ 2]= 2.2356088910059047e-01 +62: curr_slack_x_U[ 3]= 1.2230584266704616e+00 +62: curr_slack_x_U[ 4]= 3.6142285615947838e+00 +62: DenseVector "curr_z_L" with 4 elements: +62: curr_z_L[ 1]= 9.1543213390773481e-02 +62: curr_z_L[ 2]= 2.0060565193420724e-07 +62: curr_z_L[ 3]= 2.7280853432611679e-07 +62: curr_z_L[ 4]= 1.9637867746570378e-06 +62: DenseVector "curr_z_U" with 4 elements: +62: curr_z_U[ 1]= 1.8939432839075761e-07 +62: curr_z_U[ 2]= 3.3877525711734749e-06 +62: curr_z_U[ 3]= 6.1940094015090461e-07 +62: curr_z_U[ 4]= 2.0960924657027044e-07 +62: DenseVector "curr_slack_s_L" with 1 elements: +62: curr_slack_s_L[ 1]= 6.5600720568455163e-07 +62: DenseVector "curr_slack_s_U" with 0 elements: +62: DenseVector "curr_v_L" with 1 elements: +62: curr_v_L[ 1]= 1.1548282054942303e+00 +62: DenseVector "curr_v_U" with 0 elements: +62: +62: +62: ***Current NLP Values for Iteration 27: +62: +62: (scaled) (unscaled) +62: Objective...............: 1.4179887677423217e+00 1.7015865212907862e+01 +62: Dual infeasibility......: 4.4490027940735982e-03 5.3388033528883175e-02 +62: Constraint violation....: 3.8233149602717734e-06 3.8233149602717731e-05 +62: Complementarity.........: 7.5757575757575762e-07 9.0909090909090927e-06 +62: Overall NLP error.......: 4.4490027940735982e-03 5.3388033528883175e-02 +62: +62: DenseVector "grad_f" with 4 elements: +62: grad_f[ 1]= 1.2187164254601912e+00 +62: grad_f[ 2]= 1.1548191188603213e-01 +62: grad_f[ 3]= 1.9881524521936544e-01 +62: grad_f[ 4]= 7.9612233452320735e-01 +62: DenseVector "curr_c" with 1 elements: +62: curr_c[ 1]= 3.8233149602717734e-06 +62: DenseVector "curr_d" with 1 elements: +62: curr_d[ 1]=-6.3215594863663688e-07 +62: DenseVector "curr_d - curr_s" with 1 elements: +62: curr_d - curr_s[ 1]=-1.2877631543211885e-06 +62: +62: +62: +62: ************************************************** +62: *** Update Barrier Parameter for Iteration 27: +62: ************************************************** +62: +62: Staying in free mu mode. +62: The current filter has 5 entries. +62: phi theta iter +62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 +62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 +62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 +62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 +62: 5 1.4179887677423217e+00 5.1110781145929621e-06 27 +62: Solving the Primal Dual System for the affine step +62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 +62: delta_c=0.000000e+00 delta_d=0.000000e+00 +62: Factorization successful. +62: Number of trial factorizations performed: 1 +62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 +62: delta_c=0.000000e+00 delta_d=0.000000e+00 +62: Solving the Primal Dual System for the centering step +62: Factorization successful. +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.738528949156e-13 q = 5.738528949156e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.624216621146e-13 q = 5.624216621146e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: Sigma = 1.000033e+00 +62: Barrier parameter mu computed by oracle is 7.575758e-07 +62: Barrier parameter mu after safeguards is 7.575758e-07 +62: Barrier Parameter: 7.575758e-07 +62: +62: ************************************************** +62: *** Solving the Primal Dual System for Iteration 27: +62: ************************************************** +62: +62: max-norm resid_x 1.333569e-17 +62: max-norm resid_s 7.296681e-17 +62: max-norm resid_c 4.989024e-19 +62: max-norm resid_d 6.352747e-22 +62: max-norm resid_zL 7.392927e-23 +62: max-norm resid_zU 2.072087e-22 +62: max-norm resid_vL 4.120393e-23 +62: max-norm resid_vU 0.000000e+00 +62: nrm_rhs = 4.45e-03 nrm_sol = 4.42e-03 nrm_resid = 7.30e-17 +62: residual_ratio = 8.227368e-15 +62: Factorization successful. +62: max-norm resid_x 8.673617e-19 +62: max-norm resid_s 0.000000e+00 +62: max-norm resid_c 1.304431e-19 +62: max-norm resid_d 6.352747e-22 +62: max-norm resid_zL 2.067952e-25 +62: max-norm resid_zU 1.972152e-31 +62: max-norm resid_vL 5.169879e-26 +62: max-norm resid_vU 0.000000e+00 +62: nrm_rhs = 4.45e-03 nrm_sol = 4.42e-03 nrm_resid = 8.67e-19 +62: residual_ratio = 9.779933e-17 +62: +62: ************************************************** +62: *** Finding Acceptable Trial Point for Iteration 27: +62: ************************************************** +62: +62: --> Starting filter line search in iteration 27 <-- +62: The current filter has 0 entries. +62: Relative step size for delta_x = 9.252338e-04 +62: minimal step size ALPHA_MIN = 8.841355E-11 +62: Starting checks for alpha (primal) = 1.00e+00 +62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: +62: New values of barrier function = 1.4179773531548852e+00 (reference 1.4180063186651293e+00): +62: New values of constraint violation = 4.1284638651936657e-06 (reference 5.1110781145929621e-06): +62: reference_theta = 5.111078e-06 reference_gradBarrTDelta = -2.890438e-05 +62: Checking sufficient reduction... +62: Succeeded... +62: Checking filter acceptability... +62: Succeeded... +62: reference_theta = 5.111078e-06 reference_gradBarrTDelta = -2.890438e-05 +62: +62: ************************************************** +62: *** Update HessianMatrix for Iteration 28: +62: ************************************************** +62: +62: Resetting Limited-Memory Update. +62: +62: +62: ************************************************** +62: *** Summary of Iteration: 28: +62: ************************************************** +62: +62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls +62: 28 1.7015518e+01 3.09e-06 4.00e-03 -6.1 4.42e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Wr +62: +62: ************************************************** +62: *** Beginning Iteration 28 from the following point: +62: ************************************************** +62: +62: Current barrier parameter mu = 7.5757575757575762e-07 +62: Current fraction-to-the-boundary parameter tau = 9.9555099720592644e-01 +62: +62: ||curr_x||_inf = 4.7731318087681300e+00 +62: ||curr_s||_inf = 6.5585327144707049e-07 +62: ||curr_y_c||_inf = 1.3556905831836466e-01 +62: ||curr_y_d||_inf = 1.1543952373169155e+00 +62: ||curr_z_L||_inf = 9.1445693578629250e-02 +62: ||curr_z_U||_inf = 3.3385592170972829e-06 +62: ||curr_v_L||_inf = 1.1543952373244912e+00 +62: ||curr_v_U||_inf = 0.0000000000000000e+00 +62: +62: ||delta_x||_inf = 4.4197877935435786e-03 +62: ||delta_s||_inf = 2.4606576251889126e-10 +62: ||delta_y_c||_inf = 1.1308382713727159e-04 +62: ||delta_y_d||_inf = 4.3296816973902974e-04 +62: ||delta_z_L||_inf = 9.7519812144235502e-05 +62: ||delta_z_U||_inf = 4.9193354076191993e-08 +62: ||delta_v_L||_inf = 4.3296816973899000e-04 +62: ||delta_v_U||_inf = 0.0000000000000000e+00 +62: DenseVector "curr_x" with 4 elements: +62: curr_x[ 1]= 1.0000082744239791e+00 +62: curr_x[ 2]= 4.7731318087681300e+00 +62: curr_x[ 3]= 3.7813614111230818e+00 +62: curr_x[ 4]= 1.3851111777727816e+00 +62: DenseVector "curr_s" with 1 elements: +62: curr_s[ 1]= 6.5585327144707049e-07 +62: DenseVector "curr_y_c" with 1 elements: +62: curr_y_c[ 1]= 1.3556905831836466e-01 +62: DenseVector "curr_y_d" with 1 elements: +62: curr_y_d[ 1]=-1.1543952373169155e+00 +62: DenseVector "curr_slack_x_L" with 4 elements: +62: curr_slack_x_L[ 1]= 8.2844239791546315e-06 +62: curr_slack_x_L[ 2]= 3.7731318187681300e+00 +62: curr_slack_x_L[ 3]= 2.7813614211230817e+00 +62: curr_slack_x_L[ 4]= 3.8511118777278164e-01 +62: DenseVector "curr_slack_x_U" with 4 elements: +62: curr_slack_x_U[ 1]= 3.9999917755760208e+00 +62: curr_slack_x_U[ 2]= 2.2686824123186966e-01 +62: curr_slack_x_U[ 3]= 1.2186386388769179e+00 +62: curr_slack_x_U[ 4]= 3.6148888722272181e+00 +62: DenseVector "curr_z_L" with 4 elements: +62: curr_z_L[ 1]= 9.1445693578629250e-02 +62: curr_z_L[ 2]= 2.0078152905231206e-07 +62: curr_z_L[ 3]= 2.7237518882918869e-07 +62: curr_z_L[ 4]= 1.9671553497344552e-06 +62: DenseVector "curr_z_U" with 4 elements: +62: curr_z_U[ 1]= 1.8939432880875424e-07 +62: curr_z_U[ 2]= 3.3385592170972829e-06 +62: curr_z_U[ 3]= 6.2164927014987434e-07 +62: curr_z_U[ 4]= 2.0957096029017332e-07 +62: DenseVector "curr_slack_s_L" with 1 elements: +62: curr_slack_s_L[ 1]= 6.5625327144707052e-07 +62: DenseVector "curr_slack_s_U" with 0 elements: +62: DenseVector "curr_v_L" with 1 elements: +62: curr_v_L[ 1]= 1.1543952373244912e+00 +62: DenseVector "curr_v_U" with 0 elements: +62: +62: +62: ***Current NLP Values for Iteration 28: +62: +62: (scaled) (unscaled) +62: Objective...............: 1.4179598110883438e+00 1.7015517733060125e+01 +62: Dual infeasibility......: 3.9978064182453789e-03 4.7973677018944547e-02 +62: Constraint violation....: 3.0909112396670936e-06 3.0909112396670935e-05 +62: Complementarity.........: 7.5757575757575762e-07 9.0909090909090927e-06 +62: Overall NLP error.......: 3.9978064182453789e-03 4.7973677018944547e-02 +62: +62: DenseVector "grad_f" with 4 elements: +62: grad_f[ 1]= 1.2182641213827199e+00 +62: grad_f[ 2]= 1.1542688656416039e-01 +62: grad_f[ 3]= 1.9876021989749373e-01 +62: grad_f[ 4]= 7.9621504602595516e-01 +62: DenseVector "curr_c" with 1 elements: +62: curr_c[ 1]= 3.0909112396670936e-06 +62: DenseVector "curr_d" with 1 elements: +62: curr_d[ 1]=-3.8169935407950105e-07 +62: DenseVector "curr_d - curr_s" with 1 elements: +62: curr_d - curr_s[ 1]=-1.0375526255265716e-06 +62: +62: +62: +62: ************************************************** +62: *** Update Barrier Parameter for Iteration 28: +62: ************************************************** +62: +62: Staying in free mu mode. +62: The current filter has 5 entries. +62: phi theta iter +62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 +62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 +62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 +62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 +62: 5 1.4179598110883438e+00 4.1284638651936657e-06 28 +62: Solving the Primal Dual System for the affine step +62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 +62: delta_c=0.000000e+00 delta_d=0.000000e+00 +62: Factorization successful. +62: Number of trial factorizations performed: 1 +62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 +62: delta_c=0.000000e+00 delta_d=0.000000e+00 +62: Solving the Primal Dual System for the centering step +62: Factorization successful. +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.738672217151e-13 q = 5.738672217151e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.624370986362e-13 q = 5.624370986362e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: Sigma = 1.000026e+00 +62: Barrier parameter mu computed by oracle is 7.575758e-07 +62: Barrier parameter mu after safeguards is 7.575758e-07 +62: Barrier Parameter: 7.575758e-07 +62: +62: ************************************************** +62: *** Solving the Primal Dual System for Iteration 28: +62: ************************************************** +62: +62: max-norm resid_x 2.499086e-17 +62: max-norm resid_s 8.131516e-17 +62: max-norm resid_c 1.952411e-19 +62: max-norm resid_d 1.670772e-19 +62: max-norm resid_zL 1.108422e-22 +62: max-norm resid_zU 1.554841e-22 +62: max-norm resid_vL 1.155985e-22 +62: max-norm resid_vU 0.000000e+00 +62: nrm_rhs = 4.00e-03 nrm_sol = 3.97e-03 nrm_resid = 8.13e-17 +62: residual_ratio = 1.020256e-14 +62: Factorization successful. +62: max-norm resid_x 5.421011e-20 +62: max-norm resid_s 0.000000e+00 +62: max-norm resid_c 1.736418e-19 +62: max-norm resid_d 9.762055e-20 +62: max-norm resid_zL 2.067952e-25 +62: max-norm resid_zU 2.584939e-26 +62: max-norm resid_vL 5.169879e-26 +62: max-norm resid_vU 0.000000e+00 +62: nrm_rhs = 4.00e-03 nrm_sol = 3.97e-03 nrm_resid = 1.74e-19 +62: residual_ratio = 2.178671e-17 +62: +62: ************************************************** +62: *** Finding Acceptable Trial Point for Iteration 28: +62: ************************************************** +62: +62: --> Starting filter line search in iteration 28 <-- +62: The current filter has 0 entries. +62: Relative step size for delta_x = 8.307822e-04 +62: minimal step size ALPHA_MIN = 8.826918E-11 +62: Starting checks for alpha (primal) = 1.00e+00 +62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: +62: New values of barrier function = 1.4179539188236050e+00 (reference 1.4179773531548852e+00): +62: New values of constraint violation = 3.3368647064720564e-06 (reference 4.1284638651936657e-06): +62: reference_theta = 4.128464e-06 reference_gradBarrTDelta = -2.338565e-05 +62: Checking sufficient reduction... +62: Succeeded... +62: Checking filter acceptability... +62: Succeeded... +62: reference_theta = 4.128464e-06 reference_gradBarrTDelta = -2.338565e-05 +62: +62: ************************************************** +62: *** Update HessianMatrix for Iteration 29: +62: ************************************************** +62: +62: In limited-memory update, s_new_max is 3.972270e-03 +62: Limited-Memory test for skipping: +62: s^Ty = -7.219461e-07 snrm = 5.000157e-03 ynrm = 2.798082e+00 +62: Skip the update. +62: Number of successive iterations with skipping: 1 +62: +62: +62: ************************************************** +62: *** Summary of Iteration: 29: +62: ************************************************** +62: +62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls +62: 29 1.7015237e+01 2.50e-06 3.59e-03 -6.1 3.97e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Ws +62: +62: ************************************************** +62: *** Beginning Iteration 29 from the following point: +62: ************************************************** +62: +62: Current barrier parameter mu = 7.5757575757575762e-07 +62: Current fraction-to-the-boundary parameter tau = 9.9600219358175457e-01 +62: +62: ||curr_x||_inf = 4.7701526107966323e+00 +62: ||curr_s||_inf = 6.5607339927294072e-07 +62: ||curr_y_c||_inf = 1.3546747423088415e-01 +62: ||curr_y_d||_inf = 1.1540081794747745e+00 +62: ||curr_z_L||_inf = 9.1359847272556971e-02 +62: ||curr_z_U||_inf = 3.2954349391034596e-06 +62: ||curr_v_L||_inf = 1.1540081794823505e+00 +62: ||curr_v_U||_inf = 0.0000000000000000e+00 +62: +62: ||delta_x||_inf = 3.9722698755958541e-03 +62: ||delta_s||_inf = 2.2012782587016955e-10 +62: ||delta_y_c||_inf = 1.0158408748050640e-04 +62: ||delta_y_d||_inf = 3.8705784214090904e-04 +62: ||delta_z_L||_inf = 8.5846306072274870e-05 +62: ||delta_z_U||_inf = 4.3124277993823368e-08 +62: ||delta_v_L||_inf = 3.8705784214086930e-04 +62: ||delta_v_U||_inf = 0.0000000000000000e+00 +62: DenseVector "curr_x" with 4 elements: +62: curr_x[ 1]= 1.0000082822105469e+00 +62: curr_x[ 2]= 4.7701526107966323e+00 +62: curr_x[ 3]= 3.7853336809986775e+00 +62: curr_x[ 4]= 1.3845220945456049e+00 +62: DenseVector "curr_s" with 1 elements: +62: curr_s[ 1]= 6.5607339927294072e-07 +62: DenseVector "curr_y_c" with 1 elements: +62: curr_y_c[ 1]= 1.3546747423088415e-01 +62: DenseVector "curr_y_d" with 1 elements: +62: curr_y_d[ 1]=-1.1540081794747745e+00 +62: DenseVector "curr_slack_x_L" with 4 elements: +62: curr_slack_x_L[ 1]= 8.2922105469895868e-06 +62: curr_slack_x_L[ 2]= 3.7701526207966323e+00 +62: curr_slack_x_L[ 3]= 2.7853336909986774e+00 +62: curr_slack_x_L[ 4]= 3.8452210454560498e-01 +62: DenseVector "curr_slack_x_U" with 4 elements: +62: curr_slack_x_U[ 1]= 3.9999917677894530e+00 +62: curr_slack_x_U[ 2]= 2.2984743920336737e-01 +62: curr_slack_x_U[ 3]= 1.2146663690013222e+00 +62: curr_slack_x_U[ 4]= 3.6154779554543950e+00 +62: DenseVector "curr_z_L" with 4 elements: +62: curr_z_L[ 1]= 9.1359847272556971e-02 +62: curr_z_L[ 2]= 2.0094021675271253e-07 +62: curr_z_L[ 3]= 2.7198687810692657e-07 +62: curr_z_L[ 4]= 1.9701701739321991e-06 +62: DenseVector "curr_z_U" with 4 elements: +62: curr_z_U[ 1]= 1.8939432917743795e-07 +62: curr_z_U[ 2]= 3.2954349391034596e-06 +62: curr_z_U[ 3]= 6.2368375004522116e-07 +62: curr_z_U[ 4]= 2.0953681554571918e-07 +62: DenseVector "curr_slack_s_L" with 1 elements: +62: curr_slack_s_L[ 1]= 6.5647339927294075e-07 +62: DenseVector "curr_slack_s_U" with 0 elements: +62: DenseVector "curr_v_L" with 1 elements: +62: curr_v_L[ 1]= 1.1540081794823505e+00 +62: DenseVector "curr_v_U" with 0 elements: +62: +62: +62: ***Current NLP Values for Iteration 29: +62: +62: (scaled) (unscaled) +62: Objective...............: 1.4179363845795454e+00 1.7015236614954546e+01 +62: Dual infeasibility......: 3.5935438718364891e-03 4.3122526462037868e-02 +62: Constraint violation....: 2.5001567564686414e-06 2.5001567564686411e-05 +62: Complementarity.........: 7.5757575757575762e-07 9.0909090909090927e-06 +62: Overall NLP error.......: 3.5935438718364891e-03 4.3122526462037868e-02 +62: +62: DenseVector "grad_f" with 4 elements: +62: grad_f[ 1]= 1.2178605769559039e+00 +62: grad_f[ 2]= 1.1537779678742489e-01 +62: grad_f[ 3]= 1.9871113012075825e-01 +62: grad_f[ 4]= 7.9629780955198304e-01 +62: DenseVector "curr_c" with 1 elements: +62: curr_c[ 1]= 2.5001567564686414e-06 +62: DenseVector "curr_d" with 1 elements: +62: curr_d[ 1]=-1.8063455073047408e-07 +62: DenseVector "curr_d - curr_s" with 1 elements: +62: curr_d - curr_s[ 1]=-8.3670795000341482e-07 +62: +62: +62: +62: ************************************************** +62: *** Update Barrier Parameter for Iteration 29: +62: ************************************************** +62: +62: Staying in free mu mode. +62: The current filter has 5 entries. +62: phi theta iter +62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 +62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 +62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 +62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 +62: 5 1.4179363845795454e+00 3.3368647064720564e-06 29 +62: Solving the Primal Dual System for the affine step +62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 +62: delta_c=0.000000e+00 delta_d=0.000000e+00 +62: Factorization successful. +62: Number of trial factorizations performed: 1 +62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 +62: delta_c=0.000000e+00 delta_d=0.000000e+00 +62: Solving the Primal Dual System for the centering step +62: Factorization successful. +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.738783993512e-13 q = 5.738783993512e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.624492565989e-13 q = 5.624492565989e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: Sigma = 1.000021e+00 +62: Barrier parameter mu computed by oracle is 7.575758e-07 +62: Barrier parameter mu after safeguards is 7.575758e-07 +62: Barrier Parameter: 7.575758e-07 +62: +62: ************************************************** +62: *** Solving the Primal Dual System for Iteration 29: +62: ************************************************** +62: +62: max-norm resid_x 5.800482e-18 +62: max-norm resid_s 1.550409e-16 +62: max-norm resid_c 2.168404e-19 +62: max-norm resid_d 4.891615e-20 +62: max-norm resid_zL 2.781395e-22 +62: max-norm resid_zU 1.703992e-22 +62: max-norm resid_vL 1.517359e-22 +62: max-norm resid_vU 0.000000e+00 +62: nrm_rhs = 3.59e-03 nrm_sol = 3.57e-03 nrm_resid = 1.55e-16 +62: residual_ratio = 2.163952e-14 +62: Factorization successful. +62: max-norm resid_x 5.421011e-20 +62: max-norm resid_s 0.000000e+00 +62: max-norm resid_c 2.168404e-19 +62: max-norm resid_d 4.891615e-20 +62: max-norm resid_zL 2.067952e-25 +62: max-norm resid_zU 0.000000e+00 +62: max-norm resid_vL 2.584939e-26 +62: max-norm resid_vU 0.000000e+00 +62: nrm_rhs = 3.59e-03 nrm_sol = 3.57e-03 nrm_resid = 2.17e-19 +62: residual_ratio = 3.026507e-17 +62: +62: ************************************************** +62: *** Finding Acceptable Trial Point for Iteration 29: +62: ************************************************** +62: +62: --> Starting filter line search in iteration 29 <-- +62: Mu has changed in line search - resetting watchdog counters. +62: The current filter has 0 entries. +62: Relative step size for delta_x = 7.462732e-04 +62: minimal step size ALPHA_MIN = 8.814060E-11 +62: Starting checks for alpha (primal) = 1.00e+00 +62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: +62: New values of barrier function = 1.4179349507617285e+00 (reference 1.4179539188236050e+00): +62: New values of constraint violation = 2.6985653694903071e-06 (reference 3.3368647064720564e-06): +62: reference_theta = 3.336865e-06 reference_gradBarrTDelta = -1.892921e-05 +62: Checking sufficient reduction... +62: Succeeded... +62: Checking filter acceptability... +62: Succeeded... +62: reference_theta = 3.336865e-06 reference_gradBarrTDelta = -1.892921e-05 +62: +62: ************************************************** +62: *** Update HessianMatrix for Iteration 30: +62: ************************************************** +62: +62: In limited-memory update, s_new_max is 3.571166e-03 +62: Limited-Memory test for skipping: +62: s^Ty = -5.800725e-07 snrm = 4.498093e-03 ynrm = 2.797581e+00 +62: Skip the update. +62: Number of successive iterations with skipping: 2 +62: +62: +62: ************************************************** +62: *** Summary of Iteration: 30: +62: ************************************************** +62: +62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls +62: 30 1.7015009e+01 2.02e-06 3.23e-03 -6.1 3.57e-03 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2Ws +62: +62: ************************************************** +62: *** Beginning Iteration 30 from the following point: +62: ************************************************** +62: +62: Current barrier parameter mu = 7.5757575757575773e-07 +62: Current fraction-to-the-boundary parameter tau = 9.9640645612816348e-01 +62: +62: ||curr_x||_inf = 4.7674687956850281e+00 +62: ||curr_s||_inf = 6.5627046726556726e-07 +62: ||curr_y_c||_inf = 1.3537619089340375e-01 +62: ||curr_y_d||_inf = 1.1536618853622396e+00 +62: ||curr_z_L||_inf = 9.1284113471708436e-02 +62: ||curr_z_U||_inf = 3.2575147327371870e-06 +62: ||curr_v_L||_inf = 1.1536618853698155e+00 +62: ||curr_v_U||_inf = 0.0000000000000000e+00 62: 62: ||delta_x||_inf = 3.5711661642950665e-03 62: ||delta_s||_inf = 1.9706799262658854e-10 @@ -19154,6 +23409,1445 @@ 62: ||delta_y_d||_inf = 4.7604727372449165e-05 62: ||delta_z_L||_inf = 2.6319217812431577e-05 62: ||delta_z_U||_inf = 1.3052849235992848e-08 +102: oscillator 100K +103: Starting test TestObservedPointFitter ... +103: testUnconstrained ... +103: [min,max]=0,0.03 actual=0.000809921 +103: calc wrms=0.000809921 +103: [min,max]=0.1,0.5 actual=0.232392 +103: calc wrms=0.232392 +104: Done +105: Starting test TestParallelForces ... +106: passed +107: *** TEST PIN *** +107: +107: Vels B: +107: Fwd: ~[~[-2.69705,-0.486375,1.2204],~[1.67548,-3.21832,2.42012]] +107: Rev1: ~[~[-2.69705,-0.486375,1.2204],~[1.67548,-3.21832,2.42012]] +107: Rev2: ~[~[-2.69705,-0.486375,1.2204],~[1.67548,-3.21832,2.42012]] +107: Vels A: +107: Fwd: ~[~[0,0,0],~[0,0,0]] +107: Rev1: ~[~[1.77636e-15,6.66134e-16,2.22045e-16],~[-1.77636e-15,8.88178e-15,-8.88178e-15]] +107: Rev2: ~[~[1.77636e-15,6.66134e-16,2.22045e-16],~[-1.77636e-15,8.88178e-15,-8.88178e-15]] +107: Accels B: +107: Fwd: ~[~[1.57425,-0.124116,-0.111873],~[5.2446,4.36741,17.8908]] +107: -Rev1: 4.9952e-14 +107: -Rev2: 4.9952e-14 +107: Reacs BA: +107: Fwd: ~[~[949622,-88293,2.06353e+06],~[535429,-649888,-175556]] +107: Rev1: ~[~[949622,-88293,2.06353e+06],~[535429,-649888,-175556]] +107: Rev2: ~[~[949622,-88293,2.06353e+06],~[535429,-649888,-175556]] +107: +107: +107: *** TEST PLANAR *** +107: +107: rev2A.getU()=~[3,0.3,0.4] +107: Vels B: +107: Fwd: ~[~[-2.69705,-0.486375,1.2204],~[1.87334,-3.56763,2.71817]] +107: Rev2: ~[~[-2.69705,-0.486375,1.2204],~[1.87334,-3.56763,2.71817]] +107: Vels A: +107: Fwd: ~[~[0,0,0],~[0,0,0]] +107: Rev2: ~[~[1.77636e-15,6.66134e-16,2.22045e-16],~[-1.06581e-14,2.13163e-14,-2.13163e-14]] +107: Accels B: +107: Fwd: ~[~[0.00720742,-1.0927,-0.476968],~[11.179,-4.36922,17.7488]] +107: Rev2: ~[~[0.00720742,-1.0927,-0.476968],~[11.179,-4.36922,17.7488]] +107: Accels A: +107: Fwd: ~[~[0.296849,-1.04047,-0.608029],~[2.48362,-1.01537,1.26215]] +107: Rev2: ~[~[0.296849,-1.04047,-0.608029],~[2.48362,-1.01537,1.26215]] +107: Reacs BA: +107: Fwd AB:~[~[22146.6,378474,199770],~[7368.59,1327.49,-3337.83]] p_BA: ~[2.12132,-7.77817,-0] +107: Fwd: ~[~[5354,-418575,-155009],~[-7368.59,-1327.49,3337.83]] +107: Rev2: ~[~[5354,-418575,-155009],~[-7368.59,-1327.49,3337.83]] +107: Fwd-Rev2:~[~[-4.94612e-07,-1.02387e-07,3.87168e-07],~[6.5309e-08,-1.93904e-08,1.24477e-07]] +107: +107: +107: *** TEST ELLIPSOID *** +107: +107: rev2A.getU()=~[3,0.3,0.4] +107: Vels B: +107: Fwd: ~[~[0.0312865,-3.03711,-0.157978],~[2.82914,0.750522,-6.15521]] +107: Rev2: ~[~[0.0312865,-3.03711,-0.157978],~[2.82914,0.750522,-6.15521]] +107: Vels A: +107: Fwd: ~[~[0,0,0],~[0,0,0]] +107: Rev2: ~[~[8.32667e-16,3.9968e-15,6.66134e-16],~[-4.44089e-15,4.44089e-15,-1.95399e-14]] +107: Accels B: +107: Fwd: ~[~[-3.37501,0.68042,-5.65879],~[-19.2927,-28.0753,18.1957]] +107: Rev2: ~[~[-3.37501,0.68042,-5.65879],~[-19.2927,-28.0753,18.1957]] +107: Accels A: +107: Fwd: ~[~[1.49639,0.410827,5.54536],~[-23.0553,2.24072,6.40054]] +107: Rev2: ~[~[1.49639,0.410827,5.54536],~[-23.0553,2.24072,6.40054]] +107: Reacs BA: +107: Fwd AB:~[~[-63433.2,36458.5,-213676],~[452698,-428909,-174236]] p_BA: ~[-0.427439,0.00614846,-2.8905] +107: Fwd: ~[~[-379413,17764,-1.0704e+06],~[-452698,428909,174236]] +107: Rev2: ~[~[-379413,17764,-1.0704e+06],~[-452698,428909,174236]] +107: Fwd-Rev2:~[~[5.20376e-08,-2.95695e-08,3.21772e-07],~[5.72763e-08,-3.14321e-08,-1.62981e-08]] +107: +107: +107: *** TEST FREE *** +107: +107: Xforms B +107: Fwd: +107: [0.349155,0.112776,-0.930254,3.71404] +107: [-0.790144,-0.498243,-0.356969,0.435988] +107: [-0.50375,0.859672,-0.084855,-1.83642] +107: [0,0,0,1] +107: Rev2: +107: [0.349155,0.112776,-0.930254,3.71404] +107: [-0.790144,-0.498243,-0.356969,0.435988] +107: [-0.50375,0.859672,-0.084855,-1.83642] +107: [0,0,0,1] +107: Xforms A +107: Fwd: +107: [0.221223,0.752914,-0.619823,3.69964] +107: [-0.335192,-0.538147,-0.773334,-4.14483] +107: [-0.915809,0.378839,0.13332,-2.62572] +107: [0,0,0,1] +107: Rev2: +107: [0.221223,0.752914,-0.619823,3.69964] +107: [-0.335192,-0.538147,-0.773334,-4.14483] +107: [-0.915809,0.378839,0.13332,-2.62572] +107: [0,0,0,1] +107: rev2A.getU()=~[100,200,-330,3000,300,400] +107: Vels B: +107: Fwd: ~[~[391.236,-72.3199,24.5867],~[106.168,-2536.77,122.184]] +107: Rev2: ~[~[391.236,-72.3199,24.5867],~[106.168,-2536.77,122.184]] +107: Vels A: +107: Fwd: ~[~[0,0,0],~[0,0,0]] +107: Rev2: ~[~[-3.97904e-13,5.68434e-14,-2.55795e-13],~[-2.27374e-12,4.54747e-12,0]] +107: Accels B: +107: Fwd: ~[~[6545.17,-10626.3,-64881.2],~[92586.9,-637601,210614]] +107: Rev2: ~[~[6545.17,-10626.3,-64881.2],~[92586.9,-637601,210614]] +107: Fwd-Rev2: ~[~[4.16276e-09,-9.82254e-10,-1.71494e-08],~[4.53001e-08,-3.48082e-08,1.4843e-08]] +107: Accels A: +107: Fwd: ~[~[-0.101535,-0.00492003,0.15316],~[-0.590412,-1.00306,-0.392635]] +107: Rev2: ~[~[-0.101535,-0.00492003,0.15316],~[-0.590412,-1.00306,-0.392635]] +107: Fwd-Rev2: ~[~[6.88029e-10,-1.31533e-10,3.36745e-09],~[-6.17808e-09,1.96645e-09,8.15443e-10]] +107: Reacs BA: +107: Fwd AB:~[~[3253.78,3574.38,1240.65],~[4017.71,-243.079,2882.42]] p_BA: ~[-1.20929,-2.36613,3.43948] +107: Fwd: ~[~[-561.571,6789.64,-4119.21],~[-4017.71,243.079,-2882.42]] +107: Rev2: ~[~[-561.57,6789.64,-4119.22],~[-4017.71,243.079,-2882.42]] +107: Fwd-Rev2:~[~[-0.000942909,-0.000704297,0.00833635],~[0.000980674,0.000141229,-0.000127115]] +107: Fwd: ~[~[-561.571,6789.64,-4119.21],~[-4017.71,243.079,-2882.42]] +107: Rev: ~[~[-561.57,6789.64,-4119.22],~[-4017.71,243.079,-2882.42]] +107: Done + 77/108 Test #97: TestLinearBushing .............................. Passed 0.15 sec + 78/108 Test #104: TestOrientedBoundingBox ........................ Passed 0.04 sec + 79/108 Test #106: TestPimpl1 ..................................... Passed 0.03 sec + 80/108 Test #107: TestReverseMobilizers .......................... Passed 0.03 sec +86: verrLeft=~[0.00216326 0 -0.334881 1.72281 -0.352038 0.66491] +86: verrApplied=~[-4.27218 -4.77034 -0.336161 4.72505 -0.341307 4.42951] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.334881,1.72281, mag=1.75505 +86: Participating contact 1 is Sliding; vel=-0.352038,0.66491, mag=0.752353 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.334881,1.72281, mag=1.75505 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.352038,0.66491, mag=0.752353 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-4.27001; guess pi=-0.01 +86: DBG: active normal 3 has v=-4.77034; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00216326 0 -0.334881 1.72281 -0.352038 0.66491] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-4.27218 -4.77034 -0.336161 4.72505 -0.341307 4.42951] +86: : rhsActive=~[-4.27001 -0.671042 6.44786 -4.77034 -0.693346 5.09442] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.1127e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=6.39662... +86: > NEWTON iter 1: errNorm=6.39662(v) -> deltaNorm=14.8284(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[4.26631 0.000334881 -0.00172281 4.76606 0.000352038 -0.00066491] +86: > deltaPi=~[11.5178 0.219954 -1.13156 9.22171 0.43195 -0.815843] +86: DBG: Line search iter 1: back=1, prevNorm=6.39662. +86: > piNow=~[-11.5278 -0.219954 1.13156 -9.23171 -0.43195 0.815843] +86: > errNow=~[8.88178e-16 1.43672e-05 -7.39125e-05 8.88178e-16 1.20924e-05 -2.28394e-05] normNow=7.96074e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.24452e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.9047e-10 +86: > NEWTON iter 2: errNorm=7.96074e-05(v) -> deltaNorm=8.00306e-05(pi) +86: > piActive=~[-11.5278 -0.219954 1.13156 -9.23171 -0.43195 0.815843] +86: > errActive=~[8.88178e-16 1.43672e-05 -7.39125e-05 8.88178e-16 1.20924e-05 -2.28394e-05] +86: > deltaPi=~[-4.58855e-06 8.09864e-06 -4.16637e-05 -6.15419e-05 1.31931e-05 -2.49184e-05] +86: DBG: Line search iter 1: back=1, prevNorm=7.96074e-05. +86: > piNow=~[-11.5278 -0.219962 1.1316 -9.23165 -0.431963 0.815868] +86: > errNow=~[0 -5.55112e-17 2.22045e-16 -8.88178e-16 -1.11022e-16 1.11022e-16] normNow=9.30536e-16 +86: DBG: Improvement rate now/prev at iter 2 is 1.16891e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.30536e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.334881,1.72281] to ~[-0.253617,1.64873] +86: DBG: Friction 0 rotated 2.25504 deg, less than max 30 +86: slipVel 1 from ~[-0.352038,0.66491] to ~[-0.267939,0.765542] +86: DBG: Friction 1 rotated 8.60908 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-11.5278 -0.219962 1.1316 -9.23165 -0.431963 0.815868] +86: : m_verrLeft=~[0 8.88178e-16 -0.253617 1.64873 -0.267939 0.765542] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-11.5278 verr=0 pi*v=-0 +86: DBG: 1: pi=-9.23165 verr=8.88178e-16 pi*v=-8.19935e-15 +86: SP FINAL 1 intervals, piTotal=~[-11.5278 -9.23165 -0.219962 1.1316 -0.431963 0.815868] errNorm=9.30536e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.334881 1.72281, |slipV|=1.75505 +86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.352038 0.66491, |slipV|=0.752353 +86: ------------------------------ +86: +86: dynamics impulse=~[-11.5278 -9.23165 -0.219962 1.1316 -0.431963 0.815868] +86: updated verrStart=~[0 8.88178e-16 -0.253617 1.64873 -0.267939 0.765542] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.886016 0.175768 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.278391 0.091963 -0.177464 -0.100353 -0.180245 -0.263706] +86: [0.091963 0.336271 0.224813 -0.32407 0.228433 -0.111579] +86: [-0.177464 0.224813 0.404072 -0.228468 0.410787 0.167999] +86: [-0.100353 -0.32407 -0.228468 0.361385 -0.232681 0.111386] +86: [-0.180245 0.228433 0.410787 -0.232681 0.417626 0.171145] +86: [-0.263706 -0.111579 0.167999 0.111386 0.171145 0.298715] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.522419 rank=2 +86: rhs=~[0.886016 0.175768 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[3.3089 -0.382217] +86: -> pi=~[3.3089 -0.382217 0 0 0 0] +86: resid active=~[2.22045e-16 1.66533e-16] +86: resid=~[2.22045e-16 1.66533e-16 -0.673137 -0.208191 -0.683724 -0.829929] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[4.44089e-15 3.10862e-15 -0.253617 1.64873 -0.267939 0.765542] +86: perr=~[0.000886016 0.000175768 -1.11022e-16] +86: END OF STEP (0.011,0.012): +86: verr=~[0.00158388 -0.00116421 -0.252997 1.65918 -0.268101 0.776009] +86: perr=~[0.000886808 0.000175186 -1.11022e-16] +86: constraint status: +86: 4: cont UniActive fric Sliding +86: 6: cont UniActive fric Sliding +86: Proximal unilateral contacts: (4,6) +86: Distal unilateral contacts: (0,1,2,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 4 verr speed=1.67836 -> mu=0.1 +86: DBG: Uni fric 6 verr speed=0.821017 -> mu=0.1 +86: DBG: Uni contact 6 verr vel=-0.00116421 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.00158388 -0.00116421 -0.252997 1.65918 -0.268101 0.776009] +86: IMP t=0.012 verr=~[0.00158388 -0.00116421 -0.252997 1.65918 -0.268101 0.776009] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00158388 -0.00116421 -0.252997 1.65918 -0.268101 0.776009] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.252997,1.65918, mag=1.67836 +86: Participating contact 1 is Sliding; vel=-0.268101,0.776009, mag=0.821017 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.252997,1.65918, mag=1.67836 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.268101,0.776009, mag=0.821017 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.00158388; guess pi=0.01 +86: DBG: active normal 3 has v=-0.00116421; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00158388 -0.00116421 -0.252997 1.65918 -0.268101 0.776009] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.00158388 -0.252997 1.65918 -0.00116421 -0.268101 0.776009] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.9596e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00151247... +86: > NEWTON iter 1: errNorm=0.00151247(v) -> deltaNorm=0.00506205(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.000239515 0 0 -0.00124745 0.000268101 -0.000776009] +86: > deltaPi=~[0.00204597 1.14879e-09 -7.53388e-09 -0.00459854 0.000176389 -0.000510552] +86: DBG: Line search iter 1: back=1, prevNorm=0.00151247. +86: > piNow=~[0.00795403 -1.14879e-09 7.53388e-09 -0.00540146 -0.000176389 0.000510552] +86: > errNow=~[-2.1684e-19 -1.92808e-09 1.26446e-08 4.33681e-19 -4.5923e-09 1.32923e-08] normNow=1.90099e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.25687e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.44029e-05 +86: > NEWTON iter 2: errNorm=1.90099e-08(v) -> deltaNorm=2.39697e-08(pi) +86: > piActive=~[0.00795403 -1.14879e-09 7.53388e-09 -0.00540146 -0.000176389 0.000510552] +86: > errActive=~[-2.1684e-19 -1.92808e-09 1.26446e-08 4.33681e-19 -4.5923e-09 1.32923e-08] +86: > deltaPi=~[8.05462e-09 -1.14878e-09 7.53384e-09 1.43251e-08 -5.1257e-09 1.48362e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.90099e-08. +86: > piNow=~[0.00795403 -7.14798e-15 4.68773e-14 -0.00540147 -0.000176384 0.000510537] +86: > errNow=~[-2.1684e-19 -1.19969e-14 7.8677e-14 -4.33681e-19 4.90194e-14 -1.41885e-13] normNow=1.69907e-13 +86: DBG: Improvement rate now/prev at iter 2 is 8.9378e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.69907e-13. +86: DBG: Worst offender is normal contact 0 err=0.00795403 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.252997,1.65918, mag=1.67836 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.268101,0.776009, mag=0.821017 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.00116421; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00158388 -0.00116421 -0.252997 1.65918 -0.268101 0.776009] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00116421 -0.268101 0.776009] +86: : pi was=~[0 -0.00540147 -7.14798e-15 4.68773e-14 -0.000176384 0.000510537] +86: : piActive=~[-0.01 -0.000176384 0.000510537] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.05818e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00229996... +86: > NEWTON iter 1: errNorm=0.00229996(v) -> deltaNorm=0.006692(pi) +86: > piActive=~[-0.01 -0.000176384 0.000510537] +86: > errActive=~[-0.00226876 0.000123287 -0.00035685] +86: > deltaPi=~[-0.00668873 -6.8247e-05 0.000197539] +86: DBG: Line search iter 1: back=1, prevNorm=0.00229996. +86: > piNow=~[-0.00331127 -0.000108137 0.000312998] +86: > errNow=~[-1.30104e-18 -6.67965e-09 1.9334e-08] normNow=2.04554e-08 +86: DBG: Improvement rate now/prev at iter 1 is 8.89379e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.78664e-05 +86: > NEWTON iter 2: errNorm=2.04554e-08(v) -> deltaNorm=2.68697e-08(pi) +86: > piActive=~[-0.00331127 -0.000108137 0.000312998] +86: > errActive=~[-1.30104e-18 -6.67965e-09 1.9334e-08] +86: > deltaPi=~[1.27772e-08 -7.71873e-09 2.23416e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.04554e-08. +86: > piNow=~[-0.00331128 -0.000108129 0.000312976] +86: > errNow=~[0 1.16269e-13 -3.36536e-13] normNow=3.56054e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.74064e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.56054e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.268101,0.776009] to ~[-0.267361,0.775561] +86: DBG: Friction 1 rotated 0.0386196 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00331128 -0.000108129 0.000312976] +86: : m_verrLeft=~[0.00195252 0 -0.252269 1.65805 -0.267361 0.775561] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.00195252 pi*v=0 +86: DBG: 1: pi=-0.00331128 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00331128 0 0 -0.000108129 0.000312976] errNorm=3.56054e-13 +86: Postcompression verr=~[0.00195252 0 -0.252269 1.65805 -0.267361 0.775561] +86: impulse=~[0 -0.00331128 0 0 -0.000108129 0.000312976] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00331128 0 0 -0.000108129 0.000312976]-> du ~[0.000769799 -0.00151371 0.000684452 0.00074329 3.18325e-05 -0.000733486 0.00286256 -0.00155325] +86: Now verr0=~[0.00195252 4.44089e-16 -0.252269 1.65805 -0.267361 0.775561] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.00195252 4.44089e-16 -0.252269 1.65805 -0.267361 0.775561] +86: verrExt=~[-3.74032 -4.21939 -0.326338 4.19077 -0.331571 3.90472] +86: total verr=~[-3.73836 -4.21939 -0.578608 5.84882 -0.598932 4.68028] +86: DYN t=0.012: verrStart=~[0.00195252 4.44089e-16 -0.252269 1.65805 -0.267361 0.775561] +86: verrApplied=~[-3.74032 -4.21939 -0.326338 4.19077 -0.331571 3.90472] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00195252 4.44089e-16 -0.252269 1.65805 -0.267361 0.775561] +86: verrApplied=~[-3.74032 -4.21939 -0.326338 4.19077 -0.331571 3.90472] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.252269,1.65805, mag=1.67713 +86: Participating contact 1 is Sliding; vel=-0.267361,0.775561, mag=0.820352 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.252269,1.65805, mag=1.67713 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.267361,0.775561, mag=0.820352 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-3.73836; guess pi=-0.01 +86: DBG: active normal 3 has v=-4.21939; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00195252 4.44089e-16 -0.252269 1.65805 -0.267361 0.775561] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-3.74032 -4.21939 -0.326338 4.19077 -0.331571 3.90472] +86: : rhsActive=~[-3.73836 -0.578608 5.84882 -4.21939 -0.598932 4.68028] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.9544e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=5.63163... +86: > NEWTON iter 1: errNorm=5.63163(v) -> deltaNorm=13.058(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[3.73469 0.000252269 -0.00165805 4.21513 0.000267361 -0.000775561] +86: > deltaPi=~[9.92863 0.149488 -0.982519 8.38109 0.273464 -0.793265] +86: DBG: Line search iter 1: back=1, prevNorm=5.63163. +86: > piNow=~[-9.93863 -0.149488 0.982519 -8.39109 -0.273464 0.793265] +86: > errNow=~[4.44089e-16 9.32965e-06 -6.13195e-05 -8.88178e-16 8.34662e-06 -2.42119e-05] normNow=6.71045e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.19156e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.02975e-10 +86: > NEWTON iter 2: errNorm=6.71045e-05(v) -> deltaNorm=6.71638e-05(pi) +86: > piActive=~[-9.93863 -0.149488 0.982519 -8.39109 -0.273464 0.793265] +86: > errActive=~[4.44089e-16 9.32965e-06 -6.13195e-05 -8.88178e-16 8.34662e-06 -2.42119e-05] +86: > deltaPi=~[-1.13258e-05 5.3925e-06 -3.54424e-05 -4.90409e-05 8.57615e-06 -2.48777e-05] +86: DBG: Line search iter 1: back=1, prevNorm=6.71045e-05. +86: > piNow=~[-9.93862 -0.149494 0.982555 -8.39104 -0.273473 0.79329] +86: > errNow=~[-4.44089e-16 0 -2.22045e-16 -8.88178e-16 -8.32667e-17 2.22045e-16] normNow=1.0448e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.55698e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.0448e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.252269,1.65805] to ~[-0.180452,1.58299] +86: DBG: Friction 0 rotated 2.14778 deg, less than max 30 +86: slipVel 1 from ~[-0.267361,0.775561] to ~[-0.192826,0.859319] +86: DBG: Friction 1 rotated 6.3734 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-9.93862 -0.149494 0.982555 -8.39104 -0.273473 0.79329] +86: : m_verrLeft=~[4.44089e-16 1.77636e-15 -0.180452 1.58299 -0.192826 0.859319] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-9.93862 verr=4.44089e-16 pi*v=-4.41363e-15 +86: DBG: 1: pi=-8.39104 verr=1.77636e-15 pi*v=-1.49055e-14 +86: SP FINAL 1 intervals, piTotal=~[-9.93862 -8.39104 -0.149494 0.982555 -0.273473 0.79329] errNorm=1.0448e-15 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.252269 1.65805, |slipV|=1.67713 +86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.267361 0.775561, |slipV|=0.820352 +86: ------------------------------ +86: +86: dynamics impulse=~[-9.93862 -8.39104 -0.149494 0.982555 -0.273473 0.79329] +86: updated verrStart=~[4.44089e-16 1.77636e-15 -0.180452 1.58299 -0.192826 0.859319] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.886808 0.175186 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.274732 0.092392 -0.173917 -0.101368 -0.176783 -0.26143] +86: [0.092392 0.333558 0.222116 -0.323486 0.225891 -0.112719] +86: [-0.173917 0.222116 0.39874 -0.227297 0.405733 0.165175] +86: [-0.101368 -0.323486 -0.227297 0.363248 -0.231733 0.113105] +86: [-0.176783 0.225891 0.405733 -0.231733 0.412863 0.168445] +86: [-0.26143 -0.112719 0.165175 0.113105 0.168445 0.298118] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.516532 rank=2 +86: rhs=~[0.886808 0.175186 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[3.36471 -0.406784] +86: -> pi=~[3.36471 -0.406784 0 0 0 0] +86: resid active=~[0 -5.55112e-17] +86: resid=~[0 -5.55112e-17 -0.675532 -0.209485 -0.686713 -0.833783] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-2.66454e-15 -3.10862e-15 -0.180452 1.58299 -0.192826 0.859319] +86: perr=~[0.000886808 0.000175186 -1.11022e-16] +86: END OF STEP (0.012,0.013): +86: verr=~[0.00141985 -0.000907186 -0.179945 1.59384 -0.192845 0.870184] +86: perr=~[0.000887518 0.000174732 -1.11022e-16] +86: constraint status: +86: 4: cont UniActive fric Sliding +86: 6: cont UniActive fric Sliding +86: Proximal unilateral contacts: (4,6) +86: Distal unilateral contacts: (0,1,2,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 4 verr speed=1.60397 -> mu=0.1 +86: DBG: Uni fric 6 verr speed=0.891296 -> mu=0.1 +86: DBG: Uni contact 6 verr vel=-0.000907186 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.00141985 -0.000907186 -0.179945 1.59384 -0.192845 0.870184] +86: IMP t=0.013 verr=~[0.00141985 -0.000907186 -0.179945 1.59384 -0.192845 0.870184] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00141985 -0.000907186 -0.179945 1.59384 -0.192845 0.870184] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.179945,1.59384, mag=1.60397 +86: Participating contact 1 is Sliding; vel=-0.192845,0.870184, mag=0.891296 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.179945,1.59384, mag=1.60397 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.192845,0.870184, mag=0.891296 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.00141985; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000907186; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00141985 -0.000907186 -0.179945 1.59384 -0.192845 0.870184] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.00141985 -0.179945 1.59384 -0.000907186 -0.192845 0.870184] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.83503e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00175967... +86: > NEWTON iter 1: errNorm=0.00175967(v) -> deltaNorm=0.00619217(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.000367137 0 0 -0.00147215 0.000192845 -0.000870184] +86: > deltaPi=~[0.00286477 1.19715e-09 -1.06035e-08 -0.00547092 9.79978e-05 -0.0004422] +86: DBG: Line search iter 1: back=1, prevNorm=0.00175967. +86: > piNow=~[0.00713523 -1.19715e-09 1.06035e-08 -0.00452908 -9.79978e-05 0.0004422] +86: > errNow=~[-4.33681e-19 -1.92018e-09 1.70077e-08 5.42101e-19 -3.92989e-09 1.7733e-08] normNow=2.4957e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.41828e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.99854e-05 +86: > NEWTON iter 2: errNorm=2.4957e-08(v) -> deltaNorm=2.99412e-08(pi) +86: > piActive=~[0.00713523 -1.19715e-09 1.06035e-08 -0.00452908 -9.79978e-05 0.0004422] +86: > errActive=~[-4.33681e-19 -1.92018e-09 1.70077e-08 5.42101e-19 -3.92989e-09 1.7733e-08] +86: > deltaPi=~[1.24265e-08 -1.19714e-09 1.06035e-08 1.66758e-08 -4.04845e-09 1.8268e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.4957e-08. +86: > piNow=~[0.00713522 -1.01986e-14 9.03329e-14 -0.0045291 -9.79937e-05 0.000442181] +86: > errNow=~[0 -1.63582e-14 1.44891e-13 2.1684e-19 5.83713e-14 -2.63391e-13] normNow=3.06665e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.22877e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.06665e-13. +86: DBG: Worst offender is normal contact 0 err=0.00713522 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.179945,1.59384, mag=1.60397 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.192845,0.870184, mag=0.891296 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000907186; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00141985 -0.000907186 -0.179945 1.59384 -0.192845 0.870184] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000907186 -0.192845 0.870184] +86: : pi was=~[0 -0.0045291 -1.01986e-14 9.03329e-14 -9.79937e-05 0.000442181] +86: : piActive=~[-0.01 -9.79937e-05 0.000442181] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.31997e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00252357... +86: > NEWTON iter 1: errNorm=0.00252357(v) -> deltaNorm=0.00738855(pi) +86: > piActive=~[-0.01 -9.79937e-05 0.000442181] +86: > errActive=~[-0.00247601 0.000105504 -0.000476069] +86: > deltaPi=~[-0.00738607 -4.14314e-05 0.000186953] +86: DBG: Line search iter 1: back=1, prevNorm=0.00252357. +86: > piNow=~[-0.00261393 -5.65623e-05 0.000255228] +86: > errNow=~[7.58942e-19 -5.30559e-09 2.39406e-08] normNow=2.45215e-08 +86: DBG: Improvement rate now/prev at iter 1 is 9.717e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.85158e-05 +86: > NEWTON iter 2: errNorm=2.45215e-08(v) -> deltaNorm=2.91405e-08(pi) +86: > piActive=~[-0.00261393 -5.65623e-05 0.000255228] +86: > errActive=~[7.58942e-19 -5.30559e-09 2.39406e-08] +86: > deltaPi=~[1.26599e-08 -5.6789e-09 2.56252e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.45215e-08. +86: > piNow=~[-0.00261395 -5.65566e-05 0.000255203] +86: > errNow=~[1.0842e-19 1.32892e-13 -5.99655e-13] normNow=6.14204e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.50476e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.14204e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.192845,0.870184] to ~[-0.192281,0.869819] +86: DBG: Friction 1 rotated 0.030374 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00261395 -5.65566e-05 0.000255203] +86: : m_verrLeft=~[0.00171989 -1.0842e-19 -0.17939 1.59295 -0.192281 0.869819] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.00171989 pi*v=0 +86: DBG: 1: pi=-0.00261395 verr=-1.0842e-19 pi*v=2.83405e-22 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00261395 0 0 -5.65566e-05 0.000255203] errNorm=6.14204e-13 +86: Postcompression verr=~[0.00171989 -1.0842e-19 -0.17939 1.59295 -0.192281 0.869819] +86: impulse=~[0 -0.00261395 0 0 -5.65566e-05 0.000255203] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00261395 0 0 -5.65566e-05 0.000255203]-> du ~[0.000585914 -0.00119665 0.000523438 0.000585359 2.11117e-05 -0.00058198 0.00226022 -0.00123751] +86: Now verr0=~[0.00171989 0 -0.17939 1.59295 -0.192281 0.869819] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.00171989 0 -0.17939 1.59295 -0.192281 0.869819] +86: verrExt=~[-3.17131 -3.59229 -0.283955 3.575 -0.288634 3.32937] +86: total verr=~[-3.16959 -3.59229 -0.463346 5.16795 -0.480914 4.19918] +86: DYN t=0.013: verrStart=~[0.00171989 0 -0.17939 1.59295 -0.192281 0.869819] +86: verrApplied=~[-3.17131 -3.59229 -0.283955 3.575 -0.288634 3.32937] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00171989 0 -0.17939 1.59295 -0.192281 0.869819] +86: verrApplied=~[-3.17131 -3.59229 -0.283955 3.575 -0.288634 3.32937] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.17939,1.59295, mag=1.60302 +86: Participating contact 1 is Sliding; vel=-0.192281,0.869819, mag=0.890818 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.17939,1.59295, mag=1.60302 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.192281,0.869819, mag=0.890818 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-3.16959; guess pi=-0.01 +86: DBG: active normal 3 has v=-3.59229; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00171989 0 -0.17939 1.59295 -0.192281 0.869819] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-3.17131 -3.59229 -0.283955 3.575 -0.288634 3.32937] +86: : rhsActive=~[-3.16959 -0.463346 5.16795 -3.59229 -0.480914 4.19918] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.83109e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=4.7851... +86: > NEWTON iter 1: errNorm=4.7851(v) -> deltaNorm=11.1068(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[3.16594 0.00017939 -0.00159295 3.58804 0.000192281 -0.000869819] +86: > deltaPi=~[8.31882 0.0932024 -0.827619 7.27558 0.157251 -0.711358] +86: DBG: Line search iter 1: back=1, prevNorm=4.7851. +86: > piNow=~[-8.32882 -0.0932024 0.827619 -7.28558 -0.157251 0.711358] +86: > errNow=~[4.44089e-16 5.55869e-06 -4.93601e-05 1.77636e-15 5.21093e-06 -2.35726e-05] normNow=5.52281e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.15417e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.45058e-10 +86: > NEWTON iter 2: errNorm=5.52281e-05(v) -> deltaNorm=5.54037e-05(pi) +86: > piActive=~[-8.32882 -0.0932024 0.827619 -7.28558 -0.157251 0.711358] +86: > errActive=~[4.44089e-16 5.55869e-06 -4.93601e-05 1.77636e-15 5.21093e-06 -2.35726e-05] +86: > deltaPi=~[-1.45406e-05 3.30491e-06 -2.9347e-05 -3.79867e-05 5.02966e-06 -2.27527e-05] +86: DBG: Line search iter 1: back=1, prevNorm=5.52281e-05. +86: > piNow=~[-8.3288 -0.0932057 0.827649 -7.28554 -0.157256 0.71138] +86: > errNow=~[0 -2.77556e-17 2.22045e-16 4.44089e-16 -8.32667e-17 4.44089e-16] normNow=6.71891e-16 +86: DBG: Improvement rate now/prev at iter 2 is 1.21658e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.71891e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.17939,1.59295] to ~[-0.116414,1.51579] +86: DBG: Friction 0 rotated 2.03355 deg, less than max 30 +86: slipVel 1 from ~[-0.192281,0.869819] to ~[-0.126753,0.935733] +86: DBG: Friction 1 rotated 4.75098 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-8.3288 -0.0932057 0.827649 -7.28554 -0.157256 0.71138] +86: : m_verrLeft=~[0 -4.44089e-16 -0.116414 1.51579 -0.126753 0.935733] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-8.3288 verr=0 pi*v=-0 +86: DBG: 1: pi=-7.28554 verr=-4.44089e-16 pi*v=3.23543e-15 +86: SP FINAL 1 intervals, piTotal=~[-8.3288 -7.28554 -0.0932057 0.827649 -0.157256 0.71138] errNorm=6.71891e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.17939 1.59295, |slipV|=1.60302 +86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.192281 0.869819, |slipV|=0.890818 +86: ------------------------------ +86: +86: dynamics impulse=~[-8.3288 -7.28554 -0.0932057 0.827649 -0.157256 0.71138] +86: updated verrStart=~[0 -4.44089e-16 -0.116414 1.51579 -0.126753 0.935733] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.887518 0.174732 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.271851 0.0931527 -0.170905 -0.102665 -0.173838 -0.26009] +86: [0.0931527 0.331087 0.2195 -0.323275 0.223399 -0.114062] +86: [-0.170905 0.2195 0.39426 -0.226375 0.401481 0.163144] +86: [-0.102665 -0.323275 -0.226375 0.365628 -0.230999 0.115014] +86: [-0.173838 0.223399 0.401481 -0.230999 0.40885 0.16652] +86: [-0.26009 -0.114062 0.163144 0.115014 0.16652 0.298598] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.510302 rank=2 +86: rhs=~[0.887518 0.174732 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[3.41292 -0.432486] +86: -> pi=~[3.41292 -0.432486 0 0 0 0] +86: resid active=~[2.22045e-16 1.94289e-16] +86: resid=~[2.22045e-16 1.94289e-16 -0.678213 -0.210574 -0.689911 -0.838334] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[8.88178e-16 1.33227e-15 -0.116414 1.51579 -0.126753 0.935733] +86: perr=~[0.000887518 0.000174732 -1.11022e-16] +86: END OF STEP (0.013,0.014): +86: verr=~[0.00125602 -0.000650745 -0.115993 1.52692 -0.12667 0.946872] +86: perr=~[0.000888146 0.000174407 -1.11022e-16] +86: constraint status: +86: 4: cont UniActive fric Sliding +86: 6: cont UniActive fric Sliding +86: Proximal unilateral contacts: (4,6) +86: Distal unilateral contacts: (0,1,2,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 4 verr speed=1.53132 -> mu=0.1 +86: DBG: Uni fric 6 verr speed=0.955307 -> mu=0.1 +86: DBG: Uni contact 6 verr vel=-0.000650745 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.00125602 -0.000650745 -0.115993 1.52692 -0.12667 0.946872] +86: IMP t=0.014 verr=~[0.00125602 -0.000650745 -0.115993 1.52692 -0.12667 0.946872] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00125602 -0.000650745 -0.115993 1.52692 -0.12667 0.946872] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.115993,1.52692, mag=1.53132 +86: Participating contact 1 is Sliding; vel=-0.12667,0.946872, mag=0.955307 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.115993,1.52692, mag=1.53132 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.12667,0.946872, mag=0.955307 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.00125602; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000650745; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00125602 -0.000650745 -0.115993 1.52692 -0.12667 0.946872] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.00125602 -0.115993 1.52692 -0.000650745 -0.12667 0.946872] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.72291e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00200899... +86: > NEWTON iter 1: errNorm=0.00200899(v) -> deltaNorm=0.0074302(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.000498295 0 0 -0.00169562 0.00012667 -0.000946872] +86: > deltaPi=~[0.00376761 1.06303e-09 -1.39936e-08 -0.00639397 4.78177e-05 -0.000357443] +86: DBG: Line search iter 1: back=1, prevNorm=0.00200899. +86: > piNow=~[0.00623239 -1.06303e-09 1.39936e-08 -0.00360603 -4.78177e-05 0.000357443] +86: > errNow=~[-2.1684e-19 -1.62784e-09 2.14286e-08 0 -3.01686e-09 2.25514e-08] normNow=3.1297e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.55785e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.1037e-05 +86: > NEWTON iter 2: errNorm=3.1297e-08(v) -> deltaNorm=3.65495e-08(pi) +86: > piActive=~[0.00623239 -1.06303e-09 1.39936e-08 -0.00360603 -4.78177e-05 0.000357443] +86: > errActive=~[-2.1684e-19 -1.62784e-09 2.14286e-08 0 -3.01686e-09 2.25514e-08] +86: > deltaPi=~[1.71084e-08 -1.06302e-09 1.39934e-08 1.91438e-08 -2.90424e-09 2.17095e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.1297e-08. +86: > piNow=~[0.00623237 -1.24252e-14 1.63564e-13 -0.00360605 -4.78148e-05 0.000357421] +86: > errNow=~[0 -1.90269e-14 2.50468e-13 -2.1684e-19 6.94113e-14 -5.18858e-13] normNow=5.80627e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.85521e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.80627e-13. +86: DBG: Worst offender is normal contact 0 err=0.00623237 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.115993,1.52692, mag=1.53132 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.12667,0.946872, mag=0.955307 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000650745; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00125602 -0.000650745 -0.115993 1.52692 -0.12667 0.946872] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000650745 -0.12667 0.946872] +86: : pi was=~[0 -0.00360605 -1.24252e-14 1.63564e-13 -4.78148e-05 0.000357421] +86: : piActive=~[-0.01 -4.78148e-05 0.000357421] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.5584e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00275728... +86: > NEWTON iter 1: errNorm=0.00275728(v) -> deltaNorm=0.0081054(pi) +86: > piActive=~[-0.01 -4.78148e-05 0.000357421] +86: > errActive=~[-0.00268877 8.09921e-05 -0.000605425] +86: > deltaPi=~[-0.0081036 -2.26653e-05 0.000169426] +86: DBG: Line search iter 1: back=1, prevNorm=0.00275728. +86: > piNow=~[-0.0018964 -2.51495e-05 0.000187995] +86: > errNow=~[-1.0842e-19 -3.82352e-09 2.85812e-08] normNow=2.88358e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.04581e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.86499e-05 +86: > NEWTON iter 2: errNorm=2.88358e-08(v) -> deltaNorm=3.15663e-08(pi) +86: > piActive=~[-0.0018964 -2.51495e-05 0.000187995] +86: > errActive=~[-1.0842e-19 -3.82352e-09 2.85812e-08] +86: > deltaPi=~[1.26486e-08 -3.83486e-09 2.8666e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.88358e-08. +86: > piNow=~[-0.00189641 -2.51457e-05 0.000187967] +86: > errNow=~[1.0842e-19 1.65451e-13 -1.23676e-12] normNow=1.24778e-12 +86: DBG: Improvement rate now/prev at iter 2 is 4.32719e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.24778e-12. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.12667,0.946872] to ~[-0.126272,0.946601] +86: DBG: Friction 1 rotated 0.0215192 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00189641 -2.51457e-05 0.000187967] +86: : m_verrLeft=~[0.00147899 -1.0842e-19 -0.115602 1.52628 -0.126272 0.946601] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.00147899 pi*v=0 +86: DBG: 1: pi=-0.00189641 verr=-1.0842e-19 pi*v=2.05609e-22 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00189641 0 0 -2.51457e-05 0.000187967] errNorm=1.24778e-12 +86: Postcompression verr=~[0.00147899 -1.0842e-19 -0.115602 1.52628 -0.126272 0.946601] +86: impulse=~[0 -0.00189641 0 0 -2.51457e-05 0.000187967] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00189641 0 0 -2.51457e-05 0.000187967]-> du ~[0.000411841 -0.000869418 0.00037035 0.000423545 1.22871e-05 -0.000424446 0.00164144 -0.000910729] +86: Now verr0=~[0.00147899 0 -0.115602 1.52628 -0.126272 0.946601] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.00147899 0 -0.115602 1.52628 -0.126272 0.946601] +86: verrExt=~[-2.57056 -2.90163 -0.214572 2.88789 -0.218096 2.70924] +86: total verr=~[-2.56908 -2.90163 -0.330174 4.41417 -0.344368 3.65585] +86: DYN t=0.014: verrStart=~[0.00147899 0 -0.115602 1.52628 -0.126272 0.946601] +86: verrApplied=~[-2.57056 -2.90163 -0.214572 2.88789 -0.218096 2.70924] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00147899 0 -0.115602 1.52628 -0.126272 0.946601] +86: verrApplied=~[-2.57056 -2.90163 -0.214572 2.88789 -0.218096 2.70924] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.115602,1.52628, mag=1.53065 +86: Participating contact 1 is Sliding; vel=-0.126272,0.946601, mag=0.954986 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.115602,1.52628, mag=1.53065 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.126272,0.946601, mag=0.954986 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-2.56908; guess pi=-0.01 +86: DBG: active normal 3 has v=-2.90163; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00147899 0 -0.115602 1.52628 -0.126272 0.946601] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-2.57056 -2.90163 -0.214572 2.88789 -0.218096 2.70924] +86: : rhsActive=~[-2.56908 -0.330174 4.41417 -2.90163 -0.344368 3.65585] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.72017e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=3.86994... +86: > NEWTON iter 1: errNorm=3.86994(v) -> deltaNorm=8.99908(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[2.56544 0.000115602 -0.00152628 2.89741 0.000126272 -0.000946601] +86: > deltaPi=~[6.6966 0.0506496 -0.66872 5.9443 0.078727 -0.59018] +86: DBG: Line search iter 1: back=1, prevNorm=3.86994. +86: > piNow=~[-6.7066 -0.0506496 0.66872 -5.9543 -0.078727 0.59018] +86: > errNow=~[-8.88178e-16 2.88358e-06 -3.80715e-05 -4.44089e-16 2.79588e-06 -2.09594e-05] normNow=4.36448e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.12779e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.02801e-10 +86: > NEWTON iter 2: errNorm=4.36448e-05(v) -> deltaNorm=4.41331e-05(pi) +86: > piActive=~[-6.7066 -0.0506496 0.66872 -5.9543 -0.078727 0.59018] +86: > errActive=~[-8.88178e-16 2.88358e-06 -3.80715e-05 -4.44089e-16 2.79588e-06 -2.09594e-05] +86: > deltaPi=~[-1.48205e-05 1.77196e-06 -2.33949e-05 -2.83716e-05 2.55253e-06 -1.91351e-05] +86: DBG: Line search iter 1: back=1, prevNorm=4.36448e-05. +86: > piNow=~[-6.70659 -0.0506514 0.668743 -5.95427 -0.0787296 0.590199] +86: > errNow=~[0 -1.38778e-17 2.22045e-16 0 -2.77556e-17 2.22045e-16] normNow=3.15548e-16 +86: DBG: Improvement rate now/prev at iter 2 is 7.22991e-12 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.15548e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.115602,1.52628] to ~[-0.0607616,1.44568] +86: DBG: Friction 0 rotated 1.92467 deg, less than max 30 +86: slipVel 1 from ~[-0.126272,0.946601] to ~[-0.069078,0.993809] +86: DBG: Friction 1 rotated 3.62198 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-6.70659 -0.0506514 0.668743 -5.95427 -0.0787296 0.590199] +86: : m_verrLeft=~[0 0 -0.0607616 1.44568 -0.069078 0.993809] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-6.70659 verr=0 pi*v=-0 +86: DBG: 1: pi=-5.95427 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-6.70659 -5.95427 -0.0506514 0.668743 -0.0787296 0.590199] errNorm=3.15548e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.115602 1.52628, |slipV|=1.53065 +86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.126272 0.946601, |slipV|=0.954986 +86: ------------------------------ +86: +86: dynamics impulse=~[-6.70659 -5.95427 -0.0506514 0.668743 -0.0787296 0.590199] +86: updated verrStart=~[0 0 -0.0607616 1.44568 -0.069078 0.993809] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.888146 0.174407 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.269561 0.0941303 -0.168341 -0.104131 -0.171326 -0.259479] +86: [0.0941303 0.328767 0.216965 -0.32332 0.220957 -0.115506] +86: [-0.168341 0.216965 0.390513 -0.225677 0.397919 0.161793] +86: [-0.104131 -0.32332 -0.225677 0.368393 -0.23046 0.11701] +86: [-0.171326 0.220957 0.397919 -0.23046 0.405482 0.165263] +86: [-0.259479 -0.115506 0.161793 0.11701 0.165263 0.299938] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.503944 rank=2 +86: rhs=~[0.888146 0.174407 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[3.45496 -0.458714] +86: -> pi=~[3.45496 -0.458714 0 0 0 0] +86: resid active=~[2.22045e-16 1.38778e-16] +86: resid=~[2.22045e-16 1.38778e-16 -0.681138 -0.211456 -0.69328 -0.843506] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[1.77636e-15 2.22045e-15 -0.0607616 1.44568 -0.069078 0.993809] +86: perr=~[0.000888146 0.000174407 -1.11022e-16] +86: END OF STEP (0.014,0.015): +86: verr=~[0.00109696 -0.000405318 -0.0604047 1.45693 -0.0689263 1.00506] +86: perr=~[0.000888694 0.000174204 0] +86: constraint status: +86: 4: cont UniActive fric Sliding +86: 6: cont UniActive fric Sliding +86: Proximal unilateral contacts: (4,6) +86: Distal unilateral contacts: (0,1,2,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 4 verr speed=1.45818 -> mu=0.1 +86: DBG: Uni fric 6 verr speed=1.00742 -> mu=0.1 +86: DBG: Uni contact 6 verr vel=-0.000405318 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.00109696 -0.000405318 -0.0604047 1.45693 -0.0689263 1.00506] +86: IMP t=0.015 verr=~[0.00109696 -0.000405318 -0.0604047 1.45693 -0.0689263 1.00506] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00109696 -0.000405318 -0.0604047 1.45693 -0.0689263 1.00506] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0604047,1.45693, mag=1.45818 +86: Participating contact 1 is Sliding; vel=-0.0689263,1.00506, mag=1.00742 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.0604047,1.45693, mag=1.45818 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.0689263,1.00506, mag=1.00742 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.00109696; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000405318; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00109696 -0.000405318 -0.0604047 1.45693 -0.0689263 1.00506] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.00109696 -0.0604047 1.45693 -0.000405318 -0.0689263 1.00506] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.60173e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0022468... +86: > NEWTON iter 1: errNorm=0.0022468(v) -> deltaNorm=0.00870585(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.000627917 0 0 -0.0019076 6.89263e-05 -0.00100506] +86: > deltaPi=~[0.00470245 7.25599e-10 -1.7501e-08 -0.00732167 1.83266e-05 -0.000267232] +86: DBG: Line search iter 1: back=1, prevNorm=0.0022468. +86: > piNow=~[0.00529755 -7.25599e-10 1.7501e-08 -0.00267833 -1.83266e-05 0.000267232] +86: > errNow=~[0 -1.05805e-09 2.55196e-08 -2.71051e-19 -1.87978e-09 2.74103e-08] normNow=3.7513e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.66962e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.5704e-05 +86: > NEWTON iter 2: errNorm=3.7513e-08(v) -> deltaNorm=4.342e-08(pi) +86: > piActive=~[0.00529755 -7.25599e-10 1.7501e-08 -0.00267833 -1.83266e-05 0.000267232] +86: > errActive=~[0 -1.05805e-09 2.55196e-08 -2.71051e-19 -1.87978e-09 2.74103e-08] +86: > deltaPi=~[2.19994e-08 -7.25587e-10 1.75007e-08 2.15286e-08 -1.71872e-09 2.50617e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.7513e-08. +86: > piNow=~[0.00529752 -1.20923e-14 2.91659e-13 -0.00267835 -1.83249e-05 0.000267207] +86: > errNow=~[2.1684e-19 -1.76327e-14 4.25291e-13 -2.1684e-19 7.69409e-14 -1.12192e-12] normNow=1.20242e-12 +86: DBG: Improvement rate now/prev at iter 2 is 3.20535e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.20242e-12. +86: DBG: Worst offender is normal contact 0 err=0.00529752 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.0604047,1.45693, mag=1.45818 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.0689263,1.00506, mag=1.00742 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000405318; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00109696 -0.000405318 -0.0604047 1.45693 -0.0689263 1.00506] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000405318 -0.0689263 1.00506] +86: : pi was=~[0 -0.00267835 -1.20923e-14 2.91659e-13 -1.83249e-05 0.000267207] +86: : piActive=~[-0.01 -1.83249e-05 0.000267207] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.75251e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00298765... +86: > NEWTON iter 1: errNorm=0.00298765(v) -> deltaNorm=0.00880806(pi) +86: > piActive=~[-0.01 -1.83249e-05 0.000267207] +86: > errActive=~[-0.00289516 5.04655e-05 -0.000735869] +86: > deltaPi=~[-0.0088068 -1.0159e-05 0.000148134] +86: DBG: Line search iter 1: back=1, prevNorm=0.00298765. +86: > piNow=~[-0.0011932 -8.16594e-06 0.000119073] +86: > errNow=~[1.02999e-18 -2.26108e-09 3.29702e-08] normNow=3.30476e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.10614e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000261549 +86: > NEWTON iter 2: errNorm=3.30476e-08(v) -> deltaNorm=3.40029e-08(pi) +86: > piActive=~[-0.0011932 -8.16594e-06 0.000119073] +86: > errActive=~[1.02999e-18 -2.26108e-09 3.29702e-08] +86: > deltaPi=~[1.27151e-08 -2.15765e-09 3.14621e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.30476e-08. +86: > piNow=~[-0.00119321 -8.16378e-06 0.000119041] +86: > errNow=~[-5.42101e-20 2.27536e-13 -3.31784e-12] normNow=3.32564e-12 +86: DBG: Improvement rate now/prev at iter 2 is 0.000100632 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.32564e-12. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.0689263,1.00506] to ~[-0.0686818,1.00488] +86: DBG: Friction 1 rotated 0.0131969 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00119321 -8.16378e-06 0.000119041] +86: : m_verrLeft=~[0.00124009 5.42101e-20 -0.0601647 1.45652 -0.0686818 1.00488] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.00124009 pi*v=0 +86: DBG: 1: pi=-0.00119321 verr=5.42101e-20 pi*v=-6.4684e-23 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00119321 0 0 -8.16378e-06 0.000119041] errNorm=3.32564e-12 +86: Postcompression verr=~[0.00124009 5.42101e-20 -0.0601647 1.45652 -0.0686818 1.00488] +86: impulse=~[0 -0.00119321 0 0 -8.16378e-06 0.000119041] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00119321 0 0 -8.16378e-06 0.000119041]-> du ~[0.000251903 -0.000547902 0.000228324 0.000265772 5.78828e-06 -0.000268531 0.0010346 -0.000583887] +86: Now verr0=~[0.00124009 4.44089e-16 -0.0601647 1.45652 -0.0686818 1.00488] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.00124009 4.44089e-16 -0.0601647 1.45652 -0.0686818 1.00488] +86: verrExt=~[-1.94356 -2.16096 -0.124644 2.14108 -0.126508 2.05046] +86: total verr=~[-1.94232 -2.16096 -0.184808 3.5976 -0.19519 3.05534] +86: DYN t=0.015: verrStart=~[0.00124009 4.44089e-16 -0.0601647 1.45652 -0.0686818 1.00488] +86: verrApplied=~[-1.94356 -2.16096 -0.124644 2.14108 -0.126508 2.05046] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00124009 4.44089e-16 -0.0601647 1.45652 -0.0686818 1.00488] +86: verrApplied=~[-1.94356 -2.16096 -0.124644 2.14108 -0.126508 2.05046] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0601647,1.45652, mag=1.45777 +86: Participating contact 1 is Sliding; vel=-0.0686818,1.00488, mag=1.00723 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.0601647,1.45652, mag=1.45777 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.0686818,1.00488, mag=1.00723 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.94232; guess pi=-0.01 +86: DBG: active normal 3 has v=-2.16096; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00124009 4.44089e-16 -0.0601647 1.45652 -0.0686818 1.00488] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.94356 -2.16096 -0.124644 2.14108 -0.126508 2.05046] +86: : rhsActive=~[-1.94232 -0.184808 3.5976 -2.16096 -0.19519 3.05534] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.60007e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=2.90001... +86: > NEWTON iter 1: errNorm=2.90001(v) -> deltaNorm=6.76584(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.93869 6.01647e-05 -0.00145652 2.15674 6.86818e-05 -0.00100488] +86: > deltaPi=~[5.06759 0.0209554 -0.507307 4.43182 0.0302872 -0.443132] +86: DBG: Line search iter 1: back=1, prevNorm=2.90001. +86: > piNow=~[-5.07759 -0.0209554 0.507307 -4.44182 -0.0302872 0.443132] +86: > errNow=~[8.88178e-16 1.13568e-06 -2.74935e-05 4.44089e-16 1.1338e-06 -1.65886e-05] normNow=3.21505e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.10863e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.80382e-10 +86: > NEWTON iter 2: errNorm=3.21505e-05(v) -> deltaNorm=3.2925e-05(pi) +86: > piActive=~[-5.07759 -0.0209554 0.507307 -4.44182 -0.0302872 0.443132] +86: > errActive=~[8.88178e-16 1.13568e-06 -2.74935e-05 4.44089e-16 1.1338e-06 -1.65886e-05] +86: > deltaPi=~[-1.27668e-05 7.26362e-07 -1.75844e-05 -2.00227e-05 9.89129e-07 -1.4472e-05] +86: DBG: Line search iter 1: back=1, prevNorm=3.21505e-05. +86: > piNow=~[-5.07757 -0.0209561 0.507325 -4.4418 -0.0302882 0.443147] +86: > errNow=~[2.22045e-16 -1.73472e-17 3.33067e-16 -4.44089e-16 -2.08167e-17 3.88578e-16] normNow=7.13568e-16 +86: DBG: Improvement rate now/prev at iter 2 is 2.21947e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.13568e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.0601647,1.45652] to ~[-0.0127751,1.37118] +86: DBG: Friction 0 rotated 1.83158 deg, less than max 30 +86: slipVel 1 from ~[-0.0686818,1.00488] to ~[-0.019158,1.03268] +86: DBG: Friction 1 rotated 2.84716 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-5.07757 -0.0209561 0.507325 -4.4418 -0.0302882 0.443147] +86: : m_verrLeft=~[-2.22045e-16 4.44089e-16 -0.0127751 1.37118 -0.019158 1.03268] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-5.07757 verr=-2.22045e-16 pi*v=1.12745e-15 +86: DBG: 1: pi=-4.4418 verr=4.44089e-16 pi*v=-1.97256e-15 +86: SP FINAL 1 intervals, piTotal=~[-5.07757 -4.4418 -0.0209561 0.507325 -0.0302882 0.443147] errNorm=7.13568e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0601647 1.45652, |slipV|=1.45777 +86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0686818 1.00488, |slipV|=1.00723 +86: ------------------------------ +86: +86: dynamics impulse=~[-5.07757 -4.4418 -0.0209561 0.507325 -0.0302882 0.443147] +86: updated verrStart=~[-2.22045e-16 4.44089e-16 -0.0127751 1.37118 -0.019158 1.03268] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.888694 0.174204 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.267718 0.0952299 -0.166161 -0.105676 -0.169183 -0.259428] +86: [0.0952299 0.326522 0.214501 -0.323515 0.218561 -0.116972] +86: [-0.166161 0.214501 0.387388 -0.225168 0.394942 0.161026] +86: [-0.105676 -0.323515 -0.225168 0.371409 -0.230083 0.119009] +86: [-0.169183 0.218561 0.394942 -0.230083 0.402661 0.164578] +86: [-0.259428 -0.116972 0.161026 0.119009 0.164578 0.301953] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.497635 rank=2 +86: rhs=~[0.888694 0.174204 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[3.49202 -0.484929] +86: -> pi=~[3.49202 -0.484929 0 0 0 0] +86: resid active=~[2.22045e-16 2.22045e-16] +86: resid=~[2.22045e-16 2.22045e-16 -0.684254 -0.212142 -0.696777 -0.849205] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[0 4.44089e-16 -0.0127751 1.37118 -0.019158 1.03268] +86: perr=~[0.000888694 0.000174204 0] +86: END OF STEP (0.015,0.016): +86: verr=~[0.000945543 -0.000180242 -0.0124676 1.38235 -0.0189659 1.04385] +86: perr=~[0.000889167 0.000174114 0] +86: constraint status: +86: 4: cont UniActive fric Sliding +86: 6: cont UniActive fric Sliding +86: Proximal unilateral contacts: (4,6) +86: Distal unilateral contacts: (0,1,2,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 4 verr speed=1.3824 -> mu=0.1 +86: DBG: Uni fric 6 verr speed=1.04402 -> mu=0.1 +86: DBG: Uni contact 6 verr vel=-0.000180242 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.000945543 -0.000180242 -0.0124676 1.38235 -0.0189659 1.04385] +86: IMP t=0.016 verr=~[0.000945543 -0.000180242 -0.0124676 1.38235 -0.0189659 1.04385] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000945543 -0.000180242 -0.0124676 1.38235 -0.0189659 1.04385] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0124676,1.38235, mag=1.3824 +86: Participating contact 1 is Sliding; vel=-0.0189659,1.04385, mag=1.04402 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.0124676,1.38235, mag=1.3824 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.0189659,1.04385, mag=1.04402 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.000945543; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000180242; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000945543 -0.000180242 -0.0124676 1.38235 -0.0189659 1.04385] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.000945543 -0.0124676 1.38235 -0.000180242 -0.0189659 1.04385] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.45275e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00246215... +86: > NEWTON iter 1: errNorm=0.00246215(v) -> deltaNorm=0.00995784(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.000752799 0 0 -0.00209893 1.89659e-05 -0.00104385] +86: > deltaPi=~[0.00562858 1.89086e-10 -2.09649e-08 -0.00821253 3.24772e-06 -0.000178748] +86: DBG: Line search iter 1: back=1, prevNorm=0.00246215. +86: > piNow=~[0.00437142 -1.89086e-10 2.09649e-08 -0.00178747 -3.24772e-06 0.000178748] +86: > errNow=~[-2.1684e-19 -2.61393e-10 2.89819e-08 -3.79471e-19 -5.8018e-10 3.19319e-08] normNow=4.31278e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.75163e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000124259 +86: > NEWTON iter 2: errNorm=4.31278e-08(v) -> deltaNorm=5.02453e-08(pi) +86: > piActive=~[0.00437142 -1.89086e-10 2.09649e-08 -0.00178747 -3.24772e-06 0.000178748] +86: > errActive=~[-2.1684e-19 -2.61393e-10 2.89819e-08 -3.79471e-19 -5.8018e-10 3.19319e-08] +86: > deltaPi=~[2.69723e-08 -1.89082e-10 2.09644e-08 2.36831e-08 -5.12745e-10 2.82204e-08] +86: DBG: Line search iter 1: back=1, prevNorm=4.31278e-08. +86: > piNow=~[0.00437139 -4.73946e-15 5.25487e-13 -0.00178749 -3.2472e-06 0.000178719] +86: > errNow=~[-2.1684e-19 -6.55184e-15 7.26434e-13 -1.35525e-19 5.21893e-14 -2.87239e-12] normNow=2.96329e-12 +86: DBG: Improvement rate now/prev at iter 2 is 6.87096e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.96329e-12. +86: DBG: Worst offender is normal contact 0 err=0.00437139 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.0124676,1.38235, mag=1.3824 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.0189659,1.04385, mag=1.04402 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000180242; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000945543 -0.000180242 -0.0124676 1.38235 -0.0189659 1.04385] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000180242 -0.0189659 1.04385] +86: : pi was=~[0 -0.00178749 -4.73946e-15 5.25487e-13 -3.2472e-06 0.000178719] +86: : piActive=~[-0.01 -3.2472e-06 0.000178719] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.88883e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00320146... +86: > NEWTON iter 1: errNorm=0.00320146(v) -> deltaNorm=0.00946523(pi) +86: > piActive=~[-0.01 -3.2472e-06 0.000178719] +86: > errActive=~[-0.00308452 1.55758e-05 -0.000857259] +86: > deltaPi=~[-0.00946441 -2.27359e-06 0.000125134] +86: DBG: Line search iter 1: back=1, prevNorm=0.00320146. +86: > piNow=~[-0.000535594 -9.73616e-07 5.35858e-05] +86: > errNow=~[1.11131e-18 -6.68619e-10 3.67994e-08] normNow=3.68055e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.14965e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.00130517 +86: > NEWTON iter 2: errNorm=3.68055e-08(v) -> deltaNorm=3.63247e-08(pi) +86: > piActive=~[-0.000535594 -9.73616e-07 5.35858e-05] +86: > errActive=~[1.11131e-18 -6.68619e-10 3.67994e-08] +86: > deltaPi=~[1.28183e-08 -6.17434e-10 3.39823e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.68055e-08. +86: > piNow=~[-0.000535607 -9.72998e-07 5.35518e-05] +86: > errNow=~[0 3.03922e-13 -1.67273e-11] normNow=1.673e-11 +86: DBG: Improvement rate now/prev at iter 2 is 0.000454552 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.673e-11. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.0189659,1.04385] to ~[-0.0188585,1.04377] +86: DBG: Friction 1 rotated 0.00581345 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.000535607 -9.72998e-07 5.35518e-05] +86: : m_verrLeft=~[0.00101091 0 -0.0123623 1.38217 -0.0188585 1.04377] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.00101091 pi*v=0 +86: DBG: 1: pi=-0.000535607 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.000535607 0 0 -9.72998e-07 5.35518e-05] errNorm=1.673e-11 +86: Postcompression verr=~[0.00101091 0 -0.0123623 1.38217 -0.0188585 1.04377] +86: impulse=~[0 -0.000535607 0 0 -9.72998e-07 5.35518e-05] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.000535607 0 0 -9.72998e-07 5.35518e-05]-> du ~[0.000110167 -0.000246341 0.000100745 0.000118969 1.72509e-06 -0.000121213 0.000465455 -0.000267987] +86: Now verr0=~[0.00101091 0 -0.0123623 1.38217 -0.0188585 1.04377] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.00101091 0 -0.0123623 1.38217 -0.0188585 1.04377] +86: verrExt=~[-1.29741 -1.38569 -0.0210253 1.34876 -0.0208532 1.36102] +86: total verr=~[-1.2964 -1.38569 -0.0333876 2.73093 -0.0397117 2.40479] +86: DYN t=0.016: verrStart=~[0.00101091 0 -0.0123623 1.38217 -0.0188585 1.04377] +86: verrApplied=~[-1.29741 -1.38569 -0.0210253 1.34876 -0.0208532 1.36102] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00101091 0 -0.0123623 1.38217 -0.0188585 1.04377] +86: verrApplied=~[-1.29741 -1.38569 -0.0210253 1.34876 -0.0208532 1.36102] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0123623,1.38217, mag=1.38222 +86: Participating contact 1 is Sliding; vel=-0.0188585,1.04377, mag=1.04394 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.0123623,1.38217, mag=1.38222 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.0188585,1.04377, mag=1.04394 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.2964; guess pi=-0.01 +86: DBG: active normal 3 has v=-1.38569; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00101091 0 -0.0123623 1.38217 -0.0188585 1.04377] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.29741 -1.38569 -0.0210253 1.34876 -0.0208532 1.36102] +86: : rhsActive=~[-1.2964 -0.0333876 2.73093 -1.38569 -0.0397117 2.40479] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.45203e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.89203... +86: > NEWTON iter 1: errNorm=1.89203(v) -> deltaNorm=4.44947(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.29278 1.23623e-05 -0.00138217 1.38148 1.88585e-05 -0.00104377] +86: > deltaPi=~[3.44122 0.00308658 -0.345095 2.78541 0.00504968 -0.279485] +86: DBG: Line search iter 1: back=1, prevNorm=1.89203. +86: > piNow=~[-3.45122 -0.00308658 0.345095 -2.79541 -0.00504968 0.279485] +86: > errNow=~[-6.66134e-16 1.58461e-07 -1.77168e-05 -4.44089e-16 1.95663e-07 -1.08294e-05] normNow=2.07659e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.09755e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.81845e-10 +86: > NEWTON iter 2: errNorm=2.07659e-05(v) -> deltaNorm=2.16136e-05(pi) +86: > piActive=~[-3.45122 -0.00308658 0.345095 -2.79541 -0.00504968 0.279485] +86: > errActive=~[-6.66134e-16 1.58461e-07 -1.77168e-05 -4.44089e-16 1.95663e-07 -1.08294e-05] +86: > deltaPi=~[-8.89154e-06 1.0669e-07 -1.19285e-05 -1.27673e-05 1.64364e-07 -9.09709e-06] +86: DBG: Line search iter 1: back=1, prevNorm=2.07659e-05. +86: > piNow=~[-3.45121 -0.00308668 0.345107 -2.7954 -0.00504984 0.279494] +86: > errNow=~[0 -2.60209e-18 3.88578e-16 2.22045e-16 -1.12757e-17 6.10623e-16] normNow=7.5716e-16 +86: DBG: Improvement rate now/prev at iter 2 is 3.64617e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.5716e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.0123623,1.38217] to ~[0.0282516,1.29091] +86: DBG: Friction 0 rotated 1.76617 deg, less than max 30 +86: slipVel 1 from ~[-0.0188585,1.04377] to ~[0.0236601,1.0517] +86: DBG: Friction 1 rotated 2.32386 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-3.45121 -0.00308668 0.345107 -2.7954 -0.00504984 0.279494] +86: : m_verrLeft=~[0 -2.22045e-16 0.0282516 1.29091 0.0236601 1.0517] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-3.45121 verr=0 pi*v=-0 +86: DBG: 1: pi=-2.7954 verr=-2.22045e-16 pi*v=6.20703e-16 +86: SP FINAL 1 intervals, piTotal=~[-3.45121 -2.7954 -0.00308668 0.345107 -0.00504984 0.279494] errNorm=7.5716e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 62: ||delta_v_L||_inf = 1.3050830983628737e-04 62: ||delta_v_U||_inf = 0.0000000000000000e+00 62: DenseVector "curr_x" with 4 elements: @@ -20127,191 +25821,729 @@ 62: Number of trial factorizations performed: 1 62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 62: delta_c=0.000000e+00 delta_d=0.000000e+00 -62: Solving the Primal Dual System for the centering step -62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.739194323282e-13 q = 5.739194323282e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.624968177404e-13 q = 5.624968177404e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: Sigma = 1.000001e+00 -62: Barrier parameter mu computed by oracle is 7.575758e-07 -62: Barrier parameter mu after safeguards is 7.575758e-07 -62: Barrier Parameter: 7.575758e-07 -62: -62: ************************************************** -62: *** Solving the Primal Dual System for Iteration 44: -62: ************************************************** -62: -62: max-norm resid_x 1.016440e-17 -62: max-norm resid_s 3.815036e-17 -62: max-norm resid_c 1.029939e-19 -62: max-norm resid_d 1.751638e-20 -62: max-norm resid_zL 1.693006e-22 -62: max-norm resid_zU 1.666769e-22 -62: max-norm resid_vL 2.527425e-23 -62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 7.35e-04 nrm_sol = 7.39e-04 nrm_resid = 3.82e-17 -62: residual_ratio = 2.588393e-14 -62: Factorization successful. -62: max-norm resid_x 1.084202e-19 -62: max-norm resid_s 1.355253e-20 -62: max-norm resid_c 2.167875e-20 -62: max-norm resid_d 8.887229e-21 -62: max-norm resid_zL 2.584939e-26 -62: max-norm resid_zU 1.033976e-25 -62: max-norm resid_vL 6.462349e-27 -62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 7.35e-04 nrm_sol = 7.39e-04 nrm_resid = 1.08e-19 -62: residual_ratio = 7.356000e-17 -62: -62: ************************************************** -62: *** Finding Acceptable Trial Point for Iteration 44: -62: ************************************************** -62: -62: --> Starting filter line search in iteration 44 <-- -62: Mu has changed in line search - resetting watchdog counters. -62: The current filter has 0 entries. -62: Relative step size for delta_x = 1.535384e-04 -62: minimal step size ALPHA_MIN = 8.725518E-11 -62: Starting checks for alpha (primal) = 1.00e+00 -62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: -62: New values of barrier function = 1.4178573083030079e+00 (reference 1.4178581292486723e+00): -62: New values of constraint violation = 1.1609457674030737e-07 (reference 1.4299924338253477e-07): -62: reference_theta = 1.429992e-07 reference_gradBarrTDelta = -8.194312e-07 -62: Checking sufficient reduction... -62: Succeeded... -62: Checking filter acceptability... -62: Succeeded... -62: reference_theta = 1.429992e-07 reference_gradBarrTDelta = -8.194312e-07 -62: dual infeasisibility before least square multiplier update = 6.693194e-04 -62: Factorization successful. -62: -62: ************************************************** -62: *** Update HessianMatrix for Iteration 45: -62: ************************************************** -62: -62: In limited-memory update, s_new_max is 7.390843e-04 -62: Limited-Memory test for skipping: -62: s^Ty = -2.389705e-08 snrm = 9.351816e-04 ynrm = 2.793974e+00 -62: Skip the update. -62: Number of successive iterations with skipping: 2 -62: -62: -62: ************************************************** -62: *** Summary of Iteration: 45: -62: ************************************************** -62: -62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls -62: 45 1.7014078e+01 8.75e-08 6.62e-04 -6.1 7.39e-04 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2y Ws -62: -62: ************************************************** -62: *** Beginning Iteration 45 from the following point: -62: ************************************************** -62: -62: Current barrier parameter mu = 7.5757575757575762e-07 -62: Current fraction-to-the-boundary parameter tau = 9.9926518256931673e-01 -62: -62: ||curr_x||_inf = 4.7481458275142829e+00 -62: ||curr_s||_inf = 6.5765492168243425e-07 -62: ||curr_y_c||_inf = 1.3472146669277910e-01 -62: ||curr_y_d||_inf = 1.1511954730722063e+00 -62: ||curr_z_L||_inf = 9.0782137348651773e-02 -62: ||curr_z_U||_inf = 3.0079779910997069e-06 -62: ||curr_v_L||_inf = 1.1512348435990929e+00 -62: ||curr_v_U||_inf = 0.0000000000000000e+00 -62: -62: ||delta_x||_inf = 7.3908431708601726e-04 -62: ||delta_s||_inf = 3.9524307279786987e-11 -62: ||delta_y_c||_inf = 1.4324133427637207e-05 -62: ||delta_y_d||_inf = 2.5392088377551998e-05 -62: ||delta_z_L||_inf = 1.3594219464626750e-05 -62: ||delta_z_U||_inf = 6.7420179075524998e-09 -62: ||delta_v_L||_inf = 6.9149018829844447e-05 -62: ||delta_v_U||_inf = 0.0000000000000000e+00 -62: DenseVector "curr_x" with 4 elements: -62: curr_x[ 1]= 1.0000083349868301e+00 -62: curr_x[ 2]= 4.7481458275142829e+00 -62: curr_x[ 3]= 3.8144161155196139e+00 -62: curr_x[ 4]= 1.3803351414944307e+00 -62: DenseVector "curr_s" with 1 elements: -62: curr_s[ 1]= 6.5765492168243425e-07 -62: DenseVector "curr_y_c" with 1 elements: -62: curr_y_c[ 1]= 1.3472146669277910e-01 -62: DenseVector "curr_y_d" with 1 elements: -62: curr_y_d[ 1]=-1.1511954730722063e+00 -62: DenseVector "curr_slack_x_L" with 4 elements: -62: curr_slack_x_L[ 1]= 8.3449868301110897e-06 -62: curr_slack_x_L[ 2]= 3.7481458375142829e+00 -62: curr_slack_x_L[ 3]= 2.8144161255196138e+00 -62: curr_slack_x_L[ 4]= 3.8033515149443076e-01 -62: DenseVector "curr_slack_x_U" with 4 elements: -62: curr_slack_x_U[ 1]= 3.9999917150131696e+00 -62: curr_slack_x_U[ 2]= 2.5185422248571676e-01 -62: curr_slack_x_U[ 3]= 1.1855839344803858e+00 -62: curr_slack_x_U[ 4]= 3.6196649085055688e+00 -62: DenseVector "curr_z_L" with 4 elements: -62: curr_z_L[ 1]= 9.0782137348651773e-02 -62: curr_z_L[ 2]= 2.0212013440621378e-07 -62: curr_z_L[ 3]= 2.6917686352484288e-07 -62: curr_z_L[ 4]= 1.9918634875970377e-06 -62: DenseVector "curr_z_U" with 4 elements: -62: curr_z_U[ 1]= 1.8939433167632533e-07 -62: curr_z_U[ 2]= 3.0079779910997069e-06 -62: curr_z_U[ 3]= 6.3898931258815768e-07 -62: curr_z_U[ 4]= 2.0929444468029328e-07 -62: DenseVector "curr_slack_s_L" with 1 elements: -62: curr_slack_s_L[ 1]= 6.5805492168243428e-07 -62: DenseVector "curr_slack_s_U" with 0 elements: -62: DenseVector "curr_v_L" with 1 elements: -62: curr_v_L[ 1]= 1.1512348435990929e+00 -62: DenseVector "curr_v_U" with 0 elements: -62: -62: -62: ***Current NLP Values for Iteration 45: -62: -62: (scaled) (unscaled) -62: Objective...............: 1.4178398276143487e+00 1.7014077931372185e+01 -62: Dual infeasibility......: 6.6208213713041556e-04 7.9449856455649868e-03 -62: Constraint violation....: 8.7456461272950045e-08 8.7456461272950037e-07 -62: Complementarity.........: 7.5757575757575762e-07 9.0909090909090927e-06 -62: Overall NLP error.......: 6.6208213713041556e-04 7.9449856455649868e-03 -62: -62: DenseVector "grad_f" with 4 elements: -62: grad_f[ 1]= 1.2149915370276525e+00 -62: grad_f[ 2]= 1.1502888721413801e-01 -62: grad_f[ 3]= 1.9836222054747132e-01 -62: grad_f[ 4]= 7.9688749849317120e-01 -62: DenseVector "curr_c" with 1 elements: -62: curr_c[ 1]= 8.7456461272950045e-08 -62: DenseVector "curr_d" with 1 elements: -62: curr_d[ 1]= 6.2901680621507692e-07 -62: DenseVector "curr_d - curr_s" with 1 elements: -62: curr_d - curr_s[ 1]=-2.8638115467357326e-08 -62: -62: -62: -62: ************************************************** -62: *** Update Barrier Parameter for Iteration 45: -62: ************************************************** -62: -62: Staying in free mu mode. -62: The current filter has 5 entries. -62: phi theta iter -62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 -62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 -62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 -62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 -62: 5 1.4178398276143487e+00 1.1609457674030737e-07 45 -62: Solving the Primal Dual System for the affine step -62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 -62: delta_c=0.000000e+00 delta_d=0.000000e+00 -62: Factorization successful. -62: Number of trial factorizations performed: 1 -62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 -62: delta_c=0.000000e+00 delta_d=0.000000e+00 -62: Solving the Primal Dual System for the centering step -62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.739197369688e-13 q = 5.739197369688e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.624972818014e-13 q = 5.624972818014e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: Sigma = 1.000001e+00 +108: Done + 81/108 Test #108: TestSmoothSphereHalfSpaceForce ................. Passed 0.03 sec +100: testGimbal done. real/CPU ms: 21.1 / 21.0 +100: testBushing ... +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0123623 1.38217, |slipV|=1.38222 +86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0188585 1.04377, |slipV|=1.04394 +86: ------------------------------ +86: +86: dynamics impulse=~[-3.45121 -2.7954 -0.00308668 0.345107 -0.00504984 0.279494] +86: updated verrStart=~[0 -2.22045e-16 0.0282516 1.29091 0.0236601 1.0517] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.889167 0.174114 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.266207 0.0963728 -0.164311 -0.107227 -0.167361 -0.259796] +86: [0.0963728 0.32429 0.212095 -0.323761 0.2162 -0.118395] +86: [-0.164311 0.212095 0.384781 -0.224804 0.392451 0.160756] +86: [-0.107227 -0.323761 -0.224804 0.374548 -0.229827 0.120941] +86: [-0.167361 0.2162 0.392451 -0.229827 0.400292 0.16438] +86: [-0.259796 -0.118395 0.160756 0.120941 0.16438 0.304478] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.491523 rank=2 +86: rhs=~[0.889167 0.174114 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[3.525 -0.510656] +86: -> pi=~[3.525 -0.510656 0 0 0 0] +86: resid active=~[0 -2.77556e-17] +86: resid=~[0 -2.77556e-17 -0.687504 -0.212647 -0.700352 -0.855321] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-4.44089e-16 -8.88178e-16 0.0282516 1.29091 0.0236601 1.0517] +86: perr=~[0.000889167 0.000174114 0] +86: END OF STEP (0.016,0.017): +86: verr=~[0.000803195 1.64841e-05 0.028519 1.30177 0.0238698 1.06257] +86: perr=~[0.000889569 0.000174122 0] +86: constraint status: +86: 4: cont UniActive fric Sliding +86: 6: cont UniActive fric Sliding +86: Proximal unilateral contacts: (4,6) +86: Distal unilateral contacts: (0,1,2,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 4 verr speed=1.30208 -> mu=0.1 +86: DBG: Uni fric 6 verr speed=1.06283 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.000803195 1.64841e-05 0.028519 1.30177 0.0238698 1.06257] +86: verrExt=~[-0.641595 -0.593515 0.0894209 0.528203 0.0918567 0.651769] +86: total verr=~[-0.640792 -0.593498 0.11794 1.82997 0.115726 1.71434] +86: DYN t=0.017: verrStart=~[0.000803195 1.64841e-05 0.028519 1.30177 0.0238698 1.06257] +86: verrApplied=~[-0.641595 -0.593515 0.0894209 0.528203 0.0918567 0.651769] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000803195 1.64841e-05 0.028519 1.30177 0.0238698 1.06257] +86: verrApplied=~[-0.641595 -0.593515 0.0894209 0.528203 0.0918567 0.651769] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.028519,1.30177, mag=1.30208 +86: Participating contact 1 is Sliding; vel=0.0238698,1.06257, mag=1.06283 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=0.028519,1.30177, mag=1.30208 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=0.0238698,1.06257, mag=1.06283 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.640792; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.593498; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000803195 1.64841e-05 0.028519 1.30177 0.0238698 1.06257] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.641595 -0.593515 0.0894209 0.528203 0.0918567 0.651769] +86: : rhsActive=~[-0.640792 0.11794 1.82997 -0.593498 0.115726 1.71434] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.2607e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.867907... +86: > NEWTON iter 1: errNorm=0.867907(v) -> deltaNorm=2.12511(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.637167 -2.8519e-05 -0.00130177 0.589303 -2.38698e-05 -0.00106257] +86: > deltaPi=~[1.83275 -0.00403597 -0.184224 1.05444 -0.0023905 -0.106413] +86: DBG: Line search iter 1: back=1, prevNorm=0.867907. +86: > piNow=~[-1.84275 0.00403597 0.184224 -1.06444 0.0023905 0.106413] +86: > errNow=~[-1.11022e-16 -1.94693e-07 -8.88687e-06 1.11022e-16 -9.37525e-08 -4.1734e-06] normNow=9.82041e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.1315e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.89639e-10 +86: > NEWTON iter 2: errNorm=9.82041e-06(v) -> deltaNorm=1.03778e-05(pi) +86: > piActive=~[-1.84275 0.00403597 0.184224 -1.06444 0.0023905 0.106413] +86: > errActive=~[-1.11022e-16 -1.94693e-07 -8.88687e-06 1.11022e-16 -9.37525e-08 -4.1734e-06] +86: > deltaPi=~[-3.62262e-06 -1.4159e-07 -6.46296e-06 -6.4831e-06 -7.36497e-08 -3.27853e-06] +86: DBG: Line search iter 1: back=1, prevNorm=9.82041e-06. +86: > piNow=~[-1.84275 0.00403611 0.184231 -1.06444 0.00239057 0.106417] +86: > errNow=~[0 1.12757e-17 4.996e-16 -1.11022e-16 5.11743e-17 2.28983e-15] normNow=2.34692e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.38984e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.34692e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.028519,1.30177] to ~[0.0630552,1.20359] +86: DBG: Friction 0 rotated 1.74392 deg, less than max 30 +86: slipVel 1 from ~[0.0238698,1.06257] to ~[0.0600817,1.05058] +86: DBG: Friction 1 rotated 1.98624 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-1.84275 0.00403611 0.184231 -1.06444 0.00239057 0.106417] +86: : m_verrLeft=~[0 1.11022e-16 0.0630552 1.20359 0.0600817 1.05058] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-1.84275 verr=0 pi*v=-0 +86: DBG: 1: pi=-1.06444 verr=1.11022e-16 pi*v=-1.18176e-16 +86: SP FINAL 1 intervals, piTotal=~[-1.84275 -1.06444 0.00403611 0.184231 0.00239057 0.106417] errNorm=2.34692e-15 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.028519 1.30177, |slipV|=1.30208 +86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0238698 1.06257, |slipV|=1.06283 +86: ------------------------------ +86: +86: dynamics impulse=~[-1.84275 -1.06444 0.00403611 0.184231 0.00239057 0.106417] +86: updated verrStart=~[0 1.11022e-16 0.0630552 1.20359 0.0600817 1.05058] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.889569 0.174122 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.264939 0.0974936 -0.162748 -0.108722 -0.165817 -0.260457] +86: [0.0974936 0.322024 0.209738 -0.323974 0.213868 -0.119722] +86: [-0.162748 0.209738 0.382602 -0.224538 0.39036 0.160902] +86: [-0.108722 -0.323974 -0.224538 0.377686 -0.229647 0.122747] +86: [-0.165817 0.213868 0.39036 -0.229647 0.398293 0.16459] +86: [-0.260457 -0.119722 0.160902 0.122747 0.16459 0.307361] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.485729 rank=2 +86: rhs=~[0.889569 0.174122 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[3.55468 -0.535479] +86: -> pi=~[3.55468 -0.535479 0 0 0 0] +86: resid active=~[-2.22045e-16 -8.32667e-17] +86: resid=~[-2.22045e-16 -8.32667e-17 -0.690827 -0.21299 -0.703947 -0.861733] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-4.44089e-16 4.44089e-16 0.0630552 1.20359 0.0600817 1.05058] +86: perr=~[0.000889569 0.000174122 0] +86: END OF STEP (0.017,0.018): +86: verr=~[0.000670157 0.000178655 0.0632883 1.21391 0.060291 1.06091] +86: perr=~[0.000889904 0.000174212 0] +86: constraint status: +86: 4: cont UniActive fric Sliding +86: 6: cont UniActive fric Sliding +86: Proximal unilateral contacts: (4,6) +86: Distal unilateral contacts: (0,1,2,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 4 verr speed=1.21556 -> mu=0.1 +86: DBG: Uni fric 6 verr speed=1.06262 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.000670157 0.000178655 0.0632883 1.21391 0.060291 1.06091] +86: verrExt=~[0.0117167 0.195727 0.200229 -0.300293 0.205004 -0.0632674] +86: total verr=~[0.0123868 0.195906 0.263518 0.913619 0.265295 0.99764] +86: DYN t=0.018: verrStart=~[0.000670157 0.000178655 0.0632883 1.21391 0.060291 1.06091] +86: verrApplied=~[0.0117167 0.195727 0.200229 -0.300293 0.205004 -0.0632674] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000670157 0.000178655 0.0632883 1.21391 0.060291 1.06091] +86: verrApplied=~[0.0117167 0.195727 0.200229 -0.300293 0.205004 -0.0632674] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.0632883,1.21391, mag=1.21556 +86: Participating contact 1 is Sliding; vel=0.060291,1.06091, mag=1.06262 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=0.0632883,1.21391, mag=1.21556 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=0.060291,1.06091, mag=1.06262 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.0123868; guess pi=0.01 +86: DBG: active normal 3 has v=0.195906; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000670157 0.000178655 0.0632883 1.21391 0.060291 1.06091] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.0117167 0.195727 0.200229 -0.300293 0.205004 -0.0632674] +86: : rhsActive=~[0.0123868 0.263518 0.913619 0.195906 0.265295 0.99764] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.01397e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.191924... +86: > NEWTON iter 1: errNorm=0.191924(v) -> deltaNorm=0.700173(pi) +86: > piActive=~[0.01 0 0 0.01 0 0] +86: > errActive=~[-0.00876303 0 0 -0.191724 0 0] +86: > deltaPi=~[0.215586 -4.18099e-08 -8.01942e-07 -0.666157 1.40787e-07 2.47735e-06] +86: DBG: Line search iter 1: back=1, prevNorm=0.191924. +86: > piNow=~[-0.205586 4.18099e-08 8.01942e-07 0.676157 -1.40787e-07 -2.47735e-06] +86: > errNow=~[-1.56125e-17 -0.00130107 -0.0249554 -2.77556e-17 -1.49603e-07 -2.63248e-06] normNow=0.0249893 +86: DBG: Improvement rate now/prev at iter 1 is 0.130204 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.07498e-08 +86: > NEWTON iter 2: errNorm=0.0249893(v) -> deltaNorm=0.0281512(pi) +86: > piActive=~[-0.205586 4.18099e-08 8.01942e-07 0.676157 -1.40787e-07 -2.47735e-06] +86: > errActive=~[-1.56125e-17 -0.00130107 -0.0249554 -2.77556e-17 -1.49603e-07 -2.63248e-06] +86: > deltaPi=~[-0.00191611 -0.00106037 -0.0203386 -0.01934 -1.40786e-07 -2.47734e-06] +86: DBG: Line search iter 1: back=1, prevNorm=0.0249893. +86: > piNow=~[-0.20367 0.00106041 0.0203394 0.695497 -8.9412e-13 -1.57333e-11] +86: > errNow=~[-6.93889e-18 1.06885e-12 2.05013e-11 2.77556e-17 -9.50109e-13 -1.67185e-11] normNow=2.64926e-11 +86: DBG: Improvement rate now/prev at iter 2 is 1.06016e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.64926e-11. +86: DBG: Worst offender is normal contact 1 err=0.695497 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=0.0632883,1.21391, mag=1.21556 +86: Participating UniCont 1 (ix=6): cond=UniOff/Sliding, vel=0.060291,1.06091, mag=1.06262 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=0.0123868; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000670157 0.000178655 0.0632883 1.21391 0.060291 1.06091] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.0117167 0.195727 0.200229 -0.300293 0.205004 -0.0632674] +86: : rhsActive=~[0.0123868 0.263518 0.913619] +86: : pi was=~[-0.20367 0 0.00106041 0.0203394 -8.9412e-13 -1.57333e-11] +86: : piActive=~[0.01 0.00106041 0.0203394] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.52781e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0275821... +86: > NEWTON iter 1: errNorm=0.0275821(v) -> deltaNorm=0.0421899(pi) +86: > piActive=~[0.01 0.00106041 0.0203394] +86: > errActive=~[-0.0121591 0.00128899 0.0247238] +86: > deltaPi=~[-0.0369482 0.00106042 0.0203395] +86: DBG: Line search iter 1: back=1, prevNorm=0.0275821. +86: > piNow=~[0.0469482 -7.16558e-09 -1.37441e-07] +86: > errNow=~[-5.20417e-18 -8.71021e-09 -1.67068e-07] normNow=1.67295e-07 +86: DBG: Improvement rate now/prev at iter 1 is 6.06533e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.05446e-07 +86: > NEWTON iter 2: errNorm=1.67295e-07(v) -> deltaNorm=1.50842e-07(pi) +86: > piActive=~[0.0469482 -7.16558e-09 -1.37441e-07] +86: > errActive=~[-5.20417e-18 -8.71021e-09 -1.67068e-07] +86: > deltaPi=~[-6.17425e-08 -7.16558e-09 -1.37441e-07] +86: DBG: Line search iter 1: back=1, prevNorm=1.67295e-07. +86: > piNow=~[0.0469483 -5.43314e-16 -1.04211e-14] +86: > errNow=~[-1.73472e-18 -6.60432e-16 -1.26675e-14] normNow=1.26847e-14 +86: DBG: Improvement rate now/prev at iter 2 is 7.58227e-08 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.26847e-14. +86: DBG: Worst offender is normal contact 0 err=0.0469483 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 3 start +86: : active=() +86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=0.0632883,1.21391, mag=1.21556 +86: Participating UniCont 1 (ix=6): cond=UniOff/Sliding, vel=0.060291,1.06091, mag=1.06262 +86: fillMult2Active: +86: : active=() +86: : mult2active=(-1111111111,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111) +86: initializeNewton: +86: : verrLeft was=~[0.000670157 0.000178655 0.0632883 1.21391 0.060291 1.06091] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.0117167 0.195727 0.200229 -0.300293 0.205004 -0.0632674] +86: : rhsActive=~[] +86: : pi was=~[0 0 -5.43314e-16 -1.04211e-14 -8.9412e-13 -1.57333e-11] +86: : piActive=~[] +86: SP interval 1 end: s=1 +86: : m_piActive=~[] +86: : m_verrLeft=~[0.0123868 0.195906 0.263518 0.913619 0.265295 0.99764] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.0123868 pi*v=0 +86: DBG: 1: pi=0 verr=0.195906 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[0 0 0 0 0 0] errNorm=0 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.0632883 1.21391, |slipV|=1.21556 +86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.060291 1.06091, |slipV|=1.06262 +86: ------------------------------ +86: +86: dynamics impulse=~[0 0 0 0 0 0] +86: updated verrStart=~[0.0123868 0.195906 0.263518 0.913619 0.265295 0.99764] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.889904 0.174212 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 0 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: DBG: no bilateral participators. Nothing to do. +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[0.0123868 0.195906 0.263518 0.913619 0.265295 0.99764] +86: perr=~[0.000889904 0.000174212 0] +86: END OF STEP (0.018,0.019): +86: verr=~[0.0126502 0.196411 0.264224 0.922194 0.26595 1.00569] +86: perr=~[0.000902422 0.00037037 0] +86: constraint status: +86: 4: cont UniOff fric Sliding +86: 6: cont UniOff fric Sliding +86: Proximal unilateral contacts: (4,6) +86: Distal unilateral contacts: (0,1,2,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 4 verr speed=0.9593 -> mu=0.1 +86: DBG: Uni fric 6 verr speed=1.04026 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.0126502 0.196411 0.264224 0.922194 0.26595 1.00569] +86: verrExt=~[0.605259 0.904931 0.296067 -1.05662 0.302855 -0.71673] +86: total verr=~[0.617909 1.10134 0.560291 -0.134427 0.568806 0.288955] +86: DYN t=0.019: verrStart=~[0.0126502 0.196411 0.264224 0.922194 0.26595 1.00569] +86: verrApplied=~[0.605259 0.904931 0.296067 -1.05662 0.302855 -0.71673] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.0126502 0.196411 0.264224 0.922194 0.26595 1.00569] +86: verrApplied=~[0.605259 0.904931 0.296067 -1.05662 0.302855 -0.71673] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.264224,0.922194, mag=0.9593 +86: Participating contact 1 is Sliding; vel=0.26595,1.00569, mag=1.04026 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=0.264224,0.922194, mag=0.9593 +86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=0.26595,1.00569, mag=1.04026 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.617909; guess pi=0.01 +86: DBG: active normal 3 has v=1.10134; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[0.0126502 0.196411 0.264224 0.922194 0.26595 1.00569] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.605259 0.904931 0.296067 -1.05662 0.302855 -0.71673] +86: : rhsActive=~[0.617909 0.560291 -0.134427 1.10134 0.568806 0.288955] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.27091e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.25743... +86: > NEWTON iter 1: errNorm=1.25743(v) -> deltaNorm=3.30313(pi) +86: > piActive=~[0.01 0 0 0.01 0 0] +86: > errActive=~[-0.614285 0 0 -1.09717 0 0] +86: > deltaPi=~[-1.16682 1.19711e-06 4.17816e-06 -3.09018 2.94276e-06 1.1128e-05] +86: DBG: Line search iter 1: back=1, prevNorm=1.25743. +86: > piNow=~[1.17682 -1.19711e-06 -4.17816e-06 3.10018 -2.94276e-06 -1.1128e-05] +86: > errNow=~[0 -1.14839e-06 -4.00811e-06 2.22045e-16 -3.06123e-06 -1.1576e-05] normNow=1.2679e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.00833e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.89039e-10 +86: > NEWTON iter 2: errNorm=1.2679e-05(v) -> deltaNorm=1.94387e-05(pi) +86: > piActive=~[1.17682 -1.19711e-06 -4.17816e-06 3.10018 -2.94276e-06 -1.1128e-05] +86: > errActive=~[0 -1.14839e-06 -4.00811e-06 2.22045e-16 -3.06123e-06 -1.1576e-05] +86: > deltaPi=~[-1.50079e-05 -1.19711e-06 -4.17816e-06 -1.11528e-06 -2.94276e-06 -1.1128e-05] +86: DBG: Line search iter 1: back=1, prevNorm=1.2679e-05. +86: > piNow=~[1.17684 -1.11192e-15 -3.88083e-15 3.10018 -1.10525e-17 -4.17926e-17] +86: > errNow=~[0 -1.06667e-15 -3.72288e-15 0 -1.14974e-17 -4.3475e-17] normNow=3.87294e-15 +86: DBG: Improvement rate now/prev at iter 2 is 3.0546e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.87294e-15. +86: DBG: Worst offender is normal contact 1 err=3.10018 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=0.264224,0.922194, mag=0.9593 +86: Participating UniCont 1 (ix=6): cond=UniOff/Sliding, vel=0.26595,1.00569, mag=1.04026 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=0.617909; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[0.0126502 0.196411 0.264224 0.922194 0.26595 1.00569] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.605259 0.904931 0.296067 -1.05662 0.302855 -0.71673] +86: : rhsActive=~[0.617909 0.560291 -0.134427] +86: : pi was=~[0 0 -1.11192e-15 -3.88083e-15 -1.10525e-17 -4.17926e-17] +86: : piActive=~[0.01 -1.11192e-15 -3.88083e-15] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.57327e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.61528... +86: > NEWTON iter 1: errNorm=0.61528(v) -> deltaNorm=2.34081(pi) +86: > piActive=~[0.01 -1.11192e-15 -3.88083e-15] +86: > errActive=~[-0.61528 -1.06667e-15 -3.72288e-15] +86: > deltaPi=~[-2.34081 2.40157e-06 8.38194e-06] +86: DBG: Line search iter 1: back=1, prevNorm=0.61528. +86: > piNow=~[2.35081 -2.40157e-06 -8.38194e-06] +86: > errNow=~[1.11022e-16 -2.30383e-06 -8.0408e-06] normNow=8.36433e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.35943e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.53575e-11 +86: > NEWTON iter 2: errNorm=8.36433e-06(v) -> deltaNorm=1.00595e-05(pi) +86: > piActive=~[2.35081 -2.40157e-06 -8.38194e-06] +86: > errActive=~[1.11022e-16 -2.30383e-06 -8.0408e-06] +86: > deltaPi=~[-5.01694e-06 -2.40157e-06 -8.38194e-06] +86: DBG: Line search iter 1: back=1, prevNorm=8.36433e-06. +86: > piNow=~[2.35081 -9.31499e-17 -3.25113e-16] +86: > errNow=~[-1.11022e-16 -8.93587e-17 -3.11881e-16] normNow=3.429e-16 +86: DBG: Improvement rate now/prev at iter 2 is 4.09956e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.429e-16. +86: DBG: Worst offender is normal contact 0 err=2.35081 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 3 start +86: : active=() +86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=0.264224,0.922194, mag=0.9593 +86: Participating UniCont 1 (ix=6): cond=UniOff/Sliding, vel=0.26595,1.00569, mag=1.04026 +86: fillMult2Active: +86: : active=() +86: : mult2active=(-1111111111,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111) +86: initializeNewton: +86: : verrLeft was=~[0.0126502 0.196411 0.264224 0.922194 0.26595 1.00569] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.605259 0.904931 0.296067 -1.05662 0.302855 -0.71673] +86: : rhsActive=~[] +86: : pi was=~[0 0 -9.31499e-17 -3.25113e-16 -1.10525e-17 -4.17926e-17] +86: : piActive=~[] +86: SP interval 1 end: s=1 +86: : m_piActive=~[] +86: : m_verrLeft=~[0.617909 1.10134 0.560291 -0.134427 0.568806 0.288955] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.617909 pi*v=0 +86: DBG: 1: pi=0 verr=1.10134 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[0 0 0 0 0 0] errNorm=0 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.264224 0.922194, |slipV|=0.9593 +86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.26595 1.00569, |slipV|=1.04026 +86: ------------------------------ +86: +86: dynamics impulse=~[0 0 0 0 0 0] +86: updated verrStart=~[0.617909 1.10134 0.560291 -0.134427 0.568806 0.288955] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.902422 0.37037 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 0 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: DBG: no bilateral participators. Nothing to do. +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[0.617909 1.10134 0.560291 -0.134427 0.568806 0.288955] +86: perr=~[0.000902422 0.00037037 0] +86: END OF STEP (0.019,0.02): +86: verr=~[0.617936 1.10188 0.561096 -0.132499 0.569187 0.290306] +86: perr=~[0.00152034 0.00147198 -2.22045e-16] +86: constraint status: +86: 4: cont UniOff fric Sliding +86: 6: cont UniOff fric Sliding +86: Proximal unilateral contacts: () +86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: Proximal unilateral contacts: () +86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: Proximal unilateral contacts: () +86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: Proximal unilateral contacts: () +86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: Proximal unilateral contacts: () +86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: Proximal unilateral contacts: () +86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: Proximal unilateral contacts: () +86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +62: Solving the Primal Dual System for the centering step +62: Factorization successful. +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.739194323282e-13 q = 5.739194323282e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.624968177404e-13 q = 5.624968177404e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: Sigma = 1.000001e+00 +62: Barrier parameter mu computed by oracle is 7.575758e-07 +62: Barrier parameter mu after safeguards is 7.575758e-07 +62: Barrier Parameter: 7.575758e-07 +62: +62: ************************************************** +62: *** Solving the Primal Dual System for Iteration 44: +62: ************************************************** +62: +62: max-norm resid_x 1.016440e-17 +62: max-norm resid_s 3.815036e-17 +62: max-norm resid_c 1.029939e-19 +62: max-norm resid_d 1.751638e-20 +62: max-norm resid_zL 1.693006e-22 +62: max-norm resid_zU 1.666769e-22 +62: max-norm resid_vL 2.527425e-23 +62: max-norm resid_vU 0.000000e+00 +62: nrm_rhs = 7.35e-04 nrm_sol = 7.39e-04 nrm_resid = 3.82e-17 +62: residual_ratio = 2.588393e-14 +62: Factorization successful. +62: max-norm resid_x 1.084202e-19 +62: max-norm resid_s 1.355253e-20 +62: max-norm resid_c 2.167875e-20 +62: max-norm resid_d 8.887229e-21 +62: max-norm resid_zL 2.584939e-26 +62: max-norm resid_zU 1.033976e-25 +62: max-norm resid_vL 6.462349e-27 +62: max-norm resid_vU 0.000000e+00 +62: nrm_rhs = 7.35e-04 nrm_sol = 7.39e-04 nrm_resid = 1.08e-19 +62: residual_ratio = 7.356000e-17 +62: +62: ************************************************** +62: *** Finding Acceptable Trial Point for Iteration 44: +62: ************************************************** +62: +62: --> Starting filter line search in iteration 44 <-- +62: Mu has changed in line search - resetting watchdog counters. +62: The current filter has 0 entries. +62: Relative step size for delta_x = 1.535384e-04 +62: minimal step size ALPHA_MIN = 8.725518E-11 +62: Starting checks for alpha (primal) = 1.00e+00 +62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: +62: New values of barrier function = 1.4178573083030079e+00 (reference 1.4178581292486723e+00): +62: New values of constraint violation = 1.1609457674030737e-07 (reference 1.4299924338253477e-07): +62: reference_theta = 1.429992e-07 reference_gradBarrTDelta = -8.194312e-07 +62: Checking sufficient reduction... +62: Succeeded... +62: Checking filter acceptability... +62: Succeeded... +62: reference_theta = 1.429992e-07 reference_gradBarrTDelta = -8.194312e-07 +62: dual infeasisibility before least square multiplier update = 6.693194e-04 +62: Factorization successful. +62: +62: ************************************************** +62: *** Update HessianMatrix for Iteration 45: +62: ************************************************** +62: +62: In limited-memory update, s_new_max is 7.390843e-04 +62: Limited-Memory test for skipping: +62: s^Ty = -2.389705e-08 snrm = 9.351816e-04 ynrm = 2.793974e+00 +62: Skip the update. +62: Number of successive iterations with skipping: 2 +62: +62: +62: ************************************************** +62: *** Summary of Iteration: 45: +62: ************************************************** +62: +62: iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls +62: 45 1.7014078e+01 8.75e-08 6.62e-04 -6.1 7.39e-04 - 1.00e+00 1.00e+00h 1 sigma=1.00e+00 qf=2y Ws +62: +62: ************************************************** +62: *** Beginning Iteration 45 from the following point: +62: ************************************************** +62: +62: Current barrier parameter mu = 7.5757575757575762e-07 +62: Current fraction-to-the-boundary parameter tau = 9.9926518256931673e-01 +62: +62: ||curr_x||_inf = 4.7481458275142829e+00 +62: ||curr_s||_inf = 6.5765492168243425e-07 +62: ||curr_y_c||_inf = 1.3472146669277910e-01 +62: ||curr_y_d||_inf = 1.1511954730722063e+00 +62: ||curr_z_L||_inf = 9.0782137348651773e-02 +62: ||curr_z_U||_inf = 3.0079779910997069e-06 +62: ||curr_v_L||_inf = 1.1512348435990929e+00 +62: ||curr_v_U||_inf = 0.0000000000000000e+00 +62: +62: ||delta_x||_inf = 7.3908431708601726e-04 +62: ||delta_s||_inf = 3.9524307279786987e-11 +62: ||delta_y_c||_inf = 1.4324133427637207e-05 +62: ||delta_y_d||_inf = 2.5392088377551998e-05 +62: ||delta_z_L||_inf = 1.3594219464626750e-05 +62: ||delta_z_U||_inf = 6.7420179075524998e-09 +62: ||delta_v_L||_inf = 6.9149018829844447e-05 +62: ||delta_v_U||_inf = 0.0000000000000000e+00 +62: DenseVector "curr_x" with 4 elements: +62: curr_x[ 1]= 1.0000083349868301e+00 +62: curr_x[ 2]= 4.7481458275142829e+00 +62: curr_x[ 3]= 3.8144161155196139e+00 +62: curr_x[ 4]= 1.3803351414944307e+00 +62: DenseVector "curr_s" with 1 elements: +62: curr_s[ 1]= 6.5765492168243425e-07 +62: DenseVector "curr_y_c" with 1 elements: +62: curr_y_c[ 1]= 1.3472146669277910e-01 +62: DenseVector "curr_y_d" with 1 elements: +62: curr_y_d[ 1]=-1.1511954730722063e+00 +62: DenseVector "curr_slack_x_L" with 4 elements: +62: curr_slack_x_L[ 1]= 8.3449868301110897e-06 +62: curr_slack_x_L[ 2]= 3.7481458375142829e+00 +62: curr_slack_x_L[ 3]= 2.8144161255196138e+00 +62: curr_slack_x_L[ 4]= 3.8033515149443076e-01 +62: DenseVector "curr_slack_x_U" with 4 elements: +62: curr_slack_x_U[ 1]= 3.9999917150131696e+00 +62: curr_slack_x_U[ 2]= 2.5185422248571676e-01 +62: curr_slack_x_U[ 3]= 1.1855839344803858e+00 +62: curr_slack_x_U[ 4]= 3.6196649085055688e+00 +62: DenseVector "curr_z_L" with 4 elements: +62: curr_z_L[ 1]= 9.0782137348651773e-02 +62: curr_z_L[ 2]= 2.0212013440621378e-07 +62: curr_z_L[ 3]= 2.6917686352484288e-07 +62: curr_z_L[ 4]= 1.9918634875970377e-06 +62: DenseVector "curr_z_U" with 4 elements: +62: curr_z_U[ 1]= 1.8939433167632533e-07 +62: curr_z_U[ 2]= 3.0079779910997069e-06 +62: curr_z_U[ 3]= 6.3898931258815768e-07 +62: curr_z_U[ 4]= 2.0929444468029328e-07 +62: DenseVector "curr_slack_s_L" with 1 elements: +62: curr_slack_s_L[ 1]= 6.5805492168243428e-07 +62: DenseVector "curr_slack_s_U" with 0 elements: +62: DenseVector "curr_v_L" with 1 elements: +62: curr_v_L[ 1]= 1.1512348435990929e+00 +62: DenseVector "curr_v_U" with 0 elements: +62: +62: +62: ***Current NLP Values for Iteration 45: +62: +62: (scaled) (unscaled) +62: Objective...............: 1.4178398276143487e+00 1.7014077931372185e+01 +62: Dual infeasibility......: 6.6208213713041556e-04 7.9449856455649868e-03 +62: Constraint violation....: 8.7456461272950045e-08 8.7456461272950037e-07 +62: Complementarity.........: 7.5757575757575762e-07 9.0909090909090927e-06 +62: Overall NLP error.......: 6.6208213713041556e-04 7.9449856455649868e-03 +62: +62: DenseVector "grad_f" with 4 elements: +62: grad_f[ 1]= 1.2149915370276525e+00 +62: grad_f[ 2]= 1.1502888721413801e-01 +62: grad_f[ 3]= 1.9836222054747132e-01 +62: grad_f[ 4]= 7.9688749849317120e-01 +62: DenseVector "curr_c" with 1 elements: +62: curr_c[ 1]= 8.7456461272950045e-08 +62: DenseVector "curr_d" with 1 elements: +62: curr_d[ 1]= 6.2901680621507692e-07 +62: DenseVector "curr_d - curr_s" with 1 elements: +62: curr_d - curr_s[ 1]=-2.8638115467357326e-08 +62: +62: +62: +62: ************************************************** +62: *** Update Barrier Parameter for Iteration 45: +62: ************************************************** +62: +62: Staying in free mu mode. +62: The current filter has 5 entries. +62: phi theta iter +62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 +62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 +62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 +62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 +62: 5 1.4178398276143487e+00 1.1609457674030737e-07 45 +62: Solving the Primal Dual System for the affine step +62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 +62: delta_c=0.000000e+00 delta_d=0.000000e+00 +62: Factorization successful. +62: Number of trial factorizations performed: 1 +62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 +62: delta_c=0.000000e+00 delta_d=0.000000e+00 +62: Solving the Primal Dual System for the centering step +62: Factorization successful. +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.739197369688e-13 q = 5.739197369688e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.624972818014e-13 q = 5.624972818014e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: Sigma = 1.000001e+00 62: Barrier parameter mu computed by oracle is 7.575758e-07 62: Barrier parameter mu after safeguards is 7.575758e-07 62: Barrier Parameter: 7.575758e-07 @@ -20810,6 +27042,479 @@ 62: Overall NLP error.......: 4.8443073231881751e-04 5.8131687878258103e-03 62: 62: DenseVector "grad_f" with 4 elements: +52: testSeed done. real/CPU ms: 136.6 / 44.0 +52: testConvergenceTolerance ... +52: testConvergenceTolerance done. real/CPU ms: 1.9 / 1.9 +52: testRosenbrock ... +103: [min,max]=0,0.03 actual=0.000217766 +103: calc wrms=0.000217766 +86: Proximal unilateral contacts: () +86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: Proximal unilateral contacts: () +86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: Proximal unilateral contacts: () +86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: Proximal unilateral contacts: () +86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: Proximal unilateral contacts: () +86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: Proximal unilateral contacts: () +86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: Proximal unilateral contacts: () +86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: Proximal unilateral contacts: () +86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: Proximal unilateral contacts: () +86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: Proximal unilateral contacts: (0) +86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=4.91974 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-3.03022 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: () +86: participating multx: (0,1,2) +86: verr=~[-3.03022 0.0161793 -4.91971] +86: IMP t=0.036 verr=~[-3.03022 0.0161793 -4.91971] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[-3.03022 0.0161793 -4.91971] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=0.0161793,-4.91971, mag=4.91974 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0161793,-4.91971, mag=4.91974 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-3.03022; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-3.03022 0.0161793 -4.91971] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-3.03022 0.0161793 -4.91971] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.83254e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=3.02724... +86: > NEWTON iter 1: errNorm=3.02724(v) -> deltaNorm=9.1963(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[3.02723 -1.61793e-05 0.00491971] +86: > deltaPi=~[9.15057 -0.00301248 0.916018] +86: DBG: Line search iter 1: back=1, prevNorm=3.02724. +86: > piNow=~[-9.16057 0.00301248 -0.916018] +86: > errNow=~[1.33227e-15 -5.51468e-07 0.000167687] normNow=0.000167688 +86: DBG: Improvement rate now/prev at iter 1 is 5.53931e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.15854e-10 +86: > NEWTON iter 2: errNorm=0.000167688(v) -> deltaNorm=4.53457e-05(pi) +86: > piActive=~[-9.16057 0.00301248 -0.916018] +86: > errActive=~[1.33227e-15 -5.51468e-07 0.000167687] +86: > deltaPi=~[-3.33247e-05 -1.01133e-07 3.07521e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.000167688. +86: > piNow=~[-9.16053 0.00301258 -0.916048] +86: > errNow=~[-4.44089e-16 5.20417e-18 -8.88178e-16] normNow=9.93027e-16 +86: DBG: Improvement rate now/prev at iter 2 is 5.92188e-12 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.93027e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.0161793,-4.91971] to ~[-0.115113,-1.58617] +86: DBG: Friction 0 rotated 4.3393 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-9.16053 0.00301258 -0.916048] +86: : m_verrLeft=~[4.44089e-16 -0.115113 -1.58617] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-9.16053 verr=4.44089e-16 pi*v=-4.06809e-15 +86: SP FINAL 1 intervals, piTotal=~[-9.16053 0.00301258 -0.916048] errNorm=9.93027e-16 +86: Postcompression verr=~[4.44089e-16 -0.115113 -1.58617] +86: impulse=~[-9.16053 0.00301258 -0.916048] +86: Next expansion impulse=~[0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-9.16053 0.00301258 -0.916048]-> du ~[-1.96241 4.265 -2.03704 -2.25889 -0.0905759 2.08018 -8.00682 4.68573] +86: Now verr0=~[3.88578e-16 -0.115113 -1.58617] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[3.88578e-16 -0.115113 -1.58617] +86: verrExt=~[-0.592939 0.0581377 -0.606333] +86: total verr=~[-0.592939 -0.0569758 -2.1925] +86: DYN t=0.036: verrStart=~[3.88578e-16 -0.115113 -1.58617] +86: verrApplied=~[-0.592939 0.0581377 -0.606333] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[3.88578e-16 -0.115113 -1.58617] +86: verrApplied=~[-0.592939 0.0581377 -0.606333] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=-0.115113,-1.58617, mag=1.59034 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.115113,-1.58617, mag=1.59034 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.592939; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[3.88578e-16 -0.115113 -1.58617] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-0.592939 0.0581377 -0.606333] +86: : rhsActive=~[-0.592939 -0.0569758 -2.1925] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.9238e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.589956... +86: > NEWTON iter 1: errNorm=0.589956(v) -> deltaNorm=1.79261(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.589954 0.000115113 0.00158617] +86: > deltaPi=~[1.78362 0.0129823 0.178885] +86: DBG: Line search iter 1: back=1, prevNorm=0.589956. +86: > piNow=~[-1.79362 -0.0129823 -0.178885] +86: > errNow=~[0 7.64786e-07 1.05381e-05] normNow=1.05658e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.79095e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.6482e-10 +86: > NEWTON iter 2: errNorm=1.05658e-05(v) -> deltaNorm=8.81379e-06(pi) +86: > piActive=~[-1.79362 -0.0129823 -0.178885] +86: > errActive=~[0 7.64786e-07 1.05381e-05] +86: > deltaPi=~[-6.45814e-06 4.34149e-07 5.98221e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.05658e-05. +86: > piNow=~[-1.79361 -0.0129827 -0.178891] +86: > errNow=~[-1.11022e-16 -8.32667e-17 -1.22125e-15] normNow=1.22911e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.16329e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.22911e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.115113,-1.58617] to ~[-0.0820316,-1.53974] +86: DBG: Friction 0 rotated 1.10126 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-1.79361 -0.0129827 -0.178891] +86: : m_verrLeft=~[1.11022e-16 -0.0820316 -1.53974] +86: : verrAppliedLeft=~[0 0 0] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-1.79361 verr=1.11022e-16 pi*v=-1.99131e-16 +86: SP FINAL 1 intervals, piTotal=~[-1.79361 -0.0129827 -0.178891] errNorm=1.22911e-15 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.115113 -1.58617, |slipV|=1.59034 +86: ------------------------------ +86: +86: dynamics impulse=~[-1.79361 -0.0129827 -0.178891] +86: updated verrStart=~[1.11022e-16 -0.0820316 -1.53974] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[-0.948227 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.298449 -0.0161247 0.323363] +86: [-0.0161247 0.0485907 0.0180822] +86: [0.323363 0.0180822 0.405466] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[-0.948227 0 0] +86: active=(0) +86: -> piActive=~[-3.17719] +86: -> pi=~[-3.17719 0 0] +86: resid active=~[0] +86: resid=~[0 0.0512311 -1.02738] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-5.55112e-17 -0.0820316 -1.53974] +86: perr=~[-0.000948227 0] +86: END OF STEP (0.036,0.037): +86: verr=~[-0.000610557 -0.0815635 -1.53875] +86: perr=~[-0.000948533 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0) +86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.54091 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000610557 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: () +86: participating multx: (0,1,2) +86: verr=~[-0.000610557 -0.0815635 -1.53875] +86: IMP t=0.037 verr=~[-0.000610557 -0.0815635 -1.53875] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[-0.000610557 -0.0815635 -1.53875] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0815635,-1.53875, mag=1.54091 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0815635,-1.53875, mag=1.54091 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.000610557; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.000610557 -0.0815635 -1.53875] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000610557 -0.0815635 -1.53875] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.73969e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0028164... +86: > NEWTON iter 1: errNorm=0.0028164(v) -> deltaNorm=0.00814643(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[-0.00235748 8.15635e-05 0.00153875] +86: > deltaPi=~[-0.00814431 9.82415e-06 0.000185339] +86: DBG: Line search iter 1: back=1, prevNorm=0.0028164. +86: > piNow=~[-0.00185569 -9.82415e-06 -0.000185339] +86: > errNow=~[5.42101e-19 -2.47435e-09 -4.66803e-08] normNow=4.67458e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.65977e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000166158 +86: > NEWTON iter 2: errNorm=4.67458e-08(v) -> deltaNorm=4.03895e-08(pi) +86: > piActive=~[-0.00185569 -9.82415e-06 -0.000185339] +86: > errActive=~[5.42101e-19 -2.47435e-09 -4.66803e-08] +86: > deltaPi=~[2.97021e-08 -1.44872e-09 -2.73312e-08] +86: DBG: Line search iter 1: back=1, prevNorm=4.67458e-08. +86: > piNow=~[-0.00185572 -9.8227e-06 -0.000185312] +86: > errNow=~[0 2.61232e-13 4.92832e-12] normNow=4.93524e-12 +86: DBG: Improvement rate now/prev at iter 2 is 0.000105576 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.93524e-12. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.0815635,-1.53875] to ~[-0.0815879,-1.53807] +86: DBG: Friction 0 rotated 0.0022364 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00185572 -9.8227e-06 -0.000185312] +86: : m_verrLeft=~[0 -0.0815879 -1.53807] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.00185572 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.00185572 -9.8227e-06 -0.000185312] errNorm=4.93524e-12 +86: Postcompression verr=~[0 -0.0815879 -1.53807] +86: impulse=~[-0.00185572 -9.8227e-06 -0.000185312] +86: Next expansion impulse=~[0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00185572 -9.8227e-06 -0.000185312]-> du ~[-0.000392617 0.00086368 -0.000412971 -0.000458343 -1.64607e-05 0.000420332 -0.00162292 0.0009594] +86: Now verr0=~[5.55112e-17 -0.0815879 -1.53807] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[5.55112e-17 -0.0815879 -1.53807] +86: verrExt=~[-0.72767 0.0645368 -0.760205] +86: total verr=~[-0.72767 -0.017051 -2.29828] +86: DYN t=0.037: verrStart=~[5.55112e-17 -0.0815879 -1.53807] +86: verrApplied=~[-0.72767 0.0645368 -0.760205] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[5.55112e-17 -0.0815879 -1.53807] +86: verrApplied=~[-0.72767 0.0645368 -0.760205] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0815879,-1.53807, mag=1.54024 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0815879,-1.53807, mag=1.54024 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.72767; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[5.55112e-17 -0.0815879 -1.53807] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-0.72767 0.0645368 -0.760205] +86: : rhsActive=~[-0.72767 -0.017051 -2.29828] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.73718e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.724704... +86: > NEWTON iter 1: errNorm=0.724704(v) -> deltaNorm=2.21276(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.724702 8.15879e-05 0.00153807] +86: > deltaPi=~[2.20168 0.011715 0.220849] +86: DBG: Line search iter 1: back=1, prevNorm=0.724704. +86: > piNow=~[-2.21168 -0.011715 -0.220849] +86: > errNow=~[3.33067e-16 6.69099e-07 1.26137e-05] normNow=1.26314e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.74298e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.35792e-10 +86: > NEWTON iter 2: errNorm=1.26314e-05(v) -> deltaNorm=1.09174e-05(pi) +86: > piActive=~[-2.21168 -0.011715 -0.220849] +86: > errActive=~[3.33067e-16 6.69099e-07 1.26137e-05] +86: > deltaPi=~[-8.0286e-06 3.91885e-07 7.38772e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.26314e-05. +86: > piNow=~[-2.21167 -0.0117154 -0.220856] +86: > errNow=~[-1.11022e-16 -4.51028e-17 -9.4369e-16] normNow=9.51268e-16 +86: DBG: Improvement rate now/prev at iter 2 is 7.53096e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.51268e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.0815879,-1.53807] to ~[-0.0461062,-1.49279] +86: DBG: Friction 0 rotated 1.26737 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-2.21167 -0.0117154 -0.220856] +86: : m_verrLeft=~[1.11022e-16 -0.0461062 -1.49279] +86: : verrAppliedLeft=~[0 0 0] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-2.21167 verr=1.11022e-16 pi*v=-2.45545e-16 +86: SP FINAL 1 intervals, piTotal=~[-2.21167 -0.0117154 -0.220856] errNorm=9.51268e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0815879 -1.53807, |slipV|=1.54024 +86: ------------------------------ +86: +86: dynamics impulse=~[-2.21167 -0.0117154 -0.220856] +86: updated verrStart=~[1.11022e-16 -0.0461062 -1.49279] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[-0.948533 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.296804 -0.0153103 0.323364] +86: [-0.0153103 0.0486938 0.0191782] +86: [0.323364 0.0191782 0.407904] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[-0.948533 0 0] +86: active=(0) +86: -> piActive=~[-3.19582] +86: -> pi=~[-3.19582 0 0] +86: resid active=~[0] +86: resid=~[0 0.0489289 -1.03341] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-1.11022e-16 -0.0461062 -1.49279] +86: perr=~[-0.000948533 0] +86: END OF STEP (0.037,0.038): +86: verr=~[-0.00149652 -0.0447567 -1.49101] +86: perr=~[-0.000949281 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0) +86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.49169 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00149652 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: () +86: participating multx: (0,1,2) +86: verr=~[-0.00149652 -0.0447567 -1.49101] +86: IMP t=0.038 verr=~[-0.00149652 -0.0447567 -1.49101] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[-0.00149652 -0.0447567 -1.49101] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0447567,-1.49101, mag=1.49169 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0447567,-1.49101, mag=1.49169 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.00149652; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.00149652 -0.0447567 -1.49101] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00149652 -0.0447567 -1.49101] +86: : pi was=~[0 0 0] 62: grad_f[ 1]= 1.2148182677758141e+00 62: grad_f[ 2]= 1.1500782114864988e-01 62: grad_f[ 3]= 1.9834115448198322e-01 @@ -21299,6 +28004,401 @@ 62: curr_x[ 2]= 4.7457577498039543e+00 62: curr_x[ 3]= 3.8175448564148140e+00 62: curr_x[ 4]= 1.3798979019894126e+00 +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.55634e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00208147... +86: > NEWTON iter 1: errNorm=0.00208147(v) -> deltaNorm=0.00544384(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[-0.00145168 4.47567e-05 0.00149101] +86: > deltaPi=~[-0.00542458 1.37288e-05 0.000457356] +86: DBG: Line search iter 1: back=1, prevNorm=0.00208147. +86: > piNow=~[-0.00457542 -1.37288e-05 -0.000457356] +86: > errNow=~[-2.1684e-19 -9.04347e-10 -3.01272e-08] normNow=3.01408e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.44806e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.65304e-05 +86: > NEWTON iter 2: errNorm=3.01408e-08(v) -> deltaNorm=2.6997e-08(pi) +86: > piActive=~[-0.00457542 -1.37288e-05 -0.000457356] +86: > errActive=~[-2.1684e-19 -9.04347e-10 -3.01272e-08] +86: > deltaPi=~[1.99276e-08 -5.46479e-10 -1.82053e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.01408e-08. +86: > piNow=~[-0.00457544 -1.37282e-05 -0.000457338] +86: > errNow=~[0 1.58627e-14 5.28447e-13] normNow=5.28685e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.75405e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.28685e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.0447567,-1.49101] to ~[-0.0448122,-1.48935] +86: DBG: Friction 0 rotated 0.00405527 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00457544 -1.37282e-05 -0.000457338] +86: : m_verrLeft=~[0 -0.0448122 -1.48935] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.00457544 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.00457544 -1.37282e-05 -0.000457338] errNorm=5.28685e-13 +86: Postcompression verr=~[0 -0.0448122 -1.48935] +86: impulse=~[-0.00457544 -1.37282e-05 -0.000457338] +86: Next expansion impulse=~[0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00457544 -1.37282e-05 -0.000457338]-> du ~[-0.000955633 0.00212738 -0.00101779 -0.00113169 -3.72579e-05 0.00103252 -0.004 0.00238292] +86: Now verr0=~[-1.11022e-16 -0.0448122 -1.48935] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[-1.11022e-16 -0.0448122 -1.48935] +86: verrExt=~[-0.770886 0.0629843 -0.813836] +86: total verr=~[-0.770886 0.0181722 -2.30318] +86: DYN t=0.038: verrStart=~[-1.11022e-16 -0.0448122 -1.48935] +86: verrApplied=~[-0.770886 0.0629843 -0.813836] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[-1.11022e-16 -0.0448122 -1.48935] +86: verrApplied=~[-0.770886 0.0629843 -0.813836] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0448122,-1.48935, mag=1.49002 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0448122,-1.48935, mag=1.49002 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.770886; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-1.11022e-16 -0.0448122 -1.48935] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-0.770886 0.0629843 -0.813836] +86: : rhsActive=~[-0.770886 0.0181722 -2.30318] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.55014e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.767939... +86: > NEWTON iter 1: errNorm=0.767939(v) -> deltaNorm=2.35871(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.767938 4.48122e-05 0.00148935] +86: > deltaPi=~[2.34691 0.00708809 0.235575] +86: DBG: Line search iter 1: back=1, prevNorm=0.767939. +86: > piNow=~[-2.35691 -0.00708809 -0.235575] +86: > errNow=~[-2.22045e-16 3.91745e-07 1.30198e-05] normNow=1.30257e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.69618e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.38068e-10 +86: > NEWTON iter 2: errNorm=1.30257e-05(v) -> deltaNorm=1.16798e-05(pi) +86: > piActive=~[-2.35691 -0.00708809 -0.235575] +86: > errActive=~[-2.22045e-16 3.91745e-07 1.30198e-05] +86: > deltaPi=~[-8.62133e-06 2.36984e-07 7.87623e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.30257e-05. +86: > piNow=~[-2.3569 -0.00708833 -0.235583] +86: > errNow=~[0 -2.60209e-17 -8.32667e-16] normNow=8.33074e-16 +86: DBG: Improvement rate now/prev at iter 2 is 6.39564e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.33074e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.0448122,-1.48935] to ~[-0.0104085,-1.44477] +86: DBG: Friction 0 rotated 1.31065 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-2.3569 -0.00708833 -0.235583] +86: : m_verrLeft=~[0 -0.0104085 -1.44477] +86: : verrAppliedLeft=~[0 0 0] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-2.3569 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-2.3569 -0.00708833 -0.235583] errNorm=8.33074e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0448122 -1.48935, |slipV|=1.49002 +86: ------------------------------ +86: +86: dynamics impulse=~[-2.3569 -0.00708833 -0.235583] +86: updated verrStart=~[0 -0.0104085 -1.44477] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[-0.949281 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.29482 -0.0143212 0.323141] +86: [-0.0143212 0.0488048 0.0204893] +86: [0.323141 0.0204893 0.410308] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[-0.949281 0 0] +86: active=(0) +86: -> piActive=~[-3.21986] +86: -> pi=~[-3.21986 0 0] +86: resid active=~[0] +86: resid=~[0 0.0461122 -1.04047] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[0 -0.0104085 -1.44477] +86: perr=~[-0.000949281 0] +86: END OF STEP (0.038,0.039): +86: verr=~[-0.00265264 -0.0076555 -1.44199] +86: perr=~[-0.000950607 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0) +86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.44201 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00265264 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: () +86: participating multx: (0,1,2) +86: verr=~[-0.00265264 -0.0076555 -1.44199] +86: IMP t=0.039 verr=~[-0.00265264 -0.0076555 -1.44199] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[-0.00265264 -0.0076555 -1.44199] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0076555,-1.44199, mag=1.44201 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0076555,-1.44199, mag=1.44201 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.00265264; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.00265264 -0.0076555 -1.44199] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00265264 -0.0076555 -1.44199] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.37132e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00146752... +86: > NEWTON iter 1: errNorm=0.00146752(v) -> deltaNorm=0.00200609(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[-0.000272437 7.6555e-06 0.00144199] +86: > deltaPi=~[-0.00183228 4.33619e-06 0.000816767] +86: DBG: Line search iter 1: back=1, prevNorm=0.00146752. +86: > piNow=~[-0.00816772 -4.33619e-06 -0.000816767] +86: > errNow=~[-4.33681e-19 -5.2249e-11 -9.84164e-09] normNow=9.84178e-09 +86: DBG: Improvement rate now/prev at iter 1 is 6.70638e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.0511e-06 +86: > NEWTON iter 2: errNorm=9.84178e-09(v) -> deltaNorm=9.15186e-09(pi) +86: > piActive=~[-0.00816772 -4.33619e-06 -0.000816767] +86: > errActive=~[-4.33681e-19 -5.2249e-11 -9.84164e-09] +86: > deltaPi=~[6.78015e-09 -3.2634e-11 -6.14696e-09] +86: DBG: Line search iter 1: back=1, prevNorm=9.84178e-09. +86: > piNow=~[-0.00816772 -4.33616e-06 -0.000816761] +86: > errNow=~[0 2.898e-16 5.4587e-14] normNow=5.45877e-14 +86: DBG: Improvement rate now/prev at iter 2 is 5.54653e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.45877e-14. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.0076555,-1.44199] to ~[-0.00774476,-1.43902] +86: DBG: Friction 0 rotated 0.00418223 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00816772 -4.33616e-06 -0.000816761] +86: : m_verrLeft=~[0 -0.00774476 -1.43902] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.00816772 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.00816772 -4.33616e-06 -0.000816761] errNorm=5.45877e-14 +86: Postcompression verr=~[0 -0.00774476 -1.43902] +86: impulse=~[-0.00816772 -4.33616e-06 -0.000816761] +86: Next expansion impulse=~[0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00816772 -4.33616e-06 -0.000816761]-> du ~[-0.00168181 0.00378946 -0.0018169 -0.00202154 -5.99013e-05 0.00183319 -0.00712712 0.00426606] +86: Now verr0=~[1.11022e-16 -0.00774476 -1.43902] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[1.11022e-16 -0.00774476 -1.43902] +86: verrExt=~[-0.741193 0.0549431 -0.787241] +86: total verr=~[-0.741193 0.0471984 -2.22626] +86: DYN t=0.039: verrStart=~[1.11022e-16 -0.00774476 -1.43902] +86: verrApplied=~[-0.741193 0.0549431 -0.787241] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[1.11022e-16 -0.00774476 -1.43902] +86: verrApplied=~[-0.741193 0.0549431 -0.787241] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=-0.00774476,-1.43902, mag=1.43904 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.00774476,-1.43902, mag=1.43904 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.741193; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[1.11022e-16 -0.00774476 -1.43902] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-0.741193 0.0549431 -0.787241] +86: : rhsActive=~[-0.741193 0.0471984 -2.22626] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.36025e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.73827... +86: > NEWTON iter 1: errNorm=0.73827(v) -> deltaNorm=2.28364(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.738268 7.74476e-06 0.00143902] +86: > deltaPi=~[2.27221 0.00122821 0.228209] +86: DBG: Line search iter 1: back=1, prevNorm=0.73827. +86: > piNow=~[-2.28221 -0.00122821 -0.228209] +86: > errNow=~[3.33067e-16 6.55493e-08 1.21794e-05] normNow=1.21796e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.64975e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.23167e-10 +86: > NEWTON iter 2: errNorm=1.21796e-05(v) -> deltaNorm=1.13491e-05(pi) +86: > piActive=~[-2.28221 -0.00122821 -0.228209] +86: > errActive=~[3.33067e-16 6.55493e-08 1.21794e-05] +86: > deltaPi=~[-8.40797e-06 4.10256e-08 7.62278e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.21796e-05. +86: > piNow=~[-2.2822 -0.00122825 -0.228217] +86: > errNow=~[1.11022e-16 -4.55365e-18 -8.88178e-16] normNow=8.95102e-16 +86: DBG: Improvement rate now/prev at iter 2 is 7.34919e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.95102e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.00774476,-1.43902] to ~[0.0222587,-1.39556] +86: DBG: Friction 0 rotated 1.22213 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-2.2822 -0.00122825 -0.228217] +86: : m_verrLeft=~[-1.11022e-16 0.0222587 -1.39556] +86: : verrAppliedLeft=~[0 0 0] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-2.2822 verr=-1.11022e-16 pi*v=2.53375e-16 +86: SP FINAL 1 intervals, piTotal=~[-2.2822 -0.00122825 -0.228217] errNorm=8.95102e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.00774476 -1.43902, |slipV|=1.43904 +86: ------------------------------ +86: +86: dynamics impulse=~[-2.2822 -0.00122825 -0.228217] +86: updated verrStart=~[-1.11022e-16 0.0222587 -1.39556] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[-0.950607 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.292508 -0.0131562 0.322709] +86: [-0.0131562 0.0489251 0.0220201] +86: [0.322709 0.0220201 0.4127] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[-0.950607 0 0] +86: active=(0) +86: -> piActive=~[-3.24985] +86: -> pi=~[-3.24985 0 0] +86: resid active=~[1.11022e-16] +86: resid=~[1.11022e-16 0.0427557 -1.04876] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[2.22045e-16 0.0222587 -1.39556] +86: perr=~[-0.000950607 0] +86: END OF STEP (0.039,0.04): +86: verr=~[-0.00395873 0.0267777 -1.39171] +86: perr=~[-0.000952587 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0) +86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.39197 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00395873 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: () +86: participating multx: (0,1,2) +86: verr=~[-0.00395873 0.0267777 -1.39171] +86: IMP t=0.04 verr=~[-0.00395873 0.0267777 -1.39171] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[-0.00395873 0.0267777 -1.39171] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=0.0267777,-1.39171, mag=1.39197 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0267777,-1.39171, mag=1.39197 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.00395873; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.00395873 0.0267777 -1.39171] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00395873 0.0267777 -1.39171] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.18491e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00174942... +86: > NEWTON iter 1: errNorm=0.00174942(v) -> deltaNorm=0.00259814(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.00105966 -2.67777e-05 0.00139171] +86: > deltaPi=~[0.00228913 -2.36407e-05 0.00122868] +86: DBG: Line search iter 1: back=1, prevNorm=0.00174942. +86: > piNow=~[-0.0122891 2.36407e-05 -0.00122868] 62: DenseVector "curr_s" with 1 elements: 62: curr_s[ 1]= 6.5782184647183888e-07 62: DenseVector "curr_y_c" with 1 elements: @@ -21690,6 +28790,384 @@ 62: ***Current NLP Values for Iteration 53: 62: 62: (scaled) (unscaled) +86: > errNow=~[8.67362e-19 -2.28325e-10 1.18667e-08] normNow=1.18689e-08 +86: DBG: Improvement rate now/prev at iter 1 is 6.78451e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.43333e-06 +86: > NEWTON iter 2: errNorm=1.18689e-08(v) -> deltaNorm=1.14738e-08(pi) +86: > piActive=~[-0.0122891 2.36407e-05 -0.00122868] +86: > errActive=~[8.67362e-19 -2.28325e-10 1.18667e-08] +86: > deltaPi=~[-8.53002e-09 -1.47621e-10 7.67231e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.18689e-08. +86: > piNow=~[-0.0122891 2.36409e-05 -0.00122868] +86: > errNow=~[0 5.63392e-16 -2.9281e-14] normNow=2.92865e-14 +86: DBG: Improvement rate now/prev at iter 2 is 2.46749e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.92865e-14. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.0267777,-1.39171] to ~[0.0266603,-1.38725] +86: DBG: Friction 0 rotated 0.00129617 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.0122891 2.36409e-05 -0.00122868] +86: : m_verrLeft=~[0 0.0266603 -1.38725] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.0122891 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.0122891 2.36409e-05 -0.00122868] errNorm=2.92865e-14 +86: Postcompression verr=~[0 0.0266603 -1.38725] +86: impulse=~[-0.0122891 2.36409e-05 -0.00122868] +86: Next expansion impulse=~[0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.0122891 2.36409e-05 -0.00122868]-> du ~[-0.00249141 0.00568323 -0.00273489 -0.00304146 -7.91519e-05 0.00273891 -0.0106887 0.00641159] +86: Now verr0=~[0 0.0266603 -1.38725] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0 0.0266603 -1.38725] +86: verrExt=~[-0.661491 0.0428191 -0.704689] +86: total verr=~[-0.661491 0.0694794 -2.09193] +86: DYN t=0.04: verrStart=~[0 0.0266603 -1.38725] +86: verrApplied=~[-0.661491 0.0428191 -0.704689] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[0 0.0266603 -1.38725] +86: verrApplied=~[-0.661491 0.0428191 -0.704689] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=0.0266603,-1.38725, mag=1.3875 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0266603,-1.38725, mag=1.3875 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.661491; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0 0.0266603 -1.38725] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-0.661491 0.0428191 -0.704689] +86: : rhsActive=~[-0.661491 0.0694794 -2.09193] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.16827e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.658594... +86: > NEWTON iter 1: errNorm=0.658594(v) -> deltaNorm=2.05377(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.658592 -2.66603e-05 0.00138725] +86: > deltaPi=~[2.04348 -0.00394553 0.205302] +86: DBG: Line search iter 1: back=1, prevNorm=0.658594. +86: > piNow=~[-2.05348 0.00394553 -0.205302] +86: > errNow=~[1.11022e-16 -2.0293e-07 1.05593e-05] normNow=1.05612e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.60361e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.67037e-10 +86: > NEWTON iter 2: errNorm=1.05612e-05(v) -> deltaNorm=1.02425e-05(pi) +86: > piActive=~[-2.05348 0.00394553 -0.205302] +86: > errActive=~[1.11022e-16 -2.0293e-07 1.05593e-05] +86: > deltaPi=~[-7.61463e-06 -1.31625e-07 6.84897e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.05612e-05. +86: > piNow=~[-2.05347 0.00394567 -0.205309] +86: > errNow=~[1.11022e-16 1.73472e-17 -8.88178e-16] normNow=8.95259e-16 +86: DBG: Improvement rate now/prev at iter 2 is 8.47683e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.95259e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.0266603,-1.38725] to ~[0.0498699,-1.34541] +86: DBG: Friction 0 rotated 1.02182 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-2.05347 0.00394567 -0.205309] +86: : m_verrLeft=~[-1.11022e-16 0.0498699 -1.34541] +86: : verrAppliedLeft=~[0 0 0] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-2.05347 verr=-1.11022e-16 pi*v=2.27981e-16 +86: SP FINAL 1 intervals, piTotal=~[-2.05347 0.00394567 -0.205309] errNorm=8.95259e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0266603 -1.38725, |slipV|=1.3875 +86: ------------------------------ +86: +86: dynamics impulse=~[-2.05347 0.00394567 -0.205309] +86: updated verrStart=~[-1.11022e-16 0.0498699 -1.34541] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[-0.952587 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.289908 -0.0118306 0.322089] +86: [-0.0118306 0.0490583 0.0237586] +86: [0.322089 0.0237586 0.415086] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[-0.952587 0 0] +86: active=(0) +86: -> piActive=~[-3.28583] +86: -> pi=~[-3.28583 0 0] +86: resid active=~[0] +86: resid=~[0 0.0388733 -1.05833] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-2.22045e-16 0.0498699 -1.34541] +86: perr=~[-0.000952587 0] +86: END OF STEP (0.04,0.041): +86: verr=~[-0.0052572 0.0562667 -1.34053] +86: perr=~[-0.000955215 -2.22045e-16] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0) +86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.34171 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.0052572 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: () +86: participating multx: (0,1,2) +86: verr=~[-0.0052572 0.0562667 -1.34053] +86: IMP t=0.041 verr=~[-0.0052572 0.0562667 -1.34053] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[-0.0052572 0.0562667 -1.34053] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=0.0562667,-1.34053, mag=1.34171 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0562667,-1.34053, mag=1.34171 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.0052572; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.0052572 0.0562667 -1.34053] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.0052572 0.0562667 -1.34053] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.99771e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00273775... +86: > NEWTON iter 1: errNorm=0.00273775(v) -> deltaNorm=0.00667513(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.00238644 -5.62667e-05 0.00134053] +86: > deltaPi=~[0.00646879 -6.90633e-05 0.00164541] +86: DBG: Line search iter 1: back=1, prevNorm=0.00273775. +86: > piNow=~[-0.0164688 6.90633e-05 -0.00164541] +86: > errNow=~[-8.67362e-19 -1.35577e-09 3.23007e-08] normNow=3.23291e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.18086e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.8428e-06 +86: > NEWTON iter 2: errNorm=3.23291e-08(v) -> deltaNorm=3.25318e-08(pi) +86: > piActive=~[-0.0164688 6.90633e-05 -0.00164541] +86: > errActive=~[-8.67362e-19 -1.35577e-09 3.23007e-08] +86: > deltaPi=~[-2.42647e-08 -9.08721e-10 2.16499e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.23291e-08. +86: > piNow=~[-0.0164688 6.90642e-05 -0.00164543] +86: > errNow=~[8.67362e-19 1.87521e-15 -4.46752e-14] normNow=4.47145e-14 +86: DBG: Improvement rate now/prev at iter 2 is 1.3831e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.47145e-14. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.0562667,-1.34053] to ~[0.0561348,-1.33456] +86: DBG: Friction 0 rotated 0.00509744 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.0164688 6.90642e-05 -0.00164543] +86: : m_verrLeft=~[-8.67362e-19 0.0561348 -1.33456] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.0164688 verr=-8.67362e-19 pi*v=1.42844e-20 +86: SP FINAL 1 intervals, piTotal=~[-0.0164688 6.90642e-05 -0.00164543] errNorm=4.47145e-14 +86: Postcompression verr=~[-8.67362e-19 0.0561348 -1.33456] +86: impulse=~[-0.0164688 6.90642e-05 -0.00164543] +86: Next expansion impulse=~[0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.0164688 6.90642e-05 -0.00164543]-> du ~[-0.00328334 0.00758479 -0.00366803 -0.00407323 -9.00454e-05 0.00363991 -0.0142614 0.00855481] +86: Now verr0=~[0 0.0561348 -1.33456] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0 0.0561348 -1.33456] +86: verrExt=~[-0.554759 0.0292277 -0.590544] +86: total verr=~[-0.554759 0.0853625 -1.9251] +86: DYN t=0.041: verrStart=~[0 0.0561348 -1.33456] +86: verrApplied=~[-0.554759 0.0292277 -0.590544] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[0 0.0561348 -1.33456] +86: verrApplied=~[-0.554759 0.0292277 -0.590544] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=0.0561348,-1.33456, mag=1.33574 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0561348,-1.33456, mag=1.33574 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.554759; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0 0.0561348 -1.33456] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-0.554759 0.0292277 -0.590544] +86: : rhsActive=~[-0.554759 0.0853625 -1.9251] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.97545e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.55189... +86: > NEWTON iter 1: errNorm=0.55189(v) -> deltaNorm=1.73657(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.551889 -5.61348e-05 0.00133456] +86: > deltaPi=~[1.72785 -0.00730312 0.173625] +86: DBG: Line search iter 1: back=1, prevNorm=0.55189. +86: > piNow=~[-1.73785 0.00730312 -0.173625] +86: > errNow=~[2.22045e-16 -3.61285e-07 8.58924e-06] normNow=8.59684e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.55771e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.54265e-10 +86: > NEWTON iter 2: errNorm=8.59684e-06(v) -> deltaNorm=8.68943e-06(pi) +86: > piActive=~[-1.73785 0.00730312 -0.173625] +86: > errActive=~[2.22045e-16 -3.61285e-07 8.58924e-06] +86: > deltaPi=~[-6.48122e-06 -2.43239e-07 5.78279e-06] +86: DBG: Line search iter 1: back=1, prevNorm=8.59684e-06. +86: > piNow=~[-1.73785 0.00730336 -0.173631] +86: > errNow=~[0 4.33681e-17 -1.02696e-15] normNow=1.02787e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.19564e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.02787e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.0561348,-1.33456] to ~[0.0714406,-1.29441] +86: DBG: Friction 0 rotated 0.750455 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-1.73785 0.00730336 -0.173631] +86: : m_verrLeft=~[0 0.0714406 -1.29441] +86: : verrAppliedLeft=~[0 0 0] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-1.73785 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-1.73785 0.00730336 -0.173631] errNorm=1.02787e-15 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0561348 -1.33456, |slipV|=1.33574 +86: ------------------------------ +86: +86: dynamics impulse=~[-1.73785 0.00730336 -0.173631] +86: updated verrStart=~[0 0.0714406 -1.29441] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[-0.955215 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.287076 -0.0103701 0.321312] +86: [-0.0103701 0.0492091 0.0256817] +86: [0.321312 0.0256817 0.417465] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[-0.955215 0 0] +86: active=(0) +86: -> piActive=~[-3.32739] +86: -> pi=~[-3.32739 0 0] +86: resid active=~[0] +86: resid=~[0 0.0345053 -1.06913] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[0 0.0714406 -1.29441] +86: perr=~[-0.000955215 -2.22045e-16] +86: END OF STEP (0.041,0.042): +86: verr=~[-0.006404 0.0795815 -1.28869] +86: perr=~[-0.000958417 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0) +86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.29115 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.006404 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: () +86: participating multx: (0,1,2) +86: verr=~[-0.006404 0.0795815 -1.28869] +86: IMP t=0.042 verr=~[-0.006404 0.0795815 -1.28869] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[-0.006404 0.0795815 -1.28869] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=0.0795815,-1.28869, mag=1.29115 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0795815,-1.28869, mag=1.29115 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.006404; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.006404 0.0795815 -1.28869] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.006404 0.0795815 -1.28869] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] 62: Objective...............: 1.4178369565980815e+00 1.7014043479176980e+01 62: Dual infeasibility......: 2.8800475705889470e-04 3.4560570847067366e-03 62: Constraint violation....: 1.6562970728273285e-08 1.6562970728273283e-07 @@ -22080,6 +29558,339 @@ 62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 62: delta_c=0.000000e+00 delta_d=0.000000e+00 62: Factorization successful. +103: [min,max]=0.1,0.5 actual=0.208303 +103: calc wrms=0.208303 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.80936e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00378992... +86: > NEWTON iter 1: errNorm=0.00378992(v) -> deltaNorm=0.0104567(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.0035632 -7.95815e-05 0.00128869] +86: > deltaPi=~[0.0102586 -0.000124864 0.00202197] +86: DBG: Line search iter 1: back=1, prevNorm=0.00378992. +86: > piNow=~[-0.0202586 0.000124864 -0.00202197] +86: > errNow=~[-8.67362e-19 -3.04096e-09 4.92433e-08] normNow=4.93371e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.3018e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.17194e-06 +86: > NEWTON iter 2: errNorm=4.93371e-08(v) -> deltaNorm=5.17561e-08(pi) +86: > piActive=~[-0.0202586 0.000124864 -0.00202197] +86: > errActive=~[-8.67362e-19 -3.04096e-09 4.92433e-08] +86: > deltaPi=~[-3.87232e-08 -2.11657e-09 3.42743e-08] +86: DBG: Line search iter 1: back=1, prevNorm=4.93371e-08. +86: > piNow=~[-0.0202585 0.000124866 -0.002022] +86: > errNow=~[1.73472e-18 2.79713e-15 -4.52949e-14] normNow=4.53812e-14 +86: DBG: Improvement rate now/prev at iter 2 is 9.19819e-07 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.53812e-14. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.0795815,-1.28869] to ~[0.0794531,-1.28135] +86: DBG: Friction 0 rotated 0.0144609 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.0202585 0.000124866 -0.002022] +86: : m_verrLeft=~[-1.73472e-18 0.0794531 -1.28135] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.0202585 verr=-1.73472e-18 pi*v=3.51429e-20 +86: SP FINAL 1 intervals, piTotal=~[-0.0202585 0.000124866 -0.002022] errNorm=4.53812e-14 +86: Postcompression verr=~[-1.73472e-18 0.0794531 -1.28135] +86: impulse=~[-0.0202585 0.000124866 -0.002022] +86: Next expansion impulse=~[0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.0202585 0.000124866 -0.002022]-> du ~[-0.00396779 0.00928542 -0.00451713 -0.0050049 -8.96043e-05 0.00443575 -0.0174518 0.0104523] +86: Now verr0=~[2.22045e-16 0.0794531 -1.28135] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[2.22045e-16 0.0794531 -1.28135] +86: verrExt=~[-0.440954 0.0163497 -0.466288] +86: total verr=~[-0.440954 0.0958028 -1.74764] +86: DYN t=0.042: verrStart=~[2.22045e-16 0.0794531 -1.28135] +86: verrApplied=~[-0.440954 0.0163497 -0.466288] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[2.22045e-16 0.0794531 -1.28135] +86: verrApplied=~[-0.440954 0.0163497 -0.466288] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=0.0794531,-1.28135, mag=1.28382 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0794531,-1.28135, mag=1.28382 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.440954; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[2.22045e-16 0.0794531 -1.28135] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-0.440954 0.0163497 -0.466288] +86: : rhsActive=~[-0.440954 0.0958028 -1.74764] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.78205e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.438115... +86: > NEWTON iter 1: errNorm=0.438115(v) -> deltaNorm=1.39194(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.438113 -7.94531e-05 0.00128135] +86: > deltaPi=~[1.38493 -0.00863265 0.13922] +86: DBG: Line search iter 1: back=1, prevNorm=0.438115. +86: > piNow=~[-1.39493 0.00863265 -0.13922] +86: > errNow=~[-5.55112e-17 -4.09873e-07 6.6101e-06] normNow=6.6228e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.51166e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.50012e-10 +86: > NEWTON iter 2: errNorm=6.6228e-06(v) -> deltaNorm=6.98715e-06(pi) +86: > piActive=~[-1.39493 0.00863265 -0.13922] +86: > errActive=~[-5.55112e-17 -4.09873e-07 6.6101e-06] +86: > deltaPi=~[-5.22767e-06 -2.86909e-07 4.62703e-06] +86: DBG: Line search iter 1: back=1, prevNorm=6.6228e-06. +86: > piNow=~[-1.39492 0.00863294 -0.139225] +86: > errNow=~[0 7.97973e-17 -1.249e-15] normNow=1.25155e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.88976e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.25155e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.0794531,-1.28135] to ~[0.086959,-1.24248] +86: DBG: Friction 0 rotated 0.455287 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-1.39492 0.00863294 -0.139225] +86: : m_verrLeft=~[0 0.086959 -1.24248] +86: : verrAppliedLeft=~[0 0 0] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-1.39492 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-1.39492 0.00863294 -0.139225] errNorm=1.25155e-15 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0794531 -1.28135, |slipV|=1.28382 +86: ------------------------------ +86: +86: dynamics impulse=~[-1.39492 0.00863294 -0.139225] +86: updated verrStart=~[0 0.086959 -1.24248] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[-0.958417 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.284079 -0.00880515 0.32041] +86: [-0.00880515 0.0493827 0.0277606] +86: [0.32041 0.0277606 0.419832] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[-0.958417 0 0] +86: active=(0) +86: -> piActive=~[-3.37377] +86: -> pi=~[-3.37377 0 0] +86: resid active=~[0] +86: resid=~[0 0.0297065 -1.08099] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[2.22045e-16 0.086959 -1.24248] +86: perr=~[-0.000958417 0] +86: END OF STEP (0.042,0.043): +86: verr=~[-0.00730402 0.0965378 -1.23616] +86: perr=~[-0.000962069 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0) +86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.23992 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00730402 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: () +86: participating multx: (0,1,2) +86: verr=~[-0.00730402 0.0965378 -1.23616] +86: IMP t=0.043 verr=~[-0.00730402 0.0965378 -1.23616] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[-0.00730402 0.0965378 -1.23616] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=0.0965378,-1.23616, mag=1.23992 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0965378,-1.23616, mag=1.23992 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.00730402; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.00730402 0.0965378 -1.23616] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00730402 0.0965378 -1.23616] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.61855e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00466212... +86: > NEWTON iter 1: errNorm=0.00466212(v) -> deltaNorm=0.0135471(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.00449421 -9.65378e-05 0.00123616] +86: > deltaPi=~[0.0133444 -0.000181751 0.00232731] +86: DBG: Line search iter 1: back=1, prevNorm=0.00466212. +86: > piNow=~[-0.0233444 0.000181751 -0.00232731] +86: > errNow=~[0 -4.79855e-09 6.1445e-08] normNow=6.1632e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.32198e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.47576e-07 +86: > NEWTON iter 2: errNorm=6.1632e-08(v) -> deltaNorm=6.75348e-08(pi) +86: > piActive=~[-0.0233444 0.000181751 -0.00232731] +86: > errActive=~[0 -4.79855e-09 6.1445e-08] +86: > deltaPi=~[-5.06789e-08 -3.47547e-09 4.4503e-08] +86: DBG: Line search iter 1: back=1, prevNorm=6.1632e-08. +86: > piNow=~[-0.0233444 0.000181755 -0.00232735] +86: > errNow=~[0 3.34436e-15 -4.28234e-14] normNow=4.29538e-14 +86: DBG: Improvement rate now/prev at iter 2 is 6.96939e-07 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.29538e-14. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.0965378,-1.23616] to ~[0.0964313,-1.22772] +86: DBG: Friction 0 rotated 0.0256069 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.0233444 0.000181755 -0.00232735] +86: : m_verrLeft=~[0 0.0964313 -1.22772] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.0233444 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.0233444 0.000181755 -0.00232735] errNorm=4.29538e-14 +86: Postcompression verr=~[0 0.0964313 -1.22772] +86: impulse=~[-0.0233444 0.000181755 -0.00232735] +86: Next expansion impulse=~[0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.0233444 0.000181755 -0.00232735]-> du ~[-0.00448786 0.0106435 -0.0052121 -0.00575878 -7.74679e-05 0.00506025 -0.019994 0.0119443] +86: Now verr0=~[0 0.0964313 -1.22772] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0 0.0964313 -1.22772] +86: verrExt=~[-0.335339 0.00557711 -0.348875] +86: total verr=~[-0.335339 0.102008 -1.5766] +86: DYN t=0.043: verrStart=~[0 0.0964313 -1.22772] +86: verrApplied=~[-0.335339 0.00557711 -0.348875] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[0 0.0964313 -1.22772] +86: verrApplied=~[-0.335339 0.00557711 -0.348875] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=0.0964313,-1.22772, mag=1.23151 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0964313,-1.22772, mag=1.23151 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.335339; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0 0.0964313 -1.22772] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-0.335339 0.00557711 -0.348875] +86: : rhsActive=~[-0.335339 0.102008 -1.5766] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.5872e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.332531... +86: > NEWTON iter 1: errNorm=0.332531(v) -> deltaNorm=1.06718(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.332529 -9.64313e-05 0.00122772] +86: > deltaPi=~[1.06178 -0.00839214 0.106845] +86: DBG: Line search iter 1: back=1, prevNorm=0.332531. +86: > piNow=~[-1.07178 0.00839214 -0.106845] +86: > errNow=~[5.55112e-17 -3.81387e-07 4.85567e-06] normNow=4.87062e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.46471e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.87063e-10 +86: > NEWTON iter 2: errNorm=4.87062e-06(v) -> deltaNorm=5.37351e-06(pi) +86: > piActive=~[-1.07178 0.00839214 -0.106845] +86: > errActive=~[5.55112e-17 -3.81387e-07 4.85567e-06] +86: > deltaPi=~[-4.0323e-06 -2.78117e-07 3.54088e-06] +86: DBG: Line search iter 1: back=1, prevNorm=4.87062e-06. +86: > piNow=~[-1.07178 0.00839242 -0.106849] +86: > errNow=~[-5.55112e-17 1.249e-16 -1.58207e-15] normNow=1.58796e-15 +86: DBG: Improvement rate now/prev at iter 2 is 3.26028e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.58796e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.0964313,-1.22772] to ~[0.0971136,-1.1894] +86: DBG: Friction 0 rotated 0.176742 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-1.07178 0.00839242 -0.106849] +86: : m_verrLeft=~[5.55112e-17 0.0971136 -1.1894] +86: : verrAppliedLeft=~[0 0 0] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-1.07178 verr=5.55112e-17 pi*v=-5.94958e-17 +86: SP FINAL 1 intervals, piTotal=~[-1.07178 0.00839242 -0.106849] errNorm=1.58796e-15 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0964313 -1.22772, |slipV|=1.23151 +86: ------------------------------ +86: +86: dynamics impulse=~[-1.07178 0.00839242 -0.106849] +86: updated verrStart=~[5.55112e-17 0.0971136 -1.1894] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[-0.962069 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.280981 -0.00716603 0.319414] +86: [-0.00716603 0.0495836 0.0299652] +86: [0.319414 0.0299652 0.422176] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[-0.962069 0 0] +86: active=(0) +86: -> piActive=~[-3.42397] +86: -> pi=~[-3.42397 0 0] +86: resid active=~[0] +86: resid=~[0 0.0245363 -1.09366] 62: Number of trial factorizations performed: 1 62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 62: delta_c=0.000000e+00 delta_d=0.000000e+00 @@ -22466,6 +30277,299 @@ 62: nrm_rhs = 1.90e-04 nrm_sol = 1.91e-04 nrm_resid = 3.87e-17 62: residual_ratio = 1.014353e-13 62: Factorization successful. +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[2.22045e-16 0.0971136 -1.1894] +86: perr=~[-0.000962069 0] +86: END OF STEP (0.043,0.044): +86: verr=~[-0.00792286 0.10775 -1.18273] +86: perr=~[-0.000966031 -1.11022e-16] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0) +86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.18762 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00792286 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: () +86: participating multx: (0,1,2) +86: verr=~[-0.00792286 0.10775 -1.18273] +86: IMP t=0.044 verr=~[-0.00792286 0.10775 -1.18273] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[-0.00792286 0.10775 -1.18273] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=0.10775,-1.18273, mag=1.18762 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.10775,-1.18273, mag=1.18762 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.00792286; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.00792286 0.10775 -1.18273] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00792286 0.10775 -1.18273] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.42375e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00527977... +86: > NEWTON iter 1: errNorm=0.00527977(v) -> deltaNorm=0.0157999(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.00514447 -0.00010775 0.00118273] +86: > deltaPi=~[0.0155913 -0.000232178 0.00254852] +86: DBG: Line search iter 1: back=1, prevNorm=0.00527977. +86: > piNow=~[-0.0255913 0.000232178 -0.00254852] +86: > errNow=~[0 -6.25765e-09 6.86875e-08] normNow=6.89719e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.30634e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.75535e-07 +86: > NEWTON iter 2: errNorm=6.89719e-08(v) -> deltaNorm=7.91487e-08(pi) +86: > piActive=~[-0.0255913 0.000232178 -0.00254852] +86: > errActive=~[0 -6.25765e-09 6.86875e-08] +86: > deltaPi=~[-5.95662e-08 -4.72862e-09 5.1904e-08] +86: DBG: Line search iter 1: back=1, prevNorm=6.89719e-08. +86: > piNow=~[-0.0255912 0.000232183 -0.00254857] +86: > errNow=~[-1.73472e-18 3.65073e-15 -4.0073e-14] normNow=4.02389e-14 +86: DBG: Improvement rate now/prev at iter 2 is 5.8341e-07 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.02389e-14. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.10775,-1.18273] to ~[0.107681,-1.1735] +86: DBG: Friction 0 rotated 0.0373102 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.0255912 0.000232183 -0.00254857] +86: : m_verrLeft=~[1.73472e-18 0.107681 -1.1735] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.0255912 verr=1.73472e-18 pi*v=-4.43937e-20 +86: SP FINAL 1 intervals, piTotal=~[-0.0255912 0.000232183 -0.00254857] errNorm=4.02389e-14 +86: Postcompression verr=~[1.73472e-18 0.107681 -1.1735] +86: impulse=~[-0.0255912 0.000232183 -0.00254857] +86: Next expansion impulse=~[0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.0255912 0.000232183 -0.00254857]-> du ~[-0.00482576 0.0116036 -0.00572202 -0.00630237 -5.54411e-05 0.00548961 -0.0217854 0.012975] +86: Now verr0=~[-2.22045e-16 0.107681 -1.1735] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[-2.22045e-16 0.107681 -1.1735] +86: verrExt=~[-0.248076 -0.00253527 -0.250209] +86: total verr=~[-0.248076 0.105145 -1.42371] +86: DYN t=0.044: verrStart=~[-2.22045e-16 0.107681 -1.1735] +86: verrApplied=~[-0.248076 -0.00253527 -0.250209] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[-2.22045e-16 0.107681 -1.1735] +86: verrApplied=~[-0.248076 -0.00253527 -0.250209] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=0.107681,-1.1735, mag=1.17843 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.107681,-1.1735, mag=1.17843 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.248076; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-2.22045e-16 0.107681 -1.1735] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-0.248076 -0.00253527 -0.250209] +86: : rhsActive=~[-0.248076 0.105145 -1.42371] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.38952e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.2453... +86: > NEWTON iter 1: errNorm=0.2453(v) -> deltaNorm=0.795351(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.245297 -0.000107681 0.0011735] +86: > deltaPi=~[0.791304 -0.00732173 0.0797923] +86: DBG: Line search iter 1: back=1, prevNorm=0.2453. +86: > piNow=~[-0.801304 0.00732173 -0.0797923] +86: > errNow=~[-2.77556e-17 -3.1739e-07 3.45892e-06] normNow=3.47345e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.416e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.90374e-10 +86: > NEWTON iter 2: errNorm=3.47345e-06(v) -> deltaNorm=4.01694e-06(pi) +86: > piActive=~[-0.801304 0.00732173 -0.0797923] +86: > errActive=~[-2.77556e-17 -3.1739e-07 3.45892e-06] +86: > deltaPi=~[-3.02303e-06 -2.41708e-07 2.63414e-06] +86: DBG: Line search iter 1: back=1, prevNorm=3.47345e-06. +86: > piNow=~[-0.801301 0.00732197 -0.0797949] +86: > errNow=~[0 1.85615e-16 -2.05391e-15] normNow=2.06228e-15 +86: DBG: Improvement rate now/prev at iter 2 is 5.93728e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.06228e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.107681,-1.1735] to ~[0.102965,-1.13498] +86: DBG: Friction 0 rotated 0.0591015 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.801301 0.00732197 -0.0797949] +86: : m_verrLeft=~[0 0.102965 -1.13498] +86: : verrAppliedLeft=~[0 0 0] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.801301 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.801301 0.00732197 -0.0797949] errNorm=2.06228e-15 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.107681 -1.1735, |slipV|=1.17843 +86: ------------------------------ +86: +86: dynamics impulse=~[-0.801301 0.00732197 -0.0797949] +86: updated verrStart=~[0 0.102965 -1.13498] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[-0.966031 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.277839 -0.00547912 0.318355] +86: [-0.00547912 0.0498153 0.0322685] +86: [0.318355 0.0322685 0.424491] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[-0.966031 0 0] +86: active=(0) +86: -> piActive=~[-3.47695] +86: -> pi=~[-3.47695 0 0] +86: resid active=~[0] +86: resid=~[0 0.0190506 -1.1069] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[0 0.102965 -1.13498] +86: perr=~[-0.000966031 -1.11022e-16] +86: END OF STEP (0.044,0.045): +86: verr=~[-0.00827905 0.114293 -1.12818] +86: perr=~[-0.00097017 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0) +86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.13396 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00827905 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: () +86: participating multx: (0,1,2) +86: verr=~[-0.00827905 0.114293 -1.12818] +86: IMP t=0.045 verr=~[-0.00827905 0.114293 -1.12818] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[-0.00827905 0.114293 -1.12818] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=0.114293,-1.12818, mag=1.13396 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.114293,-1.12818, mag=1.13396 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.00827905; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.00827905 0.114293 -1.12818] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00827905 0.114293 -1.12818] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.22385e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00564707... +86: > NEWTON iter 1: errNorm=0.00564707(v) -> deltaNorm=0.0172422(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.00553204 -0.000114293 0.00112818] +86: > deltaPi=~[0.017029 -0.000272422 0.00268908] +86: DBG: Line search iter 1: back=1, prevNorm=0.00564707. +86: > piNow=~[-0.027029 0.000272422 -0.00268908] +86: > errNow=~[-1.73472e-18 -7.24969e-09 7.15618e-08] normNow=7.1928e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.27372e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.78214e-07 +86: > NEWTON iter 2: errNorm=7.1928e-08(v) -> deltaNorm=8.67121e-08(pi) +86: > piActive=~[-0.027029 0.000272422 -0.00268908] +86: > errActive=~[-1.73472e-18 -7.24969e-09 7.15618e-08] +86: > deltaPi=~[-6.54438e-08 -5.73366e-09 5.6597e-08] +86: DBG: Line search iter 1: back=1, prevNorm=7.1928e-08. +86: > piNow=~[-0.027029 0.000272427 -0.00268913] +86: > errNow=~[0 3.81401e-15 -3.76474e-14] normNow=3.78401e-14 +86: DBG: Improvement rate now/prev at iter 2 is 5.26083e-07 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.78401e-14. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.114293,-1.12818] to ~[0.11427,-1.11847] +86: DBG: Friction 0 rotated 0.0487651 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.027029 0.000272427 -0.00268913] +86: : m_verrLeft=~[0 0.11427 -1.11847] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.027029 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.027029 0.000272427 -0.00268913] errNorm=3.78401e-14 +86: Postcompression verr=~[0 0.11427 -1.11847] +86: impulse=~[-0.027029 0.000272427 -0.00268913] +86: Next expansion impulse=~[0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.027029 0.000272427 -0.00268913]-> du ~[-0.00499671 0.0121867 -0.00605244 -0.00664445 -2.64481e-05 0.00573695 -0.0228682 0.0135779] +86: Now verr0=~[0 0.11427 -1.11847] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0 0.11427 -1.11847] +86: verrExt=~[-0.184649 -0.0081067 -0.177377] +86: total verr=~[-0.184649 0.106164 -1.29585] +86: DYN t=0.045: verrStart=~[0 0.11427 -1.11847] +86: verrApplied=~[-0.184649 -0.0081067 -0.177377] 62: max-norm resid_x 2.710505e-20 62: max-norm resid_s 0.000000e+00 62: max-norm resid_c 5.420515e-21 @@ -22761,6 +30865,277 @@ 62: Objective...............: 1.4178364790583724e+00 1.7014037748700471e+01 62: Dual infeasibility......: 1.5442258926519879e-04 1.8530710711823855e-03 62: Constraint violation....: 4.7631466770781120e-09 4.7631466770781117e-08 +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[0 0.11427 -1.11847] +86: verrApplied=~[-0.184649 -0.0081067 -0.177377] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=0.11427,-1.11847, mag=1.12429 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.11427,-1.11847, mag=1.12429 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.184649; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0 0.11427 -1.11847] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-0.184649 -0.0081067 -0.177377] +86: : rhsActive=~[-0.184649 0.106164 -1.29585] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.18784e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.181905... +86: > NEWTON iter 1: errNorm=0.181905(v) -> deltaNorm=0.595894(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.181902 -0.00011427 0.00111847] +86: > deltaPi=~[0.592837 -0.00612687 0.0599693] +86: DBG: Line search iter 1: back=1, prevNorm=0.181905. +86: > piNow=~[-0.602837 0.00612687 -0.0599693] +86: > errNow=~[-5.55112e-17 -2.52337e-07 2.46985e-06] normNow=2.48271e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.36484e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.15084e-09 +86: > NEWTON iter 2: errNorm=2.48271e-06(v) -> deltaNorm=3.01863e-06(pi) +86: > piActive=~[-0.602837 0.00612687 -0.0599693] +86: > errActive=~[-5.55112e-17 -2.52337e-07 2.46985e-06] +86: > deltaPi=~[-2.27816e-06 -2.01286e-07 1.97017e-06] +86: DBG: Line search iter 1: back=1, prevNorm=2.48271e-06. +86: > piNow=~[-0.602835 0.00612707 -0.0599713] +86: > errNow=~[-2.77556e-17 2.6628e-16 -2.59515e-15] normNow=2.60892e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.05084e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.60892e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.11427,-1.11847] to ~[0.105665,-1.07921] +86: DBG: Friction 0 rotated 0.2415 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.602835 0.00612707 -0.0599713] +86: : m_verrLeft=~[2.77556e-17 0.105665 -1.07921] +86: : verrAppliedLeft=~[0 0 0] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.602835 verr=2.77556e-17 pi*v=-1.6732e-17 +86: SP FINAL 1 intervals, piTotal=~[-0.602835 0.00612707 -0.0599713] errNorm=2.60892e-15 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.11427 -1.11847, |slipV|=1.12429 +86: ------------------------------ +86: +86: dynamics impulse=~[-0.602835 0.00612707 -0.0599713] +86: updated verrStart=~[2.77556e-17 0.105665 -1.07921] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[-0.97017 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.274701 -0.00376509 0.317259] +86: [-0.00376509 0.0500802 0.0346479] +86: [0.317259 0.0346479 0.426772] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[-0.97017 0 0] +86: active=(0) +86: -> piActive=~[-3.53174] +86: -> pi=~[-3.53174 0 0] +86: resid active=~[-1.11022e-16] +86: resid=~[-1.11022e-16 0.0132973 -1.12047] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[0 0.105665 -1.07921] +86: perr=~[-0.00097017 0] +86: END OF STEP (0.045,0.046): +86: verr=~[-0.00842641 0.117388 -1.07246] +86: perr=~[-0.000974383 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0) +86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.07886 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00842641 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: () +86: participating multx: (0,1,2) +86: verr=~[-0.00842641 0.117388 -1.07246] +86: IMP t=0.046 verr=~[-0.00842641 0.117388 -1.07246] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[-0.00842641 0.117388 -1.07246] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=0.117388,-1.07246, mag=1.07886 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.117388,-1.07246, mag=1.07886 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.00842641; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.00842641 0.117388 -1.07246] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00842641 0.117388 -1.07246] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.01863e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00581142... +86: > NEWTON iter 1: errNorm=0.00581142(v) -> deltaNorm=0.0180212(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.0057104 -0.000117388 0.00107246] +86: > deltaPi=~[0.0178054 -0.000302536 0.00276397] +86: DBG: Line search iter 1: back=1, prevNorm=0.00581142. +86: > piNow=~[-0.0278054 0.000302536 -0.00276397] +86: > errNow=~[0 -7.78553e-09 7.11285e-08] normNow=7.15533e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.23125e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.19831e-07 +86: > NEWTON iter 2: errNorm=7.15533e-08(v) -> deltaNorm=9.09409e-08(pi) +86: > piActive=~[-0.0278054 0.000302536 -0.00276397] +86: > errActive=~[0 -7.78553e-09 7.11285e-08] +86: > deltaPi=~[-6.88266e-08 -6.46754e-09 5.90873e-08] +86: DBG: Line search iter 1: back=1, prevNorm=7.15533e-08. +86: > piNow=~[-0.0278053 0.000302543 -0.00276402] +86: > errNow=~[1.73472e-18 3.89294e-15 -3.55657e-14] normNow=3.57782e-14 +86: DBG: Improvement rate now/prev at iter 2 is 5.00021e-07 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.57782e-14. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.117388,-1.07246] to ~[0.117419,-1.06249] +86: DBG: Friction 0 rotated 0.0597468 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.0278053 0.000302543 -0.00276402] +86: : m_verrLeft=~[-1.73472e-18 0.117419 -1.06249] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.0278053 verr=-1.73472e-18 pi*v=4.82346e-20 +86: SP FINAL 1 intervals, piTotal=~[-0.0278053 0.000302543 -0.00276402] errNorm=3.57782e-14 +86: Postcompression verr=~[-1.73472e-18 0.117419 -1.06249] +86: impulse=~[-0.0278053 0.000302543 -0.00276402] +86: Next expansion impulse=~[0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.0278053 0.000302543 -0.00276402]-> du ~[-0.00503692 0.0124668 -0.00623525 -0.00682274 6.54793e-06 0.00583987 -0.0233828 0.013845] +86: Now verr0=~[0 0.117419 -1.06249] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0 0.117419 -1.06249] +86: verrExt=~[-0.146721 -0.0116811 -0.133314] +86: total verr=~[-0.146721 0.105738 -1.19581] +86: DYN t=0.046: verrStart=~[0 0.117419 -1.06249] +86: verrApplied=~[-0.146721 -0.0116811 -0.133314] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: +86: ***** Sliding interval 1 start +86: active=(0,1,2) +86: mult2active=(0,1,2) +86: piTotal=~[0 0 0] +86: verrLeft=~[0 0.117419 -1.06249] +86: verrApplied=~[-0.146721 -0.0116811 -0.133314] +86: expanding=() +86: piELeft=~[0 0 0] +86: verrExpand=~[0 0 0] +86: DBG: classifyFrictionals(): 1 uni contacts +86: Participating contact 0 is Sliding; vel=0.117419,-1.06249, mag=1.06896 +86: +86: ....... Active set iter 1 start +86: : active=(0,1,2) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.117419,-1.06249, mag=1.06896 +86: fillMult2Active: +86: : active=(0,1,2) +86: : mult2active=(0,1,2) +86: DBG: active normal 0 has v=-0.146721; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0 0.117419 -1.06249] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-0.146721 -0.0116811 -0.133314] +86: : rhsActive=~[-0.146721 0.105738 -1.19581] +86: : pi was=~[0 0 0] +86: : piActive=~[-0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.98175e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.144008... +86: > NEWTON iter 1: errNorm=0.144008(v) -> deltaNorm=0.476618(pi) +86: > piActive=~[-0.01 0 0] +86: > errActive=~[0.144004 -0.000117419 0.00106249] +86: > deltaPi=~[0.474153 -0.00531793 0.0481206] +86: DBG: Line search iter 1: back=1, prevNorm=0.144008. +86: > piNow=~[-0.484153 0.00531793 -0.0481206] +86: > errNow=~[0 -2.07381e-07 1.87653e-06] normNow=1.88796e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.311e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.69557e-09 +86: > NEWTON iter 2: errNorm=1.88796e-06(v) -> deltaNorm=2.42161e-06(pi) +86: > piActive=~[-0.484153 0.00531793 -0.0481206] +86: > errActive=~[0 -2.07381e-07 1.87653e-06] +86: > deltaPi=~[-1.83266e-06 -1.73871e-07 1.57332e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.88796e-06. +86: > piNow=~[-0.484151 0.00531811 -0.0481222] +86: > errNow=~[0 3.40873e-16 -3.08781e-15] normNow=3.10657e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.64546e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.10657e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.117419,-1.06249] to ~[0.106268,-1.0223] +86: DBG: Friction 0 rotated 0.371739 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.484151 0.00531811 -0.0481222] +86: : m_verrLeft=~[0 0.106268 -1.0223] +86: : verrAppliedLeft=~[0 0 0] +86: : piELeft=~[0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.484151 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.484151 0.00531811 -0.0481222] errNorm=3.10657e-15 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.117419 -1.06249, |slipV|=1.06896 +86: ------------------------------ +86: +86: dynamics impulse=~[-0.484151 0.00531811 -0.0481222] +86: updated verrStart=~[0 0.106268 -1.0223] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[-0.974383 0 0] 62: Complementarity.........: 7.5757575757575762e-07 9.0909090909090927e-06 62: Overall NLP error.......: 1.5442258926519879e-04 1.8530710711823855e-03 62: @@ -22959,6 +31334,199 @@ 62: 62: 62: ************************************************** +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.271601 -0.00203831 0.316145] +86: [-0.00203831 0.0503799 0.0370872] +86: [0.316145 0.0370872 0.429018] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[-0.974383 0 0] +86: active=(0) +86: -> piActive=~[-3.58755] +86: -> pi=~[-3.58755 0 0] +86: resid active=~[0] +86: resid=~[0 0.00731255 -1.13419] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-4.44089e-16 0.106268 -1.0223] +86: perr=~[-0.000974383 0] +86: END OF STEP (0.046,0.047): +86: verr=~[-0.00843498 0.118192 -1.0157] +86: perr=~[-0.000978601 -2.22045e-16] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.02255 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=4.82279 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00843498 -> cor=0 +86: DBG: Uni contact 2 verr vel=-3.03202 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0,1) +86: observers: () +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.00843498 -3.03202 0.118192 -1.0157 0.0649888 -4.82236] +86: IMP t=0.047 verr=~[-0.00843498 -3.03202 0.118192 -1.0157 0.0649888 -4.82236] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-0.00843498 -3.03202 0.118192 -1.0157 0.0649888 -4.82236] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.118192,-1.0157, mag=1.02255 +86: Participating contact 1 is Sliding; vel=0.0649888,-4.82236, mag=4.82279 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.118192,-1.0157, mag=1.02255 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.0649888,-4.82236, mag=4.82279 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.00843498; guess pi=-0.01 +86: DBG: active normal 3 has v=-3.03202; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.00843498 -3.03202 0.118192 -1.0157 0.0649888 -4.82236] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00843498 0.118192 -1.0157 -3.03202 0.0649888 -4.82236] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.83636e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=3.02871... +86: > NEWTON iter 1: errNorm=3.02871(v) -> deltaNorm=15.5792(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.00471018 -0.000118192 0.0010157 3.02871 -6.49888e-05 0.00482236] +86: > deltaPi=~[-5.57656 0.0643391 -0.552904 14.464 -0.0195035 1.44722] +86: DBG: Line search iter 1: back=1, prevNorm=3.02871. +86: > piNow=~[5.56656 -0.0643391 0.552904 -14.474 0.0195035 -1.44722] +86: > errNow=~[-1.83187e-15 -0.06579 0.565372 -4.44089e-16 -3.50138e-06 0.000259812] normNow=0.569187 +86: DBG: Improvement rate now/prev at iter 1 is 0.18793 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.80337e-10 +86: > NEWTON iter 2: errNorm=0.569187(v) -> deltaNorm=0.856169(pi) +86: > piActive=~[5.56656 -0.0643391 0.552904 -14.474 0.0195035 -1.44722] +86: > errActive=~[-1.83187e-15 -0.06579 0.565372 -4.44089e-16 -3.50138e-06 0.000259812] +86: > deltaPi=~[-0.650511 -0.0643391 0.552904 0.0042716 -6.48214e-06 0.000480993] +86: DBG: Line search iter 1: back=1, prevNorm=0.569187. +86: > piNow=~[6.21707 -9.03944e-13 7.76823e-12 -14.4783 0.01951 -1.4477] +86: > errNow=~[0 -9.24327e-13 7.9434e-12 0 -4.71845e-16 3.64153e-14] normNow=7.99708e-12 +86: DBG: Improvement rate now/prev at iter 2 is 1.405e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.99708e-12. +86: DBG: Worst offender is normal contact 0 err=6.21707 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=0.118192,-1.0157, mag=1.02255 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.0649888,-4.82236, mag=4.82279 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-3.03202; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.00843498 -3.03202 0.118192 -1.0157 0.0649888 -4.82236] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-3.03202 0.0649888 -4.82236] +86: : pi was=~[0 -14.4783 -9.03944e-13 7.76823e-12 0.01951 -1.4477] +86: : piActive=~[-0.01 0.01951 -1.4477] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.79645e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=7.4625... +86: > NEWTON iter 1: errNorm=7.4625(v) -> deltaNorm=11.9279(pi) +86: > piActive=~[-0.01 0.01951 -1.4477] +86: > errActive=~[2.64571 0.0940277 -6.97712] +86: > deltaPi=~[11.9252 0.0034275 -0.25433] +86: DBG: Line search iter 1: back=1, prevNorm=7.4625. +86: > piNow=~[-11.9352 0.0160825 -1.19337] +86: > errNow=~[8.88178e-16 -2.8868e-06 0.000214208] normNow=0.000214228 +86: DBG: Improvement rate now/prev at iter 1 is 2.87073e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.44972e-10 +86: > NEWTON iter 2: errNorm=0.000214228(v) -> deltaNorm=6.11041e-05(pi) +86: > piActive=~[-11.9352 0.0160825 -1.19337] +86: > errActive=~[8.88178e-16 -2.8868e-06 0.000214208] +86: > deltaPi=~[-4.63801e-05 -5.36074e-07 3.97782e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.000214228. +86: > piNow=~[-11.9352 0.016083 -1.19341] +86: > errNow=~[0 1.38778e-17 -8.88178e-16] normNow=8.88287e-16 +86: DBG: Improvement rate now/prev at iter 2 is 4.14646e-12 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.88287e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[0.0649888,-4.82236] to ~[0.127563,-1.20837] +86: DBG: Friction 1 rotated 5.25406 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-11.9352 0.016083 -1.19341] +86: : m_verrLeft=~[1.37491 0 0.152524 0.574671 0.127563 -1.20837] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=1.37491 pi*v=0 +86: DBG: 1: pi=-11.9352 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -11.9352 0 0 0.016083 -1.19341] errNorm=8.88287e-16 +86: Postcompression verr=~[1.37491 0 0.152524 0.574671 0.127563 -1.20837] +86: impulse=~[0 -11.9352 0 0 0.016083 -1.19341] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -11.9352 0 0 0.016083 -1.19341]-> du ~[1.71749 4.65288 2.02837 -2.60218 0.0484527 2.20768 -8.23346 6.60243] +86: Now verr0=~[1.37491 -9.99201e-16 0.152524 0.574671 0.127563 -1.20837] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[1.37491 -9.99201e-16 0.152524 0.574671 0.127563 -1.20837] +86: verrExt=~[-0.84147 -0.669097 -0.00171946 -0.969806 0.000882131 -0.782044] +86: total verr=~[0.533443 -0.669097 0.150804 -0.395136 0.128445 -1.99042] +86: DYN t=0.047: verrStart=~[1.37491 -9.99201e-16 0.152524 0.574671 0.127563 -1.20837] +86: verrApplied=~[-0.84147 -0.669097 -0.00171946 -0.969806 0.000882131 -0.782044] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[1.37491 -9.99201e-16 0.152524 0.574671 0.127563 -1.20837] +86: verrApplied=~[-0.84147 -0.669097 -0.00171946 -0.969806 0.000882131 -0.782044] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.152524,0.574671, mag=0.594567 +86: Participating contact 1 is Sliding; vel=0.127563,-1.20837, mag=1.21509 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.152524,0.574671, mag=0.594567 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.127563,-1.20837, mag=1.21509 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.533443; guess pi=0.01 +86: DBG: active normal 3 has v=-0.669097; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[1.37491 -9.99201e-16 0.152524 0.574671 0.127563 -1.20837] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.84147 -0.669097 -0.00171946 -0.969806 0.000882131 -0.782044] +86: : rhsActive=~[0.533443 0.150804 -0.395136 -0.669097 0.128445 -1.99042] 62: *** Update Barrier Parameter for Iteration 60: 62: ************************************************** 62: @@ -23151,6 +31719,128 @@ 62: delta_c=0.000000e+00 delta_d=0.000000e+00 62: Factorization successful. 62: Number of trial factorizations performed: 1 +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.03884e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.853725... +86: > NEWTON iter 1: errNorm=0.853725(v) -> deltaNorm=5.65318(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[-0.531796 0 0 0.667861 -0.000127563 0.00120837] +86: > deltaPi=~[-3.78371 3.61548e-06 1.36222e-05 4.1793 -0.0439787 0.416599] +86: DBG: Line search iter 1: back=1, prevNorm=0.853725. +86: > piNow=~[3.79371 -3.61548e-06 -1.36222e-05 -4.1893 0.0439787 -0.416599] +86: > errNow=~[-5.55112e-16 -2.14964e-06 -8.09932e-06 -4.44089e-16 -1.98582e-06 1.88112e-05] normNow=2.06887e-05 +86: DBG: Improvement rate now/prev at iter 1 is 2.42335e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.38079e-10 +86: > NEWTON iter 2: errNorm=2.06887e-05(v) -> deltaNorm=3.01386e-05(pi) +86: > piActive=~[3.79371 -3.61548e-06 -1.36222e-05 -4.1893 0.0439787 -0.416599] +86: > errActive=~[-5.55112e-16 -2.14964e-06 -8.09932e-06 -4.44089e-16 -1.98582e-06 1.88112e-05] +86: > deltaPi=~[1.59927e-05 -3.61548e-06 -1.36222e-05 -1.60971e-05 -1.46531e-06 1.38805e-05] +86: DBG: Line search iter 1: back=1, prevNorm=2.06887e-05. +86: > piNow=~[3.79369 1.06188e-16 4.00104e-16 -4.18928 0.0439801 -0.416613] +86: > errNow=~[4.44089e-16 6.31358e-17 2.37889e-16 0 4.16334e-17 -3.33067e-16] normNow=6.08654e-16 +86: DBG: Improvement rate now/prev at iter 2 is 2.94196e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.08654e-16. +86: DBG: Worst offender is normal contact 0 err=3.79369 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=0.152524,0.574671, mag=0.594567 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.127563,-1.20837, mag=1.21509 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.669097; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[1.37491 -9.99201e-16 0.152524 0.574671 0.127563 -1.20837] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.84147 -0.669097 -0.00171946 -0.969806 0.000882131 -0.782044] +86: : rhsActive=~[-0.669097 0.128445 -1.99042] +86: : pi was=~[0 -4.18928 1.06188e-16 4.00104e-16 0.0439801 -0.416613] +86: : piActive=~[-0.01 0.0439801 -0.416613] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.52605e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.753465... +86: > NEWTON iter 1: errNorm=0.753465(v) -> deltaNorm=2.6307(pi) +86: > piActive=~[-0.01 0.0439801 -0.416613] +86: > errActive=~[0.556623 0.0533121 -0.505013] +86: > deltaPi=~[2.62611 0.0163066 -0.154469] +86: DBG: Line search iter 1: back=1, prevNorm=0.753465. +86: > piNow=~[-2.63611 0.0276735 -0.262145] +86: > errNow=~[1.11022e-16 -1.24781e-06 1.18202e-05] normNow=1.18859e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.5775e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.14032e-10 +86: > NEWTON iter 2: errNorm=1.18859e-05(v) -> deltaNorm=1.34034e-05(pi) +86: > piActive=~[-2.63611 0.0276735 -0.262145] +86: > errActive=~[1.11022e-16 -1.24781e-06 1.18202e-05] +86: > deltaPi=~[-1.01376e-05 -9.20504e-07 8.71971e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.18859e-05. +86: > piNow=~[-2.6361 0.0276744 -0.262153] +86: > errNow=~[1.11022e-16 6.93889e-17 -6.66134e-16] normNow=6.78878e-16 +86: DBG: Improvement rate now/prev at iter 2 is 5.71163e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.78878e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[0.127563,-1.20837] to ~[0.141135,-1.19201] +86: DBG: Friction 1 rotated 0.726237 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-2.6361 0.0276744 -0.262153] +86: : m_verrLeft=~[0.838882 -1.11022e-16 0.157238 -0.0448995 0.141135 -1.19201] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.838882 pi*v=0 +86: DBG: 1: pi=-2.6361 verr=-1.11022e-16 pi*v=2.92666e-16 +86: SP FINAL 1 intervals, piTotal=~[0 -2.6361 0 0 0.0276744 -0.262153] errNorm=6.78878e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.152524 0.574671, |slipV|=0.594567 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.127563 -1.20837, |slipV|=1.21509 +86: ------------------------------ +86: +86: dynamics impulse=~[0 -2.6361 0 0 0.0276744 -0.262153] +86: updated verrStart=~[0.838882 -1.11022e-16 0.157238 -0.0448995 0.141135 -1.19201] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[-0.978601 -0.00396232 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.268563 0.103917 -0.000307112 0.315031 -0.00302565 0.119851] +86: [0.103917 0.227516 0.00629286 0.121006 0.00830211 0.265388] +86: [-0.000307112 0.00629286 0.0507153 0.0395762 0.049631 -0.0334979] +86: [0.315031 0.121006 0.0395762 0.431228 0.0352178 0.122933] +86: [-0.00302565 0.00830211 0.049631 0.0352178 0.0486589 -0.0299398] +86: [0.119851 0.265388 -0.0334979 0.122933 -0.0299398 0.373766] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.401496 rank=2 +86: rhs=~[-0.978601 -0.00396232 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[-4.41789 2.00044] +86: -> pi=~[-4.41789 2.00044 0 0 0 0] +86: resid active=~[2.22045e-16 3.20924e-17] +86: resid=~[2.22045e-16 3.20924e-17 0.0139453 -1.14971 0.0299749 0.00140487] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[0.838882 1.11022e-16 0.157238 -0.0448995 0.141135 -1.19201] +86: perr=~[-0.000978601 -3.96232e-06 -2.22045e-16] +86: END OF STEP (0.047,0.048): +86: verr=~[0.838686 0.000195905 0.15825 -0.0447713 0.140123 -1.19214] +86: perr=~[-0.000139817 -3.86437e-06 0] +86: constraint status: +86: 0: cont UniOff fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () 62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 62: delta_c=0.000000e+00 delta_d=0.000000e+00 62: Solving the Primal Dual System for the centering step @@ -23249,6 +31939,91 @@ 62: ||delta_y_d||_inf = 4.3280558704084786e-06 62: ||delta_z_L||_inf = 2.2455305961908975e-06 62: ||delta_z_U||_inf = 1.1150933072095238e-09 +86: DBG: Uni fric 0 verr speed=0.164461 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.20035 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.838686 0.000195905 0.15825 -0.0447713 0.140123 -1.19214] +86: verrExt=~[-0.956968 -0.768543 -0.0151801 -1.12053 -0.0116005 -0.893763] +86: total verr=~[-0.118282 -0.768347 0.14307 -1.1653 0.128522 -2.08591] +86: DYN t=0.048: verrStart=~[0.838686 0.000195905 0.15825 -0.0447713 0.140123 -1.19214] +86: verrApplied=~[-0.956968 -0.768543 -0.0151801 -1.12053 -0.0116005 -0.893763] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.838686 0.000195905 0.15825 -0.0447713 0.140123 -1.19214] +86: verrApplied=~[-0.956968 -0.768543 -0.0151801 -1.12053 -0.0116005 -0.893763] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.15825,-0.0447713, mag=0.164461 +86: Participating contact 1 is Sliding; vel=0.140123,-1.19214, mag=1.20035 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.15825,-0.0447713, mag=0.164461 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.140123,-1.19214, mag=1.20035 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.118282; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.768347; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.838686 0.000195905 0.15825 -0.0447713 0.140123 -1.19214] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.956968 -0.768543 -0.0151801 -1.12053 -0.0116005 -0.893763] +86: : rhsActive=~[-0.118282 0.14307 -1.1653 -0.768347 0.128522 -2.08591] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.51292e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.773557... +86: > NEWTON iter 1: errNorm=0.773557(v) -> deltaNorm=3.6441(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.114556 -0.00015825 4.47713e-05 0.765027 -0.000140123 0.00119214] +86: > deltaPi=~[-1.05532 0.100581 -0.0284558 3.46898 -0.0406103 0.345507] +86: DBG: Line search iter 1: back=1, prevNorm=0.773557. +86: > piNow=~[1.04532 -0.100581 0.0284558 -3.47898 0.0406103 -0.345507] +86: > errNow=~[-5.55112e-17 -0.0165416 0.00467988 0 -1.8106e-06 1.54043e-05] normNow=0.0171909 +86: DBG: Improvement rate now/prev at iter 1 is 0.0222231 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.12078e-10 +86: > NEWTON iter 2: errNorm=0.0171909(v) -> deltaNorm=0.110114(pi) +86: > piActive=~[1.04532 -0.100581 0.0284558 -3.47898 0.0406103 -0.345507] +86: > errActive=~[-5.55112e-17 -0.0165416 0.00467988 0 -1.8106e-06 1.54043e-05] +86: > deltaPi=~[-0.0344903 -0.100581 0.0284558 0.00303899 -3.6984e-05 0.000314655] +86: DBG: Line search iter 1: back=1, prevNorm=0.0171909. +86: > piNow=~[1.07981 -1.13145e-11 3.20102e-12 -3.48202 0.0406473 -0.345821] +86: > errNow=~[2.77556e-17 -1.8608e-12 5.26443e-13 2.22045e-16 -1.31076e-14 1.11466e-13] normNow=1.93709e-12 +86: DBG: Improvement rate now/prev at iter 2 is 1.12681e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.93709e-12. +86: DBG: Worst offender is normal contact 0 err=1.07981 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=0.15825,-0.0447713, mag=0.164461 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.140123,-1.19214, mag=1.20035 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.768347; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.838686 0.000195905 0.15825 -0.0447713 0.140123 -1.19214] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.956968 -0.768543 -0.0151801 -1.12053 -0.0116005 -0.893763] +86: : rhsActive=~[-0.768347 0.128522 -2.08591] +86: : pi was=~[0 -3.48202 -1.13145e-11 3.20102e-12 0.0406473 -0.345821] +86: : piActive=~[-0.01 0.0406473 -0.345821] 62: ||delta_v_L||_inf = 1.1711605987903287e-05 62: ||delta_v_U||_inf = 0.0000000000000000e+00 62: DenseVector "curr_x" with 4 elements: @@ -23341,6 +32116,135 @@ 62: Barrier parameter mu after safeguards is 7.575758e-07 62: Barrier Parameter: 7.575758e-07 62: +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.47117e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.793044... +86: > NEWTON iter 1: errNorm=0.793044(v) -> deltaNorm=3.02467(pi) +86: > piActive=~[-0.01 0.0406473 -0.345821] +86: > errActive=~[0.674705 0.0486508 -0.413914] +86: > deltaPi=~[3.02434 0.00522726 -0.0444728] +86: DBG: Line search iter 1: back=1, prevNorm=0.793044. +86: > piNow=~[-3.03434 0.0354201 -0.301349] +86: > errNow=~[0 -1.57852e-06 1.34298e-05] normNow=1.35223e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.70511e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.19738e-11 +86: > NEWTON iter 2: errNorm=1.35223e-05(v) -> deltaNorm=1.54355e-05(pi) +86: > piActive=~[-3.03434 0.0354201 -0.301349] +86: > errActive=~[0 -1.57852e-06 1.34298e-05] +86: > deltaPi=~[-1.16742e-05 -1.17877e-06 1.00288e-05] +86: DBG: Line search iter 1: back=1, prevNorm=1.35223e-05. +86: > piNow=~[-3.03433 0.0354212 -0.301359] +86: > errNow=~[0 6.245e-17 -4.996e-16] normNow=5.03488e-16 +86: DBG: Improvement rate now/prev at iter 2 is 3.7234e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.03488e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[0.140123,-1.19214] to ~[0.143301,-1.16725] +86: DBG: Friction 1 rotated 0.295358 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-3.03433 0.0354212 -0.301359] +86: : m_verrLeft=~[0.236678 0 0.149747 -0.759751 0.143301 -1.16725] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.236678 pi*v=0 +86: DBG: 1: pi=-3.03433 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -3.03433 0 0 0.0354212 -0.301359] errNorm=5.03488e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.15825 -0.0447713, |slipV|=0.164461 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.140123 -1.19214, |slipV|=1.20035 +86: ------------------------------ +86: +86: dynamics impulse=~[0 -3.03433 0 0 0.0354212 -0.301359] +86: updated verrStart=~[0.236678 0 0.149747 -0.759751 0.143301 -1.16725] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[-0.139817 -0.00386437 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.267684 0.104984 0.000760534 0.314591 -0.00230251 0.120534] +86: [0.104984 0.226977 0.0061648 0.121875 0.00842694 0.265207] +86: [0.000760534 0.0061648 0.0511222 0.0412504 0.0499244 -0.0340477] +86: [0.314591 0.121875 0.0412504 0.431803 0.036365 0.122868] +86: [-0.00230251 0.00842694 0.0499244 0.036365 0.0488668 -0.0300663] +86: [0.120534 0.265207 -0.0340477 0.122868 -0.0300663 0.37453] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.396287 rank=2 +86: rhs=~[-0.139817 -0.00386437 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[-0.629909 0.274326] +86: -> pi=~[-0.629909 0.274326 0 0 0 0] +86: resid active=~[0 -7.37257e-18] +86: resid=~[0 -7.37257e-18 0.0012121 -0.16473 0.0037621 -0.00317238] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[0.236678 0 0.149747 -0.759751 0.143301 -1.16725] +86: perr=~[-0.000139817 -3.86437e-06 0] +86: END OF STEP (0.048,0.049): +86: verr=~[0.236476 0.000202468 0.14986 -0.759635 0.143188 -1.16736] +86: perr=~[9.67597e-05 -3.76313e-06 0] +86: constraint status: +86: 0: cont UniOff fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=0.774276 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.17611 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.236476 0.000202468 0.14986 -0.759635 0.143188 -1.16736] +86: verrExt=~[-0.989439 -0.797248 -0.0255882 -1.17118 -0.0214699 -0.919807] +86: total verr=~[-0.752963 -0.797046 0.124272 -1.93082 0.121718 -2.08717] +86: DYN t=0.049: verrStart=~[0.236476 0.000202468 0.14986 -0.759635 0.143188 -1.16736] +86: verrApplied=~[-0.989439 -0.797248 -0.0255882 -1.17118 -0.0214699 -0.919807] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.236476 0.000202468 0.14986 -0.759635 0.143188 -1.16736] +86: verrApplied=~[-0.989439 -0.797248 -0.0255882 -1.17118 -0.0214699 -0.919807] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.14986,-0.759635, mag=0.774276 +86: Participating contact 1 is Sliding; vel=0.143188,-1.16736, mag=1.17611 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.14986,-0.759635, mag=0.774276 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.143188,-1.16736, mag=1.17611 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.752963; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.797046; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.236476 0.000202468 0.14986 -0.759635 0.143188 -1.16736] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.989439 -0.797248 -0.0255882 -1.17118 -0.0214699 -0.919807] +86: : rhsActive=~[-0.752963 0.124272 -1.93082 -0.797046 0.121718 -2.08717] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] 62: ************************************************** 62: *** Solving the Primal Dual System for Iteration 62: 62: ************************************************** @@ -23444,6 +32348,76 @@ 62: DenseVector "curr_slack_x_L" with 4 elements: 62: curr_slack_x_L[ 1]= 8.3544695083093146e-06 62: curr_slack_x_L[ 2]= 3.7437893003296701e+00 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.24499e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.0915... +86: > NEWTON iter 1: errNorm=1.0915(v) -> deltaNorm=2.8928(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.749242 -0.00014986 0.000759635 0.793729 -0.000143188 0.00116736] +86: > deltaPi=~[1.56257 -0.0304356 0.154277 2.41724 -0.0295497 0.240909] +86: DBG: Line search iter 1: back=1, prevNorm=1.0915. +86: > piNow=~[-1.57257 0.0304356 -0.154277 -2.42724 0.0295497 -0.240909] +86: > errNow=~[-4.44089e-16 -8.72238e-07 4.42135e-06 -5.55112e-16 -1.28925e-06 1.05108e-05] normNow=1.15086e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.05439e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.86303e-10 +86: > NEWTON iter 2: errNorm=1.15086e-05(v) -> deltaNorm=1.4658e-05(pi) +86: > piActive=~[-1.57257 0.0304356 -0.154277 -2.42724 0.0295497 -0.240909] +86: > errActive=~[-4.44089e-16 -8.72238e-07 4.42135e-06 -5.55112e-16 -1.28925e-06 1.05108e-05] +86: > deltaPi=~[-5.99241e-06 -1.01054e-06 5.12239e-06 -9.30056e-06 -9.82963e-07 8.01379e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.15086e-05. +86: > piNow=~[-1.57256 0.0304366 -0.154282 -2.42723 0.0295507 -0.240917] +86: > errNow=~[1.11022e-16 1.35308e-16 -6.93889e-16 1.11022e-16 8.32667e-17 -6.66134e-16] normNow=9.87477e-16 +86: DBG: Improvement rate now/prev at iter 2 is 8.58031e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.87477e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.14986,-0.759635] to ~[0.136107,-1.04557] +86: DBG: Friction 0 rotated 3.74316 deg, less than max 30 +86: slipVel 1 from ~[0.143188,-1.16736] to ~[0.134521,-1.14282] +86: DBG: Friction 1 rotated 0.279533 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-1.57256 0.0304366 -0.154282 -2.42723 0.0295507 -0.240917] +86: : m_verrLeft=~[-1.11022e-16 -1.11022e-16 0.136107 -1.04557 0.134521 -1.14282] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-1.57256 verr=-1.11022e-16 pi*v=1.74589e-16 +86: DBG: 1: pi=-2.42723 verr=-1.11022e-16 pi*v=2.69476e-16 +86: SP FINAL 1 intervals, piTotal=~[-1.57256 -2.42723 0.0304366 -0.154282 0.0295507 -0.240917] errNorm=9.87477e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.14986 -0.759635, |slipV|=0.774276 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.143188 -1.16736, |slipV|=1.17611 +86: ------------------------------ +86: +86: dynamics impulse=~[-1.57256 -2.42723 0.0304366 -0.154282 0.0295507 -0.240917] +86: updated verrStart=~[-1.11022e-16 -1.11022e-16 0.136107 -1.04557 0.134521 -1.14282] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.0967597 -0.00376313 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.26648 0.105589 0.00130433 0.314057 -0.00185985 0.120999] +86: [0.105589 0.226074 0.00603064 0.122521 0.00836278 0.264801] +86: [0.00130433 0.00603064 0.0514151 0.0422383 0.0501635 -0.0345452] +86: [0.314057 0.122521 0.0422383 0.432644 0.0371693 0.12296] +86: [-0.00185985 0.00836278 0.0501635 0.0371693 0.0490625 -0.0304162] +86: [0.120999 0.264801 -0.0345452 0.12296 -0.0304162 0.375293] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.392255 rank=2 +86: rhs=~[0.0967597 -0.00376313 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.453654 -0.228527] +86: -> pi=~[0.453654 -0.228527 0 0 0 0] +86: resid active=~[0 -1.30104e-18] +86: resid=~[0 -1.30104e-18 -0.000786446 0.114474 -0.00275485 -0.00562259] 62: curr_slack_x_L[ 3]= 2.8201199010728475e+00 62: curr_slack_x_L[ 4]= 3.7953997626975144e-01 62: DenseVector "curr_slack_x_U" with 4 elements: @@ -23540,6 +32514,47 @@ 62: max-norm resid_c 3.388132e-21 62: max-norm resid_d 7.344330e-22 62: max-norm resid_zL 3.231174e-27 +103: [min,max]=0,0.03 actual=0.000234347 +103: calc wrms=0.000234347 +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[1.2837e-16 -7.28584e-17 0.136107 -1.04557 0.134521 -1.14282] +86: perr=~[9.67597e-05 -3.76313e-06 0] +86: END OF STEP (0.049,0.05): +86: verr=~[-6.10821e-05 6.10821e-05 0.136112 -1.04557 0.134517 -1.14282] +86: perr=~[9.67292e-05 -3.73259e-06 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.05439 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.15071 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[-6.10821e-05 6.10821e-05 0.136112 -1.04557 0.134517 -1.14282] +86: verrExt=~[-1.05375 -0.848572 -0.0319217 -1.25822 -0.0273241 -0.979199] +86: total verr=~[-1.05381 -0.848511 0.10419 -2.3038 0.107193 -2.12202] +86: DYN t=0.05: verrStart=~[-6.10821e-05 6.10821e-05 0.136112 -1.04557 0.134517 -1.14282] +86: verrApplied=~[-1.05375 -0.848572 -0.0319217 -1.25822 -0.0273241 -0.979199] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-6.10821e-05 6.10821e-05 0.136112 -1.04557 0.134517 -1.14282] +86: verrApplied=~[-1.05375 -0.848572 -0.0319217 -1.25822 -0.0273241 -0.979199] +86: expanding=() 62: max-norm resid_zU 2.584939e-26 62: max-norm resid_vL 8.077936e-28 62: max-norm resid_vU 0.000000e+00 @@ -23639,6 +32654,58 @@ 62: DenseVector "curr_slack_s_L" with 1 elements: 62: curr_slack_s_L[ 1]= 6.5836419513464536e-07 62: DenseVector "curr_slack_s_U" with 0 elements: +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.136112,-1.04557, mag=1.05439 +86: Participating contact 1 is Sliding; vel=0.134517,-1.14282, mag=1.15071 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.136112,-1.04557, mag=1.05439 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.134517,-1.14282, mag=1.15071 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.05381; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.848511; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-6.10821e-05 6.10821e-05 0.136112 -1.04557 0.134517 -1.14282] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.05375 -0.848572 -0.0319217 -1.25822 -0.0273241 -0.979199] +86: : rhsActive=~[-1.05381 0.10419 -2.3038 -0.848511 0.107193 -2.12202] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.81353e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.34799... +86: > NEWTON iter 1: errNorm=1.34799(v) -> deltaNorm=3.43971(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.0501 -0.000136112 0.00104557 0.845201 -0.000134517 0.00114282] +86: > deltaPi=~[2.71122 -0.035127 0.269835 2.08874 -0.0245331 0.208427] +86: DBG: Line search iter 1: back=1, prevNorm=1.34799. +86: > piNow=~[-2.72122 0.035127 -0.269835 -2.09874 0.0245331 -0.208427] +86: > errNow=~[0 -1.37459e-06 1.05592e-05 0 -1.04658e-06 8.8915e-06] normNow=1.39119e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.03204e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.00716e-10 +86: > NEWTON iter 2: errNorm=1.39119e-05(v) -> deltaNorm=1.75017e-05(pi) +86: > piActive=~[-2.72122 0.035127 -0.269835 -2.09874 0.0245331 -0.208427] +86: > errActive=~[0 -1.37459e-06 1.05592e-05 0 -1.04658e-06 8.8915e-06] +86: > deltaPi=~[-1.05709e-05 -1.16722e-06 8.9662e-06 -8.00579e-06 -8.15918e-07 6.93186e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.39119e-05. +86: > piNow=~[-2.72121 0.0351281 -0.269844 -2.09873 0.0245339 -0.208434] +86: > errNow=~[0 7.63278e-17 -6.10623e-16 2.22045e-16 9.71445e-17 -7.49401e-16] normNow=9.99514e-16 +86: DBG: Improvement rate now/prev at iter 2 is 7.18462e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.99514e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.136112,-1.04557] to ~[0.122223,-1.05228] +86: DBG: Friction 0 rotated 0.791764 deg, less than max 30 +86: slipVel 1 from ~[0.134517,-1.14282] to ~[0.121054,-1.12354] +86: DBG: Friction 1 rotated 0.563654 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-2.72121 0.0351281 -0.269844 -2.09873 0.0245339 -0.208434] +86: : m_verrLeft=~[0 -2.22045e-16 0.122223 -1.05228 0.121054 -1.12354] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] 62: DenseVector "curr_v_L" with 1 elements: 62: curr_v_L[ 1]= 1.1506940430881814e+00 62: DenseVector "curr_v_U" with 0 elements: @@ -23733,6 +32800,46 @@ 62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: 62: New values of barrier function = 1.4178538128150782e+00 (reference 1.4178538256860267e+00): 62: New values of constraint violation = 1.8177009440205588e-09 (reference 2.2370206734827671e-09): +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-2.72121 verr=0 pi*v=-0 +86: DBG: 1: pi=-2.09873 verr=-2.22045e-16 pi*v=4.66012e-16 +86: SP FINAL 1 intervals, piTotal=~[-2.72121 -2.09873 0.0351281 -0.269844 0.0245339 -0.208434] errNorm=9.99514e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.136112 -1.04557, |slipV|=1.05439 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.134517 -1.14282, |slipV|=1.15071 +86: ------------------------------ +86: +86: dynamics impulse=~[-2.72121 -2.09873 0.0351281 -0.269844 0.0245339 -0.208434] +86: updated verrStart=~[0 -2.22045e-16 0.122223 -1.05228 0.121054 -1.12354] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.0967292 -0.00373259 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.265155 0.105972 0.00161839 0.31348 -0.0015491 0.121355] +86: [0.105972 0.225021 0.0059045 0.123051 0.00823318 0.264286] +86: [0.00161839 0.0059045 0.0516528 0.0429225 0.050375 -0.0350015] +86: [0.31348 0.123051 0.0429225 0.433567 0.037811 0.123119] +86: [-0.0015491 0.00823318 0.050375 0.037811 0.0492499 -0.0308389] +86: [0.121355 0.264286 -0.0350015 0.123119 -0.0308389 0.376011] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.388825 rank=2 +86: rhs=~[0.0967292 -0.00373259 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.457551 -0.232068] +86: -> pi=~[0.457551 -0.232068 0 0 0 0] +86: resid active=~[0 -4.77049e-18] +86: resid=~[0 -4.77049e-18 -0.000629748 0.114877 -0.00261944 -0.00580625] 62: reference_theta = 2.237021e-09 reference_gradBarrTDelta = -1.284779e-08 62: Checking sufficient reduction... 62: Succeeded... @@ -23834,6 +32941,78 @@ 62: 62: DenseVector "grad_f" with 4 elements: 62: grad_f[ 1]= 1.2144279662951221e+00 +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[5.57748e-17 1.70267e-16 0.122223 -1.05228 0.121054 -1.12354] +86: perr=~[9.67292e-05 -3.73259e-06 0] +86: END OF STEP (0.05,0.051): +86: verr=~[-4.53292e-05 4.53292e-05 0.122225 -1.05228 0.121051 -1.12354] +86: perr=~[9.67065e-05 -3.70993e-06 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.05935 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.13004 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[-4.53292e-05 4.53292e-05 0.122225 -1.05228 0.121051 -1.12354] +86: verrExt=~[-1.14443 -0.920265 -0.0370977 -1.3761 -0.0319667 -1.06602] +86: total verr=~[-1.14448 -0.92022 0.0851276 -2.42837 0.0890845 -2.18956] +86: DYN t=0.051: verrStart=~[-4.53292e-05 4.53292e-05 0.122225 -1.05228 0.121051 -1.12354] +86: verrApplied=~[-1.14443 -0.920265 -0.0370977 -1.3761 -0.0319667 -1.06602] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-4.53292e-05 4.53292e-05 0.122225 -1.05228 0.121051 -1.12354] +86: verrApplied=~[-1.14443 -0.920265 -0.0370977 -1.3761 -0.0319667 -1.06602] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.122225,-1.05228, mag=1.05935 +86: Participating contact 1 is Sliding; vel=0.121051,-1.12354, mag=1.13004 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.122225,-1.05228, mag=1.05935 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.121051,-1.12354, mag=1.13004 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.14448; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.92022; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-4.53292e-05 4.53292e-05 0.122225 -1.05228 0.121051 -1.12354] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.14443 -0.920265 -0.0370977 -1.3761 -0.0319667 -1.06602] +86: : rhsActive=~[-1.14448 0.0851276 -2.42837 -0.92022 0.0890845 -2.18956] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.76962e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.4636... +86: > NEWTON iter 1: errNorm=1.4636(v) -> deltaNorm=3.74357(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.14078 -0.000122225 0.00105228 0.916917 -0.000121051 0.00112354] +86: > deltaPi=~[2.95834 -0.0342467 0.294841 2.26335 -0.0243514 0.226019] +86: DBG: Line search iter 1: back=1, prevNorm=1.4636. +86: > piNow=~[-2.96834 0.0342467 -0.294841 -2.27335 0.0243514 -0.226019] +86: > errNow=~[0 -1.34685e-06 1.15955e-05 2.22045e-16 -1.02055e-06 9.47226e-06] normNow=1.50677e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.0295e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.60433e-10 62: grad_f[ 2]= 1.1496037062446077e-01 62: grad_f[ 3]= 1.9829370395779411e-01 62: grad_f[ 4]= 7.9700359598143589e-01 @@ -23929,6 +33108,47 @@ 62: Limited-Memory test for skipping: 62: s^Ty = -3.098271e-10 snrm = 1.055393e-04 ynrm = 2.793256e+00 62: Skip the update. +86: > NEWTON iter 2: errNorm=1.50677e-05(v) -> deltaNorm=1.90821e-05(pi) +86: > piActive=~[-2.96834 0.0342467 -0.294841 -2.27335 0.0243514 -0.226019] +86: > errActive=~[0 -1.34685e-06 1.15955e-05 2.22045e-16 -1.02055e-06 9.47226e-06] +86: > deltaPi=~[-1.15733e-05 -1.13787e-06 9.79625e-06 -8.70437e-06 -8.09862e-07 7.51677e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.50677e-05. +86: > piNow=~[-2.96833 0.0342478 -0.29485 -2.27335 0.0243523 -0.226027] +86: > errNow=~[-2.22045e-16 5.55112e-17 -4.996e-16 -1.11022e-16 7.63278e-17 -7.21645e-16] normNow=9.17011e-16 +86: DBG: Improvement rate now/prev at iter 2 is 6.08595e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.17011e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.122225,-1.05228] to ~[0.105751,-1.06527] +86: DBG: Friction 0 rotated 0.956116 deg, less than max 30 +86: slipVel 1 from ~[0.121051,-1.12354] to ~[0.10509,-1.10541] +86: DBG: Friction 1 rotated 0.718614 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-2.96833 0.0342478 -0.29485 -2.27335 0.0243523 -0.226027] +86: : m_verrLeft=~[2.22045e-16 1.11022e-16 0.105751 -1.06527 0.10509 -1.10541] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-2.96833 verr=2.22045e-16 pi*v=-6.59101e-16 +86: DBG: 1: pi=-2.27335 verr=1.11022e-16 pi*v=-2.52392e-16 +86: SP FINAL 1 intervals, piTotal=~[-2.96833 -2.27335 0.0342478 -0.29485 0.0243523 -0.226027] errNorm=9.17011e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.122225 -1.05228, |slipV|=1.05935 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.121051 -1.12354, |slipV|=1.13004 +86: ------------------------------ +86: +86: dynamics impulse=~[-2.96833 -2.27335 0.0342478 -0.29485 0.0243523 -0.226027] +86: updated verrStart=~[2.22045e-16 1.11022e-16 0.105751 -1.06527 0.10509 -1.10541] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.0967065 -0.00370993 0 0 0 0] 62: Number of successive iterations with skipping: 2 62: 62: @@ -24032,6 +33252,64 @@ 62: Staying in free mu mode. 62: The current filter has 5 entries. 62: phi theta iter +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.263836 0.106278 0.00189108 0.312886 -0.00127501 0.121667] +86: [0.106278 0.22395 0.00579955 0.123527 0.00812115 0.26373] +86: [0.00189108 0.00579955 0.0518779 0.0435494 0.0505773 -0.0354209] +86: [0.312886 0.123527 0.0435494 0.434443 0.0384041 0.123278] +86: [-0.00127501 0.00812115 0.0505773 0.0384041 0.049431 -0.0312324] +86: [0.121667 0.26373 -0.0354209 0.123278 -0.0312324 0.376652] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.385655 rank=2 +86: rhs=~[0.0967065 -0.00370993 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.461419 -0.235537] +86: -> pi=~[0.461419 -0.235537 0 0 0 0] +86: resid active=~[2.77556e-17 1.69136e-17] +86: resid=~[2.77556e-17 1.69136e-17 -0.000493424 0.115276 -0.00250114 -0.00597887] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-7.76601e-17 1.94844e-17 0.105751 -1.06527 0.10509 -1.10541] +86: perr=~[9.67065e-05 -3.70993e-06 0] +86: END OF STEP (0.051,0.052): +86: verr=~[-2.60428e-05 2.60428e-05 0.105752 -1.06527 0.105089 -1.10541] +86: perr=~[9.66935e-05 -3.69691e-06 -1.11022e-16] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.07051 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.11039 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[-2.60428e-05 2.60428e-05 0.105752 -1.06527 0.105089 -1.10541] +86: verrExt=~[-1.21623 -0.976252 -0.0420215 -1.4712 -0.0364214 -1.13356] +86: total verr=~[-1.21626 -0.976226 0.0637308 -2.53647 0.0686681 -2.23896] +86: DYN t=0.052: verrStart=~[-2.60428e-05 2.60428e-05 0.105752 -1.06527 0.105089 -1.10541] +86: verrApplied=~[-1.21623 -0.976252 -0.0420215 -1.4712 -0.0364214 -1.13356] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-2.60428e-05 2.60428e-05 0.105752 -1.06527 0.105089 -1.10541] +86: verrApplied=~[-1.21623 -0.976252 -0.0420215 -1.4712 -0.0364214 -1.13356] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] 62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 @@ -24126,6 +33404,35 @@ 62: ||curr_s||_inf = 6.5797750736151697e-07 62: ||curr_y_c||_inf = 1.3457103238313362e-01 62: ||curr_y_d||_inf = 1.1506668198738206e+00 +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.105752,-1.06527, mag=1.07051 +86: Participating contact 1 is Sliding; vel=0.105089,-1.10541, mag=1.11039 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.105752,-1.06527, mag=1.07051 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.105089,-1.10541, mag=1.11039 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.21626; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.976226; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-2.60428e-05 2.60428e-05 0.105752 -1.06527 0.105089 -1.10541] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.21623 -0.976252 -0.0420215 -1.4712 -0.0364214 -1.13356] +86: : rhsActive=~[-1.21626 0.0637308 -2.53647 -0.976226 0.0686681 -2.23896] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.74519e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.55464... +86: > NEWTON iter 1: errNorm=1.55464(v) -> deltaNorm=3.9868(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.21257 -0.000105752 0.00106527 0.972933 -0.000105089 0.00110541] +86: > deltaPi=~[3.15931 -0.0313074 0.315369 2.39894 -0.0227978 0.239803] +86: DBG: Line search iter 1: back=1, prevNorm=1.55464. +86: > piNow=~[-3.16931 0.0313074 -0.315369 -2.40894 0.0227978 -0.239803] 62: ||curr_z_L||_inf = 9.0672822292267488e-02 62: ||curr_z_U||_inf = 2.9537289953585482e-06 62: ||curr_v_L||_inf = 1.1506707763818138e+00 @@ -24222,6 +33529,72 @@ 62: delta_c=0.000000e+00 delta_d=0.000000e+00 62: Solving the Primal Dual System for the centering step 62: Factorization successful. +86: > errNow=~[4.44089e-16 -1.24449e-06 1.25361e-05 6.66134e-16 -9.39051e-07 9.87761e-06] normNow=1.6036e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.03149e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.57965e-10 +86: > NEWTON iter 2: errNorm=1.6036e-05(v) -> deltaNorm=2.03612e-05(pi) +86: > piActive=~[-3.16931 0.0313074 -0.315369 -2.40894 0.0227978 -0.239803] +86: > errActive=~[4.44089e-16 -1.24449e-06 1.25361e-05 6.66134e-16 -9.39051e-07 9.87761e-06] +86: > deltaPi=~[-1.24033e-05 -1.04e-06 1.04762e-05 -9.25996e-06 -7.58057e-07 7.97378e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.6036e-05. +86: > piNow=~[-3.16929 0.0313085 -0.315379 -2.40893 0.0227985 -0.239811] +86: > errNow=~[0 4.85723e-17 -4.996e-16 1.11022e-16 6.245e-17 -6.10623e-16] normNow=8.00653e-16 +86: DBG: Improvement rate now/prev at iter 2 is 4.99285e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.00653e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.105752,-1.06527] to ~[0.0867538,-1.08357] +86: DBG: Friction 0 rotated 1.0918 deg, less than max 30 +86: slipVel 1 from ~[0.105089,-1.10541] to ~[0.0866905,-1.0874] +86: DBG: Friction 1 rotated 0.872593 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-3.16929 0.0313085 -0.315379 -2.40893 0.0227985 -0.239811] +86: : m_verrLeft=~[0 -1.11022e-16 0.0867538 -1.08357 0.0866905 -1.0874] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-3.16929 verr=0 pi*v=-0 +86: DBG: 1: pi=-2.40893 verr=-1.11022e-16 pi*v=2.67445e-16 +86: SP FINAL 1 intervals, piTotal=~[-3.16929 -2.40893 0.0313085 -0.315379 0.0227985 -0.239811] errNorm=8.00653e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.105752 -1.06527, |slipV|=1.07051 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.105089 -1.10541, |slipV|=1.11039 +86: ------------------------------ +86: +86: dynamics impulse=~[-3.16929 -2.40893 0.0313085 -0.315379 0.0227985 -0.239811] +86: updated verrStart=~[0 -1.11022e-16 0.0867538 -1.08357 0.0866905 -1.0874] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.0966935 -0.00369691 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.262525 0.106502 0.00211867 0.312282 -0.00104056 0.121933] +86: [0.106502 0.222863 0.00571617 0.123947 0.00802659 0.263139] +86: [0.00211867 0.00571617 0.0520869 0.0441113 0.0507676 -0.0357992] +86: [0.312282 0.123947 0.0441113 0.435283 0.0389425 0.123446] +86: [-0.00104056 0.00802659 0.0507676 0.0389425 0.0496036 -0.0315939] +86: [0.121933 0.263139 -0.0357992 0.123446 -0.0315939 0.377225] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.382768 rank=2 +86: rhs=~[0.0966935 -0.00369691 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.465248 -0.238921] +86: -> pi=~[0.465248 -0.238921 0 0 0 0] +86: resid active=~[4.16334e-17 1.43115e-17] +86: resid=~[4.16334e-17 1.43115e-17 -0.000380006 0.115675 -0.00240184 -0.00614029] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-2.187e-16 -1.80536e-16 0.0867538 -1.08357 0.0866905 -1.0874] +86: perr=~[9.66935e-05 -3.69691e-06 -1.11022e-16] 62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.739210154744e-13 q = 5.739210154744e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.624998466260e-13 q = 5.624998466260e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 62: Sigma = 1.000000e+00 @@ -24322,6 +33695,72 @@ 62: DenseVector "curr_x" with 4 elements: 62: curr_x[ 1]= 1.0000083451583708e+00 62: curr_x[ 2]= 4.7434671301992868e+00 +86: END OF STEP (0.052,0.053): +86: verr=~[-2.55356e-06 2.55356e-06 0.0867539 -1.08357 0.0866905 -1.0874] +86: perr=~[9.66922e-05 -3.69563e-06 -2.22045e-16] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.08703 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.09085 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[-2.55356e-06 2.55356e-06 0.0867539 -1.08357 0.0866905 -1.0874] +86: verrExt=~[-1.27002 -1.01737 -0.0465597 -1.5444 -0.0405637 -1.18296] +86: total verr=~[-1.27002 -1.01737 0.0401941 -2.62797 0.0461267 -2.27036] +86: DYN t=0.053: verrStart=~[-2.55356e-06 2.55356e-06 0.0867539 -1.08357 0.0866905 -1.0874] +86: verrApplied=~[-1.27002 -1.01737 -0.0465597 -1.5444 -0.0405637 -1.18296] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-2.55356e-06 2.55356e-06 0.0867539 -1.08357 0.0866905 -1.0874] +86: verrApplied=~[-1.27002 -1.01737 -0.0465597 -1.5444 -0.0405637 -1.18296] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.0867539,-1.08357, mag=1.08703 +86: Participating contact 1 is Sliding; vel=0.0866905,-1.0874, mag=1.09085 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0867539,-1.08357, mag=1.08703 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.0866905,-1.0874, mag=1.09085 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.27002; guess pi=-0.01 +86: DBG: active normal 3 has v=-1.01737; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-2.55356e-06 2.55356e-06 0.0867539 -1.08357 0.0866905 -1.0874] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.27002 -1.01737 -0.0465597 -1.5444 -0.0405637 -1.18296] +86: : rhsActive=~[-1.27002 0.0401941 -2.62797 -1.01737 0.0461267 -2.27036] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.73631e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.62234... +86: > NEWTON iter 1: errNorm=1.62234(v) -> deltaNorm=4.17222(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.26634 -8.67539e-05 0.00108357 1.01409 -8.66905e-05 0.0010874] +86: > deltaPi=~[3.31567 -0.0265405 0.331494 2.49805 -0.0199308 0.250003] +86: DBG: Line search iter 1: back=1, prevNorm=1.62234. +86: > piNow=~[-3.32567 0.0265405 -0.331494 -2.50805 0.0199308 -0.250003] +86: > errNow=~[-4.44089e-16 -1.07145e-06 1.33825e-05 -2.22045e-16 -8.06649e-07 1.01182e-05] normNow=1.68306e-05 62: curr_x[ 3]= 3.8205409854175345e+00 62: curr_x[ 4]= 1.3794815984391173e+00 62: DenseVector "curr_s" with 1 elements: @@ -24414,6 +33853,71 @@ 62: ************************************************** 62: 62: max-norm resid_x 3.329687e-18 +86: DBG: Improvement rate now/prev at iter 1 is 1.03743e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.4803e-10 +86: > NEWTON iter 2: errNorm=1.68306e-05(v) -> deltaNorm=2.13506e-05(pi) +86: > piActive=~[-3.32567 0.0265405 -0.331494 -2.50805 0.0199308 -0.250003] +86: > errActive=~[-4.44089e-16 -1.07145e-06 1.33825e-05 -2.22045e-16 -8.06649e-07 1.01182e-05] +86: > deltaPi=~[-1.30636e-05 -8.81405e-07 1.10089e-05 -9.68067e-06 -6.62533e-07 8.3105e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.68306e-05. +86: > piNow=~[-3.32566 0.0265414 -0.331505 -2.50804 0.0199315 -0.250011] +86: > errNow=~[0 4.16334e-17 -4.44089e-16 -2.22045e-16 4.85723e-17 -6.10623e-16] normNow=7.89602e-16 +86: DBG: Improvement rate now/prev at iter 2 is 4.69147e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.89602e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.0867539,-1.08357] to ~[0.0653673,-1.10617] +86: DBG: Friction 0 rotated 1.19566 deg, less than max 30 +86: slipVel 1 from ~[0.0866905,-1.0874] to ~[0.0659865,-1.06869] +86: DBG: Friction 1 rotated 1.02485 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-3.32566 0.0265414 -0.331505 -2.50804 0.0199315 -0.250011] +86: : m_verrLeft=~[0 2.22045e-16 0.0653673 -1.10617 0.0659865 -1.06869] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-3.32566 verr=0 pi*v=-0 +86: DBG: 1: pi=-2.50804 verr=2.22045e-16 pi*v=-5.56898e-16 +86: SP FINAL 1 intervals, piTotal=~[-3.32566 -2.50804 0.0265414 -0.331505 0.0199315 -0.250011] errNorm=7.89602e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0867539 -1.08357, |slipV|=1.08703 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0866905 -1.0874, |slipV|=1.09085 +86: ------------------------------ +86: +86: dynamics impulse=~[-3.32566 -2.50804 0.0265414 -0.331505 0.0199315 -0.250011] +86: updated verrStart=~[0 2.22045e-16 0.0653673 -1.10617 0.0659865 -1.06869] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.0966922 -0.00369563 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.261224 0.106641 0.00229848 0.311674 -0.000847643 0.122155] +86: [0.106641 0.221761 0.00565382 0.124308 0.00794846 0.262521] +86: [0.00229848 0.00565382 0.0522763 0.044602 0.050943 -0.0361333] +86: [0.311674 0.124308 0.044602 0.436099 0.0394216 0.123627] +86: [-0.000847643 0.00794846 0.050943 0.0394216 0.0497654 -0.0319217] +86: [0.122155 0.262521 -0.0361333 0.123627 -0.0319217 0.377739] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.38018 rank=2 +86: rhs=~[0.0966922 -0.00369563 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.469031 -0.242213] +86: -> pi=~[0.469031 -0.242213 0 0 0 0] +86: resid active=~[-2.77556e-17 -3.03577e-18] +86: resid=~[-2.77556e-17 -3.03577e-18 -0.000291374 0.116076 -0.00232279 -0.00629158] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[2.60736e-16 1.35836e-16 0.0653673 -1.10617 0.0659865 -1.06869] +86: perr=~[9.66922e-05 -3.69563e-06 -2.22045e-16] 62: max-norm resid_s 4.957260e-16 62: max-norm resid_c 3.049298e-21 62: max-norm resid_d 3.421994e-21 @@ -24517,111 +34021,255 @@ 62: DenseVector "curr_slack_x_U" with 4 elements: 62: curr_slack_x_U[ 1]= 3.9999917047419213e+00 62: curr_slack_x_U[ 2]= 2.5657961580826694e-01 -62: curr_slack_x_U[ 3]= 1.1793980362910812e+00 -62: curr_slack_x_U[ 4]= 3.6205269068303574e+00 -62: DenseVector "curr_z_L" with 4 elements: -62: curr_z_L[ 1]= 9.0670539481209372e-02 -62: curr_z_L[ 2]= 2.0237527917371033e-07 -62: curr_z_L[ 3]= 2.6858654672059413e-07 -62: curr_z_L[ 4]= 1.9963882843142220e-06 -62: DenseVector "curr_z_U" with 4 elements: -62: curr_z_U[ 1]= 1.8939433216265536e-07 -62: curr_z_U[ 2]= 2.9525951626882519e-06 -62: curr_z_U[ 3]= 6.4234103520280856e-07 -62: curr_z_U[ 4]= 2.0924461468368330e-07 -62: DenseVector "curr_slack_s_L" with 1 elements: -62: curr_slack_s_L[ 1]= 6.5838433717253569e-07 -62: DenseVector "curr_slack_s_U" with 0 elements: -62: DenseVector "curr_v_L" with 1 elements: -62: curr_v_L[ 1]= 1.1506588398060671e+00 -62: DenseVector "curr_v_U" with 0 elements: -62: -62: -62: ***Current NLP Values for Iteration 69: -62: -62: (scaled) (unscaled) -62: Objective...............: 1.4178363112507797e+00 1.7014035735009358e+01 -62: Dual infeasibility......: 5.4693521594721617e-05 6.5632225913665938e-04 -62: Constraint violation....: 5.9764673210338517e-10 5.9764673210338515e-09 -62: Complementarity.........: 7.5757575757575752e-07 9.0909090909090910e-06 -62: Overall NLP error.......: 5.4693521594721617e-05 6.5632225913665938e-04 -62: -62: DenseVector "grad_f" with 4 elements: -62: grad_f[ 1]= 1.2144006895699129e+00 -62: grad_f[ 2]= 1.1495705460241953e-01 -62: grad_f[ 3]= 1.9829038793575285e-01 -62: grad_f[ 4]= 7.9700921728866381e-01 -62: DenseVector "curr_c" with 1 elements: -62: curr_c[ 1]= 5.9764673210338517e-10 -62: DenseVector "curr_d" with 1 elements: -62: curr_d[ 1]= 6.5778951906736439e-07 -62: DenseVector "curr_d - curr_s" with 1 elements: -62: curr_d - curr_s[ 1]=-1.9481810517127446e-10 -62: -62: -62: -62: ************************************************** -62: *** Update Barrier Parameter for Iteration 69: -62: ************************************************** -62: -62: Staying in free mu mode. -62: The current filter has 5 entries. -62: phi theta iter -62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 -62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 -62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 -62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 -62: 5 1.4178363112507797e+00 7.9246483727465963e-10 69 -62: Solving the Primal Dual System for the affine step -62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 -62: delta_c=0.000000e+00 delta_d=0.000000e+00 -62: Factorization successful. -62: Number of trial factorizations performed: 1 -62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 -62: delta_c=0.000000e+00 delta_d=0.000000e+00 -62: Solving the Primal Dual System for the centering step -62: Factorization successful. -62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.739210198927e-13 q = 5.739210198927e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.624998779932e-13 q = 5.624998779932e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 -62: Sigma = 1.000000e+00 -62: Barrier parameter mu computed by oracle is 7.575758e-07 -62: Barrier parameter mu after safeguards is 7.575758e-07 -62: Barrier Parameter: 7.575758e-07 -62: -62: ************************************************** -62: *** Solving the Primal Dual System for Iteration 69: -62: ************************************************** -62: -62: max-norm resid_x 7.389092e-18 -62: max-norm resid_s 8.759507e-17 -62: max-norm resid_c 1.355232e-21 -62: max-norm resid_d 4.069987e-21 -62: max-norm resid_zL 8.702037e-23 -62: max-norm resid_zU 9.459686e-23 -62: max-norm resid_vL 4.993941e-23 -62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 5.47e-05 nrm_sol = 5.50e-05 nrm_resid = 8.76e-17 -62: residual_ratio = 7.984484e-13 -62: Factorization successful. -62: max-norm resid_x 1.694066e-21 -62: max-norm resid_s 0.000000e+00 -62: max-norm resid_c 6.776677e-22 -62: max-norm resid_d 1.257495e-21 -62: max-norm resid_zL 3.231174e-27 -62: max-norm resid_zU 2.584939e-26 -62: max-norm resid_vL 0.000000e+00 -62: max-norm resid_vU 0.000000e+00 -62: nrm_rhs = 5.47e-05 nrm_sol = 5.50e-05 nrm_resid = 1.69e-21 -62: residual_ratio = 1.544179e-17 -62: -62: ************************************************** -62: *** Finding Acceptable Trial Point for Iteration 69: -62: ************************************************** -62: -62: --> Starting filter line search in iteration 69 <-- -62: Mu has changed in line search - resetting watchdog counters. -62: The current filter has 0 entries. -62: Relative step size for delta_x = 1.141208e-05 +86: END OF STEP (0.053,0.054): +86: verr=~[2.56568e-05 -2.56568e-05 0.065368 -1.10617 0.0659858 -1.06869] +86: perr=~[9.6705e-05 -3.70846e-06 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.1081 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.07072 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[2.56568e-05 -2.56568e-05 0.065368 -1.10617 0.0659858 -1.06869] +86: verrExt=~[-1.30704 -1.04479 -0.050592 -1.59708 -0.0442809 -1.21575] +86: total verr=~[-1.30702 -1.04482 0.014776 -2.70325 0.0217049 -2.28443] +86: DYN t=0.054: verrStart=~[2.56568e-05 -2.56568e-05 0.065368 -1.10617 0.0659858 -1.06869] +86: verrApplied=~[-1.30704 -1.04479 -0.050592 -1.59708 -0.0442809 -1.21575] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[2.56568e-05 -2.56568e-05 0.065368 -1.10617 0.0659858 -1.06869] +86: verrApplied=~[-1.30704 -1.04479 -0.050592 -1.59708 -0.0442809 -1.21575] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.065368,-1.10617, mag=1.1081 +86: Participating contact 1 is Sliding; vel=0.0659858,-1.06869, mag=1.07072 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.065368,-1.10617, mag=1.1081 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.0659858,-1.06869, mag=1.07072 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.30702; guess pi=-0.01 +86: DBG: active normal 3 has v=-1.04482; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[2.56568e-05 -2.56568e-05 0.065368 -1.10617 0.0659858 -1.06869] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.30704 -1.04479 -0.050592 -1.59708 -0.0442809 -1.21575] +86: : rhsActive=~[-1.30702 0.014776 -2.70325 -1.04482 0.0217049 -2.28443] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.73961e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.6684... +86: > NEWTON iter 1: errNorm=1.6684(v) -> deltaNorm=4.30389(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.30335 -6.5368e-05 0.00110617 1.04155 -6.59858e-05 0.00106869] +86: > deltaPi=~[3.42996 -0.0202919 0.343384 2.56403 -0.0158625 0.256904] +86: DBG: Line search iter 1: back=1, prevNorm=1.6684. +86: > piNow=~[-3.43996 0.0202919 -0.343384 -2.57403 0.0158625 -0.256904] +86: > errNow=~[6.66134e-16 -8.35152e-07 1.41326e-05 -2.22045e-16 -6.30209e-07 1.02067e-05] normNow=1.74643e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.04677e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.07645e-10 +86: > NEWTON iter 2: errNorm=1.74643e-05(v) -> deltaNorm=2.2068e-05(pi) +86: > piActive=~[-3.43996 0.0202919 -0.343384 -2.57403 0.0158625 -0.256904] +86: > errActive=~[6.66134e-16 -8.35152e-07 1.41326e-05 -2.22045e-16 -6.30209e-07 1.02067e-05] +86: > deltaPi=~[-1.35603e-05 -6.73685e-07 1.14002e-05 -9.97715e-06 -5.27097e-07 8.53671e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.74643e-05. +86: > piNow=~[-3.43994 0.0202926 -0.343395 -2.57402 0.015863 -0.256913] +86: > errNow=~[0 2.77556e-17 -5.55112e-16 0 3.81639e-17 -6.10623e-16] normNow=8.26581e-16 +86: DBG: Improvement rate now/prev at iter 2 is 4.73297e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.26581e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.065368,-1.10617] to ~[0.0418007,-1.13213] +100: testBushing done. real/CPU ms: 25.8 / 25.8 +100: +100: TestMobilizedBody done. real/CPU ms: 150.0 / 149.8 +86: DBG: Friction 0 rotated 1.26738 deg, less than max 30 +86: slipVel 1 from ~[0.0659858,-1.06869] to ~[0.0431777,-1.04858] +86: DBG: Friction 1 rotated 1.17528 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-3.43994 0.0202926 -0.343395 -2.57402 0.015863 -0.256913] +86: : m_verrLeft=~[0 0 0.0418007 -1.13213 0.0431777 -1.04858] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-3.43994 verr=0 pi*v=-0 +86: DBG: 1: pi=-2.57402 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-3.43994 -2.57402 0.0202926 -0.343395 0.015863 -0.256913] errNorm=8.26581e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.065368 -1.10617, |slipV|=1.1081 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0659858 -1.06869, |slipV|=1.07072 +86: ------------------------------ +86: +86: dynamics impulse=~[-3.43994 -2.57402 0.0202926 -0.343395 0.015863 -0.256913] +86: updated verrStart=~[0 0 0.0418007 -1.13213 0.0431777 -1.04858] +62: curr_slack_x_U[ 3]= 1.1793980362910812e+00 +62: curr_slack_x_U[ 4]= 3.6205269068303574e+00 +62: DenseVector "curr_z_L" with 4 elements: +62: curr_z_L[ 1]= 9.0670539481209372e-02 +62: curr_z_L[ 2]= 2.0237527917371033e-07 +62: curr_z_L[ 3]= 2.6858654672059413e-07 +62: curr_z_L[ 4]= 1.9963882843142220e-06 +62: DenseVector "curr_z_U" with 4 elements: +62: curr_z_U[ 1]= 1.8939433216265536e-07 +62: curr_z_U[ 2]= 2.9525951626882519e-06 +62: curr_z_U[ 3]= 6.4234103520280856e-07 +62: curr_z_U[ 4]= 2.0924461468368330e-07 +62: DenseVector "curr_slack_s_L" with 1 elements: +62: curr_slack_s_L[ 1]= 6.5838433717253569e-07 +62: DenseVector "curr_slack_s_U" with 0 elements: +62: DenseVector "curr_v_L" with 1 elements: +62: curr_v_L[ 1]= 1.1506588398060671e+00 +62: DenseVector "curr_v_U" with 0 elements: +62: +62: +62: ***Current NLP Values for Iteration 69: +62: +62: (scaled) (unscaled) +62: Objective...............: 1.4178363112507797e+00 1.7014035735009358e+01 +62: Dual infeasibility......: 5.4693521594721617e-05 6.5632225913665938e-04 +62: Constraint violation....: 5.9764673210338517e-10 5.9764673210338515e-09 +62: Complementarity.........: 7.5757575757575752e-07 9.0909090909090910e-06 +62: Overall NLP error.......: 5.4693521594721617e-05 6.5632225913665938e-04 +62: +62: DenseVector "grad_f" with 4 elements: +62: grad_f[ 1]= 1.2144006895699129e+00 +62: grad_f[ 2]= 1.1495705460241953e-01 +62: grad_f[ 3]= 1.9829038793575285e-01 +62: grad_f[ 4]= 7.9700921728866381e-01 +62: DenseVector "curr_c" with 1 elements: +62: curr_c[ 1]= 5.9764673210338517e-10 +62: DenseVector "curr_d" with 1 elements: +62: curr_d[ 1]= 6.5778951906736439e-07 +62: DenseVector "curr_d - curr_s" with 1 elements: +62: curr_d - curr_s[ 1]=-1.9481810517127446e-10 +62: +62: +62: +62: ************************************************** +62: *** Update Barrier Parameter for Iteration 69: +62: ************************************************** +62: +62: Staying in free mu mode. +62: The current filter has 5 entries. +62: phi theta iter +62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 +62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 +62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 +62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 +62: 5 1.4178363112507797e+00 7.9246483727465963e-10 69 +62: Solving the Primal Dual System for the affine step +62: Solving system with delta_x=0.000000e+00 delta_s=0.000000e+00 +62: delta_c=0.000000e+00 delta_d=0.000000e+00 +62: Factorization successful. +62: Number of trial factorizations performed: 1 +62: Perturbation parameters: delta_x=0.000000e+00 delta_s=0.000000e+00 +62: delta_c=0.000000e+00 delta_d=0.000000e+00 +62: Solving the Primal Dual System for the centering step +62: Factorization successful. +62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.739210198927e-13 q = 5.739210198927e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.624998779932e-13 q = 5.624998779932e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +62: Sigma = 1.000000e+00 +62: Barrier parameter mu computed by oracle is 7.575758e-07 +62: Barrier parameter mu after safeguards is 7.575758e-07 +62: Barrier Parameter: 7.575758e-07 +62: +62: ************************************************** +62: *** Solving the Primal Dual System for Iteration 69: +62: ************************************************** +62: +62: max-norm resid_x 7.389092e-18 +62: max-norm resid_s 8.759507e-17 +62: max-norm resid_c 1.355232e-21 +62: max-norm resid_d 4.069987e-21 +62: max-norm resid_zL 8.702037e-23 +62: max-norm resid_zU 9.459686e-23 +62: max-norm resid_vL 4.993941e-23 +62: max-norm resid_vU 0.000000e+00 +62: nrm_rhs = 5.47e-05 nrm_sol = 5.50e-05 nrm_resid = 8.76e-17 +62: residual_ratio = 7.984484e-13 +62: Factorization successful. +62: max-norm resid_x 1.694066e-21 +62: max-norm resid_s 0.000000e+00 +62: max-norm resid_c 6.776677e-22 +62: max-norm resid_d 1.257495e-21 +62: max-norm resid_zL 3.231174e-27 +62: max-norm resid_zU 2.584939e-26 +62: max-norm resid_vL 0.000000e+00 +62: max-norm resid_vU 0.000000e+00 +62: nrm_rhs = 5.47e-05 nrm_sol = 5.50e-05 nrm_resid = 1.69e-21 +62: residual_ratio = 1.544179e-17 +62: +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.096705 -0.00370846 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.259937 0.106696 0.0024288 0.311071 -0.000697209 0.122333] +86: [0.106696 0.220651 0.00561118 0.124611 0.00788504 0.261884] +86: [0.0024288 0.00561118 0.0524432 0.0450168 0.0511013 -0.0364219] +86: [0.311071 0.124611 0.0450168 0.436902 0.0398382 0.123827] +86: [-0.000697209 0.00788504 0.0511013 0.0398382 0.0499146 -0.0322154] +86: [0.122333 0.261884 -0.0364219 0.123827 -0.0322154 0.378209] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.377901 rank=2 +86: rhs=~[0.096705 -0.00370846 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.472766 -0.245412] +86: -> pi=~[0.472766 -0.245412 0 0 0 0] +86: resid active=~[-1.38778e-17 8.23994e-18] +86: resid=~[-1.38778e-17 8.23994e-18 -0.000228799 0.116483 -0.0022647 -0.00643485] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-8.27116e-18 -4.99045e-17 0.0418007 -1.13213 0.0431777 -1.04858] +86: perr=~[9.6705e-05 -3.70846e-06 0] +86: END OF STEP (0.054,0.055): +86: verr=~[5.8904e-05 -5.8904e-05 0.0418042 -1.13213 0.0431742 -1.04858] +86: perr=~[9.67345e-05 -3.73791e-06 -2.22045e-16] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +62: ************************************************** +62: *** Finding Acceptable Trial Point for Iteration 69: +62: ************************************************** +62: +62: --> Starting filter line search in iteration 69 <-- +62: Mu has changed in line search - resetting watchdog counters. +62: The current filter has 0 entries. +62: Relative step size for delta_x = 1.141208e-05 62: minimal step size ALPHA_MIN = 8.704732E-11 62: Starting checks for alpha (primal) = 1.00e+00 62: Checking acceptability for trial step size alpha_primal_test= 1.000000e+00: @@ -24715,6 +34363,138 @@ 62: 62: ***Current NLP Values for Iteration 70: 62: +86: DBG: Uni fric 0 verr speed=1.1329 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.04947 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[5.8904e-05 -5.8904e-05 0.0418042 -1.13213 0.0431742 -1.04858] +86: verrExt=~[-1.32882 -1.05988 -0.0540162 -1.63089 -0.0474762 -1.2337] +86: total verr=~[-1.32876 -1.05994 -0.012212 -2.76302 -0.00430201 -2.28228] +86: DYN t=0.055: verrStart=~[5.8904e-05 -5.8904e-05 0.0418042 -1.13213 0.0431742 -1.04858] +86: verrApplied=~[-1.32882 -1.05988 -0.0540162 -1.63089 -0.0474762 -1.2337] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[5.8904e-05 -5.8904e-05 0.0418042 -1.13213 0.0431742 -1.04858] +86: verrApplied=~[-1.32882 -1.05988 -0.0540162 -1.63089 -0.0474762 -1.2337] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.0418042,-1.13213, mag=1.1329 +86: Participating contact 1 is Sliding; vel=0.0431742,-1.04858, mag=1.04947 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0418042,-1.13213, mag=1.1329 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.0431742,-1.04858, mag=1.04947 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.32876; guess pi=-0.01 +86: DBG: active normal 3 has v=-1.05994; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[5.8904e-05 -5.8904e-05 0.0418042 -1.13213 0.0431742 -1.04858] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.32882 -1.05988 -0.0540162 -1.63089 -0.0474762 -1.2337] +86: : rhsActive=~[-1.32876 -0.012212 -2.76302 -1.05994 -0.00430201 -2.28228] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.75232e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.69484... +86: > NEWTON iter 1: errNorm=1.69484(v) -> deltaNorm=4.38661(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.32511 -4.18042e-05 0.00113213 1.05668 -4.31742e-05 0.00104858] +86: > deltaPi=~[3.50537 -0.0129713 0.351285 2.60058 -0.0107393 0.260827] +86: DBG: Line search iter 1: back=1, prevNorm=1.69484. +86: > piNow=~[-3.51537 0.0129713 -0.351285 -2.61058 0.0107393 -0.260827] +86: > errNow=~[4.44089e-16 -5.45841e-07 1.47823e-05 4.44089e-16 -4.18221e-07 1.01574e-05] normNow=1.79489e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.05903e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.86718e-10 +86: > NEWTON iter 2: errNorm=1.79489e-05(v) -> deltaNorm=2.25349e-05(pi) +86: > piActive=~[-3.51537 0.0129713 -0.351285 -2.61058 0.0107393 -0.260827] +86: > errActive=~[4.44089e-16 -5.45841e-07 1.47823e-05 4.44089e-16 -4.18221e-07 1.01574e-05] +86: > deltaPi=~[-1.39023e-05 -4.30507e-07 1.16589e-05 -1.01614e-05 -3.56704e-07 8.66335e-06] + 82/108 Test #100: TestMobilizedBody .............................. Passed 0.16 sec +86: DBG: Line search iter 1: back=1, prevNorm=1.79489e-05. +86: > piNow=~[-3.51536 0.0129717 -0.351297 -2.61057 0.0107396 -0.260836] +86: > errNow=~[0 1.56125e-17 -4.44089e-16 2.22045e-16 2.42861e-17 -5.55112e-16] normNow=7.4532e-16 +86: DBG: Improvement rate now/prev at iter 2 is 4.15245e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.4532e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.0418042,-1.13213] to ~[0.016327,-1.16053] +86: DBG: Friction 0 rotated 1.30868 deg, less than max 30 +86: slipVel 1 from ~[0.0431742,-1.04858] to ~[0.018523,-1.0266] +86: DBG: Friction 1 rotated 1.32408 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-3.51536 0.0129717 -0.351297 -2.61057 0.0107396 -0.260836] +86: : m_verrLeft=~[0 -2.22045e-16 0.016327 -1.16053 0.018523 -1.0266] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-3.51536 verr=0 pi*v=-0 +86: DBG: 1: pi=-2.61057 verr=-2.22045e-16 pi*v=5.79663e-16 +86: SP FINAL 1 intervals, piTotal=~[-3.51536 -2.61057 0.0129717 -0.351297 0.0107396 -0.260836] errNorm=7.4532e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0418042 -1.13213, |slipV|=1.1329 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0431742 -1.04858, |slipV|=1.04947 +86: ------------------------------ +86: +86: dynamics impulse=~[-3.51536 -2.61057 0.0129717 -0.351297 0.0107396 -0.260836] +86: updated verrStart=~[0 -2.22045e-16 0.016327 -1.16053 0.018523 -1.0266] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.0967345 -0.00373791 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.258669 0.106667 0.00250878 0.310479 -0.000589404 0.122469] +86: [0.106667 0.219539 0.00558633 0.124858 0.00783401 0.261241] +86: [0.00250878 0.00558633 0.0525853 0.0453523 0.0512407 -0.0366647] +86: [0.310479 0.124858 0.0453523 0.437703 0.0401905 0.124051] +86: [-0.000589404 0.00783401 0.0512407 0.0401905 0.05005 -0.0324759] +86: [0.122469 0.261241 -0.0366647 0.124051 -0.0324759 0.37865] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.375936 rank=2 +86: rhs=~[0.0967345 -0.00373791 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.476453 -0.248521] +86: -> pi=~[0.476453 -0.248521 0 0 0 0] +86: resid active=~[4.16334e-17 6.50521e-18] +86: resid=~[4.16334e-17 6.50521e-18 -0.000193004 0.116899 -0.00222774 -0.00657311] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-3.08906e-16 -9.03305e-17 0.016327 -1.16053 0.018523 -1.0266] +86: perr=~[9.67345e-05 -3.73791e-06 -2.22045e-16] +86: END OF STEP (0.055,0.056): +86: verr=~[9.72642e-05 -9.72642e-05 0.0163359 -1.16053 0.018514 -1.0266] +86: perr=~[9.67831e-05 -3.78654e-06 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () 62: (scaled) (unscaled) 62: Objective...............: 1.4178363067837485e+00 1.7014035681404984e+01 62: Dual infeasibility......: 4.9302882781950977e-05 5.9163459338341170e-04 @@ -24807,6 +34587,102 @@ 62: Succeeded... 62: Checking filter acceptability... 62: Succeeded... +86: DBG: Uni fric 0 verr speed=1.16064 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.02677 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[9.72642e-05 -9.72642e-05 0.0163359 -1.16053 0.018514 -1.0266] +86: verrExt=~[-1.337 -1.0641 -0.0567516 -1.64771 -0.0500719 -1.23868] +86: total verr=~[-1.3369 -1.0642 -0.0404157 -2.80823 -0.0315579 -2.26528] +86: DYN t=0.056: verrStart=~[9.72642e-05 -9.72642e-05 0.0163359 -1.16053 0.018514 -1.0266] +86: verrApplied=~[-1.337 -1.0641 -0.0567516 -1.64771 -0.0500719 -1.23868] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[9.72642e-05 -9.72642e-05 0.0163359 -1.16053 0.018514 -1.0266] +86: verrApplied=~[-1.337 -1.0641 -0.0567516 -1.64771 -0.0500719 -1.23868] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=0.0163359,-1.16053, mag=1.16064 +86: Participating contact 1 is Sliding; vel=0.018514,-1.0266, mag=1.02677 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0163359,-1.16053, mag=1.16064 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.018514,-1.0266, mag=1.02677 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.3369; guess pi=-0.01 +86: DBG: active normal 3 has v=-1.0642; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[9.72642e-05 -9.72642e-05 0.0163359 -1.16053 0.018514 -1.0266] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.337 -1.0641 -0.0567516 -1.64771 -0.0500719 -1.23868] +86: : rhsActive=~[-1.3369 -0.0404157 -2.80823 -1.0642 -0.0315579 -2.26528] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.77216e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.70388... +86: > NEWTON iter 1: errNorm=1.70388(v) -> deltaNorm=4.42558(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.33326 -1.63359e-05 0.00116053 1.06095 -1.8514e-05 0.0010266] +86: > deltaPi=~[3.5455 -0.00500416 0.355501 2.61154 -0.0047268 0.262101] +86: DBG: Line search iter 1: back=1, prevNorm=1.70388. +86: > piNow=~[-3.5555 0.00500416 -0.355501 -2.62154 0.0047268 -0.262101] +86: > errNow=~[4.44089e-16 -2.15741e-07 1.53265e-05 0 -1.80097e-07 9.98642e-06] normNow=1.82951e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.07373e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.53129e-10 +86: > NEWTON iter 2: errNorm=1.82951e-05(v) -> deltaNorm=2.27751e-05(pi) +86: > piActive=~[-3.5555 0.00500416 -0.355501 -2.62154 0.0047268 -0.262101] +86: > errActive=~[4.44089e-16 -2.15741e-07 1.53265e-05 0 -1.80097e-07 9.98642e-06] +86: > deltaPi=~[-1.41008e-05 -1.66034e-07 1.17953e-05 -1.02456e-05 -1.56928e-07 8.70166e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.82951e-05. +86: > piNow=~[-3.55548 0.00500432 -0.355513 -2.62152 0.00472695 -0.26211] +86: > errNow=~[0 6.93889e-18 -4.996e-16 0 1.04083e-17 -6.10623e-16] normNow=7.89061e-16 +86: DBG: Improvement rate now/prev at iter 2 is 4.31297e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.89061e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[0.0163359,-1.16053] to ~[-0.0107256,-1.19048] +86: DBG: Friction 0 rotated 1.32265 deg, less than max 30 +86: slipVel 1 from ~[0.018514,-1.0266] to ~[-0.0076672,-1.00243] +86: DBG: Friction 1 rotated 1.4714 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-3.55548 0.00500432 -0.355513 -2.62152 0.00472695 -0.26211] +86: : m_verrLeft=~[0 0 -0.0107256 -1.19048 -0.0076672 -1.00243] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-3.55548 verr=0 pi*v=-0 +86: DBG: 1: pi=-2.62152 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-3.55548 -2.62152 0.00500432 -0.355513 0.00472695 -0.26211] errNorm=7.89061e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0163359 -1.16053, |slipV|=1.16064 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.018514 -1.0266, |slipV|=1.02677 +86: ------------------------------ +86: +86: dynamics impulse=~[-3.55548 -2.62152 0.00500432 -0.355513 0.00472695 -0.26211] +86: updated verrStart=~[0 0 -0.0107256 -1.19048 -0.0076672 -1.00243] 62: reference_theta = 6.439518e-10 reference_gradBarrTDelta = -3.698935e-09 62: dual infeasisibility before least square multiplier update = 4.491977e-05 62: Factorization successful. @@ -24907,6 +34783,127 @@ 62: grad_f[ 3]= 1.9828918042216728e-01 62: grad_f[ 4]= 7.9701126431810576e-01 62: DenseVector "curr_c" with 1 elements: +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.0967831 -0.00378654 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.257423 0.10656 0.00253827 0.309907 -0.000523721 0.122566] +86: [0.10656 0.218432 0.00557695 0.125051 0.00779276 0.260603] +86: [0.00253827 0.00557695 0.0527007 0.0456065 0.0513598 -0.0368623] +86: [0.309907 0.125051 0.0456065 0.438511 0.0404777 0.124302] +86: [-0.000523721 0.00779276 0.0513598 0.0404777 0.0501704 -0.0327049] +86: [0.122566 0.260603 -0.0368623 0.124302 -0.0327049 0.379076] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.374286 rank=2 +86: rhs=~[0.0967831 -0.00378654 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.480097 -0.251546] +86: -> pi=~[0.480097 -0.251546 0 0 0 0] +86: resid active=~[4.16334e-17 -1.30104e-18] +86: resid=~[4.16334e-17 -1.30104e-18 -0.000184242 0.117329 -0.00221167 -0.00670997] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-4.9985e-16 -3.54133e-16 -0.0107256 -1.19048 -0.0076672 -1.00243] +86: perr=~[9.67831e-05 -3.78654e-06 0] +90: testCoordinateCoupler3 done. real/CPU ms: 95.5 / 95.5 +90: testSpeedCoupler1 ... +86: END OF STEP (0.056,0.057): +86: verr=~[0.000140554 -0.000140554 -0.0107079 -1.19048 -0.0076849 -1.00243] +86: perr=~[9.68534e-05 -3.85682e-06 -1.11022e-16] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.19053 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.00246 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000140554 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.000140554 -0.000140554 -0.0107079 -1.19048 -0.0076849 -1.00243] +86: IMP t=0.057 verr=~[0.000140554 -0.000140554 -0.0107079 -1.19048 -0.0076849 -1.00243] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000140554 -0.000140554 -0.0107079 -1.19048 -0.0076849 -1.00243] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0107079,-1.19048, mag=1.19053 +86: Participating contact 1 is Sliding; vel=-0.0076849,-1.00243, mag=1.00246 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0107079,-1.19048, mag=1.19053 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0076849,-1.00243, mag=1.00246 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.000140554; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000140554; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000140554 -0.000140554 -0.0107079 -1.19048 -0.0076849 -1.00243] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.000140554 -0.0107079 -1.19048 -0.000140554 -0.0076849 -1.00243] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.79729e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00194611... +86: > NEWTON iter 1: errNorm=0.00194611(v) -> deltaNorm=0.0126943(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.00135771 0 0 -0.000969046 7.6849e-06 0.00100243] +86: > deltaPi=~[0.00897676 3.00741e-10 3.34359e-08 -0.00897514 7.85919e-07 0.000102517] +86: DBG: Line search iter 1: back=1, prevNorm=0.00194611. +86: > piNow=~[0.00102324 -3.00741e-10 -3.34359e-08 -0.00102486 -7.85919e-07 -0.000102517] +86: > errNow=~[5.96311e-19 -3.58042e-10 -3.98066e-08 8.13152e-20 -2.56916e-10 -3.35126e-08] normNow=5.2037e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.67389e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000547204 +86: > NEWTON iter 2: errNorm=5.2037e-08(v) -> deltaNorm=6.97468e-08(pi) +86: > piActive=~[0.00102324 -3.00741e-10 -3.34359e-08 -0.00102486 -7.85919e-07 -0.000102517] +86: > errActive=~[5.96311e-19 -3.58042e-10 -3.98066e-08 8.13152e-20 -2.56916e-10 -3.35126e-08] +86: > deltaPi=~[3.99349e-08 -3.00615e-10 -3.34219e-08 3.54818e-08 -2.2918e-10 -2.98946e-08] +86: DBG: Line search iter 1: back=1, prevNorm=5.2037e-08. +86: > piNow=~[0.0010232 -1.26449e-13 -1.40583e-11 -0.0010249 -7.85689e-07 -0.000102487] +86: > errNow=~[2.71051e-20 -1.50541e-13 -1.67369e-11 -2.71051e-20 9.56931e-14 1.24824e-11] normNow=2.08798e-11 +86: DBG: Improvement rate now/prev at iter 2 is 0.000401249 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.08798e-11. +86: DBG: Worst offender is normal contact 0 err=0.0010232 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.0107079,-1.19048, mag=1.19053 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0076849,-1.00243, mag=1.00246 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000140554; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000140554 -0.000140554 -0.0107079 -1.19048 -0.0076849 -1.00243] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000140554 -0.0076849 -1.00243] +86: : pi was=~[0 -0.0010249 -1.26449e-13 -1.40583e-11 -7.85689e-07 -0.000102487] +86: : piActive=~[-0.01 -7.85689e-07 -0.000102487] 62: curr_c[ 1]= 3.9464183032578149e-10 62: DenseVector "curr_d" with 1 elements: 62: curr_d[ 1]= 6.5786125219347019e-07 @@ -25003,6 +35000,42 @@ 62: 62: 62: ************************************************** +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.73405e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00224742... +86: > NEWTON iter 1: errNorm=0.00224742(v) -> deltaNorm=0.00942254(pi) +86: > piActive=~[-0.01 -7.85689e-07 -0.000102487] +86: > errActive=~[-0.00205946 6.89727e-06 0.000899694] +86: > deltaPi=~[-0.00942243 -3.42657e-07 -4.46968e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.00224742. +86: > piNow=~[-0.000577567 -4.43033e-07 -5.77901e-05] +86: > errNow=~[-2.98156e-19 -2.6972e-10 -3.51828e-08] normNow=3.51838e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.56552e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.00108334 +86: > NEWTON iter 2: errNorm=3.51838e-08(v) -> deltaNorm=4.89365e-08(pi) +86: > piActive=~[-0.000577567 -4.43033e-07 -5.77901e-05] +86: > errActive=~[-2.98156e-19 -2.6972e-10 -3.51828e-08] +86: > deltaPi=~[3.75484e-08 -2.40584e-10 -3.13822e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.51838e-08. +86: > piNow=~[-0.000577604 -4.42792e-07 -5.77587e-05] +86: > errNow=~[2.71051e-20 3.11835e-13 4.06763e-11] normNow=4.06775e-11 +86: DBG: Improvement rate now/prev at iter 2 is 0.00115614 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.06775e-11. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.0076849,-1.00243] to ~[-0.00768229,-1.00226] +86: DBG: Friction 1 rotated 7.33997e-05 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.000577604 -4.42792e-07 -5.77587e-05] +86: : m_verrLeft=~[0.000209081 -2.71051e-20 -0.0107068 -1.1904 -0.00768229 -1.00226] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.000209081 pi*v=0 +86: DBG: 1: pi=-0.000577604 verr=-2.71051e-20 pi*v=1.5656e-23 +86: SP FINAL 1 intervals, piTotal=~[0 -0.000577604 0 0 -4.42792e-07 -5.77587e-05] errNorm=4.06775e-11 +86: Postcompression verr=~[0.000209081 -2.71051e-20 -0.0107068 -1.1904 -0.00768229 -1.00226] +86: impulse=~[0 -0.000577604 0 0 -4.42792e-07 -5.77587e-05] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () 62: *** Summary of Iteration: 72: 62: ************************************************** 62: @@ -25104,6 +35137,65 @@ 62: phi theta iter 62: 1 1.3424744099332397e+00 1.1304964070517749e+00 0 62: 2 1.4131282557471663e+00 1.6036198022143809e-02 9 +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.000577604 0 0 -4.42792e-07 -5.77587e-05]-> du ~[7.56245e-05 0.000223141 9.25357e-05 -0.000125798 1.85558e-06 0.00010454 -0.000394292 0.000310241] +86: Now verr0=~[0.000209081 2.71051e-20 -0.0107068 -1.1904 -0.00768229 -1.00226] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.000209081 2.71051e-20 -0.0107068 -1.1904 -0.00768229 -1.00226] +86: verrExt=~[-1.33327 -1.05892 -0.0587415 -1.64947 -0.052012 -1.23257] +86: total verr=~[-1.33306 -1.05892 -0.0694483 -2.83987 -0.0596943 -2.23483] +86: DYN t=0.057: verrStart=~[0.000209081 2.71051e-20 -0.0107068 -1.1904 -0.00768229 -1.00226] +86: verrApplied=~[-1.33327 -1.05892 -0.0587415 -1.64947 -0.052012 -1.23257] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000209081 2.71051e-20 -0.0107068 -1.1904 -0.00768229 -1.00226] +86: verrApplied=~[-1.33327 -1.05892 -0.0587415 -1.64947 -0.052012 -1.23257] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0107068,-1.1904, mag=1.19045 +86: Participating contact 1 is Sliding; vel=-0.00768229,-1.00226, mag=1.00229 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0107068,-1.1904, mag=1.19045 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.00768229,-1.00226, mag=1.00229 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.33306; guess pi=-0.01 +86: DBG: active normal 3 has v=-1.05892; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000209081 2.71051e-20 -0.0107068 -1.1904 -0.00768229 -1.00226] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.33327 -1.05892 -0.0587415 -1.64947 -0.052012 -1.23257] +86: : rhsActive=~[-1.33306 -0.0694483 -2.83987 -1.05892 -0.0596943 -2.23483] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.79665e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.69761... +86: > NEWTON iter 1: errNorm=1.69761(v) -> deltaNorm=4.42579(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.32944 1.07068e-05 0.0011904 1.05568 7.68229e-06 0.00100226] +86: > deltaPi=~[3.55414 0.00320542 0.356387 2.60011 0.00200051 0.260993] +86: DBG: Line search iter 1: back=1, prevNorm=1.69761. +86: > piNow=~[-3.56414 -0.00320542 -0.356387 -2.61011 -0.00200051 -0.260993] +86: > errNow=~[4.44089e-16 1.41744e-07 1.57594e-05 4.44089e-16 7.44036e-08 9.70697e-06] normNow=1.85098e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.09034e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.54326e-10 +86: > NEWTON iter 2: errNorm=1.85098e-05(v) -> deltaNorm=2.28118e-05(pi) +86: > piActive=~[-3.56414 -0.00320542 -0.356387 -2.61011 -0.00200051 -0.260993] 62: 3 1.4039314102134561e+00 3.7639712904795834e-02 11 62: 4 1.4049317607873903e+00 3.4167612122773236e-02 12 62: 5 1.4178363002264387e+00 4.2521763017371247e-10 72 @@ -25198,6 +35290,65 @@ 62: ||curr_y_d||_inf = 1.1506391407780576e+00 62: ||curr_z_L||_inf = 9.0667180198376829e-02 62: ||curr_z_U||_inf = 2.9509265721797660e-06 +90: testSpeedCoupler1 done. real/CPU ms: 1.2 / 1.2 +90: testSpeedCoupler2 ... +86: > errActive=~[4.44089e-16 1.41744e-07 1.57594e-05 4.44089e-16 7.44036e-08 9.70697e-06] +86: > deltaPi=~[-1.41687e-05 1.06324e-07 1.18214e-05 -1.02398e-05 6.6385e-08 8.66084e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.85098e-05. +86: > piNow=~[-3.56413 -0.00320553 -0.356398 -2.6101 -0.00200057 -0.261002] +86: > errNow=~[0 -4.77049e-18 -4.996e-16 0 -4.33681e-18 -6.66134e-16] normNow=8.32692e-16 +86: DBG: Improvement rate now/prev at iter 2 is 4.49867e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.32692e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.0107068,-1.1904] to ~[-0.0389829,-1.22119] +86: DBG: Friction 0 rotated 1.31306 deg, less than max 30 +86: slipVel 1 from ~[-0.00768229,-1.00226] to ~[-0.0350402,-0.975925] +86: DBG: Friction 1 rotated 1.61714 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-3.56413 -0.00320553 -0.356398 -2.6101 -0.00200057 -0.261002] +86: : m_verrLeft=~[0 0 -0.0389829 -1.22119 -0.0350402 -0.975925] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-3.56413 verr=0 pi*v=-0 +86: DBG: 1: pi=-2.6101 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-3.56413 -2.6101 -0.00320553 -0.356398 -0.00200057 -0.261002] errNorm=8.32692e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0107068 -1.1904, |slipV|=1.19045 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.00768229 -1.00226, |slipV|=1.00229 +86: ------------------------------ +86: +86: dynamics impulse=~[-3.56413 -2.6101 -0.00320553 -0.356398 -0.00200057 -0.261002] +86: updated verrStart=~[0 0 -0.0389829 -1.22119 -0.0350402 -0.975925] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.0968534 -0.00385682 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.256203 0.106377 0.00251775 0.309359 -0.000499132 0.122627] +86: [0.106377 0.217337 0.00558051 0.125192 0.00775848 0.259981] +86: [0.00251775 0.00558051 0.0527883 0.0457782 0.0514576 -0.0370164] +86: [0.309359 0.125192 0.0457782 0.439335 0.0406999 0.124581] +86: [-0.000499132 0.00775848 0.0514576 0.0406999 0.0502752 -0.0329046] +86: [0.122627 0.259981 -0.0370164 0.124581 -0.0329046 0.379504] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.372949 rank=2 +86: rhs=~[0.0968534 -0.00385682 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.483702 -0.254497] +86: -> pi=~[0.483702 -0.254497 0 0 0 0] +86: resid active=~[-8.32667e-17 -2.94903e-17] +86: resid=~[-8.32667e-17 -2.94903e-17 -0.000202379 0.117776 -0.00221594 -0.00684938] 62: ||curr_v_L||_inf = 1.1506412624061169e+00 62: ||curr_v_U||_inf = 0.0000000000000000e+00 62: @@ -25293,6 +35444,66 @@ 62: Solving the Primal Dual System for the centering step 62: Factorization successful. 62: sigma = 1.00e+00 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.739210247311e-13 q = 5.739210247311e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[1.18585e-16 -1.76318e-16 -0.0389829 -1.22119 -0.0350402 -0.975925] +86: perr=~[9.68534e-05 -3.85682e-06 -1.11022e-16] +86: END OF STEP (0.057,0.058): +86: verr=~[0.000188331 -0.000188331 -0.0389528 -1.22119 -0.0350703 -0.975925] +86: perr=~[9.69476e-05 -3.95098e-06 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.22181 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.976555 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000188331 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.000188331 -0.000188331 -0.0389528 -1.22119 -0.0350703 -0.975925] +86: IMP t=0.058 verr=~[0.000188331 -0.000188331 -0.0389528 -1.22119 -0.0350703 -0.975925] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000188331 -0.000188331 -0.0389528 -1.22119 -0.0350703 -0.975925] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0389528,-1.22119, mag=1.22181 +86: Participating contact 1 is Sliding; vel=-0.0350703,-0.975925, mag=0.976555 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0389528,-1.22119, mag=1.22181 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0350703,-0.975925, mag=0.976555 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.000188331; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000188331; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000188331 -0.000188331 -0.0389528 -1.22119 -0.0350703 -0.975925] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.000188331 -0.0389528 -1.22119 -0.000188331 -0.0350703 -0.975925] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] 62: sigma = 9.90e-01 d_inf = 0.000000000000e+00 p_inf = 0.000000000000e+00 cmpl = 5.624999224951e-13 q = 5.624999224951e-13 a_pri = 1.00e+00 a_dual = 1.00e+00 xi = 0.00e+00 62: Sigma = 1.000000e+00 62: Barrier parameter mu computed by oracle is 7.575758e-07 @@ -25394,6 +35605,48 @@ 62: curr_x[ 2]= 4.7432475486501628e+00 62: curr_x[ 3]= 3.8208279451701670e+00 62: curr_x[ 4]= 1.3794418495990040e+00 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.82616e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00186516... +86: > NEWTON iter 1: errNorm=0.00186516(v) -> deltaNorm=0.0121896(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.00130058 0 0 -0.000913046 3.50703e-05 0.000975925] +86: > deltaPi=~[0.00861979 1.02363e-09 3.20913e-08 -0.00861777 4.96506e-06 0.000138166] +86: DBG: Line search iter 1: back=1, prevNorm=0.00186516. +86: > piNow=~[0.00138021 -1.02363e-09 -3.20913e-08 -0.00138223 -4.96506e-06 -0.000138166] +86: > errNow=~[-5.42101e-20 -1.25068e-09 -3.92096e-08 -1.35525e-19 -1.12576e-09 -3.13273e-08] normNow=5.02157e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.69231e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000303747 +86: > NEWTON iter 2: errNorm=5.02157e-08(v) -> deltaNorm=6.70711e-08(pi) +86: > piActive=~[0.00138021 -1.02363e-09 -3.20913e-08 -0.00138223 -4.96506e-06 -0.000138166] +86: > errActive=~[-5.42101e-20 -1.25068e-09 -3.92096e-08 -1.35525e-19 -1.12576e-09 -3.13273e-08] +86: > deltaPi=~[3.84298e-08 -1.02339e-09 -3.20839e-08 3.41791e-08 -1.03028e-09 -2.86703e-08] +86: DBG: Line search iter 1: back=1, prevNorm=5.02157e-08. +86: > piNow=~[0.00138017 -2.38196e-13 -7.46758e-12 -0.00138227 -4.96403e-06 -0.000138137] +86: > errNow=~[8.13152e-20 -2.91031e-13 -9.12398e-12 0 2.32363e-13 6.46612e-12] normNow=1.11891e-11 +86: DBG: Improvement rate now/prev at iter 2 is 0.000222821 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.11891e-11. +86: DBG: Worst offender is normal contact 0 err=0.00138017 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.0389528,-1.22119, mag=1.22181 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0350703,-0.975925, mag=0.976555 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000188331; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000188331 -0.000188331 -0.0389528 -1.22119 -0.0350703 -0.975925] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000188331 -0.0350703 -0.975925] +86: : pi was=~[0 -0.00138227 -2.38196e-13 -7.46758e-12 -4.96403e-06 -0.000138137] +86: : piActive=~[-0.01 -4.96403e-06 -0.000138137] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.63754e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0021792... +86: > NEWTON iter 1: errNorm=0.0021792(v) -> deltaNorm=0.00922268(pi) +86: > piActive=~[-0.01 -4.96403e-06 -0.000138137] 62: DenseVector "curr_s" with 1 elements: 62: curr_s[ 1]= 6.5799632143770670e-07 62: DenseVector "curr_y_c" with 1 elements: @@ -25487,6 +35740,60 @@ 62: max-norm resid_s 1.025439e-16 62: max-norm resid_c 2.541099e-21 62: max-norm resid_d 1.058791e-22 +86: > errActive=~[-0.00201015 3.02226e-05 0.000841026] +86: > deltaPi=~[-0.00922248 -2.17056e-06 -6.04017e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.0021792. +86: > piNow=~[-0.000777515 -2.79347e-06 -7.77357e-05] +86: > errNow=~[1.0842e-19 -1.20476e-09 -3.35255e-08] normNow=3.35472e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.53942e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.00059088 +86: > NEWTON iter 2: errNorm=3.35472e-08(v) -> deltaNorm=4.79406e-08(pi) +86: > piActive=~[-0.000777515 -2.79347e-06 -7.77357e-05] +86: > errActive=~[1.0842e-19 -1.20476e-09 -3.35255e-08] +86: > deltaPi=~[3.6828e-08 -1.10222e-09 -3.06723e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.35472e-08. +86: > piNow=~[-0.000777552 -2.79236e-06 -7.7705e-05] +86: > errNow=~[0 7.81484e-13 2.17469e-11] normNow=2.17609e-11 +86: DBG: Improvement rate now/prev at iter 2 is 0.000648666 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.17609e-11. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.0350703,-0.975925] to ~[-0.0350667,-0.975694] +86: DBG: Friction 1 rotated 0.000277154 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.000777552 -2.79236e-06 -7.7705e-05] +86: : m_verrLeft=~[0.000280377 0 -0.0389512 -1.22108 -0.0350667 -0.975694] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.000280377 pi*v=0 +86: DBG: 1: pi=-0.000777552 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.000777552 0 0 -2.79236e-06 -7.7705e-05] errNorm=2.17609e-11 +86: Postcompression verr=~[0.000280377 0 -0.0389512 -1.22108 -0.0350667 -0.975694] +86: impulse=~[0 -0.000777552 0 0 -2.79236e-06 -7.7705e-05] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.000777552 0 0 -2.79236e-06 -7.7705e-05]-> du ~[0.000101043 0.00029976 0.000123869 -0.000169175 2.5941e-06 0.000140189 -0.000529407 0.000415213] +86: Now verr0=~[0.000280377 2.1684e-19 -0.0389512 -1.22108 -0.0350667 -0.975694] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.000280377 2.1684e-19 -0.0389512 -1.22108 -0.0350667 -0.975694] +86: verrExt=~[-1.31919 -1.04567 -0.0599514 -1.63795 -0.0532606 -1.21702] +86: total verr=~[-1.31891 -1.04567 -0.0989027 -2.85903 -0.0883273 -2.19272] +86: DYN t=0.058: verrStart=~[0.000280377 2.1684e-19 -0.0389512 -1.22108 -0.0350667 -0.975694] +86: verrApplied=~[-1.31919 -1.04567 -0.0599514 -1.63795 -0.0532606 -1.21702] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000280377 2.1684e-19 -0.0389512 -1.22108 -0.0350667 -0.975694] 62: max-norm resid_zL 1.360502e-22 62: max-norm resid_zU 1.481482e-22 62: max-norm resid_vL 4.042603e-23 @@ -25588,6 +35895,56 @@ 62: curr_slack_x_U[ 1]= 3.9999917043196551e+00 62: curr_slack_x_U[ 2]= 2.5677756101983107e-01 62: curr_slack_x_U[ 3]= 1.1791393584530216e+00 +86: verrApplied=~[-1.31919 -1.04567 -0.0599514 -1.63795 -0.0532606 -1.21702] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0389512,-1.22108, mag=1.2217 +86: Participating contact 1 is Sliding; vel=-0.0350667,-0.975694, mag=0.976324 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0389512,-1.22108, mag=1.2217 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0350667,-0.975694, mag=0.976324 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.31891; guess pi=-0.01 +86: DBG: active normal 3 has v=-1.04567; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000280377 2.1684e-19 -0.0389512 -1.22108 -0.0350667 -0.975694] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.31919 -1.04567 -0.0599514 -1.63795 -0.0532606 -1.21702] +86: : rhsActive=~[-1.31891 -0.0989027 -2.85903 -1.04567 -0.0883273 -2.19272] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.82532e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.67831... +86: > NEWTON iter 1: errNorm=1.67831(v) -> deltaNorm=4.39261(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.3153 3.89512e-05 0.00122108 1.04245 3.50667e-05 0.000975694] +86: > deltaPi=~[3.53484 0.0113015 0.354291 2.57055 0.00926823 0.257879] +86: DBG: Line search iter 1: back=1, prevNorm=1.67831. +86: > piNow=~[-3.54484 -0.0113015 -0.354291 -2.58055 -0.00926823 -0.257879] +86: > errNow=~[2.22045e-16 5.12864e-07 1.60778e-05 -6.66134e-16 3.35762e-07 9.34223e-06] normNow=1.86051e-05 +103: [min,max]=0.1,0.5 actual=0.269144 +103: calc wrms=0.269144 +86: DBG: Improvement rate now/prev at iter 1 is 1.10856e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.3989e-10 +86: > NEWTON iter 2: errNorm=1.86051e-05(v) -> deltaNorm=2.26707e-05(pi) +86: > piActive=~[-3.54484 -0.0113015 -0.354291 -2.58055 -0.00926823 -0.257879] +86: > errActive=~[2.22045e-16 5.12864e-07 1.60778e-05 -6.66134e-16 3.35762e-07 9.34223e-06] +86: > deltaPi=~[-1.41187e-05 3.7478e-07 1.1749e-05 -1.0158e-05 3.0742e-07 8.55364e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.86051e-05. +86: > piNow=~[-3.54483 -0.0113019 -0.354302 -2.58054 -0.00926854 -0.257887] +86: > errNow=~[0 -1.38778e-17 -4.44089e-16 0 -2.08167e-17 -6.10623e-16] normNow=7.55448e-16 +86: DBG: Improvement rate now/prev at iter 2 is 4.06044e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.55448e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.0389512,-1.22108] to ~[-0.0680371,-1.25188] +86: DBG: Friction 0 rotated 1.28379 deg, less than max 30 +86: slipVel 1 from ~[-0.0350667,-0.975694] to ~[-0.0632118,-0.947069] 62: curr_slack_x_U[ 4]= 3.6205627349637366e+00 62: DenseVector "curr_z_L" with 4 elements: 62: curr_z_L[ 1]= 9.0665957323533941e-02 @@ -25685,6 +36042,56 @@ 62: residual_ratio = 5.755558e-17 62: 62: ************************************************** +86: DBG: Friction 1 rotated 1.76018 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-3.54483 -0.0113019 -0.354302 -2.58054 -0.00926854 -0.257887] +86: : m_verrLeft=~[0 0 -0.0680371 -1.25188 -0.0632118 -0.947069] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-3.54483 verr=0 pi*v=-0 +86: DBG: 1: pi=-2.58054 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-3.54483 -2.58054 -0.0113019 -0.354302 -0.00926854 -0.257887] errNorm=7.55448e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0389512 -1.22108, |slipV|=1.2217 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0350667 -0.975694, |slipV|=0.976324 +86: ------------------------------ +86: +86: dynamics impulse=~[-3.54483 -2.58054 -0.0113019 -0.354302 -0.00926854 -0.257887] +86: updated verrStart=~[0 0 -0.0680371 -1.25188 -0.0632118 -0.947069] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.0969476 -0.00395098 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.255014 0.106123 0.00244817 0.308841 -0.00051421 0.122654] +86: [0.106123 0.216261 0.00559437 0.125283 0.00772834 0.259385] +86: [0.00244817 0.00559437 0.0528471 0.0458676 0.0515336 -0.0371292] +86: [0.308841 0.125283 0.0458676 0.440182 0.0408579 0.12489] +86: [-0.00051421 0.00772834 0.0515336 0.0408579 0.050364 -0.0330778] +86: [0.122654 0.259385 -0.0371292 0.12489 -0.0330778 0.379945] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.371919 rank=2 +86: rhs=~[0.0969476 -0.00395098 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.487275 -0.257384] +86: -> pi=~[0.487275 -0.257384 0 0 0 0] +86: resid active=~[1.38778e-17 -8.67362e-19] +86: resid=~[1.38778e-17 -8.67362e-19 -0.000246972 0.118245 -0.00223972 -0.00699537] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-1.43765e-16 -5.35596e-17 -0.0680371 -1.25188 -0.0632118 -0.947069] +86: perr=~[9.69476e-05 -3.95098e-06 0] 62: *** Finding Acceptable Trial Point for Iteration 75: 62: ************************************************** 62: @@ -25786,6 +36193,766 @@ 62: ***Current NLP Values for Iteration 76: 62: 62: (scaled) (unscaled) +86: END OF STEP (0.058,0.059): +86: verr=~[0.000239907 -0.000239907 -0.0679906 -1.25188 -0.0632583 -0.947069] +86: perr=~[9.70675e-05 -4.07094e-06 -1.11022e-16] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.25373 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.949179 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000239907 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.000239907 -0.000239907 -0.0679906 -1.25188 -0.0632583 -0.947069] +86: IMP t=0.059 verr=~[0.000239907 -0.000239907 -0.0679906 -1.25188 -0.0632583 -0.947069] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000239907 -0.000239907 -0.0679906 -1.25188 -0.0632583 -0.947069] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0679906,-1.25188, mag=1.25373 +86: Participating contact 1 is Sliding; vel=-0.0632583,-0.947069, mag=0.949179 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0679906,-1.25188, mag=1.25373 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0632583,-0.947069, mag=0.949179 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.000239907; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000239907; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000239907 -0.000239907 -0.0679906 -1.25188 -0.0632583 -0.947069] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.000239907 -0.0679906 -1.25188 -0.000239907 -0.0632583 -0.947069] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.85739e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00178037... +86: > NEWTON iter 1: errNorm=0.00178037(v) -> deltaNorm=0.0116403(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.00124064 0 0 -0.000854157 6.32583e-05 0.000947069] +86: > deltaPi=~[0.0082313 1.66274e-09 3.06154e-08 -0.00822872 1.18068e-05 0.000176764] +86: DBG: Line search iter 1: back=1, prevNorm=0.00178037. +86: > piNow=~[0.0017687 -1.66274e-09 -3.06154e-08 -0.00177128 -1.18068e-05 -0.000176764] +86: > errNow=~[-1.19262e-18 -2.08463e-09 -3.83834e-08 -1.02999e-18 -1.93893e-09 -2.90286e-08] normNow=4.82084e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.70778e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000186397 +86: > NEWTON iter 2: errNorm=4.82084e-08(v) -> deltaNorm=6.41202e-08(pi) +86: > piActive=~[0.0017687 -1.66274e-09 -3.06154e-08 -0.00177128 -1.18068e-05 -0.000176764] +86: > errActive=~[-1.19262e-18 -2.08463e-09 -3.83834e-08 -1.02999e-18 -1.93893e-09 -2.90286e-08] +86: > deltaPi=~[3.67559e-08 -1.66251e-09 -3.06111e-08 3.2723e-08 -1.82492e-09 -2.73217e-08] +86: DBG: Line search iter 1: back=1, prevNorm=4.82084e-08. +86: > piNow=~[0.00176866 -2.36525e-13 -4.35505e-12 -0.00177131 -1.18049e-05 -0.000176737] +86: > errNow=~[0 -2.96539e-13 -5.46005e-12 -2.71051e-20 2.44915e-13 3.66673e-12] normNow=6.58824e-12 +86: DBG: Improvement rate now/prev at iter 2 is 0.000136662 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.58824e-12. +86: DBG: Worst offender is normal contact 0 err=0.00176866 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.0679906,-1.25188, mag=1.25373 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0632583,-0.947069, mag=0.949179 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000239907; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000239907 -0.000239907 -0.0679906 -1.25188 -0.0632583 -0.947069] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000239907 -0.0632583 -0.947069] +86: : pi was=~[0 -0.00177131 -2.36525e-13 -4.35505e-12 -1.18049e-05 -0.000176737] +86: : piActive=~[-0.01 -1.18049e-05 -0.000176737] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.53557e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00210807... +86: > NEWTON iter 1: errNorm=0.00210807(v) -> deltaNorm=0.00900526(pi) +86: > piActive=~[-0.01 -1.18049e-05 -0.000176737] +86: > errActive=~[-0.00195803 5.20533e-05 0.000779314] +86: > deltaPi=~[-0.00900493 -5.17102e-06 -7.74176e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.00210807. +86: > piNow=~[-0.000995071 -6.63392e-06 -9.93193e-05] +86: > errNow=~[4.60786e-19 -2.12183e-09 -3.17668e-08] normNow=3.18376e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.51027e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000353128 +86: > NEWTON iter 2: errNorm=3.18376e-08(v) -> deltaNorm=4.68442e-08(pi) +86: > piActive=~[-0.000995071 -6.63392e-06 -9.93193e-05] +86: > errActive=~[4.60786e-19 -2.12183e-09 -3.17668e-08] +86: > deltaPi=~[3.60157e-08 -1.9963e-09 -2.98875e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.18376e-08. +86: > piNow=~[-0.000995107 -6.63192e-06 -9.92895e-05] +86: > errNow=~[-2.71051e-20 8.47605e-13 1.26899e-11] normNow=1.27182e-11 +86: DBG: Improvement rate now/prev at iter 2 is 0.00039947 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.27182e-11. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.0632583,-0.947069] to ~[-0.0632536,-0.946774] +86: DBG: Friction 1 rotated 0.000904569 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.000995107 -6.63192e-06 -9.92895e-05] +86: : m_verrLeft=~[0.000357368 2.71051e-20 -0.0679883 -1.25175 -0.0632536 -0.946774] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.000357368 pi*v=0 +86: DBG: 1: pi=-0.000995107 verr=2.71051e-20 pi*v=-2.69724e-23 +86: SP FINAL 1 intervals, piTotal=~[0 -0.000995107 0 0 -6.63192e-06 -9.92895e-05] errNorm=1.27182e-11 +86: Postcompression verr=~[0.000357368 2.71051e-20 -0.0679883 -1.25175 -0.0632536 -0.946774] +86: impulse=~[0 -0.000995107 0 0 -6.63192e-06 -9.92895e-05] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.000995107 0 0 -6.63192e-06 -9.92895e-05]-> du ~[0.000128404 0.000382776 0.000157671 -0.000216264 3.46706e-06 0.000178684 -0.000675676 0.00052829] +86: Now verr0=~[0.000357368 -2.43945e-19 -0.0679883 -1.25175 -0.0632536 -0.946774] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.000357368 -2.43945e-19 -0.0679883 -1.25175 -0.0632536 -0.946774] +86: verrExt=~[-1.29629 -1.02565 -0.0603713 -1.61492 -0.0538034 -1.19364] +86: total verr=~[-1.29593 -1.02565 -0.12836 -2.86667 -0.117057 -2.14041] +86: DYN t=0.059: verrStart=~[0.000357368 -2.43945e-19 -0.0679883 -1.25175 -0.0632536 -0.946774] +86: verrApplied=~[-1.29629 -1.02565 -0.0603713 -1.61492 -0.0538034 -1.19364] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000357368 -2.43945e-19 -0.0679883 -1.25175 -0.0632536 -0.946774] +86: verrApplied=~[-1.29629 -1.02565 -0.0603713 -1.61492 -0.0538034 -1.19364] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0679883,-1.25175, mag=1.25359 +86: Participating contact 1 is Sliding; vel=-0.0632536,-0.946774, mag=0.948884 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0679883,-1.25175, mag=1.25359 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0632536,-0.946774, mag=0.948884 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.29593; guess pi=-0.01 +86: DBG: active normal 3 has v=-1.02565; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000357368 -2.43945e-19 -0.0679883 -1.25175 -0.0632536 -0.946774] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.29629 -1.02565 -0.0603713 -1.61492 -0.0538034 -1.19364] +86: : rhsActive=~[-1.29593 -0.12836 -2.86667 -1.02565 -0.117057 -2.14041] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.85632e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.64788... +86: > NEWTON iter 1: errNorm=1.64788(v) -> deltaNorm=4.33054(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.29234 6.79883e-05 0.00125175 1.02244 6.32536e-05 0.000946774] +86: > deltaPi=~[3.49115 0.0189878 0.349587 2.52558 0.0169018 0.252985] +86: DBG: Line search iter 1: back=1, prevNorm=1.64788. +86: > piNow=~[-3.50115 -0.0189878 -0.349587 -2.53558 -0.0169018 -0.252985] +86: > errNow=~[4.44089e-16 8.84127e-07 1.62778e-05 4.44089e-16 5.95057e-07 8.90675e-06] normNow=1.85858e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.12786e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.00688e-10 +86: > NEWTON iter 2: errNorm=1.85858e-05(v) -> deltaNorm=2.23738e-05(pi) +86: > piActive=~[-3.50115 -0.0189878 -0.349587 -2.53558 -0.0169018 -0.252985] +86: > errActive=~[4.44089e-16 8.84127e-07 1.62778e-05 4.44089e-16 5.95057e-07 8.90675e-06] +86: > deltaPi=~[-1.39646e-05 6.29539e-07 1.15906e-05 -1.00085e-05 5.60395e-07 8.38793e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.85858e-05. +86: > piNow=~[-3.50114 -0.0189884 -0.349599 -2.53557 -0.0169024 -0.252993] +86: > errNow=~[0 -2.77556e-17 -4.44089e-16 0 -3.46945e-17 -5.55112e-16] normNow=7.12277e-16 +86: DBG: Improvement rate now/prev at iter 2 is 3.83236e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.12277e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.0679883,-1.25175] to ~[-0.0974572,-1.28185] +86: DBG: Friction 0 rotated 1.2388 deg, less than max 30 +86: slipVel 1 from ~[-0.0632536,-0.946774] to ~[-0.091777,-0.915978] +86: DBG: Friction 1 rotated 1.89946 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-3.50114 -0.0189884 -0.349599 -2.53557 -0.0169024 -0.252993] +86: : m_verrLeft=~[0 0 -0.0974572 -1.28185 -0.091777 -0.915978] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-3.50114 verr=0 pi*v=-0 +86: DBG: 1: pi=-2.53557 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-3.50114 -2.53557 -0.0189884 -0.349599 -0.0169024 -0.252993] errNorm=7.12277e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0679883 -1.25175, |slipV|=1.25359 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0632536 -0.946774, |slipV|=0.948884 +86: ------------------------------ +86: +86: dynamics impulse=~[-3.50114 -2.53557 -0.0189884 -0.349599 -0.0169024 -0.252993] +86: updated verrStart=~[0 0 -0.0974572 -1.28185 -0.091777 -0.915978] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.0970675 -0.00407094 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.253859 0.105804 0.00233089 0.308359 -0.000567235 0.12265] +86: [0.105804 0.215211 0.00561602 0.125326 0.00769966 0.258824] +86: [0.00233089 0.00561602 0.052877 0.0458752 0.0515876 -0.0372031] +86: [0.308359 0.125326 0.0458752 0.441058 0.0409534 0.125227] +86: [-0.000567235 0.00769966 0.0515876 0.0409534 0.0504367 -0.0332276] +86: [0.12265 0.258824 -0.0372031 0.125227 -0.0332276 0.380413] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.37119 rank=2 +86: rhs=~[0.0970675 -0.00407094 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.490824 -0.260221] +86: -> pi=~[0.490824 -0.260221 0 0 0 0] +86: resid active=~[0 1.47451e-17] +86: resid=~[0 1.47451e-17 -0.000317346 0.118737 -0.00228202 -0.00715179] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-3.82181e-16 -3.64834e-16 -0.0974572 -1.28185 -0.091777 -0.915978] +86: perr=~[9.70675e-05 -4.07094e-06 -1.11022e-16] +86: END OF STEP (0.059,0.06): +86: verr=~[0.000294381 -0.000294381 -0.0973903 -1.28185 -0.091844 -0.915977] +86: perr=~[9.72147e-05 -4.21813e-06 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.28555 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.92057 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000294381 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.000294381 -0.000294381 -0.0973903 -1.28185 -0.091844 -0.915977] +86: IMP t=0.06 verr=~[0.000294381 -0.000294381 -0.0973903 -1.28185 -0.091844 -0.915977] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000294381 -0.000294381 -0.0973903 -1.28185 -0.091844 -0.915977] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0973903,-1.28185, mag=1.28555 +86: Participating contact 1 is Sliding; vel=-0.091844,-0.915977, mag=0.92057 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0973903,-1.28185, mag=1.28555 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.091844,-0.915977, mag=0.92057 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.000294381; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000294381; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000294381 -0.000294381 -0.0973903 -1.28185 -0.091844 -0.915977] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.000294381 -0.0973903 -1.28185 -0.000294381 -0.091844 -0.915977] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.88963e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00169299... +86: > NEWTON iter 1: errNorm=0.00169299(v) -> deltaNorm=0.0110564(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.00117876 0 0 -0.000793282 9.1844e-05 0.000915977] +86: > deltaPi=~[0.00781825 2.20622e-09 2.90383e-08 -0.0078148 2.18043e-05 0.000217458] +86: DBG: Line search iter 1: back=1, prevNorm=0.00169299. +86: > piNow=~[0.00218175 -2.20622e-09 -2.90383e-08 -0.0021852 -2.18043e-05 -0.000217458] +86: > errNow=~[-1.0842e-18 -2.8362e-09 -3.73301e-08 1.0842e-19 -2.6735e-09 -2.66633e-08] normNow=4.60397e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.71943e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000123323 +86: > NEWTON iter 2: errNorm=4.60397e-08(v) -> deltaNorm=6.09479e-08(pi) +86: > piActive=~[0.00218175 -2.20622e-09 -2.90383e-08 -0.0021852 -2.18043e-05 -0.000217458] +86: > errActive=~[-1.0842e-18 -2.8362e-09 -3.73301e-08 1.0842e-19 -2.6735e-09 -2.66633e-08] +86: > deltaPi=~[3.49496e-08 -2.20602e-09 -2.90356e-08 3.11341e-08 -2.5938e-09 -2.58685e-08] +86: DBG: Line search iter 1: back=1, prevNorm=4.60397e-08. +86: > piNow=~[0.00218172 -2.0673e-13 -2.72097e-12 -0.00218523 -2.18017e-05 -0.000217433] +86: > errNow=~[-5.42101e-20 -2.6576e-13 -3.49794e-12 0 2.22562e-13 2.21965e-12] normNow=4.15723e-12 +86: DBG: Improvement rate now/prev at iter 2 is 9.02966e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.15723e-12. +86: DBG: Worst offender is normal contact 0 err=0.00218172 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.0973903,-1.28185, mag=1.28555 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.091844,-0.915977, mag=0.92057 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000294381; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000294381 -0.000294381 -0.0973903 -1.28185 -0.091844 -0.915977] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000294381 -0.091844 -0.915977] +86: : pi was=~[0 -0.00218523 -2.0673e-13 -2.72097e-12 -2.18017e-05 -0.000217433] +86: : piActive=~[-0.01 -2.18017e-05 -0.000217433] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.42901e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00203525... +86: > NEWTON iter 1: errNorm=0.00203525(v) -> deltaNorm=0.00877382(pi) +86: > piActive=~[-0.01 -2.18017e-05 -0.000217433] +86: > errActive=~[-0.00190387 7.1774e-05 0.000715815] +86: > deltaPi=~[-0.00877329 -9.55978e-06 -9.53414e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.00203525. +86: > piNow=~[-0.00122671 -1.22419e-05 -0.000122091] +86: > errNow=~[1.0842e-19 -3.00141e-09 -2.99336e-08] normNow=3.00837e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.47813e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000226217 +86: > NEWTON iter 2: errNorm=3.00837e-08(v) -> deltaNorm=4.56542e-08(pi) +86: > piActive=~[-0.00122671 -1.22419e-05 -0.000122091] +86: > errActive=~[1.0842e-19 -3.00141e-09 -2.99336e-08] +86: > deltaPi=~[3.51145e-08 -2.91091e-09 -2.9031e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.00837e-08. +86: > piNow=~[-0.00122674 -1.2239e-05 -0.000122062] +86: > errNow=~[5.42101e-20 7.92512e-13 7.90386e-12] normNow=7.9435e-12 +86: DBG: Improvement rate now/prev at iter 2 is 0.000264047 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.9435e-12. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.091844,-0.915977] to ~[-0.091838,-0.915614] +86: DBG: Friction 1 rotated 0.00188576 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00122674 -1.2239e-05 -0.000122062] +86: : m_verrLeft=~[0.00043867 -5.42101e-20 -0.0973873 -1.28168 -0.091838 -0.915614] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.00043867 pi*v=0 +86: DBG: 1: pi=-0.00122674 verr=-5.42101e-20 pi*v=6.65018e-23 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00122674 0 0 -1.2239e-05 -0.000122062] errNorm=7.9435e-12 +86: Postcompression verr=~[0.00043867 -5.42101e-20 -0.0973873 -1.28168 -0.091838 -0.915614] +86: impulse=~[0 -0.00122674 0 0 -1.2239e-05 -0.000122062] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00122674 0 0 -1.2239e-05 -0.000122062]-> du ~[0.000157246 0.000470759 0.000193364 -0.000266268 4.48208e-06 0.000219335 -0.000830566 0.000647511] +86: Now verr0=~[0.00043867 2.1684e-19 -0.0973873 -1.28168 -0.091838 -0.915614] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.00043867 2.1684e-19 -0.0973873 -1.28168 -0.091838 -0.915614] +86: verrExt=~[-1.26593 -0.99997 -0.0600121 -1.58198 -0.0536458 -1.16379] +86: total verr=~[-1.26549 -0.99997 -0.157399 -2.86366 -0.145484 -2.07941] +86: DYN t=0.06: verrStart=~[0.00043867 2.1684e-19 -0.0973873 -1.28168 -0.091838 -0.915614] +86: verrApplied=~[-1.26593 -0.99997 -0.0600121 -1.58198 -0.0536458 -1.16379] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00043867 2.1684e-19 -0.0973873 -1.28168 -0.091838 -0.915614] +86: verrApplied=~[-1.26593 -0.99997 -0.0600121 -1.58198 -0.0536458 -1.16379] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0973873,-1.28168, mag=1.28538 +86: Participating contact 1 is Sliding; vel=-0.091838,-0.915614, mag=0.920208 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0973873,-1.28168, mag=1.28538 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.091838,-0.915614, mag=0.920208 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.26549; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.99997; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00043867 2.1684e-19 -0.0973873 -1.28168 -0.091838 -0.915614] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.26593 -0.99997 -0.0600121 -1.58198 -0.0536458 -1.16379] +86: : rhsActive=~[-1.26549 -0.157399 -2.86366 -0.99997 -0.145484 -2.07941] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.88833e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.60809... +86: > NEWTON iter 1: errNorm=1.60809(v) -> deltaNorm=4.24374(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.26191 9.73873e-05 0.00128168 0.996774 9.1838e-05 0.000915614] +86: > deltaPi=~[3.42629 0.0260343 0.342629 2.46787 0.0247285 0.24654] +86: DBG: Line search iter 1: back=1, prevNorm=1.60809. +86: > piNow=~[-3.43629 -0.0260343 -0.342629 -2.47787 -0.0247285 -0.24654] +86: > errNow=~[2.22045e-16 1.2429e-06 1.63575e-05 4.44089e-16 8.4422e-07 8.41677e-06] normNow=1.84571e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.14776e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.84067e-10 +86: > NEWTON iter 2: errNorm=1.84571e-05(v) -> deltaNorm=2.19418e-05(pi) +86: > piActive=~[-3.43629 -0.0260343 -0.342629 -2.47787 -0.0247285 -0.24654] +86: > errActive=~[2.22045e-16 1.2429e-06 1.63575e-05 4.44089e-16 8.4422e-07 8.41677e-06] +86: > deltaPi=~[-1.37194e-05 8.63013e-07 1.13578e-05 -9.79952e-06 8.19623e-07 8.17154e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.84571e-05. +86: > piNow=~[-3.43628 -0.0260352 -0.34264 -2.47786 -0.0247293 -0.246549] +86: > errNow=~[2.22045e-16 -4.16334e-17 -5.55112e-16 0 -5.20417e-17 -4.996e-16] normNow=7.81981e-16 +86: DBG: Improvement rate now/prev at iter 2 is 4.23674e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.81981e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.0973873,-1.28168] to ~[-0.126803,-1.31044] +86: DBG: Friction 0 rotated 1.18174 deg, less than max 30 +86: slipVel 1 from ~[-0.091838,-0.915614] to ~[-0.120321,-0.882857] +86: DBG: Friction 1 rotated 2.03307 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-3.43628 -0.0260352 -0.34264 -2.47786 -0.0247293 -0.246549] +86: : m_verrLeft=~[-2.22045e-16 0 -0.126803 -1.31044 -0.120321 -0.882857] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-3.43628 verr=-2.22045e-16 pi*v=7.63007e-16 +86: DBG: 1: pi=-2.47786 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-3.43628 -2.47786 -0.0260352 -0.34264 -0.0247293 -0.246549] errNorm=7.81981e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0973873 -1.28168, |slipV|=1.28538 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.091838 -0.915614, |slipV|=0.920208 +86: ------------------------------ +86: +86: dynamics impulse=~[-3.43628 -2.47786 -0.0260352 -0.34264 -0.0247293 -0.246549] +86: updated verrStart=~[-2.22045e-16 0 -0.126803 -1.31044 -0.120321 -0.882857] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.0972147 -0.00421813 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.25274 0.105425 0.0021676 0.307914 -0.000656283 0.122618] +86: [0.105425 0.214192 0.00564309 0.125325 0.00767001 0.258307] +86: [0.0021676 0.00564309 0.0528783 0.0458027 0.0516197 -0.0372411] +86: [0.307914 0.125325 0.0458027 0.441966 0.0409882 0.125593] +86: [-0.000656283 0.00767001 0.0516197 0.0409882 0.0504936 -0.0333569] +86: [0.122618 0.258307 -0.0372411 0.125593 -0.0333569 0.380918] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.370754 rank=2 +86: rhs=~[0.0972147 -0.00421813 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.494355 -0.263015] +86: -> pi=~[0.494355 -0.263015 0 0 0 0] +86: resid active=~[-2.77556e-17 -1.73472e-18] +86: resid=~[-2.77556e-17 -1.73472e-18 -0.000412654 0.119257 -0.00234177 -0.00732208] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[1.72713e-16 6.863e-17 -0.126803 -1.31044 -0.120321 -0.882857] +86: perr=~[9.72147e-05 -4.21813e-06 0] +86: END OF STEP (0.06,0.061): +86: verr=~[0.000350679 -0.000350679 -0.126711 -1.31044 -0.120413 -0.882856] +86: perr=~[9.739e-05 -4.39347e-06 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.31655 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.891029 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000350679 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.000350679 -0.000350679 -0.126711 -1.31044 -0.120413 -0.882856] +86: IMP t=0.061 verr=~[0.000350679 -0.000350679 -0.126711 -1.31044 -0.120413 -0.882856] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000350679 -0.000350679 -0.126711 -1.31044 -0.120413 -0.882856] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.126711,-1.31044, mag=1.31655 +86: Participating contact 1 is Sliding; vel=-0.120413,-0.882856, mag=0.891029 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.126711,-1.31044, mag=1.31655 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.120413,-0.882856, mag=0.891029 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.000350679; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000350679; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000350679 -0.000350679 -0.126711 -1.31044 -0.120413 -0.882856] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.000350679 -0.126711 -1.31044 -0.000350679 -0.120413 -0.882856] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.92154e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00160452... +86: > NEWTON iter 1: errNorm=0.00160452(v) -> deltaNorm=0.0104496(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.001116 0 0 -0.00073149 0.000120413 0.000882856] +86: > deltaPi=~[0.00738911 2.649e-09 2.73957e-08 -0.00738427 3.53523e-05 0.000259201] +86: DBG: Line search iter 1: back=1, prevNorm=0.00160452. +86: > piNow=~[0.00261089 -2.649e-09 -2.73957e-08 -0.00261573 -3.53523e-05 -0.000259201] +86: > errNow=~[2.1684e-19 -3.48754e-09 -3.60678e-08 4.33681e-19 -3.312e-09 -2.42834e-08] normNow=4.37459e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.72642e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.66345e-05 +86: > NEWTON iter 2: errNorm=4.37459e-08(v) -> deltaNorm=5.76204e-08(pi) +86: > piActive=~[0.00261089 -2.649e-09 -2.73957e-08 -0.00261573 -3.53523e-05 -0.000259201] +86: > errActive=~[2.1684e-19 -3.48754e-09 -3.60678e-08 4.33681e-19 -3.312e-09 -2.42834e-08] +86: > deltaPi=~[3.30534e-08 -2.64883e-09 -2.73939e-08 2.94415e-08 -3.3194e-09 -2.43376e-08] +86: DBG: Line search iter 1: back=1, prevNorm=4.37459e-08. +86: > piNow=~[0.00261086 -1.73566e-13 -1.79501e-12 -0.00261576 -3.5349e-05 -0.000259176] +86: > errNow=~[0 -2.28508e-13 -2.36321e-12 -5.42101e-20 1.92707e-13 1.41292e-12] normNow=2.76956e-12 +86: DBG: Improvement rate now/prev at iter 2 is 6.33102e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.76956e-12. +86: DBG: Worst offender is normal contact 0 err=0.00261086 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.126711,-1.31044, mag=1.31655 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.120413,-0.882856, mag=0.891029 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000350679; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000350679 -0.000350679 -0.126711 -1.31044 -0.120413 -0.882856] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000350679 -0.120413 -0.882856] +86: : pi was=~[0 -0.00261576 -1.73566e-13 -1.79501e-12 -3.5349e-05 -0.000259176] +86: : piActive=~[-0.01 -3.5349e-05 -0.000259176] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.31897e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00196211... +86: > NEWTON iter 1: errNorm=0.00196211(v) -> deltaNorm=0.00853266(pi) +86: > piActive=~[-0.01 -3.5349e-05 -0.000259176] +86: > errActive=~[-0.0018485 8.89155e-05 0.000651922] +86: > deltaPi=~[-0.00853189 -1.55049e-05 -0.000113681] +86: DBG: Line search iter 1: back=1, prevNorm=0.00196211. +86: > piNow=~[-0.00146811 -1.98441e-05 -0.000145496] +86: > errNow=~[2.1684e-19 -3.82674e-09 -2.80573e-08] normNow=2.83171e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.4432e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000153211 +86: > NEWTON iter 2: errNorm=2.83171e-08(v) -> deltaNorm=4.43865e-08(pi) +86: > piActive=~[-0.00146811 -1.98441e-05 -0.000145496] +86: > errActive=~[2.1684e-19 -3.82674e-09 -2.80573e-08] +86: > deltaPi=~[3.41344e-08 -3.83424e-09 -2.81124e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.83171e-08. +86: > piNow=~[-0.00146814 -1.98403e-05 -0.000145468] +86: > errNow=~[-5.42101e-20 7.06745e-13 5.1818e-12] normNow=5.22977e-12 +86: DBG: Improvement rate now/prev at iter 2 is 0.000184686 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.22977e-12. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.120413,-0.882856] to ~[-0.120405,-0.882422] +86: DBG: Friction 1 rotated 0.00329943 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00146814 -1.98403e-05 -0.000145468] +86: : m_verrLeft=~[0.000522635 5.42101e-20 -0.126707 -1.31023 -0.120405 -0.882422] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.000522635 pi*v=0 +86: DBG: 1: pi=-0.00146814 verr=5.42101e-20 pi*v=-7.95882e-23 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00146814 0 0 -1.98403e-05 -0.000145468] errNorm=5.22977e-12 +86: Postcompression verr=~[0.000522635 5.42101e-20 -0.126707 -1.31023 -0.120405 -0.882422] +86: impulse=~[0 -0.00146814 0 0 -1.98403e-05 -0.000145468] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00146814 0 0 -1.98403e-05 -0.000145468]-> du ~[0.000187022 0.00056198 0.000230269 -0.000318221 5.6412e-06 0.000261317 -0.000991035 0.00077058] +86: Now verr0=~[0.000522635 0 -0.126707 -1.31023 -0.120405 -0.882422] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.000522635 0 -0.126707 -1.31023 -0.120405 -0.882422] +86: verrExt=~[-1.22929 -0.969605 -0.0589041 -1.54051 -0.0528101 -1.12864] +86: total verr=~[-1.22877 -0.969605 -0.185611 -2.85075 -0.173215 -2.01106] +86: DYN t=0.061: verrStart=~[0.000522635 0 -0.126707 -1.31023 -0.120405 -0.882422] +86: verrApplied=~[-1.22929 -0.969605 -0.0589041 -1.54051 -0.0528101 -1.12864] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000522635 0 -0.126707 -1.31023 -0.120405 -0.882422] +86: verrApplied=~[-1.22929 -0.969605 -0.0589041 -1.54051 -0.0528101 -1.12864] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.126707,-1.31023, mag=1.31635 +86: Participating contact 1 is Sliding; vel=-0.120405,-0.882422, mag=0.890599 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.126707,-1.31023, mag=1.31635 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.120405,-0.882422, mag=0.890599 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.22877; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.969605; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000522635 0 -0.126707 -1.31023 -0.120405 -0.882422] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.22929 -0.969605 -0.0589041 -1.54051 -0.0528101 -1.12864] +86: : rhsActive=~[-1.22877 -0.185611 -2.85075 -0.969605 -0.173215 -2.01106] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.92001e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.56048... +86: > NEWTON iter 1: errNorm=1.56048(v) -> deltaNorm=4.13585(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.2252 0.000126707 0.00131023 0.966423 0.000120405 0.000882422] +86: > deltaPi=~[3.34313 0.0322749 0.333743 2.39964 0.0325761 0.238743] +86: DBG: Line search iter 1: back=1, prevNorm=1.56048. +86: > piNow=~[-3.35313 -0.0322749 -0.333743 -2.40964 -0.0325761 -0.238743] +86: > errNow=~[0 1.57785e-06 1.6316e-05 -1.11022e-16 1.07622e-06 7.8874e-06] normNow=1.82228e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.16777e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.30853e-10 +86: > NEWTON iter 2: errNorm=1.82228e-05(v) -> deltaNorm=2.13929e-05(pi) +86: > piActive=~[-3.35313 -0.0322749 -0.333743 -2.40964 -0.0325761 -0.238743] +86: > errActive=~[0 1.57785e-06 1.6316e-05 -1.11022e-16 1.07622e-06 7.8874e-06] +86: > deltaPi=~[-1.33951e-05 1.06972e-06 1.10616e-05 -9.53801e-06 1.07948e-06 7.91124e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.82228e-05. +86: > piNow=~[-3.35311 -0.032276 -0.333754 -2.40963 -0.0325771 -0.238751] +86: > errNow=~[0 -5.55112e-17 -6.10623e-16 -1.11022e-16 -7.28584e-17 -5.27356e-16] normNow=8.19561e-16 +86: DBG: Improvement rate now/prev at iter 2 is 4.49745e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.19561e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.126707,-1.31023] to ~[-0.155636,-1.33704] +86: DBG: Friction 0 rotated 1.11588 deg, less than max 30 +86: slipVel 1 from ~[-0.120405,-0.882422] to ~[-0.148431,-0.84798] +86: DBG: Friction 1 rotated 2.15858 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-3.35311 -0.032276 -0.333754 -2.40963 -0.0325771 -0.238751] +86: : m_verrLeft=~[0 1.11022e-16 -0.155636 -1.33704 -0.148431 -0.84798] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-3.35311 verr=0 pi*v=-0 +86: DBG: 1: pi=-2.40963 verr=1.11022e-16 pi*v=-2.67523e-16 +86: SP FINAL 1 intervals, piTotal=~[-3.35311 -2.40963 -0.032276 -0.333754 -0.0325771 -0.238751] errNorm=8.19561e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.126707 -1.31023, |slipV|=1.31635 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.120405 -0.882422, |slipV|=0.890599 +86: ------------------------------ +86: +86: dynamics impulse=~[-3.35311 -2.40963 -0.032276 -0.333754 -0.0325771 -0.238751] +86: updated verrStart=~[0 1.11022e-16 -0.155636 -1.33704 -0.148431 -0.84798] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.09739 -0.00439347 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.25166 0.104991 0.00196025 0.307511 -0.000779291 0.122558] +86: [0.104991 0.213208 0.0056735 0.125281 0.00763727 0.257839] +86: [0.00196025 0.0056735 0.0528514 0.0456521 0.0516306 -0.0372461] +86: [0.307511 0.125281 0.0456521 0.442909 0.0409648 0.125985] +86: [-0.000779291 0.00763727 0.0516306 0.0409648 0.0505349 -0.0334687] +86: [0.122558 0.257839 -0.0372461 0.125985 -0.0334687 0.381469] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.3706 rank=2 +86: rhs=~[0.09739 -0.00439347 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.497872 -0.265776] +86: -> pi=~[0.497872 -0.265776 0 0 0 0] +86: resid active=~[1.38778e-17 -8.67362e-19] +86: resid=~[1.38778e-17 -8.67362e-19 -0.00053193 0.119804 -0.00241779 -0.00750907] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[1.83555e-16 6.90637e-17 -0.155636 -1.33704 -0.148431 -0.84798] +86: perr=~[9.739e-05 -4.39347e-06 0] +86: END OF STEP (0.061,0.062): +86: verr=~[0.000407605 -0.000407605 -0.155516 -1.33704 -0.148551 -0.847979] +86: perr=~[9.75938e-05 -4.59727e-06 -1.11022e-16] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () 62: Objective...............: 1.4178362930968602e+00 1.7014035517162323e+01 62: Dual infeasibility......: 2.6455728814739750e-05 3.1746874577687700e-04 62: Constraint violation....: 1.3984333691041684e-10 1.3984333691041684e-09 @@ -26856,6 +38023,603 @@ 62: Objective...............: 1.4178362892533092e+00 1.7014035471039712e+01 62: Dual infeasibility......: 1.4197089750313489e-05 1.7036507700376186e-04 62: Constraint violation....: 4.0272851720146722e-11 4.0272851720146718e-10 +94: Gimbal with User Axes: Passed +94: Translation: Passed +86: DBG: Uni fric 0 verr speed=1.34605 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.860892 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000407605 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.000407605 -0.000407605 -0.155516 -1.33704 -0.148551 -0.847979] +86: IMP t=0.062 verr=~[0.000407605 -0.000407605 -0.155516 -1.33704 -0.148551 -0.847979] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000407605 -0.000407605 -0.155516 -1.33704 -0.148551 -0.847979] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.155516,-1.33704, mag=1.34605 +86: Participating contact 1 is Sliding; vel=-0.148551,-0.847979, mag=0.860892 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.155516,-1.33704, mag=1.34605 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.148551,-0.847979, mag=0.860892 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.000407605; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000407605; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000407605 -0.000407605 -0.155516 -1.33704 -0.148551 -0.847979] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.000407605 -0.155516 -1.33704 -0.000407605 -0.148551 -0.847979] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.95163e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00151654... +86: > NEWTON iter 1: errNorm=0.00151654(v) -> deltaNorm=0.0098335(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.00105352 0 0 -0.000669965 0.000148551 0.000847979] +86: > deltaPi=~[0.00695348 2.99245e-09 2.57274e-08 -0.00694648 5.26943e-05 0.000300797] +86: DBG: Line search iter 1: back=1, prevNorm=0.00151654. +86: > piNow=~[0.00304652 -2.99245e-09 -2.57274e-08 -0.00305352 -5.26943e-05 -0.000300797] +86: > errNow=~[-2.1684e-19 -4.02799e-09 -3.46304e-08 4.33681e-19 -3.84372e-09 -2.19413e-08] normNow=4.13725e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.72808e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.39701e-05 +86: > NEWTON iter 2: errNorm=4.13725e-08(v) -> deltaNorm=5.42137e-08(pi) +86: > piActive=~[0.00304652 -2.99245e-09 -2.57274e-08 -0.00305352 -5.26943e-05 -0.000300797] +86: > errActive=~[-2.1684e-19 -4.02799e-09 -3.46304e-08 4.33681e-19 -3.84372e-09 -2.19413e-08] +86: > deltaPi=~[3.11144e-08 -2.99231e-09 -2.57261e-08 2.76814e-08 -3.98734e-09 -2.27611e-08] +86: DBG: Line search iter 1: back=1, prevNorm=4.13725e-08. +86: > piNow=~[0.00304649 -1.44113e-13 -1.239e-12 -0.00305355 -5.26903e-05 -0.000300774] +86: > errNow=~[0 -1.93983e-13 -1.66776e-12 0 1.64098e-13 9.36725e-13] normNow=1.92962e-12 +86: DBG: Improvement rate now/prev at iter 2 is 4.66401e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.92962e-12. +86: DBG: Worst offender is normal contact 0 err=0.00304649 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.155516,-1.33704, mag=1.34605 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.148551,-0.847979, mag=0.860892 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000407605; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000407605 -0.000407605 -0.155516 -1.33704 -0.148551 -0.847979] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000407605 -0.148551 -0.847979] +86: : pi was=~[0 -0.00305355 -1.44113e-13 -1.239e-12 -5.26903e-05 -0.000300774] +86: : piActive=~[-0.01 -5.26903e-05 -0.000300774] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.20672e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00188998... +86: > NEWTON iter 1: errNorm=0.00188998(v) -> deltaNorm=0.0082867(pi) +86: > piActive=~[-0.01 -5.26903e-05 -0.000300774] +86: > errActive=~[-0.00179287 0.00010319 0.000589045] +86: > deltaPi=~[-0.00828562 -2.31026e-05 -0.000131878] +86: DBG: Line search iter 1: back=1, prevNorm=0.00188998. +86: > piNow=~[-0.00171438 -2.95877e-05 -0.000168897] +86: > errNow=~[-9.21572e-19 -4.58471e-09 -2.61711e-08] normNow=2.65696e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.40582e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000108705 +86: > NEWTON iter 2: errNorm=2.65696e-08(v) -> deltaNorm=4.30627e-08(pi) +86: > piActive=~[-0.00171438 -2.95877e-05 -0.000168897] +86: > errActive=~[-9.21572e-19 -4.58471e-09 -2.61711e-08] +86: > deltaPi=~[3.309e-08 -4.75527e-09 -2.71447e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.65696e-08. +86: > piNow=~[-0.00171441 -2.95829e-05 -0.00016887] +86: > errNow=~[5.42101e-20 6.20685e-13 3.54308e-12] normNow=3.59704e-12 +86: DBG: Improvement rate now/prev at iter 2 is 0.000135381 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.59704e-12. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.148551,-0.847979] to ~[-0.148542,-0.847474] +86: DBG: Friction 1 rotated 0.00522031 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00171441 -2.95829e-05 -0.00016887] +86: : m_verrLeft=~[0.000607429 -5.42101e-20 -0.155511 -1.3368 -0.148542 -0.847474] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.000607429 pi*v=0 +86: DBG: 1: pi=-0.00171441 verr=-5.42101e-20 pi*v=9.29384e-23 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00171441 0 0 -2.95829e-05 -0.00016887] errNorm=3.59704e-12 +86: Postcompression verr=~[0.000607429 -5.42101e-20 -0.155511 -1.3368 -0.148542 -0.847474] +86: impulse=~[0 -0.00171441 0 0 -2.95829e-05 -0.00016887] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00171441 0 0 -2.95829e-05 -0.00016887]-> du ~[0.000217124 0.000654499 0.000267624 -0.000371027 6.93985e-06 0.000303715 -0.00115367 0.000894972] +86: Now verr0=~[0.000607429 -7.58942e-19 -0.155511 -1.3368 -0.148542 -0.847474] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.000607429 -7.58942e-19 -0.155511 -1.3368 -0.148542 -0.847474] +86: verrExt=~[-1.1874 -0.935379 -0.0570941 -1.49173 -0.0513345 -1.08914] +86: total verr=~[-1.18679 -0.935379 -0.212605 -2.82853 -0.199876 -1.93661] +86: DYN t=0.062: verrStart=~[0.000607429 -7.58942e-19 -0.155511 -1.3368 -0.148542 -0.847474] +86: verrApplied=~[-1.1874 -0.935379 -0.0570941 -1.49173 -0.0513345 -1.08914] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000607429 -7.58942e-19 -0.155511 -1.3368 -0.148542 -0.847474] +86: verrApplied=~[-1.1874 -0.935379 -0.0570941 -1.49173 -0.0513345 -1.08914] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.155511,-1.3368, mag=1.34582 +86: Participating contact 1 is Sliding; vel=-0.148542,-0.847474, mag=0.860394 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.155511,-1.3368, mag=1.34582 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.148542,-0.847474, mag=0.860394 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.18679; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.935379; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000607429 -7.58942e-19 -0.155511 -1.3368 -0.148542 -0.847474] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.1874 -0.935379 -0.0570941 -1.49173 -0.0513345 -1.08914] +86: : rhsActive=~[-1.18679 -0.212605 -2.82853 -0.935379 -0.199876 -1.93661] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.94989e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.50635... +86: > NEWTON iter 1: errNorm=1.50635(v) -> deltaNorm=4.00999(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.18324 0.000155511 0.0013368 0.932211 0.000148542 0.000847474] +86: > deltaPi=~[3.24416 0.0376009 0.323224 2.32274 0.040272 0.229763] +86: DBG: Line search iter 1: back=1, prevNorm=1.50635. +86: > piNow=~[-3.25416 -0.0376009 -0.323224 -2.33274 -0.040272 -0.229763] +86: > errNow=~[4.44089e-16 1.87921e-06 1.6154e-05 -7.77156e-16 1.28517e-06 7.33228e-06] normNow=1.78857e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.18735e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.25695e-10 +86: > NEWTON iter 2: errNorm=1.78857e-05(v) -> deltaNorm=2.07434e-05(pi) +86: > piActive=~[-3.25416 -0.0376009 -0.323224 -2.33274 -0.040272 -0.229763] +86: > errActive=~[4.44089e-16 1.87921e-06 1.6154e-05 -7.77156e-16 1.28517e-06 7.33228e-06] +86: > deltaPi=~[-1.30027e-05 1.24609e-06 1.07116e-05 -9.22987e-06 1.33436e-06 7.61288e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.78857e-05. +86: > piNow=~[-3.25415 -0.0376021 -0.323235 -2.33273 -0.0402733 -0.229771] +86: > errNow=~[0 -6.245e-17 -6.10623e-16 1.11022e-16 -9.02056e-17 -5.27356e-16] normNow=8.21783e-16 +86: DBG: Improvement rate now/prev at iter 2 is 4.59464e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.21783e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.155511,-1.3368] to ~[-0.183533,-1.36109] +86: DBG: Friction 0 rotated 1.04412 deg, less than max 30 +86: slipVel 1 from ~[-0.148542,-0.847474] to ~[-0.175708,-0.811663] +86: DBG: Friction 1 rotated 2.27323 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-3.25415 -0.0376021 -0.323235 -2.33273 -0.0402733 -0.229771] +86: : m_verrLeft=~[0 -1.11022e-16 -0.183533 -1.36109 -0.175708 -0.811663] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-3.25415 verr=0 pi*v=-0 +86: DBG: 1: pi=-2.33273 verr=-1.11022e-16 pi*v=2.58986e-16 +86: SP FINAL 1 intervals, piTotal=~[-3.25415 -2.33273 -0.0376021 -0.323235 -0.0402733 -0.229771] errNorm=8.21783e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.155511 -1.3368, |slipV|=1.34582 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.148542 -0.847474, |slipV|=0.860394 +86: ------------------------------ +86: +86: dynamics impulse=~[-3.25415 -2.33273 -0.0376021 -0.323235 -0.0402733 -0.229771] +86: updated verrStart=~[0 -1.11022e-16 -0.183533 -1.36109 -0.175708 -0.811663] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.0975938 -0.00459727 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.25062 0.104508 0.00171099 0.307149 -0.000934112 0.122475] +86: [0.104508 0.212265 0.0057055 0.125198 0.00759972 0.257424] +86: [0.00171099 0.0057055 0.0527975 0.0454259 0.0516209 -0.037221] +86: [0.307149 0.125198 0.0454259 0.443887 0.0408856 0.126402] +86: [-0.000934112 0.00759972 0.0516209 0.0408856 0.0505614 -0.0335659] +86: [0.122475 0.257424 -0.037221 0.126402 -0.0335659 0.38207] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.370718 rank=2 +86: rhs=~[0.0975938 -0.00459727 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.501377 -0.268509] +86: -> pi=~[0.501377 -0.268509 0 0 0 0] +86: resid active=~[2.77556e-17 9.54098e-18] +86: resid=~[2.77556e-17 9.54098e-18 -0.000674128 0.120381 -0.00250894 -0.00771485] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[5.99022e-17 -7.19368e-17 -0.183533 -1.36109 -0.175708 -0.811663] +86: perr=~[9.75938e-05 -4.59727e-06 -1.11022e-16] +86: END OF STEP (0.062,0.063): +86: verr=~[0.000463892 -0.000463892 -0.183382 -1.3611 -0.175859 -0.811662] +86: perr=~[9.78258e-05 -4.82922e-06 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.37339 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.830494 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000463892 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.000463892 -0.000463892 -0.183382 -1.3611 -0.175859 -0.811662] +86: IMP t=0.063 verr=~[0.000463892 -0.000463892 -0.183382 -1.3611 -0.175859 -0.811662] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000463892 -0.000463892 -0.183382 -1.3611 -0.175859 -0.811662] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.183382,-1.3611, mag=1.37339 +86: Participating contact 1 is Sliding; vel=-0.175859,-0.811662, mag=0.830494 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.183382,-1.3611, mag=1.37339 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.175859,-0.811662, mag=0.830494 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.000463892; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000463892; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000463892 -0.000463892 -0.183382 -1.3611 -0.175859 -0.811662] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.000463892 -0.183382 -1.3611 -0.000463892 -0.175859 -0.811662] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.97831e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0014307... +86: > NEWTON iter 1: errNorm=0.0014307(v) -> deltaNorm=0.00922237(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.000992539 0 0 -0.000609953 0.000175859 0.000811662] +86: > deltaPi=~[0.00652163 3.24361e-09 2.40747e-08 -0.00651143 7.38762e-05 0.00034097] +86: DBG: Line search iter 1: back=1, prevNorm=0.0014307. +86: > piNow=~[0.00347837 -3.24361e-09 -2.40747e-08 -0.00348857 -7.38762e-05 -0.00034097] +86: > errNow=~[5.42101e-20 -4.45475e-09 -3.30641e-08 0 -4.26532e-09 -1.96862e-08] normNow=3.8972e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.72399e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.92943e-05 +86: > NEWTON iter 2: errNorm=3.8972e-08(v) -> deltaNorm=5.08096e-08(pi) +86: > piActive=~[0.00347837 -3.24361e-09 -2.40747e-08 -0.00348857 -7.38762e-05 -0.00034097] +86: > errActive=~[5.42101e-20 -4.45475e-09 -3.30641e-08 0 -4.26532e-09 -1.96862e-08] +86: > deltaPi=~[2.91825e-08 -3.24349e-09 -2.40738e-08 2.58945e-08 -4.58773e-09 -2.11743e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.8972e-08. +86: > piNow=~[0.00347834 -1.19865e-13 -8.89659e-13 -0.0034886 -7.38717e-05 -0.000340949] +86: > errNow=~[0 -1.64621e-13 -1.22185e-12 -1.0842e-19 1.39264e-13 6.4276e-13] normNow=1.39734e-12 +86: DBG: Improvement rate now/prev at iter 2 is 3.58549e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.39734e-12. +86: DBG: Worst offender is normal contact 0 err=0.00347834 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.183382,-1.3611, mag=1.37339 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.175859,-0.811662, mag=0.830494 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000463892; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000463892 -0.000463892 -0.183382 -1.3611 -0.175859 -0.811662] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000463892 -0.175859 -0.811662] +86: : pi was=~[0 -0.0034886 -1.19865e-13 -8.89659e-13 -7.38717e-05 -0.000340949] +86: : piActive=~[-0.01 -7.38717e-05 -0.000340949] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.09349e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00182014... +86: > NEWTON iter 1: errNorm=0.00182014(v) -> deltaNorm=0.00804122(pi) +86: > piActive=~[-0.01 -7.38717e-05 -0.000340949] +86: > errActive=~[-0.00173795 0.000114509 0.000528506] +86: > deltaPi=~[-0.00803977 -3.2357e-05 -0.000149341] +86: DBG: Line search iter 1: back=1, prevNorm=0.00182014. +86: > piNow=~[-0.00196023 -4.15146e-05 -0.000191608] +86: > errNow=~[0 -5.26646e-09 -2.43069e-08] normNow=2.48709e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.36643e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.02823e-05 +86: > NEWTON iter 2: errNorm=2.48709e-08(v) -> deltaNorm=4.17077e-08(pi) +86: > piActive=~[-0.00196023 -4.15146e-05 -0.000191608] +86: > errActive=~[0 -5.26646e-09 -2.43069e-08] +86: > deltaPi=~[3.19992e-08 -5.66442e-09 -2.61437e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.48709e-08. +86: > piNow=~[-0.00196027 -4.1509e-05 -0.000191581] +86: > errNow=~[-5.42101e-20 5.43984e-13 2.51072e-12] normNow=2.56897e-12 +86: DBG: Improvement rate now/prev at iter 2 is 0.000103292 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.56897e-12. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.175859,-0.811662] to ~[-0.175848,-0.811086] +86: DBG: Friction 1 rotated 0.00771209 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00196027 -4.1509e-05 -0.000191581] +86: : m_verrLeft=~[0.000691116 5.42101e-20 -0.183375 -1.36082 -0.175848 -0.811086] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.000691116 pi*v=0 +86: DBG: 1: pi=-0.00196027 verr=5.42101e-20 pi*v=-1.06266e-22 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00196027 0 0 -4.1509e-05 -0.000191581] errNorm=2.56897e-12 +86: Postcompression verr=~[0.000691116 5.42101e-20 -0.183375 -1.36082 -0.175848 -0.811086] +86: impulse=~[0 -0.00196027 0 0 -4.1509e-05 -0.000191581] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00196027 0 0 -4.1509e-05 -0.000191581]-> du ~[0.000246908 0.000746241 0.000304624 -0.00042351 8.36612e-06 0.000345558 -0.00131485 0.00101804] +86: Now verr0=~[0.000691116 1.68051e-18 -0.183375 -1.36082 -0.175848 -0.811086] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.000691116 1.68051e-18 -0.183375 -1.36082 -0.175848 -0.811086] +86: verrExt=~[-1.14112 -0.897974 -0.0546431 -1.43667 -0.0492698 -1.04606] +86: total verr=~[-1.14043 -0.897974 -0.238019 -2.79749 -0.225118 -1.85715] +86: DYN t=0.063: verrStart=~[0.000691116 1.68051e-18 -0.183375 -1.36082 -0.175848 -0.811086] +86: verrApplied=~[-1.14112 -0.897974 -0.0546431 -1.43667 -0.0492698 -1.04606] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000691116 1.68051e-18 -0.183375 -1.36082 -0.175848 -0.811086] +86: verrApplied=~[-1.14112 -0.897974 -0.0546431 -1.43667 -0.0492698 -1.04606] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.183375,-1.36082, mag=1.37312 +86: Participating contact 1 is Sliding; vel=-0.175848,-0.811086, mag=0.829929 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.183375,-1.36082, mag=1.37312 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.175848,-0.811086, mag=0.829929 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.14043; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.897974; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000691116 1.68051e-18 -0.183375 -1.36082 -0.175848 -0.811086] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.14112 -0.897974 -0.0546431 -1.43667 -0.0492698 -1.04606] +86: : rhsActive=~[-1.14043 -0.238019 -2.79749 -0.897974 -0.225118 -1.85715] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.97637e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.4468... +86: > NEWTON iter 1: errNorm=1.4468(v) -> deltaNorm=3.86877(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.1369 0.000183375 0.00136082 0.89482 0.000175848 0.000811086] +86: > deltaPi=~[3.13153 0.0419523 0.311327 2.23867 0.0476439 0.219754] +86: DBG: Line search iter 1: back=1, prevNorm=1.4468. +86: > piNow=~[-3.14153 -0.0419523 -0.311327 -2.24867 -0.0476439 -0.219754] +86: > errNow=~[4.44089e-16 2.13899e-06 1.58734e-05 0 1.46636e-06 6.76347e-06] normNow=1.74481e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.20597e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.77775e-10 +86: > NEWTON iter 2: errNorm=1.74481e-05(v) -> deltaNorm=2.00068e-05(pi) +86: > piActive=~[-3.14153 -0.0419523 -0.311327 -2.24867 -0.0476439 -0.219754] +86: > errActive=~[4.44089e-16 2.13899e-06 1.58734e-05 0 1.46636e-06 6.76347e-06] +86: > deltaPi=~[-1.25517e-05 1.39013e-06 1.03161e-05 -8.88014e-06 1.57869e-06 7.2816e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.74481e-05. +86: > piNow=~[-3.14151 -0.0419537 -0.311337 -2.24867 -0.0476455 -0.219761] +86: > errNow=~[-2.22045e-16 -9.02056e-17 -7.21645e-16 -1.11022e-16 -1.11022e-16 -5.27356e-16] normNow=9.38599e-16 +86: DBG: Improvement rate now/prev at iter 2 is 5.37939e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.38599e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.183375,-1.36082] to ~[-0.210097,-1.3821] +86: DBG: Friction 0 rotated 0.968954 deg, less than max 30 +86: slipVel 1 from ~[-0.175848,-0.811086] to ~[-0.201774,-0.774236] +86: DBG: Friction 1 rotated 2.37423 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-3.14151 -0.0419537 -0.311337 -2.24867 -0.0476455 -0.219761] +86: : m_verrLeft=~[2.22045e-16 1.11022e-16 -0.210097 -1.3821 -0.201774 -0.774236] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-3.14151 verr=2.22045e-16 pi*v=-6.97556e-16 +86: DBG: 1: pi=-2.24867 verr=1.11022e-16 pi*v=-2.49652e-16 +86: SP FINAL 1 intervals, piTotal=~[-3.14151 -2.24867 -0.0419537 -0.311337 -0.0476455 -0.219761] errNorm=9.38599e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.183375 -1.36082, |slipV|=1.37312 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.175848 -0.811086, |slipV|=0.829929 +86: ------------------------------ +86: +86: dynamics impulse=~[-3.14151 -2.24867 -0.0419537 -0.311337 -0.0476455 -0.219761] +86: updated verrStart=~[2.22045e-16 1.11022e-16 -0.210097 -1.3821 -0.201774 -0.774236] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.0978258 -0.00482922 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.249622 0.103979 0.00142216 0.30683 -0.00111856 0.122368] +86: [0.103979 0.211364 0.00573769 0.125076 0.00755601 0.257067] +86: [0.00142216 0.00573769 0.0527179 0.0451272 0.0515915 -0.0371686] +86: [0.30683 0.125076 0.0451272 0.4449 0.0407534 0.12684] +86: [-0.00111856 0.00755601 0.0515915 0.0407534 0.0505736 -0.033651] +86: [0.122368 0.257067 -0.0371686 0.12684 -0.033651 0.382727] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.371096 rank=2 +86: rhs=~[0.0978258 -0.00482922 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.504869 -0.271215] +86: -> pi=~[0.504869 -0.271215 0 0 0 0] +86: resid active=~[0 -8.67362e-18] +86: resid=~[0 -8.67362e-18 -0.000838144 0.120986 -0.00261403 -0.00794069] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[1.22894e-16 -8.94467e-18 -0.210097 -1.3821 -0.201774 -0.774236] +86: perr=~[9.78258e-05 -4.82922e-06 0] +86: END OF STEP (0.063,0.064): +86: verr=~[0.000518254 -0.000518254 -0.209912 -1.38211 -0.201959 -0.774234] +86: perr=~[9.80849e-05 -5.08834e-06 -2.22045e-16] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.39796 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.800141 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000518254 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.000518254 -0.000518254 -0.209912 -1.38211 -0.201959 -0.774234] +86: IMP t=0.064 verr=~[0.000518254 -0.000518254 -0.209912 -1.38211 -0.201959 -0.774234] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000518254 -0.000518254 -0.209912 -1.38211 -0.201959 -0.774234] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.209912,-1.38211, mag=1.39796 +86: Participating contact 1 is Sliding; vel=-0.201959,-0.774234, mag=0.800141 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.209912,-1.38211, mag=1.39796 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.201959,-0.774234, mag=0.800141 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.000518254; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000518254; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000518254 -0.000518254 -0.209912 -1.38211 -0.201959 -0.774234] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.000518254 -0.209912 -1.38211 -0.000518254 -0.201959 -0.774234] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.99983e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00134858... +86: > NEWTON iter 1: errNorm=0.00134858(v) -> deltaNorm=0.0086309(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.000934311 0 0 -0.000552714 0.000201959 0.000774234] +86: > deltaPi=~[0.00610406 3.41409e-09 2.24791e-08 -0.00608933 9.87125e-05 0.000378427] +86: DBG: Line search iter 1: back=1, prevNorm=0.00134858. +86: > piNow=~[0.00389594 -3.41409e-09 -2.24791e-08 -0.00391067 -9.87125e-05 -0.000378427] +86: > errNow=~[6.50521e-19 -4.77275e-09 -3.14247e-08 6.50521e-19 -4.58083e-09 -1.75612e-08] normNow=3.66015e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.71409e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.94311e-05 +86: > NEWTON iter 2: errNorm=3.66015e-08(v) -> deltaNorm=4.74924e-08(pi) +86: > piActive=~[0.00389594 -3.41409e-09 -2.24791e-08 -0.00391067 -9.87125e-05 -0.000378427] +86: > errActive=~[6.50521e-19 -4.77275e-09 -3.14247e-08 6.50521e-19 -4.58083e-09 -1.75612e-08] +86: > deltaPi=~[2.73082e-08 -3.41399e-09 -2.24784e-08 2.41241e-08 -5.11627e-09 -1.96139e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.66015e-08. +86: > piNow=~[0.00389592 -1.00567e-13 -6.6215e-13 -0.00391069 -9.87074e-05 -0.000378407] +86: > errNow=~[-1.0842e-19 -1.40588e-13 -9.25657e-13 -1.0842e-19 1.18592e-13 4.54638e-13] normNow=1.04755e-12 +86: DBG: Improvement rate now/prev at iter 2 is 2.86205e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.04755e-12. +86: DBG: Worst offender is normal contact 0 err=0.00389592 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.209912,-1.38211, mag=1.39796 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.201959,-0.774234, mag=0.800141 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000518254; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000518254 -0.000518254 -0.209912 -1.38211 -0.201959 -0.774234] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000518254 -0.201959 -0.774234] +86: : pi was=~[0 -0.00391069 -1.00567e-13 -6.6215e-13 -9.87074e-05 -0.000378407] +86: : piActive=~[-0.01 -9.87074e-05 -0.000378407] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.98043e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00175376... +86: > NEWTON iter 1: errNorm=0.00175376(v) -> deltaNorm=0.00780164(pi) +86: > piActive=~[-0.01 -9.87074e-05 -0.000378407] +86: > errActive=~[-0.00168472 0.000122979 0.000471455] +86: > deltaPi=~[-0.00779977 -4.31654e-05 -0.00016548] +86: DBG: Line search iter 1: back=1, prevNorm=0.00175376. +86: > piNow=~[-0.00220023 -5.5542e-05 -0.000212927] +86: > errNow=~[3.25261e-19 -5.86754e-09 -2.24939e-08] normNow=2.32466e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.32553e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.14313e-05 62: Complementarity.........: 7.5757575757689434e-07 9.0909090909227333e-06 62: Overall NLP error.......: 1.4197089750313489e-05 1.7036507700376186e-04 62: @@ -27540,6 +39304,426 @@ 62: curr_slack_x_L[ 2]= 3.7430664762460113e+00 62: curr_slack_x_L[ 3]= 2.8210645691573082e+00 62: curr_slack_x_L[ 4]= 3.7940910073598111e-01 +86: > NEWTON iter 2: errNorm=2.32466e-08(v) -> deltaNorm=4.03485e-08(pi) +86: > piActive=~[-0.00220023 -5.5542e-05 -0.000212927] +86: > errActive=~[3.25261e-19 -5.86754e-09 -2.24939e-08] +86: > deltaPi=~[3.0882e-08 -6.55426e-09 -2.51266e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.32466e-08. +86: > piNow=~[-0.00220026 -5.55355e-05 -0.000212902] +86: > errNow=~[0 4.78841e-13 1.8357e-12] normNow=1.89712e-12 +86: DBG: Improvement rate now/prev at iter 2 is 8.16084e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.89712e-12. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.201959,-0.774234] to ~[-0.201947,-0.773589] +86: DBG: Friction 1 rotated 0.0108198 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00220026 -5.55355e-05 -0.000212902] +86: : m_verrLeft=~[0.000771736 0 -0.209905 -1.3818 -0.201947 -0.773589] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.000771736 pi*v=0 +86: DBG: 1: pi=-0.00220026 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00220026 0 0 -5.55355e-05 -0.000212902] errNorm=1.89712e-12 +86: Postcompression verr=~[0.000771736 0 -0.209905 -1.3818 -0.201947 -0.773589] +86: impulse=~[0 -0.00220026 0 0 -5.55355e-05 -0.000212902] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00220026 0 0 -5.55355e-05 -0.000212902]-> du ~[0.000275722 0.00083509 0.000340454 -0.000474463 9.90037e-06 0.000385868 -0.00147086 0.00113709] +86: Now verr0=~[0.000771736 -1.0842e-18 -0.209905 -1.3818 -0.201947 -0.773589] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.000771736 -1.0842e-18 -0.209905 -1.3818 -0.201947 -0.773589] +86: verrExt=~[-1.09117 -0.857953 -0.0516232 -1.37617 -0.0466775 -1.00003] +86: total verr=~[-1.0904 -0.857953 -0.261528 -2.75797 -0.248624 -1.77362] +86: DYN t=0.064: verrStart=~[0.000771736 -1.0842e-18 -0.209905 -1.3818 -0.201947 -0.773589] +86: verrApplied=~[-1.09117 -0.857953 -0.0516232 -1.37617 -0.0466775 -1.00003] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000771736 -1.0842e-18 -0.209905 -1.3818 -0.201947 -0.773589] +86: verrApplied=~[-1.09117 -0.857953 -0.0516232 -1.37617 -0.0466775 -1.00003] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.209905,-1.3818, mag=1.39765 +86: Participating contact 1 is Sliding; vel=-0.201947,-0.773589, mag=0.799514 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.209905,-1.3818, mag=1.39765 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.201947,-0.773589, mag=0.799514 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.0904; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.857953; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000771736 -1.0842e-18 -0.209905 -1.3818 -0.201947 -0.773589] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.09117 -0.857953 -0.0516232 -1.37617 -0.0466775 -1.00003] +86: : rhsActive=~[-1.0904 -0.261528 -2.75797 -0.857953 -0.248624 -1.77362] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.99769e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.38276... +86: > NEWTON iter 1: errNorm=1.38276(v) -> deltaNorm=3.71434(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.08688 0.000209905 0.0013818 0.854814 0.000201947 0.000773589] +86: > deltaPi=~[3.00702 0.045309 0.298269 2.14862 0.0545217 0.208854] +86: DBG: Line search iter 1: back=1, prevNorm=1.38276. +86: > piNow=~[-3.01702 -0.045309 -0.298269 -2.15862 -0.0545217 -0.208854] +86: > errNow=~[4.44089e-16 2.35109e-06 1.54772e-05 0 1.61624e-06 6.19128e-06] normNow=1.6912e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.22307e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.77944e-10 +86: > NEWTON iter 2: errNorm=1.6912e-05(v) -> deltaNorm=1.91949e-05(pi) +86: > piActive=~[-3.01702 -0.045309 -0.298269 -2.15862 -0.0545217 -0.208854] +86: > errActive=~[4.44089e-16 2.35109e-06 1.54772e-05 0 1.61624e-06 6.19128e-06] +86: > deltaPi=~[-1.20504e-05 1.50119e-06 9.88235e-06 -8.49338e-06 1.807e-06 6.92201e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.6912e-05. +86: > piNow=~[-3.017 -0.0453105 -0.298279 -2.15861 -0.0545235 -0.208861] +86: > errNow=~[-2.22045e-16 -1.11022e-16 -7.21645e-16 1.11022e-16 -1.38778e-16 -4.996e-16] normNow=9.29294e-16 +86: DBG: Improvement rate now/prev at iter 2 is 5.49487e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.29294e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.209905,-1.3818] to ~[-0.234969,-1.39961] +86: DBG: Friction 0 rotated 0.892518 deg, less than max 30 +86: slipVel 1 from ~[-0.201947,-0.773589] to ~[-0.226287,-0.736023] +86: DBG: Friction 1 rotated 2.45917 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-3.017 -0.0453105 -0.298279 -2.15861 -0.0545235 -0.208861] +86: : m_verrLeft=~[2.22045e-16 -1.11022e-16 -0.234969 -1.39961 -0.226287 -0.736023] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-3.017 verr=2.22045e-16 pi*v=-6.6991e-16 +86: DBG: 1: pi=-2.15861 verr=-1.11022e-16 pi*v=2.39653e-16 +86: SP FINAL 1 intervals, piTotal=~[-3.017 -2.15861 -0.0453105 -0.298279 -0.0545235 -0.208861] errNorm=9.29294e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.209905 -1.3818, |slipV|=1.39765 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.201947 -0.773589, |slipV|=0.799514 +86: ------------------------------ +86: +86: dynamics impulse=~[-3.017 -2.15861 -0.0453105 -0.298279 -0.0545235 -0.208861] +86: updated verrStart=~[2.22045e-16 -1.11022e-16 -0.234969 -1.39961 -0.226287 -0.736023] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.0980849 -0.00508834 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.248667 0.103411 0.00109624 0.306553 -0.00133041 0.12224] +86: [0.103411 0.210507 0.00576902 0.124918 0.00750527 0.256768] +86: [0.00109624 0.00576902 0.0526142 0.0447595 0.0515437 -0.0370915] +86: [0.306553 0.124918 0.0447595 0.445945 0.0405713 0.127296] +86: [-0.00133041 0.00750527 0.0515437 0.0405713 0.0505725 -0.0337261] +86: [0.12224 0.256768 -0.0370915 0.127296 -0.0337261 0.38344] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.371722 rank=2 +86: rhs=~[0.0980849 -0.00508834 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.508343 -0.273893] +86: -> pi=~[0.508343 -0.273893 0 0 0 0] +86: resid active=~[-6.93889e-17 -4.33681e-18] +86: resid=~[-6.93889e-17 -4.33681e-18 -0.00102283 0.12162 -0.00273194 -0.00818694] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[1.44253e-16 -1.12486e-16 -0.234969 -1.39961 -0.226287 -0.736023] +86: perr=~[9.80849e-05 -5.08834e-06 -2.22045e-16] +86: END OF STEP (0.064,0.065): +86: verr=~[0.000569436 -0.000569436 -0.234749 -1.39961 -0.226507 -0.73602] +86: perr=~[9.83696e-05 -5.37306e-06 0] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.41916 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.770085 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000569436 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.000569436 -0.000569436 -0.234749 -1.39961 -0.226507 -0.73602] +86: IMP t=0.065 verr=~[0.000569436 -0.000569436 -0.234749 -1.39961 -0.226507 -0.73602] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000569436 -0.000569436 -0.234749 -1.39961 -0.226507 -0.73602] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.234749,-1.39961, mag=1.41916 +86: Participating contact 1 is Sliding; vel=-0.226507,-0.73602, mag=0.770085 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.234749,-1.39961, mag=1.41916 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.226507,-0.73602, mag=0.770085 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.000569436; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000569436; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000569436 -0.000569436 -0.234749 -1.39961 -0.226507 -0.73602] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.000569436 -0.234749 -1.39961 -0.000569436 -0.226507 -0.73602] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.01431e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00127161... +86: > NEWTON iter 1: errNorm=0.00127161(v) -> deltaNorm=0.00807343(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.000880049 0 0 -0.000499471 0.000226507 0.00073602] +86: > deltaPi=~[0.00571104 3.51884e-09 2.09798e-08 -0.00569021 0.000126771 0.000411935] +86: DBG: Line search iter 1: back=1, prevNorm=0.00127161. +86: > piNow=~[0.00428896 -3.51884e-09 -2.09798e-08 -0.00430979 -0.000126771 -0.000411935] +86: > errNow=~[-3.25261e-19 -4.9938e-09 -2.97737e-08 2.1684e-19 -4.80089e-09 -1.56002e-08] normNow=3.43195e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.6989e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.26074e-05 +86: > NEWTON iter 2: errNorm=3.43195e-08(v) -> deltaNorm=4.43449e-08(pi) +86: > piActive=~[0.00428896 -3.51884e-09 -2.09798e-08 -0.00430979 -0.000126771 -0.000411935] +86: > errActive=~[-3.25261e-19 -4.9938e-09 -2.97737e-08 2.1684e-19 -4.80089e-09 -1.56002e-08] +86: > deltaPi=~[2.55401e-08 -3.51876e-09 -2.09793e-08 2.24142e-08 -5.57509e-09 -1.81159e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.43195e-08. +86: > piNow=~[0.00428894 -8.55041e-14 -5.09788e-13 -0.00430981 -0.000126765 -0.000411916] +86: > errNow=~[2.1684e-19 -1.21344e-13 -7.2347e-13 1.0842e-19 1.01763e-13 3.30674e-13] normNow=8.11069e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.36329e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.11069e-13. +86: DBG: Worst offender is normal contact 0 err=0.00428894 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.234749,-1.39961, mag=1.41916 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.226507,-0.73602, mag=0.770085 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000569436; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000569436 -0.000569436 -0.234749 -1.39961 -0.226507 -0.73602] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000569436 -0.226507 -0.73602] +86: : pi was=~[0 -0.00430981 -8.55041e-14 -5.09788e-13 -0.000126765 -0.000411916] +86: : piActive=~[-0.01 -0.000126765 -0.000411916] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.86847e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00169187... +86: > NEWTON iter 1: errNorm=0.00169187(v) -> deltaNorm=0.00757338(pi) +86: > piActive=~[-0.01 -0.000126765 -0.000411916] +86: > errActive=~[-0.00163414 0.000128887 0.00041881] +86: > deltaPi=~[-0.00757104 -5.53136e-05 -0.000179738] +86: DBG: Line search iter 1: back=1, prevNorm=0.00169187. +86: > piNow=~[-0.00242896 -7.14518e-05 -0.000232178] +86: > errNow=~[1.0842e-19 -6.38776e-09 -2.07566e-08] normNow=2.17173e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.28363e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.8533e-05 +86: > NEWTON iter 2: errNorm=2.17173e-08(v) -> deltaNorm=3.90132e-08(pi) +86: > piActive=~[-0.00242896 -7.14518e-05 -0.000232178] +86: > errActive=~[1.0842e-19 -6.38776e-09 -2.07566e-08] +86: > deltaPi=~[2.97594e-08 -7.42011e-09 -2.41112e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.17173e-08. +86: > piNow=~[-0.00242899 -7.14444e-05 -0.000232154] +86: > errNow=~[0 4.24819e-13 1.38042e-12] normNow=1.44431e-12 +86: DBG: Improvement rate now/prev at iter 2 is 6.65051e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.44431e-12. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.226507,-0.73602] to ~[-0.226493,-0.73531] +86: DBG: Friction 1 rotated 0.0145627 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00242899 -7.14444e-05 -0.000232154] +86: : m_verrLeft=~[0.000847383 0 -0.23474 -1.39927 -0.226493 -0.73531] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.000847383 pi*v=0 +86: DBG: 1: pi=-0.00242899 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00242899 0 0 -7.14444e-05 -0.000232154] errNorm=1.44431e-12 +86: Postcompression verr=~[0.000847383 0 -0.23474 -1.39927 -0.226493 -0.73531] +86: impulse=~[0 -0.00242899 0 0 -7.14444e-05 -0.000232154] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00242899 0 0 -7.14444e-05 -0.000232154]-> du ~[0.000302927 0.000918964 0.000374313 -0.000522694 1.15154e-05 0.000423691 -0.00161808 0.00124953] +86: Now verr0=~[0.000847383 1.0842e-19 -0.23474 -1.39927 -0.226493 -0.73531] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.000847383 1.0842e-19 -0.23474 -1.39927 -0.226493 -0.73531] +86: verrExt=~[-1.03812 -0.815771 -0.0481154 -1.31094 -0.0436277 -0.951497] +86: total verr=~[-1.03727 -0.815771 -0.282855 -2.71022 -0.270121 -1.68681] +86: DYN t=0.065: verrStart=~[0.000847383 1.0842e-19 -0.23474 -1.39927 -0.226493 -0.73531] +86: verrApplied=~[-1.03812 -0.815771 -0.0481154 -1.31094 -0.0436277 -0.951497] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000847383 1.0842e-19 -0.23474 -1.39927 -0.226493 -0.73531] +86: verrApplied=~[-1.03812 -0.815771 -0.0481154 -1.31094 -0.0436277 -0.951497] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.23474,-1.39927, mag=1.41883 +86: Participating contact 1 is Sliding; vel=-0.226493,-0.73531, mag=0.769403 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.23474,-1.39927, mag=1.41883 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.226493,-0.73531, mag=0.769403 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-1.03727; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.815771; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000847383 1.0842e-19 -0.23474 -1.39927 -0.226493 -0.73531] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-1.03812 -0.815771 -0.0481154 -1.31094 -0.0436277 -0.951497] +86: : rhsActive=~[-1.03727 -0.282855 -2.71022 -0.815771 -0.270121 -1.68681] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.01201e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.31494... +86: > NEWTON iter 1: errNorm=1.31494(v) -> deltaNorm=3.54845(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[1.03377 0.00023474 0.00139927 0.812646 0.000226493 0.00073531] +86: > deltaPi=~[2.87211 0.0476818 0.284229 2.05349 0.0607418 0.197198] +86: DBG: Line search iter 1: back=1, prevNorm=1.31494. +86: > piNow=~[-2.88211 -0.0476818 -0.284229 -2.06349 -0.0607418 -0.197198] +86: > errNow=~[-2.22045e-16 2.51131e-06 1.49698e-05 2.22045e-16 1.73245e-06 5.62439e-06] normNow=1.62799e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.23807e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.74101e-10 +86: > NEWTON iter 2: errNorm=1.62799e-05(v) -> deltaNorm=1.83175e-05(pi) +86: > piActive=~[-2.88211 -0.0476818 -0.284229 -2.06349 -0.0607418 -0.197198] +86: > errActive=~[-2.22045e-16 2.51131e-06 1.49698e-05 2.22045e-16 1.73245e-06 5.62439e-06] +86: > deltaPi=~[-1.15056e-05 1.57963e-06 9.41611e-06 -8.07381e-06 2.014e-06 6.53846e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.62799e-05. +86: > piNow=~[-2.8821 -0.0476833 -0.284238 -2.06348 -0.0607438 -0.197205] +86: > errNow=~[0 -1.11022e-16 -7.21645e-16 1.11022e-16 -1.66533e-16 -5.27356e-16] normNow=9.22638e-16 +86: DBG: Improvement rate now/prev at iter 2 is 5.66734e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.22638e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.23474,-1.39927] to ~[-0.257835,-1.41319] +86: DBG: Friction 0 rotated 0.816638 deg, less than max 30 +86: slipVel 1 from ~[-0.226493,-0.73531] to ~[-0.248943,-0.697319] +86: DBG: Friction 1 rotated 2.5265 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-2.8821 -0.0476833 -0.284238 -2.06348 -0.0607438 -0.197205] +86: : m_verrLeft=~[0 -1.11022e-16 -0.257835 -1.41319 -0.248943 -0.697319] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-2.8821 verr=0 pi*v=-0 +86: DBG: 1: pi=-2.06348 verr=-1.11022e-16 pi*v=2.29093e-16 +86: SP FINAL 1 intervals, piTotal=~[-2.8821 -2.06348 -0.0476833 -0.284238 -0.0607438 -0.197205] errNorm=9.22638e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.23474 -1.39927, |slipV|=1.41883 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.226493 -0.73531, |slipV|=0.769403 +86: ------------------------------ +86: +86: dynamics impulse=~[-2.8821 -2.06348 -0.0476833 -0.284238 -0.0607438 -0.197205] +86: updated verrStart=~[0 -1.11022e-16 -0.257835 -1.41319 -0.248943 -0.697319] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.0983696 -0.00537306 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.247754 0.102806 0.000735816 0.306317 -0.00156745 0.122092] +86: [0.102806 0.209697 0.00579882 0.124727 0.00744699 0.256528] +86: [0.000735816 0.00579882 0.0524883 0.0443265 0.0514788 -0.0369923] +86: [0.306317 0.124727 0.0443265 0.44702 0.0403423 0.127769] +86: [-0.00156745 0.00744699 0.0514788 0.0403423 0.0505589 -0.0337931] +86: [0.122092 0.256528 -0.0369923 0.127769 -0.0337931 0.384209] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.372582 rank=2 +86: rhs=~[0.0983696 -0.00537306 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.511793 -0.276535] +86: -> pi=~[0.511793 -0.276535 0 0 0 0] +86: resid active=~[-1.38778e-17 -8.67362e-18] +86: resid=~[-1.38778e-17 -8.67362e-18 -0.00122699 0.122279 -0.00286156 -0.0084531] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-1.45988e-16 -2.91705e-16 -0.257835 -1.41319 -0.248943 -0.697319] +86: perr=~[9.83696e-05 -5.37306e-06 0] +86: END OF STEP (0.065,0.066): +86: verr=~[0.000616258 -0.000616258 -0.257579 -1.41319 -0.249199 -0.697316] +86: perr=~[9.86778e-05 -5.68119e-06 -1.11022e-16] +86: constraint status: +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=1.43647 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.740507 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000616258 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.000616258 -0.000616258 -0.257579 -1.41319 -0.249199 -0.697316] +86: IMP t=0.066 verr=~[0.000616258 -0.000616258 -0.257579 -1.41319 -0.249199 -0.697316] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) 62: DenseVector "curr_slack_x_U" with 4 elements: 62: curr_slack_x_U[ 1]= 3.9999917039872708e+00 62: curr_slack_x_U[ 2]= 2.5693358375398834e-01 @@ -27975,7 +40159,7 @@ 62: Number of equality constraint Jacobian evaluations = 89 62: Number of inequality constraint Jacobian evaluations = 89 62: Number of Lagrangian Hessian evaluations = 0 -62: Total CPU secs in IPOPT (w/o function evaluations) = 0.050 +62: Total CPU secs in IPOPT (w/o function evaluations) = 0.057 62: Total CPU secs in NLP function evaluations = 0.001 62: 62: EXIT: Optimal Solution Found. @@ -27999,1655 +40183,506 @@ 62: final z_U unscaled[ 3]= 7.7112339350409718e-06 62: final z_U unscaled[ 4]= 2.5108892336068104e-06 62: IpoptTest.cpp: f = 17.014035 params = 1.000008 4.743053 3.821082 1.379407 -50: ==> SimTKcommon library version: 3.7.0 -50: SimTK_about_SimTKcommon(): -50: about(version)='3.7.0' -50: about(library)='SimTKcommon' -50: about(type)='shared' -50: about(debug)='debug' -50: about(authors)='"Michael.Sherman_Peter.Eastman"' -50: about(copyright)='Copyright (c) "2005-10" Stanford University, "Michael.Sherman_Peter.Eastman"' -50: about(svn_revision)='' -50: -------------- 1.000000 -1.0000000000 -0.0000000356 0.0000000002 0.0000001857 0.0000000000 -50: -------------- 2.000000 1.0000000000 0.0000001626 -0.0000000005 -0.0000004909 0.0000000000 -50: -------------- 3.000000 -1.0000000000 0.0000004065 0.0000000006 -0.0000002480 0.0000000000 -50: -------------- 4.000000 1.0000000000 0.0000008481 -0.0000000008 0.0000017480 -0.0000000000 -50: -------------- 5.000000 -1.0000000000 0.0000012459 0.0000000008 0.0000043667 0.0000000000 -50: -------------- 6.000000 1.0000000000 0.0000016813 -0.0000000002 0.0000080989 0.0000000000 -50: -------------- 7.000000 -1.0000000000 0.0000014532 0.0000000011 0.0000132754 0.0000000000 -50: -------------- 8.000000 1.0000000000 0.0000019596 -0.0000000005 0.0000178747 -0.0000000000 -50: -------------- 9.000000 -1.0000000000 0.0000016618 0.0000000004 0.0000238011 0.0000000000 -50: -------------- 10.000000 1.0000000000 0.0000021199 -0.0000000008 0.0000287929 -0.0000000000 -50: -------------- 11.000000 -1.0000000000 0.0000027133 0.0000000018 0.0000358465 0.0000000000 -50: -------------- 12.000000 1.0000000000 0.0000023650 -0.0000000014 0.0000437360 0.0000000000 -50: -------------- 13.000000 -1.0000000000 0.0000029557 0.0000000006 0.0000516188 -0.0000000000 -50: -------------- 14.000000 1.0000000000 0.0000026695 -0.0000000013 0.0000604184 0.0000000000 -50: -------------- 15.000000 -1.0000000000 0.0000032597 0.0000000003 0.0000693019 0.0000000000 -50: -------------- 16.000000 1.0000000000 0.0000029967 -0.0000000013 0.0000790964 0.0000000000 -50: -------------- 17.000000 -1.0000000000 0.0000035696 0.0000000010 0.0000890433 0.0000000000 -50: -------------- 18.000000 1.0000000000 0.0000032687 -0.0000000011 0.0000997347 0.0000000000 -50: -------------- 19.000000 -1.0000000000 0.0000036937 0.0000000012 0.0001099650 0.0000000000 -50: -------------- 20.000000 1.0000000000 0.0000040329 -0.0000000005 0.0001216025 -0.0000000000 -50: -------------- 21.000000 -1.0000000000 0.0000043677 0.0000000009 0.0001341976 0.0000000000 -50: -------------- 22.000000 1.0000000000 0.0000048072 -0.0000000024 0.0001476982 0.0000000000 -50: -------------- 23.000000 -1.0000000000 0.0000045672 0.0000000019 0.0001624948 0.0000000000 -50: -------------- 24.000000 1.0000000000 0.0000049275 -0.0000000016 0.0001767203 0.0000000000 -50: -------------- 25.000000 -1.0000000000 0.0000053631 0.0000000012 0.0001920224 0.0000000000 -50: -------------- 26.000000 1.0000000000 0.0000051353 -0.0000000022 0.0002087710 0.0000000000 -50: -------------- 27.000000 -1.0000000000 0.0000056416 0.0000000018 0.0002249427 -0.0000000000 -50: -------------- 28.000000 1.0000000000 0.0000053436 -0.0000000017 0.0002424424 0.0000000000 -50: -------------- 29.000000 -1.0000000000 0.0000058014 0.0000000023 0.0002590076 -0.0000000000 -50: -------------- 30.000000 1.0000000000 0.0000063937 -0.0000000013 0.0002776348 -0.0000000000 -50: -50: Final Statistics: -50: h0u = 2.70299e-11 -50: nst = 4587 nfe = 5045 nsetups = 292 -50: nfeLS = 312 nje = 78 -50: nni = 5041 ncfn = 0 netf = 48 -50: nproj = 4378 nce = 6177 nsetupsP = 4331 nprf = 0 -50: nge = 0 - 58/108 Test #50: PendLrCpp ...................................... Passed 0.33 sec -66: LBFGSTest.cpp results = 2.000167 -2.000055 - 59/108 Test #66: LBFGSTest ...................................... Passed 0.29 sec -73: exact = -2.541115991807 -73: approx= -2.541115573494 err=1.646e-07 - 60/108 Test #73: SimpleDifferentiatorTest ....................... Passed 0.27 sec -74: Starting test Testing Bicubic Interpolation ... -74: testHint ... -74: testHint done. real/CPU ms: 0.2 / 0.2 -74: -74: --------------------------------------------- -74: -74: -74: ANALYTICAL FUNCTION COMPARISON: -74: Testing bicubic surface against: f(x,y) = 0 -74: Testing bicubic surface against: f(x,y) = 2*x+y -74: Testing bicubic surface against: f(x,y) = x*y -74: Testing bicubic surface against: f(x,y) = cos( (3*x^2 + y^2)^0.5 ) -74: Testing bicubic surface against: f(x,y) = 3*x^2 + y^2 -74: -74: -74: *Test Passed*. Constructor with x,y,f,fx,fy,fxy specified, -74: Smoothness parameter 0.000000 tested -74: Additional smoothness parameters not tested because -74: surface will not pass through the knot points -74: --------------------------------------------- -74: -74: --------------------------------------------- -74: -74: -74: BICUBIC COEFFICIENT VALIDATION: -74: Testing that the bicubic interpolation coefficients -74: are being solved correctly by asserting fV - A*aV = 0 -74: -74: -74: *Test Passed*. Constructor with x,y,f specified, -74: Smoothness parameter 0.000000 and 0.500000 tested -74: --------------------------------------------- -74: -74: -74: --------------------------------------------- -74: -74: -74: BICUBIC DERIVATIVE & CONTINUITY TESTING: -74: 1. Derivative are tested for consistency by ensuring that -74: numerical derivatives of f(x,y) match values returned -74: by the function. -74: Partial derivatives tested: fx,fy,fxy,fxx,fyy -74: -74: 2. Continuity is tested by asserting that a linear extrapolation -74: from a a point near a knot is equal to the value of the surface -74: of f(x,y) at the knot. Surfaces tested f, fx, fy, fxy, fxx, fyy. -74: -74: -74: *Test Passed*. Constructor with x,y,f specified, -74: Smoothness parameter 0.000000 and 0.500000 tested -74: --------------------------------------------- -74: -74: -74: --------------------------------------------- -74: -74: -74: COPY CONSTRUCTOR AND = OPERATOR TESTING: -74: Tested by using the copy constructor and equal operator -74: and comparing the values of the internally stored matrices -74: of x,y,f,fx,fy,fxy between the different surfaces, and then -74: comparing values of f,fx,fy,fxy,fxx,fyy,fxyy,fxxy,fxxx,fyyy -74: between the different surface objects across the patch -74: *Test Passed*. -74: -74: --------------------------------------------- -74: -74: Testing Bicubic Interpolation done. real/CPU ms: 6.2 / 6.2 - 61/108 Test #74: TestBicubicSurface ............................. Passed 0.27 sec -75: Done - 62/108 Test #75: TestContactGeometry ............................ Passed 0.27 sec -76: Starting test TestGeo ... -76: testMiscGeo ... -76: testMiscGeo done. real/CPU ms: 0.0 / 0.0 -76: testBox ... -76: testBox done. real/CPU ms: 0.0 / 0.0 -76: testTriMeshBoundingSphere ... -76: testTriMeshBoundingSphere done. real/CPU ms: 92.3 / 92.3 -76: testRandomPoints ... -77: Starting test TestMultibodyGraphMaker ... -77: testSerialChain ... -77: testSerialChain done. real/CPU ms: 0.0 / 0.0 -77: testIntermediateMasslessBody ... -77: testIntermediateMasslessBody done. real/CPU ms: 0.0 / 0.0 -77: testTerminalMasslessBody ... -77: testTerminalMasslessBody done. real/CPU ms: 0.1 / 0.1 -77: testLoop ... -77: testLoop done. real/CPU ms: 0.0 / 0.0 -77: -77: TestMultibodyGraphMaker done. real/CPU ms: 0.2 / 0.2 -77: -77: MULTIBODY GRAPH -77: --------------- -77: -77: 5 BODIES: -77: 0 0: ground mass=inf mob=-1 master=-1 -77: jointsAsParent=[ 0] jointsAsChild=[ 3] slaves=[] -77: 1 1: body1 mass=1.8 mob=0 master=-1 -77: jointsAsParent=[ 1] jointsAsChild=[ 0] slaves=[] -77: 2 2: body2 mass=1.8 mob=2 master=-1 -77: jointsAsParent=[ 2] jointsAsChild=[ 1] slaves=[] -77: 3 1: body3 mass=1.8 mob=1 master=-1 -77: jointsAsParent=[ 3] jointsAsChild=[ 2] slaves=[ 4] -77: 4 3: #body3_slave_1 mass=nan mob=3 master=3 -77: jointsAsParent=[] jointsAsChild=[ 2] slaves=[] -77: -77: 4 JOINTS: -77: 0 0: pin1 ground->body1 pin loopc=-1 -77: 1 2: pin2 body1->body2 pin loopc=-1 -77: 2 3: pin3 body2->body3 pin loopc=-1 -77: 3 1: pin4 body3->ground pin loopc=-1 -77: -77: 4 MOBILIZERS: -77: 0 1: pin1 ground->body1 pin 0 -77: 1 1: pin4 ground->body3 pin 3 REV -77: 2 2: pin2 body1->body2 pin 1 -77: 3 3: pin3 body2->#body3_slave_1 pin 2 -77: -77: 0 LOOP CONSTRAINTS: -77: -77: ----- END OF MULTIBODY GRAPH. -77: - 63/108 Test #77: TestMultibodyGraphMaker ........................ Passed 0.27 sec -78: Starting test TestSpline ... -78: testSpline ... -78: testSpline done. real/CPU ms: 0.2 / 0.2 -78: testSplineFitter ... -78: testSplineFitter done. real/CPU ms: 1.7 / 1.6 -78: testRealSpline ... -78: testRealSpline done. real/CPU ms: 0.1 / 0.1 -78: testNaturalCubicSpline ... -78: testNaturalCubicSpline done. real/CPU ms: 1.4 / 1.4 -78: -78: TestSpline done. real/CPU ms: 3.4 / 3.3 - 64/108 Test #78: TestSpline ..................................... Passed 0.26 sec -79: Starting test TestTriangleMesh ... -79: testTriangleMesh ... -79: testTriangleMesh done. real/CPU ms: 0.3 / 0.3 -79: testIncorrectMeshes ... -79: testIncorrectMeshes done. real/CPU ms: 0.2 / 0.2 -79: testOBBTree ... -79: testOBBTree done. real/CPU ms: 1.5 / 1.5 -79: testRayIntersection ... -79: testRayIntersection done. real/CPU ms: 0.2 / 0.2 -79: testSmoothMesh ... -79: testSmoothMesh done. real/CPU ms: 0.3 / 0.3 -79: testFindNearestPoint ... -79: testFindNearestPoint done. real/CPU ms: 0.2 / 0.2 -79: testBoundingSphere ... -79: testBoundingSphere done. real/CPU ms: 100.7 / 100.7 -79: -79: TestTriangleMesh done. real/CPU ms: 103.5 / 103.5 -80: Done - 65/108 Test #80: TimeStepperTest ................................ Passed 0.26 sec -test 100 - Start 100: TestMobilizedBody - -100: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestMobilizedBody -100: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -100: Test timeout computed to be: 1500 -test 101 - Start 101: TestMobilizerReactionForces - -101: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestMobilizerReactionForces -101: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -101: Test timeout computed to be: 1500 -test 102 - Start 102: TestNoseHooverThermostat - -102: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestNoseHooverThermostat -102: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -102: Test timeout computed to be: 1500 -test 103 - Start 103: TestObservedPointFitter - -103: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestObservedPointFitter -103: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -103: Test timeout computed to be: 1500 -test 104 - Start 104: TestOrientedBoundingBox - -104: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestOrientedBoundingBox -104: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -104: Test timeout computed to be: 1500 -test 105 - Start 105: TestParallelForces - -105: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestParallelForces -105: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -105: Test timeout computed to be: 1500 -test 106 - Start 106: TestPimpl1 - -106: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestPimpl1 -106: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -106: Test timeout computed to be: 1500 -test 107 - Start 107: TestReverseMobilizers - -107: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestReverseMobilizers -107: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -107: Test timeout computed to be: 1500 -52: testMaxFunEvals done. real/CPU ms: 115.2 / 115.2 -52: testSeed ... -52: testSeed done. real/CPU ms: 47.3 / 47.3 -52: testConvergenceTolerance ... -52: testConvergenceTolerance done. real/CPU ms: 1.8 / 1.8 -52: testRosenbrock ... -44: -44: Final Statistics: -44: h0u = 6.05404e-11 -44: nst = 110 nfe = 134 nsetups = 25 -44: nfeLS = 16 nje = 2 -44: nni = 130 ncfn = 0 netf = 5 -44: nproj = 87 nce = 125 nsetupsP = 86 nprf = 0 -44: -44: Final Statistics: -44: h0u = 7.3562e-11 -44: nst = 50 nfe = 76 nsetups = 22 -44: nfeLS = 8 nje = 1 -44: nni = 72 ncfn = 0 netf = 6 -44: nproj = 33 nce = 61 nsetupsP = 31 nprf = 0 -82: Starting test TrikeyWheelResponse ... -82: X_IF=~[0,-0.24,0.1] -82: [1,0,0] -82: [0,6.12323399573677e-17,-1] -82: [0,1,6.12323399573677e-17] -82: X_OM=~[0,0,0] -82: [1,0,0] -82: [0,6.12323399573677e-17,-1] -82: [0,1,6.12323399573677e-17] -82: X_IF=~[0.294827722162885,0.140150485824423,0.1] -82: [-0.583960357601762,-4.97073221524889e-17,0.811782175678687] -82: [0.811782175678687,-3.57572591382971e-17,0.583960357601762] -82: [0,1,6.12323399573677e-17] -82: X_OM=~[0,0,0] -82: [1,0,0] -82: [0,6.12323399573677e-17,-1] -82: [0,1,6.12323399573677e-17] -82: X_IF=~[-0.294827722162885,0.140150485824423,0.1] -82: [-0.583960357601762,4.97073221524889e-17,-0.811782175678686] -82: [-0.811782175678686,-3.57572591382971e-17,0.583960357601762] -82: [0,1,6.12323399573677e-17] -82: X_OM=~[0,0,0] -82: [1,0,0] -82: [0,6.12323399573677e-17,-1] -82: [0,1,6.12323399573677e-17] -82: runOnce ... -83: Starting test GazeboInelasticCollision ... -83: runOnce ... -84: Starting test GazeboReactionForce ... -84: runOnce ... -84: LOW ACCURACY -84: Test with order 1 integator SemiExplicitEuler2, Accuracy=0.01, MaxStepSize=0.001 -84: t=2.013 -84: runOnce done. real/CPU ms: 202.2 / 163.6 -84: runOnce ... -85: Starting test GazeboReactionForce ... -85: runOnce ... -86: Starting test GazeboReactionForce ... -86: runOnce ... -86: LOW ACCURACY -86: Using acc=0.01 consTol=0.001, captureVel=0.002, minCORvel=0.002, stickVel=0.002 -86: Proximal unilateral contacts: (0,2,4,6) -86: Distal unilateral contacts: (1,3,5,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0 -> mu=0.15 -86: DBG: Uni fric 2 verr speed=0 -> mu=0.15 -86: DBG: Uni fric 4 verr speed=0 -> mu=0.15 -86: DBG: Uni fric 6 verr speed=0 -> mu=0.15 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. -86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0 0 0 0 0 0 0 0 0 0 0 0] -86: verrExt=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] -86: total verr=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] -86: DYN t=0: verrStart=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: verrApplied=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) -86: : mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,4,5,1,6,7,2,8,9,3,10,11) -86: mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) -86: piTotal=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: verrLeft=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: verrApplied=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000616258 -0.000616258 -0.257579 -1.41319 -0.249199 -0.697316] +86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 4 uni contacts -86: Participating contact 0 is Rolling; vel=0,0, mag=0 -86: Participating contact 1 is Rolling; vel=0,0, mag=0 -86: Participating contact 2 is Rolling; vel=0,0, mag=0 -86: Participating contact 3 is Rolling; vel=0,0, mag=0 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.257579,-1.41319, mag=1.43647 +86: Participating contact 1 is Sliding; vel=-0.249199,-0.697316, mag=0.740507 86: 86: ....... Active set iter 1 start -86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) -86: Participating UniCont 0 (ix=0): cond=UniActive/Rolling, vel=0,0, mag=0 -86: Participating UniCont 1 (ix=2): cond=UniActive/Rolling, vel=0,0, mag=0 -86: Participating UniCont 2 (ix=4): cond=UniActive/Rolling, vel=0,0, mag=0 -86: Participating UniCont 3 (ix=6): cond=UniActive/Rolling, vel=0,0, mag=0 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.257579,-1.41319, mag=1.43647 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.249199,-0.697316, mag=0.740507 86: fillMult2Active: -86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) -86: : mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) -86: DBG: active normal 0 has v=-5.28481; guess pi=-0.01 -86: DBG: active normal 3 has v=-8.99822; guess pi=-0.01 -86: DBG: active normal 6 has v=9.18767; guess pi=0.01 -86: DBG: active normal 9 has v=5.47426; guess pi=0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.000616258; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000616258; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] -86: : rhsActive=~[-5.28481 0.000114402 -5.23471 -8.99822 0.000114402 -8.94832 9.18767 -3.7135 -5.23471 5.47426 -3.7135 -8.94832] -86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0 0.01 0 0 0.01 0 0] -86: Jacobian num vs. analytic norm=2.33066e-09 -86: DBG: >>>> Start NEWTON solve with errNorm=21.5573... -86: > NEWTON iter 1: errNorm=21.5573(v) -> deltaNorm=25.107(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0 0.01 0 0 0.01 0 0] -86: > errActive=~[5.27527 -0.000114403 5.22517 8.98869 -0.000114403 8.93879 -9.17816 3.7135 5.22517 -5.46474 3.7135 8.93879] -86: > deltaPi=~[6.95915 -0.974358 -4.81454 10.8816 -0.974358 -2.86583 -15.912 0.974358 -4.81454 -11.9895 0.974358 -2.86583] -86: DBG: Line search iter 1: back=1, prevNorm=21.5573. -86: > piNow=~[-6.96915 0.974358 4.81454 -10.8916 0.974358 2.86583 15.922 -0.974358 4.81454 11.9995 -0.974358 2.86583] -86: > errNow=~[-8.88178e-16 4.79285e-16 -2.66454e-15 -3.55271e-15 4.79285e-16 -1.77636e-15 1.77636e-15 -1.33227e-15 -2.66454e-15 8.88178e-16 -1.33227e-15 -1.77636e-15] normNow=6.47106e-15 -86: DBG: Improvement rate now/prev at iter 1 is 3.0018e-16 -86: DBG: <<<< NEWTON done in 1 iters; norm=6.47106e-15. -86: DBG: Worst offender is normal contact 2 err=15.922 ... -86: DBG: ... but it's Rolling, so that must go first. -86: DBG: switch worst fric 2 from roll->impend err=nan -86: rolling impulse was ~[-0,0] +86: : verrLeft was=~[0.000616258 -0.000616258 -0.257579 -1.41319 -0.249199 -0.697316] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.000616258 -0.257579 -1.41319 -0.000616258 -0.249199 -0.697316] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.01981e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00120102... +86: > NEWTON iter 1: errNorm=0.00120102(v) -> deltaNorm=0.00756339(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.00083089 0 0 -0.000451366 0.000249199 0.000697316] +86: > deltaPi=~[0.00535222 3.57485e-09 1.96132e-08 -0.00532353 0.000157382 0.00044039] +86: DBG: Line search iter 1: back=1, prevNorm=0.00120102. +86: > piNow=~[0.00464778 -3.57485e-09 -1.96132e-08 -0.00467647 -0.000157382 -0.00044039] +86: > errNow=~[8.67362e-19 -5.13518e-09 -2.81739e-08 -2.1684e-19 -4.94149e-09 -1.38274e-08] normNow=3.21831e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.67964e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.77846e-05 +86: > NEWTON iter 2: errNorm=3.21831e-08(v) -> deltaNorm=4.14451e-08(pi) +86: > piActive=~[0.00464778 -3.57485e-09 -1.96132e-08 -0.00467647 -0.000157382 -0.00044039] +86: > errActive=~[8.67362e-19 -5.13518e-09 -2.81739e-08 -2.1684e-19 -4.94149e-09 -1.38274e-08] +86: > deltaPi=~[2.39231e-08 -3.57477e-09 -1.96128e-08 2.08064e-08 -5.97306e-09 -1.6714e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.21831e-08. +86: > piNow=~[0.00464776 -7.39389e-14 -4.05663e-13 -0.00467649 -0.000157376 -0.000440373] +86: > errNow=~[0 -1.06211e-13 -5.82724e-13 1.0842e-19 8.82765e-14 2.47018e-13] normNow=6.47811e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.01289e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.47811e-13. +86: DBG: Worst offender is normal contact 0 err=0.00464776 ... +86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start -86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) -86: Participating UniCont 0 (ix=0): cond=UniActive/Rolling, vel=0,0, mag=0 -86: Participating UniCont 1 (ix=2): cond=UniActive/Rolling, vel=0,0, mag=0 -86: Participating UniCont 2 (ix=4): cond=UniActive/Impending, vel=0,0, mag=0 -86: Participating UniCont 3 (ix=6): cond=UniActive/Rolling, vel=0,0, mag=0 -86: fillMult2Active: -86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) -86: : mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) -86: DBG: active normal 0 has v=-5.28481; guess pi=-0.01 -86: DBG: active normal 3 has v=-8.99822; guess pi=-0.01 -86: DBG: active normal 6 has v=9.18767; guess pi=0.01 -86: DBG: active normal 9 has v=5.47426; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] -86: : rhsActive=~[-5.28481 0.000114402 -5.23471 -8.99822 0.000114402 -8.94832 9.18767 -3.7135 -5.23471 5.47426 -3.7135 -8.94832] -86: : pi was=~[-6.96915 -10.8916 0 0 0.207357 1.0246 0.525894 1.54678 -0 0 -0 0] -86: : piActive=~[-0.01 0.207357 1.0246 -0.01 0.525894 1.54678 0.01 -0 0 0.01 -0 0] -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: Updated 1 pairs of rows in Jacobian:DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: DBG: Updated impending slipVel 2 to 3.84617,5.80976 -86: Jacobian num vs. analytic norm=3.8943e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=22.2437... -86: > NEWTON iter 1: errNorm=22.2437(v) -> deltaNorm=25.4144(pi) -86: > piActive=~[-0.01 0.207357 1.0246 -0.01 0.525894 1.54678 0.01 -0 0 0.01 -0 0] -86: > errActive=~[5.81964 0.0247023 5.80976 9.67253 0.0247023 9.63122 -9.85949 0 0 -6.0066 3.84617 9.63122] -86: > deltaPi=~[6.95915 -1.26702 -7.28598 10.8816 -1.26702 -2.75172 -15.9119 4.91076e-05 7.41787e-05 -11.9895 3.26724 -2.75172] -86: DBG: Line search iter 1: back=1, prevNorm=22.2437. -86: DBG: Updated impending slipVel 2 to -3.9968e-15,-2.66454e-15 -86: > piNow=~[-6.96915 1.47438 8.31059 -10.8916 1.79291 4.2985 15.9219 -4.91076e-05 -7.41787e-05 11.9995 -3.26724 2.75172] -86: > errNow=~[-8.88178e-16 -8.27653e-17 -2.66454e-15 -1.77636e-15 -8.27653e-17 -3.55271e-15 1.77636e-15 -2.35891e-19 -3.56322e-19 1.77636e-15 -3.9968e-15 -3.55271e-15] normNow=7.65419e-15 -86: DBG: Improvement rate now/prev at iter 1 is 3.44106e-16 -86: DBG: <<<< NEWTON done in 1 iters; norm=7.65419e-15. -86: DBG: Worst offender is normal contact 2 err=15.9219 ... -86: DBG: ... normal contact 2 released. -86: -86: ....... Active set iter 3 start -86: : active=(0,4,5,1,6,7,3,10,11) -86: Participating UniCont 0 (ix=0): cond=UniActive/Rolling, vel=0,0, mag=0 -86: Participating UniCont 1 (ix=2): cond=UniActive/Rolling, vel=0,0, mag=0 -86: Participating UniCont 2 (ix=4): cond=UniOff/Impending, vel=-3.9968e-15,-2.66454e-15, mag=4.80356e-15 -86: Participating UniCont 3 (ix=6): cond=UniActive/Rolling, vel=0,0, mag=0 -86: fillMult2Active: -86: : active=(0,4,5,1,6,7,3,10,11) -86: : mult2active=(0,3,-1111111111,6,1,2,4,5,-1111111111,-1111111111,7,8) -86: DBG: active normal 0 has v=-5.28481; guess pi=-0.01 -86: DBG: active normal 3 has v=-8.99822; guess pi=-0.01 -86: DBG: active normal 6 has v=5.47426; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] -86: : rhsActive=~[-5.28481 0.000114402 -5.23471 -8.99822 0.000114402 -8.94832 5.47426 -3.7135 -8.94832] -86: : pi was=~[-6.96915 -10.8916 0 0 0.182607 1.0293 0.62892 1.50783 -4.91076e-05 -7.41787e-05 -0 0] -86: : piActive=~[-0.01 0.182607 1.0293 -0.01 0.62892 1.50783 0.01 -0 0] -86: Jacobian num vs. analytic norm=2.16579e-09 -86: DBG: >>>> Start NEWTON solve with errNorm=19.9205... -86: > NEWTON iter 1: errNorm=19.9205(v) -> deltaNorm=40.7416(pi) -86: > piActive=~[-0.01 0.182607 1.0293 -0.01 0.62892 1.50783 0.01 -0 0] -86: > errActive=~[5.81617 0.0289938 5.80922 9.66419 0.0289938 9.61955 -6.00338 3.83932 9.61955] -86: > deltaPi=~[-8.9628 -1.23036 -7.27626 26.8035 -1.23036 -2.77367 -27.9115 3.27224 -2.77367] -86: DBG: Line search iter 1: back=1, prevNorm=19.9205. -86: > piNow=~[8.9528 1.41296 8.30556 -26.8135 1.85928 4.2815 27.9215 -3.27224 2.77367] -86: > errNow=~[5.32907e-15 -4.13508e-15 -8.88178e-16 -1.77636e-15 -4.13508e-15 3.55271e-15 -3.55271e-15 -1.33227e-15 3.55271e-15] normNow=1.03044e-14 -86: DBG: Improvement rate now/prev at iter 1 is 5.17278e-16 -86: DBG: <<<< NEWTON done in 1 iters; norm=1.03044e-14. -86: DBG: Worst offender is normal contact 3 err=27.9215 ... -86: DBG: ... but it's Rolling, so that must go first. -86: DBG: switch worst fric 3 from roll->impend err=nan -86: rolling impulse was ~[-0,0] -86: -86: ....... Active set iter 4 start -86: : active=(0,4,5,1,6,7,3,10,11) -86: Participating UniCont 0 (ix=0): cond=UniActive/Rolling, vel=0,0, mag=0 -86: Participating UniCont 1 (ix=2): cond=UniActive/Rolling, vel=0,0, mag=0 -86: Participating UniCont 2 (ix=4): cond=UniOff/Impending, vel=-3.9968e-15,-2.66454e-15, mag=4.80356e-15 -86: Participating UniCont 3 (ix=6): cond=UniActive/Impending, vel=0,0, mag=0 +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.257579,-1.41319, mag=1.43647 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.249199,-0.697316, mag=0.740507 86: fillMult2Active: -86: : active=(0,4,5,1,6,7,3,10,11) -86: : mult2active=(0,3,-1111111111,6,1,2,4,5,-1111111111,-1111111111,7,8) -86: DBG: active normal 0 has v=-5.28481; guess pi=-0.01 -86: DBG: active normal 3 has v=-8.99822; guess pi=-0.01 -86: DBG: active normal 6 has v=5.47426; guess pi=0.01 +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000616258; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] -86: : rhsActive=~[-5.28481 0.000114402 -5.23471 -8.99822 0.000114402 -8.94832 5.47426 -3.7135 -8.94832] -86: : pi was=~[0 -26.8135 0 0 0 0 1.60206 3.68919 -4.91076e-05 -7.41787e-05 -0 0] -86: : piActive=~[-0.01 0 0 -0.01 1.60206 3.68919 0.01 -0 0] -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: Updated 1 pairs of rows in Jacobian:DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: DBG: Updated impending slipVel 3 to 4.60772,10.2965 -86: Jacobian num vs. analytic norm=6.30286e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=17.6761... -86: > NEWTON iter 1: errNorm=17.6761(v) -> deltaNorm=41.3902(pi) -86: > piActive=~[-0.01 0 0 -0.01 1.60206 3.68919 0.01 -0 0] -86: > errActive=~[5.71897 0.0147106 5.70351 10.3113 0.0147106 10.2965 -5.90481 0 0] -86: > deltaPi=~[-8.9628 0.800998 -11.5777 26.8035 0.800998 -0.093949 -27.9115 6.37235e-05 0.000142398] -86: DBG: Line search iter 1: back=1, prevNorm=17.6761. -86: DBG: Updated impending slipVel 3 to 4.44089e-16,0 -86: > piNow=~[8.9528 -0.800998 11.5777 -26.8135 0.801062 3.78314 27.9215 -6.37235e-05 -0.000142398] -86: > errNow=~[-1.77636e-15 1.64433e-16 -1.77636e-15 0 1.64433e-16 0 1.77636e-15 -2.82989e-20 -6.32374e-20] normNow=3.08552e-15 -86: DBG: Improvement rate now/prev at iter 1 is 1.74559e-16 -86: DBG: <<<< NEWTON done in 1 iters; norm=3.08552e-15. -86: DBG: Worst offender is normal contact 3 err=27.9215 ... -86: DBG: ... normal contact 3 released. +86: : verrLeft was=~[0.000616258 -0.000616258 -0.257579 -1.41319 -0.249199 -0.697316] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000616258 -0.249199 -0.697316] +86: : pi was=~[0 -0.00467649 -7.39389e-14 -4.05663e-13 -0.000157376 -0.000440373] +86: : piActive=~[-0.01 -0.000157376 -0.000440373] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.7583e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00163533... +86: > NEWTON iter 1: errNorm=0.00163533(v) -> deltaNorm=0.00736158(pi) +86: > piActive=~[-0.01 -0.000157376 -0.000440373] +86: > errActive=~[-0.00158711 0.000132662 0.000371217] +86: > deltaPi=~[-0.00735877 -6.84824e-05 -0.000191629] +86: DBG: Line search iter 1: back=1, prevNorm=0.00163533. +86: > piNow=~[-0.00264123 -8.88935e-05 -0.000248744] +86: > errNow=~[-1.0842e-19 -6.83068e-09 -1.91138e-08] normNow=2.02976e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.24119e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.94803e-05 +86: > NEWTON iter 2: errNorm=2.02976e-08(v) -> deltaNorm=3.77293e-08(pi) +86: > piActive=~[-0.00264123 -8.88935e-05 -0.000248744] +86: > errActive=~[-1.0842e-19 -6.83068e-09 -1.91138e-08] +86: > deltaPi=~[2.86524e-08 -8.26061e-09 -2.31151e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.02976e-08. +86: > piNow=~[-0.00264126 -8.88852e-05 -0.000248721] +86: > errNow=~[0 3.80679e-13 1.06522e-12] normNow=1.1312e-12 +86: DBG: Improvement rate now/prev at iter 2 is 5.57307e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.1312e-12. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.249199,-0.697316] to ~[-0.249184,-0.696547] +86: DBG: Friction 1 rotated 0.0189295 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00264126 -8.88852e-05 -0.000248721] +86: : m_verrLeft=~[0.000916277 0 -0.257568 -1.41283 -0.249184 -0.696547] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.000916277 pi*v=0 +86: DBG: 1: pi=-0.00264126 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00264126 0 0 -8.88852e-05 -0.000248721] errNorm=1.1312e-12 +86: Postcompression verr=~[0.000916277 0 -0.257568 -1.41283 -0.249184 -0.696547] +86: impulse=~[0 -0.00264126 0 0 -8.88852e-05 -0.000248721] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00264126 0 0 -8.88852e-05 -0.000248721]-> du ~[0.000327918 0.000995896 0.000405445 -0.000567069 1.31771e-05 0.000458139 -0.00175307 0.00135286] +86: Now verr0=~[0.000916277 -1.0842e-18 -0.257568 -1.41283 -0.249184 -0.696547] 86: -86: ....... Active set iter 5 start -86: : active=(0,4,5,1,6,7) -86: Participating UniCont 0 (ix=0): cond=UniActive/Rolling, vel=0,0, mag=0 -86: Participating UniCont 1 (ix=2): cond=UniActive/Rolling, vel=0,0, mag=0 -86: Participating UniCont 2 (ix=4): cond=UniOff/Impending, vel=-3.9968e-15,-2.66454e-15, mag=4.80356e-15 -86: Participating UniCont 3 (ix=6): cond=UniOff/Impending, vel=4.44089e-16,0, mag=4.44089e-16 +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.000916277 -1.0842e-18 -0.257568 -1.41283 -0.249184 -0.696547] +86: verrExt=~[-0.98245 -0.771801 -0.0442069 -1.24157 -0.0401965 -0.900822] +86: total verr=~[-0.981534 -0.771801 -0.301775 -2.6544 -0.28938 -1.59737] +86: DYN t=0.066: verrStart=~[0.000916277 -1.0842e-18 -0.257568 -1.41283 -0.249184 -0.696547] +86: verrApplied=~[-0.98245 -0.771801 -0.0442069 -1.24157 -0.0401965 -0.900822] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,4,5,1,6,7) -86: : mult2active=(0,3,-1111111111,-1111111111,1,2,4,5,-1111111111,-1111111111,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-5.28481; guess pi=-0.01 -86: DBG: active normal 3 has v=-8.99822; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] -86: : rhsActive=~[-5.28481 0.000114402 -5.23471 -8.99822 0.000114402 -8.94832] -86: : pi was=~[0 -26.8135 0 0 -0 0 0.801062 3.78314 -4.91076e-05 -7.41787e-05 -6.37235e-05 -0.000142398] -86: : piActive=~[-0.01 -0 0 -0.01 0.801062 3.78314] -86: Jacobian num vs. analytic norm=1.31515e-09 -86: DBG: >>>> Start NEWTON solve with errNorm=16.7147... -86: > NEWTON iter 1: errNorm=16.7147(v) -> deltaNorm=19.2525(pi) -86: > piActive=~[-0.01 -0 0 -0.01 0.801062 3.78314] -86: > errActive=~[5.74687 -0.0223683 5.70607 10.3331 -0.0223683 10.3451] -86: > deltaPi=~[4.69855 0.400531 2.08355 12.5424 0.400531 13.6605] -86: DBG: Line search iter 1: back=1, prevNorm=16.7147. -86: > piNow=~[-4.70855 -0.400531 -2.08355 -12.5524 0.400531 -9.87737] -86: > errNow=~[1.77636e-15 -7.28082e-16 0 1.77636e-15 -7.28082e-16 1.77636e-15] normNow=3.24446e-15 -86: DBG: Improvement rate now/prev at iter 1 is 1.94109e-16 -86: DBG: <<<< NEWTON done in 1 iters; norm=3.24446e-15. -86: DBG: switch worst fric 1 from roll->impend err=8.00264 -86: rolling impulse was ~[0.0762878,-1.88131] +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: -86: ....... Active set iter 6 start -86: : active=(0,4,5,1,6,7) -86: Participating UniCont 0 (ix=0): cond=UniActive/Rolling, vel=0,0, mag=0 -86: Participating UniCont 1 (ix=2): cond=UniActive/Impending, vel=0,0, mag=0 -86: Participating UniCont 2 (ix=4): cond=UniOff/Impending, vel=-3.9968e-15,-2.66454e-15, mag=4.80356e-15 -86: Participating UniCont 3 (ix=6): cond=UniOff/Impending, vel=4.44089e-16,0, mag=4.44089e-16 -86: fillMult2Active: -86: : active=(0,4,5,1,6,7) -86: : mult2active=(0,3,-1111111111,-1111111111,1,2,4,5,-1111111111,-1111111111,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-5.28481; guess pi=-0.01 -86: DBG: active normal 3 has v=-8.99822; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] -86: : rhsActive=~[-5.28481 0.000114402 -5.23471 -8.99822 0.000114402 -8.94832] -86: : pi was=~[-4.70855 -12.5524 0 0 -0.133331 -0.693583 0.0762878 -1.88131 -4.91076e-05 -7.41787e-05 -6.37235e-05 -0.000142398] -86: : piActive=~[-0.01 -0.133331 -0.693583 -0.01 0.0762878 -1.88131] -86: DBG: Updated impending slipVel 1 to 0.0152906,8.15634 -86: Updated 1 pairs of rows in Jacobian:DBG: Updated impending slipVel 1 to 0.0152907,8.15634 -86: DBG: Updated impending slipVel 1 to 0.0152906,8.15634 -86: DBG: Updated impending slipVel 1 to 0.0152906,8.15634 -86: DBG: Updated impending slipVel 1 to 0.0152907,8.15634 -86: DBG: Updated impending slipVel 1 to 0.0152906,8.15634 -86: DBG: Updated impending slipVel 1 to 0.0152907,8.15634 -86: DBG: Updated impending slipVel 1 to 0.0152906,8.15634 -86: DBG: Updated impending slipVel 1 to 0.0152907,8.15634 -86: DBG: Updated impending slipVel 1 to 0.0152906,8.15634 -86: DBG: Updated impending slipVel 1 to 0.0152907,8.15634 -86: DBG: Updated impending slipVel 1 to 0.0152907,8.15634 -86: DBG: Updated impending slipVel 1 to 0.0152906,8.15634 -86: Jacobian num vs. analytic norm=4.55924e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=18.6995... -86: > NEWTON iter 1: errNorm=18.6995(v) -> deltaNorm=28.0746(pi) -86: > piActive=~[-0.01 -0.133331 -0.693583 -0.01 0.0762878 -1.88131] -86: > errActive=~[4.79878 0.0152906 4.73879 8.24429 0.622207 -15.3569] -86: > deltaPi=~[-1.29631 -12.1911 7.49354 23.8453 -0.00481284 -3.62335] -86: DBG: Line search iter 1: back=1, prevNorm=18.6995. -86: DBG: Updated impending slipVel 1 to -2.99016e-15,0.202315 -86: > piNow=~[1.28631 12.0578 -8.18713 -23.8553 0.0811006 1.74204] -86: > errNow=~[-1.77636e-15 -2.99016e-15 -1.77636e-15 0 0.0164079 -0.3715] normNow=0.371863 -86: DBG: Improvement rate now/prev at iter 1 is 0.0198862 -86: Updated 1 pairs of rows in Jacobian:DBG: Updated impending slipVel 1 to 1.55415e-08,0.202315 -86: DBG: Updated impending slipVel 1 to -1.55415e-08,0.202315 -86: DBG: Updated impending slipVel 1 to -4.43099e-08,0.202315 -86: DBG: Updated impending slipVel 1 to 4.43099e-08,0.202315 -86: DBG: Updated impending slipVel 1 to -1.55562e-08,0.202315 -86: DBG: Updated impending slipVel 1 to 1.55562e-08,0.202315 -86: DBG: Updated impending slipVel 1 to -1.52509e-08,0.202315 -86: DBG: Updated impending slipVel 1 to 1.52509e-08,0.202315 -86: DBG: Updated impending slipVel 1 to -4.43099e-08,0.202315 -86: DBG: Updated impending slipVel 1 to 4.43099e-08,0.202315 -86: DBG: Updated impending slipVel 1 to 1.52656e-08,0.202315 -86: DBG: Updated impending slipVel 1 to -1.52656e-08,0.202315 -86: Jacobian num vs. analytic norm=2.34694e-09 -86: > NEWTON iter 2: errNorm=0.371863(v) -> deltaNorm=5.04795(pi) -86: > piActive=~[1.28631 12.0578 -8.18713 -23.8553 0.0811006 1.74204] -86: > errActive=~[-1.77636e-15 -2.99016e-15 -1.77636e-15 0 0.0164079 -0.3715] -86: > deltaPi=~[-1.36108 -2.85554 1.38576 2.56622 0.0995138 -2.63808] -86: DBG: Line search iter 1: back=1, prevNorm=0.371863. -86: DBG: Updated impending slipVel 1 to 2.84996e-16,0.248249 -86: > piNow=~[2.64739 14.9133 -9.57289 -26.4215 -0.0184132 4.38012] -86: > errNow=~[8.88178e-16 2.84996e-16 -8.88178e-16 0 -0.00457105 0.103496] normNow=0.103597 -86: DBG: Improvement rate now/prev at iter 2 is 0.278589 -86: Updated 1 pairs of rows in Jacobian:DBG: Updated impending slipVel 1 to 1.55415e-08,0.248249 -86: DBG: Updated impending slipVel 1 to -1.55415e-08,0.248249 -86: DBG: Updated impending slipVel 1 to -4.43099e-08,0.248249 -86: DBG: Updated impending slipVel 1 to 4.43099e-08,0.248249 -86: DBG: Updated impending slipVel 1 to -1.55562e-08,0.248249 -86: DBG: Updated impending slipVel 1 to 1.55562e-08,0.248249 -86: DBG: Updated impending slipVel 1 to -1.52509e-08,0.248248 -86: DBG: Updated impending slipVel 1 to 1.52509e-08,0.248249 -86: DBG: Updated impending slipVel 1 to -4.43099e-08,0.248249 -86: DBG: Updated impending slipVel 1 to 4.43099e-08,0.248249 -86: DBG: Updated impending slipVel 1 to 1.52656e-08,0.248248 -86: DBG: Updated impending slipVel 1 to -1.52656e-08,0.248249 -86: Jacobian num vs. analytic norm=1.83092e-09 -86: > NEWTON iter 3: errNorm=0.103597(v) -> deltaNorm=0.90311(pi) -86: > piActive=~[2.64739 14.9133 -9.57289 -26.4215 -0.0184132 4.38012] -86: > errActive=~[8.88178e-16 2.84996e-16 -8.88178e-16 0 -0.00457105 0.103496] -86: > deltaPi=~[0.243506 0.510874 -0.247921 -0.459112 -0.0178036 0.471969] -86: DBG: Line search iter 1: back=1, prevNorm=0.103597. -86: DBG: Updated impending slipVel 1 to 8.37682e-17,0.240031 -86: > piNow=~[2.40389 14.4025 -9.32497 -25.9624 -0.000609535 3.90815] -86: > errNow=~[0 8.37682e-17 8.88178e-16 1.77636e-15 -0.000146307 0.00331263] normNow=0.00331586 -86: DBG: Improvement rate now/prev at iter 3 is 0.0320074 -86: Updated 1 pairs of rows in Jacobian:DBG: Updated impending slipVel 1 to 1.55415e-08,0.240031 -86: DBG: Updated impending slipVel 1 to -1.55415e-08,0.240031 -86: DBG: Updated impending slipVel 1 to -4.43099e-08,0.240031 -86: DBG: Updated impending slipVel 1 to 4.43099e-08,0.240031 -86: DBG: Updated impending slipVel 1 to -1.55562e-08,0.240031 -86: DBG: Updated impending slipVel 1 to 1.55562e-08,0.240031 -86: DBG: Updated impending slipVel 1 to -1.52509e-08,0.240031 -86: DBG: Updated impending slipVel 1 to 1.52509e-08,0.240031 -86: DBG: Updated impending slipVel 1 to -4.43099e-08,0.240031 -86: DBG: Updated impending slipVel 1 to 4.43099e-08,0.240031 -86: DBG: Updated impending slipVel 1 to 1.52656e-08,0.240031 -86: DBG: Updated impending slipVel 1 to -1.52656e-08,0.240031 -86: Jacobian num vs. analytic norm=1.41836e-09 -86: > NEWTON iter 4: errNorm=0.00331586(v) -> deltaNorm=0.0308832(pi) -86: > piActive=~[2.40389 14.4025 -9.32497 -25.9624 -0.000609535 3.90815] -86: > errActive=~[0 8.37682e-17 8.88178e-16 1.77636e-15 -0.000146307 0.00331263] -86: > deltaPi=~[0.00832703 0.0174701 -0.00847804 -0.0157 -0.000608822 0.0161397] -86: DBG: Line search iter 1: back=1, prevNorm=0.00331586. -86: DBG: Updated impending slipVel 1 to -1.66032e-16,0.23975 -86: > piNow=~[2.39556 14.385 -9.31649 -25.9467 -7.13626e-07 3.89201] -86: > errNow=~[1.77636e-15 -1.66032e-16 8.88178e-16 0 -1.71092e-07 3.87379e-06] normNow=3.87757e-06 -86: DBG: Improvement rate now/prev at iter 4 is 0.0011694 -86: Updated 1 pairs of rows in Jacobian:DBG: Updated impending slipVel 1 to 1.55415e-08,0.23975 -86: DBG: Updated impending slipVel 1 to -1.55415e-08,0.23975 -86: DBG: Updated impending slipVel 1 to -4.43099e-08,0.23975 -86: DBG: Updated impending slipVel 1 to 4.43099e-08,0.23975 -86: DBG: Updated impending slipVel 1 to -1.55562e-08,0.23975 -86: DBG: Updated impending slipVel 1 to 1.55562e-08,0.23975 -86: DBG: Updated impending slipVel 1 to -1.52509e-08,0.23975 -86: DBG: Updated impending slipVel 1 to 1.52509e-08,0.23975 -86: DBG: Updated impending slipVel 1 to -4.43099e-08,0.23975 -86: DBG: Updated impending slipVel 1 to 4.43099e-08,0.23975 -86: DBG: Updated impending slipVel 1 to 1.52656e-08,0.23975 -86: DBG: Updated impending slipVel 1 to -1.52656e-08,0.23975 -86: Jacobian num vs. analytic norm=1.19224e-09 -86: > NEWTON iter 5: errNorm=3.87757e-06(v) -> deltaNorm=3.61995e-05(pi) -86: > piActive=~[2.39556 14.385 -9.31649 -25.9467 -7.13626e-07 3.89201] -86: > errActive=~[1.77636e-15 -1.66032e-16 8.88178e-16 0 -1.71092e-07 3.87379e-06] -86: > deltaPi=~[9.76046e-06 2.04774e-05 -9.93746e-06 -1.84026e-05 -7.13625e-07 1.8918e-05] -86: DBG: Line search iter 1: back=1, prevNorm=3.87757e-06. -86: DBG: Updated impending slipVel 1 to 1.43792e-17,0.23975 -86: > piNow=~[2.39555 14.385 -9.31648 -25.9466 -9.80463e-13 3.892] -86: > errNow=~[-1.77636e-15 1.43792e-17 0 1.77636e-15 -2.35122e-13 5.32219e-12] normNow=5.32738e-12 -86: DBG: Improvement rate now/prev at iter 5 is 1.3739e-06 -86: DBG: <<<< NEWTON done in 5 iters; norm=5.32738e-12. -86: DBG: switch worst fric 0 from roll->impend err=17.1384 -86: rolling impulse was ~[0,-0] +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000916277 -1.0842e-18 -0.257568 -1.41283 -0.249184 -0.696547] +86: verrApplied=~[-0.98245 -0.771801 -0.0442069 -1.24157 -0.0401965 -0.900822] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.257568,-1.41283, mag=1.43611 +86: Participating contact 1 is Sliding; vel=-0.249184,-0.696547, mag=0.739777 86: -86: ....... Active set iter 7 start -86: : active=(0,4,5,1,6,7) -86: Participating UniCont 0 (ix=0): cond=UniActive/Impending, vel=0,0, mag=0 -86: Participating UniCont 1 (ix=2): cond=UniActive/Impending, vel=1.43792e-17,0.23975, mag=0.23975 -86: Participating UniCont 2 (ix=4): cond=UniOff/Impending, vel=-3.9968e-15,-2.66454e-15, mag=4.80356e-15 -86: Participating UniCont 3 (ix=6): cond=UniOff/Impending, vel=4.44089e-16,0, mag=4.44089e-16 +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.257568,-1.41283, mag=1.43611 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.249184,-0.696547, mag=0.739777 86: fillMult2Active: -86: : active=(0,4,5,1,6,7) -86: : mult2active=(0,3,-1111111111,-1111111111,1,2,4,5,-1111111111,-1111111111,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-5.28481; guess pi=-0.01 -86: DBG: active normal 3 has v=-8.99822; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.981534; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.771801; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[-5.28481 -8.99822 9.18767 5.47426 0.000114402 -5.23471 0.000114402 -8.94832 -3.7135 -5.23471 -3.7135 -8.94832] -86: : rhsActive=~[-5.28481 0.000114402 -5.23471 -8.99822 0.000114402 -8.94832] -86: : pi was=~[0 -25.9466 0 0 0 -0 -9.80463e-13 3.892 -4.91076e-05 -7.41787e-05 -6.37235e-05 -0.000142398] -86: : piActive=~[-0.01 0 -0 -0.01 -9.80463e-13 3.892] -86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 -86: DBG: Updated impending slipVel 1 to -0.059525,10.398 -86: Updated 2 pairs of rows in Jacobian:DBG: Updated impending slipVel 0 to -0.059525,5.70695 -86: DBG: Updated impending slipVel 1 to -0.059525,10.398 -86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 -86: DBG: Updated impending slipVel 1 to -0.059525,10.398 -86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 -86: DBG: Updated impending slipVel 1 to -0.059525,10.398 -86: DBG: Updated impending slipVel 0 to -0.0595249,5.70695 -86: DBG: Updated impending slipVel 1 to -0.0595249,10.398 -86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 -86: DBG: Updated impending slipVel 1 to -0.059525,10.398 -86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 -86: DBG: Updated impending slipVel 1 to -0.059525,10.398 -86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 -86: DBG: Updated impending slipVel 1 to -0.059525,10.398 -86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 -86: DBG: Updated impending slipVel 1 to -0.059525,10.398 -86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 -86: DBG: Updated impending slipVel 1 to -0.059525,10.398 -86: DBG: Updated impending slipVel 0 to -0.0595249,5.70695 -86: DBG: Updated impending slipVel 1 to -0.0595249,10.398 -86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 -86: DBG: Updated impending slipVel 1 to -0.059525,10.398 -86: DBG: Updated impending slipVel 0 to -0.059525,5.70695 -86: DBG: Updated impending slipVel 1 to -0.059525,10.398 -86: Jacobian num vs. analytic norm=6.63021e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=42.1566... -86: > NEWTON iter 1: errNorm=42.1566(v) -> deltaNorm=30.7247(pi) -86: > piActive=~[-0.01 0 -0 -0.01 -9.80463e-13 3.892] -86: > errActive=~[5.77312 8.92875e-05 -0.00856042 10.359 8.92874e-05 40.4541] -86: > deltaPi=~[8.4231 0.0132872 -1.26335 29.2344 0.0251626 -4.09999] -86: DBG: Line search iter 1: back=1, prevNorm=42.1566. -86: DBG: Updated impending slipVel 0 to -0.419107,0.0193818 -86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 -86: > piNow=~[-8.4331 -0.0132872 1.26335 -29.2444 -0.0251626 7.99198] -86: > errNow=~[0 0.524581 0.50553 1.77636e-15 1.81666 3.6002] normNow=4.09786 -86: DBG: Improvement rate now/prev at iter 1 is 0.0972057 -86: Updated 2 pairs of rows in Jacobian:DBG: Updated impending slipVel 0 to -0.419107,0.0193814 -86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 -86: DBG: Updated impending slipVel 0 to -0.419107,0.0193821 -86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 -86: DBG: Updated impending slipVel 0 to -0.419107,0.0193817 -86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 -86: DBG: Updated impending slipVel 0 to -0.419107,0.0193818 -86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 -86: DBG: Updated impending slipVel 0 to -0.419107,0.0193814 -86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 -86: DBG: Updated impending slipVel 0 to -0.419107,0.0193821 -86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 -86: DBG: Updated impending slipVel 0 to -0.419107,0.0193816 -86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 -86: DBG: Updated impending slipVel 0 to -0.419107,0.0193819 -86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 -86: DBG: Updated impending slipVel 0 to -0.419107,0.0193817 -86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 -86: DBG: Updated impending slipVel 0 to -0.419107,0.0193818 -86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 -86: DBG: Updated impending slipVel 0 to -0.419107,0.0193816 -86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 -86: DBG: Updated impending slipVel 0 to -0.419107,0.0193819 -86: DBG: Updated impending slipVel 1 to -0.419107,0.759164 -86: Jacobian num vs. analytic norm=4.37647e-09 -86: > NEWTON iter 2: errNorm=4.09786(v) -> deltaNorm=7.37543(pi) -86: > piActive=~[-8.4331 -0.0132872 1.26335 -29.2444 -0.0251626 7.99198] -86: > errActive=~[0 0.524581 0.50553 1.77636e-15 1.81666 3.6002] -86: > deltaPi=~[-1.61019 1.16523 1.77413 -4.60586 2.0273 4.68776] -86: DBG: Line search iter 1: back=1, prevNorm=4.09786. -86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 -86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 -86: > piNow=~[-6.82291 -1.17852 -0.510773 -24.6385 -2.05246 3.30422] -86: > errNow=~[-8.88178e-16 -0.0908158 -0.125655 -1.77636e-15 0.0792361 0.241738] normNow=0.297913 -86: DBG: Improvement rate now/prev at iter 2 is 0.0726997 -86: Updated 2 pairs of rows in Jacobian:DBG: Updated impending slipVel 0 to -0.471387,-0.119982 -86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 -86: DBG: Updated impending slipVel 0 to -0.471387,-0.119981 -86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 -86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 -86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 -86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 -86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 -86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 -86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 -86: DBG: Updated impending slipVel 0 to -0.471387,-0.119981 -86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 -86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 -86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 -86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 -86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 -86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 -86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 -86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 -86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 -86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 -86: DBG: Updated impending slipVel 1 to -0.471387,0.658951 -86: DBG: Updated impending slipVel 0 to -0.471387,-0.119982 -86: DBG: Updated impending slipVel 1 to -0.471387,0.658952 -86: Jacobian num vs. analytic norm=2.80679e-09 -86: > NEWTON iter 3: errNorm=0.297913(v) -> deltaNorm=0.552036(pi) -86: > piActive=~[-6.82291 -1.17852 -0.510773 -24.6385 -2.05246 3.30422] -86: > errActive=~[-8.88178e-16 -0.0908158 -0.125655 -1.77636e-15 0.0792361 0.241738] -86: > deltaPi=~[0.224423 -0.139268 -0.259801 -0.268353 0.0484838 0.305158] -86: DBG: Line search iter 1: back=1, prevNorm=0.297913. -86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 -86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 -86: > piNow=~[-7.04734 -1.03925 -0.250972 -24.3702 -2.10095 2.99906] -86: > errNow=~[0 -0.00412578 -0.00675705 1.77636e-15 0.00204394 0.00738983] normNow=0.0110212 -86: DBG: Improvement rate now/prev at iter 3 is 0.0369947 -86: Updated 2 pairs of rows in Jacobian:DBG: Updated impending slipVel 0 to -0.451084,-0.103485 -86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 -86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 -86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 -86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 -86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 -86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 -86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 -86: DBG: Updated impending slipVel 0 to -0.451084,-0.103485 -86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 -86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 -86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 -86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 -86: DBG: Updated impending slipVel 1 to -0.451084,0.641093 -86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 -86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 -86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 -86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 -86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 -86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 -86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 -86: DBG: Updated impending slipVel 1 to -0.451084,0.641093 -86: DBG: Updated impending slipVel 0 to -0.451084,-0.103484 -86: DBG: Updated impending slipVel 1 to -0.451084,0.641094 -86: Jacobian num vs. analytic norm=4.30966e-09 -86: > NEWTON iter 4: errNorm=0.0110212(v) -> deltaNorm=0.0249624(pi) -86: > piActive=~[-7.04734 -1.03925 -0.250972 -24.3702 -2.10095 2.99906] -86: > errActive=~[0 -0.00412578 -0.00675705 1.77636e-15 0.00204394 0.00738983] -86: > deltaPi=~[0.01381 -0.00651407 -0.015665 -0.00766157 0.000386998 0.00925903] -86: DBG: Line search iter 1: back=1, prevNorm=0.0110212. -86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 -86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 -86: > piNow=~[-7.06115 -1.03274 -0.235307 -24.3625 -2.10133 2.9898] -86: > errNow=~[-8.88178e-16 -1.02529e-05 -2.04947e-05 -1.77636e-15 1.35235e-06 1.00489e-05] normNow=2.50592e-05 -86: DBG: Improvement rate now/prev at iter 4 is 0.00227373 -86: Updated 2 pairs of rows in Jacobian:DBG: Updated impending slipVel 0 to -0.450096,-0.102537 -86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 -86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 -86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 -86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 -86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 -86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 -86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 -86: DBG: Updated impending slipVel 0 to -0.450096,-0.102537 -86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 -86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 -86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 -86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 -86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 -86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 -86: DBG: Updated impending slipVel 1 to -0.450096,0.640399 -86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 -86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 -86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 -86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 -86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 -86: DBG: Updated impending slipVel 1 to -0.450096,0.640398 -86: DBG: Updated impending slipVel 0 to -0.450096,-0.102536 -86: DBG: Updated impending slipVel 1 to -0.450096,0.640399 -86: Jacobian num vs. analytic norm=3.1976e-09 -86: > NEWTON iter 5: errNorm=2.50592e-05(v) -> deltaNorm=6.70078e-05(pi) -86: > piActive=~[-7.06115 -1.03274 -0.235307 -24.3625 -2.10133 2.9898] -86: > errActive=~[-8.88178e-16 -1.02529e-05 -2.04947e-05 -1.77636e-15 1.35235e-06 1.00489e-05] -86: > deltaPi=~[4.27263e-05 -1.48735e-05 -4.77484e-05 -6.6842e-06 -3.70335e-06 1.02463e-05] -86: DBG: Line search iter 1: back=1, prevNorm=2.50592e-05. -86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 -86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 -86: > piNow=~[-7.06119 -1.03272 -0.235259 -24.3625 -2.10133 2.98979] -86: > errNow=~[8.88178e-16 -6.62355e-11 -1.63904e-10 0 -9.00324e-12 2.75615e-11] normNow=1.79143e-10 -86: DBG: Improvement rate now/prev at iter 5 is 7.14879e-06 -86: Updated 2 pairs of rows in Jacobian:DBG: Updated impending slipVel 0 to -0.450093,-0.102534 -86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 -86: DBG: Updated impending slipVel 0 to -0.450093,-0.102533 -86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 -86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 -86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 -86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 -86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 -86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 -86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 -86: DBG: Updated impending slipVel 0 to -0.450093,-0.102533 -86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 -86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 -86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 -86: DBG: Updated impending slipVel 0 to -0.450093,-0.102533 -86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 -86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 -86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 -86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 -86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 -86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 -86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 -86: DBG: Updated impending slipVel 0 to -0.450093,-0.102533 -86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 -86: Jacobian num vs. analytic norm=4.60889e-09 -86: > NEWTON iter 6: errNorm=1.79143e-10(v) -> deltaNorm=5.22962e-10(pi) -86: > piActive=~[-7.06119 -1.03272 -0.235259 -24.3625 -2.10133 2.98979] -86: > errActive=~[8.88178e-16 -6.62355e-11 -1.63904e-10 0 -9.00324e-12 2.75615e-11] -86: > deltaPi=~[3.44414e-10 -8.46079e-11 -3.80914e-10 1.55193e-11 -4.82775e-11 6.51888e-12] -86: DBG: Line search iter 1: back=1, prevNorm=1.79143e-10. -86: DBG: Updated impending slipVel 0 to -0.450093,-0.102534 -86: DBG: Updated impending slipVel 1 to -0.450093,0.640397 -86: > piNow=~[-7.06119 -1.03272 -0.235259 -24.3625 -2.10133 2.98979] -86: > errNow=~[0 2.77556e-16 -1.41553e-15 1.77636e-15 0 0] normNow=2.28828e-15 -86: DBG: Improvement rate now/prev at iter 6 is 1.27735e-05 -86: DBG: <<<< NEWTON done in 6 iters; norm=2.28828e-15. +86: : verrLeft was=~[0.000916277 -1.0842e-18 -0.257568 -1.41283 -0.249184 -0.696547] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.98245 -0.771801 -0.0442069 -1.24157 -0.0401965 -0.900822] +86: : rhsActive=~[-0.981534 -0.301775 -2.6544 -0.771801 -0.28938 -1.59737] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.01737e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.24397... +86: > NEWTON iter 1: errNorm=1.24397(v) -> deltaNorm=3.37251(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.978043 0.000257568 0.00141283 0.76869 0.000249184 0.000696547] +86: > deltaPi=~[2.72803 0.0491048 0.269353 1.95402 0.0661528 0.184918] +86: DBG: Line search iter 1: back=1, prevNorm=1.24397. +86: > piNow=~[-2.73803 -0.0491048 -0.269353 -1.96402 -0.0661528 -0.184918] +86: > errNow=~[5.55112e-16 2.61729e-06 1.43565e-05 -1.11022e-16 1.81368e-06 5.06979e-06] normNow=1.55548e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.25042e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.29704e-10 +86: > NEWTON iter 2: errNorm=1.55548e-05(v) -> deltaNorm=1.73831e-05(pi) +86: > piActive=~[-2.73803 -0.0491048 -0.269353 -1.96402 -0.0661528 -0.184918] +86: > errActive=~[5.55112e-16 2.61729e-06 1.43565e-05 -1.11022e-16 1.81368e-06 5.06979e-06] +86: > deltaPi=~[-1.0923e-05 1.62657e-06 8.9222e-06 -7.62563e-06 2.19479e-06 6.13513e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.55548e-05. +86: > piNow=~[-2.73802 -0.0491064 -0.269362 -1.96401 -0.066155 -0.184924] +86: > errNow=~[-2.22045e-16 -1.249e-16 -8.32667e-16 0 -1.8735e-16 -4.996e-16] normNow=1.02124e-15 +86: DBG: Improvement rate now/prev at iter 2 is 6.56545e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.02124e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.257568,-1.41283] to ~[-0.278431,-1.42249] +86: DBG: Friction 0 rotated 0.742863 deg, less than max 30 +86: slipVel 1 from ~[-0.249184,-0.696547] to ~[-0.269488,-0.658378] +86: DBG: Friction 1 rotated 2.57605 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-7.06119 -1.03272 -0.235259 -24.3625 -2.10133 2.98979] -86: : m_verrLeft=~[0 -1.77636e-15 0.808484 0.808484 0.450093 0.102534 0.450093 -0.640397 -0.292837 0.102534 -0.292837 -0.640397] -86: : verrAppliedLeft=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : m_piActive=~[-2.73802 -0.0491064 -0.269362 -1.96401 -0.066155 -0.184924] +86: : m_verrLeft=~[2.22045e-16 0 -0.278431 -1.42249 -0.269488 -0.658378] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-7.06119 verr=0 pi*v=-0 -86: DBG: 1: pi=-24.3625 verr=-1.77636e-15 pi*v=4.32765e-14 -86: DBG: 2: pi=0 verr=0.808484 pi*v=0 -86: DBG: 3: pi=0 verr=0.808484 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-7.06119 -24.3625 0 0 -1.03272 -0.235259 -2.10133 2.98979 0 0 0 0] errNorm=2.28828e-15 +86: DBG: 0: pi=-2.73802 verr=2.22045e-16 pi*v=-6.07961e-16 +86: DBG: 1: pi=-1.96401 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-2.73802 -1.96401 -0.0491064 -0.269362 -0.066155 -0.184924] errNorm=1.02124e-15 86: 86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=4): +86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.15 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Impending slipV=-0.450093 -0.102534, |slipV|=0.461624 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.257568 -1.41283, |slipV|=1.43611 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (6,7) effMu=0.15 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Impending slipV=-0.450093 0.640397, |slipV|=0.782747 -86: 2: UnilateralContactIndex 4, normal MultiplierIndex 2, sign=1, hasFriction: 1 -86: friction MultIndices: (8,9) effMu=0.15 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Impending slipV=-3.9968e-15 -2.66454e-15, |slipV|=4.80356e-15 -86: 3: UnilateralContactIndex 6, normal MultiplierIndex 3, sign=1, hasFriction: 1 -86: friction MultIndices: (10,11) effMu=0.15 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Impending slipV=4.44089e-16 0, |slipV|=4.44089e-16 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.249184 -0.696547, |slipV|=0.739777 86: ------------------------------ 86: -86: dynamics impulse=~[-7.06119 -24.3625 0 0 -1.03272 -0.235259 -2.10133 2.98979 0 0 0 0] -86: updated verrStart=~[0 -1.77636e-15 0.808484 0.808484 0.450093 0.102534 0.450093 -0.640397 -0.292837 0.102534 -0.292837 -0.640397] +86: dynamics impulse=~[-2.73802 -1.96401 -0.0491064 -0.269362 -0.066155 -0.184924] +86: updated verrStart=~[2.22045e-16 0 -0.278431 -1.42249 -0.269488 -0.658378] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: posVerr=~[0.0986778 -0.00568119 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.37438 0.122577 -0.102552 -0.354356 -0.0155415 0.351089 -0.0155415 0.126742 -0.239888 0.351089 -0.239888 0.126742] -86: [0.122577 0.373699 -0.353922 -0.1028 0.0152509 0.126742 0.0152509 0.350921 0.23943 0.126742 0.23943 0.350921] -86: [-0.102552 -0.353922 0.372997 0.121627 -0.0155415 -0.125844 -0.0155415 -0.349757 -0.239455 -0.125844 -0.239455 -0.349757] -86: [-0.354356 -0.1028 0.121627 0.373182 0.0152509 -0.350191 0.0152509 -0.125579 0.239863 -0.350191 0.239863 -0.125579] -86: [-0.0155415 0.0152509 -0.0155415 0.0152509 0.0443099 0.0155562 0.0443099 -0.0152656 0.0134882 0.0155562 0.0134882 -0.0152656] -86: [0.351089 0.126742 -0.125844 -0.350191 0.0155562 0.374393 0.0155562 0.122564 -0.236273 0.374393 -0.236273 0.122564] -86: [-0.0155415 0.0152509 -0.0155415 0.0152509 0.0443099 0.0155562 0.0443099 -0.0152656 0.0134882 0.0155562 0.0134882 -0.0152656] -86: [0.126742 0.350921 -0.349757 -0.125579 -0.0152656 0.122564 -0.0152656 0.373712 0.235882 0.122564 0.235882 0.373712] -86: [-0.239888 0.23943 -0.239455 0.239863 0.0134882 -0.236273 0.0134882 0.235882 0.485644 -0.236273 0.485644 0.235882] -86: [0.351089 0.126742 -0.125844 -0.350191 0.0155562 0.374393 0.0155562 0.122564 -0.236273 0.374393 -0.236273 0.122564] -86: [-0.239888 0.23943 -0.239455 0.239863 0.0134882 -0.236273 0.0134882 0.235882 0.485644 -0.236273 0.485644 0.235882] -86: [0.126742 0.350921 -0.349757 -0.125579 -0.0152656 0.122564 -0.0152656 0.373712 0.235882 0.122564 0.235882 0.373712] -86: D=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: rcond(A+D)=0.50635 rank=2 -86: rhs=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: [0.246884 0.102169 0.000343613 0.306119 -0.00182746 0.121924] +86: [0.102169 0.208932 0.00582673 0.124504 0.00738103 0.256344] +86: [0.000343613 0.00582673 0.0523423 0.0438324 0.0513982 -0.0368731] +86: [0.306119 0.124504 0.0438324 0.448118 0.0400695 0.128254] +86: [-0.00182746 0.00738103 0.0513982 0.0400695 0.0505339 -0.0338535] +86: [0.121924 0.256344 -0.0368731 0.128254 -0.0338535 0.385033] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.373665 rank=2 +86: rhs=~[0.0986778 -0.00568119 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0 0] -86: -> pi=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: resid active=~[0 0] -86: resid=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: -> piActive=~[0.515207 -0.279132] +86: -> pi=~[0.515207 -0.279132 0 0 0 0] +86: resid active=~[0 1.56125e-17] +86: resid=~[0 1.56125e-17 -0.0014494 0.122962 -0.0030018 -0.00873779] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[9.64562e-16 -9.64562e-16 0.808484 0.808484 0.450093 0.102534 0.450093 -0.640397 -0.292837 0.102534 -0.292837 -0.640397] -86: perr=~[0 0 0 0 0] -86: END OF STEP (0,0.001): -86: verr=~[-0.000300324 0.000300324 0.808184 0.808784 0.450369 0.102533 0.449817 -0.640397 -0.292561 0.103739 -0.293113 -0.639191] -86: perr=~[-1.50162e-07 1.50162e-07 0.000808334 0.000808634 2.22045e-16] +86: verr=~[-1.1601e-16 -2.54788e-16 -0.278431 -1.42249 -0.269488 -0.658378] +86: perr=~[9.86778e-05 -5.68119e-06 -1.11022e-16] +86: END OF STEP (0.066,0.067): +86: verr=~[0.000657652 -0.000657652 -0.278139 -1.42249 -0.26978 -0.658375] +86: perr=~[9.90066e-05 -6.01002e-06 0] 86: constraint status: -86: 0: cont UniActive fric Impending -86: 2: cont UniActive fric Impending -86: 4: cont UniOff fric Impending -86: 6: cont UniOff fric Impending -86: Proximal unilateral contacts: (0,2,4,6) -86: Distal unilateral contacts: (1,3,5,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.461893 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.782588 -> mu=0.1 -86: DBG: Uni fric 4 verr speed=0.310409 -> mu=0.1 -86: DBG: Uni fric 6 verr speed=0.703193 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000300324 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.44943 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.711504 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000657652 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1,2,3) -86: participating multx: (0,4,5,1,6,7,2,8,9,3,10,11) -86: verr=~[-0.000300324 0.000300324 0.808184 0.808784 0.450369 0.102533 0.449817 -0.640397 -0.292561 0.103739 -0.293113 -0.639191] -86: IMP t=0.001 verr=~[-0.000300324 0.000300324 0.808184 0.808784 0.450369 0.102533 0.449817 -0.640397 -0.292561 0.103739 -0.293113 -0.639191] +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.000657652 -0.000657652 -0.278139 -1.42249 -0.26978 -0.658375] +86: IMP t=0.067 verr=~[0.000657652 -0.000657652 -0.278139 -1.42249 -0.26978 -0.658375] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) -86: : mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,4,5,1,6,7,2,8,9,3,10,11) -86: mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) -86: piTotal=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: verrLeft=~[-0.000300324 0.000300324 0.808184 0.808784 0.450369 0.102533 0.449817 -0.640397 -0.292561 0.103739 -0.293113 -0.639191] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000657652 -0.000657652 -0.278139 -1.42249 -0.26978 -0.658375] 86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 4 uni contacts -86: Participating contact 0 is Sliding; vel=0.450369,0.102533, mag=0.461893 -86: Participating contact 1 is Sliding; vel=0.449817,-0.640397, mag=0.782588 -86: Participating contact 2 is Sliding; vel=-0.292561,0.103739, mag=0.310409 -86: Participating contact 3 is Sliding; vel=-0.293113,-0.639191, mag=0.703193 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.278139,-1.42249, mag=1.44943 +86: Participating contact 1 is Sliding; vel=-0.26978,-0.658375, mag=0.711504 86: 86: ....... Active set iter 1 start -86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.450369,0.102533, mag=0.461893 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.449817,-0.640397, mag=0.782588 -86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=-0.292561,0.103739, mag=0.310409 -86: Participating UniCont 3 (ix=6): cond=UniActive/Sliding, vel=-0.293113,-0.639191, mag=0.703193 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.278139,-1.42249, mag=1.44943 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.26978,-0.658375, mag=0.711504 86: fillMult2Active: -86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) -86: : mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) -86: DBG: active normal 0 has v=-0.000300324; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000300324; guess pi=0.01 -86: DBG: active normal 6 has v=0.808184; guess pi=0.01 -86: DBG: active normal 9 has v=0.808784; guess pi=0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.000657652; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000657652; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000300324 0.000300324 0.808184 0.808784 0.450369 0.102533 0.449817 -0.640397 -0.292561 0.103739 -0.293113 -0.639191] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrLeft was=~[0.000657652 -0.000657652 -0.278139 -1.42249 -0.26978 -0.658375] +86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000300324 0.450369 0.102533 0.000300324 0.449817 -0.640397 0.808184 -0.292561 0.103739 0.808784 -0.293113 -0.639191] -86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0 0.01 0 0 0.01 0 0] -86: Updated 4 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.43342e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.13638... -86: > NEWTON iter 1: errNorm=1.13638(v) -> deltaNorm=20.7938(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0 0.01 0 0 0.01 0 0] -86: > errActive=~[-0.00679027 -0.000450369 -0.000102533 -0.00234909 0 0 -0.805742 0 0 -0.801301 0 0] -86: > deltaPi=~[-10.0187 0.975865 0.22217 -10.0263 2.14663e-05 -3.05612e-05 -10.773 -3.78209e-05 1.34109e-05 -10.6967 -1.66082e-05 -3.62176e-05] -86: DBG: Line search iter 1: back=1, prevNorm=1.13638. -86: > piNow=~[10.0087 -0.975865 -0.22217 10.0363 -2.14663e-05 3.05612e-05 10.783 3.78209e-05 -1.34109e-05 10.7067 1.66082e-05 3.62176e-05] -86: > errNow=~[-2.70845e-15 -0.450746 -0.102619 -7.04677e-16 -1.67993e-05 2.39168e-05 2.33147e-15 1.174e-05 -4.16286e-06 5.55112e-16 1.16788e-05 2.54679e-05] normNow=0.462279 -86: DBG: Improvement rate now/prev at iter 1 is 0.406801 -86: Updated 4 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.67612e-09 -86: > NEWTON iter 2: errNorm=0.462279(v) -> deltaNorm=1.00771(pi) -86: > piActive=~[10.0087 -0.975865 -0.22217 10.0363 -2.14663e-05 3.05612e-05 10.783 3.78209e-05 -1.34109e-05 10.7067 1.66082e-05 3.62176e-05] -86: > errActive=~[-2.70845e-15 -0.450746 -0.102619 -7.04677e-16 -1.67993e-05 2.39168e-05 2.33147e-15 1.174e-05 -4.16286e-06 5.55112e-16 1.16788e-05 2.54679e-05] -86: > deltaPi=~[0.0726154 -0.975865 -0.22217 0.0339158 -2.14663e-05 3.05612e-05 -0.0382584 3.78209e-05 -1.34109e-05 -0.076958 1.66082e-05 3.62176e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.462279. -86: > piNow=~[9.93611 2.63012e-13 5.98965e-14 10.0024 7.21037e-14 -1.027e-13 10.8213 1.15405e-13 -4.09327e-14 10.7837 1.04183e-13 2.2726e-13] -86: > errNow=~[5.27573e-16 1.21483e-13 2.76658e-14 7.99436e-16 5.64274e-14 -8.03721e-14 4.44089e-16 3.58228e-14 -1.27059e-14 -3.33067e-16 7.32605e-14 1.59807e-13] normNow=2.39831e-13 -86: DBG: Improvement rate now/prev at iter 2 is 5.188e-13 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.39831e-13. -86: DBG: Worst offender is normal contact 2 err=10.8213 ... -86: DBG: ... normal contact 2 released. +86: : rhsActive=~[0.000657652 -0.278139 -1.42249 -0.000657652 -0.26978 -0.658375] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.01436e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0011378... +86: > NEWTON iter 1: errNorm=0.0011378(v) -> deltaNorm=0.00711288(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.000787856 0 0 -0.000409425 0.00026978 0.000658375] +86: > deltaPi=~[0.00503629 3.59988e-09 1.84109e-08 -0.00499787 0.000189672 0.000462879] +86: DBG: Line search iter 1: back=1, prevNorm=0.0011378. +86: > piNow=~[0.00496371 -3.59988e-09 -1.84109e-08 -0.00500213 -0.000189672 -0.000462879] +86: > errNow=~[2.1684e-19 -5.21777e-09 -2.66853e-08 0 -5.02233e-09 -1.22566e-08] normNow=3.02453e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.65823e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.43301e-05 +68: Done +103: [min,max]=0,0.03 actual=9.43425e-05 +103: calc wrms=9.43425e-05 + 83/108 Test #62: IpoptTest ...................................... Passed 0.79 sec + 84/108 Test #68: RungeKutta3IntegratorTest ...................... Passed 0.54 sec +86: > NEWTON iter 2: errNorm=3.02453e-08(v) -> deltaNorm=3.88629e-08(pi) +86: > piActive=~[0.00496371 -3.59988e-09 -1.84109e-08 -0.00500213 -0.000189672 -0.000462879] +86: > errActive=~[2.1684e-19 -5.21777e-09 -2.66853e-08 0 -5.02233e-09 -1.22566e-08] +86: > deltaPi=~[2.24973e-08 -3.59981e-09 -1.84106e-08 1.93383e-08 -6.32561e-09 -1.54371e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.02453e-08. +86: > piNow=~[0.00496369 -6.52449e-14 -3.33683e-13 -0.00500215 -0.000189666 -0.000462863] +86: > errNow=~[4.33681e-19 -9.4568e-14 -4.8365e-13 0 7.76394e-14 1.89472e-13] normNow=5.33656e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.76442e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.33656e-13. +86: DBG: Worst offender is normal contact 0 err=0.00496369 ... +86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start -86: : active=(0,4,5,1,6,7,3,10,11) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.450369,0.102533, mag=0.461893 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.449817,-0.640397, mag=0.782588 -86: Participating UniCont 2 (ix=4): cond=UniOff/Sliding, vel=-0.292561,0.103739, mag=0.310409 -86: Participating UniCont 3 (ix=6): cond=UniActive/Sliding, vel=-0.293113,-0.639191, mag=0.703193 +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.278139,-1.42249, mag=1.44943 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.26978,-0.658375, mag=0.711504 86: fillMult2Active: -86: : active=(0,4,5,1,6,7,3,10,11) -86: : mult2active=(0,3,-1111111111,6,1,2,4,5,-1111111111,-1111111111,7,8) -86: DBG: active normal 0 has v=-0.000300324; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000300324; guess pi=0.01 -86: DBG: active normal 6 has v=0.808784; guess pi=0.01 +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000657652; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000300324 0.000300324 0.808184 0.808784 0.450369 0.102533 0.449817 -0.640397 -0.292561 0.103739 -0.293113 -0.639191] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : verrLeft was=~[0.000657652 -0.000657652 -0.278139 -1.42249 -0.26978 -0.658375] +86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000300324 0.450369 0.102533 0.000300324 0.449817 -0.640397 0.808784 -0.293113 -0.639191] -86: : pi was=~[0 0 0 0 2.63012e-13 5.98965e-14 7.21037e-14 -1.027e-13 1.15405e-13 -4.09327e-14 1.04183e-13 2.2726e-13] -86: : piActive=~[-0.01 2.63012e-13 5.98965e-14 0.01 7.21037e-14 -1.027e-13 0.01 1.04183e-13 2.2726e-13] -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.27999e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.802543... -86: > NEWTON iter 1: errNorm=0.802543(v) -> deltaNorm=29.9182(pi) -86: > piActive=~[-0.01 2.63012e-13 5.98965e-14 0.01 7.21037e-14 -1.027e-13 0.01 1.04183e-13 2.2726e-13] -86: > errActive=~[-0.00576971 -0.000450369 -0.000102533 0.00118038 5.64274e-14 -8.03721e-14 -0.802522 7.32605e-14 1.59807e-13] -86: > deltaPi=~[-20.8388 2.03084 0.462351 0.678541 -1.45275e-06 2.06825e-06 -21.3552 -3.3157e-05 -7.23055e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.802543. -86: > piNow=~[20.8288 -2.03084 -0.462351 -0.668541 1.45275e-06 -2.06825e-06 21.3652 3.3157e-05 7.23055e-05] -86: > errNow=~[-3.61831e-15 -0.93803 -0.213557 -1.85903e-15 -0.030071 0.0428115 1.11022e-16 2.33158e-05 5.08448e-05] normNow=0.963454 -86: DBG: GOT WORSE @iter 1: backtrack to back=0.5 -86: DBG: Line search iter 2: back=0.5, prevNorm=0.802543. -86: > piNow=~[10.4094 -1.01542 -0.231175 -0.32927 7.26375e-07 -1.03413e-06 10.6876 1.65785e-05 3.61528e-05] -86: > errNow=~[-0.00288485 -0.469015 -0.106778 0.00059019 -0.0148106 0.0210856 -0.401261 1.16579e-05 2.54224e-05] normNow=0.626945 -86: DBG: Improvement rate now/prev at iter 1 is 0.781197 -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.77929e-09 -86: > NEWTON iter 2: errNorm=0.626945(v) -> deltaNorm=15.047(pi) -86: > piActive=~[10.4094 -1.01542 -0.231175 -0.32927 7.26375e-07 -1.03413e-06 10.6876 1.65785e-05 3.61528e-05] -86: > errActive=~[-0.00288485 -0.469015 -0.106778 0.00059019 -0.0148106 0.0210856 -0.401261 1.16579e-05 2.54224e-05] -86: > deltaPi=~[-10.3245 -1.01542 -0.231175 0.433175 -0.0438232 0.0623904 -10.8876 1.65785e-05 3.61527e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.626945. -86: > piNow=~[20.7339 -3.46092e-11 -7.88208e-12 -0.762445 0.043824 -0.0623914 21.5752 1.48016e-11 3.22759e-11] -86: > errNow=~[-1.34002e-15 -1.59858e-11 -3.64068e-12 -1.352e-16 -6.69506e-10 9.53163e-10 4.44089e-16 1.04084e-11 2.26962e-11] normNow=1.16518e-09 -86: DBG: Improvement rate now/prev at iter 2 is 1.85851e-09 -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.16593e-09 -86: > NEWTON iter 3: errNorm=1.16518e-09(v) -> deltaNorm=1.88646e-09(pi) -86: > piActive=~[20.7339 -3.46092e-11 -7.88208e-12 -0.762445 0.043824 -0.0623914 21.5752 1.48016e-11 3.22759e-11] -86: > errActive=~[-1.34002e-15 -1.59858e-11 -3.64068e-12 -1.352e-16 -6.69506e-10 9.53163e-10 4.44089e-16 1.04084e-11 2.26962e-11] -86: > deltaPi=~[4.56057e-10 -3.46092e-11 -7.88208e-12 -1.06491e-09 -7.94293e-10 1.13082e-09 5.51855e-10 1.48016e-11 3.22759e-11] -86: DBG: Line search iter 1: back=1, prevNorm=1.16518e-09. -86: > piNow=~[20.7339 3.85537e-22 8.79445e-23 -0.762445 0.043824 -0.0623914 21.5752 -1.84044e-22 -4.01312e-22] -86: > errNow=~[1.2252e-15 1.78077e-22 4.0621e-23 -3.37024e-16 0 0 -2.22045e-16 -1.29419e-22 -2.822e-22] normNow=1.28997e-15 -86: DBG: Improvement rate now/prev at iter 3 is 1.10709e-06 -86: DBG: <<<< NEWTON done in 3 iters; norm=1.28997e-15. -86: DBG: Worst offender is normal contact 3 err=21.5752 ... -86: DBG: ... normal contact 3 released. -86: -86: ....... Active set iter 3 start -86: : active=(0,4,5,1,6,7) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.450369,0.102533, mag=0.461893 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.449817,-0.640397, mag=0.782588 -86: Participating UniCont 2 (ix=4): cond=UniOff/Sliding, vel=-0.292561,0.103739, mag=0.310409 -86: Participating UniCont 3 (ix=6): cond=UniOff/Sliding, vel=-0.293113,-0.639191, mag=0.703193 -86: fillMult2Active: -86: : active=(0,4,5,1,6,7) -86: : mult2active=(0,3,-1111111111,-1111111111,1,2,4,5,-1111111111,-1111111111,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000300324; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000300324; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000300324 0.000300324 0.808184 0.808784 0.450369 0.102533 0.449817 -0.640397 -0.292561 0.103739 -0.293113 -0.639191] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000300324 0.450369 0.102533 0.000300324 0.449817 -0.640397] -86: : pi was=~[0 -0.762445 0 0 3.85537e-22 8.79445e-23 0.043824 -0.0623914 1.15405e-13 -4.09327e-14 -1.84044e-22 -4.01312e-22] -86: : piActive=~[-0.01 3.85537e-22 8.79445e-23 0.01 0.043824 -0.0623914] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.3849e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0635441... -86: > NEWTON iter 1: errNorm=0.0635441(v) -> deltaNorm=0.0772538(pi) -86: > piActive=~[-0.01 3.85537e-22 8.79445e-23 0.01 0.043824 -0.0623914] -86: > errActive=~[-0.010834 -0.000450369 -0.000102533 -0.0189735 0.0342961 -0.0488267] -86: > deltaPi=~[-0.00879067 -0.000117948 -2.68526e-05 0.00881163 0.043824 -0.0623914] -86: DBG: Line search iter 1: back=1, prevNorm=0.0635441. -86: > piNow=~[-0.00120933 0.000117948 2.68526e-05 0.00118837 1.88656e-08 -2.68586e-08] -86: > errNow=~[-8.99888e-18 1.47469e-08 3.35737e-09 -3.41524e-18 1.4764e-08 -2.10192e-08] normNow=2.98082e-08 -86: DBG: Improvement rate now/prev at iter 1 is 4.69094e-07 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000235763 -86: > NEWTON iter 2: errNorm=2.98082e-08(v) -> deltaNorm=5.1359e-08(pi) -86: > piActive=~[-0.00120933 0.000117948 2.68526e-05 0.00118837 1.88656e-08 -2.68586e-08] -86: > errActive=~[-8.99888e-18 1.47469e-08 3.35737e-09 -3.41524e-18 1.4764e-08 -2.10192e-08] -86: > deltaPi=~[-2.59172e-09 3.21792e-08 7.32609e-09 2.15623e-08 1.88624e-08 -2.6854e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.98082e-08. -86: > piNow=~[-0.00120933 0.000117916 2.68453e-05 0.00118835 3.24364e-12 -4.61791e-12] -86: > errNow=~[0 2.95068e-13 6.71767e-14 5.42101e-20 2.53843e-12 -3.61392e-12] normNow=4.42669e-12 -86: DBG: Improvement rate now/prev at iter 2 is 0.000148506 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.42669e-12. -86: DBG: Worst offender is normal contact 1 err=0.00118835 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 4 start -86: : active=(0,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.450369,0.102533, mag=0.461893 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=0.449817,-0.640397, mag=0.782588 -86: Participating UniCont 2 (ix=4): cond=UniOff/Sliding, vel=-0.292561,0.103739, mag=0.310409 -86: Participating UniCont 3 (ix=6): cond=UniOff/Sliding, vel=-0.293113,-0.639191, mag=0.703193 -86: fillMult2Active: -86: : active=(0,4,5) -86: : mult2active=(0,-1111111111,-1111111111,-1111111111,1,2,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000300324; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000300324 0.000300324 0.808184 0.808784 0.450369 0.102533 0.449817 -0.640397 -0.292561 0.103739 -0.293113 -0.639191] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000300324 0.450369 0.102533] -86: : pi was=~[-0.00120933 0 0 0 0.000117916 2.68453e-05 3.24364e-12 -4.61791e-12 1.15405e-13 -4.09327e-14 -1.84044e-22 -4.01312e-22] -86: : piActive=~[-0.01 0.000117916 2.68453e-05] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.72049e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00345385... -86: > NEWTON iter 1: errNorm=0.00345385(v) -> deltaNorm=0.00918296(pi) -86: > piActive=~[-0.01 0.000117916 2.68453e-05] -86: > errActive=~[-0.0034299 -0.000395905 -9.01337e-05] -86: > deltaPi=~[-0.00918287 3.82082e-05 8.69868e-06] -86: DBG: Line search iter 1: back=1, prevNorm=0.00345385. -86: > piNow=~[-0.000817128 7.97074e-05 1.81466e-05] -86: > errNow=~[4.33681e-19 1.54049e-08 3.50716e-09] normNow=1.57991e-08 -86: DBG: Improvement rate now/prev at iter 1 is 4.57434e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.00025347 -86: > NEWTON iter 2: errNorm=1.57991e-08(v) -> deltaNorm=3.52635e-08(pi) -86: > piActive=~[-0.000817128 7.97074e-05 1.81466e-05] -86: > errActive=~[4.33681e-19 1.54049e-08 3.50716e-09] -86: > deltaPi=~[-5.80518e-09 3.39146e-08 7.72116e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.57991e-08. -86: > piNow=~[-0.000817122 7.96735e-05 1.81389e-05] -86: > errNow=~[0 1.43473e-12 3.26637e-13] normNow=1.47144e-12 -86: DBG: Improvement rate now/prev at iter 2 is 9.31344e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.47144e-12. +86: : rhsActive=~[-0.000657652 -0.26978 -0.658375] +86: : pi was=~[0 -0.00500215 -6.52449e-14 -3.33683e-13 -0.000189666 -0.000462863] +86: : piActive=~[-0.01 -0.000189666 -0.000462863] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.65026e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00158487... +86: > NEWTON iter 1: errNorm=0.00158487(v) -> deltaNorm=0.00717103(pi) +86: > piActive=~[-0.01 -0.000189666 -0.000462863] +86: > errActive=~[-0.00154446 0.000134832 0.000329046] +86: > deltaPi=~[-0.00716774 -8.22655e-05 -0.000200762] +86: DBG: Line search iter 1: back=1, prevNorm=0.00158487. +86: > piNow=~[-0.00283226 -0.0001074 -0.000262101] +86: > errNow=~[-2.1684e-19 -7.20283e-09 -1.75779e-08] normNow=1.89964e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.19861e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.29965e-05 +86: > NEWTON iter 2: errNorm=1.89964e-08(v) -> deltaNorm=3.65228e-08(pi) +86: > piActive=~[-0.00283226 -0.0001074 -0.000262101] +86: > errActive=~[-2.1684e-19 -7.20283e-09 -1.75779e-08] +86: > deltaPi=~[2.75806e-08 -9.0781e-09 -2.21543e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.89964e-08. +86: > piNow=~[-0.00283228 -0.000107391 -0.000262079] +86: > errNow=~[0 3.45067e-13 8.42108e-13] normNow=9.10065e-13 +86: DBG: Improvement rate now/prev at iter 2 is 4.79072e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.10065e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.450369,0.102533] to ~[0.450352,0.102812] -86: DBG: Friction 0 rotated 0.034166 deg, less than max 30 +86: slipVel 1 from ~[-0.26978,-0.658375] to ~[-0.269762,-0.657552] +86: DBG: Friction 1 rotated 0.023876 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.000817122 7.96735e-05 1.81389e-05] -86: : m_verrLeft=~[0 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] +86: : m_piActive=~[-0.00283228 -0.000107391 -0.000262079] +86: : m_verrLeft=~[0.000976823 0 -0.278127 -1.4221 -0.269762 -0.657552] 86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.000817122 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.000395946 pi*v=0 -86: DBG: 2: pi=0 verr=0.808104 pi*v=0 -86: DBG: 3: pi=0 verr=0.8085 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.000817122 0 0 0 7.96735e-05 1.81389e-05 0 0 0 0 0 0] errNorm=1.47144e-12 -86: Postcompression verr=~[0 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] -86: impulse=~[-0.000817122 0 0 0 7.96735e-05 1.81389e-05 0 0 0 0 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: DBG: 0: pi=0 verr=0.000976823 pi*v=0 +86: DBG: 1: pi=-0.00283228 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00283228 0 0 -0.000107391 -0.000262079] errNorm=9.10065e-13 +86: Postcompression verr=~[0.000976823 0 -0.278127 -1.4221 -0.269762 -0.657552] +86: impulse=~[0 -0.00283228 0 0 -0.000107391 -0.000262079] +86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.000817122 0 0 0 7.96735e-05 1.81389e-05 0 0 0 0 0 0]-> du ~[-0.000204419 0.000380351 -0.000176154 -0.000190606 -1.68628e-05 0.000197973 -0.000744373 0.000529733] -86: Now verr0=~[-5.42101e-20 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] +86: Impact: imp ~[0 -0.00283228 0 0 -0.000107391 -0.000262079]-> du ~[0.000350143 0.00106409 0.000433161 -0.00060655 1.48459e-05 0.000488411 -0.0018727 0.00144483] +86: Now verr0=~[0.000976823 2.1684e-18 -0.278127 -1.4221 -0.269762 -0.657552] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-5.42101e-20 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] -86: verrExt=~[-2.42031 -5.19617 5.33355 2.55769 0.0397125 -2.38082 0.0375948 -5.23247 -2.8097 -2.37243 -2.81182 -5.22409] -86: total verr=~[-2.42031 -5.19577 6.14166 3.36619 0.490065 -2.27801 0.487395 -5.87277 -3.10245 -2.26841 -3.10512 -5.86318] -86: DYN t=0.001: verrStart=~[-5.42101e-20 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] -86: verrApplied=~[-2.42031 -5.19617 5.33355 2.55769 0.0397125 -2.38082 0.0375948 -5.23247 -2.8097 -2.37243 -2.81182 -5.22409] +86: verr0 =~[0.000976823 2.1684e-18 -0.278127 -1.4221 -0.269762 -0.657552] +86: verrExt=~[-0.924543 -0.726344 -0.0399893 -1.16854 -0.0364645 -0.848268] +86: total verr=~[-0.923567 -0.726344 -0.318116 -2.59064 -0.306227 -1.50582] +86: DYN t=0.067: verrStart=~[0.000976823 2.1684e-18 -0.278127 -1.4221 -0.269762 -0.657552] +86: verrApplied=~[-0.924543 -0.726344 -0.0399893 -1.16854 -0.0364645 -0.848268] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) -86: : mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,4,5,1,6,7,2,8,9,3,10,11) -86: mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) -86: piTotal=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: verrLeft=~[-5.42101e-20 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] -86: verrApplied=~[-2.42031 -5.19617 5.33355 2.55769 0.0397125 -2.38082 0.0375948 -5.23247 -2.8097 -2.37243 -2.81182 -5.22409] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000976823 2.1684e-18 -0.278127 -1.4221 -0.269762 -0.657552] +86: verrApplied=~[-0.924543 -0.726344 -0.0399893 -1.16854 -0.0364645 -0.848268] 86: expanding=() -86: piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 4 uni contacts -86: Participating contact 0 is Sliding; vel=0.450352,0.102812, mag=0.461939 -86: Participating contact 1 is Sliding; vel=0.4498,-0.640294, mag=0.782494 -86: Participating contact 2 is Sliding; vel=-0.292754,0.104017, mag=0.310684 -86: Participating contact 3 is Sliding; vel=-0.293306,-0.639089, mag=0.70318 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.278127,-1.4221, mag=1.44904 +86: Participating contact 1 is Sliding; vel=-0.269762,-0.657552, mag=0.710736 86: 86: ....... Active set iter 1 start -86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.450352,0.102812, mag=0.461939 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.4498,-0.640294, mag=0.782494 -86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=-0.292754,0.104017, mag=0.310684 -86: Participating UniCont 3 (ix=6): cond=UniActive/Sliding, vel=-0.293306,-0.639089, mag=0.70318 -86: fillMult2Active: -86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) -86: : mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) -86: DBG: active normal 0 has v=-2.42031; guess pi=-0.01 -86: DBG: active normal 3 has v=-5.19577; guess pi=-0.01 -86: DBG: active normal 6 has v=6.14166; guess pi=0.01 -86: DBG: active normal 9 has v=3.36619; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-5.42101e-20 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[-2.42031 -5.19617 5.33355 2.55769 0.0397125 -2.38082 0.0375948 -5.23247 -2.8097 -2.37243 -2.81182 -5.22409] -86: : rhsActive=~[-2.42031 0.490065 -2.27801 -5.19577 0.487395 -5.87277 6.14166 -3.10245 -2.26841 3.36619 -3.10512 -5.86318] -86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0 0.01 0 0 0.01 0 0] -86: Updated 4 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.43349e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=9.03217... -86: > NEWTON iter 1: errNorm=9.03217(v) -> deltaNorm=26.3696(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0 0.01 0 0 0.01 0 0] -86: > errActive=~[2.4108 -0.000450352 -0.000102812 5.18629 -0.0004498 0.000640294 -6.13215 0 0 -3.35666 0 0] -86: > deltaPi=~[-10.5034 1.02298 0.233539 -4.52678 0.259628 -0.369583 -19.2873 -6.76966e-05 2.40531e-05 -13.8289 -2.14859e-05 -4.68159e-05] -86: DBG: Line search iter 1: back=1, prevNorm=9.03217. -86: > piNow=~[10.4934 -1.02298 -0.233539 4.51678 -0.259628 0.369583 19.2973 6.76966e-05 -2.40531e-05 13.8389 2.14859e-05 4.68159e-05] -86: > errNow=~[-1.33227e-15 -0.472555 -0.107881 -8.88178e-16 -0.203158 0.289196 1.77636e-15 2.10322e-05 -7.4729e-06 8.88178e-16 1.51084e-05 3.292e-05] normNow=0.599879 -86: DBG: Improvement rate now/prev at iter 1 is 0.0664158 -86: Updated 4 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.3388e-09 -86: > NEWTON iter 2: errNorm=0.599879(v) -> deltaNorm=1.16013(pi) -86: > piActive=~[10.4934 -1.02298 -0.233539 4.51678 -0.259628 0.369583 19.2973 6.76966e-05 -2.40531e-05 13.8389 2.14859e-05 4.68159e-05] -86: > errActive=~[-1.33227e-15 -0.472555 -0.107881 -8.88178e-16 -0.203158 0.289196 1.77636e-15 2.10322e-05 -7.4729e-06 8.88178e-16 1.51084e-05 3.292e-05] -86: > deltaPi=~[0.0534095 -1.02298 -0.233539 -0.136081 -0.259628 0.369583 0.122512 6.76966e-05 -2.40531e-05 -0.0669779 2.14859e-05 4.68159e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.599879. -86: > piNow=~[10.44 1.75859e-13 4.03566e-14 4.65287 -1.42852e-12 2.03326e-12 19.1748 -1.1556e-13 4.10134e-14 13.9059 5.44198e-14 1.18311e-13] -86: > errNow=~[-4.44089e-16 8.12363e-14 1.86423e-14 8.88178e-16 -1.11781e-12 1.59102e-12 0 -3.59027e-14 1.27422e-14 -2.22045e-15 3.82669e-14 8.3194e-14] normNow=1.94875e-12 -86: DBG: Improvement rate now/prev at iter 2 is 3.24857e-12 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.94875e-12. -86: DBG: Worst offender is normal contact 2 err=19.1748 ... -86: DBG: ... normal contact 2 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,4,5,1,6,7,3,10,11) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.450352,0.102812, mag=0.461939 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.4498,-0.640294, mag=0.782494 -86: Participating UniCont 2 (ix=4): cond=UniOff/Sliding, vel=-0.292754,0.104017, mag=0.310684 -86: Participating UniCont 3 (ix=6): cond=UniActive/Sliding, vel=-0.293306,-0.639089, mag=0.70318 -86: fillMult2Active: -86: : active=(0,4,5,1,6,7,3,10,11) -86: : mult2active=(0,3,-1111111111,6,1,2,4,5,-1111111111,-1111111111,7,8) -86: DBG: active normal 0 has v=-2.42031; guess pi=-0.01 -86: DBG: active normal 3 has v=-5.19577; guess pi=-0.01 -86: DBG: active normal 6 has v=3.36619; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-5.42101e-20 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[-2.42031 -5.19617 5.33355 2.55769 0.0397125 -2.38082 0.0375948 -5.23247 -2.8097 -2.37243 -2.81182 -5.22409] -86: : rhsActive=~[-2.42031 0.490065 -2.27801 -5.19577 0.487395 -5.87277 3.36619 -3.10512 -5.86318] -86: : pi was=~[0 0 0 0 1.75859e-13 4.03566e-14 -1.42852e-12 2.03326e-12 -1.1556e-13 4.10134e-14 5.44198e-14 1.18311e-13] -86: : piActive=~[-0.01 1.75859e-13 4.03566e-14 -0.01 -1.42852e-12 2.03326e-12 0.01 5.44198e-14 1.18311e-13] -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.27979e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=6.63524... -86: > NEWTON iter 1: errNorm=6.63524(v) -> deltaNorm=45.6566(pi) -86: > piActive=~[-0.01 1.75859e-13 4.03566e-14 -0.01 -1.42852e-12 2.03326e-12 0.01 5.44198e-14 1.18311e-13] -86: > errActive=~[2.41182 -0.000450352 -0.000102812 5.18982 -0.0004498 0.000640294 -3.35788 3.82669e-14 8.3194e-14] -86: > deltaPi=~[-29.3142 2.85681 0.652189 13.3142 -0.765888 1.09025 -32.2114 -5.00466e-05 -0.000109047] -86: DBG: Line search iter 1: back=1, prevNorm=6.63524. -86: > piNow=~[29.3042 -2.85681 -0.652189 -13.3242 0.765888 -1.09025 32.2214 5.00466e-05 0.000109047] -86: > errNow=~[-4.44089e-16 -1.31967 -0.301272 1.77636e-15 -2.23073e-05 3.17547e-05 -2.22045e-15 3.51918e-05 7.668e-05] normNow=1.35363 -86: DBG: Improvement rate now/prev at iter 1 is 0.204006 -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.11504e-09 -86: > NEWTON iter 2: errNorm=1.35363(v) -> deltaNorm=2.95748(pi) -86: > piActive=~[29.3042 -2.85681 -0.652189 -13.3242 0.765888 -1.09025 32.2214 5.00466e-05 0.000109047] -86: > errActive=~[-4.44089e-16 -1.31967 -0.301272 1.77636e-15 -2.23073e-05 3.17547e-05 -2.22045e-15 3.51918e-05 7.668e-05] -86: > deltaPi=~[0.107341 -2.85681 -0.652189 0.196954 -0.01135 0.0161568 -0.330474 5.00466e-05 0.000109047] -87: Done -88: Done -89: Starting test TestConstraints ... -89: testBallConstraint ... -89: testBallConstraint done. real/CPU ms: 1.9 / 1.9 -89: testConstantAngleConstraint ... -89: testConstantAngleConstraint done. real/CPU ms: 1.0 / 1.0 -89: testConstantOrientationConstraint ... -89: testConstantOrientationConstraint done. real/CPU ms: 1.1 / 1.1 -89: testConstantSpeedConstraint ... -89: testConstantSpeedConstraint done. real/CPU ms: 0.7 / 0.7 -89: testNoSlip1DConstraint ... -89: testNoSlip1DConstraint done. real/CPU ms: 0.7 / 0.7 -89: testPointInPlaneConstraint ... -89: testPointInPlaneConstraint done. real/CPU ms: 1.0 / 1.0 -89: testPointOnLineConstraint ... -89: testPointOnLineConstraint done. real/CPU ms: 1.1 / 1.1 -89: testRodConstraint ... -89: testRodConstraint done. real/CPU ms: 1.0 / 1.0 -89: testWeldConstraint ... -89: testWeldConstraint done. real/CPU ms: 1.7 / 1.7 -89: testWeldConstraintWithPreAssembly ... -89: testWeldConstraintWithPreAssembly done. real/CPU ms: 3.4 / 3.4 -89: testConstraintForces ... -89: testConstraintForces done. real/CPU ms: 0.6 / 0.6 -89: testConstraintMatrices ... -89: testConstraintMatrices done. real/CPU ms: 4.2 / 4.2 -89: testConstraintAccelerationErrors ... -89: testConstraintAccelerationErrors done. real/CPU ms: 4.7 / 4.7 -89: testDisablingConstraints ... -90: Starting test TestCustomConstraints ... -90: testCoordinateCoupler1 ... -90: testCoordinateCoupler1 done. real/CPU ms: 2.3 / 2.3 -90: testCoordinateCoupler2 ... -90: testCoordinateCoupler2 done. real/CPU ms: 87.8 / 87.8 -90: testCoordinateCoupler3 ... -90: testCoordinateCoupler3 done. real/CPU ms: 94.0 / 94.0 -90: testSpeedCoupler1 ... -90: testSpeedCoupler1 done. real/CPU ms: 1.3 / 1.3 -90: testSpeedCoupler2 ... -91: Done -94: FunctionBased MobilizedBodies vs. Built-in Types: -94: Pin: Passed -94: Skewed Pin: Passed -94: Slider: Passed -94: Skewed Slider: Passed -94: Cylinder: Passed -94: Universal: Passed -94: Planar: Passed -94: Gimbal: Passed -94: Functions with Multiple Arguments: Passed -95: Starting test TestGravity ... -95: testConstruction ... -95: testConstruction done. real/CPU ms: 0.2 / 0.2 -95: testParameters ... -95: testParameters done. real/CPU ms: 0.6 / 0.6 -95: testForces ... -95: testForces done. real/CPU ms: 0.6 / 0.6 -95: -95: TestGravity done. real/CPU ms: 1.5 / 1.5 -96: Done -97: Starting test TestLinearBushing ... -97: testParameterSetting ... -97: testParameterSetting done. real/CPU ms: 0.7 / 0.8 -97: testKinematicsAndEnergyConservation ... -97: t=0 -97: E=23.5429 -97: mobilizer q=~[-0.0929716,-0.847409,0.294512,-0.694517,-0.892617,-0.0196967] -97: bushing q=~[-0.0929716,-0.847409,0.294512,-0.694517,-0.892617,-0.0196967] -97: mobilizer qd=~[0.79068,0.742149,0.961644,-0.851712,-0.846691,-0.0251848] -97: bushing qd=~[0.79068,0.742149,0.961644,-0.851712,-0.846691,-0.0251848] -97: t=5 -97: E=9.88032 -97: E-XW=23.5429 final-init=9.146e-06 -97: mobilizer q=~[-0.0948091,-0.074734,0.0477373,0.0188118,0.0322412,-0.0956953] -97: bushing q=~[-0.0948091,-0.074734,0.0477373,0.0188118,0.0322412,-0.0956953] -97: mobilizer qd=~[-0.30805,-0.0880786,-0.233928,-0.212841,-0.370749,-0.10154] -97: bushing qd=~[-0.30805,-0.0880786,-0.233928,-0.212841,-0.370749,-0.10154] -97: testKinematicsAndEnergyConservation done. real/CPU ms: 83.2 / 83.2 -97: testKinematicsAndEnergyConservationUsingBushingMobilizer ... -97: t=0 -97: E=18.8622 -97: mobilizer q=~[-0.922896,0.579915,-0.214199,0.0208109,0.96333,-0.0899017] -97: bushing q=~[-0.922896,0.579915,-0.214199,0.0208109,0.96333,-0.0899017] -97: mobilizer qd=~[0.811191,0.791736,-0.582036,-0.940425,0.110249,-0.69324] -97: bushing qd=~[0.811191,0.791736,-0.582036,-0.940425,0.110249,-0.69324] -97: t=5 -97: E=3.54551 -97: E-XW=18.8622 final-init=1.68158e-05 -97: mobilizer q=~[-0.0403736,-0.0692424,-0.0488368,0.072207,0.0679623,-0.149441] -97: bushing q=~[-0.0403736,-0.0692424,-0.0488368,0.072207,0.0679623,-0.149441] -97: mobilizer qd=~[0.0481456,0.015035,-0.22427,0.140108,-0.0687976,0.154129] -97: bushing qd=~[0.0481456,0.015035,-0.22427,0.140108,-0.0687976,0.154129] -97: testKinematicsAndEnergyConservationUsingBushingMobilizer done. real/CPU ms: 56.7 / 56.7 -97: testForces ... -97: testForces done. real/CPU ms: 0.7 / 0.7 -97: testForcesUsingReverseBushingMobilizer ... -97: -97: brick1 .q=~[0.744978,-0.233701,0.32712,0.532339,0,0,0] -97: bushing.q=~[-0.000108924,-0.827453,-1.24092,0.123271,-0.621985,1.61181] -97: brick2 .q=~[-0.000108924,-0.827453,-1.24092,0.123271,-0.621985,1.61181] -97: F_GF=~[~[0.147794,-1.30503,-0.490063],~[0.284058,0.641285,0.523956]] -97: Reaction force on brick2=~[~[0.147794,-1.30503,-0.490063],~[0.284058,0.641285,0.523956]] -97: testForcesUsingReverseBushingMobilizer done. real/CPU ms: 0.7 / 0.7 -97: -97: TestLinearBushing done. real/CPU ms: 142.2 / 142.2 -98: Starting test TestLoneParticle ... -98: testFree ... -98: testFree done. real/CPU ms: 1.3 / 1.3 -98: testPrescribePosition ... -98: testPrescribePosition done. real/CPU ms: 0.7 / 0.7 -98: testPrescribeVelocity ... -98: testPrescribeVelocity done. real/CPU ms: 0.6 / 0.6 -98: testPrescribeAcceleration ... -98: testPrescribeAcceleration done. real/CPU ms: 0.6 / 0.6 -98: -98: TestLoneParticle done. real/CPU ms: 3.3 / 3.3 -99: Starting test TestMassMatrix ... -99: testPositionKinematics ... -99: System COM=~[-0.626737,0.970848,0.383451] -99: testPositionKinematics done. real/CPU ms: 1.3 / 1.3 -99: testVelocityKinematics ... -99: System COM vel=~[0.316299,-0.059646,-0.323058] -99: testVelocityKinematics done. real/CPU ms: 0.9 / 0.9 -99: testRel2Cart ... -99: testRel2Cart done. real/CPU ms: 0.5 / 0.5 -99: testJacobianBiasTerms ... -99: testJacobianBiasTerms done. real/CPU ms: 1.0 / 1.0 -99: testCompositeBodyInertia ... -99: testCompositeBodyInertia done. real/CPU ms: 0.3 / 0.3 -99: testArticulatedBodyInertia ... -99: testArticulatedBodyInertia done. real/CPU ms: 1.0 / 1.0 -99: testArticulatedBodyVelocity ... -99: testArticulatedBodyVelocity done. real/CPU ms: 1.0 / 1.0 -99: testUnconstrainedSystem ... -99: testUnconstrainedSystem done. real/CPU ms: 1.0 / 1.0 -99: testConstrainedSystem ... -99: testConstrainedSystem done. real/CPU ms: 0.8 / 0.8 -99: testTaskJacobians ... -99: testTaskJacobians done. real/CPU ms: 1.8 / 1.8 -99: -99: TestMassMatrix done. real/CPU ms: 10.0 / 10.0 - 66/108 Test #6: RotationTest ................................... Passed 0.48 sec - 67/108 Test #44: newton ......................................... Passed 0.37 sec - 68/108 Test #62: IpoptTest ...................................... Passed 0.33 sec - 69/108 Test #79: TestTriangleMesh ............................... Passed 0.28 sec - 70/108 Test #87: TestAngleConversions ........................... Passed 0.22 sec - 71/108 Test #88: TestCollisionDetectionAlgorithm ................ Passed 0.22 sec - 72/108 Test #91: TestCustomMobilizedBodies ...................... Passed 0.21 sec - 73/108 Test #95: TestGravity .................................... Passed 0.20 sec - 74/108 Test #96: TestHuntCrossleyForce .......................... Passed 0.20 sec - 75/108 Test #97: TestLinearBushing .............................. Passed 0.20 sec - 76/108 Test #98: TestLoneParticle ............................... Passed 0.20 sec - 77/108 Test #99: TestMassMatrix ................................. Passed 0.19 sec -test 108 - Start 108: TestSmoothSphereHalfSpaceForce - -108: Test command: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/TestSmoothSphereHalfSpaceForce -108: Working Directory: /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests -108: Test timeout computed to be: 1500 -86: DBG: Line search iter 1: back=1, prevNorm=1.35363. -86: > piNow=~[29.1969 4.70735e-14 1.03251e-14 -13.5212 0.777238 -1.1064 32.5518 4.9658e-14 1.07751e-13] -86: > errNow=~[1.77636e-15 2.17451e-14 4.76955e-15 -1.77636e-15 -1.85851e-13 2.64566e-13 -4.44089e-16 3.49185e-14 7.57684e-14] normNow=3.34661e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.47233e-13 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.34661e-13. -86: DBG: Worst offender is normal contact 3 err=32.5518 ... -86: DBG: ... normal contact 3 released. -86: -86: ....... Active set iter 3 start -86: : active=(0,4,5,1,6,7) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.450352,0.102812, mag=0.461939 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.4498,-0.640294, mag=0.782494 -86: Participating UniCont 2 (ix=4): cond=UniOff/Sliding, vel=-0.292754,0.104017, mag=0.310684 -86: Participating UniCont 3 (ix=6): cond=UniOff/Sliding, vel=-0.293306,-0.639089, mag=0.70318 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.278127,-1.4221, mag=1.44904 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.269762,-0.657552, mag=0.710736 86: fillMult2Active: -86: : active=(0,4,5,1,6,7) -86: : mult2active=(0,3,-1111111111,-1111111111,1,2,4,5,-1111111111,-1111111111,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-2.42031; guess pi=-0.01 -86: DBG: active normal 3 has v=-5.19577; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.923567; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.726344; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-5.42101e-20 0.000395946 0.808104 0.8085 0.450352 0.102812 0.4498 -0.640294 -0.292754 0.104017 -0.293306 -0.639089] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[-2.42031 -5.19617 5.33355 2.55769 0.0397125 -2.38082 0.0375948 -5.23247 -2.8097 -2.37243 -2.81182 -5.22409] -86: : rhsActive=~[-2.42031 0.490065 -2.27801 -5.19577 0.487395 -5.87277] -86: : pi was=~[0 -13.5212 0 0 4.70735e-14 1.03251e-14 0.777238 -1.1064 -1.1556e-13 4.10134e-14 4.9658e-14 1.07751e-13] -86: : piActive=~[-0.01 4.70735e-14 1.03251e-14 -0.01 0.777238 -1.1064] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.38465e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=5.42443... -86: > NEWTON iter 1: errNorm=5.42443(v) -> deltaNorm=12.5532(pi) -86: > piActive=~[-0.01 4.70735e-14 1.03251e-14 -0.01 0.777238 -1.1064] -86: > errActive=~[2.26268 -0.000450352 -0.000102812 4.81529 0.607734 -0.865114] -86: > deltaPi=~[2.10811 -0.206491 -0.0471402 12.3726 0.0654766 -0.0932065] -86: DBG: Line search iter 1: back=1, prevNorm=5.42443. -86: > piNow=~[-2.11811 0.206491 0.0471402 -12.3826 0.711761 -1.0132] -86: > errNow=~[-4.44089e-16 -3.53637e-06 -8.07326e-07 0 -2.07297e-05 2.95088e-05] normNow=3.62443e-05 -86: DBG: Improvement rate now/prev at iter 1 is 6.68167e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.33548e-10 -86: > NEWTON iter 2: errNorm=3.62443e-05(v) -> deltaNorm=5.34208e-05(pi) -86: > piActive=~[-2.11811 0.206491 0.0471402 -12.3826 0.711761 -1.0132] -86: > errActive=~[-4.44089e-16 -3.53637e-06 -8.07326e-07 0 -2.07297e-05 2.95088e-05] -86: > deltaPi=~[-1.75401e-06 -7.48448e-06 -1.70865e-06 -3.06786e-05 -2.47283e-05 3.52009e-05] -86: DBG: Line search iter 1: back=1, prevNorm=3.62443e-05. -86: > piNow=~[-2.11811 0.206498 0.0471419 -12.3826 0.711786 -1.01323] -86: > errNow=~[0 5.55112e-17 1.38778e-17 -8.88178e-16 1.11022e-16 0] normNow=8.96917e-16 -86: DBG: Improvement rate now/prev at iter 2 is 2.47465e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.96917e-16. +86: : verrLeft was=~[0.000976823 2.1684e-18 -0.278127 -1.4221 -0.269762 -0.657552] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.924543 -0.726344 -0.0399893 -1.16854 -0.0364645 -0.848268] +86: : rhsActive=~[-0.923567 -0.318116 -2.59064 -0.726344 -0.306227 -1.50582] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.01181e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.17032... +86: > NEWTON iter 1: errNorm=1.17032(v) -> deltaNorm=3.18769(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.920091 0.000278127 0.0014221 0.723247 0.000269762 0.000657552] +86: > deltaPi=~[2.57578 0.0496292 0.253761 1.85074 0.0706224 0.172144] +86: DBG: Line search iter 1: back=1, prevNorm=1.17032. +86: > piNow=~[-2.58578 -0.0496292 -0.253761 -1.86074 -0.0706224 -0.172144] +86: > errNow=~[2.22045e-16 2.66848e-06 1.36443e-05 1.11022e-16 1.85968e-06 4.53301e-06] normNow=1.47409e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.25956e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.36102e-10 +86: > NEWTON iter 2: errNorm=1.47409e-05(v) -> deltaNorm=1.63987e-05(pi) +86: > piActive=~[-2.58578 -0.0496292 -0.253761 -1.86074 -0.0706224 -0.172144] +86: > errActive=~[2.22045e-16 2.66848e-06 1.36443e-05 1.11022e-16 1.85968e-06 4.53301e-06] +86: > deltaPi=~[-1.03072e-05 1.64371e-06 8.40451e-06 -7.15304e-06 2.34506e-06 5.71614e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.47409e-05. +86: > piNow=~[-2.58577 -0.0496308 -0.253769 -1.86073 -0.0706248 -0.172149] +86: > errNow=~[-2.22045e-16 -1.66533e-16 -8.32667e-16 1.11022e-16 -2.08167e-16 -5.27356e-16] normNow=1.05078e-15 +86: DBG: Improvement rate now/prev at iter 2 is 7.12831e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.05078e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.450352,0.102812] to ~[0.587338,0.120622] -86: DBG: Friction 0 rotated 1.25426 deg, less than max 30 -86: slipVel 1 from ~[0.4498,-0.640294] to ~[0.586594,-0.880362] -86: DBG: Friction 1 rotated 1.41176 deg, less than max 30 +86: slipVel 0 from ~[-0.278127,-1.4221] to ~[-0.296554,-1.42719] +86: DBG: Friction 0 rotated 0.672509 deg, less than max 30 +86: slipVel 1 from ~[-0.269762,-0.657552] to ~[-0.287716,-0.619394] +86: DBG: Friction 1 rotated 2.60944 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.11811 0.206498 0.0471419 -12.3826 0.711786 -1.01323] -86: : m_verrLeft=~[0 8.88178e-16 1.22071 1.22071 0.587338 0.120622 0.586594 -0.880362 -0.413646 0.122353 -0.41439 -0.878632] -86: : verrAppliedLeft=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: : m_piActive=~[-2.58577 -0.0496308 -0.253769 -1.86073 -0.0706248 -0.172149] +86: : m_verrLeft=~[2.22045e-16 -1.11022e-16 -0.296554 -1.42719 -0.287716 -0.619394] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.11811 verr=0 pi*v=-0 -86: DBG: 1: pi=-12.3826 verr=8.88178e-16 pi*v=-1.09979e-14 -86: DBG: 2: pi=0 verr=1.22071 pi*v=0 -86: DBG: 3: pi=0 verr=1.22071 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-2.11811 -12.3826 0 0 0.206498 0.0471419 0.711786 -1.01323 0 0 0 0] errNorm=8.96917e-16 +86: DBG: 0: pi=-2.58577 verr=2.22045e-16 pi*v=-5.74156e-16 +86: DBG: 1: pi=-1.86073 verr=-1.11022e-16 pi*v=2.06583e-16 +86: SP FINAL 1 intervals, piTotal=~[-2.58577 -1.86073 -0.0496308 -0.253769 -0.0706248 -0.172149] errNorm=1.05078e-15 86: 86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=4): +86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 +86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.450352 0.102812, |slipV|=0.461939 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.278127 -1.4221, |slipV|=1.44904 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (6,7) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.4498 -0.640294, |slipV|=0.782494 -86: 2: UnilateralContactIndex 4, normal MultiplierIndex 2, sign=1, hasFriction: 1 -86: friction MultIndices: (8,9) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.292754 0.104017, |slipV|=0.310684 -86: 3: UnilateralContactIndex 6, normal MultiplierIndex 3, sign=1, hasFriction: 1 -86: friction MultIndices: (10,11) effMu=0.1 +86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.293306 -0.639089, |slipV|=0.70318 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.269762 -0.657552, |slipV|=0.710736 86: ------------------------------ 86: -86: dynamics impulse=~[-2.11811 -12.3826 0 0 0.206498 0.0471419 0.711786 -1.01323 0 0 0 0] -86: updated verrStart=~[0 8.88178e-16 1.22071 1.22071 0.587338 0.120622 0.586594 -0.880362 -0.413646 0.122353 -0.41439 -0.878632] +86: dynamics impulse=~[-2.58577 -1.86073 -0.0496308 -0.253769 -0.0706248 -0.172149] +86: updated verrStart=~[2.22045e-16 -1.11022e-16 -0.296554 -1.42719 -0.287716 -0.619394] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[-0.000150162 0.000150162 0.808334 0.808634 0 0 0 0 0 0 0 0] +86: posVerr=~[0.0990066 -0.00601002 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.373777 0.121304 -0.102056 -0.35453 -0.0158962 0.350848 -0.0160626 0.126711 -0.239829 0.35063 -0.239996 0.126493] -86: [0.121304 0.371812 -0.352947 -0.102438 0.0151783 0.126155 0.0153447 0.35022 0.239041 0.125605 0.239207 0.34967] -86: [-0.102056 -0.352947 0.372973 0.122082 -0.0154507 -0.12604 -0.015617 -0.350007 -0.239214 -0.12549 -0.23938 -0.349456] -86: [-0.35453 -0.102438 0.122082 0.374174 0.0156238 -0.350734 0.0157903 -0.126498 0.239656 -0.350515 0.239823 -0.126279] -86: [-0.0158962 0.0151783 -0.0154507 0.0156238 0.0443407 0.0151913 0.044318 -0.0153832 0.0137411 0.0152144 0.0137184 -0.0153601] -86: [0.350848 0.126155 -0.12604 -0.350734 0.0151913 0.374476 0.0150047 0.123216 -0.235887 0.374277 -0.236073 0.123017] -86: [-0.0160626 0.0153447 -0.015617 0.0157903 0.044318 0.0150047 0.0442956 -0.0151968 0.0140912 0.0150275 0.0140687 -0.0151739] -86: [0.126711 0.35022 -0.350007 -0.126498 -0.0153832 0.123216 -0.0151968 0.374259 0.235478 0.122645 0.235665 0.373687] -86: [-0.239829 0.239041 -0.239214 0.239656 0.0137411 -0.235887 0.0140912 0.235478 0.484719 -0.236236 0.485069 0.235129] -86: [0.35063 0.125605 -0.12549 -0.350515 0.0152144 0.374277 0.0150275 0.122645 -0.236236 0.374079 -0.236423 0.122446] -86: [-0.239996 0.239207 -0.23938 0.239823 0.0137184 -0.236073 0.0140687 0.235665 0.485069 -0.236423 0.485419 0.235315] -86: [0.126493 0.34967 -0.349456 -0.126279 -0.0153601 0.123017 -0.0151739 0.373687 0.235129 0.122446 0.235315 0.373116] -86: D=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: rcond(A+D)=0.508978 rank=2 -86: rhs=~[-0.000150162 0.000150162 0.808334 0.808634 0 0 0 0 0 0 0 0] +86: [0.246056 0.101505 -7.75609e-05 0.305958 -0.00210821 0.121738] +86: [0.101505 0.208213 0.00585264 0.124251 0.00730762 0.256216] +86: [-7.75609e-05 0.00585264 0.0521783 0.0432817 0.0513035 -0.036736] +86: [0.305958 0.124251 0.0432817 0.449236 0.0397563 0.128748] +86: [-0.00210821 0.00730762 0.0513035 0.0397563 0.0504986 -0.0339084] +86: [0.121738 0.256216 -0.036736 0.128748 -0.0339084 0.385906] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.374955 rank=2 +86: rhs=~[0.0990066 -0.00601002 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[-0.000595904 0.000598278] -86: -> pi=~[-0.000595904 0.000598278 0 0 0 0 0 0 0 0 0 0] -86: resid active=~[0 0] -86: resid=~[0 0 -0.808484 -0.808484 1.85534e-05 -0.000133596 1.87522e-05 0.000134022 0.000285928 -0.000133795 0.000286127 0.000133823] +86: -> piActive=~[0.518572 -0.281672] +86: -> pi=~[0.518572 -0.281672 0 0 0 0] +86: resid active=~[2.77556e-17 -8.67362e-18] +86: resid=~[2.77556e-17 -8.67362e-18 -0.00168875 0.123663 -0.00315161 -0.00903886] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[3.50929e-16 1.13361e-15 1.22071 1.22071 0.587338 0.120622 0.586594 -0.880362 -0.413646 0.122353 -0.41439 -0.878632] -86: perr=~[-1.50162e-07 1.50162e-07 0.000808334 0.000808634 2.22045e-16] -86: END OF STEP (0.001,0.002): -86: verr=~[-0.000610956 0.000610956 1.2201 1.22132 0.587839 0.120621 0.586093 -0.880361 -0.413141 0.124844 -0.414887 -0.876139] -86: perr=~[-4.5564e-07 4.5564e-07 0.00202874 0.00202965 0] +86: verr=~[1.3043e-16 -2.5121e-16 -0.296554 -1.42719 -0.287716 -0.619394] +86: perr=~[9.90066e-05 -6.01002e-06 0] +86: END OF STEP (0.067,0.068): +86: verr=~[0.000692692 -0.000692692 -0.296228 -1.42719 -0.288043 -0.619391] +86: perr=~[9.93529e-05 -6.35636e-06 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding -86: 4: cont UniOff fric Sliding -86: 6: cont UniOff fric Sliding 86: Proximal unilateral contacts: (0,2) 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.600087 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.05761 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000610956 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.45761 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.683092 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000692692 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) +86: impacters: (1) +86: observers: (0) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000610956 0.000610956 0.587839 0.120621 0.586093 -0.880361] -86: IMP t=0.002 verr=~[-0.000610956 0.000610956 0.587839 0.120621 0.586093 -0.880361] +86: verr=~[0.000692692 -0.000692692 -0.296228 -1.42719 -0.288043 -0.619391] +86: IMP t=0.068 verr=~[0.000692692 -0.000692692 -0.296228 -1.42719 -0.288043 -0.619391] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -29659,115 +40694,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000610956 0.000610956 0.587839 0.120621 0.586093 -0.880361] +86: verrLeft=~[0.000692692 -0.000692692 -0.296228 -1.42719 -0.288043 -0.619391] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.587839,0.120621, mag=0.600087 -86: Participating contact 1 is Sliding; vel=0.586093,-0.880361, mag=1.05761 +86: Participating contact 0 is Sliding; vel=-0.296228,-1.42719, mag=1.45761 +86: Participating contact 1 is Sliding; vel=-0.288043,-0.619391, mag=0.683092 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.587839,0.120621, mag=0.600087 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.586093,-0.880361, mag=1.05761 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.296228,-1.42719, mag=1.45761 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.288043,-0.619391, mag=0.683092 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000610956; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000610956; guess pi=0.01 +86: DBG: active normal 0 has v=0.000692692; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000692692; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000610956 0.000610956 0.587839 0.120621 0.586093 -0.880361] +86: : verrLeft was=~[0.000692692 -0.000692692 -0.296228 -1.42719 -0.288043 -0.619391] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000610956 0.587839 0.120621 0.000610956 0.586093 -0.880361] +86: : rhsActive=~[0.000692692 -0.296228 -1.42719 -0.000692692 -0.288043 -0.619391] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.52943e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00274981... -86: > NEWTON iter 1: errNorm=0.00274981(v) -> deltaNorm=0.0106904(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.00192715 -0.000587839 -0.000120621 0.00186747 0 0] -86: > deltaPi=~[-0.00754867 -0.000240157 -4.9279e-05 0.00756586 -1.56175e-08 2.34587e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.00274981. -86: > piNow=~[-0.00245133 0.000240157 4.9279e-05 0.00243414 1.56175e-08 -2.34587e-08] -86: > errNow=~[-3.25261e-19 1.65288e-08 3.39161e-09 1.0842e-19 1.65172e-08 -2.48102e-08] normNow=3.42501e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.24554e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.60522e-05 -86: > NEWTON iter 2: errNorm=3.42501e-08(v) -> deltaNorm=4.4216e-08(pi) -86: > piActive=~[-0.00245133 0.000240157 4.9279e-05 0.00243414 1.56175e-08 -2.34587e-08] -86: > errActive=~[-3.25261e-19 1.65288e-08 3.39161e-09 1.0842e-19 1.65172e-08 -2.48102e-08] -86: > deltaPi=~[-1.50824e-09 2.76916e-08 5.68217e-09 1.89609e-08 1.56168e-08 -2.34578e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.42501e-08. -86: > piNow=~[-0.00245133 0.00024013 4.92733e-05 0.00243412 6.59402e-13 -9.90478e-13] -86: > errNow=~[0 5.48627e-14 1.12575e-14 1.0842e-19 6.97391e-13 -1.04754e-12] normNow=1.25969e-12 -86: DBG: Improvement rate now/prev at iter 2 is 3.67793e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.25969e-12. -86: DBG: Worst offender is normal contact 1 err=0.00243412 ... -86: DBG: ... normal contact 1 released. +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.99604e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00108265... +86: > NEWTON iter 1: errNorm=0.00108265(v) -> deltaNorm=0.00673223(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.000751829 0 0 -0.000374527 0.000288043 0.000619391] +86: > deltaPi=~[0.00477069 3.61142e-09 1.73994e-08 -0.00472067 0.000222623 0.000478717] +86: DBG: Line search iter 1: back=1, prevNorm=0.00108265. +86: > piNow=~[0.00522931 -3.61142e-09 -1.73994e-08 -0.00527933 -0.000222623 -0.000478717] +86: > errNow=~[-5.42101e-19 -5.26403e-09 -2.53614e-08 0 -5.06492e-09 -1.08913e-08] normNow=2.85515e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.63718e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.18465e-05 +86: > NEWTON iter 2: errNorm=2.85515e-08(v) -> deltaNorm=3.66579e-08(pi) +86: > piActive=~[0.00522931 -3.61142e-09 -1.73994e-08 -0.00527933 -0.000222623 -0.000478717] +86: > errActive=~[-5.42101e-19 -5.26403e-09 -2.53614e-08 0 -5.06492e-09 -1.08913e-08] +86: > deltaPi=~[2.12966e-08 -3.61136e-09 -1.73991e-08 1.8041e-08 -6.65406e-09 -1.43085e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.85515e-08. +86: > piNow=~[0.00522929 -5.89373e-14 -2.83953e-13 -0.00527934 -0.000222617 -0.000478703] +86: > errNow=~[-1.0842e-19 -8.59074e-14 -4.13891e-13 3.25261e-19 6.94297e-14 1.49298e-13] normNow=4.53648e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.58888e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.53648e-13. +86: DBG: Worst offender is normal contact 0 err=0.00522929 ... +86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.587839,0.120621, mag=0.600087 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=0.586093,-0.880361, mag=1.05761 +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.296228,-1.42719, mag=1.45761 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.288043,-0.619391, mag=0.683092 86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000610956; guess pi=-0.01 +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000692692; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000610956 0.000610956 0.587839 0.120621 0.586093 -0.880361] +86: : verrLeft was=~[0.000692692 -0.000692692 -0.296228 -1.42719 -0.288043 -0.619391] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000610956 0.587839 0.120621] -86: : pi was=~[-0.00245133 0 0.00024013 4.92733e-05 6.59402e-13 -9.90478e-13] -86: : piActive=~[-0.01 0.00024013 4.92733e-05] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.23525e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00312627... -86: > NEWTON iter 1: errNorm=0.00312627(v) -> deltaNorm=0.00833265(pi) -86: > piActive=~[-0.01 0.00024013 4.92733e-05] -86: > errActive=~[-0.00309328 -0.00044374 -9.10531e-05] -86: > deltaPi=~[-0.00833229 7.67317e-05 1.57449e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.00312627. -86: > piNow=~[-0.00166771 0.000163398 3.35284e-05] -86: > errNow=~[0 1.82446e-08 3.74369e-09] normNow=1.86247e-08 -86: DBG: Improvement rate now/prev at iter 1 is 5.95748e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.00552e-05 -86: > NEWTON iter 2: errNorm=1.86247e-08(v) -> deltaNorm=3.1825e-08(pi) -86: > piActive=~[-0.00166771 0.000163398 3.35284e-05] -86: > errActive=~[0 1.82446e-08 3.74369e-09] -86: > deltaPi=~[-4.57844e-09 3.08512e-08 6.33049e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.86247e-08. -86: > piNow=~[-0.00166771 0.000163367 3.35221e-05] -86: > errNow=~[-1.0842e-19 3.59047e-13 7.36746e-14] normNow=3.66528e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.96797e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.66528e-13. +86: : rhsActive=~[-0.000692692 -0.288043 -0.619391] +86: : pi was=~[0 -0.00527934 -5.89373e-14 -2.83953e-13 -0.000222617 -0.000478703] +86: : piActive=~[-0.01 -0.000222617 -0.000478703] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.54443e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00154104... +86: > NEWTON iter 1: errNorm=0.00154104(v) -> deltaNorm=0.00700598(pi) +86: > piActive=~[-0.01 -0.000222617 -0.000478703] +86: > errActive=~[-0.00150693 0.000135975 0.000292393] +86: > deltaPi=~[-0.00700226 -9.61987e-05 -0.00020686] +86: DBG: Line search iter 1: back=1, prevNorm=0.00154104. +86: > piNow=~[-0.00299774 -0.000126418 -0.000271843] +86: > errNow=~[1.0842e-19 -7.51289e-09 -1.61553e-08] normNow=1.78168e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.15615e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.82821e-05 +86: > NEWTON iter 2: errNorm=1.78168e-08(v) -> deltaNorm=3.54169e-08(pi) +86: > piActive=~[-0.00299774 -0.000126418 -0.000271843] +86: > errActive=~[1.0842e-19 -7.51289e-09 -1.61553e-08] +86: > deltaPi=~[2.65614e-08 -9.8788e-09 -2.12428e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.78168e-08. +86: > piNow=~[-0.00299776 -0.000126408 -0.000271821] +86: > errNow=~[0 3.16768e-13 6.81159e-13] normNow=7.51212e-13 +86: DBG: Improvement rate now/prev at iter 2 is 4.21632e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.51212e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.587839,0.120621] to ~[0.587803,0.121189] -86: DBG: Friction 0 rotated 0.0537692 deg, less than max 30 +86: slipVel 1 from ~[-0.288043,-0.619391] to ~[-0.288024,-0.618523] +86: DBG: Friction 1 rotated 0.0293284 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00166771 0.000163367 3.35221e-05] -86: : m_verrLeft=~[1.0842e-19 0.000801038 0.587803 0.121189 0.586057 -0.880154] +86: : m_piActive=~[-0.00299776 -0.000126408 -0.000271821] +86: : m_verrLeft=~[0.00102765 0 -0.296214 -1.42678 -0.288024 -0.618523] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00166771 verr=1.0842e-19 pi*v=-1.80813e-22 -86: DBG: 1: pi=0 verr=0.000801038 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00166771 0 0.000163367 3.35221e-05 0 0] errNorm=3.66528e-13 -86: Postcompression verr=~[1.0842e-19 0.000801038 0.587803 0.121189 0.586057 -0.880154] -86: impulse=~[-0.00166771 0 0.000163367 3.35221e-05 0 0] +86: DBG: 0: pi=0 verr=0.00102765 pi*v=0 +86: DBG: 1: pi=-0.00299776 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00299776 0 0 -0.000126408 -0.000271821] errNorm=7.51212e-13 +86: Postcompression verr=~[0.00102765 0 -0.296214 -1.42678 -0.288024 -0.618523] +86: impulse=~[0 -0.00299776 0 0 -0.000126408 -0.000271821] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00166771 0 0.000163367 3.35221e-05 0 0]-> du ~[-0.000419528 0.000771529 -0.000360318 -0.00038756 -3.56047e-05 0.000400519 -0.00150572 0.0010552] -86: Now verr0=~[0 0.000801038 0.587803 0.121189 0.586057 -0.880154] +86: Impact: imp ~[0 -0.00299776 0 0 -0.000126408 -0.000271821]-> du ~[0.000369121 0.001122 0.000456856 -0.000640225 1.64786e-05 0.000513825 -0.00197424 0.00152344] +86: Now verr0=~[0.00102765 1.40946e-18 -0.296214 -1.42678 -0.288024 -0.618523] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0 0.000801038 0.587803 0.121189 0.586057 -0.880154] -86: verrExt=~[0.45666 -1.32773 0.0891274 0.502889 0.0857381 -1.44151] -86: total verr=~[0.45666 -1.32692 0.676931 0.624079 0.671795 -2.32166] -86: DYN t=0.002: verrStart=~[0 0.000801038 0.587803 0.121189 0.586057 -0.880154] -86: verrApplied=~[0.45666 -1.32773 0.0891274 0.502889 0.0857381 -1.44151] +86: verr0 =~[0.00102765 1.40946e-18 -0.296214 -1.42678 -0.288024 -0.618523] +86: verrExt=~[-0.864727 -0.679654 -0.035556 -1.09226 -0.0325147 -0.794037] +86: total verr=~[-0.8637 -0.679654 -0.33177 -2.51904 -0.320539 -1.41256] +86: DYN t=0.068: verrStart=~[0.00102765 1.40946e-18 -0.296214 -1.42678 -0.288024 -0.618523] +86: verrApplied=~[-0.864727 -0.679654 -0.035556 -1.09226 -0.0325147 -0.794037] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -29779,162 +40814,125 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0 0.000801038 0.587803 0.121189 0.586057 -0.880154] -86: verrApplied=~[0.45666 -1.32773 0.0891274 0.502889 0.0857381 -1.44151] +86: verrLeft=~[0.00102765 1.40946e-18 -0.296214 -1.42678 -0.288024 -0.618523] +86: verrApplied=~[-0.864727 -0.679654 -0.035556 -1.09226 -0.0325147 -0.794037] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.587803,0.121189, mag=0.600166 -86: Participating contact 1 is Sliding; vel=0.586057,-0.880154, mag=1.05742 +86: Participating contact 0 is Sliding; vel=-0.296214,-1.42678, mag=1.4572 +86: Participating contact 1 is Sliding; vel=-0.288024,-0.618523, mag=0.682296 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.587803,0.121189, mag=0.600166 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.586057,-0.880154, mag=1.05742 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.296214,-1.42678, mag=1.4572 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.288024,-0.618523, mag=0.682296 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.45666; guess pi=0.01 -86: DBG: active normal 3 has v=-1.32692; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.8637; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.679654; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0 0.000801038 0.587803 0.121189 0.586057 -0.880154] +86: : verrLeft was=~[0.00102765 1.40946e-18 -0.296214 -1.42678 -0.288024 -0.618523] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.45666 -1.32773 0.0891274 0.502889 0.0857381 -1.44151] -86: : rhsActive=~[0.45666 0.676931 0.624079 -1.32692 0.671795 -2.32166] +86: : verrApplied was=~[-0.864727 -0.679654 -0.035556 -1.09226 -0.0325147 -0.794037] +86: : rhsActive=~[-0.8637 -0.33177 -2.51904 -0.679654 -0.320539 -1.41256] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.52895e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.40014... -86: > NEWTON iter 1: errNorm=1.40014(v) -> deltaNorm=4.96303(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[-0.454122 0 0 1.32445 -0.000586057 0.000880154] -86: > deltaPi=~[-2.66984 9.73997e-06 2.00812e-06 4.16287 -0.231266 0.34732] -86: DBG: Line search iter 1: back=1, prevNorm=1.40014. -86: > piNow=~[2.67984 -9.73997e-06 -2.00812e-06 -4.17287 0.231266 -0.34732] -86: > errNow=~[2.22045e-16 -5.8456e-06 -1.2052e-06 0 -9.0875e-06 1.36478e-05] normNow=1.7449e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.24624e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.21705e-10 -86: > NEWTON iter 2: errNorm=1.7449e-05(v) -> deltaNorm=2.02623e-05(pi) -86: > piActive=~[2.67984 -9.73997e-06 -2.00812e-06 -4.17287 0.231266 -0.34732] -86: > errActive=~[2.22045e-16 -5.8456e-06 -1.2052e-06 0 -9.0875e-06 1.36478e-05] -86: > deltaPi=~[2.15638e-07 -9.73997e-06 -2.00812e-06 -1.00691e-05 -8.03597e-06 1.20686e-05] -86: DBG: Line search iter 1: back=1, prevNorm=1.7449e-05. -86: > piNow=~[2.67984 1.09555e-17 2.25777e-18 -4.17286 0.231274 -0.347332] -86: > errNow=~[-2.77556e-16 6.57514e-18 1.35504e-18 -4.44089e-16 1.11022e-16 -2.22045e-16] normNow=5.79592e-16 -86: DBG: Improvement rate now/prev at iter 2 is 3.32163e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.79592e-16. -86: DBG: Worst offender is normal contact 0 err=2.67984 ... -86: DBG: ... normal contact 0 released. -86: -86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=0.587803,0.121189, mag=0.600166 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.586057,-0.880154, mag=1.05742 -86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-1.32692; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[0 0.000801038 0.587803 0.121189 0.586057 -0.880154] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.45666 -1.32773 0.0891274 0.502889 0.0857381 -1.44151] -86: : rhsActive=~[-1.32692 0.671795 -2.32166] -86: : pi was=~[0 -4.17286 1.09555e-17 2.25777e-18 0.231274 -0.347332] -86: : piActive=~[-0.01 0.231274 -0.347332] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.93875e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.28442... -86: > NEWTON iter 1: errNorm=1.28442(v) -> deltaNorm=3.36111(pi) -86: > piActive=~[-0.01 0.231274 -0.347332] -86: > errActive=~[1.20664 0.243967 -0.366396] -86: > deltaPi=~[3.36015 0.0444957 -0.0668247] -86: DBG: Line search iter 1: back=1, prevNorm=1.28442. -86: > piNow=~[-3.37015 0.186778 -0.280508] -86: > errNow=~[2.22045e-16 -7.33517e-06 1.10161e-05] normNow=1.32348e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.03041e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.47851e-11 -86: > NEWTON iter 2: errNorm=1.32348e-05(v) -> deltaNorm=1.46336e-05(pi) -86: > piActive=~[-3.37015 0.186778 -0.280508] -86: > errActive=~[2.22045e-16 -7.33517e-06 1.10161e-05] -86: > deltaPi=~[-8.88481e-06 -6.44444e-06 9.67841e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.32348e-05. -86: > piNow=~[-3.37014 0.186785 -0.280517] -86: > errNow=~[0 1.66533e-16 -2.22045e-16] normNow=2.77556e-16 -86: DBG: Improvement rate now/prev at iter 2 is 2.09717e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.77556e-16. +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.99342e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.09442... +86: > NEWTON iter 1: errNorm=1.09442(v) -> deltaNorm=2.99495(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.860239 0.000296214 0.00142678 0.67657 0.000288024 0.000618523] +86: > deltaPi=~[2.41625 0.049318 0.237551 1.74409 0.0740443 0.159008] +86: DBG: Line search iter 1: back=1, prevNorm=1.09442. +86: > piNow=~[-2.42625 -0.049318 -0.237551 -1.75409 -0.0740443 -0.159008] +86: > errNow=~[-2.22045e-16 2.66599e-06 1.28413e-05 2.22045e-16 1.87115e-06 4.01824e-06] normNow=1.38439e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.26495e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.44247e-10 +86: > NEWTON iter 2: errNorm=1.38439e-05(v) -> deltaNorm=1.53707e-05(pi) +86: > piActive=~[-2.42625 -0.049318 -0.237551 -1.75409 -0.0740443 -0.159008] +86: > errActive=~[-2.22045e-16 2.66599e-06 1.28413e-05 2.22045e-16 1.87115e-06 4.01824e-06] +86: > deltaPi=~[-9.66229e-06 1.63312e-06 7.86626e-06 -6.66032e-06 2.46128e-06 5.28552e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.38439e-05. +86: > piNow=~[-2.42624 -0.0493196 -0.237558 -1.75408 -0.0740468 -0.159013] +86: > errNow=~[0 -1.80411e-16 -8.88178e-16 0 -2.28983e-16 -4.996e-16] normNow=1.05993e-15 +86: DBG: Improvement rate now/prev at iter 2 is 7.65625e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.05993e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[0.586057,-0.880154] to ~[0.711127,-1.04825] -86: DBG: Friction 1 rotated 0.494847 deg, less than max 30 +86: slipVel 0 from ~[-0.296214,-1.42678] to ~[-0.312058,-1.427] +86: DBG: Friction 0 rotated 0.606704 deg, less than max 30 +86: slipVel 1 from ~[-0.288024,-0.618523] to ~[-0.30348,-0.580499] +86: DBG: Friction 1 rotated 2.6305 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-3.37014 0.186785 -0.280517] -86: : m_verrLeft=~[0.892432 0 0.714826 1.07322 0.711127 -1.04825] +86: : m_piActive=~[-2.42624 -0.0493196 -0.237558 -1.75408 -0.0740468 -0.159013] +86: : m_verrLeft=~[0 0 -0.312058 -1.427 -0.30348 -0.580499] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.892432 pi*v=0 -86: DBG: 1: pi=-3.37014 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -3.37014 0 0 0.186785 -0.280517] errNorm=2.77556e-16 +86: DBG: 0: pi=-2.42624 verr=0 pi*v=-0 +86: DBG: 1: pi=-1.75408 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-2.42624 -1.75408 -0.0493196 -0.237558 -0.0740468 -0.159013] errNorm=1.05993e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.587803 0.121189, |slipV|=0.600166 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.296214 -1.42678, |slipV|=1.4572 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.586057 -0.880154, |slipV|=1.05742 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.288024 -0.618523, |slipV|=0.682296 86: ------------------------------ 86: -86: dynamics impulse=~[0 -3.37014 0 0 0.186785 -0.280517] -86: updated verrStart=~[0.892432 0 0.714826 1.07322 0.711127 -1.04825] +86: dynamics impulse=~[-2.42624 -1.75408 -0.0493196 -0.237558 -0.0740468 -0.159013] +86: updated verrStart=~[0 0 -0.312058 -1.427 -0.30348 -0.580499] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[-0.00045564 0.00045564 0 0 0 0] +86: posVerr=~[0.0993529 -0.00635636 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.371748 0.117937 -0.0165167 0.349355 -0.0169072 0.125298] -86: [0.117937 0.36578 0.0150068 0.123832 0.0153941 0.346037] -86: [-0.0165167 0.0150068 0.04442 0.014583 0.0443673 -0.0156598] -86: [0.349355 0.123832 0.014583 0.373496 0.014146 0.122829] -86: [-0.0169072 0.0153941 0.0443673 0.014146 0.044316 -0.0152253] -86: [0.125298 0.346037 -0.0156598 0.122829 -0.0152253 0.37208] +86: [0.24527 0.100817 -0.000524799 0.305831 -0.00240746 0.121536] +86: [0.100817 0.207539 0.00587672 0.123971 0.00722721 0.25614] +86: [-0.000524799 0.00587672 0.0519988 0.0426791 0.0511964 -0.036583] +86: [0.305831 0.123971 0.0426791 0.450368 0.0394061 0.129247] +86: [-0.00240746 0.00722721 0.0511964 0.0394061 0.050454 -0.0339588] +86: [0.121536 0.25614 -0.036583 0.129247 -0.0339588 0.386823] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.515243 rank=2 -86: rhs=~[-0.00045564 0.00045564 0 0 0 0] +86: rcond(A+D)=0.376437 rank=2 +86: rhs=~[0.0993529 -0.00635636 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[-0.00180554 0.00182782] -86: -> pi=~[-0.00180554 0.00182782 0 0 0 0] -86: resid active=~[-1.0842e-19 0] -86: resid=~[-1.0842e-19 0 5.72515e-05 -0.000404432 5.86644e-05 0.000406264] +86: -> piActive=~[0.521871 -0.284139] +86: -> pi=~[0.521871 -0.284139 0 0 0 0] +86: resid active=~[6.93889e-17 1.47451e-17] +86: resid=~[6.93889e-17 1.47451e-17 -0.00194368 0.124379 -0.00330992 -0.00935347] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[0.892432 4.44089e-16 0.714826 1.07322 0.711127 -1.04825] -86: perr=~[-4.5564e-07 4.5564e-07 0] -86: END OF STEP (0.002,0.003): -86: verr=~[0.891946 0.000486315 0.717475 1.07342 0.708478 -1.04844] -86: perr=~[0.000891733 6.98797e-07 0] +86: verr=~[3.2255e-16 1.80303e-16 -0.312058 -1.427 -0.30348 -0.580499] +86: perr=~[9.93529e-05 -6.35636e-06 0] +86: END OF STEP (0.068,0.069): +86: verr=~[0.000720618 -0.000720618 -0.311699 -1.42701 -0.303839 -0.580496] +86: perr=~[9.97132e-05 -6.71667e-06 -1.11022e-16] 86: constraint status: -86: 0: cont UniOff fric Sliding +86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding 86: Proximal unilateral contacts: (0,2) 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.29112 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.26538 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=1.46065 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.655205 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000720618 at or below tol 0.001 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.891946 0.000486315 0.717475 1.07342 0.708478 -1.04844] -86: verrExt=~[2.73132 1.8113 0.111361 2.80317 0.106315 1.70985] -86: total verr=~[3.62327 1.81179 0.828836 3.87659 0.814793 0.661407] -86: DYN t=0.003: verrStart=~[0.891946 0.000486315 0.717475 1.07342 0.708478 -1.04844] -86: verrApplied=~[2.73132 1.8113 0.111361 2.80317 0.106315 1.70985] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.000720618 -0.000720618 -0.311699 -1.42701 -0.303839 -0.580496] +86: IMP t=0.069 verr=~[0.000720618 -0.000720618 -0.311699 -1.42701 -0.303839 -0.580496] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -29946,538 +40944,245 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.891946 0.000486315 0.717475 1.07342 0.708478 -1.04844] -86: verrApplied=~[2.73132 1.8113 0.111361 2.80317 0.106315 1.70985] +86: verrLeft=~[0.000720618 -0.000720618 -0.311699 -1.42701 -0.303839 -0.580496] +86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.717475,1.07342, mag=1.29112 -86: Participating contact 1 is Sliding; vel=0.708478,-1.04844, mag=1.26538 +86: Participating contact 0 is Sliding; vel=-0.311699,-1.42701, mag=1.46065 +86: Participating contact 1 is Sliding; vel=-0.303839,-0.580496, mag=0.655205 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.717475,1.07342, mag=1.29112 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.708478,-1.04844, mag=1.26538 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.311699,-1.42701, mag=1.46065 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.303839,-0.580496, mag=0.655205 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=3.62327; guess pi=0.01 -86: DBG: active normal 3 has v=1.81179; guess pi=0.01 +86: DBG: active normal 0 has v=0.000720618; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000720618; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.891946 0.000486315 0.717475 1.07342 0.708478 -1.04844] +86: : verrLeft was=~[0.000720618 -0.000720618 -0.311699 -1.42701 -0.303839 -0.580496] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[2.73132 1.8113 0.111361 2.80317 0.106315 1.70985] -86: : rhsActive=~[3.62327 0.828836 3.87659 1.81179 0.814793 0.661407] +86: : verrApplied was=~[] +86: : rhsActive=~[0.000720618 -0.311699 -1.42701 -0.000720618 -0.303839 -0.580496] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.73387e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=4.04461... -86: > NEWTON iter 1: errNorm=4.04461(v) -> deltaNorm=9.4117(pi) -86: > piActive=~[0.01 0 0 0.01 0 0] -86: > errActive=~[-3.61846 0 0 -1.80711 0 0] -86: > deltaPi=~[-9.15575 1.89515e-05 2.83535e-05 -2.18001 4.54649e-06 -6.72815e-06] -86: DBG: Line search iter 1: back=1, prevNorm=4.04461. -86: > piNow=~[9.16575 -1.89515e-05 -2.83535e-05 2.19001 -4.54649e-06 6.72815e-06] -86: > errNow=~[-2.66454e-15 -2.44688e-05 -3.66079e-05 4.44089e-16 -5.75303e-06 8.51364e-06] normNow=4.52155e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.11792e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.89791e-10 -86: > NEWTON iter 2: errNorm=4.52155e-05(v) -> deltaNorm=4.2909e-05(pi) -86: > piActive=~[9.16575 -1.89515e-05 -2.83535e-05 2.19001 -4.54649e-06 6.72815e-06] -86: > errActive=~[-2.66454e-15 -2.44688e-05 -3.66079e-05 4.44089e-16 -5.75303e-06 8.51364e-06] -86: > deltaPi=~[2.44732e-05 -1.89515e-05 -2.83535e-05 -3.6362e-06 -4.54649e-06 6.72815e-06] -86: DBG: Line search iter 1: back=1, prevNorm=4.52155e-05. -86: > piNow=~[9.16572 6.02952e-17 9.02259e-17 2.19001 -1.58133e-16 2.34012e-16] -86: > errNow=~[0 7.78486e-17 1.16493e-16 0 -2.00098e-16 2.96114e-16] normNow=3.83867e-16 -86: DBG: Improvement rate now/prev at iter 2 is 8.48972e-12 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.83867e-16. -86: DBG: Worst offender is normal contact 0 err=9.16572 ... +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.96305e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00103608... +86: > NEWTON iter 1: errNorm=0.00103608(v) -> deltaNorm=0.00642977(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.000723521 0 0 -0.000347384 0.000303839 0.000580496] +86: > deltaPi=~[0.00456142 3.62577e-09 1.65993e-08 -0.00449808 0.000255149 0.000487472] +86: DBG: Line search iter 1: back=1, prevNorm=0.00103608. +86: > piNow=~[0.00543858 -3.62577e-09 -1.65993e-08 -0.00550192 -0.000255149 -0.000487472] +86: > errNow=~[3.25261e-19 -5.29599e-09 -2.42458e-08 -1.0842e-19 -5.09075e-09 -9.72608e-09] normNow=2.7137e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.61922e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.00784e-05 +86: > NEWTON iter 2: errNorm=2.7137e-08(v) -> deltaNorm=3.48773e-08(pi) +86: > piActive=~[0.00543858 -3.62577e-09 -1.65993e-08 -0.00550192 -0.000255149 -0.000487472] +86: > errActive=~[3.25261e-19 -5.29599e-09 -2.42458e-08 -1.0842e-19 -5.09075e-09 -9.72608e-09] +86: > deltaPi=~[2.03478e-08 -3.62572e-09 -1.65991e-08 1.69374e-08 -6.98436e-09 -1.33439e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.7137e-08. +86: > piNow=~[0.00543856 -5.46678e-14 -2.50277e-13 -0.00550194 -0.000255142 -0.000487459] +86: > errNow=~[2.1684e-19 -7.98505e-14 -3.65568e-13 0 6.33082e-14 1.20953e-13] normNow=3.98313e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.46778e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.98313e-13. +86: DBG: Worst offender is normal contact 0 err=0.00543856 ... 86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start 86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=0.717475,1.07342, mag=1.29112 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.708478,-1.04844, mag=1.26538 +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.311699,-1.42701, mag=1.46065 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.303839,-0.580496, mag=0.655205 86: fillMult2Active: 86: : active=(1,4,5) 86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=1.81179; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[0.891946 0.000486315 0.717475 1.07342 0.708478 -1.04844] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[2.73132 1.8113 0.111361 2.80317 0.106315 1.70985] -86: : rhsActive=~[1.81179 0.814793 0.661407] -86: : pi was=~[0 0 6.02952e-17 9.02259e-17 -1.58133e-16 2.34012e-16] -86: : piActive=~[0.01 -1.58133e-16 2.34012e-16] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.71337e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.80824... -86: > NEWTON iter 1: errNorm=1.80824(v) -> deltaNorm=5.09406(pi) -86: > piActive=~[0.01 -1.58133e-16 2.34012e-16] -86: > errActive=~[-1.80824 -2.00098e-16 2.96114e-16] -86: > deltaPi=~[-5.09406 1.06239e-05 -1.57218e-05] -86: DBG: Line search iter 1: back=1, prevNorm=1.80824. -86: > piNow=~[5.10406 -1.06239e-05 1.57218e-05] -86: > errNow=~[0 -1.34432e-05 1.98939e-05] normNow=2.40102e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.32782e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.47389e-11 -86: > NEWTON iter 2: errNorm=2.40102e-05(v) -> deltaNorm=2.38442e-05(pi) -86: > piActive=~[5.10406 -1.06239e-05 1.57218e-05] -86: > errActive=~[0 -1.34432e-05 1.98939e-05] -86: > deltaPi=~[-1.44397e-05 -1.06239e-05 1.57218e-05] -86: DBG: Line search iter 1: back=1, prevNorm=2.40102e-05. -86: > piNow=~[5.10407 -1.15613e-16 1.71084e-16] -86: > errNow=~[0 -1.46294e-16 2.16485e-16] normNow=2.61281e-16 -86: DBG: Improvement rate now/prev at iter 2 is 1.08821e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.61281e-16. -86: DBG: Worst offender is normal contact 1 err=5.10407 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 3 start -86: : active=() -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=0.717475,1.07342, mag=1.29112 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=0.708478,-1.04844, mag=1.26538 -86: fillMult2Active: -86: : active=() -86: : mult2active=(-1111111111,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000720618; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.891946 0.000486315 0.717475 1.07342 0.708478 -1.04844] +86: : verrLeft was=~[0.000720618 -0.000720618 -0.311699 -1.42701 -0.303839 -0.580496] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[2.73132 1.8113 0.111361 2.80317 0.106315 1.70985] -86: : rhsActive=~[] -86: : pi was=~[0 0 6.02952e-17 9.02259e-17 -1.15613e-16 1.71084e-16] -86: : piActive=~[] -86: SP interval 1 end: s=1 -86: : m_piActive=~[] -86: : m_verrLeft=~[3.62327 1.81179 0.828836 3.87659 0.814793 0.661407] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=3.62327 pi*v=0 -86: DBG: 1: pi=0 verr=1.81179 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[0 0 0 0 0 0] errNorm=0 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.717475 1.07342, |slipV|=1.29112 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.708478 -1.04844, |slipV|=1.26538 -86: ------------------------------ -86: -86: dynamics impulse=~[0 0 0 0 0 0] -86: updated verrStart=~[3.62327 1.81179 0.828836 3.87659 0.814793 0.661407] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.891733 0.000698797 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 0 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: DBG: no bilateral participators. Nothing to do. -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[3.62327 1.81179 0.828836 3.87659 0.814793 0.661407] -86: perr=~[0.000891733 6.98797e-07 0] -86: END OF STEP (0.003,0.004): -86: verr=~[3.62988 1.80519 0.835637 3.8728 0.807993 0.665191] -86: perr=~[0.00451831 0.00180919 -1.11022e-16] -86: constraint status: -86: 0: cont UniOff fric Sliding -86: 2: cont UniOff fric Sliding -86: Proximal unilateral contacts: (6) -86: Distal unilateral contacts: (0,1,2,3,4,5,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 6 verr speed=2.51171 -> mu=0.1 -86: DBG: Uni contact 6 verr vel=-2.30747 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: () -86: participating multx: (0,1,2) -86: verr=~[-2.30747 -2.41373 0.694702] -86: IMP t=0.004 verr=~[-2.30747 -2.41373 0.694702] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: -86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[-2.30747 -2.41373 0.694702] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-2.41373,0.694702, mag=2.51171 -86: -86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=6): cond=UniActive/Sliding, vel=-2.41373,0.694702, mag=2.51171 -86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-2.30747; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-2.30747 -2.41373 0.694702] -86: : verrExpand was=~[0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-2.30747 -2.41373 0.694702] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.35581e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=2.30381... -86: > NEWTON iter 1: errNorm=2.30381(v) -> deltaNorm=5.8946(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[2.30381 0.00241373 -0.000694702] -86: > deltaPi=~[5.86525 0.564584 -0.162495] -86: DBG: Line search iter 1: back=1, prevNorm=2.30381. -86: > piNow=~[-5.87525 -0.564584 0.162495] -86: > errNow=~[-4.44089e-16 5.27335e-05 -1.51774e-05] normNow=5.48742e-05 -86: DBG: Improvement rate now/prev at iter 1 is 2.38189e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.12719e-10 -86: > NEWTON iter 2: errNorm=5.48742e-05(v) -> deltaNorm=2.51347e-05(pi) -86: > piActive=~[-5.87525 -0.564584 0.162495] -86: > errActive=~[-4.44089e-16 5.27335e-05 -1.51774e-05] -86: > deltaPi=~[-1.47168e-05 1.95808e-05 -5.6356e-06] -86: DBG: Line search iter 1: back=1, prevNorm=5.48742e-05. -86: > piNow=~[-5.87524 -0.564604 0.1625] -86: > errNow=~[-4.44089e-16 -2.22045e-16 1.66533e-16] normNow=5.23691e-16 -86: DBG: Improvement rate now/prev at iter 2 is 9.54349e-12 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.23691e-16. +86: : rhsActive=~[-0.000720618 -0.303839 -0.580496] +86: : pi was=~[0 -0.00550194 -5.46678e-14 -2.50277e-13 -0.000255142 -0.000487459] +86: : piActive=~[-0.01 -0.000255142 -0.000487459] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.44056e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0015043... +86: > NEWTON iter 1: errNorm=0.0015043(v) -> deltaNorm=0.00687006(pi) +86: > piActive=~[-0.01 -0.000255142 -0.000487459] +86: > errActive=~[-0.00147515 0.000136669 0.000261111] +86: > deltaPi=~[-0.00686598 -0.000109796 -0.000209769] +86: DBG: Line search iter 1: back=1, prevNorm=0.0015043. +86: > piNow=~[-0.00313402 -0.000145346 -0.00027769] +86: > errNow=~[1.0842e-19 -7.77064e-09 -1.48461e-08] normNow=1.67568e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.11393e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.48221e-05 +86: > NEWTON iter 2: errNorm=1.67568e-08(v) -> deltaNorm=3.44305e-08(pi) +86: > piActive=~[-0.00313402 -0.000145346 -0.00027769] +86: > errActive=~[1.0842e-19 -7.77064e-09 -1.48461e-08] +86: > deltaPi=~[2.56079e-08 -1.06728e-08 -2.03908e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.67568e-08. +86: > piNow=~[-0.00313405 -0.000145336 -0.000277669] +86: > errNow=~[1.0842e-19 2.94767e-13 5.63163e-13] normNow=6.35642e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.79334e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.35642e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-2.41373,0.694702] to ~[-0.769714,0.0462972] -86: DBG: Friction 0 rotated 12.6144 deg, less than max 30 +86: slipVel 1 from ~[-0.303839,-0.580496] to ~[-0.303818,-0.579591] +86: DBG: Friction 1 rotated 0.0351893 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-5.87524 -0.564604 0.1625] -86: : m_verrLeft=~[4.44089e-16 -0.769714 0.0462972] +86: : m_piActive=~[-0.00313405 -0.000145336 -0.000277669] +86: : m_verrLeft=~[0.00106766 -1.0842e-19 -0.311683 -1.42658 -0.303818 -0.579591] 86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-5.87524 verr=4.44089e-16 pi*v=-2.60913e-15 -86: SP FINAL 1 intervals, piTotal=~[-5.87524 -0.564604 0.1625] errNorm=5.23691e-16 -86: Postcompression verr=~[4.44089e-16 -0.769714 0.0462972] -86: impulse=~[-5.87524 -0.564604 0.1625] -86: Next expansion impulse=~[0 0 0] +86: DBG: 0: pi=0 verr=0.00106766 pi*v=0 +86: DBG: 1: pi=-0.00313405 verr=-1.0842e-19 pi*v=3.39794e-22 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00313405 0 0 -0.000145336 -0.000277669] errNorm=6.35642e-13 +86: Postcompression verr=~[0.00106766 -1.0842e-19 -0.311683 -1.42658 -0.303818 -0.579591] +86: impulse=~[0 -0.00313405 0 0 -0.000145336 -0.000277669] +86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-5.87524 -0.564604 0.1625]-> du ~[1.70682 -2.78776 1.53542 1.3969 0.098112 -1.33138 5.50273 -3.61888] -86: Now verr0=~[1.77636e-15 -0.769714 0.0462972] +86: Impact: imp ~[0 -0.00313405 0 0 -0.000145336 -0.000277669]-> du ~[0.000384444 0.00116832 0.000476019 -0.000667335 1.8031e-05 0.000533828 -0.00205546 0.00158699] +86: Now verr0=~[0.00106766 -5.42101e-19 -0.311683 -1.42658 -0.303818 -0.579591] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[1.77636e-15 -0.769714 0.0462972] -86: verrExt=~[-3.86115 -0.449528 3.30672] -86: total verr=~[-3.86115 -1.21924 3.35301] -86: DYN t=0.004: verrStart=~[1.77636e-15 -0.769714 0.0462972] -86: verrApplied=~[-3.86115 -0.449528 3.30672] +86: verr0 =~[0.00106766 -5.42101e-19 -0.311683 -1.42658 -0.303818 -0.579591] +86: verrExt=~[-0.80329 -0.631953 -0.0310006 -1.01312 -0.0284302 -0.73829] +86: total verr=~[-0.802222 -0.631953 -0.342684 -2.4397 -0.332249 -1.31788] +86: DYN t=0.069: verrStart=~[0.00106766 -5.42101e-19 -0.311683 -1.42658 -0.303818 -0.579591] +86: verrApplied=~[-0.80329 -0.631953 -0.0310006 -1.01312 -0.0284302 -0.73829] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[1.77636e-15 -0.769714 0.0462972] -86: verrApplied=~[-3.86115 -0.449528 3.30672] -86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.769714,0.0462972, mag=0.771105 -86: -86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=6): cond=UniActive/Sliding, vel=-0.769714,0.0462972, mag=0.771105 -86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-3.86115; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[1.77636e-15 -0.769714 0.0462972] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-3.86115 -0.449528 3.30672] -86: : rhsActive=~[-3.86115 -1.21924 3.35301] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.87227e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=3.85749... -86: > NEWTON iter 1: errNorm=3.85749(v) -> deltaNorm=9.91427(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[3.85749 0.000769714 -4.62972e-05] -86: > deltaPi=~[9.86497 0.985679 -0.0592872] -86: DBG: Line search iter 1: back=1, prevNorm=3.85749. -86: > piNow=~[-9.87497 -0.985679 0.0592872] -86: > errNow=~[8.88178e-16 2.82837e-05 -1.70123e-06] normNow=2.83348e-05 -86: DBG: Improvement rate now/prev at iter 1 is 7.34541e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.20131e-10 -86: > NEWTON iter 2: errNorm=2.83348e-05(v) -> deltaNorm=4.15263e-05(pi) -86: > piActive=~[-9.87497 -0.985679 0.0592872] -86: > errActive=~[8.88178e-16 2.82837e-05 -1.70123e-06] -86: > deltaPi=~[-2.32268e-05 3.4361e-05 -2.06677e-06] -86: DBG: Line search iter 1: back=1, prevNorm=2.83348e-05. -86: > piNow=~[-9.87495 -0.985713 0.0592893] -86: > errNow=~[-4.44089e-16 0 0] normNow=4.44089e-16 -86: DBG: Improvement rate now/prev at iter 2 is 1.56729e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.44089e-16. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.769714,0.0462972] to ~[1.60815,2.34615] -86: DBG: TOO BIG: Sliding fric 0; endmag=2.8444, rot=120.986 deg > 30 -86: DBG: --> returning stepLength=0.157517 (dist to origin=0.568397) -86: DBG: -->max change solutions: -0.387867 and 0.119384; returning 0.119384 -86: DBG: Frac=0.119384 reduces angle to 30 degrees. -86: SP interval 1 end: s=0.119384 -86: : m_piActive=~[-1.17891 -0.117678 0.00707817] -86: : m_verrLeft=~[1.66533e-15 -0.485835 0.320862] -86: : verrAppliedLeft=~[-3.40019 -0.395862 2.91195] -86: : piELeft=~[0 0 0] -86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: -86: ***** Sliding interval 2 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[-1.17891 -0.117678 0.00707817] -86: verrLeft=~[1.66533e-15 -0.485835 0.320862] -86: verrApplied=~[-3.40019 -0.395862 2.91195] -86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.485835,0.320862, mag=0.582227 -86: -86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=6): cond=UniActive/Sliding, vel=-0.485835,0.320862, mag=0.582227 -86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-3.40019; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[1.66533e-15 -0.485835 0.320862] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-3.40019 -0.395862 2.91195] -86: : rhsActive=~[-3.40019 -0.881697 3.23281] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.16872e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=3.39653... -86: > NEWTON iter 1: errNorm=3.39653(v) -> deltaNorm=8.68411(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[3.39653 0.000485835 -0.000320862] -86: > deltaPi=~[8.64092 0.721843 -0.476729] -86: DBG: Line search iter 1: back=1, prevNorm=3.39653. -86: > piNow=~[-8.65092 -0.721843 0.476729] -86: > errNow=~[0 1.56373e-05 -1.03274e-05] normNow=1.87398e-05 -86: DBG: Improvement rate now/prev at iter 1 is 5.51732e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.33419e-10 -86: > NEWTON iter 2: errNorm=1.87398e-05(v) -> deltaNorm=3.71453e-05(pi) -86: > piActive=~[-8.65092 -0.721843 0.476729] -86: > errActive=~[0 1.56373e-05 -1.03274e-05] -86: > deltaPi=~[-2.19102e-05 2.50294e-05 -1.65302e-05] -86: DBG: Line search iter 1: back=1, prevNorm=1.87398e-05. -86: > piNow=~[-8.6509 -0.721868 0.476746] -86: > errNow=~[0 -5.55112e-17 1.11022e-16] normNow=1.24127e-16 -86: DBG: Improvement rate now/prev at iter 2 is 6.62371e-12 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.24127e-16. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.485835,0.320862] to ~[1.43515,2.17093] -86: DBG: TOO BIG: Sliding fric 0; endmag=2.60243, rot=90.0257 deg > 30 -86: DBG: --> returning stepLength=0.0477532 (dist to origin=0.568127) -86: DBG: -->max change solutions: -0.148371 and 0.114366; returning 0.114366 -86: DBG: Frac=0.114366 reduces angle to 30 degrees. -86: SP interval 2 end: s=0.114366 -86: : m_piActive=~[-0.989365 -0.0825569 0.0545234] -86: : m_verrLeft=~[1.38778e-15 -0.26614 0.532447] -86: : verrAppliedLeft=~[-3.01133 -0.350589 2.57892] -86: : piELeft=~[0 0 0] -86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: -86: ***** Sliding interval 3 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[-2.16827 -0.200235 0.0616015] -86: verrLeft=~[1.38778e-15 -0.26614 0.532447] -86: verrApplied=~[-3.01133 -0.350589 2.57892] -86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.26614,0.532447, mag=0.595256 -86: -86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=6): cond=UniActive/Sliding, vel=-0.26614,0.532447, mag=0.595256 -86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-3.01133; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[1.38778e-15 -0.26614 0.532447] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-3.01133 -0.350589 2.57892] -86: : rhsActive=~[-3.01133 -0.616729 3.11137] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.21725e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=3.00766... -86: > NEWTON iter 1: errNorm=3.00766(v) -> deltaNorm=7.79161(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[3.00766 0.00026614 -0.000532447] -86: > deltaPi=~[7.75284 0.347065 -0.694347] -86: DBG: Line search iter 1: back=1, prevNorm=3.00766. -86: > piNow=~[-7.76284 -0.347065 0.694347] -86: > errNow=~[4.44089e-16 7.68569e-06 -1.53762e-05] normNow=1.719e-05 -86: DBG: Improvement rate now/prev at iter 1 is 5.71541e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.86458e-10 -86: > NEWTON iter 2: errNorm=1.719e-05(v) -> deltaNorm=3.16667e-05(pi) -86: > piActive=~[-7.76284 -0.347065 0.694347] -86: > errActive=~[4.44089e-16 7.68569e-06 -1.53762e-05] -86: > deltaPi=~[-1.61002e-05 1.21917e-05 -2.43911e-05] -86: DBG: Line search iter 1: back=1, prevNorm=1.719e-05. -86: > piNow=~[-7.76283 -0.347077 0.694372] -86: > errNow=~[0 -2.77556e-17 5.55112e-17] normNow=6.20634e-17 -86: DBG: Improvement rate now/prev at iter 2 is 3.61043e-12 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.20634e-17. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.26614,0.532447] to ~[1.26137,1.99936] -86: DBG: TOO BIG: Sliding fric 0; endmag=2.364, rot=58.8051 deg > 30 -86: DBG: --> returning stepLength=0 (dist to origin=0.595256) -86: DBG: -->max change solutions: -0.14407 and 0.207164; returning 0.207164 -86: DBG: Frac=0.207164 reduces angle to 30 degrees. -86: SP interval 3 end: s=0.207164 -86: : m_piActive=~[-1.60818 -0.071902 0.143849] -86: : m_verrLeft=~[1.11022e-15 0.0503046 0.836339] -86: : verrAppliedLeft=~[-2.38749 -0.277959 2.04466] -86: : piELeft=~[0 0 0] -86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: -86: ***** Sliding interval 4 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[-3.77645 -0.272137 0.205451] -86: verrLeft=~[1.11022e-15 0.0503046 0.836339] -86: verrApplied=~[-2.38749 -0.277959 2.04466] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.00106766 -5.42101e-19 -0.311683 -1.42658 -0.303818 -0.579591] +86: verrApplied=~[-0.80329 -0.631953 -0.0310006 -1.01312 -0.0284302 -0.73829] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=0.0503046,0.836339, mag=0.83785 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.311683,-1.42658, mag=1.46023 +86: Participating contact 1 is Sliding; vel=-0.303818,-0.579591, mag=0.654394 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=6): cond=UniActive/Sliding, vel=0.0503046,0.836339, mag=0.83785 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.311683,-1.42658, mag=1.46023 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.303818,-0.579591, mag=0.654394 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-2.38749; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.802222; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.631953; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[1.11022e-15 0.0503046 0.836339] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-2.38749 -0.277959 2.04466] -86: : rhsActive=~[-2.38749 -0.227655 2.881] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.12089e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=2.38383... -86: > NEWTON iter 1: errNorm=2.38383(v) -> deltaNorm=6.35462(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[2.38383 -5.03046e-05 -0.000836339] -86: > deltaPi=~[6.32299 -0.0380219 -0.632133] -86: DBG: Line search iter 1: back=1, prevNorm=2.38383. -86: > piNow=~[-6.33299 0.0380219 0.632133] -86: > errNow=~[4.44089e-16 -1.18479e-06 -1.96977e-05] normNow=1.97333e-05 -86: DBG: Improvement rate now/prev at iter 1 is 8.27801e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.15221e-11 -86: > NEWTON iter 2: errNorm=1.97333e-05(v) -> deltaNorm=2.38406e-05(pi) -86: > piActive=~[-6.33299 0.0380219 0.632133] -86: > errActive=~[4.44089e-16 -1.18479e-06 -1.96977e-05] -86: > deltaPi=~[-6.68687e-06 -1.37394e-06 -2.28424e-05] -86: DBG: Line search iter 1: back=1, prevNorm=1.97333e-05. -86: > piNow=~[-6.33298 0.0380233 0.632156] -86: > errNow=~[0 0 1.11022e-16] normNow=1.11022e-16 -86: DBG: Improvement rate now/prev at iter 2 is 5.62613e-12 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.11022e-16. +86: : verrLeft was=~[0.00106766 -5.42101e-19 -0.311683 -1.42658 -0.303818 -0.579591] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.80329 -0.631953 -0.0310006 -1.01312 -0.0284302 -0.73829] +86: : rhsActive=~[-0.802222 -0.342684 -2.4397 -0.631953 -0.332249 -1.31788] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.96038e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.01663... +86: > NEWTON iter 1: errNorm=1.01663(v) -> deltaNorm=2.79517(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.798776 0.000311683 0.00142658 0.628883 0.000303818 0.000579591] +86: > deltaPi=~[2.25023 0.0482425 0.220806 1.63442 0.0763434 0.145639] +86: DBG: Line search iter 1: back=1, prevNorm=1.01663. +86: > piNow=~[-2.26023 -0.0482425 -0.220806 -1.64442 -0.0763434 -0.145639] +86: > errNow=~[1.11022e-16 2.61248e-06 1.19573e-05 -1.11022e-16 1.84965e-06 3.52855e-06] normNow=1.28714e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.26609e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.63995e-10 +86: > NEWTON iter 2: errNorm=1.28714e-05(v) -> deltaNorm=1.43051e-05(pi) +86: > piActive=~[-2.26023 -0.0482425 -0.220806 -1.64442 -0.0763434 -0.145639] +86: > errActive=~[1.11022e-16 2.61248e-06 1.19573e-05 -1.11022e-16 1.84965e-06 3.52855e-06] +86: > deltaPi=~[-8.99165e-06 1.59716e-06 7.31022e-06 -6.1518e-06 2.54089e-06 4.84723e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.28714e-05. +86: > piNow=~[-2.26022 -0.0482441 -0.220813 -1.64441 -0.0763459 -0.145644] +86: > errNow=~[0 -1.94289e-16 -8.32667e-16 0 -2.63678e-16 -4.85723e-16] normNow=1.0181e-15 +86: DBG: Improvement rate now/prev at iter 2 is 7.90979e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.0181e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.0503046,0.836339] to ~[1.13779,1.88058] -86: DBG: Friction 0 rotated 27.7327 deg, less than max 30 -86: SP interval 4 end: s=1 -86: : m_piActive=~[-6.33298 0.0380233 0.632156] -86: : m_verrLeft=~[0 1.13779 1.88058] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: slipVel 0 from ~[-0.311683,-1.42658] to ~[-0.324856,-1.42171] +86: DBG: Friction 0 rotated 0.546425 deg, less than max 30 +86: slipVel 1 from ~[-0.303818,-0.579591] to ~[-0.316685,-0.541752] +86: DBG: Friction 1 rotated 2.64543 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-2.26022 -0.0482441 -0.220813 -1.64441 -0.0763459 -0.145644] +86: : m_verrLeft=~[0 0 -0.324856 -1.42171 -0.316685 -0.541752] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-10.1094 verr=0 pi*v=-0 -86: SP FINAL 4 intervals, piTotal=~[-10.1094 -0.234114 0.837606] errNorm=1.11022e-16 +86: DBG: 0: pi=-2.26022 verr=0 pi*v=-0 +86: DBG: 1: pi=-1.64441 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-2.26022 -1.64441 -0.0482441 -0.220813 -0.0763459 -0.145644] errNorm=1.0181e-15 86: 86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 6, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0503046 0.836339, |slipV|=0.83785 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.311683 -1.42658, |slipV|=1.46023 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.303818 -0.579591, |slipV|=0.654394 86: ------------------------------ 86: -86: dynamics impulse=~[-10.1094 -0.234114 0.837606] -86: updated verrStart=~[0 1.13779 1.88058] +86: dynamics impulse=~[-2.26022 -1.64441 -0.0482441 -0.220813 -0.0763459 -0.145644] +86: updated verrStart=~[0 0 -0.324856 -1.42171 -0.316685 -0.541752] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.181054 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: posVerr=~[0.0997132 -0.00671667 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.366289 0.24028 -0.12168] -86: [0.24028 0.474381 0.218621] -86: [-0.12168 0.218621 0.350399] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.181054 0 0] -86: active=(0) -86: -> piActive=~[0.494293] -86: -> pi=~[0.494293 0 0] -86: resid active=~[0] -86: resid=~[0 0.118769 -0.0601455] +86: [0.244523 0.10011 -0.000995105 0.305734 -0.00272298 0.121316] +86: [0.10011 0.20691 0.00589925 0.123666 0.0071405 0.256111] +86: [-0.000995105 0.00589925 0.0518062 0.0420295 0.0510785 -0.0364159] +86: [0.305734 0.123666 0.0420295 0.451505 0.0390223 0.129749] +86: [-0.00272298 0.0071405 0.0510785 0.0390223 0.0504014 -0.0340055] +86: [0.121316 0.256111 -0.0364159 0.129749 -0.0340055 0.387777] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.378096 rank=2 +86: rhs=~[0.0997132 -0.00671667 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.525088 -0.286516] +86: -> pi=~[0.525088 -0.286516 0 0 0 0] +86: resid active=~[2.77556e-17 1.38778e-17] +86: resid=~[2.77556e-17 1.38778e-17 -0.00221275 0.125105 -0.00347567 -0.00967823] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[1.77636e-15 1.13779 1.88058] -86: perr=~[0.000181054 -1.11022e-16] -86: END OF STEP (0.004,0.005): -86: verr=~[-0.000210717 1.14298 1.88961] -86: perr=~[0.000180949 0] +86: verr=~[-8.82541e-17 -1.26418e-16 -0.324856 -1.42171 -0.316685 -0.541752] +86: perr=~[9.97132e-05 -6.71667e-06 -1.11022e-16] +86: END OF STEP (0.069,0.07): +86: verr=~[0.000740848 -0.000740848 -0.324469 -1.42171 -0.317072 -0.541749] +86: perr=~[0.000100084 -7.0871e-06 -1.11022e-16] 86: constraint status: -86: 6: cont UniActive fric Sliding -86: Proximal unilateral contacts: (4,6) -86: Distal unilateral contacts: (0,1,2,3,5,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 4 verr speed=2.26978 -> mu=0.1 -86: DBG: Uni fric 6 verr speed=2.2084 -> mu=0.1 -86: DBG: Uni contact 4 verr vel=-2.00984 -> cor=0 -86: DBG: Uni contact 6 verr vel=-0.000210717 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.45827 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.627716 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000740848 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0,1) -86: observers: () +86: impacters: (1) +86: observers: (0) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[-2.00984 -0.000210717 1.14209 1.96152 1.14298 1.88961] -86: IMP t=0.005 verr=~[-2.00984 -0.000210717 1.14209 1.96152 1.14298 1.88961] +86: verr=~[0.000740848 -0.000740848 -0.324469 -1.42171 -0.317072 -0.541749] +86: IMP t=0.07 verr=~[0.000740848 -0.000740848 -0.324469 -1.42171 -0.317072 -0.541749] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -30489,244 +41194,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-2.00984 -0.000210717 1.14209 1.96152 1.14298 1.88961] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=1.14209,1.96152, mag=2.26978 -86: Participating contact 1 is Sliding; vel=1.14298,1.88961, mag=2.2084 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=1.14209,1.96152, mag=2.26978 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=1.14298,1.88961, mag=2.2084 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-2.00984; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.000210717; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-2.00984 -0.000210717 1.14209 1.96152 1.14298 1.88961] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-2.00984 1.14209 1.96152 -0.000210717 1.14298 1.88961] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.17961e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=2.00546... -86: > NEWTON iter 1: errNorm=2.00546(v) -> deltaNorm=7.02556(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[2.00546 -0.00114209 -0.00196152 -0.00446451 -0.00114298 -0.00188961] -86: > deltaPi=~[6.60938 -0.333055 -0.572017 -2.27708 0.117331 0.193975] -86: DBG: Line search iter 1: back=1, prevNorm=2.00546. -86: > piNow=~[-6.61938 0.333055 0.572017 2.26708 -0.117331 -0.193975] -86: > errNow=~[0 -2.81172e-05 -4.82908e-05 5.41234e-16 -0.259113 -0.428373] normNow=0.500642 -86: DBG: Improvement rate now/prev at iter 1 is 0.249639 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.32677e-10 -86: > NEWTON iter 2: errNorm=0.500642(v) -> deltaNorm=0.375168(pi) -86: > piActive=~[-6.61938 0.333055 0.572017 2.26708 -0.117331 -0.193975] -86: > errActive=~[0 -2.81172e-05 -4.82908e-05 5.41234e-16 -0.259113 -0.428373] -86: > deltaPi=~[-0.276894 0.0139201 0.0239075 0.109191 -0.117331 -0.193975] -86: DBG: Line search iter 1: back=1, prevNorm=0.500642. -86: > piNow=~[-6.34248 0.319135 0.548109 2.15789 4.0961e-12 6.77189e-12] -86: > errNow=~[4.44089e-16 2.68863e-12 4.61786e-12 -3.24014e-16 9.04581e-12 1.4955e-11] normNow=1.82766e-11 -86: DBG: Improvement rate now/prev at iter 2 is 3.65062e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.82766e-11. -86: DBG: Worst offender is normal contact 1 err=2.15789 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=1.14209,1.96152, mag=2.26978 -86: Participating UniCont 1 (ix=6): cond=UniOff/Sliding, vel=1.14298,1.88961, mag=2.2084 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-2.00984; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-2.00984 -0.000210717 1.14209 1.96152 1.14298 1.88961] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-2.00984 1.14209 1.96152] -86: : pi was=~[-6.34248 0 0.319135 0.548109 4.0961e-12 6.77189e-12] -86: : piActive=~[-0.01 0.319135 0.548109] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.45467e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=2.36431... -86: > NEWTON iter 1: errNorm=2.36431(v) -> deltaNorm=5.6863(pi) -86: > piActive=~[-0.01 0.319135 0.548109] -86: > errActive=~[1.87723 0.723225 1.24213] -86: > deltaPi=~[5.68593 0.0325433 0.0558926] -86: DBG: Line search iter 1: back=1, prevNorm=2.36431. -86: > piNow=~[-5.69593 0.286592 0.492217] -86: > errNow=~[-4.44089e-16 -2.41887e-05 -4.15437e-05] normNow=4.80726e-05 -86: DBG: Improvement rate now/prev at iter 1 is 2.03326e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.50396e-10 -86: > NEWTON iter 2: errNorm=4.80726e-05(v) -> deltaNorm=2.34077e-05(pi) -86: > piActive=~[-5.69593 0.286592 0.492217] -86: > errActive=~[-4.44089e-16 -2.41887e-05 -4.15437e-05] -86: > deltaPi=~[-1.22343e-05 -1.00412e-05 -1.72457e-05] -86: DBG: Line search iter 1: back=1, prevNorm=4.80726e-05. -86: > piNow=~[-5.69592 0.286602 0.492234] -86: > errNow=~[0 2.22045e-16 2.22045e-16] normNow=3.14018e-16 -86: DBG: Improvement rate now/prev at iter 2 is 6.53217e-12 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.14018e-16. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[1.14209,1.96152] to ~[-0.104065,1.22264] -86: DBG: TOO BIG: Sliding fric 0; endmag=1.22706, rot=35.075 deg > 30 -86: DBG: --> returning stepLength=1 (dist to origin=1.22706) -86: DBG: -->max change solutions: 51.3139 and 0.912706; returning 0.912706 -86: DBG: Frac=0.912706 reduces angle to 30 degrees. -86: SP interval 1 end: s=0.912706 -86: : m_piActive=~[-5.1987 0.261583 0.449265] -86: : m_verrLeft=~[-0.175447 0.639887 0.00471659 1.28714 -0.00276758 0.159945] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 2 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[-5.1987 0 0.261583 0.449265 0 0] -86: verrLeft=~[-0.175447 0.639887 0.00471659 1.28714 -0.00276758 0.159945] +86: verrLeft=~[0.000740848 -0.000740848 -0.324469 -1.42171 -0.317072 -0.541749] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.00471659,1.28714, mag=1.28715 -86: Participating contact 1 is Sliding; vel=-0.00276758,0.159945, mag=0.159969 +86: Participating contact 0 is Sliding; vel=-0.324469,-1.42171, mag=1.45827 +86: Participating contact 1 is Sliding; vel=-0.317072,-0.541749, mag=0.627716 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=0.00471659,1.28714, mag=1.28715 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.00276758,0.159945, mag=0.159969 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.324469,-1.42171, mag=1.45827 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.317072,-0.541749, mag=0.627716 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -100: Starting test TestMobilizedBody ... -100: testCalculationMethods ... -100: testCalculationMethods done. real/CPU ms: 1.1 / 1.1 -100: testWeld ... -101: Starting test TestMobilizerReactionForces ... -101: testByComparingToConstraints ... -101: testByComparingToConstraints done. real/CPU ms: 1.3 / 1.3 -101: testByComparingToConstraints2 ... -101: testByComparingToConstraints2 done. real/CPU ms: 0.6 / 0.6 -101: testByComparingToSDFAST ... -101: testByComparingToSDFAST done. real/CPU ms: 0.5 / 0.5 -101: testByComparingToSDFAST2 ... -101: testByComparingToSDFAST2 done. real/CPU ms: 0.3 / 0.3 -101: testByComparingToSDFASTWithConstraint ... -101: testByComparingToSDFASTWithConstraint done. real/CPU ms: 0.4 / 0.4 -101: testFreeMobilizer ... -101: testFreeMobilizer done. real/CPU ms: 0.3 / 0.3 -101: -101: TestMobilizerReactionForces done. real/CPU ms: 3.5 / 3.5 - 78/108 Test #101: TestMobilizerReactionForces .................... Passed 0.03 sec -102: oscillator 100K -103: Starting test TestObservedPointFitter ... -103: testUnconstrained ... -103: [min,max]=0,0.03 actual=0.000809921 -103: calc wrms=0.000809921 -106: passed - 79/108 Test #106: TestPimpl1 ..................................... Passed 0.01 sec -86: DBG: active normal 0 has v=-0.175447; guess pi=-0.01 -86: DBG: active normal 3 has v=0.639887; guess pi=0.01 +86: DBG: active normal 0 has v=0.000740848; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000740848; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.175447 0.639887 0.00471659 1.28714 -0.00276758 0.159945] +86: : verrLeft was=~[0.000740848 -0.000740848 -0.324469 -1.42171 -0.317072 -0.541749] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.175447 0.00471659 1.28714 0.639887 -0.00276758 0.159945] +86: : rhsActive=~[0.000740848 -0.324469 -1.42171 -0.000740848 -0.317072 -0.541749] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.83136e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.660438... -86: > NEWTON iter 1: errNorm=0.660438(v) -> deltaNorm=2.52109(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[0.17318 -4.71659e-06 -0.00128714 -0.637326 0 0] -86: > deltaPi=~[1.18723 -0.000438694 -0.119718 -2.22083 -1.43117e-07 8.27106e-06] -86: DBG: Line search iter 1: back=1, prevNorm=0.660438. -86: > piNow=~[-1.19723 0.000438694 0.119718 2.23083 1.43117e-07 -8.27106e-06] -86: > errNow=~[1.11022e-16 -2.08582e-08 -5.69212e-06 -2.22045e-16 2.28942e-08 -1.32311e-06] normNow=5.84395e-06 -86: DBG: Improvement rate now/prev at iter 1 is 8.84861e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.47075e-10 -86: > NEWTON iter 2: errNorm=5.84395e-06(v) -> deltaNorm=1.24864e-05(pi) -86: > piActive=~[-1.19723 0.000438694 0.119718 2.23083 1.43117e-07 -8.27106e-06] -86: > errActive=~[1.11022e-16 -2.08582e-08 -5.69212e-06 -2.22045e-16 2.28942e-08 -1.32311e-06] -86: > deltaPi=~[-7.62842e-06 -1.34096e-08 -3.65942e-06 -3.98683e-06 1.43117e-07 -8.27106e-06] -86: DBG: Line search iter 1: back=1, prevNorm=5.84395e-06. -86: > piNow=~[-1.19722 0.000438707 0.119722 2.23083 5.16219e-18 -2.98396e-16] -86: > errNow=~[-2.77556e-17 9.32414e-18 2.58127e-15 1.11022e-16 8.25788e-19 -4.7734e-17] normNow=2.58426e-15 -86: DBG: Improvement rate now/prev at iter 2 is 4.42211e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.58426e-15. -86: DBG: Worst offender is normal contact 1 err=2.23083 ... -86: DBG: ... normal contact 1 released. +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.91373e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.000998407... +86: > NEWTON iter 1: errNorm=0.000998407(v) -> deltaNorm=0.00621164(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.000703465 0 0 -0.000328521 0.000317072 0.000541749] +86: > deltaPi=~[0.0044129 3.65739e-09 1.60254e-08 -0.00433473 0.000286173 0.000488954] +86: DBG: Line search iter 1: back=1, prevNorm=0.000998407. +86: > piNow=~[0.0055871 -3.65739e-09 -1.60254e-08 -0.00566527 -0.000286173 -0.000488954] +86: > errNow=~[4.33681e-19 -5.33346e-09 -2.33694e-08 -3.25261e-19 -5.11955e-09 -8.74726e-09] normNow=2.6025e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.60665e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.88599e-05 +86: > NEWTON iter 2: errNorm=2.6025e-08(v) -> deltaNorm=3.35543e-08(pi) +86: > piActive=~[0.0055871 -3.65739e-09 -1.60254e-08 -0.00566527 -0.000286173 -0.000488954] +86: > errActive=~[4.33681e-19 -5.33346e-09 -2.33694e-08 -3.25261e-19 -5.11955e-09 -8.74726e-09] +86: > deltaPi=~[1.96702e-08 -3.65734e-09 -1.60252e-08 1.60408e-08 -7.34568e-09 -1.25508e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.6025e-08. +86: > piNow=~[0.00558708 -5.22128e-14 -2.28778e-13 -0.00566529 -0.000286165 -0.000488942] +86: > errNow=~[0 -7.61402e-14 -3.33621e-13 0 5.90134e-14 1.0083e-13] normNow=3.61593e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.38941e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.61593e-13. +86: DBG: Worst offender is normal contact 0 err=0.00558708 ... +86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=0.00471659,1.28714, mag=1.28715 -86: Participating UniCont 1 (ix=6): cond=UniOff/Sliding, vel=-0.00276758,0.159945, mag=0.159969 +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.324469,-1.42171, mag=1.45827 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.317072,-0.541749, mag=0.627716 86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.175447; guess pi=-0.01 +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000740848; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.175447 0.639887 0.00471659 1.28714 -0.00276758 0.159945] +86: : verrLeft was=~[0.000740848 -0.000740848 -0.324469 -1.42171 -0.317072 -0.541749] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.175447 0.00471659 1.28714] -86: : pi was=~[-1.19722 0 0.000438707 0.119722 5.16219e-18 -2.98396e-16] -86: : piActive=~[-0.01 0.000438707 0.119722] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.79449e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.220431... -86: > NEWTON iter 1: errNorm=0.220431(v) -> deltaNorm=0.505379(pi) -86: > piActive=~[-0.01 0.000438707 0.119722] -86: > errActive=~[0.158864 0.000559966 0.152813] -86: > deltaPi=~[0.500694 0.000251577 0.0686545] -86: DBG: Line search iter 1: back=1, prevNorm=0.220431. -86: > piNow=~[-0.510694 0.00018713 0.0510672] -86: > errNow=~[-2.77556e-17 -8.79655e-09 -2.40055e-06] normNow=2.40056e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.08903e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.84371e-09 -86: > NEWTON iter 2: errNorm=2.40056e-06(v) -> deltaNorm=1.90239e-06(pi) -86: > piActive=~[-0.510694 0.00018713 0.0510672] -86: > errActive=~[-2.77556e-17 -8.79655e-09 -2.40055e-06] -86: > deltaPi=~[-6.01185e-07 -6.61383e-09 -1.80489e-06] -86: DBG: Line search iter 1: back=1, prevNorm=2.40056e-06. -86: > piNow=~[-0.510693 0.000187137 0.051069] -86: > errNow=~[0 4.03865e-18 1.1241e-15] normNow=1.12411e-15 -86: DBG: Improvement rate now/prev at iter 2 is 4.68268e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.12411e-15. +86: : rhsActive=~[-0.000740848 -0.317072 -0.541749] +86: : pi was=~[0 -0.00566529 -5.22128e-14 -2.28778e-13 -0.000286165 -0.000488942] +86: : piActive=~[-0.01 -0.000286165 -0.000488942] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.33816e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00147494... +86: > NEWTON iter 1: errNorm=0.00147494(v) -> deltaNorm=0.00676617(pi) +86: > piActive=~[-0.01 -0.000286165 -0.000488942] +86: > errActive=~[-0.00144963 0.000137442 0.000234833] +86: > deltaPi=~[-0.00676182 -0.000122585 -0.000209449] +86: DBG: Line search iter 1: back=1, prevNorm=0.00147494. +86: > piNow=~[-0.00323818 -0.00016358 -0.000279493] +86: > errNow=~[3.25261e-19 -7.98608e-09 -1.3645e-08] normNow=1.58102e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.07192e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.22771e-05 +86: > NEWTON iter 2: errNorm=1.58102e-08(v) -> deltaNorm=3.35776e-08(pi) +86: > piActive=~[-0.00323818 -0.00016358 -0.000279493] +86: > errActive=~[3.25261e-19 -7.98608e-09 -1.3645e-08] +86: > deltaPi=~[2.47282e-08 -1.14738e-08 -1.96041e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.58102e-08. +86: > piNow=~[-0.00323821 -0.000163569 -0.000279473] +86: > errNow=~[0 2.78257e-13 4.75429e-13] normNow=5.50871e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.48427e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.50871e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.00471659,1.28714] to ~[-0.0937083,1.21231] -86: DBG: Friction 0 rotated 4.62998 deg, less than max 30 -86: SP interval 2 end: s=1 -86: : m_piActive=~[-0.510693 0.000187137 0.051069] -86: : m_verrLeft=~[0 0.711217 -0.0937083 1.21231 -0.101912 -0.00544808] +86: slipVel 1 from ~[-0.317072,-0.541749] to ~[-0.317051,-0.540817] +86: DBG: Friction 1 rotated 0.0413486 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00323821 -0.000163569 -0.000279473] +86: : m_verrLeft=~[0.00109602 0 -0.324452 -1.42127 -0.317051 -0.540817] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-5.70939 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.711217 pi*v=0 -86: SP FINAL 2 intervals, piTotal=~[-5.70939 0 0.26177 0.500334 0 0] errNorm=1.12411e-15 -86: Postcompression verr=~[0 0.711217 -0.0937083 1.21231 -0.101912 -0.00544808] -86: impulse=~[-5.70939 0 0.26177 0.500334 0 0] +86: DBG: 0: pi=0 verr=0.00109602 pi*v=0 +86: DBG: 1: pi=-0.00323821 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00323821 0 0 -0.000163569 -0.000279473] errNorm=5.50871e-13 +86: Postcompression verr=~[0.00109602 0 -0.324452 -1.42127 -0.317051 -0.540817] +86: impulse=~[0 -0.00323821 0 0 -0.000163569 -0.000279473] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-5.70939 0 0.26177 0.500334 0 0]-> du ~[-1.31703 -2.60163 -1.14406 1.31683 -0.0895073 -1.25031 4.9813 -5.35855] -86: Now verr0=~[2.22045e-16 0.711217 -0.0937083 1.21231 -0.101912 -0.00544808] +86: Impact: imp ~[0 -0.00323821 0 0 -0.000163569 -0.000279473]-> du ~[0.000395795 0.00120207 0.000490245 -0.000687286 1.94609e-05 0.00054801 -0.0021146 0.00163412] +86: Now verr0=~[0.00109602 -6.50521e-19 -0.324452 -1.42127 -0.317051 -0.540817] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[2.22045e-16 0.711217 -0.0937083 1.21231 -0.101912 -0.00544808] -86: verrExt=~[-4.87734 -5.01042 -0.128935 4.96216 -0.130446 4.7638] -86: total verr=~[-4.87734 -4.2992 -0.222644 6.17446 -0.232358 4.75835] -86: DYN t=0.005: verrStart=~[2.22045e-16 0.711217 -0.0937083 1.21231 -0.101912 -0.00544808] -86: verrApplied=~[-4.87734 -5.01042 -0.128935 4.96216 -0.130446 4.7638] +86: verr0 =~[0.00109602 -6.50521e-19 -0.324452 -1.42127 -0.317051 -0.540817] +86: verrExt=~[-0.740502 -0.583445 -0.0264142 -0.931477 -0.0242934 -0.681177] +86: total verr=~[-0.739406 -0.583445 -0.350866 -2.35275 -0.341344 -1.22199] +86: DYN t=0.07: verrStart=~[0.00109602 -6.50521e-19 -0.324452 -1.42127 -0.317051 -0.540817] +86: verrApplied=~[-0.740502 -0.583445 -0.0264142 -0.931477 -0.0242934 -0.681177] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -30738,125 +41314,125 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[2.22045e-16 0.711217 -0.0937083 1.21231 -0.101912 -0.00544808] -86: verrApplied=~[-4.87734 -5.01042 -0.128935 4.96216 -0.130446 4.7638] +86: verrLeft=~[0.00109602 -6.50521e-19 -0.324452 -1.42127 -0.317051 -0.540817] +86: verrApplied=~[-0.740502 -0.583445 -0.0264142 -0.931477 -0.0242934 -0.681177] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0937083,1.21231, mag=1.21593 -86: Participating contact 1 is Sliding; vel=-0.101912,-0.00544808, mag=0.102058 +86: Participating contact 0 is Sliding; vel=-0.324452,-1.42127, mag=1.45783 +86: Participating contact 1 is Sliding; vel=-0.317051,-0.540817, mag=0.626901 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.0937083,1.21231, mag=1.21593 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.101912,-0.00544808, mag=0.102058 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.324452,-1.42127, mag=1.45783 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.317051,-0.540817, mag=0.626901 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-4.87734; guess pi=-0.01 -86: DBG: active normal 3 has v=-4.2992; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.739406; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.583445; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[2.22045e-16 0.711217 -0.0937083 1.21231 -0.101912 -0.00544808] +86: : verrLeft was=~[0.00109602 -6.50521e-19 -0.324452 -1.42127 -0.317051 -0.540817] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-4.87734 -5.01042 -0.128935 4.96216 -0.130446 4.7638] -86: : rhsActive=~[-4.87734 -0.222644 6.17446 -4.2992 -0.232358 4.75835] +86: : verrApplied was=~[-0.740502 -0.583445 -0.0264142 -0.931477 -0.0242934 -0.681177] +86: : rhsActive=~[-0.739406 -0.350866 -2.35275 -0.583445 -0.341344 -1.22199] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.54509e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=6.49528... -86: > NEWTON iter 1: errNorm=6.49528(v) -> deltaNorm=14.3279(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.91104e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.937289... +86: > NEWTON iter 1: errNorm=0.937289(v) -> deltaNorm=2.58918(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[4.87296 9.37083e-05 -0.00121231 4.29453 0.000101912 5.44808e-06] -86: > deltaPi=~[12.6971 0.0979272 -1.26689 6.48343 0.648393 0.0346621] -86: DBG: Line search iter 1: back=1, prevNorm=6.49528. -86: > piNow=~[-12.7071 -0.0979272 1.26689 -6.49343 -0.648393 -0.0346621] -86: > errNow=~[2.66454e-15 4.43196e-06 -5.73365e-05 8.88178e-16 2.46118e-06 1.31571e-07] normNow=5.75603e-05 -86: DBG: Improvement rate now/prev at iter 1 is 8.86187e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.20552e-10 -86: > NEWTON iter 2: errNorm=5.75603e-05(v) -> deltaNorm=8.62539e-05(pi) -86: > piActive=~[-12.7071 -0.0979272 1.26689 -6.49343 -0.648393 -0.0346621] -86: > errActive=~[2.66454e-15 4.43196e-06 -5.73365e-05 8.88178e-16 2.46118e-06 1.31571e-07] -86: > deltaPi=~[1.95228e-05 3.79539e-06 -4.91011e-05 -6.57604e-05 1.75489e-05 9.38136e-07] -86: DBG: Line search iter 1: back=1, prevNorm=5.75603e-05. -86: > piNow=~[-12.7072 -0.097931 1.26694 -6.49336 -0.64841 -0.034663] -86: > errNow=~[-8.88178e-16 0 0 0 -5.55112e-17 -2.60209e-18] normNow=8.89915e-16 -86: DBG: Improvement rate now/prev at iter 2 is 1.54606e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.89915e-16. +86: > errActive=~[0.735974 0.000324452 0.00142127 0.580388 0.000317051 0.000540817] +86: > deltaPi=~[2.0785 0.0464793 0.203604 1.52204 0.0774791 0.132162] +86: DBG: Line search iter 1: back=1, prevNorm=0.937289. +86: > piNow=~[-2.0885 -0.0464793 -0.203604 -1.53204 -0.0774791 -0.132162] +86: > errNow=~[-3.33067e-16 2.51195e-06 1.10037e-05 1.11022e-16 1.79749e-06 3.06611e-06] normNow=1.18331e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.26248e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.21891e-10 +86: > NEWTON iter 2: errNorm=1.18331e-05(v) -> deltaNorm=1.32074e-05(pi) +86: > piActive=~[-2.0885 -0.0464793 -0.203604 -1.53204 -0.0774791 -0.132162] +86: > errActive=~[-3.33067e-16 2.51195e-06 1.10037e-05 1.11022e-16 1.79749e-06 3.06611e-06] +86: > deltaPi=~[-8.2986e-06 1.53838e-06 6.73892e-06 -5.63174e-06 2.58245e-06 4.40507e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.18331e-05. +86: > piNow=~[-2.08849 -0.0464809 -0.203611 -1.53204 -0.0774817 -0.132166] +86: > errNow=~[1.11022e-16 -2.35922e-16 -9.99201e-16 1.11022e-16 -2.77556e-16 -4.85723e-16] normNow=1.17969e-15 +86: DBG: Improvement rate now/prev at iter 2 is 9.96942e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.17969e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.0937083,1.21231] to ~[-0.769642,1.92856] -86: DBG: Friction 0 rotated 17.3357 deg, less than max 30 -86: slipVel 1 from ~[-0.101912,-0.00544808] to ~[-0.783069,0.0494747] -86: DBG: Friction 1 rotated 6.6752 deg, less than max 30 +86: slipVel 0 from ~[-0.324452,-1.42127] to ~[-0.334924,-1.41112] +86: DBG: Friction 0 rotated 0.492541 deg, less than max 30 +86: slipVel 1 from ~[-0.317051,-0.540817] to ~[-0.327291,-0.503144] +86: DBG: Friction 1 rotated 2.66295 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-12.7072 -0.097931 1.26694 -6.49336 -0.64841 -0.034663] -86: : m_verrLeft=~[8.88178e-16 0 -0.769642 1.92856 -0.783069 0.0494747] +86: : m_piActive=~[-2.08849 -0.0464809 -0.203611 -1.53204 -0.0774817 -0.132166] +86: : m_verrLeft=~[-1.11022e-16 -1.11022e-16 -0.334924 -1.41112 -0.327291 -0.503144] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-12.7072 verr=8.88178e-16 pi*v=-1.12862e-14 -86: DBG: 1: pi=-6.49336 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-12.7072 -6.49336 -0.097931 1.26694 -0.64841 -0.034663] errNorm=8.89915e-16 +86: DBG: 0: pi=-2.08849 verr=-1.11022e-16 pi*v=2.31869e-16 +86: DBG: 1: pi=-1.53204 verr=-1.11022e-16 pi*v=1.7009e-16 +86: SP FINAL 1 intervals, piTotal=~[-2.08849 -1.53204 -0.0464809 -0.203611 -0.0774817 -0.132166] errNorm=1.17969e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0937083 1.21231, |slipV|=1.21593 -86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.324452 -1.42127, |slipV|=1.45783 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.101912 -0.00544808, |slipV|=0.102058 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.317051 -0.540817, |slipV|=0.626901 86: ------------------------------ 86: -86: dynamics impulse=~[-12.7072 -6.49336 -0.097931 1.26694 -0.64841 -0.034663] -86: updated verrStart=~[8.88178e-16 0 -0.769642 1.92856 -0.783069 0.0494747] +86: dynamics impulse=~[-2.08849 -1.53204 -0.0464809 -0.203611 -0.0774817 -0.132166] +86: updated verrStart=~[-1.11022e-16 -1.11022e-16 -0.334924 -1.41112 -0.327291 -0.503144] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.880324 0.180949 0 0 0 0] +86: posVerr=~[0.100084 -0.0070871 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.332473 0.105726 -0.21625 -0.10995 -0.217855 -0.312376] -86: [0.105726 0.361797 0.238724 -0.340352 0.240495 -0.117546] -86: [-0.21625 0.238724 0.457145 -0.236901 0.460644 0.208223] -86: [-0.10995 -0.340352 -0.236901 0.366707 -0.238867 0.114069] -86: [-0.217855 0.240495 0.460644 -0.238867 0.464172 0.209974] -86: [-0.312376 -0.117546 0.208223 0.114069 0.209974 0.339957] +86: [0.243817 0.0993857 -0.0014854 0.305664 -0.00305247 0.121082] +86: [0.0993857 0.206323 0.00592064 0.123337 0.00704831 0.256125] +86: [-0.0014854 0.00592064 0.051603 0.0413382 0.0509517 -0.0362364] +86: [0.305664 0.123337 0.0413382 0.452642 0.0386087 0.130251] +86: [-0.00305247 0.00704831 0.0509517 0.0386087 0.050342 -0.0340489] +86: [0.121082 0.256125 -0.0362364 0.130251 -0.0340489 0.38876] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.529659 rank=2 -86: rhs=~[0.880324 0.180949 0 0 0 0] +86: rcond(A+D)=0.379915 rank=2 +86: rhs=~[0.100084 -0.0070871 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[2.74373 -0.301644] -86: -> pi=~[2.74373 -0.301644 0 0 0 0] -86: resid active=~[3.33067e-16 5.55112e-17] -86: resid=~[3.33067e-16 5.55112e-17 -0.665342 -0.199008 -0.67028 -0.821619] +86: -> piActive=~[0.528202 -0.288785] +86: -> pi=~[0.528202 -0.288785 0 0 0 0] +86: resid active=~[0 1.73472e-18] +86: resid=~[0 1.73472e-18 -0.00249438 0.125835 -0.00364776 -0.0100093] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-1.33227e-15 -2.66454e-15 -0.769642 1.92856 -0.783069 0.0494747] -86: perr=~[0.000880324 0.000180949 0] -86: END OF STEP (0.005,0.006): -86: verr=~[0.00179373 -0.00174365 -0.7678 1.93562 -0.78476 0.0565699] -86: perr=~[0.000881221 0.000180077 -1.11022e-16] +86: verr=~[-7.99057e-17 -1.52764e-16 -0.334924 -1.41112 -0.327291 -0.503144] +86: perr=~[0.000100084 -7.0871e-06 -1.11022e-16] +86: END OF STEP (0.07,0.071): +86: verr=~[0.000752992 -0.000752992 -0.334511 -1.41113 -0.327703 -0.503142] +86: perr=~[0.00010046 -7.46359e-06 0] 86: constraint status: -86: 4: cont UniActive fric Sliding -86: 6: cont UniActive fric Sliding -86: Proximal unilateral contacts: (4,6) -86: Distal unilateral contacts: (0,1,2,3,5,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 4 verr speed=2.08234 -> mu=0.1 -86: DBG: Uni fric 6 verr speed=0.786797 -> mu=0.1 -86: DBG: Uni contact 6 verr vel=-0.00174365 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.45023 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.600451 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000752992 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (1) 86: observers: (0) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.00179373 -0.00174365 -0.7678 1.93562 -0.78476 0.0565699] -86: IMP t=0.006 verr=~[0.00179373 -0.00174365 -0.7678 1.93562 -0.78476 0.0565699] +86: verr=~[0.000752992 -0.000752992 -0.334511 -1.41113 -0.327703 -0.503142] +86: IMP t=0.071 verr=~[0.000752992 -0.000752992 -0.334511 -1.41113 -0.327703 -0.503142] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -30868,115 +41444,116 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00179373 -0.00174365 -0.7678 1.93562 -0.78476 0.0565699] +86: verrLeft=~[0.000752992 -0.000752992 -0.334511 -1.41113 -0.327703 -0.503142] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.7678,1.93562, mag=2.08234 -86: Participating contact 1 is Sliding; vel=-0.78476,0.0565699, mag=0.786797 +86: Participating contact 0 is Sliding; vel=-0.334511,-1.41113, mag=1.45023 +86: Participating contact 1 is Sliding; vel=-0.327703,-0.503142, mag=0.600451 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.7678,1.93562, mag=2.08234 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.78476,0.0565699, mag=0.786797 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.334511,-1.41113, mag=1.45023 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.327703,-0.503142, mag=0.600451 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.00179373; guess pi=0.01 -86: DBG: active normal 3 has v=-0.00174365; guess pi=-0.01 +86: DBG: active normal 0 has v=0.000752992; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000752992; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00179373 -0.00174365 -0.7678 1.93562 -0.78476 0.0565699] +86: : verrLeft was=~[0.000752992 -0.000752992 -0.334511 -1.41113 -0.327703 -0.503142] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.00179373 -0.7678 1.93562 -0.00174365 -0.78476 0.0565699] +86: : rhsActive=~[0.000752992 -0.334511 -1.41113 -0.000752992 -0.327703 -0.503142] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.29167e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00119558... -86: > NEWTON iter 1: errNorm=0.00119558(v) -> deltaNorm=0.00446128(pi) +94: Free: Passed +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.84665e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.000969901... +86: > NEWTON iter 1: errNorm=0.000969901(v) -> deltaNorm=0.00608176(pi) 86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000384205 0 0 -0.000814101 0.00078476 -5.65699e-05] -86: > deltaPi=~[0.0026942 3.7003e-09 -9.32846e-09 -0.00349589 0.00064874 -4.67648e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.00119558. -86: > piNow=~[0.0073058 -3.7003e-09 9.32846e-09 -0.00650411 -0.00064874 4.67648e-05] -86: > errNow=~[-2.1684e-19 -7.7053e-09 1.94251e-08 -2.1684e-19 -1.0219e-08 7.3664e-10] normNow=2.32739e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.94665e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.60972e-05 -86: > NEWTON iter 2: errNorm=2.32739e-08(v) -> deltaNorm=2.96302e-08(pi) -86: > piActive=~[0.0073058 -3.7003e-09 9.32846e-09 -0.00650411 -0.00064874 4.67648e-05] -86: > errActive=~[-2.1684e-19 -7.7053e-09 1.94251e-08 -2.1684e-19 -1.0219e-08 7.3664e-10] -86: > deltaPi=~[-1.27256e-08 -3.70034e-09 9.32854e-09 2.23362e-08 -1.07604e-08 7.75671e-10] -86: DBG: Line search iter 1: back=1, prevNorm=2.32739e-08. -86: > piNow=~[0.00730581 3.27422e-14 -8.2543e-14 -0.00650413 -0.000648729 4.6764e-05] -86: > errNow=~[0 6.81805e-14 -1.71883e-13 2.1684e-19 1.54318e-13 -1.11241e-14] normNow=2.41102e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.03593e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.41102e-13. -86: DBG: Worst offender is normal contact 0 err=0.00730581 ... +86: > errActive=~[0.000692003 0 0 -0.000318275 0.000327703 0.000503142] +86: > deltaPi=~[0.00432794 3.71848e-09 1.56863e-08 -0.00423371 0.000314711 0.000483194] +86: DBG: Line search iter 1: back=1, prevNorm=0.000969901. +86: > piNow=~[0.00567206 -3.71848e-09 -1.56863e-08 -0.00576629 -0.000314711 -0.000483194] +86: > errNow=~[-2.1684e-19 -5.39266e-09 -2.27488e-08 -3.25261e-19 -5.1679e-09 -7.93456e-09] normNow=2.52241e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.60068e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.80837e-05 +86: > NEWTON iter 2: errNorm=2.52241e-08(v) -> deltaNorm=3.27077e-08(pi) +86: > piActive=~[0.00567206 -3.71848e-09 -1.56863e-08 -0.00576629 -0.000314711 -0.000483194] +86: > errActive=~[-2.1684e-19 -5.39266e-09 -2.27488e-08 -3.25261e-19 -5.1679e-09 -7.93456e-09] +86: > deltaPi=~[1.92755e-08 -3.71843e-09 -1.56861e-08 1.53537e-08 -7.76884e-09 -1.19279e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.52241e-08. +86: > piNow=~[0.00567204 -5.14644e-14 -2.17101e-13 -0.00576631 -0.000314703 -0.000483182] +86: > errNow=~[-2.1684e-19 -7.46353e-14 -3.14847e-13 1.0842e-19 5.63529e-14 8.65218e-14] normNow=3.39648e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.34652e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.39648e-13. +86: DBG: Worst offender is normal contact 0 err=0.00567204 ... 86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start 86: : active=(1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.7678,1.93562, mag=2.08234 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.78476,0.0565699, mag=0.786797 +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.334511,-1.41113, mag=1.45023 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.327703,-0.503142, mag=0.600451 86: fillMult2Active: 86: : active=(1,4,5) 86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.00174365; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000752992; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00179373 -0.00174365 -0.7678 1.93562 -0.78476 0.0565699] +86: : verrLeft was=~[0.000752992 -0.000752992 -0.334511 -1.41113 -0.327703 -0.503142] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.00174365 -0.78476 0.0565699] -86: : pi was=~[0 -0.00650413 3.27422e-14 -8.2543e-14 -0.000648729 4.6764e-05] -86: : piActive=~[-0.01 -0.000648729 4.6764e-05] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.93072e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00200099... -86: > NEWTON iter 1: errNorm=0.00200099(v) -> deltaNorm=0.00542942(pi) -86: > piActive=~[-0.01 -0.000648729 4.6764e-05] -86: > errActive=~[-0.001982 0.000274342 -1.97761e-05] -86: > deltaPi=~[-0.00542599 -0.000192492 1.38759e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.00200099. -86: > piNow=~[-0.00457401 -0.000456237 3.28881e-05] -86: > errNow=~[-1.0842e-18 -1.58609e-08 1.14334e-09] normNow=1.5902e-08 -86: DBG: Improvement rate now/prev at iter 1 is 7.94709e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.40022e-05 -86: > NEWTON iter 2: errNorm=1.5902e-08(v) -> deltaNorm=2.30008e-08(pi) -86: > piActive=~[-0.00457401 -0.000456237 3.28881e-05] -86: > errActive=~[-1.0842e-18 -1.58609e-08 1.14334e-09] -86: > deltaPi=~[1.31074e-08 -1.88517e-08 1.35893e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.5902e-08. -86: > piNow=~[-0.00457402 -0.000456219 3.28867e-05] -86: > errNow=~[2.1684e-19 1.83057e-13 -1.31958e-14] normNow=1.83532e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.15414e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.83532e-13. +86: : rhsActive=~[-0.000752992 -0.327703 -0.503142] +86: : pi was=~[0 -0.00576631 -5.14644e-14 -2.17101e-13 -0.000314703 -0.000483182] +86: : piActive=~[-0.01 -0.000314703 -0.000483182] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.2366e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00145315... +86: > NEWTON iter 1: errNorm=0.00145315(v) -> deltaNorm=0.00669645(pi) +86: > piActive=~[-0.01 -0.000314703 -0.000483182] +86: > errActive=~[-0.00143074 0.00013874 0.000213015] +86: > deltaPi=~[-0.00669194 -0.000134148 -0.000205965] +86: DBG: Line search iter 1: back=1, prevNorm=0.00145315. +86: > piNow=~[-0.00330806 -0.000180555 -0.000277216] +86: > errNow=~[6.50521e-19 -8.16855e-09 -1.25416e-08] normNow=1.49672e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.02999e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.04196e-05 +86: > NEWTON iter 2: errNorm=1.49672e-08(v) -> deltaNorm=3.28659e-08(pi) +86: > piActive=~[-0.00330806 -0.000180555 -0.000277216] +86: > errActive=~[6.50521e-19 -8.16855e-09 -1.25416e-08] +86: > deltaPi=~[2.39235e-08 -1.22988e-08 -1.88831e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.49672e-08. +86: > piNow=~[-0.00330808 -0.000180543 -0.000277197] +86: > errNow=~[0 2.6661e-13 4.09342e-13] normNow=4.8851e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.26387e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.8851e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.78476,0.0565699] to ~[-0.783464,0.0561279] -86: DBG: Friction 1 rotated 0.0253525 deg, less than max 30 +86: slipVel 1 from ~[-0.327703,-0.503142] to ~[-0.327681,-0.502192] +86: DBG: Friction 1 rotated 0.0476944 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00457402 -0.000456219 3.28867e-05] -86: : m_verrLeft=~[0.0021687 -2.1684e-19 -0.766515 1.93397 -0.783464 0.0561279] +86: : m_piActive=~[-0.00330808 -0.000180543 -0.000277197] +86: : m_verrLeft=~[0.00111222 0 -0.334492 -1.41068 -0.327681 -0.502192] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.0021687 pi*v=0 -86: DBG: 1: pi=-0.00457402 verr=-2.1684e-19 pi*v=9.91833e-22 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00457402 0 0 -0.000456219 3.28867e-05] errNorm=1.83532e-13 -86: Postcompression verr=~[0.0021687 -2.1684e-19 -0.766515 1.93397 -0.783464 0.0561279] -86: impulse=~[0 -0.00457402 0 0 -0.000456219 3.28867e-05] +86: DBG: 0: pi=0 verr=0.00111222 pi*v=0 +86: DBG: 1: pi=-0.00330808 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00330808 0 0 -0.000180543 -0.000277197] errNorm=4.8851e-13 +86: Postcompression verr=~[0.00111222 0 -0.334492 -1.41068 -0.327681 -0.502192] +86: impulse=~[0 -0.00330808 0 0 -0.000180543 -0.000277197] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00457402 0 0 -0.000456219 3.28867e-05]-> du ~[0.00135023 -0.00204995 0.00120932 0.00102047 7.22486e-05 -0.000978313 0.00399274 -0.00233948] -86: Now verr0=~[0.0021687 -2.22045e-16 -0.766515 1.93397 -0.783464 0.0561279] +86: Impact: imp ~[0 -0.00330808 0 0 -0.000180543 -0.000277197]-> du ~[0.000402946 0.00122256 0.000499235 -0.000699665 2.07306e-05 0.000556108 -0.00215047 0.00166385] +86: Now verr0=~[0.00111222 -3.25261e-19 -0.334492 -1.41068 -0.327681 -0.502192] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.0021687 -2.22045e-16 -0.766515 1.93397 -0.783464 0.0561279] -86: verrExt=~[-5.474 -5.55126 -0.0210776 5.46854 -0.0216456 5.41161] -86: total verr=~[-5.47183 -5.55126 -0.787593 7.40251 -0.805109 5.46774] -86: DYN t=0.006: verrStart=~[0.0021687 -2.22045e-16 -0.766515 1.93397 -0.783464 0.0561279] -86: verrApplied=~[-5.474 -5.55126 -0.0210776 5.46854 -0.0216456 5.41161] +86: verr0 =~[0.00111222 -3.25261e-19 -0.334492 -1.41068 -0.327681 -0.502192] +86: verrExt=~[-0.676638 -0.534333 -0.0218843 -0.847711 -0.020183 -0.622851] +86: total verr=~[-0.675526 -0.534333 -0.356377 -2.25839 -0.347864 -1.12504] +86: DYN t=0.071: verrStart=~[0.00111222 -3.25261e-19 -0.334492 -1.41068 -0.327681 -0.502192] +86: verrApplied=~[-0.676638 -0.534333 -0.0218843 -0.847711 -0.020183 -0.622851] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -30988,125 +41565,125 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.0021687 -2.22045e-16 -0.766515 1.93397 -0.783464 0.0561279] -86: verrApplied=~[-5.474 -5.55126 -0.0210776 5.46854 -0.0216456 5.41161] +86: verrLeft=~[0.00111222 -3.25261e-19 -0.334492 -1.41068 -0.327681 -0.502192] +86: verrApplied=~[-0.676638 -0.534333 -0.0218843 -0.847711 -0.020183 -0.622851] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.766515,1.93397, mag=2.08034 -86: Participating contact 1 is Sliding; vel=-0.783464,0.0561279, mag=0.785471 +86: Participating contact 0 is Sliding; vel=-0.334492,-1.41068, mag=1.44979 +86: Participating contact 1 is Sliding; vel=-0.327681,-0.502192, mag=0.599643 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.766515,1.93397, mag=2.08034 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.783464,0.0561279, mag=0.785471 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.334492,-1.41068, mag=1.44979 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.327681,-0.502192, mag=0.599643 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-5.47183; guess pi=-0.01 -86: DBG: active normal 3 has v=-5.55126; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.675526; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.534333; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.0021687 -2.22045e-16 -0.766515 1.93397 -0.783464 0.0561279] +86: : verrLeft was=~[0.00111222 -3.25261e-19 -0.334492 -1.41068 -0.327681 -0.502192] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-5.474 -5.55126 -0.0210776 5.46854 -0.0216456 5.41161] -86: : rhsActive=~[-5.47183 -0.787593 7.40251 -5.55126 -0.805109 5.46774] +86: : verrApplied was=~[-0.676638 -0.534333 -0.0218843 -0.847711 -0.020183 -0.622851] +86: : rhsActive=~[-0.675526 -0.356377 -2.25839 -0.534333 -0.347864 -1.12504] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.28294e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=7.78851... -86: > NEWTON iter 1: errNorm=7.78851(v) -> deltaNorm=17.4012(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.84398e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.856738... +86: > NEWTON iter 1: errNorm=0.856738(v) -> deltaNorm=2.37785(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[5.46764 0.000766515 -0.00193397 5.54669 0.000783464 -5.61279e-05] -86: > deltaPi=~[14.7211 0.542758 -1.36942 9.11527 0.91016 -0.0652045] -86: DBG: Line search iter 1: back=1, prevNorm=7.78851. -86: > piNow=~[-14.7311 -0.542758 1.36942 -9.12527 -0.91016 0.0652045] -86: > errNow=~[1.77636e-15 4.20313e-05 -0.000106048 8.88178e-16 2.66011e-05 -1.90572e-06] normNow=0.00011715 -86: DBG: Improvement rate now/prev at iter 1 is 1.50414e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.6652e-10 -86: > NEWTON iter 2: errNorm=0.00011715(v) -> deltaNorm=0.000120828(pi) -86: > piActive=~[-14.7311 -0.542758 1.36942 -9.12527 -0.91016 0.0652045] -86: > errActive=~[1.77636e-15 4.20313e-05 -0.000106048 8.88178e-16 2.66011e-05 -1.90572e-06] -86: > deltaPi=~[4.02669e-05 2.16878e-05 -5.47198e-05 -9.44065e-05 2.44499e-05 -1.75161e-06] -86: DBG: Line search iter 1: back=1, prevNorm=0.00011715. -86: > piNow=~[-14.7311 -0.54278 1.36947 -9.12517 -0.910185 0.0652063] -86: > errNow=~[-1.77636e-15 0 -4.44089e-16 0 -3.33067e-16 2.77556e-17] normNow=1.86128e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.5888e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.86128e-15. +86: > errActive=~[0.672108 0.000334492 0.00141068 0.531289 0.000327681 0.000502192] +86: > deltaPi=~[1.90187 0.0441085 0.186022 1.40728 0.0774459 0.118691] +86: DBG: Line search iter 1: back=1, prevNorm=0.856738. +86: > piNow=~[-1.91187 -0.0441085 -0.186022 -1.41728 -0.0774459 -0.118691] +86: > errNow=~[1.11022e-16 2.36961e-06 9.99353e-06 -3.33067e-16 1.71769e-06 2.63246e-06] normNow=1.07409e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.25369e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.20274e-10 +86: > NEWTON iter 2: errNorm=1.07409e-05(v) -> deltaNorm=1.20834e-05(pi) +86: > piActive=~[-1.91187 -0.0441085 -0.186022 -1.41728 -0.0774459 -0.118691] +86: > errActive=~[1.11022e-16 2.36961e-06 9.99353e-06 -3.33067e-16 1.71769e-06 2.63246e-06] +86: > deltaPi=~[-7.58646e-06 1.45942e-06 6.15491e-06 -5.10429e-06 2.58558e-06 3.96258e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.07409e-05. +86: > piNow=~[-1.91186 -0.04411 -0.186028 -1.41728 -0.0774485 -0.118695] +86: > errNow=~[-1.11022e-16 -2.63678e-16 -1.05471e-15 1.11022e-16 -3.19189e-16 -4.71845e-16] normNow=1.23738e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.15203e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.23738e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.766515,1.93397] to ~[-0.714298,1.92969] -86: DBG: Friction 0 rotated 1.30785 deg, less than max 30 -86: slipVel 1 from ~[-0.783464,0.0561279] to ~[-0.730496,0.134857] -86: DBG: Friction 1 rotated 6.36193 deg, less than max 30 +86: slipVel 0 from ~[-0.334492,-1.41068] to ~[-0.342287,-1.3951] +86: DBG: Friction 0 rotated 0.445845 deg, less than max 30 +86: slipVel 1 from ~[-0.327681,-0.502192] to ~[-0.33531,-0.464598] +86: DBG: Friction 1 rotated 2.69428 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-14.7311 -0.54278 1.36947 -9.12517 -0.910185 0.0652063] -86: : m_verrLeft=~[1.77636e-15 0 -0.714298 1.92969 -0.730496 0.134857] +86: : m_piActive=~[-1.91186 -0.04411 -0.186028 -1.41728 -0.0774485 -0.118695] +86: : m_verrLeft=~[1.11022e-16 -1.11022e-16 -0.342287 -1.3951 -0.33531 -0.464598] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-14.7311 verr=1.77636e-15 pi*v=-2.61678e-14 -86: DBG: 1: pi=-9.12517 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-14.7311 -9.12517 -0.54278 1.36947 -0.910185 0.0652063] errNorm=1.86128e-15 +86: DBG: 0: pi=-1.91186 verr=1.11022e-16 pi*v=-2.12259e-16 +86: DBG: 1: pi=-1.41728 verr=-1.11022e-16 pi*v=1.57349e-16 +86: SP FINAL 1 intervals, piTotal=~[-1.91186 -1.41728 -0.04411 -0.186028 -0.0774485 -0.118695] errNorm=1.23738e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.766515 1.93397, |slipV|=2.08034 -86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.334492 -1.41068, |slipV|=1.44979 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.783464 0.0561279, |slipV|=0.785471 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.327681 -0.502192, |slipV|=0.599643 86: ------------------------------ 86: -86: dynamics impulse=~[-14.7311 -9.12517 -0.54278 1.36947 -0.910185 0.0652063] -86: updated verrStart=~[1.77636e-15 0 -0.714298 1.92969 -0.730496 0.134857] +86: dynamics impulse=~[-1.91186 -1.41728 -0.04411 -0.186028 -0.0774485 -0.118695] +86: updated verrStart=~[1.11022e-16 -1.11022e-16 -0.342287 -1.3951 -0.33531 -0.464598] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.881221 0.180077 0 0 0 0] +86: posVerr=~[0.10046 -0.00746359 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.318503 0.10071 -0.207466 -0.105574 -0.209366 -0.299148] -86: [0.10071 0.356485 0.237441 -0.33609 0.239622 -0.114284] -86: [-0.207466 0.237441 0.446353 -0.236137 0.450588 0.198616] -86: [-0.105574 -0.33609 -0.236137 0.363746 -0.238577 0.111239] -86: [-0.209366 0.239622 0.450588 -0.238577 0.454868 0.2007] -86: [-0.299148 -0.114284 0.198616 0.111239 0.2007 0.327778] +86: [0.243149 0.0986498 -0.00199252 0.305618 -0.00339361 0.120833] +86: [0.0986498 0.205776 0.00594134 0.122988 0.00695154 0.256177] +86: [-0.00199252 0.00594134 0.0513916 0.0406108 0.0508177 -0.0360463] +86: [0.305618 0.122988 0.0406108 0.453769 0.0381691 0.130747] +86: [-0.00339361 0.00695154 0.0508177 0.0381691 0.050277 -0.0340896] +86: [0.120833 0.256177 -0.0360463 0.130747 -0.0340896 0.389763] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.534137 rank=2 -86: rhs=~[0.881221 0.180077 0 0 0 0] +86: rcond(A+D)=0.381876 rank=2 +86: rhs=~[0.10046 -0.00746359 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[2.86276 -0.303608] -86: -> pi=~[2.86276 -0.303608 0 0 0 0] -86: resid active=~[-2.22045e-16 2.77556e-17] -86: resid=~[-2.22045e-16 2.77556e-17 -0.666015 -0.200195 -0.672115 -0.821691] +86: -> piActive=~[0.531197 -0.290927] +86: -> pi=~[0.531197 -0.290927 0 0 0 0] +86: resid active=~[2.77556e-17 2.86229e-17] +86: resid=~[2.77556e-17 2.86229e-17 -0.00278692 0.126563 -0.00382506 -0.0103426] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[2.66454e-15 -8.88178e-16 -0.714298 1.92969 -0.730496 0.134857] -86: perr=~[0.000881221 0.000180077 -1.11022e-16] -86: END OF STEP (0.006,0.007): -86: verr=~[0.0019628 -0.00188123 -0.712581 1.93748 -0.732003 0.142688] -86: perr=~[0.000882203 0.000179136 0] +86: verr=~[-1.91795e-16 -2.75062e-16 -0.342287 -1.3951 -0.33531 -0.464598] +86: perr=~[0.00010046 -7.46359e-06 0] +86: END OF STEP (0.071,0.072): +86: verr=~[0.000756846 -0.000756846 -0.341854 -1.3951 -0.335743 -0.464596] +86: perr=~[0.000100839 -7.84202e-06 0] 86: constraint status: -86: 4: cont UniActive fric Sliding -86: 6: cont UniActive fric Sliding -86: Proximal unilateral contacts: (4,6) -86: Distal unilateral contacts: (0,1,2,3,5,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 4 verr speed=2.06437 -> mu=0.1 -86: DBG: Uni fric 6 verr speed=0.74578 -> mu=0.1 -86: DBG: Uni contact 6 verr vel=-0.00188123 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.43638 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.573212 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000756846 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (1) 86: observers: (0) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.0019628 -0.00188123 -0.712581 1.93748 -0.732003 0.142688] -86: IMP t=0.007 verr=~[0.0019628 -0.00188123 -0.712581 1.93748 -0.732003 0.142688] +86: verr=~[0.000756846 -0.000756846 -0.341854 -1.3951 -0.335743 -0.464596] +86: IMP t=0.072 verr=~[0.000756846 -0.000756846 -0.341854 -1.3951 -0.335743 -0.464596] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -31118,118 +41695,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.0019628 -0.00188123 -0.712581 1.93748 -0.732003 0.142688] +86: verrLeft=~[0.000756846 -0.000756846 -0.341854 -1.3951 -0.335743 -0.464596] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.712581,1.93748, mag=2.06437 -86: Participating contact 1 is Sliding; vel=-0.732003,0.142688, mag=0.74578 +86: Participating contact 0 is Sliding; vel=-0.341854,-1.3951, mag=1.43638 +86: Participating contact 1 is Sliding; vel=-0.335743,-0.464596, mag=0.573212 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.712581,1.93748, mag=2.06437 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.732003,0.142688, mag=0.74578 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.341854,-1.3951, mag=1.43638 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.335743,-0.464596, mag=0.573212 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.0019628; guess pi=0.01 -86: DBG: active normal 3 has v=-0.00188123; guess pi=-0.01 +86: DBG: active normal 0 has v=0.000756846; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000756846; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.0019628 -0.00188123 -0.712581 1.93748 -0.732003 0.142688] +86: : verrLeft was=~[0.000756846 -0.000756846 -0.341854 -1.3951 -0.335743 -0.464596] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.0019628 -0.712581 1.93748 -0.00188123 -0.732003 0.142688] +86: : rhsActive=~[0.000756846 -0.341854 -1.3951 -0.000756846 -0.335743 -0.464596] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.17591e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00100761... -86: > NEWTON iter 1: errNorm=0.00100761(v) -> deltaNorm=0.00339832(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.76062e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.000950814... +86: > NEWTON iter 1: errNorm=0.000950814(v) -> deltaNorm=0.00604184(pi) 86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000133632 0 0 -0.000664255 0.000732003 -0.000142688] -86: > deltaPi=~[0.00167506 2.15372e-09 -5.85588e-09 -0.00286955 0.000699883 -0.000136427] -86: DBG: Line search iter 1: back=1, prevNorm=0.00100761. -86: > piNow=~[0.00832494 -2.15372e-09 5.85588e-09 -0.00713045 -0.000699883 0.000136427] -86: > errNow=~[0 -4.44606e-09 1.20887e-08 -2.1684e-19 -7.82418e-09 1.52515e-09] normNow=1.51475e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.50331e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.23668e-05 -86: > NEWTON iter 2: errNorm=1.51475e-08(v) -> deltaNorm=2.12917e-08(pi) -86: > piActive=~[0.00832494 -2.15372e-09 5.85588e-09 -0.00713045 -0.000699883 0.000136427] -86: > errActive=~[0 -4.44606e-09 1.20887e-08 -2.1684e-19 -7.82418e-09 1.52515e-09] -86: > deltaPi=~[-8.73148e-09 -2.15373e-09 5.85592e-09 1.59854e-08 -8.92237e-09 1.73922e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.51475e-08. -86: > piNow=~[0.00832495 1.6198e-14 -4.40419e-14 -0.00713046 -0.000699874 0.000136425] -86: > errNow=~[4.33681e-19 3.34387e-14 -9.09187e-14 -2.1684e-19 8.57171e-14 -1.67087e-14] normNow=1.30426e-13 -86: DBG: Improvement rate now/prev at iter 2 is 8.61039e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.30426e-13. -86: DBG: Worst offender is normal contact 0 err=0.00832495 ... +86: > errActive=~[0.000689289 0 0 -0.000316789 0.000335743 0.000464596] +86: > deltaPi=~[0.00430771 3.81883e-09 1.55846e-08 -0.0041965 0.000339933 0.000470393] +86: DBG: Line search iter 1: back=1, prevNorm=0.000950814. +86: > piNow=~[0.00569229 -3.81883e-09 -1.55846e-08 -0.0058035 -0.000339933 -0.000470393] +86: > errNow=~[6.50521e-19 -5.48527e-09 -2.23853e-08 -2.1684e-19 -5.24814e-09 -7.2623e-09] normNow=2.4728e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.60072e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.76832e-05 +86: > NEWTON iter 2: errNorm=2.4728e-08(v) -> deltaNorm=3.23415e-08(pi) +86: > piActive=~[0.00569229 -3.81883e-09 -1.55846e-08 -0.0058035 -0.000339933 -0.000470393] +86: > errActive=~[6.50521e-19 -5.48527e-09 -2.23853e-08 -2.1684e-19 -5.24814e-09 -7.2623e-09] +86: > deltaPi=~[1.91678e-08 -3.81878e-09 -1.55844e-08 1.48673e-08 -8.28496e-09 -1.14646e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.4728e-08. +86: > piNow=~[0.00569227 -5.243e-14 -2.13967e-13 -0.00580352 -0.000339925 -0.000470382] +86: > errNow=~[0 -7.53092e-14 -3.07336e-13 0 5.51918e-14 7.63736e-14] normNow=3.30161e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.33517e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.30161e-13. +86: DBG: Worst offender is normal contact 0 err=0.00569227 ... 86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start 86: : active=(1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.712581,1.93748, mag=2.06437 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.732003,0.142688, mag=0.74578 +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.341854,-1.3951, mag=1.43638 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.335743,-0.464596, mag=0.573212 86: fillMult2Active: 86: : active=(1,4,5) 86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -105: Starting test TestParallelForces ... -104: Done - 80/108 Test #104: TestOrientedBoundingBox ........................ Passed 0.02 sec -86: DBG: active normal 0 has v=-0.00188123; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000756846; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.0019628 -0.00188123 -0.712581 1.93748 -0.732003 0.142688] +86: : verrLeft was=~[0.000756846 -0.000756846 -0.341854 -1.3951 -0.335743 -0.464596] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.00188123 -0.732003 0.142688] -86: : pi was=~[0 -0.00713046 1.6198e-14 -4.40419e-14 -0.000699874 0.000136425] -86: : piActive=~[-0.01 -0.000699874 0.000136425] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.77794e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0018273... -86: > NEWTON iter 1: errNorm=0.0018273(v) -> deltaNorm=0.00501346(pi) -86: > piActive=~[-0.01 -0.000699874 0.000136425] -86: > errActive=~[-0.00181473 0.000210051 -4.09449e-05] -86: > deltaPi=~[-0.00500889 -0.000209965 4.09281e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.0018273. -86: > piNow=~[-0.00499111 -0.000489909 9.54971e-05] -86: > errNow=~[-6.50521e-19 -1.36573e-08 2.6622e-09] normNow=1.39144e-08 -86: DBG: Improvement rate now/prev at iter 1 is 7.61472e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.11476e-05 -86: > NEWTON iter 2: errNorm=1.39144e-08(v) -> deltaNorm=2.14944e-08(pi) -86: > piActive=~[-0.00499111 -0.000489909 9.54971e-05] -86: > errActive=~[-6.50521e-19 -1.36573e-08 2.6622e-09] -86: > deltaPi=~[1.26263e-08 -1.70737e-08 3.32814e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.39144e-08. -86: > piNow=~[-0.00499112 -0.000489892 9.54938e-05] -86: > errNow=~[0 1.38153e-13 -2.693e-14] normNow=1.40753e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.01157e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.40753e-13. +86: : rhsActive=~[-0.000756846 -0.335743 -0.464596] +86: : pi was=~[0 -0.00580352 -5.243e-14 -2.13967e-13 -0.000339925 -0.000470382] +86: : piActive=~[-0.01 -0.000339925 -0.000470382] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.13514e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00143896... +86: > NEWTON iter 1: errNorm=0.00143896(v) -> deltaNorm=0.00666221(pi) +86: > piActive=~[-0.01 -0.000339925 -0.000470382] +86: > errActive=~[-0.00141872 0.000140894 0.000194967] +86: > deltaPi=~[-0.00665766 -0.000144142 -0.000199462] +86: DBG: Line search iter 1: back=1, prevNorm=0.00143896. +86: > piNow=~[-0.00334234 -0.000195782 -0.00027092] +86: > errNow=~[-1.0842e-19 -8.32608e-09 -1.15215e-08] normNow=1.42151e-08 +86: DBG: Improvement rate now/prev at iter 1 is 9.87868e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.9096e-05 +86: > NEWTON iter 2: errNorm=1.42151e-08(v) -> deltaNorm=3.22961e-08(pi) +86: > piActive=~[-0.00334234 -0.000195782 -0.00027092] +86: > errActive=~[-1.0842e-19 -8.32608e-09 -1.15215e-08] +86: > deltaPi=~[2.3187e-08 -1.31676e-08 -1.82211e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.42151e-08. +86: > piNow=~[-0.00334236 -0.000195769 -0.000270902] +86: > errNow=~[-1.0842e-19 2.59345e-13 3.58877e-13] normNow=4.42779e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.11485e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.42779e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.732003,0.142688] to ~[-0.730615,0.142193] -86: DBG: Friction 1 rotated 0.0169685 deg, less than max 30 +86: slipVel 1 from ~[-0.335743,-0.464596] to ~[-0.33572,-0.46364] +86: DBG: Friction 1 rotated 0.0541244 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00499112 -0.000489892 9.54938e-05] -86: : m_verrLeft=~[0.00237496 0 -0.711208 1.9357 -0.730615 0.142193] +86: : m_piActive=~[-0.00334236 -0.000195769 -0.000270902] +86: : m_verrLeft=~[0.00111601 1.0842e-19 -0.341834 -1.39465 -0.33572 -0.46364] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00237496 pi*v=0 -86: DBG: 1: pi=-0.00499112 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00499112 0 0 -0.000489892 9.54938e-05] errNorm=1.40753e-13 -86: Postcompression verr=~[0.00237496 0 -0.711208 1.9357 -0.730615 0.142193] -86: impulse=~[0 -0.00499112 0 0 -0.000489892 9.54938e-05] +86: DBG: 0: pi=0 verr=0.00111601 pi*v=0 +86: DBG: 1: pi=-0.00334236 verr=1.0842e-19 pi*v=-3.62379e-22 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00334236 0 0 -0.000195769 -0.000270902] errNorm=4.42779e-13 +86: Postcompression verr=~[0.00111601 1.0842e-19 -0.341834 -1.39465 -0.33572 -0.46364] +86: impulse=~[0 -0.00334236 0 0 -0.000195769 -0.000270902] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00499112 0 0 -0.000489892 9.54938e-05]-> du ~[0.00144508 -0.00222524 0.00129187 0.00110581 7.55459e-05 -0.00106268 0.00430386 -0.00242529] -86: Now verr0=~[0.00237496 0 -0.711208 1.9357 -0.730615 0.142193] +86: Impact: imp ~[0 -0.00334236 0 0 -0.000195769 -0.000270902]-> du ~[0.000405763 0.00122943 0.000502796 -0.000704238 2.18096e-05 0.000558006 -0.00216244 0.00167554] +86: Now verr0=~[0.00111601 1.0842e-18 -0.341834 -1.39465 -0.33572 -0.46364] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00237496 0 -0.711208 1.9357 -0.730615 0.142193] -86: verrExt=~[-5.65393 -5.81835 -0.0633145 5.72126 -0.0641725 5.65266] -86: total verr=~[-5.65155 -5.81835 -0.774522 7.65696 -0.794787 5.79485] -86: DYN t=0.007: verrStart=~[0.00237496 0 -0.711208 1.9357 -0.730615 0.142193] -86: verrApplied=~[-5.65393 -5.81835 -0.0633145 5.72126 -0.0641725 5.65266] +86: verr0 =~[0.00111601 1.0842e-18 -0.341834 -1.39465 -0.33572 -0.46364] +86: verrExt=~[-0.611995 -0.48483 -0.0174923 -0.76224 -0.0161733 -0.563493] +86: total verr=~[-0.610879 -0.48483 -0.359326 -2.15689 -0.351893 -1.02713] +86: DYN t=0.072: verrStart=~[0.00111601 1.0842e-18 -0.341834 -1.39465 -0.33572 -0.46364] +86: verrApplied=~[-0.611995 -0.48483 -0.0174923 -0.76224 -0.0161733 -0.563493] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -31241,125 +41815,130 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00237496 0 -0.711208 1.9357 -0.730615 0.142193] -86: verrApplied=~[-5.65393 -5.81835 -0.0633145 5.72126 -0.0641725 5.65266] +86: verrLeft=~[0.00111601 1.0842e-18 -0.341834 -1.39465 -0.33572 -0.46364] +86: verrApplied=~[-0.611995 -0.48483 -0.0174923 -0.76224 -0.0161733 -0.563493] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.711208,1.9357, mag=2.06222 -86: Participating contact 1 is Sliding; vel=-0.730615,0.142193, mag=0.744323 +86: Participating contact 0 is Sliding; vel=-0.341834,-1.39465, mag=1.43593 +86: Participating contact 1 is Sliding; vel=-0.33572,-0.46364, mag=0.572424 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.711208,1.9357, mag=2.06222 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.730615,0.142193, mag=0.744323 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.341834,-1.39465, mag=1.43593 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.33572,-0.46364, mag=0.572424 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-5.65155; guess pi=-0.01 -86: DBG: active normal 3 has v=-5.81835; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.610879; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.48483; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00237496 0 -0.711208 1.9357 -0.730615 0.142193] +86: : verrLeft was=~[0.00111601 1.0842e-18 -0.341834 -1.39465 -0.33572 -0.46364] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-5.65393 -5.81835 -0.0633145 5.72126 -0.0641725 5.65266] -86: : rhsActive=~[-5.65155 -0.774522 7.65696 -5.81835 -0.794787 5.79485] +86: : verrApplied was=~[-0.611995 -0.48483 -0.0174923 -0.76224 -0.0161733 -0.563493] +86: : rhsActive=~[-0.610879 -0.359326 -2.15689 -0.48483 -0.351893 -1.02713] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.16653e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=8.10527... -86: > NEWTON iter 1: errNorm=8.10527(v) -> deltaNorm=18.5443(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.75799e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.775343... +86: > NEWTON iter 1: errNorm=0.775343(v) -> deltaNorm=2.16216(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[5.64752 0.000711208 -0.0019357 5.81386 0.000730615 -0.000142193] -86: > deltaPi=~[15.655 0.540226 -1.47034 9.76752 0.959709 -0.186779] -86: DBG: Line search iter 1: back=1, prevNorm=8.10527. -86: > piNow=~[-15.665 -0.540226 1.47034 -9.77752 -0.959709 0.186779] -86: > errNow=~[3.55271e-15 4.14725e-05 -0.000112876 0 2.65818e-05 -5.17337e-06] normNow=0.000123265 -86: DBG: Improvement rate now/prev at iter 1 is 1.5208e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.75843e-10 -86: > NEWTON iter 2: errNorm=0.000123265(v) -> deltaNorm=0.000125934(pi) -86: > piActive=~[-15.665 -0.540226 1.47034 -9.77752 -0.959709 0.186779] -86: > errActive=~[3.55271e-15 4.14725e-05 -0.000112876 0 2.65818e-05 -5.17337e-06] -86: > deltaPi=~[3.81438e-05 2.14261e-05 -5.83156e-05 -9.92189e-05 2.59736e-05 -5.055e-06] -86: DBG: Line search iter 1: back=1, prevNorm=0.000123265. -86: > piNow=~[-15.665 -0.540248 1.47039 -9.77742 -0.959735 0.186784] -86: > errNow=~[0 0 0 0 -3.33067e-16 8.32667e-17] normNow=3.43318e-16 -86: DBG: Improvement rate now/prev at iter 2 is 2.78519e-12 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.43318e-16. +86: > errActive=~[0.607474 0.000341834 0.00139465 0.481799 0.00033572 0.00046364] +86: > deltaPi=~[1.72124 0.0412118 0.16814 1.29051 0.0762702 0.105332] +86: DBG: Line search iter 1: back=1, prevNorm=0.775343. +86: > piNow=~[-1.73124 -0.0412118 -0.16814 -1.30051 -0.0762702 -0.105332] +86: > errNow=~[-3.33067e-16 2.19163e-06 8.94165e-06 1.66533e-16 1.61379e-06 2.2287e-06] normNow=9.60873e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.23929e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.4425e-10 +86: > NEWTON iter 2: errNorm=9.60873e-06(v) -> deltaNorm=1.0939e-05(pi) +86: > piActive=~[-1.73124 -0.0412118 -0.16814 -1.30051 -0.0762702 -0.105332] +86: > errActive=~[-3.33067e-16 2.19163e-06 8.94165e-06 1.66533e-16 1.61379e-06 2.2287e-06] +86: > deltaPi=~[-6.85885e-06 1.363e-06 5.56091e-06 -4.57341e-06 2.551e-06 3.52302e-06] +86: DBG: Line search iter 1: back=1, prevNorm=9.60873e-06. +86: > piNow=~[-1.73123 -0.0412132 -0.168146 -1.3005 -0.0762727 -0.105335] +86: > errNow=~[2.22045e-16 -2.84495e-16 -1.16573e-15 0 -3.40006e-16 -4.64906e-16] normNow=1.34941e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.40436e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.34941e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.711208,1.9357] to ~[-0.62843,1.89623] -86: DBG: Friction 0 rotated 1.83844 deg, less than max 30 -86: slipVel 1 from ~[-0.730615,0.142193] to ~[-0.646165,0.257074] -86: DBG: Friction 1 rotated 10.6817 deg, less than max 30 +86: slipVel 0 from ~[-0.341834,-1.39465] to ~[-0.347024,-1.37354] +86: DBG: Friction 0 rotated 0.407103 deg, less than max 30 +86: slipVel 1 from ~[-0.33572,-0.46364] to ~[-0.340801,-0.425978] +86: DBG: Friction 1 rotated 2.75324 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-15.665 -0.540248 1.47039 -9.77742 -0.959735 0.186784] -86: : m_verrLeft=~[0 0 -0.62843 1.89623 -0.646165 0.257074] +86: : m_piActive=~[-1.73123 -0.0412132 -0.168146 -1.3005 -0.0762727 -0.105335] +86: : m_verrLeft=~[-2.22045e-16 0 -0.347024 -1.37354 -0.340801 -0.425978] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-15.665 verr=0 pi*v=-0 -86: DBG: 1: pi=-9.77742 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-15.665 -9.77742 -0.540248 1.47039 -0.959735 0.186784] errNorm=3.43318e-16 +86: DBG: 0: pi=-1.73123 verr=-2.22045e-16 pi*v=3.8441e-16 +86: DBG: 1: pi=-1.3005 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-1.73123 -1.3005 -0.0412132 -0.168146 -0.0762727 -0.105335] errNorm=1.34941e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.711208 1.9357, |slipV|=2.06222 -86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.341834 -1.39465, |slipV|=1.43593 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.730615 0.142193, |slipV|=0.744323 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.33572 -0.46364, |slipV|=0.572424 86: ------------------------------ 86: -86: dynamics impulse=~[-15.665 -9.77742 -0.540248 1.47039 -0.959735 0.186784] -86: updated verrStart=~[0 0 -0.62843 1.89623 -0.646165 0.257074] +86: dynamics impulse=~[-1.73123 -1.3005 -0.0412132 -0.168146 -0.0762727 -0.105335] +86: updated verrStart=~[-2.22045e-16 0 -0.347024 -1.37354 -0.340801 -0.425978] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.882203 0.179136 0 0 0 0] +86: posVerr=~[0.100839 -0.00784202 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.306502 0.0968593 -0.199462 -0.102448 -0.201616 -0.287871] -86: [0.0968593 0.351408 0.235477 -0.332286 0.238039 -0.11201] -86: [-0.199462 0.235477 0.43588 -0.234825 0.440782 0.189956] -86: [-0.102448 -0.332286 -0.234825 0.36149 -0.237713 0.109488] -86: [-0.201616 0.238039 0.440782 -0.237713 0.445744 0.192331] -86: [-0.287871 -0.11201 0.189956 0.109488 0.192331 0.317571] +86: [0.242519 0.0979058 -0.00251324 0.305591 -0.00374403 0.120572] +86: [0.0979058 0.205269 0.00596179 0.122621 0.00685111 0.256261] +86: [-0.00251324 0.00596179 0.0511745 0.0398529 0.0506783 -0.0358472] +86: [0.305591 0.122621 0.0398529 0.454881 0.0377076 0.131236] +86: [-0.00374403 0.00685111 0.0506783 0.0377076 0.0502077 -0.034128] +86: [0.120572 0.256261 -0.0358472 0.131236 -0.034128 0.390777] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.5358 rank=2 -86: rhs=~[0.882203 0.179136 0 0 0 0] +86: rcond(A+D)=0.383961 rank=2 +86: rhs=~[0.100839 -0.00784202 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[2.97646 -0.310639] -86: -> pi=~[2.97646 -0.310639 0 0 0 0] -86: resid active=~[0 5.55112e-17] -86: resid=~[0 5.55112e-17 -0.66684 -0.201711 -0.674046 -0.822041] +86: -> piActive=~[0.534051 -0.292926] +86: -> pi=~[0.534051 -0.292926 0 0 0 0] +86: resid active=~[2.77556e-17 6.93889e-18] +86: resid=~[2.77556e-17 6.93889e-18 -0.00308856 0.127283 -0.00400637 -0.0106738] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[4.44089e-15 4.88498e-15 -0.62843 1.89623 -0.646165 0.257074] -86: perr=~[0.000882203 0.000179136 0] -86: END OF STEP (0.007,0.008): -86: verr=~[0.00202111 -0.00189586 -0.626951 1.90461 -0.647376 0.265493] -86: perr=~[0.000883213 0.000178189 -2.22045e-16] +86: verr=~[-1.86483e-17 1.13191e-16 -0.347024 -1.37354 -0.340801 -0.425978] +86: perr=~[0.000100839 -7.84202e-06 0] +86: END OF STEP (0.072,0.073): +86: verr=~[0.000752397 -0.000752397 -0.346575 -1.37354 -0.34125 -0.425976] +103: [min,max]=0.1,0.5 actual=0.234367 +86: perr=~[0.000101215 -8.21821e-06 0] 86: constraint status: -86: 4: cont UniActive fric Sliding -86: 6: cont UniActive fric Sliding -86: Proximal unilateral contacts: (4,6) -86: Distal unilateral contacts: (0,1,2,3,5,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +103: calc wrms=0.234367 +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 4 verr speed=2.00514 -> mu=0.1 -86: DBG: Uni fric 6 verr speed=0.699702 -> mu=0.1 -86: DBG: Uni contact 6 verr vel=-0.00189586 -> cor=0 +103: Done +103: testUnconstrained done. real/CPU ms: 81.6 / 81.6 +103: testConstrained ... +86: DBG: Uni fric 0 verr speed=1.41659 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.545808 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000752397 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (1) 86: observers: (0) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.00202111 -0.00189586 -0.626951 1.90461 -0.647376 0.265493] -86: IMP t=0.008 verr=~[0.00202111 -0.00189586 -0.626951 1.90461 -0.647376 0.265493] +86: verr=~[0.000752397 -0.000752397 -0.346575 -1.37354 -0.34125 -0.425976] +86: IMP t=0.073 verr=~[0.000752397 -0.000752397 -0.346575 -1.37354 -0.34125 -0.425976] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -31371,115 +41950,116 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00202111 -0.00189586 -0.626951 1.90461 -0.647376 0.265493] +86: verrLeft=~[0.000752397 -0.000752397 -0.346575 -1.37354 -0.34125 -0.425976] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.626951,1.90461, mag=2.00514 -86: Participating contact 1 is Sliding; vel=-0.647376,0.265493, mag=0.699702 +86: Participating contact 0 is Sliding; vel=-0.346575,-1.37354, mag=1.41659 +86: Participating contact 1 is Sliding; vel=-0.34125,-0.425976, mag=0.545808 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.626951,1.90461, mag=2.00514 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.647376,0.265493, mag=0.699702 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.346575,-1.37354, mag=1.41659 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.34125,-0.425976, mag=0.545808 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.00202111; guess pi=0.01 -86: DBG: active normal 3 has v=-0.00189586; guess pi=-0.01 +86: DBG: active normal 0 has v=0.000752397; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000752397; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00202111 -0.00189586 -0.626951 1.90461 -0.647376 0.265493] +86: : verrLeft was=~[0.000752397 -0.000752397 -0.346575 -1.37354 -0.34125 -0.425976] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.00202111 -0.626951 1.90461 -0.00189586 -0.647376 0.265493] +86: : rhsActive=~[0.000752397 -0.346575 -1.37354 -0.000752397 -0.34125 -0.425976] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.91059e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.000941548... -86: > NEWTON iter 1: errNorm=0.000941548(v) -> deltaNorm=0.00294079(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.65475e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.000941443... +86: > NEWTON iter 1: errNorm=0.000941443(v) -> deltaNorm=0.00609143(pi) 86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[4.0985e-06 0 0 -0.000630011 0.000647376 -0.000265493] -86: > deltaPi=~[0.00104005 1.2113e-09 -3.67981e-09 -0.00265074 0.000679975 -0.000278863] -86: DBG: Line search iter 1: back=1, prevNorm=0.000941548. -86: > piNow=~[0.00895995 -1.2113e-09 3.67981e-09 -0.00734926 -0.000679975 0.000278863] -86: > errNow=~[-4.33681e-19 -2.42884e-09 7.37855e-09 0 -6.39197e-09 2.62139e-09] normNow=1.03957e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.10411e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.048e-05 -86: > NEWTON iter 2: errNorm=1.03957e-08(v) -> deltaNorm=1.65244e-08(pi) -86: > piActive=~[0.00895995 -1.2113e-09 3.67981e-09 -0.00734926 -0.000679975 0.000278863] -86: > errActive=~[-4.33681e-19 -2.42884e-09 7.37855e-09 0 -6.39197e-09 2.62139e-09] -86: > deltaPi=~[-5.61995e-09 -1.21131e-09 3.67983e-09 1.232e-08 -7.9955e-09 3.27901e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.03957e-08. -86: > piNow=~[0.00895996 8.15284e-15 -2.47674e-14 -0.00734927 -0.000679967 0.000278859] -86: > errNow=~[0 1.63476e-14 -4.96623e-14 -2.1684e-19 5.49984e-14 -2.25552e-14] normNow=7.91653e-14 -86: DBG: Improvement rate now/prev at iter 2 is 7.61518e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.91653e-14. -86: DBG: Worst offender is normal contact 0 err=0.00895996 ... +86: > errActive=~[0.000695285 0 0 -0.000324016 0.00034125 0.000425976] +86: > deltaPi=~[0.00435181 3.96582e-09 1.57173e-08 -0.00422297 0.000361201 0.00045088] +86: DBG: Line search iter 1: back=1, prevNorm=0.000941443. +86: > piNow=~[0.00564819 -3.96582e-09 -1.57173e-08 -0.00577703 -0.000361201 -0.00045088] +86: > errNow=~[1.0842e-19 -5.61796e-09 -2.22651e-08 0 -5.36788e-09 -6.70061e-09] normNow=2.45154e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.60403e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.76221e-05 +86: > NEWTON iter 2: errNorm=2.45154e-08(v) -> deltaNorm=3.2445e-08(pi) +86: > piActive=~[0.00564819 -3.96582e-09 -1.57173e-08 -0.00577703 -0.000361201 -0.00045088] +86: > errActive=~[1.0842e-19 -5.61796e-09 -2.22651e-08 0 -5.36788e-09 -6.70061e-09] +86: > deltaPi=~[1.93437e-08 -3.96577e-09 -1.57171e-08 1.45599e-08 -8.92451e-09 -1.11403e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.45154e-08. +86: > piNow=~[0.00564817 -5.52433e-14 -2.1894e-13 -0.00577704 -0.000361192 -0.000450869] +86: > errNow=~[0 -7.82573e-14 -3.10149e-13 0 5.54419e-14 6.9207e-14] normNow=3.31934e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.35398e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.31934e-13. +86: DBG: Worst offender is normal contact 0 err=0.00564817 ... 86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start 86: : active=(1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.626951,1.90461, mag=2.00514 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.647376,0.265493, mag=0.699702 +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.346575,-1.37354, mag=1.41659 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.34125,-0.425976, mag=0.545808 86: fillMult2Active: 86: : active=(1,4,5) 86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.00189586; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000752397; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00202111 -0.00189586 -0.626951 1.90461 -0.647376 0.265493] +86: : verrLeft was=~[0.000752397 -0.000752397 -0.346575 -1.37354 -0.34125 -0.425976] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.00189586 -0.647376 0.265493] -86: : pi was=~[0 -0.00734927 8.15284e-15 -2.47674e-14 -0.000679967 0.000278859] -86: : piActive=~[-0.01 -0.000679967 0.000278859] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.6063e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00177348... -86: > NEWTON iter 1: errNorm=0.00177348(v) -> deltaNorm=0.00492061(pi) -86: > piActive=~[-0.01 -0.000679967 0.000278859] -86: > errActive=~[-0.00176376 0.000171602 -7.0375e-05] -86: > deltaPi=~[-0.0049154 -0.000209515 8.59234e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.00177348. -86: > piNow=~[-0.0050846 -0.000470453 0.000192936] -86: > errNow=~[-4.33681e-19 -1.1853e-08 4.86098e-09] normNow=1.2811e-08 -86: DBG: Improvement rate now/prev at iter 1 is 7.22365e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.00779e-05 -86: > NEWTON iter 2: errNorm=1.2811e-08(v) -> deltaNorm=2.1295e-08(pi) -86: > piActive=~[-0.0050846 -0.000470453 0.000192936] -86: > errActive=~[-4.33681e-19 -1.1853e-08 4.86098e-09] -86: > deltaPi=~[1.27835e-08 -1.57574e-08 6.46224e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.2811e-08. -86: > piNow=~[-0.00508461 -0.000470437 0.000192929] -86: > errNow=~[0 1.19197e-13 -4.88834e-14] normNow=1.28831e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.00563e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.28831e-13. +86: : rhsActive=~[-0.000752397 -0.34125 -0.425976] +86: : pi was=~[0 -0.00577704 -5.52433e-14 -2.1894e-13 -0.000361192 -0.000450869] +86: : piActive=~[-0.01 -0.000361192 -0.000450869] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.03307e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00143229... +86: > NEWTON iter 1: errNorm=0.00143229(v) -> deltaNorm=0.0066639(pi) +86: > piActive=~[-0.01 -0.000361192 -0.000450869] +86: > errActive=~[-0.00141362 0.000144108 0.000179888] +86: > deltaPi=~[-0.00665945 -0.000152319 -0.000190136] +86: DBG: Line search iter 1: back=1, prevNorm=0.00143229. +86: > piNow=~[-0.00334055 -0.000208873 -0.000260732] +86: > errNow=~[0 -8.46492e-09 -1.05666e-08] normNow=1.35391e-08 +86: DBG: Improvement rate now/prev at iter 1 is 9.45276e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.82024e-05 +86: > NEWTON iter 2: errNorm=1.35391e-08(v) -> deltaNorm=3.18607e-08(pi) +86: > piActive=~[-0.00334055 -0.000208873 -0.000260732] +86: > errActive=~[0 -8.46492e-09 -1.05666e-08] +86: > deltaPi=~[2.25017e-08 -1.41026e-08 -1.7604e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.35391e-08. +86: > piNow=~[-0.00334057 -0.000208859 -0.000260715] +86: > errNow=~[0 2.5608e-13 3.1966e-13] normNow=4.09585e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.0252e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.09585e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.647376,0.265493] to ~[-0.646006,0.264957] -86: DBG: Friction 1 rotated 0.00195902 deg, less than max 30 +86: slipVel 1 from ~[-0.34125,-0.425976] to ~[-0.341226,-0.425024] +86: DBG: Friction 1 rotated 0.0605539 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00508461 -0.000470437 0.000192929] -86: : m_verrLeft=~[0.00246242 0 -0.625598 1.9028 -0.646006 0.264957] +86: : m_piActive=~[-0.00334057 -0.000208859 -0.000260715] +86: : m_verrLeft=~[0.00110747 0 -0.346554 -1.37309 -0.341226 -0.425024] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00246242 pi*v=0 -86: DBG: 1: pi=-0.00508461 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00508461 0 0 -0.000470437 0.000192929] errNorm=1.28831e-13 -86: Postcompression verr=~[0.00246242 0 -0.625598 1.9028 -0.646006 0.264957] -86: impulse=~[0 -0.00508461 0 0 -0.000470437 0.000192929] +86: DBG: 0: pi=0 verr=0.00110747 pi*v=0 +86: DBG: 1: pi=-0.00334057 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00334057 0 0 -0.000208859 -0.000260715] errNorm=4.09585e-13 +86: Postcompression verr=~[0.00110747 0 -0.346554 -1.37309 -0.341226 -0.425024] +86: impulse=~[0 -0.00334057 0 0 -0.000208859 -0.000260715] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00508461 0 0 -0.000470437 0.000192929]-> du ~[0.00142631 -0.00227519 0.00127179 0.00112871 7.30818e-05 -0.00108849 0.00437225 -0.0024019] -86: Now verr0=~[0.00246242 -4.44089e-16 -0.625598 1.9028 -0.646006 0.264957] +86: Impact: imp ~[0 -0.00334057 0 0 -0.000208859 -0.000260715]-> du ~[0.000404203 0.00122264 0.000500848 -0.000700953 2.26764e-05 0.000553734 -0.00215041 0.00166895] +86: Now verr0=~[0.00110747 -2.1684e-19 -0.346554 -1.37309 -0.341226 -0.425024] +69: Done 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00246242 -4.44089e-16 -0.625598 1.9028 -0.646006 0.264957] -86: verrExt=~[-5.50718 -5.79785 -0.156658 5.70291 -0.158607 5.56294] -86: total verr=~[-5.50472 -5.79785 -0.782256 7.60571 -0.804613 5.82789] -86: DYN t=0.008: verrStart=~[0.00246242 -4.44089e-16 -0.625598 1.9028 -0.646006 0.264957] -86: verrApplied=~[-5.50718 -5.79785 -0.156658 5.70291 -0.158607 5.56294] +86: verr0 =~[0.00110747 -2.1684e-19 -0.346554 -1.37309 -0.341226 -0.425024] +86: verrExt=~[-0.546901 -0.435171 -0.0133117 -0.675535 -0.0123317 -0.503326] +86: total verr=~[-0.545794 -0.435171 -0.359865 -2.04863 -0.353558 -0.92835] +86: DYN t=0.073: verrStart=~[0.00110747 -2.1684e-19 -0.346554 -1.37309 -0.341226 -0.425024] +86: verrApplied=~[-0.546901 -0.435171 -0.0133117 -0.675535 -0.0123317 -0.503326] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -31491,143 +42071,127 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00246242 -4.44089e-16 -0.625598 1.9028 -0.646006 0.264957] -86: verrApplied=~[-5.50718 -5.79785 -0.156658 5.70291 -0.158607 5.56294] +86: verrLeft=~[0.00110747 -2.1684e-19 -0.346554 -1.37309 -0.341226 -0.425024] +86: verrApplied=~[-0.546901 -0.435171 -0.0133117 -0.675535 -0.0123317 -0.503326] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.625598,1.9028, mag=2.00301 -86: Participating contact 1 is Sliding; vel=-0.646006,0.264957, mag=0.698231 +86: Participating contact 0 is Sliding; vel=-0.346554,-1.37309, mag=1.41615 +86: Participating contact 1 is Sliding; vel=-0.341226,-0.425024, mag=0.545051 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.625598,1.9028, mag=2.00301 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.646006,0.264957, mag=0.698231 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.346554,-1.37309, mag=1.41615 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.341226,-0.425024, mag=0.545051 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-5.50472; guess pi=-0.01 -86: DBG: active normal 3 has v=-5.79785; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.545794; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.435171; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00246242 -4.44089e-16 -0.625598 1.9028 -0.646006 0.264957] +86: : verrLeft was=~[0.00110747 -2.1684e-19 -0.346554 -1.37309 -0.341226 -0.425024] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-5.50718 -5.79785 -0.156658 5.70291 -0.158607 5.56294] -86: : rhsActive=~[-5.50472 -0.782256 7.60571 -5.79785 -0.804613 5.82789] +86: : verrApplied was=~[-0.546901 -0.435171 -0.0133117 -0.675535 -0.0123317 -0.503326] +86: : rhsActive=~[-0.545794 -0.359865 -2.04863 -0.435171 -0.353558 -0.92835] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.90127e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=7.98892... -86: > NEWTON iter 1: errNorm=7.98892(v) -> deltaNorm=18.4908(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.6522e-06 +93: Done + 85/108 Test #69: RungeKuttaFeldbergIntegratorTest ............... Passed 0.55 sec +86: DBG: >>>> Start NEWTON solve with errNorm=0.693511... +86: > NEWTON iter 1: errNorm=0.693511(v) -> deltaNorm=1.94325(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[5.50081 0.000625598 -0.0019028 5.79344 0.000646006 -0.000264957] -86: > deltaPi=~[15.4139 0.481715 -1.46517 10.0466 0.930406 -0.381603] -86: DBG: Line search iter 1: back=1, prevNorm=7.98892. -86: > piNow=~[-15.4239 -0.481715 1.46517 -10.0566 -0.930406 0.381603] -86: > errNow=~[2.66454e-15 3.59185e-05 -0.000109249 -1.77636e-15 2.4175e-05 -9.91531e-06] normNow=0.000117933 -86: DBG: Improvement rate now/prev at iter 1 is 1.47621e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.4433e-10 -86: > NEWTON iter 2: errNorm=0.000117933(v) -> deltaNorm=0.000120911(pi) -86: > piActive=~[-15.4239 -0.481715 1.46517 -10.0566 -0.930406 0.381603] -86: > errActive=~[2.66454e-15 3.59185e-05 -0.000109249 -1.77636e-15 2.4175e-05 -9.91531e-06] -86: > deltaPi=~[3.03399e-05 1.88799e-05 -5.74246e-05 -9.62932e-05 2.57142e-05 -1.05466e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.000117933. -86: > piNow=~[-15.4239 -0.481734 1.46523 -10.0565 -0.930431 0.381613] -86: > errNow=~[-8.88178e-16 1.11022e-16 -4.44089e-16 8.88178e-16 -3.33067e-16 5.55112e-17] normNow=1.37887e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.1692e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.37887e-15. +86: > errActive=~[0.542403 0.000346554 0.00137309 0.432151 0.000341226 0.000425024] +86: > deltaPi=~[1.53764 0.0378717 0.150053 1.17216 0.0740054 0.0921796] +86: DBG: Line search iter 1: back=1, prevNorm=0.693511. +86: > piNow=~[-1.54764 -0.0378717 -0.150053 -1.18216 -0.0740054 -0.0921796] +86: > errNow=~[-4.44089e-16 1.98489e-06 7.86441e-06 5.55112e-17 1.48984e-06 1.85571e-06] normNow=8.45293e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.21886e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.59475e-10 +86: > NEWTON iter 2: errNorm=8.45293e-06(v) -> deltaNorm=9.7807e-06(pi) +86: > piActive=~[-1.54764 -0.0378717 -0.150053 -1.18216 -0.0740054 -0.0921796] +86: > errActive=~[-4.44089e-16 1.98489e-06 7.86441e-06 5.55112e-17 1.48984e-06 1.85571e-06] +86: > deltaPi=~[-6.11985e-06 1.25185e-06 4.95999e-06 -4.04286e-06 2.48029e-06 3.0894e-06] +86: DBG: Line search iter 1: back=1, prevNorm=8.45293e-06. +86: > piNow=~[-1.54763 -0.0378729 -0.150058 -1.18215 -0.0740079 -0.0921827] +86: > errNow=~[0 -3.26128e-16 -1.249e-15 -5.55112e-17 -3.67761e-16 -4.51028e-16] normNow=1.41708e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.67644e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.41708e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.625598,1.9028] to ~[-0.529012,1.84247] -86: DBG: Friction 0 rotated 2.17978 deg, less than max 30 -86: slipVel 1 from ~[-0.646006,0.264957] to ~[-0.547052,0.394533] -107: *** TEST PIN *** -107: -107: Vels B: -107: Fwd: ~[~[-2.69705,-0.486375,1.2204],~[1.67548,-3.21832,2.42012]] -107: Rev1: ~[~[-2.69705,-0.486375,1.2204],~[1.67548,-3.21832,2.42012]] -107: Rev2: ~[~[-2.69705,-0.486375,1.2204],~[1.67548,-3.21832,2.42012]] -107: Vels A: -107: Fwd: ~[~[0,0,0],~[0,0,0]] -107: Rev1: ~[~[1.77636e-15,6.66134e-16,2.22045e-16],~[-1.77636e-15,8.88178e-15,-8.88178e-15]] -107: Rev2: ~[~[1.77636e-15,6.66134e-16,2.22045e-16],~[-1.77636e-15,8.88178e-15,-8.88178e-15]] -107: Accels B: -107: Fwd: ~[~[1.57425,-0.124116,-0.111873],~[5.2446,4.36741,17.8908]] -107: -Rev1: 4.9952e-14 -107: -Rev2: 4.9952e-14 -107: Reacs BA: -107: Fwd: ~[~[949622,-88293,2.06353e+06],~[535429,-649888,-175556]] -107: Rev1: ~[~[949622,-88293,2.06353e+06],~[535429,-649888,-175556]] -107: Rev2: ~[~[949622,-88293,2.06353e+06],~[535429,-649888,-175556]] -86: DBG: Friction 1 rotated 13.4982 deg, less than max 30 +86: slipVel 0 from ~[-0.346554,-1.37309] to ~[-0.349258,-1.3464] +86: DBG: Friction 0 rotated 0.377098 deg, less than max 30 +86: slipVel 1 from ~[-0.341226,-0.425024] to ~[-0.343867,-0.387097] +86: DBG: Friction 1 rotated 2.85655 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-15.4239 -0.481734 1.46523 -10.0565 -0.930431 0.381613] -86: : m_verrLeft=~[8.88178e-16 -1.77636e-15 -0.529012 1.84247 -0.547052 0.394533] +86: : m_piActive=~[-1.54763 -0.0378729 -0.150058 -1.18215 -0.0740079 -0.0921827] +86: : m_verrLeft=~[0 5.55112e-17 -0.349258 -1.3464 -0.343867 -0.387097] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-15.4239 verr=8.88178e-16 pi*v=-1.36992e-14 -86: DBG: 1: pi=-10.0565 verr=-1.77636e-15 pi*v=1.78639e-14 -86: SP FINAL 1 intervals, piTotal=~[-15.4239 -10.0565 -0.481734 1.46523 -0.930431 0.381613] errNorm=1.37887e-15 +86: DBG: 0: pi=-1.54763 verr=0 pi*v=-0 +86: DBG: 1: pi=-1.18215 verr=5.55112e-17 pi*v=-6.56226e-17 +86: SP FINAL 1 intervals, piTotal=~[-1.54763 -1.18215 -0.0378729 -0.150058 -0.0740079 -0.0921827] errNorm=1.41708e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.625598 1.9028, |slipV|=2.00301 -86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.346554 -1.37309, |slipV|=1.41615 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.646006 0.264957, |slipV|=0.698231 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.341226 -0.425024, |slipV|=0.545051 86: ------------------------------ 86: -86: dynamics impulse=~[-15.4239 -10.0565 -0.481734 1.46523 -0.930431 0.381613] -86: updated verrStart=~[8.88178e-16 -1.77636e-15 -0.529012 1.84247 -0.547052 0.394533] +86: dynamics impulse=~[-1.54763 -1.18215 -0.0378729 -0.150058 -0.0740079 -0.0921827] +86: updated verrStart=~[0 5.55112e-17 -0.349258 -1.3464 -0.343867 -0.387097] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.883213 0.178189 0 0 0 0] +86: posVerr=~[0.101215 -0.00821821 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.296763 0.0942422 -0.192519 -0.100576 -0.194884 -0.278914] -86: [0.0942422 0.346829 0.23304 -0.329177 0.235939 -0.11078] -86: [-0.192519 0.23304 0.426271 -0.233198 0.431751 0.182595] -86: [-0.100576 -0.329177 -0.233198 0.360139 -0.236491 0.108825] -86: [-0.194884 0.235939 0.431751 -0.236491 0.437309 0.185217] -86: [-0.278914 -0.11078 0.182595 0.108825 0.185217 0.309755] +86: [0.241926 0.097158 -0.00304425 0.305581 -0.00410131 0.1203] +86: [0.097158 0.204799 0.00598232 0.12224 0.00674788 0.256372] +86: [-0.00304425 0.00598232 0.0509542 0.0390705 0.0505353 -0.0356411] +86: [0.305581 0.12224 0.0390705 0.455969 0.0372282 0.131715] +86: [-0.00410131 0.00674788 0.0505353 0.0372282 0.0501353 -0.0341647] +86: [0.1203 0.256372 -0.0356411 0.131715 -0.0341647 0.391791] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.534897 rank=2 -86: rhs=~[0.883213 0.178189 0 0 0 0] +86: rcond(A+D)=0.386148 rank=2 +86: rhs=~[0.101215 -0.00821821 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[3.07867 -0.322787] -86: -> pi=~[3.07867 -0.322787 0 0 0 0] -86: resid active=~[-2.22045e-16 -1.11022e-16] -86: resid=~[-2.22045e-16 -1.11022e-16 -0.667924 -0.203387 -0.67614 -0.822925] +86: -> piActive=~[0.536749 -0.294765] +86: -> pi=~[0.536749 -0.294765 0 0 0 0] +86: resid active=~[8.32667e-17 2.60209e-17] +86: resid=~[8.32667e-17 2.60209e-17 -0.00339738 0.127988 -0.00419041 -0.0109988] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-2.22045e-15 -3.9968e-15 -0.529012 1.84247 -0.547052 0.394533] -86: perr=~[0.000883213 0.000178189 -2.22045e-16] -86: END OF STEP (0.008,0.009): -86: verr=~[0.00198361 -0.00180173 -0.527801 1.85139 -0.54794 0.403483] -86: perr=~[0.000884205 0.000177288 0] +86: verr=~[-3.28513e-17 -9.53014e-17 -0.349258 -1.3464 -0.343867 -0.387097] +86: perr=~[0.000101215 -8.21821e-06 0] +86: END OF STEP (0.073,0.074): +86: verr=~[0.000739807 -0.000739807 -0.348798 -1.3464 -0.344327 -0.387095] +86: perr=~[0.000101585 -8.58812e-06 -1.11022e-16] 86: constraint status: -86: 4: cont UniActive fric Sliding -86: 6: cont UniActive fric Sliding -86: Proximal unilateral contacts: (4,6) -86: Distal unilateral contacts: (0,1,2,3,5,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 4 verr speed=1.92515 -> mu=0.1 -86: DBG: Uni fric 6 verr speed=0.680468 -> mu=0.1 -86: DBG: Uni contact 6 verr vel=-0.00180173 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.39085 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.518077 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000739807 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (1) 86: observers: (0) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.00198361 -0.00180173 -0.527801 1.85139 -0.54794 0.403483] -86: IMP t=0.009 verr=~[0.00198361 -0.00180173 -0.527801 1.85139 -0.54794 0.403483] +86: verr=~[0.000739807 -0.000739807 -0.348798 -1.3464 -0.344327 -0.387095] +86: IMP t=0.074 verr=~[0.000739807 -0.000739807 -0.348798 -1.3464 -0.344327 -0.387095] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -31639,128 +42203,116 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00198361 -0.00180173 -0.527801 1.85139 -0.54794 0.403483] +86: verrLeft=~[0.000739807 -0.000739807 -0.348798 -1.3464 -0.344327 -0.387095] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.527801,1.85139, mag=1.92515 -86: Participating contact 1 is Sliding; vel=-0.54794,0.403483, mag=0.680468 +86: Participating contact 0 is Sliding; vel=-0.348798,-1.3464, mag=1.39085 +86: Participating contact 1 is Sliding; vel=-0.344327,-0.387095, mag=0.518077 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.527801,1.85139, mag=1.92515 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.54794,0.403483, mag=0.680468 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.348798,-1.3464, mag=1.39085 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.344327,-0.387095, mag=0.518077 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.00198361; guess pi=0.01 -86: DBG: active normal 3 has v=-0.00180173; guess pi=-0.01 +86: DBG: active normal 0 has v=0.000739807; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000739807; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00198361 -0.00180173 -0.527801 1.85139 -0.54794 0.403483] +86: : verrLeft was=~[0.000739807 -0.000739807 -0.348798 -1.3464 -0.344327 -0.387095] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.00198361 -0.527801 1.85139 -0.00180173 -0.54794 0.403483] +86: : rhsActive=~[0.000739807 -0.348798 -1.3464 -0.000739807 -0.344327 -0.387095] + 86/108 Test #93: TestForces ..................................... Passed 0.22 sec 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.60572e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.000976034... -86: > NEWTON iter 1: errNorm=0.000976034(v) -> deltaNorm=0.00299235(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.52847e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.000942126... +86: > NEWTON iter 1: errNorm=0.000942126(v) -> deltaNorm=0.00622811(pi) 86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[-1.98571e-05 0 0 -0.000699437 0.00054794 -0.000403483] -86: > deltaPi=~[0.000803704 8.20754e-10 -2.87899e-09 -0.00279079 0.000580523 -0.000427476] -86: DBG: Line search iter 1: back=1, prevNorm=0.000976034. -86: > piNow=~[0.0091963 -8.20754e-10 2.87899e-09 -0.00720921 -0.000580523 0.000427476] -86: > errNow=~[-4.33681e-19 -1.58008e-09 5.54249e-09 2.1684e-19 -5.69602e-09 4.19433e-09] normNow=9.1243e-09 -86: DBG: Improvement rate now/prev at iter 1 is 9.34834e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.78119e-06 -86: > NEWTON iter 2: errNorm=9.1243e-09(v) -> deltaNorm=1.49097e-08(pi) -86: > piActive=~[0.0091963 -8.20754e-10 2.87899e-09 -0.00720921 -0.000580523 0.000427476] -86: > errActive=~[-4.33681e-19 -1.58008e-09 5.54249e-09 2.1684e-19 -5.69602e-09 4.19433e-09] -86: > deltaPi=~[-2.74713e-09 -8.20757e-10 2.879e-09 1.09195e-08 -7.49151e-09 5.51647e-09] -86: DBG: Line search iter 1: back=1, prevNorm=9.1243e-09. -86: > piNow=~[0.0091963 3.31712e-15 -1.16356e-14 -0.00720923 -0.000580516 0.00042747] -86: > errNow=~[8.67362e-19 6.38596e-15 -2.24003e-14 0 4.28773e-14 -3.15732e-14] normNow=5.81196e-14 -86: DBG: Improvement rate now/prev at iter 2 is 6.36976e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.81196e-14. -86: DBG: Worst offender is normal contact 0 err=0.0091963 ... +86: > errActive=~[0.000709776 0 0 -0.000339731 0.000344327 0.000387095] +86: > deltaPi=~[0.00445838 4.16469e-09 1.60762e-08 -0.00431144 0.000378087 0.000425048] +86: DBG: Line search iter 1: back=1, prevNorm=0.000942126. +86: > piNow=~[0.00554162 -4.16469e-09 -1.60762e-08 -0.00568856 -0.000378087 -0.000425048] +86: > errNow=~[3.25261e-19 -5.79244e-09 -2.23595e-08 -1.0842e-19 -5.52975e-09 -6.21658e-09] normNow=2.45505e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.60586e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.78886e-05 +86: > NEWTON iter 2: errNorm=2.45505e-08(v) -> deltaNorm=3.2993e-08(pi) +86: > piActive=~[0.00554162 -4.16469e-09 -1.60762e-08 -0.00568856 -0.000378087 -0.000425048] +86: > errActive=~[3.25261e-19 -5.79244e-09 -2.23595e-08 -1.0842e-19 -5.52975e-09 -6.21658e-09] +86: > deltaPi=~[1.97927e-08 -4.16463e-09 -1.6076e-08 1.43963e-08 -9.7169e-09 -1.09238e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.45505e-08. +86: > piNow=~[0.0055416 -6.01906e-14 -2.32343e-13 -0.00568857 -0.000378077 -0.000425037] +86: > errNow=~[-3.25261e-19 -8.37158e-14 -3.23153e-13 -1.0842e-19 5.70465e-14 6.41322e-14] normNow=3.44679e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.40396e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.44679e-13. +86: DBG: Worst offender is normal contact 0 err=0.0055416 ... 86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start 86: : active=(1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.527801,1.85139, mag=1.92515 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.54794,0.403483, mag=0.680468 +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.348798,-1.3464, mag=1.39085 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.344327,-0.387095, mag=0.518077 86: fillMult2Active: 86: : active=(1,4,5) 86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.00180173; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000739807; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00198361 -0.00180173 -0.527801 1.85139 -0.54794 0.403483] +86: : verrLeft was=~[0.000739807 -0.000739807 -0.348798 -1.3464 -0.344327 -0.387095] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.00180173 -0.54794 0.403483] -86: : pi was=~[0 -0.00720923 3.31712e-15 -1.16356e-14 -0.000580516 0.00042747] -86: : piActive=~[-0.01 -0.000580516 0.00042747] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.53466e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00181914... -86: > NEWTON iter 1: errNorm=0.00181914(v) -> deltaNorm=0.0051115(pi) -86: > piActive=~[-0.01 -0.000580516 0.00042747] -86: > errActive=~[-0.0018092 0.000152918 -0.000112603] -86: > deltaPi=~[-0.00510625 -0.000186436 0.000137285] -86: DBG: Line search iter 1: back=1, prevNorm=0.00181914. -86: > piNow=~[-0.00489375 -0.00039408 0.000290185] -86: > errNow=~[4.33681e-19 -1.04219e-08 7.6743e-09] normNow=1.29426e-08 -86: DBG: Improvement rate now/prev at iter 1 is 7.1147e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.05799e-05 -107: -107: -107: *** TEST PLANAR *** -107: -107: rev2A.getU()=~[3,0.3,0.4] -86: > NEWTON iter 2: errNorm=1.29426e-08(v) -> deltaNorm=2.20278e-08(pi) -86: > piActive=~[-0.00489375 -0.00039408 0.000290185] -86: > errActive=~[4.33681e-19 -1.04219e-08 7.6743e-09] -86: > deltaPi=~[1.30982e-08 -1.42612e-08 1.05014e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.29426e-08. -86: > piNow=~[-0.00489376 -0.000394065 0.000290175] -86: > errNow=~[2.1684e-19 1.11588e-13 -8.21695e-14] normNow=1.38578e-13 -107: Vels B: -107: Fwd: ~[~[-2.69705,-0.486375,1.2204],~[1.87334,-3.56763,2.71817]] -107: Rev2: ~[~[-2.69705,-0.486375,1.2204],~[1.87334,-3.56763,2.71817]] -107: Vels A: -107: Fwd: ~[~[0,0,0],~[0,0,0]] -86: DBG: Improvement rate now/prev at iter 2 is 1.07071e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.38578e-13. +86: : rhsActive=~[-0.000739807 -0.344327 -0.387095] +86: : pi was=~[0 -0.00568857 -6.01906e-14 -2.32343e-13 -0.000378077 -0.000425037] +86: : piActive=~[-0.01 -0.000378077 -0.000425037] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.92977e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00143289... +86: > NEWTON iter 1: errNorm=0.00143289(v) -> deltaNorm=0.00670114(pi) +86: > piActive=~[-0.01 -0.000378077 -0.000425037] +86: > errActive=~[-0.00141538 0.000148454 0.000166893] +86: > deltaPi=~[-0.00669689 -0.000158527 -0.000178218] +86: DBG: Line search iter 1: back=1, prevNorm=0.00143289. +86: > piNow=~[-0.00330311 -0.000219549 -0.000246819] +86: > errNow=~[0 -8.58927e-09 -9.65611e-09] normNow=1.29235e-08 +86: DBG: Improvement rate now/prev at iter 1 is 9.01915e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.76711e-05 +86: > NEWTON iter 2: errNorm=1.29235e-08(v) -> deltaNorm=3.15438e-08(pi) +86: > piActive=~[-0.00330311 -0.000219549 -0.000246819] +86: > errActive=~[0 -8.58927e-09 -9.65611e-09] +86: > deltaPi=~[2.1838e-08 -1.51282e-08 -1.70073e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.29235e-08. +86: > piNow=~[-0.00330313 -0.000219534 -0.000246802] +86: > errNow=~[0 2.56481e-13 2.88338e-13] normNow=3.85903e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.98606e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.85903e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.54794,0.403483] to ~[-0.54668,0.402925] -86: DBG: Friction 1 rotated 0.0251317 deg, less than max 30 +86: slipVel 1 from ~[-0.344327,-0.387095] to ~[-0.344303,-0.386158] +86: DBG: Friction 1 rotated 0.0669191 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00489376 -0.000394065 0.000290175] -107: Rev2: ~[~[1.77636e-15,6.66134e-16,2.22045e-16],~[-1.06581e-14,2.13163e-14,-2.13163e-14]] -86: : m_verrLeft=~[0.00244167 -2.1684e-19 -0.526558 1.84966 -0.54668 0.402925] +86: : m_piActive=~[-0.00330313 -0.000219534 -0.000246802] +86: : m_verrLeft=~[0.00108691 0 -0.348775 -1.34596 -0.344303 -0.386158] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00244167 pi*v=0 -86: DBG: 1: pi=-0.00489376 verr=-2.1684e-19 pi*v=1.06117e-21 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00489376 0 0 -0.000394065 0.000290175] errNorm=1.38578e-13 -86: Postcompression verr=~[0.00244167 -2.1684e-19 -0.526558 1.84966 -0.54668 0.402925] -86: impulse=~[0 -0.00489376 0 0 -0.000394065 0.000290175] +86: DBG: 0: pi=0 verr=0.00108691 pi*v=0 +86: DBG: 1: pi=-0.00330313 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00330313 0 0 -0.000219534 -0.000246802] errNorm=3.85903e-13 +86: Postcompression verr=~[0.00108691 0 -0.348775 -1.34596 -0.344303 -0.386158] +86: impulse=~[0 -0.00330313 0 0 -0.000219534 -0.000246802] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () -107: Accels B: -107: Fwd: ~[~[0.00720742,-1.0927,-0.476968],~[11.179,-4.36922,17.7488]] 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00489376 0 0 -0.000394065 0.000290175]-> du ~[0.00131309 -0.00220762 0.0011673 0.00109323 6.58791e-05 -0.00105901 0.0042182 -0.00228768] -86: Now verr0=~[0.00244167 4.44089e-16 -0.526558 1.84966 -0.54668 0.402925] +86: Impact: imp ~[0 -0.00330313 0 0 -0.000219534 -0.000246802]-> du ~[0.000398316 0.00120244 0.000493413 -0.00068993 2.33192e-05 0.000543453 -0.00211481 0.00164421] +86: Now verr0=~[0.00108691 6.50521e-19 -0.348775 -1.34596 -0.344303 -0.386158] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00244167 4.44089e-16 -0.526558 1.84966 -0.54668 0.402925] -86: verrExt=~[-5.18272 -5.5841 -0.247068 5.50179 -0.250363 5.28527] -86: total verr=~[-5.18028 -5.5841 -0.773626 7.35146 -0.797044 5.6882] -86: DYN t=0.009: verrStart=~[0.00244167 4.44089e-16 -0.526558 1.84966 -0.54668 0.402925] -86: verrApplied=~[-5.18272 -5.5841 -0.247068 5.50179 -0.250363 5.28527] +86: verr0 =~[0.00108691 6.50521e-19 -0.348775 -1.34596 -0.344303 -0.386158] +86: verrExt=~[-0.481733 -0.385618 -0.00940648 -0.588137 -0.00871778 -0.44263] +86: total verr=~[-0.480646 -0.385618 -0.358182 -1.93409 -0.35302 -0.828788] +86: DYN t=0.074: verrStart=~[0.00108691 6.50521e-19 -0.348775 -1.34596 -0.344303 -0.386158] +86: verrApplied=~[-0.481733 -0.385618 -0.00940648 -0.588137 -0.00871778 -0.44263] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -31772,125 +42324,125 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00244167 4.44089e-16 -0.526558 1.84966 -0.54668 0.402925] -86: verrApplied=~[-5.18272 -5.5841 -0.247068 5.50179 -0.250363 5.28527] +86: verrLeft=~[0.00108691 6.50521e-19 -0.348775 -1.34596 -0.344303 -0.386158] +86: verrApplied=~[-0.481733 -0.385618 -0.00940648 -0.588137 -0.00871778 -0.44263] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.526558,1.84966, mag=1.92315 -86: Participating contact 1 is Sliding; vel=-0.54668,0.402925, mag=0.679123 +86: Participating contact 0 is Sliding; vel=-0.348775,-1.34596, mag=1.39041 +86: Participating contact 1 is Sliding; vel=-0.344303,-0.386158, mag=0.517361 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.526558,1.84966, mag=1.92315 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.54668,0.402925, mag=0.679123 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.348775,-1.34596, mag=1.39041 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.344303,-0.386158, mag=0.517361 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-5.18028; guess pi=-0.01 -86: DBG: active normal 3 has v=-5.5841; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.480646; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.385618; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00244167 4.44089e-16 -0.526558 1.84966 -0.54668 0.402925] +86: : verrLeft was=~[0.00108691 6.50521e-19 -0.348775 -1.34596 -0.344303 -0.386158] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-5.18272 -5.5841 -0.247068 5.50179 -0.250363 5.28527] -86: : rhsActive=~[-5.18028 -0.773626 7.35146 -5.5841 -0.797044 5.6882] +86: : verrApplied was=~[-0.481733 -0.385618 -0.00940648 -0.588137 -0.00871778 -0.44263] +86: : rhsActive=~[-0.480646 -0.358182 -1.93409 -0.385618 -0.35302 -0.828788] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.59703e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=7.61113... -86: > NEWTON iter 1: errNorm=7.61113(v) -> deltaNorm=17.6686(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.52602e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.611701... +86: > NEWTON iter 1: errNorm=0.611701(v) -> deltaNorm=1.72243(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[5.17646 0.000526558 -0.00184966 5.57975 0.00054668 -0.000402925] -86: > deltaPi=~[14.4312 0.395384 -1.38888 10.0411 0.809061 -0.59631] -86: DBG: Line search iter 1: back=1, prevNorm=7.61113. -86: > piNow=~[-14.4412 -0.395384 1.38888 -10.0511 -0.809061 0.59631] -86: > errNow=~[8.88178e-16 2.83048e-05 -9.94275e-05 8.88178e-16 2.04468e-05 -1.50701e-05] normNow=0.000106453 -86: DBG: Improvement rate now/prev at iter 1 is 1.39864e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.41225e-10 -86: > NEWTON iter 2: errNorm=0.000106453(v) -> deltaNorm=0.000109065(pi) -86: > piActive=~[-14.4412 -0.395384 1.38888 -10.0511 -0.809061 0.59631] -86: > errActive=~[8.88178e-16 2.83048e-05 -9.94275e-05 8.88178e-16 2.04468e-05 -1.50701e-05] -86: > deltaPi=~[1.84921e-05 1.52242e-05 -5.34788e-05 -8.74076e-05 2.30715e-05 -1.70046e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.000106453. -86: > piNow=~[-14.4412 -0.395399 1.38894 -10.051 -0.809084 0.596327] -86: > errNow=~[8.88178e-16 0 -4.44089e-16 0 -2.22045e-16 1.11022e-16] normNow=1.02358e-15 -86: DBG: Improvement rate now/prev at iter 2 is 9.61531e-12 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.02358e-15. +86: > errActive=~[0.477268 0.000348775 0.00134596 0.38261 0.000344303 0.000386158] +86: > deltaPi=~[1.35225 0.0341699 0.131865 1.05277 0.0707247 0.0793225] +86: DBG: Line search iter 1: back=1, prevNorm=0.611701. +86: > piNow=~[-1.36225 -0.0341699 -0.131865 -1.06277 -0.0707247 -0.0793225] +86: > errNow=~[1.11022e-16 1.75677e-06 6.77953e-06 -1.66533e-16 1.35016e-06 1.5143e-06] normNow=7.29139e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.19199e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.25816e-10 +86: > NEWTON iter 2: errNorm=7.29139e-06(v) -> deltaNorm=8.61601e-06(pi) +86: > piActive=~[-1.36225 -0.0341699 -0.131865 -1.06277 -0.0707247 -0.0793225] +86: > errActive=~[1.11022e-16 1.75677e-06 6.77953e-06 -1.66533e-16 1.35016e-06 1.5143e-06] +86: > deltaPi=~[-5.37417e-06 1.12868e-06 4.35568e-06 -3.51631e-06 2.37571e-06 2.66451e-06] +86: DBG: Line search iter 1: back=1, prevNorm=7.29139e-06. +86: > piNow=~[-1.36224 -0.034171 -0.131869 -1.06277 -0.0707271 -0.0793251] +86: > errNow=~[1.11022e-16 -3.81639e-16 -1.44329e-15 1.11022e-16 -4.02456e-16 -4.51028e-16] normNow=1.61827e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.21942e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.61827e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.526558,1.84966] to ~[-0.429208,1.77957] -86: DBG: Friction 0 rotated 2.33049 deg, less than max 30 -86: slipVel 1 from ~[-0.54668,0.402925] to ~[-0.44658,0.530492] -86: DBG: Friction 1 rotated 13.5169 deg, less than max 30 +86: slipVel 0 from ~[-0.348775,-1.34596] to ~[-0.349148,-1.31366] +86: DBG: Friction 0 rotated 0.356687 deg, less than max 30 +86: slipVel 1 from ~[-0.344303,-0.386158] to ~[-0.344646,-0.34773] +86: DBG: Friction 1 rotated 3.02429 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-14.4412 -0.395399 1.38894 -10.051 -0.809084 0.596327] -86: : m_verrLeft=~[-8.88178e-16 -8.88178e-16 -0.429208 1.77957 -0.44658 0.530492] +86: : m_piActive=~[-1.36224 -0.034171 -0.131869 -1.06277 -0.0707271 -0.0793251] +86: : m_verrLeft=~[-1.11022e-16 -1.11022e-16 -0.349148 -1.31366 -0.344646 -0.34773] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-14.4412 verr=-8.88178e-16 pi*v=1.28264e-14 -86: DBG: 1: pi=-10.051 verr=-8.88178e-16 pi*v=8.92707e-15 -86: SP FINAL 1 intervals, piTotal=~[-14.4412 -10.051 -0.395399 1.38894 -0.809084 0.596327] errNorm=1.02358e-15 +86: DBG: 0: pi=-1.36224 verr=-1.11022e-16 pi*v=1.5124e-16 +86: DBG: 1: pi=-1.06277 verr=-1.11022e-16 pi*v=1.17991e-16 +86: SP FINAL 1 intervals, piTotal=~[-1.36224 -1.06277 -0.034171 -0.131869 -0.0707271 -0.0793251] errNorm=1.61827e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.526558 1.84966, |slipV|=1.92315 -86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.348775 -1.34596, |slipV|=1.39041 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.54668 0.402925, |slipV|=0.679123 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.344303 -0.386158, |slipV|=0.517361 86: ------------------------------ 86: -86: dynamics impulse=~[-14.4412 -10.051 -0.395399 1.38894 -0.809084 0.596327] -86: updated verrStart=~[-8.88178e-16 -8.88178e-16 -0.429208 1.77957 -0.44658 0.530492] +86: dynamics impulse=~[-1.36224 -1.06277 -0.034171 -0.131869 -0.0707271 -0.0793251] +86: updated verrStart=~[-1.11022e-16 -1.11022e-16 -0.349148 -1.31366 -0.344646 -0.34773] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.884205 0.177288 0 0 0 0] +86: posVerr=~[0.101585 -0.00858812 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.289073 0.0926981 -0.186625 -0.0997601 -0.189161 -0.272123] -86: [0.0926981 0.342814 0.230351 -0.326812 0.233537 -0.110434] -86: [-0.186625 0.230351 0.417755 -0.231492 0.423725 0.176561] -86: [-0.0997601 -0.326812 -0.231492 0.359719 -0.235139 0.109065] -86: [-0.189161 0.233537 0.423725 -0.235139 0.429789 0.179389] -86: [-0.272123 -0.110434 0.176561 0.109065 0.179389 0.304215] +86: [0.241369 0.0964111 -0.0035822 0.305584 -0.00446296 0.120018] +86: [0.0964111 0.204365 0.00600318 0.121846 0.00664262 0.256504] +86: [-0.0035822 0.00600318 0.0507329 0.0382695 0.0503905 -0.0354299] +86: [0.305584 0.121846 0.0382695 0.457025 0.0367354 0.132179] +86: [-0.00446296 0.00664262 0.0503905 0.0367354 0.0500611 -0.0342003] +86: [0.120018 0.256504 -0.0354299 0.132179 -0.0342003 0.392795] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.532005 rank=2 -86: rhs=~[0.884205 0.177288 0 0 0 0] +86: rcond(A+D)=0.388418 rank=2 +86: rhs=~[0.101585 -0.00858812 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[3.16758 -0.339371] -86: -> pi=~[3.16758 -0.339371 0 0 0 0] -86: resid active=~[2.22045e-16 5.55112e-17] -86: resid=~[2.22045e-16 5.55112e-17 -0.669324 -0.205088 -0.678439 -0.824495] +86: -> piActive=~[0.539273 -0.29643] +86: -> pi=~[0.539273 -0.29643 0 0 0 0] +86: resid active=~[1.38778e-17 1.73472e-18] +86: resid=~[1.38778e-17 1.73472e-18 -0.00371131 0.128674 -0.00437583 -0.0113134] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-1.33227e-15 -1.33227e-15 -0.429208 1.77957 -0.44658 0.530492] -86: perr=~[0.000884205 0.000177288 0] -86: END OF STEP (0.009,0.01): -86: verr=~[0.00188074 -0.00162967 -0.428239 1.78902 -0.447174 0.539965] -86: perr=~[0.000885145 0.000176473 0] +86: verr=~[-7.275e-17 -1.62088e-16 -0.349148 -1.31366 -0.344646 -0.34773] +86: perr=~[0.000101585 -8.58812e-06 -1.11022e-16] +86: END OF STEP (0.074,0.075): +86: verr=~[0.00071941 -0.00071941 -0.348681 -1.31366 -0.345113 -0.347729] +86: perr=~[0.000101944 -8.94782e-06 0] 86: constraint status: -86: 4: cont UniActive fric Sliding -86: 6: cont UniActive fric Sliding -86: Proximal unilateral contacts: (4,6) -86: Distal unilateral contacts: (0,1,2,3,5,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 4 verr speed=1.83956 -> mu=0.1 -86: DBG: Uni fric 6 verr speed=0.70109 -> mu=0.1 -86: DBG: Uni contact 6 verr vel=-0.00162967 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.35915 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.489917 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.00071941 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (1) 86: observers: (0) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.00188074 -0.00162967 -0.428239 1.78902 -0.447174 0.539965] -86: IMP t=0.01 verr=~[0.00188074 -0.00162967 -0.428239 1.78902 -0.447174 0.539965] +86: verr=~[0.00071941 -0.00071941 -0.348681 -1.31366 -0.345113 -0.347729] +86: IMP t=0.075 verr=~[0.00071941 -0.00071941 -0.348681 -1.31366 -0.345113 -0.347729] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -31902,115 +42454,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00188074 -0.00162967 -0.428239 1.78902 -0.447174 0.539965] +86: verrLeft=~[0.00071941 -0.00071941 -0.348681 -1.31366 -0.345113 -0.347729] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.428239,1.78902, mag=1.83956 -86: Participating contact 1 is Sliding; vel=-0.447174,0.539965, mag=0.70109 +86: Participating contact 0 is Sliding; vel=-0.348681,-1.31366, mag=1.35915 +86: Participating contact 1 is Sliding; vel=-0.345113,-0.347729, mag=0.489917 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.428239,1.78902, mag=1.83956 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.447174,0.539965, mag=0.70109 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.348681,-1.31366, mag=1.35915 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.345113,-0.347729, mag=0.489917 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.00188074; guess pi=0.01 -86: DBG: active normal 3 has v=-0.00162967; guess pi=-0.01 +86: DBG: active normal 0 has v=0.00071941; guess pi=0.01 +86: DBG: active normal 3 has v=-0.00071941; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00188074 -0.00162967 -0.428239 1.78902 -0.447174 0.539965] +86: : verrLeft was=~[0.00071941 -0.00071941 -0.348681 -1.31366 -0.345113 -0.347729] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.00188074 -0.428239 1.78902 -0.00162967 -0.447174 0.539965] +86: : rhsActive=~[0.00071941 -0.348681 -1.31366 -0.00071941 -0.345113 -0.347729] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.33289e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00109722... -86: > NEWTON iter 1: errNorm=0.00109722(v) -> deltaNorm=0.0034076(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.38152e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00095318... +86: > NEWTON iter 1: errNorm=0.00095318(v) -> deltaNorm=0.00644757(pi) 86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[2.98874e-05 0 0 -0.000843488 0.000447174 -0.000539965] -86: > deltaPi=~[0.000935729 8.114e-10 -3.38971e-09 -0.00320538 0.000433386 -0.000523317] -86: DBG: Line search iter 1: back=1, prevNorm=0.00109722. -86: > piNow=~[0.00906427 -8.114e-10 3.38971e-09 -0.00679462 -0.000433386 0.000523317] -86: > errNow=~[-4.33681e-19 -1.49262e-09 6.23557e-09 2.1684e-19 -5.33909e-09 6.44699e-09] normNow=1.05442e-08 -86: DBG: Improvement rate now/prev at iter 1 is 9.60991e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.00766e-05 -86: > NEWTON iter 2: errNorm=1.05442e-08(v) -> deltaNorm=1.58995e-08(pi) -86: > piActive=~[0.00906427 -8.114e-10 3.38971e-09 -0.00679462 -0.000433386 0.000523317] -86: > errActive=~[-4.33681e-19 -1.49262e-09 6.23557e-09 2.1684e-19 -5.33909e-09 6.44699e-09] -86: > deltaPi=~[4.41112e-10 -8.11399e-10 3.38971e-09 1.10978e-08 -6.90763e-09 8.34101e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.05442e-08. -86: > piNow=~[0.00906427 -4.65541e-16 1.94485e-15 -0.00679463 -0.00043338 0.000523309] -86: > errNow=~[4.33681e-19 -8.56389e-16 3.57766e-15 -2.1684e-19 4.00349e-14 -4.83425e-14] normNow=6.28754e-14 -86: DBG: Improvement rate now/prev at iter 2 is 5.96304e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.28754e-14. -86: DBG: Worst offender is normal contact 0 err=0.00906427 ... +86: > errActive=~[0.000732376 0 0 -0.000363536 0.000345113 0.000347729] +86: > deltaPi=~[0.00462422 4.41887e-09 1.66482e-08 -0.00445878 0.000390353 0.000393312] +86: DBG: Line search iter 1: back=1, prevNorm=0.00095318. +86: > piNow=~[0.00537578 -4.41887e-09 -1.66482e-08 -0.00554122 -0.000390353 -0.000393312] +86: > errNow=~[-6.50521e-19 -6.00591e-09 -2.26273e-08 -1.0842e-19 -5.73177e-09 -5.77521e-09] normNow=2.47845e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.6002e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.84941e-05 +86: > NEWTON iter 2: errNorm=2.47845e-08(v) -> deltaNorm=3.39465e-08(pi) +86: > piActive=~[0.00537578 -4.41887e-09 -1.66482e-08 -0.00554122 -0.000390353 -0.000393312] +86: > errActive=~[-6.50521e-19 -6.00591e-09 -2.26273e-08 -1.0842e-19 -5.73177e-09 -5.77521e-09] +86: > deltaPi=~[2.0498e-08 -4.4188e-09 -1.66479e-08 1.4325e-08 -1.06905e-08 -1.07715e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.47845e-08. +86: > piNow=~[0.00537576 -6.77614e-14 -2.55292e-13 -0.00554124 -0.000390343 -0.000393301] +86: > errNow=~[4.33681e-19 -9.20979e-14 -3.4698e-13 0 5.99579e-14 6.04124e-14] normNow=3.68947e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.48862e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.68947e-13. +86: DBG: Worst offender is normal contact 0 err=0.00537576 ... 86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start 86: : active=(1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.428239,1.78902, mag=1.83956 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.447174,0.539965, mag=0.70109 +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.348681,-1.31366, mag=1.35915 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.345113,-0.347729, mag=0.489917 86: fillMult2Active: 86: : active=(1,4,5) 86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.00162967; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00071941; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00188074 -0.00162967 -0.428239 1.78902 -0.447174 0.539965] +86: : verrLeft was=~[0.00071941 -0.00071941 -0.348681 -1.31366 -0.345113 -0.347729] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.00162967 -0.447174 0.539965] -86: : pi was=~[0 -0.00679463 -4.65541e-16 1.94485e-15 -0.00043338 0.000523309] -86: : piActive=~[-0.01 -0.00043338 0.000523309] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.61147e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00193473... -86: > NEWTON iter 1: errNorm=0.00193473(v) -> deltaNorm=0.00551026(pi) -86: > piActive=~[-0.01 -0.00043338 0.000523309] -86: > errActive=~[-0.00192163 0.000143336 -0.000173079] -86: > deltaPi=~[-0.00550546 -0.000146692 0.000177132] -86: DBG: Line search iter 1: back=1, prevNorm=0.00193473. -86: > piNow=~[-0.00449454 -0.000286687 0.000346177] -86: > errNow=~[6.50521e-19 -9.17025e-09 1.10731e-08] normNow=1.43773e-08 -86: DBG: Improvement rate now/prev at iter 1 is 7.43118e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.29218e-05 -86: > NEWTON iter 2: errNorm=1.43773e-08(v) -> deltaNorm=2.32691e-08(pi) -86: > piActive=~[-0.00449454 -0.000286687 0.000346177] -86: > errActive=~[6.50521e-19 -9.17025e-09 1.10731e-08] -86: > deltaPi=~[1.31581e-08 -1.22409e-08 1.4781e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.43773e-08. -86: > piNow=~[-0.00449456 -0.000286675 0.000346162] -86: > errNow=~[0 1.08447e-13 -1.30951e-13] normNow=1.70026e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.1826e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.70026e-13. +86: : rhsActive=~[-0.00071941 -0.345113 -0.347729] +86: : pi was=~[0 -0.00554124 -6.77614e-14 -2.55292e-13 -0.000390343 -0.000393301] +86: : piActive=~[-0.01 -0.000390343 -0.000393301] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.82488e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00144039... +86: > NEWTON iter 1: errNorm=0.00144039(v) -> deltaNorm=0.00677271(pi) +86: > piActive=~[-0.01 -0.000390343 -0.000393301] +86: > errActive=~[-0.00142373 0.000153878 0.000155044] +86: > deltaPi=~[-0.00676877 -0.000162706 -0.00016394] +86: DBG: Line search iter 1: back=1, prevNorm=0.00144039. +86: > piNow=~[-0.00323123 -0.000227636 -0.000229362] +86: > errNow=~[-6.50521e-19 -8.70127e-09 -8.76722e-09] normNow=1.23522e-08 +86: DBG: Improvement rate now/prev at iter 1 is 8.5756e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.74615e-05 +86: > NEWTON iter 2: errNorm=1.23522e-08(v) -> deltaNorm=3.13194e-08(pi) +86: > piActive=~[-0.00323123 -0.000227636 -0.000229362] +86: > errActive=~[-6.50521e-19 -8.70127e-09 -8.76722e-09] +86: > deltaPi=~[2.11511e-08 -1.62713e-08 -1.63946e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.23522e-08. +86: > piNow=~[-0.00323125 -0.00022762 -0.000229345] +86: > errNow=~[0 2.60167e-13 2.62139e-13] normNow=3.69329e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.98999e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.69329e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.447174,0.539965] to ~[-0.446074,0.539414] -86: DBG: Friction 1 rotated 0.0404801 deg, less than max 30 +86: slipVel 1 from ~[-0.345113,-0.347729] to ~[-0.345088,-0.346817] +86: DBG: Friction 1 rotated 0.0731728 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00449456 -0.000286675 0.000346162] -86: : m_verrLeft=~[0.00233391 0 -0.427156 1.78745 -0.446074 0.539414] +86: : m_piActive=~[-0.00323125 -0.00022762 -0.000229345] +86: : m_verrLeft=~[0.0010549 0 -0.348659 -1.31323 -0.345088 -0.346817] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00233391 pi*v=0 -86: DBG: 1: pi=-0.00449456 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00449456 0 0 -0.000286675 0.000346162] errNorm=1.70026e-13 -86: Postcompression verr=~[0.00233391 0 -0.427156 1.78745 -0.446074 0.539414] -86: impulse=~[0 -0.00449456 0 0 -0.000286675 0.000346162] +86: DBG: 0: pi=0 verr=0.0010549 pi*v=0 +86: DBG: 1: pi=-0.00323125 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00323125 0 0 -0.00022762 -0.000229345] errNorm=3.69329e-13 +86: Postcompression verr=~[0.0010549 0 -0.348659 -1.31323 -0.345088 -0.346817] +86: impulse=~[0 -0.00323125 0 0 -0.00022762 -0.000229345] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00449456 0 0 -0.000286675 0.000346162]-> du ~[0.00114568 -0.00204201 0.00101622 0.00100898 5.55215e-05 -0.000982683 0.00388349 -0.00209662] -86: Now verr0=~[0.00233391 4.44089e-16 -0.427156 1.78745 -0.446074 0.539414] +86: Impact: imp ~[0 -0.00323125 0 0 -0.00022762 -0.000229345]-> du ~[0.000388239 0.00116937 0.000480617 -0.000671454 2.37361e-05 0.000527451 -0.00205657 0.00160182] +86: Now verr0=~[0.0010549 -3.25261e-19 -0.348659 -1.31323 -0.345088 -0.346817] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00233391 4.44089e-16 -0.427156 1.78745 -0.446074 0.539414] -86: verrExt=~[-4.75864 -5.23144 -0.309691 5.16708 -0.314145 4.89532] -86: total verr=~[-4.7563 -5.23144 -0.736847 6.95453 -0.76022 5.43473] -86: DYN t=0.01: verrStart=~[0.00233391 4.44089e-16 -0.427156 1.78745 -0.446074 0.539414] -86: verrApplied=~[-4.75864 -5.23144 -0.309691 5.16708 -0.314145 4.89532] +86: verr0 =~[0.0010549 -3.25261e-19 -0.348659 -1.31323 -0.345088 -0.346817] +86: verrExt=~[-0.416916 -0.336471 -0.0058297 -0.500662 -0.00538148 -0.381753] +86: total verr=~[-0.415861 -0.336471 -0.354488 -1.81389 -0.35047 -0.72857] +86: DYN t=0.075: verrStart=~[0.0010549 -3.25261e-19 -0.348659 -1.31323 -0.345088 -0.346817] +86: verrApplied=~[-0.416916 -0.336471 -0.0058297 -0.500662 -0.00538148 -0.381753] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -32022,125 +42574,125 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00233391 4.44089e-16 -0.427156 1.78745 -0.446074 0.539414] -86: verrApplied=~[-4.75864 -5.23144 -0.309691 5.16708 -0.314145 4.89532] +86: verrLeft=~[0.0010549 -3.25261e-19 -0.348659 -1.31323 -0.345088 -0.346817] +86: verrApplied=~[-0.416916 -0.336471 -0.0058297 -0.500662 -0.00538148 -0.381753] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.427156,1.78745, mag=1.83778 -86: Participating contact 1 is Sliding; vel=-0.446074,0.539414, mag=0.699964 +86: Participating contact 0 is Sliding; vel=-0.348659,-1.31323, mag=1.35873 +86: Participating contact 1 is Sliding; vel=-0.345088,-0.346817, mag=0.489253 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.427156,1.78745, mag=1.83778 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.446074,0.539414, mag=0.699964 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.348659,-1.31323, mag=1.35873 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.345088,-0.346817, mag=0.489253 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-4.7563; guess pi=-0.01 -86: DBG: active normal 3 has v=-5.23144; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.415861; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.336471; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00233391 4.44089e-16 -0.427156 1.78745 -0.446074 0.539414] +86: : verrLeft was=~[0.0010549 -3.25261e-19 -0.348659 -1.31323 -0.345088 -0.346817] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-4.75864 -5.23144 -0.309691 5.16708 -0.314145 4.89532] -86: : rhsActive=~[-4.7563 -0.736847 6.95453 -5.23144 -0.76022 5.43473] +86: : verrApplied was=~[-0.416916 -0.336471 -0.0058297 -0.500662 -0.00538148 -0.381753] +86: : rhsActive=~[-0.415861 -0.354488 -1.81389 -0.336471 -0.35047 -0.72857] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.32522e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=7.06467... -86: > NEWTON iter 1: errNorm=7.06467(v) -> deltaNorm=16.3888(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.3792e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.530434... +86: > NEWTON iter 1: errNorm=0.530434(v) -> deltaNorm=1.50126(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[4.75255 0.000427156 -0.00178745 5.22712 0.000446074 -0.000539414] -86: > deltaPi=~[13.0542 0.30364 -1.27059 9.77327 0.623447 -0.7539] -86: DBG: Line search iter 1: back=1, prevNorm=7.06467. -86: > piNow=~[-13.0642 -0.30364 1.27059 -9.78327 -0.623447 0.7539] -86: > errNow=~[-8.88178e-16 2.07706e-05 -8.69152e-05 0 1.6239e-05 -1.96369e-05] normNow=9.29246e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.31534e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.64797e-10 -86: > NEWTON iter 2: errNorm=9.29246e-05(v) -> deltaNorm=9.43542e-05(pi) -86: > piActive=~[-13.0642 -0.30364 1.27059 -9.78327 -0.623447 0.7539] -86: > errActive=~[-8.88178e-16 2.07706e-05 -8.69152e-05 0 1.6239e-05 -1.96369e-05] -86: > deltaPi=~[5.79227e-06 1.14366e-05 -4.78569e-05 -7.49142e-05 1.84256e-05 -2.22811e-05] -86: DBG: Line search iter 1: back=1, prevNorm=9.29246e-05. -86: > piNow=~[-13.0642 -0.303652 1.27064 -9.78319 -0.623465 0.753923] -86: > errNow=~[8.88178e-16 0 -4.44089e-16 0 -5.55112e-17 2.22045e-16] normNow=1.01905e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.09664e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.01905e-15. +86: > errActive=~[0.412496 0.000348659 0.00131323 0.333475 0.000345088 0.000346817] +86: > deltaPi=~[1.16642 0.0301866 0.113699 0.933023 0.0665125 0.0668457] +86: DBG: Line search iter 1: back=1, prevNorm=0.530434. +86: > piNow=~[-1.17642 -0.0301866 -0.113699 -0.943023 -0.0665125 -0.0668457] +86: > errNow=~[5.55112e-17 1.51484e-06 5.70568e-06 -5.55112e-17 1.19932e-06 1.20533e-06] normNow=6.14335e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.15817e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.10585e-10 +86: > NEWTON iter 2: errNorm=6.14335e-06(v) -> deltaNorm=7.45325e-06(pi) +86: > piActive=~[-1.17642 -0.0301866 -0.113699 -0.943023 -0.0665125 -0.0668457] +86: > errActive=~[5.55112e-17 1.51484e-06 5.70568e-06 -5.55112e-17 1.19932e-06 1.20533e-06] +86: > deltaPi=~[-4.6272e-06 9.96159e-07 3.75206e-06 -2.99749e-06 2.2399e-06 2.25112e-06] +86: DBG: Line search iter 1: back=1, prevNorm=6.14335e-06. +86: > piNow=~[-1.17641 -0.0301876 -0.113702 -0.94302 -0.0665148 -0.066848] +86: > errNow=~[5.55112e-17 -4.3715e-16 -1.63758e-15 0 -4.30211e-16 -4.30211e-16] normNow=1.80167e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.93272e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.80167e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.427156,1.78745] to ~[-0.336559,1.7142] -86: DBG: Friction 0 rotated 2.33229 deg, less than max 30 -86: slipVel 1 from ~[-0.446074,0.539414] to ~[-0.352607,0.655434] -86: DBG: Friction 1 rotated 11.3103 deg, less than max 30 +86: slipVel 0 from ~[-0.348659,-1.31323] to ~[-0.346887,-1.27537] +86: DBG: Friction 0 rotated 0.346881 deg, less than max 30 +86: slipVel 1 from ~[-0.345088,-0.346817] to ~[-0.343311,-0.307629] +86: DBG: Friction 1 rotated 3.28078 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-13.0642 -0.303652 1.27064 -9.78319 -0.623465 0.753923] -86: : m_verrLeft=~[-1.77636e-15 0 -0.336559 1.7142 -0.352607 0.655434] +86: : m_piActive=~[-1.17641 -0.0301876 -0.113702 -0.94302 -0.0665148 -0.066848] +86: : m_verrLeft=~[-5.55112e-17 0 -0.346887 -1.27537 -0.343311 -0.307629] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-13.0642 verr=-1.77636e-15 pi*v=2.32067e-14 -86: DBG: 1: pi=-9.78319 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-13.0642 -9.78319 -0.303652 1.27064 -0.623465 0.753923] errNorm=1.01905e-15 +86: DBG: 0: pi=-1.17641 verr=-5.55112e-17 pi*v=6.53041e-17 +86: DBG: 1: pi=-0.94302 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-1.17641 -0.94302 -0.0301876 -0.113702 -0.0665148 -0.066848] errNorm=1.80167e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.427156 1.78745, |slipV|=1.83778 -86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.348659 -1.31323, |slipV|=1.35873 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.446074 0.539414, |slipV|=0.699964 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.345088 -0.346817, |slipV|=0.489253 86: ------------------------------ 86: -86: dynamics impulse=~[-13.0642 -9.78319 -0.303652 1.27064 -0.623465 0.753923] -86: updated verrStart=~[-1.77636e-15 0 -0.336559 1.7142 -0.352607 0.655434] +86: dynamics impulse=~[-1.17641 -0.94302 -0.0301876 -0.113702 -0.0665148 -0.066848] +86: updated verrStart=~[-5.55112e-17 0 -0.346887 -1.27537 -0.343311 -0.307629] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.885145 0.176473 0 0 0 0] +86: posVerr=~[0.101944 -0.00894782 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.28307 0.0920072 -0.181655 -0.0997578 -0.184328 -0.267169] -86: [0.0920072 0.339323 0.227575 -0.325141 0.231 -0.110764] -86: [-0.181655 0.227575 0.410376 -0.229881 0.416753 0.171745] -86: [-0.0997578 -0.325141 -0.229881 0.360168 -0.233833 0.109986] -86: [-0.184328 0.231 0.416753 -0.233833 0.42324 0.174746] -86: [-0.267169 -0.110764 0.171745 0.109986 0.174746 0.300647] +86: [0.240848 0.0956696 -0.00412369 0.305597 -0.00482645 0.119728] +86: [0.0956696 0.203964 0.00602442 0.121444 0.00653594 0.256652] +86: [-0.00412369 0.00602442 0.0505129 0.0374562 0.0502455 -0.0352155] +86: [0.305597 0.121444 0.0374562 0.458042 0.0362335 0.132626] +86: [-0.00482645 0.00653594 0.0502455 0.0362335 0.0499864 -0.0342355] +86: [0.119728 0.256652 -0.0352155 0.132626 -0.0342355 0.39378] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.527694 rank=2 -86: rhs=~[0.885145 0.176473 0 0 0 0] +86: rcond(A+D)=0.390747 rank=2 +86: rhs=~[0.101944 -0.00894782 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[3.2438 -0.35948] -86: -> pi=~[3.2438 -0.35948 0 0 0 0] -86: resid active=~[-1.11022e-16 0] -86: resid=~[-1.11022e-16 0 -0.671062 -0.206712 -0.680963 -0.826825] +86: -> piActive=~[0.541609 -0.297912] +86: -> pi=~[0.541609 -0.297912 0 0 0 0] +86: resid active=~[6.93889e-17 2.08167e-17] +86: resid=~[6.93889e-17 2.08167e-17 -0.00402817 0.129334 -0.00456118 -0.0116137] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[6.21725e-15 5.32907e-15 -0.336559 1.7142 -0.352607 0.655434] -86: perr=~[0.000885145 0.000176473 0] -86: END OF STEP (0.01,0.011): -86: verr=~[0.0017412 -0.00140999 -0.335787 1.72417 -0.352958 0.665423] -86: perr=~[0.000886016 0.000175768 -1.11022e-16] +86: verr=~[1.13624e-16 1.03216e-16 -0.346887 -1.27537 -0.343311 -0.307629] +86: perr=~[0.000101944 -8.94782e-06 0] +86: END OF STEP (0.075,0.076): +86: verr=~[0.000691689 -0.000691689 -0.346418 -1.27537 -0.34378 -0.307628] +86: perr=~[0.00010229 -9.29367e-06 0] 86: constraint status: -86: 4: cont UniActive fric Sliding -86: 6: cont UniActive fric Sliding -86: Proximal unilateral contacts: (4,6) -86: Distal unilateral contacts: (0,1,2,3,5,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 4 verr speed=1.75656 -> mu=0.1 -86: DBG: Uni fric 6 verr speed=0.753238 -> mu=0.1 -86: DBG: Uni contact 6 verr vel=-0.00140999 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.32158 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.461324 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000691689 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (1) 86: observers: (0) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.0017412 -0.00140999 -0.335787 1.72417 -0.352958 0.665423] -86: IMP t=0.011 verr=~[0.0017412 -0.00140999 -0.335787 1.72417 -0.352958 0.665423] +86: verr=~[0.000691689 -0.000691689 -0.346418 -1.27537 -0.34378 -0.307628] +86: IMP t=0.076 verr=~[0.000691689 -0.000691689 -0.346418 -1.27537 -0.34378 -0.307628] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -32152,115 +42704,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.0017412 -0.00140999 -0.335787 1.72417 -0.352958 0.665423] +86: verrLeft=~[0.000691689 -0.000691689 -0.346418 -1.27537 -0.34378 -0.307628] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.335787,1.72417, mag=1.75656 -86: Participating contact 1 is Sliding; vel=-0.352958,0.665423, mag=0.753238 +86: Participating contact 0 is Sliding; vel=-0.346418,-1.27537, mag=1.32158 +86: Participating contact 1 is Sliding; vel=-0.34378,-0.307628, mag=0.461324 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.335787,1.72417, mag=1.75656 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.352958,0.665423, mag=0.753238 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.346418,-1.27537, mag=1.32158 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.34378,-0.307628, mag=0.461324 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.0017412; guess pi=0.01 -86: DBG: active normal 3 has v=-0.00140999; guess pi=-0.01 +86: DBG: active normal 0 has v=0.000691689; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000691689; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.0017412 -0.00140999 -0.335787 1.72417 -0.352958 0.665423] +86: : verrLeft was=~[0.000691689 -0.000691689 -0.346418 -1.27537 -0.34378 -0.307628] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.0017412 -0.335787 1.72417 -0.00140999 -0.352958 0.665423] +86: : rhsActive=~[0.000691689 -0.346418 -1.27537 -0.000691689 -0.34378 -0.307628] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.11917e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00128444... -86: > NEWTON iter 1: errNorm=0.00128444(v) -> deltaNorm=0.00411295(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.21403e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.000974801... +86: > NEWTON iter 1: errNorm=0.000974801(v) -> deltaNorm=0.00674381(pi) 86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000123076 0 0 -0.00103309 0.000352958 -0.000665423] -86: > deltaPi=~[0.0013767 9.80285e-10 -5.03348e-09 -0.00382621 0.000289303 -0.000545416] -86: DBG: Line search iter 1: back=1, prevNorm=0.00128444. -86: > piNow=~[0.0086233 -9.80285e-10 5.03348e-09 -0.00617379 -0.000289303 0.000545416] -86: > errNow=~[0 -1.72193e-09 8.84162e-09 2.1684e-19 -5.03041e-09 9.48371e-09] normNow=1.40137e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.09104e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.14708e-05 -86: > NEWTON iter 2: errNorm=1.40137e-08(v) -> deltaNorm=1.91007e-08(pi) -86: > piActive=~[0.0086233 -9.80285e-10 5.03348e-09 -0.00617379 -0.000289303 0.000545416] -86: > errActive=~[0 -1.72193e-09 8.84162e-09 2.1684e-19 -5.03041e-09 9.48371e-09] -86: > deltaPi=~[4.05087e-09 -9.80281e-10 5.03346e-09 1.23573e-08 -6.0994e-09 1.1499e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.40137e-08. -86: > piNow=~[0.00862329 -3.87879e-15 1.99165e-14 -0.0061738 -0.000289297 0.000545404] -86: > errNow=~[-4.33681e-19 -6.81334e-15 3.49845e-14 2.1684e-19 4.26162e-14 -8.03432e-14] normNow=9.76806e-14 -86: DBG: Improvement rate now/prev at iter 2 is 6.97034e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.76806e-14. -86: DBG: Worst offender is normal contact 0 err=0.00862329 ... +86: > errActive=~[0.00076255 0 0 -0.000394885 0.00034378 0.000307628] +86: > deltaPi=~[0.00484495 4.7305e-09 1.74158e-08 -0.00466051 0.000397914 0.000356069] +86: DBG: Line search iter 1: back=1, prevNorm=0.000974801. +86: > piNow=~[0.00515505 -4.7305e-09 -1.74158e-08 -0.00533949 -0.000397914 -0.000356069] +86: > errNow=~[-8.67362e-19 -6.25175e-09 -2.30165e-08 2.1684e-19 -5.96795e-09 -5.34036e-09] normNow=2.51591e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.58094e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.94742e-05 +86: > NEWTON iter 2: errNorm=2.51591e-08(v) -> deltaNorm=3.52534e-08(pi) +86: > piActive=~[0.00515505 -4.7305e-09 -1.74158e-08 -0.00533949 -0.000397914 -0.000356069] +86: > errActive=~[-8.67362e-19 -6.25175e-09 -2.30165e-08 2.1684e-19 -5.96795e-09 -5.34036e-09] +86: > deltaPi=~[2.14365e-08 -4.73042e-09 -1.74155e-08 1.42743e-08 -1.1873e-08 -1.06244e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.51591e-08. +86: > piNow=~[0.00515503 -7.87356e-14 -2.89873e-13 -0.00533951 -0.000397902 -0.000356058] +86: > errNow=~[4.33681e-19 -1.04056e-13 -3.83092e-13 1.0842e-19 6.40949e-14 5.73547e-14] normNow=4.06184e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.61446e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.06184e-13. +86: DBG: Worst offender is normal contact 0 err=0.00515503 ... 86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start 86: : active=(1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.335787,1.72417, mag=1.75656 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.352958,0.665423, mag=0.753238 +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.346418,-1.27537, mag=1.32158 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.34378,-0.307628, mag=0.461324 86: fillMult2Active: 86: : active=(1,4,5) 86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.00140999; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000691689; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.0017412 -0.00140999 -0.335787 1.72417 -0.352958 0.665423] +86: : verrLeft was=~[0.000691689 -0.000691689 -0.346418 -1.27537 -0.34378 -0.307628] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.00140999 -0.352958 0.665423] -86: : pi was=~[0 -0.0061738 -3.87879e-15 1.99165e-14 -0.000289297 0.000545404] -86: : piActive=~[-0.01 -0.000289297 0.000545404] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.80572e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00209954... -86: > NEWTON iter 1: errNorm=0.00209954(v) -> deltaNorm=0.00605269(pi) -86: > piActive=~[-0.01 -0.000289297 0.000545404] -86: > errActive=~[-0.00207966 0.000135049 -0.000254604] -86: > deltaPi=~[-0.00604861 -0.000104129 0.000196312] -86: DBG: Line search iter 1: back=1, prevNorm=0.00209954. -86: > piNow=~[-0.00395139 -0.000185168 0.000349092] -86: > errNow=~[4.33681e-19 -7.95226e-09 1.49922e-08] normNow=1.69707e-08 -86: DBG: Improvement rate now/prev at iter 1 is 8.08306e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.7959e-05 -86: > NEWTON iter 2: errNorm=1.69707e-08(v) -> deltaNorm=2.48869e-08(pi) -86: > piActive=~[-0.00395139 -0.000185168 0.000349092] -86: > errActive=~[4.33681e-19 -7.95226e-09 1.49922e-08] -86: > deltaPi=~[1.29824e-08 -9.94924e-09 1.8757e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.69707e-08. -86: > piNow=~[-0.0039514 -0.000185158 0.000349073] -86: > errNow=~[0 1.09252e-13 -2.0597e-13] normNow=2.33152e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.37385e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.33152e-13. +86: : rhsActive=~[-0.000691689 -0.34378 -0.307628] +86: : pi was=~[0 -0.00533951 -7.87356e-14 -2.89873e-13 -0.000397902 -0.000356058] +86: : piActive=~[-0.01 -0.000397902 -0.000356058] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.71837e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00145425... +86: > NEWTON iter 1: errNorm=0.00145425(v) -> deltaNorm=0.0068766(pi) +86: > piActive=~[-0.01 -0.000397902 -0.000356058] +86: > errActive=~[-0.00143827 0.000160218 0.00014337] +86: > deltaPi=~[-0.00687304 -0.000164861 -0.000147524] +86: DBG: Line search iter 1: back=1, prevNorm=0.00145425. +86: > piNow=~[-0.00312696 -0.000233041 -0.000208535] +86: > errNow=~[-3.25261e-19 -8.80117e-09 -7.87564e-09] normNow=1.18104e-08 +86: DBG: Improvement rate now/prev at iter 1 is 8.12133e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.7556e-05 +86: > NEWTON iter 2: errNorm=1.18104e-08(v) -> deltaNorm=3.11518e-08(pi) +86: > piActive=~[-0.00312696 -0.000233041 -0.000208535] +86: > errActive=~[-3.25261e-19 -8.80117e-09 -7.87564e-09] +86: > deltaPi=~[2.03752e-08 -1.75603e-08 -1.57137e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.18104e-08. +86: > piNow=~[-0.00312698 -0.000233024 -0.000208519] +86: > errNow=~[1.0842e-19 2.66564e-13 2.38532e-13] normNow=3.57707e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.02873e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.57707e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.352958,0.665423] to ~[-0.352038,0.66491] -86: DBG: Friction 1 rotated 0.0435855 deg, less than max 30 +86: slipVel 1 from ~[-0.34378,-0.307628] to ~[-0.343755,-0.30675] +86: DBG: Friction 1 rotated 0.0792705 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.0039514 -0.000185158 0.000349073] -86: : m_verrLeft=~[0.00216326 0 -0.334881 1.72281 -0.352038 0.66491] +86: : m_piActive=~[-0.00312698 -0.000233024 -0.000208519] +86: : m_verrLeft=~[0.00101226 -1.0842e-19 -0.346395 -1.27496 -0.343755 -0.30675] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00216326 pi*v=0 -86: DBG: 1: pi=-0.0039514 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.0039514 0 0 -0.000185158 0.000349073] errNorm=2.33152e-13 -86: Postcompression verr=~[0.00216326 0 -0.334881 1.72281 -0.352038 0.66491] -86: impulse=~[0 -0.0039514 0 0 -0.000185158 0.000349073] +86: DBG: 0: pi=0 verr=0.00101226 pi*v=0 +86: DBG: 1: pi=-0.00312698 verr=-1.0842e-19 pi*v=3.39028e-22 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00312698 0 0 -0.000233024 -0.000208519] errNorm=3.57707e-13 +86: Postcompression verr=~[0.00101226 -1.0842e-19 -0.346395 -1.27496 -0.343755 -0.30675] +86: impulse=~[0 -0.00312698 0 0 -0.000233024 -0.000208519] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.0039514 0 0 -0.000185158 0.000349073]-> du ~[0.000958823 -0.00180257 0.00085041 0.000888147 4.36796e-05 -0.00087039 0.00341638 -0.0018452] -86: Now verr0=~[0.00216326 0 -0.334881 1.72281 -0.352038 0.66491] +86: Impact: imp ~[0 -0.00312698 0 0 -0.000233024 -0.000208519]-> du ~[0.000374189 0.00112421 0.000462689 -0.00064596 2.3934e-05 0.000506128 -0.00197708 0.00154263] +86: Now verr0=~[0.00101226 -1.0842e-19 -0.346395 -1.27496 -0.343755 -0.30675] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00216326 0 -0.334881 1.72281 -0.352038 0.66491] -86: verrExt=~[-4.27218 -4.77034 -0.336161 4.72505 -0.341307 4.42951] -86: total verr=~[-4.27001 -4.77034 -0.671042 6.44786 -0.693346 5.09442] -86: DYN t=0.011: verrStart=~[0.00216326 0 -0.334881 1.72281 -0.352038 0.66491] -86: verrApplied=~[-4.27218 -4.77034 -0.336161 4.72505 -0.341307 4.42951] +86: verr0 =~[0.00101226 -1.0842e-19 -0.346395 -1.27496 -0.343755 -0.30675] +86: verrExt=~[-0.352926 -0.288065 -0.00262226 -0.413805 -0.00236229 -0.321114] +86: total verr=~[-0.351914 -0.288065 -0.349017 -1.68877 -0.346117 -0.627864] +86: DYN t=0.076: verrStart=~[0.00101226 -1.0842e-19 -0.346395 -1.27496 -0.343755 -0.30675] +86: verrApplied=~[-0.352926 -0.288065 -0.00262226 -0.413805 -0.00236229 -0.321114] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -32272,207 +42824,125 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00216326 0 -0.334881 1.72281 -0.352038 0.66491] -107: Rev2: ~[~[0.00720742,-1.0927,-0.476968],~[11.179,-4.36922,17.7488]] -107: Accels A: -107: Fwd: ~[~[0.296849,-1.04047,-0.608029],~[2.48362,-1.01537,1.26215]] -107: Rev2: ~[~[0.296849,-1.04047,-0.608029],~[2.48362,-1.01537,1.26215]] -107: Reacs BA: -107: Fwd AB:~[~[22146.6,378474,199770],~[7368.59,1327.49,-3337.83]] p_BA: ~[2.12132,-7.77817,-0] -107: Fwd: ~[~[5354,-418575,-155009],~[-7368.59,-1327.49,3337.83]] -107: Rev2: ~[~[5354,-418575,-155009],~[-7368.59,-1327.49,3337.83]] -107: Fwd-Rev2:~[~[-4.94612e-07,-1.02387e-07,3.87168e-07],~[6.5309e-08,-1.93904e-08,1.24477e-07]] -107: -107: -107: *** TEST ELLIPSOID *** -107: -107: rev2A.getU()=~[3,0.3,0.4] -107: Vels B: -107: Fwd: ~[~[0.0312865,-3.03711,-0.157978],~[2.82914,0.750522,-6.15521]] -107: Rev2: ~[~[0.0312865,-3.03711,-0.157978],~[2.82914,0.750522,-6.15521]] -107: Vels A: -107: Fwd: ~[~[0,0,0],~[0,0,0]] -107: Rev2: ~[~[8.32667e-16,3.9968e-15,6.66134e-16],~[-4.44089e-15,4.44089e-15,-1.95399e-14]] -107: Accels B: -107: Fwd: ~[~[-3.37501,0.68042,-5.65879],~[-19.2927,-28.0753,18.1957]] -107: Rev2: ~[~[-3.37501,0.68042,-5.65879],~[-19.2927,-28.0753,18.1957]] -107: Accels A: -107: Fwd: ~[~[1.49639,0.410827,5.54536],~[-23.0553,2.24072,6.40054]] -107: Rev2: ~[~[1.49639,0.410827,5.54536],~[-23.0553,2.24072,6.40054]] -107: Reacs BA: -107: Fwd AB:~[~[-63433.2,36458.5,-213676],~[452698,-428909,-174236]] p_BA: ~[-0.427439,0.00614846,-2.8905] -107: Fwd: ~[~[-379413,17764,-1.0704e+06],~[-452698,428909,174236]] -107: Rev2: ~[~[-379413,17764,-1.0704e+06],~[-452698,428909,174236]] -107: Fwd-Rev2:~[~[5.20376e-08,-2.95695e-08,3.21772e-07],~[5.72763e-08,-3.14321e-08,-1.62981e-08]] -107: -107: -107: *** TEST FREE *** -107: -107: Xforms B -107: Fwd: -107: [0.349155,0.112776,-0.930254,3.71404] -107: [-0.790144,-0.498243,-0.356969,0.435988] -107: [-0.50375,0.859672,-0.084855,-1.83642] -107: [0,0,0,1] -107: Rev2: -107: [0.349155,0.112776,-0.930254,3.71404] -107: [-0.790144,-0.498243,-0.356969,0.435988] -107: [-0.50375,0.859672,-0.084855,-1.83642] -107: [0,0,0,1] -107: Xforms A -107: Fwd: -107: [0.221223,0.752914,-0.619823,3.69964] -107: [-0.335192,-0.538147,-0.773334,-4.14483] -107: [-0.915809,0.378839,0.13332,-2.62572] -107: [0,0,0,1] -107: Rev2: -107: [0.221223,0.752914,-0.619823,3.69964] -107: [-0.335192,-0.538147,-0.773334,-4.14483] -107: [-0.915809,0.378839,0.13332,-2.62572] -107: [0,0,0,1] -107: rev2A.getU()=~[100,200,-330,3000,300,400] -107: Vels B: -107: Fwd: ~[~[391.236,-72.3199,24.5867],~[106.168,-2536.77,122.184]] -107: Rev2: ~[~[391.236,-72.3199,24.5867],~[106.168,-2536.77,122.184]] -107: Vels A: -107: Fwd: ~[~[0,0,0],~[0,0,0]] -107: Rev2: ~[~[-3.97904e-13,5.68434e-14,-2.55795e-13],~[-2.27374e-12,4.54747e-12,0]] -107: Accels B: -107: Fwd: ~[~[6545.17,-10626.3,-64881.2],~[92586.9,-637601,210614]] -107: Rev2: ~[~[6545.17,-10626.3,-64881.2],~[92586.9,-637601,210614]] -107: Fwd-Rev2: ~[~[4.16276e-09,-9.82254e-10,-1.71494e-08],~[4.53001e-08,-3.48082e-08,1.4843e-08]] -107: Accels A: -107: Fwd: ~[~[-0.101535,-0.00492003,0.15316],~[-0.590412,-1.00306,-0.392635]] -107: Rev2: ~[~[-0.101535,-0.00492003,0.15316],~[-0.590412,-1.00306,-0.392635]] -107: Fwd-Rev2: ~[~[6.88029e-10,-1.31533e-10,3.36745e-09],~[-6.17808e-09,1.96645e-09,8.15443e-10]] -107: Reacs BA: -107: Fwd AB:~[~[3253.78,3574.38,1240.65],~[4017.71,-243.079,2882.42]] p_BA: ~[-1.20929,-2.36613,3.43948] -107: Fwd: ~[~[-561.571,6789.64,-4119.21],~[-4017.71,243.079,-2882.42]] -107: Rev2: ~[~[-561.57,6789.64,-4119.22],~[-4017.71,243.079,-2882.42]] -107: Fwd-Rev2:~[~[-0.000942909,-0.000704297,0.00833635],~[0.000980674,0.000141229,-0.000127115]] -107: Fwd: ~[~[-561.571,6789.64,-4119.21],~[-4017.71,243.079,-2882.42]] -107: Rev: ~[~[-561.57,6789.64,-4119.22],~[-4017.71,243.079,-2882.42]] -107: Done -103: [min,max]=0.1,0.5 actual=0.232392 -103: calc wrms=0.232392 -86: verrApplied=~[-4.27218 -4.77034 -0.336161 4.72505 -0.341307 4.42951] +86: verrLeft=~[0.00101226 -1.0842e-19 -0.346395 -1.27496 -0.343755 -0.30675] +86: verrApplied=~[-0.352926 -0.288065 -0.00262226 -0.413805 -0.00236229 -0.321114] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.334881,1.72281, mag=1.75505 -86: Participating contact 1 is Sliding; vel=-0.352038,0.66491, mag=0.752353 +86: Participating contact 0 is Sliding; vel=-0.346395,-1.27496, mag=1.32118 +86: Participating contact 1 is Sliding; vel=-0.343755,-0.30675, mag=0.460721 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.334881,1.72281, mag=1.75505 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.352038,0.66491, mag=0.752353 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.346395,-1.27496, mag=1.32118 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.343755,-0.30675, mag=0.460721 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-4.27001; guess pi=-0.01 -86: DBG: active normal 3 has v=-4.77034; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.351914; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.288065; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00216326 0 -0.334881 1.72281 -0.352038 0.66491] +86: : verrLeft was=~[0.00101226 -1.0842e-19 -0.346395 -1.27496 -0.343755 -0.30675] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-4.27218 -4.77034 -0.336161 4.72505 -0.341307 4.42951] -86: : rhsActive=~[-4.27001 -0.671042 6.44786 -4.77034 -0.693346 5.09442] +86: : verrApplied was=~[-0.352926 -0.288065 -0.00262226 -0.413805 -0.00236229 -0.321114] +86: : rhsActive=~[-0.351914 -0.349017 -1.68877 -0.288065 -0.346117 -0.627864] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.1127e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=6.39662... -86: > NEWTON iter 1: errNorm=6.39662(v) -> deltaNorm=14.8284(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.21186e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.450297... +86: > NEWTON iter 1: errNorm=0.450297(v) -> deltaNorm=1.28155(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[4.26631 0.000334881 -0.00172281 4.76606 0.000352038 -0.00066491] -86: > deltaPi=~[11.5178 0.219954 -1.13156 9.22171 0.43195 -0.815843] -86: DBG: Line search iter 1: back=1, prevNorm=6.39662. -86: > piNow=~[-11.5278 -0.219954 1.13156 -9.23171 -0.43195 0.815843] -86: > errNow=~[8.88178e-16 1.43672e-05 -7.39125e-05 8.88178e-16 1.20924e-05 -2.28394e-05] normNow=7.96074e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.24452e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.9047e-10 -86: > NEWTON iter 2: errNorm=7.96074e-05(v) -> deltaNorm=8.00306e-05(pi) -86: > piActive=~[-11.5278 -0.219954 1.13156 -9.23171 -0.43195 0.815843] -86: > errActive=~[8.88178e-16 1.43672e-05 -7.39125e-05 8.88178e-16 1.20924e-05 -2.28394e-05] -86: > deltaPi=~[-4.58855e-06 8.09864e-06 -4.16637e-05 -6.15419e-05 1.31931e-05 -2.49184e-05] -86: DBG: Line search iter 1: back=1, prevNorm=7.96074e-05. -86: > piNow=~[-11.5278 -0.219962 1.1316 -9.23165 -0.431963 0.815868] -86: > errNow=~[0 -5.55112e-17 2.22045e-16 -8.88178e-16 -1.11022e-16 1.11022e-16] normNow=9.30536e-16 -86: DBG: Improvement rate now/prev at iter 2 is 1.16891e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.30536e-16. +86: > errActive=~[0.348561 0.000346395 0.00127496 0.28508 0.000343755 0.00030675] +86: > deltaPi=~[0.981663 0.0259991 0.0956937 0.81369 0.0614553 0.0548397] +86: DBG: Line search iter 1: back=1, prevNorm=0.450297. +86: > piNow=~[-0.991663 -0.0259991 -0.0956937 -0.82369 -0.0614553 -0.0548397] +86: > errNow=~[1.11022e-16 1.26662e-06 4.66198e-06 0 1.04188e-06 9.29728e-07] normNow=5.02875e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.11676e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.68425e-10 +86: > NEWTON iter 2: errNorm=5.02875e-06(v) -> deltaNorm=6.30202e-06(pi) +86: > piActive=~[-0.991663 -0.0259991 -0.0956937 -0.82369 -0.0614553 -0.0548397] +86: > errActive=~[1.11022e-16 1.26662e-06 4.66198e-06 0 1.04188e-06 9.29728e-07] +86: > deltaPi=~[-3.8851e-06 8.56841e-07 3.15374e-06 -2.4905e-06 2.0756e-06 1.85217e-06] +86: DBG: Line search iter 1: back=1, prevNorm=5.02875e-06. +86: > piNow=~[-0.991659 -0.026 -0.0956968 -0.823687 -0.0614574 -0.0548416] +86: > errNow=~[5.55112e-17 -5.20417e-16 -1.85962e-15 0 -4.71845e-16 -4.19803e-16] normNow=2.03248e-15 +86: DBG: Improvement rate now/prev at iter 2 is 4.04173e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.03248e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.334881,1.72281] to ~[-0.253617,1.64873] -86: DBG: Friction 0 rotated 2.25504 deg, less than max 30 -86: slipVel 1 from ~[-0.352038,0.66491] to ~[-0.267939,0.765542] -86: DBG: Friction 1 rotated 8.60908 deg, less than max 30 +86: slipVel 0 from ~[-0.346395,-1.27496] to ~[-0.34269,-1.23163] +86: DBG: Friction 0 rotated 0.348943 deg, less than max 30 +86: slipVel 1 from ~[-0.343755,-0.30675] to ~[-0.340059,-0.266531] +86: DBG: Friction 1 rotated 3.65561 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-11.5278 -0.219962 1.1316 -9.23165 -0.431963 0.815868] -86: : m_verrLeft=~[0 8.88178e-16 -0.253617 1.64873 -0.267939 0.765542] +86: : m_piActive=~[-0.991659 -0.026 -0.0956968 -0.823687 -0.0614574 -0.0548416] +86: : m_verrLeft=~[-5.55112e-17 0 -0.34269 -1.23163 -0.340059 -0.266531] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-11.5278 verr=0 pi*v=-0 -86: DBG: 1: pi=-9.23165 verr=8.88178e-16 pi*v=-8.19935e-15 -86: SP FINAL 1 intervals, piTotal=~[-11.5278 -9.23165 -0.219962 1.1316 -0.431963 0.815868] errNorm=9.30536e-16 +86: DBG: 0: pi=-0.991659 verr=-5.55112e-17 pi*v=5.50481e-17 +86: DBG: 1: pi=-0.823687 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.991659 -0.823687 -0.026 -0.0956968 -0.0614574 -0.0548416] errNorm=2.03248e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.334881 1.72281, |slipV|=1.75505 -86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.346395 -1.27496, |slipV|=1.32118 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.352038 0.66491, |slipV|=0.752353 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.343755 -0.30675, |slipV|=0.460721 86: ------------------------------ 86: -86: dynamics impulse=~[-11.5278 -9.23165 -0.219962 1.1316 -0.431963 0.815868] -86: updated verrStart=~[0 8.88178e-16 -0.253617 1.64873 -0.267939 0.765542] +86: dynamics impulse=~[-0.991659 -0.823687 -0.026 -0.0956968 -0.0614574 -0.0548416] +86: updated verrStart=~[-5.55112e-17 0 -0.34269 -1.23163 -0.340059 -0.266531] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.886016 0.175768 0 0 0 0] +86: posVerr=~[0.10229 -0.00929367 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.278391 0.091963 -0.177464 -0.100353 -0.180245 -0.263706] -86: [0.091963 0.336271 0.224813 -0.32407 0.228433 -0.111579] -86: [-0.177464 0.224813 0.404072 -0.228468 0.410787 0.167999] -86: [-0.100353 -0.32407 -0.228468 0.361385 -0.232681 0.111386] -86: [-0.180245 0.228433 0.410787 -0.232681 0.417626 0.171145] -86: [-0.263706 -0.111579 0.167999 0.111386 0.171145 0.298715] +86: [0.240363 0.0949386 -0.00466531 0.305616 -0.00518918 0.119434] +86: [0.0949386 0.203596 0.00604594 0.121038 0.00642826 0.256811] +86: [-0.00466531 0.00604594 0.0502962 0.0366368 0.050102 -0.0350001] +86: [0.305616 0.121038 0.0366368 0.459014 0.0357274 0.133054] +86: [-0.00518918 0.00642826 0.050102 0.0357274 0.0499125 -0.0342713] +86: [0.119434 0.256811 -0.0350001 0.133054 -0.0342713 0.394735] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.522419 rank=2 -86: rhs=~[0.886016 0.175768 0 0 0 0] +86: rcond(A+D)=0.393111 rank=2 +86: rhs=~[0.10229 -0.00929367 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[3.3089 -0.382217] -86: -> pi=~[3.3089 -0.382217 0 0 0 0] -86: resid active=~[2.22045e-16 1.66533e-16] -86: resid=~[2.22045e-16 1.66533e-16 -0.673137 -0.208191 -0.683724 -0.829929] +86: -> piActive=~[0.543745 -0.299201] +86: -> pi=~[0.543745 -0.299201 0 0 0 0] +86: resid active=~[-2.77556e-17 -1.73472e-18] +86: resid=~[-2.77556e-17 -1.73472e-18 -0.00434569 0.129963 -0.00474493 -0.0118964] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[4.44089e-15 3.10862e-15 -0.253617 1.64873 -0.267939 0.765542] -86: perr=~[0.000886016 0.000175768 -1.11022e-16] -86: END OF STEP (0.011,0.012): -86: verr=~[0.00158388 -0.00116421 -0.252997 1.65918 -0.268101 0.776009] -86: perr=~[0.000886808 0.000175186 -1.11022e-16] +86: verr=~[5.09575e-17 6.44016e-17 -0.34269 -1.23163 -0.340059 -0.266531] +86: perr=~[0.00010229 -9.29367e-06 0] +86: END OF STEP (0.076,0.077): +86: verr=~[0.000657265 -0.000657265 -0.342225 -1.23163 -0.340525 -0.26653] +86: perr=~[0.000102619 -9.6223e-06 -1.11022e-16] 86: constraint status: -86: 4: cont UniActive fric Sliding -86: 6: cont UniActive fric Sliding -86: Proximal unilateral contacts: (4,6) -86: Distal unilateral contacts: (0,1,2,3,5,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 4 verr speed=1.67836 -> mu=0.1 -86: DBG: Uni fric 6 verr speed=0.821017 -> mu=0.1 -86: DBG: Uni contact 6 verr vel=-0.00116421 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.27829 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.43243 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000657265 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (1) 86: observers: (0) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.00158388 -0.00116421 -0.252997 1.65918 -0.268101 0.776009] -86: IMP t=0.012 verr=~[0.00158388 -0.00116421 -0.252997 1.65918 -0.268101 0.776009] +86: verr=~[0.000657265 -0.000657265 -0.342225 -1.23163 -0.340525 -0.26653] +86: IMP t=0.077 verr=~[0.000657265 -0.000657265 -0.342225 -1.23163 -0.340525 -0.26653] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -32484,116 +42954,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00158388 -0.00116421 -0.252997 1.65918 -0.268101 0.776009] +86: verrLeft=~[0.000657265 -0.000657265 -0.342225 -1.23163 -0.340525 -0.26653] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.252997,1.65918, mag=1.67836 -86: Participating contact 1 is Sliding; vel=-0.268101,0.776009, mag=0.821017 +86: Participating contact 0 is Sliding; vel=-0.342225,-1.23163, mag=1.27829 +86: Participating contact 1 is Sliding; vel=-0.340525,-0.26653, mag=0.43243 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.252997,1.65918, mag=1.67836 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.268101,0.776009, mag=0.821017 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.342225,-1.23163, mag=1.27829 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.340525,-0.26653, mag=0.43243 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.00158388; guess pi=0.01 -86: DBG: active normal 3 has v=-0.00116421; guess pi=-0.01 +86: DBG: active normal 0 has v=0.000657265; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000657265; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00158388 -0.00116421 -0.252997 1.65918 -0.268101 0.776009] +86: : verrLeft was=~[0.000657265 -0.000657265 -0.342225 -1.23163 -0.340525 -0.26653] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.00158388 -0.252997 1.65918 -0.00116421 -0.268101 0.776009] +86: : rhsActive=~[0.000657265 -0.342225 -1.23163 -0.000657265 -0.340525 -0.26653] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.9596e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00151247... -86: > NEWTON iter 1: errNorm=0.00151247(v) -> deltaNorm=0.00506205(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.02654e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00100696... +86: > NEWTON iter 1: errNorm=0.00100696(v) -> deltaNorm=0.00710933(pi) 86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000239515 0 0 -0.00124745 0.000268101 -0.000776009] -86: > deltaPi=~[0.00204597 1.14879e-09 -7.53388e-09 -0.00459854 0.000176389 -0.000510552] -86: DBG: Line search iter 1: back=1, prevNorm=0.00151247. -86: > piNow=~[0.00795403 -1.14879e-09 7.53388e-09 -0.00540146 -0.000176389 0.000510552] -86: > errNow=~[-2.1684e-19 -1.92808e-09 1.26446e-08 4.33681e-19 -4.5923e-09 1.32923e-08] normNow=1.90099e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.25687e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.44029e-05 -86: > NEWTON iter 2: errNorm=1.90099e-08(v) -> deltaNorm=2.39697e-08(pi) -86: > piActive=~[0.00795403 -1.14879e-09 7.53388e-09 -0.00540146 -0.000176389 0.000510552] -86: > errActive=~[-2.1684e-19 -1.92808e-09 1.26446e-08 4.33681e-19 -4.5923e-09 1.32923e-08] -86: > deltaPi=~[8.05462e-09 -1.14878e-09 7.53384e-09 1.43251e-08 -5.1257e-09 1.48362e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.90099e-08. -86: > piNow=~[0.00795403 -7.14798e-15 4.68773e-14 -0.00540147 -0.000176384 0.000510537] -86: > errNow=~[-2.1684e-19 -1.19969e-14 7.8677e-14 -4.33681e-19 4.90194e-14 -1.41885e-13] normNow=1.69907e-13 -86: DBG: Improvement rate now/prev at iter 2 is 8.9378e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.69907e-13. -86: DBG: Worst offender is normal contact 0 err=0.00795403 ... +86: > errActive=~[0.000799626 0 0 -0.000433094 0.000340525 0.00026653] +86: > deltaPi=~[0.00511522 5.10103e-09 1.8358e-08 -0.00491101 0.000400756 0.000313673] +86: DBG: Line search iter 1: back=1, prevNorm=0.00100696. +86: > piNow=~[0.00488478 -5.10103e-09 -1.8358e-08 -0.00508899 -0.000400756 -0.000313673] +86: > errNow=~[-3.25261e-19 -6.5206e-09 -2.34669e-08 3.25261e-19 -6.22919e-09 -4.87561e-09] normNow=2.56084e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.54314e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.08945e-05 +86: > NEWTON iter 2: errNorm=2.56084e-08(v) -> deltaNorm=3.6849e-08(pi) +86: > piActive=~[0.00488478 -5.10103e-09 -1.8358e-08 -0.00508899 -0.000400756 -0.000313673] +86: > errActive=~[-3.25261e-19 -6.5206e-09 -2.34669e-08 3.25261e-19 -6.22919e-09 -4.87561e-09] +86: > deltaPi=~[2.25794e-08 -5.10093e-09 -1.83577e-08 1.4146e-08 -1.32913e-08 -1.04032e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.56084e-08. +86: > piNow=~[0.00488475 -9.43327e-14 -3.39493e-13 -0.005089 -0.000400743 -0.000313663] +86: > errNow=~[2.1684e-19 -1.20585e-13 -4.33971e-13 -1.0842e-19 6.92615e-14 5.42112e-14] normNow=4.5892e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.79207e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.5892e-13. +86: DBG: Worst offender is normal contact 0 err=0.00488475 ... 86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start 86: : active=(1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.252997,1.65918, mag=1.67836 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.268101,0.776009, mag=0.821017 +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.342225,-1.23163, mag=1.27829 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.340525,-0.26653, mag=0.43243 86: fillMult2Active: 86: : active=(1,4,5) 86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.00116421; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000657265; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00158388 -0.00116421 -0.252997 1.65918 -0.268101 0.776009] +86: : verrLeft was=~[0.000657265 -0.000657265 -0.342225 -1.23163 -0.340525 -0.26653] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.00116421 -0.268101 0.776009] -86: : pi was=~[0 -0.00540147 -7.14798e-15 4.68773e-14 -0.000176384 0.000510537] -86: : piActive=~[-0.01 -0.000176384 0.000510537] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.05818e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00229996... -86: > NEWTON iter 1: errNorm=0.00229996(v) -> deltaNorm=0.006692(pi) -86: > piActive=~[-0.01 -0.000176384 0.000510537] -86: > errActive=~[-0.00226876 0.000123287 -0.00035685] -86: > deltaPi=~[-0.00668873 -6.8247e-05 0.000197539] -86: DBG: Line search iter 1: back=1, prevNorm=0.00229996. -86: > piNow=~[-0.00331127 -0.000108137 0.000312998] -86: > errNow=~[-1.30104e-18 -6.67965e-09 1.9334e-08] normNow=2.04554e-08 -86: DBG: Improvement rate now/prev at iter 1 is 8.89379e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.78664e-05 -86: > NEWTON iter 2: errNorm=2.04554e-08(v) -> deltaNorm=2.68697e-08(pi) -86: > piActive=~[-0.00331127 -0.000108137 0.000312998] -86: > errActive=~[-1.30104e-18 -6.67965e-09 1.9334e-08] -86: > deltaPi=~[1.27772e-08 -7.71873e-09 2.23416e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.04554e-08. -86: > piNow=~[-0.00331128 -0.000108129 0.000312976] -86: > errNow=~[0 1.16269e-13 -3.36536e-13] normNow=3.56054e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.74064e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.56054e-13. +86: : rhsActive=~[-0.000657265 -0.340525 -0.26653] +86: : pi was=~[0 -0.005089 -9.43327e-14 -3.39493e-13 -0.000400743 -0.000313663] +86: : piActive=~[-0.01 -0.000400743 -0.000313663] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.61075e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00147384... +86: > NEWTON iter 1: errNorm=0.00147384(v) -> deltaNorm=0.00701008(pi) +86: > piActive=~[-0.01 -0.000400743 -0.000313663] +86: > errActive=~[-0.00145846 0.000167232 0.000130893] +86: > deltaPi=~[-0.00700695 -0.000165029 -0.000129169] +86: DBG: Line search iter 1: back=1, prevNorm=0.00147384. +86: > piNow=~[-0.00299305 -0.000235714 -0.000184494] +86: > errNow=~[2.1684e-19 -8.8877e-09 -6.95644e-09] normNow=1.12864e-08 +86: DBG: Improvement rate now/prev at iter 1 is 7.6578e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.796e-05 +86: > NEWTON iter 2: errNorm=1.12864e-08(v) -> deltaNorm=3.0995e-08(pi) +86: > piActive=~[-0.00299305 -0.000235714 -0.000184494] +86: > errActive=~[2.1684e-19 -8.8877e-09 -6.95644e-09] +86: > deltaPi=~[1.94173e-08 -1.90245e-08 -1.48906e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.12864e-08. +86: > piNow=~[-0.00299307 -0.000235695 -0.000184479] +86: > errNow=~[-1.0842e-19 2.74618e-13 2.14944e-13] normNow=3.48735e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.08986e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.48735e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.268101,0.776009] to ~[-0.267361,0.775561] -86: DBG: Friction 1 rotated 0.0386196 deg, less than max 30 +86: slipVel 1 from ~[-0.340525,-0.26653] to ~[-0.3405,-0.265696] +86: DBG: Friction 1 rotated 0.0851403 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00331128 -0.000108129 0.000312976] -86: : m_verrLeft=~[0.00195252 0 -0.252269 1.65805 -0.267361 0.775561] +86: : m_piActive=~[-0.00299307 -0.000235695 -0.000184479] +86: : m_verrLeft=~[0.000959953 1.0842e-19 -0.342201 -1.23124 -0.3405 -0.265696] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00195252 pi*v=0 -86: DBG: 1: pi=-0.00331128 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00331128 0 0 -0.000108129 0.000312976] errNorm=3.56054e-13 -86: Postcompression verr=~[0.00195252 0 -0.252269 1.65805 -0.267361 0.775561] -86: impulse=~[0 -0.00331128 0 0 -0.000108129 0.000312976] +86: DBG: 0: pi=0 verr=0.000959953 pi*v=0 +86: DBG: 1: pi=-0.00299307 verr=1.0842e-19 pi*v=-3.24509e-22 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00299307 0 0 -0.000235695 -0.000184479] errNorm=3.48735e-13 +86: Postcompression verr=~[0.000959953 1.0842e-19 -0.342201 -1.23124 -0.3405 -0.265696] +86: impulse=~[0 -0.00299307 0 0 -0.000235695 -0.000184479] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00331128 0 0 -0.000108129 0.000312976]-> du ~[0.000769799 -0.00151371 0.000684452 0.00074329 3.18325e-05 -0.000733486 0.00286256 -0.00155325] -86: Now verr0=~[0.00195252 4.44089e-16 -0.252269 1.65805 -0.267361 0.775561] - 81/108 Test #107: TestReverseMobilizers .......................... Passed 0.02 sec +86: Impact: imp ~[0 -0.00299307 0 0 -0.000235695 -0.000184479]-> du ~[0.00035646 0.00106798 0.00043995 -0.000614014 2.3926e-05 0.000479976 -0.00187811 0.00146782] +86: Now verr0=~[0.000959953 1.0842e-19 -0.342201 -1.23124 -0.3405 -0.265696] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00195252 4.44089e-16 -0.252269 1.65805 -0.267361 0.775561] -86: verrExt=~[-3.74032 -4.21939 -0.326338 4.19077 -0.331571 3.90472] -86: total verr=~[-3.73836 -4.21939 -0.578608 5.84882 -0.598932 4.68028] -86: DYN t=0.012: verrStart=~[0.00195252 4.44089e-16 -0.252269 1.65805 -0.267361 0.775561] -86: verrApplied=~[-3.74032 -4.21939 -0.326338 4.19077 -0.331571 3.90472] +86: verr0 =~[0.000959953 1.0842e-19 -0.342201 -1.23124 -0.3405 -0.265696] +86: verrExt=~[-0.29029 -0.240773 0.000187804 -0.328334 0.000311611 -0.261204] +86: total verr=~[-0.28933 -0.240773 -0.342013 -1.55957 -0.340189 -0.5269] +86: DYN t=0.077: verrStart=~[0.000959953 1.0842e-19 -0.342201 -1.23124 -0.3405 -0.265696] +86: verrApplied=~[-0.29029 -0.240773 0.000187804 -0.328334 0.000311611 -0.261204] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -32605,125 +43074,125 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00195252 4.44089e-16 -0.252269 1.65805 -0.267361 0.775561] -86: verrApplied=~[-3.74032 -4.21939 -0.326338 4.19077 -0.331571 3.90472] +86: verrLeft=~[0.000959953 1.0842e-19 -0.342201 -1.23124 -0.3405 -0.265696] +86: verrApplied=~[-0.29029 -0.240773 0.000187804 -0.328334 0.000311611 -0.261204] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.252269,1.65805, mag=1.67713 -86: Participating contact 1 is Sliding; vel=-0.267361,0.775561, mag=0.820352 +86: Participating contact 0 is Sliding; vel=-0.342201,-1.23124, mag=1.27791 +86: Participating contact 1 is Sliding; vel=-0.3405,-0.265696, mag=0.431897 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.252269,1.65805, mag=1.67713 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.267361,0.775561, mag=0.820352 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.342201,-1.23124, mag=1.27791 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.3405,-0.265696, mag=0.431897 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-3.73836; guess pi=-0.01 -86: DBG: active normal 3 has v=-4.21939; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.28933; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.240773; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00195252 4.44089e-16 -0.252269 1.65805 -0.267361 0.775561] +86: : verrLeft was=~[0.000959953 1.0842e-19 -0.342201 -1.23124 -0.3405 -0.265696] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-3.74032 -4.21939 -0.326338 4.19077 -0.331571 3.90472] -86: : rhsActive=~[-3.73836 -0.578608 5.84882 -4.21939 -0.598932 4.68028] +86: : verrApplied was=~[-0.29029 -0.240773 0.000187804 -0.328334 0.000311611 -0.261204] +86: : rhsActive=~[-0.28933 -0.342013 -1.55957 -0.240773 -0.340189 -0.5269] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.9544e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=5.63163... -86: > NEWTON iter 1: errNorm=5.63163(v) -> deltaNorm=13.058(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.02455e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.37194... +86: > NEWTON iter 1: errNorm=0.37194(v) -> deltaNorm=1.06534(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[3.73469 0.000252269 -0.00165805 4.21513 0.000267361 -0.000775561] -86: > deltaPi=~[9.92863 0.149488 -0.982519 8.38109 0.273464 -0.793265] -86: DBG: Line search iter 1: back=1, prevNorm=5.63163. -86: > piNow=~[-9.93863 -0.149488 0.982519 -8.39109 -0.273464 0.793265] -86: > errNow=~[4.44089e-16 9.32965e-06 -6.13195e-05 -8.88178e-16 8.34662e-06 -2.42119e-05] normNow=6.71045e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.19156e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.02975e-10 -86: > NEWTON iter 2: errNorm=6.71045e-05(v) -> deltaNorm=6.71638e-05(pi) -86: > piActive=~[-9.93863 -0.149488 0.982519 -8.39109 -0.273464 0.793265] -86: > errActive=~[4.44089e-16 9.32965e-06 -6.13195e-05 -8.88178e-16 8.34662e-06 -2.42119e-05] -86: > deltaPi=~[-1.13258e-05 5.3925e-06 -3.54424e-05 -4.90409e-05 8.57615e-06 -2.48777e-05] -86: DBG: Line search iter 1: back=1, prevNorm=6.71045e-05. -86: > piNow=~[-9.93862 -0.149494 0.982555 -8.39104 -0.273473 0.79329] -86: > errNow=~[-4.44089e-16 0 -2.22045e-16 -8.88178e-16 -8.32667e-17 2.22045e-16] normNow=1.0448e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.55698e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.0448e-15. +86: > errActive=~[0.285989 0.000342201 0.00123124 0.237798 0.0003405 0.000265696] +86: > deltaPi=~[0.799655 0.0216804 0.0780057 0.69568 0.0556326 0.0434107] +86: DBG: Line search iter 1: back=1, prevNorm=0.37194. +86: > piNow=~[-0.809655 -0.0216804 -0.0780057 -0.70568 -0.0556326 -0.0434107] +86: > errNow=~[0 1.01929e-06 3.66738e-06 -5.55112e-17 8.82345e-07 6.88503e-07] normNow=3.96751e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.06671e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.00626e-10 +86: > NEWTON iter 2: errNorm=3.96751e-06(v) -> deltaNorm=5.17337e-06(pi) +86: > piActive=~[-0.809655 -0.0216804 -0.0780057 -0.70568 -0.0556326 -0.0434107] +86: > errActive=~[0 1.01929e-06 3.66738e-06 -5.55112e-17 8.82345e-07 6.88503e-07] +86: > deltaPi=~[-3.15476e-06 7.13143e-07 2.56588e-06 -2.00015e-06 1.88526e-06 1.47109e-06] +86: DBG: Line search iter 1: back=1, prevNorm=3.96751e-06. +86: > piNow=~[-0.809652 -0.0216811 -0.0780083 -0.705678 -0.0556345 -0.0434122] +86: > errNow=~[0 -6.14092e-16 -2.20657e-15 -2.77556e-17 -5.06539e-16 -4.02456e-16] normNow=2.3802e-15 +86: DBG: Improvement rate now/prev at iter 2 is 5.99924e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.3802e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.252269,1.65805] to ~[-0.180452,1.58299] -86: DBG: Friction 0 rotated 2.14778 deg, less than max 30 -86: slipVel 1 from ~[-0.267361,0.775561] to ~[-0.192826,0.859319] -86: DBG: Friction 1 rotated 6.3734 deg, less than max 30 +86: slipVel 0 from ~[-0.342201,-1.23124] to ~[-0.336795,-1.18257] +86: DBG: Friction 0 rotated 0.364535 deg, less than max 30 +86: slipVel 1 from ~[-0.3405,-0.265696] to ~[-0.335107,-0.224175] +86: DBG: Friction 1 rotated 4.18414 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-9.93862 -0.149494 0.982555 -8.39104 -0.273473 0.79329] -86: : m_verrLeft=~[4.44089e-16 1.77636e-15 -0.180452 1.58299 -0.192826 0.859319] +86: : m_piActive=~[-0.809652 -0.0216811 -0.0780083 -0.705678 -0.0556345 -0.0434122] +86: : m_verrLeft=~[0 2.77556e-17 -0.336795 -1.18257 -0.335107 -0.224175] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-9.93862 verr=4.44089e-16 pi*v=-4.41363e-15 -86: DBG: 1: pi=-8.39104 verr=1.77636e-15 pi*v=-1.49055e-14 -86: SP FINAL 1 intervals, piTotal=~[-9.93862 -8.39104 -0.149494 0.982555 -0.273473 0.79329] errNorm=1.0448e-15 +86: DBG: 0: pi=-0.809652 verr=0 pi*v=-0 +86: DBG: 1: pi=-0.705678 verr=2.77556e-17 pi*v=-1.95865e-17 +86: SP FINAL 1 intervals, piTotal=~[-0.809652 -0.705678 -0.0216811 -0.0780083 -0.0556345 -0.0434122] errNorm=2.3802e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.252269 1.65805, |slipV|=1.67713 -86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.342201 -1.23124, |slipV|=1.27791 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.267361 0.775561, |slipV|=0.820352 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.3405 -0.265696, |slipV|=0.431897 86: ------------------------------ 86: -86: dynamics impulse=~[-9.93862 -8.39104 -0.149494 0.982555 -0.273473 0.79329] -86: updated verrStart=~[4.44089e-16 1.77636e-15 -0.180452 1.58299 -0.192826 0.859319] +86: dynamics impulse=~[-0.809652 -0.705678 -0.0216811 -0.0780083 -0.0556345 -0.0434122] +86: updated verrStart=~[0 2.77556e-17 -0.336795 -1.18257 -0.335107 -0.224175] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.886808 0.175186 0 0 0 0] +86: posVerr=~[0.102619 -0.0096223 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.274732 0.092392 -0.173917 -0.101368 -0.176783 -0.26143] -86: [0.092392 0.333558 0.222116 -0.323486 0.225891 -0.112719] -86: [-0.173917 0.222116 0.39874 -0.227297 0.405733 0.165175] -86: [-0.101368 -0.323486 -0.227297 0.363248 -0.231733 0.113105] -86: [-0.176783 0.225891 0.405733 -0.231733 0.412863 0.168445] -86: [-0.26143 -0.112719 0.165175 0.113105 0.168445 0.298118] +86: [0.239913 0.0942234 -0.00520367 0.305641 -0.00554855 0.119137] +86: [0.0942234 0.203259 0.0060674 0.120631 0.00631981 0.256976] +86: [-0.00520367 0.0060674 0.0500847 0.0358175 0.0499616 -0.0347862] +86: [0.305641 0.120631 0.0358175 0.459933 0.0352216 0.133459] +86: [-0.00554855 0.00631981 0.0499616 0.0352216 0.0498404 -0.0343088] +86: [0.119137 0.256976 -0.0347862 0.133459 -0.0343088 0.395652] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.516532 rank=2 -86: rhs=~[0.886808 0.175186 0 0 0 0] +86: rcond(A+D)=0.395487 rank=2 +86: rhs=~[0.102619 -0.0096223 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[3.36471 -0.406784] -86: -> pi=~[3.36471 -0.406784 0 0 0 0] -86: resid active=~[0 -5.55112e-17] -86: resid=~[0 -5.55112e-17 -0.675532 -0.209485 -0.686713 -0.833783] +86: -> piActive=~[0.545672 -0.300293] +86: -> pi=~[0.545672 -0.300293 0 0 0 0] +86: resid active=~[-1.38778e-17 -8.67362e-18] +86: resid=~[-1.38778e-17 -8.67362e-18 -0.00466149 0.130555 -0.00492548 -0.0121584] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-2.66454e-15 -3.10862e-15 -0.180452 1.58299 -0.192826 0.859319] -86: perr=~[0.000886808 0.000175186 -1.11022e-16] -86: END OF STEP (0.012,0.013): -86: verr=~[0.00141985 -0.000907186 -0.179945 1.59384 -0.192845 0.870184] -86: perr=~[0.000887518 0.000174732 -1.11022e-16] +86: verr=~[-2.21177e-17 -3.1225e-17 -0.336795 -1.18257 -0.335107 -0.224175] +86: perr=~[0.000102619 -9.6223e-06 -1.11022e-16] +86: END OF STEP (0.077,0.078): +86: verr=~[0.000616872 -0.000616872 -0.336336 -1.18257 -0.335566 -0.224175] +86: perr=~[0.000102927 -9.93074e-06 -2.22045e-16] 86: constraint status: -86: 4: cont UniActive fric Sliding -86: 6: cont UniActive fric Sliding -86: Proximal unilateral contacts: (4,6) -86: Distal unilateral contacts: (0,1,2,3,5,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 4 verr speed=1.60397 -> mu=0.1 -86: DBG: Uni fric 6 verr speed=0.891296 -> mu=0.1 -86: DBG: Uni contact 6 verr vel=-0.000907186 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.22947 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.403558 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000616872 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (1) 86: observers: (0) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.00141985 -0.000907186 -0.179945 1.59384 -0.192845 0.870184] -86: IMP t=0.013 verr=~[0.00141985 -0.000907186 -0.179945 1.59384 -0.192845 0.870184] +86: verr=~[0.000616872 -0.000616872 -0.336336 -1.18257 -0.335566 -0.224175] +86: IMP t=0.078 verr=~[0.000616872 -0.000616872 -0.336336 -1.18257 -0.335566 -0.224175] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -32735,115 +43204,116 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00141985 -0.000907186 -0.179945 1.59384 -0.192845 0.870184] +86: verrLeft=~[0.000616872 -0.000616872 -0.336336 -1.18257 -0.335566 -0.224175] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.179945,1.59384, mag=1.60397 -86: Participating contact 1 is Sliding; vel=-0.192845,0.870184, mag=0.891296 +86: Participating contact 0 is Sliding; vel=-0.336336,-1.18257, mag=1.22947 +86: Participating contact 1 is Sliding; vel=-0.335566,-0.224175, mag=0.403558 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.179945,1.59384, mag=1.60397 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.192845,0.870184, mag=0.891296 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.336336,-1.18257, mag=1.22947 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.335566,-0.224175, mag=0.403558 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.00141985; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000907186; guess pi=-0.01 +86: DBG: active normal 0 has v=0.000616872; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000616872; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00141985 -0.000907186 -0.179945 1.59384 -0.192845 0.870184] +86: : verrLeft was=~[0.000616872 -0.000616872 -0.336336 -1.18257 -0.335566 -0.224175] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.00141985 -0.179945 1.59384 -0.000907186 -0.192845 0.870184] +86: : rhsActive=~[0.000616872 -0.336336 -1.18257 -0.000616872 -0.335566 -0.224175] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.83503e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00175967... -86: > NEWTON iter 1: errNorm=0.00175967(v) -> deltaNorm=0.00619217(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.82002e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00104933... +86: > NEWTON iter 1: errNorm=0.00104933(v) -> deltaNorm=0.00753537(pi) 86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000367137 0 0 -0.00147215 0.000192845 -0.000870184] -86: > deltaPi=~[0.00286477 1.19715e-09 -1.06035e-08 -0.00547092 9.79978e-05 -0.0004422] -86: DBG: Line search iter 1: back=1, prevNorm=0.00175967. -86: > piNow=~[0.00713523 -1.19715e-09 1.06035e-08 -0.00452908 -9.79978e-05 0.0004422] -86: > errNow=~[-4.33681e-19 -1.92018e-09 1.70077e-08 5.42101e-19 -3.92989e-09 1.7733e-08] normNow=2.4957e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.41828e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.99854e-05 -86: > NEWTON iter 2: errNorm=2.4957e-08(v) -> deltaNorm=2.99412e-08(pi) -86: > piActive=~[0.00713523 -1.19715e-09 1.06035e-08 -0.00452908 -9.79978e-05 0.0004422] -86: > errActive=~[-4.33681e-19 -1.92018e-09 1.70077e-08 5.42101e-19 -3.92989e-09 1.7733e-08] -86: > deltaPi=~[1.24265e-08 -1.19714e-09 1.06035e-08 1.66758e-08 -4.04845e-09 1.8268e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.4957e-08. -86: > piNow=~[0.00713522 -1.01986e-14 9.03329e-14 -0.0045291 -9.79937e-05 0.000442181] -86: > errNow=~[0 -1.63582e-14 1.44891e-13 2.1684e-19 5.83713e-14 -2.63391e-13] normNow=3.06665e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.22877e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.06665e-13. -86: DBG: Worst offender is normal contact 0 err=0.00713522 ... +86: > errActive=~[0.00084282 0 0 -0.000477368 0.000335566 0.000224175] +86: > deltaPi=~[0.00542888 5.53193e-09 1.94505e-08 -0.00520376 0.000398833 0.00026644] +86: DBG: Line search iter 1: back=1, prevNorm=0.00104933. +86: > piNow=~[0.00457112 -5.53193e-09 -1.94505e-08 -0.00479624 -0.000398833 -0.00026644] +86: > errNow=~[1.0842e-19 -6.80135e-09 -2.39138e-08 1.0842e-19 -6.5044e-09 -4.34526e-09] normNow=2.60637e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.48386e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.2861e-05 +86: > NEWTON iter 2: errNorm=2.60637e-08(v) -> deltaNorm=3.86589e-08(pi) +86: > piActive=~[0.00457112 -5.53193e-09 -1.94505e-08 -0.00479624 -0.000398833 -0.00026644] +86: > errActive=~[1.0842e-19 -6.80135e-09 -2.39138e-08 1.0842e-19 -6.5044e-09 -4.34526e-09] +86: > deltaPi=~[2.38934e-08 -5.53181e-09 -1.94501e-08 1.38058e-08 -1.49698e-08 -1.00006e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.60637e-08. +86: > piNow=~[0.0045711 -1.1647e-13 -4.09515e-13 -0.00479626 -0.000398818 -0.00026643] +86: > errNow=~[0 -1.43197e-13 -5.03486e-13 0 7.49871e-14 5.00951e-14] normNow=5.31165e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.03795e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.31165e-13. +86: DBG: Worst offender is normal contact 0 err=0.0045711 ... 86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start 86: : active=(1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.179945,1.59384, mag=1.60397 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.192845,0.870184, mag=0.891296 +94: F-B Free vs. Translation and Gimbal: Passed +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.336336,-1.18257, mag=1.22947 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.335566,-0.224175, mag=0.403558 86: fillMult2Active: 86: : active=(1,4,5) 86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000907186; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000616872; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00141985 -0.000907186 -0.179945 1.59384 -0.192845 0.870184] +86: : verrLeft was=~[0.000616872 -0.000616872 -0.336336 -1.18257 -0.335566 -0.224175] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000907186 -0.192845 0.870184] -86: : pi was=~[0 -0.0045291 -1.01986e-14 9.03329e-14 -9.79937e-05 0.000442181] -86: : piActive=~[-0.01 -9.79937e-05 0.000442181] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.31997e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00252357... -86: > NEWTON iter 1: errNorm=0.00252357(v) -> deltaNorm=0.00738855(pi) -86: > piActive=~[-0.01 -9.79937e-05 0.000442181] -86: > errActive=~[-0.00247601 0.000105504 -0.000476069] -86: > deltaPi=~[-0.00738607 -4.14314e-05 0.000186953] -86: DBG: Line search iter 1: back=1, prevNorm=0.00252357. -86: > piNow=~[-0.00261393 -5.65623e-05 0.000255228] -86: > errNow=~[7.58942e-19 -5.30559e-09 2.39406e-08] normNow=2.45215e-08 -86: DBG: Improvement rate now/prev at iter 1 is 9.717e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.85158e-05 -86: > NEWTON iter 2: errNorm=2.45215e-08(v) -> deltaNorm=2.91405e-08(pi) -86: > piActive=~[-0.00261393 -5.65623e-05 0.000255228] -86: > errActive=~[7.58942e-19 -5.30559e-09 2.39406e-08] -86: > deltaPi=~[1.26599e-08 -5.6789e-09 2.56252e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.45215e-08. -86: > piNow=~[-0.00261395 -5.65566e-05 0.000255203] -86: > errNow=~[1.0842e-19 1.32892e-13 -5.99655e-13] normNow=6.14204e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.50476e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.14204e-13. +86: : rhsActive=~[-0.000616872 -0.335566 -0.224175] +86: : pi was=~[0 -0.00479626 -1.1647e-13 -4.09515e-13 -0.000398818 -0.00026643] +86: : piActive=~[-0.01 -0.000398818 -0.00026643] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.5032e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00149844... +86: > NEWTON iter 1: errNorm=0.00149844(v) -> deltaNorm=0.00716982(pi) +86: > piActive=~[-0.01 -0.000398818 -0.00026643] +86: > errActive=~[-0.00148365 0.00017462 0.000116655] +86: > deltaPi=~[-0.00716713 -0.000163237 -0.000109051] +86: DBG: Line search iter 1: back=1, prevNorm=0.00149844. +86: > piNow=~[-0.00283287 -0.000235581 -0.000157379] +86: > errNow=~[4.33681e-19 -8.95851e-09 -5.98472e-09] normNow=1.07737e-08 +86: DBG: Improvement rate now/prev at iter 1 is 7.18993e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.87072e-05 +86: > NEWTON iter 2: errNorm=1.07737e-08(v) -> deltaNorm=3.07968e-08(pi) +86: > piActive=~[-0.00283287 -0.000235581 -0.000157379] +86: > errActive=~[4.33681e-19 -8.95851e-09 -5.98472e-09] +86: > deltaPi=~[1.81461e-08 -2.06906e-08 -1.38223e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.07737e-08. +86: > piNow=~[-0.00283288 -0.00023556 -0.000157366] +86: > errNow=~[-1.0842e-19 2.82271e-13 1.88571e-13] normNow=3.39464e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.15087e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.39464e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.192845,0.870184] to ~[-0.192281,0.869819] -86: DBG: Friction 1 rotated 0.030374 deg, less than max 30 +86: slipVel 1 from ~[-0.335566,-0.224175] to ~[-0.335543,-0.223392] +86: DBG: Friction 1 rotated 0.0906262 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00261395 -5.65566e-05 0.000255203] -86: : m_verrLeft=~[0.00171989 -1.0842e-19 -0.17939 1.59295 -0.192281 0.869819] +86: : m_piActive=~[-0.00283288 -0.00023556 -0.000157366] +86: : m_verrLeft=~[0.000899141 1.0842e-19 -0.336312 -1.1822 -0.335543 -0.223392] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00171989 pi*v=0 -86: DBG: 1: pi=-0.00261395 verr=-1.0842e-19 pi*v=2.83405e-22 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00261395 0 0 -5.65566e-05 0.000255203] errNorm=6.14204e-13 -86: Postcompression verr=~[0.00171989 -1.0842e-19 -0.17939 1.59295 -0.192281 0.869819] -86: impulse=~[0 -0.00261395 0 0 -5.65566e-05 0.000255203] +86: DBG: 0: pi=0 verr=0.000899141 pi*v=0 +86: DBG: 1: pi=-0.00283288 verr=1.0842e-19 pi*v=-3.07142e-22 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00283288 0 0 -0.00023556 -0.000157366] errNorm=3.39464e-13 +86: Postcompression verr=~[0.000899141 1.0842e-19 -0.336312 -1.1822 -0.335543 -0.223392] +86: impulse=~[0 -0.00283288 0 0 -0.00023556 -0.000157366] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00261395 0 0 -5.65566e-05 0.000255203]-> du ~[0.000585914 -0.00119665 0.000523438 0.000585359 2.11117e-05 -0.00058198 0.00226022 -0.00123751] -86: Now verr0=~[0.00171989 0 -0.17939 1.59295 -0.192281 0.869819] +86: Impact: imp ~[0 -0.00283288 0 0 -0.00023556 -0.000157366]-> du ~[0.000335408 0.00100189 0.00041282 -0.000576297 2.37279e-05 0.00044957 -0.00176177 0.00137887] +86: Now verr0=~[0.000899141 5.42101e-20 -0.336312 -1.1822 -0.335543 -0.223392] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00171989 0 -0.17939 1.59295 -0.192281 0.869819] -86: verrExt=~[-3.17131 -3.59229 -0.283955 3.575 -0.288634 3.32937] -86: total verr=~[-3.16959 -3.59229 -0.463346 5.16795 -0.480914 4.19918] -86: DYN t=0.013: verrStart=~[0.00171989 0 -0.17939 1.59295 -0.192281 0.869819] -86: verrApplied=~[-3.17131 -3.59229 -0.283955 3.575 -0.288634 3.32937] +86: verr0 =~[0.000899141 5.42101e-20 -0.336312 -1.1822 -0.335543 -0.223392] +86: verrExt=~[-0.229574 -0.194998 0.0025856 -0.245083 0.00262363 -0.202582] +86: total verr=~[-0.228675 -0.194998 -0.333727 -1.42729 -0.332919 -0.425974] +86: DYN t=0.078: verrStart=~[0.000899141 5.42101e-20 -0.336312 -1.1822 -0.335543 -0.223392] +86: verrApplied=~[-0.229574 -0.194998 0.0025856 -0.245083 0.00262363 -0.202582] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -32855,127 +43325,125 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00171989 0 -0.17939 1.59295 -0.192281 0.869819] -86: verrApplied=~[-3.17131 -3.59229 -0.283955 3.575 -0.288634 3.32937] +86: verrLeft=~[0.000899141 5.42101e-20 -0.336312 -1.1822 -0.335543 -0.223392] +86: verrApplied=~[-0.229574 -0.194998 0.0025856 -0.245083 0.00262363 -0.202582] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.17939,1.59295, mag=1.60302 -86: Participating contact 1 is Sliding; vel=-0.192281,0.869819, mag=0.890818 +86: Participating contact 0 is Sliding; vel=-0.336312,-1.1822, mag=1.22911 +86: Participating contact 1 is Sliding; vel=-0.335543,-0.223392, mag=0.403104 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.17939,1.59295, mag=1.60302 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.192281,0.869819, mag=0.890818 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.336312,-1.1822, mag=1.22911 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.335543,-0.223392, mag=0.403104 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-3.16959; guess pi=-0.01 -86: DBG: active normal 3 has v=-3.59229; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.228675; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.194998; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00171989 0 -0.17939 1.59295 -0.192281 0.869819] +86: : verrLeft was=~[0.000899141 5.42101e-20 -0.336312 -1.1822 -0.335543 -0.223392] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-3.17131 -3.59229 -0.283955 3.575 -0.288634 3.32937] -86: : rhsActive=~[-3.16959 -0.463346 5.16795 -3.59229 -0.480914 4.19918] +86: : verrApplied was=~[-0.229574 -0.194998 0.0025856 -0.245083 0.00262363 -0.202582] +86: : rhsActive=~[-0.228675 -0.333727 -1.42729 -0.194998 -0.332919 -0.425974] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.83109e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=4.7851... -86: > NEWTON iter 1: errNorm=4.7851(v) -> deltaNorm=11.1068(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.81821e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.296072... +86: > NEWTON iter 1: errNorm=0.296072(v) -> deltaNorm=0.854985(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[3.16594 0.00017939 -0.00159295 3.58804 0.000192281 -0.000869819] -86: > deltaPi=~[8.31882 0.0932024 -0.827619 7.27558 0.157251 -0.711358] -86: DBG: Line search iter 1: back=1, prevNorm=4.7851. -86: > piNow=~[-8.32882 -0.0932024 0.827619 -7.28558 -0.157251 0.711358] -86: > errNow=~[4.44089e-16 5.55869e-06 -4.93601e-05 1.77636e-15 5.21093e-06 -2.35726e-05] normNow=5.52281e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.15417e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.45058e-10 -108: Done -86: > NEWTON iter 2: errNorm=5.52281e-05(v) -> deltaNorm=5.54037e-05(pi) -86: > piActive=~[-8.32882 -0.0932024 0.827619 -7.28558 -0.157251 0.711358] -86: > errActive=~[4.44089e-16 5.55869e-06 -4.93601e-05 1.77636e-15 5.21093e-06 -2.35726e-05] -86: > deltaPi=~[-1.45406e-05 3.30491e-06 -2.9347e-05 -3.79867e-05 5.02966e-06 -2.27527e-05] -86: DBG: Line search iter 1: back=1, prevNorm=5.52281e-05. -86: > piNow=~[-8.3288 -0.0932057 0.827649 -7.28554 -0.157256 0.71138] -86: > errNow=~[0 -2.77556e-17 2.22045e-16 4.44089e-16 -8.32667e-17 4.44089e-16] normNow=6.71891e-16 -86: DBG: Improvement rate now/prev at iter 2 is 1.21658e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.71891e-16. +86: > errActive=~[0.225345 0.000336312 0.0011822 0.192033 0.000335543 0.000223392] +86: > deltaPi=~[0.622199 0.0172978 0.060805 0.579992 0.0491089 0.032695] +86: DBG: Line search iter 1: back=1, prevNorm=0.296072. +86: > piNow=~[-0.632199 -0.0172978 -0.060805 -0.589992 -0.0491089 -0.032695] +86: > errNow=~[0 7.79442e-07 2.73989e-06 2.77556e-17 7.24905e-07 4.82615e-07] normNow=2.97875e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.00609e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.22796e-09 +86: > NEWTON iter 2: errNorm=2.97875e-06(v) -> deltaNorm=4.08015e-06(pi) +86: > piActive=~[-0.632199 -0.0172978 -0.060805 -0.589992 -0.0491089 -0.032695] +86: > errActive=~[0 7.79442e-07 2.73989e-06 2.77556e-17 7.24905e-07 4.82615e-07] +86: > deltaPi=~[-2.44374e-06 5.67286e-07 1.99412e-06 -1.53257e-06 1.67074e-06 1.11232e-06] +86: DBG: Line search iter 1: back=1, prevNorm=2.97875e-06. +86: > piNow=~[-0.632197 -0.0172984 -0.060807 -0.58999 -0.0491106 -0.0326961] +86: > errNow=~[-2.77556e-17 -7.66748e-16 -2.69229e-15 -2.77556e-17 -5.48173e-16 -3.66027e-16] normNow=2.87617e-15 +86: DBG: Improvement rate now/prev at iter 2 is 9.65563e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.87617e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.17939,1.59295] to ~[-0.116414,1.51579] -86: DBG: Friction 0 rotated 2.03355 deg, less than max 30 -86: slipVel 1 from ~[-0.192281,0.869819] to ~[-0.126753,0.935733] -86: DBG: Friction 1 rotated 4.75098 deg, less than max 30 +86: slipVel 0 from ~[-0.336312,-1.1822] to ~[-0.329453,-1.1284] +86: DBG: Friction 0 rotated 0.395919 deg, less than max 30 +86: slipVel 1 from ~[-0.335543,-0.223392] to ~[-0.328691,-0.180313] +86: DBG: Friction 1 rotated 4.90597 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-8.3288 -0.0932057 0.827649 -7.28554 -0.157256 0.71138] -86: : m_verrLeft=~[0 -4.44089e-16 -0.116414 1.51579 -0.126753 0.935733] +86: : m_piActive=~[-0.632197 -0.0172984 -0.060807 -0.58999 -0.0491106 -0.0326961] +86: : m_verrLeft=~[2.77556e-17 2.77556e-17 -0.329453 -1.1284 -0.328691 -0.180313] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-8.3288 verr=0 pi*v=-0 -86: DBG: 1: pi=-7.28554 verr=-4.44089e-16 pi*v=3.23543e-15 -86: SP FINAL 1 intervals, piTotal=~[-8.3288 -7.28554 -0.0932057 0.827649 -0.157256 0.71138] errNorm=6.71891e-16 +86: DBG: 0: pi=-0.632197 verr=2.77556e-17 pi*v=-1.7547e-17 +86: DBG: 1: pi=-0.58999 verr=2.77556e-17 pi*v=-1.63755e-17 +86: SP FINAL 1 intervals, piTotal=~[-0.632197 -0.58999 -0.0172984 -0.060807 -0.0491106 -0.0326961] errNorm=2.87617e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.17939 1.59295, |slipV|=1.60302 -86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.336312 -1.1822, |slipV|=1.22911 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.192281 0.869819, |slipV|=0.890818 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.335543 -0.223392, |slipV|=0.403104 86: ------------------------------ 86: -86: dynamics impulse=~[-8.3288 -7.28554 -0.0932057 0.827649 -0.157256 0.71138] -86: updated verrStart=~[0 -4.44089e-16 -0.116414 1.51579 -0.126753 0.935733] +86: dynamics impulse=~[-0.632197 -0.58999 -0.0172984 -0.060807 -0.0491106 -0.0326961] +86: updated verrStart=~[2.77556e-17 2.77556e-17 -0.329453 -1.1284 -0.328691 -0.180313] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.887518 0.174732 0 0 0 0] +86: posVerr=~[0.102927 -0.00993074 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.271851 0.0931527 -0.170905 -0.102665 -0.173838 -0.26009] -86: [0.0931527 0.331087 0.2195 -0.323275 0.223399 -0.114062] -86: [-0.170905 0.2195 0.39426 -0.226375 0.401481 0.163144] -86: [-0.102665 -0.323275 -0.226375 0.365628 -0.230999 0.115014] -86: [-0.173838 0.223399 0.401481 -0.230999 0.40885 0.16652] -86: [-0.26009 -0.114062 0.163144 0.115014 0.16652 0.298598] +86: [0.239498 0.0935294 -0.0057354 0.305669 -0.00590192 0.11884] +86: [0.0935294 0.202953 0.00608828 0.120227 0.00621059 0.257143] +86: [-0.0057354 0.00608828 0.0498801 0.0350045 0.0498255 -0.034576] +86: [0.305669 0.120227 0.0350045 0.460796 0.034721 0.133839] +86: [-0.00590192 0.00621059 0.0498255 0.034721 0.0497714 -0.0343494] +86: [0.11884 0.257143 -0.034576 0.133839 -0.0343494 0.396521] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.510302 rank=2 -86: rhs=~[0.887518 0.174732 0 0 0 0] +86: rcond(A+D)=0.397848 rank=2 +86: rhs=~[0.102927 -0.00993074 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[3.41292 -0.432486] -86: -> pi=~[3.41292 -0.432486 0 0 0 0] -86: resid active=~[2.22045e-16 1.94289e-16] -86: resid=~[2.22045e-16 1.94289e-16 -0.678213 -0.210574 -0.689911 -0.838334] +86: -> piActive=~[0.547382 -0.301188] +86: -> pi=~[0.547382 -0.301188 0 0 0 0] +86: resid active=~[0 -5.20417e-18] +86: resid=~[0 -5.20417e-18 -0.00497317 0.131107 -0.00510116 -0.0123973] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[8.88178e-16 1.33227e-15 -0.116414 1.51579 -0.126753 0.935733] -86: perr=~[0.000887518 0.000174732 -1.11022e-16] -86: END OF STEP (0.013,0.014): -86: verr=~[0.00125602 -0.000650745 -0.115993 1.52692 -0.12667 0.946872] -86: perr=~[0.000888146 0.000174407 -1.11022e-16] +86: verr=~[1.66154e-16 1.46096e-16 -0.329453 -1.1284 -0.328691 -0.180313] +86: perr=~[0.000102927 -9.93074e-06 -2.22045e-16] +86: END OF STEP (0.078,0.079): +86: verr=~[0.000571333 -0.000571333 -0.329003 -1.1284 -0.329141 -0.180314] +86: perr=~[0.000103213 -1.02164e-05 0] 86: constraint status: -86: 4: cont UniActive fric Sliding -86: 6: cont UniActive fric Sliding -86: Proximal unilateral contacts: (4,6) -86: Distal unilateral contacts: (0,1,2,3,5,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () - 82/108 Test #108: TestSmoothSphereHalfSpaceForce ................. Passed 0.01 sec -86: DBG: Uni fric 4 verr speed=1.53132 -> mu=0.1 -86: DBG: Uni fric 6 verr speed=0.955307 -> mu=0.1 -86: DBG: Uni contact 6 verr vel=-0.000650745 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.17539 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.375296 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000571333 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (1) 86: observers: (0) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.00125602 -0.000650745 -0.115993 1.52692 -0.12667 0.946872] -86: IMP t=0.014 verr=~[0.00125602 -0.000650745 -0.115993 1.52692 -0.12667 0.946872] +86: verr=~[0.000571333 -0.000571333 -0.329003 -1.1284 -0.329141 -0.180314] +86: IMP t=0.079 verr=~[0.000571333 -0.000571333 -0.329003 -1.1284 -0.329141 -0.180314] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -32987,115 +43455,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00125602 -0.000650745 -0.115993 1.52692 -0.12667 0.946872] +86: verrLeft=~[0.000571333 -0.000571333 -0.329003 -1.1284 -0.329141 -0.180314] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.115993,1.52692, mag=1.53132 -86: Participating contact 1 is Sliding; vel=-0.12667,0.946872, mag=0.955307 +86: Participating contact 0 is Sliding; vel=-0.329003,-1.1284, mag=1.17539 +86: Participating contact 1 is Sliding; vel=-0.329141,-0.180314, mag=0.375296 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.115993,1.52692, mag=1.53132 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.12667,0.946872, mag=0.955307 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.329003,-1.1284, mag=1.17539 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.329141,-0.180314, mag=0.375296 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.00125602; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000650745; guess pi=-0.01 +86: DBG: active normal 0 has v=0.000571333; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000571333; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00125602 -0.000650745 -0.115993 1.52692 -0.12667 0.946872] +86: : verrLeft was=~[0.000571333 -0.000571333 -0.329003 -1.1284 -0.329141 -0.180314] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.00125602 -0.115993 1.52692 -0.000650745 -0.12667 0.946872] +86: : rhsActive=~[0.000571333 -0.329003 -1.1284 -0.000571333 -0.329141 -0.180314] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.72291e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00200899... -86: > NEWTON iter 1: errNorm=0.00200899(v) -> deltaNorm=0.0074302(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.59593e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00110124... +86: > NEWTON iter 1: errNorm=0.00110124(v) -> deltaNorm=0.00801228(pi) 86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000498295 0 0 -0.00169562 0.00012667 -0.000946872] -86: > deltaPi=~[0.00376761 1.06303e-09 -1.39936e-08 -0.00639397 4.78177e-05 -0.000357443] -86: DBG: Line search iter 1: back=1, prevNorm=0.00200899. -86: > piNow=~[0.00623239 -1.06303e-09 1.39936e-08 -0.00360603 -4.78177e-05 0.000357443] -86: > errNow=~[-2.1684e-19 -1.62784e-09 2.14286e-08 0 -3.01686e-09 2.25514e-08] normNow=3.1297e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.55785e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.1037e-05 -86: > NEWTON iter 2: errNorm=3.1297e-08(v) -> deltaNorm=3.65495e-08(pi) -86: > piActive=~[0.00623239 -1.06303e-09 1.39936e-08 -0.00360603 -4.78177e-05 0.000357443] -86: > errActive=~[-2.1684e-19 -1.62784e-09 2.14286e-08 0 -3.01686e-09 2.25514e-08] -86: > deltaPi=~[1.71084e-08 -1.06302e-09 1.39934e-08 1.91438e-08 -2.90424e-09 2.17095e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.1297e-08. -86: > piNow=~[0.00623237 -1.24252e-14 1.63564e-13 -0.00360605 -4.78148e-05 0.000357421] -86: > errNow=~[0 -1.90269e-14 2.50468e-13 -2.1684e-19 6.94113e-14 -5.18858e-13] normNow=5.80627e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.85521e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.80627e-13. -86: DBG: Worst offender is normal contact 0 err=0.00623237 ... +86: > errActive=~[0.000891256 0 0 -0.000526822 0.000329141 0.000180314] +86: > deltaPi=~[0.00577916 6.02553e-09 2.06661e-08 -0.00553156 0.000391908 0.000214699] +86: DBG: Line search iter 1: back=1, prevNorm=0.00110124. +86: > piNow=~[0.00422084 -6.02553e-09 -2.06661e-08 -0.00446844 -0.000391908 -0.000214699] +86: > errNow=~[3.25261e-19 -7.08234e-09 -2.42907e-08 1.0842e-19 -6.78175e-09 -3.71525e-09] normNow=2.64574e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.40251e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.55399e-05 +86: > NEWTON iter 2: errNorm=2.64574e-08(v) -> deltaNorm=4.06046e-08(pi) +86: > piActive=~[0.00422084 -6.02553e-09 -2.06661e-08 -0.00446844 -0.000391908 -0.000214699] +86: > errActive=~[3.25261e-19 -7.08234e-09 -2.42907e-08 1.0842e-19 -6.78175e-09 -3.71525e-09] +86: > deltaPi=~[2.53406e-08 -6.02538e-09 -2.06656e-08 1.30698e-08 -1.69244e-08 -9.2717e-09] +86: DBG: Line search iter 1: back=1, prevNorm=2.64574e-08. +86: > piNow=~[0.00422082 -1.48226e-13 -5.08381e-13 -0.00446845 -0.000391891 -0.00021469] +86: > errNow=~[0 -1.74223e-13 -5.97545e-13 -1.0842e-19 8.02153e-14 4.39444e-14] normNow=6.2911e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.37782e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.2911e-13. +86: DBG: Worst offender is normal contact 0 err=0.00422082 ... 86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start 86: : active=(1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.115993,1.52692, mag=1.53132 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.12667,0.946872, mag=0.955307 +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.329003,-1.1284, mag=1.17539 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.329141,-0.180314, mag=0.375296 86: fillMult2Active: 86: : active=(1,4,5) 86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000650745; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000571333; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00125602 -0.000650745 -0.115993 1.52692 -0.12667 0.946872] +86: : verrLeft was=~[0.000571333 -0.000571333 -0.329003 -1.1284 -0.329141 -0.180314] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000650745 -0.12667 0.946872] -86: : pi was=~[0 -0.00360605 -1.24252e-14 1.63564e-13 -4.78148e-05 0.000357421] -86: : piActive=~[-0.01 -4.78148e-05 0.000357421] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.5584e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00275728... -86: > NEWTON iter 1: errNorm=0.00275728(v) -> deltaNorm=0.0081054(pi) -86: > piActive=~[-0.01 -4.78148e-05 0.000357421] -86: > errActive=~[-0.00268877 8.09921e-05 -0.000605425] -86: > deltaPi=~[-0.0081036 -2.26653e-05 0.000169426] -86: DBG: Line search iter 1: back=1, prevNorm=0.00275728. -86: > piNow=~[-0.0018964 -2.51495e-05 0.000187995] -86: > errNow=~[-1.0842e-19 -3.82352e-09 2.85812e-08] normNow=2.88358e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.04581e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.86499e-05 -86: > NEWTON iter 2: errNorm=2.88358e-08(v) -> deltaNorm=3.15663e-08(pi) -86: > piActive=~[-0.0018964 -2.51495e-05 0.000187995] -86: > errActive=~[-1.0842e-19 -3.82352e-09 2.85812e-08] -86: > deltaPi=~[1.26486e-08 -3.83486e-09 2.8666e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.88358e-08. -86: > piNow=~[-0.00189641 -2.51457e-05 0.000187967] -86: > errNow=~[1.0842e-19 1.65451e-13 -1.23676e-12] normNow=1.24778e-12 -86: DBG: Improvement rate now/prev at iter 2 is 4.32719e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.24778e-12. +86: : rhsActive=~[-0.000571333 -0.329141 -0.180314] +86: : pi was=~[0 -0.00446845 -1.48226e-13 -5.08381e-13 -0.000391891 -0.00021469] +86: : piActive=~[-0.01 -0.000391891 -0.00021469] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.39793e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00152725... +86: > NEWTON iter 1: errNorm=0.00152725(v) -> deltaNorm=0.00735199(pi) +86: > piActive=~[-0.01 -0.000391891 -0.00021469] +86: > errActive=~[-0.00151308 0.000182066 9.97414e-05] +86: > deltaPi=~[-0.00734974 -0.000159435 -8.73433e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.00152725. +86: > piNow=~[-0.00265026 -0.000232456 -0.000127347] +86: > errNow=~[0 -9.01085e-09 -4.93642e-09] normNow=1.02744e-08 +86: DBG: Improvement rate now/prev at iter 1 is 6.7274e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.98732e-05 +86: > NEWTON iter 2: errNorm=1.02744e-08(v) -> deltaNorm=3.05096e-08(pi) +86: > piActive=~[-0.00265026 -0.000232456 -0.000127347] +86: > errActive=~[0 -9.01085e-09 -4.93642e-09] +86: > deltaPi=~[1.63798e-08 -2.25742e-08 -1.23669e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.02744e-08. +86: > piNow=~[-0.00265027 -0.000232434 -0.000127334] +86: > errNow=~[0 2.85486e-13 1.56398e-13] normNow=3.25519e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.16825e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.25519e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.12667,0.946872] to ~[-0.126272,0.946601] -86: DBG: Friction 1 rotated 0.0215192 deg, less than max 30 +86: slipVel 1 from ~[-0.329141,-0.180314] to ~[-0.329118,-0.179589] +86: DBG: Friction 1 rotated 0.0953922 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00189641 -2.51457e-05 0.000187967] -86: : m_verrLeft=~[0.00147899 -1.0842e-19 -0.115602 1.52628 -0.126272 0.946601] +86: : m_piActive=~[-0.00265027 -0.000232434 -0.000127334] +86: : m_verrLeft=~[0.000831086 0 -0.32898 -1.12806 -0.329118 -0.179589] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00147899 pi*v=0 -86: DBG: 1: pi=-0.00189641 verr=-1.0842e-19 pi*v=2.05609e-22 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00189641 0 0 -2.51457e-05 0.000187967] errNorm=1.24778e-12 -86: Postcompression verr=~[0.00147899 -1.0842e-19 -0.115602 1.52628 -0.126272 0.946601] -86: impulse=~[0 -0.00189641 0 0 -2.51457e-05 0.000187967] +86: DBG: 0: pi=0 verr=0.000831086 pi*v=0 +86: DBG: 1: pi=-0.00265027 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00265027 0 0 -0.000232434 -0.000127334] errNorm=3.25519e-13 +86: Postcompression verr=~[0.000831086 0 -0.32898 -1.12806 -0.329118 -0.179589] +86: impulse=~[0 -0.00265027 0 0 -0.000232434 -0.000127334] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00189641 0 0 -2.51457e-05 0.000187967]-> du ~[0.000411841 -0.000869418 0.00037035 0.000423545 1.22871e-05 -0.000424446 0.00164144 -0.000910729] -86: Now verr0=~[0.00147899 0 -0.115602 1.52628 -0.126272 0.946601] +86: Impact: imp ~[0 -0.00265027 0 0 -0.000232434 -0.000127334]-> du ~[0.000311446 0.000927304 0.000381805 -0.000533585 2.33515e-05 0.000415543 -0.00163047 0.00127751] +86: Now verr0=~[0.000831086 1.0842e-19 -0.32898 -1.12806 -0.329118 -0.179589] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00147899 0 -0.115602 1.52628 -0.126272 0.946601] -86: verrExt=~[-2.57056 -2.90163 -0.214572 2.88789 -0.218096 2.70924] -86: total verr=~[-2.56908 -2.90163 -0.330174 4.41417 -0.344368 3.65585] -86: DYN t=0.014: verrStart=~[0.00147899 0 -0.115602 1.52628 -0.126272 0.946601] -86: verrApplied=~[-2.57056 -2.90163 -0.214572 2.88789 -0.218096 2.70924] +86: verr0 =~[0.000831086 1.0842e-19 -0.32898 -1.12806 -0.329118 -0.179589] +86: verrExt=~[-0.171374 -0.151169 0.00456911 -0.164932 0.00456864 -0.145859] +86: total verr=~[-0.170543 -0.151169 -0.324411 -1.29299 -0.324549 -0.325448] +86: DYN t=0.079: verrStart=~[0.000831086 1.0842e-19 -0.32898 -1.12806 -0.329118 -0.179589] +86: verrApplied=~[-0.171374 -0.151169 0.00456911 -0.164932 0.00456864 -0.145859] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -33107,125 +43575,125 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00147899 0 -0.115602 1.52628 -0.126272 0.946601] -86: verrApplied=~[-2.57056 -2.90163 -0.214572 2.88789 -0.218096 2.70924] +86: verrLeft=~[0.000831086 1.0842e-19 -0.32898 -1.12806 -0.329118 -0.179589] +86: verrApplied=~[-0.171374 -0.151169 0.00456911 -0.164932 0.00456864 -0.145859] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.115602,1.52628, mag=1.53065 -86: Participating contact 1 is Sliding; vel=-0.126272,0.946601, mag=0.954986 +86: Participating contact 0 is Sliding; vel=-0.32898,-1.12806, mag=1.17505 +86: Participating contact 1 is Sliding; vel=-0.329118,-0.179589, mag=0.374928 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.115602,1.52628, mag=1.53065 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.126272,0.946601, mag=0.954986 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.32898,-1.12806, mag=1.17505 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.329118,-0.179589, mag=0.374928 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-2.56908; guess pi=-0.01 -86: DBG: active normal 3 has v=-2.90163; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.170543; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.151169; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00147899 0 -0.115602 1.52628 -0.126272 0.946601] +86: : verrLeft was=~[0.000831086 1.0842e-19 -0.32898 -1.12806 -0.329118 -0.179589] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-2.57056 -2.90163 -0.214572 2.88789 -0.218096 2.70924] -86: : rhsActive=~[-2.56908 -0.330174 4.41417 -2.90163 -0.344368 3.65585] +86: : verrApplied was=~[-0.171374 -0.151169 0.00456911 -0.164932 0.00456864 -0.145859] +86: : rhsActive=~[-0.170543 -0.324411 -1.29299 -0.151169 -0.324549 -0.325448] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.72017e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=3.86994... -86: > NEWTON iter 1: errNorm=3.86994(v) -> deltaNorm=8.99908(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.59433e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.223456... +86: > NEWTON iter 1: errNorm=0.223456(v) -> deltaNorm=0.653228(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[2.56544 0.000115602 -0.00152628 2.89741 0.000126272 -0.000946601] -86: > deltaPi=~[6.6966 0.0506496 -0.66872 5.9443 0.078727 -0.59018] -86: DBG: Line search iter 1: back=1, prevNorm=3.86994. -86: > piNow=~[-6.7066 -0.0506496 0.66872 -5.9543 -0.078727 0.59018] -86: > errNow=~[-8.88178e-16 2.88358e-06 -3.80715e-05 -4.44089e-16 2.79588e-06 -2.09594e-05] normNow=4.36448e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.12779e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.02801e-10 -86: > NEWTON iter 2: errNorm=4.36448e-05(v) -> deltaNorm=4.41331e-05(pi) -86: > piActive=~[-6.7066 -0.0506496 0.66872 -5.9543 -0.078727 0.59018] -86: > errActive=~[-8.88178e-16 2.88358e-06 -3.80715e-05 -4.44089e-16 2.79588e-06 -2.09594e-05] -86: > deltaPi=~[-1.48205e-05 1.77196e-06 -2.33949e-05 -2.83716e-05 2.55253e-06 -1.91351e-05] -86: DBG: Line search iter 1: back=1, prevNorm=4.36448e-05. -86: > piNow=~[-6.70659 -0.0506514 0.668743 -5.95427 -0.0787296 0.590199] -86: > errNow=~[0 -1.38778e-17 2.22045e-16 0 -2.77556e-17 2.22045e-16] normNow=3.15548e-16 -86: DBG: Improvement rate now/prev at iter 2 is 7.22991e-12 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.15548e-16. +86: > errActive=~[0.167223 0.00032898 0.00112806 0.148214 0.000329118 0.000179589] +86: > deltaPi=~[0.451194 0.0129116 0.0442734 0.467678 0.0419299 0.0228798] +86: DBG: Line search iter 1: back=1, prevNorm=0.223456. +86: > piNow=~[-0.461194 -0.0129116 -0.0442734 -0.477678 -0.0419299 -0.0228798] +86: > errNow=~[0 5.52897e-07 1.89586e-06 0 5.73337e-07 3.12852e-07] normNow=2.08004e-06 +86: DBG: Improvement rate now/prev at iter 1 is 9.30852e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.14385e-09 +86: > NEWTON iter 2: errNorm=2.08004e-06(v) -> deltaNorm=3.03781e-06(pi) +86: > piActive=~[-0.461194 -0.0129116 -0.0442734 -0.477678 -0.0419299 -0.0228798] +86: > errActive=~[0 5.52897e-07 1.89586e-06 0 5.73337e-07 3.12852e-07] +86: > deltaPi=~[-1.76015e-06 4.2125e-07 1.44445e-06 -1.09608e-06 1.43298e-06 7.81931e-07] +86: DBG: Line search iter 1: back=1, prevNorm=2.08004e-06. +86: > piNow=~[-0.461192 -0.012912 -0.0442748 -0.477677 -0.0419313 -0.0228806] +86: > errNow=~[-2.77556e-17 -1.01481e-15 -3.48332e-15 0 -5.89806e-16 -3.22659e-16] normNow=3.69001e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.774e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.69001e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.115602,1.52628] to ~[-0.0607616,1.44568] -86: DBG: Friction 0 rotated 1.92467 deg, less than max 30 -86: slipVel 1 from ~[-0.126272,0.946601] to ~[-0.069078,0.993809] -86: DBG: Friction 1 rotated 3.62198 deg, less than max 30 +86: slipVel 0 from ~[-0.32898,-1.12806] to ~[-0.320926,-1.06938] +86: DBG: Friction 0 rotated 0.446274 deg, less than max 30 +86: slipVel 1 from ~[-0.329118,-0.179589] to ~[-0.321061,-0.134718] +86: DBG: Friction 1 rotated 5.8569 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-6.70659 -0.0506514 0.668743 -5.95427 -0.0787296 0.590199] -86: : m_verrLeft=~[0 0 -0.0607616 1.44568 -0.069078 0.993809] +86: : m_piActive=~[-0.461192 -0.012912 -0.0442748 -0.477677 -0.0419313 -0.0228806] +86: : m_verrLeft=~[2.77556e-17 0 -0.320926 -1.06938 -0.321061 -0.134718] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-6.70659 verr=0 pi*v=-0 -86: DBG: 1: pi=-5.95427 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-6.70659 -5.95427 -0.0506514 0.668743 -0.0787296 0.590199] errNorm=3.15548e-16 +86: DBG: 0: pi=-0.461192 verr=2.77556e-17 pi*v=-1.28006e-17 +86: DBG: 1: pi=-0.477677 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.461192 -0.477677 -0.012912 -0.0442748 -0.0419313 -0.0228806] errNorm=3.69001e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.115602 1.52628, |slipV|=1.53065 -86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.32898 -1.12806, |slipV|=1.17505 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.126272 0.946601, |slipV|=0.954986 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.329118 -0.179589, |slipV|=0.374928 86: ------------------------------ 86: -86: dynamics impulse=~[-6.70659 -5.95427 -0.0506514 0.668743 -0.0787296 0.590199] -86: updated verrStart=~[0 0 -0.0607616 1.44568 -0.069078 0.993809] +86: dynamics impulse=~[-0.461192 -0.477677 -0.012912 -0.0442748 -0.0419313 -0.0228806] +86: updated verrStart=~[2.77556e-17 0 -0.320926 -1.06938 -0.321061 -0.134718] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.888146 0.174407 0 0 0 0] +86: posVerr=~[0.103213 -0.0102164 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.269561 0.0941303 -0.168341 -0.104131 -0.171326 -0.259479] -86: [0.0941303 0.328767 0.216965 -0.32332 0.220957 -0.115506] -86: [-0.168341 0.216965 0.390513 -0.225677 0.397919 0.161793] -86: [-0.104131 -0.32332 -0.225677 0.368393 -0.23046 0.11701] -86: [-0.171326 0.220957 0.397919 -0.23046 0.405482 0.165263] -86: [-0.259479 -0.115506 0.161793 0.11701 0.165263 0.299938] +86: [0.239121 0.0928621 -0.00625722 0.305698 -0.00624668 0.118547] +86: [0.0928621 0.202678 0.00610784 0.119831 0.00610036 0.257309] +86: [-0.00625722 0.00610784 0.0496839 0.0342039 0.0496953 -0.0343721] +86: [0.305698 0.119831 0.0342039 0.461596 0.0342303 0.134192] +86: [-0.00624668 0.00610036 0.0496953 0.0342303 0.0497066 -0.0343945] +86: [0.118547 0.257309 -0.0343721 0.134192 -0.0343945 0.397335] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.503944 rank=2 -86: rhs=~[0.888146 0.174407 0 0 0 0] +86: rcond(A+D)=0.400169 rank=2 +86: rhs=~[0.103213 -0.0102164 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[3.45496 -0.458714] -86: -> pi=~[3.45496 -0.458714 0 0 0 0] -86: resid active=~[2.22045e-16 1.38778e-16] -86: resid=~[2.22045e-16 1.38778e-16 -0.681138 -0.211456 -0.69328 -0.843506] +86: -> piActive=~[0.548872 -0.301887] +86: -> pi=~[0.548872 -0.301887 0 0 0 0] +86: resid active=~[-4.16334e-17 -1.38778e-17] +86: resid=~[-4.16334e-17 -1.38778e-17 -0.0052783 0.131614 -0.00527025 -0.0126113] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[1.77636e-15 2.22045e-15 -0.0607616 1.44568 -0.069078 0.993809] -86: perr=~[0.000888146 0.000174407 -1.11022e-16] -86: END OF STEP (0.014,0.015): -86: verr=~[0.00109696 -0.000405318 -0.0604047 1.45693 -0.0689263 1.00506] -86: perr=~[0.000888694 0.000174204 0] +86: verr=~[6.26533e-17 6.78846e-17 -0.320926 -1.06938 -0.321061 -0.134718] +86: perr=~[0.000103213 -1.02164e-05 0] +86: END OF STEP (0.079,0.08): +86: verr=~[0.00052154 -0.00052154 -0.320489 -1.06938 -0.321498 -0.134718] +86: perr=~[0.000103474 -1.04772e-05 0] 86: constraint status: -86: 4: cont UniActive fric Sliding -86: 6: cont UniActive fric Sliding -86: Proximal unilateral contacts: (4,6) -86: Distal unilateral contacts: (0,1,2,3,5,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 4 verr speed=1.45818 -> mu=0.1 -86: DBG: Uni fric 6 verr speed=1.00742 -> mu=0.1 -86: DBG: Uni contact 6 verr vel=-0.000405318 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.11637 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.348583 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.00052154 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (1) 86: observers: (0) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.00109696 -0.000405318 -0.0604047 1.45693 -0.0689263 1.00506] -86: IMP t=0.015 verr=~[0.00109696 -0.000405318 -0.0604047 1.45693 -0.0689263 1.00506] +86: verr=~[0.00052154 -0.00052154 -0.320489 -1.06938 -0.321498 -0.134718] +86: IMP t=0.08 verr=~[0.00052154 -0.00052154 -0.320489 -1.06938 -0.321498 -0.134718] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -33237,115 +43705,117 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00109696 -0.000405318 -0.0604047 1.45693 -0.0689263 1.00506] +86: verrLeft=~[0.00052154 -0.00052154 -0.320489 -1.06938 -0.321498 -0.134718] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0604047,1.45693, mag=1.45818 -86: Participating contact 1 is Sliding; vel=-0.0689263,1.00506, mag=1.00742 +86: Participating contact 0 is Sliding; vel=-0.320489,-1.06938, mag=1.11637 +86: Participating contact 1 is Sliding; vel=-0.321498,-0.134718, mag=0.348583 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.0604047,1.45693, mag=1.45818 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.0689263,1.00506, mag=1.00742 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.320489,-1.06938, mag=1.11637 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.321498,-0.134718, mag=0.348583 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.00109696; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000405318; guess pi=-0.01 +86: DBG: active normal 0 has v=0.00052154; guess pi=0.01 +86: DBG: active normal 3 has v=-0.00052154; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00109696 -0.000405318 -0.0604047 1.45693 -0.0689263 1.00506] +86: : verrLeft was=~[0.00052154 -0.00052154 -0.320489 -1.06938 -0.321498 -0.134718] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.00109696 -0.0604047 1.45693 -0.000405318 -0.0689263 1.00506] +86: : rhsActive=~[0.00052154 -0.320489 -1.06938 -0.00052154 -0.321498 -0.134718] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.60173e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0022468... -86: > NEWTON iter 1: errNorm=0.0022468(v) -> deltaNorm=0.00870585(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.35635e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00116174... +86: > NEWTON iter 1: errNorm=0.00116174(v) -> deltaNorm=0.00852991(pi) 86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000627917 0 0 -0.0019076 6.89263e-05 -0.00100506] -86: > deltaPi=~[0.00470245 7.25599e-10 -1.7501e-08 -0.00732167 1.83266e-05 -0.000267232] -86: DBG: Line search iter 1: back=1, prevNorm=0.0022468. -86: > piNow=~[0.00529755 -7.25599e-10 1.7501e-08 -0.00267833 -1.83266e-05 0.000267232] -86: > errNow=~[0 -1.05805e-09 2.55196e-08 -2.71051e-19 -1.87978e-09 2.74103e-08] normNow=3.7513e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.66962e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.5704e-05 -86: > NEWTON iter 2: errNorm=3.7513e-08(v) -> deltaNorm=4.342e-08(pi) -86: > piActive=~[0.00529755 -7.25599e-10 1.7501e-08 -0.00267833 -1.83266e-05 0.000267232] -86: > errActive=~[0 -1.05805e-09 2.55196e-08 -2.71051e-19 -1.87978e-09 2.74103e-08] -86: > deltaPi=~[2.19994e-08 -7.25587e-10 1.75007e-08 2.15286e-08 -1.71872e-09 2.50617e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.7513e-08. -86: > piNow=~[0.00529752 -1.20923e-14 2.91659e-13 -0.00267835 -1.83249e-05 0.000267207] -86: > errNow=~[2.1684e-19 -1.76327e-14 4.25291e-13 -2.1684e-19 7.69409e-14 -1.12192e-12] normNow=1.20242e-12 -86: DBG: Improvement rate now/prev at iter 2 is 3.20535e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.20242e-12. -86: DBG: Worst offender is normal contact 0 err=0.00529752 ... +86: > errActive=~[0.000943996 0 0 -0.000580509 0.000321498 0.000134718] +86: > deltaPi=~[0.00615893 6.58599e-09 2.19756e-08 -0.00588708 0.000379355 0.000158962] +86: DBG: Line search iter 1: back=1, prevNorm=0.00116174. +86: > piNow=~[0.00384107 -6.58599e-09 -2.19756e-08 -0.00411292 -0.000379355 -0.000158962] +86: > errNow=~[-1.0842e-18 -7.35242e-09 -2.45329e-08 -2.1684e-19 -7.05001e-09 -2.95419e-09] normNow=2.67274e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.30064e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.91928e-05 +86: > NEWTON iter 2: errNorm=2.67274e-08(v) -> deltaNorm=4.26198e-08(pi) +86: > piActive=~[0.00384107 -6.58599e-09 -2.19756e-08 -0.00411292 -0.000379355 -0.000158962] +86: > errActive=~[-1.0842e-18 -7.35242e-09 -2.45329e-08 -2.1684e-19 -7.05001e-09 -2.95419e-09] +86: > deltaPi=~[2.68801e-08 -6.58579e-09 -2.19749e-08 1.16904e-08 -1.91468e-08 -8.02315e-09] +86: DBG: Line search iter 1: back=1, prevNorm=2.67274e-08. +86: > piNow=~[0.00384104 -1.94698e-13 -6.49653e-13 -0.00411294 -0.000379336 -0.000158954] +86: > errNow=~[0 -2.17356e-13 -7.25255e-13 0 8.27141e-14 3.466e-14] normNow=7.62418e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.85257e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.62418e-13. +86: DBG: Worst offender is normal contact 0 err=0.00384104 ... 86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start 86: : active=(1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.0604047,1.45693, mag=1.45818 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.0689263,1.00506, mag=1.00742 +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.320489,-1.06938, mag=1.11637 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.321498,-0.134718, mag=0.348583 86: fillMult2Active: 86: : active=(1,4,5) 86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000405318; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00052154; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00109696 -0.000405318 -0.0604047 1.45693 -0.0689263 1.00506] +86: : verrLeft was=~[0.00052154 -0.00052154 -0.320489 -1.06938 -0.321498 -0.134718] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000405318 -0.0689263 1.00506] -86: : pi was=~[0 -0.00267835 -1.20923e-14 2.91659e-13 -1.83249e-05 0.000267207] -86: : piActive=~[-0.01 -1.83249e-05 0.000267207] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.75251e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00298765... -86: > NEWTON iter 1: errNorm=0.00298765(v) -> deltaNorm=0.00880806(pi) -86: > piActive=~[-0.01 -1.83249e-05 0.000267207] -86: > errActive=~[-0.00289516 5.04655e-05 -0.000735869] -86: > deltaPi=~[-0.0088068 -1.0159e-05 0.000148134] -86: DBG: Line search iter 1: back=1, prevNorm=0.00298765. -86: > piNow=~[-0.0011932 -8.16594e-06 0.000119073] -86: > errNow=~[1.02999e-18 -2.26108e-09 3.29702e-08] normNow=3.30476e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.10614e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000261549 -86: > NEWTON iter 2: errNorm=3.30476e-08(v) -> deltaNorm=3.40029e-08(pi) -86: > piActive=~[-0.0011932 -8.16594e-06 0.000119073] -86: > errActive=~[1.02999e-18 -2.26108e-09 3.29702e-08] -86: > deltaPi=~[1.27151e-08 -2.15765e-09 3.14621e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.30476e-08. -86: > piNow=~[-0.00119321 -8.16378e-06 0.000119041] -86: > errNow=~[-5.42101e-20 2.27536e-13 -3.31784e-12] normNow=3.32564e-12 -86: DBG: Improvement rate now/prev at iter 2 is 0.000100632 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.32564e-12. +86: : rhsActive=~[-0.00052154 -0.321498 -0.134718] +86: : pi was=~[0 -0.00411294 -1.94698e-13 -6.49653e-13 -0.000379336 -0.000158954] +86: : piActive=~[-0.01 -0.000379336 -0.000158954] +82: runOnce done. real/CPU ms: 242.9 / 242.7 +82: runOnce ... +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.29843e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00155954... +86: > NEWTON iter 1: errNorm=0.00155954(v) -> deltaNorm=0.00755255(pi) +86: > piActive=~[-0.01 -0.000379336 -0.000158954] +86: > errActive=~[-0.00154598 0.000189268 7.93096e-05] +86: > deltaPi=~[-0.00755072 -0.000153413 -6.42853e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.00155954. +86: > piNow=~[-0.00244928 -0.000225923 -9.46692e-05] +86: > errNow=~[3.25261e-19 -9.0423e-09 -3.78902e-09] normNow=9.80407e-09 +86: DBG: Improvement rate now/prev at iter 1 is 6.28652e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.16064e-05 +86: > NEWTON iter 2: errNorm=9.80407e-09(v) -> deltaNorm=3.01238e-08(pi) +86: > piActive=~[-0.00244928 -0.000225923 -9.46692e-05] +86: > errActive=~[3.25261e-19 -9.0423e-09 -3.78902e-09] +86: > deltaPi=~[1.38732e-08 -2.46614e-08 -1.0334e-08] +86: DBG: Line search iter 1: back=1, prevNorm=9.80407e-09. +86: > piNow=~[-0.00244929 -0.000225898 -9.46589e-05] +86: > errNow=~[0 2.7646e-13 1.15846e-13] normNow=2.99751e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.05741e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.99751e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.0689263,1.00506] to ~[-0.0686818,1.00488] -86: DBG: Friction 1 rotated 0.0131969 deg, less than max 30 +86: slipVel 1 from ~[-0.321498,-0.134718] to ~[-0.321476,-0.134058] +86: DBG: Friction 1 rotated 0.0987741 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00119321 -8.16378e-06 0.000119041] -86: : m_verrLeft=~[0.00124009 5.42101e-20 -0.0601647 1.45652 -0.0686818 1.00488] +86: : m_piActive=~[-0.00244929 -0.000225898 -9.46589e-05] +86: : m_verrLeft=~[0.000757139 0 -0.320466 -1.06907 -0.321476 -0.134058] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00124009 pi*v=0 -86: DBG: 1: pi=-0.00119321 verr=5.42101e-20 pi*v=-6.4684e-23 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00119321 0 0 -8.16378e-06 0.000119041] errNorm=3.32564e-12 -86: Postcompression verr=~[0.00124009 5.42101e-20 -0.0601647 1.45652 -0.0686818 1.00488] -86: impulse=~[0 -0.00119321 0 0 -8.16378e-06 0.000119041] +86: DBG: 0: pi=0 verr=0.000757139 pi*v=0 +86: DBG: 1: pi=-0.00244929 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00244929 0 0 -0.000225898 -9.46589e-05] errNorm=2.99751e-13 +86: Postcompression verr=~[0.000757139 0 -0.320466 -1.06907 -0.321476 -0.134058] +86: impulse=~[0 -0.00244929 0 0 -0.000225898 -9.46589e-05] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00119321 0 0 -8.16378e-06 0.000119041]-> du ~[0.000251903 -0.000547902 0.000228324 0.000265772 5.78828e-06 -0.000268531 0.0010346 -0.000583887] -86: Now verr0=~[0.00124009 4.44089e-16 -0.0601647 1.45652 -0.0686818 1.00488] +86: Impact: imp ~[0 -0.00244929 0 0 -0.000225898 -9.46589e-05]-> du ~[0.000285028 0.00084569 0.000347508 -0.000486722 2.2794e-05 0.00037857 -0.00148679 0.00116571] +86: Now verr0=~[0.000757139 1.0842e-19 -0.320466 -1.06907 -0.321476 -0.134058] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00124009 4.44089e-16 -0.0601647 1.45652 -0.0686818 1.00488] -86: verrExt=~[-1.94356 -2.16096 -0.124644 2.14108 -0.126508 2.05046] -86: total verr=~[-1.94232 -2.16096 -0.184808 3.5976 -0.19519 3.05534] -86: DYN t=0.015: verrStart=~[0.00124009 4.44089e-16 -0.0601647 1.45652 -0.0686818 1.00488] -86: verrApplied=~[-1.94356 -2.16096 -0.124644 2.14108 -0.126508 2.05046] +86: verr0 =~[0.000757139 1.0842e-19 -0.320466 -1.06907 -0.321476 -0.134058] +86: verrExt=~[-0.116302 -0.109731 0.00614846 -0.0887878 0.00615234 -0.0916914] +86: total verr=~[-0.115544 -0.109731 -0.314318 -1.15786 -0.315323 -0.225749] +86: DYN t=0.08: verrStart=~[0.000757139 1.0842e-19 -0.320466 -1.06907 -0.321476 -0.134058] +86: verrApplied=~[-0.116302 -0.109731 0.00614846 -0.0887878 0.00615234 -0.0916914] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -33357,125 +43827,125 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00124009 4.44089e-16 -0.0601647 1.45652 -0.0686818 1.00488] -86: verrApplied=~[-1.94356 -2.16096 -0.124644 2.14108 -0.126508 2.05046] +86: verrLeft=~[0.000757139 1.0842e-19 -0.320466 -1.06907 -0.321476 -0.134058] +86: verrApplied=~[-0.116302 -0.109731 0.00614846 -0.0887878 0.00615234 -0.0916914] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0601647,1.45652, mag=1.45777 -86: Participating contact 1 is Sliding; vel=-0.0686818,1.00488, mag=1.00723 +86: Participating contact 0 is Sliding; vel=-0.320466,-1.06907, mag=1.11607 +86: Participating contact 1 is Sliding; vel=-0.321476,-0.134058, mag=0.348308 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.0601647,1.45652, mag=1.45777 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.0686818,1.00488, mag=1.00723 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.320466,-1.06907, mag=1.11607 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.321476,-0.134058, mag=0.348308 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.94232; guess pi=-0.01 -86: DBG: active normal 3 has v=-2.16096; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.115544; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.109731; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00124009 4.44089e-16 -0.0601647 1.45652 -0.0686818 1.00488] +86: : verrLeft was=~[0.000757139 1.0842e-19 -0.320466 -1.06907 -0.321476 -0.134058] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.94356 -2.16096 -0.124644 2.14108 -0.126508 2.05046] -86: : rhsActive=~[-1.94232 -0.184808 3.5976 -2.16096 -0.19519 3.05534] +86: : verrApplied was=~[-0.116302 -0.109731 0.00614846 -0.0887878 0.00615234 -0.0916914] +86: : rhsActive=~[-0.115544 -0.314318 -1.15786 -0.109731 -0.315323 -0.225749] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.60007e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=2.90001... -86: > NEWTON iter 1: errNorm=2.90001(v) -> deltaNorm=6.76584(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.35496e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.154922... +86: > NEWTON iter 1: errNorm=0.154922(v) -> deltaNorm=0.463662(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.93869 6.01647e-05 -0.00145652 2.15674 6.86818e-05 -0.00100488] -86: > deltaPi=~[5.06759 0.0209554 -0.507307 4.43182 0.0302872 -0.443132] -86: DBG: Line search iter 1: back=1, prevNorm=2.90001. -86: > piNow=~[-5.07759 -0.0209554 0.507307 -4.44182 -0.0302872 0.443132] -86: > errNow=~[8.88178e-16 1.13568e-06 -2.74935e-05 4.44089e-16 1.1338e-06 -1.65886e-05] normNow=3.21505e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.10863e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.80382e-10 -86: > NEWTON iter 2: errNorm=3.21505e-05(v) -> deltaNorm=3.2925e-05(pi) -86: > piActive=~[-5.07759 -0.0209554 0.507307 -4.44182 -0.0302872 0.443132] -86: > errActive=~[8.88178e-16 1.13568e-06 -2.74935e-05 4.44089e-16 1.1338e-06 -1.65886e-05] -86: > deltaPi=~[-1.27668e-05 7.26362e-07 -1.75844e-05 -2.00227e-05 9.89129e-07 -1.4472e-05] -86: DBG: Line search iter 1: back=1, prevNorm=3.21505e-05. -86: > piNow=~[-5.07757 -0.0209561 0.507325 -4.4418 -0.0302882 0.443147] -86: > errNow=~[2.22045e-16 -1.73472e-17 3.33067e-16 -4.44089e-16 -2.08167e-17 3.88578e-16] normNow=7.13568e-16 -86: DBG: Improvement rate now/prev at iter 2 is 2.21947e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.13568e-16. +86: > errActive=~[0.112234 0.000320466 0.00106907 0.106784 0.000321476 0.000134058] +86: > deltaPi=~[0.288585 0.00857321 0.0286001 0.359781 0.0341282 0.0142318] +86: DBG: Line search iter 1: back=1, prevNorm=0.154922. +86: > piNow=~[-0.298585 -0.00857321 -0.0286001 -0.369781 -0.0341282 -0.0142318] +86: > errNow=~[0 3.44482e-07 1.14919e-06 -1.38778e-17 4.30822e-07 1.79656e-07] normNow=1.28732e-06 +86: DBG: Improvement rate now/prev at iter 1 is 8.30946e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.75548e-09 +86: > NEWTON iter 2: errNorm=1.28732e-06(v) -> deltaNorm=2.06701e-06(pi) +86: > piActive=~[-0.298585 -0.00857321 -0.0286001 -0.369781 -0.0341282 -0.0142318] +86: > errActive=~[0 3.44482e-07 1.14919e-06 -1.38778e-17 4.30822e-07 1.79656e-07] +86: > deltaPi=~[-1.1125e-06 2.76713e-07 9.23109e-07 -7.02536e-07 1.17206e-06 4.88758e-07] +86: DBG: Line search iter 1: back=1, prevNorm=1.28732e-06. +86: > piNow=~[-0.298584 -0.00857349 -0.028601 -0.36978 -0.0341294 -0.0142322] +86: > errNow=~[0 -1.49013e-15 -4.97519e-15 1.38778e-17 -6.15827e-16 -2.55872e-16] normNow=5.23621e-15 +86: DBG: Improvement rate now/prev at iter 2 is 4.06754e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.23621e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.0601647,1.45652] to ~[-0.0127751,1.37118] -86: DBG: Friction 0 rotated 1.83158 deg, less than max 30 -86: slipVel 1 from ~[-0.0686818,1.00488] to ~[-0.019158,1.03268] -86: DBG: Friction 1 rotated 2.84716 deg, less than max 30 +86: slipVel 0 from ~[-0.320466,-1.06907] to ~[-0.311487,-1.00583] +86: DBG: Friction 0 rotated 0.520138 deg, less than max 30 +86: slipVel 1 from ~[-0.321476,-0.134058] to ~[-0.312479,-0.0871864] +86: DBG: Friction 1 rotated 7.04662 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-5.07757 -0.0209561 0.507325 -4.4418 -0.0302882 0.443147] -86: : m_verrLeft=~[-2.22045e-16 4.44089e-16 -0.0127751 1.37118 -0.019158 1.03268] +86: : m_piActive=~[-0.298584 -0.00857349 -0.028601 -0.36978 -0.0341294 -0.0142322] +86: : m_verrLeft=~[0 -1.38778e-17 -0.311487 -1.00583 -0.312479 -0.0871864] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-5.07757 verr=-2.22045e-16 pi*v=1.12745e-15 -86: DBG: 1: pi=-4.4418 verr=4.44089e-16 pi*v=-1.97256e-15 -86: SP FINAL 1 intervals, piTotal=~[-5.07757 -4.4418 -0.0209561 0.507325 -0.0302882 0.443147] errNorm=7.13568e-16 +86: DBG: 0: pi=-0.298584 verr=0 pi*v=-0 +86: DBG: 1: pi=-0.36978 verr=-1.38778e-17 pi*v=5.13173e-18 +86: SP FINAL 1 intervals, piTotal=~[-0.298584 -0.36978 -0.00857349 -0.028601 -0.0341294 -0.0142322] errNorm=5.23621e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0601647 1.45652, |slipV|=1.45777 -86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.320466 -1.06907, |slipV|=1.11607 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0686818 1.00488, |slipV|=1.00723 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.321476 -0.134058, |slipV|=0.348308 86: ------------------------------ 86: -86: dynamics impulse=~[-5.07757 -4.4418 -0.0209561 0.507325 -0.0302882 0.443147] -86: updated verrStart=~[-2.22045e-16 4.44089e-16 -0.0127751 1.37118 -0.019158 1.03268] +86: dynamics impulse=~[-0.298584 -0.36978 -0.00857349 -0.028601 -0.0341294 -0.0142322] +86: updated verrStart=~[0 -1.38778e-17 -0.311487 -1.00583 -0.312479 -0.0871864] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.888694 0.174204 0 0 0 0] +86: posVerr=~[0.103474 -0.0104772 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.267718 0.0952299 -0.166161 -0.105676 -0.169183 -0.259428] -86: [0.0952299 0.326522 0.214501 -0.323515 0.218561 -0.116972] -86: [-0.166161 0.214501 0.387388 -0.225168 0.394942 0.161026] -86: [-0.105676 -0.323515 -0.225168 0.371409 -0.230083 0.119009] -86: [-0.169183 0.218561 0.394942 -0.230083 0.402661 0.164578] -86: [-0.259428 -0.116972 0.161026 0.119009 0.164578 0.301953] +86: [0.238781 0.0922272 -0.00676597 0.305728 -0.00658027 0.118261] +86: [0.0922272 0.202432 0.00612516 0.119447 0.0059887 0.257472] +86: [-0.00676597 0.00612516 0.0494975 0.0334214 0.0495719 -0.0341771] +86: [0.305728 0.119447 0.0334214 0.46233 0.0337541 0.134517] +86: [-0.00658027 0.0059887 0.0495719 0.0337541 0.049647 -0.0344458] +86: [0.118261 0.257472 -0.0341771 0.134517 -0.0344458 0.398088] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.497635 rank=2 -86: rhs=~[0.888694 0.174204 0 0 0 0] +86: rcond(A+D)=0.402424 rank=2 +86: rhs=~[0.103474 -0.0104772 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[3.49202 -0.484929] -86: -> pi=~[3.49202 -0.484929 0 0 0 0] -86: resid active=~[2.22045e-16 2.22045e-16] -86: resid=~[2.22045e-16 2.22045e-16 -0.684254 -0.212142 -0.696777 -0.849205] +86: -> piActive=~[0.550141 -0.302398] +86: -> pi=~[0.550141 -0.302398 0 0 0 0] +86: resid active=~[5.55112e-17 1.56125e-17] +86: resid=~[5.55112e-17 1.56125e-17 -0.00557447 0.132073 -0.00543105 -0.012799] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[0 4.44089e-16 -0.0127751 1.37118 -0.019158 1.03268] -86: perr=~[0.000888694 0.000174204 0] -86: END OF STEP (0.015,0.016): -86: verr=~[0.000945543 -0.000180242 -0.0124676 1.38235 -0.0189659 1.04385] -86: perr=~[0.000889167 0.000174114 0] +86: verr=~[-4.11997e-18 -8.45678e-18 -0.311487 -1.00583 -0.312479 -0.0871864] +86: perr=~[0.000103474 -1.04772e-05 0] +86: END OF STEP (0.08,0.081): +86: verr=~[0.000468421 -0.000468421 -0.311065 -1.00582 -0.312901 -0.0871873] +86: perr=~[0.000103708 -1.07114e-05 -2.22045e-16] 86: constraint status: -86: 4: cont UniActive fric Sliding -86: 6: cont UniActive fric Sliding -86: Proximal unilateral contacts: (4,6) -86: Distal unilateral contacts: (0,1,2,3,5,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 4 verr speed=1.3824 -> mu=0.1 -86: DBG: Uni fric 6 verr speed=1.04402 -> mu=0.1 -86: DBG: Uni contact 6 verr vel=-0.000180242 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.05283 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.324821 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000468421 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (1) 86: observers: (0) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000945543 -0.000180242 -0.0124676 1.38235 -0.0189659 1.04385] -86: IMP t=0.016 verr=~[0.000945543 -0.000180242 -0.0124676 1.38235 -0.0189659 1.04385] +86: verr=~[0.000468421 -0.000468421 -0.311065 -1.00582 -0.312901 -0.0871873] +86: IMP t=0.081 verr=~[0.000468421 -0.000468421 -0.311065 -1.00582 -0.312901 -0.0871873] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -33487,115 +43957,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000945543 -0.000180242 -0.0124676 1.38235 -0.0189659 1.04385] +86: verrLeft=~[0.000468421 -0.000468421 -0.311065 -1.00582 -0.312901 -0.0871873] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0124676,1.38235, mag=1.3824 -86: Participating contact 1 is Sliding; vel=-0.0189659,1.04385, mag=1.04402 +86: Participating contact 0 is Sliding; vel=-0.311065,-1.00582, mag=1.05283 +86: Participating contact 1 is Sliding; vel=-0.312901,-0.0871873, mag=0.324821 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.0124676,1.38235, mag=1.3824 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.0189659,1.04385, mag=1.04402 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.311065,-1.00582, mag=1.05283 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.312901,-0.0871873, mag=0.324821 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000945543; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000180242; guess pi=-0.01 +86: DBG: active normal 0 has v=0.000468421; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000468421; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000945543 -0.000180242 -0.0124676 1.38235 -0.0189659 1.04385] +86: : verrLeft was=~[0.000468421 -0.000468421 -0.311065 -1.00582 -0.312901 -0.0871873] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000945543 -0.0124676 1.38235 -0.000180242 -0.0189659 1.04385] +86: : rhsActive=~[0.000468421 -0.311065 -1.00582 -0.000468421 -0.312901 -0.0871873] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.45275e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00246215... -86: > NEWTON iter 1: errNorm=0.00246215(v) -> deltaNorm=0.00995784(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.10405e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00122963... +86: > NEWTON iter 1: errNorm=0.00122963(v) -> deltaNorm=0.00907832(pi) 86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000752799 0 0 -0.00209893 1.89659e-05 -0.00104385] -86: > deltaPi=~[0.00562858 1.89086e-10 -2.09649e-08 -0.00821253 3.24772e-06 -0.000178748] -86: DBG: Line search iter 1: back=1, prevNorm=0.00246215. -86: > piNow=~[0.00437142 -1.89086e-10 2.09649e-08 -0.00178747 -3.24772e-06 0.000178748] -86: > errNow=~[-2.1684e-19 -2.61393e-10 2.89819e-08 -3.79471e-19 -5.8018e-10 3.19319e-08] normNow=4.31278e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.75163e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000124259 -86: > NEWTON iter 2: errNorm=4.31278e-08(v) -> deltaNorm=5.02453e-08(pi) -86: > piActive=~[0.00437142 -1.89086e-10 2.09649e-08 -0.00178747 -3.24772e-06 0.000178748] -86: > errActive=~[-2.1684e-19 -2.61393e-10 2.89819e-08 -3.79471e-19 -5.8018e-10 3.19319e-08] -86: > deltaPi=~[2.69723e-08 -1.89082e-10 2.09644e-08 2.36831e-08 -5.12745e-10 2.82204e-08] -86: DBG: Line search iter 1: back=1, prevNorm=4.31278e-08. -86: > piNow=~[0.00437139 -4.73946e-15 5.25487e-13 -0.00178749 -3.2472e-06 0.000178719] -86: > errNow=~[-2.1684e-19 -6.55184e-15 7.26434e-13 -1.35525e-19 5.21893e-14 -2.87239e-12] normNow=2.96329e-12 -86: DBG: Improvement rate now/prev at iter 2 is 6.87096e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.96329e-12. -86: DBG: Worst offender is normal contact 0 err=0.00437139 ... +86: > errActive=~[0.00100007 0 0 -0.000637448 0.000312901 8.71873e-05] +86: > deltaPi=~[0.00656089 7.22052e-09 2.33474e-08 -0.00626347 0.000359963 0.000100301] +86: DBG: Line search iter 1: back=1, prevNorm=0.00122963. +86: > piNow=~[0.00343911 -7.22052e-09 -2.33474e-08 -0.00373653 -0.000359963 -0.000100301] +86: > errNow=~[1.0842e-19 -7.60196e-09 -2.45808e-08 5.42101e-20 -7.30018e-09 -2.03414e-09] normNow=2.68223e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.18134e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.42426e-05 +86: > NEWTON iter 2: errNorm=2.68223e-08(v) -> deltaNorm=4.4685e-08(pi) +86: > piActive=~[0.00343911 -7.22052e-09 -2.33474e-08 -0.00373653 -0.000359963 -0.000100301] +86: > errActive=~[1.0842e-19 -7.60196e-09 -2.45808e-08 5.42101e-20 -7.30018e-09 -2.03414e-09] +86: > deltaPi=~[2.84697e-08 -7.22025e-09 -2.33466e-08 9.35228e-09 -2.15738e-08 -6.01137e-09] +86: DBG: Line search iter 1: back=1, prevNorm=2.68223e-08. +86: > piNow=~[0.00343909 -2.64688e-13 -8.55864e-13 -0.00373654 -0.000359942 -0.000100295] +86: > errNow=~[0 -2.78671e-13 -9.01077e-13 5.42101e-20 7.80191e-14 2.17394e-14] normNow=9.46655e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.52936e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.46655e-13. +86: DBG: Worst offender is normal contact 0 err=0.00343909 ... 86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start 86: : active=(1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=-0.0124676,1.38235, mag=1.3824 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.0189659,1.04385, mag=1.04402 +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.311065,-1.00582, mag=1.05283 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.312901,-0.0871873, mag=0.324821 86: fillMult2Active: 86: : active=(1,4,5) 86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000180242; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000468421; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000945543 -0.000180242 -0.0124676 1.38235 -0.0189659 1.04385] +86: : verrLeft was=~[0.000468421 -0.000468421 -0.311065 -1.00582 -0.312901 -0.0871873] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000180242 -0.0189659 1.04385] -86: : pi was=~[0 -0.00178749 -4.73946e-15 5.25487e-13 -3.2472e-06 0.000178719] -86: : piActive=~[-0.01 -3.2472e-06 0.000178719] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.88883e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00320146... -86: > NEWTON iter 1: errNorm=0.00320146(v) -> deltaNorm=0.00946523(pi) -86: > piActive=~[-0.01 -3.2472e-06 0.000178719] -86: > errActive=~[-0.00308452 1.55758e-05 -0.000857259] -86: > deltaPi=~[-0.00946441 -2.27359e-06 0.000125134] -86: DBG: Line search iter 1: back=1, prevNorm=0.00320146. -86: > piNow=~[-0.000535594 -9.73616e-07 5.35858e-05] -86: > errNow=~[1.11131e-18 -6.68619e-10 3.67994e-08] normNow=3.68055e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.14965e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.00130517 -86: > NEWTON iter 2: errNorm=3.68055e-08(v) -> deltaNorm=3.63247e-08(pi) -86: > piActive=~[-0.000535594 -9.73616e-07 5.35858e-05] -86: > errActive=~[1.11131e-18 -6.68619e-10 3.67994e-08] -86: > deltaPi=~[1.28183e-08 -6.17434e-10 3.39823e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.68055e-08. -86: > piNow=~[-0.000535607 -9.72998e-07 5.35518e-05] -86: > errNow=~[0 3.03922e-13 -1.67273e-11] normNow=1.673e-11 -86: DBG: Improvement rate now/prev at iter 2 is 0.000454552 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.673e-11. +86: : rhsActive=~[-0.000468421 -0.312901 -0.0871873] +86: : pi was=~[0 -0.00373654 -2.64688e-13 -8.55864e-13 -0.000359942 -0.000100295] +86: : piActive=~[-0.01 -0.000359942 -0.000100295] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.20992e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00159474... +86: > NEWTON iter 1: errNorm=0.00159474(v) -> deltaNorm=0.00776768(pi) +86: > piActive=~[-0.01 -0.000359942 -0.000100295] +86: > errActive=~[-0.0015817 0.000195984 5.46094e-05] +86: > deltaPi=~[-0.00776623 -0.000144734 -4.03289e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.00159474. +86: > piNow=~[-0.00223377 -0.000215208 -5.99659e-05] +86: > errNow=~[4.87891e-19 -9.05167e-09 -2.52217e-09] normNow=9.39649e-09 +86: DBG: Improvement rate now/prev at iter 1 is 5.89219e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.41966e-05 +86: > NEWTON iter 2: errNorm=9.39649e-09(v) -> deltaNorm=2.97448e-08(pi) +86: > piActive=~[-0.00223377 -0.000215208 -5.99659e-05] +86: > errActive=~[4.87891e-19 -9.05167e-09 -2.52217e-09] +86: > deltaPi=~[1.03206e-08 -2.68732e-08 -7.48799e-09] +86: DBG: Line search iter 1: back=1, prevNorm=9.39649e-09. +86: > piNow=~[-0.00223378 -0.000215181 -5.99584e-05] +86: > errNow=~[-5.42101e-20 2.40559e-13 6.70297e-14] normNow=2.49723e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.65762e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.49723e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.0189659,1.04385] to ~[-0.0188585,1.04377] -86: DBG: Friction 1 rotated 0.00581345 deg, less than max 30 +86: slipVel 1 from ~[-0.312901,-0.0871873] to ~[-0.312879,-0.0865953] +86: DBG: Friction 1 rotated 0.0996134 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.000535607 -9.72998e-07 5.35518e-05] -86: : m_verrLeft=~[0.00101091 0 -0.0123623 1.38217 -0.0188585 1.04377] +86: : m_piActive=~[-0.00223378 -0.000215181 -5.99584e-05] +86: : m_verrLeft=~[0.000678693 5.42101e-20 -0.311043 -1.00554 -0.312879 -0.0865953] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00101091 pi*v=0 -86: DBG: 1: pi=-0.000535607 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.000535607 0 0 -9.72998e-07 5.35518e-05] errNorm=1.673e-11 -86: Postcompression verr=~[0.00101091 0 -0.0123623 1.38217 -0.0188585 1.04377] -86: impulse=~[0 -0.000535607 0 0 -9.72998e-07 5.35518e-05] +86: DBG: 0: pi=0 verr=0.000678693 pi*v=0 +86: DBG: 1: pi=-0.00223378 verr=5.42101e-20 pi*v=-1.21094e-22 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00223378 0 0 -0.000215181 -5.99584e-05] errNorm=2.49723e-13 +86: Postcompression verr=~[0.000678693 5.42101e-20 -0.311043 -1.00554 -0.312879 -0.0865953] +86: impulse=~[0 -0.00223378 0 0 -0.000215181 -5.99584e-05] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.000535607 0 0 -9.72998e-07 5.35518e-05]-> du ~[0.000110167 -0.000246341 0.000100745 0.000118969 1.72509e-06 -0.000121213 0.000465455 -0.000267987] -86: Now verr0=~[0.00101091 0 -0.0123623 1.38217 -0.0188585 1.04377] +86: Impact: imp ~[0 -0.00223378 0 0 -0.000215181 -5.99584e-05]-> du ~[0.000256634 0.000758605 0.000310638 -0.000436609 2.20218e-05 0.000339346 -0.00133348 0.00104565] +86: Now verr0=~[0.000678693 1.6263e-19 -0.311043 -1.00554 -0.312879 -0.0865953] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00101091 0 -0.0123623 1.38217 -0.0188585 1.04377] -86: verrExt=~[-1.29741 -1.38569 -0.0210253 1.34876 -0.0208532 1.36102] -86: total verr=~[-1.2964 -1.38569 -0.0333876 2.73093 -0.0397117 2.40479] -86: DYN t=0.016: verrStart=~[0.00101091 0 -0.0123623 1.38217 -0.0188585 1.04377] -86: verrApplied=~[-1.29741 -1.38569 -0.0210253 1.34876 -0.0208532 1.36102] +86: verr0 =~[0.000678693 1.6263e-19 -0.311043 -1.00554 -0.312879 -0.0865953] +86: verrExt=~[-0.0649667 -0.0711291 0.00734466 -0.0175625 0.00739031 -0.0407557] +86: total verr=~[-0.064288 -0.0711291 -0.303698 -1.02311 -0.305489 -0.127351] +86: DYN t=0.081: verrStart=~[0.000678693 1.6263e-19 -0.311043 -1.00554 -0.312879 -0.0865953] +86: verrApplied=~[-0.0649667 -0.0711291 0.00734466 -0.0175625 0.00739031 -0.0407557] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -33607,128 +44077,125 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00101091 0 -0.0123623 1.38217 -0.0188585 1.04377] -86: verrApplied=~[-1.29741 -1.38569 -0.0210253 1.34876 -0.0208532 1.36102] +86: verrLeft=~[0.000678693 1.6263e-19 -0.311043 -1.00554 -0.312879 -0.0865953] +86: verrApplied=~[-0.0649667 -0.0711291 0.00734466 -0.0175625 0.00739031 -0.0407557] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0123623,1.38217, mag=1.38222 -86: Participating contact 1 is Sliding; vel=-0.0188585,1.04377, mag=1.04394 +86: Participating contact 0 is Sliding; vel=-0.311043,-1.00554, mag=1.05255 +86: Participating contact 1 is Sliding; vel=-0.312879,-0.0865953, mag=0.324642 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=-0.0123623,1.38217, mag=1.38222 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=-0.0188585,1.04377, mag=1.04394 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.311043,-1.00554, mag=1.05255 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.312879,-0.0865953, mag=0.324642 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.2964; guess pi=-0.01 -86: DBG: active normal 3 has v=-1.38569; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.064288; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.0711291; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00101091 0 -0.0123623 1.38217 -0.0188585 1.04377] +86: : verrLeft was=~[0.000678693 1.6263e-19 -0.311043 -1.00554 -0.312879 -0.0865953] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.29741 -1.38569 -0.0210253 1.34876 -0.0208532 1.36102] -86: : rhsActive=~[-1.2964 -0.0333876 2.73093 -1.38569 -0.0397117 2.40479] +86: : verrApplied was=~[-0.0649667 -0.0711291 0.00734466 -0.0175625 0.00739031 -0.0407557] +86: : rhsActive=~[-0.064288 -0.303698 -1.02311 -0.0711291 -0.305489 -0.127351] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.45203e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.89203... -86: > NEWTON iter 1: errNorm=1.89203(v) -> deltaNorm=4.44947(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.10287e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0914909... +86: > NEWTON iter 1: errNorm=0.0914909(v) -> deltaNorm=0.292728(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.29278 1.23623e-05 -0.00138217 1.38148 1.88585e-05 -0.00104377] -86: > deltaPi=~[3.44122 0.00308658 -0.345095 2.78541 0.00504968 -0.279485] -86: DBG: Line search iter 1: back=1, prevNorm=1.89203. -86: > piNow=~[-3.45122 -0.00308658 0.345095 -2.79541 -0.00504968 0.279485] -86: > errNow=~[-6.66134e-16 1.58461e-07 -1.77168e-05 -4.44089e-16 1.95663e-07 -1.08294e-05] normNow=2.07659e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.09755e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.81845e-10 -86: > NEWTON iter 2: errNorm=2.07659e-05(v) -> deltaNorm=2.16136e-05(pi) -86: > piActive=~[-3.45122 -0.00308658 0.345095 -2.79541 -0.00504968 0.279485] -86: > errActive=~[-6.66134e-16 1.58461e-07 -1.77168e-05 -4.44089e-16 1.95663e-07 -1.08294e-05] -86: > deltaPi=~[-8.89154e-06 1.0669e-07 -1.19285e-05 -1.27673e-05 1.64364e-07 -9.09709e-06] -86: DBG: Line search iter 1: back=1, prevNorm=2.07659e-05. -86: > piNow=~[-3.45121 -0.00308668 0.345107 -2.7954 -0.00504984 0.279494] -86: > errNow=~[0 -2.60209e-18 3.88578e-16 2.22045e-16 -1.12757e-17 6.10623e-16] normNow=7.5716e-16 -86: DBG: Improvement rate now/prev at iter 2 is 3.64617e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.5716e-16. +86: > errActive=~[0.0609869 0.000311043 0.00100554 0.0681907 0.000312879 8.65953e-05] +86: > deltaPi=~[0.136318 0.00432373 0.0139778 0.257253 0.0257561 0.00712849] +86: DBG: Line search iter 1: back=1, prevNorm=0.0914909. +86: > piNow=~[-0.146318 -0.00432373 -0.0139778 -0.267253 -0.0257561 -0.00712849] +86: > errNow=~[-1.38778e-17 1.57937e-07 5.10581e-07 0 2.99812e-07 8.29787e-08] normNow=6.18393e-07 +86: DBG: Improvement rate now/prev at iter 1 is 6.75907e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.83928e-08 +86: > NEWTON iter 2: errNorm=6.18393e-07(v) -> deltaNorm=1.20555e-06(pi) +86: > piActive=~[-0.146318 -0.00432373 -0.0139778 -0.267253 -0.0257561 -0.00712849] +86: > errActive=~[-1.38778e-17 1.57937e-07 5.10581e-07 0 2.99812e-07 8.29787e-08] +86: > deltaPi=~[-5.09493e-07 1.34995e-07 4.36415e-07 -3.69118e-07 8.87942e-07 2.45755e-07] +86: DBG: Line search iter 1: back=1, prevNorm=6.18393e-07. +86: > piNow=~[-0.146317 -0.00432387 -0.0139783 -0.267253 -0.025757 -0.00712873] +86: > errNow=~[0 -2.75908e-15 -8.91648e-15 1.38778e-17 -6.03684e-16 -1.66967e-16] normNow=9.3546e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.51273e-08 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.3546e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.0123623,1.38217] to ~[0.0282516,1.29091] -86: DBG: Friction 0 rotated 1.76617 deg, less than max 30 -86: slipVel 1 from ~[-0.0188585,1.04377] to ~[0.0236601,1.0517] -86: DBG: Friction 1 rotated 2.32386 deg, less than max 30 +86: slipVel 0 from ~[-0.311043,-1.00554] to ~[-0.301418,-0.938112] +86: DBG: Friction 0 rotated 0.624058 deg, less than max 30 +86: slipVel 1 from ~[-0.312879,-0.0865953] to ~[-0.303218,-0.0375445] +86: DBG: Friction 1 rotated 8.41198 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-3.45121 -0.00308668 0.345107 -2.7954 -0.00504984 0.279494] -86: : m_verrLeft=~[0 -2.22045e-16 0.0282516 1.29091 0.0236601 1.0517] +86: : m_piActive=~[-0.146317 -0.00432387 -0.0139783 -0.267253 -0.025757 -0.00712873] +86: : m_verrLeft=~[0 -1.38778e-17 -0.301418 -0.938112 -0.303218 -0.0375445] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-3.45121 verr=0 pi*v=-0 -86: DBG: 1: pi=-2.7954 verr=-2.22045e-16 pi*v=6.20703e-16 -86: SP FINAL 1 intervals, piTotal=~[-3.45121 -2.7954 -0.00308668 0.345107 -0.00504984 0.279494] errNorm=7.5716e-16 +86: DBG: 0: pi=-0.146317 verr=0 pi*v=-0 +86: DBG: 1: pi=-0.267253 verr=-1.38778e-17 pi*v=3.70888e-18 +86: SP FINAL 1 intervals, piTotal=~[-0.146317 -0.267253 -0.00432387 -0.0139783 -0.025757 -0.00712873] errNorm=9.3546e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0123623 1.38217, |slipV|=1.38222 -86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.311043 -1.00554, |slipV|=1.05255 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0188585 1.04377, |slipV|=1.04394 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.312879 -0.0865953, |slipV|=0.324642 86: ------------------------------ 86: -86: dynamics impulse=~[-3.45121 -2.7954 -0.00308668 0.345107 -0.00504984 0.279494] -86: updated verrStart=~[0 -2.22045e-16 0.0282516 1.29091 0.0236601 1.0517] +86: dynamics impulse=~[-0.146317 -0.267253 -0.00432387 -0.0139783 -0.025757 -0.00712873] +86: updated verrStart=~[0 -1.38778e-17 -0.301418 -0.938112 -0.303218 -0.0375445] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.889167 0.174114 0 0 0 0] +86: posVerr=~[0.103708 -0.0107114 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.266207 0.0963728 -0.164311 -0.107227 -0.167361 -0.259796] -86: [0.0963728 0.32429 0.212095 -0.323761 0.2162 -0.118395] -86: [-0.164311 0.212095 0.384781 -0.224804 0.392451 0.160756] -86: [-0.107227 -0.323761 -0.224804 0.374548 -0.229827 0.120941] -86: [-0.167361 0.2162 0.392451 -0.229827 0.400292 0.16438] -86: [-0.259796 -0.118395 0.160756 0.120941 0.16438 0.304478] +86: [0.238479 0.0916304 -0.00725864 0.305758 -0.00690021 0.117985] +86: [0.0916304 0.202217 0.00613917 0.11908 0.00587496 0.257628] +86: [-0.00725864 0.00613917 0.0493219 0.0326627 0.0494566 -0.0339937] +86: [0.305758 0.11908 0.0326627 0.462993 0.0332972 0.13481] +86: [-0.00690021 0.00587496 0.0494566 0.0332972 0.0495936 -0.0345052] +86: [0.117985 0.257628 -0.0339937 0.13481 -0.0345052 0.398773] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.491523 rank=2 -86: rhs=~[0.889167 0.174114 0 0 0 0] +86: rcond(A+D)=0.404587 rank=2 +86: rhs=~[0.103708 -0.0107114 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[3.525 -0.510656] -86: -> pi=~[3.525 -0.510656 0 0 0 0] -86: resid active=~[0 -2.77556e-17] -86: resid=~[0 -2.77556e-17 -0.687504 -0.212647 -0.700352 -0.855321] +86: -> piActive=~[0.551189 -0.302729] +86: -> pi=~[0.551189 -0.302729 0 0 0 0] +86: resid active=~[0 1.73472e-18] +86: resid=~[0 1.73472e-18 -0.00585939 0.132482 -0.00558184 -0.0129598] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-4.44089e-16 -8.88178e-16 0.0282516 1.29091 0.0236601 1.0517] -103: [min,max]=0,0.03 actual=0.000217766 -103: calc wrms=0.000217766 -86: perr=~[0.000889167 0.000174114 0] -86: END OF STEP (0.016,0.017): -86: verr=~[0.000803195 1.64841e-05 0.028519 1.30177 0.0238698 1.06257] -86: perr=~[0.000889569 0.000174122 0] +86: verr=~[1.53144e-16 1.29942e-16 -0.301418 -0.938112 -0.303218 -0.0375445] +86: perr=~[0.000103708 -1.07114e-05 -2.22045e-16] +86: END OF STEP (0.081,0.082): +86: verr=~[0.00041291 -0.00041291 -0.301013 -0.938111 -0.303623 -0.0375457] +86: perr=~[0.000103914 -1.09178e-05 0] 86: constraint status: -86: 4: cont UniActive fric Sliding -86: 6: cont UniActive fric Sliding -86: Proximal unilateral contacts: (4,6) -86: Distal unilateral contacts: (0,1,2,3,5,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 4 verr speed=1.30208 -> mu=0.1 -86: DBG: Uni fric 6 verr speed=1.06283 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=0.985221 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.305936 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.00041291 at or below tol 0.001 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.000803195 1.64841e-05 0.028519 1.30177 0.0238698 1.06257] -86: verrExt=~[-0.641595 -0.593515 0.0894209 0.528203 0.0918567 0.651769] -86: total verr=~[-0.640792 -0.593498 0.11794 1.82997 0.115726 1.71434] -86: DYN t=0.017: verrStart=~[0.000803195 1.64841e-05 0.028519 1.30177 0.0238698 1.06257] -86: verrApplied=~[-0.641595 -0.593515 0.0894209 0.528203 0.0918567 0.651769] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.00041291 -0.00041291 -0.301013 -0.938111 -0.303623 -0.0375457] +86: IMP t=0.082 verr=~[0.00041291 -0.00041291 -0.301013 -0.938111 -0.303623 -0.0375457] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -33740,126 +44207,832 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000803195 1.64841e-05 0.028519 1.30177 0.0238698 1.06257] -86: verrApplied=~[-0.641595 -0.593515 0.0894209 0.528203 0.0918567 0.651769] +86: verrLeft=~[0.00041291 -0.00041291 -0.301013 -0.938111 -0.303623 -0.0375457] +86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.028519,1.30177, mag=1.30208 -86: Participating contact 1 is Sliding; vel=0.0238698,1.06257, mag=1.06283 +86: Participating contact 0 is Sliding; vel=-0.301013,-0.938111, mag=0.985221 +86: Participating contact 1 is Sliding; vel=-0.303623,-0.0375457, mag=0.305936 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=0.028519,1.30177, mag=1.30208 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=0.0238698,1.06257, mag=1.06283 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.301013,-0.938111, mag=0.985221 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.303623,-0.0375457, mag=0.305936 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.640792; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.593498; guess pi=-0.01 +86: DBG: active normal 0 has v=0.00041291; guess pi=0.01 +86: DBG: active normal 3 has v=-0.00041291; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000803195 1.64841e-05 0.028519 1.30177 0.0238698 1.06257] +86: : verrLeft was=~[0.00041291 -0.00041291 -0.301013 -0.938111 -0.303623 -0.0375457] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.641595 -0.593515 0.0894209 0.528203 0.0918567 0.651769] -86: : rhsActive=~[-0.640792 0.11794 1.82997 -0.593498 0.115726 1.71434] +86: : verrApplied was=~[] +86: : rhsActive=~[0.00041291 -0.301013 -0.938111 -0.00041291 -0.303623 -0.0375457] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.84269e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00130358... +86: > NEWTON iter 1: errNorm=0.00130358(v) -> deltaNorm=0.00964875(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.00105849 0 0 -0.000696653 0.000303623 3.75457e-05] +86: > deltaPi=~[0.00697775 7.94105e-09 2.47484e-08 -0.00665564 0.000331933 4.10464e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.00130358. +86: > piNow=~[0.00302225 -7.94105e-09 -2.47484e-08 -0.00334436 -0.000331933 -4.10464e-05] +86: > errNow=~[-1.6263e-19 -7.82369e-09 -2.43827e-08 -1.6263e-19 -7.52725e-09 -9.30812e-10] normNow=2.67067e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.04872e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.14039e-05 +86: > NEWTON iter 2: errNorm=2.67067e-08(v) -> deltaNorm=4.68918e-08(pi) +86: > piActive=~[0.00302225 -7.94105e-09 -2.47484e-08 -0.00334436 -0.000331933 -4.10464e-05] +86: > errActive=~[-1.6263e-19 -7.82369e-09 -2.43827e-08 -1.6263e-19 -7.52725e-09 -9.30812e-10] +86: > deltaPi=~[3.00688e-08 -7.94068e-09 -2.47472e-08 5.7081e-09 -2.40377e-08 -2.97248e-09] +86: DBG: Line search iter 1: back=1, prevNorm=2.67067e-08. +86: > piNow=~[0.00302222 -3.74227e-13 -1.16628e-12 -0.00334437 -0.000331909 -4.10434e-05] +86: > errNow=~[5.42101e-20 -3.68696e-13 -1.14905e-12 5.42101e-20 5.7667e-14 7.13103e-15] normNow=1.20815e-12 +86: DBG: Improvement rate now/prev at iter 2 is 4.52376e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.20815e-12. +86: DBG: Worst offender is normal contact 0 err=0.00302222 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.301013,-0.938111, mag=0.985221 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.303623,-0.0375457, mag=0.305936 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.00041291; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.00041291 -0.00041291 -0.301013 -0.938111 -0.303623 -0.0375457] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00041291 -0.303623 -0.0375457] +86: : pi was=~[0 -0.00334437 -3.74227e-13 -1.16628e-12 -0.000331909 -4.10434e-05] +86: : piActive=~[-0.01 -0.000331909 -4.10434e-05] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.13957e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00163266... +86: > NEWTON iter 1: errNorm=0.00163266(v) -> deltaNorm=0.00799445(pi) +86: > piActive=~[-0.01 -0.000331909 -4.10434e-05] +86: > errActive=~[-0.00161992 0.000202081 2.49891e-05] +86: > deltaPi=~[-0.00799333 -0.000132729 -1.64132e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.00163266. +86: > piNow=~[-0.00200667 -0.000199179 -2.46303e-05] +86: > errNow=~[-3.25261e-19 -9.04013e-09 -1.11789e-09] normNow=9.10899e-09 +86: DBG: Improvement rate now/prev at iter 1 is 5.57922e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.82252e-05 +86: > NEWTON iter 2: errNorm=9.10899e-09(v) -> deltaNorm=2.97296e-08(pi) +86: > piActive=~[-0.00200667 -0.000199179 -2.46303e-05] +86: > errActive=~[-3.25261e-19 -9.04013e-09 -1.11789e-09] +86: > deltaPi=~[5.40459e-09 -2.90132e-08 -3.58774e-09] +86: DBG: Line search iter 1: back=1, prevNorm=9.10899e-09. +86: > piNow=~[-0.00200667 -0.00019915 -2.46267e-05] +86: > errNow=~[5.42101e-20 1.51392e-13 1.8721e-14] normNow=1.52546e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.67467e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.52546e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.303623,-0.0375457] to ~[-0.303603,-0.0370255] +86: DBG: Friction 1 rotated 0.0962451 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00200667 -0.00019915 -2.46267e-05] +86: : m_verrLeft=~[0.000597136 -5.42101e-20 -0.300991 -0.937863 -0.303603 -0.0370255] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.000597136 pi*v=0 +86: DBG: 1: pi=-0.00200667 verr=-5.42101e-20 pi*v=1.08782e-22 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00200667 0 0 -0.00019915 -2.46267e-05] errNorm=1.52546e-13 +86: Postcompression verr=~[0.000597136 -5.42101e-20 -0.300991 -0.937863 -0.303603 -0.0370255] +86: impulse=~[0 -0.00200667 0 0 -0.00019915 -2.46267e-05] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00200667 0 0 -0.00019915 -2.46267e-05]-> du ~[0.000226749 0.000667644 0.000272019 -0.000384178 2.09522e-05 0.000298568 -0.00117336 0.00091968] +86: Now verr0=~[0.000597136 -1.6263e-19 -0.300991 -0.937863 -0.303603 -0.0370255] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.000597136 -1.6263e-19 -0.300991 -0.937863 -0.303603 -0.0370255] +86: verrExt=~[-0.0179623 -0.0358032 0.008188 0.047854 0.0083065 0.00626947] +86: total verr=~[-0.0173651 -0.0358032 -0.292803 -0.890009 -0.295296 -0.030756] +86: DYN t=0.082: verrStart=~[0.000597136 -1.6263e-19 -0.300991 -0.937863 -0.303603 -0.0370255] +86: verrApplied=~[-0.0179623 -0.0358032 0.008188 0.047854 0.0083065 0.00626947] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000597136 -1.6263e-19 -0.300991 -0.937863 -0.303603 -0.0370255] +86: verrApplied=~[-0.0179623 -0.0358032 0.008188 0.047854 0.0083065 0.00626947] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.300991,-0.937863, mag=0.984978 +86: Participating contact 1 is Sliding; vel=-0.303603,-0.0370255, mag=0.305852 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.300991,-0.937863, mag=0.984978 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.303603,-0.0370255, mag=0.305852 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.0173651; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.0358032; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000597136 -1.6263e-19 -0.300991 -0.937863 -0.303603 -0.0370255] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.0179623 -0.0358032 0.008188 0.047854 0.0083065 0.00626947] +86: : rhsActive=~[-0.0173651 -0.292803 -0.890009 -0.0358032 -0.295296 -0.030756] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.2607e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.867907... -86: > NEWTON iter 1: errNorm=0.867907(v) -> deltaNorm=2.12511(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.84173e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0357724... +86: > NEWTON iter 1: errNorm=0.0357724(v) -> deltaNorm=0.161849(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.637167 -2.8519e-05 -0.00130177 0.589303 -2.38698e-05 -0.00106257] -86: > deltaPi=~[1.83275 -0.00403597 -0.184224 1.05444 -0.0023905 -0.106413] -86: DBG: Line search iter 1: back=1, prevNorm=0.867907. -86: > piNow=~[-1.84275 0.00403597 0.184224 -1.06444 0.0023905 0.106413] -86: > errNow=~[-1.11022e-16 -1.94693e-07 -8.88687e-06 1.11022e-16 -9.37525e-08 -4.1734e-06] normNow=9.82041e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.1315e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.89639e-10 -86: > NEWTON iter 2: errNorm=9.82041e-06(v) -> deltaNorm=1.03778e-05(pi) -86: > piActive=~[-1.84275 0.00403597 0.184224 -1.06444 0.0023905 0.106413] -86: > errActive=~[-1.11022e-16 -1.94693e-07 -8.88687e-06 1.11022e-16 -9.37525e-08 -4.1734e-06] -86: > deltaPi=~[-3.62262e-06 -1.4159e-07 -6.46296e-06 -6.4831e-06 -7.36497e-08 -3.27853e-06] -86: DBG: Line search iter 1: back=1, prevNorm=9.82041e-06. -86: > piNow=~[-1.84275 0.00403611 0.184231 -1.06444 0.00239057 0.106417] -86: > errNow=~[0 1.12757e-17 4.996e-16 -1.11022e-16 5.11743e-17 2.28983e-15] normNow=2.34692e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.38984e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.34692e-15. +86: > errActive=~[0.0140722 0.000300991 0.000937863 0.0328721 0.000303603 3.70255e-05] +86: > deltaPi=~[-0.00371516 0.000192058 0.000598434 0.1609 0.0169637 0.00206879] +86: DBG: Line search iter 1: back=1, prevNorm=0.0357724. +86: > piNow=~[-0.00628484 -0.000192058 -0.000598434 -0.1709 -0.0169637 -0.00206879] +86: > errNow=~[3.46945e-18 -4.16527e-09 -1.29786e-08 6.93889e-18 1.81959e-07 2.21906e-08] normNow=1.83813e-07 +86: DBG: Improvement rate now/prev at iter 1 is 5.13842e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.28699e-06 +86: > NEWTON iter 2: errNorm=1.83813e-07(v) -> deltaNorm=6.00884e-07(pi) +86: > piActive=~[-0.00628484 -0.000192058 -0.000598434 -0.1709 -0.0169637 -0.00206879] +86: > errActive=~[3.46945e-18 -4.16527e-09 -1.29786e-08 6.93889e-18 1.81959e-07 2.21906e-08] +86: > deltaPi=~[4.02319e-08 -2.99949e-09 -9.34616e-09 -1.1989e-07 5.83025e-07 7.11021e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.83813e-07. +86: > piNow=~[-0.00628488 -0.000192055 -0.000598425 -0.1709 -0.0169643 -0.00206886] +86: > errNow=~[-3.46945e-18 1.14175e-13 3.55761e-13 0 -4.64039e-16 -5.65954e-17] normNow=3.73633e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.03268e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.73633e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.028519,1.30177] to ~[0.0630552,1.20359] -86: DBG: Friction 0 rotated 1.74392 deg, less than max 30 -86: slipVel 1 from ~[0.0238698,1.06257] to ~[0.0600817,1.05058] -86: DBG: Friction 1 rotated 1.98624 deg, less than max 30 +86: slipVel 0 from ~[-0.300991,-0.937863] to ~[-0.291005,-0.866675] +86: DBG: Friction 0 rotated 0.767461 deg, less than max 30 +86: slipVel 1 from ~[-0.303603,-0.0370255] to ~[-0.293559,0.0143522] +86: DBG: Friction 1 rotated 9.75207 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.84275 0.00403611 0.184231 -1.06444 0.00239057 0.106417] -86: : m_verrLeft=~[0 1.11022e-16 0.0630552 1.20359 0.0600817 1.05058] +86: : m_piActive=~[-0.00628488 -0.000192055 -0.000598425 -0.1709 -0.0169643 -0.00206886] +86: : m_verrLeft=~[3.46945e-18 0 -0.291005 -0.866675 -0.293559 0.0143522] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.84275 verr=0 pi*v=-0 -86: DBG: 1: pi=-1.06444 verr=1.11022e-16 pi*v=-1.18176e-16 -86: SP FINAL 1 intervals, piTotal=~[-1.84275 -1.06444 0.00403611 0.184231 0.00239057 0.106417] errNorm=2.34692e-15 +86: DBG: 0: pi=-0.00628488 verr=3.46945e-18 pi*v=-2.18051e-20 +86: DBG: 1: pi=-0.1709 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.00628488 -0.1709 -0.000192055 -0.000598425 -0.0169643 -0.00206886] errNorm=3.73633e-13 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.028519 1.30177, |slipV|=1.30208 -86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.300991 -0.937863, |slipV|=0.984978 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0238698 1.06257, |slipV|=1.06283 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.303603 -0.0370255, |slipV|=0.305852 86: ------------------------------ 86: -86: dynamics impulse=~[-1.84275 -1.06444 0.00403611 0.184231 0.00239057 0.106417] -86: updated verrStart=~[0 1.11022e-16 0.0630552 1.20359 0.0600817 1.05058] +86: dynamics impulse=~[-0.00628488 -0.1709 -0.000192055 -0.000598425 -0.0169643 -0.00206886] +86: updated verrStart=~[3.46945e-18 0 -0.291005 -0.866675 -0.293559 0.0143522] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.889569 0.174122 0 0 0 0] +86: posVerr=~[0.103914 -0.0109178 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.264939 0.0974936 -0.162748 -0.108722 -0.165817 -0.260457] -86: [0.0974936 0.322024 0.209738 -0.323974 0.213868 -0.119722] -86: [-0.162748 0.209738 0.382602 -0.224538 0.39036 0.160902] -86: [-0.108722 -0.323974 -0.224538 0.377686 -0.229647 0.122747] -86: [-0.165817 0.213868 0.39036 -0.229647 0.398293 0.16459] -86: [-0.260457 -0.119722 0.160902 0.122747 0.16459 0.307361] +86: [0.238217 0.0910772 -0.00773246 0.305789 -0.00720417 0.117722] +86: [0.0910772 0.202033 0.00614866 0.118733 0.00575833 0.257778] +86: [-0.00773246 0.00614866 0.0491579 0.0319329 0.0493502 -0.0338244] +86: [0.305789 0.118733 0.0319329 0.463585 0.0328637 0.135072] +86: [-0.00720417 0.00575833 0.0493502 0.0328637 0.0495471 -0.0345745] +86: [0.117722 0.257778 -0.0338244 0.135072 -0.0345745 0.399386] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.485729 rank=2 -86: rhs=~[0.889569 0.174122 0 0 0 0] +86: rcond(A+D)=0.406632 rank=2 +86: rhs=~[0.103914 -0.0109178 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[3.55468 -0.535479] -86: -> pi=~[3.55468 -0.535479 0 0 0 0] -86: resid active=~[-2.22045e-16 -8.32667e-17] -86: resid=~[-2.22045e-16 -8.32667e-17 -0.690827 -0.21299 -0.703947 -0.861733] +86: -> piActive=~[0.552021 -0.302892] +86: -> pi=~[0.552021 -0.302892 0 0 0 0] +86: resid active=~[4.16334e-17 5.20417e-18] +86: resid=~[4.16334e-17 5.20417e-18 -0.00613086 0.132838 -0.005721 -0.0130937] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-4.44089e-16 4.44089e-16 0.0630552 1.20359 0.0600817 1.05058] -86: perr=~[0.000889569 0.000174122 0] -86: END OF STEP (0.017,0.018): -86: verr=~[0.000670157 0.000178655 0.0632883 1.21391 0.060291 1.06091] -86: perr=~[0.000889904 0.000174212 0] +86: verr=~[-4.71628e-18 2.6563e-18 -0.291005 -0.866675 -0.293559 0.0143522] +86: perr=~[0.000103914 -1.09178e-05 0] +86: END OF STEP (0.082,0.083): +86: verr=~[0.000355912 -0.000355912 -0.290617 -0.866673 -0.293947 0.0143507] +86: perr=~[0.000104092 -1.10958e-05 0] 86: constraint status: -86: 4: cont UniActive fric Sliding -86: 6: cont UniActive fric Sliding -86: Proximal unilateral contacts: (4,6) -86: Distal unilateral contacts: (0,1,2,3,5,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 4 verr speed=1.21556 -> mu=0.1 -86: DBG: Uni fric 6 verr speed=1.06262 -> mu=0.1 +86: DBG: Uni fric 0 verr speed=0.914101 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.294298 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000355912 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.000355912 -0.000355912 -0.290617 -0.866673 -0.293947 0.0143507] +86: IMP t=0.083 verr=~[0.000355912 -0.000355912 -0.290617 -0.866673 -0.293947 0.0143507] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000355912 -0.000355912 -0.290617 -0.866673 -0.293947 0.0143507] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.290617,-0.866673, mag=0.914101 +86: Participating contact 1 is Sliding; vel=-0.293947,0.0143507, mag=0.294298 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.290617,-0.866673, mag=0.914101 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.293947,0.0143507, mag=0.294298 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.000355912; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000355912; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000355912 -0.000355912 -0.290617 -0.866673 -0.293947 0.0143507] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.000355912 -0.290617 -0.866673 -0.000355912 -0.293947 0.0143507] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.57703e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00138224... +86: > NEWTON iter 1: errNorm=0.00138224(v) -> deltaNorm=0.0102348(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[0.00111833 0 0 -0.000757175 0.000293947 -1.43507e-05] +86: > deltaPi=~[0.00740259 8.76642e-09 2.61431e-08 -0.00706162 0.000293515 -1.43296e-05] +86: DBG: Line search iter 1: back=1, prevNorm=0.00138224. +86: > piNow=~[0.00259741 -8.76642e-09 -2.61431e-08 -0.00293838 -0.000293515 1.43296e-05] +86: > errNow=~[-6.50521e-19 -8.0134e-09 -2.38974e-08 0 -7.73189e-09 3.77476e-10] normNow=2.63671e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.90757e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.19624e-05 +86: > NEWTON iter 2: errNorm=2.63671e-08(v) -> deltaNorm=4.95067e-08(pi) +86: > piActive=~[0.00259741 -8.76642e-09 -2.61431e-08 -0.00293838 -0.000293515 1.43296e-05] +86: > errActive=~[-6.50521e-19 -8.0134e-09 -2.38974e-08 0 -7.73189e-09 3.77476e-10] +86: > deltaPi=~[3.16417e-08 -8.76587e-09 -2.61414e-08 5.01067e-10 -2.62223e-08 1.28019e-09] +86: DBG: Line search iter 1: back=1, prevNorm=2.63671e-08. +86: > piNow=~[0.00259738 -5.54558e-13 -1.65379e-12 -0.00293838 -0.000293488 1.43283e-05] +86: > errNow=~[0 -5.06922e-13 -1.51173e-12 -1.0842e-19 6.34672e-15 -3.0985e-16] normNow=1.59448e-12 +86: DBG: Improvement rate now/prev at iter 2 is 6.04721e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.59448e-12. +86: DBG: Worst offender is normal contact 0 err=0.00259738 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.290617,-0.866673, mag=0.914101 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.293947,0.0143507, mag=0.294298 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000355912; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000355912 -0.000355912 -0.290617 -0.866673 -0.293947 0.0143507] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000355912 -0.293947 0.0143507] +86: : pi was=~[0 -0.00293838 -5.54558e-13 -1.65379e-12 -0.000293488 1.43283e-05] +86: : piActive=~[-0.01 -0.000293488 1.43283e-05] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.09622e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00167382... +86: > NEWTON iter 1: errNorm=0.00167382(v) -> deltaNorm=0.00823177(pi) +86: > piActive=~[-0.01 -0.000293488 1.43283e-05] +86: > errActive=~[-0.00166086 0.000207575 -1.01339e-05] +86: > deltaPi=~[-0.00823094 -0.000116762 5.70042e-06] +86: DBG: Line search iter 1: back=1, prevNorm=0.00167382. +86: > piNow=~[-0.00176906 -0.000176726 8.6279e-06] +86: > errNow=~[5.42101e-19 -9.0122e-09 4.39982e-10] normNow=9.02293e-09 +86: DBG: Improvement rate now/prev at iter 1 is 5.39064e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.49071e-05 +86: > NEWTON iter 2: errNorm=9.02293e-09(v) -> deltaNorm=3.07831e-08(pi) +86: > piActive=~[-0.00176906 -0.000176726 8.6279e-06] +86: > errActive=~[5.42101e-19 -9.0122e-09 4.39982e-10] +86: > deltaPi=~[-1.05846e-09 -3.07283e-08 1.50018e-09] +86: DBG: Line search iter 1: back=1, prevNorm=9.02293e-09. +86: > piNow=~[-0.00176906 -0.000176695 8.6264e-06] +86: > errNow=~[5.42101e-20 -3.69038e-14 1.80167e-15] normNow=3.69478e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.09487e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.69478e-14. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.293947,0.0143507] to ~[-0.293928,0.0147974] +86: DBG: Friction 1 rotated 0.0870428 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00176906 -0.000176695 8.6264e-06] +86: : m_verrLeft=~[0.000513804 -5.42101e-20 -0.290597 -0.866459 -0.293928 0.0147974] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.000513804 pi*v=0 +86: DBG: 1: pi=-0.00176906 verr=-5.42101e-20 pi*v=9.59009e-23 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00176906 0 0 -0.000176695 8.6264e-06] errNorm=3.69478e-14 +86: Postcompression verr=~[0.000513804 -5.42101e-20 -0.290597 -0.866459 -0.293928 0.0147974] +86: impulse=~[0 -0.00176906 0 0 -0.000176695 8.6264e-06] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00176906 0 0 -0.000176695 8.6264e-06]-> du ~[0.00019585 0.000574393 0.00023259 -0.000330373 1.94488e-05 0.000256902 -0.00100923 0.000790284] +86: Now verr0=~[0.000513804 -1.6263e-19 -0.290597 -0.866459 -0.293928 0.0147974] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.000513804 -1.6263e-19 -0.290597 -0.866459 -0.293928 0.0147974] +86: verrExt=~[0.0241535 -0.00416883 0.00871604 0.106619 0.00893161 0.0487257] +86: total verr=~[0.0246673 -0.00416883 -0.281881 -0.75984 -0.284997 0.0635231] +86: DYN t=0.083: verrStart=~[0.000513804 -1.6263e-19 -0.290597 -0.866459 -0.293928 0.0147974] +86: verrApplied=~[0.0241535 -0.00416883 0.00871604 0.106619 0.00893161 0.0487257] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.000513804 -1.6263e-19 -0.290597 -0.866459 -0.293928 0.0147974] +86: verrApplied=~[0.0241535 -0.00416883 0.00871604 0.106619 0.00893161 0.0487257] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.290597,-0.866459, mag=0.913892 +86: Participating contact 1 is Sliding; vel=-0.293928,0.0147974, mag=0.294301 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.290597,-0.866459, mag=0.913892 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.293928,0.0147974, mag=0.294301 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.0246673; guess pi=0.01 +86: DBG: active normal 3 has v=-0.00416883; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000513804 -1.6263e-19 -0.290597 -0.866459 -0.293928 0.0147974] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.0241535 -0.00416883 0.00871604 0.106619 0.00893161 0.0487257] +86: : rhsActive=~[0.0246673 -0.281881 -0.75984 -0.00416883 -0.284997 0.0635231] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.57629e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0233954... +86: > NEWTON iter 1: errNorm=0.0233954(v) -> deltaNorm=0.1432(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[-0.0231931 0 0 0.00305575 0.000293928 -1.47974e-05] +86: > deltaPi=~[-0.124047 -1.46924e-07 -4.38076e-07 0.071084 0.00809788 -0.000407677] +86: DBG: Line search iter 1: back=1, prevNorm=0.0233954. +86: > piNow=~[0.134047 1.46924e-07 4.38076e-07 -0.081084 -0.00809788 0.000407677] +86: > errNow=~[3.46945e-18 1.34273e-07 4.00354e-07 8.67362e-19 7.78261e-08 -3.91805e-09] normNow=4.29401e-07 +86: DBG: Improvement rate now/prev at iter 1 is 1.83541e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.52403e-08 +86: > NEWTON iter 2: errNorm=4.29401e-07(v) -> deltaNorm=7.57612e-07(pi) +86: > piActive=~[0.134047 1.46924e-07 4.38076e-07 -0.081084 -0.00809788 0.000407677] +86: > errActive=~[3.46945e-18 1.34273e-07 4.00354e-07 8.67362e-19 7.78261e-08 -3.91805e-09] +86: > deltaPi=~[-5.39255e-07 1.46924e-07 4.38076e-07 -9.90649e-09 2.63455e-07 -1.32633e-08] +86: DBG: Line search iter 1: back=1, prevNorm=4.29401e-07. +86: > piNow=~[0.134047 3.555e-15 1.05998e-14 -0.081084 -0.00809814 0.00040769] +86: > errNow=~[0 3.24888e-15 9.68703e-15 2.60209e-18 -1.65232e-16 8.29415e-18] normNow=1.02187e-14 +86: DBG: Improvement rate now/prev at iter 2 is 2.37975e-08 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.02187e-14. +86: DBG: Worst offender is normal contact 0 err=0.134047 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.290597,-0.866459, mag=0.913892 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.293928,0.0147974, mag=0.294301 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.00416883; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.000513804 -1.6263e-19 -0.290597 -0.866459 -0.293928 0.0147974] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.0241535 -0.00416883 0.00871604 0.106619 0.00893161 0.0487257] +86: : rhsActive=~[-0.00416883 -0.284997 0.0635231] +86: : pi was=~[0 -0.081084 3.555e-15 1.05998e-14 -0.00809814 0.00040769] +86: : piActive=~[-0.01 -0.00809814 0.00040769] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.09623e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00304277... +86: > NEWTON iter 1: errNorm=0.00304277(v) -> deltaNorm=0.012307(pi) +86: > piActive=~[-0.01 -0.00809814 0.00040769] +86: > errActive=~[0.00220951 -0.00208936 0.000105186] +86: > deltaPi=~[0.0107252 -0.00602828 0.000303486] +86: DBG: Line search iter 1: back=1, prevNorm=0.00304277. +86: > piNow=~[-0.0207252 -0.00206986 0.000104204] +86: > errNow=~[-8.67362e-19 1.17425e-08 -5.91158e-10] normNow=1.17573e-08 +86: DBG: Improvement rate now/prev at iter 1 is 3.86402e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.55236e-07 +86: > NEWTON iter 2: errNorm=1.17573e-08(v) -> deltaNorm=4.01223e-08(pi) +86: > piActive=~[-0.0207252 -0.00206986 0.000104204] +86: > errActive=~[-8.67362e-19 1.17425e-08 -5.91158e-10] +86: > deltaPi=~[1.45729e-09 4.00451e-08 -2.01601e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.17573e-08. +86: > piNow=~[-0.0207252 -0.0020699 0.000104206] +86: > errNow=~[8.67362e-19 3.71556e-16 -1.86957e-17] normNow=3.72027e-16 +86: DBG: Improvement rate now/prev at iter 2 is 3.16421e-08 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.72027e-16. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.293928,0.0147974] to ~[-0.284774,0.0687551] +86: DBG: Friction 1 rotated 10.6915 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.0207252 -0.0020699 0.000104206] +86: : m_verrLeft=~[0.0265167 -8.67362e-19 -0.281648 -0.757333 -0.284774 0.0687551] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.0265167 pi*v=0 +86: DBG: 1: pi=-0.0207252 verr=-8.67362e-19 pi*v=1.79763e-20 +86: SP FINAL 1 intervals, piTotal=~[0 -0.0207252 0 0 -0.0020699 0.000104206] errNorm=3.72027e-16 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.290597 -0.866459, |slipV|=0.913892 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.293928 0.0147974, |slipV|=0.294301 +86: ------------------------------ +86: +86: dynamics impulse=~[0 -0.0207252 0 0 -0.0020699 0.000104206] +86: updated verrStart=~[0.0265167 -8.67362e-19 -0.281648 -0.757333 -0.284774 0.0687551] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.104092 -0.0110958 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.237997 0.090573 -0.0081849 0.30582 -0.00748997 0.117477] +86: [0.090573 0.201882 0.00615233 0.118412 0.00563782 0.257919] +86: [-0.0081849 0.00615233 0.0490064 0.0312365 0.0492534 -0.0336717] +86: [0.30582 0.118412 0.0312365 0.464102 0.0324578 0.135301] +86: [-0.00748997 0.00563782 0.0492534 0.0324578 0.0495086 -0.0346558] +86: [0.117477 0.257919 -0.0336717 0.135301 -0.0346558 0.399922] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[0.104092 -0.0110958 0 0 0 0] +86: active=(1) +86: -> piActive=~[-0.0549619] +86: -> pi=~[0 -0.0549619 0 0 0 0] +86: resid active=~[0] +86: resid=~[-0.10907 0 -0.000338143 -0.00650815 -0.000309865 -0.0141757] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[0.0265167 1.16226e-16 -0.281648 -0.757333 -0.284774 0.0687551] +86: perr=~[0.000104092 -1.10958e-05 0] +86: END OF STEP (0.083,0.084): +86: verr=~[0.0267905 -0.000273783 -0.281307 -0.757323 -0.285115 0.0687448] +86: perr=~[0.000130746 -1.12327e-05 0] +86: constraint status: +86: 0: cont UniOff fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=0.807881 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.293286 -> mu=0.1 +86: DBG: Uni contact 2 verr vel=-0.000273783 at or below tol 0.001 -> cor=0 +86: +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (1) +86: observers: (0) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[0.0267905 -0.000273783 -0.281307 -0.757323 -0.285115 0.0687448] +86: IMP t=0.084 verr=~[0.0267905 -0.000273783 -0.281307 -0.757323 -0.285115 0.0687448] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.0267905 -0.000273783 -0.281307 -0.757323 -0.285115 0.0687448] +86: verrApplied=~[] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.281307,-0.757323, mag=0.807881 +86: Participating contact 1 is Sliding; vel=-0.285115,0.0687448, mag=0.293286 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.281307,-0.757323, mag=0.807881 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.285115,0.0687448, mag=0.293286 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.0267905; guess pi=0.01 +86: DBG: active normal 3 has v=-0.000273783; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.0267905 -0.000273783 -0.281307 -0.757323 -0.285115 0.0687448] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.0267905 -0.281307 -0.757323 -0.000273783 -0.285115 0.0687448] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.20142e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0253293... +86: > NEWTON iter 1: errNorm=0.0253293(v) -> deltaNorm=0.13705(pi) +86: > piActive=~[0.01 0 0 -0.01 0 0] +86: > errActive=~[-0.0253136 0 0 -0.000842596 0.000285115 -6.87448e-05] +86: > deltaPi=~[-0.125886 -1.63275e-07 -4.39564e-07 0.0538041 0.00620247 -0.00149549] +86: DBG: Line search iter 1: back=1, prevNorm=0.0253293. +86: > piNow=~[0.135886 1.63275e-07 4.39564e-07 -0.0638041 -0.00620247 0.00149549] +86: > errNow=~[1.38778e-17 1.31907e-07 3.55115e-07 9.75782e-19 5.7141e-08 -1.37774e-08] normNow=3.83355e-07 +86: DBG: Improvement rate now/prev at iter 1 is 1.51348e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.13998e-08 +86: > NEWTON iter 2: errNorm=3.83355e-07(v) -> deltaNorm=7.46742e-07(pi) +86: > piActive=~[0.135886 1.63275e-07 4.39564e-07 -0.0638041 -0.00620247 0.00149549] +86: > errActive=~[1.38778e-17 1.31907e-07 3.55115e-07 9.75782e-19 5.7141e-08 -1.37774e-08] +86: > deltaPi=~[-5.42986e-07 1.63275e-07 4.39564e-07 3.59831e-08 1.98328e-07 -4.78194e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.83355e-07. +86: > piNow=~[0.135886 3.81446e-15 1.02691e-14 -0.0638041 -0.00620267 0.00149554] +86: > errNow=~[-3.46945e-18 3.08163e-15 8.29625e-15 -1.40946e-18 9.38919e-16 -2.26381e-16] normNow=8.90264e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.3223e-08 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.90264e-15. +86: DBG: Worst offender is normal contact 0 err=0.135886 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.281307,-0.757323, mag=0.807881 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.285115,0.0687448, mag=0.293286 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=-0.000273783; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.0267905 -0.000273783 -0.281307 -0.757323 -0.285115 0.0687448] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000273783 -0.285115 0.0687448] +86: : pi was=~[0 -0.0638041 3.81446e-15 1.02691e-14 -0.00620267 0.00149554] +86: : piActive=~[-0.01 -0.00620267 0.00149554] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.09245e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00210442... +86: > NEWTON iter 1: errNorm=0.00210442(v) -> deltaNorm=0.0106299(pi) +86: > piActive=~[-0.01 -0.00620267 0.00149554] +86: > errActive=~[-0.0013923 -0.00153404 0.000369876] +86: > deltaPi=~[-0.00860503 -0.00606702 0.00146283] +86: DBG: Line search iter 1: back=1, prevNorm=0.00210442. +86: > piNow=~[-0.00139497 -0.000135642 3.2705e-05] +86: > errNow=~[6.50521e-19 -9.13871e-09 2.20345e-09] normNow=9.40059e-09 +86: DBG: Improvement rate now/prev at iter 1 is 4.46707e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.58259e-05 +86: > NEWTON iter 2: errNorm=9.40059e-09(v) -> deltaNorm=3.41584e-08(pi) +86: > piActive=~[-0.00139497 -0.000135642 3.2705e-05] +86: > errActive=~[6.50521e-19 -9.13871e-09 2.20345e-09] +86: > deltaPi=~[-9.00142e-09 -3.20331e-08 7.72357e-09] +86: DBG: Line search iter 1: back=1, prevNorm=9.40059e-09. +86: > piNow=~[-0.00139496 -0.00013561 3.26972e-05] +86: > errNow=~[-5.42101e-20 -4.88513e-13 1.17786e-13] normNow=5.02512e-13 +86: DBG: Improvement rate now/prev at iter 2 is 5.34553e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.02512e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.285115,0.0687448] to ~[-0.2851,0.069087] +86: DBG: Friction 1 rotated 0.0656832 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00139496 -0.00013561 3.26972e-05] +86: : m_verrLeft=~[0.0269114 5.42101e-20 -0.28129 -0.757158 -0.2851 0.069087] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.0269114 pi*v=0 +86: DBG: 1: pi=-0.00139496 verr=5.42101e-20 pi*v=-7.56211e-23 +86: SP FINAL 1 intervals, piTotal=~[0 -0.00139496 0 0 -0.00013561 3.26972e-05] errNorm=5.02512e-13 +86: Postcompression verr=~[0.0269114 5.42101e-20 -0.28129 -0.757158 -0.2851 0.069087] +86: impulse=~[0 -0.00139496 0 0 -0.00013561 3.26972e-05] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[0 -0.00139496 0 0 -0.00013561 3.26972e-05]-> du ~[0.000150897 0.000440938 0.000177414 -0.000253446 1.59454e-05 0.00019732 -0.000774538 0.000605815] +86: Now verr0=~[0.0269114 0 -0.28129 -0.757158 -0.2851 0.069087] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[0.0269114 0 -0.28129 -0.757158 -0.2851 0.069087] +86: verrExt=~[0.0542052 0.0176639 0.00900104 0.148792 0.00932139 0.0781132] +86: total verr=~[0.0811166 0.0176639 -0.272289 -0.608367 -0.275779 0.1472] +86: DYN t=0.084: verrStart=~[0.0269114 0 -0.28129 -0.757158 -0.2851 0.069087] +86: verrApplied=~[0.0542052 0.0176639 0.00900104 0.148792 0.00932139 0.0781132] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.0269114 0 -0.28129 -0.757158 -0.2851 0.069087] +86: verrApplied=~[0.0542052 0.0176639 0.00900104 0.148792 0.00932139 0.0781132] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.28129,-0.757158, mag=0.807721 +86: Participating contact 1 is Sliding; vel=-0.2851,0.069087, mag=0.293351 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.28129,-0.757158, mag=0.807721 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.2851,0.069087, mag=0.293351 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.0811166; guess pi=0.01 +86: DBG: active normal 3 has v=0.0176639; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[0.0269114 0 -0.28129 -0.757158 -0.2851 0.069087] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.0542052 0.0176639 0.00900104 0.148792 0.00932139 0.0781132] +86: : rhsActive=~[0.0811166 -0.272289 -0.608367 0.0176639 -0.275779 0.1472] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.20094e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0792211... +86: > NEWTON iter 1: errNorm=0.0792211(v) -> deltaNorm=0.371226(pi) +86: > piActive=~[0.01 0 0 0.01 0 0] +86: > errActive=~[-0.0778368 0 0 -0.0147448 0 0] +86: > deltaPi=~[-0.360637 -4.67816e-07 -1.25923e-06 0.0880334 3.1869e-07 -7.72267e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.0792211. +86: > piNow=~[0.370637 4.67816e-07 1.25923e-06 -0.0780334 -3.1869e-07 7.72267e-08] +86: > errNow=~[1.38778e-17 3.77865e-07 1.01711e-06 0 0.00222464 -0.000539087] normNow=0.00228902 +86: DBG: Improvement rate now/prev at iter 1 is 0.0288941 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.808e-08 +86: > NEWTON iter 2: errNorm=0.00228902(v) -> deltaNorm=0.00826314(pi) +86: > piActive=~[0.370637 4.67816e-07 1.25923e-06 -0.0780334 -3.1869e-07 7.72267e-08] +86: > errActive=~[1.38778e-17 3.77865e-07 1.01711e-06 0 0.00222464 -0.000539087] +86: > deltaPi=~[0.000419365 4.67816e-07 1.25924e-06 0.00200987 0.00777887 -0.00188502] +86: DBG: Line search iter 1: back=1, prevNorm=0.00228902. +86: > piNow=~[0.370217 -3.9605e-13 -1.06606e-12 -0.0800433 -0.00777918 0.00188509] +86: > errNow=~[-1.38778e-17 -3.19898e-13 -8.61078e-13 -3.46945e-18 3.5056e-11 -8.49496e-12] normNow=3.60823e-11 +86: DBG: Improvement rate now/prev at iter 2 is 1.57632e-08 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.60823e-11. +86: DBG: Worst offender is normal contact 0 err=0.370217 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.28129,-0.757158, mag=0.807721 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.2851,0.069087, mag=0.293351 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=0.0176639; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[0.0269114 0 -0.28129 -0.757158 -0.2851 0.069087] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.0542052 0.0176639 0.00900104 0.148792 0.00932139 0.0781132] +86: : rhsActive=~[0.0176639 -0.275779 0.1472] +86: : pi was=~[0 -0.0800433 -3.9605e-13 -1.06606e-12 -0.00777918 0.00188509] +86: : piActive=~[0.01 -0.00777918 0.00188509] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.0927e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0153829... +86: > NEWTON iter 1: errNorm=0.0153829(v) -> deltaNorm=0.0779536(pi) +86: > piActive=~[0.01 -0.00777918 0.00188509] +86: > errActive=~[-0.0152026 -0.00228203 0.000552995] +86: > deltaPi=~[-0.0775416 -0.00777947 0.00188516] +86: DBG: Line search iter 1: back=1, prevNorm=0.0153829. +86: > piNow=~[0.0875416 2.80708e-07 -6.80228e-08] +86: > errNow=~[0 8.23461e-08 -1.99546e-08] normNow=8.47294e-08 +86: DBG: Improvement rate now/prev at iter 1 is 5.50802e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.426e-08 +86: > NEWTON iter 2: errNorm=8.47294e-08(v) -> deltaNorm=2.99525e-07(pi) +86: > piActive=~[0.0875416 2.80708e-07 -6.80228e-08] +86: > errActive=~[0 8.23461e-08 -1.99546e-08] +86: > deltaPi=~[7.93156e-08 2.80708e-07 -6.80228e-08] +86: DBG: Line search iter 1: back=1, prevNorm=8.47294e-08. +86: > piNow=~[0.0875415 -3.74713e-15 9.08025e-16] +86: > errNow=~[3.46945e-18 -1.09923e-15 2.6637e-16] normNow=1.13104e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.33489e-08 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.13104e-15. +86: DBG: Worst offender is normal contact 1 err=0.0875415 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 3 start +86: : active=() +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.28129,-0.757158, mag=0.807721 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.2851,0.069087, mag=0.293351 +86: fillMult2Active: +86: : active=() +86: : mult2active=(-1111111111,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111) +86: initializeNewton: +86: : verrLeft was=~[0.0269114 0 -0.28129 -0.757158 -0.2851 0.069087] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.0542052 0.0176639 0.00900104 0.148792 0.00932139 0.0781132] +86: : rhsActive=~[] +86: : pi was=~[0 0 -3.9605e-13 -1.06606e-12 -3.74713e-15 9.08025e-16] +86: : piActive=~[] +86: SP interval 1 end: s=1 +86: : m_piActive=~[] +86: : m_verrLeft=~[0.0811166 0.0176639 -0.272289 -0.608367 -0.275779 0.1472] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.0811166 pi*v=0 +86: DBG: 1: pi=0 verr=0.0176639 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[0 0 0 0 0 0] errNorm=0 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.28129 -0.757158, |slipV|=0.807721 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.2851 0.069087, |slipV|=0.293351 +86: ------------------------------ +86: +86: dynamics impulse=~[0 0 0 0 0 0] +86: updated verrStart=~[0.0811166 0.0176639 -0.272289 -0.608367 -0.275779 0.1472] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.130746 -0.0112327 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.237834 0.09014 -0.0085928 0.305857 -0.0077451 0.117263] +86: [0.09014 0.201778 0.00614991 0.118129 0.00552123 0.258061] +86: [-0.0085928 0.00614991 0.0488713 0.0306091 0.0491688 -0.0335388] +86: [0.305857 0.118129 0.0306091 0.464529 0.032098 0.135489] +86: [-0.0077451 0.00552123 0.0491688 0.032098 0.0494786 -0.0347388] +86: [0.117263 0.258061 -0.0335388 0.135489 -0.0347388 0.400376] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[0.130746 -0.0112327 0 0 0 0] +86: active=(1) +86: -> piActive=~[-0.0556686] +86: -> pi=~[0 -0.0556686 0 0 0 0] +86: resid active=~[0] +86: resid=~[-0.135764 0 -0.000342356 -0.00657608 -0.000307359 -0.0143659] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[0.0811166 0.0176639 -0.272289 -0.608367 -0.275779 0.1472] +86: perr=~[0.000130746 -1.12327e-05 0] +86: END OF STEP (0.084,0.085): +86: verr=~[0.0812911 0.0174894 -0.272002 -0.60835 -0.276066 0.147184] +86: perr=~[0.00021195 6.34399e-06 -1.11022e-16] +86: constraint status: +86: 0: cont UniOff fric Sliding +86: 2: cont UniOff fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 0 verr speed=0.66639 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.312851 -> mu=0.1 86: DBG: performSimultaneousImpact(): No impacters; nothing to do. 86: DBG: No impact. 86: 86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.000670157 0.000178655 0.0632883 1.21391 0.060291 1.06091] -86: verrExt=~[0.0117167 0.195727 0.200229 -0.300293 0.205004 -0.0632674] -86: total verr=~[0.0123868 0.195906 0.263518 0.913619 0.265295 0.99764] -86: DYN t=0.018: verrStart=~[0.000670157 0.000178655 0.0632883 1.21391 0.060291 1.06091] -86: verrApplied=~[0.0117167 0.195727 0.200229 -0.300293 0.205004 -0.0632674] +86: verr0 =~[0.0812911 0.0174894 -0.272002 -0.60835 -0.276066 0.147184] +86: verrExt=~[0.0661041 0.0246395 0.00928729 0.16593 0.00970108 0.0871634] +86: total verr=~[0.147395 0.042129 -0.262715 -0.442421 -0.266365 0.234348] +86: DYN t=0.085: verrStart=~[0.0812911 0.0174894 -0.272002 -0.60835 -0.276066 0.147184] +86: verrApplied=~[0.0661041 0.0246395 0.00928729 0.16593 0.00970108 0.0871634] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -33871,162 +45044,164 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000670157 0.000178655 0.0632883 1.21391 0.060291 1.06091] -86: verrApplied=~[0.0117167 0.195727 0.200229 -0.300293 0.205004 -0.0632674] +86: verrLeft=~[0.0812911 0.0174894 -0.272002 -0.60835 -0.276066 0.147184] +86: verrApplied=~[0.0661041 0.0246395 0.00928729 0.16593 0.00970108 0.0871634] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.0632883,1.21391, mag=1.21556 -86: Participating contact 1 is Sliding; vel=0.060291,1.06091, mag=1.06262 +86: Participating contact 0 is Sliding; vel=-0.272002,-0.60835, mag=0.66639 +86: Participating contact 1 is Sliding; vel=-0.276066,0.147184, mag=0.312851 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=0.0632883,1.21391, mag=1.21556 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=0.060291,1.06091, mag=1.06262 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.272002,-0.60835, mag=0.66639 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.276066,0.147184, mag=0.312851 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.0123868; guess pi=0.01 -86: DBG: active normal 3 has v=0.195906; guess pi=0.01 +86: DBG: active normal 0 has v=0.147395; guess pi=0.01 +86: DBG: active normal 3 has v=0.042129; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000670157 0.000178655 0.0632883 1.21391 0.060291 1.06091] +86: : verrLeft was=~[0.0812911 0.0174894 -0.272002 -0.60835 -0.276066 0.147184] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0117167 0.195727 0.200229 -0.300293 0.205004 -0.0632674] -86: : rhsActive=~[0.0123868 0.263518 0.913619 0.195906 0.265295 0.99764] +86: : verrApplied was=~[0.0661041 0.0246395 0.00928729 0.16593 0.00970108 0.0871634] +86: : rhsActive=~[0.147395 -0.262715 -0.442421 0.042129 -0.266365 0.234348] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.01397e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.191924... -86: > NEWTON iter 1: errNorm=0.191924(v) -> deltaNorm=0.700173(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.74215e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.149359... +86: > NEWTON iter 1: errNorm=0.149359(v) -> deltaNorm=0.646828(pi) 86: > piActive=~[0.01 0 0 0.01 0 0] -86: > errActive=~[-0.00876303 0 0 -0.191724 0 0] -86: > deltaPi=~[0.215586 -4.18099e-08 -8.01942e-07 -0.666157 1.40787e-07 2.47735e-06] -86: DBG: Line search iter 1: back=1, prevNorm=0.191924. -86: > piNow=~[-0.205586 4.18099e-08 8.01942e-07 0.676157 -1.40787e-07 -2.47735e-06] -86: > errNow=~[-1.56125e-17 -0.00130107 -0.0249554 -2.77556e-17 -1.49603e-07 -2.63248e-06] normNow=0.0249893 -86: DBG: Improvement rate now/prev at iter 1 is 0.130204 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.07498e-08 -86: > NEWTON iter 2: errNorm=0.0249893(v) -> deltaNorm=0.0281512(pi) -86: > piActive=~[-0.205586 4.18099e-08 8.01942e-07 0.676157 -1.40787e-07 -2.47735e-06] -86: > errActive=~[-1.56125e-17 -0.00130107 -0.0249554 -2.77556e-17 -1.49603e-07 -2.63248e-06] -86: > deltaPi=~[-0.00191611 -0.00106037 -0.0203386 -0.01934 -1.40786e-07 -2.47734e-06] -86: DBG: Line search iter 1: back=1, prevNorm=0.0249893. -86: > piNow=~[-0.20367 0.00106041 0.0203394 0.695497 -8.9412e-13 -1.57333e-11] -86: > errNow=~[-6.93889e-18 1.06885e-12 2.05013e-11 2.77556e-17 -9.50109e-13 -1.67185e-11] normNow=2.64926e-11 -86: DBG: Improvement rate now/prev at iter 2 is 1.06016e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.64926e-11. -86: DBG: Worst offender is normal contact 1 err=0.695497 ... -86: DBG: ... normal contact 1 released. +86: > errActive=~[-0.144119 0 0 -0.0392134 0 0] +86: > deltaPi=~[-0.640433 -9.73708e-07 -2.17776e-06 0.0907286 2.98216e-07 -1.58994e-07] +86: DBG: Line search iter 1: back=1, prevNorm=0.149359. +86: > piNow=~[0.650433 9.73708e-07 2.17776e-06 -0.0807286 -2.98216e-07 1.58994e-07] +86: > errNow=~[-8.32667e-17 6.48869e-07 1.45124e-06 1.38778e-17 0.00222855 -0.00118815] normNow=0.00252549 +86: DBG: Improvement rate now/prev at iter 1 is 0.0169089 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.78928e-08 +86: > NEWTON iter 2: errNorm=0.00252549(v) -> deltaNorm=0.00978792(pi) +86: > piActive=~[0.650433 9.73708e-07 2.17776e-06 -0.0807286 -2.98216e-07 1.58994e-07] +86: > errActive=~[-8.32667e-17 6.48869e-07 1.45124e-06 1.38778e-17 0.00222855 -0.00118815] +86: > deltaPi=~[0.000436186 9.73709e-07 2.17776e-06 0.00474915 0.00754243 -0.00402124] +86: DBG: Line search iter 1: back=1, prevNorm=0.00252549. +86: > piNow=~[0.649997 -1.56773e-13 -3.50633e-13 -0.0854777 -0.00754273 0.00402139] +86: > errNow=~[2.77556e-17 -1.04472e-13 -2.33658e-13 0 7.49435e-11 -3.9956e-11] normNow=8.49298e-11 +86: DBG: Improvement rate now/prev at iter 2 is 3.3629e-08 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.49298e-11. +86: DBG: Worst offender is normal contact 0 err=0.649997 ... +86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=0.0632883,1.21391, mag=1.21556 -86: Participating UniCont 1 (ix=6): cond=UniOff/Sliding, vel=0.060291,1.06091, mag=1.06262 +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.272002,-0.60835, mag=0.66639 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.276066,0.147184, mag=0.312851 86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=0.0123868; guess pi=0.01 +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=0.042129; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000670157 0.000178655 0.0632883 1.21391 0.060291 1.06091] +86: : verrLeft was=~[0.0812911 0.0174894 -0.272002 -0.60835 -0.276066 0.147184] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0117167 0.195727 0.200229 -0.300293 0.205004 -0.0632674] -86: : rhsActive=~[0.0123868 0.263518 0.913619] -86: : pi was=~[-0.20367 0 0.00106041 0.0203394 -8.9412e-13 -1.57333e-11] -86: : piActive=~[0.01 0.00106041 0.0203394] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.52781e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0275821... -86: > NEWTON iter 1: errNorm=0.0275821(v) -> deltaNorm=0.0421899(pi) -86: > piActive=~[0.01 0.00106041 0.0203394] -86: > errActive=~[-0.0121591 0.00128899 0.0247238] -86: > deltaPi=~[-0.0369482 0.00106042 0.0203395] -86: DBG: Line search iter 1: back=1, prevNorm=0.0275821. -86: > piNow=~[0.0469482 -7.16558e-09 -1.37441e-07] -86: > errNow=~[-5.20417e-18 -8.71021e-09 -1.67068e-07] normNow=1.67295e-07 -86: DBG: Improvement rate now/prev at iter 1 is 6.06533e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.05446e-07 -86: > NEWTON iter 2: errNorm=1.67295e-07(v) -> deltaNorm=1.50842e-07(pi) -86: > piActive=~[0.0469482 -7.16558e-09 -1.37441e-07] -86: > errActive=~[-5.20417e-18 -8.71021e-09 -1.67068e-07] -86: > deltaPi=~[-6.17425e-08 -7.16558e-09 -1.37441e-07] -86: DBG: Line search iter 1: back=1, prevNorm=1.67295e-07. -86: > piNow=~[0.0469483 -5.43314e-16 -1.04211e-14] -86: > errNow=~[-1.73472e-18 -6.60432e-16 -1.26675e-14] normNow=1.26847e-14 -86: DBG: Improvement rate now/prev at iter 2 is 7.58227e-08 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.26847e-14. -86: DBG: Worst offender is normal contact 0 err=0.0469483 ... -86: DBG: ... normal contact 0 released. +86: : verrApplied was=~[0.0661041 0.0246395 0.00928729 0.16593 0.00970108 0.0871634] +86: : rhsActive=~[0.042129 -0.266365 0.234348] +86: : pi was=~[0 -0.0854777 -1.56773e-13 -3.50633e-13 -0.00754273 0.00402139] +86: : piActive=~[0.01 -0.00754273 0.00402139] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.16533e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0392052... +86: > NEWTON iter 1: errNorm=0.0392052(v) -> deltaNorm=0.199003(pi) +86: > piActive=~[0.01 -0.00754273 0.00402139] +86: > errActive=~[-0.0391139 -0.00235975 0.0012581] +86: > deltaPi=~[-0.198819 -0.00754339 0.00402174] +86: DBG: Line search iter 1: back=1, prevNorm=0.0392052. +86: > piNow=~[0.208819 6.53499e-07 -3.48412e-07] +86: > errNow=~[0 2.04448e-07 -1.09001e-07] normNow=2.31689e-07 +86: DBG: Improvement rate now/prev at iter 1 is 5.90967e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.67275e-09 +86: > NEWTON iter 2: errNorm=2.31689e-07(v) -> deltaNorm=8.55566e-07(pi) +86: > piActive=~[0.208819 6.53499e-07 -3.48412e-07] +86: > errActive=~[0 2.04448e-07 -1.09001e-07] +86: > deltaPi=~[4.28417e-07 6.53499e-07 -3.48412e-07] +86: DBG: Line search iter 1: back=1, prevNorm=2.31689e-07. +86: > piNow=~[0.208818 -3.22971e-15 1.72191e-15] +86: > errNow=~[0 -1.01042e-15 5.38702e-16] normNow=1.14505e-15 +86: DBG: Improvement rate now/prev at iter 2 is 4.94218e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.14505e-15. +86: DBG: Worst offender is normal contact 1 err=0.208818 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 3 start 86: : active=() -86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=0.0632883,1.21391, mag=1.21556 -86: Participating UniCont 1 (ix=6): cond=UniOff/Sliding, vel=0.060291,1.06091, mag=1.06262 +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.272002,-0.60835, mag=0.66639 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.276066,0.147184, mag=0.312851 86: fillMult2Active: 86: : active=() 86: : mult2active=(-1111111111,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111) 86: initializeNewton: -86: : verrLeft was=~[0.000670157 0.000178655 0.0632883 1.21391 0.060291 1.06091] +86: : verrLeft was=~[0.0812911 0.0174894 -0.272002 -0.60835 -0.276066 0.147184] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0117167 0.195727 0.200229 -0.300293 0.205004 -0.0632674] +86: : verrApplied was=~[0.0661041 0.0246395 0.00928729 0.16593 0.00970108 0.0871634] 86: : rhsActive=~[] -86: : pi was=~[0 0 -5.43314e-16 -1.04211e-14 -8.9412e-13 -1.57333e-11] +86: : pi was=~[0 0 -1.56773e-13 -3.50633e-13 -3.22971e-15 1.72191e-15] 86: : piActive=~[] 86: SP interval 1 end: s=1 86: : m_piActive=~[] -86: : m_verrLeft=~[0.0123868 0.195906 0.263518 0.913619 0.265295 0.99764] +86: : m_verrLeft=~[0.147395 0.042129 -0.262715 -0.442421 -0.266365 0.234348] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.0123868 pi*v=0 -86: DBG: 1: pi=0 verr=0.195906 pi*v=0 +86: DBG: 0: pi=0 verr=0.147395 pi*v=0 +86: DBG: 1: pi=0 verr=0.042129 pi*v=0 86: SP FINAL 1 intervals, piTotal=~[0 0 0 0 0 0] errNorm=0 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.0632883 1.21391, |slipV|=1.21556 -86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.272002 -0.60835, |slipV|=0.66639 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.060291 1.06091, |slipV|=1.06262 +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.276066 0.147184, |slipV|=0.312851 86: ------------------------------ 86: 86: dynamics impulse=~[0 0 0 0 0 0] -86: updated verrStart=~[0.0123868 0.195906 0.263518 0.913619 0.265295 0.99764] +86: updated verrStart=~[0.147395 0.042129 -0.262715 -0.442421 -0.266365 0.234348] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.889904 0.174212 0 0 0 0] +86: posVerr=~[0.21195 0.00634399 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 0 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: DBG: no bilateral participators. Nothing to do. 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[0.0123868 0.195906 0.263518 0.913619 0.265295 0.99764] -86: perr=~[0.000889904 0.000174212 0] -86: END OF STEP (0.018,0.019): -86: verr=~[0.0126502 0.196411 0.264224 0.922194 0.26595 1.00569] -86: perr=~[0.000902422 0.00037037 0] +86: verr=~[0.147395 0.042129 -0.262715 -0.442421 -0.266365 0.234348] +86: perr=~[0.00021195 6.34399e-06 -1.11022e-16] +86: END OF STEP (0.085,0.086): +86: verr=~[0.147476 0.0420481 -0.26248 -0.442407 -0.266599 0.234334] +86: perr=~[0.000359385 4.84325e-05 -1.11022e-16] 86: constraint status: -86: 4: cont UniOff fric Sliding -86: 6: cont UniOff fric Sliding -86: Proximal unilateral contacts: (4,6) -86: Distal unilateral contacts: (0,1,2,3,5,7) +86: 0: cont UniOff fric Sliding +86: 2: cont UniOff fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 4 verr speed=0.9593 -> mu=0.1 -86: DBG: Uni fric 6 verr speed=1.04026 -> mu=0.1 +94: F-B Free vs. Combination of Two Function-Based: Passed +94: Done +86: DBG: Uni fric 0 verr speed=0.514412 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.354947 -> mu=0.1 86: DBG: performSimultaneousImpact(): No impacters; nothing to do. 86: DBG: No impact. 86: 86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.0126502 0.196411 0.264224 0.922194 0.26595 1.00569] -86: verrExt=~[0.605259 0.904931 0.296067 -1.05662 0.302855 -0.71673] -86: total verr=~[0.617909 1.10134 0.560291 -0.134427 0.568806 0.288955] -86: DYN t=0.019: verrStart=~[0.0126502 0.196411 0.264224 0.922194 0.26595 1.00569] -86: verrApplied=~[0.605259 0.904931 0.296067 -1.05662 0.302855 -0.71673] +86: verr0 =~[0.147476 0.0420481 -0.26248 -0.442407 -0.266599 0.234334] +86: verrExt=~[0.0641925 0.0206406 0.00958427 0.163808 0.01007 0.0811288] +86: total verr=~[0.211669 0.0626887 -0.252896 -0.278599 -0.256529 0.315462] +86: DYN t=0.086: verrStart=~[0.147476 0.0420481 -0.26248 -0.442407 -0.266599 0.234334] +86: verrApplied=~[0.0641925 0.0206406 0.00958427 0.163808 0.01007 0.0811288] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -34038,302 +45213,514 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.0126502 0.196411 0.264224 0.922194 0.26595 1.00569] -86: verrApplied=~[0.605259 0.904931 0.296067 -1.05662 0.302855 -0.71673] +86: verrLeft=~[0.147476 0.0420481 -0.26248 -0.442407 -0.266599 0.234334] +86: verrApplied=~[0.0641925 0.0206406 0.00958427 0.163808 0.01007 0.0811288] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.264224,0.922194, mag=0.9593 -86: Participating contact 1 is Sliding; vel=0.26595,1.00569, mag=1.04026 +86: Participating contact 0 is Sliding; vel=-0.26248,-0.442407, mag=0.514412 +86: Participating contact 1 is Sliding; vel=-0.266599,0.234334, mag=0.354947 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=0.264224,0.922194, mag=0.9593 -86: Participating UniCont 1 (ix=6): cond=UniActive/Sliding, vel=0.26595,1.00569, mag=1.04026 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.26248,-0.442407, mag=0.514412 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.266599,0.234334, mag=0.354947 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.617909; guess pi=0.01 -86: DBG: active normal 3 has v=1.10134; guess pi=0.01 +86: DBG: active normal 0 has v=0.211669; guess pi=0.01 +86: DBG: active normal 3 has v=0.0626887; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.0126502 0.196411 0.264224 0.922194 0.26595 1.00569] +86: : verrLeft was=~[0.147476 0.0420481 -0.26248 -0.442407 -0.266599 0.234334] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.605259 0.904931 0.296067 -1.05662 0.302855 -0.71673] -86: : rhsActive=~[0.617909 0.560291 -0.134427 1.10134 0.568806 0.288955] +86: : verrApplied was=~[0.0641925 0.0206406 0.00958427 0.163808 0.01007 0.0811288] +86: : rhsActive=~[0.211669 -0.252896 -0.278599 0.0626887 -0.256529 0.315462] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.27091e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.25743... -86: > NEWTON iter 1: errNorm=1.25743(v) -> deltaNorm=3.30313(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.32799e-06 + 87/108 Test #94: TestFunctionBasedMobilizedBodies ............... Passed 0.24 sec +86: DBG: >>>> Start NEWTON solve with errNorm=0.216798... +86: > NEWTON iter 1: errNorm=0.216798(v) -> deltaNorm=0.925236(pi) 86: > piActive=~[0.01 0 0 0.01 0 0] -86: > errActive=~[-0.614285 0 0 -1.09717 0 0] -86: > deltaPi=~[-1.16682 1.19711e-06 4.17816e-06 -3.09018 2.94276e-06 1.1128e-05] -86: DBG: Line search iter 1: back=1, prevNorm=1.25743. -86: > piNow=~[1.17682 -1.19711e-06 -4.17816e-06 3.10018 -2.94276e-06 -1.1128e-05] -86: > errNow=~[0 -1.14839e-06 -4.00811e-06 2.22045e-16 -3.06123e-06 -1.1576e-05] normNow=1.2679e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.00833e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.89039e-10 -86: > NEWTON iter 2: errNorm=1.2679e-05(v) -> deltaNorm=1.94387e-05(pi) -86: > piActive=~[1.17682 -1.19711e-06 -4.17816e-06 3.10018 -2.94276e-06 -1.1128e-05] -86: > errActive=~[0 -1.14839e-06 -4.00811e-06 2.22045e-16 -3.06123e-06 -1.1576e-05] -86: > deltaPi=~[-1.50079e-05 -1.19711e-06 -4.17816e-06 -1.11528e-06 -2.94276e-06 -1.1128e-05] -86: DBG: Line search iter 1: back=1, prevNorm=1.2679e-05. -86: > piNow=~[1.17684 -1.11192e-15 -3.88083e-15 3.10018 -1.10525e-17 -4.17926e-17] -86: > errNow=~[0 -1.06667e-15 -3.72288e-15 0 -1.14974e-17 -4.3475e-17] normNow=3.87294e-15 -86: DBG: Improvement rate now/prev at iter 2 is 3.0546e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.87294e-15. -86: DBG: Worst offender is normal contact 1 err=3.10018 ... -86: DBG: ... normal contact 1 released. +86: > errActive=~[-0.208395 0 0 -0.0597747 0 0] +86: > deltaPi=~[-0.918483 -1.74569e-06 -2.94234e-06 0.111585 3.12185e-07 -2.74402e-07] +86: DBG: Line search iter 1: back=1, prevNorm=0.216798. +86: > piNow=~[0.928483 1.74569e-06 2.94234e-06 -0.101585 -3.12185e-07 2.74402e-07] +86: > errNow=~[5.55112e-17 8.98006e-07 1.51358e-06 -2.77556e-17 0.00270814 -0.00238038] normNow=0.00360558 +86: DBG: Improvement rate now/prev at iter 1 is 0.016631 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.28153e-08 +86: > NEWTON iter 2: errNorm=0.00360558(v) -> deltaNorm=0.0141884(pi) +86: > piActive=~[0.928483 1.74569e-06 2.94234e-06 -0.101585 -3.12185e-07 2.74402e-07] +86: > errActive=~[5.55112e-17 8.98006e-07 1.51358e-06 -2.77556e-17 0.00270814 -0.00238038] +86: > deltaPi=~[0.00051855 1.74569e-06 2.94234e-06 0.00888852 0.0082973 -0.0072931] +86: DBG: Line search iter 1: back=1, prevNorm=0.00360558. +86: > piNow=~[0.927964 -1.14337e-13 -1.92715e-13 -0.110473 -0.00829762 0.00729338] +86: > errNow=~[0 -5.88165e-14 -9.91351e-14 2.77556e-17 8.5544e-11 -7.51909e-11] normNow=1.13892e-10 +86: DBG: Improvement rate now/prev at iter 2 is 3.15878e-08 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.08368e-08 +86: > NEWTON iter 3: errNorm=1.13892e-10(v) -> deltaNorm=4.48203e-10(pi) +86: > piActive=~[0.927964 -1.14337e-13 -1.92715e-13 -0.110473 -0.00829762 0.00729338] +86: > errActive=~[0 -5.88165e-14 -9.91351e-14 2.77556e-17 8.5544e-11 -7.51909e-11] +86: > deltaPi=~[1.67357e-11 -1.14337e-13 -1.92715e-13 2.80784e-10 2.62095e-10 -2.30374e-10] +86: DBG: Line search iter 1: back=1, prevNorm=1.13892e-10. +86: > piNow=~[0.927964 -3.69425e-21 -6.22663e-21 -0.110473 -0.00829762 0.00729338] +86: > errNow=~[0 -1.90037e-21 -3.20305e-21 0 2.60209e-18 -1.73472e-18] normNow=3.12732e-18 +86: DBG: Improvement rate now/prev at iter 3 is 2.74586e-08 +86: DBG: <<<< NEWTON done in 3 iters; norm=3.12732e-18. +86: DBG: Worst offender is normal contact 0 err=0.927964 ... +86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=4): cond=UniActive/Sliding, vel=0.264224,0.922194, mag=0.9593 -86: Participating UniCont 1 (ix=6): cond=UniOff/Sliding, vel=0.26595,1.00569, mag=1.04026 +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.26248,-0.442407, mag=0.514412 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.266599,0.234334, mag=0.354947 86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=0.617909; guess pi=0.01 +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=0.0626887; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.0126502 0.196411 0.264224 0.922194 0.26595 1.00569] +86: : verrLeft was=~[0.147476 0.0420481 -0.26248 -0.442407 -0.266599 0.234334] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.605259 0.904931 0.296067 -1.05662 0.302855 -0.71673] -86: : rhsActive=~[0.617909 0.560291 -0.134427] -86: : pi was=~[0 0 -1.11192e-15 -3.88083e-15 -1.10525e-17 -4.17926e-17] -86: : piActive=~[0.01 -1.11192e-15 -3.88083e-15] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.57327e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.61528... -86: > NEWTON iter 1: errNorm=0.61528(v) -> deltaNorm=2.34081(pi) -86: > piActive=~[0.01 -1.11192e-15 -3.88083e-15] -86: > errActive=~[-0.61528 -1.06667e-15 -3.72288e-15] -86: > deltaPi=~[-2.34081 2.40157e-06 8.38194e-06] -86: DBG: Line search iter 1: back=1, prevNorm=0.61528. -86: > piNow=~[2.35081 -2.40157e-06 -8.38194e-06] -86: > errNow=~[1.11022e-16 -2.30383e-06 -8.0408e-06] normNow=8.36433e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.35943e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.53575e-11 -86: > NEWTON iter 2: errNorm=8.36433e-06(v) -> deltaNorm=1.00595e-05(pi) -86: > piActive=~[2.35081 -2.40157e-06 -8.38194e-06] -86: > errActive=~[1.11022e-16 -2.30383e-06 -8.0408e-06] -86: > deltaPi=~[-5.01694e-06 -2.40157e-06 -8.38194e-06] -86: DBG: Line search iter 1: back=1, prevNorm=8.36433e-06. -86: > piNow=~[2.35081 -9.31499e-17 -3.25113e-16] -86: > errNow=~[-1.11022e-16 -8.93587e-17 -3.11881e-16] normNow=3.429e-16 -86: DBG: Improvement rate now/prev at iter 2 is 4.09956e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.429e-16. -86: DBG: Worst offender is normal contact 0 err=2.35081 ... -86: DBG: ... normal contact 0 released. +86: : verrApplied was=~[0.0641925 0.0206406 0.00958427 0.163808 0.01007 0.0811288] +86: : rhsActive=~[0.0626887 -0.256529 0.315462] +86: : pi was=~[0 -0.110473 -3.69425e-21 -6.22663e-21 -0.00829762 0.00729338] +86: : piActive=~[0.01 -0.00829762 0.00729338] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.32213e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0589606... +86: > NEWTON iter 1: errNorm=0.0589606(v) -> deltaNorm=0.300845(pi) +86: > piActive=~[0.01 -0.00829762 0.00729338] +86: > errActive=~[-0.05883 -0.00294521 0.00258876] +86: > deltaPi=~[-0.300642 -0.00829846 0.00729412] +86: DBG: Line search iter 1: back=1, prevNorm=0.0589606. +86: > piNow=~[0.310642 8.41117e-07 -7.39319e-07] +86: > errNow=~[2.77556e-17 2.98552e-07 -2.62419e-07] normNow=3.97489e-07 +86: DBG: Improvement rate now/prev at iter 1 is 6.7416e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.37027e-09 +86: > NEWTON iter 2: errNorm=3.97489e-07(v) -> deltaNorm=1.4522e-06(pi) +86: > piActive=~[0.310642 8.41117e-07 -7.39319e-07] +86: > errActive=~[2.77556e-17 2.98552e-07 -2.62419e-07] +86: > deltaPi=~[9.24568e-07 8.41117e-07 -7.39319e-07] +86: DBG: Line search iter 1: back=1, prevNorm=3.97489e-07. +86: > piNow=~[0.310641 -2.68086e-15 2.3564e-15] +86: > errNow=~[-1.38778e-17 -9.51564e-16 8.36399e-16] normNow=1.26698e-15 +86: DBG: Improvement rate now/prev at iter 2 is 3.18745e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.26698e-15. +86: DBG: Worst offender is normal contact 1 err=0.310641 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 3 start 86: : active=() -86: Participating UniCont 0 (ix=4): cond=UniOff/Sliding, vel=0.264224,0.922194, mag=0.9593 -86: Participating UniCont 1 (ix=6): cond=UniOff/Sliding, vel=0.26595,1.00569, mag=1.04026 +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.26248,-0.442407, mag=0.514412 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.266599,0.234334, mag=0.354947 86: fillMult2Active: 86: : active=() 86: : mult2active=(-1111111111,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111) 86: initializeNewton: -86: : verrLeft was=~[0.0126502 0.196411 0.264224 0.922194 0.26595 1.00569] +86: : verrLeft was=~[0.147476 0.0420481 -0.26248 -0.442407 -0.266599 0.234334] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.605259 0.904931 0.296067 -1.05662 0.302855 -0.71673] +86: : verrApplied was=~[0.0641925 0.0206406 0.00958427 0.163808 0.01007 0.0811288] 86: : rhsActive=~[] -86: : pi was=~[0 0 -9.31499e-17 -3.25113e-16 -1.10525e-17 -4.17926e-17] +86: : pi was=~[0 0 -3.69425e-21 -6.22663e-21 -2.68086e-15 2.3564e-15] 86: : piActive=~[] 86: SP interval 1 end: s=1 86: : m_piActive=~[] -86: : m_verrLeft=~[0.617909 1.10134 0.560291 -0.134427 0.568806 0.288955] +86: : m_verrLeft=~[0.211669 0.0626887 -0.252896 -0.278599 -0.256529 0.315462] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.617909 pi*v=0 -86: DBG: 1: pi=0 verr=1.10134 pi*v=0 +86: DBG: 0: pi=0 verr=0.211669 pi*v=0 +86: DBG: 1: pi=0 verr=0.0626887 pi*v=0 86: SP FINAL 1 intervals, piTotal=~[0 0 0 0 0 0] errNorm=0 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 4, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.264224 0.922194, |slipV|=0.9593 -86: 1: UnilateralContactIndex 6, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.26248 -0.442407, |slipV|=0.514412 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.26595 1.00569, |slipV|=1.04026 +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.266599 0.234334, |slipV|=0.354947 86: ------------------------------ 86: 86: dynamics impulse=~[0 0 0 0 0 0] -86: updated verrStart=~[0.617909 1.10134 0.560291 -0.134427 0.568806 0.288955] +86: updated verrStart=~[0.211669 0.0626887 -0.252896 -0.278599 -0.256529 0.315462] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.902422 0.37037 0 0 0 0] +86: posVerr=~[0.359385 0.0484325 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 0 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: DBG: no bilateral participators. Nothing to do. 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[0.617909 1.10134 0.560291 -0.134427 0.568806 0.288955] -86: perr=~[0.000902422 0.00037037 0] -86: END OF STEP (0.019,0.02): -86: verr=~[0.617936 1.10188 0.561096 -0.132499 0.569187 0.290306] -86: perr=~[0.00152034 0.00147198 -2.22045e-16] +86: verr=~[0.211669 0.0626887 -0.252896 -0.278599 -0.256529 0.315462] +86: perr=~[0.000359385 4.84325e-05 -1.11022e-16] +86: END OF STEP (0.086,0.087): +86: verr=~[0.211675 0.0626818 -0.252708 -0.278596 -0.256717 0.315459] +86: perr=~[0.000571057 0.000111118 0] 86: constraint status: -86: 4: cont UniOff fric Sliding -86: 6: cont UniOff fric Sliding -86: Proximal unilateral contacts: () -86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: Proximal unilateral contacts: () -86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: Proximal unilateral contacts: () -86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: Proximal unilateral contacts: () -86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: Proximal unilateral contacts: () -86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: Proximal unilateral contacts: () -86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: Proximal unilateral contacts: () -86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: Proximal unilateral contacts: () -86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: Proximal unilateral contacts: () -86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: Proximal unilateral contacts: () -86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: Proximal unilateral contacts: () -86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: Proximal unilateral contacts: () -86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: Proximal unilateral contacts: () -86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: Proximal unilateral contacts: () -86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: Proximal unilateral contacts: () -86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: Proximal unilateral contacts: () -86: Distal unilateral contacts: (0,1,2,3,4,5,6,7) +86: 0: cont UniOff fric Sliding +86: 2: cont UniOff fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: Proximal unilateral contacts: (0) -86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: DBG: Uni fric 0 verr speed=0.376134 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.406716 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.211675 0.0626818 -0.252708 -0.278596 -0.256717 0.315459] +86: verrExt=~[0.0542406 0.0107046 0.00981594 0.15029 0.0103481 0.0670284] +86: total verr=~[0.265916 0.0733864 -0.242892 -0.128306 -0.246369 0.382488] +86: DYN t=0.087: verrStart=~[0.211675 0.0626818 -0.252708 -0.278596 -0.256717 0.315459] +86: verrApplied=~[0.0542406 0.0107046 0.00981594 0.15029 0.0103481 0.0670284] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.211675 0.0626818 -0.252708 -0.278596 -0.256717 0.315459] +86: verrApplied=~[0.0542406 0.0107046 0.00981594 0.15029 0.0103481 0.0670284] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.252708,-0.278596, mag=0.376134 +86: Participating contact 1 is Sliding; vel=-0.256717,0.315459, mag=0.406716 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.252708,-0.278596, mag=0.376134 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.256717,0.315459, mag=0.406716 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.265916; guess pi=0.01 +86: DBG: active normal 3 has v=0.0733864; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[0.211675 0.0626818 -0.252708 -0.278596 -0.256717 0.315459] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.0542406 0.0107046 0.00981594 0.15029 0.0103481 0.0670284] +86: : rhsActive=~[0.265916 -0.242892 -0.128306 0.0733864 -0.246369 0.382488] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.06351e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.271932... +86: > NEWTON iter 1: errNorm=0.271932(v) -> deltaNorm=1.17952(pi) +86: > piActive=~[0.01 0 0 0.01 0 0] +86: > errActive=~[-0.262642 0 0 -0.0704721 0 0] +86: > deltaPi=~[-1.16743 -2.9216e-06 -3.22088e-06 0.168397 3.95922e-07 -4.86518e-07] +86: DBG: Line search iter 1: back=1, prevNorm=0.271932. +86: > piNow=~[1.17743 2.9216e-06 3.22088e-06 -0.158397 -3.95922e-07 4.86518e-07] +86: > errNow=~[-5.55112e-17 1.09891e-06 1.21148e-06 2.77556e-17 0.00406617 -0.0049966] normNow=0.00644203 +86: DBG: Improvement rate now/prev at iter 1 is 0.0236898 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.03972e-09 +86: > NEWTON iter 2: errNorm=0.00644203(v) -> deltaNorm=0.0242707(pi) +86: > piActive=~[1.17743 2.9216e-06 3.22088e-06 -0.158397 -3.95922e-07 4.86518e-07] +86: > errActive=~[-5.55112e-17 1.09891e-06 1.21148e-06 2.77556e-17 0.00406617 -0.0049966] +86: > deltaPi=~[0.000743395 2.9216e-06 3.22088e-06 0.0167827 0.0110569 -0.0135869] +86: DBG: Line search iter 1: back=1, prevNorm=0.00644203. +86: > piNow=~[1.17669 -1.34209e-13 -1.47958e-13 -0.17518 -0.0110573 0.0135874] +86: > errNow=~[5.55112e-17 -5.04806e-14 -5.56519e-14 -2.77556e-17 6.39705e-11 -7.86083e-11] normNow=1.01348e-10 +86: DBG: Improvement rate now/prev at iter 2 is 1.57324e-08 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.93862e-09 +86: > NEWTON iter 3: errNorm=1.01348e-10(v) -> deltaNorm=3.81855e-10(pi) +86: > piActive=~[1.17669 -1.34209e-13 -1.47958e-13 -0.17518 -0.0110573 0.0135874] +86: > errActive=~[5.55112e-17 -5.04806e-14 -5.56519e-14 -2.77556e-17 6.39705e-11 -7.86083e-11] +86: > deltaPi=~[1.19392e-11 -1.34209e-13 -1.47958e-13 2.64045e-10 1.73952e-10 -2.13756e-10] +86: DBG: Line search iter 1: back=1, prevNorm=1.01348e-10. +86: > piNow=~[1.17669 -2.15814e-21 -2.37926e-21 -0.17518 -0.0110573 0.0135874] +86: > errNow=~[-1.11022e-16 -8.11751e-22 -8.94923e-22 -1.38778e-17 1.73472e-18 -1.73472e-18] normNow=1.11913e-16 +86: DBG: Improvement rate now/prev at iter 3 is 1.10424e-06 +86: DBG: <<<< NEWTON done in 3 iters; norm=1.11913e-16. +86: DBG: Worst offender is normal contact 0 err=1.17669 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.252708,-0.278596, mag=0.376134 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.256717,0.315459, mag=0.406716 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=0.0733864; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[0.211675 0.0626818 -0.252708 -0.278596 -0.256717 0.315459] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.0542406 0.0107046 0.00981594 0.15029 0.0103481 0.0670284] +86: : rhsActive=~[0.0733864 -0.246369 0.382488] +86: : pi was=~[0 -0.17518 -2.15814e-21 -2.37926e-21 -0.0110573 0.0135874] +86: : piActive=~[0.01 -0.0110573 0.0135874] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.51497e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0682837... +86: > NEWTON iter 1: errNorm=0.0682837(v) -> deltaNorm=0.353849(pi) +86: > piActive=~[0.01 -0.0110573 0.0135874] +86: > errActive=~[-0.067911 -0.00449717 0.00552622] +86: > deltaPi=~[-0.353415 -0.0110581 0.0135884] +86: DBG: Line search iter 1: back=1, prevNorm=0.0682837. +86: > piNow=~[0.363415 8.3092e-07 -1.02105e-06] +86: > errNow=~[2.77556e-17 3.37949e-07 -4.15279e-07] normNow=5.35412e-07 +86: DBG: Improvement rate now/prev at iter 1 is 7.84099e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.14723e-09 +86: > NEWTON iter 2: errNorm=5.35412e-07(v) -> deltaNorm=1.8404e-06(pi) +86: > piActive=~[0.363415 8.3092e-07 -1.02105e-06] +86: > errActive=~[2.77556e-17 3.37949e-07 -4.15279e-07] +86: > deltaPi=~[1.28612e-06 8.3092e-07 -1.02105e-06] +86: DBG: Line search iter 1: back=1, prevNorm=5.35412e-07. +86: > piNow=~[0.363414 -2.2898e-15 2.81376e-15] +86: > errNow=~[-1.38778e-17 -9.31301e-16 1.1444e-15] normNow=1.47552e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.75587e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.47552e-15. +86: DBG: Worst offender is normal contact 1 err=0.363414 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 3 start +86: : active=() +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.252708,-0.278596, mag=0.376134 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.256717,0.315459, mag=0.406716 +86: fillMult2Active: +86: : active=() +86: : mult2active=(-1111111111,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111) +86: initializeNewton: +86: : verrLeft was=~[0.211675 0.0626818 -0.252708 -0.278596 -0.256717 0.315459] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.0542406 0.0107046 0.00981594 0.15029 0.0103481 0.0670284] +86: : rhsActive=~[] +86: : pi was=~[0 0 -2.15814e-21 -2.37926e-21 -2.2898e-15 2.81376e-15] +86: : piActive=~[] +86: SP interval 1 end: s=1 +86: : m_piActive=~[] +86: : m_verrLeft=~[0.265916 0.0733864 -0.242892 -0.128306 -0.246369 0.382488] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=0 verr=0.265916 pi*v=0 +86: DBG: 1: pi=0 verr=0.0733864 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[0 0 0 0 0 0] errNorm=0 +86: +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.252708 -0.278596, |slipV|=0.376134 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.256717 0.315459, |slipV|=0.406716 +86: ------------------------------ +86: +86: dynamics impulse=~[0 0 0 0 0 0] +86: updated verrStart=~[0.265916 0.0733864 -0.242892 -0.128306 -0.246369 0.382488] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.571057 0.111118 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 0 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: DBG: no bilateral participators. Nothing to do. +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[0.265916 0.0733864 -0.242892 -0.128306 -0.246369 0.382488] +86: perr=~[0.000571057 0.000111118 0] +86: END OF STEP (0.087,0.088): +86: verr=~[0.265873 0.0734293 -0.242743 -0.128321 -0.246518 0.382503] +86: perr=~[0.000836952 0.000184526 -1.11022e-16] +86: constraint status: +86: 0: cont UniOff fric Sliding +86: 2: cont UniOff fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=4.91974 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-3.03022 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.274573 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=0.45506 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. 86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: () -86: participating multx: (0,1,2) -86: verr=~[-3.03022 0.0161793 -4.91971] -86: IMP t=0.036 verr=~[-3.03022 0.0161793 -4.91971] +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.265873 0.0734293 -0.242743 -0.128321 -0.246518 0.382503] +86: verrExt=~[0.0408594 -0.00119603 0.00989476 0.131745 0.0104479 0.050475] +86: total verr=~[0.306732 0.0722333 -0.232849 0.00342389 -0.23607 0.432978] +86: DYN t=0.088: verrStart=~[0.265873 0.0734293 -0.242743 -0.128321 -0.246518 0.382503] +86: verrApplied=~[0.0408594 -0.00119603 0.00989476 0.131745 0.0104479 0.050475] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[-3.03022 0.0161793 -4.91971] -86: verrApplied=~[] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[0.265873 0.0734293 -0.242743 -0.128321 -0.246518 0.382503] +86: verrApplied=~[0.0408594 -0.00119603 0.00989476 0.131745 0.0104479 0.050475] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=0.0161793,-4.91971, mag=4.91974 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.242743,-0.128321, mag=0.274573 +86: Participating contact 1 is Sliding; vel=-0.246518,0.382503, mag=0.45506 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0161793,-4.91971, mag=4.91974 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.242743,-0.128321, mag=0.274573 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.246518,0.382503, mag=0.45506 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-3.03022; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=0.306732; guess pi=0.01 +86: DBG: active normal 3 has v=0.0722333; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[-3.03022 0.0161793 -4.91971] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-3.03022 0.0161793 -4.91971] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.83254e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=3.02724... -86: > NEWTON iter 1: errNorm=3.02724(v) -> deltaNorm=9.1963(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[3.02723 -1.61793e-05 0.00491971] -86: > deltaPi=~[9.15057 -0.00301248 0.916018] -86: DBG: Line search iter 1: back=1, prevNorm=3.02724. -86: > piNow=~[-9.16057 0.00301248 -0.916018] -86: > errNow=~[1.33227e-15 -5.51468e-07 0.000167687] normNow=0.000167688 -86: DBG: Improvement rate now/prev at iter 1 is 5.53931e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.15854e-10 -86: > NEWTON iter 2: errNorm=0.000167688(v) -> deltaNorm=4.53457e-05(pi) -86: > piActive=~[-9.16057 0.00301248 -0.916018] -86: > errActive=~[1.33227e-15 -5.51468e-07 0.000167687] -86: > deltaPi=~[-3.33247e-05 -1.01133e-07 3.07521e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.000167688. -86: > piNow=~[-9.16053 0.00301258 -0.916048] -86: > errNow=~[-4.44089e-16 5.20417e-18 -8.88178e-16] normNow=9.93027e-16 -86: DBG: Improvement rate now/prev at iter 2 is 5.92188e-12 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.93027e-16. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.0161793,-4.91971] to ~[-0.115113,-1.58617] -86: DBG: Friction 0 rotated 4.3393 deg, less than max 30 +86: : verrLeft was=~[0.265873 0.0734293 -0.242743 -0.128321 -0.246518 0.382503] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.0408594 -0.00119603 0.00989476 0.131745 0.0104479 0.050475] +86: : rhsActive=~[0.306732 -0.232849 0.00342389 0.0722333 -0.23607 0.432978] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.97969e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.311273... +86: > NEWTON iter 1: errNorm=0.311273(v) -> deltaNorm=1.39991(pi) +86: > piActive=~[0.01 0 0 0.01 0 0] +86: > errActive=~[-0.303457 0 0 -0.0693172 0 0] +86: > deltaPi=~[-1.37449 -4.52629e-06 -2.39272e-06 0.265579 5.35902e-07 -8.31518e-07] +86: DBG: Line search iter 1: back=1, prevNorm=0.311273. +86: > piNow=~[1.38449 4.52629e-06 2.39272e-06 -0.255579 -5.35902e-07 8.31518e-07] +86: > errNow=~[0 1.2428e-06 6.56978e-07 2.77556e-17 0.00630024 -0.0097756] normNow=0.0116299 +86: DBG: Improvement rate now/prev at iter 1 is 0.0373625 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.59441e-09 +86: > NEWTON iter 2: errNorm=0.0116299(v) -> deltaNorm=0.0413001(pi) +86: > piActive=~[1.38449 4.52629e-06 2.39272e-06 -0.255579 -5.35902e-07 8.31518e-07] +86: > errActive=~[0 1.2428e-06 6.56978e-07 2.77556e-17 0.00630024 -0.0097756] +86: > deltaPi=~[0.00110433 4.52629e-06 2.39272e-06 0.0298319 0.0154609 -0.0239895] +86: DBG: Line search iter 1: back=1, prevNorm=0.0116299. +86: > piNow=~[1.38339 -1.89749e-13 -1.00303e-13 -0.285411 -0.0154615 0.0239904] +86: > errNow=~[5.55112e-17 -5.21001e-14 -2.75405e-14 0 4.1941e-11 -6.50766e-11] normNow=7.7421e-11 +86: DBG: Improvement rate now/prev at iter 2 is 6.65705e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.7421e-11. +86: DBG: Worst offender is normal contact 0 err=1.38339 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.242743,-0.128321, mag=0.274573 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.246518,0.382503, mag=0.45506 +86: fillMult2Active: +86: : active=(1,4,5) +86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) +86: DBG: active normal 0 has v=0.0722333; guess pi=0.01 +86: initializeNewton: +86: : verrLeft was=~[0.265873 0.0734293 -0.242743 -0.128321 -0.246518 0.382503] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.0408594 -0.00119603 0.00989476 0.131745 0.0104479 0.050475] +86: : rhsActive=~[0.0722333 -0.23607 0.432978] +86: : pi was=~[0 -0.285411 -1.89749e-13 -1.00303e-13 -0.0154615 0.0239904] +86: : piActive=~[0.01 -0.0154615 0.0239904] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.69504e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0653857... +86: > NEWTON iter 1: errNorm=0.0653857(v) -> deltaNorm=0.348534(pi) +86: > piActive=~[0.01 -0.0154615 0.0239904] +86: > errActive=~[-0.0640828 -0.00703589 0.0109171] +86: > deltaPi=~[-0.347363 -0.0154622 0.0239914] +86: DBG: Line search iter 1: back=1, prevNorm=0.0653857. +86: > piNow=~[0.357363 7.00931e-07 -1.08758e-06] +86: > errNow=~[0 3.18965e-07 -4.94914e-07] normNow=5.88795e-07 +86: DBG: Improvement rate now/prev at iter 1 is 9.00495e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.32745e-09 +86: > NEWTON iter 2: errNorm=5.88795e-07(v) -> deltaNorm=1.88782e-06(pi) +86: > piActive=~[0.357363 7.00931e-07 -1.08758e-06] +86: > errActive=~[0 3.18965e-07 -4.94914e-07] +86: > deltaPi=~[1.37468e-06 7.00931e-07 -1.08758e-06] +86: DBG: Line search iter 1: back=1, prevNorm=5.88795e-07. +86: > piNow=~[0.357362 -2.17231e-15 3.37061e-15] +86: > errNow=~[0 -9.88532e-16 1.53383e-15] normNow=1.82478e-15 +86: DBG: Improvement rate now/prev at iter 2 is 3.09918e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.82478e-15. +86: DBG: Worst offender is normal contact 1 err=0.357362 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 3 start +86: : active=() +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.242743,-0.128321, mag=0.274573 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.246518,0.382503, mag=0.45506 +86: fillMult2Active: +86: : active=() +86: : mult2active=(-1111111111,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111) +86: initializeNewton: +86: : verrLeft was=~[0.265873 0.0734293 -0.242743 -0.128321 -0.246518 0.382503] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[0.0408594 -0.00119603 0.00989476 0.131745 0.0104479 0.050475] +86: : rhsActive=~[] +86: : pi was=~[0 0 -1.89749e-13 -1.00303e-13 -2.17231e-15 3.37061e-15] +86: : piActive=~[] 86: SP interval 1 end: s=1 -86: : m_piActive=~[-9.16053 0.00301258 -0.916048] -86: : m_verrLeft=~[4.44089e-16 -0.115113 -1.58617] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[] +86: : m_verrLeft=~[0.306732 0.0722333 -0.232849 0.00342389 -0.23607 0.432978] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-9.16053 verr=4.44089e-16 pi*v=-4.06809e-15 -86: SP FINAL 1 intervals, piTotal=~[-9.16053 0.00301258 -0.916048] errNorm=9.93027e-16 -86: Postcompression verr=~[4.44089e-16 -0.115113 -1.58617] -86: impulse=~[-9.16053 0.00301258 -0.916048] -86: Next expansion impulse=~[0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-9.16053 0.00301258 -0.916048]-> du ~[-1.96241 4.265 -2.03704 -2.25889 -0.0905759 2.08018 -8.00682 4.68573] -86: Now verr0=~[3.88578e-16 -0.115113 -1.58617] +86: DBG: 0: pi=0 verr=0.306732 pi*v=0 +86: DBG: 1: pi=0 verr=0.0722333 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[0 0 0 0 0 0] errNorm=0 86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[3.88578e-16 -0.115113 -1.58617] -86: verrExt=~[-0.592939 0.0581377 -0.606333] -86: total verr=~[-0.592939 -0.0569758 -2.1925] -86: DYN t=0.036: verrStart=~[3.88578e-16 -0.115113 -1.58617] -86: verrApplied=~[-0.592939 0.0581377 -0.606333] +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.242743 -0.128321, |slipV|=0.274573 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.246518 0.382503, |slipV|=0.45506 +86: ------------------------------ +86: +86: dynamics impulse=~[0 0 0 0 0 0] +86: updated verrStart=~[0.306732 0.0722333 -0.232849 0.00342389 -0.23607 0.432978] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.836952 0.184526 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 0 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: DBG: no bilateral participators. Nothing to do. +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[0.306732 0.0722333 -0.232849 0.00342389 -0.23607 0.432978] +86: perr=~[0.000836952 0.000184526 -1.11022e-16] +86: END OF STEP (0.088,0.089): +86: verr=~[0.306662 0.0723039 -0.232729 0.00338632 -0.23619 0.433015] +86: perr=~[0.00114365 0.000256794 0] +86: constraint status: +86: 0: cont UniOff fric Sliding +86: 2: cont UniOff fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 2 verr speed=0.493242 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.0723039 -0.23619 0.433015] +86: verrExt=~[-0.01244 0.0103038 0.0351943] +86: total verr=~[0.0598639 -0.225886 0.46821] +86: DYN t=0.089: verrStart=~[0.0723039 -0.23619 0.433015] +86: verrApplied=~[-0.01244 0.0103038 0.0351943] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -34345,110 +45732,113 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[3.88578e-16 -0.115113 -1.58617] -86: verrApplied=~[-0.592939 0.0581377 -0.606333] +86: verrLeft=~[0.0723039 -0.23619 0.433015] +86: verrApplied=~[-0.01244 0.0103038 0.0351943] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.115113,-1.58617, mag=1.59034 +86: Participating contact 0 is Sliding; vel=-0.23619,0.433015, mag=0.493242 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.115113,-1.58617, mag=1.59034 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.23619,0.433015, mag=0.493242 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.592939; guess pi=-0.01 +86: DBG: active normal 0 has v=0.0598639; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[3.88578e-16 -0.115113 -1.58617] +86: : verrLeft was=~[0.0723039 -0.23619 0.433015] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.592939 0.0581377 -0.606333] -86: : rhsActive=~[-0.592939 -0.0569758 -2.1925] +86: : verrApplied was=~[-0.01244 0.0103038 0.0351943] +86: : rhsActive=~[0.0598639 -0.225886 0.46821] 86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.9238e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.589956... -86: > NEWTON iter 1: errNorm=0.589956(v) -> deltaNorm=1.79261(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.589954 0.000115113 0.00158617] -86: > deltaPi=~[1.78362 0.0129823 0.178885] -86: DBG: Line search iter 1: back=1, prevNorm=0.589956. -86: > piNow=~[-1.79362 -0.0129823 -0.178885] -86: > errNow=~[0 7.64786e-07 1.05381e-05] normNow=1.05658e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.79095e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.6482e-10 -86: > NEWTON iter 2: errNorm=1.05658e-05(v) -> deltaNorm=8.81379e-06(pi) -86: > piActive=~[-1.79362 -0.0129823 -0.178885] -86: > errActive=~[0 7.64786e-07 1.05381e-05] -86: > deltaPi=~[-6.45814e-06 4.34149e-07 5.98221e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.05658e-05. -86: > piNow=~[-1.79361 -0.0129827 -0.178891] -86: > errNow=~[-1.11022e-16 -8.32667e-17 -1.22125e-15] normNow=1.22911e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.16329e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.22911e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.115113,-1.58617] to ~[-0.0820316,-1.53974] -86: DBG: Friction 0 rotated 1.10126 deg, less than max 30 +86: : piActive=~[0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.83727e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0578402... +86: > NEWTON iter 1: errNorm=0.0578402(v) -> deltaNorm=0.285821(pi) +86: > piActive=~[0.01 0 0] +86: > errActive=~[-0.0578402 0 0] +86: > deltaPi=~[-0.285821 -5.09809e-07 9.3465e-07] +86: DBG: Line search iter 1: back=1, prevNorm=0.0578402. +86: > piNow=~[0.295821 5.09809e-07 -9.3465e-07] +86: > errNow=~[1.38778e-17 2.51459e-07 -4.61009e-07] normNow=5.2513e-07 +86: DBG: Improvement rate now/prev at iter 1 is 9.07897e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.09973e-09 +86: > NEWTON iter 2: errNorm=5.2513e-07(v) -> deltaNorm=1.59179e-06(pi) +86: > piActive=~[0.295821 5.09809e-07 -9.3465e-07] +86: > errActive=~[1.38778e-17 2.51459e-07 -4.61009e-07] +86: > deltaPi=~[1.18335e-06 5.09809e-07 -9.3465e-07] +86: DBG: Line search iter 1: back=1, prevNorm=5.2513e-07. +86: > piNow=~[0.29582 -2.41222e-15 4.4224e-15] +86: > errNow=~[6.93889e-18 -1.18981e-15 2.18132e-15] normNow=2.48472e-15 +86: DBG: Improvement rate now/prev at iter 2 is 4.73163e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.48472e-15. +86: DBG: Worst offender is normal contact 0 err=0.29582 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=() +86: Participating UniCont 0 (ix=2): cond=UniOff/Sliding, vel=-0.23619,0.433015, mag=0.493242 +86: fillMult2Active: +86: : active=() +86: : mult2active=(-1111111111,-1111111111,-1111111111) +86: initializeNewton: +86: : verrLeft was=~[0.0723039 -0.23619 0.433015] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-0.01244 0.0103038 0.0351943] +86: : rhsActive=~[] +86: : pi was=~[0 -2.41222e-15 4.4224e-15] +86: : piActive=~[] 86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.79361 -0.0129827 -0.178891] -86: : m_verrLeft=~[1.11022e-16 -0.0820316 -1.53974] +86: : m_piActive=~[] +86: : m_verrLeft=~[0.0598639 -0.225886 0.46821] 86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.79361 verr=1.11022e-16 pi*v=-1.99131e-16 -86: SP FINAL 1 intervals, piTotal=~[-1.79361 -0.0129827 -0.178891] errNorm=1.22911e-15 +86: DBG: 0: pi=0 verr=0.0598639 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[0 0 0] errNorm=0 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.115113 -1.58617, |slipV|=1.59034 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.23619 0.433015, |slipV|=0.493242 86: ------------------------------ 86: -86: dynamics impulse=~[-1.79361 -0.0129827 -0.178891] -86: updated verrStart=~[1.11022e-16 -0.0820316 -1.53974] +86: dynamics impulse=~[0 0 0] +86: updated verrStart=~[0.0598639 -0.225886 0.46821] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[-0.948227 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: posVerr=~[0.256794 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 0 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.298449 -0.0161247 0.323363] -86: [-0.0161247 0.0485907 0.0180822] -86: [0.323363 0.0180822 0.405466] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[-0.948227 0 0] -86: active=(0) -86: -> piActive=~[-3.17719] -86: -> pi=~[-3.17719 0 0] -86: resid active=~[0] -86: resid=~[0 0.0512311 -1.02738] +86: DBG: no bilateral participators. Nothing to do. 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-5.55112e-17 -0.0820316 -1.53974] -86: perr=~[-0.000948227 0] -86: END OF STEP (0.036,0.037): -86: verr=~[-0.000610557 -0.0815635 -1.53875] -86: perr=~[-0.000948533 0] +86: verr=~[0.0598639 -0.225886 0.46821] +86: perr=~[0.000256794 0] +86: END OF STEP (0.089,0.09): +86: verr=~[0.0599447 -0.225986 0.468272] +86: perr=~[0.000316699 0] 86: constraint status: -86: 0: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0) -86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: 2: cont UniOff fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.54091 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000610557 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 2 verr speed=0.51995 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. 86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: () -86: participating multx: (0,1,2) -86: verr=~[-0.000610557 -0.0815635 -1.53875] -86: IMP t=0.037 verr=~[-0.000610557 -0.0815635 -1.53875] +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.0599447 -0.225986 0.468272] +86: verrExt=~[-0.0216826 0.00988765 0.0230881] +86: total verr=~[0.0382621 -0.216099 0.49136] +86: DYN t=0.09: verrStart=~[0.0599447 -0.225986 0.468272] +86: verrApplied=~[-0.0216826 0.00988765 0.0230881] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -34460,73 +45850,113 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[-0.000610557 -0.0815635 -1.53875] -86: verrApplied=~[] +86: verrLeft=~[0.0599447 -0.225986 0.468272] +86: verrApplied=~[-0.0216826 0.00988765 0.0230881] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0815635,-1.53875, mag=1.54091 +86: Participating contact 0 is Sliding; vel=-0.225986,0.468272, mag=0.51995 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0815635,-1.53875, mag=1.54091 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.225986,0.468272, mag=0.51995 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.000610557; guess pi=-0.01 +86: DBG: active normal 0 has v=0.0382621; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000610557 -0.0815635 -1.53875] +86: : verrLeft was=~[0.0599447 -0.225986 0.468272] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000610557 -0.0815635 -1.53875] +86: : verrApplied was=~[-0.0216826 0.00988765 0.0230881] +86: : rhsActive=~[0.0382621 -0.216099 0.49136] 86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.73969e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0028164... -86: > NEWTON iter 1: errNorm=0.0028164(v) -> deltaNorm=0.00814643(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[-0.00235748 8.15635e-05 0.00153875] -86: > deltaPi=~[-0.00814431 9.82415e-06 0.000185339] -86: DBG: Line search iter 1: back=1, prevNorm=0.0028164. -86: > piNow=~[-0.00185569 -9.82415e-06 -0.000185339] -86: > errNow=~[5.42101e-19 -2.47435e-09 -4.66803e-08] normNow=4.67458e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.65977e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000166158 -86: > NEWTON iter 2: errNorm=4.67458e-08(v) -> deltaNorm=4.03895e-08(pi) -86: > piActive=~[-0.00185569 -9.82415e-06 -0.000185339] -86: > errActive=~[5.42101e-19 -2.47435e-09 -4.66803e-08] -86: > deltaPi=~[2.97021e-08 -1.44872e-09 -2.73312e-08] -86: DBG: Line search iter 1: back=1, prevNorm=4.67458e-08. -86: > piNow=~[-0.00185572 -9.8227e-06 -0.000185312] -86: > errNow=~[0 2.61232e-13 4.92832e-12] normNow=4.93524e-12 -86: DBG: Improvement rate now/prev at iter 2 is 0.000105576 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.93524e-12. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.0815635,-1.53875] to ~[-0.0815879,-1.53807] -86: DBG: Friction 0 rotated 0.0022364 deg, less than max 30 +86: : piActive=~[0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.93675e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0362358... +86: > NEWTON iter 1: errNorm=0.0362358(v) -> deltaNorm=0.178829(pi) +86: > piActive=~[0.01 0 0] +86: > errActive=~[-0.0362358 0 0] +86: > deltaPi=~[-0.178829 -2.89514e-07 5.9991e-07] +86: DBG: Line search iter 1: back=1, prevNorm=0.0362358. +86: > piNow=~[0.188829 2.89514e-07 -5.9991e-07] +86: > errNow=~[0 1.50533e-07 -3.11923e-07] normNow=3.46347e-07 +86: DBG: Improvement rate now/prev at iter 1 is 9.55814e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.4323e-09 +86: > NEWTON iter 2: errNorm=3.46347e-07(v) -> deltaNorm=1.01063e-06(pi) +86: > piActive=~[0.188829 2.89514e-07 -5.9991e-07] +86: > errActive=~[0 1.50533e-07 -3.11923e-07] +86: > deltaPi=~[7.60037e-07 2.89514e-07 -5.9991e-07] +86: DBG: Line search iter 1: back=1, prevNorm=3.46347e-07. +86: > piNow=~[0.188828 -3.45126e-15 7.15144e-15] +86: > errNow=~[0 -1.79448e-15 3.71839e-15] normNow=4.12875e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.19208e-08 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.12875e-15. +86: DBG: Worst offender is normal contact 0 err=0.188828 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=() +86: Participating UniCont 0 (ix=2): cond=UniOff/Sliding, vel=-0.225986,0.468272, mag=0.51995 +86: fillMult2Active: +86: : active=() +86: : mult2active=(-1111111111,-1111111111,-1111111111) +86: initializeNewton: +86: : verrLeft was=~[0.0599447 -0.225986 0.468272] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-0.0216826 0.00988765 0.0230881] +86: : rhsActive=~[] +86: : pi was=~[0 -3.45126e-15 7.15144e-15] +86: : piActive=~[] 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00185572 -9.8227e-06 -0.000185312] -86: : m_verrLeft=~[0 -0.0815879 -1.53807] -86: : verrAppliedLeft=~[] +86: : m_piActive=~[] +86: : m_verrLeft=~[0.0382621 -0.216099 0.49136] +86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00185572 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.00185572 -9.8227e-06 -0.000185312] errNorm=4.93524e-12 -86: Postcompression verr=~[0 -0.0815879 -1.53807] -86: impulse=~[-0.00185572 -9.8227e-06 -0.000185312] -86: Next expansion impulse=~[0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00185572 -9.8227e-06 -0.000185312]-> du ~[-0.000392617 0.00086368 -0.000412971 -0.000458343 -1.64607e-05 0.000420332 -0.00162292 0.0009594] -86: Now verr0=~[5.55112e-17 -0.0815879 -1.53807] +86: DBG: 0: pi=0 verr=0.0382621 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[0 0 0] errNorm=0 86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[5.55112e-17 -0.0815879 -1.53807] -86: verrExt=~[-0.72767 0.0645368 -0.760205] -86: total verr=~[-0.72767 -0.017051 -2.29828] -86: DYN t=0.037: verrStart=~[5.55112e-17 -0.0815879 -1.53807] -86: verrApplied=~[-0.72767 0.0645368 -0.760205] +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.225986 0.468272, |slipV|=0.51995 +86: ------------------------------ +86: +86: dynamics impulse=~[0 0 0] +86: updated verrStart=~[0.0382621 -0.216099 0.49136] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.316699 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 0 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: DBG: no bilateral participators. Nothing to do. +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[0.0382621 -0.216099 0.49136] +86: perr=~[0.000316699 0] +86: END OF STEP (0.09,0.091): +86: verr=~[0.0383411 -0.216187 0.491446] +86: perr=~[0.000355 0] +86: constraint status: +86: 2: cont UniOff fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 2 verr speed=0.536895 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.0383411 -0.216187 0.491446] +86: verrExt=~[-0.0285762 0.00920797 0.0146187] +86: total verr=~[0.00976492 -0.206979 0.506065] +86: DYN t=0.091: verrStart=~[0.0383411 -0.216187 0.491446] +86: verrApplied=~[-0.0285762 0.00920797 0.0146187] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -34538,110 +45968,113 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[5.55112e-17 -0.0815879 -1.53807] -86: verrApplied=~[-0.72767 0.0645368 -0.760205] +86: verrLeft=~[0.0383411 -0.216187 0.491446] +86: verrApplied=~[-0.0285762 0.00920797 0.0146187] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0815879,-1.53807, mag=1.54024 +86: Participating contact 0 is Sliding; vel=-0.216187,0.491446, mag=0.536895 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0815879,-1.53807, mag=1.54024 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.216187,0.491446, mag=0.536895 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.72767; guess pi=-0.01 +86: DBG: active normal 0 has v=0.00976492; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[5.55112e-17 -0.0815879 -1.53807] +86: : verrLeft was=~[0.0383411 -0.216187 0.491446] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.72767 0.0645368 -0.760205] -86: : rhsActive=~[-0.72767 -0.017051 -2.29828] +86: : verrApplied was=~[-0.0285762 0.00920797 0.0146187] +86: : rhsActive=~[0.00976492 -0.206979 0.506065] 86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.73718e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.724704... -86: > NEWTON iter 1: errNorm=0.724704(v) -> deltaNorm=2.21276(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.724702 8.15879e-05 0.00153807] -86: > deltaPi=~[2.20168 0.011715 0.220849] -86: DBG: Line search iter 1: back=1, prevNorm=0.724704. -86: > piNow=~[-2.21168 -0.011715 -0.220849] -86: > errNow=~[3.33067e-16 6.69099e-07 1.26137e-05] normNow=1.26314e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.74298e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.35792e-10 -86: > NEWTON iter 2: errNorm=1.26314e-05(v) -> deltaNorm=1.09174e-05(pi) -86: > piActive=~[-2.21168 -0.011715 -0.220849] -86: > errActive=~[3.33067e-16 6.69099e-07 1.26137e-05] -86: > deltaPi=~[-8.0286e-06 3.91885e-07 7.38772e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.26314e-05. -86: > piNow=~[-2.21167 -0.0117154 -0.220856] -86: > errNow=~[-1.11022e-16 -4.51028e-17 -9.4369e-16] normNow=9.51268e-16 -86: DBG: Improvement rate now/prev at iter 2 is 7.53096e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.51268e-16. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.0815879,-1.53807] to ~[-0.0461062,-1.49279] -86: DBG: Friction 0 rotated 1.26737 deg, less than max 30 +86: : piActive=~[0.01 0 0] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.99987e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00773586... +86: > NEWTON iter 1: errNorm=0.00773586(v) -> deltaNorm=0.0381254(pi) +86: > piActive=~[0.01 0 0] +86: > errActive=~[-0.00773586 0 0] +86: > deltaPi=~[-0.0381254 -5.71828e-08 1.29991e-07] +86: DBG: Line search iter 1: back=1, prevNorm=0.00773586. +86: > piNow=~[0.0481254 5.71828e-08 -1.29991e-07] +86: > errNow=~[0 3.07012e-08 -6.97914e-08] normNow=7.62456e-08 +86: DBG: Improvement rate now/prev at iter 1 is 9.85614e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.63572e-08 +86: > NEWTON iter 2: errNorm=7.62456e-08(v) -> deltaNorm=2.17465e-07(pi) +86: > piActive=~[0.0481254 5.71828e-08 -1.29991e-07] +86: > errActive=~[0 3.07012e-08 -6.97914e-08] +86: > deltaPi=~[1.64692e-07 5.71828e-08 -1.29991e-07] +86: DBG: Line search iter 1: back=1, prevNorm=7.62456e-08. +86: > piNow=~[0.0481252 -1.06665e-14 2.42476e-14] +86: > errNow=~[0 -5.72679e-15 1.30184e-14] normNow=1.42224e-14 +86: DBG: Improvement rate now/prev at iter 2 is 1.86533e-07 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.42224e-14. +86: DBG: Worst offender is normal contact 0 err=0.0481252 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=() +86: Participating UniCont 0 (ix=2): cond=UniOff/Sliding, vel=-0.216187,0.491446, mag=0.536895 +86: fillMult2Active: +86: : active=() +86: : mult2active=(-1111111111,-1111111111,-1111111111) +86: initializeNewton: +86: : verrLeft was=~[0.0383411 -0.216187 0.491446] +86: : verrExpand was=~[0 0 0] +86: : verrApplied was=~[-0.0285762 0.00920797 0.0146187] +86: : rhsActive=~[] +86: : pi was=~[0 -1.06665e-14 2.42476e-14] +86: : piActive=~[] 86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.21167 -0.0117154 -0.220856] -86: : m_verrLeft=~[1.11022e-16 -0.0461062 -1.49279] +86: : m_piActive=~[] +86: : m_verrLeft=~[0.00976492 -0.206979 0.506065] 86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.21167 verr=1.11022e-16 pi*v=-2.45545e-16 -86: SP FINAL 1 intervals, piTotal=~[-2.21167 -0.0117154 -0.220856] errNorm=9.51268e-16 +86: DBG: 0: pi=0 verr=0.00976492 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[0 0 0] errNorm=0 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0815879 -1.53807, |slipV|=1.54024 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.216187 0.491446, |slipV|=0.536895 86: ------------------------------ 86: -86: dynamics impulse=~[-2.21167 -0.0117154 -0.220856] -86: updated verrStart=~[1.11022e-16 -0.0461062 -1.49279] +86: dynamics impulse=~[0 0 0] +86: updated verrStart=~[0.00976492 -0.206979 0.506065] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[-0.948533 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: posVerr=~[0.355 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 0 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.296804 -0.0153103 0.323364] -86: [-0.0153103 0.0486938 0.0191782] -86: [0.323364 0.0191782 0.407904] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[-0.948533 0 0] -86: active=(0) -86: -> piActive=~[-3.19582] -86: -> pi=~[-3.19582 0 0] -86: resid active=~[0] -86: resid=~[0 0.0489289 -1.03341] +86: DBG: no bilateral participators. Nothing to do. 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-1.11022e-16 -0.0461062 -1.49279] -86: perr=~[-0.000948533 0] -86: END OF STEP (0.037,0.038): -86: verr=~[-0.00149652 -0.0447567 -1.49101] -86: perr=~[-0.000949281 0] +86: verr=~[0.00976492 -0.206979 0.506065] +86: perr=~[0.000355 0] +86: END OF STEP (0.091,0.092): +86: verr=~[0.00983465 -0.207062 0.506175] +86: perr=~[0.0003648 0] 86: constraint status: -86: 0: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0) -86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: 2: cont UniOff fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.49169 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00149652 -> cor=0 +86: DBG: Uni fric 2 verr speed=0.546889 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. 86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: () -86: participating multx: (0,1,2) -86: verr=~[-0.00149652 -0.0447567 -1.49101] -86: IMP t=0.038 verr=~[-0.00149652 -0.0447567 -1.49101] +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.00983465 -0.207062 0.506175] +86: verrExt=~[-0.0334158 0.0083008 0.00931963] +86: total verr=~[-0.0235811 -0.198761 0.515494] +86: DYN t=0.092: verrStart=~[0.00983465 -0.207062 0.506175] +86: verrApplied=~[-0.0334158 0.0083008 0.00931963] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -34653,73 +46086,111 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[-0.00149652 -0.0447567 -1.49101] -86: verrApplied=~[] +86: verrLeft=~[0.00983465 -0.207062 0.506175] +86: verrApplied=~[-0.0334158 0.0083008 0.00931963] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0447567,-1.49101, mag=1.49169 +86: Participating contact 0 is Sliding; vel=-0.207062,0.506175, mag=0.546889 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0447567,-1.49101, mag=1.49169 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.207062,0.506175, mag=0.546889 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.00149652; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.0235811; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.00149652 -0.0447567 -1.49101] +86: : verrLeft was=~[0.00983465 -0.207062 0.506175] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00149652 -0.0447567 -1.49101] +86: : verrApplied was=~[-0.0334158 0.0083008 0.00931963] +86: : rhsActive=~[-0.0235811 -0.198761 0.515494] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.55634e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00208147... -86: > NEWTON iter 1: errNorm=0.00208147(v) -> deltaNorm=0.00544384(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.03709e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0215562... +86: > NEWTON iter 1: errNorm=0.0215562(v) -> deltaNorm=0.122173(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[-0.00145168 4.47567e-05 0.00149101] -86: > deltaPi=~[-0.00542458 1.37288e-05 0.000457356] -86: DBG: Line search iter 1: back=1, prevNorm=0.00208147. -86: > piNow=~[-0.00457542 -1.37288e-05 -0.000457356] -86: > errNow=~[-2.1684e-19 -9.04347e-10 -3.01272e-08] normNow=3.01408e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.44806e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.65304e-05 -86: > NEWTON iter 2: errNorm=3.01408e-08(v) -> deltaNorm=2.6997e-08(pi) -86: > piActive=~[-0.00457542 -1.37288e-05 -0.000457356] -86: > errActive=~[-2.1684e-19 -9.04347e-10 -3.01272e-08] -86: > deltaPi=~[1.99276e-08 -5.46479e-10 -1.82053e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.01408e-08. -86: > piNow=~[-0.00457544 -1.37282e-05 -0.000457338] -86: > errNow=~[0 1.58627e-14 5.28447e-13] normNow=5.28685e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.75405e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.28685e-13. +86: > errActive=~[0.0215492 0.000207062 -0.000506175] +86: > deltaPi=~[0.121464 0.00497728 -0.0121673] +86: DBG: Line search iter 1: back=1, prevNorm=0.0215562. +86: > piNow=~[-0.131464 -0.00497728 0.0121673] +86: > errNow=~[3.46945e-18 9.36826e-08 -2.29013e-07] normNow=2.47433e-07 +86: DBG: Improvement rate now/prev at iter 1 is 1.14785e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.17883e-08 +86: > NEWTON iter 2: errNorm=2.47433e-07(v) -> deltaNorm=7.89668e-07(pi) +86: > piActive=~[-0.131464 -0.00497728 0.0121673] +86: > errActive=~[3.46945e-18 9.36826e-08 -2.29013e-07] +86: > deltaPi=~[6.00754e-07 1.94046e-07 -4.74359e-07] +86: DBG: Line search iter 1: back=1, prevNorm=2.47433e-07. +86: > piNow=~[-0.131465 -0.00497748 0.0121678] +86: > errNow=~[0 2.68102e-15 -6.55379e-15] normNow=7.08096e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.86176e-08 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.08096e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.0447567,-1.49101] to ~[-0.0448122,-1.48935] -86: DBG: Friction 0 rotated 0.00405527 deg, less than max 30 +86: slipVel 0 from ~[-0.207062,0.506175] to ~[-0.19745,0.544537] +86: DBG: Friction 0 rotated 2.31736 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00457544 -1.37282e-05 -0.000457338] -86: : m_verrLeft=~[0 -0.0448122 -1.48935] -86: : verrAppliedLeft=~[] +86: : m_piActive=~[-0.131465 -0.00497748 0.0121678] +86: : m_verrLeft=~[0 -0.19745 0.544537] +86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00457544 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.00457544 -1.37282e-05 -0.000457338] errNorm=5.28685e-13 -86: Postcompression verr=~[0 -0.0448122 -1.48935] -86: impulse=~[-0.00457544 -1.37282e-05 -0.000457338] -86: Next expansion impulse=~[0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00457544 -1.37282e-05 -0.000457338]-> du ~[-0.000955633 0.00212738 -0.00101779 -0.00113169 -3.72579e-05 0.00103252 -0.004 0.00238292] -86: Now verr0=~[-1.11022e-16 -0.0448122 -1.48935] +86: DBG: 0: pi=-0.131465 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.131465 -0.00497748 0.0121678] errNorm=7.08096e-15 86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-1.11022e-16 -0.0448122 -1.48935] -86: verrExt=~[-0.770886 0.0629843 -0.813836] -86: total verr=~[-0.770886 0.0181722 -2.30318] -86: DYN t=0.038: verrStart=~[-1.11022e-16 -0.0448122 -1.48935] -86: verrApplied=~[-0.770886 0.0629843 -0.813836] +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.207062 0.506175, |slipV|=0.546889 +86: ------------------------------ +86: +86: dynamics impulse=~[-0.131465 -0.00497748 0.0121678] +86: updated verrStart=~[0 -0.19745 0.544537] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.3648 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.20319 0.00482214 0.259303] +86: [0.00482214 0.0495962 -0.0353483] +86: [0.259303 -0.0353483 0.40027] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[0.3648 0 0] +86: active=(0) +86: -> piActive=~[1.79537] +86: -> pi=~[1.79537 0 0] +86: resid active=~[0] +86: resid=~[0 0.00865751 0.465544] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[8.32667e-17 -0.19745 0.544537] +86: perr=~[0.0003648 0] +86: END OF STEP (0.092,0.093): +86: verr=~[6.52096e-05 -0.19753 0.544671] +86: perr=~[0.000364833 0] +86: constraint status: +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 2 verr speed=0.579383 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[6.52096e-05 -0.19753 0.544671] +86: verrExt=~[-0.0434653 0.00740407 -0.00311185] +86: total verr=~[-0.0434001 -0.190126 0.541559] +86: DYN t=0.093: verrStart=~[6.52096e-05 -0.19753 0.544671] +86: verrApplied=~[-0.0434653 0.00740407 -0.00311185] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -34731,110 +46202,111 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[-1.11022e-16 -0.0448122 -1.48935] -86: verrApplied=~[-0.770886 0.0629843 -0.813836] +86: verrLeft=~[6.52096e-05 -0.19753 0.544671] +86: verrApplied=~[-0.0434653 0.00740407 -0.00311185] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0448122,-1.48935, mag=1.49002 +86: Participating contact 0 is Sliding; vel=-0.19753,0.544671, mag=0.579383 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0448122,-1.48935, mag=1.49002 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.19753,0.544671, mag=0.579383 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.770886; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.0434001; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-1.11022e-16 -0.0448122 -1.48935] +86: : verrLeft was=~[6.52096e-05 -0.19753 0.544671] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.770886 0.0629843 -0.813836] -86: : rhsActive=~[-0.770886 0.0181722 -2.30318] +86: : verrApplied was=~[-0.0434653 0.00740407 -0.00311185] +86: : rhsActive=~[-0.0434001 -0.190126 0.541559] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.55014e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.767939... -86: > NEWTON iter 1: errNorm=0.767939(v) -> deltaNorm=2.35871(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.15813e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0413692... +86: > NEWTON iter 1: errNorm=0.0413692(v) -> deltaNorm=0.233345(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.767938 4.48122e-05 0.00148935] -86: > deltaPi=~[2.34691 0.00708809 0.235575] -86: DBG: Line search iter 1: back=1, prevNorm=0.767939. -86: > piNow=~[-2.35691 -0.00708809 -0.235575] -86: > errNow=~[-2.22045e-16 3.91745e-07 1.30198e-05] normNow=1.30257e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.69618e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.38068e-10 -86: > NEWTON iter 2: errNorm=1.30257e-05(v) -> deltaNorm=1.16798e-05(pi) -86: > piActive=~[-2.35691 -0.00708809 -0.235575] -86: > errActive=~[-2.22045e-16 3.91745e-07 1.30198e-05] -86: > deltaPi=~[-8.62133e-06 2.36984e-07 7.87623e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.30257e-05. -86: > piNow=~[-2.3569 -0.00708833 -0.235583] -86: > errNow=~[0 -2.60209e-17 -8.32667e-16] normNow=8.33074e-16 -86: DBG: Improvement rate now/prev at iter 2 is 6.39564e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.33074e-16. +86: > errActive=~[0.0413652 0.00019753 -0.000544671] +86: > deltaPi=~[0.232086 0.0082532 -0.0227574] +86: DBG: Line search iter 1: back=1, prevNorm=0.0413692. +86: > piNow=~[-0.242086 -0.0082532 0.0227574] +86: > errNow=~[6.93889e-18 1.70763e-07 -4.70864e-07] normNow=5.00872e-07 +86: DBG: Improvement rate now/prev at iter 1 is 1.21074e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.68323e-09 +86: > NEWTON iter 2: errNorm=5.00872e-07(v) -> deltaNorm=1.52546e-06(pi) +86: > piActive=~[-0.242086 -0.0082532 0.0227574] +86: > errActive=~[6.93889e-18 1.70763e-07 -4.70864e-07] +86: > deltaPi=~[1.16795e-06 3.34552e-07 -9.22496e-07] +86: DBG: Line search iter 1: back=1, prevNorm=5.00872e-07. +86: > piNow=~[-0.242088 -0.00825353 0.0227584] +86: > errNow=~[0 1.46671e-15 -4.04364e-15] normNow=4.30143e-15 +86: DBG: Improvement rate now/prev at iter 2 is 8.58787e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.30143e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.0448122,-1.48935] to ~[-0.0104085,-1.44477] -86: DBG: Friction 0 rotated 1.31065 deg, less than max 30 +86: slipVel 0 from ~[-0.19753,0.544671] to ~[-0.187753,0.59496] +86: DBG: Friction 0 rotated 2.41941 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.3569 -0.00708833 -0.235583] -86: : m_verrLeft=~[0 -0.0104085 -1.44477] +86: : m_piActive=~[-0.242088 -0.00825353 0.0227584] +86: : m_verrLeft=~[0 -0.187753 0.59496] 86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.3569 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-2.3569 -0.00708833 -0.235583] errNorm=8.33074e-16 +86: DBG: 0: pi=-0.242088 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.242088 -0.00825353 0.0227584] errNorm=4.30143e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0448122 -1.48935, |slipV|=1.49002 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.19753 0.544671, |slipV|=0.579383 86: ------------------------------ 86: -86: dynamics impulse=~[-2.3569 -0.00708833 -0.235583] -86: updated verrStart=~[0 -0.0104085 -1.44477] +86: dynamics impulse=~[-0.242088 -0.00825353 0.0227584] +86: updated verrStart=~[0 -0.187753 0.59496] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[-0.949281 0 0] +86: posVerr=~[0.364833 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 1 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.29482 -0.0143212 0.323141] -86: [-0.0143212 0.0488048 0.0204893] -86: [0.323141 0.0204893 0.410308] +86: [0.203495 0.00478536 0.259375] +86: [0.00478536 0.0496392 -0.0353783] +86: [0.259375 -0.0353783 0.399809] 86: D=~[0 0 0] 86: rcond(A+D)=0 rank=1 -86: rhs=~[-0.949281 0 0] +86: rhs=~[0.364833 0 0] 86: active=(0) -86: -> piActive=~[-3.21986] -86: -> pi=~[-3.21986 0 0] +86: -> piActive=~[1.79283] +86: -> pi=~[1.79283 0 0] 86: resid active=~[0] -86: resid=~[0 0.0461122 -1.04047] +86: resid=~[0 0.00857935 0.465016] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[0 -0.0104085 -1.44477] -86: perr=~[-0.000949281 0] -86: END OF STEP (0.038,0.039): -86: verr=~[-0.00265264 -0.0076555 -1.44199] -86: perr=~[-0.000950607 0] +86: verr=~[0 -0.187753 0.59496] +86: perr=~[0.000364833 0] +86: END OF STEP (0.093,0.094): +86: verr=~[6.58742e-05 -0.18783 0.595112] +86: perr=~[0.000364865 0] 86: constraint status: -86: 0: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0) -86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.44201 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00265264 -> cor=0 +86: DBG: Uni fric 2 verr speed=0.62405 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. 86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: () -86: participating multx: (0,1,2) -86: verr=~[-0.00265264 -0.0076555 -1.44199] -86: IMP t=0.039 verr=~[-0.00265264 -0.0076555 -1.44199] +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[6.58742e-05 -0.18783 0.595112] +86: verrExt=~[-0.0565537 0.0064591 -0.0195936] +86: total verr=~[-0.0564879 -0.181371 0.575519] +86: DYN t=0.094: verrStart=~[6.58742e-05 -0.18783 0.595112] +86: verrApplied=~[-0.0565537 0.0064591 -0.0195936] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -34846,73 +46318,111 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[-0.00265264 -0.0076555 -1.44199] -86: verrApplied=~[] +86: verrLeft=~[6.58742e-05 -0.18783 0.595112] +86: verrApplied=~[-0.0565537 0.0064591 -0.0195936] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0076555,-1.44199, mag=1.44201 +86: Participating contact 0 is Sliding; vel=-0.18783,0.595112, mag=0.62405 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0076555,-1.44199, mag=1.44201 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.18783,0.595112, mag=0.62405 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.00265264; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.0564879; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.00265264 -0.0076555 -1.44199] +86: : verrLeft was=~[6.58742e-05 -0.18783 0.595112] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00265264 -0.0076555 -1.44199] +86: : verrApplied was=~[-0.0565537 0.0064591 -0.0195936] +86: : rhsActive=~[-0.0564879 -0.181371 0.575519] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.37132e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00146752... -86: > NEWTON iter 1: errNorm=0.00146752(v) -> deltaNorm=0.00200609(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.32451e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0544532... +86: > NEWTON iter 1: errNorm=0.0544532(v) -> deltaNorm=0.306792(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[-0.000272437 7.6555e-06 0.00144199] -86: > deltaPi=~[-0.00183228 4.33619e-06 0.000816767] -86: DBG: Line search iter 1: back=1, prevNorm=0.00146752. -86: > piNow=~[-0.00816772 -4.33619e-06 -0.000816767] -86: > errNow=~[-4.33681e-19 -5.2249e-11 -9.84164e-09] normNow=9.84178e-09 -86: DBG: Improvement rate now/prev at iter 1 is 6.70638e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.0511e-06 -86: > NEWTON iter 2: errNorm=9.84178e-09(v) -> deltaNorm=9.15186e-09(pi) -86: > piActive=~[-0.00816772 -4.33619e-06 -0.000816767] -86: > errActive=~[-4.33681e-19 -5.2249e-11 -9.84164e-09] -86: > deltaPi=~[6.78015e-09 -3.2634e-11 -6.14696e-09] -86: DBG: Line search iter 1: back=1, prevNorm=9.84178e-09. -86: > piNow=~[-0.00816772 -4.33616e-06 -0.000816761] -86: > errNow=~[0 2.898e-16 5.4587e-14] normNow=5.45877e-14 -86: DBG: Improvement rate now/prev at iter 2 is 5.54653e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.45877e-14. +86: > errActive=~[0.0544496 0.00018783 -0.000595112] +86: > deltaPi=~[0.305169 0.00948578 -0.0300544] +86: DBG: Line search iter 1: back=1, prevNorm=0.0544532. +86: > piNow=~[-0.315169 -0.00948578 0.0300544] +86: > errNow=~[-6.93889e-18 2.13509e-07 -6.76474e-07] normNow=7.09368e-07 +86: DBG: Improvement rate now/prev at iter 1 is 1.30271e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.33983e-09 +86: > NEWTON iter 2: errNorm=7.09368e-07(v) -> deltaNorm=2.02604e-06(pi) +86: > piActive=~[-0.315169 -0.00948578 0.0300544] +86: > errActive=~[-6.93889e-18 2.13509e-07 -6.76474e-07] +86: > deltaPi=~[1.56003e-06 3.89089e-07 -1.23278e-06] +86: DBG: Line search iter 1: back=1, prevNorm=7.09368e-07. +86: > piNow=~[-0.315171 -0.00948617 0.0300556] +86: > errNow=~[6.93889e-18 1.09895e-15 -3.48332e-15] normNow=3.65257e-15 +86: DBG: Improvement rate now/prev at iter 2 is 5.14905e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.65257e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.0076555,-1.44199] to ~[-0.00774476,-1.43902] -86: DBG: Friction 0 rotated 0.00418223 deg, less than max 30 +86: slipVel 0 from ~[-0.18783,0.595112] to ~[-0.178339,0.644948] +86: DBG: Friction 0 rotated 2.05973 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00816772 -4.33616e-06 -0.000816761] -86: : m_verrLeft=~[0 -0.00774476 -1.43902] -86: : verrAppliedLeft=~[] +86: : m_piActive=~[-0.315171 -0.00948617 0.0300556] +86: : m_verrLeft=~[-6.93889e-18 -0.178339 0.644948] +86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00816772 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.00816772 -4.33616e-06 -0.000816761] errNorm=5.45877e-14 -86: Postcompression verr=~[0 -0.00774476 -1.43902] -86: impulse=~[-0.00816772 -4.33616e-06 -0.000816761] -86: Next expansion impulse=~[0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00816772 -4.33616e-06 -0.000816761]-> du ~[-0.00168181 0.00378946 -0.0018169 -0.00202154 -5.99013e-05 0.00183319 -0.00712712 0.00426606] -86: Now verr0=~[1.11022e-16 -0.00774476 -1.43902] +86: DBG: 0: pi=-0.315171 verr=-6.93889e-18 pi*v=2.18694e-18 +86: SP FINAL 1 intervals, piTotal=~[-0.315171 -0.00948617 0.0300556] errNorm=3.65257e-15 86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[1.11022e-16 -0.00774476 -1.43902] -86: verrExt=~[-0.741193 0.0549431 -0.787241] -86: total verr=~[-0.741193 0.0471984 -2.22626] -86: DYN t=0.039: verrStart=~[1.11022e-16 -0.00774476 -1.43902] -86: verrApplied=~[-0.741193 0.0549431 -0.787241] +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.18783 0.595112, |slipV|=0.62405 +86: ------------------------------ +86: +86: dynamics impulse=~[-0.315171 -0.00948617 0.0300556] +86: updated verrStart=~[-6.93889e-18 -0.178339 0.644948] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.364865 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.203827 0.00474477 0.259433] +86: [0.00474477 0.0496892 -0.0354183] +86: [0.259433 -0.0354183 0.399266] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[0.364865 0 0] +86: active=(0) +86: -> piActive=~[1.79008] +86: -> pi=~[1.79008 0 0] +86: resid active=~[0] +86: resid=~[0 0.0084935 0.464404] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[2.77556e-17 -0.178339 0.644948] +86: perr=~[0.000364865 0] +86: END OF STEP (0.094,0.095): +86: verr=~[7.2338e-05 -0.178411 0.64511] +86: perr=~[0.000364902 0] +86: constraint status: +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 2 verr speed=0.669326 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[7.2338e-05 -0.178411 0.64511] +86: verrExt=~[-0.0696621 0.00539374 -0.0358724] +86: total verr=~[-0.0695897 -0.173017 0.609237] +86: DYN t=0.095: verrStart=~[7.2338e-05 -0.178411 0.64511] +86: verrApplied=~[-0.0696621 0.00539374 -0.0358724] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -34924,110 +46434,111 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[1.11022e-16 -0.00774476 -1.43902] -86: verrApplied=~[-0.741193 0.0549431 -0.787241] +86: verrLeft=~[7.2338e-05 -0.178411 0.64511] +86: verrApplied=~[-0.0696621 0.00539374 -0.0358724] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.00774476,-1.43902, mag=1.43904 +86: Participating contact 0 is Sliding; vel=-0.178411,0.64511, mag=0.669326 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.00774476,-1.43902, mag=1.43904 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.178411,0.64511, mag=0.669326 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.741193; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.0695897; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[1.11022e-16 -0.00774476 -1.43902] +86: : verrLeft was=~[7.2338e-05 -0.178411 0.64511] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.741193 0.0549431 -0.787241] -86: : rhsActive=~[-0.741193 0.0471984 -2.22626] +86: : verrApplied was=~[-0.0696621 0.00539374 -0.0358724] +86: : rhsActive=~[-0.0695897 -0.173017 0.609237] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.36025e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.73827... -86: > NEWTON iter 1: errNorm=0.73827(v) -> deltaNorm=2.28364(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.49315e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0675512... +86: > NEWTON iter 1: errNorm=0.0675512(v) -> deltaNorm=0.380111(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.738268 7.74476e-06 0.00143902] -86: > deltaPi=~[2.27221 0.00122821 0.228209] -86: DBG: Line search iter 1: back=1, prevNorm=0.73827. -86: > piNow=~[-2.28221 -0.00122821 -0.228209] -86: > errNow=~[3.33067e-16 6.55493e-08 1.21794e-05] normNow=1.21796e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.64975e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.23167e-10 -86: > NEWTON iter 2: errNorm=1.21796e-05(v) -> deltaNorm=1.13491e-05(pi) -86: > piActive=~[-2.28221 -0.00122821 -0.228209] -86: > errActive=~[3.33067e-16 6.55493e-08 1.21794e-05] -86: > deltaPi=~[-8.40797e-06 4.10256e-08 7.62278e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.21796e-05. -86: > piNow=~[-2.2822 -0.00122825 -0.228217] -86: > errNow=~[1.11022e-16 -4.55365e-18 -8.88178e-16] normNow=8.95102e-16 -86: DBG: Improvement rate now/prev at iter 2 is 7.34919e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.95102e-16. +86: > errActive=~[0.0675479 0.000178411 -0.00064511] +86: > deltaPi=~[0.378124 0.0103452 -0.0374068] +86: DBG: Line search iter 1: back=1, prevNorm=0.0675512. +86: > piNow=~[-0.388124 -0.0103452 0.0374068] +86: > errNow=~[0 2.51286e-07 -9.08614e-07] normNow=9.42722e-07 +86: DBG: Improvement rate now/prev at iter 1 is 1.39557e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.6539e-09 +86: > NEWTON iter 2: errNorm=9.42722e-07(v) -> deltaNorm=2.52856e-06(pi) +86: > piActive=~[-0.388124 -0.0103452 0.0374068] +86: > errActive=~[0 2.51286e-07 -9.08614e-07] +86: > deltaPi=~[1.95474e-06 4.27535e-07 -1.54591e-06] +86: DBG: Line search iter 1: back=1, prevNorm=9.42722e-07. +86: > piNow=~[-0.388126 -0.0103456 0.0374084] +86: > errNow=~[0 8.62158e-16 -3.12597e-15] normNow=3.24269e-15 +86: DBG: Improvement rate now/prev at iter 2 is 3.43971e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.24269e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.00774476,-1.43902] to ~[0.0222587,-1.39556] -86: DBG: Friction 0 rotated 1.22213 deg, less than max 30 +86: slipVel 0 from ~[-0.178411,0.64511] to ~[-0.169353,0.694667] +86: DBG: Friction 0 rotated 1.75837 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.2822 -0.00122825 -0.228217] -86: : m_verrLeft=~[-1.11022e-16 0.0222587 -1.39556] +86: : m_piActive=~[-0.388126 -0.0103456 0.0374084] +86: : m_verrLeft=~[0 -0.169353 0.694667] 86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.2822 verr=-1.11022e-16 pi*v=2.53375e-16 -86: SP FINAL 1 intervals, piTotal=~[-2.2822 -0.00122825 -0.228217] errNorm=8.95102e-16 +86: DBG: 0: pi=-0.388126 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.388126 -0.0103456 0.0374084] errNorm=3.24269e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.00774476 -1.43902, |slipV|=1.43904 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.178411 0.64511, |slipV|=0.669326 86: ------------------------------ 86: -86: dynamics impulse=~[-2.2822 -0.00122825 -0.228217] -86: updated verrStart=~[-1.11022e-16 0.0222587 -1.39556] +86: dynamics impulse=~[-0.388126 -0.0103456 0.0374084] +86: updated verrStart=~[0 -0.169353 0.694667] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[-0.950607 0 0] +86: posVerr=~[0.364902 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 1 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.292508 -0.0131562 0.322709] -86: [-0.0131562 0.0489251 0.0220201] -86: [0.322709 0.0220201 0.4127] +86: [0.20418 0.00469548 0.259476] +86: [0.00469548 0.0497457 -0.0354745] +86: [0.259476 -0.0354745 0.398648] 86: D=~[0 0 0] 86: rcond(A+D)=0 rank=1 -86: rhs=~[-0.950607 0 0] +86: rhs=~[0.364902 0 0] 86: active=(0) -86: -> piActive=~[-3.24985] -86: -> pi=~[-3.24985 0 0] -86: resid active=~[1.11022e-16] -86: resid=~[1.11022e-16 0.0427557 -1.04876] +86: -> piActive=~[1.78715] +86: -> pi=~[1.78715 0 0] +86: resid active=~[0] +86: resid=~[0 0.00839154 0.463724] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[2.22045e-16 0.0222587 -1.39556] -86: perr=~[-0.000950607 0] -86: END OF STEP (0.039,0.04): -86: verr=~[-0.00395873 0.0267777 -1.39171] -86: perr=~[-0.000952587 0] +86: verr=~[-2.77556e-17 -0.169353 0.694667] +86: perr=~[0.000364902 0] +86: END OF STEP (0.095,0.096): +86: verr=~[8.74349e-05 -0.169419 0.694826] +86: perr=~[0.000364945 -2.22045e-16] 86: constraint status: -86: 0: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0) -86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.39197 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00395873 -> cor=0 +86: DBG: Uni fric 2 verr speed=0.715183 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. 86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: () -86: participating multx: (0,1,2) -86: verr=~[-0.00395873 0.0267777 -1.39171] -86: IMP t=0.04 verr=~[-0.00395873 0.0267777 -1.39171] +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[8.74349e-05 -0.169419 0.694826] +86: verrExt=~[-0.0822771 0.00422416 -0.0512663] +86: total verr=~[-0.0821896 -0.165195 0.64356] +86: DYN t=0.096: verrStart=~[8.74349e-05 -0.169419 0.694826] +86: verrApplied=~[-0.0822771 0.00422416 -0.0512663] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -35039,73 +46550,111 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[-0.00395873 0.0267777 -1.39171] -86: verrApplied=~[] +86: verrLeft=~[8.74349e-05 -0.169419 0.694826] +86: verrApplied=~[-0.0822771 0.00422416 -0.0512663] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=0.0267777,-1.39171, mag=1.39197 +86: Participating contact 0 is Sliding; vel=-0.169419,0.694826, mag=0.715183 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0267777,-1.39171, mag=1.39197 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.169419,0.694826, mag=0.715183 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.00395873; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.0821896; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.00395873 0.0267777 -1.39171] +86: : verrLeft was=~[8.74349e-05 -0.169419 0.694826] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00395873 0.0267777 -1.39171] +86: : verrApplied was=~[-0.0822771 0.00422416 -0.0512663] +86: : rhsActive=~[-0.0821896 -0.165195 0.64356] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.18491e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00174942... -86: > NEWTON iter 1: errNorm=0.00174942(v) -> deltaNorm=0.00259814(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.66396e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0801473... +86: > NEWTON iter 1: errNorm=0.0801473(v) -> deltaNorm=0.450345(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.00105966 -2.67777e-05 0.00139171] -86: > deltaPi=~[0.00228913 -2.36407e-05 0.00122868] -86: DBG: Line search iter 1: back=1, prevNorm=0.00174942. -86: > piNow=~[-0.0122891 2.36407e-05 -0.00122868] -86: > errNow=~[8.67362e-19 -2.28325e-10 1.18667e-08] normNow=1.18689e-08 -86: DBG: Improvement rate now/prev at iter 1 is 6.78451e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.43333e-06 -86: > NEWTON iter 2: errNorm=1.18689e-08(v) -> deltaNorm=1.14738e-08(pi) -86: > piActive=~[-0.0122891 2.36407e-05 -0.00122868] -86: > errActive=~[8.67362e-19 -2.28325e-10 1.18667e-08] -86: > deltaPi=~[-8.53002e-09 -1.47621e-10 7.67231e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.18689e-08. -86: > piNow=~[-0.0122891 2.36409e-05 -0.00122868] -86: > errNow=~[0 5.63392e-16 -2.9281e-14] normNow=2.92865e-14 -86: DBG: Improvement rate now/prev at iter 2 is 2.46749e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.92865e-14. +86: > errActive=~[0.0801441 0.000169419 -0.000694826] +86: > deltaPi=~[0.44801 0.0108494 -0.0444958] +86: DBG: Line search iter 1: back=1, prevNorm=0.0801473. +86: > piNow=~[-0.45801 -0.0108494 0.0444958] +86: > errNow=~[-1.38778e-17 2.82723e-07 -1.15951e-06] normNow=1.19348e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.48911e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.27035e-09 +86: > NEWTON iter 2: errNorm=1.19348e-06(v) -> deltaNorm=3.01128e-06(pi) +86: > piActive=~[-0.45801 -0.0108494 0.0444958] +86: > errActive=~[-1.38778e-17 2.82723e-07 -1.15951e-06] +86: > deltaPi=~[2.33438e-06 4.50615e-07 -1.84808e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.19348e-06. +86: > piNow=~[-0.458013 -0.0108498 0.0444976] +86: > errNow=~[1.38778e-17 7.02563e-16 -2.88658e-15] normNow=2.97088e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.48925e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.97088e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.0267777,-1.39171] to ~[0.0266603,-1.38725] -86: DBG: Friction 0 rotated 0.00129617 deg, less than max 30 +86: slipVel 0 from ~[-0.169419,0.694826] to ~[-0.160951,0.744323] +86: DBG: Friction 0 rotated 1.50135 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.0122891 2.36409e-05 -0.00122868] -86: : m_verrLeft=~[0 0.0266603 -1.38725] -86: : verrAppliedLeft=~[] +86: : m_piActive=~[-0.458013 -0.0108498 0.0444976] +86: : m_verrLeft=~[-1.38778e-17 -0.160951 0.744323] +86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.0122891 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.0122891 2.36409e-05 -0.00122868] errNorm=2.92865e-14 -86: Postcompression verr=~[0 0.0266603 -1.38725] -86: impulse=~[-0.0122891 2.36409e-05 -0.00122868] -86: Next expansion impulse=~[0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.0122891 2.36409e-05 -0.00122868]-> du ~[-0.00249141 0.00568323 -0.00273489 -0.00304146 -7.91519e-05 0.00273891 -0.0106887 0.00641159] -86: Now verr0=~[0 0.0266603 -1.38725] +86: DBG: 0: pi=-0.458013 verr=-1.38778e-17 pi*v=6.3562e-18 +86: SP FINAL 1 intervals, piTotal=~[-0.458013 -0.0108498 0.0444976] errNorm=2.97088e-15 86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0 0.0266603 -1.38725] -86: verrExt=~[-0.661491 0.0428191 -0.704689] -86: total verr=~[-0.661491 0.0694794 -2.09193] -86: DYN t=0.04: verrStart=~[0 0.0266603 -1.38725] -86: verrApplied=~[-0.661491 0.0428191 -0.704689] +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.169419 0.694826, |slipV|=0.715183 +86: ------------------------------ +86: +86: dynamics impulse=~[-0.458013 -0.0108498 0.0444976] +86: updated verrStart=~[-1.38778e-17 -0.160951 0.744323] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.364945 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.204551 0.00463233 0.259506] +86: [0.00463233 0.0498085 -0.0355533] +86: [0.259506 -0.0355533 0.397967] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[0.364945 0 0] +86: active=(0) +86: -> piActive=~[1.78413] +86: -> pi=~[1.78413 0 0] +86: resid active=~[0] +86: resid=~[0 0.00826469 0.462993] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[2.77556e-17 -0.160951 0.744323] +86: perr=~[0.000364945 -2.22045e-16] +86: END OF STEP (0.096,0.097): +86: verr=~[0.000112711 -0.161011 0.744468] +86: perr=~[0.000365002 -2.22045e-16] +86: constraint status: +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 2 verr speed=0.761681 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.000112711 -0.161011 0.744468] +86: verrExt=~[-0.0940195 0.00297808 -0.0652962] +86: total verr=~[-0.0939068 -0.158033 0.679172] +86: DYN t=0.097: verrStart=~[0.000112711 -0.161011 0.744468] +86: verrApplied=~[-0.0940195 0.00297808 -0.0652962] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -35117,110 +46666,111 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[0 0.0266603 -1.38725] -86: verrApplied=~[-0.661491 0.0428191 -0.704689] +86: verrLeft=~[0.000112711 -0.161011 0.744468] +86: verrApplied=~[-0.0940195 0.00297808 -0.0652962] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=0.0266603,-1.38725, mag=1.3875 +86: Participating contact 0 is Sliding; vel=-0.161011,0.744468, mag=0.761681 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0266603,-1.38725, mag=1.3875 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.161011,0.744468, mag=0.761681 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.661491; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.0939068; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0 0.0266603 -1.38725] +86: : verrLeft was=~[0.000112711 -0.161011 0.744468] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.661491 0.0428191 -0.704689] -86: : rhsActive=~[-0.661491 0.0694794 -2.09193] +86: : verrApplied was=~[-0.0940195 0.00297808 -0.0652962] +86: : rhsActive=~[-0.0939068 -0.158033 0.679172] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.16827e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.658594... -86: > NEWTON iter 1: errNorm=0.658594(v) -> deltaNorm=2.05377(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.83716e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0918606... +86: > NEWTON iter 1: errNorm=0.0918606(v) -> deltaNorm=0.515335(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.658592 -2.66603e-05 0.00138725] -86: > deltaPi=~[2.04348 -0.00394553 0.205302] -86: DBG: Line search iter 1: back=1, prevNorm=0.658594. -86: > piNow=~[-2.05348 0.00394553 -0.205302] -86: > errNow=~[1.11022e-16 -2.0293e-07 1.05593e-05] normNow=1.05612e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.60361e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.67037e-10 -86: > NEWTON iter 2: errNorm=1.05612e-05(v) -> deltaNorm=1.02425e-05(pi) -86: > piActive=~[-2.05348 0.00394553 -0.205302] -86: > errActive=~[1.11022e-16 -2.0293e-07 1.05593e-05] -86: > deltaPi=~[-7.61463e-06 -1.31625e-07 6.84897e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.05612e-05. -86: > piNow=~[-2.05347 0.00394567 -0.205309] -86: > errNow=~[1.11022e-16 1.73472e-17 -8.88178e-16] normNow=8.95259e-16 -86: DBG: Improvement rate now/prev at iter 2 is 8.47683e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.95259e-16. +86: > errActive=~[0.0918574 0.000161011 -0.000744468] +86: > deltaPi=~[0.512678 0.0110484 -0.0510847] +86: DBG: Line search iter 1: back=1, prevNorm=0.0918606. +86: > piNow=~[-0.522678 -0.0110484 0.0510847] +86: > errNow=~[0 3.07476e-07 -1.42168e-06] normNow=1.45455e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.58343e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.03899e-09 +86: > NEWTON iter 2: errNorm=1.45455e-06(v) -> deltaNorm=3.45818e-06(pi) +86: > piActive=~[-0.522678 -0.0110484 0.0510847] +86: > errActive=~[0 3.07476e-07 -1.42168e-06] +86: > deltaPi=~[2.68593e-06 4.60459e-07 -2.12903e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.45455e-06. +86: > piNow=~[-0.52268 -0.0110489 0.0510869] +86: > errNow=~[1.38778e-17 5.88071e-16 -2.71311e-15] normNow=2.77614e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.90859e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.77614e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.0266603,-1.38725] to ~[0.0498699,-1.34541] -86: DBG: Friction 0 rotated 1.02182 deg, less than max 30 +86: slipVel 0 from ~[-0.161011,0.744468] to ~[-0.153282,0.794132] +86: DBG: Friction 0 rotated 1.27901 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.05347 0.00394567 -0.205309] -86: : m_verrLeft=~[-1.11022e-16 0.0498699 -1.34541] +86: : m_piActive=~[-0.52268 -0.0110489 0.0510869] +86: : m_verrLeft=~[-1.38778e-17 -0.153282 0.794132] 86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.05347 verr=-1.11022e-16 pi*v=2.27981e-16 -86: SP FINAL 1 intervals, piTotal=~[-2.05347 0.00394567 -0.205309] errNorm=8.95259e-16 +86: DBG: 0: pi=-0.52268 verr=-1.38778e-17 pi*v=7.25365e-18 +86: SP FINAL 1 intervals, piTotal=~[-0.52268 -0.0110489 0.0510869] errNorm=2.77614e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0266603 -1.38725, |slipV|=1.3875 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.161011 0.744468, |slipV|=0.761681 86: ------------------------------ 86: -86: dynamics impulse=~[-2.05347 0.00394567 -0.205309] -86: updated verrStart=~[-1.11022e-16 0.0498699 -1.34541] +86: dynamics impulse=~[-0.52268 -0.0110489 0.0510869] +86: updated verrStart=~[-1.38778e-17 -0.153282 0.794132] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[-0.952587 0 0] +86: posVerr=~[0.365002 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 1 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.289908 -0.0118306 0.322089] -86: [-0.0118306 0.0490583 0.0237586] -86: [0.322089 0.0237586 0.415086] +86: [0.204934 0.00455008 0.259524] +86: [0.00455008 0.0498773 -0.0356612] +86: [0.259524 -0.0356612 0.397232] 86: D=~[0 0 0] 86: rcond(A+D)=0 rank=1 -86: rhs=~[-0.952587 0 0] +86: rhs=~[0.365002 0 0] 86: active=(0) -86: -> piActive=~[-3.28583] -86: -> pi=~[-3.28583 0 0] +86: -> piActive=~[1.78107] +86: -> pi=~[1.78107 0 0] 86: resid active=~[0] -86: resid=~[0 0.0388733 -1.05833] +86: resid=~[0 0.00810403 0.46223] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-2.22045e-16 0.0498699 -1.34541] -86: perr=~[-0.000952587 0] -86: END OF STEP (0.04,0.041): -86: verr=~[-0.0052572 0.0562667 -1.34053] -86: perr=~[-0.000955215 -2.22045e-16] +86: verr=~[6.93889e-17 -0.153282 0.794132] +86: perr=~[0.000365002 -2.22045e-16] +86: END OF STEP (0.097,0.098): +86: verr=~[0.000148446 -0.153342 0.794253] +86: perr=~[0.000365076 -1.11022e-16] 86: constraint status: -86: 0: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0) -86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.34171 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.0052572 -> cor=0 +86: DBG: Uni fric 2 verr speed=0.80892 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. 86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: () -86: participating multx: (0,1,2) -86: verr=~[-0.0052572 0.0562667 -1.34053] -86: IMP t=0.041 verr=~[-0.0052572 0.0562667 -1.34053] +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.000148446 -0.153342 0.794253] +86: verrExt=~[-0.104634 0.00169236 -0.0776678] +86: total verr=~[-0.104485 -0.15165 0.716585] +86: DYN t=0.098: verrStart=~[0.000148446 -0.153342 0.794253] +86: verrApplied=~[-0.104634 0.00169236 -0.0776678] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -35232,189 +46782,126 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[-0.0052572 0.0562667 -1.34053] -86: verrApplied=~[] +86: verrLeft=~[0.000148446 -0.153342 0.794253] +86: verrApplied=~[-0.104634 0.00169236 -0.0776678] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=0.0562667,-1.34053, mag=1.34171 +86: Participating contact 0 is Sliding; vel=-0.153342,0.794253, mag=0.80892 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0562667,-1.34053, mag=1.34171 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.153342,0.794253, mag=0.80892 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.0052572; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.104485; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.0052572 0.0562667 -1.34053] +86: : verrLeft was=~[0.000148446 -0.153342 0.794253] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.0052572 0.0562667 -1.34053] +86: : verrApplied was=~[-0.104634 0.00169236 -0.0776678] +86: : rhsActive=~[-0.104485 -0.15165 0.716585] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.99771e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00273775... -86: > NEWTON iter 1: errNorm=0.00273775(v) -> deltaNorm=0.00667513(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.00238644 -5.62667e-05 0.00134053] -86: > deltaPi=~[0.00646879 -6.90633e-05 0.00164541] -86: DBG: Line search iter 1: back=1, prevNorm=0.00273775. -86: > piNow=~[-0.0164688 6.90633e-05 -0.00164541] -86: > errNow=~[-8.67362e-19 -1.35577e-09 3.23007e-08] normNow=3.23291e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.18086e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.8428e-06 -86: > NEWTON iter 2: errNorm=3.23291e-08(v) -> deltaNorm=3.25318e-08(pi) -86: > piActive=~[-0.0164688 6.90633e-05 -0.00164541] -86: > errActive=~[-8.67362e-19 -1.35577e-09 3.23007e-08] -86: > deltaPi=~[-2.42647e-08 -9.08721e-10 2.16499e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.23291e-08. -86: > piNow=~[-0.0164688 6.90642e-05 -0.00164543] -86: > errNow=~[8.67362e-19 1.87521e-15 -4.46752e-14] normNow=4.47145e-14 -86: DBG: Improvement rate now/prev at iter 2 is 1.3831e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.47145e-14. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.0562667,-1.34053] to ~[0.0561348,-1.33456] -86: DBG: Friction 0 rotated 0.00509744 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.0164688 6.90642e-05 -0.00164543] -86: : m_verrLeft=~[-8.67362e-19 0.0561348 -1.33456] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.0164688 verr=-8.67362e-19 pi*v=1.42844e-20 -86: SP FINAL 1 intervals, piTotal=~[-0.0164688 6.90642e-05 -0.00164543] errNorm=4.47145e-14 -86: Postcompression verr=~[-8.67362e-19 0.0561348 -1.33456] -86: impulse=~[-0.0164688 6.90642e-05 -0.00164543] -86: Next expansion impulse=~[0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.0164688 6.90642e-05 -0.00164543]-> du ~[-0.00328334 0.00758479 -0.00366803 -0.00407323 -9.00454e-05 0.00363991 -0.0142614 0.00855481] -86: Now verr0=~[0 0.0561348 -1.33456] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0 0.0561348 -1.33456] -86: verrExt=~[-0.554759 0.0292277 -0.590544] -86: total verr=~[-0.554759 0.0853625 -1.9251] -86: DYN t=0.041: verrStart=~[0 0.0561348 -1.33456] -86: verrApplied=~[-0.554759 0.0292277 -0.590544] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: -86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0 0.0561348 -1.33456] -86: verrApplied=~[-0.554759 0.0292277 -0.590544] -86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=0.0561348,-1.33456, mag=1.33574 -86: -86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0561348,-1.33456, mag=1.33574 -86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.554759; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[0 0.0561348 -1.33456] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.554759 0.0292277 -0.590544] -86: : rhsActive=~[-0.554759 0.0853625 -1.9251] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.97545e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.55189... -86: > NEWTON iter 1: errNorm=0.55189(v) -> deltaNorm=1.73657(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.01312e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.102435... +86: > NEWTON iter 1: errNorm=0.102435(v) -> deltaNorm=0.573652(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.551889 -5.61348e-05 0.00133456] -86: > deltaPi=~[1.72785 -0.00730312 0.173625] -86: DBG: Line search iter 1: back=1, prevNorm=0.55189. -86: > piNow=~[-1.73785 0.00730312 -0.173625] -86: > errNow=~[2.22045e-16 -3.61285e-07 8.58924e-06] normNow=8.59684e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.55771e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.54265e-10 -86: > NEWTON iter 2: errNorm=8.59684e-06(v) -> deltaNorm=8.68943e-06(pi) -86: > piActive=~[-1.73785 0.00730312 -0.173625] -86: > errActive=~[2.22045e-16 -3.61285e-07 8.58924e-06] -86: > deltaPi=~[-6.48122e-06 -2.43239e-07 5.78279e-06] -86: DBG: Line search iter 1: back=1, prevNorm=8.59684e-06. -86: > piNow=~[-1.73785 0.00730336 -0.173631] -86: > errNow=~[0 4.33681e-17 -1.02696e-15] normNow=1.02787e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.19564e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.02787e-15. +86: > errActive=~[0.102432 0.000153342 -0.000794253] +86: > deltaPi=~[0.570706 0.0110077 -0.0570156] +86: DBG: Line search iter 1: back=1, prevNorm=0.102435. +86: > piNow=~[-0.580706 -0.0110077 0.0570156] +86: > errNow=~[-4.16334e-17 3.25976e-07 -1.68843e-06] normNow=1.71961e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.67873e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.97295e-10 +86: > NEWTON iter 2: errNorm=1.71961e-06(v) -> deltaNorm=3.85868e-06(pi) +86: > piActive=~[-0.580706 -0.0110077 0.0570156] +86: > errActive=~[-4.16334e-17 3.25976e-07 -1.68843e-06] +86: > deltaPi=~[3.00075e-06 4.59861e-07 -2.3819e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.71961e-06. +86: > piNow=~[-0.580709 -0.0110082 0.0570179] +86: > errNow=~[1.38778e-17 5.06539e-16 -2.6229e-15] normNow=2.6714e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.5535e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.6714e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.0561348,-1.33456] to ~[0.0714406,-1.29441] -86: DBG: Friction 0 rotated 0.750455 deg, less than max 30 +86: slipVel 0 from ~[-0.153342,0.794253] to ~[-0.146478,0.844297] +86: DBG: Friction 0 rotated 1.08501 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.73785 0.00730336 -0.173631] -86: : m_verrLeft=~[0 0.0714406 -1.29441] +86: : m_piActive=~[-0.580709 -0.0110082 0.0570179] +86: : m_verrLeft=~[-1.38778e-17 -0.146478 0.844297] 86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] +84: LOW ACCURACY +84: Test with order 1 integator SemiExplicitEuler2, Accuracy=0.01, MaxStepSize=0.001 +84: t=2.013 +84: runOnce done. real/CPU ms: 260.0 / 259.4 +84: runOnce ... +103: [min,max]=0,0.03 actual=0.00131739 +103: calc wrms=0.00131739 +103: [min,max]=0.1,0.5 actual=0.229169 +103: calc wrms=0.229169 +83: runOnce done. real/CPU ms: 327.2 / 327.1 +83: runOnce ... +52: testRosenbrock done. real/CPU ms: 172.3 / 171.3 +52: testSchwefel ... +70: Done + 88/108 Test #70: RungeKuttaMersonIntegratorTest ................. Passed 0.77 sec 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.73785 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-1.73785 0.00730336 -0.173631] errNorm=1.02787e-15 +86: DBG: 0: pi=-0.580709 verr=-1.38778e-17 pi*v=8.05895e-18 +86: SP FINAL 1 intervals, piTotal=~[-0.580709 -0.0110082 0.0570179] errNorm=2.6714e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0561348 -1.33456, |slipV|=1.33574 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.153342 0.794253, |slipV|=0.80892 86: ------------------------------ 86: -86: dynamics impulse=~[-1.73785 0.00730336 -0.173631] -86: updated verrStart=~[0 0.0714406 -1.29441] +86: dynamics impulse=~[-0.580709 -0.0110082 0.0570179] +86: updated verrStart=~[-1.38778e-17 -0.146478 0.844297] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[-0.955215 0 0] +86: posVerr=~[0.365076 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 1 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.287076 -0.0103701 0.321312] -86: [-0.0103701 0.0492091 0.0256817] -86: [0.321312 0.0256817 0.417465] +86: [0.205326 0.00444357 0.25953] +86: [0.00444357 0.0499517 -0.0358045] +86: [0.25953 -0.0358045 0.396456] 86: D=~[0 0 0] 86: rcond(A+D)=0 rank=1 -86: rhs=~[-0.955215 0 0] +86: rhs=~[0.365076 0 0] 86: active=(0) -86: -> piActive=~[-3.32739] -86: -> pi=~[-3.32739 0 0] +86: -> piActive=~[1.77804] +86: -> pi=~[1.77804 0 0] 86: resid active=~[0] -86: resid=~[0 0.0345053 -1.06913] +86: resid=~[0 0.00790082 0.461454] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[0 0.0714406 -1.29441] -86: perr=~[-0.000955215 -2.22045e-16] -86: END OF STEP (0.041,0.042): -86: verr=~[-0.006404 0.0795815 -1.28869] -86: perr=~[-0.000958417 0] +86: verr=~[1.52656e-16 -0.146478 0.844297] +86: perr=~[0.000365076 -1.11022e-16] +86: END OF STEP (0.098,0.099): +86: verr=~[0.000193837 -0.146549 0.844382] +86: perr=~[0.000365173 0] 86: constraint status: -86: 0: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0) -86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -103: [min,max]=0.1,0.5 actual=0.208303 -86: DBG: Uni fric 0 verr speed=1.29115 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.006404 -> cor=0 +86: DBG: Uni fric 2 verr speed=0.857005 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. 86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: () -86: participating multx: (0,1,2) -86: verr=~[-0.006404 0.0795815 -1.28869] -86: IMP t=0.042 verr=~[-0.006404 0.0795815 -1.28869] +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.000193837 -0.146549 0.844382] +86: verrExt=~[-0.11397 0.000409587 -0.0882419] +86: total verr=~[-0.113777 -0.146139 0.75614] +86: DYN t=0.099: verrStart=~[0.000193837 -0.146549 0.844382] +86: verrApplied=~[-0.11397 0.000409587 -0.0882419] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -35426,74 +46913,111 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[-0.006404 0.0795815 -1.28869] -86: verrApplied=~[] +86: verrLeft=~[0.000193837 -0.146549 0.844382] +86: verrApplied=~[-0.11397 0.000409587 -0.0882419] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=0.0795815,-1.28869, mag=1.29115 +86: Participating contact 0 is Sliding; vel=-0.146549,0.844382, mag=0.857005 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0795815,-1.28869, mag=1.29115 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.146549,0.844382, mag=0.857005 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.006404; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.113777; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.006404 0.0795815 -1.28869] +86: : verrLeft was=~[0.000193837 -0.146549 0.844382] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.006404 0.0795815 -1.28869] +86: : verrApplied was=~[-0.11397 0.000409587 -0.0882419] +86: : rhsActive=~[-0.113777 -0.146139 0.75614] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.80936e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00378992... -86: > NEWTON iter 1: errNorm=0.00378992(v) -> deltaNorm=0.0104567(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.19224e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.111723... +86: > NEWTON iter 1: errNorm=0.111723(v) -> deltaNorm=0.624493(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.0035632 -7.95815e-05 0.00128869] -86: > deltaPi=~[0.0102586 -0.000124864 0.00202197] -86: DBG: Line search iter 1: back=1, prevNorm=0.00378992. -86: > piNow=~[-0.0202586 0.000124864 -0.00202197] -86: > errNow=~[-8.67362e-19 -3.04096e-09 4.92433e-08] normNow=4.93371e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.3018e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.17194e-06 -86: > NEWTON iter 2: errNorm=4.93371e-08(v) -> deltaNorm=5.17561e-08(pi) -86: > piActive=~[-0.0202586 0.000124864 -0.00202197] -103: calc wrms=0.208303 -86: > errActive=~[-8.67362e-19 -3.04096e-09 4.92433e-08] -86: > deltaPi=~[-3.87232e-08 -2.11657e-09 3.42743e-08] -86: DBG: Line search iter 1: back=1, prevNorm=4.93371e-08. -86: > piNow=~[-0.0202585 0.000124866 -0.002022] -86: > errNow=~[1.73472e-18 2.79713e-15 -4.52949e-14] normNow=4.53812e-14 -86: DBG: Improvement rate now/prev at iter 2 is 9.19819e-07 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.53812e-14. +86: > errActive=~[0.111719 0.000146549 -0.000844382] +86: > deltaPi=~[0.621294 0.0107948 -0.0621973] +86: DBG: Line search iter 1: back=1, prevNorm=0.111723. +86: > piNow=~[-0.631294 -0.0107948 0.0621973] +86: > errNow=~[0 3.39149e-07 -1.9541e-06] normNow=1.98332e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.77522e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.06492e-10 +86: > NEWTON iter 2: errNorm=1.98332e-06(v) -> deltaNorm=4.20682e-06(pi) +86: > piActive=~[-0.631294 -0.0107948 0.0621973] +86: > errActive=~[0 3.39149e-07 -1.9541e-06] +86: > deltaPi=~[3.27399e-06 4.51724e-07 -2.60273e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.98332e-06. +86: > piNow=~[-0.631297 -0.0107953 0.0621999] +86: > errNow=~[0 4.47559e-16 -2.58821e-15] normNow=2.62662e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.32436e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.62662e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.0795815,-1.28869] to ~[0.0794531,-1.28135] -86: DBG: Friction 0 rotated 0.0144609 deg, less than max 30 +86: slipVel 0 from ~[-0.146549,0.844382] to ~[-0.140641,0.894982] +86: DBG: Friction 0 rotated 0.915375 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.0202585 0.000124866 -0.002022] -86: : m_verrLeft=~[-1.73472e-18 0.0794531 -1.28135] -86: : verrAppliedLeft=~[] +86: : m_piActive=~[-0.631297 -0.0107953 0.0621999] +86: : m_verrLeft=~[0 -0.140641 0.894982] +86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.0202585 verr=-1.73472e-18 pi*v=3.51429e-20 -86: SP FINAL 1 intervals, piTotal=~[-0.0202585 0.000124866 -0.002022] errNorm=4.53812e-14 -86: Postcompression verr=~[-1.73472e-18 0.0794531 -1.28135] -86: impulse=~[-0.0202585 0.000124866 -0.002022] -86: Next expansion impulse=~[0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.0202585 0.000124866 -0.002022]-> du ~[-0.00396779 0.00928542 -0.00451713 -0.0050049 -8.96043e-05 0.00443575 -0.0174518 0.0104523] -86: Now verr0=~[2.22045e-16 0.0794531 -1.28135] +86: DBG: 0: pi=-0.631297 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.631297 -0.0107953 0.0621999] errNorm=2.62662e-15 86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[2.22045e-16 0.0794531 -1.28135] -86: verrExt=~[-0.440954 0.0163497 -0.466288] -86: total verr=~[-0.440954 0.0958028 -1.74764] -86: DYN t=0.042: verrStart=~[2.22045e-16 0.0794531 -1.28135] -86: verrApplied=~[-0.440954 0.0163497 -0.466288] +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.146549 0.844382, |slipV|=0.857005 +86: ------------------------------ +86: +86: dynamics impulse=~[-0.631297 -0.0107953 0.0621999] +86: updated verrStart=~[0 -0.140641 0.894982] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.365173 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.205724 0.0043078 0.259529] +86: [0.0043078 0.0500316 -0.0359892] +86: [0.259529 -0.0359892 0.395649] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[0.365173 0 0] +86: active=(0) +86: -> piActive=~[1.77507] +86: -> pi=~[1.77507 0 0] +86: resid active=~[0] +86: resid=~[0 0.00764663 0.460681] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[6.245e-17 -0.140641 0.894982] +86: perr=~[0.000365173 0] +86: END OF STEP (0.099,0.1): +86: verr=~[0.000247263 -0.140738 0.895024] +86: perr=~[0.000365297 -1.11022e-16] +86: constraint status: +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 2 verr speed=0.906021 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.000247263 -0.140738 0.895024] +86: verrExt=~[-0.121964 -0.000825526 -0.096999] +86: total verr=~[-0.121717 -0.141564 0.798025] +86: DYN t=0.1: verrStart=~[0.000247263 -0.140738 0.895024] +86: verrApplied=~[-0.121964 -0.000825526 -0.096999] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -35505,110 +47029,111 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[2.22045e-16 0.0794531 -1.28135] -86: verrApplied=~[-0.440954 0.0163497 -0.466288] +86: verrLeft=~[0.000247263 -0.140738 0.895024] +86: verrApplied=~[-0.121964 -0.000825526 -0.096999] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=0.0794531,-1.28135, mag=1.28382 +86: Participating contact 0 is Sliding; vel=-0.140738,0.895024, mag=0.906021 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0794531,-1.28135, mag=1.28382 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.140738,0.895024, mag=0.906021 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.440954; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.121717; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[2.22045e-16 0.0794531 -1.28135] +86: : verrLeft was=~[0.000247263 -0.140738 0.895024] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.440954 0.0163497 -0.466288] -86: : rhsActive=~[-0.440954 0.0958028 -1.74764] +86: : verrApplied was=~[-0.121964 -0.000825526 -0.096999] +86: : rhsActive=~[-0.121717 -0.141564 0.798025] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.78205e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.438115... -86: > NEWTON iter 1: errNorm=0.438115(v) -> deltaNorm=1.39194(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.37481e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.119659... +86: > NEWTON iter 1: errNorm=0.119659(v) -> deltaNorm=0.667543(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.438113 -7.94531e-05 0.00128135] -86: > deltaPi=~[1.38493 -0.00863265 0.13922] -86: DBG: Line search iter 1: back=1, prevNorm=0.438115. -86: > piNow=~[-1.39493 0.00863265 -0.13922] -86: > errNow=~[-5.55112e-17 -4.09873e-07 6.6101e-06] normNow=6.6228e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.51166e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.50012e-10 -86: > NEWTON iter 2: errNorm=6.6228e-06(v) -> deltaNorm=6.98715e-06(pi) -86: > piActive=~[-1.39493 0.00863265 -0.13922] -86: > errActive=~[-5.55112e-17 -4.09873e-07 6.6101e-06] -86: > deltaPi=~[-5.22767e-06 -2.86909e-07 4.62703e-06] -86: DBG: Line search iter 1: back=1, prevNorm=6.6228e-06. -86: > piNow=~[-1.39492 0.00863294 -0.139225] -86: > errNow=~[0 7.97973e-17 -1.249e-15] normNow=1.25155e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.88976e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.25155e-15. +86: > errActive=~[0.119656 0.000140738 -0.000895024] +86: > deltaPi=~[0.664131 0.0104713 -0.0665924] +86: DBG: Line search iter 1: back=1, prevNorm=0.119659. +86: > piNow=~[-0.674131 -0.0104713 0.0665924] +86: > errNow=~[2.77556e-17 3.48158e-07 -2.21411e-06] normNow=2.24132e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.87309e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.43744e-10 +86: > NEWTON iter 2: errNorm=2.24132e-06(v) -> deltaNorm=4.5003e-06(pi) +86: > piActive=~[-0.674131 -0.0104713 0.0665924] +86: > errActive=~[2.77556e-17 3.48158e-07 -2.21411e-06] +86: > deltaPi=~[3.50381e-06 4.38699e-07 -2.7899e-06] +86: DBG: Line search iter 1: back=1, prevNorm=2.24132e-06. +86: > piNow=~[-0.674134 -0.0104718 0.0665952] +86: > errNow=~[0 4.02456e-16 -2.56739e-15] normNow=2.59874e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.15947e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.59874e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.0794531,-1.28135] to ~[0.086959,-1.24248] -86: DBG: Friction 0 rotated 0.455287 deg, less than max 30 +86: slipVel 0 from ~[-0.140738,0.895024] to ~[-0.135837,0.946304] +86: DBG: Friction 0 rotated 0.7676 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.39492 0.00863294 -0.139225] -86: : m_verrLeft=~[0 0.086959 -1.24248] +86: : m_piActive=~[-0.674134 -0.0104718 0.0665952] +86: : m_verrLeft=~[0 -0.135837 0.946304] 86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.39492 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-1.39492 0.00863294 -0.139225] errNorm=1.25155e-15 +86: DBG: 0: pi=-0.674134 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.674134 -0.0104718 0.0665952] errNorm=2.59874e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0794531 -1.28135, |slipV|=1.28382 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.140738 0.895024, |slipV|=0.906021 86: ------------------------------ 86: -86: dynamics impulse=~[-1.39492 0.00863294 -0.139225] -86: updated verrStart=~[0 0.086959 -1.24248] +86: dynamics impulse=~[-0.674134 -0.0104718 0.0665952] +86: updated verrStart=~[0 -0.135837 0.946304] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[-0.958417 0 0] +86: posVerr=~[0.365297 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 1 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.284079 -0.00880515 0.32041] -86: [-0.00880515 0.0493827 0.0277606] -86: [0.32041 0.0277606 0.419832] +86: [0.206126 0.00413809 0.259522] +86: [0.00413809 0.0501169 -0.0362208] +86: [0.259522 -0.0362208 0.394823] 86: D=~[0 0 0] 86: rcond(A+D)=0 rank=1 -86: rhs=~[-0.958417 0 0] +86: rhs=~[0.365297 0 0] 86: active=(0) -86: -> piActive=~[-3.37377] -86: -> pi=~[-3.37377 0 0] +86: -> piActive=~[1.7722] +86: -> pi=~[1.7722 0 0] 86: resid active=~[0] -86: resid=~[0 0.0297065 -1.08099] +86: resid=~[0 0.00733354 0.459925] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[2.22045e-16 0.086959 -1.24248] -86: perr=~[-0.000958417 0] -86: END OF STEP (0.042,0.043): -86: verr=~[-0.00730402 0.0965378 -1.23616] -86: perr=~[-0.000962069 0] +86: verr=~[1.97758e-16 -0.135837 0.946304] +86: perr=~[0.000365297 -1.11022e-16] +86: END OF STEP (0.1,0.101): +86: verr=~[0.000306587 -0.135982 0.946296] +86: perr=~[0.00036545 -1.11022e-16] 86: constraint status: -86: 0: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0) -86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.23992 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00730402 -> cor=0 +86: DBG: Uni fric 2 verr speed=0.956016 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. 86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: () -86: participating multx: (0,1,2) -86: verr=~[-0.00730402 0.0965378 -1.23616] -86: IMP t=0.043 verr=~[-0.00730402 0.0965378 -1.23616] +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.000306587 -0.135982 0.946296] +86: verrExt=~[-0.128613 -0.00196955 -0.104004] +86: total verr=~[-0.128306 -0.137952 0.842292] +86: DYN t=0.101: verrStart=~[0.000306587 -0.135982 0.946296] +86: verrApplied=~[-0.128613 -0.00196955 -0.104004] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -35620,73 +47145,111 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[-0.00730402 0.0965378 -1.23616] -86: verrApplied=~[] +86: verrLeft=~[0.000306587 -0.135982 0.946296] +86: verrApplied=~[-0.128613 -0.00196955 -0.104004] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=0.0965378,-1.23616, mag=1.23992 +86: Participating contact 0 is Sliding; vel=-0.135982,0.946296, mag=0.956016 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0965378,-1.23616, mag=1.23992 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.135982,0.946296, mag=0.956016 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.00730402; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.128306; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.00730402 0.0965378 -1.23616] +86: : verrLeft was=~[0.000306587 -0.135982 0.946296] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00730402 0.0965378 -1.23616] +86: : verrApplied was=~[-0.128613 -0.00196955 -0.104004] +86: : rhsActive=~[-0.128306 -0.137952 0.842292] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.61855e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00466212... -86: > NEWTON iter 1: errNorm=0.00466212(v) -> deltaNorm=0.0135471(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.56104e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.126244... +86: > NEWTON iter 1: errNorm=0.126244(v) -> deltaNorm=0.702852(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.00449421 -9.65378e-05 0.00123616] -86: > deltaPi=~[0.0133444 -0.000181751 0.00232731] -86: DBG: Line search iter 1: back=1, prevNorm=0.00466212. -86: > piNow=~[-0.0233444 0.000181751 -0.00232731] -86: > errNow=~[0 -4.79855e-09 6.1445e-08] normNow=6.1632e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.32198e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.47576e-07 -86: > NEWTON iter 2: errNorm=6.1632e-08(v) -> deltaNorm=6.75348e-08(pi) -86: > piActive=~[-0.0233444 0.000181751 -0.00232731] -86: > errActive=~[0 -4.79855e-09 6.1445e-08] -86: > deltaPi=~[-5.06789e-08 -3.47547e-09 4.4503e-08] -86: DBG: Line search iter 1: back=1, prevNorm=6.1632e-08. -86: > piNow=~[-0.0233444 0.000181755 -0.00232735] -86: > errNow=~[0 3.34436e-15 -4.28234e-14] normNow=4.29538e-14 -86: DBG: Improvement rate now/prev at iter 2 is 6.96939e-07 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.29538e-14. +86: > errActive=~[0.126241 0.000135982 -0.000946296] +86: > deltaPi=~[0.699264 0.0100881 -0.0702027] +86: DBG: Line search iter 1: back=1, prevNorm=0.126244. +86: > piNow=~[-0.709264 -0.0100881 0.0702027] +86: > errNow=~[-2.77556e-17 3.54188e-07 -2.46479e-06] normNow=2.49011e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.97245e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.12144e-10 +86: > NEWTON iter 2: errNorm=2.49011e-06(v) -> deltaNorm=4.73953e-06(pi) +86: > piActive=~[-0.709264 -0.0100881 0.0702027] +86: > errActive=~[-2.77556e-17 3.54188e-07 -2.46479e-06] +86: > deltaPi=~[3.69054e-06 4.22977e-07 -2.94349e-06] +86: DBG: Line search iter 1: back=1, prevNorm=2.49011e-06. +86: > piNow=~[-0.709268 -0.0100885 0.0702057] +86: > errNow=~[0 3.72966e-16 -2.58127e-15] normNow=2.60807e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.04737e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.60807e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.0965378,-1.23616] to ~[0.0964313,-1.22772] -86: DBG: Friction 0 rotated 0.0256069 deg, less than max 30 +86: slipVel 0 from ~[-0.135982,0.946296] to ~[-0.132095,0.998327] +86: DBG: Friction 0 rotated 0.640012 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.0233444 0.000181755 -0.00232735] -86: : m_verrLeft=~[0 0.0964313 -1.22772] -86: : verrAppliedLeft=~[] +86: : m_piActive=~[-0.709268 -0.0100885 0.0702057] +86: : m_verrLeft=~[0 -0.132095 0.998327] +86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.0233444 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.0233444 0.000181755 -0.00232735] errNorm=4.29538e-14 -86: Postcompression verr=~[0 0.0964313 -1.22772] -86: impulse=~[-0.0233444 0.000181755 -0.00232735] -86: Next expansion impulse=~[0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.0233444 0.000181755 -0.00232735]-> du ~[-0.00448786 0.0106435 -0.0052121 -0.00575878 -7.74679e-05 0.00506025 -0.019994 0.0119443] -86: Now verr0=~[0 0.0964313 -1.22772] +86: DBG: 0: pi=-0.709268 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.709268 -0.0100885 0.0702057] errNorm=2.60807e-15 86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0 0.0964313 -1.22772] -86: verrExt=~[-0.335339 0.00557711 -0.348875] -86: total verr=~[-0.335339 0.102008 -1.5766] -86: DYN t=0.043: verrStart=~[0 0.0964313 -1.22772] -86: verrApplied=~[-0.335339 0.00557711 -0.348875] +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.135982 0.946296, |slipV|=0.956016 +86: ------------------------------ +86: +86: dynamics impulse=~[-0.709268 -0.0100885 0.0702057] +86: updated verrStart=~[0 -0.132095 0.998327] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.36545 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.20653 0.00393016 0.259512] +86: [0.00393016 0.0502074 -0.0365043] +86: [0.259512 -0.0365043 0.393986] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[0.36545 0 0] +86: active=(0) +86: -> piActive=~[1.76947] +86: -> pi=~[1.76947 0 0] +86: resid active=~[0] +86: resid=~[0 0.0069543 0.459199] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[1.45717e-16 -0.132095 0.998327] +86: perr=~[0.00036545 -1.11022e-16] +86: END OF STEP (0.101,0.102): +86: verr=~[0.000369432 -0.132315 0.998265] +86: perr=~[0.000365635 -1.11022e-16] +86: constraint status: +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 2 verr speed=1.007 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.000369432 -0.132315 0.998265] +86: verrExt=~[-0.133955 -0.00298317 -0.109375] +86: total verr=~[-0.133586 -0.135298 0.88889] +86: DYN t=0.102: verrStart=~[0.000369432 -0.132315 0.998265] +86: verrApplied=~[-0.133955 -0.00298317 -0.109375] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -35698,110 +47261,111 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[0 0.0964313 -1.22772] -86: verrApplied=~[-0.335339 0.00557711 -0.348875] +86: verrLeft=~[0.000369432 -0.132315 0.998265] +86: verrApplied=~[-0.133955 -0.00298317 -0.109375] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=0.0964313,-1.22772, mag=1.23151 +86: Participating contact 0 is Sliding; vel=-0.132315,0.998265, mag=1.007 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0964313,-1.22772, mag=1.23151 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.132315,0.998265, mag=1.007 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.335339; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.133586; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0 0.0964313 -1.22772] +86: : verrLeft was=~[0.000369432 -0.132315 0.998265] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.335339 0.00557711 -0.348875] -86: : rhsActive=~[-0.335339 0.102008 -1.5766] +86: : verrApplied was=~[-0.133955 -0.00298317 -0.109375] +86: : rhsActive=~[-0.133586 -0.135298 0.88889] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.5872e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.332531... -86: > NEWTON iter 1: errNorm=0.332531(v) -> deltaNorm=1.06718(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.75093e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.13152... +86: > NEWTON iter 1: errNorm=0.13152(v) -> deltaNorm=0.730706(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.332529 -9.64313e-05 0.00122772] -86: > deltaPi=~[1.06178 -0.00839214 0.106845] -86: DBG: Line search iter 1: back=1, prevNorm=0.332531. -86: > piNow=~[-1.07178 0.00839214 -0.106845] -86: > errNow=~[5.55112e-17 -3.81387e-07 4.85567e-06] normNow=4.87062e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.46471e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.87063e-10 -86: > NEWTON iter 2: errNorm=4.87062e-06(v) -> deltaNorm=5.37351e-06(pi) -86: > piActive=~[-1.07178 0.00839214 -0.106845] -86: > errActive=~[5.55112e-17 -3.81387e-07 4.85567e-06] -86: > deltaPi=~[-4.0323e-06 -2.78117e-07 3.54088e-06] -86: DBG: Line search iter 1: back=1, prevNorm=4.87062e-06. -86: > piNow=~[-1.07178 0.00839242 -0.106849] -86: > errNow=~[-5.55112e-17 1.249e-16 -1.58207e-15] normNow=1.58796e-15 -86: DBG: Improvement rate now/prev at iter 2 is 3.26028e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.58796e-15. +86: > errActive=~[0.131516 0.000132315 -0.000998265] +86: > deltaPi=~[0.72698 0.00968327 -0.0730563] +86: DBG: Line search iter 1: back=1, prevNorm=0.13152. +86: > piNow=~[-0.73698 -0.00968327 0.0730563] +86: > errNow=~[2.77556e-17 3.58298e-07 -2.70321e-06] normNow=2.72685e-06 +86: DBG: Improvement rate now/prev at iter 1 is 2.07333e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.89251e-10 +86: > NEWTON iter 2: errNorm=2.72685e-06(v) -> deltaNorm=4.92666e-06(pi) +86: > piActive=~[-0.73698 -0.00968327 0.0730563] +86: > errActive=~[2.77556e-17 3.58298e-07 -2.70321e-06] +86: > deltaPi=~[3.83596e-06 4.06212e-07 -3.0647e-06] +86: DBG: Line search iter 1: back=1, prevNorm=2.72685e-06. +86: > piNow=~[-0.736984 -0.00968368 0.0730594] +86: > errNow=~[0 3.46945e-16 -2.6229e-15] normNow=2.64575e-15 +86: DBG: Improvement rate now/prev at iter 2 is 9.70258e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.64575e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.0964313,-1.22772] to ~[0.0971136,-1.1894] -86: DBG: Friction 0 rotated 0.176742 deg, less than max 30 +86: slipVel 0 from ~[-0.132315,0.998265] to ~[-0.129407,1.05106] +86: DBG: Friction 0 rotated 0.531295 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.07178 0.00839242 -0.106849] -86: : m_verrLeft=~[5.55112e-17 0.0971136 -1.1894] +86: : m_piActive=~[-0.736984 -0.00968368 0.0730594] +86: : m_verrLeft=~[0 -0.129407 1.05106] 86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.07178 verr=5.55112e-17 pi*v=-5.94958e-17 -86: SP FINAL 1 intervals, piTotal=~[-1.07178 0.00839242 -0.106849] errNorm=1.58796e-15 +86: DBG: 0: pi=-0.736984 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.736984 -0.00968368 0.0730594] errNorm=2.64575e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0964313 -1.22772, |slipV|=1.23151 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.132315 0.998265, |slipV|=1.007 86: ------------------------------ 86: -86: dynamics impulse=~[-1.07178 0.00839242 -0.106849] -86: updated verrStart=~[5.55112e-17 0.0971136 -1.1894] +86: dynamics impulse=~[-0.736984 -0.00968368 0.0730594] +86: updated verrStart=~[0 -0.129407 1.05106] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[-0.962069 0 0] +86: posVerr=~[0.365635 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 1 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.280981 -0.00716603 0.319414] -86: [-0.00716603 0.0495836 0.0299652] -86: [0.319414 0.0299652 0.422176] +86: [0.206937 0.00368013 0.259503] +86: [0.00368013 0.0503032 -0.0368442] +86: [0.259503 -0.0368442 0.393149] 86: D=~[0 0 0] 86: rcond(A+D)=0 rank=1 -86: rhs=~[-0.962069 0 0] +86: rhs=~[0.365635 0 0] 86: active=(0) -86: -> piActive=~[-3.42397] -86: -> pi=~[-3.42397 0 0] +86: -> piActive=~[1.76689] +86: -> pi=~[1.76689 0 0] 86: resid active=~[0] -86: resid=~[0 0.0245363 -1.09366] +86: resid=~[0 0.00650237 0.458512] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[2.22045e-16 0.0971136 -1.1894] -86: perr=~[-0.000962069 0] -86: END OF STEP (0.043,0.044): -86: verr=~[-0.00792286 0.10775 -1.18273] -86: perr=~[-0.000966031 -1.11022e-16] +86: verr=~[-1.38778e-16 -0.129407 1.05106] +86: perr=~[0.000365635 -1.11022e-16] +86: END OF STEP (0.102,0.103): +86: verr=~[0.000433428 -0.129736 1.05094] +86: perr=~[0.000365851 0] 86: constraint status: -86: 0: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0) -86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.18762 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00792286 -> cor=0 +86: DBG: Uni fric 2 verr speed=1.05892 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. 86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: () -86: participating multx: (0,1,2) -86: verr=~[-0.00792286 0.10775 -1.18273] -86: IMP t=0.044 verr=~[-0.00792286 0.10775 -1.18273] +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.000433428 -0.129736 1.05094] +86: verrExt=~[-0.138058 -0.00383333 -0.113255] +86: total verr=~[-0.137624 -0.133569 0.937686] +86: DYN t=0.103: verrStart=~[0.000433428 -0.129736 1.05094] +86: verrApplied=~[-0.138058 -0.00383333 -0.113255] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -35813,73 +47377,111 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[-0.00792286 0.10775 -1.18273] -86: verrApplied=~[] +86: verrLeft=~[0.000433428 -0.129736 1.05094] +86: verrApplied=~[-0.138058 -0.00383333 -0.113255] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=0.10775,-1.18273, mag=1.18762 +86: Participating contact 0 is Sliding; vel=-0.129736,1.05094, mag=1.05892 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.10775,-1.18273, mag=1.18762 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.129736,1.05094, mag=1.05892 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.00792286; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.137624; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.00792286 0.10775 -1.18273] +86: : verrLeft was=~[0.000433428 -0.129736 1.05094] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00792286 0.10775 -1.18273] +86: : verrApplied was=~[-0.138058 -0.00383333 -0.113255] +86: : rhsActive=~[-0.137624 -0.133569 0.937686] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.42375e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00527977... -86: > NEWTON iter 1: errNorm=0.00527977(v) -> deltaNorm=0.0157999(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.94434e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.135555... +86: > NEWTON iter 1: errNorm=0.135555(v) -> deltaNorm=0.751532(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.00514447 -0.00010775 0.00118273] -86: > deltaPi=~[0.0155913 -0.000232178 0.00254852] -86: DBG: Line search iter 1: back=1, prevNorm=0.00527977. -86: > piNow=~[-0.0255913 0.000232178 -0.00254852] -86: > errNow=~[0 -6.25765e-09 6.86875e-08] normNow=6.89719e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.30634e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.75535e-07 -86: > NEWTON iter 2: errNorm=6.89719e-08(v) -> deltaNorm=7.91487e-08(pi) -86: > piActive=~[-0.0255913 0.000232178 -0.00254852] -86: > errActive=~[0 -6.25765e-09 6.86875e-08] -86: > deltaPi=~[-5.95662e-08 -4.72862e-09 5.1904e-08] -86: DBG: Line search iter 1: back=1, prevNorm=6.89719e-08. -86: > piNow=~[-0.0255912 0.000232183 -0.00254857] -86: > errNow=~[-1.73472e-18 3.65073e-15 -4.0073e-14] normNow=4.02389e-14 -86: DBG: Improvement rate now/prev at iter 2 is 5.8341e-07 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.02389e-14. +86: > errActive=~[0.135551 0.000129736 -0.00105094] +86: > deltaPi=~[0.747703 0.00928284 -0.0751967] +86: DBG: Line search iter 1: back=1, prevNorm=0.135555. +86: > piNow=~[-0.757703 -0.00928284 0.0751967] +86: > errNow=~[-2.77556e-17 3.61327e-07 -2.92697e-06] normNow=2.94919e-06 +86: DBG: Improvement rate now/prev at iter 1 is 2.17564e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.86859e-10 +86: > NEWTON iter 2: errNorm=2.94919e-06(v) -> deltaNorm=5.06492e-06(pi) +86: > piActive=~[-0.757703 -0.00928284 0.0751967] +86: > errActive=~[-2.77556e-17 3.61327e-07 -2.92697e-06] +86: > deltaPi=~[3.94271e-06 3.89528e-07 -3.15542e-06] +86: DBG: Line search iter 1: back=1, prevNorm=2.94919e-06. +86: > piNow=~[-0.757707 -0.00928323 0.0751998] +86: > errNow=~[-2.77556e-17 3.33067e-16 -2.69229e-15] normNow=2.71296e-15 +86: DBG: Improvement rate now/prev at iter 2 is 9.19899e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.71296e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.10775,-1.18273] to ~[0.107681,-1.1735] -86: DBG: Friction 0 rotated 0.0373102 deg, less than max 30 +86: slipVel 0 from ~[-0.129736,1.05094] to ~[-0.127736,1.10446] +86: DBG: Friction 0 rotated 0.4402 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.0255912 0.000232183 -0.00254857] -86: : m_verrLeft=~[1.73472e-18 0.107681 -1.1735] -86: : verrAppliedLeft=~[] +86: : m_piActive=~[-0.757707 -0.00928323 0.0751998] +86: : m_verrLeft=~[2.77556e-17 -0.127736 1.10446] +86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.0255912 verr=1.73472e-18 pi*v=-4.43937e-20 -86: SP FINAL 1 intervals, piTotal=~[-0.0255912 0.000232183 -0.00254857] errNorm=4.02389e-14 -86: Postcompression verr=~[1.73472e-18 0.107681 -1.1735] -86: impulse=~[-0.0255912 0.000232183 -0.00254857] -86: Next expansion impulse=~[0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.0255912 0.000232183 -0.00254857]-> du ~[-0.00482576 0.0116036 -0.00572202 -0.00630237 -5.54411e-05 0.00548961 -0.0217854 0.012975] -86: Now verr0=~[-2.22045e-16 0.107681 -1.1735] +86: DBG: 0: pi=-0.757707 verr=2.77556e-17 pi*v=-2.10306e-17 +86: SP FINAL 1 intervals, piTotal=~[-0.757707 -0.00928323 0.0751998] errNorm=2.71296e-15 86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-2.22045e-16 0.107681 -1.1735] -86: verrExt=~[-0.248076 -0.00253527 -0.250209] -86: total verr=~[-0.248076 0.105145 -1.42371] -86: DYN t=0.044: verrStart=~[-2.22045e-16 0.107681 -1.1735] -86: verrApplied=~[-0.248076 -0.00253527 -0.250209] +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.129736 1.05094, |slipV|=1.05892 +86: ------------------------------ +86: +86: dynamics impulse=~[-0.757707 -0.00928323 0.0751998] +86: updated verrStart=~[2.77556e-17 -0.127736 1.10446] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.365851 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.207345 0.00338466 0.259497] +86: [0.00338466 0.0504044 -0.0372441] +86: [0.259497 -0.0372441 0.39232] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[0.365851 0 0] +86: active=(0) +86: -> piActive=~[1.76445] +86: -> pi=~[1.76445 0 0] +86: resid active=~[0] +86: resid=~[0 0.00597208 0.457871] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[-1.11022e-16 -0.127736 1.10446] +86: perr=~[0.000365851 0] +86: END OF STEP (0.103,0.104): +86: verr=~[0.00049639 -0.128209 1.10428] +86: perr=~[0.000366099 -2.22045e-16] +86: constraint status: +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 2 verr speed=1.1117 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.00049639 -0.128209 1.10428] +86: verrExt=~[-0.140998 -0.00449468 -0.115795] +86: total verr=~[-0.140501 -0.132704 0.98849] +86: DYN t=0.104: verrStart=~[0.00049639 -0.128209 1.10428] +86: verrApplied=~[-0.140998 -0.00449468 -0.115795] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -35891,110 +47493,111 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[-2.22045e-16 0.107681 -1.1735] -86: verrApplied=~[-0.248076 -0.00253527 -0.250209] +86: verrLeft=~[0.00049639 -0.128209 1.10428] +86: verrApplied=~[-0.140998 -0.00449468 -0.115795] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=0.107681,-1.1735, mag=1.17843 +86: Participating contact 0 is Sliding; vel=-0.128209,1.10428, mag=1.1117 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.107681,-1.1735, mag=1.17843 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.128209,1.10428, mag=1.1117 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.248076; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.140501; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-2.22045e-16 0.107681 -1.1735] +86: : verrLeft was=~[0.00049639 -0.128209 1.10428] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.248076 -0.00253527 -0.250209] -86: : rhsActive=~[-0.248076 0.105145 -1.42371] +86: : verrApplied was=~[-0.140998 -0.00449468 -0.115795] +86: : rhsActive=~[-0.140501 -0.132704 0.98849] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.38952e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.2453... -86: > NEWTON iter 1: errNorm=0.2453(v) -> deltaNorm=0.795351(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.14095e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.138428... +86: > NEWTON iter 1: errNorm=0.138428(v) -> deltaNorm=0.765823(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.245297 -0.000107681 0.0011735] -86: > deltaPi=~[0.791304 -0.00732173 0.0797923] -86: DBG: Line search iter 1: back=1, prevNorm=0.2453. -86: > piNow=~[-0.801304 0.00732173 -0.0797923] -86: > errNow=~[-2.77556e-17 -3.1739e-07 3.45892e-06] normNow=3.47345e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.416e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.90374e-10 -86: > NEWTON iter 2: errNorm=3.47345e-06(v) -> deltaNorm=4.01694e-06(pi) -86: > piActive=~[-0.801304 0.00732173 -0.0797923] -86: > errActive=~[-2.77556e-17 -3.1739e-07 3.45892e-06] -86: > deltaPi=~[-3.02303e-06 -2.41708e-07 2.63414e-06] -86: DBG: Line search iter 1: back=1, prevNorm=3.47345e-06. -86: > piNow=~[-0.801301 0.00732197 -0.0797949] -86: > errNow=~[0 1.85615e-16 -2.05391e-15] normNow=2.06228e-15 -86: DBG: Improvement rate now/prev at iter 2 is 5.93728e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.06228e-15. +86: > errActive=~[0.138424 0.000128209 -0.00110428] +86: > deltaPi=~[0.761923 0.008902 -0.0766744] +86: DBG: Line search iter 1: back=1, prevNorm=0.138428. +86: > piNow=~[-0.771923 -0.008902 0.0766744] +86: > errNow=~[-5.55112e-17 3.63866e-07 -3.13403e-06] normNow=3.15508e-06 +86: DBG: Improvement rate now/prev at iter 1 is 2.27922e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.00986e-10 +86: > NEWTON iter 2: errNorm=3.15508e-06(v) -> deltaNorm=5.15795e-06(pi) +86: > piActive=~[-0.771923 -0.008902 0.0766744] +86: > errActive=~[-5.55112e-17 3.63866e-07 -3.13403e-06] +86: > deltaPi=~[4.01379e-06 3.73595e-07 -3.21783e-06] +86: DBG: Line search iter 1: back=1, prevNorm=3.15508e-06. +86: > piNow=~[-0.771927 -0.00890238 0.0766776] +86: > errNow=~[-2.77556e-17 3.22659e-16 -2.77556e-15] normNow=2.79439e-15 +86: DBG: Improvement rate now/prev at iter 2 is 8.85677e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.79439e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.107681,-1.1735] to ~[0.102965,-1.13498] -86: DBG: Friction 0 rotated 0.0591015 deg, less than max 30 +86: slipVel 0 from ~[-0.128209,1.10428] to ~[-0.127015,1.15845] +86: DBG: Friction 0 rotated 0.365401 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.801301 0.00732197 -0.0797949] -86: : m_verrLeft=~[0 0.102965 -1.13498] +86: : m_piActive=~[-0.771927 -0.00890238 0.0766776] +86: : m_verrLeft=~[2.77556e-17 -0.127015 1.15845] 86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.801301 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.801301 0.00732197 -0.0797949] errNorm=2.06228e-15 +86: DBG: 0: pi=-0.771927 verr=2.77556e-17 pi*v=-2.14253e-17 +86: SP FINAL 1 intervals, piTotal=~[-0.771927 -0.00890238 0.0766776] errNorm=2.79439e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.107681 -1.1735, |slipV|=1.17843 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.128209 1.10428, |slipV|=1.1117 86: ------------------------------ 86: -86: dynamics impulse=~[-0.801301 0.00732197 -0.0797949] -86: updated verrStart=~[0 0.102965 -1.13498] +86: dynamics impulse=~[-0.771927 -0.00890238 0.0766776] +86: updated verrStart=~[2.77556e-17 -0.127015 1.15845] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[-0.966031 0 0] +86: posVerr=~[0.366099 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 1 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.277839 -0.00547912 0.318355] -86: [-0.00547912 0.0498153 0.0322685] -86: [0.318355 0.0322685 0.424491] +86: [0.207755 0.00304092 0.259498] +86: [0.00304092 0.0505114 -0.0377071] +86: [0.259498 -0.0377071 0.391505] 86: D=~[0 0 0] 86: rcond(A+D)=0 rank=1 -86: rhs=~[-0.966031 0 0] +86: rhs=~[0.366099 0 0] 86: active=(0) -86: -> piActive=~[-3.47695] -86: -> pi=~[-3.47695 0 0] +86: -> piActive=~[1.76217] +86: -> pi=~[1.76217 0 0] 86: resid active=~[0] -86: resid=~[0 0.0190506 -1.1069] +86: resid=~[0 0.00535861 0.457279] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[0 0.102965 -1.13498] -86: perr=~[-0.000966031 -1.11022e-16] -86: END OF STEP (0.044,0.045): -86: verr=~[-0.00827905 0.114293 -1.12818] -86: perr=~[-0.00097017 0] +86: verr=~[1.11022e-16 -0.127015 1.15845] +86: perr=~[0.000366099 -2.22045e-16] +86: END OF STEP (0.104,0.105): +86: verr=~[0.00055646 -0.127671 1.15822] +86: perr=~[0.000366378 0] 86: constraint status: -86: 0: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0) -86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.13396 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00827905 -> cor=0 +86: DBG: Uni fric 2 verr speed=1.16523 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. 86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: () -86: participating multx: (0,1,2) -86: verr=~[-0.00827905 0.114293 -1.12818] -86: IMP t=0.045 verr=~[-0.00827905 0.114293 -1.12818] +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.00055646 -0.127671 1.15822] +86: verrExt=~[-0.142856 -0.0049503 -0.11714] +86: total verr=~[-0.1423 -0.132622 1.04108] +86: DYN t=0.105: verrStart=~[0.00055646 -0.127671 1.15822] +86: verrApplied=~[-0.142856 -0.0049503 -0.11714] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -36006,73 +47609,111 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[-0.00827905 0.114293 -1.12818] -86: verrApplied=~[] +86: verrLeft=~[0.00055646 -0.127671 1.15822] +86: verrApplied=~[-0.142856 -0.0049503 -0.11714] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=0.114293,-1.12818, mag=1.13396 +86: Participating contact 0 is Sliding; vel=-0.127671,1.15822, mag=1.16523 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.114293,-1.12818, mag=1.13396 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.127671,1.15822, mag=1.16523 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.00827905; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.1423; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.00827905 0.114293 -1.12818] +86: : verrLeft was=~[0.00055646 -0.127671 1.15822] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00827905 0.114293 -1.12818] +86: : verrApplied was=~[-0.142856 -0.0049503 -0.11714] +86: : rhsActive=~[-0.1423 -0.132622 1.04108] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.22385e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00564707... -86: > NEWTON iter 1: errNorm=0.00564707(v) -> deltaNorm=0.0172422(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.34034e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.140223... +86: > NEWTON iter 1: errNorm=0.140223(v) -> deltaNorm=0.774086(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.00553204 -0.000114293 0.00112818] -86: > deltaPi=~[0.017029 -0.000272422 0.00268908] -86: DBG: Line search iter 1: back=1, prevNorm=0.00564707. -86: > piNow=~[-0.027029 0.000272422 -0.00268908] -86: > errNow=~[-1.73472e-18 -7.24969e-09 7.15618e-08] normNow=7.1928e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.27372e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.78214e-07 -86: > NEWTON iter 2: errNorm=7.1928e-08(v) -> deltaNorm=8.67121e-08(pi) -86: > piActive=~[-0.027029 0.000272422 -0.00268908] -86: > errActive=~[-1.73472e-18 -7.24969e-09 7.15618e-08] -86: > deltaPi=~[-6.54438e-08 -5.73366e-09 5.6597e-08] -86: DBG: Line search iter 1: back=1, prevNorm=7.1928e-08. -86: > piNow=~[-0.027029 0.000272427 -0.00268913] -86: > errNow=~[0 3.81401e-15 -3.76474e-14] normNow=3.78401e-14 -86: DBG: Improvement rate now/prev at iter 2 is 5.26083e-07 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.78401e-14. +86: > errActive=~[0.140218 0.000127671 -0.00115822] +86: > deltaPi=~[0.770145 0.00854753 -0.0775419] +86: DBG: Line search iter 1: back=1, prevNorm=0.140223. +86: > piNow=~[-0.780145 -0.00854753 0.0775419] +86: > errNow=~[2.77556e-17 3.6625e-07 -3.32257e-06] normNow=3.34269e-06 +86: DBG: Improvement rate now/prev at iter 1 is 2.38384e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.19586e-10 +86: > NEWTON iter 2: errNorm=3.34269e-06(v) -> deltaNorm=5.20954e-06(pi) +86: > piActive=~[-0.780145 -0.00854753 0.0775419] +86: > errActive=~[2.77556e-17 3.6625e-07 -3.32257e-06] +86: > deltaPi=~[4.05225e-06 3.58715e-07 -3.25421e-06] +86: DBG: Line search iter 1: back=1, prevNorm=3.34269e-06. +86: > piNow=~[-0.780149 -0.00854789 0.0775452] +86: > errNow=~[-2.77556e-17 3.1572e-16 -2.8727e-15] normNow=2.89013e-15 +86: DBG: Improvement rate now/prev at iter 2 is 8.64612e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.89013e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.114293,-1.12818] to ~[0.11427,-1.11847] -86: DBG: Friction 0 rotated 0.0487651 deg, less than max 30 +86: slipVel 0 from ~[-0.127671,1.15822] to ~[-0.127159,1.21291] +86: DBG: Friction 0 rotated 0.305441 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.027029 0.000272427 -0.00268913] -86: : m_verrLeft=~[0 0.11427 -1.11847] -86: : verrAppliedLeft=~[] +86: : m_piActive=~[-0.780149 -0.00854789 0.0775452] +86: : m_verrLeft=~[2.77556e-17 -0.127159 1.21291] +86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.027029 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.027029 0.000272427 -0.00268913] errNorm=3.78401e-14 -86: Postcompression verr=~[0 0.11427 -1.11847] -86: impulse=~[-0.027029 0.000272427 -0.00268913] -86: Next expansion impulse=~[0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.027029 0.000272427 -0.00268913]-> du ~[-0.00499671 0.0121867 -0.00605244 -0.00664445 -2.64481e-05 0.00573695 -0.0228682 0.0135779] -86: Now verr0=~[0 0.11427 -1.11847] +86: DBG: 0: pi=-0.780149 verr=2.77556e-17 pi*v=-2.16535e-17 +86: SP FINAL 1 intervals, piTotal=~[-0.780149 -0.00854789 0.0775452] errNorm=2.89013e-15 86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0 0.11427 -1.11847] -86: verrExt=~[-0.184649 -0.0081067 -0.177377] -86: total verr=~[-0.184649 0.106164 -1.29585] -86: DYN t=0.045: verrStart=~[0 0.11427 -1.11847] -86: verrApplied=~[-0.184649 -0.0081067 -0.177377] +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.127671 1.15822, |slipV|=1.16523 +86: ------------------------------ +86: +86: dynamics impulse=~[-0.780149 -0.00854789 0.0775452] +86: updated verrStart=~[2.77556e-17 -0.127159 1.21291] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.366378 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.208167 0.0026466 0.259508] +86: [0.0026466 0.0506246 -0.0382357] +86: [0.259508 -0.0382357 0.390711] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[0.366378 0 0] +86: active=(0) +86: -> piActive=~[1.76002] +86: -> pi=~[1.76002 0 0] +86: resid active=~[0] +86: resid=~[0 0.00465807 0.45674] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[0 -0.127159 1.21291] +86: perr=~[0.000366378 0] +86: END OF STEP (0.105,0.106): +86: verr=~[0.000612186 -0.128038 1.21262] +86: perr=~[0.000366684 0] +86: constraint status: +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 2 verr speed=1.21936 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.000612186 -0.128038 1.21262] +86: verrExt=~[-0.143715 -0.005192 -0.117421] +86: total verr=~[-0.143103 -0.13323 1.0952] +86: DYN t=0.106: verrStart=~[0.000612186 -0.128038 1.21262] +86: verrApplied=~[-0.143715 -0.005192 -0.117421] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -36084,110 +47725,111 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[0 0.11427 -1.11847] -86: verrApplied=~[-0.184649 -0.0081067 -0.177377] +86: verrLeft=~[0.000612186 -0.128038 1.21262] +86: verrApplied=~[-0.143715 -0.005192 -0.117421] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=0.11427,-1.11847, mag=1.12429 +86: Participating contact 0 is Sliding; vel=-0.128038,1.21262, mag=1.21936 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.11427,-1.11847, mag=1.12429 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.128038,1.21262, mag=1.21936 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.184649; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.143103; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0 0.11427 -1.11847] +86: : verrLeft was=~[0.000612186 -0.128038 1.21262] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.184649 -0.0081067 -0.177377] -86: : rhsActive=~[-0.184649 0.106164 -1.29585] +86: : verrApplied was=~[-0.143715 -0.005192 -0.117421] +86: : rhsActive=~[-0.143103 -0.13323 1.0952] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.18784e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.181905... -86: > NEWTON iter 1: errNorm=0.181905(v) -> deltaNorm=0.595894(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.54197e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.141022... +86: > NEWTON iter 1: errNorm=0.141022(v) -> deltaNorm=0.776815(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.181902 -0.00011427 0.00111847] -86: > deltaPi=~[0.592837 -0.00612687 0.0599693] -86: DBG: Line search iter 1: back=1, prevNorm=0.181905. -86: > piNow=~[-0.602837 0.00612687 -0.0599693] -86: > errNow=~[-5.55112e-17 -2.52337e-07 2.46985e-06] normNow=2.48271e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.36484e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.15084e-09 -86: > NEWTON iter 2: errNorm=2.48271e-06(v) -> deltaNorm=3.01863e-06(pi) -86: > piActive=~[-0.602837 0.00612687 -0.0599693] -86: > errActive=~[-5.55112e-17 -2.52337e-07 2.46985e-06] -86: > deltaPi=~[-2.27816e-06 -2.01286e-07 1.97017e-06] -86: DBG: Line search iter 1: back=1, prevNorm=2.48271e-06. -86: > piNow=~[-0.602835 0.00612707 -0.0599713] -86: > errNow=~[-2.77556e-17 2.6628e-16 -2.59515e-15] normNow=2.60892e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.05084e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.60892e-15. +86: > errActive=~[0.141017 0.000128038 -0.00121262] +86: > deltaPi=~[0.77286 0.00822007 -0.0778504] +86: DBG: Line search iter 1: back=1, prevNorm=0.141022. +86: > piNow=~[-0.78286 -0.00822007 0.0778504] +86: > errNow=~[0 3.68598e-07 -3.4909e-06] normNow=3.51031e-06 +86: DBG: Improvement rate now/prev at iter 1 is 2.48919e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.39016e-10 +86: > NEWTON iter 2: errNorm=3.51031e-06(v) -> deltaNorm=5.2233e-06(pi) +86: > piActive=~[-0.78286 -0.00822007 0.0778504] +86: > errActive=~[0 3.68598e-07 -3.4909e-06] +86: > deltaPi=~[4.06106e-06 3.4493e-07 -3.26675e-06] +86: DBG: Line search iter 1: back=1, prevNorm=3.51031e-06. +86: > piNow=~[-0.782864 -0.00822042 0.0778536] +86: > errNow=~[0 3.13985e-16 -2.98372e-15] normNow=3.0002e-15 +86: DBG: Improvement rate now/prev at iter 2 is 8.54683e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.0002e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.11427,-1.11847] to ~[0.105665,-1.07921] -86: DBG: Friction 0 rotated 0.2415 deg, less than max 30 +86: slipVel 0 from ~[-0.128038,1.21262] to ~[-0.128068,1.2677] +86: DBG: Friction 0 rotated 0.258748 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.602835 0.00612707 -0.0599713] -86: : m_verrLeft=~[2.77556e-17 0.105665 -1.07921] +86: : m_piActive=~[-0.782864 -0.00822042 0.0778536] +86: : m_verrLeft=~[0 -0.128068 1.2677] 86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.602835 verr=2.77556e-17 pi*v=-1.6732e-17 -86: SP FINAL 1 intervals, piTotal=~[-0.602835 0.00612707 -0.0599713] errNorm=2.60892e-15 +86: DBG: 0: pi=-0.782864 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.782864 -0.00822042 0.0778536] errNorm=3.0002e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.11427 -1.11847, |slipV|=1.12429 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.128038 1.21262, |slipV|=1.21936 86: ------------------------------ 86: -86: dynamics impulse=~[-0.602835 0.00612707 -0.0599713] -86: updated verrStart=~[2.77556e-17 0.105665 -1.07921] +86: dynamics impulse=~[-0.782864 -0.00822042 0.0778536] +86: updated verrStart=~[0 -0.128068 1.2677] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[-0.97017 0 0] +86: posVerr=~[0.366684 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 1 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.274701 -0.00376509 0.317259] -86: [-0.00376509 0.0500802 0.0346479] -86: [0.317259 0.0346479 0.426772] +86: [0.20858 0.00219994 0.259529] +86: [0.00219994 0.0507445 -0.0388315] +86: [0.259529 -0.0388315 0.38994] 86: D=~[0 0 0] 86: rcond(A+D)=0 rank=1 -86: rhs=~[-0.97017 0 0] +86: rhs=~[0.366684 0 0] 86: active=(0) -86: -> piActive=~[-3.53174] -86: -> pi=~[-3.53174 0 0] -86: resid active=~[-1.11022e-16] -86: resid=~[-1.11022e-16 0.0132973 -1.12047] +86: -> piActive=~[1.758] +86: -> pi=~[1.758 0 0] +86: resid active=~[0] +86: resid=~[0 0.0038675 0.456251] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[0 0.105665 -1.07921] -86: perr=~[-0.00097017 0] -86: END OF STEP (0.045,0.046): -86: verr=~[-0.00842641 0.117388 -1.07246] -86: perr=~[-0.000974383 0] +86: verr=~[1.66533e-16 -0.128068 1.2677] +86: perr=~[0.000366684 0] +86: END OF STEP (0.106,0.107): +86: verr=~[0.000662567 -0.12921 1.26736] +86: perr=~[0.000367015 -1.11022e-16] 86: constraint status: -86: 0: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0) -86: Distal unilateral contacts: (1,2,3,4,5,6,7) +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.07886 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00842641 -> cor=0 +86: DBG: Uni fric 2 verr speed=1.27393 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. 86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: () -86: participating multx: (0,1,2) -86: verr=~[-0.00842641 0.117388 -1.07246] -86: IMP t=0.046 verr=~[-0.00842641 0.117388 -1.07246] +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.000662567 -0.12921 1.26736] +86: verrExt=~[-0.14365 -0.00522004 -0.116755] +86: total verr=~[-0.142988 -0.13443 1.15061] +86: DYN t=0.107: verrStart=~[0.000662567 -0.12921 1.26736] +86: verrApplied=~[-0.14365 -0.00522004 -0.116755] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -36199,73 +47841,111 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[-0.00842641 0.117388 -1.07246] -86: verrApplied=~[] +86: verrLeft=~[0.000662567 -0.12921 1.26736] +86: verrApplied=~[-0.14365 -0.00522004 -0.116755] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=0.117388,-1.07246, mag=1.07886 +86: Participating contact 0 is Sliding; vel=-0.12921,1.26736, mag=1.27393 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.117388,-1.07246, mag=1.07886 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.12921,1.26736, mag=1.27393 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.00842641; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.142988; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.00842641 0.117388 -1.07246] +86: : verrLeft was=~[0.000662567 -0.12921 1.26736] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00842641 0.117388 -1.07246] +86: : verrApplied was=~[-0.14365 -0.00522004 -0.116755] +86: : rhsActive=~[-0.142988 -0.13443 1.15061] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.01863e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00581142... -86: > NEWTON iter 1: errNorm=0.00581142(v) -> deltaNorm=0.0180212(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.74523e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.140903... +86: > NEWTON iter 1: errNorm=0.140903(v) -> deltaNorm=0.774476(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.0057104 -0.000117388 0.00107246] -86: > deltaPi=~[0.0178054 -0.000302536 0.00276397] -86: DBG: Line search iter 1: back=1, prevNorm=0.00581142. -86: > piNow=~[-0.0278054 0.000302536 -0.00276397] -86: > errNow=~[0 -7.78553e-09 7.11285e-08] normNow=7.15533e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.23125e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.19831e-07 -86: > NEWTON iter 2: errNorm=7.15533e-08(v) -> deltaNorm=9.09409e-08(pi) -86: > piActive=~[-0.0278054 0.000302536 -0.00276397] -86: > errActive=~[0 -7.78553e-09 7.11285e-08] -86: > deltaPi=~[-6.88266e-08 -6.46754e-09 5.90873e-08] -86: DBG: Line search iter 1: back=1, prevNorm=7.15533e-08. -86: > piNow=~[-0.0278053 0.000302543 -0.00276402] -86: > errNow=~[1.73472e-18 3.89294e-15 -3.55657e-14] normNow=3.57782e-14 -86: DBG: Improvement rate now/prev at iter 2 is 5.00021e-07 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.57782e-14. +86: > errActive=~[0.140898 0.00012921 -0.00126736] +86: > deltaPi=~[0.770533 0.00791635 -0.077648] +86: DBG: Line search iter 1: back=1, prevNorm=0.140903. +86: > piNow=~[-0.780533 -0.00791635 0.077648] +86: > errNow=~[-2.77556e-17 3.7085e-07 -3.6375e-06] normNow=3.65636e-06 +86: DBG: Improvement rate now/prev at iter 1 is 2.59494e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.86699e-10 +86: > NEWTON iter 2: errNorm=3.65636e-06(v) -> deltaNorm=5.20267e-06(pi) +86: > piActive=~[-0.780533 -0.00791635 0.077648] +86: > errActive=~[-2.77556e-17 3.7085e-07 -3.6375e-06] +86: > deltaPi=~[4.04299e-06 3.32113e-07 -3.25755e-06] +86: DBG: Line search iter 1: back=1, prevNorm=3.65636e-06. +86: > piNow=~[-0.780538 -0.00791668 0.0776512] +86: > errNow=~[0 3.19189e-16 -3.1225e-15] normNow=3.13877e-15 +86: DBG: Improvement rate now/prev at iter 2 is 8.58443e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.13877e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.117388,-1.07246] to ~[0.117419,-1.06249] -86: DBG: Friction 0 rotated 0.0597468 deg, less than max 30 +86: slipVel 0 from ~[-0.12921,1.26736] to ~[-0.129633,1.32267] +86: DBG: Friction 0 rotated 0.223673 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.0278053 0.000302543 -0.00276402] -86: : m_verrLeft=~[-1.73472e-18 0.117419 -1.06249] -86: : verrAppliedLeft=~[] +86: : m_piActive=~[-0.780538 -0.00791668 0.0776512] +86: : m_verrLeft=~[0 -0.129633 1.32267] +86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.0278053 verr=-1.73472e-18 pi*v=4.82346e-20 -86: SP FINAL 1 intervals, piTotal=~[-0.0278053 0.000302543 -0.00276402] errNorm=3.57782e-14 -86: Postcompression verr=~[-1.73472e-18 0.117419 -1.06249] -86: impulse=~[-0.0278053 0.000302543 -0.00276402] -86: Next expansion impulse=~[0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.0278053 0.000302543 -0.00276402]-> du ~[-0.00503692 0.0124668 -0.00623525 -0.00682274 6.54793e-06 0.00583987 -0.0233828 0.013845] -86: Now verr0=~[0 0.117419 -1.06249] +86: DBG: 0: pi=-0.780538 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.780538 -0.00791668 0.0776512] errNorm=3.13877e-15 86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0 0.117419 -1.06249] -86: verrExt=~[-0.146721 -0.0116811 -0.133314] -86: total verr=~[-0.146721 0.105738 -1.19581] -86: DYN t=0.046: verrStart=~[0 0.117419 -1.06249] -86: verrApplied=~[-0.146721 -0.0116811 -0.133314] +86: ----------Post-dynamics---------- +86: Unilateral contact runtimes (n=1): +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (1,2) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.12921 1.26736, |slipV|=1.27393 +86: ------------------------------ +86: +86: dynamics impulse=~[-0.780538 -0.00791668 0.0776512] +86: updated verrStart=~[0 -0.129633 1.32267] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.367015 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.208996 0.00169973 0.259562] +86: [0.00169973 0.0508717 -0.0394958] +86: [0.259562 -0.0394958 0.389197] +86: D=~[0 0 0] +86: rcond(A+D)=0 rank=1 +86: rhs=~[0.367015 0 0] +86: active=(0) +86: -> piActive=~[1.75608] +86: -> pi=~[1.75608 0 0] +86: resid active=~[0] +86: resid=~[0 0.00298487 0.455812] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[1.11022e-16 -0.129633 1.32267] +86: perr=~[0.000367015 -1.11022e-16] +86: END OF STEP (0.107,0.108): +86: verr=~[0.000707068 -0.131076 1.32228] +86: perr=~[0.000367369 0] +86: constraint status: +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (2) +86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () +86: DBG: Uni fric 2 verr speed=1.32876 -> mu=0.1 +86: DBG: performSimultaneousImpact(): No impacters; nothing to do. +86: DBG: No impact. +86: +86: DYNAMICS PHASE after 0 impact rounds: +86: verr0 =~[0.000707068 -0.131076 1.32228] +86: verrExt=~[-0.142736 -0.00504264 -0.115241] +86: total verr=~[-0.142029 -0.136119 1.20704] +86: DYN t=0.108: verrStart=~[0.000707068 -0.131076 1.32228] +86: verrApplied=~[-0.142736 -0.00504264 -0.115241] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -36277,112 +47957,111 @@ 86: active=(0,1,2) 86: mult2active=(0,1,2) 86: piTotal=~[0 0 0] -86: verrLeft=~[0 0.117419 -1.06249] -86: verrApplied=~[-0.146721 -0.0116811 -0.133314] +86: verrLeft=~[0.000707068 -0.131076 1.32228] +86: verrApplied=~[-0.142736 -0.00504264 -0.115241] 86: expanding=() 86: piELeft=~[0 0 0] 86: verrExpand=~[0 0 0] 86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=0.117419,-1.06249, mag=1.06896 +86: Participating contact 0 is Sliding; vel=-0.131076,1.32228, mag=1.32876 86: 86: ....... Active set iter 1 start 86: : active=(0,1,2) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.117419,-1.06249, mag=1.06896 +86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.131076,1.32228, mag=1.32876 86: fillMult2Active: 86: : active=(0,1,2) 86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.146721; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.142029; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0 0.117419 -1.06249] +86: : verrLeft was=~[0.000707068 -0.131076 1.32228] 86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.146721 -0.0116811 -0.133314] -86: : rhsActive=~[-0.146721 0.105738 -1.19581] +86: : verrApplied was=~[-0.142736 -0.00504264 -0.115241] +86: : rhsActive=~[-0.142029 -0.136119 1.20704] 86: : pi was=~[0 0 0] 86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.98175e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.144008... -86: > NEWTON iter 1: errNorm=0.144008(v) -> deltaNorm=0.476618(pi) +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.94947e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.139941... +86: > NEWTON iter 1: errNorm=0.139941(v) -> deltaNorm=0.767514(pi) 86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.144004 -0.000117419 0.00106249] -86: > deltaPi=~[0.474153 -0.00531793 0.0481206] -86: DBG: Line search iter 1: back=1, prevNorm=0.144008. -86: > piNow=~[-0.484153 0.00531793 -0.0481206] -86: > errNow=~[0 -2.07381e-07 1.87653e-06] normNow=1.88796e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.311e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.69557e-09 -86: > NEWTON iter 2: errNorm=1.88796e-06(v) -> deltaNorm=2.42161e-06(pi) -86: > piActive=~[-0.484153 0.00531793 -0.0481206] -86: > errActive=~[0 -2.07381e-07 1.87653e-06] -86: > deltaPi=~[-1.83266e-06 -1.73871e-07 1.57332e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.88796e-06. -86: > piNow=~[-0.484151 0.00531811 -0.0481222] -86: > errNow=~[0 3.40873e-16 -3.08781e-15] normNow=3.10657e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.64546e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.10657e-15. +86: > errActive=~[0.139935 0.000131076 -0.00132228] +86: > deltaPi=~[0.763605 0.00763096 -0.0769804] +86: DBG: Line search iter 1: back=1, prevNorm=0.139941. +86: > piNow=~[-0.773605 -0.00763096 0.0769804] +86: > errNow=~[0 3.72824e-07 -3.76101e-06] normNow=3.77944e-06 +86: DBG: Improvement rate now/prev at iter 1 is 2.70074e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.30878e-10 +86: > NEWTON iter 2: errNorm=3.77944e-06(v) -> deltaNorm=5.15085e-06(pi) +86: > piActive=~[-0.773605 -0.00763096 0.0769804] +86: > errActive=~[0 3.72824e-07 -3.76101e-06] +86: > deltaPi=~[4.00064e-06 3.20044e-07 -3.22857e-06] +86: DBG: Line search iter 1: back=1, prevNorm=3.77944e-06. +86: > piNow=~[-0.773609 -0.00763128 0.0769836] +86: > errNow=~[-2.77556e-17 3.27863e-16 -3.30291e-15] normNow=3.31926e-15 +86: DBG: Improvement rate now/prev at iter 2 is 8.78241e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.31926e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.117419,-1.06249] to ~[0.106268,-1.0223] -86: DBG: Friction 0 rotated 0.371739 deg, less than max 30 +86: slipVel 0 from ~[-0.131076,1.32228] to ~[-0.131746,1.37766] +86: DBG: Friction 0 rotated 0.19855 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.484151 0.00531811 -0.0481222] -86: : m_verrLeft=~[0 0.106268 -1.0223] +86: : m_piActive=~[-0.773609 -0.00763128 0.0769836] +86: : m_verrLeft=~[2.77556e-17 -0.131746 1.37766] 86: : verrAppliedLeft=~[0 0 0] 86: : piELeft=~[0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.484151 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.484151 0.00531811 -0.0481222] errNorm=3.10657e-15 +86: DBG: 0: pi=-0.773609 verr=2.77556e-17 pi*v=-2.1472e-17 +86: SP FINAL 1 intervals, piTotal=~[-0.773609 -0.00763128 0.0769836] errNorm=3.31926e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.117419 -1.06249, |slipV|=1.06896 +86: inputs: ContactType=Participating, effCOR=nan +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.131076 1.32228, |slipV|=1.32876 86: ------------------------------ 86: -86: dynamics impulse=~[-0.484151 0.00531811 -0.0481222] -86: updated verrStart=~[0 0.106268 -1.0223] +86: dynamics impulse=~[-0.773609 -0.00763128 0.0769836] +86: updated verrStart=~[2.77556e-17 -0.131746 1.37766] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[-0.974383 0 0] +86: posVerr=~[0.367369 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 1 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.271601 -0.00203831 0.316145] -86: [-0.00203831 0.0503799 0.0370872] -86: [0.316145 0.0370872 0.429018] +86: [0.209415 0.00114524 0.259608] +86: [0.00114524 0.0510072 -0.040229] +86: [0.259608 -0.040229 0.388482] 86: D=~[0 0 0] 86: rcond(A+D)=0 rank=1 -86: rhs=~[-0.974383 0 0] +86: rhs=~[0.367369 0 0] 86: active=(0) -86: -> piActive=~[-3.58755] -86: -> pi=~[-3.58755 0 0] +86: -> piActive=~[1.75426] +86: -> pi=~[1.75426 0 0] 86: resid active=~[0] -86: resid=~[0 0.00731255 -1.13419] +86: resid=~[0 0.00200905 0.455419] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-4.44089e-16 0.106268 -1.0223] -86: perr=~[-0.000974383 0] -86: END OF STEP (0.046,0.047): -86: verr=~[-0.00843498 0.118192 -1.0157] -86: perr=~[-0.000978601 -2.22045e-16] +86: verr=~[1.11022e-16 -0.131746 1.37766] +86: perr=~[0.000367369 0] +86: END OF STEP (0.108,0.109): +86: verr=~[0.000745603 -0.133525 1.37723] +86: perr=~[0.000367741 0] 86: constraint status: -86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding 86: Proximal unilateral contacts: (0,2) 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.02255 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=4.82279 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00843498 -> cor=0 -86: DBG: Uni contact 2 verr vel=-3.03202 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.304692 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.38369 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.893887 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0,1) -86: observers: () +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00843498 -3.03202 0.118192 -1.0157 0.0649888 -4.82236] -86: IMP t=0.047 verr=~[-0.00843498 -3.03202 0.118192 -1.0157 0.0649888 -4.82236] +86: verr=~[-0.893887 0.000745603 -0.100071 -0.28779 -0.133525 1.37723] +86: IMP t=0.109 verr=~[-0.893887 0.000745603 -0.100071 -0.28779 -0.133525 1.37723] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -36394,844 +48073,625 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00843498 -3.03202 0.118192 -1.0157 0.0649888 -4.82236] +86: verrLeft=~[-0.893887 0.000745603 -0.100071 -0.28779 -0.133525 1.37723] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.118192,-1.0157, mag=1.02255 -86: Participating contact 1 is Sliding; vel=0.0649888,-4.82236, mag=4.82279 +86: Participating contact 0 is Sliding; vel=-0.100071,-0.28779, mag=0.304692 +86: Participating contact 1 is Sliding; vel=-0.133525,1.37723, mag=1.38369 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.118192,-1.0157, mag=1.02255 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.0649888,-4.82236, mag=4.82279 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.100071,-0.28779, mag=0.304692 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.133525,1.37723, mag=1.38369 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00843498; guess pi=-0.01 -86: DBG: active normal 3 has v=-3.03202; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.893887; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000745603; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[-0.00843498 -3.03202 0.118192 -1.0157 0.0649888 -4.82236] +86: : verrLeft was=~[-0.893887 0.000745603 -0.100071 -0.28779 -0.133525 1.37723] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.00843498 0.118192 -1.0157 -3.03202 0.0649888 -4.82236] +86: : rhsActive=~[-0.893887 -0.100071 -0.28779 0.000745603 -0.133525 1.37723] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.83636e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=3.02871... -86: > NEWTON iter 1: errNorm=3.02871(v) -> deltaNorm=15.5792(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.00471018 -0.000118192 0.0010157 3.02871 -6.49888e-05 0.00482236] -86: > deltaPi=~[-5.57656 0.0643391 -0.552904 14.464 -0.0195035 1.44722] -86: DBG: Line search iter 1: back=1, prevNorm=3.02871. -86: > piNow=~[5.56656 -0.0643391 0.552904 -14.474 0.0195035 -1.44722] -86: > errNow=~[-1.83187e-15 -0.06579 0.565372 -4.44089e-16 -3.50138e-06 0.000259812] normNow=0.569187 -86: DBG: Improvement rate now/prev at iter 1 is 0.18793 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.80337e-10 -86: > NEWTON iter 2: errNorm=0.569187(v) -> deltaNorm=0.856169(pi) -86: > piActive=~[5.56656 -0.0643391 0.552904 -14.474 0.0195035 -1.44722] -86: > errActive=~[-1.83187e-15 -0.06579 0.565372 -4.44089e-16 -3.50138e-06 0.000259812] -86: > deltaPi=~[-0.650511 -0.0643391 0.552904 0.0042716 -6.48214e-06 0.000480993] -86: DBG: Line search iter 1: back=1, prevNorm=0.569187. -86: > piNow=~[6.21707 -9.03944e-13 7.76823e-12 -14.4783 0.01951 -1.4477] -86: > errNow=~[0 -9.24327e-13 7.9434e-12 0 -4.71845e-16 3.64153e-14] normNow=7.99708e-12 -86: DBG: Improvement rate now/prev at iter 2 is 1.405e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.99708e-12. -86: DBG: Worst offender is normal contact 0 err=6.21707 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.27753e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.892368... +86: > NEWTON iter 1: errNorm=0.892368(v) -> deltaNorm=4.4198(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[0.892368 0.000100071 0.00028779 0.000393829 0 0] +86: > deltaPi=~[3.91971 0.12906 0.371158 -2.00402 -7.20343e-07 7.42989e-06] +86: DBG: Line search iter 1: back=1, prevNorm=0.892368. +86: > piNow=~[-3.92971 -0.12906 -0.371158 2.01402 7.20343e-07 -7.42989e-06] +86: > errNow=~[0 1.46108e-06 4.20186e-06 -2.29851e-17 9.96728e-07 -1.02806e-05] normNow=1.12461e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.26026e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.73365e-10 +86: > NEWTON iter 2: errNorm=1.12461e-05(v) -> deltaNorm=2.30935e-05(pi) +86: > piActive=~[-3.92971 -0.12906 -0.371158 2.01402 7.20343e-07 -7.42989e-06] +86: > errActive=~[0 1.46108e-06 4.20186e-06 -2.29851e-17 9.96728e-07 -1.02806e-05] +86: > deltaPi=~[-1.50516e-05 4.30091e-06 1.23688e-05 8.91923e-06 7.20343e-07 -7.42989e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.12461e-05. +86: > piNow=~[-3.92969 -0.129064 -0.37117 2.01401 -7.90467e-17 8.15317e-16] +86: > errNow=~[0 -4.16334e-17 -1.11022e-16 1.00722e-16 -1.09376e-16 1.12814e-15] normNow=1.14406e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.01729e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.14406e-15. +86: DBG: Worst offender is normal contact 1 err=2.01401 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=0.118192,-1.0157, mag=1.02255 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.0649888,-4.82236, mag=4.82279 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.100071,-0.28779, mag=0.304692 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.133525,1.37723, mag=1.38369 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-3.03202; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.893887; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.00843498 -3.03202 0.118192 -1.0157 0.0649888 -4.82236] +86: : verrLeft was=~[-0.893887 0.000745603 -0.100071 -0.28779 -0.133525 1.37723] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-3.03202 0.0649888 -4.82236] -86: : pi was=~[0 -14.4783 -9.03944e-13 7.76823e-12 0.01951 -1.4477] -86: : piActive=~[-0.01 0.01951 -1.4477] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.79645e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=7.4625... -86: > NEWTON iter 1: errNorm=7.4625(v) -> deltaNorm=11.9279(pi) -86: > piActive=~[-0.01 0.01951 -1.4477] -86: > errActive=~[2.64571 0.0940277 -6.97712] -86: > deltaPi=~[11.9252 0.0034275 -0.25433] -86: DBG: Line search iter 1: back=1, prevNorm=7.4625. -86: > piNow=~[-11.9352 0.0160825 -1.19337] -86: > errNow=~[8.88178e-16 -2.8868e-06 0.000214208] normNow=0.000214228 -86: DBG: Improvement rate now/prev at iter 1 is 2.87073e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.44972e-10 -86: > NEWTON iter 2: errNorm=0.000214228(v) -> deltaNorm=6.11041e-05(pi) -86: > piActive=~[-11.9352 0.0160825 -1.19337] -86: > errActive=~[8.88178e-16 -2.8868e-06 0.000214208] -86: > deltaPi=~[-4.63801e-05 -5.36074e-07 3.97782e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.000214228. -86: > piNow=~[-11.9352 0.016083 -1.19341] -86: > errNow=~[0 1.38778e-17 -8.88178e-16] normNow=8.88287e-16 -86: DBG: Improvement rate now/prev at iter 2 is 4.14646e-12 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.88287e-16. +86: : rhsActive=~[-0.893887 -0.100071 -0.28779] +86: : pi was=~[-3.92969 0 -0.129064 -0.37117 -7.90467e-17 8.15317e-16] +86: : piActive=~[-0.01 -0.129064 -0.37117] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.13494e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.787582... +86: > NEWTON iter 1: errNorm=0.787582(v) -> deltaNorm=3.22226(pi) +86: > piActive=~[-0.01 -0.129064 -0.37117] +86: > errActive=~[0.778474 -0.0392247 -0.112805] +86: > deltaPi=~[3.22151 -0.0229347 -0.0659569] +86: DBG: Line search iter 1: back=1, prevNorm=0.787582. +86: > piNow=~[-3.23151 -0.106129 -0.305213] +86: > errNow=~[1.11022e-16 1.20082e-06 3.4534e-06] normNow=3.65622e-06 +86: DBG: Improvement rate now/prev at iter 1 is 4.64233e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.40497e-11 +86: > NEWTON iter 2: errNorm=3.65622e-06(v) -> deltaNorm=1.64636e-05(pi) +86: > piActive=~[-3.23151 -0.106129 -0.305213] +86: > errActive=~[1.11022e-16 1.20082e-06 3.4534e-06] +86: > deltaPi=~[-1.24669e-05 3.53164e-06 1.01565e-05] +86: DBG: Line search iter 1: back=1, prevNorm=3.65622e-06. +86: > piNow=~[-3.23149 -0.106133 -0.305223] +86: > errNow=~[0 -4.16334e-17 -1.38778e-16] normNow=1.44888e-16 +86: DBG: Improvement rate now/prev at iter 2 is 3.96279e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.44888e-16. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[0.0649888,-4.82236] to ~[0.127563,-1.20837] -86: DBG: Friction 1 rotated 5.25406 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-11.9352 0.016083 -1.19341] -86: : m_verrLeft=~[1.37491 0 0.152524 0.574671 0.127563 -1.20837] +86: slipVel 0 from ~[-0.100071,-0.28779] to ~[-0.126097,0.85027] +86: DBG: TOO BIG: Sliding fric 0; endmag=0.859569, rot=152.391 deg > 30 +86: DBG: --> returning stepLength=0.250736 (dist to origin=0.106625) +86: DBG: -->max change solutions: 0.809484 and 0.17348; returning 0.17348 +86: DBG: Frac=0.17348 reduces angle to 30 degrees. +86: SP interval 1 end: s=0.17348 +86: : m_piActive=~[-0.560598 -0.0184119 -0.05295] +86: : m_verrLeft=~[-0.738816 0.0609285 -0.104586 -0.0903601 -0.135535 1.45002] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=1.37491 pi*v=0 -86: DBG: 1: pi=-11.9352 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -11.9352 0 0 0.016083 -1.19341] errNorm=8.88287e-16 -86: Postcompression verr=~[1.37491 0 0.152524 0.574671 0.127563 -1.20837] -86: impulse=~[0 -11.9352 0 0 0.016083 -1.19341] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -11.9352 0 0 0.016083 -1.19341]-> du ~[1.71749 4.65288 2.02837 -2.60218 0.0484527 2.20768 -8.23346 6.60243] -86: Now verr0=~[1.37491 -9.99201e-16 0.152524 0.574671 0.127563 -1.20837] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[1.37491 -9.99201e-16 0.152524 0.574671 0.127563 -1.20837] -86: verrExt=~[-0.84147 -0.669097 -0.00171946 -0.969806 0.000882131 -0.782044] -86: total verr=~[0.533443 -0.669097 0.150804 -0.395136 0.128445 -1.99042] -86: DYN t=0.047: verrStart=~[1.37491 -9.99201e-16 0.152524 0.574671 0.127563 -1.20837] -86: verrApplied=~[-0.84147 -0.669097 -0.00171946 -0.969806 0.000882131 -0.782044] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) 86: -86: ***** Sliding interval 1 start +86: ***** Sliding interval 2 start 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[1.37491 -9.99201e-16 0.152524 0.574671 0.127563 -1.20837] -86: verrApplied=~[-0.84147 -0.669097 -0.00171946 -0.969806 0.000882131 -0.782044] +86: piTotal=~[-0.560598 0 -0.0184119 -0.05295 0 0] +86: verrLeft=~[-0.738816 0.0609285 -0.104586 -0.0903601 -0.135535 1.45002] +86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.152524,0.574671, mag=0.594567 -86: Participating contact 1 is Sliding; vel=0.127563,-1.20837, mag=1.21509 +86: Participating contact 0 is Sliding; vel=-0.104586,-0.0903601, mag=0.138214 +86: Participating contact 1 is Sliding; vel=-0.135535,1.45002, mag=1.45634 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.152524,0.574671, mag=0.594567 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.127563,-1.20837, mag=1.21509 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.104586,-0.0903601, mag=0.138214 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.135535,1.45002, mag=1.45634 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.533443; guess pi=0.01 -86: DBG: active normal 3 has v=-0.669097; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.738816; guess pi=-0.01 +86: DBG: active normal 3 has v=0.0609285; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[1.37491 -9.99201e-16 0.152524 0.574671 0.127563 -1.20837] +86: : verrLeft was=~[-0.738816 0.0609285 -0.104586 -0.0903601 -0.135535 1.45002] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.84147 -0.669097 -0.00171946 -0.969806 0.000882131 -0.782044] -86: : rhsActive=~[0.533443 0.150804 -0.395136 -0.669097 0.128445 -1.99042] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.738816 -0.104586 -0.0903601 0.0609285 -0.135535 1.45002] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.03884e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.853725... -86: > NEWTON iter 1: errNorm=0.853725(v) -> deltaNorm=5.65318(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[-0.531796 0 0 0.667861 -0.000127563 0.00120837] -86: > deltaPi=~[-3.78371 3.61548e-06 1.36222e-05 4.1793 -0.0439787 0.416599] -86: DBG: Line search iter 1: back=1, prevNorm=0.853725. -86: > piNow=~[3.79371 -3.61548e-06 -1.36222e-05 -4.1893 0.0439787 -0.416599] -86: > errNow=~[-5.55112e-16 -2.14964e-06 -8.09932e-06 -4.44089e-16 -1.98582e-06 1.88112e-05] normNow=2.06887e-05 -86: DBG: Improvement rate now/prev at iter 1 is 2.42335e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.38079e-10 -86: > NEWTON iter 2: errNorm=2.06887e-05(v) -> deltaNorm=3.01386e-05(pi) -86: > piActive=~[3.79371 -3.61548e-06 -1.36222e-05 -4.1893 0.0439787 -0.416599] -86: > errActive=~[-5.55112e-16 -2.14964e-06 -8.09932e-06 -4.44089e-16 -1.98582e-06 1.88112e-05] -86: > deltaPi=~[1.59927e-05 -3.61548e-06 -1.36222e-05 -1.60971e-05 -1.46531e-06 1.38805e-05] -86: DBG: Line search iter 1: back=1, prevNorm=2.06887e-05. -86: > piNow=~[3.79369 1.06188e-16 4.00104e-16 -4.18928 0.0439801 -0.416613] -86: > errNow=~[4.44089e-16 6.31358e-17 2.37889e-16 0 4.16334e-17 -3.33067e-16] normNow=6.08654e-16 -86: DBG: Improvement rate now/prev at iter 2 is 2.94196e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.08654e-16. -86: DBG: Worst offender is normal contact 0 err=3.79369 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.44907e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.739717... +86: > NEWTON iter 1: errNorm=0.739717(v) -> deltaNorm=4.03526(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[0.737296 0.000104586 9.03601e-05 -0.0597891 0 0] +86: > deltaPi=~[3.48116 0.264164 0.228232 -2.01072 -6.97026e-07 7.45716e-06] +86: DBG: Line search iter 1: back=1, prevNorm=0.739717. +86: > piNow=~[-3.49116 -0.264164 -0.228232 2.02072 6.97026e-07 -7.45716e-06] +86: > errNow=~[-2.22045e-16 1.35615e-06 1.17169e-06 8.32667e-17 1.01511e-06 -1.08602e-05] normNow=1.10538e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.49433e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.39401e-10 +86: > NEWTON iter 2: errNorm=1.10538e-05(v) -> deltaNorm=1.90179e-05(pi) +86: > piActive=~[-3.49116 -0.264164 -0.228232 2.02072 6.97026e-07 -7.45716e-06] +86: > errActive=~[-2.22045e-16 1.35615e-06 1.17169e-06 8.32667e-17 1.01511e-06 -1.08602e-05] +86: > deltaPi=~[-9.1519e-06 9.11945e-06 7.87901e-06 8.75136e-06 6.97026e-07 -7.45716e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.10538e-05. +86: > piNow=~[-3.49115 -0.264174 -0.22824 2.02071 -7.4304e-17 7.94942e-16] +86: > errNow=~[1.11022e-16 -2.77556e-17 -2.08167e-17 1.38778e-17 -1.08212e-16 1.15771e-15] normNow=1.16864e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.05723e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.16864e-15. +86: DBG: Worst offender is normal contact 1 err=2.02071 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=0.152524,0.574671, mag=0.594567 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.127563,-1.20837, mag=1.21509 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.104586,-0.0903601, mag=0.138214 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.135535,1.45002, mag=1.45634 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.669097; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.738816; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[1.37491 -9.99201e-16 0.152524 0.574671 0.127563 -1.20837] +86: : verrLeft was=~[-0.738816 0.0609285 -0.104586 -0.0903601 -0.135535 1.45002] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.84147 -0.669097 -0.00171946 -0.969806 0.000882131 -0.782044] -86: : rhsActive=~[-0.669097 0.128445 -1.99042] -86: : pi was=~[0 -4.18928 1.06188e-16 4.00104e-16 0.0439801 -0.416613] -86: : piActive=~[-0.01 0.0439801 -0.416613] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.52605e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.753465... -86: > NEWTON iter 1: errNorm=0.753465(v) -> deltaNorm=2.6307(pi) -86: > piActive=~[-0.01 0.0439801 -0.416613] -86: > errActive=~[0.556623 0.0533121 -0.505013] -86: > deltaPi=~[2.62611 0.0163066 -0.154469] -86: DBG: Line search iter 1: back=1, prevNorm=0.753465. -86: > piNow=~[-2.63611 0.0276735 -0.262145] -86: > errNow=~[1.11022e-16 -1.24781e-06 1.18202e-05] normNow=1.18859e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.5775e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.14032e-10 -86: > NEWTON iter 2: errNorm=1.18859e-05(v) -> deltaNorm=1.34034e-05(pi) -86: > piActive=~[-2.63611 0.0276735 -0.262145] -86: > errActive=~[1.11022e-16 -1.24781e-06 1.18202e-05] -86: > deltaPi=~[-1.01376e-05 -9.20504e-07 8.71971e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.18859e-05. -86: > piNow=~[-2.6361 0.0276744 -0.262153] -86: > errNow=~[1.11022e-16 6.93889e-17 -6.66134e-16] normNow=6.78878e-16 -86: DBG: Improvement rate now/prev at iter 2 is 5.71163e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.78878e-16. +86: : verrApplied was=~[] +86: : rhsActive=~[-0.738816 -0.104586 -0.0903601] +86: : pi was=~[-3.49115 0 -0.264174 -0.22824 -7.4304e-17 7.94942e-16] +86: : piActive=~[-0.01 -0.264174 -0.22824] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.1483e-07 +86: DBG: >>>> Start NEWTON solve with errNorm=0.670854... +86: > NEWTON iter 1: errNorm=0.670854(v) -> deltaNorm=2.75671(pi) +86: > piActive=~[-0.01 -0.264174 -0.22824] +86: > errActive=~[0.669127 -0.036408 -0.0314557] +86: > deltaPi=~[2.75576 -0.0548977 -0.0474304] +86: DBG: Line search iter 1: back=1, prevNorm=0.670854. +86: > piNow=~[-2.76576 -0.209276 -0.18081] +86: > errNow=~[-1.11022e-16 1.07356e-06 9.27533e-07] normNow=1.41875e-06 +86: DBG: Improvement rate now/prev at iter 1 is 2.11484e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.41421e-11 +86: > NEWTON iter 2: errNorm=1.41875e-06(v) -> deltaNorm=1.20604e-05(pi) +86: > piActive=~[-2.76576 -0.209276 -0.18081] +86: > errActive=~[-1.11022e-16 1.07356e-06 9.27533e-07] +86: > deltaPi=~[-7.39774e-06 7.20758e-06 6.2272e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.41875e-06. +86: > piNow=~[-2.76575 -0.209283 -0.180816] +86: > errNow=~[1.11022e-16 -3.81639e-17 -2.77556e-17] normNow=1.20635e-16 +86: DBG: Improvement rate now/prev at iter 2 is 8.50291e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.20635e-16. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[0.127563,-1.20837] to ~[0.141135,-1.19201] -86: DBG: Friction 1 rotated 0.726237 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.6361 0.0276744 -0.262153] -86: : m_verrLeft=~[0.838882 -1.11022e-16 0.157238 -0.0448995 0.141135 -1.19201] -86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: slipVel 0 from ~[-0.104586,-0.0903601] to ~[-0.12321,0.850262] +86: DBG: TOO BIG: Sliding fric 0; endmag=0.859143, rot=122.581 deg > 30 +86: DBG: --> returning stepLength=0.0938259 (dist to origin=0.106354) +86: DBG: -->max change solutions: -0.211646 and 0.0745188; returning 0.0745188 +86: DBG: Frac=0.0745188 reduces angle to 30 degrees. +86: SP interval 2 end: s=0.0745188 +86: : m_piActive=~[-0.2061 -0.0155955 -0.0134742] +86: : m_verrLeft=~[-0.683761 0.0823637 -0.105974 -0.020266 -0.136029 1.47569] +86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.838882 pi*v=0 -86: DBG: 1: pi=-2.6361 verr=-1.11022e-16 pi*v=2.92666e-16 -86: SP FINAL 1 intervals, piTotal=~[0 -2.6361 0 0 0.0276744 -0.262153] errNorm=6.78878e-16 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.152524 0.574671, |slipV|=0.594567 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.127563 -1.20837, |slipV|=1.21509 -86: ------------------------------ -86: -86: dynamics impulse=~[0 -2.6361 0 0 0.0276744 -0.262153] -86: updated verrStart=~[0.838882 -1.11022e-16 0.157238 -0.0448995 0.141135 -1.19201] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[-0.978601 -0.00396232 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.268563 0.103917 -0.000307112 0.315031 -0.00302565 0.119851] -86: [0.103917 0.227516 0.00629286 0.121006 0.00830211 0.265388] -86: [-0.000307112 0.00629286 0.0507153 0.0395762 0.049631 -0.0334979] -86: [0.315031 0.121006 0.0395762 0.431228 0.0352178 0.122933] -86: [-0.00302565 0.00830211 0.049631 0.0352178 0.0486589 -0.0299398] -86: [0.119851 0.265388 -0.0334979 0.122933 -0.0299398 0.373766] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.401496 rank=2 -86: rhs=~[-0.978601 -0.00396232 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[-4.41789 2.00044] -86: -> pi=~[-4.41789 2.00044 0 0 0 0] -86: resid active=~[2.22045e-16 3.20924e-17] -86: resid=~[2.22045e-16 3.20924e-17 0.0139453 -1.14971 0.0299749 0.00140487] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[0.838882 1.11022e-16 0.157238 -0.0448995 0.141135 -1.19201] -86: perr=~[-0.000978601 -3.96232e-06 -2.22045e-16] -86: END OF STEP (0.047,0.048): -86: verr=~[0.838686 0.000195905 0.15825 -0.0447713 0.140123 -1.19214] -86: perr=~[-0.000139817 -3.86437e-06 0] -86: constraint status: -86: 0: cont UniOff fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.164461 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.20035 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. -86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.838686 0.000195905 0.15825 -0.0447713 0.140123 -1.19214] -86: verrExt=~[-0.956968 -0.768543 -0.0151801 -1.12053 -0.0116005 -0.893763] -86: total verr=~[-0.118282 -0.768347 0.14307 -1.1653 0.128522 -2.08591] -86: DYN t=0.048: verrStart=~[0.838686 0.000195905 0.15825 -0.0447713 0.140123 -1.19214] -86: verrApplied=~[-0.956968 -0.768543 -0.0151801 -1.12053 -0.0116005 -0.893763] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) 86: -86: ***** Sliding interval 1 start +86: ***** Sliding interval 3 start 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.838686 0.000195905 0.15825 -0.0447713 0.140123 -1.19214] -86: verrApplied=~[-0.956968 -0.768543 -0.0151801 -1.12053 -0.0116005 -0.893763] +86: piTotal=~[-0.766698 0 -0.0340074 -0.0664242 0 0] +86: verrLeft=~[-0.683761 0.0823637 -0.105974 -0.020266 -0.136029 1.47569] +86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.15825,-0.0447713, mag=0.164461 -86: Participating contact 1 is Sliding; vel=0.140123,-1.19214, mag=1.20035 +86: Participating contact 0 is Sliding; vel=-0.105974,-0.020266, mag=0.107894 +86: Participating contact 1 is Sliding; vel=-0.136029,1.47569, mag=1.48194 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.15825,-0.0447713, mag=0.164461 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.140123,-1.19214, mag=1.20035 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.105974,-0.020266, mag=0.107894 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.136029,1.47569, mag=1.48194 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.118282; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.768347; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.683761; guess pi=-0.01 +86: DBG: active normal 3 has v=0.0823637; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.838686 0.000195905 0.15825 -0.0447713 0.140123 -1.19214] +86: : verrLeft was=~[-0.683761 0.0823637 -0.105974 -0.020266 -0.136029 1.47569] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.956968 -0.768543 -0.0151801 -1.12053 -0.0116005 -0.893763] -86: : rhsActive=~[-0.118282 0.14307 -1.1653 -0.768347 0.128522 -2.08591] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.683761 -0.105974 -0.020266 0.0823637 -0.136029 1.47569] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.51292e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.773557... -86: > NEWTON iter 1: errNorm=0.773557(v) -> deltaNorm=3.6441(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.114556 -0.00015825 4.47713e-05 0.765027 -0.000140123 0.00119214] -86: > deltaPi=~[-1.05532 0.100581 -0.0284558 3.46898 -0.0406103 0.345507] -86: DBG: Line search iter 1: back=1, prevNorm=0.773557. -86: > piNow=~[1.04532 -0.100581 0.0284558 -3.47898 0.0406103 -0.345507] -86: > errNow=~[-5.55112e-17 -0.0165416 0.00467988 0 -1.8106e-06 1.54043e-05] normNow=0.0171909 -86: DBG: Improvement rate now/prev at iter 1 is 0.0222231 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.12078e-10 -86: > NEWTON iter 2: errNorm=0.0171909(v) -> deltaNorm=0.110114(pi) -86: > piActive=~[1.04532 -0.100581 0.0284558 -3.47898 0.0406103 -0.345507] -86: > errActive=~[-5.55112e-17 -0.0165416 0.00467988 0 -1.8106e-06 1.54043e-05] -86: > deltaPi=~[-0.0344903 -0.100581 0.0284558 0.00303899 -3.6984e-05 0.000314655] -86: DBG: Line search iter 1: back=1, prevNorm=0.0171909. -86: > piNow=~[1.07981 -1.13145e-11 3.20102e-12 -3.48202 0.0406473 -0.345821] -86: > errNow=~[2.77556e-17 -1.8608e-12 5.26443e-13 2.22045e-16 -1.31076e-14 1.11466e-13] normNow=1.93709e-12 -86: DBG: Improvement rate now/prev at iter 2 is 1.12681e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.93709e-12. -86: DBG: Worst offender is normal contact 0 err=1.07981 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.53466e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.687059... +86: > NEWTON iter 1: errNorm=0.687059(v) -> deltaNorm=4.0247(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[0.682241 0.000105974 2.0266e-05 -0.0812243 0 0] +86: > deltaPi=~[3.46697 0.341496 0.0653063 -2.01431 -6.88716e-07 7.47139e-06] +86: DBG: Line search iter 1: back=1, prevNorm=0.687059. +86: > piNow=~[-3.47697 -0.341496 -0.0653063 2.02431 6.88716e-07 -7.47139e-06] +86: > errNow=~[-1.11022e-16 1.36855e-06 2.61716e-07 5.55112e-17 1.02064e-06 -1.10722e-05] normNow=1.12061e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.63102e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.59624e-10 +86: > NEWTON iter 2: errNorm=1.12061e-05(v) -> deltaNorm=1.72263e-05(pi) +86: > piActive=~[-3.47697 -0.341496 -0.0653063 2.02431 6.88716e-07 -7.47139e-06] +86: > errActive=~[-1.11022e-16 1.36855e-06 2.61716e-07 5.55112e-17 1.02064e-06 -1.10722e-05] +86: > deltaPi=~[-2.10275e-06 1.24776e-05 2.38618e-06 8.63964e-06 6.88716e-07 -7.47139e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.12061e-05. +86: > piNow=~[-3.47697 -0.341508 -0.0653087 2.0243 -7.20944e-17 7.82103e-16] +86: > errNow=~[2.22045e-16 -1.38778e-17 -8.67362e-19 -5.55112e-17 -1.0684e-16 1.15903e-15] normNow=1.18632e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.05864e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.18632e-15. +86: DBG: Worst offender is normal contact 1 err=2.0243 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=0.15825,-0.0447713, mag=0.164461 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.140123,-1.19214, mag=1.20035 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.105974,-0.020266, mag=0.107894 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.136029,1.47569, mag=1.48194 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.768347; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.683761; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.838686 0.000195905 0.15825 -0.0447713 0.140123 -1.19214] +86: : verrLeft was=~[-0.683761 0.0823637 -0.105974 -0.020266 -0.136029 1.47569] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.956968 -0.768543 -0.0151801 -1.12053 -0.0116005 -0.893763] -86: : rhsActive=~[-0.768347 0.128522 -2.08591] -86: : pi was=~[0 -3.48202 -1.13145e-11 3.20102e-12 0.0406473 -0.345821] -86: : piActive=~[-0.01 0.0406473 -0.345821] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.47117e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.793044... -86: > NEWTON iter 1: errNorm=0.793044(v) -> deltaNorm=3.02467(pi) -86: > piActive=~[-0.01 0.0406473 -0.345821] -86: > errActive=~[0.674705 0.0486508 -0.413914] -86: > deltaPi=~[3.02434 0.00522726 -0.0444728] -86: DBG: Line search iter 1: back=1, prevNorm=0.793044. -86: > piNow=~[-3.03434 0.0354201 -0.301349] -86: > errNow=~[0 -1.57852e-06 1.34298e-05] normNow=1.35223e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.70511e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.19738e-11 -86: > NEWTON iter 2: errNorm=1.35223e-05(v) -> deltaNorm=1.54355e-05(pi) -86: > piActive=~[-3.03434 0.0354201 -0.301349] -86: > errActive=~[0 -1.57852e-06 1.34298e-05] -86: > deltaPi=~[-1.16742e-05 -1.17877e-06 1.00288e-05] -86: DBG: Line search iter 1: back=1, prevNorm=1.35223e-05. -86: > piNow=~[-3.03433 0.0354212 -0.301359] -86: > errNow=~[0 6.245e-17 -4.996e-16] normNow=5.03488e-16 -86: DBG: Improvement rate now/prev at iter 2 is 3.7234e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.03488e-16. +86: : verrApplied was=~[] +86: : rhsActive=~[-0.683761 -0.105974 -0.020266] +86: : pi was=~[-3.47697 0 -0.341508 -0.0653087 -7.20944e-17 7.82103e-16] +86: : piActive=~[-0.01 -0.341508 -0.0653087] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.01892e-07 +86: DBG: >>>> Start NEWTON solve with errNorm=0.666317... +86: > NEWTON iter 1: errNorm=0.666317(v) -> deltaNorm=2.69922(pi) +86: > piActive=~[-0.01 -0.341508 -0.0653087] +86: > errActive=~[0.665266 -0.0367408 -0.00702617] +86: > deltaPi=~[2.69813 -0.0755253 -0.0144432] +86: DBG: Line search iter 1: back=1, prevNorm=0.666317. +86: > piNow=~[-2.70813 -0.265983 -0.0508655] +86: > errNow=~[0 1.06506e-06 2.03677e-07] normNow=1.08436e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.62739e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.25119e-11 +86: > NEWTON iter 2: errNorm=1.08436e-06(v) -> deltaNorm=1.00357e-05(pi) +86: > piActive=~[-2.70813 -0.265983 -0.0508655] +86: > errActive=~[0 1.06506e-06 2.03677e-07] +86: > deltaPi=~[-1.83349e-06 9.69122e-06 1.85331e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.08436e-06. +86: > piNow=~[-2.70813 -0.265992 -0.0508674] +86: > errNow=~[0 -1.38778e-17 -2.60209e-18] normNow=1.41196e-17 +86: DBG: Improvement rate now/prev at iter 2 is 1.30212e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.41196e-17. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[0.140123,-1.19214] to ~[0.143301,-1.16725] -86: DBG: Friction 1 rotated 0.295358 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-3.03433 0.0354212 -0.301359] -86: : m_verrLeft=~[0.236678 0 0.149747 -0.759751 0.143301 -1.16725] -86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: slipVel 0 from ~[-0.105974,-0.020266] to ~[-0.124524,0.845092] +86: DBG: TOO BIG: Sliding fric 0; endmag=0.854218, rot=92.4441 deg > 30 +86: DBG: --> returning stepLength=0.0207845 (dist to origin=0.106384) +86: DBG: -->max change solutions: -0.0808875 and 0.0664977; returning 0.0664977 +86: DBG: Frac=0.0664977 reduces angle to 30 degrees. +86: SP interval 3 end: s=0.0664977 +86: : m_piActive=~[-0.180084 -0.0176879 -0.00338257] +86: : m_verrLeft=~[-0.638292 0.100098 -0.107207 0.0372784 -0.136532 1.49687] +86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.236678 pi*v=0 -86: DBG: 1: pi=-3.03433 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -3.03433 0 0 0.0354212 -0.301359] errNorm=5.03488e-16 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=0.15825 -0.0447713, |slipV|=0.164461 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.140123 -1.19214, |slipV|=1.20035 -86: ------------------------------ -86: -86: dynamics impulse=~[0 -3.03433 0 0 0.0354212 -0.301359] -86: updated verrStart=~[0.236678 0 0.149747 -0.759751 0.143301 -1.16725] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[-0.139817 -0.00386437 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.267684 0.104984 0.000760534 0.314591 -0.00230251 0.120534] -86: [0.104984 0.226977 0.0061648 0.121875 0.00842694 0.265207] -86: [0.000760534 0.0061648 0.0511222 0.0412504 0.0499244 -0.0340477] -86: [0.314591 0.121875 0.0412504 0.431803 0.036365 0.122868] -86: [-0.00230251 0.00842694 0.0499244 0.036365 0.0488668 -0.0300663] -86: [0.120534 0.265207 -0.0340477 0.122868 -0.0300663 0.37453] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.396287 rank=2 -86: rhs=~[-0.139817 -0.00386437 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[-0.629909 0.274326] -86: -> pi=~[-0.629909 0.274326 0 0 0 0] -86: resid active=~[0 -7.37257e-18] -86: resid=~[0 -7.37257e-18 0.0012121 -0.16473 0.0037621 -0.00317238] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[0.236678 0 0.149747 -0.759751 0.143301 -1.16725] -86: perr=~[-0.000139817 -3.86437e-06 0] -86: END OF STEP (0.048,0.049): -86: verr=~[0.236476 0.000202468 0.14986 -0.759635 0.143188 -1.16736] -86: perr=~[9.67597e-05 -3.76313e-06 0] -86: constraint status: -86: 0: cont UniOff fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.774276 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.17611 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. -86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.236476 0.000202468 0.14986 -0.759635 0.143188 -1.16736] -86: verrExt=~[-0.989439 -0.797248 -0.0255882 -1.17118 -0.0214699 -0.919807] -86: total verr=~[-0.752963 -0.797046 0.124272 -1.93082 0.121718 -2.08717] -86: DYN t=0.049: verrStart=~[0.236476 0.000202468 0.14986 -0.759635 0.143188 -1.16736] -86: verrApplied=~[-0.989439 -0.797248 -0.0255882 -1.17118 -0.0214699 -0.919807] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) 86: -86: ***** Sliding interval 1 start +86: ***** Sliding interval 4 start 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.236476 0.000202468 0.14986 -0.759635 0.143188 -1.16736] -86: verrApplied=~[-0.989439 -0.797248 -0.0255882 -1.17118 -0.0214699 -0.919807] +86: piTotal=~[-0.946783 0 -0.0516953 -0.0698068 0 0] +86: verrLeft=~[-0.638292 0.100098 -0.107207 0.0372784 -0.136532 1.49687] +86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.14986,-0.759635, mag=0.774276 -86: Participating contact 1 is Sliding; vel=0.143188,-1.16736, mag=1.17611 +86: Participating contact 0 is Sliding; vel=-0.107207,0.0372784, mag=0.113504 +86: Participating contact 1 is Sliding; vel=-0.136532,1.49687, mag=1.50308 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.14986,-0.759635, mag=0.774276 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.143188,-1.16736, mag=1.17611 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.107207,0.0372784, mag=0.113504 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.136532,1.49687, mag=1.50308 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.752963; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.797046; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.638292; guess pi=-0.01 +86: DBG: active normal 3 has v=0.100098; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.236476 0.000202468 0.14986 -0.759635 0.143188 -1.16736] +86: : verrLeft was=~[-0.638292 0.100098 -0.107207 0.0372784 -0.136532 1.49687] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.989439 -0.797248 -0.0255882 -1.17118 -0.0214699 -0.919807] -86: : rhsActive=~[-0.752963 0.124272 -1.93082 -0.797046 0.121718 -2.08717] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.638292 -0.107207 0.0372784 0.100098 -0.136532 1.49687] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.24499e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.0915... -86: > NEWTON iter 1: errNorm=1.0915(v) -> deltaNorm=2.8928(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.749242 -0.00014986 0.000759635 0.793729 -0.000143188 0.00116736] -86: > deltaPi=~[1.56257 -0.0304356 0.154277 2.41724 -0.0295497 0.240909] -86: DBG: Line search iter 1: back=1, prevNorm=1.0915. -86: > piNow=~[-1.57257 0.0304356 -0.154277 -2.42724 0.0295497 -0.240909] -86: > errNow=~[-4.44089e-16 -8.72238e-07 4.42135e-06 -5.55112e-16 -1.28925e-06 1.05108e-05] normNow=1.15086e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.05439e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.86303e-10 -86: > NEWTON iter 2: errNorm=1.15086e-05(v) -> deltaNorm=1.4658e-05(pi) -86: > piActive=~[-1.57257 0.0304356 -0.154277 -2.42724 0.0295497 -0.240909] -86: > errActive=~[-4.44089e-16 -8.72238e-07 4.42135e-06 -5.55112e-16 -1.28925e-06 1.05108e-05] -86: > deltaPi=~[-5.99241e-06 -1.01054e-06 5.12239e-06 -9.30056e-06 -9.82963e-07 8.01379e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.15086e-05. -86: > piNow=~[-1.57256 0.0304366 -0.154282 -2.42723 0.0295507 -0.240917] -86: > errNow=~[1.11022e-16 1.35308e-16 -6.93889e-16 1.11022e-16 8.32667e-17 -6.66134e-16] normNow=9.87477e-16 -86: DBG: Improvement rate now/prev at iter 2 is 8.58031e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.87477e-16. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.61473e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.644416... +86: > NEWTON iter 1: errNorm=0.644416(v) -> deltaNorm=4.06019(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[0.636772 0.000107207 -3.72784e-05 -0.098959 0 0] +86: > deltaPi=~[3.50796 0.332269 -0.115537 -2.01385 -6.81383e-07 7.47034e-06] +86: DBG: Line search iter 1: back=1, prevNorm=0.644416. +86: > piNow=~[-3.51796 -0.332269 0.115537 2.02385 6.81383e-07 -7.47034e-06] +86: > errNow=~[-1.11022e-16 1.40085e-06 -4.87105e-07 2.22045e-16 1.02417e-06 -1.12285e-05] normNow=1.13723e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.76474e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.52031e-10 +86: > NEWTON iter 2: errNorm=1.13723e-05(v) -> deltaNorm=1.90091e-05(pi) +86: > piActive=~[-3.51796 -0.332269 0.115537 2.02385 6.81383e-07 -7.47034e-06] +86: > errActive=~[-1.11022e-16 1.40085e-06 -4.87105e-07 2.22045e-16 1.02417e-06 -1.12285e-05] +86: > deltaPi=~[6.49136e-06 1.2955e-05 -4.50473e-06 8.64947e-06 6.81383e-07 -7.47034e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.13723e-05. +86: > piNow=~[-3.51797 -0.332282 0.115542 2.02384 -7.14569e-17 7.83418e-16] +86: > errNow=~[1.11022e-16 2.08167e-17 -8.67362e-18 -9.71445e-17 -1.07405e-16 1.17754e-15] normNow=1.19181e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.048e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.19181e-15. +86: DBG: Worst offender is normal contact 1 err=2.02384 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.107207,0.0372784, mag=0.113504 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.136532,1.49687, mag=1.50308 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.638292; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.638292 0.100098 -0.107207 0.0372784 -0.136532 1.49687] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.638292 -0.107207 0.0372784] +86: : pi was=~[-3.51797 0 -0.332282 0.115542 -7.14569e-17 7.83418e-16] +86: : piActive=~[-0.01 -0.332282 0.115542] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.22785e-07 +86: DBG: >>>> Start NEWTON solve with errNorm=0.676646... +86: > NEWTON iter 1: errNorm=0.676646(v) -> deltaNorm=2.68896(pi) +86: > piActive=~[-0.01 -0.332282 0.115542] +86: > errActive=~[0.675473 -0.037608 0.0130771] +86: > deltaPi=~[2.68771 -0.0774852 0.0269433] +86: DBG: Line search iter 1: back=1, prevNorm=0.676646. +86: > piNow=~[-2.69771 -0.254796 0.0885983] +86: > errNow=~[1.11022e-16 1.07329e-06 -3.73207e-07] normNow=1.13633e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.67935e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.25848e-11 +86: > NEWTON iter 2: errNorm=1.13633e-06(v) -> deltaNorm=1.15222e-05(pi) +86: > piActive=~[-2.69771 -0.254796 0.0885983] +86: > errActive=~[1.11022e-16 1.07329e-06 -3.73207e-07] +86: > deltaPi=~[4.77015e-06 9.90656e-06 -3.44473e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.13633e-06. +86: > piNow=~[-2.69771 -0.254806 0.0886017] +86: > errNow=~[0 2.42861e-17 -8.67362e-18] normNow=2.57885e-17 +86: DBG: Improvement rate now/prev at iter 2 is 2.26946e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.57885e-17. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.14986,-0.759635] to ~[0.136107,-1.04557] -86: DBG: Friction 0 rotated 3.74316 deg, less than max 30 -86: slipVel 1 from ~[0.143188,-1.16736] to ~[0.134521,-1.14282] -86: DBG: Friction 1 rotated 0.279533 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.57256 0.0304366 -0.154282 -2.42723 0.0295507 -0.240917] -86: : m_verrLeft=~[-1.11022e-16 -1.11022e-16 0.136107 -1.04557 0.134521 -1.14282] -86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: slipVel 0 from ~[-0.107207,0.0372784] to ~[-0.129791,0.835856] +86: DBG: TOO BIG: Sliding fric 0; endmag=0.845873, rot=62 deg > 30 +86: DBG: --> returning stepLength=0 (dist to origin=0.113504) +86: DBG: -->max change solutions: -0.0719648 and 0.112381; returning 0.112381 +86: DBG: Frac=0.112381 reduces angle to 30 degrees. +86: SP interval 4 end: s=0.112381 +86: : m_piActive=~[-0.303171 -0.0286353 0.00995714] +86: : m_verrLeft=~[-0.56656 0.12807 -0.109745 0.127023 -0.137942 1.53052] +86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.57256 verr=-1.11022e-16 pi*v=1.74589e-16 -86: DBG: 1: pi=-2.42723 verr=-1.11022e-16 pi*v=2.69476e-16 -86: SP FINAL 1 intervals, piTotal=~[-1.57256 -2.42723 0.0304366 -0.154282 0.0295507 -0.240917] errNorm=9.87477e-16 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.14986 -0.759635, |slipV|=0.774276 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.143188 -1.16736, |slipV|=1.17611 -86: ------------------------------ -86: -86: dynamics impulse=~[-1.57256 -2.42723 0.0304366 -0.154282 0.0295507 -0.240917] -86: updated verrStart=~[-1.11022e-16 -1.11022e-16 0.136107 -1.04557 0.134521 -1.14282] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0967597 -0.00376313 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.26648 0.105589 0.00130433 0.314057 -0.00185985 0.120999] -86: [0.105589 0.226074 0.00603064 0.122521 0.00836278 0.264801] -86: [0.00130433 0.00603064 0.0514151 0.0422383 0.0501635 -0.0345452] -86: [0.314057 0.122521 0.0422383 0.432644 0.0371693 0.12296] -86: [-0.00185985 0.00836278 0.0501635 0.0371693 0.0490625 -0.0304162] -86: [0.120999 0.264801 -0.0345452 0.12296 -0.0304162 0.375293] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.392255 rank=2 -86: rhs=~[0.0967597 -0.00376313 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.453654 -0.228527] -86: -> pi=~[0.453654 -0.228527 0 0 0 0] -86: resid active=~[0 -1.30104e-18] -86: resid=~[0 -1.30104e-18 -0.000786446 0.114474 -0.00275485 -0.00562259] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[1.2837e-16 -7.28584e-17 0.136107 -1.04557 0.134521 -1.14282] -86: perr=~[9.67597e-05 -3.76313e-06 0] -86: END OF STEP (0.049,0.05): -86: verr=~[-6.10821e-05 6.10821e-05 0.136112 -1.04557 0.134517 -1.14282] -86: perr=~[9.67292e-05 -3.73259e-06 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.05439 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.15071 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. -86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[-6.10821e-05 6.10821e-05 0.136112 -1.04557 0.134517 -1.14282] -86: verrExt=~[-1.05375 -0.848572 -0.0319217 -1.25822 -0.0273241 -0.979199] -86: total verr=~[-1.05381 -0.848511 0.10419 -2.3038 0.107193 -2.12202] -86: DYN t=0.05: verrStart=~[-6.10821e-05 6.10821e-05 0.136112 -1.04557 0.134517 -1.14282] -86: verrApplied=~[-1.05375 -0.848572 -0.0319217 -1.25822 -0.0273241 -0.979199] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) 86: -86: ***** Sliding interval 1 start +86: ***** Sliding interval 5 start 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-6.10821e-05 6.10821e-05 0.136112 -1.04557 0.134517 -1.14282] -86: verrApplied=~[-1.05375 -0.848572 -0.0319217 -1.25822 -0.0273241 -0.979199] +86: piTotal=~[-1.24995 0 -0.0803306 -0.0598496 0 0] +86: verrLeft=~[-0.56656 0.12807 -0.109745 0.127023 -0.137942 1.53052] +86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.136112,-1.04557, mag=1.05439 -86: Participating contact 1 is Sliding; vel=0.134517,-1.14282, mag=1.15071 +86: Participating contact 0 is Sliding; vel=-0.109745,0.127023, mag=0.167866 +86: Participating contact 1 is Sliding; vel=-0.137942,1.53052, mag=1.53672 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.136112,-1.04557, mag=1.05439 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.134517,-1.14282, mag=1.15071 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.109745,0.127023, mag=0.167866 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.137942,1.53052, mag=1.53672 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.05381; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.848511; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.56656; guess pi=-0.01 +86: DBG: active normal 3 has v=0.12807; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[-6.10821e-05 6.10821e-05 0.136112 -1.04557 0.134517 -1.14282] +86: : verrLeft was=~[-0.56656 0.12807 -0.109745 0.127023 -0.137942 1.53052] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.05375 -0.848572 -0.0319217 -1.25822 -0.0273241 -0.979199] -86: : rhsActive=~[-1.05381 0.10419 -2.3038 -0.848511 0.107193 -2.12202] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.56656 -0.109745 0.127023 0.12807 -0.137942 1.53052] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.81353e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.34799... -86: > NEWTON iter 1: errNorm=1.34799(v) -> deltaNorm=3.43971(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.0501 -0.000136112 0.00104557 0.845201 -0.000134517 0.00114282] -86: > deltaPi=~[2.71122 -0.035127 0.269835 2.08874 -0.0245331 0.208427] -86: DBG: Line search iter 1: back=1, prevNorm=1.34799. -86: > piNow=~[-2.72122 0.035127 -0.269835 -2.09874 0.0245331 -0.208427] -86: > errNow=~[0 -1.37459e-06 1.05592e-05 0 -1.04658e-06 8.8915e-06] normNow=1.39119e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.03204e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.00716e-10 -86: > NEWTON iter 2: errNorm=1.39119e-05(v) -> deltaNorm=1.75017e-05(pi) -86: > piActive=~[-2.72122 0.035127 -0.269835 -2.09874 0.0245331 -0.208427] -86: > errActive=~[0 -1.37459e-06 1.05592e-05 0 -1.04658e-06 8.8915e-06] -86: > deltaPi=~[-1.05709e-05 -1.16722e-06 8.9662e-06 -8.00579e-06 -8.15918e-07 6.93186e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.39119e-05. -86: > piNow=~[-2.72121 0.0351281 -0.269844 -2.09873 0.0245339 -0.208434] -86: > errNow=~[0 7.63278e-17 -6.10623e-16 2.22045e-16 9.71445e-17 -7.49401e-16] normNow=9.99514e-16 -86: DBG: Improvement rate now/prev at iter 2 is 7.18462e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.99514e-16. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.75815e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.579122... +86: > NEWTON iter 1: errNorm=0.579122(v) -> deltaNorm=3.95332(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[0.56504 0.000109745 -0.000127023 -0.126931 0 0] +86: > deltaPi=~[3.38761 0.222116 -0.257086 -2.00934 -6.71842e-07 7.45432e-06] +86: DBG: Line search iter 1: back=1, prevNorm=0.579122. +86: > piNow=~[-3.39761 -0.222116 0.257086 2.01934 6.71842e-07 -7.45432e-06] +86: > errNow=~[-2.22045e-16 1.38481e-06 -1.60283e-06 -1.66533e-16 1.03243e-06 -1.14552e-05] normNow=1.16951e-05 +86: DBG: Improvement rate now/prev at iter 1 is 2.01945e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.78273e-10 +86: > NEWTON iter 2: errNorm=1.16951e-05(v) -> deltaNorm=2.28153e-05(pi) +86: > piActive=~[-3.39761 -0.222116 0.257086 2.01934 6.71842e-07 -7.45432e-06] +86: > errActive=~[-2.22045e-16 1.38481e-06 -1.60283e-06 -1.66533e-16 1.03243e-06 -1.14552e-05] +86: > deltaPi=~[1.38019e-05 9.15183e-06 -1.05927e-05 8.8357e-06 6.71842e-07 -7.45432e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.16951e-05. +86: > piNow=~[-3.39762 -0.222126 0.257096 2.01933 -7.24576e-17 8.03944e-16] +86: > errNow=~[1.11022e-16 4.16334e-17 -4.85723e-17 1.11022e-16 -1.11347e-16 1.23544e-15] normNow=1.25198e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.07052e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.25198e-15. +86: DBG: Worst offender is normal contact 1 err=2.01933 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.109745,0.127023, mag=0.167866 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.137942,1.53052, mag=1.53672 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.56656; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.56656 0.12807 -0.109745 0.127023 -0.137942 1.53052] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.56656 -0.109745 0.127023] +86: : pi was=~[-3.39762 0 -0.222126 0.257096 -7.24576e-17 8.03944e-16] +86: : piActive=~[-0.01 -0.222126 0.257096] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.2528e-07 +86: DBG: >>>> Start NEWTON solve with errNorm=0.648573... +86: > NEWTON iter 1: errNorm=0.648573(v) -> deltaNorm=2.52363(pi) +86: > piActive=~[-0.01 -0.222126 0.257096] +86: > errActive=~[0.646075 -0.0371776 0.0430306] +86: > deltaPi=~[2.52215 -0.056588 0.0654969] +86: DBG: Line search iter 1: back=1, prevNorm=0.648573. +86: > piNow=~[-2.53215 -0.165538 0.191599] +86: > errNow=~[0 1.03102e-06 -1.19334e-06] normNow=1.57705e-06 +86: DBG: Improvement rate now/prev at iter 1 is 2.43156e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.3212e-11 +86: > NEWTON iter 2: errNorm=1.57705e-06(v) -> deltaNorm=1.45258e-05(pi) +86: > piActive=~[-2.53215 -0.165538 0.191599] +86: > errActive=~[0 1.03102e-06 -1.19334e-06] +86: > deltaPi=~[1.01328e-05 6.8044e-06 -7.87565e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.57705e-06. +86: > piNow=~[-2.53216 -0.165544 0.191607] +86: > errNow=~[1.11022e-16 5.89806e-17 -6.93889e-17] normNow=1.43595e-16 +86: DBG: Improvement rate now/prev at iter 2 is 9.10531e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.43595e-16. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.136112,-1.04557] to ~[0.122223,-1.05228] -86: DBG: Friction 0 rotated 0.791764 deg, less than max 30 -86: slipVel 1 from ~[0.134517,-1.14282] to ~[0.121054,-1.12354] -86: DBG: Friction 1 rotated 0.563654 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.72121 0.0351281 -0.269844 -2.09873 0.0245339 -0.208434] -86: : m_verrLeft=~[0 -2.22045e-16 0.122223 -1.05228 0.121054 -1.12354] -86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: slipVel 0 from ~[-0.109745,0.127023] to ~[-0.137322,0.825483] +86: DBG: TOO BIG: Sliding fric 0; endmag=0.836827, rot=31.3814 deg > 30 +86: DBG: --> returning stepLength=0 (dist to origin=0.167866) +86: DBG: -->max change solutions: -0.128997 and 0.806215; returning 0.806215 +86: DBG: Frac=0.806215 reduces angle to 30 degrees. +86: SP interval 5 end: s=0.806215 +86: : m_piActive=~[-2.04146 -0.133464 0.154476] +86: : m_verrLeft=~[-0.109791 0.305719 -0.131978 0.690131 -0.153223 1.74782] +86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.72121 verr=0 pi*v=-0 -86: DBG: 1: pi=-2.09873 verr=-2.22045e-16 pi*v=4.66012e-16 -86: SP FINAL 1 intervals, piTotal=~[-2.72121 -2.09873 0.0351281 -0.269844 0.0245339 -0.208434] errNorm=9.99514e-16 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.136112 -1.04557, |slipV|=1.05439 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.134517 -1.14282, |slipV|=1.15071 -86: ------------------------------ -86: -86: dynamics impulse=~[-2.72121 -2.09873 0.0351281 -0.269844 0.0245339 -0.208434] -86: updated verrStart=~[0 -2.22045e-16 0.122223 -1.05228 0.121054 -1.12354] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0967292 -0.00373259 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.265155 0.105972 0.00161839 0.31348 -0.0015491 0.121355] -86: [0.105972 0.225021 0.0059045 0.123051 0.00823318 0.264286] -86: [0.00161839 0.0059045 0.0516528 0.0429225 0.050375 -0.0350015] -86: [0.31348 0.123051 0.0429225 0.433567 0.037811 0.123119] -86: [-0.0015491 0.00823318 0.050375 0.037811 0.0492499 -0.0308389] -86: [0.121355 0.264286 -0.0350015 0.123119 -0.0308389 0.376011] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.388825 rank=2 -86: rhs=~[0.0967292 -0.00373259 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.457551 -0.232068] -86: -> pi=~[0.457551 -0.232068 0 0 0 0] -86: resid active=~[0 -4.77049e-18] -86: resid=~[0 -4.77049e-18 -0.000629748 0.114877 -0.00261944 -0.00580625] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[5.57748e-17 1.70267e-16 0.122223 -1.05228 0.121054 -1.12354] -86: perr=~[9.67292e-05 -3.73259e-06 0] -86: END OF STEP (0.05,0.051): -86: verr=~[-4.53292e-05 4.53292e-05 0.122225 -1.05228 0.121051 -1.12354] -86: perr=~[9.67065e-05 -3.70993e-06 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.05935 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.13004 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. -86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[-4.53292e-05 4.53292e-05 0.122225 -1.05228 0.121051 -1.12354] -86: verrExt=~[-1.14443 -0.920265 -0.0370977 -1.3761 -0.0319667 -1.06602] -86: total verr=~[-1.14448 -0.92022 0.0851276 -2.42837 0.0890845 -2.18956] -86: DYN t=0.051: verrStart=~[-4.53292e-05 4.53292e-05 0.122225 -1.05228 0.121051 -1.12354] -86: verrApplied=~[-1.14443 -0.920265 -0.0370977 -1.3761 -0.0319667 -1.06602] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) 86: -86: ***** Sliding interval 1 start +86: ***** Sliding interval 6 start 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-4.53292e-05 4.53292e-05 0.122225 -1.05228 0.121051 -1.12354] -86: verrApplied=~[-1.14443 -0.920265 -0.0370977 -1.3761 -0.0319667 -1.06602] +86: piTotal=~[-3.29142 0 -0.213795 0.0946268 0 0] +86: verrLeft=~[-0.109791 0.305719 -0.131978 0.690131 -0.153223 1.74782] +86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.122225,-1.05228, mag=1.05935 -86: Participating contact 1 is Sliding; vel=0.121051,-1.12354, mag=1.13004 +86: Participating contact 0 is Sliding; vel=-0.131978,0.690131, mag=0.702638 +86: Participating contact 1 is Sliding; vel=-0.153223,1.74782, mag=1.75453 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.122225,-1.05228, mag=1.05935 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.121051,-1.12354, mag=1.13004 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.131978,0.690131, mag=0.702638 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.153223,1.74782, mag=1.75453 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.14448; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.92022; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.109791; guess pi=-0.01 +86: DBG: active normal 3 has v=0.305719; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[-4.53292e-05 4.53292e-05 0.122225 -1.05228 0.121051 -1.12354] +86: : verrLeft was=~[-0.109791 0.305719 -0.131978 0.690131 -0.153223 1.74782] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.14443 -0.920265 -0.0370977 -1.3761 -0.0319667 -1.06602] -86: : rhsActive=~[-1.14448 0.0851276 -2.42837 -0.92022 0.0890845 -2.18956] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.109791 -0.131978 0.690131 0.305719 -0.153223 1.74782] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.76962e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.4636... -86: > NEWTON iter 1: errNorm=1.4636(v) -> deltaNorm=3.74357(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.14078 -0.000122225 0.00105228 0.916917 -0.000121051 0.00112354] -86: > deltaPi=~[2.95834 -0.0342467 0.294841 2.26335 -0.0243514 0.226019] -86: DBG: Line search iter 1: back=1, prevNorm=1.4636. -86: > piNow=~[-2.96834 0.0342467 -0.294841 -2.27335 0.0243514 -0.226019] -86: > errNow=~[0 -1.34685e-06 1.15955e-05 2.22045e-16 -1.02055e-06 9.47226e-06] normNow=1.50677e-05 -103: [min,max]=0,0.03 actual=0.000234347 -103: calc wrms=0.000234347 -86: DBG: Improvement rate now/prev at iter 1 is 1.0295e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.60433e-10 -86: > NEWTON iter 2: errNorm=1.50677e-05(v) -> deltaNorm=1.90821e-05(pi) -86: > piActive=~[-2.96834 0.0342467 -0.294841 -2.27335 0.0243514 -0.226019] -86: > errActive=~[0 -1.34685e-06 1.15955e-05 2.22045e-16 -1.02055e-06 9.47226e-06] -86: > deltaPi=~[-1.15733e-05 -1.13787e-06 9.79625e-06 -8.70437e-06 -8.09862e-07 7.51677e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.50677e-05. -86: > piNow=~[-2.96833 0.0342478 -0.29485 -2.27335 0.0243523 -0.226027] -86: > errNow=~[-2.22045e-16 5.55112e-17 -4.996e-16 -1.11022e-16 7.63278e-17 -7.21645e-16] normNow=9.17011e-16 -86: DBG: Improvement rate now/prev at iter 2 is 6.08595e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.17011e-16. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.03998e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.323252... +86: > NEWTON iter 1: errNorm=0.323252(v) -> deltaNorm=2.44171(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[0.108271 0.000131978 -0.000690131 -0.30458 0 0] +86: > deltaPi=~[1.38468 0.0261957 -0.136981 -2.00627 -6.5263e-07 7.44457e-06] +86: DBG: Line search iter 1: back=1, prevNorm=0.323252. +86: > piNow=~[-1.39468 -0.0261957 0.136981 2.01627 6.5263e-07 -7.44457e-06] +86: > errNow=~[-6.93889e-17 6.80713e-07 -3.55954e-06 -1.11022e-16 1.14506e-06 -1.30617e-05] normNow=1.36034e-05 +86: DBG: Improvement rate now/prev at iter 1 is 4.2083e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.14446e-10 +86: > NEWTON iter 2: errNorm=1.36034e-05(v) -> deltaNorm=1.50914e-05(pi) +86: > piActive=~[-1.39468 -0.0261957 0.136981 2.01627 6.5263e-07 -7.44457e-06] +86: > errActive=~[-6.93889e-17 6.80713e-07 -3.55954e-06 -1.11022e-16 1.14506e-06 -1.30617e-05] +86: > deltaPi=~[7.28577e-06 1.10565e-06 -5.78158e-06 9.17447e-06 6.5263e-07 -7.44457e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.36034e-05. +86: > piNow=~[-1.39469 -0.0261968 0.136987 2.01627 -7.34188e-17 8.3749e-16] +86: > errNow=~[4.16334e-17 1.8735e-16 -9.71445e-16 5.55112e-17 -1.28815e-16 1.4694e-15] normNow=1.77746e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.30662e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.77746e-15. +86: DBG: Worst offender is normal contact 1 err=2.01627 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.131978,0.690131, mag=0.702638 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.153223,1.74782, mag=1.75453 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.109791; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.109791 0.305719 -0.131978 0.690131 -0.153223 1.74782] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.109791 -0.131978 0.690131] +86: : pi was=~[-1.39469 0 -0.0261968 0.136987 -7.34188e-17 8.3749e-16] +86: : piActive=~[-0.01 -0.0261968 0.136987] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.61723e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.178695... +86: > NEWTON iter 1: errNorm=0.178695(v) -> deltaNorm=0.503052(pi) +86: > piActive=~[-0.01 -0.0261968 0.136987] +86: > errActive=~[0.149886 -0.0182749 0.0955619] +86: > deltaPi=~[0.495124 -0.0167093 0.0873752] +86: DBG: Line search iter 1: back=1, prevNorm=0.178695. +86: > piNow=~[-0.505124 -0.00948752 0.0496115] +86: > errNow=~[0 2.43404e-07 -1.27279e-06] normNow=1.29586e-06 +86: DBG: Improvement rate now/prev at iter 1 is 7.2518e-06 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.02584e-09 +86: > NEWTON iter 2: errNorm=1.29586e-06(v) -> deltaNorm=3.33654e-06(pi) +86: > piActive=~[-0.505124 -0.00948752 0.0496115] +86: > errActive=~[0 2.43404e-07 -1.27279e-06] +86: > deltaPi=~[2.59012e-06 3.95066e-07 -2.06585e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.29586e-06. +86: > piNow=~[-0.505127 -0.00948792 0.0496136] +86: > errNow=~[4.16334e-17 4.97866e-16 -2.60902e-15] normNow=2.65643e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.04994e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.65643e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.122225,-1.05228] to ~[0.105751,-1.06527] -86: DBG: Friction 0 rotated 0.956116 deg, less than max 30 -86: slipVel 1 from ~[0.121051,-1.12354] to ~[0.10509,-1.10541] -86: DBG: Friction 1 rotated 0.718614 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.96833 0.0342478 -0.29485 -2.27335 0.0243523 -0.226027] -86: : m_verrLeft=~[2.22045e-16 1.11022e-16 0.105751 -1.06527 0.10509 -1.10541] -86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: slipVel 0 from ~[-0.131978,0.690131] to ~[-0.138915,0.823685] +86: DBG: Friction 0 rotated 1.25344 deg, less than max 30 +86: SP interval 6 end: s=1 +86: : m_piActive=~[-0.505127 -0.00948792 0.0496136] +86: : m_verrLeft=~[-4.16334e-17 0.348228 -0.138915 0.823685 -0.158543 1.80095] +86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.96833 verr=2.22045e-16 pi*v=-6.59101e-16 -86: DBG: 1: pi=-2.27335 verr=1.11022e-16 pi*v=-2.52392e-16 -86: SP FINAL 1 intervals, piTotal=~[-2.96833 -2.27335 0.0342478 -0.29485 0.0243523 -0.226027] errNorm=9.17011e-16 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.122225 -1.05228, |slipV|=1.05935 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.121051 -1.12354, |slipV|=1.13004 -86: ------------------------------ -86: -86: dynamics impulse=~[-2.96833 -2.27335 0.0342478 -0.29485 0.0243523 -0.226027] -86: updated verrStart=~[2.22045e-16 1.11022e-16 0.105751 -1.06527 0.10509 -1.10541] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0967065 -0.00370993 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.263836 0.106278 0.00189108 0.312886 -0.00127501 0.121667] -86: [0.106278 0.22395 0.00579955 0.123527 0.00812115 0.26373] -86: [0.00189108 0.00579955 0.0518779 0.0435494 0.0505773 -0.0354209] -86: [0.312886 0.123527 0.0435494 0.434443 0.0384041 0.123278] -86: [-0.00127501 0.00812115 0.0505773 0.0384041 0.049431 -0.0312324] -86: [0.121667 0.26373 -0.0354209 0.123278 -0.0312324 0.376652] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.385655 rank=2 -86: rhs=~[0.0967065 -0.00370993 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.461419 -0.235537] -86: -> pi=~[0.461419 -0.235537 0 0 0 0] -86: resid active=~[2.77556e-17 1.69136e-17] -86: resid=~[2.77556e-17 1.69136e-17 -0.000493424 0.115276 -0.00250114 -0.00597887] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-7.76601e-17 1.94844e-17 0.105751 -1.06527 0.10509 -1.10541] -86: perr=~[9.67065e-05 -3.70993e-06 0] -86: END OF STEP (0.051,0.052): -86: verr=~[-2.60428e-05 2.60428e-05 0.105752 -1.06527 0.105089 -1.10541] -86: perr=~[9.66935e-05 -3.69691e-06 -1.11022e-16] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.07051 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.11039 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: 0: pi=-3.79654 verr=-4.16334e-17 pi*v=1.58063e-16 +86: DBG: 1: pi=0 verr=0.348228 pi*v=0 +86: SP FINAL 6 intervals, piTotal=~[-3.79654 0 -0.223283 0.14424 0 0] errNorm=2.65643e-15 +86: Postcompression verr=~[-4.16334e-17 0.348228 -0.138915 0.823685 -0.158543 1.80095] +86: impulse=~[-3.79654 0 -0.223283 0.14424 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-3.79654 0 -0.223283 0.14424 0 0]-> du ~[-0.573616 1.35028 -0.68784 -0.767597 -0.031931 0.620685 -2.56649 1.51478] +86: Now verr0=~[2.77556e-17 0.348228 -0.138915 0.823685 -0.158543 1.80095] 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[-2.60428e-05 2.60428e-05 0.105752 -1.06527 0.105089 -1.10541] -86: verrExt=~[-1.21623 -0.976252 -0.0420215 -1.4712 -0.0364214 -1.13356] -86: total verr=~[-1.21626 -0.976226 0.0637308 -2.53647 0.0686681 -2.23896] -86: DYN t=0.052: verrStart=~[-2.60428e-05 2.60428e-05 0.105752 -1.06527 0.105089 -1.10541] -86: verrApplied=~[-1.21623 -0.976252 -0.0420215 -1.4712 -0.0364214 -1.13356] +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[2.77556e-17 0.348228 -0.138915 0.823685 -0.158543 1.80095] +86: verrExt=~[-0.377997 -0.310509 0.00272553 -0.444062 0.000725921 -0.344569] +86: total verr=~[-0.377997 0.0377194 -0.136189 0.379623 -0.157817 1.45638] +86: DYN t=0.109: verrStart=~[2.77556e-17 0.348228 -0.138915 0.823685 -0.158543 1.80095] +86: verrApplied=~[-0.377997 -0.310509 0.00272553 -0.444062 0.000725921 -0.344569] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -37243,126 +48703,161 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-2.60428e-05 2.60428e-05 0.105752 -1.06527 0.105089 -1.10541] -86: verrApplied=~[-1.21623 -0.976252 -0.0420215 -1.4712 -0.0364214 -1.13356] +86: verrLeft=~[2.77556e-17 0.348228 -0.138915 0.823685 -0.158543 1.80095] +86: verrApplied=~[-0.377997 -0.310509 0.00272553 -0.444062 0.000725921 -0.344569] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.105752,-1.06527, mag=1.07051 -86: Participating contact 1 is Sliding; vel=0.105089,-1.10541, mag=1.11039 +86: Participating contact 0 is Sliding; vel=-0.138915,0.823685, mag=0.835317 +86: Participating contact 1 is Sliding; vel=-0.158543,1.80095, mag=1.80791 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.105752,-1.06527, mag=1.07051 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.105089,-1.10541, mag=1.11039 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.138915,0.823685, mag=0.835317 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.158543,1.80095, mag=1.80791 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.21626; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.976226; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.377997; guess pi=-0.01 +86: DBG: active normal 3 has v=0.0377194; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[-2.60428e-05 2.60428e-05 0.105752 -1.06527 0.105089 -1.10541] +86: : verrLeft was=~[2.77556e-17 0.348228 -0.138915 0.823685 -0.158543 1.80095] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.21623 -0.976252 -0.0420215 -1.4712 -0.0364214 -1.13356] -86: : rhsActive=~[-1.21626 0.0637308 -2.53647 -0.976226 0.0686681 -2.23896] +86: : verrApplied was=~[-0.377997 -0.310509 0.00272553 -0.444062 0.000725921 -0.344569] +86: : rhsActive=~[-0.377997 -0.136189 0.379623 0.0377194 -0.157817 1.45638] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.74519e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.55464... -86: > NEWTON iter 1: errNorm=1.55464(v) -> deltaNorm=3.9868(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.21257 -0.000105752 0.00106527 0.972933 -0.000105089 0.00110541] -86: > deltaPi=~[3.15931 -0.0313074 0.315369 2.39894 -0.0227978 0.239803] -86: DBG: Line search iter 1: back=1, prevNorm=1.55464. -86: > piNow=~[-3.16931 0.0313074 -0.315369 -2.40894 0.0227978 -0.239803] -86: > errNow=~[4.44089e-16 -1.24449e-06 1.25361e-05 6.66134e-16 -9.39051e-07 9.87761e-06] normNow=1.6036e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.03149e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.57965e-10 -86: > NEWTON iter 2: errNorm=1.6036e-05(v) -> deltaNorm=2.03612e-05(pi) -86: > piActive=~[-3.16931 0.0313074 -0.315369 -2.40894 0.0227978 -0.239803] -86: > errActive=~[4.44089e-16 -1.24449e-06 1.25361e-05 6.66134e-16 -9.39051e-07 9.87761e-06] -86: > deltaPi=~[-1.24033e-05 -1.04e-06 1.04762e-05 -9.25996e-06 -7.58057e-07 7.97378e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.6036e-05. -86: > piNow=~[-3.16929 0.0313085 -0.315379 -2.40893 0.0227985 -0.239811] -86: > errNow=~[0 4.85723e-17 -4.996e-16 1.11022e-16 6.245e-17 -6.10623e-16] normNow=8.00653e-16 -86: DBG: Improvement rate now/prev at iter 2 is 4.99285e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.00653e-16. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.4183e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.378251... +86: > NEWTON iter 1: errNorm=0.378251(v) -> deltaNorm=2.45025(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[0.376477 0.000138915 -0.000823685 -0.03658 0 0] +86: > deltaPi=~[2.20015 0.0367539 -0.217929 -1.05557 -3.44802e-07 3.91673e-06] +86: DBG: Line search iter 1: back=1, prevNorm=0.378251. +86: > piNow=~[-2.21015 -0.0367539 0.217929 1.06557 3.44802e-07 -3.91673e-06] +86: > errNow=~[1.11022e-16 1.13845e-06 -6.75034e-06 1.17961e-16 6.23372e-07 -7.0811e-06] normNow=9.86883e-06 +86: DBG: Improvement rate now/prev at iter 1 is 2.60907e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.0025e-10 +86: > NEWTON iter 2: errNorm=9.86883e-06(v) -> deltaNorm=1.61295e-05(pi) +86: > piActive=~[-2.21015 -0.0367539 0.217929 1.06557 3.44802e-07 -3.91673e-06] +86: > errActive=~[1.11022e-16 1.13845e-06 -6.75034e-06 1.17961e-16 6.23372e-07 -7.0811e-06] +86: > deltaPi=~[1.15788e-05 1.55545e-06 -9.22293e-06 4.81135e-06 3.44802e-07 -3.91673e-06] +86: DBG: Line search iter 1: back=1, prevNorm=9.86883e-06. +86: > piNow=~[-2.21016 -0.0367554 0.217939 1.06557 -1.3843e-16 1.57248e-15] +86: > errNow=~[1.11022e-16 1.21431e-16 -6.93889e-16 -6.93889e-18 -2.50269e-16 2.8429e-15] normNow=2.94165e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.98075e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.94165e-15. +86: DBG: Worst offender is normal contact 1 err=1.06557 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.138915,0.823685, mag=0.835317 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.158543,1.80095, mag=1.80791 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.377997; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[2.77556e-17 0.348228 -0.138915 0.823685 -0.158543 1.80095] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.377997 -0.310509 0.00272553 -0.444062 0.000725921 -0.344569] +86: : rhsActive=~[-0.377997 -0.136189 0.379623] +86: : pi was=~[-2.21016 0 -0.0367554 0.217939 -1.3843e-16 1.57248e-15] +86: : piActive=~[-0.01 -0.0367554 0.217939] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.11145e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.479786... +86: > NEWTON iter 1: errNorm=0.479786(v) -> deltaNorm=1.73047(pi) +86: > piActive=~[-0.01 -0.0367554 0.217939] +86: > errActive=~[0.443191 -0.0305635 0.181224] +86: > deltaPi=~[1.72983 -0.00782281 0.0463848] +86: DBG: Line search iter 1: back=1, prevNorm=0.479786. +86: > piNow=~[-1.73983 -0.0289326 0.171554] +86: > errNow=~[-5.55112e-17 8.95083e-07 -5.30733e-06] normNow=5.38228e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.12181e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.05774e-10 +86: > NEWTON iter 2: errNorm=5.38228e-06(v) -> deltaNorm=1.16835e-05(pi) +86: > piActive=~[-1.73983 -0.0289326 0.171554] +86: > errActive=~[-5.55112e-17 8.95083e-07 -5.30733e-06] +86: > deltaPi=~[9.08078e-06 1.22256e-06 -7.24911e-06] +86: DBG: Line search iter 1: back=1, prevNorm=5.38228e-06. +86: > piNow=~[-1.73984 -0.0289339 0.171561] +86: > errNow=~[0 1.52656e-16 -8.88178e-16] normNow=9.01202e-16 +86: DBG: Improvement rate now/prev at iter 2 is 1.67439e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.01202e-16. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.105752,-1.06527] to ~[0.0867538,-1.08357] -86: DBG: Friction 0 rotated 1.0918 deg, less than max 30 -86: slipVel 1 from ~[0.105089,-1.10541] to ~[0.0866905,-1.0874] -86: DBG: Friction 1 rotated 0.872593 deg, less than max 30 +86: slipVel 0 from ~[-0.138915,0.823685] to ~[-0.16028,0.839226] +86: DBG: Friction 0 rotated 1.23961 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-3.16929 0.0313085 -0.315379 -2.40893 0.0227985 -0.239811] -86: : m_verrLeft=~[0 -1.11022e-16 0.0867538 -1.08357 0.0866905 -1.0874] +86: : m_piActive=~[-1.73984 -0.0289339 0.171561] +86: : m_verrLeft=~[0 0.184042 -0.16028 0.839226 -0.176348 1.6394] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-3.16929 verr=0 pi*v=-0 -86: DBG: 1: pi=-2.40893 verr=-1.11022e-16 pi*v=2.67445e-16 -86: SP FINAL 1 intervals, piTotal=~[-3.16929 -2.40893 0.0313085 -0.315379 0.0227985 -0.239811] errNorm=8.00653e-16 +86: DBG: 0: pi=-1.73984 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.184042 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-1.73984 0 -0.0289339 0.171561 0 0] errNorm=9.01202e-16 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.105752 -1.06527, |slipV|=1.07051 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.138915 0.823685, |slipV|=0.835317 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.105089 -1.10541, |slipV|=1.11039 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.158543 1.80095, |slipV|=1.80791 86: ------------------------------ 86: -86: dynamics impulse=~[-3.16929 -2.40893 0.0313085 -0.315379 0.0227985 -0.239811] -86: updated verrStart=~[0 -1.11022e-16 0.0867538 -1.08357 0.0866905 -1.0874] +86: dynamics impulse=~[-1.73984 0 -0.0289339 0.171561 0 0] +86: updated verrStart=~[0 0.184042 -0.16028 0.839226 -0.176348 1.6394] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0966935 -0.00369691 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators +86: posVerr=~[0.327865 0.367741 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 1 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.262525 0.106502 0.00211867 0.312282 -0.00104056 0.121933] -86: [0.106502 0.222863 0.00571617 0.123947 0.00802659 0.263139] -86: [0.00211867 0.00571617 0.0520869 0.0441113 0.0507676 -0.0357992] -86: [0.312282 0.123947 0.0441113 0.435283 0.0389425 0.123446] -86: [-0.00104056 0.00802659 0.0507676 0.0389425 0.0496036 -0.0315939] -86: [0.121933 0.263139 -0.0357992 0.123446 -0.0315939 0.377225] +86: [0.247879 0.095895 -0.0120947 0.308472 -0.00827939 0.118683] +86: [0.095895 0.209838 0.00334072 0.120167 0.000536277 0.259667] +86: [-0.0120947 0.00334072 0.048438 0.0259372 0.0496778 -0.0358659] +86: [0.308472 0.120167 0.0259372 0.453708 0.0324272 0.130729] +86: [-0.00827939 0.000536277 0.0496778 0.0324272 0.0511518 -0.0410311] +86: [0.118683 0.259667 -0.0358659 0.130729 -0.0410311 0.387796] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.382768 rank=2 -86: rhs=~[0.0966935 -0.00369691 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.465248 -0.238921] -86: -> pi=~[0.465248 -0.238921 0 0 0 0] -86: resid active=~[4.16334e-17 1.43115e-17] -86: resid=~[4.16334e-17 1.43115e-17 -0.000380006 0.115675 -0.00240184 -0.00614029] +86: rcond(A+D)=0 rank=1 +86: rhs=~[0.327865 0.367741 0 0 0 0] +86: active=(0) +86: -> piActive=~[1.32269] +86: -> pi=~[1.32269 0 0 0 0 0] +86: resid active=~[0] +86: resid=~[0 -0.240903 -0.0159974 0.408011 -0.010951 0.15698] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-2.187e-16 -1.80536e-16 0.0867538 -1.08357 0.0866905 -1.0874] -86: perr=~[9.66935e-05 -3.69691e-06 -1.11022e-16] -86: END OF STEP (0.052,0.053): -86: verr=~[-2.55356e-06 2.55356e-06 0.0867539 -1.08357 0.0866905 -1.0874] -86: perr=~[9.66922e-05 -3.69563e-06 -2.22045e-16] +86: verr=~[4.16334e-17 0.184042 -0.16028 0.839226 -0.176348 1.6394] +86: perr=~[0.000327865 0.000367741 0] +86: END OF STEP (0.109,0.11): +86: verr=~[-0.000851634 0.184894 -0.159947 0.839429 -0.176681 1.6392] +86: perr=~[0.00032744 0.000552209 0] 86: constraint status: 86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding +86: 2: cont UniOff fric Sliding 86: Proximal unilateral contacts: (0,2) 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.08703 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.09085 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=0.854532 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.64869 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000851634 at or below tol 0.001 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[-2.55356e-06 2.55356e-06 0.0867539 -1.08357 0.0866905 -1.0874] -86: verrExt=~[-1.27002 -1.01737 -0.0465597 -1.5444 -0.0405637 -1.18296] -86: total verr=~[-1.27002 -1.01737 0.0401941 -2.62797 0.0461267 -2.27036] -86: DYN t=0.053: verrStart=~[-2.55356e-06 2.55356e-06 0.0867539 -1.08357 0.0866905 -1.0874] -86: verrApplied=~[-1.27002 -1.01737 -0.0465597 -1.5444 -0.0405637 -1.18296] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.000851634 0.184894 -0.159947 0.839429 -0.176681 1.6392] +86: IMP t=0.11 verr=~[-0.000851634 0.184894 -0.159947 0.839429 -0.176681 1.6392] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -37374,126 +48869,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-2.55356e-06 2.55356e-06 0.0867539 -1.08357 0.0866905 -1.0874] -86: verrApplied=~[-1.27002 -1.01737 -0.0465597 -1.5444 -0.0405637 -1.18296] +86: verrLeft=~[-0.000851634 0.184894 -0.159947 0.839429 -0.176681 1.6392] +86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.0867539,-1.08357, mag=1.08703 -86: Participating contact 1 is Sliding; vel=0.0866905,-1.0874, mag=1.09085 +86: Participating contact 0 is Sliding; vel=-0.159947,0.839429, mag=0.854532 +86: Participating contact 1 is Sliding; vel=-0.176681,1.6392, mag=1.64869 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0867539,-1.08357, mag=1.08703 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.0866905,-1.0874, mag=1.09085 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.159947,0.839429, mag=0.854532 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.176681,1.6392, mag=1.64869 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.27002; guess pi=-0.01 -86: DBG: active normal 3 has v=-1.01737; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000851634; guess pi=-0.01 +86: DBG: active normal 3 has v=0.184894; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[-2.55356e-06 2.55356e-06 0.0867539 -1.08357 0.0866905 -1.0874] +86: : verrLeft was=~[-0.000851634 0.184894 -0.159947 0.839429 -0.176681 1.6392] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.27002 -1.01737 -0.0465597 -1.5444 -0.0405637 -1.18296] -86: : rhsActive=~[-1.27002 0.0401941 -2.62797 -1.01737 0.0461267 -2.27036] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000851634 -0.159947 0.839429 0.184894 -0.176681 1.6392] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.73631e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.62234... -86: > NEWTON iter 1: errNorm=1.62234(v) -> deltaNorm=4.17222(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.26634 -8.67539e-05 0.00108357 1.01409 -8.66905e-05 0.0010874] -86: > deltaPi=~[3.31567 -0.0265405 0.331494 2.49805 -0.0199308 0.250003] -86: DBG: Line search iter 1: back=1, prevNorm=1.62234. -86: > piNow=~[-3.32567 0.0265405 -0.331494 -2.50805 0.0199308 -0.250003] -86: > errNow=~[-4.44089e-16 -1.07145e-06 1.33825e-05 -2.22045e-16 -8.06649e-07 1.01182e-05] normNow=1.68306e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.03743e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.4803e-10 -86: > NEWTON iter 2: errNorm=1.68306e-05(v) -> deltaNorm=2.13506e-05(pi) -86: > piActive=~[-3.32567 0.0265405 -0.331494 -2.50805 0.0199308 -0.250003] -86: > errActive=~[-4.44089e-16 -1.07145e-06 1.33825e-05 -2.22045e-16 -8.06649e-07 1.01182e-05] -86: > deltaPi=~[-1.30636e-05 -8.81405e-07 1.10089e-05 -9.68067e-06 -6.62533e-07 8.3105e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.68306e-05. -86: > piNow=~[-3.32566 0.0265414 -0.331505 -2.50804 0.0199315 -0.250011] -86: > errNow=~[0 4.16334e-17 -4.44089e-16 -2.22045e-16 4.85723e-17 -6.10623e-16] normNow=7.89602e-16 -86: DBG: Improvement rate now/prev at iter 2 is 4.69147e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.89602e-16. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.91705e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.183756... +86: > NEWTON iter 1: errNorm=0.183756(v) -> deltaNorm=1.15902(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000670363 0.000159947 -0.000839429 -0.183753 0 0] +86: > deltaPi=~[0.467771 0.00894236 -0.046931 -1.05935 -4.22866e-07 3.92323e-06] +86: DBG: Line search iter 1: back=1, prevNorm=0.183756. +86: > piNow=~[-0.477771 -0.00894236 0.046931 1.06935 4.22866e-07 -3.92323e-06] +86: > errNow=~[-3.54534e-17 2.7869e-07 -1.46261e-06 -1.11022e-16 6.97175e-07 -6.4682e-06] normNow=6.67387e-06 +86: DBG: Improvement rate now/prev at iter 1 is 3.63192e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.49249e-09 +86: > NEWTON iter 2: errNorm=6.67387e-06(v) -> deltaNorm=6.98576e-06(pi) +86: > piActive=~[-0.477771 -0.00894236 0.046931 1.06935 4.22866e-07 -3.92323e-06] +86: > errActive=~[-3.54534e-17 2.7869e-07 -1.46261e-06 -1.11022e-16 6.97175e-07 -6.4682e-06] +86: > deltaPi=~[2.45402e-06 3.72065e-07 -1.95266e-06 4.82253e-06 4.22866e-07 -3.92323e-06] +86: DBG: Line search iter 1: back=1, prevNorm=6.67387e-06. +86: > piNow=~[-0.477774 -0.00894273 0.046933 1.06935 -1.68362e-16 1.56202e-15] +86: > errNow=~[2.08167e-17 6.40113e-16 -3.36536e-15 2.77556e-17 -2.77577e-16 2.57528e-15] normNow=4.29485e-15 +86: DBG: Improvement rate now/prev at iter 2 is 6.43532e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.29485e-15. +86: DBG: Worst offender is normal contact 1 err=1.06935 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.159947,0.839429, mag=0.854532 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.176681,1.6392, mag=1.64869 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000851634; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.000851634 0.184894 -0.159947 0.839429 -0.176681 1.6392] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000851634 -0.159947 0.839429] +86: : pi was=~[-0.477774 0 -0.00894273 0.046933 -1.68362e-16 1.56202e-15] +86: : piActive=~[-0.01 -0.00894273 0.046933] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.18303e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0420224... +86: > NEWTON iter 1: errNorm=0.0420224(v) -> deltaNorm=0.0477786(pi) +86: > piActive=~[-0.01 -0.00894273 0.046933] +86: > errActive=~[0.0129638 -0.00748191 0.0392663] +86: > deltaPi=~[-0.00610117 -0.00886975 0.04655] +86: DBG: Line search iter 1: back=1, prevNorm=0.0420224. +86: > piNow=~[-0.00389883 -7.29807e-05 0.000383015] +86: > errNow=~[9.75782e-19 -3.63497e-09 1.90769e-08] normNow=1.94202e-08 +86: DBG: Improvement rate now/prev at iter 1 is 4.62138e-07 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.09267e-05 +86: > NEWTON iter 2: errNorm=1.94202e-08(v) -> deltaNorm=4.10135e-08(pi) +86: > piActive=~[-0.00389883 -7.29807e-05 0.000383015] +86: > errActive=~[9.75782e-19 -3.63497e-09 1.90769e-08] +86: > deltaPi=~[-3.17968e-08 -4.84877e-09 2.54472e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.94202e-08. +86: > piNow=~[-0.0038988 -7.29758e-05 0.00038299] +86: > errNow=~[0 -1.24547e-13 6.53641e-13] normNow=6.65401e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.42634e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.65401e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.0867539,-1.08357] to ~[0.0653673,-1.10617] -86: DBG: Friction 0 rotated 1.19566 deg, less than max 30 -86: slipVel 1 from ~[0.0866905,-1.0874] to ~[0.0659865,-1.06869] -86: DBG: Friction 1 rotated 1.02485 deg, less than max 30 +86: slipVel 0 from ~[-0.159947,0.839429] to ~[-0.160001,0.840462] +86: DBG: Friction 0 rotated 0.00941004 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-3.32566 0.0265414 -0.331505 -2.50804 0.0199315 -0.250011] -86: : m_verrLeft=~[0 2.22045e-16 0.0653673 -1.10617 0.0659865 -1.06869] -86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : m_piActive=~[-0.0038988 -7.29758e-05 0.00038299] +86: : m_verrLeft=~[0 0.185225 -0.160001 0.840462 -0.176722 1.63961] +86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-3.32566 verr=0 pi*v=-0 -86: DBG: 1: pi=-2.50804 verr=2.22045e-16 pi*v=-5.56898e-16 -86: SP FINAL 1 intervals, piTotal=~[-3.32566 -2.50804 0.0265414 -0.331505 0.0199315 -0.250011] errNorm=7.89602e-16 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0867539 -1.08357, |slipV|=1.08703 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0866905 -1.0874, |slipV|=1.09085 -86: ------------------------------ -86: -86: dynamics impulse=~[-3.32566 -2.50804 0.0265414 -0.331505 0.0199315 -0.250011] -86: updated verrStart=~[0 2.22045e-16 0.0653673 -1.10617 0.0659865 -1.06869] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0966922 -0.00369563 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.261224 0.106641 0.00229848 0.311674 -0.000847643 0.122155] -86: [0.106641 0.221761 0.00565382 0.124308 0.00794846 0.262521] -86: [0.00229848 0.00565382 0.0522763 0.044602 0.050943 -0.0361333] -86: [0.311674 0.124308 0.044602 0.436099 0.0394216 0.123627] -86: [-0.000847643 0.00794846 0.050943 0.0394216 0.0497654 -0.0319217] -86: [0.122155 0.262521 -0.0361333 0.123627 -0.0319217 0.377739] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.38018 rank=2 -86: rhs=~[0.0966922 -0.00369563 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.469031 -0.242213] -86: -> pi=~[0.469031 -0.242213 0 0 0 0] -86: resid active=~[-2.77556e-17 -3.03577e-18] -86: resid=~[-2.77556e-17 -3.03577e-18 -0.000291374 0.116076 -0.00232279 -0.00629158] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[2.60736e-16 1.35836e-16 0.0653673 -1.10617 0.0659865 -1.06869] -86: perr=~[9.66922e-05 -3.69563e-06 -2.22045e-16] -86: END OF STEP (0.053,0.054): -86: verr=~[2.56568e-05 -2.56568e-05 0.065368 -1.10617 0.0659858 -1.06869] -86: perr=~[9.6705e-05 -3.70846e-06 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.1081 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.07072 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: 0: pi=-0.0038988 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.185225 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.0038988 0 -7.29758e-05 0.00038299 0 0] errNorm=6.65401e-13 +86: Postcompression verr=~[0 0.185225 -0.160001 0.840462 -0.176722 1.63961] +86: impulse=~[-0.0038988 0 -7.29758e-05 0.00038299 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.0038988 0 -7.29758e-05 0.00038299 0 0]-> du ~[-0.000546955 0.00127659 -0.000620919 -0.000722007 -4.71624e-05 0.000591535 -0.00242685 0.00145106] +86: Now verr0=~[-1.38778e-17 0.185225 -0.160001 0.840462 -0.176722 1.63961] 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[2.56568e-05 -2.56568e-05 0.065368 -1.10617 0.0659858 -1.06869] -86: verrExt=~[-1.30704 -1.04479 -0.050592 -1.59708 -0.0442809 -1.21575] -86: total verr=~[-1.30702 -1.04482 0.014776 -2.70325 0.0217049 -2.28443] -86: DYN t=0.054: verrStart=~[2.56568e-05 -2.56568e-05 0.065368 -1.10617 0.0659858 -1.06869] -86: verrApplied=~[-1.30704 -1.04479 -0.050592 -1.59708 -0.0442809 -1.21575] +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[-1.38778e-17 0.185225 -0.160001 0.840462 -0.176722 1.63961] +86: verrExt=~[-0.439358 -0.360596 0.00518781 -0.522198 0.00278939 -0.408132] +86: total verr=~[-0.439358 -0.175371 -0.154813 0.318264 -0.173932 1.23148] +86: DYN t=0.11: verrStart=~[-1.38778e-17 0.185225 -0.160001 0.840462 -0.176722 1.63961] +86: verrApplied=~[-0.439358 -0.360596 0.00518781 -0.522198 0.00278939 -0.408132] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -37505,108 +48989,110 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[2.56568e-05 -2.56568e-05 0.065368 -1.10617 0.0659858 -1.06869] -86: verrApplied=~[-1.30704 -1.04479 -0.050592 -1.59708 -0.0442809 -1.21575] +52: testSchwefel done. real/CPU ms: 109.7 / 10.1 +52: testEasom ... +86: verrLeft=~[-1.38778e-17 0.185225 -0.160001 0.840462 -0.176722 1.63961] +86: verrApplied=~[-0.439358 -0.360596 0.00518781 -0.522198 0.00278939 -0.408132] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.065368,-1.10617, mag=1.1081 -86: Participating contact 1 is Sliding; vel=0.0659858,-1.06869, mag=1.07072 +86: Participating contact 0 is Sliding; vel=-0.160001,0.840462, mag=0.855556 +86: Participating contact 1 is Sliding; vel=-0.176722,1.63961, mag=1.64911 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.065368,-1.10617, mag=1.1081 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.0659858,-1.06869, mag=1.07072 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.160001,0.840462, mag=0.855556 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.176722,1.63961, mag=1.64911 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.30702; guess pi=-0.01 -86: DBG: active normal 3 has v=-1.04482; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.439358; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.175371; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[2.56568e-05 -2.56568e-05 0.065368 -1.10617 0.0659858 -1.06869] +86: : verrLeft was=~[-1.38778e-17 0.185225 -0.160001 0.840462 -0.176722 1.63961] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.30704 -1.04479 -0.050592 -1.59708 -0.0442809 -1.21575] -86: : rhsActive=~[-1.30702 0.014776 -2.70325 -1.04482 0.0217049 -2.28443] +86: : verrApplied was=~[-0.439358 -0.360596 0.00518781 -0.522198 0.00278939 -0.408132] +86: : rhsActive=~[-0.439358 -0.154813 0.318264 -0.175371 -0.173932 1.23148] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.73961e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.6684... -86: > NEWTON iter 1: errNorm=1.6684(v) -> deltaNorm=4.30389(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.92018e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.468719... +86: > NEWTON iter 1: errNorm=0.468719(v) -> deltaNorm=2.0003(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.30335 -6.5368e-05 0.00110617 1.04155 -6.59858e-05 0.00106869] -86: > deltaPi=~[3.42996 -0.0202919 0.343384 2.56403 -0.0158625 0.256904] -86: DBG: Line search iter 1: back=1, prevNorm=1.6684. -86: > piNow=~[-3.43996 0.0202919 -0.343384 -2.57403 0.0158625 -0.256904] -86: > errNow=~[6.66134e-16 -8.35152e-07 1.41326e-05 -2.22045e-16 -6.30209e-07 1.02067e-05] normNow=1.74643e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.04677e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.07645e-10 -86: > NEWTON iter 2: errNorm=1.74643e-05(v) -> deltaNorm=2.2068e-05(pi) -86: > piActive=~[-3.43996 0.0202919 -0.343384 -2.57403 0.0158625 -0.256904] -86: > errActive=~[6.66134e-16 -8.35152e-07 1.41326e-05 -2.22045e-16 -6.30209e-07 1.02067e-05] -86: > deltaPi=~[-1.35603e-05 -6.73685e-07 1.14002e-05 -9.97715e-06 -5.27097e-07 8.53671e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.74643e-05. -86: > piNow=~[-3.43994 0.0202926 -0.343395 -2.57402 0.015863 -0.256913] -86: > errNow=~[0 2.77556e-17 -5.55112e-16 0 3.81639e-17 -6.10623e-16] normNow=8.26581e-16 -86: DBG: Improvement rate now/prev at iter 2 is 4.73297e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.26581e-16. +86: > errActive=~[0.4359 0.000160001 -0.000840462 0.172294 0.000176722 -0.00163961] +86: > deltaPi=~[1.99018 0.0374048 -0.196482 0.0188348 0.000308992 -0.0028668] +86: DBG: Line search iter 1: back=1, prevNorm=0.468719. +86: > piNow=~[-2.00018 -0.0374048 0.196482 -0.0288348 -0.000308992 0.0028668] +86: > errNow=~[0 1.18611e-06 -6.2305e-06 -2.77556e-17 1.23983e-08 -1.1503e-07] normNow=6.34345e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.35336e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.38874e-07 +86: > NEWTON iter 2: errNorm=6.34345e-06(v) -> deltaNorm=1.33965e-05(pi) +86: > piActive=~[-2.00018 -0.0374048 0.196482 -0.0288348 -0.000308992 0.0028668] +86: > errActive=~[0 1.18611e-06 -6.2305e-06 -2.77556e-17 1.23983e-08 -1.1503e-07] +86: > deltaPi=~[1.0393e-05 1.58073e-06 -8.30335e-06 4.62177e-08 8.01346e-09 -7.43482e-08] +86: DBG: Line search iter 1: back=1, prevNorm=6.34345e-06. +86: > piNow=~[-2.00019 -0.0374064 0.19649 -0.0288348 -0.000309 0.00286688] +86: > errNow=~[0 1.59595e-16 -8.04912e-16 -5.55112e-17 3.65951e-15 -3.3952e-14] normNow=3.41586e-14 +86: DBG: Improvement rate now/prev at iter 2 is 5.38486e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.41586e-14. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.065368,-1.10617] to ~[0.0418007,-1.13213] -86: DBG: Friction 0 rotated 1.26738 deg, less than max 30 -86: slipVel 1 from ~[0.0659858,-1.06869] to ~[0.0431777,-1.04858] -86: DBG: Friction 1 rotated 1.17528 deg, less than max 30 +86: slipVel 0 from ~[-0.160001,0.840462] to ~[-0.182159,0.851097] +86: DBG: Friction 0 rotated 1.30208 deg, less than max 30 +86: slipVel 1 from ~[-0.176722,1.63961] to ~[-0.194637,1.44895] +86: DBG: Friction 1 rotated 1.49895 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-3.43994 0.0202926 -0.343395 -2.57402 0.015863 -0.256913] -86: : m_verrLeft=~[0 0 0.0418007 -1.13213 0.0431777 -1.04858] +86: : m_piActive=~[-2.00019 -0.0374064 0.19649 -0.0288348 -0.000309 0.00286688] +86: : m_verrLeft=~[0 5.55112e-17 -0.182159 0.851097 -0.194637 1.44895] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-3.43994 verr=0 pi*v=-0 -86: DBG: 1: pi=-2.57402 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-3.43994 -2.57402 0.0202926 -0.343395 0.015863 -0.256913] errNorm=8.26581e-16 +86: DBG: 0: pi=-2.00019 verr=0 pi*v=-0 +86: DBG: 1: pi=-0.0288348 verr=5.55112e-17 pi*v=-1.60065e-18 +86: SP FINAL 1 intervals, piTotal=~[-2.00019 -0.0288348 -0.0374064 0.19649 -0.000309 0.00286688] errNorm=3.41586e-14 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.065368 -1.10617, |slipV|=1.1081 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.160001 0.840462, |slipV|=0.855556 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0659858 -1.06869, |slipV|=1.07072 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.176722 1.63961, |slipV|=1.64911 86: ------------------------------ 86: -86: dynamics impulse=~[-3.43994 -2.57402 0.0202926 -0.343395 0.015863 -0.256913] -86: updated verrStart=~[0 0 0.0418007 -1.13213 0.0431777 -1.04858] +86: dynamics impulse=~[-2.00019 -0.0288348 -0.0374064 0.19649 -0.000309 0.00286688] +86: updated verrStart=~[0 5.55112e-17 -0.182159 0.851097 -0.194637 1.44895] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.096705 -0.00370846 0 0 0 0] +86: posVerr=~[0.32744 0.552209 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.259937 0.106696 0.0024288 0.311071 -0.000697209 0.122333] -86: [0.106696 0.220651 0.00561118 0.124611 0.00788504 0.261884] -86: [0.0024288 0.00561118 0.0524432 0.0450168 0.0511013 -0.0364219] -86: [0.311071 0.124611 0.0450168 0.436902 0.0398382 0.123827] -86: [-0.000697209 0.00788504 0.0511013 0.0398382 0.0499146 -0.0322154] -86: [0.122333 0.261884 -0.0364219 0.123827 -0.0322154 0.378209] +86: [0.248998 0.0967981 -0.0121342 0.308816 -0.00813841 0.119006] +86: [0.0967981 0.210885 0.00303782 0.120582 0.000101163 0.260056] +86: [-0.0121342 0.00303782 0.0484786 0.0259302 0.0497722 -0.0362111] +86: [0.308816 0.120582 0.0259302 0.452659 0.0327026 0.130203] +86: [-0.00813841 0.000101163 0.0497722 0.0327026 0.0513211 -0.0416002] +86: [0.119006 0.260056 -0.0362111 0.130203 -0.0416002 0.38689] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.377901 rank=2 -86: rhs=~[0.096705 -0.00370846 0 0 0 0] +86: rcond(A+D)=0.399532 rank=2 +86: rhs=~[0.32744 0.552209 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.472766 -0.245412] -86: -> pi=~[0.472766 -0.245412 0 0 0 0] -86: resid active=~[-1.38778e-17 8.23994e-18] -86: resid=~[-1.38778e-17 8.23994e-18 -0.000228799 0.116483 -0.0022647 -0.00643485] +86: -> piActive=~[0.361596 2.45256] +86: -> pi=~[0.361596 2.45256 0 0 0 0] +86: resid active=~[0 -1.11022e-16] +86: resid=~[0 -1.11022e-16 0.00306275 0.407402 -0.0026947 0.680835] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-8.27116e-18 -4.99045e-17 0.0418007 -1.13213 0.0431777 -1.04858] -86: perr=~[9.6705e-05 -3.70846e-06 0] -86: END OF STEP (0.054,0.055): -86: verr=~[5.8904e-05 -5.8904e-05 0.0418042 -1.13213 0.0431742 -1.04858] -86: perr=~[9.67345e-05 -3.73791e-06 -2.22045e-16] +86: verr=~[-1.14492e-16 -7.97973e-17 -0.182159 0.851097 -0.194637 1.44895] +86: perr=~[0.00032744 0.000552209 0] +86: END OF STEP (0.11,0.111): +86: verr=~[-0.000589465 0.000589465 -0.18198 0.851101 -0.194816 1.44895] +86: perr=~[0.000327145 0.000552504 2.22045e-16] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -37614,17 +49100,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.1329 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.04947 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=0.870339 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.46199 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000589465 at or below tol 0.001 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[5.8904e-05 -5.8904e-05 0.0418042 -1.13213 0.0431742 -1.04858] -86: verrExt=~[-1.32882 -1.05988 -0.0540162 -1.63089 -0.0474762 -1.2337] -86: total verr=~[-1.32876 -1.05994 -0.012212 -2.76302 -0.00430201 -2.28228] -86: DYN t=0.055: verrStart=~[5.8904e-05 -5.8904e-05 0.0418042 -1.13213 0.0431742 -1.04858] -86: verrApplied=~[-1.32882 -1.05988 -0.0540162 -1.63089 -0.0474762 -1.2337] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.000589465 0.000589465 -0.18198 0.851101 -0.194816 1.44895] +86: IMP t=0.111 verr=~[-0.000589465 0.000589465 -0.18198 0.851101 -0.194816 1.44895] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -37636,126 +49121,119 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[5.8904e-05 -5.8904e-05 0.0418042 -1.13213 0.0431742 -1.04858] -86: verrApplied=~[-1.32882 -1.05988 -0.0540162 -1.63089 -0.0474762 -1.2337] +86: verrLeft=~[-0.000589465 0.000589465 -0.18198 0.851101 -0.194816 1.44895] +86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] +52: testEasom done. real/CPU ms: 5.6 / 5.6 +52: testStopFitness ... 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.0418042,-1.13213, mag=1.1329 -86: Participating contact 1 is Sliding; vel=0.0431742,-1.04858, mag=1.04947 +86: Participating contact 0 is Sliding; vel=-0.18198,0.851101, mag=0.870339 +86: Participating contact 1 is Sliding; vel=-0.194816,1.44895, mag=1.46199 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0418042,-1.13213, mag=1.1329 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.0431742,-1.04858, mag=1.04947 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.18198,0.851101, mag=0.870339 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.194816,1.44895, mag=1.46199 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.32876; guess pi=-0.01 -86: DBG: active normal 3 has v=-1.05994; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000589465; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000589465; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[5.8904e-05 -5.8904e-05 0.0418042 -1.13213 0.0431742 -1.04858] +86: : verrLeft was=~[-0.000589465 0.000589465 -0.18198 0.851101 -0.194816 1.44895] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.32882 -1.05988 -0.0540162 -1.63089 -0.0474762 -1.2337] -86: : rhsActive=~[-1.32876 -0.012212 -2.76302 -1.05994 -0.00430201 -2.28228] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000589465 -0.18198 0.851101 0.000589465 -0.194816 1.44895] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.75232e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.69484... -86: > NEWTON iter 1: errNorm=1.69484(v) -> deltaNorm=4.38661(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.32511 -4.18042e-05 0.00113213 1.05668 -4.31742e-05 0.00104858] -86: > deltaPi=~[3.50537 -0.0129713 0.351285 2.60058 -0.0107393 0.260827] -86: DBG: Line search iter 1: back=1, prevNorm=1.69484. -86: > piNow=~[-3.51537 0.0129713 -0.351285 -2.61058 0.0107393 -0.260827] -86: > errNow=~[4.44089e-16 -5.45841e-07 1.47823e-05 4.44089e-16 -4.18221e-07 1.01574e-05] normNow=1.79489e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.05903e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.86718e-10 -86: > NEWTON iter 2: errNorm=1.79489e-05(v) -> deltaNorm=2.25349e-05(pi) -86: > piActive=~[-3.51537 0.0129713 -0.351285 -2.61058 0.0107393 -0.260827] -86: > errActive=~[4.44089e-16 -5.45841e-07 1.47823e-05 4.44089e-16 -4.18221e-07 1.01574e-05] -86: > deltaPi=~[-1.39023e-05 -4.30507e-07 1.16589e-05 -1.01614e-05 -3.56704e-07 8.66335e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.79489e-05. -86: > piNow=~[-3.51536 0.0129717 -0.351297 -2.61057 0.0107396 -0.260836] -86: > errNow=~[0 1.56125e-17 -4.44089e-16 2.22045e-16 2.42861e-17 -5.55112e-16] normNow=7.4532e-16 -86: DBG: Improvement rate now/prev at iter 2 is 4.15245e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.4532e-16. +86: : piActive=~[-0.01 0 0 0.01 0 0] +52: testStopFitness done. real/CPU ms: 0.3 / 0.3 +52: testMultithreading ... +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.33764e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00139189... +86: > NEWTON iter 1: errNorm=0.00139189(v) -> deltaNorm=0.00743739(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000934951 0.00018198 -0.000851101 0.000552923 0 0] +86: > deltaPi=~[-0.00521675 0.000100017 -0.000467771 0.00527934 2.62043e-09 -1.94895e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.00139189. +86: > piNow=~[-0.00478325 -0.000100017 0.000467771 0.00472066 -2.62043e-09 1.94895e-08] +86: > errNow=~[0 -3.53618e-09 1.65384e-08 -2.1684e-19 -3.83102e-09 2.84934e-08] normNow=3.33552e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.3964e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.8237e-05 +86: > NEWTON iter 2: errNorm=3.33552e-08(v) -> deltaNorm=4.66495e-08(pi) +86: > piActive=~[-0.00478325 -0.000100017 0.000467771 0.00472066 -2.62043e-09 1.94895e-08] +86: > errActive=~[0 -3.53618e-09 1.65384e-08 -2.1684e-19 -3.83102e-09 2.84934e-08] +86: > deltaPi=~[-2.70919e-08 -4.62937e-09 2.16511e-08 -2.37757e-08 -2.62048e-09 1.94899e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.33552e-08. +86: > piNow=~[-0.00478322 -0.000100013 0.00046775 0.00472068 5.2936e-14 -3.93713e-13] +86: > errNow=~[0 -8.02351e-14 3.75252e-13 2.1684e-19 7.73916e-14 -5.75603e-13] normNow=6.96103e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.08694e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.96103e-13. +86: DBG: Worst offender is normal contact 1 err=0.00472068 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.18198,0.851101, mag=0.870339 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.194816,1.44895, mag=1.46199 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000589465; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.000589465 0.000589465 -0.18198 0.851101 -0.194816 1.44895] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000589465 -0.18198 0.851101] +86: : pi was=~[-0.00478322 0 -0.000100013 0.00046775 5.2936e-14 -3.93713e-13] +86: : piActive=~[-0.01 -0.000100013 0.00046775] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.2419e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0018226... +86: > NEWTON iter 1: errNorm=0.0018226(v) -> deltaNorm=0.0073182(pi) +86: > piActive=~[-0.01 -0.000100013 0.00046775] +86: > errActive=~[-0.00176514 9.49348e-05 -0.000444001] +86: > deltaPi=~[-0.00731519 -4.38702e-05 0.000205177] +86: DBG: Line search iter 1: back=1, prevNorm=0.0018226. +86: > piNow=~[-0.00268481 -5.61425e-05 0.000262573] +86: > errNow=~[-7.58942e-19 -4.95862e-09 2.3191e-08] normNow=2.37152e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.30117e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.49107e-05 +86: > NEWTON iter 2: errNorm=2.37152e-08(v) -> deltaNorm=4.89247e-08(pi) +86: > piActive=~[-0.00268481 -5.61425e-05 0.000262573] +86: > errActive=~[-7.58942e-19 -4.95862e-09 2.3191e-08] +86: > deltaPi=~[-3.78264e-08 -6.48784e-09 3.0343e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.37152e-08. +86: > piNow=~[-0.00268477 -5.6136e-05 0.000262543] +86: > errNow=~[0 -3.55205e-13 1.66126e-12] normNow=1.69881e-12 +86: DBG: Improvement rate now/prev at iter 2 is 7.1634e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.69881e-12. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.0418042,-1.13213] to ~[0.016327,-1.16053] -86: DBG: Friction 0 rotated 1.30868 deg, less than max 30 -86: slipVel 1 from ~[0.0431742,-1.04858] to ~[0.018523,-1.0266] -86: DBG: Friction 1 rotated 1.32408 deg, less than max 30 +86: slipVel 0 from ~[-0.18198,0.851101] to ~[-0.182016,0.851814] +86: DBG: Friction 0 rotated 0.00744861 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-3.51536 0.0129717 -0.351297 -2.61057 0.0107396 -0.260836] -86: : m_verrLeft=~[0 -2.22045e-16 0.016327 -1.16053 0.018523 -1.0266] -86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : m_piActive=~[-0.00268477 -5.6136e-05 0.000262543] +86: : m_verrLeft=~[0 0.000819904 -0.182016 0.851814 -0.194843 1.44923] +86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-3.51536 verr=0 pi*v=-0 -86: DBG: 1: pi=-2.61057 verr=-2.22045e-16 pi*v=5.79663e-16 -86: SP FINAL 1 intervals, piTotal=~[-3.51536 -2.61057 0.0129717 -0.351297 0.0107396 -0.260836] errNorm=7.4532e-16 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0418042 -1.13213, |slipV|=1.1329 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0431742 -1.04858, |slipV|=1.04947 -86: ------------------------------ -86: -86: dynamics impulse=~[-3.51536 -2.61057 0.0129717 -0.351297 0.0107396 -0.260836] -86: updated verrStart=~[0 -2.22045e-16 0.016327 -1.16053 0.018523 -1.0266] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0967345 -0.00373791 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.258669 0.106667 0.00250878 0.310479 -0.000589404 0.122469] -86: [0.106667 0.219539 0.00558633 0.124858 0.00783401 0.261241] -86: [0.00250878 0.00558633 0.0525853 0.0453523 0.0512407 -0.0366647] -86: [0.310479 0.124858 0.0453523 0.437703 0.0401905 0.124051] -86: [-0.000589404 0.00783401 0.0512407 0.0401905 0.05005 -0.0324759] -86: [0.122469 0.261241 -0.0366647 0.124051 -0.0324759 0.37865] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.375936 rank=2 -86: rhs=~[0.0967345 -0.00373791 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.476453 -0.248521] -86: -> pi=~[0.476453 -0.248521 0 0 0 0] -86: resid active=~[4.16334e-17 6.50521e-18] -86: resid=~[4.16334e-17 6.50521e-18 -0.000193004 0.116899 -0.00222774 -0.00657311] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-3.08906e-16 -9.03305e-17 0.016327 -1.16053 0.018523 -1.0266] -86: perr=~[9.67345e-05 -3.73791e-06 -2.22045e-16] -86: END OF STEP (0.055,0.056): -86: verr=~[9.72642e-05 -9.72642e-05 0.0163359 -1.16053 0.018514 -1.0266] -86: perr=~[9.67831e-05 -3.78654e-06 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.16064 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.02677 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: 0: pi=-0.00268477 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.000819904 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00268477 0 -5.6136e-05 0.000262543 0 0] errNorm=1.69881e-12 +86: Postcompression verr=~[0 0.000819904 -0.182016 0.851814 -0.194843 1.44923] +86: impulse=~[-0.00268477 0 -5.6136e-05 0.000262543 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00268477 0 -5.6136e-05 0.000262543 0 0]-> du ~[-0.000378055 0.000882508 -0.000428554 -0.00049847 -3.19683e-05 0.000409952 -0.00167828 0.00100556] +86: Now verr0=~[-5.42101e-20 0.000819904 -0.182016 0.851814 -0.194843 1.44923] 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[9.72642e-05 -9.72642e-05 0.0163359 -1.16053 0.018514 -1.0266] -86: verrExt=~[-1.337 -1.0641 -0.0567516 -1.64771 -0.0500719 -1.23868] -86: total verr=~[-1.3369 -1.0642 -0.0404157 -2.80823 -0.0315579 -2.26528] -86: DYN t=0.056: verrStart=~[9.72642e-05 -9.72642e-05 0.0163359 -1.16053 0.018514 -1.0266] -86: verrApplied=~[-1.337 -1.0641 -0.0567516 -1.64771 -0.0500719 -1.23868] +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[-5.42101e-20 0.000819904 -0.182016 0.851814 -0.194843 1.44923] +86: verrExt=~[-0.478325 -0.391515 0.00655577 -0.570597 0.00384915 -0.445441] +86: total verr=~[-0.478325 -0.390695 -0.175461 0.281218 -0.190994 1.00379] +86: DYN t=0.111: verrStart=~[-5.42101e-20 0.000819904 -0.182016 0.851814 -0.194843 1.44923] +86: verrApplied=~[-0.478325 -0.391515 0.00655577 -0.570597 0.00384915 -0.445441] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -37767,108 +49245,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[9.72642e-05 -9.72642e-05 0.0163359 -1.16053 0.018514 -1.0266] -86: verrApplied=~[-1.337 -1.0641 -0.0567516 -1.64771 -0.0500719 -1.23868] +86: verrLeft=~[-5.42101e-20 0.000819904 -0.182016 0.851814 -0.194843 1.44923] +86: verrApplied=~[-0.478325 -0.391515 0.00655577 -0.570597 0.00384915 -0.445441] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=0.0163359,-1.16053, mag=1.16064 -86: Participating contact 1 is Sliding; vel=0.018514,-1.0266, mag=1.02677 +86: Participating contact 0 is Sliding; vel=-0.182016,0.851814, mag=0.871044 +86: Participating contact 1 is Sliding; vel=-0.194843,1.44923, mag=1.46227 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=0.0163359,-1.16053, mag=1.16064 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=0.018514,-1.0266, mag=1.02677 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.182016,0.851814, mag=0.871044 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.194843,1.44923, mag=1.46227 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.3369; guess pi=-0.01 -86: DBG: active normal 3 has v=-1.0642; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.478325; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.390695; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[9.72642e-05 -9.72642e-05 0.0163359 -1.16053 0.018514 -1.0266] +86: : verrLeft was=~[-5.42101e-20 0.000819904 -0.182016 0.851814 -0.194843 1.44923] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.337 -1.0641 -0.0567516 -1.64771 -0.0500719 -1.23868] -86: : rhsActive=~[-1.3369 -0.0404157 -2.80823 -1.0642 -0.0315579 -2.26528] +86: : verrApplied was=~[-0.478325 -0.391515 0.00655577 -0.570597 0.00384915 -0.445441] +86: : rhsActive=~[-0.478325 -0.175461 0.281218 -0.390695 -0.190994 1.00379] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.77216e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.70388... -86: > NEWTON iter 1: errNorm=1.70388(v) -> deltaNorm=4.42558(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.3399e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.612959... +86: > NEWTON iter 1: errNorm=0.612959(v) -> deltaNorm=2.12516(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.33326 -1.63359e-05 0.00116053 1.06095 -1.8514e-05 0.0010266] -86: > deltaPi=~[3.5455 -0.00500416 0.355501 2.61154 -0.0047268 0.262101] -86: DBG: Line search iter 1: back=1, prevNorm=1.70388. -86: > piNow=~[-3.5555 0.00500416 -0.355501 -2.62154 0.0047268 -0.262101] -86: > errNow=~[4.44089e-16 -2.15741e-07 1.53265e-05 0 -1.80097e-07 9.98642e-06] normNow=1.82951e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.07373e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.53129e-10 -86: > NEWTON iter 2: errNorm=1.82951e-05(v) -> deltaNorm=2.27751e-05(pi) -86: > piActive=~[-3.5555 0.00500416 -0.355501 -2.62154 0.0047268 -0.262101] -86: > errActive=~[4.44089e-16 -2.15741e-07 1.53265e-05 0 -1.80097e-07 9.98642e-06] -86: > deltaPi=~[-1.41008e-05 -1.66034e-07 1.17953e-05 -1.02456e-05 -1.56928e-07 8.70166e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.82951e-05. -86: > piNow=~[-3.55548 0.00500432 -0.355513 -2.62152 0.00472695 -0.26211] -86: > errNow=~[0 6.93889e-18 -4.996e-16 0 1.04083e-17 -6.10623e-16] normNow=7.89061e-16 -86: DBG: Improvement rate now/prev at iter 2 is 4.31297e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.89061e-16. +86: > errActive=~[0.474849 0.000182016 -0.000851814 0.387601 0.000194843 -0.00144923] +86: > deltaPi=~[1.64749 0.0346343 -0.162084 1.32543 0.0177935 -0.132347] +86: DBG: Line search iter 1: back=1, prevNorm=0.612959. +86: > piNow=~[-1.65749 -0.0346343 0.162084 -1.33543 -0.0177935 0.132347] +86: > errNow=~[0 1.11698e-06 -5.22733e-06 1.11022e-16 9.6195e-07 -7.15493e-06] normNow=8.98282e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.46548e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.22202e-10 +86: > NEWTON iter 2: errNorm=8.98282e-06(v) -> deltaNorm=1.41293e-05(pi) +86: > piActive=~[-1.65749 -0.0346343 0.162084 -1.33543 -0.0177935 0.132347] +86: > errActive=~[0 1.11698e-06 -5.22733e-06 1.11022e-16 9.6195e-07 -7.15493e-06] +86: > deltaPi=~[8.55501e-06 1.46112e-06 -6.83784e-06 6.78421e-06 7.48244e-07 -5.5654e-06] +86: DBG: Line search iter 1: back=1, prevNorm=8.98282e-06. +86: > piNow=~[-1.6575 -0.0346357 0.162091 -1.33544 -0.0177942 0.132353] +86: > errNow=~[0 2.08167e-16 -9.71445e-16 -5.55112e-17 2.74086e-16 -2.05391e-15] normNow=2.29865e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.55894e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.29865e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[0.0163359,-1.16053] to ~[-0.0107256,-1.19048] -86: DBG: Friction 0 rotated 1.32265 deg, less than max 30 -86: slipVel 1 from ~[0.018514,-1.0266] to ~[-0.0076672,-1.00243] -86: DBG: Friction 1 rotated 1.4714 deg, less than max 30 +86: slipVel 0 from ~[-0.182016,0.851814] to ~[-0.188618,0.866183] +86: DBG: Friction 0 rotated 0.223169 deg, less than max 30 +86: slipVel 1 from ~[-0.194843,1.44923] to ~[-0.201691,1.47511] +86: DBG: Friction 1 rotated 0.128498 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-3.55548 0.00500432 -0.355513 -2.62152 0.00472695 -0.26211] -86: : m_verrLeft=~[0 0 -0.0107256 -1.19048 -0.0076672 -1.00243] +86: : m_piActive=~[-1.6575 -0.0346357 0.162091 -1.33544 -0.0177942 0.132353] +86: : m_verrLeft=~[0 5.55112e-17 -0.188618 0.866183 -0.201691 1.47511] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-3.55548 verr=0 pi*v=-0 -86: DBG: 1: pi=-2.62152 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-3.55548 -2.62152 0.00500432 -0.355513 0.00472695 -0.26211] errNorm=7.89061e-16 +86: DBG: 0: pi=-1.6575 verr=0 pi*v=-0 +86: DBG: 1: pi=-1.33544 verr=5.55112e-17 pi*v=-7.41315e-17 +86: SP FINAL 1 intervals, piTotal=~[-1.6575 -1.33544 -0.0346357 0.162091 -0.0177942 0.132353] errNorm=2.29865e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.0163359 -1.16053, |slipV|=1.16064 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.182016 0.851814, |slipV|=0.871044 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=0.018514 -1.0266, |slipV|=1.02677 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.194843 1.44923, |slipV|=1.46227 86: ------------------------------ 86: -86: dynamics impulse=~[-3.55548 -2.62152 0.00500432 -0.355513 0.00472695 -0.26211] -86: updated verrStart=~[0 0 -0.0107256 -1.19048 -0.0076672 -1.00243] +86: dynamics impulse=~[-1.6575 -1.33544 -0.0346357 0.162091 -0.0177942 0.132353] +86: updated verrStart=~[0 5.55112e-17 -0.188618 0.866183 -0.201691 1.47511] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0967831 -0.00378654 0 0 0 0] +86: posVerr=~[0.327145 0.552504 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.257423 0.10656 0.00253827 0.309907 -0.000523721 0.122566] -86: [0.10656 0.218432 0.00557695 0.125051 0.00779276 0.260603] -86: [0.00253827 0.00557695 0.0527007 0.0456065 0.0513598 -0.0368623] -86: [0.309907 0.125051 0.0456065 0.438511 0.0404777 0.124302] -86: [-0.000523721 0.00779276 0.0513598 0.0404777 0.0501704 -0.0327049] -86: [0.122566 0.260603 -0.0368623 0.124302 -0.0327049 0.379076] +86: [0.250041 0.097599 -0.0121072 0.309119 -0.00799715 0.119282] +86: [0.097599 0.211838 0.00279432 0.120925 -0.000225614 0.260387] +86: [-0.0121072 0.00279432 0.0485154 0.0260098 0.0498535 -0.0364757] +86: [0.309119 0.120925 0.0260098 0.451643 0.032964 0.129709] +86: [-0.00799715 -0.000225614 0.0498535 0.032964 0.0514614 -0.04201] +86: [0.119282 0.260387 -0.0364757 0.129709 -0.04201 0.385999] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.374286 rank=2 -86: rhs=~[0.0967831 -0.00378654 0 0 0 0] +86: rcond(A+D)=0.39798 rank=2 +86: rhs=~[0.327145 0.552504 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.480097 -0.251546] -86: -> pi=~[0.480097 -0.251546 0 0 0 0] -86: resid active=~[4.16334e-17 -1.30104e-18] -86: resid=~[4.16334e-17 -1.30104e-18 -0.000184242 0.117329 -0.00221167 -0.00670997] +86: -> piActive=~[0.353981 2.44506] +86: -> pi=~[0.353981 2.44506 0 0 0 0] +86: resid active=~[0 0] +86: resid=~[0 0 0.00254655 0.405092 -0.00338248 0.678885] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-4.9985e-16 -3.54133e-16 -0.0107256 -1.19048 -0.0076672 -1.00243] -86: perr=~[9.67831e-05 -3.78654e-06 0] -86: END OF STEP (0.056,0.057): -86: verr=~[0.000140554 -0.000140554 -0.0107079 -1.19048 -0.0076849 -1.00243] -86: perr=~[9.68534e-05 -3.85682e-06 -1.11022e-16] +86: verr=~[5.1608e-17 5.1608e-17 -0.188618 0.866183 -0.201691 1.47511] +86: perr=~[0.000327145 0.000552504 2.22045e-16] +86: END OF STEP (0.111,0.112): +86: verr=~[-0.000611189 0.000611189 -0.188432 0.866188 -0.201876 1.4751] +86: perr=~[0.000326839 0.00055281 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -37876,16 +49354,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.19053 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.00246 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000140554 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.886447 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.48885 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000611189 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000140554 -0.000140554 -0.0107079 -1.19048 -0.0076849 -1.00243] -86: IMP t=0.057 verr=~[0.000140554 -0.000140554 -0.0107079 -1.19048 -0.0076849 -1.00243] +86: verr=~[-0.000611189 0.000611189 -0.188432 0.866188 -0.201876 1.4751] +86: IMP t=0.112 verr=~[-0.000611189 0.000611189 -0.188432 0.866188 -0.201876 1.4751] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -37897,115 +49375,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000140554 -0.000140554 -0.0107079 -1.19048 -0.0076849 -1.00243] +86: verrLeft=~[-0.000611189 0.000611189 -0.188432 0.866188 -0.201876 1.4751] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0107079,-1.19048, mag=1.19053 -86: Participating contact 1 is Sliding; vel=-0.0076849,-1.00243, mag=1.00246 +86: Participating contact 0 is Sliding; vel=-0.188432,0.866188, mag=0.886447 +86: Participating contact 1 is Sliding; vel=-0.201876,1.4751, mag=1.48885 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0107079,-1.19048, mag=1.19053 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0076849,-1.00243, mag=1.00246 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.188432,0.866188, mag=0.886447 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.201876,1.4751, mag=1.48885 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000140554; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000140554; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000611189; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000611189; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000140554 -0.000140554 -0.0107079 -1.19048 -0.0076849 -1.00243] +86: : verrLeft was=~[-0.000611189 0.000611189 -0.188432 0.866188 -0.201876 1.4751] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000140554 -0.0107079 -1.19048 -0.000140554 -0.0076849 -1.00243] +86: : rhsActive=~[-0.000611189 -0.188432 0.866188 0.000611189 -0.201876 1.4751] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.79729e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00194611... -86: > NEWTON iter 1: errNorm=0.00194611(v) -> deltaNorm=0.0126943(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.00135771 0 0 -0.000969046 7.6849e-06 0.00100243] -86: > deltaPi=~[0.00897676 3.00741e-10 3.34359e-08 -0.00897514 7.85919e-07 0.000102517] -86: DBG: Line search iter 1: back=1, prevNorm=0.00194611. -86: > piNow=~[0.00102324 -3.00741e-10 -3.34359e-08 -0.00102486 -7.85919e-07 -0.000102517] -86: > errNow=~[5.96311e-19 -3.58042e-10 -3.98066e-08 8.13152e-20 -2.56916e-10 -3.35126e-08] normNow=5.2037e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.67389e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000547204 -86: > NEWTON iter 2: errNorm=5.2037e-08(v) -> deltaNorm=6.97468e-08(pi) -86: > piActive=~[0.00102324 -3.00741e-10 -3.34359e-08 -0.00102486 -7.85919e-07 -0.000102517] -86: > errActive=~[5.96311e-19 -3.58042e-10 -3.98066e-08 8.13152e-20 -2.56916e-10 -3.35126e-08] -86: > deltaPi=~[3.99349e-08 -3.00615e-10 -3.34219e-08 3.54818e-08 -2.2918e-10 -2.98946e-08] -86: DBG: Line search iter 1: back=1, prevNorm=5.2037e-08. -86: > piNow=~[0.0010232 -1.26449e-13 -1.40583e-11 -0.0010249 -7.85689e-07 -0.000102487] -86: > errNow=~[2.71051e-20 -1.50541e-13 -1.67369e-11 -2.71051e-20 9.56931e-14 1.24824e-11] normNow=2.08798e-11 -86: DBG: Improvement rate now/prev at iter 2 is 0.000401249 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.08798e-11. -86: DBG: Worst offender is normal contact 0 err=0.0010232 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.45433e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00138158... +86: > NEWTON iter 1: errNorm=0.00138158(v) -> deltaNorm=0.00720423(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000915943 0.000188432 -0.000866188 0.000532927 0 0] +86: > deltaPi=~[-0.00505031 0.000105219 -0.000483675 0.00511373 2.58276e-09 -1.88721e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.00138158. +86: > piNow=~[-0.00494969 -0.000105219 0.000483675 0.00488627 -2.58276e-09 1.88721e-08] +86: > errNow=~[3.25261e-19 -3.54474e-09 1.62945e-08 2.1684e-19 -3.84534e-09 2.80978e-08] normNow=3.28991e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.38127e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.68452e-05 +86: > NEWTON iter 2: errNorm=3.28991e-08(v) -> deltaNorm=4.50372e-08(pi) +86: > piActive=~[-0.00494969 -0.000105219 0.000483675 0.00488627 -2.58276e-09 1.88721e-08] +86: > errActive=~[3.25261e-19 -3.54474e-09 1.62945e-08 2.1684e-19 -3.84534e-09 2.80978e-08] +86: > deltaPi=~[-2.60885e-08 -4.5533e-09 2.09307e-08 -2.29363e-08 -2.5828e-09 1.88724e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.28991e-08. +86: > piNow=~[-0.00494966 -0.000105215 0.000483654 0.00488629 4.85019e-14 -3.54402e-13] +86: > errNow=~[-1.0842e-19 -7.47155e-14 3.43454e-13 1.0842e-19 7.22122e-14 -5.27652e-13] normNow=6.38102e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.93957e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.38102e-13. +86: DBG: Worst offender is normal contact 1 err=0.00488629 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.0107079,-1.19048, mag=1.19053 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0076849,-1.00243, mag=1.00246 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.188432,0.866188, mag=0.886447 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.201876,1.4751, mag=1.48885 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000140554; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000611189; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000140554 -0.000140554 -0.0107079 -1.19048 -0.0076849 -1.00243] +86: : verrLeft was=~[-0.000611189 0.000611189 -0.188432 0.866188 -0.201876 1.4751] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000140554 -0.0076849 -1.00243] -86: : pi was=~[0 -0.0010249 -1.26449e-13 -1.40583e-11 -7.85689e-07 -0.000102487] -86: : piActive=~[-0.01 -7.85689e-07 -0.000102487] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.73405e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00224742... -86: > NEWTON iter 1: errNorm=0.00224742(v) -> deltaNorm=0.00942254(pi) -86: > piActive=~[-0.01 -7.85689e-07 -0.000102487] -86: > errActive=~[-0.00205946 6.89727e-06 0.000899694] -86: > deltaPi=~[-0.00942243 -3.42657e-07 -4.46968e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.00224742. -86: > piNow=~[-0.000577567 -4.43033e-07 -5.77901e-05] -86: > errNow=~[-2.98156e-19 -2.6972e-10 -3.51828e-08] normNow=3.51838e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.56552e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.00108334 -86: > NEWTON iter 2: errNorm=3.51838e-08(v) -> deltaNorm=4.89365e-08(pi) -86: > piActive=~[-0.000577567 -4.43033e-07 -5.77901e-05] -86: > errActive=~[-2.98156e-19 -2.6972e-10 -3.51828e-08] -86: > deltaPi=~[3.75484e-08 -2.40584e-10 -3.13822e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.51838e-08. -86: > piNow=~[-0.000577604 -4.42792e-07 -5.77587e-05] -86: > errNow=~[2.71051e-20 3.11835e-13 4.06763e-11] normNow=4.06775e-11 -86: DBG: Improvement rate now/prev at iter 2 is 0.00115614 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.06775e-11. +86: : rhsActive=~[-0.000611189 -0.188432 0.866188] +86: : pi was=~[-0.00494966 0 -0.000105215 0.000483654 4.85019e-14 -3.54402e-13] +86: : piActive=~[-0.01 -0.000105215 0.000483654] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.3019e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00180535... +86: > NEWTON iter 1: errNorm=0.00180535(v) -> deltaNorm=0.00723287(pi) +86: > piActive=~[-0.01 -0.000105215 0.000483654] +86: > errActive=~[-0.00174897 9.51646e-05 -0.000437454] +86: > deltaPi=~[-0.00722959 -4.63185e-05 0.000212918] +86: DBG: Line search iter 1: back=1, prevNorm=0.00180535. +86: > piNow=~[-0.00277041 -5.88964e-05 0.000270736] +86: > errNow=~[2.1684e-19 -5.07434e-09 2.33258e-08] normNow=2.38714e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.32226e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.29628e-05 +86: > NEWTON iter 2: errNorm=2.38714e-08(v) -> deltaNorm=4.82129e-08(pi) +86: > piActive=~[-0.00277041 -5.88964e-05 0.000270736] +86: > errActive=~[2.1684e-19 -5.07434e-09 2.33258e-08] +86: > deltaPi=~[-3.72171e-08 -6.5151e-09 2.99488e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.38714e-08. +86: > piNow=~[-0.00277037 -5.88899e-05 0.000270706] +86: > errNow=~[2.1684e-19 -3.39889e-13 1.56241e-12] normNow=1.59895e-12 +86: DBG: Improvement rate now/prev at iter 2 is 6.69819e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.59895e-12. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.0076849,-1.00243] to ~[-0.00768229,-1.00226] -86: DBG: Friction 1 rotated 7.33997e-05 deg, less than max 30 +86: slipVel 0 from ~[-0.188432,0.866188] to ~[-0.18847,0.866924] +86: DBG: Friction 0 rotated 0.00773615 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.000577604 -4.42792e-07 -5.77587e-05] -86: : m_verrLeft=~[0.000209081 -2.71051e-20 -0.0107068 -1.1904 -0.00768229 -1.00226] +86: : m_piActive=~[-0.00277037 -5.88899e-05 0.000270706] +86: : m_verrLeft=~[-2.1684e-19 0.000851106 -0.18847 0.866924 -0.201904 1.4754] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000209081 pi*v=0 -86: DBG: 1: pi=-0.000577604 verr=-2.71051e-20 pi*v=1.5656e-23 -86: SP FINAL 1 intervals, piTotal=~[0 -0.000577604 0 0 -4.42792e-07 -5.77587e-05] errNorm=4.06775e-11 -86: Postcompression verr=~[0.000209081 -2.71051e-20 -0.0107068 -1.1904 -0.00768229 -1.00226] -86: impulse=~[0 -0.000577604 0 0 -4.42792e-07 -5.77587e-05] +86: DBG: 0: pi=-0.00277037 verr=-2.1684e-19 pi*v=6.00729e-22 +86: DBG: 1: pi=0 verr=0.000851106 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00277037 0 -5.88899e-05 0.000270706 0 0] errNorm=1.59895e-12 +86: Postcompression verr=~[-2.1684e-19 0.000851106 -0.18847 0.866924 -0.201904 1.4754] +86: impulse=~[-0.00277037 0 -5.88899e-05 0.000270706 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.000577604 0 0 -4.42792e-07 -5.77587e-05]-> du ~[7.56245e-05 0.000223141 9.25357e-05 -0.000125798 1.85558e-06 0.00010454 -0.000394292 0.000310241] -86: Now verr0=~[0.000209081 2.71051e-20 -0.0107068 -1.1904 -0.00768229 -1.00226] +86: Impact: imp ~[-0.00277037 0 -5.88899e-05 0.000270706 0 0]-> du ~[-0.000391538 0.000913742 -0.000442625 -0.000515407 -3.27595e-05 0.000425553 -0.00173829 0.00104378] +86: Now verr0=~[-3.90313e-18 0.000851106 -0.18847 0.866924 -0.201904 1.4754] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000209081 2.71051e-20 -0.0107068 -1.1904 -0.00768229 -1.00226] -86: verrExt=~[-1.33327 -1.05892 -0.0587415 -1.64947 -0.052012 -1.23257] -86: total verr=~[-1.33306 -1.05892 -0.0694483 -2.83987 -0.0596943 -2.23483] -86: DYN t=0.057: verrStart=~[0.000209081 2.71051e-20 -0.0107068 -1.1904 -0.00768229 -1.00226] -86: verrApplied=~[-1.33327 -1.05892 -0.0587415 -1.64947 -0.052012 -1.23257] +86: verr0 =~[-3.90313e-18 0.000851106 -0.18847 0.866924 -0.201904 1.4754] +86: verrExt=~[-0.539387 -0.44169 0.00836699 -0.648333 0.00526544 -0.508857] +86: total verr=~[-0.539387 -0.440839 -0.180103 0.218592 -0.196639 0.96654] +86: DYN t=0.112: verrStart=~[-3.90313e-18 0.000851106 -0.18847 0.866924 -0.201904 1.4754] +86: verrApplied=~[-0.539387 -0.44169 0.00836699 -0.648333 0.00526544 -0.508857] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -38017,108 +49495,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000209081 2.71051e-20 -0.0107068 -1.1904 -0.00768229 -1.00226] -86: verrApplied=~[-1.33327 -1.05892 -0.0587415 -1.64947 -0.052012 -1.23257] +86: verrLeft=~[-3.90313e-18 0.000851106 -0.18847 0.866924 -0.201904 1.4754] +86: verrApplied=~[-0.539387 -0.44169 0.00836699 -0.648333 0.00526544 -0.508857] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0107068,-1.1904, mag=1.19045 -86: Participating contact 1 is Sliding; vel=-0.00768229,-1.00226, mag=1.00229 +86: Participating contact 0 is Sliding; vel=-0.18847,0.866924, mag=0.887175 +86: Participating contact 1 is Sliding; vel=-0.201904,1.4754, mag=1.48915 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0107068,-1.1904, mag=1.19045 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.00768229,-1.00226, mag=1.00229 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.18847,0.866924, mag=0.887175 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.201904,1.4754, mag=1.48915 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.33306; guess pi=-0.01 -86: DBG: active normal 3 has v=-1.05892; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.539387; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.440839; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000209081 2.71051e-20 -0.0107068 -1.1904 -0.00768229 -1.00226] +86: : verrLeft was=~[-3.90313e-18 0.000851106 -0.18847 0.866924 -0.201904 1.4754] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.33327 -1.05892 -0.0587415 -1.64947 -0.052012 -1.23257] -86: : rhsActive=~[-1.33306 -0.0694483 -2.83987 -1.05892 -0.0596943 -2.23483] +86: : verrApplied was=~[-0.539387 -0.44169 0.00836699 -0.648333 0.00526544 -0.508857] +86: : rhsActive=~[-0.539387 -0.180103 0.218592 -0.440839 -0.196639 0.96654] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.79665e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.69761... -86: > NEWTON iter 1: errNorm=1.69761(v) -> deltaNorm=4.42579(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.45666e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.691945... +86: > NEWTON iter 1: errNorm=0.691945(v) -> deltaNorm=2.38424(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.32944 1.07068e-05 0.0011904 1.05568 7.68229e-06 0.00100226] -86: > deltaPi=~[3.55414 0.00320542 0.356387 2.60011 0.00200051 0.260993] -86: DBG: Line search iter 1: back=1, prevNorm=1.69761. -86: > piNow=~[-3.56414 -0.00320542 -0.356387 -2.61011 -0.00200051 -0.260993] -86: > errNow=~[4.44089e-16 1.41744e-07 1.57594e-05 4.44089e-16 7.44036e-08 9.70697e-06] normNow=1.85098e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.09034e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.54326e-10 -86: > NEWTON iter 2: errNorm=1.85098e-05(v) -> deltaNorm=2.28118e-05(pi) -86: > piActive=~[-3.56414 -0.00320542 -0.356387 -2.61011 -0.00200051 -0.260993] -86: > errActive=~[4.44089e-16 1.41744e-07 1.57594e-05 4.44089e-16 7.44036e-08 9.70697e-06] -86: > deltaPi=~[-1.41687e-05 1.06324e-07 1.18214e-05 -1.02398e-05 6.6385e-08 8.66084e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.85098e-05. -86: > piNow=~[-3.56413 -0.00320553 -0.356398 -2.6101 -0.00200057 -0.261002] -86: > errNow=~[0 -4.77049e-18 -4.996e-16 0 -4.33681e-18 -6.66134e-16] normNow=8.32692e-16 -86: DBG: Improvement rate now/prev at iter 2 is 4.49867e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.32692e-16. +86: > errActive=~[0.535892 0.00018847 -0.000866924 0.437727 0.000201904 -0.0014754] +86: > deltaPi=~[1.84831 0.039476 -0.181582 1.48708 0.0202972 -0.14832] +86: DBG: Line search iter 1: back=1, prevNorm=0.691945. +86: > piNow=~[-1.85831 -0.039476 0.181582 -1.49708 -0.0202972 0.14832] +86: > errNow=~[-1.11022e-16 1.29756e-06 -5.96852e-06 -5.55112e-17 1.11838e-06 -8.17249e-06] normNow=1.02639e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.48334e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.68762e-10 +86: > NEWTON iter 2: errNorm=1.02639e-05(v) -> deltaNorm=1.58006e-05(pi) +86: > piActive=~[-1.85831 -0.039476 0.181582 -1.49708 -0.0202972 0.14832] +86: > errActive=~[-1.11022e-16 1.29756e-06 -5.96852e-06 -5.55112e-17 1.11838e-06 -8.17249e-06] +86: > deltaPi=~[9.54811e-06 1.66541e-06 -7.66058e-06 7.57526e-06 8.53731e-07 -6.23856e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.02639e-05. +86: > piNow=~[-1.85832 -0.0394777 0.18159 -1.49709 -0.0202981 0.148326] +86: > errNow=~[0 1.8735e-16 -8.88178e-16 1.11022e-16 2.498e-16 -1.85962e-15] normNow=2.08732e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.03365e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.08732e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.0107068,-1.1904] to ~[-0.0389829,-1.22119] -86: DBG: Friction 0 rotated 1.31306 deg, less than max 30 -86: slipVel 1 from ~[-0.00768229,-1.00226] to ~[-0.0350402,-0.975925] -86: DBG: Friction 1 rotated 1.61714 deg, less than max 30 +86: slipVel 0 from ~[-0.18847,0.866924] to ~[-0.195102,0.875836] +86: DBG: Friction 0 rotated 0.29296 deg, less than max 30 +86: slipVel 1 from ~[-0.201904,1.4754] to ~[-0.208797,1.49611] +86: DBG: Friction 1 rotated 0.152502 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-3.56413 -0.00320553 -0.356398 -2.6101 -0.00200057 -0.261002] -86: : m_verrLeft=~[0 0 -0.0389829 -1.22119 -0.0350402 -0.975925] +86: : m_piActive=~[-1.85832 -0.0394777 0.18159 -1.49709 -0.0202981 0.148326] +86: : m_verrLeft=~[0 -1.11022e-16 -0.195102 0.875836 -0.208797 1.49611] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-3.56413 verr=0 pi*v=-0 -86: DBG: 1: pi=-2.6101 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-3.56413 -2.6101 -0.00320553 -0.356398 -0.00200057 -0.261002] errNorm=8.32692e-16 +86: DBG: 0: pi=-1.85832 verr=0 pi*v=-0 +86: DBG: 1: pi=-1.49709 verr=-1.11022e-16 pi*v=1.6621e-16 +86: SP FINAL 1 intervals, piTotal=~[-1.85832 -1.49709 -0.0394777 0.18159 -0.0202981 0.148326] errNorm=2.08732e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0107068 -1.1904, |slipV|=1.19045 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.18847 0.866924, |slipV|=0.887175 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.00768229 -1.00226, |slipV|=1.00229 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.201904 1.4754, |slipV|=1.48915 86: ------------------------------ 86: -86: dynamics impulse=~[-3.56413 -2.6101 -0.00320553 -0.356398 -0.00200057 -0.261002] -86: updated verrStart=~[0 0 -0.0389829 -1.22119 -0.0350402 -0.975925] +86: dynamics impulse=~[-1.85832 -1.49709 -0.0394777 0.18159 -0.0202981 0.148326] +86: updated verrStart=~[0 -1.11022e-16 -0.195102 0.875836 -0.208797 1.49611] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0968534 -0.00385682 0 0 0 0] +86: posVerr=~[0.326839 0.55281 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.256203 0.106377 0.00251775 0.309359 -0.000499132 0.122627] -86: [0.106377 0.217337 0.00558051 0.125192 0.00775848 0.259981] -86: [0.00251775 0.00558051 0.0527883 0.0457782 0.0514576 -0.0370164] -86: [0.309359 0.125192 0.0457782 0.439335 0.0406999 0.124581] -86: [-0.000499132 0.00775848 0.0514576 0.0406999 0.0502752 -0.0329046] -86: [0.122627 0.259981 -0.0370164 0.124581 -0.0329046 0.379504] +86: [0.251108 0.0983947 -0.0120883 0.309421 -0.00786154 0.119545] +86: [0.0983947 0.212806 0.00255238 0.121253 -0.00055256 0.260711] +86: [-0.0120883 0.00255238 0.0485498 0.0260758 0.0499332 -0.0367314] +86: [0.309421 0.121253 0.0260758 0.45059 0.0332143 0.129201] +86: [-0.00786154 -0.00055256 0.0499332 0.0332143 0.0516013 -0.0424125] +86: [0.119545 0.260711 -0.0367314 0.129201 -0.0424125 0.385065] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.372949 rank=2 -86: rhs=~[0.0968534 -0.00385682 0 0 0 0] +86: rcond(A+D)=0.396498 rank=2 +86: rhs=~[0.326839 0.55281 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.483702 -0.254497] -86: -> pi=~[0.483702 -0.254497 0 0 0 0] -86: resid active=~[-8.32667e-17 -2.94903e-17] -86: resid=~[-8.32667e-17 -2.94903e-17 -0.000202379 0.117776 -0.00221594 -0.00684938] +86: -> piActive=~[0.346466 2.43752] +86: -> pi=~[0.346466 2.43752 0 0 0 0] +86: resid active=~[1.66533e-16 1.11022e-16] +86: resid=~[1.66533e-16 1.11022e-16 0.00203329 0.402759 -0.00407063 0.676905] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[1.18585e-16 -1.76318e-16 -0.0389829 -1.22119 -0.0350402 -0.975925] -86: perr=~[9.68534e-05 -3.85682e-06 -1.11022e-16] -86: END OF STEP (0.057,0.058): -86: verr=~[0.000188331 -0.000188331 -0.0389528 -1.22119 -0.0350703 -0.975925] -86: perr=~[9.69476e-05 -3.95098e-06 0] +86: verr=~[1.03541e-16 -2.82977e-17 -0.195102 0.875836 -0.208797 1.49611] +86: perr=~[0.000326839 0.00055281 0] +86: END OF STEP (0.112,0.113): +86: verr=~[-0.000630508 0.000630508 -0.19491 0.875841 -0.20899 1.49611] +86: perr=~[0.000326524 0.000553125 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -38126,16 +49604,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.22181 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.976555 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000188331 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.897266 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.51063 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000630508 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000188331 -0.000188331 -0.0389528 -1.22119 -0.0350703 -0.975925] -86: IMP t=0.058 verr=~[0.000188331 -0.000188331 -0.0389528 -1.22119 -0.0350703 -0.975925] +86: verr=~[-0.000630508 0.000630508 -0.19491 0.875841 -0.20899 1.49611] +86: IMP t=0.113 verr=~[-0.000630508 0.000630508 -0.19491 0.875841 -0.20899 1.49611] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -38147,116 +49625,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000188331 -0.000188331 -0.0389528 -1.22119 -0.0350703 -0.975925] +86: verrLeft=~[-0.000630508 0.000630508 -0.19491 0.875841 -0.20899 1.49611] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0389528,-1.22119, mag=1.22181 -86: Participating contact 1 is Sliding; vel=-0.0350703,-0.975925, mag=0.976555 +86: Participating contact 0 is Sliding; vel=-0.19491,0.875841, mag=0.897266 +86: Participating contact 1 is Sliding; vel=-0.20899,1.49611, mag=1.51063 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0389528,-1.22119, mag=1.22181 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0350703,-0.975925, mag=0.976555 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.19491,0.875841, mag=0.897266 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.20899,1.49611, mag=1.51063 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000188331; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000188331; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000630508; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000630508; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000188331 -0.000188331 -0.0389528 -1.22119 -0.0350703 -0.975925] +86: : verrLeft was=~[-0.000630508 0.000630508 -0.19491 0.875841 -0.20899 1.49611] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000188331 -0.0389528 -1.22119 -0.000188331 -0.0350703 -0.975925] +86: : rhsActive=~[-0.000630508 -0.19491 0.875841 0.000630508 -0.20899 1.49611] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.82616e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00186516... -86: > NEWTON iter 1: errNorm=0.00186516(v) -> deltaNorm=0.0121896(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.00130058 0 0 -0.000913046 3.50703e-05 0.000975925] -86: > deltaPi=~[0.00861979 1.02363e-09 3.20913e-08 -0.00861777 4.96506e-06 0.000138166] -86: DBG: Line search iter 1: back=1, prevNorm=0.00186516. -86: > piNow=~[0.00138021 -1.02363e-09 -3.20913e-08 -0.00138223 -4.96506e-06 -0.000138166] -86: > errNow=~[-5.42101e-20 -1.25068e-09 -3.92096e-08 -1.35525e-19 -1.12576e-09 -3.13273e-08] normNow=5.02157e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.69231e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000303747 -86: > NEWTON iter 2: errNorm=5.02157e-08(v) -> deltaNorm=6.70711e-08(pi) -86: > piActive=~[0.00138021 -1.02363e-09 -3.20913e-08 -0.00138223 -4.96506e-06 -0.000138166] -86: > errActive=~[-5.42101e-20 -1.25068e-09 -3.92096e-08 -1.35525e-19 -1.12576e-09 -3.13273e-08] -86: > deltaPi=~[3.84298e-08 -1.02339e-09 -3.20839e-08 3.41791e-08 -1.03028e-09 -2.86703e-08] -86: DBG: Line search iter 1: back=1, prevNorm=5.02157e-08. -86: > piNow=~[0.00138017 -2.38196e-13 -7.46758e-12 -0.00138227 -4.96403e-06 -0.000138137] -86: > errNow=~[8.13152e-20 -2.91031e-13 -9.12398e-12 0 2.32363e-13 6.46612e-12] normNow=1.11891e-11 -86: DBG: Improvement rate now/prev at iter 2 is 0.000222821 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.11891e-11. -86: DBG: Worst offender is normal contact 0 err=0.00138017 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.54465e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00137125... +86: > NEWTON iter 1: errNorm=0.00137125(v) -> deltaNorm=0.00700083(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000899687 0.00019491 -0.000875841 0.000515558 0 0] +86: > deltaPi=~[-0.00490536 0.000110673 -0.000497316 0.00496885 2.56055e-09 -1.83304e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.00137125. +86: > piNow=~[-0.00509464 -0.000110673 0.000497316 0.00503115 -2.56055e-09 1.83304e-08] +86: > errNow=~[-1.0842e-19 -3.56136e-09 1.60032e-08 1.0842e-19 -3.86805e-09 2.76904e-08] normNow=3.24116e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.36365e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.56816e-05 +86: > NEWTON iter 2: errNorm=3.24116e-08(v) -> deltaNorm=4.36156e-08(pi) +86: > piActive=~[-0.00509464 -0.000110673 0.000497316 0.00503115 -2.56055e-09 1.83304e-08] +86: > errActive=~[-1.0842e-19 -3.56136e-09 1.60032e-08 1.0842e-19 -3.86805e-09 2.76904e-08] +86: > deltaPi=~[-2.51984e-08 -4.51642e-09 2.02949e-08 -2.21926e-08 -2.5606e-09 1.83307e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.24116e-08. +86: > piNow=~[-0.00509461 -0.000110668 0.000497296 0.00503117 4.51657e-14 -3.2333e-13] +86: > errNow=~[1.0842e-19 -7.04616e-14 3.16624e-13 -1.0842e-19 6.82287e-14 -4.88433e-13] normNow=5.90286e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.82122e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.90286e-13. +86: DBG: Worst offender is normal contact 1 err=0.00503117 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.0389528,-1.22119, mag=1.22181 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0350703,-0.975925, mag=0.976555 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.19491,0.875841, mag=0.897266 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.20899,1.49611, mag=1.51063 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000188331; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000630508; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000188331 -0.000188331 -0.0389528 -1.22119 -0.0350703 -0.975925] +86: : verrLeft was=~[-0.000630508 0.000630508 -0.19491 0.875841 -0.20899 1.49611] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000188331 -0.0350703 -0.975925] -86: : pi was=~[0 -0.00138227 -2.38196e-13 -7.46758e-12 -4.96403e-06 -0.000138137] -86: : piActive=~[-0.01 -4.96403e-06 -0.000138137] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.63754e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0021792... -86: > NEWTON iter 1: errNorm=0.0021792(v) -> deltaNorm=0.00922268(pi) -86: > piActive=~[-0.01 -4.96403e-06 -0.000138137] -86: > errActive=~[-0.00201015 3.02226e-05 0.000841026] -86: > deltaPi=~[-0.00922248 -2.17056e-06 -6.04017e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.0021792. -86: > piNow=~[-0.000777515 -2.79347e-06 -7.77357e-05] -86: > errNow=~[1.0842e-19 -1.20476e-09 -3.35255e-08] normNow=3.35472e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.53942e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.00059088 -86: > NEWTON iter 2: errNorm=3.35472e-08(v) -> deltaNorm=4.79406e-08(pi) -86: > piActive=~[-0.000777515 -2.79347e-06 -7.77357e-05] -86: > errActive=~[1.0842e-19 -1.20476e-09 -3.35255e-08] -86: > deltaPi=~[3.6828e-08 -1.10222e-09 -3.06723e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.35472e-08. -86: > piNow=~[-0.000777552 -2.79236e-06 -7.7705e-05] -86: > errNow=~[0 7.81484e-13 2.17469e-11] normNow=2.17609e-11 -86: DBG: Improvement rate now/prev at iter 2 is 0.000648666 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.17609e-11. +86: : rhsActive=~[-0.000630508 -0.19491 0.875841] +86: : pi was=~[-0.00509461 0 -0.000110668 0.000497296 4.51657e-14 -3.2333e-13] +86: : piActive=~[-0.01 -0.000110668 0.000497296] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.3422e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00179101... +86: > NEWTON iter 1: errNorm=0.00179101(v) -> deltaNorm=0.00715954(pi) +86: > piActive=~[-0.01 -0.000110668 0.000497296] +86: > errActive=~[-0.00173609 9.56107e-05 -0.000429634] +86: > deltaPi=~[-0.007156 -4.88834e-05 0.000219661] +86: DBG: Line search iter 1: back=1, prevNorm=0.00179101. +86: > piNow=~[-0.002844 -6.17848e-05 0.000277635] +86: > errNow=~[1.0842e-19 -5.19535e-09 2.33457e-08] normNow=2.39168e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.33538e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.12689e-05 +86: > NEWTON iter 2: errNorm=2.39168e-08(v) -> deltaNorm=4.75748e-08(pi) +86: > piActive=~[-0.002844 -6.17848e-05 0.000277635] +86: > errActive=~[1.0842e-19 -5.19535e-09 2.33457e-08] +86: > deltaPi=~[-3.66617e-08 -6.58623e-09 2.95957e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.39168e-08. +86: > piNow=~[-0.00284396 -6.17783e-05 0.000277605] +86: > errNow=~[-1.0842e-19 -3.28661e-13 1.47686e-12] normNow=1.51299e-12 +86: DBG: Improvement rate now/prev at iter 2 is 6.32605e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.51299e-12. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.0350703,-0.975925] to ~[-0.0350667,-0.975694] -86: DBG: Friction 1 rotated 0.000277154 deg, less than max 30 +86: slipVel 0 from ~[-0.19491,0.875841] to ~[-0.194948,0.876598] +86: DBG: Friction 0 rotated 0.0080964 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.000777552 -2.79236e-06 -7.7705e-05] -86: : m_verrLeft=~[0.000280377 0 -0.0389512 -1.22108 -0.0350667 -0.975694] +86: : m_piActive=~[-0.00284396 -6.17783e-05 0.000277605] +86: : m_verrLeft=~[1.0842e-19 0.000878958 -0.194948 0.876598 -0.209018 1.49641] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000280377 pi*v=0 -86: DBG: 1: pi=-0.000777552 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.000777552 0 0 -2.79236e-06 -7.7705e-05] errNorm=2.17609e-11 -86: Postcompression verr=~[0.000280377 0 -0.0389512 -1.22108 -0.0350667 -0.975694] -86: impulse=~[0 -0.000777552 0 0 -2.79236e-06 -7.7705e-05] +86: DBG: 0: pi=-0.00284396 verr=1.0842e-19 pi*v=-3.08343e-22 +86: DBG: 1: pi=0 verr=0.000878958 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00284396 0 -6.17783e-05 0.000277605 0 0] errNorm=1.51299e-12 +86: Postcompression verr=~[1.0842e-19 0.000878958 -0.194948 0.876598 -0.209018 1.49641] +86: impulse=~[-0.00284396 0 -6.17783e-05 0.000277605 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.000777552 0 0 -2.79236e-06 -7.7705e-05]-> du ~[0.000101043 0.00029976 0.000123869 -0.000169175 2.5941e-06 0.000140189 -0.000529407 0.000415213] -86: Now verr0=~[0.000280377 2.1684e-19 -0.0389512 -1.22108 -0.0350667 -0.975694] +86: Impact: imp ~[-0.00284396 0 -6.17783e-05 0.000277605 0 0]-> du ~[-0.000403521 0.000941202 -0.000454895 -0.000530164 -3.34006e-05 0.000439479 -0.00179114 0.00107759] +86: Now verr0=~[-5.31259e-18 0.000878958 -0.194948 0.876598 -0.209018 1.49641] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000280377 2.1684e-19 -0.0389512 -1.22108 -0.0350667 -0.975694] -86: verrExt=~[-1.31919 -1.04567 -0.0599514 -1.63795 -0.0532606 -1.21702] -86: total verr=~[-1.31891 -1.04567 -0.0989027 -2.85903 -0.0883273 -2.19272] -86: DYN t=0.058: verrStart=~[0.000280377 2.1684e-19 -0.0389512 -1.22108 -0.0350667 -0.975694] -103: [min,max]=0.1,0.5 actual=0.269144 -86: verrApplied=~[-1.31919 -1.04567 -0.0599514 -1.63795 -0.0532606 -1.21702] +86: verr0 =~[-5.31259e-18 0.000878958 -0.194948 0.876598 -0.209018 1.49641] +86: verrExt=~[-0.591457 -0.484045 0.0098061 -0.713737 0.00631911 -0.561196] +86: total verr=~[-0.591457 -0.483166 -0.185142 0.162861 -0.202699 0.935213] +86: DYN t=0.113: verrStart=~[-5.31259e-18 0.000878958 -0.194948 0.876598 -0.209018 1.49641] +86: verrApplied=~[-0.591457 -0.484045 0.0098061 -0.713737 0.00631911 -0.561196] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -38268,109 +49745,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000280377 2.1684e-19 -0.0389512 -1.22108 -0.0350667 -0.975694] -86: verrApplied=~[-1.31919 -1.04567 -0.0599514 -1.63795 -0.0532606 -1.21702] +86: verrLeft=~[-5.31259e-18 0.000878958 -0.194948 0.876598 -0.209018 1.49641] +86: verrApplied=~[-0.591457 -0.484045 0.0098061 -0.713737 0.00631911 -0.561196] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0389512,-1.22108, mag=1.2217 -86: Participating contact 1 is Sliding; vel=-0.0350667,-0.975694, mag=0.976324 +86: Participating contact 0 is Sliding; vel=-0.194948,0.876598, mag=0.898014 +86: Participating contact 1 is Sliding; vel=-0.209018,1.49641, mag=1.51094 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0389512,-1.22108, mag=1.2217 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0350667,-0.975694, mag=0.976324 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.194948,0.876598, mag=0.898014 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.209018,1.49641, mag=1.51094 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.31891; guess pi=-0.01 -86: DBG: active normal 3 has v=-1.04567; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.591457; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.483166; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000280377 2.1684e-19 -0.0389512 -1.22108 -0.0350667 -0.975694] +86: : verrLeft was=~[-5.31259e-18 0.000878958 -0.194948 0.876598 -0.209018 1.49641] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.31919 -1.04567 -0.0599514 -1.63795 -0.0532606 -1.21702] -86: : rhsActive=~[-1.31891 -0.0989027 -2.85903 -1.04567 -0.0883273 -2.19272] +86: : verrApplied was=~[-0.591457 -0.484045 0.0098061 -0.713737 0.00631911 -0.561196] +86: : rhsActive=~[-0.591457 -0.185142 0.162861 -0.483166 -0.202699 0.935213] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -103: calc wrms=0.269144 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.82532e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.67831... -86: > NEWTON iter 1: errNorm=1.67831(v) -> deltaNorm=4.39261(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.54705e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.759023... +86: > NEWTON iter 1: errNorm=0.759023(v) -> deltaNorm=2.59939(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.3153 3.89512e-05 0.00122108 1.04245 3.50667e-05 0.000975694] -86: > deltaPi=~[3.53484 0.0113015 0.354291 2.57055 0.00926823 0.257879] -86: DBG: Line search iter 1: back=1, prevNorm=1.67831. -86: > piNow=~[-3.54484 -0.0113015 -0.354291 -2.58055 -0.00926823 -0.257879] -86: > errNow=~[2.22045e-16 5.12864e-07 1.60778e-05 -6.66134e-16 3.35762e-07 9.34223e-06] normNow=1.86051e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.10856e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.3989e-10 -86: > NEWTON iter 2: errNorm=1.86051e-05(v) -> deltaNorm=2.26707e-05(pi) -86: > piActive=~[-3.54484 -0.0113015 -0.354291 -2.58055 -0.00926823 -0.257879] -86: > errActive=~[2.22045e-16 5.12864e-07 1.60778e-05 -6.66134e-16 3.35762e-07 9.34223e-06] -86: > deltaPi=~[-1.41187e-05 3.7478e-07 1.1749e-05 -1.0158e-05 3.0742e-07 8.55364e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.86051e-05. -86: > piNow=~[-3.54483 -0.0113019 -0.354302 -2.58054 -0.00926854 -0.257887] -86: > errNow=~[0 -1.38778e-17 -4.44089e-16 0 -2.08167e-17 -6.10623e-16] normNow=7.55448e-16 -86: DBG: Improvement rate now/prev at iter 2 is 4.06044e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.55448e-16. +86: > errActive=~[0.587943 0.000194948 -0.000876598 0.480036 0.000209018 -0.00149641] +86: > deltaPi=~[2.01716 0.0440055 -0.197874 1.61873 0.0225305 -0.161302] +86: DBG: Line search iter 1: back=1, prevNorm=0.759023. +86: > piNow=~[-2.02716 -0.0440055 0.197874 -1.62873 -0.0225305 0.161302] +86: > errNow=~[1.11022e-16 1.46477e-06 -6.58645e-06 0 1.26029e-06 -9.02272e-06] normNow=1.13369e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.49361e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.30327e-10 +86: > NEWTON iter 2: errNorm=1.13369e-05(v) -> deltaNorm=1.71683e-05(pi) +86: > piActive=~[-2.02716 -0.0440055 0.197874 -1.62873 -0.0225305 0.161302] +86: > errActive=~[1.11022e-16 1.46477e-06 -6.58645e-06 0 1.26029e-06 -9.02272e-06] +86: > deltaPi=~[1.03636e-05 1.8561e-06 -8.34611e-06 8.20492e-06 9.47617e-07 -6.78421e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.13369e-05. +86: > piNow=~[-2.02717 -0.0440073 0.197882 -1.62874 -0.0225315 0.161308] +86: > errNow=~[0 1.80411e-16 -8.04912e-16 -5.55112e-17 2.42861e-16 -1.69309e-15] normNow=1.89975e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.67573e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.89975e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.0389512,-1.22108] to ~[-0.0680371,-1.25188] -86: DBG: Friction 0 rotated 1.28379 deg, less than max 30 -86: slipVel 1 from ~[-0.0350667,-0.975694] to ~[-0.0632118,-0.947069] -86: DBG: Friction 1 rotated 1.76018 deg, less than max 30 +86: slipVel 0 from ~[-0.194948,0.876598] to ~[-0.201802,0.880898] +86: DBG: Friction 0 rotated 0.364992 deg, less than max 30 +86: slipVel 1 from ~[-0.209018,1.49641] to ~[-0.216154,1.51317] +86: DBG: Friction 1 rotated 0.17803 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-3.54483 -0.0113019 -0.354302 -2.58054 -0.00926854 -0.257887] -86: : m_verrLeft=~[0 0 -0.0680371 -1.25188 -0.0632118 -0.947069] +86: : m_piActive=~[-2.02717 -0.0440073 0.197882 -1.62874 -0.0225315 0.161308] +86: : m_verrLeft=~[0 5.55112e-17 -0.201802 0.880898 -0.216154 1.51317] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-3.54483 verr=0 pi*v=-0 -86: DBG: 1: pi=-2.58054 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-3.54483 -2.58054 -0.0113019 -0.354302 -0.00926854 -0.257887] errNorm=7.55448e-16 +86: DBG: 0: pi=-2.02717 verr=0 pi*v=-0 +86: DBG: 1: pi=-1.62874 verr=5.55112e-17 pi*v=-9.04134e-17 +86: SP FINAL 1 intervals, piTotal=~[-2.02717 -1.62874 -0.0440073 0.197882 -0.0225315 0.161308] errNorm=1.89975e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0389512 -1.22108, |slipV|=1.2217 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.194948 0.876598, |slipV|=0.898014 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0350667 -0.975694, |slipV|=0.976324 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.209018 1.49641, |slipV|=1.51094 86: ------------------------------ 86: -86: dynamics impulse=~[-3.54483 -2.58054 -0.0113019 -0.354302 -0.00926854 -0.257887] -86: updated verrStart=~[0 0 -0.0680371 -1.25188 -0.0632118 -0.947069] +86: dynamics impulse=~[-2.02717 -1.62874 -0.0440073 0.197882 -0.0225315 0.161308] +86: updated verrStart=~[0 5.55112e-17 -0.201802 0.880898 -0.216154 1.51317] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0969476 -0.00395098 0 0 0 0] +86: posVerr=~[0.326524 0.553125 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.255014 0.106123 0.00244817 0.308841 -0.00051421 0.122654] -86: [0.106123 0.216261 0.00559437 0.125283 0.00772834 0.259385] -86: [0.00244817 0.00559437 0.0528471 0.0458676 0.0515336 -0.0371292] -86: [0.308841 0.125283 0.0458676 0.440182 0.0408579 0.12489] -86: [-0.00051421 0.00772834 0.0515336 0.0408579 0.050364 -0.0330778] -86: [0.122654 0.259385 -0.0371292 0.12489 -0.0330778 0.379945] +86: [0.252195 0.0991758 -0.0120808 0.309719 -0.00773475 0.119789] +86: [0.0991758 0.213782 0.0023148 0.121558 -0.000876891 0.261019] +86: [-0.0120808 0.0023148 0.0485808 0.0261231 0.0500098 -0.0369735] +86: [0.309719 0.121558 0.0261231 0.449499 0.0334481 0.128682] +86: [-0.00773475 -0.000876891 0.0500098 0.0334481 0.0517392 -0.0428031] +86: [0.119789 0.261019 -0.0369735 0.128682 -0.0428031 0.384083] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.371919 rank=2 -86: rhs=~[0.0969476 -0.00395098 0 0 0 0] +86: rcond(A+D)=0.395112 rank=2 +86: rhs=~[0.326524 0.553125 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.487275 -0.257384] -86: -> pi=~[0.487275 -0.257384 0 0 0 0] -86: resid active=~[1.38778e-17 -8.67362e-19] -86: resid=~[1.38778e-17 -8.67362e-19 -0.000246972 0.118245 -0.00223972 -0.00699537] +86: -> piActive=~[0.339129 2.43] +86: -> pi=~[0.339129 2.43 0 0 0 0] +86: resid active=~[-5.55112e-17 0] +86: resid=~[-5.55112e-17 0 0.00152804 0.400421 -0.00475392 0.674901] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-1.43765e-16 -5.35596e-17 -0.0680371 -1.25188 -0.0632118 -0.947069] -86: perr=~[9.69476e-05 -3.95098e-06 0] -86: END OF STEP (0.058,0.059): -86: verr=~[0.000239907 -0.000239907 -0.0679906 -1.25188 -0.0632583 -0.947069] -86: perr=~[9.70675e-05 -4.07094e-06 -1.11022e-16] +86: verr=~[2.09793e-17 -3.45318e-17 -0.201802 0.880898 -0.216154 1.51317] +86: perr=~[0.000326524 0.000553125 0] +86: END OF STEP (0.113,0.114): +86: verr=~[-0.000648233 0.000648233 -0.201602 0.880903 -0.216354 1.51316] +86: perr=~[0.0003262 0.000553449 -2.22045e-16] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -38378,16 +49854,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.25373 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.949179 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000239907 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.903678 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.52855 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000648233 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000239907 -0.000239907 -0.0679906 -1.25188 -0.0632583 -0.947069] -86: IMP t=0.059 verr=~[0.000239907 -0.000239907 -0.0679906 -1.25188 -0.0632583 -0.947069] +86: verr=~[-0.000648233 0.000648233 -0.201602 0.880903 -0.216354 1.51316] +86: IMP t=0.114 verr=~[-0.000648233 0.000648233 -0.201602 0.880903 -0.216354 1.51316] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -38399,115 +49875,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000239907 -0.000239907 -0.0679906 -1.25188 -0.0632583 -0.947069] +86: verrLeft=~[-0.000648233 0.000648233 -0.201602 0.880903 -0.216354 1.51316] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0679906,-1.25188, mag=1.25373 -86: Participating contact 1 is Sliding; vel=-0.0632583,-0.947069, mag=0.949179 +86: Participating contact 0 is Sliding; vel=-0.201602,0.880903, mag=0.903678 +86: Participating contact 1 is Sliding; vel=-0.216354,1.51316, mag=1.52855 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0679906,-1.25188, mag=1.25373 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0632583,-0.947069, mag=0.949179 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.201602,0.880903, mag=0.903678 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.216354,1.51316, mag=1.52855 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000239907; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000239907; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000648233; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000648233; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000239907 -0.000239907 -0.0679906 -1.25188 -0.0632583 -0.947069] +86: : verrLeft was=~[-0.000648233 0.000648233 -0.201602 0.880903 -0.216354 1.51316] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000239907 -0.0679906 -1.25188 -0.000239907 -0.0632583 -0.947069] +86: : rhsActive=~[-0.000648233 -0.201602 0.880903 0.000648233 -0.216354 1.51316] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.85739e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00178037... -86: > NEWTON iter 1: errNorm=0.00178037(v) -> deltaNorm=0.0116403(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.00124064 0 0 -0.000854157 6.32583e-05 0.000947069] -86: > deltaPi=~[0.0082313 1.66274e-09 3.06154e-08 -0.00822872 1.18068e-05 0.000176764] -86: DBG: Line search iter 1: back=1, prevNorm=0.00178037. -86: > piNow=~[0.0017687 -1.66274e-09 -3.06154e-08 -0.00177128 -1.18068e-05 -0.000176764] -86: > errNow=~[-1.19262e-18 -2.08463e-09 -3.83834e-08 -1.02999e-18 -1.93893e-09 -2.90286e-08] normNow=4.82084e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.70778e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000186397 -86: > NEWTON iter 2: errNorm=4.82084e-08(v) -> deltaNorm=6.41202e-08(pi) -86: > piActive=~[0.0017687 -1.66274e-09 -3.06154e-08 -0.00177128 -1.18068e-05 -0.000176764] -86: > errActive=~[-1.19262e-18 -2.08463e-09 -3.83834e-08 -1.02999e-18 -1.93893e-09 -2.90286e-08] -86: > deltaPi=~[3.67559e-08 -1.66251e-09 -3.06111e-08 3.2723e-08 -1.82492e-09 -2.73217e-08] -86: DBG: Line search iter 1: back=1, prevNorm=4.82084e-08. -86: > piNow=~[0.00176866 -2.36525e-13 -4.35505e-12 -0.00177131 -1.18049e-05 -0.000176737] -86: > errNow=~[0 -2.96539e-13 -5.46005e-12 -2.71051e-20 2.44915e-13 3.66673e-12] normNow=6.58824e-12 -86: DBG: Improvement rate now/prev at iter 2 is 0.000136662 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.58824e-12. -86: DBG: Worst offender is normal contact 0 err=0.00176866 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.61425e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00136037... +86: > NEWTON iter 1: errNorm=0.00136037(v) -> deltaNorm=0.00681816(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000885413 0.000201602 -0.000880903 0.000500022 0 0] +86: > deltaPi=~[-0.00477548 0.000116558 -0.000509303 0.00483829 2.55088e-09 -1.78406e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.00136037. +86: > piNow=~[-0.00522452 -0.000116558 0.000509303 0.00516171 -2.55088e-09 1.78406e-08] +86: > errNow=~[2.1684e-19 -3.58611e-09 1.56696e-08 -4.33681e-19 -3.89914e-09 2.72703e-08] normNow=3.18946e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.34455e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.46654e-05 +86: > NEWTON iter 2: errNorm=3.18946e-08(v) -> deltaNorm=4.23272e-08(pi) +86: > piActive=~[-0.00522452 -0.000116558 0.000509303 0.00516171 -2.55088e-09 1.78406e-08] +86: > errActive=~[2.1684e-19 -3.58611e-09 1.56696e-08 -4.33681e-19 -3.89914e-09 2.72703e-08] +86: > deltaPi=~[-2.43876e-08 -4.51233e-09 1.97167e-08 -2.15156e-08 -2.55092e-09 1.78409e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.18946e-08. +86: > piNow=~[-0.0052245 -0.000116554 0.000509283 0.00516173 4.25628e-14 -2.9768e-13] +86: > errNow=~[1.0842e-19 -6.70737e-14 2.9308e-13 2.1684e-19 6.50594e-14 -4.5502e-13] normNow=5.49245e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.72206e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.49245e-13. +86: DBG: Worst offender is normal contact 1 err=0.00516173 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.0679906,-1.25188, mag=1.25373 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0632583,-0.947069, mag=0.949179 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.201602,0.880903, mag=0.903678 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.216354,1.51316, mag=1.52855 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000239907; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000648233; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000239907 -0.000239907 -0.0679906 -1.25188 -0.0632583 -0.947069] +86: : verrLeft was=~[-0.000648233 0.000648233 -0.201602 0.880903 -0.216354 1.51316] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000239907 -0.0632583 -0.947069] -86: : pi was=~[0 -0.00177131 -2.36525e-13 -4.35505e-12 -1.18049e-05 -0.000176737] -86: : piActive=~[-0.01 -1.18049e-05 -0.000176737] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.53557e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00210807... -86: > NEWTON iter 1: errNorm=0.00210807(v) -> deltaNorm=0.00900526(pi) -86: > piActive=~[-0.01 -1.18049e-05 -0.000176737] -86: > errActive=~[-0.00195803 5.20533e-05 0.000779314] -86: > deltaPi=~[-0.00900493 -5.17102e-06 -7.74176e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.00210807. -86: > piNow=~[-0.000995071 -6.63392e-06 -9.93193e-05] -86: > errNow=~[4.60786e-19 -2.12183e-09 -3.17668e-08] normNow=3.18376e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.51027e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000353128 -86: > NEWTON iter 2: errNorm=3.18376e-08(v) -> deltaNorm=4.68442e-08(pi) -86: > piActive=~[-0.000995071 -6.63392e-06 -9.93193e-05] -86: > errActive=~[4.60786e-19 -2.12183e-09 -3.17668e-08] -86: > deltaPi=~[3.60157e-08 -1.9963e-09 -2.98875e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.18376e-08. -86: > piNow=~[-0.000995107 -6.63192e-06 -9.92895e-05] -86: > errNow=~[-2.71051e-20 8.47605e-13 1.26899e-11] normNow=1.27182e-11 -86: DBG: Improvement rate now/prev at iter 2 is 0.00039947 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.27182e-11. +86: : rhsActive=~[-0.000648233 -0.201602 0.880903] +86: : pi was=~[-0.0052245 0 -0.000116554 0.000509283 4.25628e-14 -2.9768e-13] +86: : piActive=~[-0.01 -0.000116554 0.000509283] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.36609e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00177862... +86: > NEWTON iter 1: errNorm=0.00177862(v) -> deltaNorm=0.00709439(pi) +86: > piActive=~[-0.01 -0.000116554 0.000509283] +86: > errActive=~[-0.00172547 9.62751e-05 -0.000420676] +86: > deltaPi=~[-0.00709061 -5.1642e-05 0.000225651] +86: DBG: Line search iter 1: back=1, prevNorm=0.00177862. +86: > piNow=~[-0.00290939 -6.49115e-05 0.000283632] +86: > errNow=~[3.25261e-19 -5.32464e-09 2.32661e-08] normNow=2.38676e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.34192e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.9719e-05 +86: > NEWTON iter 2: errNorm=2.38676e-08(v) -> deltaNorm=4.69844e-08(pi) +86: > piActive=~[-0.00290939 -6.49115e-05 0.000283632] +86: > errActive=~[3.25261e-19 -5.32464e-09 2.32661e-08] +86: > deltaPi=~[-3.61399e-08 -6.69808e-09 2.92674e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.38676e-08. +86: > piNow=~[-0.00290935 -6.49048e-05 0.000283603] +86: > errNow=~[-1.0842e-19 -3.20233e-13 1.39926e-12] normNow=1.43544e-12 +86: DBG: Improvement rate now/prev at iter 2 is 6.01417e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.43544e-12. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.0632583,-0.947069] to ~[-0.0632536,-0.946774] -86: DBG: Friction 1 rotated 0.000904569 deg, less than max 30 +86: slipVel 0 from ~[-0.201602,0.880903] to ~[-0.201641,0.88168] +86: DBG: Friction 0 rotated 0.00853885 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.000995107 -6.63192e-06 -9.92895e-05] -86: : m_verrLeft=~[0.000357368 2.71051e-20 -0.0679883 -1.25175 -0.0632536 -0.946774] +86: : m_piActive=~[-0.00290935 -6.49048e-05 0.000283603] +86: : m_verrLeft=~[1.0842e-19 0.000904561 -0.201641 0.88168 -0.216383 1.51347] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000357368 pi*v=0 -86: DBG: 1: pi=-0.000995107 verr=2.71051e-20 pi*v=-2.69724e-23 -86: SP FINAL 1 intervals, piTotal=~[0 -0.000995107 0 0 -6.63192e-06 -9.92895e-05] errNorm=1.27182e-11 -86: Postcompression verr=~[0.000357368 2.71051e-20 -0.0679883 -1.25175 -0.0632536 -0.946774] -86: impulse=~[0 -0.000995107 0 0 -6.63192e-06 -9.92895e-05] +86: DBG: 0: pi=-0.00290935 verr=1.0842e-19 pi*v=-3.15432e-22 +86: DBG: 1: pi=0 verr=0.000904561 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00290935 0 -6.49048e-05 0.000283603 0 0] errNorm=1.43544e-12 +86: Postcompression verr=~[1.0842e-19 0.000904561 -0.201641 0.88168 -0.216383 1.51347] +86: impulse=~[-0.00290935 0 -6.49048e-05 0.000283603 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.000995107 0 0 -6.63192e-06 -9.92895e-05]-> du ~[0.000128404 0.000382776 0.000157671 -0.000216264 3.46706e-06 0.000178684 -0.000675676 0.00052829] -86: Now verr0=~[0.000357368 -2.43945e-19 -0.0679883 -1.25175 -0.0632536 -0.946774] +86: Impact: imp ~[-0.00290935 0 -6.49048e-05 0.000283603 0 0]-> du ~[-0.000414553 0.000966097 -0.000465985 -0.000543434 -3.39452e-05 0.00045228 -0.00183912 0.00110824] +86: Now verr0=~[1.95156e-18 0.000904561 -0.201641 0.88168 -0.216383 1.51347] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000357368 -2.43945e-19 -0.0679883 -1.25175 -0.0632536 -0.946774] -86: verrExt=~[-1.29629 -1.02565 -0.0603713 -1.61492 -0.0538034 -1.19364] -86: total verr=~[-1.29593 -1.02565 -0.12836 -2.86667 -0.117057 -2.14041] -86: DYN t=0.059: verrStart=~[0.000357368 -2.43945e-19 -0.0679883 -1.25175 -0.0632536 -0.946774] -86: verrApplied=~[-1.29629 -1.02565 -0.0603713 -1.61492 -0.0538034 -1.19364] +86: verr0 =~[1.95156e-18 0.000904561 -0.201641 0.88168 -0.216383 1.51347] +86: verrExt=~[-0.634018 -0.518156 0.0108636 -0.766298 0.00700614 -0.602101] +86: total verr=~[-0.634018 -0.517252 -0.190778 0.115382 -0.209377 0.911372] +86: DYN t=0.114: verrStart=~[1.95156e-18 0.000904561 -0.201641 0.88168 -0.216383 1.51347] +86: verrApplied=~[-0.634018 -0.518156 0.0108636 -0.766298 0.00700614 -0.602101] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -38519,108 +49995,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000357368 -2.43945e-19 -0.0679883 -1.25175 -0.0632536 -0.946774] -86: verrApplied=~[-1.29629 -1.02565 -0.0603713 -1.61492 -0.0538034 -1.19364] +86: verrLeft=~[1.95156e-18 0.000904561 -0.201641 0.88168 -0.216383 1.51347] +86: verrApplied=~[-0.634018 -0.518156 0.0108636 -0.766298 0.00700614 -0.602101] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0679883,-1.25175, mag=1.25359 -86: Participating contact 1 is Sliding; vel=-0.0632536,-0.946774, mag=0.948884 +86: Participating contact 0 is Sliding; vel=-0.201641,0.88168, mag=0.904444 +86: Participating contact 1 is Sliding; vel=-0.216383,1.51347, mag=1.52886 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0679883,-1.25175, mag=1.25359 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0632536,-0.946774, mag=0.948884 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.201641,0.88168, mag=0.904444 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.216383,1.51347, mag=1.52886 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.29593; guess pi=-0.01 -86: DBG: active normal 3 has v=-1.02565; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.634018; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.517252; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000357368 -2.43945e-19 -0.0679883 -1.25175 -0.0632536 -0.946774] +86: : verrLeft was=~[1.95156e-18 0.000904561 -0.201641 0.88168 -0.216383 1.51347] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.29629 -1.02565 -0.0603713 -1.61492 -0.0538034 -1.19364] -86: : rhsActive=~[-1.29593 -0.12836 -2.86667 -1.02565 -0.117057 -2.14041] +86: : verrApplied was=~[-0.634018 -0.518156 0.0108636 -0.766298 0.00700614 -0.602101] +86: : rhsActive=~[-0.634018 -0.190778 0.115382 -0.517252 -0.209377 0.911372] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.85632e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.64788... -86: > NEWTON iter 1: errNorm=1.64788(v) -> deltaNorm=4.33054(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.6167e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.813522... +86: > NEWTON iter 1: errNorm=0.813522(v) -> deltaNorm=2.76922(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.29234 6.79883e-05 0.00125175 1.02244 6.32536e-05 0.000946774] -86: > deltaPi=~[3.49115 0.0189878 0.349587 2.52558 0.0169018 0.252985] -86: DBG: Line search iter 1: back=1, prevNorm=1.64788. -86: > piNow=~[-3.50115 -0.0189878 -0.349587 -2.53558 -0.0169018 -0.252985] -86: > errNow=~[4.44089e-16 8.84127e-07 1.62778e-05 4.44089e-16 5.95057e-07 8.90675e-06] normNow=1.85858e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.12786e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.00688e-10 -86: > NEWTON iter 2: errNorm=1.85858e-05(v) -> deltaNorm=2.23738e-05(pi) -86: > piActive=~[-3.50115 -0.0189878 -0.349587 -2.53558 -0.0169018 -0.252985] -86: > errActive=~[4.44089e-16 8.84127e-07 1.62778e-05 4.44089e-16 5.95057e-07 8.90675e-06] -86: > deltaPi=~[-1.39646e-05 6.29539e-07 1.15906e-05 -1.00085e-05 5.60395e-07 8.38793e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.85858e-05. -86: > piNow=~[-3.50114 -0.0189884 -0.349599 -2.53557 -0.0169024 -0.252993] -86: > errNow=~[0 -2.77556e-17 -4.44089e-16 0 -3.46945e-17 -5.55112e-16] normNow=7.12277e-16 -86: DBG: Improvement rate now/prev at iter 2 is 3.83236e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.12277e-16. +86: > errActive=~[0.630485 0.000201641 -0.00088168 0.514105 0.000216383 -0.00151347] +86: > deltaPi=~[2.15281 0.048217 -0.21083 1.71969 0.0244797 -0.171221] +86: DBG: Line search iter 1: back=1, prevNorm=0.813522. +86: > piNow=~[-2.16281 -0.048217 0.21083 -1.72969 -0.0244797 0.171221] +86: > errNow=~[1.11022e-16 1.61695e-06 -7.07014e-06 3.33067e-16 1.38607e-06 -9.69472e-06] normNow=1.21865e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.49799e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.2288e-10 +86: > NEWTON iter 2: errNorm=1.21865e-05(v) -> deltaNorm=1.82258e-05(pi) +86: > piActive=~[-2.16281 -0.048217 0.21083 -1.72969 -0.0244797 0.171221] +86: > errActive=~[1.11022e-16 1.61695e-06 -7.07014e-06 3.33067e-16 1.38607e-06 -9.69472e-06] +86: > deltaPi=~[1.09972e-05 2.03296e-06 -8.88916e-06 8.67168e-06 1.02933e-06 -7.19957e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.21865e-05. +86: > piNow=~[-2.16282 -0.048219 0.210838 -1.72969 -0.0244807 0.171228] +86: > errNow=~[1.11022e-16 1.80411e-16 -7.77156e-16 0 2.35922e-16 -1.60982e-15] normNow=1.8155e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.48976e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.8155e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.0679883,-1.25175] to ~[-0.0974572,-1.28185] -86: DBG: Friction 0 rotated 1.2388 deg, less than max 30 -86: slipVel 1 from ~[-0.0632536,-0.946774] to ~[-0.091777,-0.915978] -86: DBG: Friction 1 rotated 1.89946 deg, less than max 30 +86: slipVel 0 from ~[-0.201641,0.88168] to ~[-0.20889,0.882234] +86: DBG: Friction 0 rotated 0.438757 deg, less than max 30 +86: slipVel 1 from ~[-0.216383,1.51347] to ~[-0.223945,1.52746] +86: DBG: Friction 1 rotated 0.204353 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-3.50114 -0.0189884 -0.349599 -2.53557 -0.0169024 -0.252993] -86: : m_verrLeft=~[0 0 -0.0974572 -1.28185 -0.091777 -0.915978] +86: : m_piActive=~[-2.16282 -0.048219 0.210838 -1.72969 -0.0244807 0.171228] +86: : m_verrLeft=~[-1.11022e-16 0 -0.20889 0.882234 -0.223945 1.52746] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-3.50114 verr=0 pi*v=-0 -86: DBG: 1: pi=-2.53557 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-3.50114 -2.53557 -0.0189884 -0.349599 -0.0169024 -0.252993] errNorm=7.12277e-16 +86: DBG: 0: pi=-2.16282 verr=-1.11022e-16 pi*v=2.40121e-16 +86: DBG: 1: pi=-1.72969 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-2.16282 -1.72969 -0.048219 0.210838 -0.0244807 0.171228] errNorm=1.8155e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0679883 -1.25175, |slipV|=1.25359 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.201641 0.88168, |slipV|=0.904444 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0632536 -0.946774, |slipV|=0.948884 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.216383 1.51347, |slipV|=1.52886 86: ------------------------------ 86: -86: dynamics impulse=~[-3.50114 -2.53557 -0.0189884 -0.349599 -0.0169024 -0.252993] -86: updated verrStart=~[0 0 -0.0974572 -1.28185 -0.091777 -0.915978] +86: dynamics impulse=~[-2.16282 -1.72969 -0.048219 0.210838 -0.0244807 0.171228] +86: updated verrStart=~[-1.11022e-16 0 -0.20889 0.882234 -0.223945 1.52746] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0970675 -0.00407094 0 0 0 0] +86: posVerr=~[0.3262 0.553449 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.253859 0.105804 0.00233089 0.308359 -0.000567235 0.12265] -86: [0.105804 0.215211 0.00561602 0.125326 0.00769966 0.258824] -86: [0.00233089 0.00561602 0.052877 0.0458752 0.0515876 -0.0372031] -86: [0.308359 0.125326 0.0458752 0.441058 0.0409534 0.125227] -86: [-0.000567235 0.00769966 0.0515876 0.0409534 0.0504367 -0.0332276] -86: [0.12265 0.258824 -0.0372031 0.125227 -0.0332276 0.380413] +86: [0.2533 0.0999351 -0.0120874 0.310013 -0.00761938 0.120011] +86: [0.0999351 0.214761 0.00208372 0.121838 -0.00119657 0.261309] +86: [-0.0120874 0.00208372 0.0486075 0.026147 0.0500822 -0.0371987] +86: [0.310013 0.121838 0.026147 0.448373 0.0336612 0.128155] +86: [-0.00761938 -0.00119657 0.0500822 0.0336612 0.0518736 -0.0431781] +86: [0.120011 0.261309 -0.0371987 0.128155 -0.0431781 0.383049] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.37119 rank=2 -86: rhs=~[0.0970675 -0.00407094 0 0 0 0] +86: rcond(A+D)=0.393841 rank=2 +86: rhs=~[0.3262 0.553449 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.490824 -0.260221] -86: -> pi=~[0.490824 -0.260221 0 0 0 0] -86: resid active=~[0 1.47451e-17] -86: resid=~[0 1.47451e-17 -0.000317346 0.118737 -0.00228202 -0.00715179] +86: -> piActive=~[0.332027 2.42255] +86: -> pi=~[0.332027 2.42255 0 0 0 0] +86: resid active=~[1.11022e-16 0] +86: resid=~[1.11022e-16 0 0.00103455 0.398091 -0.00542859 0.67288] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-3.82181e-16 -3.64834e-16 -0.0974572 -1.28185 -0.091777 -0.915978] -86: perr=~[9.70675e-05 -4.07094e-06 -1.11022e-16] -86: END OF STEP (0.059,0.06): -86: verr=~[0.000294381 -0.000294381 -0.0973903 -1.28185 -0.091844 -0.915977] -86: perr=~[9.72147e-05 -4.21813e-06 0] +86: verr=~[-8.26704e-17 3.05908e-16 -0.20889 0.882234 -0.223945 1.52746] +86: perr=~[0.0003262 0.000553449 -2.22045e-16] +86: END OF STEP (0.114,0.115): +86: verr=~[-0.000665178 0.000665178 -0.208682 0.88224 -0.224153 1.52745] +86: perr=~[0.000325867 0.000553781 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -38628,16 +50104,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.28555 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.92057 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000294381 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.906584 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.54381 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000665178 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000294381 -0.000294381 -0.0973903 -1.28185 -0.091844 -0.915977] -86: IMP t=0.06 verr=~[0.000294381 -0.000294381 -0.0973903 -1.28185 -0.091844 -0.915977] +86: verr=~[-0.000665178 0.000665178 -0.208682 0.88224 -0.224153 1.52745] +86: IMP t=0.115 verr=~[-0.000665178 0.000665178 -0.208682 0.88224 -0.224153 1.52745] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -38649,115 +50125,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000294381 -0.000294381 -0.0973903 -1.28185 -0.091844 -0.915977] +86: verrLeft=~[-0.000665178 0.000665178 -0.208682 0.88224 -0.224153 1.52745] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0973903,-1.28185, mag=1.28555 -86: Participating contact 1 is Sliding; vel=-0.091844,-0.915977, mag=0.92057 +86: Participating contact 0 is Sliding; vel=-0.208682,0.88224, mag=0.906584 +86: Participating contact 1 is Sliding; vel=-0.224153,1.52745, mag=1.54381 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0973903,-1.28185, mag=1.28555 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.091844,-0.915977, mag=0.92057 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.208682,0.88224, mag=0.906584 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.224153,1.52745, mag=1.54381 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000294381; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000294381; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000665178; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000665178; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000294381 -0.000294381 -0.0973903 -1.28185 -0.091844 -0.915977] +86: : verrLeft was=~[-0.000665178 0.000665178 -0.208682 0.88224 -0.224153 1.52745] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000294381 -0.0973903 -1.28185 -0.000294381 -0.091844 -0.915977] +86: : rhsActive=~[-0.000665178 -0.208682 0.88224 0.000665178 -0.224153 1.52745] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.88963e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00169299... -86: > NEWTON iter 1: errNorm=0.00169299(v) -> deltaNorm=0.0110564(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.00117876 0 0 -0.000793282 9.1844e-05 0.000915977] -86: > deltaPi=~[0.00781825 2.20622e-09 2.90383e-08 -0.0078148 2.18043e-05 0.000217458] -86: DBG: Line search iter 1: back=1, prevNorm=0.00169299. -86: > piNow=~[0.00218175 -2.20622e-09 -2.90383e-08 -0.0021852 -2.18043e-05 -0.000217458] -86: > errNow=~[-1.0842e-18 -2.8362e-09 -3.73301e-08 1.0842e-19 -2.6735e-09 -2.66633e-08] normNow=4.60397e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.71943e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000123323 -86: > NEWTON iter 2: errNorm=4.60397e-08(v) -> deltaNorm=6.09479e-08(pi) -86: > piActive=~[0.00218175 -2.20622e-09 -2.90383e-08 -0.0021852 -2.18043e-05 -0.000217458] -86: > errActive=~[-1.0842e-18 -2.8362e-09 -3.73301e-08 1.0842e-19 -2.6735e-09 -2.66633e-08] -86: > deltaPi=~[3.49496e-08 -2.20602e-09 -2.90356e-08 3.11341e-08 -2.5938e-09 -2.58685e-08] -86: DBG: Line search iter 1: back=1, prevNorm=4.60397e-08. -86: > piNow=~[0.00218172 -2.0673e-13 -2.72097e-12 -0.00218523 -2.18017e-05 -0.000217433] -86: > errNow=~[-5.42101e-20 -2.6576e-13 -3.49794e-12 0 2.22562e-13 2.21965e-12] normNow=4.15723e-12 -86: DBG: Improvement rate now/prev at iter 2 is 9.02966e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.15723e-12. -86: DBG: Worst offender is normal contact 0 err=0.00218172 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.66873e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00134856... +86: > NEWTON iter 1: errNorm=0.00134856(v) -> deltaNorm=0.00664721(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000872342 0.000208682 -0.00088224 0.000485525 0 0] +86: > deltaPi=~[-0.00465426 0.000123055 -0.000520236 0.00471567 2.55038e-09 -1.73791e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.00134856. +86: > piNow=~[-0.00534574 -0.000123055 0.000520236 0.00528433 -2.55038e-09 1.73791e-08] +86: > errNow=~[2.1684e-19 -3.61781e-09 1.5295e-08 2.1684e-19 -3.93731e-09 2.68302e-08] normNow=3.1343e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.32419e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.37361e-05 +86: > NEWTON iter 2: errNorm=3.1343e-08(v) -> deltaNorm=4.11148e-08(pi) +86: > piActive=~[-0.00534574 -0.000123055 0.000520236 0.00528433 -2.55038e-09 1.73791e-08] +86: > errActive=~[2.1684e-19 -3.61781e-09 1.5295e-08 2.1684e-19 -3.93731e-09 2.68302e-08] +86: > deltaPi=~[-2.36224e-08 -4.53428e-09 1.91695e-08 -2.08765e-08 -2.55042e-09 1.73794e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.1343e-08. +86: > piNow=~[-0.00534572 -0.00012305 0.000520217 0.00528435 4.04216e-14 -2.75447e-13] +86: > errNow=~[-1.0842e-19 -6.42366e-14 2.71572e-13 1.0842e-19 6.24035e-14 -4.25238e-13] normNow=5.12445e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.63496e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.12445e-13. +86: DBG: Worst offender is normal contact 1 err=0.00528435 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.0973903,-1.28185, mag=1.28555 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.091844,-0.915977, mag=0.92057 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.208682,0.88224, mag=0.906584 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.224153,1.52745, mag=1.54381 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000294381; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000665178; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000294381 -0.000294381 -0.0973903 -1.28185 -0.091844 -0.915977] +86: : verrLeft was=~[-0.000665178 0.000665178 -0.208682 0.88224 -0.224153 1.52745] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000294381 -0.091844 -0.915977] -86: : pi was=~[0 -0.00218523 -2.0673e-13 -2.72097e-12 -2.18017e-05 -0.000217433] -86: : piActive=~[-0.01 -2.18017e-05 -0.000217433] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.42901e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00203525... -86: > NEWTON iter 1: errNorm=0.00203525(v) -> deltaNorm=0.00877382(pi) -86: > piActive=~[-0.01 -2.18017e-05 -0.000217433] -86: > errActive=~[-0.00190387 7.1774e-05 0.000715815] -86: > deltaPi=~[-0.00877329 -9.55978e-06 -9.53414e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.00203525. -86: > piNow=~[-0.00122671 -1.22419e-05 -0.000122091] -86: > errNow=~[1.0842e-19 -3.00141e-09 -2.99336e-08] normNow=3.00837e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.47813e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000226217 -86: > NEWTON iter 2: errNorm=3.00837e-08(v) -> deltaNorm=4.56542e-08(pi) -86: > piActive=~[-0.00122671 -1.22419e-05 -0.000122091] -86: > errActive=~[1.0842e-19 -3.00141e-09 -2.99336e-08] -86: > deltaPi=~[3.51145e-08 -2.91091e-09 -2.9031e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.00837e-08. -86: > piNow=~[-0.00122674 -1.2239e-05 -0.000122062] -86: > errNow=~[5.42101e-20 7.92512e-13 7.90386e-12] normNow=7.9435e-12 -86: DBG: Improvement rate now/prev at iter 2 is 0.000264047 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.9435e-12. +86: : rhsActive=~[-0.000665178 -0.208682 0.88224] +86: : pi was=~[-0.00534572 0 -0.00012305 0.000520217 4.04216e-14 -2.75447e-13] +86: : piActive=~[-0.01 -0.00012305 0.000520217] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.37691e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00176721... +86: > NEWTON iter 1: errNorm=0.00176721(v) -> deltaNorm=0.00703368(pi) +86: > piActive=~[-0.01 -0.00012305 0.000520217] +86: > errActive=~[-0.0017161 9.71263e-05 -0.000410619] +86: > deltaPi=~[-0.00702967 -5.46717e-05 0.000231135] +86: DBG: Line search iter 1: back=1, prevNorm=0.00176721. +86: > piNow=~[-0.00297033 -6.83784e-05 0.000289082] +86: > errNow=~[-4.33681e-19 -5.46425e-09 2.31011e-08] normNow=2.37386e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.34328e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.82304e-05 +86: > NEWTON iter 2: errNorm=2.37386e-08(v) -> deltaNorm=4.64162e-08(pi) +86: > piActive=~[-0.00297033 -6.83784e-05 0.000289082] +86: > errActive=~[-4.33681e-19 -5.46425e-09 2.31011e-08] +86: > deltaPi=~[-3.56317e-08 -6.84714e-09 2.89475e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.37386e-08. +86: > piNow=~[-0.00297029 -6.83716e-05 0.000289053] +86: > errNow=~[0 -3.13561e-13 1.32563e-12] normNow=1.36221e-12 +86: DBG: Improvement rate now/prev at iter 2 is 5.7384e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.36221e-12. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.091844,-0.915977] to ~[-0.091838,-0.915614] -86: DBG: Friction 1 rotated 0.00188576 deg, less than max 30 +86: slipVel 0 from ~[-0.208682,0.88224] to ~[-0.208722,0.883034] +86: DBG: Friction 0 rotated 0.00907329 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00122674 -1.2239e-05 -0.000122062] -86: : m_verrLeft=~[0.00043867 -5.42101e-20 -0.0973873 -1.28168 -0.091838 -0.915614] +86: : m_piActive=~[-0.00297029 -6.83716e-05 0.000289053] +86: : m_verrLeft=~[0 0.000929026 -0.208722 0.883034 -0.224182 1.52777] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00043867 pi*v=0 -86: DBG: 1: pi=-0.00122674 verr=-5.42101e-20 pi*v=6.65018e-23 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00122674 0 0 -1.2239e-05 -0.000122062] errNorm=7.9435e-12 -86: Postcompression verr=~[0.00043867 -5.42101e-20 -0.0973873 -1.28168 -0.091838 -0.915614] -86: impulse=~[0 -0.00122674 0 0 -1.2239e-05 -0.000122062] +86: DBG: 0: pi=-0.00297029 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.000929026 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00297029 0 -6.83716e-05 0.000289053 0 0] errNorm=1.36221e-12 +86: Postcompression verr=~[0 0.000929026 -0.208722 0.883034 -0.224182 1.52777] +86: impulse=~[-0.00297029 0 -6.83716e-05 0.000289053 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00122674 0 0 -1.2239e-05 -0.000122062]-> du ~[0.000157246 0.000470759 0.000193364 -0.000266268 4.48208e-06 0.000219335 -0.000830566 0.000647511] -86: Now verr0=~[0.00043867 2.1684e-19 -0.0973873 -1.28168 -0.091838 -0.915614] +86: Impact: imp ~[-0.00297029 0 -6.83716e-05 0.000289053 0 0]-> du ~[-0.000425175 0.000989639 -0.000476507 -0.000555908 -3.44443e-05 0.000464513 -0.00188452 0.00113704] +86: Now verr0=~[0 0.000929026 -0.208722 0.883034 -0.224182 1.52777] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00043867 2.1684e-19 -0.0973873 -1.28168 -0.091838 -0.915614] -86: verrExt=~[-1.26593 -0.99997 -0.0600121 -1.58198 -0.0536458 -1.16379] -86: total verr=~[-1.26549 -0.99997 -0.157399 -2.86366 -0.145484 -2.07941] -86: DYN t=0.06: verrStart=~[0.00043867 2.1684e-19 -0.0973873 -1.28168 -0.091838 -0.915614] -86: verrApplied=~[-1.26593 -0.99997 -0.0600121 -1.58198 -0.0536458 -1.16379] +86: verr0 =~[0 0.000929026 -0.208722 0.883034 -0.224182 1.52777] +86: verrExt=~[-0.667016 -0.544015 0.0115546 -0.806106 0.0073464 -0.631777] +86: total verr=~[-0.667016 -0.543086 -0.197167 0.0769276 -0.216835 0.895995] +86: DYN t=0.115: verrStart=~[0 0.000929026 -0.208722 0.883034 -0.224182 1.52777] +86: verrApplied=~[-0.667016 -0.544015 0.0115546 -0.806106 0.0073464 -0.631777] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -38769,108 +50245,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00043867 2.1684e-19 -0.0973873 -1.28168 -0.091838 -0.915614] -86: verrApplied=~[-1.26593 -0.99997 -0.0600121 -1.58198 -0.0536458 -1.16379] +86: verrLeft=~[0 0.000929026 -0.208722 0.883034 -0.224182 1.52777] +86: verrApplied=~[-0.667016 -0.544015 0.0115546 -0.806106 0.0073464 -0.631777] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0973873,-1.28168, mag=1.28538 -86: Participating contact 1 is Sliding; vel=-0.091838,-0.915614, mag=0.920208 +86: Participating contact 0 is Sliding; vel=-0.208722,0.883034, mag=0.907366 +86: Participating contact 1 is Sliding; vel=-0.224182,1.52777, mag=1.54413 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0973873,-1.28168, mag=1.28538 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.091838,-0.915614, mag=0.920208 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.208722,0.883034, mag=0.907366 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.224182,1.52777, mag=1.54413 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.26549; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.99997; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.667016; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.543086; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00043867 2.1684e-19 -0.0973873 -1.28168 -0.091838 -0.915614] +86: : verrLeft was=~[0 0.000929026 -0.208722 0.883034 -0.224182 1.52777] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.26593 -0.99997 -0.0600121 -1.58198 -0.0536458 -1.16379] -86: : rhsActive=~[-1.26549 -0.157399 -2.86366 -0.99997 -0.145484 -2.07941] +86: : verrApplied was=~[-0.667016 -0.544015 0.0115546 -0.806106 0.0073464 -0.631777] +86: : rhsActive=~[-0.667016 -0.197167 0.0769276 -0.543086 -0.216835 0.895995] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.88833e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.60809... -86: > NEWTON iter 1: errNorm=1.60809(v) -> deltaNorm=4.24374(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.67123e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.855398... +86: > NEWTON iter 1: errNorm=0.855398(v) -> deltaNorm=2.89446(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.26191 9.73873e-05 0.00128168 0.996774 9.1838e-05 0.000915614] -86: > deltaPi=~[3.42629 0.0260343 0.342629 2.46787 0.0247285 0.24654] -86: DBG: Line search iter 1: back=1, prevNorm=1.60809. -86: > piNow=~[-3.43629 -0.0260343 -0.342629 -2.47787 -0.0247285 -0.24654] -86: > errNow=~[2.22045e-16 1.2429e-06 1.63575e-05 4.44089e-16 8.4422e-07 8.41677e-06] normNow=1.84571e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.14776e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.84067e-10 -86: > NEWTON iter 2: errNorm=1.84571e-05(v) -> deltaNorm=2.19418e-05(pi) -86: > piActive=~[-3.43629 -0.0260343 -0.342629 -2.47787 -0.0247285 -0.24654] -86: > errActive=~[2.22045e-16 1.2429e-06 1.63575e-05 4.44089e-16 8.4422e-07 8.41677e-06] -86: > deltaPi=~[-1.37194e-05 8.63013e-07 1.13578e-05 -9.79952e-06 8.19623e-07 8.17154e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.84571e-05. -86: > piNow=~[-3.43628 -0.0260352 -0.34264 -2.47786 -0.0247293 -0.246549] -86: > errNow=~[2.22045e-16 -4.16334e-17 -5.55112e-16 0 -5.20417e-17 -4.996e-16] normNow=7.81981e-16 -86: DBG: Improvement rate now/prev at iter 2 is 4.23674e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.81981e-16. +86: > errActive=~[0.663465 0.000208722 -0.000883034 0.539922 0.000224182 -0.00152777] +86: > deltaPi=~[2.25555 0.0521127 -0.220472 1.79071 0.0261423 -0.178157] +86: DBG: Line search iter 1: back=1, prevNorm=0.855398. +86: > piNow=~[-2.26555 -0.0521127 0.220472 -1.80071 -0.0261423 0.178157] +86: > errNow=~[1.11022e-16 1.75361e-06 -7.41895e-06 -1.11022e-16 1.49533e-06 -1.01905e-05] normNow=1.2814e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.49801e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.18854e-10 +86: > NEWTON iter 2: errNorm=1.2814e-05(v) -> deltaNorm=1.89806e-05(pi) +86: > piActive=~[-2.26555 -0.0521127 0.220472 -1.80071 -0.0261423 0.178157] +86: > errActive=~[1.11022e-16 1.75361e-06 -7.41895e-06 -1.11022e-16 1.49533e-06 -1.01905e-05] +86: > deltaPi=~[1.14529e-05 2.19609e-06 -9.29092e-06 8.98172e-06 1.0988e-06 -7.48816e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.2814e-05. +86: > piNow=~[-2.26557 -0.0521149 0.220481 -1.80072 -0.0261434 0.178164] +86: > errNow=~[0 1.73472e-16 -7.49401e-16 -1.11022e-16 2.28983e-16 -1.4988e-15] normNow=1.70378e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.32962e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.70378e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.0973873,-1.28168] to ~[-0.126803,-1.31044] -86: DBG: Friction 0 rotated 1.18174 deg, less than max 30 -86: slipVel 1 from ~[-0.091838,-0.915614] to ~[-0.120321,-0.882857] -86: DBG: Friction 1 rotated 2.03307 deg, less than max 30 +86: slipVel 0 from ~[-0.208722,0.883034] to ~[-0.216509,0.880692] +86: DBG: Friction 0 rotated 0.512808 deg, less than max 30 +86: slipVel 1 from ~[-0.224182,1.52777] to ~[-0.23232,1.54009] +86: DBG: Friction 1 rotated 0.230446 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-3.43628 -0.0260352 -0.34264 -2.47786 -0.0247293 -0.246549] -86: : m_verrLeft=~[-2.22045e-16 0 -0.126803 -1.31044 -0.120321 -0.882857] +86: : m_piActive=~[-2.26557 -0.0521149 0.220481 -1.80072 -0.0261434 0.178164] +86: : m_verrLeft=~[0 1.11022e-16 -0.216509 0.880692 -0.23232 1.54009] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-3.43628 verr=-2.22045e-16 pi*v=7.63007e-16 -86: DBG: 1: pi=-2.47786 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-3.43628 -2.47786 -0.0260352 -0.34264 -0.0247293 -0.246549] errNorm=7.81981e-16 +86: DBG: 0: pi=-2.26557 verr=0 pi*v=-0 +86: DBG: 1: pi=-1.80072 verr=1.11022e-16 pi*v=-1.9992e-16 +86: SP FINAL 1 intervals, piTotal=~[-2.26557 -1.80072 -0.0521149 0.220481 -0.0261434 0.178164] errNorm=1.70378e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.0973873 -1.28168, |slipV|=1.28538 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.208722 0.883034, |slipV|=0.907366 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.091838 -0.915614, |slipV|=0.920208 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.224182 1.52777, |slipV|=1.54413 86: ------------------------------ 86: -86: dynamics impulse=~[-3.43628 -2.47786 -0.0260352 -0.34264 -0.0247293 -0.246549] -86: updated verrStart=~[-2.22045e-16 0 -0.126803 -1.31044 -0.120321 -0.882857] +86: dynamics impulse=~[-2.26557 -1.80072 -0.0521149 0.220481 -0.0261434 0.178164] +86: updated verrStart=~[0 1.11022e-16 -0.216509 0.880692 -0.23232 1.54009] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0972147 -0.00421813 0 0 0 0] +86: posVerr=~[0.325867 0.553781 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.25274 0.105425 0.0021676 0.307914 -0.000656283 0.122618] -86: [0.105425 0.214192 0.00564309 0.125325 0.00767001 0.258307] -86: [0.0021676 0.00564309 0.0528783 0.0458027 0.0516197 -0.0372411] -86: [0.307914 0.125325 0.0458027 0.441966 0.0409882 0.125593] -86: [-0.000656283 0.00767001 0.0516197 0.0409882 0.0504936 -0.0333569] -86: [0.122618 0.258307 -0.0372411 0.125593 -0.0333569 0.380918] +86: [0.254419 0.100667 -0.0121105 0.310301 -0.00751742 0.120209] +86: [0.100667 0.215737 0.00186059 0.122089 -0.0015103 0.261576] +86: [-0.0121105 0.00186059 0.0486288 0.0261439 0.0501494 -0.0374042] +86: [0.310301 0.122089 0.0261439 0.447213 0.03385 0.127621] +86: [-0.00751742 -0.0015103 0.0501494 0.03385 0.0520036 -0.0435351] +86: [0.120209 0.261576 -0.0374042 0.127621 -0.0435351 0.381963] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.370754 rank=2 -86: rhs=~[0.0972147 -0.00421813 0 0 0 0] +86: rcond(A+D)=0.392699 rank=2 +86: rhs=~[0.325867 0.553781 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.494355 -0.263015] -86: -> pi=~[0.494355 -0.263015 0 0 0 0] -86: resid active=~[-2.77556e-17 -1.73472e-18] -86: resid=~[-2.77556e-17 -1.73472e-18 -0.000412654 0.119257 -0.00234177 -0.00732208] +86: -> piActive=~[0.325205 2.41518] +86: -> pi=~[0.325205 2.41518 0 0 0 0] +86: resid active=~[-5.55112e-17 0] +86: resid=~[-5.55112e-17 0 0.000555238 0.395778 -0.00609235 0.670846] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[1.72713e-16 6.863e-17 -0.126803 -1.31044 -0.120321 -0.882857] -86: perr=~[9.72147e-05 -4.21813e-06 0] -86: END OF STEP (0.06,0.061): -86: verr=~[0.000350679 -0.000350679 -0.126711 -1.31044 -0.120413 -0.882856] -86: perr=~[9.739e-05 -4.39347e-06 0] +86: verr=~[-2.53703e-16 4.46691e-17 -0.216509 0.880692 -0.23232 1.54009] +86: perr=~[0.000325867 0.000553781 0] +86: END OF STEP (0.115,0.116): +86: verr=~[-0.000682103 0.000682103 -0.216291 0.880698 -0.232538 1.54008] +86: perr=~[0.000325526 0.000554123 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -38878,16 +50354,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.31655 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.891029 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000350679 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.906869 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.55754 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000682103 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000350679 -0.000350679 -0.126711 -1.31044 -0.120413 -0.882856] -86: IMP t=0.061 verr=~[0.000350679 -0.000350679 -0.126711 -1.31044 -0.120413 -0.882856] +86: verr=~[-0.000682103 0.000682103 -0.216291 0.880698 -0.232538 1.54008] +86: IMP t=0.116 verr=~[-0.000682103 0.000682103 -0.216291 0.880698 -0.232538 1.54008] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -38899,115 +50375,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000350679 -0.000350679 -0.126711 -1.31044 -0.120413 -0.882856] +86: verrLeft=~[-0.000682103 0.000682103 -0.216291 0.880698 -0.232538 1.54008] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.126711,-1.31044, mag=1.31655 -86: Participating contact 1 is Sliding; vel=-0.120413,-0.882856, mag=0.891029 +86: Participating contact 0 is Sliding; vel=-0.216291,0.880698, mag=0.906869 +86: Participating contact 1 is Sliding; vel=-0.232538,1.54008, mag=1.55754 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.126711,-1.31044, mag=1.31655 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.120413,-0.882856, mag=0.891029 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.216291,0.880698, mag=0.906869 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.232538,1.54008, mag=1.55754 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000350679; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000350679; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000682103; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000682103; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000350679 -0.000350679 -0.126711 -1.31044 -0.120413 -0.882856] +86: : verrLeft was=~[-0.000682103 0.000682103 -0.216291 0.880698 -0.232538 1.54008] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000350679 -0.126711 -1.31044 -0.000350679 -0.120413 -0.882856] +86: : rhsActive=~[-0.000682103 -0.216291 0.880698 0.000682103 -0.232538 1.54008] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.92154e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00160452... -86: > NEWTON iter 1: errNorm=0.00160452(v) -> deltaNorm=0.0104496(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.001116 0 0 -0.00073149 0.000120413 0.000882856] -86: > deltaPi=~[0.00738911 2.649e-09 2.73957e-08 -0.00738427 3.53523e-05 0.000259201] -86: DBG: Line search iter 1: back=1, prevNorm=0.00160452. -86: > piNow=~[0.00261089 -2.649e-09 -2.73957e-08 -0.00261573 -3.53523e-05 -0.000259201] -86: > errNow=~[2.1684e-19 -3.48754e-09 -3.60678e-08 4.33681e-19 -3.312e-09 -2.42834e-08] normNow=4.37459e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.72642e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.66345e-05 -86: > NEWTON iter 2: errNorm=4.37459e-08(v) -> deltaNorm=5.76204e-08(pi) -86: > piActive=~[0.00261089 -2.649e-09 -2.73957e-08 -0.00261573 -3.53523e-05 -0.000259201] -86: > errActive=~[2.1684e-19 -3.48754e-09 -3.60678e-08 4.33681e-19 -3.312e-09 -2.42834e-08] -86: > deltaPi=~[3.30534e-08 -2.64883e-09 -2.73939e-08 2.94415e-08 -3.3194e-09 -2.43376e-08] -86: DBG: Line search iter 1: back=1, prevNorm=4.37459e-08. -86: > piNow=~[0.00261086 -1.73566e-13 -1.79501e-12 -0.00261576 -3.5349e-05 -0.000259176] -86: > errNow=~[0 -2.28508e-13 -2.36321e-12 -5.42101e-20 1.92707e-13 1.41292e-12] normNow=2.76956e-12 -86: DBG: Improvement rate now/prev at iter 2 is 6.33102e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.76956e-12. -86: DBG: Worst offender is normal contact 0 err=0.00261086 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.71339e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00133556... +86: > NEWTON iter 1: errNorm=0.00133556(v) -> deltaNorm=0.00647973(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000859741 0.000216291 -0.000880698 0.000471327 0 0] +86: > deltaPi=~[-0.00453579 0.000130327 -0.000530668 0.00459509 2.55541e-09 -1.69243e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.00133556. +86: > piNow=~[-0.00546421 -0.000130327 0.000530668 0.00540491 -2.55541e-09 1.69243e-08] +86: > errNow=~[1.0842e-19 -3.6543e-09 1.48796e-08 -3.25261e-19 -3.98015e-09 2.63602e-08] normNow=3.07483e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.30228e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.28501e-05 +86: > NEWTON iter 2: errNorm=3.07483e-08(v) -> deltaNorm=3.99264e-08(pi) +86: > piActive=~[-0.00546421 -0.000130327 0.000530668 0.00540491 -2.55541e-09 1.69243e-08] +86: > errActive=~[1.0842e-19 -3.6543e-09 1.48796e-08 -3.25261e-19 -3.98015e-09 2.63602e-08] +86: > deltaPi=~[-2.28725e-08 -4.57502e-09 1.86286e-08 -2.02493e-08 -2.55545e-09 1.69246e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.07483e-08. +86: > piNow=~[-0.00546419 -0.000130323 0.00053065 0.00540493 3.85374e-14 -2.55231e-13] +86: > errNow=~[-2.1684e-19 -6.17015e-14 2.51237e-13 -2.1684e-19 6.00234e-14 -3.97531e-13] normNow=4.7808e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.55482e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.7808e-13. +86: DBG: Worst offender is normal contact 1 err=0.00540493 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.126711,-1.31044, mag=1.31655 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.120413,-0.882856, mag=0.891029 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.216291,0.880698, mag=0.906869 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.232538,1.54008, mag=1.55754 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000350679; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000682103; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000350679 -0.000350679 -0.126711 -1.31044 -0.120413 -0.882856] +86: : verrLeft was=~[-0.000682103 0.000682103 -0.216291 0.880698 -0.232538 1.54008] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000350679 -0.120413 -0.882856] -86: : pi was=~[0 -0.00261576 -1.73566e-13 -1.79501e-12 -3.5349e-05 -0.000259176] -86: : piActive=~[-0.01 -3.5349e-05 -0.000259176] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.31897e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00196211... -86: > NEWTON iter 1: errNorm=0.00196211(v) -> deltaNorm=0.00853266(pi) -86: > piActive=~[-0.01 -3.5349e-05 -0.000259176] -86: > errActive=~[-0.0018485 8.89155e-05 0.000651922] -86: > deltaPi=~[-0.00853189 -1.55049e-05 -0.000113681] -86: DBG: Line search iter 1: back=1, prevNorm=0.00196211. -86: > piNow=~[-0.00146811 -1.98441e-05 -0.000145496] -86: > errNow=~[2.1684e-19 -3.82674e-09 -2.80573e-08] normNow=2.83171e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.4432e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000153211 -86: > NEWTON iter 2: errNorm=2.83171e-08(v) -> deltaNorm=4.43865e-08(pi) -86: > piActive=~[-0.00146811 -1.98441e-05 -0.000145496] -86: > errActive=~[2.1684e-19 -3.82674e-09 -2.80573e-08] -86: > deltaPi=~[3.41344e-08 -3.83424e-09 -2.81124e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.83171e-08. -86: > piNow=~[-0.00146814 -1.98403e-05 -0.000145468] -86: > errNow=~[-5.42101e-20 7.06745e-13 5.1818e-12] normNow=5.22977e-12 -86: DBG: Improvement rate now/prev at iter 2 is 0.000184686 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.22977e-12. +86: : rhsActive=~[-0.000682103 -0.216291 0.880698] +86: : pi was=~[-0.00546419 0 -0.000130323 0.00053065 3.85374e-14 -2.55231e-13] +86: : piActive=~[-0.01 -0.000130323 0.00053065] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.37797e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00175589... +86: > NEWTON iter 1: errNorm=0.00175589(v) -> deltaNorm=0.006974(pi) +86: > piActive=~[-0.01 -0.000130323 0.00053065] +86: > errActive=~[-0.00170703 9.81057e-05 -0.000399468] +86: > deltaPi=~[-0.00696975 -5.80441e-05 0.000236345] +86: DBG: Line search iter 1: back=1, prevNorm=0.00175589. +86: > piNow=~[-0.00303025 -7.22786e-05 0.000294305] +86: > errNow=~[-1.0842e-19 -5.61524e-09 2.28642e-08] normNow=2.35436e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.34084e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.67469e-05 +86: > NEWTON iter 2: errNorm=2.35436e-08(v) -> deltaNorm=4.58471e-08(pi) +86: > piActive=~[-0.00303025 -7.22786e-05 0.000294305] +86: > errActive=~[-1.0842e-19 -5.61524e-09 2.28642e-08] +86: > deltaPi=~[-3.51192e-08 -7.02916e-09 2.86214e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.35436e-08. +86: > piNow=~[-0.00303021 -7.22716e-05 0.000294276] +86: > errNow=~[0 -3.07794e-13 1.25328e-12] normNow=1.29052e-12 +86: DBG: Improvement rate now/prev at iter 2 is 5.48141e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.29052e-12. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.120413,-0.882856] to ~[-0.120405,-0.882422] -86: DBG: Friction 1 rotated 0.00329943 deg, less than max 30 +86: slipVel 0 from ~[-0.216291,0.880698] to ~[-0.216332,0.88151] +86: DBG: Friction 0 rotated 0.00970867 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00146814 -1.98403e-05 -0.000145468] -86: : m_verrLeft=~[0.000522635 5.42101e-20 -0.126707 -1.31023 -0.120405 -0.882422] +86: : m_piActive=~[-0.00303021 -7.22716e-05 0.000294276] +86: : m_verrLeft=~[0 0.000953397 -0.216332 0.88151 -0.232566 1.5404] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000522635 pi*v=0 -86: DBG: 1: pi=-0.00146814 verr=5.42101e-20 pi*v=-7.95882e-23 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00146814 0 0 -1.98403e-05 -0.000145468] errNorm=5.22977e-12 -86: Postcompression verr=~[0.000522635 5.42101e-20 -0.126707 -1.31023 -0.120405 -0.882422] -86: impulse=~[0 -0.00146814 0 0 -1.98403e-05 -0.000145468] +86: DBG: 0: pi=-0.00303021 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.000953397 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00303021 0 -7.22716e-05 0.000294276 0 0] errNorm=1.29052e-12 +86: Postcompression verr=~[0 0.000953397 -0.216332 0.88151 -0.232566 1.5404] +86: impulse=~[-0.00303021 0 -7.22716e-05 0.000294276 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00146814 0 0 -1.98403e-05 -0.000145468]-> du ~[0.000187022 0.00056198 0.000230269 -0.000318221 5.6412e-06 0.000261317 -0.000991035 0.00077058] -86: Now verr0=~[0.000522635 0 -0.126707 -1.31023 -0.120405 -0.882422] +86: Impact: imp ~[-0.00303021 0 -7.22716e-05 0.000294276 0 0]-> du ~[-0.000435891 0.00101295 -0.000487022 -0.00056822 -3.49433e-05 0.000476699 -0.00192949 0.00116522] +86: Now verr0=~[-1.78893e-18 0.000953397 -0.216332 0.88151 -0.232566 1.5404] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000522635 0 -0.126707 -1.31023 -0.120405 -0.882422] -86: verrExt=~[-1.22929 -0.969605 -0.0589041 -1.54051 -0.0528101 -1.12864] -86: total verr=~[-1.22877 -0.969605 -0.185611 -2.85075 -0.173215 -2.01106] -86: DYN t=0.061: verrStart=~[0.000522635 0 -0.126707 -1.31023 -0.120405 -0.882422] -86: verrApplied=~[-1.22929 -0.969605 -0.0589041 -1.54051 -0.0528101 -1.12864] +86: verr0 =~[-1.78893e-18 0.000953397 -0.216332 0.88151 -0.232566 1.5404] +86: verrExt=~[-0.690793 -0.561966 0.0119143 -0.833754 0.0073794 -0.650888] +86: total verr=~[-0.690793 -0.561013 -0.204418 0.0477556 -0.225187 0.889516] +86: DYN t=0.116: verrStart=~[-1.78893e-18 0.000953397 -0.216332 0.88151 -0.232566 1.5404] +86: verrApplied=~[-0.690793 -0.561966 0.0119143 -0.833754 0.0073794 -0.650888] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -39019,110 +50495,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000522635 0 -0.126707 -1.31023 -0.120405 -0.882422] -86: verrApplied=~[-1.22929 -0.969605 -0.0589041 -1.54051 -0.0528101 -1.12864] +86: verrLeft=~[-1.78893e-18 0.000953397 -0.216332 0.88151 -0.232566 1.5404] +86: verrApplied=~[-0.690793 -0.561966 0.0119143 -0.833754 0.0073794 -0.650888] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.126707,-1.31023, mag=1.31635 -86: Participating contact 1 is Sliding; vel=-0.120405,-0.882422, mag=0.890599 +86: Participating contact 0 is Sliding; vel=-0.216332,0.88151, mag=0.907667 +86: Participating contact 1 is Sliding; vel=-0.232566,1.5404, mag=1.55786 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.126707,-1.31023, mag=1.31635 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.120405,-0.882422, mag=0.890599 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.216332,0.88151, mag=0.907667 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.232566,1.5404, mag=1.55786 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.22877; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.969605; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.690793; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.561013; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000522635 0 -0.126707 -1.31023 -0.120405 -0.882422] +86: : verrLeft was=~[-1.78893e-18 0.000953397 -0.216332 0.88151 -0.232566 1.5404] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.22929 -0.969605 -0.0589041 -1.54051 -0.0528101 -1.12864] -86: : rhsActive=~[-1.22877 -0.185611 -2.85075 -0.969605 -0.173215 -2.01106] +86: : verrApplied was=~[-0.690793 -0.561966 0.0119143 -0.833754 0.0073794 -0.650888] +86: : rhsActive=~[-0.690793 -0.204418 0.0477556 -0.561013 -0.225187 0.889516] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.92001e-06 -82: runOnce done. real/CPU ms: 273.5 / 273.3 -86: DBG: >>>> Start NEWTON solve with errNorm=1.56048... -86: > NEWTON iter 1: errNorm=1.56048(v) -> deltaNorm=4.13585(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.71593e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.885131... +86: > NEWTON iter 1: errNorm=0.885131(v) -> deltaNorm=2.97757(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.2252 0.000126707 0.00131023 0.966423 0.000120405 0.000882422] -86: > deltaPi=~[3.34313 0.0322749 0.333743 2.39964 0.0325761 0.238743] -86: DBG: Line search iter 1: back=1, prevNorm=1.56048. -86: > piNow=~[-3.35313 -0.0322749 -0.333743 -2.40964 -0.0325761 -0.238743] -82: runOnce ... -86: > errNow=~[0 1.57785e-06 1.6316e-05 -1.11022e-16 1.07622e-06 7.8874e-06] normNow=1.82228e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.16777e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.30853e-10 -86: > NEWTON iter 2: errNorm=1.82228e-05(v) -> deltaNorm=2.13929e-05(pi) -86: > piActive=~[-3.35313 -0.0322749 -0.333743 -2.40964 -0.0325761 -0.238743] -86: > errActive=~[0 1.57785e-06 1.6316e-05 -1.11022e-16 1.07622e-06 7.8874e-06] -86: > deltaPi=~[-1.33951e-05 1.06972e-06 1.10616e-05 -9.53801e-06 1.07948e-06 7.91124e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.82228e-05. -86: > piNow=~[-3.35311 -0.032276 -0.333754 -2.40963 -0.0325771 -0.238751] -86: > errNow=~[0 -5.55112e-17 -6.10623e-16 -1.11022e-16 -7.28584e-17 -5.27356e-16] normNow=8.19561e-16 -86: DBG: Improvement rate now/prev at iter 2 is 4.49745e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.19561e-16. +86: > errActive=~[0.687224 0.000216332 -0.00088151 0.557832 0.000232566 -0.0015404] +86: > deltaPi=~[2.32691 0.0556957 -0.226948 1.83379 0.0275242 -0.182306] +86: DBG: Line search iter 1: back=1, prevNorm=0.885131. +86: > piNow=~[-2.33691 -0.0556957 0.226948 -1.84379 -0.0275242 0.182306] +86: > errNow=~[2.22045e-16 1.87505e-06 -7.64045e-06 -2.22045e-16 1.58858e-06 -1.0522e-05] normNow=1.32336e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.4951e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.8907e-10 +86: > NEWTON iter 2: errNorm=1.32336e-05(v) -> deltaNorm=1.94515e-05(pi) +86: > piActive=~[-2.33691 -0.0556957 0.226948 -1.84379 -0.0275242 0.182306] +86: > errActive=~[2.22045e-16 1.87505e-06 -7.64045e-06 -2.22045e-16 1.58858e-06 -1.0522e-05] +86: > deltaPi=~[1.17406e-05 2.34562e-06 -9.55791e-06 9.14731e-06 1.15627e-06 -7.65859e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.32336e-05. +86: > piNow=~[-2.33693 -0.055698 0.226958 -1.8438 -0.0275253 0.182314] +86: > errNow=~[0 1.73472e-16 -6.93889e-16 0 2.35922e-16 -1.55431e-15] normNow=1.72717e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.30514e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.72717e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.126707,-1.31023] to ~[-0.155636,-1.33704] -86: DBG: Friction 0 rotated 1.11588 deg, less than max 30 -86: slipVel 1 from ~[-0.120405,-0.882422] to ~[-0.148431,-0.84798] -86: DBG: Friction 1 rotated 2.15858 deg, less than max 30 +86: slipVel 0 from ~[-0.216332,0.88151] to ~[-0.224762,0.877079] +86: DBG: Friction 0 rotated 0.584928 deg, less than max 30 +86: slipVel 1 from ~[-0.232566,1.5404] to ~[-0.241392,1.55201] +86: DBG: Friction 1 rotated 0.255095 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-3.35311 -0.032276 -0.333754 -2.40963 -0.0325771 -0.238751] -86: : m_verrLeft=~[0 1.11022e-16 -0.155636 -1.33704 -0.148431 -0.84798] +86: : m_piActive=~[-2.33693 -0.055698 0.226958 -1.8438 -0.0275253 0.182314] +86: : m_verrLeft=~[0 0 -0.224762 0.877079 -0.241392 1.55201] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-3.35311 verr=0 pi*v=-0 -86: DBG: 1: pi=-2.40963 verr=1.11022e-16 pi*v=-2.67523e-16 -86: SP FINAL 1 intervals, piTotal=~[-3.35311 -2.40963 -0.032276 -0.333754 -0.0325771 -0.238751] errNorm=8.19561e-16 +86: DBG: 0: pi=-2.33693 verr=0 pi*v=-0 +86: DBG: 1: pi=-1.8438 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-2.33693 -1.8438 -0.055698 0.226958 -0.0275253 0.182314] errNorm=1.72717e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.126707 -1.31023, |slipV|=1.31635 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.216332 0.88151, |slipV|=0.907667 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.120405 -0.882422, |slipV|=0.890599 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.232566 1.5404, |slipV|=1.55786 86: ------------------------------ 86: -86: dynamics impulse=~[-3.35311 -2.40963 -0.032276 -0.333754 -0.0325771 -0.238751] -86: updated verrStart=~[0 1.11022e-16 -0.155636 -1.33704 -0.148431 -0.84798] +86: dynamics impulse=~[-2.33693 -1.8438 -0.055698 0.226958 -0.0275253 0.182314] +86: updated verrStart=~[0 0 -0.224762 0.877079 -0.241392 1.55201] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.09739 -0.00439347 0 0 0 0] +86: posVerr=~[0.325526 0.554123 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.25166 0.104991 0.00196025 0.307511 -0.000779291 0.122558] -86: [0.104991 0.213208 0.0056735 0.125281 0.00763727 0.257839] -86: [0.00196025 0.0056735 0.0528514 0.0456521 0.0516306 -0.0372461] -86: [0.307511 0.125281 0.0456521 0.442909 0.0409648 0.125985] -86: [-0.000779291 0.00763727 0.0516306 0.0409648 0.0505349 -0.0334687] -86: [0.122558 0.257839 -0.0372461 0.125985 -0.0334687 0.381469] +86: [0.255553 0.101369 -0.0121518 0.310586 -0.00743031 0.120381] +86: [0.101369 0.216712 0.00164622 0.12231 -0.00181749 0.261823] +86: [-0.0121518 0.00164622 0.048644 0.0261112 0.0502103 -0.0375885] +86: [0.310586 0.12231 0.0261112 0.446023 0.0340123 0.127084] +86: [-0.00743031 -0.00181749 0.0502103 0.0340123 0.052128 -0.0438726] +86: [0.120381 0.261823 -0.0375885 0.127084 -0.0438726 0.380827] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.3706 rank=2 -86: rhs=~[0.09739 -0.00439347 0 0 0 0] +86: rcond(A+D)=0.391697 rank=2 +86: rhs=~[0.325526 0.554123 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.497872 -0.265776] -86: -> pi=~[0.497872 -0.265776 0 0 0 0] -86: resid active=~[1.38778e-17 -8.67362e-19] -86: resid=~[1.38778e-17 -8.67362e-19 -0.00053193 0.119804 -0.00241779 -0.00750907] +86: -> piActive=~[0.318689 2.40789] +86: -> pi=~[0.318689 2.40789 0 0 0 0] +86: resid active=~[-5.55112e-17 0] +86: resid=~[-5.55112e-17 0 9.12594e-05 0.393489 -0.00674428 0.668804] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[1.83555e-16 6.90637e-17 -0.155636 -1.33704 -0.148431 -0.84798] -86: perr=~[9.739e-05 -4.39347e-06 0] -86: END OF STEP (0.061,0.062): -86: verr=~[0.000407605 -0.000407605 -0.155516 -1.33704 -0.148551 -0.847979] -86: perr=~[9.75938e-05 -4.59727e-06 -1.11022e-16] +86: verr=~[-6.0878e-17 -1.16389e-16 -0.224762 0.877079 -0.241392 1.55201] +86: perr=~[0.000325526 0.000554123 0] +86: END OF STEP (0.116,0.117): +86: verr=~[-0.000699668 0.000699668 -0.224534 0.877085 -0.24162 1.55201] +86: perr=~[0.000325176 0.000554472 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -39130,16 +50604,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.34605 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.860892 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000407605 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.90537 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.5707 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000699668 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000407605 -0.000407605 -0.155516 -1.33704 -0.148551 -0.847979] -86: IMP t=0.062 verr=~[0.000407605 -0.000407605 -0.155516 -1.33704 -0.148551 -0.847979] +86: verr=~[-0.000699668 0.000699668 -0.224534 0.877085 -0.24162 1.55201] +86: IMP t=0.117 verr=~[-0.000699668 0.000699668 -0.224534 0.877085 -0.24162 1.55201] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -39151,115 +50625,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000407605 -0.000407605 -0.155516 -1.33704 -0.148551 -0.847979] +86: verrLeft=~[-0.000699668 0.000699668 -0.224534 0.877085 -0.24162 1.55201] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.155516,-1.33704, mag=1.34605 -86: Participating contact 1 is Sliding; vel=-0.148551,-0.847979, mag=0.860892 +86: Participating contact 0 is Sliding; vel=-0.224534,0.877085, mag=0.90537 +86: Participating contact 1 is Sliding; vel=-0.24162,1.55201, mag=1.5707 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.155516,-1.33704, mag=1.34605 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.148551,-0.847979, mag=0.860892 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.224534,0.877085, mag=0.90537 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.24162,1.55201, mag=1.5707 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000407605; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000407605; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000699668; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000699668; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000407605 -0.000407605 -0.155516 -1.33704 -0.148551 -0.847979] +86: : verrLeft was=~[-0.000699668 0.000699668 -0.224534 0.877085 -0.24162 1.55201] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000407605 -0.155516 -1.33704 -0.000407605 -0.148551 -0.847979] +86: : rhsActive=~[-0.000699668 -0.224534 0.877085 0.000699668 -0.24162 1.55201] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.95163e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00151654... -86: > NEWTON iter 1: errNorm=0.00151654(v) -> deltaNorm=0.0098335(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.00105352 0 0 -0.000669965 0.000148551 0.000847979] -86: > deltaPi=~[0.00695348 2.99245e-09 2.57274e-08 -0.00694648 5.26943e-05 0.000300797] -86: DBG: Line search iter 1: back=1, prevNorm=0.00151654. -86: > piNow=~[0.00304652 -2.99245e-09 -2.57274e-08 -0.00305352 -5.26943e-05 -0.000300797] -86: > errNow=~[-2.1684e-19 -4.02799e-09 -3.46304e-08 4.33681e-19 -3.84372e-09 -2.19413e-08] normNow=4.13725e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.72808e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.39701e-05 -86: > NEWTON iter 2: errNorm=4.13725e-08(v) -> deltaNorm=5.42137e-08(pi) -86: > piActive=~[0.00304652 -2.99245e-09 -2.57274e-08 -0.00305352 -5.26943e-05 -0.000300797] -86: > errActive=~[-2.1684e-19 -4.02799e-09 -3.46304e-08 4.33681e-19 -3.84372e-09 -2.19413e-08] -86: > deltaPi=~[3.11144e-08 -2.99231e-09 -2.57261e-08 2.76814e-08 -3.98734e-09 -2.27611e-08] -86: DBG: Line search iter 1: back=1, prevNorm=4.13725e-08. -86: > piNow=~[0.00304649 -1.44113e-13 -1.239e-12 -0.00305355 -5.26903e-05 -0.000300774] -86: > errNow=~[0 -1.93983e-13 -1.66776e-12 0 1.64098e-13 9.36725e-13] normNow=1.92962e-12 -86: DBG: Improvement rate now/prev at iter 2 is 4.66401e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.92962e-12. -86: DBG: Worst offender is normal contact 0 err=0.00304649 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.75302e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00132125... +86: > NEWTON iter 1: errNorm=0.00132125(v) -> deltaNorm=0.00630862(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000846971 0.000224534 -0.000877085 0.000456793 0 0] +86: > deltaPi=~[-0.00441501 0.000138513 -0.000541067 0.00447151 2.56215e-09 -1.64576e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.00132125. +86: > piNow=~[-0.00558499 -0.000138513 0.000541067 0.00552849 -2.56215e-09 1.64576e-08] +86: > errNow=~[2.1684e-19 -3.69255e-09 1.4424e-08 0 -4.02437e-09 2.585e-08] normNow=3.01015e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.27825e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.1979e-05 +86: > NEWTON iter 2: errNorm=3.01015e-08(v) -> deltaNorm=3.87178e-08(pi) +86: > piActive=~[-0.00558499 -0.000138513 0.000541067 0.00552849 -2.56215e-09 1.64576e-08] +86: > errActive=~[2.1684e-19 -3.69255e-09 1.4424e-08 0 -4.02437e-09 2.585e-08] +86: > deltaPi=~[-2.21123e-08 -4.62683e-09 1.80735e-08 -1.96121e-08 -2.56218e-09 1.64578e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.01015e-08. +86: > piNow=~[-0.00558496 -0.000138509 0.000541049 0.00552851 3.67579e-14 -2.36109e-13] +86: > errNow=~[1.0842e-19 -5.92758e-14 2.31545e-13 1.0842e-19 5.77357e-14 -3.70857e-13] normNow=4.44966e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.47822e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.44966e-13. +86: DBG: Worst offender is normal contact 1 err=0.00552851 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.155516,-1.33704, mag=1.34605 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.148551,-0.847979, mag=0.860892 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.224534,0.877085, mag=0.90537 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.24162,1.55201, mag=1.5707 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000407605; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000699668; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000407605 -0.000407605 -0.155516 -1.33704 -0.148551 -0.847979] +86: : verrLeft was=~[-0.000699668 0.000699668 -0.224534 0.877085 -0.24162 1.55201] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000407605 -0.148551 -0.847979] -86: : pi was=~[0 -0.00305355 -1.44113e-13 -1.239e-12 -5.26903e-05 -0.000300774] -86: : piActive=~[-0.01 -5.26903e-05 -0.000300774] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.20672e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00188998... -86: > NEWTON iter 1: errNorm=0.00188998(v) -> deltaNorm=0.0082867(pi) -86: > piActive=~[-0.01 -5.26903e-05 -0.000300774] -86: > errActive=~[-0.00179287 0.00010319 0.000589045] -86: > deltaPi=~[-0.00828562 -2.31026e-05 -0.000131878] -86: DBG: Line search iter 1: back=1, prevNorm=0.00188998. -86: > piNow=~[-0.00171438 -2.95877e-05 -0.000168897] -86: > errNow=~[-9.21572e-19 -4.58471e-09 -2.61711e-08] normNow=2.65696e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.40582e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=0.000108705 -86: > NEWTON iter 2: errNorm=2.65696e-08(v) -> deltaNorm=4.30627e-08(pi) -86: > piActive=~[-0.00171438 -2.95877e-05 -0.000168897] -86: > errActive=~[-9.21572e-19 -4.58471e-09 -2.61711e-08] -86: > deltaPi=~[3.309e-08 -4.75527e-09 -2.71447e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.65696e-08. -86: > piNow=~[-0.00171441 -2.95829e-05 -0.00016887] -86: > errNow=~[5.42101e-20 6.20685e-13 3.54308e-12] normNow=3.59704e-12 -86: DBG: Improvement rate now/prev at iter 2 is 0.000135381 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.59704e-12. +86: : rhsActive=~[-0.000699668 -0.224534 0.877085] +86: : pi was=~[-0.00558496 0 -0.000138509 0.000541049 3.67579e-14 -2.36109e-13] +86: : piActive=~[-0.01 -0.000138509 0.000541049] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.37239e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00174389... +86: > NEWTON iter 1: errNorm=0.00174389(v) -> deltaNorm=0.00691246(pi) +86: > piActive=~[-0.01 -0.000138509 0.000541049] +86: > errActive=~[-0.00169746 9.91327e-05 -0.000387236] +86: > deltaPi=~[-0.00690796 -6.1819e-05 0.00024148] +86: DBG: Line search iter 1: back=1, prevNorm=0.00174389. +86: > piNow=~[-0.00309204 -7.66898e-05 0.000299569] +86: > errNow=~[-2.1684e-19 -5.77756e-09 2.25685e-08] normNow=2.32963e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.33588e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.52363e-05 +86: > NEWTON iter 2: errNorm=2.32963e-08(v) -> deltaNorm=4.52581e-08(pi) +86: > piActive=~[-0.00309204 -7.66898e-05 0.000299569] +86: > errActive=~[-2.1684e-19 -5.77756e-09 2.25685e-08] +86: > deltaPi=~[-3.45877e-08 -7.23889e-09 2.82768e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.32963e-08. +86: > piNow=~[-0.003092 -7.66825e-05 0.00029954] +86: > errNow=~[0 -3.02252e-13 1.18067e-12] normNow=1.21874e-12 +86: DBG: Improvement rate now/prev at iter 2 is 5.23148e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.21874e-12. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.148551,-0.847979] to ~[-0.148542,-0.847474] -86: DBG: Friction 1 rotated 0.00522031 deg, less than max 30 +86: slipVel 0 from ~[-0.224534,0.877085] to ~[-0.224576,0.877915] +86: DBG: Friction 0 rotated 0.0104519 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00171441 -2.95829e-05 -0.00016887] -86: : m_verrLeft=~[0.000607429 -5.42101e-20 -0.155511 -1.3368 -0.148542 -0.847474] +86: : m_piActive=~[-0.003092 -7.66825e-05 0.00029954] +86: : m_verrLeft=~[0 0.000978586 -0.224576 0.877915 -0.241649 1.55234] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000607429 pi*v=0 -86: DBG: 1: pi=-0.00171441 verr=-5.42101e-20 pi*v=9.29384e-23 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00171441 0 0 -2.95829e-05 -0.00016887] errNorm=3.59704e-12 -86: Postcompression verr=~[0.000607429 -5.42101e-20 -0.155511 -1.3368 -0.148542 -0.847474] -86: impulse=~[0 -0.00171441 0 0 -2.95829e-05 -0.00016887] +86: DBG: 0: pi=-0.003092 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.000978586 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.003092 0 -7.66825e-05 0.00029954 0 0] errNorm=1.21874e-12 +86: Postcompression verr=~[0 0.000978586 -0.224576 0.877915 -0.241649 1.55234] +86: impulse=~[-0.003092 0 -7.66825e-05 0.00029954 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00171441 0 0 -2.95829e-05 -0.00016887]-> du ~[0.000217124 0.000654499 0.000267624 -0.000371027 6.93985e-06 0.000303715 -0.00115367 0.000894972] -86: Now verr0=~[0.000607429 -7.58942e-19 -0.155511 -1.3368 -0.148542 -0.847474] +86: Impact: imp ~[-0.003092 0 -7.66825e-05 0.00029954 0 0]-> du ~[-0.000447136 0.001037 -0.000498009 -0.000580916 -3.54801e-05 0.000489293 -0.00197587 0.00119387] +86: Now verr0=~[1.73472e-18 0.000978586 -0.224576 0.877915 -0.241649 1.55234] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000607429 -7.58942e-19 -0.155511 -1.3368 -0.148542 -0.847474] -86: verrExt=~[-1.1874 -0.935379 -0.0570941 -1.49173 -0.0513345 -1.08914] -86: total verr=~[-1.18679 -0.935379 -0.212605 -2.82853 -0.199876 -1.93661] -86: DYN t=0.062: verrStart=~[0.000607429 -7.58942e-19 -0.155511 -1.3368 -0.148542 -0.847474] -86: verrApplied=~[-1.1874 -0.935379 -0.0570941 -1.49173 -0.0513345 -1.08914] +86: verr0 =~[1.73472e-18 0.000978586 -0.224576 0.877915 -0.241649 1.55234] +86: verrExt=~[-0.706001 -0.572629 0.0119934 -0.850215 0.00715905 -0.660445] +86: total verr=~[-0.706001 -0.571651 -0.212583 0.0277004 -0.23449 0.891894] +86: DYN t=0.117: verrStart=~[1.73472e-18 0.000978586 -0.224576 0.877915 -0.241649 1.55234] +86: verrApplied=~[-0.706001 -0.572629 0.0119934 -0.850215 0.00715905 -0.660445] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -39271,108 +50745,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000607429 -7.58942e-19 -0.155511 -1.3368 -0.148542 -0.847474] -86: verrApplied=~[-1.1874 -0.935379 -0.0570941 -1.49173 -0.0513345 -1.08914] +86: verrLeft=~[1.73472e-18 0.000978586 -0.224576 0.877915 -0.241649 1.55234] +86: verrApplied=~[-0.706001 -0.572629 0.0119934 -0.850215 0.00715905 -0.660445] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.155511,-1.3368, mag=1.34582 -86: Participating contact 1 is Sliding; vel=-0.148542,-0.847474, mag=0.860394 +86: Participating contact 0 is Sliding; vel=-0.224576,0.877915, mag=0.906184 +86: Participating contact 1 is Sliding; vel=-0.241649,1.55234, mag=1.57104 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.155511,-1.3368, mag=1.34582 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.148542,-0.847474, mag=0.860394 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.224576,0.877915, mag=0.906184 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.241649,1.55234, mag=1.57104 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.18679; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.935379; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.706001; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.571651; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000607429 -7.58942e-19 -0.155511 -1.3368 -0.148542 -0.847474] +86: : verrLeft was=~[1.73472e-18 0.000978586 -0.224576 0.877915 -0.241649 1.55234] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.1874 -0.935379 -0.0570941 -1.49173 -0.0513345 -1.08914] -86: : rhsActive=~[-1.18679 -0.212605 -2.82853 -0.935379 -0.199876 -1.93661] +86: : verrApplied was=~[-0.706001 -0.572629 0.0119934 -0.850215 0.00715905 -0.660445] +86: : rhsActive=~[-0.706001 -0.212583 0.0277004 -0.571651 -0.23449 0.891894] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.94989e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.50635... -86: > NEWTON iter 1: errNorm=1.50635(v) -> deltaNorm=4.00999(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.75561e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.90362... +86: > NEWTON iter 1: errNorm=0.90362(v) -> deltaNorm=3.02231(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.18324 0.000155511 0.0013368 0.932211 0.000148542 0.000847474] -86: > deltaPi=~[3.24416 0.0376009 0.323224 2.32274 0.040272 0.229763] -86: DBG: Line search iter 1: back=1, prevNorm=1.50635. -86: > piNow=~[-3.25416 -0.0376009 -0.323224 -2.33274 -0.040272 -0.229763] -86: > errNow=~[4.44089e-16 1.87921e-06 1.6154e-05 -7.77156e-16 1.28517e-06 7.33228e-06] normNow=1.78857e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.18735e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.25695e-10 -86: > NEWTON iter 2: errNorm=1.78857e-05(v) -> deltaNorm=2.07434e-05(pi) -86: > piActive=~[-3.25416 -0.0376009 -0.323224 -2.33274 -0.040272 -0.229763] -86: > errActive=~[4.44089e-16 1.87921e-06 1.6154e-05 -7.77156e-16 1.28517e-06 7.33228e-06] -86: > deltaPi=~[-1.30027e-05 1.24609e-06 1.07116e-05 -9.22987e-06 1.33436e-06 7.61288e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.78857e-05. -86: > piNow=~[-3.25415 -0.0376021 -0.323235 -2.33273 -0.0402733 -0.229771] -86: > errNow=~[0 -6.245e-17 -6.10623e-16 1.11022e-16 -9.02056e-17 -5.27356e-16] normNow=8.21783e-16 -86: DBG: Improvement rate now/prev at iter 2 is 4.59464e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.21783e-16. +86: > errActive=~[0.702414 0.000224576 -0.000877915 0.568454 0.000241649 -0.00155234] +86: > deltaPi=~[2.36936 0.0589647 -0.230505 1.8518 0.0286363 -0.183958] +86: DBG: Line search iter 1: back=1, prevNorm=0.90362. +86: > piNow=~[-2.37936 -0.0589647 0.230505 -1.8618 -0.0286363 0.183958] +86: > errNow=~[1.11022e-16 1.98202e-06 -7.74811e-06 2.22045e-16 1.66683e-06 -1.07076e-05] normNow=1.34682e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.49048e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.95021e-10 +86: > NEWTON iter 2: errNorm=1.34682e-05(v) -> deltaNorm=1.96659e-05(pi) +86: > piActive=~[-2.37936 -0.0589647 0.230505 -1.8618 -0.0286363 0.183958] +86: > errActive=~[1.11022e-16 1.98202e-06 -7.74811e-06 2.22045e-16 1.66683e-06 -1.07076e-05] +86: > deltaPi=~[1.18754e-05 2.48152e-06 -9.70076e-06 9.18506e-06 1.20225e-06 -7.72323e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.34682e-05. +86: > piNow=~[-2.37938 -0.0589672 0.230515 -1.86181 -0.0286375 0.183966] +86: > errNow=~[2.22045e-16 1.80411e-16 -7.21645e-16 -1.11022e-16 2.42861e-16 -1.60982e-15] normNow=1.80706e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.34172e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.80706e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.155511,-1.3368] to ~[-0.183533,-1.36109] -86: DBG: Friction 0 rotated 1.04412 deg, less than max 30 -86: slipVel 1 from ~[-0.148542,-0.847474] to ~[-0.175708,-0.811663] -86: DBG: Friction 1 rotated 2.27323 deg, less than max 30 +86: slipVel 0 from ~[-0.224576,0.877915] to ~[-0.233709,0.87214] +86: DBG: Friction 0 rotated 0.652325 deg, less than max 30 +86: slipVel 1 from ~[-0.241649,1.55234] to ~[-0.251225,1.56406] +86: DBG: Friction 1 rotated 0.277027 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-3.25415 -0.0376021 -0.323235 -2.33273 -0.0402733 -0.229771] -86: : m_verrLeft=~[0 -1.11022e-16 -0.183533 -1.36109 -0.175708 -0.811663] +86: : m_piActive=~[-2.37938 -0.0589672 0.230515 -1.86181 -0.0286375 0.183966] +86: : m_verrLeft=~[-2.22045e-16 1.11022e-16 -0.233709 0.87214 -0.251225 1.56406] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-3.25415 verr=0 pi*v=-0 -86: DBG: 1: pi=-2.33273 verr=-1.11022e-16 pi*v=2.58986e-16 -86: SP FINAL 1 intervals, piTotal=~[-3.25415 -2.33273 -0.0376021 -0.323235 -0.0402733 -0.229771] errNorm=8.21783e-16 +86: DBG: 0: pi=-2.37938 verr=-2.22045e-16 pi*v=5.28328e-16 +86: DBG: 1: pi=-1.86181 verr=1.11022e-16 pi*v=-2.06703e-16 +86: SP FINAL 1 intervals, piTotal=~[-2.37938 -1.86181 -0.0589672 0.230515 -0.0286375 0.183966] errNorm=1.80706e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.155511 -1.3368, |slipV|=1.34582 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.224576 0.877915, |slipV|=0.906184 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.148542 -0.847474, |slipV|=0.860394 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.241649 1.55234, |slipV|=1.57104 86: ------------------------------ 86: -86: dynamics impulse=~[-3.25415 -2.33273 -0.0376021 -0.323235 -0.0402733 -0.229771] -86: updated verrStart=~[0 -1.11022e-16 -0.183533 -1.36109 -0.175708 -0.811663] +86: dynamics impulse=~[-2.37938 -1.86181 -0.0589672 0.230515 -0.0286375 0.183966] +86: updated verrStart=~[-2.22045e-16 1.11022e-16 -0.233709 0.87214 -0.251225 1.56406] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0975938 -0.00459727 0 0 0 0] +86: posVerr=~[0.325176 0.554472 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.25062 0.104508 0.00171099 0.307149 -0.000934112 0.122475] -86: [0.104508 0.212265 0.0057055 0.125198 0.00759972 0.257424] -86: [0.00171099 0.0057055 0.0527975 0.0454259 0.0516209 -0.037221] -86: [0.307149 0.125198 0.0454259 0.443887 0.0408856 0.126402] -86: [-0.000934112 0.00759972 0.0516209 0.0408856 0.0505614 -0.0335659] -86: [0.122475 0.257424 -0.037221 0.126402 -0.0335659 0.38207] +86: [0.256702 0.102038 -0.0122126 0.310866 -0.00735892 0.120528] +86: [0.102038 0.217684 0.00144087 0.1225 -0.00211818 0.26205] +86: [-0.0122126 0.00144087 0.0486527 0.0260469 0.0502645 -0.0377509] +86: [0.310866 0.1225 0.0260469 0.444804 0.0341464 0.126546] +86: [-0.00735892 -0.00211818 0.0502645 0.0341464 0.0522463 -0.0441903] +86: [0.120528 0.26205 -0.0377509 0.126546 -0.0441903 0.379646] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.370718 rank=2 -86: rhs=~[0.0975938 -0.00459727 0 0 0 0] +86: rcond(A+D)=0.390839 rank=2 +86: rhs=~[0.325176 0.554472 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.501377 -0.268509] -86: -> pi=~[0.501377 -0.268509 0 0 0 0] -86: resid active=~[2.77556e-17 9.54098e-18] -86: resid=~[2.77556e-17 9.54098e-18 -0.000674128 0.120381 -0.00250894 -0.00771485] +86: -> piActive=~[0.312495 2.40067] +86: -> pi=~[0.312495 2.40067 0 0 0 0] +86: resid active=~[5.55112e-17 1.11022e-16] +86: resid=~[5.55112e-17 1.11022e-16 -0.00035731 0.391225 -0.00738467 0.666758] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[5.99022e-17 -7.19368e-17 -0.183533 -1.36109 -0.175708 -0.811663] -86: perr=~[9.75938e-05 -4.59727e-06 -1.11022e-16] -86: END OF STEP (0.062,0.063): -86: verr=~[0.000463892 -0.000463892 -0.183382 -1.3611 -0.175859 -0.811662] -86: perr=~[9.78258e-05 -4.82922e-06 0] +86: verr=~[-1.80845e-16 1.661e-16 -0.233709 0.87214 -0.251225 1.56406] +86: perr=~[0.000325176 0.000554472 0] +86: END OF STEP (0.117,0.118): +86: verr=~[-0.00071841 0.00071841 -0.23347 0.872147 -0.251464 1.56405] +86: perr=~[0.000324817 0.000554832 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -39380,16 +50854,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.37339 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.830494 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000463892 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.902855 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.58414 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00071841 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000463892 -0.000463892 -0.183382 -1.3611 -0.175859 -0.811662] -86: IMP t=0.063 verr=~[0.000463892 -0.000463892 -0.183382 -1.3611 -0.175859 -0.811662] +86: verr=~[-0.00071841 0.00071841 -0.23347 0.872147 -0.251464 1.56405] +86: IMP t=0.118 verr=~[-0.00071841 0.00071841 -0.23347 0.872147 -0.251464 1.56405] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -39401,115 +50875,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000463892 -0.000463892 -0.183382 -1.3611 -0.175859 -0.811662] +86: verrLeft=~[-0.00071841 0.00071841 -0.23347 0.872147 -0.251464 1.56405] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.183382,-1.3611, mag=1.37339 -86: Participating contact 1 is Sliding; vel=-0.175859,-0.811662, mag=0.830494 +86: Participating contact 0 is Sliding; vel=-0.23347,0.872147, mag=0.902855 +86: Participating contact 1 is Sliding; vel=-0.251464,1.56405, mag=1.58414 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.183382,-1.3611, mag=1.37339 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.175859,-0.811662, mag=0.830494 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.23347,0.872147, mag=0.902855 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.251464,1.56405, mag=1.58414 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000463892; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000463892; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00071841; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00071841; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000463892 -0.000463892 -0.183382 -1.3611 -0.175859 -0.811662] +86: : verrLeft was=~[-0.00071841 0.00071841 -0.23347 0.872147 -0.251464 1.56405] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000463892 -0.183382 -1.3611 -0.000463892 -0.175859 -0.811662] +86: : rhsActive=~[-0.00071841 -0.23347 0.872147 0.00071841 -0.251464 1.56405] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.97831e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0014307... -86: > NEWTON iter 1: errNorm=0.0014307(v) -> deltaNorm=0.00922237(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000992539 0 0 -0.000609953 0.000175859 0.000811662] -86: > deltaPi=~[0.00652163 3.24361e-09 2.40747e-08 -0.00651143 7.38762e-05 0.00034097] -86: DBG: Line search iter 1: back=1, prevNorm=0.0014307. -86: > piNow=~[0.00347837 -3.24361e-09 -2.40747e-08 -0.00348857 -7.38762e-05 -0.00034097] -86: > errNow=~[5.42101e-20 -4.45475e-09 -3.30641e-08 0 -4.26532e-09 -1.96862e-08] normNow=3.8972e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.72399e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.92943e-05 -86: > NEWTON iter 2: errNorm=3.8972e-08(v) -> deltaNorm=5.08096e-08(pi) -86: > piActive=~[0.00347837 -3.24361e-09 -2.40747e-08 -0.00348857 -7.38762e-05 -0.00034097] -86: > errActive=~[5.42101e-20 -4.45475e-09 -3.30641e-08 0 -4.26532e-09 -1.96862e-08] -86: > deltaPi=~[2.91825e-08 -3.24349e-09 -2.40738e-08 2.58945e-08 -4.58773e-09 -2.11743e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.8972e-08. -86: > piNow=~[0.00347834 -1.19865e-13 -8.89659e-13 -0.0034886 -7.38717e-05 -0.000340949] -86: > errNow=~[0 -1.64621e-13 -1.22185e-12 -1.0842e-19 1.39264e-13 6.4276e-13] normNow=1.39734e-12 -86: DBG: Improvement rate now/prev at iter 2 is 3.58549e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.39734e-12. -86: DBG: Worst offender is normal contact 0 err=0.00347834 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.79179e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00130565... +86: > NEWTON iter 1: errNorm=0.00130565(v) -> deltaNorm=0.00612829(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000833512 0.00023347 -0.000872147 0.000441408 0 0] +86: > deltaPi=~[-0.0042879 0.000147714 -0.000551797 0.00434092 2.56671e-09 -1.59644e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.00130565. +86: > piNow=~[-0.0057121 -0.000147714 0.000551797 0.00565908 -2.56671e-09 1.59644e-08] +86: > errNow=~[-3.25261e-19 -3.72895e-09 1.39298e-08 -2.1684e-19 -4.06602e-09 2.52897e-08] normNow=2.93947e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.25134e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.11072e-05 +86: > NEWTON iter 2: errNorm=2.93947e-08(v) -> deltaNorm=3.74549e-08(pi) +86: > piActive=~[-0.0057121 -0.000147714 0.000551797 0.00565908 -2.56671e-09 1.59644e-08] +86: > errActive=~[-3.25261e-19 -3.72895e-09 1.39298e-08 -2.1684e-19 -4.06602e-09 2.52897e-08] +86: > deltaPi=~[-2.13223e-08 -4.68149e-09 1.74881e-08 -1.89479e-08 -2.56674e-09 1.59646e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.93947e-08. +86: > piNow=~[-0.00571208 -0.000147709 0.00055178 0.0056591 3.49752e-14 -2.17538e-13] +86: > errNow=~[-3.25261e-19 -5.68179e-14 2.12248e-13 2.1684e-19 5.54056e-14 -3.44611e-13] normNow=4.12436e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.4031e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.12436e-13. +86: DBG: Worst offender is normal contact 1 err=0.0056591 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.183382,-1.3611, mag=1.37339 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.175859,-0.811662, mag=0.830494 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.23347,0.872147, mag=0.902855 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.251464,1.56405, mag=1.58414 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000463892; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00071841; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000463892 -0.000463892 -0.183382 -1.3611 -0.175859 -0.811662] +86: : verrLeft was=~[-0.00071841 0.00071841 -0.23347 0.872147 -0.251464 1.56405] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000463892 -0.175859 -0.811662] -86: : pi was=~[0 -0.0034886 -1.19865e-13 -8.89659e-13 -7.38717e-05 -0.000340949] -86: : piActive=~[-0.01 -7.38717e-05 -0.000340949] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.09349e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00182014... -86: > NEWTON iter 1: errNorm=0.00182014(v) -> deltaNorm=0.00804122(pi) -86: > piActive=~[-0.01 -7.38717e-05 -0.000340949] -86: > errActive=~[-0.00173795 0.000114509 0.000528506] -86: > deltaPi=~[-0.00803977 -3.2357e-05 -0.000149341] -86: DBG: Line search iter 1: back=1, prevNorm=0.00182014. -86: > piNow=~[-0.00196023 -4.15146e-05 -0.000191608] -86: > errNow=~[0 -5.26646e-09 -2.43069e-08] normNow=2.48709e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.36643e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.02823e-05 -86: > NEWTON iter 2: errNorm=2.48709e-08(v) -> deltaNorm=4.17077e-08(pi) -86: > piActive=~[-0.00196023 -4.15146e-05 -0.000191608] -86: > errActive=~[0 -5.26646e-09 -2.43069e-08] -86: > deltaPi=~[3.19992e-08 -5.66442e-09 -2.61437e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.48709e-08. -86: > piNow=~[-0.00196027 -4.1509e-05 -0.000191581] -86: > errNow=~[-5.42101e-20 5.43984e-13 2.51072e-12] normNow=2.56897e-12 -86: DBG: Improvement rate now/prev at iter 2 is 0.000103292 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.56897e-12. +86: : rhsActive=~[-0.00071841 -0.23347 0.872147] +86: : pi was=~[-0.00571208 0 -0.000147709 0.00055178 3.49752e-14 -2.17538e-13] +86: : piActive=~[-0.01 -0.000147709 0.00055178] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.36302e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00173061... +86: > NEWTON iter 1: errNorm=0.00173061(v) -> deltaNorm=0.00684678(pi) +86: > piActive=~[-0.01 -0.000147709 0.00055178] +86: > errActive=~[-0.00168676 0.00010011 -0.000373969] +86: > deltaPi=~[-0.00684201 -6.60398e-05 0.000246697] +86: DBG: Line search iter 1: back=1, prevNorm=0.00173061. +86: > piNow=~[-0.00315799 -8.16692e-05 0.000305082] +86: > errNow=~[1.0842e-19 -5.95013e-09 2.22272e-08] normNow=2.30098e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.32958e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.36877e-05 +86: > NEWTON iter 2: errNorm=2.30098e-08(v) -> deltaNorm=4.46344e-08(pi) +86: > piActive=~[-0.00315799 -8.16692e-05 0.000305082] +86: > errActive=~[1.0842e-19 -5.95013e-09 2.22272e-08] +86: > deltaPi=~[-3.40261e-08 -7.4699e-09 2.79044e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.30098e-08. +86: > piNow=~[-0.00315795 -8.16617e-05 0.000305054] +86: > errNow=~[0 -2.96412e-13 1.10727e-12] normNow=1.14626e-12 +86: DBG: Improvement rate now/prev at iter 2 is 4.98161e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.14626e-12. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.175859,-0.811662] to ~[-0.175848,-0.811086] -86: DBG: Friction 1 rotated 0.00771209 deg, less than max 30 +86: slipVel 0 from ~[-0.23347,0.872147] to ~[-0.233513,0.872996] +86: DBG: Friction 0 rotated 0.0113068 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00196027 -4.1509e-05 -0.000191581] -86: : m_verrLeft=~[0.000691116 5.42101e-20 -0.183375 -1.36082 -0.175848 -0.811086] +86: : m_piActive=~[-0.00315795 -8.16617e-05 0.000305054] +86: : m_verrLeft=~[0 0.00100533 -0.233513 0.872996 -0.251494 1.56439] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000691116 pi*v=0 -86: DBG: 1: pi=-0.00196027 verr=5.42101e-20 pi*v=-1.06266e-22 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00196027 0 0 -4.1509e-05 -0.000191581] errNorm=2.56897e-12 -86: Postcompression verr=~[0.000691116 5.42101e-20 -0.183375 -1.36082 -0.175848 -0.811086] -86: impulse=~[0 -0.00196027 0 0 -4.1509e-05 -0.000191581] +86: DBG: 0: pi=-0.00315795 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00100533 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00315795 0 -8.16617e-05 0.000305054 0 0] errNorm=1.14626e-12 +86: Postcompression verr=~[0 0.00100533 -0.233513 0.872996 -0.251494 1.56439] +86: impulse=~[-0.00315795 0 -8.16617e-05 0.000305054 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00196027 0 0 -4.1509e-05 -0.000191581]-> du ~[0.000246908 0.000746241 0.000304624 -0.00042351 8.36612e-06 0.000345558 -0.00131485 0.00101804] -86: Now verr0=~[0.000691116 1.68051e-18 -0.183375 -1.36082 -0.175848 -0.811086] +86: Impact: imp ~[-0.00315795 0 -8.16617e-05 0.000305054 0 0]-> du ~[-0.000459265 0.00106257 -0.000509849 -0.000594434 -3.6085e-05 0.000502667 -0.00202516 0.0012239] +86: Now verr0=~[-2.05998e-18 0.00100533 -0.233513 0.872996 -0.251494 1.56439] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000691116 1.68051e-18 -0.183375 -1.36082 -0.175848 -0.811086] -86: verrExt=~[-1.14112 -0.897974 -0.0546431 -1.43667 -0.0492698 -1.04606] -86: total verr=~[-1.14043 -0.897974 -0.238019 -2.79749 -0.225118 -1.85715] -86: DYN t=0.063: verrStart=~[0.000691116 1.68051e-18 -0.183375 -1.36082 -0.175848 -0.811086] -86: verrApplied=~[-1.14112 -0.897974 -0.0546431 -1.43667 -0.0492698 -1.04606] +86: verr0 =~[-2.05998e-18 0.00100533 -0.233513 0.872996 -0.251494 1.56439] +86: verrExt=~[-0.713517 -0.576823 0.0118519 -0.856726 0.00674829 -0.66169] +86: total verr=~[-0.713517 -0.575817 -0.221661 0.0162705 -0.244745 0.902701] +86: DYN t=0.118: verrStart=~[-2.05998e-18 0.00100533 -0.233513 0.872996 -0.251494 1.56439] +86: verrApplied=~[-0.713517 -0.576823 0.0118519 -0.856726 0.00674829 -0.66169] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -39521,108 +50995,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000691116 1.68051e-18 -0.183375 -1.36082 -0.175848 -0.811086] -86: verrApplied=~[-1.14112 -0.897974 -0.0546431 -1.43667 -0.0492698 -1.04606] +86: verrLeft=~[-2.05998e-18 0.00100533 -0.233513 0.872996 -0.251494 1.56439] +86: verrApplied=~[-0.713517 -0.576823 0.0118519 -0.856726 0.00674829 -0.66169] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.183375,-1.36082, mag=1.37312 -86: Participating contact 1 is Sliding; vel=-0.175848,-0.811086, mag=0.829929 +86: Participating contact 0 is Sliding; vel=-0.233513,0.872996, mag=0.903687 +86: Participating contact 1 is Sliding; vel=-0.251494,1.56439, mag=1.58448 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.183375,-1.36082, mag=1.37312 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.175848,-0.811086, mag=0.829929 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.233513,0.872996, mag=0.903687 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.251494,1.56439, mag=1.58448 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.14043; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.897974; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.713517; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.575817; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000691116 1.68051e-18 -0.183375 -1.36082 -0.175848 -0.811086] +86: : verrLeft was=~[-2.05998e-18 0.00100533 -0.233513 0.872996 -0.251494 1.56439] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.14112 -0.897974 -0.0546431 -1.43667 -0.0492698 -1.04606] -86: : rhsActive=~[-1.14043 -0.238019 -2.79749 -0.897974 -0.225118 -1.85715] +86: : verrApplied was=~[-0.713517 -0.576823 0.0118519 -0.856726 0.00674829 -0.66169] +86: : rhsActive=~[-0.713517 -0.221661 0.0162705 -0.575817 -0.244745 0.902701] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.97637e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.4468... -86: > NEWTON iter 1: errNorm=1.4468(v) -> deltaNorm=3.86877(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.79442e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.912059... +86: > NEWTON iter 1: errNorm=0.912059(v) -> deltaNorm=3.03329(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.1369 0.000183375 0.00136082 0.89482 0.000175848 0.000811086] -86: > deltaPi=~[3.13153 0.0419523 0.311327 2.23867 0.0476439 0.219754] -86: DBG: Line search iter 1: back=1, prevNorm=1.4468. -86: > piNow=~[-3.14153 -0.0419523 -0.311327 -2.24867 -0.0476439 -0.219754] -86: > errNow=~[4.44089e-16 2.13899e-06 1.58734e-05 0 1.46636e-06 6.76347e-06] normNow=1.74481e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.20597e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.77775e-10 -86: > NEWTON iter 2: errNorm=1.74481e-05(v) -> deltaNorm=2.00068e-05(pi) -86: > piActive=~[-3.14153 -0.0419523 -0.311327 -2.24867 -0.0476439 -0.219754] -86: > errActive=~[4.44089e-16 2.13899e-06 1.58734e-05 0 1.46636e-06 6.76347e-06] -86: > deltaPi=~[-1.25517e-05 1.39013e-06 1.03161e-05 -8.88014e-06 1.57869e-06 7.2816e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.74481e-05. -86: > piNow=~[-3.14151 -0.0419537 -0.311337 -2.24867 -0.0476455 -0.219761] -86: > errNow=~[-2.22045e-16 -9.02056e-17 -7.21645e-16 -1.11022e-16 -1.11022e-16 -5.27356e-16] normNow=9.38599e-16 -86: DBG: Improvement rate now/prev at iter 2 is 5.37939e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.38599e-16. +86: > errActive=~[0.709911 0.000233513 -0.000872996 0.572604 0.000251494 -0.00156439] +86: > deltaPi=~[2.38603 0.0619111 -0.231457 1.84819 0.0294927 -0.183457] +86: DBG: Line search iter 1: back=1, prevNorm=0.912059. +86: > piNow=~[-2.39603 -0.0619111 0.231457 -1.85819 -0.0294927 0.183457] +86: > errNow=~[0 2.07538e-06 -7.75889e-06 -2.22045e-16 1.73135e-06 -1.07697e-05] normNow=1.35459e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.4852e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.89733e-10 +86: > NEWTON iter 2: errNorm=1.35459e-05(v) -> deltaNorm=1.96565e-05(pi) +86: > piActive=~[-2.39603 -0.0619111 0.231457 -1.85819 -0.0294927 0.183457] +86: > errActive=~[0 2.07538e-06 -7.75889e-06 -2.22045e-16 1.73135e-06 -1.07697e-05] +86: > deltaPi=~[1.18754e-05 2.60343e-06 -9.73302e-06 9.11422e-06 1.23736e-06 -7.69687e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.35459e-05. +86: > piNow=~[-2.39604 -0.0619137 0.231467 -1.8582 -0.0294939 0.183464] +86: > errNow=~[0 1.80411e-16 -6.66134e-16 1.11022e-16 2.498e-16 -1.4988e-15] normNow=1.67255e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.23472e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.67255e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.183375,-1.36082] to ~[-0.210097,-1.3821] -86: DBG: Friction 0 rotated 0.968954 deg, less than max 30 -86: slipVel 1 from ~[-0.175848,-0.811086] to ~[-0.201774,-0.774236] -86: DBG: Friction 1 rotated 2.37423 deg, less than max 30 +86: slipVel 0 from ~[-0.233513,0.872996] to ~[-0.243363,0.866544] +86: DBG: Friction 0 rotated 0.711888 deg, less than max 30 +86: slipVel 1 from ~[-0.251494,1.56439] to ~[-0.261836,1.57686] +86: DBG: Friction 1 rotated 0.295054 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-3.14151 -0.0419537 -0.311337 -2.24867 -0.0476455 -0.219761] -86: : m_verrLeft=~[2.22045e-16 1.11022e-16 -0.210097 -1.3821 -0.201774 -0.774236] +86: : m_piActive=~[-2.39604 -0.0619137 0.231467 -1.8582 -0.0294939 0.183464] +86: : m_verrLeft=~[0 -1.11022e-16 -0.243363 0.866544 -0.261836 1.57686] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-3.14151 verr=2.22045e-16 pi*v=-6.97556e-16 -86: DBG: 1: pi=-2.24867 verr=1.11022e-16 pi*v=-2.49652e-16 -86: SP FINAL 1 intervals, piTotal=~[-3.14151 -2.24867 -0.0419537 -0.311337 -0.0476455 -0.219761] errNorm=9.38599e-16 +86: DBG: 0: pi=-2.39604 verr=0 pi*v=-0 +86: DBG: 1: pi=-1.8582 verr=-1.11022e-16 pi*v=2.06301e-16 +86: SP FINAL 1 intervals, piTotal=~[-2.39604 -1.8582 -0.0619137 0.231467 -0.0294939 0.183464] errNorm=1.67255e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.183375 -1.36082, |slipV|=1.37312 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.233513 0.872996, |slipV|=0.903687 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.175848 -0.811086, |slipV|=0.829929 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.251494 1.56439, |slipV|=1.58448 86: ------------------------------ 86: -86: dynamics impulse=~[-3.14151 -2.24867 -0.0419537 -0.311337 -0.0476455 -0.219761] -86: updated verrStart=~[2.22045e-16 1.11022e-16 -0.210097 -1.3821 -0.201774 -0.774236] +86: dynamics impulse=~[-2.39604 -1.8582 -0.0619137 0.231467 -0.0294939 0.183464] +86: updated verrStart=~[0 -1.11022e-16 -0.243363 0.866544 -0.261836 1.57686] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0978258 -0.00482922 0 0 0 0] +86: posVerr=~[0.324817 0.554832 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.249622 0.103979 0.00142216 0.30683 -0.00111856 0.122368] -86: [0.103979 0.211364 0.00573769 0.125076 0.00755601 0.257067] -86: [0.00142216 0.00573769 0.0527179 0.0451272 0.0515915 -0.0371686] -86: [0.30683 0.125076 0.0451272 0.4449 0.0407534 0.12684] -86: [-0.00111856 0.00755601 0.0515915 0.0407534 0.0505736 -0.033651] -86: [0.122368 0.257067 -0.0371686 0.12684 -0.033651 0.382727] +86: [0.257867 0.102674 -0.0122935 0.311146 -0.00730368 0.12065] +86: [0.102674 0.218656 0.00124429 0.122659 -0.00241292 0.262261] +86: [-0.0122935 0.00124429 0.0486542 0.02595 0.0503114 -0.0378914] +86: [0.311146 0.122659 0.02595 0.44356 0.0342517 0.126007] +86: [-0.00730368 -0.00241292 0.0503114 0.0342517 0.052358 -0.0444884] +86: [0.12065 0.262261 -0.0378914 0.126007 -0.0444884 0.378426] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.371096 rank=2 -86: rhs=~[0.0978258 -0.00482922 0 0 0 0] +86: rcond(A+D)=0.390127 rank=2 +86: rhs=~[0.324817 0.554832 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.504869 -0.271215] -86: -> pi=~[0.504869 -0.271215 0 0 0 0] -86: resid active=~[0 -8.67362e-18] -86: resid=~[0 -8.67362e-18 -0.000838144 0.120986 -0.00261403 -0.00794069] +86: -> piActive=~[0.306625 2.39348] +86: -> pi=~[0.306625 2.39348 0 0 0 0] +86: resid active=~[0 0] +86: resid=~[0 0 -0.0007913 0.388987 -0.00801476 0.66471] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[1.22894e-16 -8.94467e-18 -0.210097 -1.3821 -0.201774 -0.774236] -86: perr=~[9.78258e-05 -4.82922e-06 0] -86: END OF STEP (0.063,0.064): -86: verr=~[0.000518254 -0.000518254 -0.209912 -1.38211 -0.201959 -0.774234] -86: perr=~[9.80849e-05 -5.08834e-06 -2.22045e-16] +86: verr=~[-9.21572e-17 -1.19913e-16 -0.243363 0.866544 -0.261836 1.57686] +86: perr=~[0.000324817 0.000554832 0] +86: END OF STEP (0.118,0.119): +86: verr=~[-0.000738731 0.000738731 -0.24311 0.866552 -0.262088 1.57686] +86: perr=~[0.000324448 0.000555201 -2.22045e-16] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -39630,16 +51104,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.39796 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.800141 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000518254 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.900008 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.59849 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000738731 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000518254 -0.000518254 -0.209912 -1.38211 -0.201959 -0.774234] -86: IMP t=0.064 verr=~[0.000518254 -0.000518254 -0.209912 -1.38211 -0.201959 -0.774234] +86: verr=~[-0.000738731 0.000738731 -0.24311 0.866552 -0.262088 1.57686] +86: IMP t=0.119 verr=~[-0.000738731 0.000738731 -0.24311 0.866552 -0.262088 1.57686] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -39651,115 +51125,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000518254 -0.000518254 -0.209912 -1.38211 -0.201959 -0.774234] +86: verrLeft=~[-0.000738731 0.000738731 -0.24311 0.866552 -0.262088 1.57686] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.209912,-1.38211, mag=1.39796 -86: Participating contact 1 is Sliding; vel=-0.201959,-0.774234, mag=0.800141 +86: Participating contact 0 is Sliding; vel=-0.24311,0.866552, mag=0.900008 +86: Participating contact 1 is Sliding; vel=-0.262088,1.57686, mag=1.59849 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.209912,-1.38211, mag=1.39796 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.201959,-0.774234, mag=0.800141 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.24311,0.866552, mag=0.900008 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.262088,1.57686, mag=1.59849 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000518254; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000518254; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000738731; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000738731; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000518254 -0.000518254 -0.209912 -1.38211 -0.201959 -0.774234] +86: : verrLeft was=~[-0.000738731 0.000738731 -0.24311 0.866552 -0.262088 1.57686] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000518254 -0.209912 -1.38211 -0.000518254 -0.201959 -0.774234] +86: : rhsActive=~[-0.000738731 -0.24311 0.866552 0.000738731 -0.262088 1.57686] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.99983e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00134858... -86: > NEWTON iter 1: errNorm=0.00134858(v) -> deltaNorm=0.0086309(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000934311 0 0 -0.000552714 0.000201959 0.000774234] -86: > deltaPi=~[0.00610406 3.41409e-09 2.24791e-08 -0.00608933 9.87125e-05 0.000378427] -86: DBG: Line search iter 1: back=1, prevNorm=0.00134858. -86: > piNow=~[0.00389594 -3.41409e-09 -2.24791e-08 -0.00391067 -9.87125e-05 -0.000378427] -86: > errNow=~[6.50521e-19 -4.77275e-09 -3.14247e-08 6.50521e-19 -4.58083e-09 -1.75612e-08] normNow=3.66015e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.71409e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.94311e-05 -86: > NEWTON iter 2: errNorm=3.66015e-08(v) -> deltaNorm=4.74924e-08(pi) -86: > piActive=~[0.00389594 -3.41409e-09 -2.24791e-08 -0.00391067 -9.87125e-05 -0.000378427] -86: > errActive=~[6.50521e-19 -4.77275e-09 -3.14247e-08 6.50521e-19 -4.58083e-09 -1.75612e-08] -86: > deltaPi=~[2.73082e-08 -3.41399e-09 -2.24784e-08 2.41241e-08 -5.11627e-09 -1.96139e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.66015e-08. -86: > piNow=~[0.00389592 -1.00567e-13 -6.6215e-13 -0.00391069 -9.87074e-05 -0.000378407] -86: > errNow=~[-1.0842e-19 -1.40588e-13 -9.25657e-13 -1.0842e-19 1.18592e-13 4.54638e-13] normNow=1.04755e-12 -86: DBG: Improvement rate now/prev at iter 2 is 2.86205e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.04755e-12. -86: DBG: Worst offender is normal contact 0 err=0.00389592 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.83307e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00128887... +86: > NEWTON iter 1: errNorm=0.00128887(v) -> deltaNorm=0.00593472(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000818968 0.00024311 -0.000866552 0.000424794 0 0] +86: > deltaPi=~[-0.00415154 0.000157983 -0.00056312 0.00420042 2.56532e-09 -1.54343e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.00128887. +86: > piNow=~[-0.00584846 -0.000157983 0.00056312 0.00579958 -2.56532e-09 1.54343e-08] +86: > errNow=~[1.0842e-19 -3.75945e-09 1.34003e-08 0 -4.10064e-09 2.46715e-08] normNow=2.86217e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.22069e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.02299e-05 +86: > NEWTON iter 2: errNorm=2.86217e-08(v) -> deltaNorm=3.61137e-08(pi) +86: > piActive=~[-0.00584846 -0.000157983 0.00056312 0.00579958 -2.56532e-09 1.54343e-08] +86: > errActive=~[1.0842e-19 -3.75945e-09 1.34003e-08 0 -4.10064e-09 2.46715e-08] +86: > deltaPi=~[-2.04896e-08 -4.73054e-09 1.68617e-08 -1.8245e-08 -2.56535e-09 1.54345e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.86217e-08. +86: > piNow=~[-0.00584844 -0.000157978 0.000563103 0.0057996 3.3121e-14 -1.99273e-13] +86: > errNow=~[1.0842e-19 -5.4234e-14 1.93314e-13 -1.0842e-19 5.29436e-14 -3.18536e-13] normNow=3.80236e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.32849e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.80236e-13. +86: DBG: Worst offender is normal contact 1 err=0.0057996 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.209912,-1.38211, mag=1.39796 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.201959,-0.774234, mag=0.800141 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.24311,0.866552, mag=0.900008 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.262088,1.57686, mag=1.59849 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000518254; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000738731; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000518254 -0.000518254 -0.209912 -1.38211 -0.201959 -0.774234] +86: : verrLeft was=~[-0.000738731 0.000738731 -0.24311 0.866552 -0.262088 1.57686] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000518254 -0.201959 -0.774234] -86: : pi was=~[0 -0.00391069 -1.00567e-13 -6.6215e-13 -9.87074e-05 -0.000378407] -86: : piActive=~[-0.01 -9.87074e-05 -0.000378407] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.98043e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00175376... -86: > NEWTON iter 1: errNorm=0.00175376(v) -> deltaNorm=0.00780164(pi) -86: > piActive=~[-0.01 -9.87074e-05 -0.000378407] -86: > errActive=~[-0.00168472 0.000122979 0.000471455] -86: > deltaPi=~[-0.00779977 -4.31654e-05 -0.00016548] -86: DBG: Line search iter 1: back=1, prevNorm=0.00175376. -86: > piNow=~[-0.00220023 -5.5542e-05 -0.000212927] -86: > errNow=~[3.25261e-19 -5.86754e-09 -2.24939e-08] normNow=2.32466e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.32553e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.14313e-05 -86: > NEWTON iter 2: errNorm=2.32466e-08(v) -> deltaNorm=4.03485e-08(pi) -86: > piActive=~[-0.00220023 -5.5542e-05 -0.000212927] -86: > errActive=~[3.25261e-19 -5.86754e-09 -2.24939e-08] -86: > deltaPi=~[3.0882e-08 -6.55426e-09 -2.51266e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.32466e-08. -86: > piNow=~[-0.00220026 -5.55355e-05 -0.000212902] -86: > errNow=~[0 4.78841e-13 1.8357e-12] normNow=1.89712e-12 -86: DBG: Improvement rate now/prev at iter 2 is 8.16084e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.89712e-12. +86: : rhsActive=~[-0.000738731 -0.24311 0.866552] +86: : pi was=~[-0.00584844 0 -0.000157978 0.000563103 3.3121e-14 -1.99273e-13] +86: : piActive=~[-0.01 -0.000157978 0.000563103] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.35242e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00171562... +86: > NEWTON iter 1: errNorm=0.00171562(v) -> deltaNorm=0.00677531(pi) +86: > piActive=~[-0.01 -0.000157978 0.000563103] +86: > errActive=~[-0.00167444 0.000100929 -0.000359754] +86: > deltaPi=~[-0.00677025 -7.07293e-05 0.00025211] +86: DBG: Line search iter 1: back=1, prevNorm=0.00171562. +86: > piNow=~[-0.00322975 -8.72488e-05 0.000310993] +86: > errNow=~[0 -6.13084e-09 2.1853e-08] normNow=2.26967e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.32294e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.21074e-05 +86: > NEWTON iter 2: errNorm=2.26967e-08(v) -> deltaNorm=4.39664e-08(pi) +86: > piActive=~[-0.00322975 -8.72488e-05 0.000310993] +86: > errActive=~[0 -6.13084e-09 2.1853e-08] +86: > deltaPi=~[-3.34272e-08 -7.7146e-09 2.74982e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.26967e-08. +86: > piNow=~[-0.00322971 -8.72411e-05 0.000310965] +86: > errNow=~[0 -2.89909e-13 1.03336e-12] normNow=1.07326e-12 +86: DBG: Improvement rate now/prev at iter 2 is 4.7287e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.07326e-12. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.201959,-0.774234] to ~[-0.201947,-0.773589] -86: DBG: Friction 1 rotated 0.0108198 deg, less than max 30 +86: slipVel 0 from ~[-0.24311,0.866552] to ~[-0.243154,0.867422] +86: DBG: Friction 0 rotated 0.0122725 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00220026 -5.55355e-05 -0.000212902] -86: : m_verrLeft=~[0.000771736 0 -0.209905 -1.3818 -0.201947 -0.773589] +86: : m_piActive=~[-0.00322971 -8.72411e-05 0.000310965] +86: : m_verrLeft=~[0 0.0010342 -0.243154 0.867422 -0.262118 1.5772] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000771736 pi*v=0 -86: DBG: 1: pi=-0.00220026 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00220026 0 0 -5.55355e-05 -0.000212902] errNorm=1.89712e-12 -86: Postcompression verr=~[0.000771736 0 -0.209905 -1.3818 -0.201947 -0.773589] -86: impulse=~[0 -0.00220026 0 0 -5.55355e-05 -0.000212902] +86: DBG: 0: pi=-0.00322971 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.0010342 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00322971 0 -8.72411e-05 0.000310965 0 0] errNorm=1.07326e-12 +86: Postcompression verr=~[0 0.0010342 -0.243154 0.867422 -0.262118 1.5772] +86: impulse=~[-0.00322971 0 -8.72411e-05 0.000310965 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00220026 0 0 -5.55355e-05 -0.000212902]-> du ~[0.000275722 0.00083509 0.000340454 -0.000474463 9.90037e-06 0.000385868 -0.00147086 0.00113709] -86: Now verr0=~[0.000771736 -1.0842e-18 -0.209905 -1.3818 -0.201947 -0.773589] +86: Impact: imp ~[-0.00322971 0 -8.72411e-05 0.000310965 0 0]-> du ~[-0.000472546 0.00109023 -0.00052282 -0.000609091 -3.6781e-05 0.000517101 -0.00207846 0.00125598] +86: Now verr0=~[-1.40946e-18 0.0010342 -0.243154 0.867422 -0.262118 1.5772] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000771736 -1.0842e-18 -0.209905 -1.3818 -0.201947 -0.773589] -86: verrExt=~[-1.09117 -0.857953 -0.0516232 -1.37617 -0.0466775 -1.00003] -86: total verr=~[-1.0904 -0.857953 -0.261528 -2.75797 -0.248624 -1.77362] -86: DYN t=0.064: verrStart=~[0.000771736 -1.0842e-18 -0.209905 -1.3818 -0.201947 -0.773589] -86: verrApplied=~[-1.09117 -0.857953 -0.0516232 -1.37617 -0.0466775 -1.00003] +86: verr0 =~[-1.40946e-18 0.0010342 -0.243154 0.867422 -0.262118 1.5772] +86: verrExt=~[-0.714352 -0.57548 0.0115543 -0.854674 0.00621381 -0.655986] +86: total verr=~[-0.714352 -0.574446 -0.2316 0.0127485 -0.255904 0.921219] +86: DYN t=0.119: verrStart=~[-1.40946e-18 0.0010342 -0.243154 0.867422 -0.262118 1.5772] +86: verrApplied=~[-0.714352 -0.57548 0.0115543 -0.854674 0.00621381 -0.655986] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -39771,108 +51245,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000771736 -1.0842e-18 -0.209905 -1.3818 -0.201947 -0.773589] -86: verrApplied=~[-1.09117 -0.857953 -0.0516232 -1.37617 -0.0466775 -1.00003] +86: verrLeft=~[-1.40946e-18 0.0010342 -0.243154 0.867422 -0.262118 1.5772] +86: verrApplied=~[-0.714352 -0.57548 0.0115543 -0.854674 0.00621381 -0.655986] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.209905,-1.3818, mag=1.39765 -86: Participating contact 1 is Sliding; vel=-0.201947,-0.773589, mag=0.799514 +86: Participating contact 0 is Sliding; vel=-0.243154,0.867422, mag=0.900858 +86: Participating contact 1 is Sliding; vel=-0.262118,1.5772, mag=1.59884 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.209905,-1.3818, mag=1.39765 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.201947,-0.773589, mag=0.799514 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.243154,0.867422, mag=0.900858 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.262118,1.5772, mag=1.59884 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.0904; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.857953; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.714352; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.574446; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000771736 -1.0842e-18 -0.209905 -1.3818 -0.201947 -0.773589] +86: : verrLeft was=~[-1.40946e-18 0.0010342 -0.243154 0.867422 -0.262118 1.5772] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.09117 -0.857953 -0.0516232 -1.37617 -0.0466775 -1.00003] -86: : rhsActive=~[-1.0904 -0.261528 -2.75797 -0.857953 -0.248624 -1.77362] +86: : verrApplied was=~[-0.714352 -0.57548 0.0115543 -0.854674 0.00621381 -0.655986] +86: : rhsActive=~[-0.714352 -0.2316 0.0127485 -0.574446 -0.255904 0.921219] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.99769e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.38276... -86: > NEWTON iter 1: errNorm=1.38276(v) -> deltaNorm=3.71434(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.83575e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.911826... +86: > NEWTON iter 1: errNorm=0.911826(v) -> deltaNorm=3.01562(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.08688 0.000209905 0.0013818 0.854814 0.000201947 0.000773589] -86: > deltaPi=~[3.00702 0.045309 0.298269 2.14862 0.0545217 0.208854] -86: DBG: Line search iter 1: back=1, prevNorm=1.38276. -86: > piNow=~[-3.01702 -0.045309 -0.298269 -2.15862 -0.0545217 -0.208854] -86: > errNow=~[4.44089e-16 2.35109e-06 1.54772e-05 0 1.61624e-06 6.19128e-06] normNow=1.6912e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.22307e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.77944e-10 -86: > NEWTON iter 2: errNorm=1.6912e-05(v) -> deltaNorm=1.91949e-05(pi) -86: > piActive=~[-3.01702 -0.045309 -0.298269 -2.15862 -0.0545217 -0.208854] -86: > errActive=~[4.44089e-16 2.35109e-06 1.54772e-05 0 1.61624e-06 6.19128e-06] -86: > deltaPi=~[-1.20504e-05 1.50119e-06 9.88235e-06 -8.49338e-06 1.807e-06 6.92201e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.6912e-05. -86: > piNow=~[-3.017 -0.0453105 -0.298279 -2.15861 -0.0545235 -0.208861] -86: > errNow=~[-2.22045e-16 -1.11022e-16 -7.21645e-16 1.11022e-16 -1.38778e-16 -4.996e-16] normNow=9.29294e-16 -86: DBG: Improvement rate now/prev at iter 2 is 5.49487e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.29294e-16. +86: > errActive=~[0.710729 0.000243154 -0.000867422 0.571217 0.000262118 -0.0015772] +86: > deltaPi=~[2.38041 0.0645182 -0.23016 1.82667 0.0301098 -0.181175] +86: DBG: Line search iter 1: back=1, prevNorm=0.911826. +86: > piNow=~[-2.39041 -0.0645182 0.23016 -1.83667 -0.0301098 0.181175] +86: > errNow=~[-5.55112e-16 2.15598e-06 -7.6912e-06 -3.33067e-16 1.78348e-06 -1.07315e-05] normNow=1.34962e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.48013e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.82563e-10 +86: > NEWTON iter 2: errNorm=1.34962e-05(v) -> deltaNorm=1.94588e-05(pi) +86: > piActive=~[-2.39041 -0.0645182 0.23016 -1.83667 -0.0301098 0.181175] +86: > errActive=~[-5.55112e-16 2.15598e-06 -7.6912e-06 -3.33067e-16 1.78348e-06 -1.07315e-05] +86: > deltaPi=~[1.17604e-05 2.71069e-06 -9.67003e-06 8.95511e-06 1.2623e-06 -7.59546e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.34962e-05. +86: > piNow=~[-2.39042 -0.0645209 0.23017 -1.83668 -0.0301111 0.181183] +86: > errNow=~[1.11022e-16 1.8735e-16 -6.38378e-16 1.11022e-16 2.56739e-16 -1.55431e-15] normNow=1.71729e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.27242e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.71729e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.209905,-1.3818] to ~[-0.234969,-1.39961] -86: DBG: Friction 0 rotated 0.892518 deg, less than max 30 -86: slipVel 1 from ~[-0.201947,-0.773589] to ~[-0.226287,-0.736023] -86: DBG: Friction 1 rotated 2.45917 deg, less than max 30 +86: slipVel 0 from ~[-0.243154,0.867422] to ~[-0.253691,0.860879] +86: DBG: Friction 0 rotated 0.760482 deg, less than max 30 +86: slipVel 1 from ~[-0.262118,1.5772] to ~[-0.273195,1.5909] +86: DBG: Friction 1 rotated 0.308189 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-3.017 -0.0453105 -0.298279 -2.15861 -0.0545235 -0.208861] -86: : m_verrLeft=~[2.22045e-16 -1.11022e-16 -0.234969 -1.39961 -0.226287 -0.736023] +86: : m_piActive=~[-2.39042 -0.0645209 0.23017 -1.83668 -0.0301111 0.181183] +86: : m_verrLeft=~[-1.11022e-16 -1.11022e-16 -0.253691 0.860879 -0.273195 1.5909] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-3.017 verr=2.22045e-16 pi*v=-6.6991e-16 -86: DBG: 1: pi=-2.15861 verr=-1.11022e-16 pi*v=2.39653e-16 -86: SP FINAL 1 intervals, piTotal=~[-3.017 -2.15861 -0.0453105 -0.298279 -0.0545235 -0.208861] errNorm=9.29294e-16 +86: DBG: 0: pi=-2.39042 verr=-1.11022e-16 pi*v=2.6539e-16 +86: DBG: 1: pi=-1.83668 verr=-1.11022e-16 pi*v=2.03912e-16 +86: SP FINAL 1 intervals, piTotal=~[-2.39042 -1.83668 -0.0645209 0.23017 -0.0301111 0.181183] errNorm=1.71729e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.209905 -1.3818, |slipV|=1.39765 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.243154 0.867422, |slipV|=0.900858 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.201947 -0.773589, |slipV|=0.799514 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.262118 1.5772, |slipV|=1.59884 86: ------------------------------ 86: -86: dynamics impulse=~[-3.017 -2.15861 -0.0453105 -0.298279 -0.0545235 -0.208861] -86: updated verrStart=~[2.22045e-16 -1.11022e-16 -0.234969 -1.39961 -0.226287 -0.736023] +86: dynamics impulse=~[-2.39042 -1.83668 -0.0645209 0.23017 -0.0301111 0.181183] +86: updated verrStart=~[-1.11022e-16 -1.11022e-16 -0.253691 0.860879 -0.273195 1.5909] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0980849 -0.00508834 0 0 0 0] +86: posVerr=~[0.324448 0.555201 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.248667 0.103411 0.00109624 0.306553 -0.00133041 0.12224] -86: [0.103411 0.210507 0.00576902 0.124918 0.00750527 0.256768] -86: [0.00109624 0.00576902 0.0526142 0.0447595 0.0515437 -0.0370915] -86: [0.306553 0.124918 0.0447595 0.445945 0.0405713 0.127296] -86: [-0.00133041 0.00750527 0.0515437 0.0405713 0.0505725 -0.0337261] -86: [0.12224 0.256768 -0.0370915 0.127296 -0.0337261 0.38344] +86: [0.259049 0.103279 -0.012395 0.311427 -0.00726459 0.120748] +86: [0.103279 0.219632 0.00105585 0.12279 -0.00270267 0.262461] +86: [-0.012395 0.00105585 0.0486484 0.0258201 0.0503507 -0.0380106] +86: [0.311427 0.12279 0.0258201 0.442295 0.0343284 0.12547] +86: [-0.00726459 -0.00270267 0.0503507 0.0343284 0.0524629 -0.0447681] +86: [0.120748 0.262461 -0.0380106 0.12547 -0.0447681 0.377172] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.371722 rank=2 -86: rhs=~[0.0980849 -0.00508834 0 0 0 0] +86: rcond(A+D)=0.389561 rank=2 +86: rhs=~[0.324448 0.555201 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.508343 -0.273893] -86: -> pi=~[0.508343 -0.273893 0 0 0 0] -86: resid active=~[-6.93889e-17 -4.33681e-18] -86: resid=~[-6.93889e-17 -4.33681e-18 -0.00102283 0.12162 -0.00273194 -0.00818694] +86: -> piActive=~[0.301073 2.38629] +86: -> pi=~[0.301073 2.38629 0 0 0 0] +86: resid active=~[1.11022e-16 0] +86: resid=~[1.11022e-16 0 -0.00121223 0.386774 -0.00863653 0.662663] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[1.44253e-16 -1.12486e-16 -0.234969 -1.39961 -0.226287 -0.736023] -86: perr=~[9.80849e-05 -5.08834e-06 -2.22045e-16] -86: END OF STEP (0.064,0.065): -86: verr=~[0.000569436 -0.000569436 -0.234749 -1.39961 -0.226507 -0.73602] -86: perr=~[9.83696e-05 -5.37306e-06 0] +86: verr=~[-2.77556e-16 -1.73472e-16 -0.253691 0.860879 -0.273195 1.5909] +86: perr=~[0.000324448 0.000555201 -2.22045e-16] +86: END OF STEP (0.119,0.12): +86: verr=~[-0.000760898 0.000760898 -0.253424 0.860887 -0.273462 1.59089] +86: perr=~[0.000324067 0.000555581 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -39880,16 +51354,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.41916 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.770085 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000569436 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.897414 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.61422 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000760898 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000569436 -0.000569436 -0.234749 -1.39961 -0.226507 -0.73602] -86: IMP t=0.065 verr=~[0.000569436 -0.000569436 -0.234749 -1.39961 -0.226507 -0.73602] +86: verr=~[-0.000760898 0.000760898 -0.253424 0.860887 -0.273462 1.59089] +86: IMP t=0.12 verr=~[-0.000760898 0.000760898 -0.253424 0.860887 -0.273462 1.59089] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -39901,115 +51375,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000569436 -0.000569436 -0.234749 -1.39961 -0.226507 -0.73602] +86: verrLeft=~[-0.000760898 0.000760898 -0.253424 0.860887 -0.273462 1.59089] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.234749,-1.39961, mag=1.41916 -86: Participating contact 1 is Sliding; vel=-0.226507,-0.73602, mag=0.770085 +86: Participating contact 0 is Sliding; vel=-0.253424,0.860887, mag=0.897414 +86: Participating contact 1 is Sliding; vel=-0.273462,1.59089, mag=1.61422 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.234749,-1.39961, mag=1.41916 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.226507,-0.73602, mag=0.770085 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.253424,0.860887, mag=0.897414 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.273462,1.59089, mag=1.61422 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000569436; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000569436; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000760898; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000760898; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000569436 -0.000569436 -0.234749 -1.39961 -0.226507 -0.73602] +86: : verrLeft was=~[-0.000760898 0.000760898 -0.253424 0.860887 -0.273462 1.59089] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000569436 -0.234749 -1.39961 -0.000569436 -0.226507 -0.73602] +86: : rhsActive=~[-0.000760898 -0.253424 0.860887 0.000760898 -0.273462 1.59089] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.01431e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00127161... -86: > NEWTON iter 1: errNorm=0.00127161(v) -> deltaNorm=0.00807343(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000880049 0 0 -0.000499471 0.000226507 0.00073602] -86: > deltaPi=~[0.00571104 3.51884e-09 2.09798e-08 -0.00569021 0.000126771 0.000411935] -86: DBG: Line search iter 1: back=1, prevNorm=0.00127161. -86: > piNow=~[0.00428896 -3.51884e-09 -2.09798e-08 -0.00430979 -0.000126771 -0.000411935] -86: > errNow=~[-3.25261e-19 -4.9938e-09 -2.97737e-08 2.1684e-19 -4.80089e-09 -1.56002e-08] normNow=3.43195e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.6989e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.26074e-05 -86: > NEWTON iter 2: errNorm=3.43195e-08(v) -> deltaNorm=4.43449e-08(pi) -86: > piActive=~[0.00428896 -3.51884e-09 -2.09798e-08 -0.00430979 -0.000126771 -0.000411935] -86: > errActive=~[-3.25261e-19 -4.9938e-09 -2.97737e-08 2.1684e-19 -4.80089e-09 -1.56002e-08] -86: > deltaPi=~[2.55401e-08 -3.51876e-09 -2.09793e-08 2.24142e-08 -5.57509e-09 -1.81159e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.43195e-08. -86: > piNow=~[0.00428894 -8.55041e-14 -5.09788e-13 -0.00430981 -0.000126765 -0.000411916] -86: > errNow=~[2.1684e-19 -1.21344e-13 -7.2347e-13 1.0842e-19 1.01763e-13 3.30674e-13] normNow=8.11069e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.36329e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.11069e-13. -86: DBG: Worst offender is normal contact 0 err=0.00428894 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.87949e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0012711... +86: > NEWTON iter 1: errNorm=0.0012711(v) -> deltaNorm=0.00572545(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000803078 0.000253424 -0.000860887 0.000406707 0 0] +86: > deltaPi=~[-0.00400415 0.000169324 -0.000575196 0.00404822 2.55452e-09 -1.48612e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.0012711. +86: > piNow=~[-0.00599585 -0.000169324 0.000575196 0.00595178 -2.55452e-09 1.48612e-08] +86: > errNow=~[0 -3.77981e-09 1.28401e-08 3.25261e-19 -4.12356e-09 2.39892e-08] normNow=2.77784e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.18538e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.93499e-05 +86: > NEWTON iter 2: errNorm=2.77784e-08(v) -> deltaNorm=3.46805e-08(pi) +86: > piActive=~[-0.00599585 -0.000169324 0.000575196 0.00595178 -2.55452e-09 1.48612e-08] +86: > errActive=~[0 -3.77981e-09 1.28401e-08 3.25261e-19 -4.12356e-09 2.39892e-08] +86: > deltaPi=~[-1.96071e-08 -4.76553e-09 1.61886e-08 -1.74967e-08 -2.55455e-09 1.48613e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.77784e-08. +86: > piNow=~[-0.00599583 -0.000169319 0.000575179 0.0059518 3.11616e-14 -1.81286e-13] +86: > errNow=~[-2.1684e-19 -5.14737e-14 1.74857e-13 -2.1684e-19 5.03018e-14 -2.92635e-13] normNow=3.48411e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.25425e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.48411e-13. +86: DBG: Worst offender is normal contact 1 err=0.0059518 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.234749,-1.39961, mag=1.41916 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.226507,-0.73602, mag=0.770085 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.253424,0.860887, mag=0.897414 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.273462,1.59089, mag=1.61422 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000569436; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000760898; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000569436 -0.000569436 -0.234749 -1.39961 -0.226507 -0.73602] +86: : verrLeft was=~[-0.000760898 0.000760898 -0.253424 0.860887 -0.273462 1.59089] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000569436 -0.226507 -0.73602] -86: : pi was=~[0 -0.00430981 -8.55041e-14 -5.09788e-13 -0.000126765 -0.000411916] -86: : piActive=~[-0.01 -0.000126765 -0.000411916] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.86847e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00169187... -86: > NEWTON iter 1: errNorm=0.00169187(v) -> deltaNorm=0.00757338(pi) -86: > piActive=~[-0.01 -0.000126765 -0.000411916] -86: > errActive=~[-0.00163414 0.000128887 0.00041881] -86: > deltaPi=~[-0.00757104 -5.53136e-05 -0.000179738] -86: DBG: Line search iter 1: back=1, prevNorm=0.00169187. -86: > piNow=~[-0.00242896 -7.14518e-05 -0.000232178] -86: > errNow=~[1.0842e-19 -6.38776e-09 -2.07566e-08] normNow=2.17173e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.28363e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.8533e-05 -86: > NEWTON iter 2: errNorm=2.17173e-08(v) -> deltaNorm=3.90132e-08(pi) -86: > piActive=~[-0.00242896 -7.14518e-05 -0.000232178] -86: > errActive=~[1.0842e-19 -6.38776e-09 -2.07566e-08] -86: > deltaPi=~[2.97594e-08 -7.42011e-09 -2.41112e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.17173e-08. -86: > piNow=~[-0.00242899 -7.14444e-05 -0.000232154] -86: > errNow=~[0 4.24819e-13 1.38042e-12] normNow=1.44431e-12 -86: DBG: Improvement rate now/prev at iter 2 is 6.65051e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.44431e-12. +86: : rhsActive=~[-0.000760898 -0.253424 0.860887] +86: : pi was=~[-0.00599583 0 -0.000169319 0.000575179 3.11616e-14 -1.81286e-13] +86: : piActive=~[-0.01 -0.000169319 0.000575179] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.34275e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00169866... +86: > NEWTON iter 1: errNorm=0.00169866(v) -> deltaNorm=0.00669706(pi) +86: > piActive=~[-0.01 -0.000169319 0.000575179] +86: > errActive=~[-0.00166022 0.000101475 -0.000344714] +86: > deltaPi=~[-0.00669167 -7.58864e-05 0.000257788] +86: DBG: Line search iter 1: back=1, prevNorm=0.00169866. +86: > piNow=~[-0.00330833 -9.34324e-05 0.000317392] +86: > errNow=~[1.0842e-19 -6.31676e-09 2.14582e-08] normNow=2.23686e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.31684e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.05135e-05 +86: > NEWTON iter 2: errNorm=2.23686e-08(v) -> deltaNorm=4.3249e-08(pi) +86: > piActive=~[-0.00330833 -9.34324e-05 0.000317392] +86: > errActive=~[1.0842e-19 -6.31676e-09 2.14582e-08] +86: > deltaPi=~[-3.27879e-08 -7.96445e-09 2.70554e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.23686e-08. +86: > piNow=~[-0.0033083 -9.34245e-05 0.000317365] +86: > errNow=~[0 -2.82528e-13 9.59753e-13] normNow=1.00047e-12 +86: DBG: Improvement rate now/prev at iter 2 is 4.47267e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.00047e-12. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.226507,-0.73602] to ~[-0.226493,-0.73531] -86: DBG: Friction 1 rotated 0.0145627 deg, less than max 30 +86: slipVel 0 from ~[-0.253424,0.860887] to ~[-0.253469,0.861781] +86: DBG: Friction 0 rotated 0.0133429 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00242899 -7.14444e-05 -0.000232154] -86: : m_verrLeft=~[0.000847383 0 -0.23474 -1.39927 -0.226493 -0.73531] +86: : m_piActive=~[-0.0033083 -9.34245e-05 0.000317365] +86: : m_verrLeft=~[0 0.00106556 -0.253469 0.861781 -0.273492 1.59125] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000847383 pi*v=0 -86: DBG: 1: pi=-0.00242899 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00242899 0 0 -7.14444e-05 -0.000232154] errNorm=1.44431e-12 -86: Postcompression verr=~[0.000847383 0 -0.23474 -1.39927 -0.226493 -0.73531] -86: impulse=~[0 -0.00242899 0 0 -7.14444e-05 -0.000232154] +86: DBG: 0: pi=-0.0033083 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00106556 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.0033083 0 -9.34245e-05 0.000317365 0 0] errNorm=1.00047e-12 +86: Postcompression verr=~[0 0.00106556 -0.253469 0.861781 -0.273492 1.59125] +86: impulse=~[-0.0033083 0 -9.34245e-05 0.000317365 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00242899 0 0 -7.14444e-05 -0.000232154]-> du ~[0.000302927 0.000918964 0.000374313 -0.000522694 1.15154e-05 0.000423691 -0.00161808 0.00124953] -86: Now verr0=~[0.000847383 1.0842e-19 -0.23474 -1.39927 -0.226493 -0.73531] +86: Impact: imp ~[-0.0033083 0 -9.34245e-05 0.000317365 0 0]-> du ~[-0.000487159 0.00112036 -0.000537099 -0.000625091 -3.75843e-05 0.000532781 -0.0021365 0.00129057] +86: Now verr0=~[2.1684e-19 0.00106556 -0.253469 0.861781 -0.273492 1.59125] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000847383 1.0842e-19 -0.23474 -1.39927 -0.226493 -0.73531] -86: verrExt=~[-1.03812 -0.815771 -0.0481154 -1.31094 -0.0436277 -0.951497] -86: total verr=~[-1.03727 -0.815771 -0.282855 -2.71022 -0.270121 -1.68681] -86: DYN t=0.065: verrStart=~[0.000847383 1.0842e-19 -0.23474 -1.39927 -0.226493 -0.73531] -86: verrApplied=~[-1.03812 -0.815771 -0.0481154 -1.31094 -0.0436277 -0.951497] +86: verr0 =~[2.1684e-19 0.00106556 -0.253469 0.861781 -0.273492 1.59125] +86: verrExt=~[-0.70958 -0.569581 0.0111648 -0.845497 0.00562134 -0.644716] +86: total verr=~[-0.70958 -0.568515 -0.242305 0.016284 -0.267871 0.94653] +86: DYN t=0.12: verrStart=~[2.1684e-19 0.00106556 -0.253469 0.861781 -0.273492 1.59125] +86: verrApplied=~[-0.70958 -0.569581 0.0111648 -0.845497 0.00562134 -0.644716] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -40021,108 +51495,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000847383 1.0842e-19 -0.23474 -1.39927 -0.226493 -0.73531] -86: verrApplied=~[-1.03812 -0.815771 -0.0481154 -1.31094 -0.0436277 -0.951497] +86: verrLeft=~[2.1684e-19 0.00106556 -0.253469 0.861781 -0.273492 1.59125] +86: verrApplied=~[-0.70958 -0.569581 0.0111648 -0.845497 0.00562134 -0.644716] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.23474,-1.39927, mag=1.41883 -86: Participating contact 1 is Sliding; vel=-0.226493,-0.73531, mag=0.769403 +86: Participating contact 0 is Sliding; vel=-0.253469,0.861781, mag=0.898284 +86: Participating contact 1 is Sliding; vel=-0.273492,1.59125, mag=1.61458 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.23474,-1.39927, mag=1.41883 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.226493,-0.73531, mag=0.769403 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.253469,0.861781, mag=0.898284 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.273492,1.59125, mag=1.61458 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-1.03727; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.815771; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.70958; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.568515; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000847383 1.0842e-19 -0.23474 -1.39927 -0.226493 -0.73531] +86: : verrLeft was=~[2.1684e-19 0.00106556 -0.253469 0.861781 -0.273492 1.59125] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-1.03812 -0.815771 -0.0481154 -1.31094 -0.0436277 -0.951497] -86: : rhsActive=~[-1.03727 -0.282855 -2.71022 -0.815771 -0.270121 -1.68681] +86: : verrApplied was=~[-0.70958 -0.569581 0.0111648 -0.845497 0.00562134 -0.644716] +86: : rhsActive=~[-0.70958 -0.242305 0.016284 -0.568515 -0.267871 0.94653] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.01201e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.31494... -86: > NEWTON iter 1: errNorm=1.31494(v) -> deltaNorm=3.54845(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.88223e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.904369... +86: > NEWTON iter 1: errNorm=0.904369(v) -> deltaNorm=2.97447(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[1.03377 0.00023474 0.00139927 0.812646 0.000226493 0.00073531] -86: > deltaPi=~[2.87211 0.0476818 0.284229 2.05349 0.0607418 0.197198] -86: DBG: Line search iter 1: back=1, prevNorm=1.31494. -86: > piNow=~[-2.88211 -0.0476818 -0.284229 -2.06349 -0.0607418 -0.197198] -86: > errNow=~[-2.22045e-16 2.51131e-06 1.49698e-05 2.22045e-16 1.73245e-06 5.62439e-06] normNow=1.62799e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.23807e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.74101e-10 -86: > NEWTON iter 2: errNorm=1.62799e-05(v) -> deltaNorm=1.83175e-05(pi) -86: > piActive=~[-2.88211 -0.0476818 -0.284229 -2.06349 -0.0607418 -0.197198] -86: > errActive=~[-2.22045e-16 2.51131e-06 1.49698e-05 2.22045e-16 1.73245e-06 5.62439e-06] -86: > deltaPi=~[-1.15056e-05 1.57963e-06 9.41611e-06 -8.07381e-06 2.014e-06 6.53846e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.62799e-05. -86: > piNow=~[-2.8821 -0.0476833 -0.284238 -2.06348 -0.0607438 -0.197205] -86: > errNow=~[0 -1.11022e-16 -7.21645e-16 1.11022e-16 -1.66533e-16 -5.27356e-16] normNow=9.22638e-16 -86: DBG: Improvement rate now/prev at iter 2 is 5.66734e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.22638e-16. +86: > errActive=~[0.705938 0.000253469 -0.000861781 0.565271 0.000273492 -0.00159125] +86: > deltaPi=~[2.35614 0.0667631 -0.226991 1.79099 0.0305057 -0.17749] +86: DBG: Line search iter 1: back=1, prevNorm=0.904369. +86: > piNow=~[-2.36614 -0.0667631 0.226991 -1.80099 -0.0305057 0.17749] +86: > errNow=~[-2.22045e-16 2.22453e-06 -7.56327e-06 1.11022e-16 1.82453e-06 -1.06155e-05] normNow=1.3348e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.47595e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.02356e-10 +86: > NEWTON iter 2: errNorm=1.3348e-05(v) -> deltaNorm=1.91087e-05(pi) +86: > piActive=~[-2.36614 -0.0667631 0.226991 -1.80099 -0.0305057 0.17749] +86: > errActive=~[-2.22045e-16 2.22453e-06 -7.56327e-06 1.11022e-16 1.82453e-06 -1.06155e-05] +86: > deltaPi=~[1.1551e-05 2.80236e-06 -9.52785e-06 8.72779e-06 1.27787e-06 -7.43498e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.3348e-05. +86: > piNow=~[-2.36615 -0.0667659 0.227 -1.801 -0.030507 0.177497] +86: > errNow=~[0 1.8735e-16 -6.66134e-16 0 2.70617e-16 -1.60982e-15] normNow=1.77302e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.3283e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.77302e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.23474,-1.39927] to ~[-0.257835,-1.41319] -86: DBG: Friction 0 rotated 0.816638 deg, less than max 30 -86: slipVel 1 from ~[-0.226493,-0.73531] to ~[-0.248943,-0.697319] -86: DBG: Friction 1 rotated 2.5265 deg, less than max 30 +86: slipVel 0 from ~[-0.253469,0.861781] to ~[-0.264622,0.855646] +86: DBG: Friction 0 rotated 0.795254 deg, less than max 30 +86: slipVel 1 from ~[-0.273492,1.59125] to ~[-0.285231,1.60646] +86: DBG: Friction 1 rotated 0.315744 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.8821 -0.0476833 -0.284238 -2.06348 -0.0607438 -0.197205] -86: : m_verrLeft=~[0 -1.11022e-16 -0.257835 -1.41319 -0.248943 -0.697319] +86: : m_piActive=~[-2.36615 -0.0667659 0.227 -1.801 -0.030507 0.177497] +86: : m_verrLeft=~[0 0 -0.264622 0.855646 -0.285231 1.60646] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.8821 verr=0 pi*v=-0 -86: DBG: 1: pi=-2.06348 verr=-1.11022e-16 pi*v=2.29093e-16 -86: SP FINAL 1 intervals, piTotal=~[-2.8821 -2.06348 -0.0476833 -0.284238 -0.0607438 -0.197205] errNorm=9.22638e-16 +86: DBG: 0: pi=-2.36615 verr=0 pi*v=-0 +86: DBG: 1: pi=-1.801 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-2.36615 -1.801 -0.0667659 0.227 -0.030507 0.177497] errNorm=1.77302e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.23474 -1.39927, |slipV|=1.41883 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.253469 0.861781, |slipV|=0.898284 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.226493 -0.73531, |slipV|=0.769403 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.273492 1.59125, |slipV|=1.61458 86: ------------------------------ 86: -86: dynamics impulse=~[-2.8821 -2.06348 -0.0476833 -0.284238 -0.0607438 -0.197205] -86: updated verrStart=~[0 -1.11022e-16 -0.257835 -1.41319 -0.248943 -0.697319] +86: dynamics impulse=~[-2.36615 -1.801 -0.0667659 0.227 -0.030507 0.177497] +86: updated verrStart=~[0 0 -0.264622 0.855646 -0.285231 1.60646] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0983696 -0.00537306 0 0 0 0] +86: posVerr=~[0.324067 0.555581 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.247754 0.102806 0.000735816 0.306317 -0.00156745 0.122092] -86: [0.102806 0.209697 0.00579882 0.124727 0.00744699 0.256528] -86: [0.000735816 0.00579882 0.0524883 0.0443265 0.0514788 -0.0369923] -86: [0.306317 0.124727 0.0443265 0.44702 0.0403423 0.127769] -86: [-0.00156745 0.00744699 0.0514788 0.0403423 0.0505589 -0.0337931] -86: [0.122092 0.256528 -0.0369923 0.127769 -0.0337931 0.384209] +86: [0.260253 0.103855 -0.012517 0.311711 -0.0072413 0.120824] +86: [0.103855 0.220616 0.000874618 0.122892 -0.00298868 0.262656] +86: [-0.012517 0.000874618 0.0486351 0.0256575 0.0503823 -0.0381096] +86: [0.311711 0.122892 0.0256575 0.44101 0.0343769 0.124935] +86: [-0.0072413 -0.00298868 0.0503823 0.0343769 0.0525609 -0.0450307] +86: [0.120824 0.262656 -0.0381096 0.124935 -0.0450307 0.375893] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.372582 rank=2 -86: rhs=~[0.0983696 -0.00537306 0 0 0 0] +86: rcond(A+D)=0.389137 rank=2 +86: rhs=~[0.324067 0.555581 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.511793 -0.276535] -86: -> pi=~[0.511793 -0.276535 0 0 0 0] -86: resid active=~[-1.38778e-17 -8.67362e-18] -86: resid=~[-1.38778e-17 -8.67362e-18 -0.00122699 0.122279 -0.00286156 -0.0084531] +86: -> piActive=~[0.295826 2.37906] +86: -> pi=~[0.295826 2.37906 0 0 0 0] +86: resid active=~[-5.55112e-17 0] +86: resid=~[-5.55112e-17 0 -0.00162209 0.384581 -0.00925243 0.660618] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-1.45988e-16 -2.91705e-16 -0.257835 -1.41319 -0.248943 -0.697319] -86: perr=~[9.83696e-05 -5.37306e-06 0] -86: END OF STEP (0.065,0.066): -86: verr=~[0.000616258 -0.000616258 -0.257579 -1.41319 -0.249199 -0.697316] -86: perr=~[9.86778e-05 -5.68119e-06 -1.11022e-16] +86: verr=~[-2.25514e-17 9.54098e-17 -0.264622 0.855646 -0.285231 1.60646] +86: perr=~[0.000324067 0.000555581 0] +86: END OF STEP (0.12,0.121): +86: verr=~[-0.000785051 0.000785051 -0.26434 0.855655 -0.285513 1.60646] +86: perr=~[0.000323675 0.000555974 -1.11022e-16] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -40130,16 +51604,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.43647 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.740507 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000616258 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.895556 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.63163 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000785051 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000616258 -0.000616258 -0.257579 -1.41319 -0.249199 -0.697316] -86: IMP t=0.066 verr=~[0.000616258 -0.000616258 -0.257579 -1.41319 -0.249199 -0.697316] +86: verr=~[-0.000785051 0.000785051 -0.26434 0.855655 -0.285513 1.60646] +86: IMP t=0.121 verr=~[-0.000785051 0.000785051 -0.26434 0.855655 -0.285513 1.60646] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -40151,117 +51625,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000616258 -0.000616258 -0.257579 -1.41319 -0.249199 -0.697316] +86: verrLeft=~[-0.000785051 0.000785051 -0.26434 0.855655 -0.285513 1.60646] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.257579,-1.41319, mag=1.43647 -86: Participating contact 1 is Sliding; vel=-0.249199,-0.697316, mag=0.740507 +86: Participating contact 0 is Sliding; vel=-0.26434,0.855655, mag=0.895556 +86: Participating contact 1 is Sliding; vel=-0.285513,1.60646, mag=1.63163 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.257579,-1.41319, mag=1.43647 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.249199,-0.697316, mag=0.740507 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.26434,0.855655, mag=0.895556 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.285513,1.60646, mag=1.63163 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000616258; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000616258; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000785051; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000785051; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000616258 -0.000616258 -0.257579 -1.41319 -0.249199 -0.697316] +86: : verrLeft was=~[-0.000785051 0.000785051 -0.26434 0.855655 -0.285513 1.60646] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000616258 -0.257579 -1.41319 -0.000616258 -0.249199 -0.697316] +86: : rhsActive=~[-0.000785051 -0.26434 0.855655 0.000785051 -0.285513 1.60646] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.01981e-06 -103: [min,max]=0,0.03 actual=9.43425e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00120102... -86: > NEWTON iter 1: errNorm=0.00120102(v) -> deltaNorm=0.00756339(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.00083089 0 0 -0.000451366 0.000249199 0.000697316] -86: > deltaPi=~[0.00535222 3.57485e-09 1.96132e-08 -0.00532353 0.000157382 0.00044039] -86: DBG: Line search iter 1: back=1, prevNorm=0.00120102. -86: > piNow=~[0.00464778 -3.57485e-09 -1.96132e-08 -0.00467647 -0.000157382 -0.00044039] -86: > errNow=~[8.67362e-19 -5.13518e-09 -2.81739e-08 -2.1684e-19 -4.94149e-09 -1.38274e-08] normNow=3.21831e-08 -103: calc wrms=9.43425e-05 -86: DBG: Improvement rate now/prev at iter 1 is 2.67964e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.77846e-05 -86: > NEWTON iter 2: errNorm=3.21831e-08(v) -> deltaNorm=4.14451e-08(pi) -86: > piActive=~[0.00464778 -3.57485e-09 -1.96132e-08 -0.00467647 -0.000157382 -0.00044039] -86: > errActive=~[8.67362e-19 -5.13518e-09 -2.81739e-08 -2.1684e-19 -4.94149e-09 -1.38274e-08] -86: > deltaPi=~[2.39231e-08 -3.57477e-09 -1.96128e-08 2.08064e-08 -5.97306e-09 -1.6714e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.21831e-08. -86: > piNow=~[0.00464776 -7.39389e-14 -4.05663e-13 -0.00467649 -0.000157376 -0.000440373] -86: > errNow=~[0 -1.06211e-13 -5.82724e-13 1.0842e-19 8.82765e-14 2.47018e-13] normNow=6.47811e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.01289e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.47811e-13. -86: DBG: Worst offender is normal contact 0 err=0.00464776 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.93291e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00125265... +86: > NEWTON iter 1: errNorm=0.00125265(v) -> deltaNorm=0.00549952(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.0007857 0.00026434 -0.000855655 0.000387026 0 0] +86: > deltaPi=~[-0.00384495 0.000181682 -0.000588095 0.00388359 2.53133e-09 -1.42427e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.00125265. +86: > piNow=~[-0.00615505 -0.000181682 0.000588095 0.00611641 -2.53133e-09 1.42427e-08] +86: > errNow=~[3.25261e-19 -3.78587e-09 1.22547e-08 -2.1684e-19 -4.1302e-09 2.32388e-08] normNow=2.68628e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.14448e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.84751e-05 +86: > NEWTON iter 2: errNorm=2.68628e-08(v) -> deltaNorm=3.31511e-08(pi) +86: > piActive=~[-0.00615505 -0.000181682 0.000588095 0.00611641 -2.53133e-09 1.42427e-08] +86: > errActive=~[3.25261e-19 -3.78587e-09 1.22547e-08 -2.1684e-19 -4.1302e-09 2.32388e-08] +86: > deltaPi=~[-1.86738e-08 -4.77853e-09 1.54679e-08 -1.67011e-08 -2.53136e-09 1.42428e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.68628e-08. +86: > piNow=~[-0.00615503 -0.000181677 0.000588079 0.00611643 2.90928e-14 -1.63692e-13] +86: > errNow=~[-1.0842e-19 -4.85251e-14 1.57073e-13 1.0842e-19 4.74687e-14 -2.67085e-13] normNow=3.17198e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.18081e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.17198e-13. +86: DBG: Worst offender is normal contact 1 err=0.00611643 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.257579,-1.41319, mag=1.43647 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.249199,-0.697316, mag=0.740507 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.26434,0.855655, mag=0.895556 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.285513,1.60646, mag=1.63163 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000616258; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000785051; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000616258 -0.000616258 -0.257579 -1.41319 -0.249199 -0.697316] +86: : verrLeft was=~[-0.000785051 0.000785051 -0.26434 0.855655 -0.285513 1.60646] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000616258 -0.249199 -0.697316] -86: : pi was=~[0 -0.00467649 -7.39389e-14 -4.05663e-13 -0.000157376 -0.000440373] -86: : piActive=~[-0.01 -0.000157376 -0.000440373] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.7583e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00163533... -86: > NEWTON iter 1: errNorm=0.00163533(v) -> deltaNorm=0.00736158(pi) -86: > piActive=~[-0.01 -0.000157376 -0.000440373] -86: > errActive=~[-0.00158711 0.000132662 0.000371217] -86: > deltaPi=~[-0.00735877 -6.84824e-05 -0.000191629] -86: DBG: Line search iter 1: back=1, prevNorm=0.00163533. -86: > piNow=~[-0.00264123 -8.88935e-05 -0.000248744] -86: > errNow=~[-1.0842e-19 -6.83068e-09 -1.91138e-08] normNow=2.02976e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.24119e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.94803e-05 -86: > NEWTON iter 2: errNorm=2.02976e-08(v) -> deltaNorm=3.77293e-08(pi) -86: > piActive=~[-0.00264123 -8.88935e-05 -0.000248744] -86: > errActive=~[-1.0842e-19 -6.83068e-09 -1.91138e-08] -86: > deltaPi=~[2.86524e-08 -8.26061e-09 -2.31151e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.02976e-08. -86: > piNow=~[-0.00264126 -8.88852e-05 -0.000248721] -86: > errNow=~[0 3.80679e-13 1.06522e-12] normNow=1.1312e-12 -86: DBG: Improvement rate now/prev at iter 2 is 5.57307e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.1312e-12. +86: : rhsActive=~[-0.000785051 -0.26434 0.855655] +86: : pi was=~[-0.00615503 0 -0.000181677 0.000588079 2.90928e-14 -1.63692e-13] +86: : piActive=~[-0.01 -0.000181677 0.000588079] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.33583e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00167963... +86: > NEWTON iter 1: errNorm=0.00167963(v) -> deltaNorm=0.00661158(pi) +86: > piActive=~[-0.01 -0.000181677 0.000588079] +86: > errActive=~[-0.00164396 0.000101638 -0.000328997] +86: > deltaPi=~[-0.00660582 -8.14843e-05 0.00026376] +86: DBG: Line search iter 1: back=1, prevNorm=0.00167963. +86: > piNow=~[-0.00339418 -0.000100193 0.000324319] +86: > errNow=~[-3.25261e-19 -6.50431e-09 2.10541e-08] normNow=2.20359e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.31195e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.89309e-05 +86: > NEWTON iter 2: errNorm=2.20359e-08(v) -> deltaNorm=4.24816e-08(pi) +86: > piActive=~[-0.00339418 -0.000100193 0.000324319] +86: > errActive=~[-3.25261e-19 -6.50431e-09 2.10541e-08] +86: > deltaPi=~[-3.21088e-08 -8.21032e-09 2.65764e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.20359e-08. +86: > piNow=~[-0.00339415 -0.000100185 0.000324293] +86: > errNow=~[0 -2.74193e-13 8.87547e-13] normNow=9.28936e-13 +86: DBG: Improvement rate now/prev at iter 2 is 4.21556e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.28936e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.249199,-0.697316] to ~[-0.249184,-0.696547] -86: DBG: Friction 1 rotated 0.0189295 deg, less than max 30 +86: slipVel 0 from ~[-0.26434,0.855655] to ~[-0.264387,0.856574] +86: DBG: Friction 0 rotated 0.0145054 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00264126 -8.88852e-05 -0.000248721] -86: : m_verrLeft=~[0.000916277 0 -0.257568 -1.41283 -0.249184 -0.696547] +86: : m_piActive=~[-0.00339415 -0.000100185 0.000324293] +86: : m_verrLeft=~[0 0.00109961 -0.264387 0.856574 -0.285544 1.60682] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000916277 pi*v=0 -86: DBG: 1: pi=-0.00264126 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00264126 0 0 -8.88852e-05 -0.000248721] errNorm=1.1312e-12 -86: Postcompression verr=~[0.000916277 0 -0.257568 -1.41283 -0.249184 -0.696547] -86: impulse=~[0 -0.00264126 0 0 -8.88852e-05 -0.000248721] +86: DBG: 0: pi=-0.00339415 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00109961 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00339415 0 -0.000100185 0.000324293 0 0] errNorm=9.28936e-13 +86: Postcompression verr=~[0 0.00109961 -0.264387 0.856574 -0.285544 1.60682] +86: impulse=~[-0.00339415 0 -0.000100185 0.000324293 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00264126 0 0 -8.88852e-05 -0.000248721]-> du ~[0.000327918 0.000995896 0.000405445 -0.000567069 1.31771e-05 0.000458139 -0.00175307 0.00135286] -86: Now verr0=~[0.000916277 -1.0842e-18 -0.257568 -1.41283 -0.249184 -0.696547] +86: Impact: imp ~[-0.00339415 0 -0.000100185 0.000324293 0 0]-> du ~[-0.000503202 0.00115314 -0.000552767 -0.000642527 -3.85052e-05 0.000549803 -0.00219963 0.00132791] +86: Now verr0=~[3.46945e-18 0.00109961 -0.264387 0.856574 -0.285544 1.60682] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000916277 -1.0842e-18 -0.257568 -1.41283 -0.249184 -0.696547] -86: verrExt=~[-0.98245 -0.771801 -0.0442069 -1.24157 -0.0401965 -0.900822] -86: total verr=~[-0.981534 -0.771801 -0.301775 -2.6544 -0.28938 -1.59737] -86: DYN t=0.066: verrStart=~[0.000916277 -1.0842e-18 -0.257568 -1.41283 -0.249184 -0.696547] -86: verrApplied=~[-0.98245 -0.771801 -0.0442069 -1.24157 -0.0401965 -0.900822] +86: verr0 =~[3.46945e-18 0.00109961 -0.264387 0.856574 -0.285544 1.60682] +86: verrExt=~[-0.700263 -0.560086 0.0107435 -0.830599 0.00503177 -0.629209] +86: total verr=~[-0.700263 -0.558986 -0.253643 0.0259742 -0.280512 0.977613] +86: DYN t=0.121: verrStart=~[3.46945e-18 0.00109961 -0.264387 0.856574 -0.285544 1.60682] +86: verrApplied=~[-0.700263 -0.560086 0.0107435 -0.830599 0.00503177 -0.629209] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -40273,108 +51745,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000916277 -1.0842e-18 -0.257568 -1.41283 -0.249184 -0.696547] -86: verrApplied=~[-0.98245 -0.771801 -0.0442069 -1.24157 -0.0401965 -0.900822] +86: verrLeft=~[3.46945e-18 0.00109961 -0.264387 0.856574 -0.285544 1.60682] +86: verrApplied=~[-0.700263 -0.560086 0.0107435 -0.830599 0.00503177 -0.629209] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.257568,-1.41283, mag=1.43611 -86: Participating contact 1 is Sliding; vel=-0.249184,-0.696547, mag=0.739777 +86: Participating contact 0 is Sliding; vel=-0.264387,0.856574, mag=0.896448 +86: Participating contact 1 is Sliding; vel=-0.285544,1.60682, mag=1.632 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.257568,-1.41283, mag=1.43611 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.249184,-0.696547, mag=0.739777 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.264387,0.856574, mag=0.896448 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.285544,1.60682, mag=1.632 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.981534; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.771801; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.700263; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.558986; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000916277 -1.0842e-18 -0.257568 -1.41283 -0.249184 -0.696547] +86: : verrLeft was=~[3.46945e-18 0.00109961 -0.264387 0.856574 -0.285544 1.60682] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.98245 -0.771801 -0.0442069 -1.24157 -0.0401965 -0.900822] -86: : rhsActive=~[-0.981534 -0.301775 -2.6544 -0.771801 -0.28938 -1.59737] +86: : verrApplied was=~[-0.700263 -0.560086 0.0107435 -0.830599 0.00503177 -0.629209] +86: : rhsActive=~[-0.700263 -0.253643 0.0259742 -0.558986 -0.280512 0.977613] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.01737e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.24397... -86: > NEWTON iter 1: errNorm=1.24397(v) -> deltaNorm=3.37251(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.9357e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.891118... +86: > NEWTON iter 1: errNorm=0.891118(v) -> deltaNorm=2.91485(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.978043 0.000257568 0.00141283 0.76869 0.000249184 0.000696547] -86: > deltaPi=~[2.72803 0.0491048 0.269353 1.95402 0.0661528 0.184918] -86: DBG: Line search iter 1: back=1, prevNorm=1.24397. -86: > piNow=~[-2.73803 -0.0491048 -0.269353 -1.96402 -0.0661528 -0.184918] -86: > errNow=~[5.55112e-16 2.61729e-06 1.43565e-05 -1.11022e-16 1.81368e-06 5.06979e-06] normNow=1.55548e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.25042e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.29704e-10 -86: > NEWTON iter 2: errNorm=1.55548e-05(v) -> deltaNorm=1.73831e-05(pi) -86: > piActive=~[-2.73803 -0.0491048 -0.269353 -1.96402 -0.0661528 -0.184918] -86: > errActive=~[5.55112e-16 2.61729e-06 1.43565e-05 -1.11022e-16 1.81368e-06 5.06979e-06] -86: > deltaPi=~[-1.0923e-05 1.62657e-06 8.9222e-06 -7.62563e-06 2.19479e-06 6.13513e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.55548e-05. -86: > piNow=~[-2.73802 -0.0491064 -0.269362 -1.96401 -0.066155 -0.184924] -86: > errNow=~[-2.22045e-16 -1.249e-16 -8.32667e-16 0 -1.8735e-16 -4.996e-16] normNow=1.02124e-15 -86: DBG: Improvement rate now/prev at iter 2 is 6.56545e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.02124e-15. +86: > errActive=~[0.696604 0.000264387 -0.000856574 0.555726 0.000285544 -0.00160682] +86: > deltaPi=~[2.31678 0.0686203 -0.22232 1.7447 0.0307002 -0.172757] +86: DBG: Line search iter 1: back=1, prevNorm=0.891118. +86: > piNow=~[-2.32678 -0.0686203 0.22232 -1.7547 -0.0307002 0.172757] +86: > errNow=~[0 2.28158e-06 -7.39197e-06 -1.11022e-16 1.85569e-06 -1.04424e-05] normNow=1.31276e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.47316e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.11945e-10 +86: > NEWTON iter 2: errNorm=1.31276e-05(v) -> deltaNorm=1.86409e-05(pi) +86: > piActive=~[-2.32678 -0.0686203 0.22232 -1.7547 -0.0307002 0.172757] +86: > errActive=~[0 2.28158e-06 -7.39197e-06 -1.11022e-16 1.85569e-06 -1.04424e-05] +86: > deltaPi=~[1.12669e-05 2.87742e-06 -9.32242e-06 8.45101e-06 1.28493e-06 -7.23061e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.31276e-05. +86: > piNow=~[-2.32679 -0.0686232 0.222329 -1.75471 -0.0307015 0.172764] +86: > errNow=~[0 2.01228e-16 -6.66134e-16 0 2.98372e-16 -1.66533e-15] normNow=1.82937e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.39353e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.82937e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.257568,-1.41283] to ~[-0.278431,-1.42249] -86: DBG: Friction 0 rotated 0.742863 deg, less than max 30 -86: slipVel 1 from ~[-0.249184,-0.696547] to ~[-0.269488,-0.658378] -86: DBG: Friction 1 rotated 2.57605 deg, less than max 30 +86: slipVel 0 from ~[-0.264387,0.856574] to ~[-0.276051,0.851261] +86: DBG: Friction 0 rotated 0.813917 deg, less than max 30 +86: slipVel 1 from ~[-0.285544,1.60682] to ~[-0.297834,1.62372] +86: DBG: Friction 1 rotated 0.317376 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.73802 -0.0491064 -0.269362 -1.96401 -0.066155 -0.184924] -86: : m_verrLeft=~[2.22045e-16 0 -0.278431 -1.42249 -0.269488 -0.658378] +86: : m_piActive=~[-2.32679 -0.0686232 0.222329 -1.75471 -0.0307015 0.172764] +86: : m_verrLeft=~[0 0 -0.276051 0.851261 -0.297834 1.62372] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.73802 verr=2.22045e-16 pi*v=-6.07961e-16 -86: DBG: 1: pi=-1.96401 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-2.73802 -1.96401 -0.0491064 -0.269362 -0.066155 -0.184924] errNorm=1.02124e-15 +86: DBG: 0: pi=-2.32679 verr=0 pi*v=-0 +86: DBG: 1: pi=-1.75471 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-2.32679 -1.75471 -0.0686232 0.222329 -0.0307015 0.172764] errNorm=1.82937e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.257568 -1.41283, |slipV|=1.43611 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.264387 0.856574, |slipV|=0.896448 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.249184 -0.696547, |slipV|=0.739777 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.285544 1.60682, |slipV|=1.632 86: ------------------------------ 86: -86: dynamics impulse=~[-2.73802 -1.96401 -0.0491064 -0.269362 -0.066155 -0.184924] -86: updated verrStart=~[2.22045e-16 0 -0.278431 -1.42249 -0.269488 -0.658378] +86: dynamics impulse=~[-2.32679 -1.75471 -0.0686232 0.222329 -0.0307015 0.172764] +86: updated verrStart=~[0 0 -0.276051 0.851261 -0.297834 1.62372] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0986778 -0.00568119 0 0 0 0] +86: posVerr=~[0.323675 0.555974 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.246884 0.102169 0.000343613 0.306119 -0.00182746 0.121924] -86: [0.102169 0.208932 0.00582673 0.124504 0.00738103 0.256344] -86: [0.000343613 0.00582673 0.0523423 0.0438324 0.0513982 -0.0368731] -86: [0.306119 0.124504 0.0438324 0.448118 0.0400695 0.128254] -86: [-0.00182746 0.00738103 0.0513982 0.0400695 0.0505339 -0.0338535] -86: [0.121924 0.256344 -0.0368731 0.128254 -0.0338535 0.385033] +86: [0.261479 0.104404 -0.0126593 0.312001 -0.00723322 0.120881] +86: [0.104404 0.221611 0.000699496 0.12297 -0.00327238 0.262851] +86: [-0.0126593 0.000699496 0.0486144 0.025463 0.0504063 -0.0381898] +86: [0.312001 0.12297 0.025463 0.439708 0.0343985 0.124402] +86: [-0.00723322 -0.00327238 0.0504063 0.0343985 0.0526523 -0.0452782] +86: [0.120881 0.262851 -0.0381898 0.124402 -0.0452782 0.374595] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.373665 rank=2 -86: rhs=~[0.0986778 -0.00568119 0 0 0 0] +86: rcond(A+D)=0.38885 rank=2 +86: rhs=~[0.323675 0.555974 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.515207 -0.279132] -86: -> pi=~[0.515207 -0.279132 0 0 0 0] -86: resid active=~[0 1.56125e-17] -86: resid=~[0 1.56125e-17 -0.0014494 0.122962 -0.0030018 -0.00873779] +86: -> piActive=~[0.290867 2.37175] +86: -> pi=~[0.290867 2.37175 0 0 0 0] +86: resid active=~[5.55112e-17 0] +86: resid=~[5.55112e-17 0 -0.00202314 0.382404 -0.00986516 0.658577] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-1.1601e-16 -2.54788e-16 -0.278431 -1.42249 -0.269488 -0.658378] -86: perr=~[9.86778e-05 -5.68119e-06 -1.11022e-16] -86: END OF STEP (0.066,0.067): -86: verr=~[0.000657652 -0.000657652 -0.278139 -1.42249 -0.26978 -0.658375] -86: perr=~[9.90066e-05 -6.01002e-06 0] +86: verr=~[9.43256e-18 2.33103e-17 -0.276051 0.851261 -0.297834 1.62372] +86: perr=~[0.000323675 0.000555974 -1.11022e-16] +86: END OF STEP (0.121,0.122): +86: verr=~[-0.000811211 0.000811211 -0.275752 0.851271 -0.298133 1.62371] +86: perr=~[0.000323269 0.00055638 -2.22045e-16] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -40382,16 +51854,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.44943 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.711504 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000657652 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.894819 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.65085 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000811211 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000657652 -0.000657652 -0.278139 -1.42249 -0.26978 -0.658375] -86: IMP t=0.067 verr=~[0.000657652 -0.000657652 -0.278139 -1.42249 -0.26978 -0.658375] +86: verr=~[-0.000811211 0.000811211 -0.275752 0.851271 -0.298133 1.62371] +86: IMP t=0.122 verr=~[-0.000811211 0.000811211 -0.275752 0.851271 -0.298133 1.62371] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -40403,115 +51875,117 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000657652 -0.000657652 -0.278139 -1.42249 -0.26978 -0.658375] +86: verrLeft=~[-0.000811211 0.000811211 -0.275752 0.851271 -0.298133 1.62371] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.278139,-1.42249, mag=1.44943 -86: Participating contact 1 is Sliding; vel=-0.26978,-0.658375, mag=0.711504 +86: Participating contact 0 is Sliding; vel=-0.275752,0.851271, mag=0.894819 +86: Participating contact 1 is Sliding; vel=-0.298133,1.62371, mag=1.65085 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.278139,-1.42249, mag=1.44943 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.26978,-0.658375, mag=0.711504 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.275752,0.851271, mag=0.894819 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.298133,1.62371, mag=1.65085 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000657652; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000657652; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000811211; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000811211; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000657652 -0.000657652 -0.278139 -1.42249 -0.26978 -0.658375] +86: : verrLeft was=~[-0.000811211 0.000811211 -0.275752 0.851271 -0.298133 1.62371] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000657652 -0.278139 -1.42249 -0.000657652 -0.26978 -0.658375] +86: : rhsActive=~[-0.000811211 -0.275752 0.851271 0.000811211 -0.298133 1.62371] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.01436e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0011378... -86: > NEWTON iter 1: errNorm=0.0011378(v) -> deltaNorm=0.00711288(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000787856 0 0 -0.000409425 0.00026978 0.000658375] -86: > deltaPi=~[0.00503629 3.59988e-09 1.84109e-08 -0.00499787 0.000189672 0.000462879] -86: DBG: Line search iter 1: back=1, prevNorm=0.0011378. -86: > piNow=~[0.00496371 -3.59988e-09 -1.84109e-08 -0.00500213 -0.000189672 -0.000462879] -86: > errNow=~[2.1684e-19 -5.21777e-09 -2.66853e-08 0 -5.02233e-09 -1.22566e-08] normNow=3.02453e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.65823e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.43301e-05 -86: > NEWTON iter 2: errNorm=3.02453e-08(v) -> deltaNorm=3.88629e-08(pi) -86: > piActive=~[0.00496371 -3.59988e-09 -1.84109e-08 -0.00500213 -0.000189672 -0.000462879] -86: > errActive=~[2.1684e-19 -5.21777e-09 -2.66853e-08 0 -5.02233e-09 -1.22566e-08] -86: > deltaPi=~[2.24973e-08 -3.59981e-09 -1.84106e-08 1.93383e-08 -6.32561e-09 -1.54371e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.02453e-08. -86: > piNow=~[0.00496369 -6.52449e-14 -3.33683e-13 -0.00500215 -0.000189666 -0.000462863] -86: > errNow=~[4.33681e-19 -9.4568e-14 -4.8365e-13 0 7.76394e-14 1.89472e-13] normNow=5.33656e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.76442e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.33656e-13. -86: DBG: Worst offender is normal contact 0 err=0.00496369 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.99446e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00123388... +86: > NEWTON iter 1: errNorm=0.00123388(v) -> deltaNorm=0.00525728(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000766809 0.000275752 -0.000851271 0.000365748 0 0] +86: > deltaPi=~[-0.00367411 0.000194946 -0.000601815 0.00370671 2.49345e-09 -1.358e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.00123388. +86: > piNow=~[-0.00632589 -0.000194946 0.000601815 0.00629329 -2.49345e-09 1.358e-08] +86: > errNow=~[3.25261e-19 -3.77384e-09 1.16502e-08 4.33681e-19 -4.11633e-09 2.24186e-08] normNow=2.58748e-08 +103: [min,max]=0,0.03 actual=0.00200077 +103: calc wrms=0.00200077 +86: DBG: Improvement rate now/prev at iter 1 is 2.09702e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.76163e-05 +86: > NEWTON iter 2: errNorm=2.58748e-08(v) -> deltaNorm=3.15293e-08(pi) +86: > piActive=~[-0.00632589 -0.000194946 0.000601815 0.00629329 -2.49345e-09 1.358e-08] +86: > errActive=~[3.25261e-19 -3.77384e-09 1.16502e-08 4.33681e-19 -4.11633e-09 2.24186e-08] +86: > deltaPi=~[-1.76937e-08 -4.76263e-09 1.47027e-08 -1.586e-08 -2.49348e-09 1.35802e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.58748e-08. +86: > piNow=~[-0.00632587 -0.000194941 0.000601801 0.0062933 2.69332e-14 -1.46685e-13] +86: > errNow=~[-2.1684e-19 -4.5408e-14 1.40178e-13 -1.0842e-19 4.44628e-14 -2.42156e-13] normNow=2.86929e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.10891e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.86929e-13. +86: DBG: Worst offender is normal contact 1 err=0.0062933 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.278139,-1.42249, mag=1.44943 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.26978,-0.658375, mag=0.711504 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.275752,0.851271, mag=0.894819 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.298133,1.62371, mag=1.65085 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000657652; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000811211; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000657652 -0.000657652 -0.278139 -1.42249 -0.26978 -0.658375] +86: : verrLeft was=~[-0.000811211 0.000811211 -0.275752 0.851271 -0.298133 1.62371] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000657652 -0.26978 -0.658375] -86: : pi was=~[0 -0.00500215 -6.52449e-14 -3.33683e-13 -0.000189666 -0.000462863] -86: : piActive=~[-0.01 -0.000189666 -0.000462863] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.65026e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00158487... -86: > NEWTON iter 1: errNorm=0.00158487(v) -> deltaNorm=0.00717103(pi) -86: > piActive=~[-0.01 -0.000189666 -0.000462863] -86: > errActive=~[-0.00154446 0.000134832 0.000329046] -86: > deltaPi=~[-0.00716774 -8.22655e-05 -0.000200762] -86: DBG: Line search iter 1: back=1, prevNorm=0.00158487. -86: > piNow=~[-0.00283226 -0.0001074 -0.000262101] -86: > errNow=~[-2.1684e-19 -7.20283e-09 -1.75779e-08] normNow=1.89964e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.19861e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.29965e-05 -86: > NEWTON iter 2: errNorm=1.89964e-08(v) -> deltaNorm=3.65228e-08(pi) -86: > piActive=~[-0.00283226 -0.0001074 -0.000262101] -86: > errActive=~[-2.1684e-19 -7.20283e-09 -1.75779e-08] -86: > deltaPi=~[2.75806e-08 -9.0781e-09 -2.21543e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.89964e-08. -86: > piNow=~[-0.00283228 -0.000107391 -0.000262079] -86: > errNow=~[0 3.45067e-13 8.42108e-13] normNow=9.10065e-13 -86: DBG: Improvement rate now/prev at iter 2 is 4.79072e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.10065e-13. +86: : rhsActive=~[-0.000811211 -0.275752 0.851271] +86: : pi was=~[-0.00632587 0 -0.000194941 0.000601801 2.69332e-14 -1.46685e-13] +86: : piActive=~[-0.01 -0.000194941 0.000601801] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.33309e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00165857... +86: > NEWTON iter 1: errNorm=0.00165857(v) -> deltaNorm=0.00651895(pi) +86: > piActive=~[-0.01 -0.000194941 0.000601801] +86: > errActive=~[-0.00162566 0.000101315 -0.000312768] +86: > deltaPi=~[-0.00651277 -8.74696e-05 0.000270026] +86: DBG: Line search iter 1: back=1, prevNorm=0.00165857. +86: > piNow=~[-0.00348723 -0.000107472 0.000331775] +86: > errNow=~[-1.0842e-19 -6.68954e-09 2.06512e-08] normNow=2.17076e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.30882e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.73865e-05 +86: > NEWTON iter 2: errNorm=2.17076e-08(v) -> deltaNorm=4.16677e-08(pi) +86: > piActive=~[-0.00348723 -0.000107472 0.000331775] +86: > errActive=~[-1.0842e-19 -6.68954e-09 2.06512e-08] +86: > deltaPi=~[-3.13937e-08 -8.44301e-09 2.60643e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.17076e-08. +86: > piNow=~[-0.0034872 -0.000107463 0.000331748] +86: > errNow=~[-1.0842e-19 -2.64949e-13 8.1792e-13] normNow=8.59762e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.96064e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.59762e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.26978,-0.658375] to ~[-0.269762,-0.657552] -86: DBG: Friction 1 rotated 0.023876 deg, less than max 30 +86: slipVel 0 from ~[-0.275752,0.851271] to ~[-0.2758,0.852217] +86: DBG: Friction 0 rotated 0.0157413 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00283228 -0.000107391 -0.000262079] -86: : m_verrLeft=~[0.000976823 0 -0.278127 -1.4221 -0.269762 -0.657552] +86: : m_piActive=~[-0.0034872 -0.000107463 0.000331748] +86: : m_verrLeft=~[1.0842e-19 0.00113636 -0.2758 0.852217 -0.298164 1.62409] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000976823 pi*v=0 -86: DBG: 1: pi=-0.00283228 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00283228 0 0 -0.000107391 -0.000262079] errNorm=9.10065e-13 -86: Postcompression verr=~[0.000976823 0 -0.278127 -1.4221 -0.269762 -0.657552] -86: impulse=~[0 -0.00283228 0 0 -0.000107391 -0.000262079] +86: DBG: 0: pi=-0.0034872 verr=1.0842e-19 pi*v=-3.78083e-22 +86: DBG: 1: pi=0 verr=0.00113636 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.0034872 0 -0.000107463 0.000331748 0 0] errNorm=8.59762e-13 +86: Postcompression verr=~[1.0842e-19 0.00113636 -0.2758 0.852217 -0.298164 1.62409] +86: impulse=~[-0.0034872 0 -0.000107463 0.000331748 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00283228 0 0 -0.000107391 -0.000262079]-> du ~[0.000350143 0.00106409 0.000433161 -0.00060655 1.48459e-05 0.000488411 -0.0018727 0.00144483] -86: Now verr0=~[0.000976823 2.1684e-18 -0.278127 -1.4221 -0.269762 -0.657552] +86: Impact: imp ~[-0.0034872 0 -0.000107463 0.000331748 0 0]-> du ~[-0.000520701 0.00118857 -0.000569819 -0.000661394 -3.95495e-05 0.000568181 -0.00226788 0.00136805] +86: Now verr0=~[1.0842e-18 0.00113636 -0.2758 0.852217 -0.298164 1.62409] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000976823 2.1684e-18 -0.278127 -1.4221 -0.269762 -0.657552] -86: verrExt=~[-0.924543 -0.726344 -0.0399893 -1.16854 -0.0364645 -0.848268] -86: total verr=~[-0.923567 -0.726344 -0.318116 -2.59064 -0.306227 -1.50582] -86: DYN t=0.067: verrStart=~[0.000976823 2.1684e-18 -0.278127 -1.4221 -0.269762 -0.657552] -86: verrApplied=~[-0.924543 -0.726344 -0.0399893 -1.16854 -0.0364645 -0.848268] +86: verr0 =~[1.0842e-18 0.00113636 -0.2758 0.852217 -0.298164 1.62409] +86: verrExt=~[-0.687402 -0.54789 0.010343 -0.811286 0.00449815 -0.610677] +86: total verr=~[-0.687402 -0.546753 -0.265457 0.0409307 -0.293666 1.01341] +86: DYN t=0.122: verrStart=~[1.0842e-18 0.00113636 -0.2758 0.852217 -0.298164 1.62409] +86: verrApplied=~[-0.687402 -0.54789 0.010343 -0.811286 0.00449815 -0.610677] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -40523,108 +51997,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000976823 2.1684e-18 -0.278127 -1.4221 -0.269762 -0.657552] -86: verrApplied=~[-0.924543 -0.726344 -0.0399893 -1.16854 -0.0364645 -0.848268] +86: verrLeft=~[1.0842e-18 0.00113636 -0.2758 0.852217 -0.298164 1.62409] +86: verrApplied=~[-0.687402 -0.54789 0.010343 -0.811286 0.00449815 -0.610677] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.278127,-1.4221, mag=1.44904 -86: Participating contact 1 is Sliding; vel=-0.269762,-0.657552, mag=0.710736 +86: Participating contact 0 is Sliding; vel=-0.2758,0.852217, mag=0.895734 +86: Participating contact 1 is Sliding; vel=-0.298164,1.62409, mag=1.65123 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.278127,-1.4221, mag=1.44904 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.269762,-0.657552, mag=0.710736 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.2758,0.852217, mag=0.895734 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.298164,1.62409, mag=1.65123 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.923567; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.726344; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.687402; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.546753; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000976823 2.1684e-18 -0.278127 -1.4221 -0.269762 -0.657552] +86: : verrLeft was=~[1.0842e-18 0.00113636 -0.2758 0.852217 -0.298164 1.62409] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.924543 -0.726344 -0.0399893 -1.16854 -0.0364645 -0.848268] -86: : rhsActive=~[-0.923567 -0.318116 -2.59064 -0.726344 -0.306227 -1.50582] +86: : verrApplied was=~[-0.687402 -0.54789 0.010343 -0.811286 0.00449815 -0.610677] +86: : rhsActive=~[-0.687402 -0.265457 0.0409307 -0.546753 -0.293666 1.01341] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.01181e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.17032... -86: > NEWTON iter 1: errNorm=1.17032(v) -> deltaNorm=3.18769(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.99731e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.873414... +86: > NEWTON iter 1: errNorm=0.873414(v) -> deltaNorm=2.84137(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.920091 0.000278127 0.0014221 0.723247 0.000269762 0.000657552] -86: > deltaPi=~[2.57578 0.0496292 0.253761 1.85074 0.0706224 0.172144] -86: DBG: Line search iter 1: back=1, prevNorm=1.17032. -86: > piNow=~[-2.58578 -0.0496292 -0.253761 -1.86074 -0.0706224 -0.172144] -86: > errNow=~[2.22045e-16 2.66848e-06 1.36443e-05 1.11022e-16 1.85968e-06 4.53301e-06] normNow=1.47409e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.25956e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.36102e-10 -86: > NEWTON iter 2: errNorm=1.47409e-05(v) -> deltaNorm=1.63987e-05(pi) -86: > piActive=~[-2.58578 -0.0496292 -0.253761 -1.86074 -0.0706224 -0.172144] -86: > errActive=~[2.22045e-16 2.66848e-06 1.36443e-05 1.11022e-16 1.85968e-06 4.53301e-06] -86: > deltaPi=~[-1.03072e-05 1.64371e-06 8.40451e-06 -7.15304e-06 2.34506e-06 5.71614e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.47409e-05. -86: > piNow=~[-2.58577 -0.0496308 -0.253769 -1.86073 -0.0706248 -0.172149] -86: > errNow=~[-2.22045e-16 -1.66533e-16 -8.32667e-16 1.11022e-16 -2.08167e-16 -5.27356e-16] normNow=1.05078e-15 -86: DBG: Improvement rate now/prev at iter 2 is 7.12831e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.05078e-15. +86: > errActive=~[0.683725 0.0002758 -0.000852217 0.543478 0.000298164 -0.00162409] +86: > deltaPi=~[2.26563 0.0700651 -0.2165 1.69102 0.0307143 -0.1673] +86: DBG: Line search iter 1: back=1, prevNorm=0.873414. +86: > piNow=~[-2.27563 -0.0700651 0.2165 -1.70102 -0.0307143 0.1673] +86: > errNow=~[0 2.32753e-06 -7.19203e-06 -2.22045e-16 1.87808e-06 -1.02299e-05] normNow=1.28577e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.47212e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.30884e-10 +86: > NEWTON iter 2: errNorm=1.28577e-05(v) -> deltaNorm=1.80867e-05(pi) +86: > piActive=~[-2.27563 -0.0700651 0.2165 -1.70102 -0.0307143 0.1673] +86: > errActive=~[0 2.32753e-06 -7.19203e-06 -2.22045e-16 1.87808e-06 -1.02299e-05] +86: > deltaPi=~[1.09267e-05 2.9349e-06 -9.06879e-06 8.14146e-06 1.2844e-06 -6.99606e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.28577e-05. +86: > piNow=~[-2.27565 -0.070068 0.216509 -1.70103 -0.0307156 0.167307] +86: > errNow=~[1.11022e-16 2.35922e-16 -6.66134e-16 1.11022e-16 3.05311e-16 -1.72085e-15] normNow=1.89171e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.47127e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.89171e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.278127,-1.4221] to ~[-0.296554,-1.42719] -86: DBG: Friction 0 rotated 0.672509 deg, less than max 30 -86: slipVel 1 from ~[-0.269762,-0.657552] to ~[-0.287716,-0.619394] -86: DBG: Friction 1 rotated 2.60944 deg, less than max 30 +86: slipVel 0 from ~[-0.2758,0.852217] to ~[-0.287844,0.848063] +86: DBG: Friction 0 rotated 0.814973 deg, less than max 30 +86: slipVel 1 from ~[-0.298164,1.62409] to ~[-0.310867,1.64269] +86: DBG: Friction 1 rotated 0.313086 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.58577 -0.0496308 -0.253769 -1.86073 -0.0706248 -0.172149] -86: : m_verrLeft=~[2.22045e-16 -1.11022e-16 -0.296554 -1.42719 -0.287716 -0.619394] +86: : m_piActive=~[-2.27565 -0.070068 0.216509 -1.70103 -0.0307156 0.167307] +86: : m_verrLeft=~[-1.11022e-16 -1.11022e-16 -0.287844 0.848063 -0.310867 1.64269] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.58577 verr=2.22045e-16 pi*v=-5.74156e-16 -86: DBG: 1: pi=-1.86073 verr=-1.11022e-16 pi*v=2.06583e-16 -86: SP FINAL 1 intervals, piTotal=~[-2.58577 -1.86073 -0.0496308 -0.253769 -0.0706248 -0.172149] errNorm=1.05078e-15 +86: DBG: 0: pi=-2.27565 verr=-1.11022e-16 pi*v=2.52647e-16 +86: DBG: 1: pi=-1.70103 verr=-1.11022e-16 pi*v=1.88852e-16 +86: SP FINAL 1 intervals, piTotal=~[-2.27565 -1.70103 -0.070068 0.216509 -0.0307156 0.167307] errNorm=1.89171e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.278127 -1.4221, |slipV|=1.44904 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.2758 0.852217, |slipV|=0.895734 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.269762 -0.657552, |slipV|=0.710736 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.298164 1.62409, |slipV|=1.65123 86: ------------------------------ 86: -86: dynamics impulse=~[-2.58577 -1.86073 -0.0496308 -0.253769 -0.0706248 -0.172149] -86: updated verrStart=~[2.22045e-16 -1.11022e-16 -0.296554 -1.42719 -0.287716 -0.619394] +86: dynamics impulse=~[-2.27565 -1.70103 -0.070068 0.216509 -0.0307156 0.167307] +86: updated verrStart=~[-1.11022e-16 -1.11022e-16 -0.287844 0.848063 -0.310867 1.64269] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0990066 -0.00601002 0 0 0 0] +86: posVerr=~[0.323269 0.55638 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.246056 0.101505 -7.75609e-05 0.305958 -0.00210821 0.121738] -86: [0.101505 0.208213 0.00585264 0.124251 0.00730762 0.256216] -86: [-7.75609e-05 0.00585264 0.0521783 0.0432817 0.0513035 -0.036736] -86: [0.305958 0.124251 0.0432817 0.449236 0.0397563 0.128748] -86: [-0.00210821 0.00730762 0.0513035 0.0397563 0.0504986 -0.0339084] -86: [0.121738 0.256216 -0.036736 0.128748 -0.0339084 0.385906] +86: [0.262731 0.104929 -0.0128212 0.312298 -0.00723955 0.12092] +86: [0.104929 0.222625 0.000529289 0.123024 -0.00355524 0.263052] +86: [-0.0128212 0.000529289 0.0485864 0.0252378 0.0504228 -0.0382531] +86: [0.312298 0.123024 0.0252378 0.438392 0.0343947 0.123871] +86: [-0.00723955 -0.00355524 0.0504228 0.0343947 0.0527371 -0.0455126] +86: [0.12092 0.263052 -0.0382531 0.123871 -0.0455126 0.373285] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.374955 rank=2 -86: rhs=~[0.0990066 -0.00601002 0 0 0 0] +86: rcond(A+D)=0.388692 rank=2 +86: rhs=~[0.323269 0.55638 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.518572 -0.281672] -86: -> pi=~[0.518572 -0.281672 0 0 0 0] -86: resid active=~[2.77556e-17 -8.67362e-18] -86: resid=~[2.77556e-17 -8.67362e-18 -0.00168875 0.123663 -0.00315161 -0.00903886] +86: -> piActive=~[0.286171 2.3643] +86: -> pi=~[0.286171 2.3643 0 0 0 0] +86: resid active=~[1.66533e-16 1.11022e-16] +86: resid=~[1.66533e-16 1.11022e-16 -0.00241767 0.380236 -0.0104774 0.656538] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[1.3043e-16 -2.5121e-16 -0.296554 -1.42719 -0.287716 -0.619394] -86: perr=~[9.90066e-05 -6.01002e-06 0] -86: END OF STEP (0.067,0.068): -86: verr=~[0.000692692 -0.000692692 -0.296228 -1.42719 -0.288043 -0.619391] -86: perr=~[9.93529e-05 -6.35636e-06 0] +86: verr=~[3.46945e-17 4.16334e-17 -0.287844 0.848063 -0.310867 1.64269] +86: perr=~[0.000323269 0.00055638 -2.22045e-16] +86: END OF STEP (0.122,0.123): +86: verr=~[-0.000839297 0.000839297 -0.287528 0.848073 -0.311183 1.64268] +86: perr=~[0.00032285 0.000556799 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -40632,16 +52106,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.45761 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.683092 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000692692 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.895489 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.67189 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000839297 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000692692 -0.000692692 -0.296228 -1.42719 -0.288043 -0.619391] -86: IMP t=0.068 verr=~[0.000692692 -0.000692692 -0.296228 -1.42719 -0.288043 -0.619391] +86: verr=~[-0.000839297 0.000839297 -0.287528 0.848073 -0.311183 1.64268] +86: IMP t=0.123 verr=~[-0.000839297 0.000839297 -0.287528 0.848073 -0.311183 1.64268] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -40653,115 +52127,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000692692 -0.000692692 -0.296228 -1.42719 -0.288043 -0.619391] +86: verrLeft=~[-0.000839297 0.000839297 -0.287528 0.848073 -0.311183 1.64268] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.296228,-1.42719, mag=1.45761 -86: Participating contact 1 is Sliding; vel=-0.288043,-0.619391, mag=0.683092 +86: Participating contact 0 is Sliding; vel=-0.287528,0.848073, mag=0.895489 +86: Participating contact 1 is Sliding; vel=-0.311183,1.64268, mag=1.67189 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.296228,-1.42719, mag=1.45761 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.288043,-0.619391, mag=0.683092 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.287528,0.848073, mag=0.895489 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.311183,1.64268, mag=1.67189 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000692692; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000692692; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000839297; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000839297; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000692692 -0.000692692 -0.296228 -1.42719 -0.288043 -0.619391] +86: : verrLeft was=~[-0.000839297 0.000839297 -0.287528 0.848073 -0.311183 1.64268] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000692692 -0.296228 -1.42719 -0.000692692 -0.288043 -0.619391] +86: : rhsActive=~[-0.000839297 -0.287528 0.848073 0.000839297 -0.311183 1.64268] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.99604e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00108265... -86: > NEWTON iter 1: errNorm=0.00108265(v) -> deltaNorm=0.00673223(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000751829 0 0 -0.000374527 0.000288043 0.000619391] -86: > deltaPi=~[0.00477069 3.61142e-09 1.73994e-08 -0.00472067 0.000222623 0.000478717] -86: DBG: Line search iter 1: back=1, prevNorm=0.00108265. -86: > piNow=~[0.00522931 -3.61142e-09 -1.73994e-08 -0.00527933 -0.000222623 -0.000478717] -86: > errNow=~[-5.42101e-19 -5.26403e-09 -2.53614e-08 0 -5.06492e-09 -1.08913e-08] normNow=2.85515e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.63718e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.18465e-05 -86: > NEWTON iter 2: errNorm=2.85515e-08(v) -> deltaNorm=3.66579e-08(pi) -86: > piActive=~[0.00522931 -3.61142e-09 -1.73994e-08 -0.00527933 -0.000222623 -0.000478717] -86: > errActive=~[-5.42101e-19 -5.26403e-09 -2.53614e-08 0 -5.06492e-09 -1.08913e-08] -86: > deltaPi=~[2.12966e-08 -3.61136e-09 -1.73991e-08 1.8041e-08 -6.65406e-09 -1.43085e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.85515e-08. -86: > piNow=~[0.00522929 -5.89373e-14 -2.83953e-13 -0.00527934 -0.000222617 -0.000478703] -86: > errNow=~[-1.0842e-19 -8.59074e-14 -4.13891e-13 3.25261e-19 6.94297e-14 1.49298e-13] normNow=4.53648e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.58888e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.53648e-13. -86: DBG: Worst offender is normal contact 0 err=0.00522929 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.06463e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00121522... +86: > NEWTON iter 1: errNorm=0.00121522(v) -> deltaNorm=0.00500022(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000746479 0.000287528 -0.000848073 0.000342968 0 0] +86: > deltaPi=~[-0.00349258 0.000208948 -0.000616297 0.0035186 2.43943e-09 -1.28773e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.00121522. +86: > piNow=~[-0.00650742 -0.000208948 0.000616297 0.0064814 -2.43943e-09 1.28773e-08] +86: > errNow=~[1.0842e-19 -3.74058e-09 1.10329e-08 -1.0842e-19 -4.07847e-09 2.15295e-08] normNow=2.48168e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.04216e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.67847e-05 +86: > NEWTON iter 2: errNorm=2.48168e-08(v) -> deltaNorm=2.98261e-08(pi) +86: > piActive=~[-0.00650742 -0.000208948 0.000616297 0.0064814 -2.43943e-09 1.28773e-08] +86: > errActive=~[1.0842e-19 -3.74058e-09 1.10329e-08 -1.0842e-19 -4.07847e-09 2.15295e-08] +86: > deltaPi=~[-1.66744e-08 -4.71248e-09 1.38996e-08 -1.49791e-08 -2.43946e-09 1.28775e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.48168e-08. +86: > piNow=~[-0.0065074 -0.000208943 0.000616284 0.00648141 2.47172e-14 -1.30478e-13] +86: > errNow=~[-3.25261e-19 -4.21657e-14 1.24369e-13 -1.0842e-19 4.13246e-14 -2.18145e-13] normNow=2.57954e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.03944e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.57954e-13. +86: DBG: Worst offender is normal contact 1 err=0.00648141 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.296228,-1.42719, mag=1.45761 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.288043,-0.619391, mag=0.683092 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.287528,0.848073, mag=0.895489 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.311183,1.64268, mag=1.67189 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000692692; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000839297; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000692692 -0.000692692 -0.296228 -1.42719 -0.288043 -0.619391] +86: : verrLeft was=~[-0.000839297 0.000839297 -0.287528 0.848073 -0.311183 1.64268] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000692692 -0.288043 -0.619391] -86: : pi was=~[0 -0.00527934 -5.89373e-14 -2.83953e-13 -0.000222617 -0.000478703] -86: : piActive=~[-0.01 -0.000222617 -0.000478703] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.54443e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00154104... -86: > NEWTON iter 1: errNorm=0.00154104(v) -> deltaNorm=0.00700598(pi) -86: > piActive=~[-0.01 -0.000222617 -0.000478703] -86: > errActive=~[-0.00150693 0.000135975 0.000292393] -86: > deltaPi=~[-0.00700226 -9.61987e-05 -0.00020686] -86: DBG: Line search iter 1: back=1, prevNorm=0.00154104. -86: > piNow=~[-0.00299774 -0.000126418 -0.000271843] -86: > errNow=~[1.0842e-19 -7.51289e-09 -1.61553e-08] normNow=1.78168e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.15615e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.82821e-05 -86: > NEWTON iter 2: errNorm=1.78168e-08(v) -> deltaNorm=3.54169e-08(pi) -86: > piActive=~[-0.00299774 -0.000126418 -0.000271843] -86: > errActive=~[1.0842e-19 -7.51289e-09 -1.61553e-08] -86: > deltaPi=~[2.65614e-08 -9.8788e-09 -2.12428e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.78168e-08. -86: > piNow=~[-0.00299776 -0.000126408 -0.000271821] -86: > errNow=~[0 3.16768e-13 6.81159e-13] normNow=7.51212e-13 -86: DBG: Improvement rate now/prev at iter 2 is 4.21632e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.51212e-13. +86: : rhsActive=~[-0.000839297 -0.287528 0.848073] +86: : pi was=~[-0.0065074 0 -0.000208943 0.000616284 2.47172e-14 -1.30478e-13] +86: : piActive=~[-0.01 -0.000208943 0.000616284] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.33558e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00163562... +86: > NEWTON iter 1: errNorm=0.00163562(v) -> deltaNorm=0.00641969(pi) +86: > piActive=~[-0.01 -0.000208943 0.000616284] +86: > errActive=~[-0.00160544 0.000100422 -0.000296198] +86: > deltaPi=~[-0.00641304 -9.37635e-05 0.000276558] +86: DBG: Line search iter 1: back=1, prevNorm=0.00163562. +86: > piNow=~[-0.00358696 -0.00011518 0.000339725] +86: > errNow=~[1.0842e-19 -6.86841e-09 2.02586e-08] normNow=2.13912e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.30784e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.59055e-05 +86: > NEWTON iter 2: errNorm=2.13912e-08(v) -> deltaNorm=4.08138e-08(pi) +86: > piActive=~[-0.00358696 -0.00011518 0.000339725] +86: > errActive=~[1.0842e-19 -6.86841e-09 2.02586e-08] +86: > deltaPi=~[-3.06491e-08 -8.65383e-09 2.55247e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.13912e-08. +86: > piNow=~[-0.00358693 -0.000115171 0.0003397] +86: > errNow=~[0 -2.54935e-13 7.51938e-13] normNow=7.93979e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.7117e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.93979e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.288043,-0.619391] to ~[-0.288024,-0.618523] -86: DBG: Friction 1 rotated 0.0293284 deg, less than max 30 +86: slipVel 0 from ~[-0.287528,0.848073] to ~[-0.287578,0.849049] +86: DBG: Friction 0 rotated 0.0170254 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00299776 -0.000126408 -0.000271821] -86: : m_verrLeft=~[0.00102765 0 -0.296214 -1.42678 -0.288024 -0.618523] +86: : m_piActive=~[-0.00358693 -0.000115171 0.0003397] +86: : m_verrLeft=~[0 0.00117572 -0.287578 0.849049 -0.311215 1.64307] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00102765 pi*v=0 -86: DBG: 1: pi=-0.00299776 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00299776 0 0 -0.000126408 -0.000271821] errNorm=7.51212e-13 -86: Postcompression verr=~[0.00102765 0 -0.296214 -1.42678 -0.288024 -0.618523] -86: impulse=~[0 -0.00299776 0 0 -0.000126408 -0.000271821] +86: DBG: 0: pi=-0.00358693 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00117572 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00358693 0 -0.000115171 0.0003397 0 0] errNorm=7.93979e-13 +86: Postcompression verr=~[0 0.00117572 -0.287578 0.849049 -0.311215 1.64307] +86: impulse=~[-0.00358693 0 -0.000115171 0.0003397 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00299776 0 0 -0.000126408 -0.000271821]-> du ~[0.000369121 0.001122 0.000456856 -0.000640225 1.64786e-05 0.000513825 -0.00197424 0.00152344] -86: Now verr0=~[0.00102765 1.40946e-18 -0.296214 -1.42678 -0.288024 -0.618523] +86: Impact: imp ~[-0.00358693 0 -0.000115171 0.0003397 0 0]-> du ~[-0.000539611 0.0012265 -0.000588172 -0.000681602 -4.07187e-05 0.000587859 -0.00234099 0.00141088] +86: Now verr0=~[-2.60209e-18 0.00117572 -0.287578 0.849049 -0.311215 1.64307] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00102765 1.40946e-18 -0.296214 -1.42678 -0.288024 -0.618523] -86: verrExt=~[-0.864727 -0.679654 -0.035556 -1.09226 -0.0325147 -0.794037] -86: total verr=~[-0.8637 -0.679654 -0.33177 -2.51904 -0.320539 -1.41256] -86: DYN t=0.068: verrStart=~[0.00102765 1.40946e-18 -0.296214 -1.42678 -0.288024 -0.618523] -86: verrApplied=~[-0.864727 -0.679654 -0.035556 -1.09226 -0.0325147 -0.794037] +86: verr0 =~[-2.60209e-18 0.00117572 -0.287578 0.849049 -0.311215 1.64307] +86: verrExt=~[-0.671896 -0.533788 0.0100066 -0.788719 0.00406374 -0.590173] +86: total verr=~[-0.671896 -0.532612 -0.277571 0.0603299 -0.307151 1.05289] +86: DYN t=0.123: verrStart=~[-2.60209e-18 0.00117572 -0.287578 0.849049 -0.311215 1.64307] +86: verrApplied=~[-0.671896 -0.533788 0.0100066 -0.788719 0.00406374 -0.590173] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -40773,108 +52247,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00102765 1.40946e-18 -0.296214 -1.42678 -0.288024 -0.618523] -86: verrApplied=~[-0.864727 -0.679654 -0.035556 -1.09226 -0.0325147 -0.794037] +86: verrLeft=~[-2.60209e-18 0.00117572 -0.287578 0.849049 -0.311215 1.64307] +86: verrApplied=~[-0.671896 -0.533788 0.0100066 -0.788719 0.00406374 -0.590173] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.296214,-1.42678, mag=1.4572 -86: Participating contact 1 is Sliding; vel=-0.288024,-0.618523, mag=0.682296 +86: Participating contact 0 is Sliding; vel=-0.287578,0.849049, mag=0.896429 +86: Participating contact 1 is Sliding; vel=-0.311215,1.64307, mag=1.67228 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.296214,-1.42678, mag=1.4572 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.288024,-0.618523, mag=0.682296 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.287578,0.849049, mag=0.896429 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.311215,1.64307, mag=1.67228 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.8637; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.679654; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.671896; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.532612; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00102765 1.40946e-18 -0.296214 -1.42678 -0.288024 -0.618523] +86: : verrLeft was=~[-2.60209e-18 0.00117572 -0.287578 0.849049 -0.311215 1.64307] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.864727 -0.679654 -0.035556 -1.09226 -0.0325147 -0.794037] -86: : rhsActive=~[-0.8637 -0.33177 -2.51904 -0.679654 -0.320539 -1.41256] +86: : verrApplied was=~[-0.671896 -0.533788 0.0100066 -0.788719 0.00406374 -0.590173] +86: : rhsActive=~[-0.671896 -0.277571 0.0603299 -0.532612 -0.307151 1.05289] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.99342e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.09442... -86: > NEWTON iter 1: errNorm=1.09442(v) -> deltaNorm=2.99495(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.06756e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.852454... +86: > NEWTON iter 1: errNorm=0.852454(v) -> deltaNorm=2.75806(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.860239 0.000296214 0.00142678 0.67657 0.000288024 0.000618523] -86: > deltaPi=~[2.41625 0.049318 0.237551 1.74409 0.0740443 0.159008] -86: DBG: Line search iter 1: back=1, prevNorm=1.09442. -86: > piNow=~[-2.42625 -0.049318 -0.237551 -1.75409 -0.0740443 -0.159008] -86: > errNow=~[-2.22045e-16 2.66599e-06 1.28413e-05 2.22045e-16 1.87115e-06 4.01824e-06] normNow=1.38439e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.26495e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.44247e-10 -86: > NEWTON iter 2: errNorm=1.38439e-05(v) -> deltaNorm=1.53707e-05(pi) -86: > piActive=~[-2.42625 -0.049318 -0.237551 -1.75409 -0.0740443 -0.159008] -86: > errActive=~[-2.22045e-16 2.66599e-06 1.28413e-05 2.22045e-16 1.87115e-06 4.01824e-06] -86: > deltaPi=~[-9.66229e-06 1.63312e-06 7.86626e-06 -6.66032e-06 2.46128e-06 5.28552e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.38439e-05. -86: > piNow=~[-2.42624 -0.0493196 -0.237558 -1.75408 -0.0740468 -0.159013] -86: > errNow=~[0 -1.80411e-16 -8.88178e-16 0 -2.28983e-16 -4.996e-16] normNow=1.05993e-15 -86: DBG: Improvement rate now/prev at iter 2 is 7.65625e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.05993e-15. +86: > errActive=~[0.668202 0.000287578 -0.000849049 0.529321 0.000311215 -0.00164307] +86: > deltaPi=~[2.20569 0.0710775 -0.20985 1.63272 0.0305702 -0.161396] +86: DBG: Line search iter 1: back=1, prevNorm=0.852454. +86: > piNow=~[-2.21569 -0.0710775 0.20985 -1.64272 -0.0305702 0.161396] +86: > errNow=~[1.11022e-16 2.36271e-06 -6.97571e-06 2.22045e-16 1.89271e-06 -9.99258e-06] normNow=1.25569e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.47303e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.55814e-10 +86: > NEWTON iter 2: errNorm=1.25569e-05(v) -> deltaNorm=1.74739e-05(pi) +86: > piActive=~[-2.21569 -0.0710775 0.20985 -1.64272 -0.0305702 0.161396] +86: > errActive=~[1.11022e-16 2.36271e-06 -6.97571e-06 2.22045e-16 1.89271e-06 -9.99258e-06] +86: > deltaPi=~[1.05472e-05 2.97405e-06 -8.78063e-06 7.81334e-06 1.27722e-06 -6.74311e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.25569e-05. +86: > piNow=~[-2.2157 -0.0710804 0.209859 -1.64272 -0.0305715 0.161403] +86: > errNow=~[1.11022e-16 2.22045e-16 -6.93889e-16 0 3.33067e-16 -1.83187e-15] normNow=2.00245e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.59469e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.00245e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.296214,-1.42678] to ~[-0.312058,-1.427] -86: DBG: Friction 0 rotated 0.606704 deg, less than max 30 -86: slipVel 1 from ~[-0.288024,-0.618523] to ~[-0.30348,-0.580499] -86: DBG: Friction 1 rotated 2.6305 deg, less than max 30 +86: slipVel 0 from ~[-0.287578,0.849049] to ~[-0.299852,0.846316] +86: DBG: Friction 0 rotated 0.797848 deg, less than max 30 +86: slipVel 1 from ~[-0.311215,1.64307] to ~[-0.324173,1.66329] +86: DBG: Friction 1 rotated 0.303178 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.42624 -0.0493196 -0.237558 -1.75408 -0.0740468 -0.159013] -86: : m_verrLeft=~[0 0 -0.312058 -1.427 -0.30348 -0.580499] +86: : m_piActive=~[-2.2157 -0.0710804 0.209859 -1.64272 -0.0305715 0.161403] +86: : m_verrLeft=~[-1.11022e-16 0 -0.299852 0.846316 -0.324173 1.66329] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.42624 verr=0 pi*v=-0 -86: DBG: 1: pi=-1.75408 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-2.42624 -1.75408 -0.0493196 -0.237558 -0.0740468 -0.159013] errNorm=1.05993e-15 +86: DBG: 0: pi=-2.2157 verr=-1.11022e-16 pi*v=2.45992e-16 +86: DBG: 1: pi=-1.64272 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-2.2157 -1.64272 -0.0710804 0.209859 -0.0305715 0.161403] errNorm=2.00245e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.296214 -1.42678, |slipV|=1.4572 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.287578 0.849049, |slipV|=0.896429 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.288024 -0.618523, |slipV|=0.682296 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.311215 1.64307, |slipV|=1.67228 86: ------------------------------ 86: -86: dynamics impulse=~[-2.42624 -1.75408 -0.0493196 -0.237558 -0.0740468 -0.159013] -86: updated verrStart=~[0 0 -0.312058 -1.427 -0.30348 -0.580499] +86: dynamics impulse=~[-2.2157 -1.64272 -0.0710804 0.209859 -0.0305715 0.161403] +86: updated verrStart=~[-1.11022e-16 0 -0.299852 0.846316 -0.324173 1.66329] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0993529 -0.00635636 0 0 0 0] +86: posVerr=~[0.32285 0.556799 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.24527 0.100817 -0.000524799 0.305831 -0.00240746 0.121536] -86: [0.100817 0.207539 0.00587672 0.123971 0.00722721 0.25614] -86: [-0.000524799 0.00587672 0.0519988 0.0426791 0.0511964 -0.036583] -86: [0.305831 0.123971 0.0426791 0.450368 0.0394061 0.129247] -86: [-0.00240746 0.00722721 0.0511964 0.0394061 0.050454 -0.0339588] -86: [0.121536 0.25614 -0.036583 0.129247 -0.0339588 0.386823] +86: [0.264011 0.105433 -0.013002 0.312606 -0.00725933 0.120943] +86: [0.105433 0.22366 0.000362796 0.123056 -0.00383869 0.263264] +86: [-0.013002 0.000362796 0.0485514 0.0249835 0.0504322 -0.038301] +86: [0.312606 0.123056 0.0249835 0.437062 0.034367 0.123341] +86: [-0.00725933 -0.00383869 0.0504322 0.034367 0.0528159 -0.0457357] +86: [0.120943 0.263264 -0.038301 0.123341 -0.0457357 0.371969] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.376437 rank=2 -86: rhs=~[0.0993529 -0.00635636 0 0 0 0] +86: rcond(A+D)=0.388657 rank=2 +86: rhs=~[0.32285 0.556799 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.521871 -0.284139] -86: -> pi=~[0.521871 -0.284139 0 0 0 0] -86: resid active=~[6.93889e-17 1.47451e-17] -86: resid=~[6.93889e-17 1.47451e-17 -0.00194368 0.124379 -0.00330992 -0.00935347] +86: -> piActive=~[0.281716 2.35669] +86: -> pi=~[0.281716 2.35669 0 0 0 0] +86: resid active=~[5.55112e-17 0] +86: resid=~[5.55112e-17 0 -0.00280789 0.378072 -0.0110917 0.654502] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[3.2255e-16 1.80303e-16 -0.312058 -1.427 -0.30348 -0.580499] -86: perr=~[9.93529e-05 -6.35636e-06 0] -86: END OF STEP (0.068,0.069): -86: verr=~[0.000720618 -0.000720618 -0.311699 -1.42701 -0.303839 -0.580496] -86: perr=~[9.97132e-05 -6.71667e-06 -1.11022e-16] +86: verr=~[3.33934e-17 1.95156e-17 -0.299852 0.846316 -0.324173 1.66329] +86: perr=~[0.00032285 0.000556799 0] +86: END OF STEP (0.123,0.124): +86: verr=~[-0.000869139 0.000869139 -0.299518 0.846327 -0.324507 1.66328] +86: perr=~[0.000322415 0.000557234 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -40882,16 +52356,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.46065 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.655205 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000720618 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.897764 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.69464 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000869139 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000720618 -0.000720618 -0.311699 -1.42701 -0.303839 -0.580496] -86: IMP t=0.069 verr=~[0.000720618 -0.000720618 -0.311699 -1.42701 -0.303839 -0.580496] +86: verr=~[-0.000869139 0.000869139 -0.299518 0.846327 -0.324507 1.66328] +86: IMP t=0.124 verr=~[-0.000869139 0.000869139 -0.299518 0.846327 -0.324507 1.66328] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -40903,115 +52377,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000720618 -0.000720618 -0.311699 -1.42701 -0.303839 -0.580496] +86: verrLeft=~[-0.000869139 0.000869139 -0.299518 0.846327 -0.324507 1.66328] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.311699,-1.42701, mag=1.46065 -86: Participating contact 1 is Sliding; vel=-0.303839,-0.580496, mag=0.655205 +86: Participating contact 0 is Sliding; vel=-0.299518,0.846327, mag=0.897764 +86: Participating contact 1 is Sliding; vel=-0.324507,1.66328, mag=1.69464 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.311699,-1.42701, mag=1.46065 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.303839,-0.580496, mag=0.655205 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.299518,0.846327, mag=0.897764 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.324507,1.66328, mag=1.69464 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000720618; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000720618; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000869139; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000869139; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000720618 -0.000720618 -0.311699 -1.42701 -0.303839 -0.580496] +86: : verrLeft was=~[-0.000869139 0.000869139 -0.299518 0.846327 -0.324507 1.66328] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000720618 -0.311699 -1.42701 -0.000720618 -0.303839 -0.580496] +86: : rhsActive=~[-0.000869139 -0.299518 0.846327 0.000869139 -0.324507 1.66328] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.96305e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00103608... -86: > NEWTON iter 1: errNorm=0.00103608(v) -> deltaNorm=0.00642977(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000723521 0 0 -0.000347384 0.000303839 0.000580496] -86: > deltaPi=~[0.00456142 3.62577e-09 1.65993e-08 -0.00449808 0.000255149 0.000487472] -86: DBG: Line search iter 1: back=1, prevNorm=0.00103608. -86: > piNow=~[0.00543858 -3.62577e-09 -1.65993e-08 -0.00550192 -0.000255149 -0.000487472] -86: > errNow=~[3.25261e-19 -5.29599e-09 -2.42458e-08 -1.0842e-19 -5.09075e-09 -9.72608e-09] normNow=2.7137e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.61922e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.00784e-05 -86: > NEWTON iter 2: errNorm=2.7137e-08(v) -> deltaNorm=3.48773e-08(pi) -86: > piActive=~[0.00543858 -3.62577e-09 -1.65993e-08 -0.00550192 -0.000255149 -0.000487472] -86: > errActive=~[3.25261e-19 -5.29599e-09 -2.42458e-08 -1.0842e-19 -5.09075e-09 -9.72608e-09] -86: > deltaPi=~[2.03478e-08 -3.62572e-09 -1.65991e-08 1.69374e-08 -6.98436e-09 -1.33439e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.7137e-08. -86: > piNow=~[0.00543856 -5.46678e-14 -2.50277e-13 -0.00550194 -0.000255142 -0.000487459] -86: > errNow=~[2.1684e-19 -7.98505e-14 -3.65568e-13 0 6.33082e-14 1.20953e-13] normNow=3.98313e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.46778e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.98313e-13. -86: DBG: Worst offender is normal contact 0 err=0.00543856 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.14341e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00119712... +86: > NEWTON iter 1: errNorm=0.00119712(v) -> deltaNorm=0.00473077(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000724872 0.000299518 -0.000846327 0.000318868 0 0] +86: > deltaPi=~[-0.00330196 0.000223469 -0.000631439 0.00332093 2.36874e-09 -1.21411e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.00119712. +86: > piNow=~[-0.00669804 -0.000223469 0.000631439 0.00667907 -2.36874e-09 1.21411e-08] +86: > errNow=~[0 -3.68389e-09 1.04093e-08 -2.1684e-19 -4.01417e-09 2.05749e-08] normNow=2.36931e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.97918e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.5991e-05 +86: > NEWTON iter 2: errNorm=2.36931e-08(v) -> deltaNorm=2.80577e-08(pi) +86: > piActive=~[-0.00669804 -0.000223469 0.000631439 0.00667907 -2.36874e-09 1.21411e-08] +86: > errActive=~[0 -3.68389e-09 1.04093e-08 -2.1684e-19 -4.01417e-09 2.05749e-08] +86: > deltaPi=~[-1.56269e-08 -4.62472e-09 1.30677e-08 -1.40663e-08 -2.36876e-09 1.21413e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.36931e-08. +86: > piNow=~[-0.00669802 -0.000223464 0.000631426 0.00667908 2.24877e-14 -1.15262e-13] +86: > errNow=~[-1.0842e-19 -3.88555e-14 1.09791e-13 1.0842e-19 3.81086e-14 -1.95328e-13] normNow=2.30585e-13 +86: DBG: Improvement rate now/prev at iter 2 is 9.73213e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.30585e-13. +86: DBG: Worst offender is normal contact 1 err=0.00667908 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.311699,-1.42701, mag=1.46065 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.303839,-0.580496, mag=0.655205 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.299518,0.846327, mag=0.897764 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.324507,1.66328, mag=1.69464 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000720618; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000869139; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000720618 -0.000720618 -0.311699 -1.42701 -0.303839 -0.580496] +86: : verrLeft was=~[-0.000869139 0.000869139 -0.299518 0.846327 -0.324507 1.66328] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000720618 -0.303839 -0.580496] -86: : pi was=~[0 -0.00550194 -5.46678e-14 -2.50277e-13 -0.000255142 -0.000487459] -86: : piActive=~[-0.01 -0.000255142 -0.000487459] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.44056e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0015043... -86: > NEWTON iter 1: errNorm=0.0015043(v) -> deltaNorm=0.00687006(pi) -86: > piActive=~[-0.01 -0.000255142 -0.000487459] -86: > errActive=~[-0.00147515 0.000136669 0.000261111] -86: > deltaPi=~[-0.00686598 -0.000109796 -0.000209769] -86: DBG: Line search iter 1: back=1, prevNorm=0.0015043. -86: > piNow=~[-0.00313402 -0.000145346 -0.00027769] -86: > errNow=~[1.0842e-19 -7.77064e-09 -1.48461e-08] normNow=1.67568e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.11393e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.48221e-05 -86: > NEWTON iter 2: errNorm=1.67568e-08(v) -> deltaNorm=3.44305e-08(pi) -86: > piActive=~[-0.00313402 -0.000145346 -0.00027769] -86: > errActive=~[1.0842e-19 -7.77064e-09 -1.48461e-08] -86: > deltaPi=~[2.56079e-08 -1.06728e-08 -2.03908e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.67568e-08. -86: > piNow=~[-0.00313405 -0.000145336 -0.000277669] -86: > errNow=~[1.0842e-19 2.94767e-13 5.63163e-13] normNow=6.35642e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.79334e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.35642e-13. +86: : rhsActive=~[-0.000869139 -0.299518 0.846327] +86: : pi was=~[-0.00669802 0 -0.000223464 0.000631426 2.24877e-14 -1.15262e-13] +86: : piActive=~[-0.01 -0.000223464 0.000631426] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.34406e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00161105... +86: > NEWTON iter 1: errNorm=0.00161105(v) -> deltaNorm=0.00631466(pi) +86: > piActive=~[-0.01 -0.000223464 0.000631426] +86: > errActive=~[-0.00158354 9.89003e-05 -0.000279455] +86: > deltaPi=~[-0.0063075 -0.000100264 0.00028331] +86: DBG: Line search iter 1: back=1, prevNorm=0.00161105. +86: > piNow=~[-0.0036925 -0.0001232 0.000348116] +86: > errNow=~[2.1684e-19 -7.03707e-09 1.98841e-08] normNow=2.10926e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.30925e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.4509e-05 +86: > NEWTON iter 2: errNorm=2.10926e-08(v) -> deltaNorm=3.99292e-08(pi) +86: > piActive=~[-0.0036925 -0.0001232 0.000348116] +86: > errActive=~[2.1684e-19 -7.03707e-09 1.98841e-08] +86: > deltaPi=~[-2.98836e-08 -8.83517e-09 2.49649e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.10926e-08. +86: > piNow=~[-0.00369247 -0.000123191 0.000348091] +86: > errNow=~[0 -2.44354e-13 6.90454e-13] normNow=7.32418e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.47238e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.32418e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.303839,-0.580496] to ~[-0.303818,-0.579591] -86: DBG: Friction 1 rotated 0.0351893 deg, less than max 30 +86: slipVel 0 from ~[-0.299518,0.846327] to ~[-0.29957,0.847333] +86: DBG: Friction 0 rotated 0.0183277 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00313405 -0.000145336 -0.000277669] -86: : m_verrLeft=~[0.00106766 -1.0842e-19 -0.311683 -1.42658 -0.303818 -0.579591] +86: : m_piActive=~[-0.00369247 -0.000123191 0.000348091] +86: : m_verrLeft=~[0 0.00121743 -0.29957 0.847333 -0.324539 1.66368] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00106766 pi*v=0 -86: DBG: 1: pi=-0.00313405 verr=-1.0842e-19 pi*v=3.39794e-22 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00313405 0 0 -0.000145336 -0.000277669] errNorm=6.35642e-13 -86: Postcompression verr=~[0.00106766 -1.0842e-19 -0.311683 -1.42658 -0.303818 -0.579591] -86: impulse=~[0 -0.00313405 0 0 -0.000145336 -0.000277669] +86: DBG: 0: pi=-0.00369247 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00121743 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00369247 0 -0.000123191 0.000348091 0 0] errNorm=7.32418e-13 +86: Postcompression verr=~[0 0.00121743 -0.29957 0.847333 -0.324539 1.66368] +86: impulse=~[-0.00369247 0 -0.000123191 0.000348091 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00313405 0 0 -0.000145336 -0.000277669]-> du ~[0.000384444 0.00116832 0.000476019 -0.000667335 1.8031e-05 0.000533828 -0.00205546 0.00158699] -86: Now verr0=~[0.00106766 -5.42101e-19 -0.311683 -1.42658 -0.303818 -0.579591] +86: Impact: imp ~[-0.00369247 0 -0.000123191 0.000348091 0 0]-> du ~[-0.000559833 0.00126665 -0.000607683 -0.00070299 -4.20113e-05 0.000608716 -0.00241845 0.00145613] +86: Now verr0=~[2.38524e-18 0.00121743 -0.29957 0.847333 -0.324539 1.66368] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00106766 -5.42101e-19 -0.311683 -1.42658 -0.303818 -0.579591] -86: verrExt=~[-0.80329 -0.631953 -0.0310006 -1.01312 -0.0284302 -0.73829] -86: total verr=~[-0.802222 -0.631953 -0.342684 -2.4397 -0.332249 -1.31788] -86: DYN t=0.069: verrStart=~[0.00106766 -5.42101e-19 -0.311683 -1.42658 -0.303818 -0.579591] -86: verrApplied=~[-0.80329 -0.631953 -0.0310006 -1.01312 -0.0284302 -0.73829] +86: verr0 =~[2.38524e-18 0.00121743 -0.29957 0.847333 -0.324539 1.66368] +86: verrExt=~[-0.654516 -0.518453 0.0097668 -0.763885 0.00376081 -0.568572] +86: total verr=~[-0.654516 -0.517236 -0.289803 0.0834487 -0.320779 1.09511] +86: DYN t=0.124: verrStart=~[2.38524e-18 0.00121743 -0.29957 0.847333 -0.324539 1.66368] +86: verrApplied=~[-0.654516 -0.518453 0.0097668 -0.763885 0.00376081 -0.568572] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -41023,108 +52497,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00106766 -5.42101e-19 -0.311683 -1.42658 -0.303818 -0.579591] -86: verrApplied=~[-0.80329 -0.631953 -0.0310006 -1.01312 -0.0284302 -0.73829] +86: verrLeft=~[2.38524e-18 0.00121743 -0.29957 0.847333 -0.324539 1.66368] +86: verrApplied=~[-0.654516 -0.518453 0.0097668 -0.763885 0.00376081 -0.568572] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.311683,-1.42658, mag=1.46023 -86: Participating contact 1 is Sliding; vel=-0.303818,-0.579591, mag=0.654394 +86: Participating contact 0 is Sliding; vel=-0.29957,0.847333, mag=0.89873 +86: Participating contact 1 is Sliding; vel=-0.324539,1.66368, mag=1.69504 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.311683,-1.42658, mag=1.46023 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.303818,-0.579591, mag=0.654394 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.29957,0.847333, mag=0.89873 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.324539,1.66368, mag=1.69504 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.802222; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.631953; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.654516; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.517236; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00106766 -5.42101e-19 -0.311683 -1.42658 -0.303818 -0.579591] +86: : verrLeft was=~[2.38524e-18 0.00121743 -0.29957 0.847333 -0.324539 1.66368] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.80329 -0.631953 -0.0310006 -1.01312 -0.0284302 -0.73829] -86: : rhsActive=~[-0.802222 -0.342684 -2.4397 -0.631953 -0.332249 -1.31788] +86: : verrApplied was=~[-0.654516 -0.518453 0.0097668 -0.763885 0.00376081 -0.568572] +86: : rhsActive=~[-0.654516 -0.289803 0.0834487 -0.517236 -0.320779 1.09511] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.96038e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.01663... -86: > NEWTON iter 1: errNorm=1.01663(v) -> deltaNorm=2.79517(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.1464e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.82926... +86: > NEWTON iter 1: errNorm=0.82926(v) -> deltaNorm=2.66833(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.798776 0.000311683 0.00142658 0.628883 0.000303818 0.000579591] -86: > deltaPi=~[2.25023 0.0482425 0.220806 1.63442 0.0763434 0.145639] -86: DBG: Line search iter 1: back=1, prevNorm=1.01663. -86: > piNow=~[-2.26023 -0.0482425 -0.220806 -1.64442 -0.0763434 -0.145639] -86: > errNow=~[1.11022e-16 2.61248e-06 1.19573e-05 -1.11022e-16 1.84965e-06 3.52855e-06] normNow=1.28714e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.26609e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.63995e-10 -86: > NEWTON iter 2: errNorm=1.28714e-05(v) -> deltaNorm=1.43051e-05(pi) -86: > piActive=~[-2.26023 -0.0482425 -0.220806 -1.64442 -0.0763434 -0.145639] -86: > errActive=~[1.11022e-16 2.61248e-06 1.19573e-05 -1.11022e-16 1.84965e-06 3.52855e-06] -86: > deltaPi=~[-8.99165e-06 1.59716e-06 7.31022e-06 -6.1518e-06 2.54089e-06 4.84723e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.28714e-05. -86: > piNow=~[-2.26022 -0.0482441 -0.220813 -1.64441 -0.0763459 -0.145644] -86: > errNow=~[0 -1.94289e-16 -8.32667e-16 0 -2.63678e-16 -4.85723e-16] normNow=1.0181e-15 -86: DBG: Improvement rate now/prev at iter 2 is 7.90979e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.0181e-15. +86: > errActive=~[0.650803 0.00029957 -0.000847333 0.513929 0.000324539 -0.00166368] +86: > deltaPi=~[2.13948 0.0716448 -0.202648 1.57208 0.03029 -0.155275] +86: DBG: Line search iter 1: back=1, prevNorm=0.82926. +86: > piNow=~[-2.14948 -0.0716448 0.202648 -1.58208 -0.03029 0.155275] +86: > errNow=~[-1.11022e-16 2.38735e-06 -6.75264e-06 -1.11022e-16 1.90043e-06 -9.74217e-06] normNow=1.22401e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.47602e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.35761e-10 +86: > NEWTON iter 2: errNorm=1.22401e-05(v) -> deltaNorm=1.68257e-05(pi) +86: > piActive=~[-2.14948 -0.0716448 0.202648 -1.58208 -0.03029 0.155275] +86: > errActive=~[-1.11022e-16 2.38735e-06 -6.75264e-06 -1.11022e-16 1.90043e-06 -9.74217e-06] +86: > deltaPi=~[1.01424e-05 2.99444e-06 -8.46977e-06 7.47814e-06 1.26435e-06 -6.48143e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.22401e-05. +86: > piNow=~[-2.14949 -0.0716478 0.202656 -1.58208 -0.0302912 0.155282] +86: > errNow=~[0 2.35922e-16 -6.93889e-16 1.11022e-16 3.60822e-16 -1.88738e-15] normNow=2.05958e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.68265e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.05958e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.311683,-1.42658] to ~[-0.324856,-1.42171] -86: DBG: Friction 0 rotated 0.546425 deg, less than max 30 -86: slipVel 1 from ~[-0.303818,-0.579591] to ~[-0.316685,-0.541752] -86: DBG: Friction 1 rotated 2.64543 deg, less than max 30 +86: slipVel 0 from ~[-0.29957,0.847333] to ~[-0.311913,0.846221] +86: DBG: Friction 0 rotated 0.762915 deg, less than max 30 +86: slipVel 1 from ~[-0.324539,1.66368] to ~[-0.33758,1.68538] +86: DBG: Friction 1 rotated 0.288195 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.26022 -0.0482441 -0.220813 -1.64441 -0.0763459 -0.145644] -86: : m_verrLeft=~[0 0 -0.324856 -1.42171 -0.316685 -0.541752] +86: : m_piActive=~[-2.14949 -0.0716478 0.202656 -1.58208 -0.0302912 0.155282] +86: : m_verrLeft=~[0 -1.11022e-16 -0.311913 0.846221 -0.33758 1.68538] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.26022 verr=0 pi*v=-0 -86: DBG: 1: pi=-1.64441 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-2.26022 -1.64441 -0.0482441 -0.220813 -0.0763459 -0.145644] errNorm=1.0181e-15 +86: DBG: 0: pi=-2.14949 verr=0 pi*v=-0 +86: DBG: 1: pi=-1.58208 verr=-1.11022e-16 pi*v=1.75647e-16 +86: SP FINAL 1 intervals, piTotal=~[-2.14949 -1.58208 -0.0716478 0.202656 -0.0302912 0.155282] errNorm=2.05958e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.311683 -1.42658, |slipV|=1.46023 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.29957 0.847333, |slipV|=0.89873 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.303818 -0.579591, |slipV|=0.654394 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.324539 1.66368, |slipV|=1.69504 86: ------------------------------ 86: -86: dynamics impulse=~[-2.26022 -1.64441 -0.0482441 -0.220813 -0.0763459 -0.145644] -86: updated verrStart=~[0 0 -0.324856 -1.42171 -0.316685 -0.541752] +86: dynamics impulse=~[-2.14949 -1.58208 -0.0716478 0.202656 -0.0302912 0.155282] +86: updated verrStart=~[0 -1.11022e-16 -0.311913 0.846221 -0.33758 1.68538] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.0997132 -0.00671667 0 0 0 0] +86: posVerr=~[0.322415 0.557234 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.244523 0.10011 -0.000995105 0.305734 -0.00272298 0.121316] -86: [0.10011 0.20691 0.00589925 0.123666 0.0071405 0.256111] -86: [-0.000995105 0.00589925 0.0518062 0.0420295 0.0510785 -0.0364159] -86: [0.305734 0.123666 0.0420295 0.451505 0.0390223 0.129749] -86: [-0.00272298 0.0071405 0.0510785 0.0390223 0.0504014 -0.0340055] -86: [0.121316 0.256111 -0.0364159 0.129749 -0.0340055 0.387777] +86: [0.265322 0.10592 -0.0132008 0.312925 -0.00729155 0.120953] +86: [0.10592 0.224721 0.000198879 0.12307 -0.00412406 0.26349] +86: [-0.0132008 0.000198879 0.0485097 0.024702 0.0504346 -0.0383353] +86: [0.312925 0.12307 0.024702 0.435719 0.0343174 0.122814] +86: [-0.00729155 -0.00412406 0.0504346 0.0343174 0.052889 -0.0459495] +86: [0.120953 0.26349 -0.0383353 0.122814 -0.0459495 0.370652] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.378096 rank=2 -86: rhs=~[0.0997132 -0.00671667 0 0 0 0] +86: rcond(A+D)=0.388736 rank=2 +86: rhs=~[0.322415 0.557234 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.525088 -0.286516] -86: -> pi=~[0.525088 -0.286516 0 0 0 0] -86: resid active=~[2.77556e-17 1.38778e-17] -86: resid=~[2.77556e-17 1.38778e-17 -0.00221275 0.125105 -0.00347567 -0.00967823] +86: -> piActive=~[0.277476 2.34888] +86: -> pi=~[0.277476 2.34888 0 0 0 0] +86: resid active=~[-1.11022e-16 0] +86: resid=~[-1.11022e-16 0 -0.00319578 0.375906 -0.0117102 0.652469] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-8.82541e-17 -1.26418e-16 -0.324856 -1.42171 -0.316685 -0.541752] -86: perr=~[9.97132e-05 -6.71667e-06 -1.11022e-16] -86: END OF STEP (0.069,0.07): -86: verr=~[0.000740848 -0.000740848 -0.324469 -1.42171 -0.317072 -0.541749] -86: perr=~[0.000100084 -7.0871e-06 -1.11022e-16] +86: verr=~[-5.80048e-17 5.30175e-17 -0.311913 0.846221 -0.33758 1.68538] +86: perr=~[0.000322415 0.000557234 0] +86: END OF STEP (0.124,0.125): +86: verr=~[-0.000900493 0.000900493 -0.311561 0.846233 -0.337933 1.68537] +86: perr=~[0.000321965 0.000557684 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -41132,16 +52606,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.45827 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.627716 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000740848 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.901765 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.71891 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000900493 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000740848 -0.000740848 -0.324469 -1.42171 -0.317072 -0.541749] -86: IMP t=0.07 verr=~[0.000740848 -0.000740848 -0.324469 -1.42171 -0.317072 -0.541749] +86: verr=~[-0.000900493 0.000900493 -0.311561 0.846233 -0.337933 1.68537] +86: IMP t=0.125 verr=~[-0.000900493 0.000900493 -0.311561 0.846233 -0.337933 1.68537] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -41153,115 +52627,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000740848 -0.000740848 -0.324469 -1.42171 -0.317072 -0.541749] +86: verrLeft=~[-0.000900493 0.000900493 -0.311561 0.846233 -0.337933 1.68537] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.324469,-1.42171, mag=1.45827 -86: Participating contact 1 is Sliding; vel=-0.317072,-0.541749, mag=0.627716 +86: Participating contact 0 is Sliding; vel=-0.311561,0.846233, mag=0.901765 +86: Participating contact 1 is Sliding; vel=-0.337933,1.68537, mag=1.71891 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.324469,-1.42171, mag=1.45827 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.317072,-0.541749, mag=0.627716 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.311561,0.846233, mag=0.901765 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.337933,1.68537, mag=1.71891 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000740848; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000740848; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000900493; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000900493; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000740848 -0.000740848 -0.324469 -1.42171 -0.317072 -0.541749] +86: : verrLeft was=~[-0.000900493 0.000900493 -0.311561 0.846233 -0.337933 1.68537] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000740848 -0.324469 -1.42171 -0.000740848 -0.317072 -0.541749] +86: : rhsActive=~[-0.000900493 -0.311561 0.846233 0.000900493 -0.337933 1.68537] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.91373e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.000998407... -86: > NEWTON iter 1: errNorm=0.000998407(v) -> deltaNorm=0.00621164(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000703465 0 0 -0.000328521 0.000317072 0.000541749] -86: > deltaPi=~[0.0044129 3.65739e-09 1.60254e-08 -0.00433473 0.000286173 0.000488954] -86: DBG: Line search iter 1: back=1, prevNorm=0.000998407. -86: > piNow=~[0.0055871 -3.65739e-09 -1.60254e-08 -0.00566527 -0.000286173 -0.000488954] -86: > errNow=~[4.33681e-19 -5.33346e-09 -2.33694e-08 -3.25261e-19 -5.11955e-09 -8.74726e-09] normNow=2.6025e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.60665e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.88599e-05 -86: > NEWTON iter 2: errNorm=2.6025e-08(v) -> deltaNorm=3.35543e-08(pi) -86: > piActive=~[0.0055871 -3.65739e-09 -1.60254e-08 -0.00566527 -0.000286173 -0.000488954] -86: > errActive=~[4.33681e-19 -5.33346e-09 -2.33694e-08 -3.25261e-19 -5.11955e-09 -8.74726e-09] -86: > deltaPi=~[1.96702e-08 -3.65734e-09 -1.60252e-08 1.60408e-08 -7.34568e-09 -1.25508e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.6025e-08. -86: > piNow=~[0.00558708 -5.22128e-14 -2.28778e-13 -0.00566529 -0.000286165 -0.000488942] -86: > errNow=~[0 -7.61402e-14 -3.33621e-13 0 5.90134e-14 1.0083e-13] normNow=3.61593e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.38941e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.61593e-13. -86: DBG: Worst offender is normal contact 0 err=0.00558708 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.23032e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00118006... +86: > NEWTON iter 1: errNorm=0.00118006(v) -> deltaNorm=0.00445214(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.00070222 0.000311561 -0.000846233 0.000293698 0 0] +86: > deltaPi=~[-0.00310437 0.000238249 -0.00064711 0.00311592 2.28179e-09 -1.13799e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.00118006. +86: > piNow=~[-0.00689563 -0.000238249 0.00064711 0.00688408 -2.28179e-09 1.13799e-08] +86: > errNow=~[-1.0842e-19 -3.60269e-09 9.7853e-09 1.0842e-19 -3.92219e-09 1.95611e-08] normNow=2.25111e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.90762e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.5244e-05 +86: > NEWTON iter 2: errNorm=2.25111e-08(v) -> deltaNorm=2.62445e-08(pi) +86: > piActive=~[-0.00689563 -0.000238249 0.00064711 0.00688408 -2.28179e-09 1.13799e-08] +86: > errActive=~[-1.0842e-19 -3.60269e-09 9.7853e-09 1.0842e-19 -3.92219e-09 1.95611e-08] +86: > deltaPi=~[-1.45639e-08 -4.4983e-09 1.22179e-08 -1.31318e-08 -2.28181e-09 1.138e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.25111e-08. +86: > piNow=~[-0.00689562 -0.000238244 0.000647098 0.00688409 2.02892e-14 -1.01188e-13] +86: > errNow=~[-2.1684e-19 -3.55411e-14 9.65337e-14 -2.1684e-19 3.48754e-14 -1.73933e-13] normNow=2.05064e-13 +86: DBG: Improvement rate now/prev at iter 2 is 9.10944e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.05064e-13. +86: DBG: Worst offender is normal contact 1 err=0.00688409 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.324469,-1.42171, mag=1.45827 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.317072,-0.541749, mag=0.627716 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.311561,0.846233, mag=0.901765 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.337933,1.68537, mag=1.71891 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000740848; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000900493; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000740848 -0.000740848 -0.324469 -1.42171 -0.317072 -0.541749] +86: : verrLeft was=~[-0.000900493 0.000900493 -0.311561 0.846233 -0.337933 1.68537] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000740848 -0.317072 -0.541749] -86: : pi was=~[0 -0.00566529 -5.22128e-14 -2.28778e-13 -0.000286165 -0.000488942] -86: : piActive=~[-0.01 -0.000286165 -0.000488942] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.33816e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00147494... -86: > NEWTON iter 1: errNorm=0.00147494(v) -> deltaNorm=0.00676617(pi) -86: > piActive=~[-0.01 -0.000286165 -0.000488942] -86: > errActive=~[-0.00144963 0.000137442 0.000234833] -86: > deltaPi=~[-0.00676182 -0.000122585 -0.000209449] -86: DBG: Line search iter 1: back=1, prevNorm=0.00147494. -86: > piNow=~[-0.00323818 -0.00016358 -0.000279493] -86: > errNow=~[3.25261e-19 -7.98608e-09 -1.3645e-08] normNow=1.58102e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.07192e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.22771e-05 -86: > NEWTON iter 2: errNorm=1.58102e-08(v) -> deltaNorm=3.35776e-08(pi) -86: > piActive=~[-0.00323818 -0.00016358 -0.000279493] -86: > errActive=~[3.25261e-19 -7.98608e-09 -1.3645e-08] -86: > deltaPi=~[2.47282e-08 -1.14738e-08 -1.96041e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.58102e-08. -86: > piNow=~[-0.00323821 -0.000163569 -0.000279473] -86: > errNow=~[0 2.78257e-13 4.75429e-13] normNow=5.50871e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.48427e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.50871e-13. +86: : rhsActive=~[-0.000900493 -0.311561 0.846233] +86: : pi was=~[-0.00689562 0 -0.000238244 0.000647098 2.02892e-14 -1.01188e-13] +86: : piActive=~[-0.01 -0.000238244 0.000647098] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.35896e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00158517... +86: > NEWTON iter 1: errNorm=0.00158517(v) -> deltaNorm=0.00620501(pi) +86: > piActive=~[-0.01 -0.000238244 0.000647098] +86: > errActive=~[-0.00156026 9.67202e-05 -0.000262703] +86: > deltaPi=~[-0.0061973 -0.000106853 0.000290223] +86: DBG: Line search iter 1: back=1, prevNorm=0.00158517. +86: > piNow=~[-0.0038027 -0.000131392 0.000356874] +86: > errNow=~[2.1684e-19 -7.19211e-09 1.95346e-08] normNow=2.08165e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.3132e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.32131e-05 +86: > NEWTON iter 2: errNorm=2.08165e-08(v) -> deltaNorm=3.90246e-08(pi) +86: > piActive=~[-0.0038027 -0.000131392 0.000356874] +86: > errActive=~[2.1684e-19 -7.19211e-09 1.95346e-08] +86: > deltaPi=~[-2.91071e-08 -8.98099e-09 2.43934e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.08165e-08. +86: > piNow=~[-0.00380267 -0.000131383 0.00035685] +86: > errNow=~[0 -2.33443e-13 6.34058e-13] normNow=6.75667e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.24583e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.75667e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.317072,-0.541749] to ~[-0.317051,-0.540817] -86: DBG: Friction 1 rotated 0.0413486 deg, less than max 30 +86: slipVel 0 from ~[-0.311561,0.846233] to ~[-0.311614,0.847272] +86: DBG: Friction 0 rotated 0.0196144 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00323821 -0.000163569 -0.000279473] -86: : m_verrLeft=~[0.00109602 0 -0.324452 -1.42127 -0.317051 -0.540817] +86: : m_piActive=~[-0.00380267 -0.000131383 0.00035685] +86: : m_verrLeft=~[0 0.00126116 -0.311614 0.847272 -0.337966 1.68578] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00109602 pi*v=0 -86: DBG: 1: pi=-0.00323821 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00323821 0 0 -0.000163569 -0.000279473] errNorm=5.50871e-13 -86: Postcompression verr=~[0.00109602 0 -0.324452 -1.42127 -0.317051 -0.540817] -86: impulse=~[0 -0.00323821 0 0 -0.000163569 -0.000279473] +86: DBG: 0: pi=-0.00380267 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00126116 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00380267 0 -0.000131383 0.00035685 0 0] errNorm=6.75667e-13 +86: Postcompression verr=~[0 0.00126116 -0.311614 0.847272 -0.337966 1.68578] +86: impulse=~[-0.00380267 0 -0.000131383 0.00035685 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00323821 0 0 -0.000163569 -0.000279473]-> du ~[0.000395795 0.00120207 0.000490245 -0.000687286 1.94609e-05 0.00054801 -0.0021146 0.00163412] -86: Now verr0=~[0.00109602 -6.50521e-19 -0.324452 -1.42127 -0.317051 -0.540817] +86: Impact: imp ~[-0.00380267 0 -0.000131383 0.00035685 0 0]-> du ~[-0.000581217 0.00130864 -0.000628155 -0.000725336 -4.3423e-05 0.000630581 -0.00249953 0.0015034] +86: Now verr0=~[-3.25261e-19 0.00126116 -0.311614 0.847272 -0.337966 1.68578] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00109602 -6.50521e-19 -0.324452 -1.42127 -0.317051 -0.540817] -86: verrExt=~[-0.740502 -0.583445 -0.0264142 -0.931477 -0.0242934 -0.681177] -86: total verr=~[-0.739406 -0.583445 -0.350866 -2.35275 -0.341344 -1.22199] -86: DYN t=0.07: verrStart=~[0.00109602 -6.50521e-19 -0.324452 -1.42127 -0.317051 -0.540817] -86: verrApplied=~[-0.740502 -0.583445 -0.0264142 -0.931477 -0.0242934 -0.681177] +86: verr0 =~[-3.25261e-19 0.00126116 -0.311614 0.847272 -0.337966 1.68578] +86: verrExt=~[-0.63589 -0.502428 0.00964528 -0.737587 0.00361035 -0.54656] +86: total verr=~[-0.63589 -0.501166 -0.301969 0.109685 -0.334356 1.13922] +86: DYN t=0.125: verrStart=~[-3.25261e-19 0.00126116 -0.311614 0.847272 -0.337966 1.68578] +86: verrApplied=~[-0.63589 -0.502428 0.00964528 -0.737587 0.00361035 -0.54656] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -41273,108 +52747,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00109602 -6.50521e-19 -0.324452 -1.42127 -0.317051 -0.540817] -86: verrApplied=~[-0.740502 -0.583445 -0.0264142 -0.931477 -0.0242934 -0.681177] +86: verrLeft=~[-3.25261e-19 0.00126116 -0.311614 0.847272 -0.337966 1.68578] +86: verrApplied=~[-0.63589 -0.502428 0.00964528 -0.737587 0.00361035 -0.54656] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.324452,-1.42127, mag=1.45783 -86: Participating contact 1 is Sliding; vel=-0.317051,-0.540817, mag=0.626901 +86: Participating contact 0 is Sliding; vel=-0.311614,0.847272, mag=0.902759 +86: Participating contact 1 is Sliding; vel=-0.337966,1.68578, mag=1.71932 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.324452,-1.42127, mag=1.45783 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.317051,-0.540817, mag=0.626901 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.311614,0.847272, mag=0.902759 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.337966,1.68578, mag=1.71932 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.739406; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.583445; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.63589; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.501166; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00109602 -6.50521e-19 -0.324452 -1.42127 -0.317051 -0.540817] +86: : verrLeft was=~[-3.25261e-19 0.00126116 -0.311614 0.847272 -0.337966 1.68578] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.740502 -0.583445 -0.0264142 -0.931477 -0.0242934 -0.681177] -86: : rhsActive=~[-0.739406 -0.350866 -2.35275 -0.583445 -0.341344 -1.22199] +86: : verrApplied was=~[-0.63589 -0.502428 0.00964528 -0.737587 0.00361035 -0.54656] +86: : rhsActive=~[-0.63589 -0.301969 0.109685 -0.501166 -0.334356 1.13922] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.91104e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.937289... -86: > NEWTON iter 1: errNorm=0.937289(v) -> deltaNorm=2.58918(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.23339e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.804661... +86: > NEWTON iter 1: errNorm=0.804661(v) -> deltaNorm=2.57492(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.735974 0.000324452 0.00142127 0.580388 0.000317051 0.000540817] -86: > deltaPi=~[2.0785 0.0464793 0.203604 1.52204 0.0774791 0.132162] -86: DBG: Line search iter 1: back=1, prevNorm=0.937289. -86: > piNow=~[-2.0885 -0.0464793 -0.203604 -1.53204 -0.0774791 -0.132162] -86: > errNow=~[-3.33067e-16 2.51195e-06 1.10037e-05 1.11022e-16 1.79749e-06 3.06611e-06] normNow=1.18331e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.26248e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.21891e-10 -86: > NEWTON iter 2: errNorm=1.18331e-05(v) -> deltaNorm=1.32074e-05(pi) -86: > piActive=~[-2.0885 -0.0464793 -0.203604 -1.53204 -0.0774791 -0.132162] -86: > errActive=~[-3.33067e-16 2.51195e-06 1.10037e-05 1.11022e-16 1.79749e-06 3.06611e-06] -86: > deltaPi=~[-8.2986e-06 1.53838e-06 6.73892e-06 -5.63174e-06 2.58245e-06 4.40507e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.18331e-05. -86: > piNow=~[-2.08849 -0.0464809 -0.203611 -1.53204 -0.0774817 -0.132166] -86: > errNow=~[1.11022e-16 -2.35922e-16 -9.99201e-16 1.11022e-16 -2.77556e-16 -4.85723e-16] normNow=1.17969e-15 -86: DBG: Improvement rate now/prev at iter 2 is 9.96942e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.17969e-15. +86: > errActive=~[0.63216 0.000311614 -0.000847272 0.497844 0.000337966 -0.00168578] +86: > deltaPi=~[2.06908 0.0717631 -0.195122 1.51088 0.0298947 -0.149115] +86: DBG: Line search iter 1: back=1, prevNorm=0.804661. +86: > piNow=~[-2.07908 -0.0717631 0.195122 -1.52088 -0.0298947 0.149115] +86: > errNow=~[-2.22045e-16 2.40163e-06 -6.52999e-06 0 1.90202e-06 -9.48727e-06] normNow=1.19178e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.4811e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.77496e-10 +86: > NEWTON iter 2: errNorm=1.19178e-05(v) -> deltaNorm=1.61606e-05(pi) +86: > piActive=~[-2.07908 -0.0717631 0.195122 -1.52088 -0.0298947 0.149115] +86: > errActive=~[-2.22045e-16 2.40163e-06 -6.52999e-06 0 1.90202e-06 -9.48727e-06] +86: > deltaPi=~[9.72429e-06 2.99599e-06 -8.14603e-06 7.14462e-06 1.2467e-06 -6.21856e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.19178e-05. +86: > piNow=~[-2.07909 -0.071766 0.19513 -1.52089 -0.029896 0.149121] +86: > errNow=~[2.22045e-16 2.63678e-16 -6.93889e-16 0 3.88578e-16 -1.94289e-15] normNow=2.12747e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.78512e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.12747e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.324452,-1.42127] to ~[-0.334924,-1.41112] -86: DBG: Friction 0 rotated 0.492541 deg, less than max 30 -86: slipVel 1 from ~[-0.317051,-0.540817] to ~[-0.327291,-0.503144] -86: DBG: Friction 1 rotated 2.66295 deg, less than max 30 +86: slipVel 0 from ~[-0.311614,0.847272] to ~[-0.323862,0.847925] +86: DBG: Friction 0 rotated 0.711421 deg, less than max 30 +86: slipVel 1 from ~[-0.337966,1.68578] to ~[-0.350915,1.70873] +86: DBG: Friction 1 rotated 0.268837 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.08849 -0.0464809 -0.203611 -1.53204 -0.0774817 -0.132166] -86: : m_verrLeft=~[-1.11022e-16 -1.11022e-16 -0.334924 -1.41112 -0.327291 -0.503144] +86: : m_piActive=~[-2.07909 -0.071766 0.19513 -1.52089 -0.029896 0.149121] +86: : m_verrLeft=~[-2.22045e-16 0 -0.323862 0.847925 -0.350915 1.70873] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.08849 verr=-1.11022e-16 pi*v=2.31869e-16 -86: DBG: 1: pi=-1.53204 verr=-1.11022e-16 pi*v=1.7009e-16 -86: SP FINAL 1 intervals, piTotal=~[-2.08849 -1.53204 -0.0464809 -0.203611 -0.0774817 -0.132166] errNorm=1.17969e-15 +86: DBG: 0: pi=-2.07909 verr=-2.22045e-16 pi*v=4.61651e-16 +86: DBG: 1: pi=-1.52089 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-2.07909 -1.52089 -0.071766 0.19513 -0.029896 0.149121] errNorm=2.12747e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.324452 -1.42127, |slipV|=1.45783 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.311614 0.847272, |slipV|=0.902759 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.317051 -0.540817, |slipV|=0.626901 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.337966 1.68578, |slipV|=1.71932 86: ------------------------------ 86: -86: dynamics impulse=~[-2.08849 -1.53204 -0.0464809 -0.203611 -0.0774817 -0.132166] -86: updated verrStart=~[-1.11022e-16 -1.11022e-16 -0.334924 -1.41112 -0.327291 -0.503144] +86: dynamics impulse=~[-2.07909 -1.52089 -0.071766 0.19513 -0.029896 0.149121] +86: updated verrStart=~[-2.22045e-16 0 -0.323862 0.847925 -0.350915 1.70873] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.100084 -0.0070871 0 0 0 0] +86: posVerr=~[0.321965 0.557684 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.243817 0.0993857 -0.0014854 0.305664 -0.00305247 0.121082] -86: [0.0993857 0.206323 0.00592064 0.123337 0.00704831 0.256125] -86: [-0.0014854 0.00592064 0.051603 0.0413382 0.0509517 -0.0362364] -86: [0.305664 0.123337 0.0413382 0.452642 0.0386087 0.130251] -86: [-0.00305247 0.00704831 0.0509517 0.0386087 0.050342 -0.0340489] -86: [0.121082 0.256125 -0.0362364 0.130251 -0.0340489 0.38876] +86: [0.266665 0.106394 -0.0134166 0.313256 -0.00733514 0.120951] +86: [0.106394 0.225813 3.65131e-05 0.123067 -0.00441251 0.263736] +86: [-0.0134166 3.65131e-05 0.0484617 0.0243951 0.0504307 -0.0383578] +86: [0.313256 0.123067 0.0243951 0.434365 0.0342478 0.122287] +86: [-0.00733514 -0.00441251 0.0504307 0.0342478 0.0529568 -0.0461556] +86: [0.120951 0.263736 -0.0383578 0.122287 -0.0461556 0.369337] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.379915 rank=2 -86: rhs=~[0.100084 -0.0070871 0 0 0 0] +86: rcond(A+D)=0.388921 rank=2 +86: rhs=~[0.321965 0.557684 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.528202 -0.288785] -86: -> pi=~[0.528202 -0.288785 0 0 0 0] -86: resid active=~[0 1.73472e-18] -86: resid=~[0 1.73472e-18 -0.00249438 0.125835 -0.00364776 -0.0100093] +86: -> piActive=~[0.273426 2.34084] +86: -> pi=~[0.273426 2.34084 0 0 0 0] +86: resid active=~[-1.11022e-16 0] +86: resid=~[-1.11022e-16 0 -0.00358297 0.373733 -0.0123346 0.650436] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-7.99057e-17 -1.52764e-16 -0.334924 -1.41112 -0.327291 -0.503144] -86: perr=~[0.000100084 -7.0871e-06 -1.11022e-16] -86: END OF STEP (0.07,0.071): -86: verr=~[0.000752992 -0.000752992 -0.334511 -1.41113 -0.327703 -0.503142] -86: perr=~[0.00010046 -7.46359e-06 0] +86: verr=~[-7.1991e-17 1.77809e-16 -0.323862 0.847925 -0.350915 1.70873] +86: perr=~[0.000321965 0.000557684 0] +86: END OF STEP (0.125,0.126): +86: verr=~[-0.000933059 0.000933059 -0.323491 0.847938 -0.351286 1.70871] +86: perr=~[0.000321498 0.000558151 -2.22045e-16] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -41382,16 +52856,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.45023 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.600451 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000752992 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.907549 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.74445 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000933059 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000752992 -0.000752992 -0.334511 -1.41113 -0.327703 -0.503142] -86: IMP t=0.071 verr=~[0.000752992 -0.000752992 -0.334511 -1.41113 -0.327703 -0.503142] +86: verr=~[-0.000933059 0.000933059 -0.323491 0.847938 -0.351286 1.70871] +86: IMP t=0.126 verr=~[-0.000933059 0.000933059 -0.323491 0.847938 -0.351286 1.70871] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -41403,115 +52877,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000752992 -0.000752992 -0.334511 -1.41113 -0.327703 -0.503142] +86: verrLeft=~[-0.000933059 0.000933059 -0.323491 0.847938 -0.351286 1.70871] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.334511,-1.41113, mag=1.45023 -86: Participating contact 1 is Sliding; vel=-0.327703,-0.503142, mag=0.600451 +86: Participating contact 0 is Sliding; vel=-0.323491,0.847938, mag=0.907549 +86: Participating contact 1 is Sliding; vel=-0.351286,1.70871, mag=1.74445 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.334511,-1.41113, mag=1.45023 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.327703,-0.503142, mag=0.600451 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.323491,0.847938, mag=0.907549 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.351286,1.70871, mag=1.74445 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000752992; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000752992; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000933059; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000933059; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000752992 -0.000752992 -0.334511 -1.41113 -0.327703 -0.503142] +86: : verrLeft was=~[-0.000933059 0.000933059 -0.323491 0.847938 -0.351286 1.70871] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000752992 -0.334511 -1.41113 -0.000752992 -0.327703 -0.503142] +86: : rhsActive=~[-0.000933059 -0.323491 0.847938 0.000933059 -0.351286 1.70871] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.84665e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.000969901... -86: > NEWTON iter 1: errNorm=0.000969901(v) -> deltaNorm=0.00608176(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000692003 0 0 -0.000318275 0.000327703 0.000503142] -86: > deltaPi=~[0.00432794 3.71848e-09 1.56863e-08 -0.00423371 0.000314711 0.000483194] -86: DBG: Line search iter 1: back=1, prevNorm=0.000969901. -86: > piNow=~[0.00567206 -3.71848e-09 -1.56863e-08 -0.00576629 -0.000314711 -0.000483194] -86: > errNow=~[-2.1684e-19 -5.39266e-09 -2.27488e-08 -3.25261e-19 -5.1679e-09 -7.93456e-09] normNow=2.52241e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.60068e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.80837e-05 -86: > NEWTON iter 2: errNorm=2.52241e-08(v) -> deltaNorm=3.27077e-08(pi) -86: > piActive=~[0.00567206 -3.71848e-09 -1.56863e-08 -0.00576629 -0.000314711 -0.000483194] -86: > errActive=~[-2.1684e-19 -5.39266e-09 -2.27488e-08 -3.25261e-19 -5.1679e-09 -7.93456e-09] -86: > deltaPi=~[1.92755e-08 -3.71843e-09 -1.56861e-08 1.53537e-08 -7.76884e-09 -1.19279e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.52241e-08. -86: > piNow=~[0.00567204 -5.14644e-14 -2.17101e-13 -0.00576631 -0.000314703 -0.000483182] -86: > errNow=~[-2.1684e-19 -7.46353e-14 -3.14847e-13 1.0842e-19 5.63529e-14 8.65218e-14] normNow=3.39648e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.34652e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.39648e-13. -86: DBG: Worst offender is normal contact 0 err=0.00567204 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.32461e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00116453... +86: > NEWTON iter 1: errNorm=0.00116453(v) -> deltaNorm=0.00416806(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000678811 0.000323491 -0.000847938 0.00026776 0 0] +86: > deltaPi=~[-0.00290226 0.000252999 -0.000663164 0.00290617 2.17989e-09 -1.06034e-08] +86: DBG: Line search iter 1: back=1, prevNorm=0.00116453. +86: > piNow=~[-0.00709774 -0.000252999 0.000663164 0.00709383 -2.17989e-09 1.06034e-08] +86: > errNow=~[0 -3.49712e-09 9.16667e-09 4.33681e-19 -3.8027e-09 1.8497e-08] normNow=2.12804e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.82739e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.45503e-05 +86: > NEWTON iter 2: errNorm=2.12804e-08(v) -> deltaNorm=2.44093e-08(pi) +86: > piActive=~[-0.00709774 -0.000252999 0.000663164 0.00709383 -2.17989e-09 1.06034e-08] +86: > errActive=~[0 -3.49712e-09 9.16667e-09 4.33681e-19 -3.8027e-09 1.8497e-08] +86: > deltaPi=~[-1.34993e-08 -4.3345e-09 1.13616e-08 -1.21869e-08 -2.17991e-09 1.06034e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.12804e-08. +86: > piNow=~[-0.00709773 -0.000252995 0.000663152 0.00709384 1.81635e-14 -8.83501e-14] +86: > errNow=~[-1.0842e-19 -3.22847e-14 8.46249e-14 0 3.16852e-14 -1.54122e-13] normNow=1.81553e-13 +86: DBG: Improvement rate now/prev at iter 2 is 8.53142e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.81553e-13. +86: DBG: Worst offender is normal contact 1 err=0.00709384 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.334511,-1.41113, mag=1.45023 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.327703,-0.503142, mag=0.600451 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.323491,0.847938, mag=0.907549 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.351286,1.70871, mag=1.74445 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000752992; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000933059; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000752992 -0.000752992 -0.334511 -1.41113 -0.327703 -0.503142] +86: : verrLeft was=~[-0.000933059 0.000933059 -0.323491 0.847938 -0.351286 1.70871] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000752992 -0.327703 -0.503142] -86: : pi was=~[0 -0.00576631 -5.14644e-14 -2.17101e-13 -0.000314703 -0.000483182] -86: : piActive=~[-0.01 -0.000314703 -0.000483182] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.2366e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00145315... -86: > NEWTON iter 1: errNorm=0.00145315(v) -> deltaNorm=0.00669645(pi) -86: > piActive=~[-0.01 -0.000314703 -0.000483182] -86: > errActive=~[-0.00143074 0.00013874 0.000213015] -86: > deltaPi=~[-0.00669194 -0.000134148 -0.000205965] -86: DBG: Line search iter 1: back=1, prevNorm=0.00145315. -86: > piNow=~[-0.00330806 -0.000180555 -0.000277216] -86: > errNow=~[6.50521e-19 -8.16855e-09 -1.25416e-08] normNow=1.49672e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.02999e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.04196e-05 -86: > NEWTON iter 2: errNorm=1.49672e-08(v) -> deltaNorm=3.28659e-08(pi) -86: > piActive=~[-0.00330806 -0.000180555 -0.000277216] -86: > errActive=~[6.50521e-19 -8.16855e-09 -1.25416e-08] -86: > deltaPi=~[2.39235e-08 -1.22988e-08 -1.88831e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.49672e-08. -86: > piNow=~[-0.00330808 -0.000180543 -0.000277197] -86: > errNow=~[0 2.6661e-13 4.09342e-13] normNow=4.8851e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.26387e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.8851e-13. +86: : rhsActive=~[-0.000933059 -0.323491 0.847938] +86: : pi was=~[-0.00709773 0 -0.000252995 0.000663152 1.81635e-14 -8.83501e-14] +86: : piActive=~[-0.01 -0.000252995 0.000663152] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.38051e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00155838... +86: > NEWTON iter 1: errNorm=0.00155838(v) -> deltaNorm=0.0060921(pi) +86: > piActive=~[-0.01 -0.000252995 0.000663152] +86: > errActive=~[-0.00153596 9.3886e-05 -0.000246095] +86: > deltaPi=~[-0.00608378 -0.000113395 0.000297233] +86: DBG: Line search iter 1: back=1, prevNorm=0.00155838. +86: > piNow=~[-0.00391622 -0.0001396 0.00036592] +86: > errNow=~[-1.0842e-19 -7.33074e-09 1.92154e-08] normNow=2.05663e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.31972e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.20283e-05 +86: > NEWTON iter 2: errNorm=2.05663e-08(v) -> deltaNorm=3.8112e-08(pi) +86: > piActive=~[-0.00391622 -0.0001396 0.00036592] +86: > errActive=~[-1.0842e-19 -7.33074e-09 1.92154e-08] +86: > deltaPi=~[-2.83302e-08 -9.08708e-09 2.38191e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.05663e-08. +86: > piNow=~[-0.00391619 -0.000139591 0.000365896] +86: > errNow=~[1.0842e-19 -2.22445e-13 5.83074e-13] normNow=6.24065e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.03441e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.24065e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.327703,-0.503142] to ~[-0.327681,-0.502192] -86: DBG: Friction 1 rotated 0.0476944 deg, less than max 30 +86: slipVel 0 from ~[-0.323491,0.847938] to ~[-0.323547,0.849011] +86: DBG: Friction 0 rotated 0.02085 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00330808 -0.000180543 -0.000277197] -86: : m_verrLeft=~[0.00111222 0 -0.334492 -1.41068 -0.327681 -0.502192] +86: : m_piActive=~[-0.00391619 -0.000139591 0.000365896] +86: : m_verrLeft=~[-1.0842e-19 0.00130649 -0.323547 0.849011 -0.35132 1.70914] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00111222 pi*v=0 -86: DBG: 1: pi=-0.00330808 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00330808 0 0 -0.000180543 -0.000277197] errNorm=4.8851e-13 -86: Postcompression verr=~[0.00111222 0 -0.334492 -1.41068 -0.327681 -0.502192] -86: impulse=~[0 -0.00330808 0 0 -0.000180543 -0.000277197] +86: DBG: 0: pi=-0.00391619 verr=-1.0842e-19 pi*v=4.24594e-22 +86: DBG: 1: pi=0 verr=0.00130649 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00391619 0 -0.000139591 0.000365896 0 0] errNorm=6.24065e-13 +86: Postcompression verr=~[-1.0842e-19 0.00130649 -0.323547 0.849011 -0.35132 1.70914] +86: impulse=~[-0.00391619 0 -0.000139591 0.000365896 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00330808 0 0 -0.000180543 -0.000277197]-> du ~[0.000402946 0.00122256 0.000499235 -0.000699665 2.07306e-05 0.000556108 -0.00215047 0.00166385] -86: Now verr0=~[0.00111222 -3.25261e-19 -0.334492 -1.41068 -0.327681 -0.502192] +86: Impact: imp ~[-0.00391619 0 -0.000139591 0.000365896 0 0]-> du ~[-0.000603576 0.00135202 -0.00064935 -0.000748379 -4.49471e-05 0.000653244 -0.00258338 0.00155222] +86: Now verr0=~[-9.75782e-19 0.00130649 -0.323547 0.849011 -0.35132 1.70914] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00111222 -3.25261e-19 -0.334492 -1.41068 -0.327681 -0.502192] -86: verrExt=~[-0.676638 -0.534333 -0.0218843 -0.847711 -0.020183 -0.622851] -86: total verr=~[-0.675526 -0.534333 -0.356377 -2.25839 -0.347864 -1.12504] -86: DYN t=0.071: verrStart=~[0.00111222 -3.25261e-19 -0.334492 -1.41068 -0.327681 -0.502192] -86: verrApplied=~[-0.676638 -0.534333 -0.0218843 -0.847711 -0.020183 -0.622851] +86: verr0 =~[-9.75782e-19 0.00130649 -0.323547 0.849011 -0.35132 1.70914] +86: verrExt=~[-0.616506 -0.486121 0.00965265 -0.710444 0.00362231 -0.524641] +86: total verr=~[-0.616506 -0.484814 -0.313894 0.138567 -0.347698 1.1845] +86: DYN t=0.126: verrStart=~[-9.75782e-19 0.00130649 -0.323547 0.849011 -0.35132 1.70914] +86: verrApplied=~[-0.616506 -0.486121 0.00965265 -0.710444 0.00362231 -0.524641] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -41523,108 +52997,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00111222 -3.25261e-19 -0.334492 -1.41068 -0.327681 -0.502192] -86: verrApplied=~[-0.676638 -0.534333 -0.0218843 -0.847711 -0.020183 -0.622851] +86: verrLeft=~[-9.75782e-19 0.00130649 -0.323547 0.849011 -0.35132 1.70914] +86: verrApplied=~[-0.616506 -0.486121 0.00965265 -0.710444 0.00362231 -0.524641] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.334492,-1.41068, mag=1.44979 -86: Participating contact 1 is Sliding; vel=-0.327681,-0.502192, mag=0.599643 +86: Participating contact 0 is Sliding; vel=-0.323547,0.849011, mag=0.908572 +86: Participating contact 1 is Sliding; vel=-0.35132,1.70914, mag=1.74487 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.334492,-1.41068, mag=1.44979 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.327681,-0.502192, mag=0.599643 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.323547,0.849011, mag=0.908572 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.35132,1.70914, mag=1.74487 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.675526; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.534333; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.616506; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.484814; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00111222 -3.25261e-19 -0.334492 -1.41068 -0.327681 -0.502192] +86: : verrLeft was=~[-9.75782e-19 0.00130649 -0.323547 0.849011 -0.35132 1.70914] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.676638 -0.534333 -0.0218843 -0.847711 -0.020183 -0.622851] -86: : rhsActive=~[-0.675526 -0.356377 -2.25839 -0.534333 -0.347864 -1.12504] +86: : verrApplied was=~[-0.616506 -0.486121 0.00965265 -0.710444 0.00362231 -0.524641] +86: : rhsActive=~[-0.616506 -0.313894 0.138567 -0.484814 -0.347698 1.1845] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.84398e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.856738... -86: > NEWTON iter 1: errNorm=0.856738(v) -> deltaNorm=2.37785(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.32776e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.779291... +86: > NEWTON iter 1: errNorm=0.779291(v) -> deltaNorm=2.47988(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.672108 0.000334492 0.00141068 0.531289 0.000327681 0.000502192] -86: > deltaPi=~[1.90187 0.0441085 0.186022 1.40728 0.0774459 0.118691] -86: DBG: Line search iter 1: back=1, prevNorm=0.856738. -86: > piNow=~[-1.91187 -0.0441085 -0.186022 -1.41728 -0.0774459 -0.118691] -86: > errNow=~[1.11022e-16 2.36961e-06 9.99353e-06 -3.33067e-16 1.71769e-06 2.63246e-06] normNow=1.07409e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.25369e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.20274e-10 -86: > NEWTON iter 2: errNorm=1.07409e-05(v) -> deltaNorm=1.20834e-05(pi) -86: > piActive=~[-1.91187 -0.0441085 -0.186022 -1.41728 -0.0774459 -0.118691] -86: > errActive=~[1.11022e-16 2.36961e-06 9.99353e-06 -3.33067e-16 1.71769e-06 2.63246e-06] -86: > deltaPi=~[-7.58646e-06 1.45942e-06 6.15491e-06 -5.10429e-06 2.58558e-06 3.96258e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.07409e-05. -86: > piNow=~[-1.91186 -0.04411 -0.186028 -1.41728 -0.0774485 -0.118695] -86: > errNow=~[-1.11022e-16 -2.63678e-16 -1.05471e-15 1.11022e-16 -3.19189e-16 -4.71845e-16] normNow=1.23738e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.15203e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.23738e-15. +86: > errActive=~[0.612757 0.000323547 -0.000849011 0.481476 0.00035132 -0.00170914] +86: > deltaPi=~[1.99613 0.0714365 -0.187455 1.45042 0.0294036 -0.143045] +86: DBG: Line search iter 1: back=1, prevNorm=0.779291. +86: > piNow=~[-2.00613 -0.0714365 0.187455 -1.46042 -0.0294036 0.143045] +86: > errNow=~[-1.11022e-16 2.40567e-06 -6.31267e-06 -3.33067e-16 1.89805e-06 -9.23381e-06] normNow=1.15975e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.48822e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.21171e-10 +86: > NEWTON iter 2: errNorm=1.15975e-05(v) -> deltaNorm=1.54928e-05(pi) +86: > piActive=~[-2.00613 -0.0714365 0.187455 -1.46042 -0.0294036 0.143045] +86: > errActive=~[-1.11022e-16 2.40567e-06 -6.31267e-06 -3.33067e-16 1.89805e-06 -9.23381e-06] +86: > deltaPi=~[9.30182e-06 2.979e-06 -7.81711e-06 6.81901e-06 1.22508e-06 -5.95991e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.15975e-05. +86: > piNow=~[-2.00614 -0.0714395 0.187463 -1.46042 -0.0294048 0.143051] +86: > errNow=~[-1.11022e-16 2.91434e-16 -7.49401e-16 -5.55112e-17 4.16334e-16 -2.05391e-15] normNow=2.24807e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.93841e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.24807e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.334492,-1.41068] to ~[-0.342287,-1.3951] -86: DBG: Friction 0 rotated 0.445845 deg, less than max 30 -86: slipVel 1 from ~[-0.327681,-0.502192] to ~[-0.33531,-0.464598] -86: DBG: Friction 1 rotated 2.69428 deg, less than max 30 +86: slipVel 0 from ~[-0.323547,0.849011] to ~[-0.335538,0.85153] +86: DBG: Friction 0 rotated 0.645334 deg, less than max 30 +86: slipVel 1 from ~[-0.35132,1.70914] to ~[-0.364004,1.7331] +86: DBG: Friction 1 rotated 0.245887 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.91186 -0.04411 -0.186028 -1.41728 -0.0774485 -0.118695] -86: : m_verrLeft=~[1.11022e-16 -1.11022e-16 -0.342287 -1.3951 -0.33531 -0.464598] +86: : m_piActive=~[-2.00614 -0.0714395 0.187463 -1.46042 -0.0294048 0.143051] +86: : m_verrLeft=~[1.11022e-16 5.55112e-17 -0.335538 0.85153 -0.364004 1.7331] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.91186 verr=1.11022e-16 pi*v=-2.12259e-16 -86: DBG: 1: pi=-1.41728 verr=-1.11022e-16 pi*v=1.57349e-16 -86: SP FINAL 1 intervals, piTotal=~[-1.91186 -1.41728 -0.04411 -0.186028 -0.0774485 -0.118695] errNorm=1.23738e-15 +86: DBG: 0: pi=-2.00614 verr=1.11022e-16 pi*v=-2.22726e-16 +86: DBG: 1: pi=-1.46042 verr=5.55112e-17 pi*v=-8.10697e-17 +86: SP FINAL 1 intervals, piTotal=~[-2.00614 -1.46042 -0.0714395 0.187463 -0.0294048 0.143051] errNorm=2.24807e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.334492 -1.41068, |slipV|=1.44979 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.323547 0.849011, |slipV|=0.908572 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.327681 -0.502192, |slipV|=0.599643 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.35132 1.70914, |slipV|=1.74487 86: ------------------------------ 86: -86: dynamics impulse=~[-1.91186 -1.41728 -0.04411 -0.186028 -0.0774485 -0.118695] -86: updated verrStart=~[1.11022e-16 -1.11022e-16 -0.342287 -1.3951 -0.33531 -0.464598] +86: dynamics impulse=~[-2.00614 -1.46042 -0.0714395 0.187463 -0.0294048 0.143051] +86: updated verrStart=~[1.11022e-16 5.55112e-17 -0.335538 0.85153 -0.364004 1.7331] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.10046 -0.00746359 0 0 0 0] +86: posVerr=~[0.321498 0.558151 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.243149 0.0986498 -0.00199252 0.305618 -0.00339361 0.120833] -86: [0.0986498 0.205776 0.00594134 0.122988 0.00695154 0.256177] -86: [-0.00199252 0.00594134 0.0513916 0.0406108 0.0508177 -0.0360463] -86: [0.305618 0.122988 0.0406108 0.453769 0.0381691 0.130747] -86: [-0.00339361 0.00695154 0.0508177 0.0381691 0.050277 -0.0340896] -86: [0.120833 0.256177 -0.0360463 0.130747 -0.0340896 0.389763] +86: [0.268044 0.106857 -0.0136481 0.3136 -0.00738902 0.120939] +86: [0.106857 0.226938 -0.000125177 0.123048 -0.00470495 0.264003] +86: [-0.0136481 -0.000125177 0.0484079 0.0240651 0.0504207 -0.0383699] +86: [0.3136 0.123048 0.0240651 0.432998 0.03416 0.121759] +86: [-0.00738902 -0.00470495 0.0504207 0.03416 0.0530199 -0.0463556] +86: [0.120939 0.264003 -0.0383699 0.121759 -0.0463556 0.368028] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.381876 rank=2 -86: rhs=~[0.10046 -0.00746359 0 0 0 0] +86: rcond(A+D)=0.389204 rank=2 +86: rhs=~[0.321498 0.558151 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.531197 -0.290927] -86: -> pi=~[0.531197 -0.290927 0 0 0 0] -86: resid active=~[2.77556e-17 2.86229e-17] -86: resid=~[2.77556e-17 2.86229e-17 -0.00278692 0.126563 -0.00382506 -0.0103426] +86: -> piActive=~[0.26954 2.33256] +86: -> pi=~[0.26954 2.33256 0 0 0 0] +86: resid active=~[2.22045e-16 0] +86: resid=~[2.22045e-16 0 -0.0039707 0.371546 -0.0129662 0.648402] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-1.91795e-16 -2.75062e-16 -0.342287 -1.3951 -0.33531 -0.464598] -86: perr=~[0.00010046 -7.46359e-06 0] -86: END OF STEP (0.071,0.072): -86: verr=~[0.000756846 -0.000756846 -0.341854 -1.3951 -0.335743 -0.464596] -86: perr=~[0.000100839 -7.84202e-06 0] +86: verr=~[-5.9848e-17 -1.7087e-16 -0.335538 0.85153 -0.364004 1.7331] +86: perr=~[0.000321498 0.000558151 -2.22045e-16] +86: END OF STEP (0.126,0.127): +86: verr=~[-0.000966497 0.000966497 -0.335149 0.851544 -0.364393 1.73308] +86: perr=~[0.000321015 0.000558634 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -41632,16 +53106,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.43638 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.573212 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000756846 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.915124 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.77098 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.000966497 at or below tol 0.001 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000756846 -0.000756846 -0.341854 -1.3951 -0.335743 -0.464596] -86: IMP t=0.072 verr=~[0.000756846 -0.000756846 -0.341854 -1.3951 -0.335743 -0.464596] +86: verr=~[-0.000966497 0.000966497 -0.335149 0.851544 -0.364393 1.73308] +86: IMP t=0.127 verr=~[-0.000966497 0.000966497 -0.335149 0.851544 -0.364393 1.73308] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -41653,115 +53127,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000756846 -0.000756846 -0.341854 -1.3951 -0.335743 -0.464596] +86: verrLeft=~[-0.000966497 0.000966497 -0.335149 0.851544 -0.364393 1.73308] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.341854,-1.3951, mag=1.43638 -86: Participating contact 1 is Sliding; vel=-0.335743,-0.464596, mag=0.573212 +86: Participating contact 0 is Sliding; vel=-0.335149,0.851544, mag=0.915124 +86: Participating contact 1 is Sliding; vel=-0.364393,1.73308, mag=1.77098 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.341854,-1.3951, mag=1.43638 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.335743,-0.464596, mag=0.573212 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.335149,0.851544, mag=0.915124 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.364393,1.73308, mag=1.77098 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000756846; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000756846; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.000966497; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000966497; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000756846 -0.000756846 -0.341854 -1.3951 -0.335743 -0.464596] +86: : verrLeft was=~[-0.000966497 0.000966497 -0.335149 0.851544 -0.364393 1.73308] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000756846 -0.341854 -1.3951 -0.000756846 -0.335743 -0.464596] +86: : rhsActive=~[-0.000966497 -0.335149 0.851544 0.000966497 -0.364393 1.73308] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.76062e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.000950814... -86: > NEWTON iter 1: errNorm=0.000950814(v) -> deltaNorm=0.00604184(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000689289 0 0 -0.000316789 0.000335743 0.000464596] -86: > deltaPi=~[0.00430771 3.81883e-09 1.55846e-08 -0.0041965 0.000339933 0.000470393] -86: DBG: Line search iter 1: back=1, prevNorm=0.000950814. -86: > piNow=~[0.00569229 -3.81883e-09 -1.55846e-08 -0.0058035 -0.000339933 -0.000470393] -86: > errNow=~[6.50521e-19 -5.48527e-09 -2.23853e-08 -2.1684e-19 -5.24814e-09 -7.2623e-09] normNow=2.4728e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.60072e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.76832e-05 -86: > NEWTON iter 2: errNorm=2.4728e-08(v) -> deltaNorm=3.23415e-08(pi) -86: > piActive=~[0.00569229 -3.81883e-09 -1.55846e-08 -0.0058035 -0.000339933 -0.000470393] -86: > errActive=~[6.50521e-19 -5.48527e-09 -2.23853e-08 -2.1684e-19 -5.24814e-09 -7.2623e-09] -86: > deltaPi=~[1.91678e-08 -3.81878e-09 -1.55844e-08 1.48673e-08 -8.28496e-09 -1.14646e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.4728e-08. -86: > piNow=~[0.00569227 -5.243e-14 -2.13967e-13 -0.00580352 -0.000339925 -0.000470382] -86: > errNow=~[0 -7.53092e-14 -3.07336e-13 0 5.51918e-14 7.63736e-14] normNow=3.30161e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.33517e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.30161e-13. -86: DBG: Worst offender is normal contact 0 err=0.00569227 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.42532e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00115096... +86: > NEWTON iter 1: errNorm=0.00115096(v) -> deltaNorm=0.00388259(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000654973 0.000335149 -0.000851544 0.000241392 0 0] +86: > deltaPi=~[-0.00269833 0.000267415 -0.000679446 0.0026945 2.06513e-09 -9.82192e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00115096. +86: > piNow=~[-0.00730167 -0.000267415 0.000679446 0.0073055 -2.06513e-09 9.82192e-09] +86: > errNow=~[3.25261e-19 -3.36857e-09 8.55883e-09 -1.0842e-19 -3.65729e-09 1.73944e-08] normNow=2.00135e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.73885e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.39145e-05 +86: > NEWTON iter 2: errNorm=2.00135e-08(v) -> deltaNorm=2.25759e-08(pi) +86: > piActive=~[-0.00730167 -0.000267415 0.000679446 0.0073055 -2.06513e-09 9.82192e-09] +86: > errActive=~[3.25261e-19 -3.36857e-09 8.55883e-09 -1.0842e-19 -3.65729e-09 1.73944e-08] +86: > deltaPi=~[-1.24468e-08 -4.13681e-09 1.05108e-08 -1.12439e-08 -2.06514e-09 9.822e-09] +86: DBG: Line search iter 1: back=1, prevNorm=2.00135e-08. +86: > piNow=~[-0.00730165 -0.000267411 0.000679436 0.00730551 1.61452e-14 -7.67878e-14] +86: > errNow=~[-4.33681e-19 -2.9142e-14 7.40439e-14 -2.1684e-19 2.85927e-14 -1.35989e-13] normNow=1.60132e-13 +86: DBG: Improvement rate now/prev at iter 2 is 8.00121e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.60132e-13. +86: DBG: Worst offender is normal contact 1 err=0.00730551 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.341854,-1.3951, mag=1.43638 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.335743,-0.464596, mag=0.573212 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.335149,0.851544, mag=0.915124 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.364393,1.73308, mag=1.77098 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000756846; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.000966497; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000756846 -0.000756846 -0.341854 -1.3951 -0.335743 -0.464596] +86: : verrLeft was=~[-0.000966497 0.000966497 -0.335149 0.851544 -0.364393 1.73308] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000756846 -0.335743 -0.464596] -86: : pi was=~[0 -0.00580352 -5.243e-14 -2.13967e-13 -0.000339925 -0.000470382] -86: : piActive=~[-0.01 -0.000339925 -0.000470382] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.13514e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00143896... -86: > NEWTON iter 1: errNorm=0.00143896(v) -> deltaNorm=0.00666221(pi) -86: > piActive=~[-0.01 -0.000339925 -0.000470382] -86: > errActive=~[-0.00141872 0.000140894 0.000194967] -86: > deltaPi=~[-0.00665766 -0.000144142 -0.000199462] -86: DBG: Line search iter 1: back=1, prevNorm=0.00143896. -86: > piNow=~[-0.00334234 -0.000195782 -0.00027092] -86: > errNow=~[-1.0842e-19 -8.32608e-09 -1.15215e-08] normNow=1.42151e-08 -86: DBG: Improvement rate now/prev at iter 1 is 9.87868e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.9096e-05 -86: > NEWTON iter 2: errNorm=1.42151e-08(v) -> deltaNorm=3.22961e-08(pi) -86: > piActive=~[-0.00334234 -0.000195782 -0.00027092] -86: > errActive=~[-1.0842e-19 -8.32608e-09 -1.15215e-08] -86: > deltaPi=~[2.3187e-08 -1.31676e-08 -1.82211e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.42151e-08. -86: > piNow=~[-0.00334236 -0.000195769 -0.000270902] -86: > errNow=~[-1.0842e-19 2.59345e-13 3.58877e-13] normNow=4.42779e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.11485e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.42779e-13. +86: : rhsActive=~[-0.000966497 -0.335149 0.851544] +86: : pi was=~[-0.00730165 0 -0.000267411 0.000679436 1.61452e-14 -7.67878e-14] +86: : piActive=~[-0.01 -0.000267411 0.000679436] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.40872e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0015311... +86: > NEWTON iter 1: errNorm=0.0015311(v) -> deltaNorm=0.0059774(pi) +86: > piActive=~[-0.01 -0.000267411 0.000679436] +86: > errActive=~[-0.00151105 9.0435e-05 -0.000229776] +86: > deltaPi=~[-0.00596845 -0.000119754 0.000304269] +86: DBG: Line search iter 1: back=1, prevNorm=0.0015311. +86: > piNow=~[-0.00403155 -0.000147657 0.000375166] +86: > errNow=~[1.0842e-19 -7.45095e-09 1.89313e-08] normNow=2.03448e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.32877e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.09603e-05 +86: > NEWTON iter 2: errNorm=2.03448e-08(v) -> deltaNorm=3.72034e-08(pi) +86: > piActive=~[-0.00403155 -0.000147657 0.000375166] +86: > errActive=~[1.0842e-19 -7.45095e-09 1.89313e-08] +86: > deltaPi=~[-2.75631e-08 -9.15123e-09 2.32513e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.03448e-08. +86: > piNow=~[-0.00403153 -0.000147648 0.000375143] +86: > errNow=~[1.0842e-19 -2.11584e-13 5.37591e-13] normNow=5.7773e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.8397e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.7773e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.335743,-0.464596] to ~[-0.33572,-0.46364] -86: DBG: Friction 1 rotated 0.0541244 deg, less than max 30 +86: slipVel 0 from ~[-0.335149,0.851544] to ~[-0.335207,0.852652] +86: DBG: Friction 0 rotated 0.0219994 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00334236 -0.000195769 -0.000270902] -86: : m_verrLeft=~[0.00111601 1.0842e-19 -0.341834 -1.39465 -0.33572 -0.46364] +86: : m_piActive=~[-0.00403153 -0.000147648 0.000375143] +86: : m_verrLeft=~[-1.0842e-19 0.00135293 -0.335207 0.852652 -0.364428 1.73352] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00111601 pi*v=0 -86: DBG: 1: pi=-0.00334236 verr=1.0842e-19 pi*v=-3.62379e-22 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00334236 0 0 -0.000195769 -0.000270902] errNorm=4.42779e-13 -86: Postcompression verr=~[0.00111601 1.0842e-19 -0.341834 -1.39465 -0.33572 -0.46364] -86: impulse=~[0 -0.00334236 0 0 -0.000195769 -0.000270902] +86: DBG: 0: pi=-0.00403153 verr=-1.0842e-19 pi*v=4.37099e-22 +86: DBG: 1: pi=0 verr=0.00135293 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00403153 0 -0.000147648 0.000375143 0 0] errNorm=5.7773e-13 +86: Postcompression verr=~[-1.0842e-19 0.00135293 -0.335207 0.852652 -0.364428 1.73352] +86: impulse=~[-0.00403153 0 -0.000147648 0.000375143 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00334236 0 0 -0.000195769 -0.000270902]-> du ~[0.000405763 0.00122943 0.000502796 -0.000704238 2.18096e-05 0.000558006 -0.00216244 0.00167554] -86: Now verr0=~[0.00111601 1.0842e-18 -0.341834 -1.39465 -0.33572 -0.46364] +86: Impact: imp ~[-0.00403153 0 -0.000147648 0.000375143 0 0]-> du ~[-0.000626697 0.00139627 -0.000671007 -0.000771829 -4.6575e-05 0.000676467 -0.00266903 0.00160206] +86: Now verr0=~[-3.25261e-18 0.00135293 -0.335207 0.852652 -0.364428 1.73352] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00111601 1.0842e-18 -0.341834 -1.39465 -0.33572 -0.46364] -86: verrExt=~[-0.611995 -0.48483 -0.0174923 -0.76224 -0.0161733 -0.563493] -86: total verr=~[-0.610879 -0.48483 -0.359326 -2.15689 -0.351893 -1.02713] -86: DYN t=0.072: verrStart=~[0.00111601 1.0842e-18 -0.341834 -1.39465 -0.33572 -0.46364] -86: verrApplied=~[-0.611995 -0.48483 -0.0174923 -0.76224 -0.0161733 -0.563493] +86: verr0 =~[-3.25261e-18 0.00135293 -0.335207 0.852652 -0.364428 1.73352] +86: verrExt=~[-0.596713 -0.469818 0.00978933 -0.682899 0.00379639 -0.503148] +86: total verr=~[-0.596713 -0.468465 -0.325418 0.169753 -0.360632 1.23037] +86: DYN t=0.127: verrStart=~[-3.25261e-18 0.00135293 -0.335207 0.852652 -0.364428 1.73352] +86: verrApplied=~[-0.596713 -0.469818 0.00978933 -0.682899 0.00379639 -0.503148] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -41773,108 +53247,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00111601 1.0842e-18 -0.341834 -1.39465 -0.33572 -0.46364] -86: verrApplied=~[-0.611995 -0.48483 -0.0174923 -0.76224 -0.0161733 -0.563493] +86: verrLeft=~[-3.25261e-18 0.00135293 -0.335207 0.852652 -0.364428 1.73352] +86: verrApplied=~[-0.596713 -0.469818 0.00978933 -0.682899 0.00379639 -0.503148] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.341834,-1.39465, mag=1.43593 -86: Participating contact 1 is Sliding; vel=-0.33572,-0.46364, mag=0.572424 +86: Participating contact 0 is Sliding; vel=-0.335207,0.852652, mag=0.916176 +86: Participating contact 1 is Sliding; vel=-0.364428,1.73352, mag=1.77141 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.341834,-1.39465, mag=1.43593 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.33572,-0.46364, mag=0.572424 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.335207,0.852652, mag=0.916176 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.364428,1.73352, mag=1.77141 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.610879; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.48483; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.596713; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.468465; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00111601 1.0842e-18 -0.341834 -1.39465 -0.33572 -0.46364] +86: : verrLeft was=~[-3.25261e-18 0.00135293 -0.335207 0.852652 -0.364428 1.73352] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.611995 -0.48483 -0.0174923 -0.76224 -0.0161733 -0.563493] -86: : rhsActive=~[-0.610879 -0.359326 -2.15689 -0.48483 -0.351893 -1.02713] +86: : verrApplied was=~[-0.596713 -0.469818 0.00978933 -0.682899 0.00379639 -0.503148] +86: : rhsActive=~[-0.596713 -0.325418 0.169753 -0.468465 -0.360632 1.23037] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.75799e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.775343... -86: > NEWTON iter 1: errNorm=0.775343(v) -> deltaNorm=2.16216(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.42855e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.753602... +86: > NEWTON iter 1: errNorm=0.753602(v) -> deltaNorm=2.38466(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.607474 0.000341834 0.00139465 0.481799 0.00033572 0.00046364] -86: > deltaPi=~[1.72124 0.0412118 0.16814 1.29051 0.0762702 0.105332] -86: DBG: Line search iter 1: back=1, prevNorm=0.775343. -86: > piNow=~[-1.73124 -0.0412118 -0.16814 -1.30051 -0.0762702 -0.105332] -86: > errNow=~[-3.33067e-16 2.19163e-06 8.94165e-06 1.66533e-16 1.61379e-06 2.2287e-06] normNow=9.60873e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.23929e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.4425e-10 -86: > NEWTON iter 2: errNorm=9.60873e-06(v) -> deltaNorm=1.0939e-05(pi) -86: > piActive=~[-1.73124 -0.0412118 -0.16814 -1.30051 -0.0762702 -0.105332] -86: > errActive=~[-3.33067e-16 2.19163e-06 8.94165e-06 1.66533e-16 1.61379e-06 2.2287e-06] -86: > deltaPi=~[-6.85885e-06 1.363e-06 5.56091e-06 -4.57341e-06 2.551e-06 3.52302e-06] -86: DBG: Line search iter 1: back=1, prevNorm=9.60873e-06. -86: > piNow=~[-1.73123 -0.0412132 -0.168146 -1.3005 -0.0762727 -0.105335] -86: > errNow=~[2.22045e-16 -2.84495e-16 -1.16573e-15 0 -3.40006e-16 -4.64906e-16] normNow=1.34941e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.40436e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.34941e-15. +86: > errActive=~[0.592946 0.000335207 -0.000852652 0.465111 0.000364428 -0.00173352] +86: > deltaPi=~[1.92179 0.070677 -0.179778 1.39154 0.0288324 -0.137151] +86: DBG: Line search iter 1: back=1, prevNorm=0.753602. +86: > piNow=~[-1.93179 -0.070677 0.179778 -1.40154 -0.0288324 0.137151] +86: > errNow=~[-2.22045e-16 2.39956e-06 -6.10364e-06 -2.22045e-16 1.88894e-06 -8.98535e-06] normNow=1.12835e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.49727e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.40509e-10 +86: > NEWTON iter 2: errNorm=1.12835e-05(v) -> deltaNorm=1.48318e-05(pi) +86: > piActive=~[-1.93179 -0.070677 0.179778 -1.40154 -0.0288324 0.137151] +86: > errActive=~[-2.22045e-16 2.39956e-06 -6.10364e-06 -2.22045e-16 1.88894e-06 -8.98535e-06] +86: > deltaPi=~[8.88162e-06 2.94406e-06 -7.48866e-06 6.50522e-06 1.20018e-06 -5.70903e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.12835e-05. +86: > piNow=~[-1.9318 -0.07068 0.179785 -1.40154 -0.0288336 0.137156] +86: > errNow=~[1.11022e-16 3.05311e-16 -7.49401e-16 1.11022e-16 4.51028e-16 -2.13718e-15] normNow=2.33462e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.06906e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.33462e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.341834,-1.39465] to ~[-0.347024,-1.37354] -86: DBG: Friction 0 rotated 0.407103 deg, less than max 30 -86: slipVel 1 from ~[-0.33572,-0.46364] to ~[-0.340801,-0.425978] -86: DBG: Friction 1 rotated 2.75324 deg, less than max 30 +86: slipVel 0 from ~[-0.335207,0.852652] to ~[-0.346791,0.857102] +86: DBG: Friction 0 rotated 0.567142 deg, less than max 30 +86: slipVel 1 from ~[-0.364428,1.73352] to ~[-0.376683,1.75823] +86: DBG: Friction 1 rotated 0.220146 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.73123 -0.0412132 -0.168146 -1.3005 -0.0762727 -0.105335] -86: : m_verrLeft=~[-2.22045e-16 0 -0.347024 -1.37354 -0.340801 -0.425978] +86: : m_piActive=~[-1.9318 -0.07068 0.179785 -1.40154 -0.0288336 0.137156] +86: : m_verrLeft=~[-1.11022e-16 -1.11022e-16 -0.346791 0.857102 -0.376683 1.75823] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.73123 verr=-2.22045e-16 pi*v=3.8441e-16 -86: DBG: 1: pi=-1.3005 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-1.73123 -1.3005 -0.0412132 -0.168146 -0.0762727 -0.105335] errNorm=1.34941e-15 +86: DBG: 0: pi=-1.9318 verr=-1.11022e-16 pi*v=2.14473e-16 +86: DBG: 1: pi=-1.40154 verr=-1.11022e-16 pi*v=1.55603e-16 +86: SP FINAL 1 intervals, piTotal=~[-1.9318 -1.40154 -0.07068 0.179785 -0.0288336 0.137156] errNorm=2.33462e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.341834 -1.39465, |slipV|=1.43593 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.335207 0.852652, |slipV|=0.916176 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.33572 -0.46364, |slipV|=0.572424 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.364428 1.73352, |slipV|=1.77141 86: ------------------------------ 86: -86: dynamics impulse=~[-1.73123 -1.3005 -0.0412132 -0.168146 -0.0762727 -0.105335] -86: updated verrStart=~[-2.22045e-16 0 -0.347024 -1.37354 -0.340801 -0.425978] +86: dynamics impulse=~[-1.9318 -1.40154 -0.07068 0.179785 -0.0288336 0.137156] +86: updated verrStart=~[-1.11022e-16 -1.11022e-16 -0.346791 0.857102 -0.376683 1.75823] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.100839 -0.00784202 0 0 0 0] +86: posVerr=~[0.321015 0.558634 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.242519 0.0979058 -0.00251324 0.305591 -0.00374403 0.120572] -86: [0.0979058 0.205269 0.00596179 0.122621 0.00685111 0.256261] -86: [-0.00251324 0.00596179 0.0511745 0.0398529 0.0506783 -0.0358472] -86: [0.305591 0.122621 0.0398529 0.454881 0.0377076 0.131236] -86: [-0.00374403 0.00685111 0.0506783 0.0377076 0.0502077 -0.034128] -86: [0.120572 0.256261 -0.0358472 0.131236 -0.034128 0.390777] +86: [0.269458 0.107311 -0.0138943 0.313958 -0.00745215 0.120919] +86: [0.107311 0.2281 -0.000286894 0.123017 -0.0050021 0.264293] +86: [-0.0138943 -0.000286894 0.0483489 0.0237143 0.0504052 -0.0383729] +86: [0.313958 0.123017 0.0237143 0.431619 0.034056 0.121231] +86: [-0.00745215 -0.0050021 0.0504052 0.034056 0.0530785 -0.0465506] +86: [0.120919 0.264293 -0.0383729 0.121231 -0.0465506 0.366724] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.383961 rank=2 -86: rhs=~[0.100839 -0.00784202 0 0 0 0] +86: rcond(A+D)=0.389577 rank=2 +86: rhs=~[0.321015 0.558634 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.534051 -0.292926] -86: -> pi=~[0.534051 -0.292926 0 0 0 0] -86: resid active=~[2.77556e-17 6.93889e-18] -86: resid=~[2.77556e-17 6.93889e-18 -0.00308856 0.127283 -0.00400637 -0.0106738] +86: -> piActive=~[0.265796 2.32403] +86: -> pi=~[0.265796 2.32403 0 0 0 0] +86: resid active=~[-1.11022e-16 -1.11022e-16] +86: resid=~[-1.11022e-16 -1.11022e-16 -0.00435979 0.369343 -0.0136058 0.646365] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-1.86483e-17 1.13191e-16 -0.347024 -1.37354 -0.340801 -0.425978] -86: perr=~[0.000100839 -7.84202e-06 0] -86: END OF STEP (0.072,0.073): -86: verr=~[0.000752397 -0.000752397 -0.346575 -1.37354 -0.34125 -0.425976] -86: perr=~[0.000101215 -8.21821e-06 0] +86: verr=~[-2.00577e-17 9.09646e-17 -0.346791 0.857102 -0.376683 1.75823] +86: perr=~[0.000321015 0.000558634 0] +86: END OF STEP (0.127,0.128): +86: verr=~[-0.00100045 0.00100045 -0.346384 0.857117 -0.37709 1.75822] +86: perr=~[0.000320515 0.000559134 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -41882,16 +53356,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.41659 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.545808 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000752397 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.924463 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.7982 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00100045 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000752397 -0.000752397 -0.346575 -1.37354 -0.34125 -0.425976] -86: IMP t=0.073 verr=~[0.000752397 -0.000752397 -0.346575 -1.37354 -0.34125 -0.425976] +86: verr=~[-0.00100045 0.00100045 -0.346384 0.857117 -0.37709 1.75822] +86: IMP t=0.128 verr=~[-0.00100045 0.00100045 -0.346384 0.857117 -0.37709 1.75822] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -41903,115 +53377,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000752397 -0.000752397 -0.346575 -1.37354 -0.34125 -0.425976] +86: verrLeft=~[-0.00100045 0.00100045 -0.346384 0.857117 -0.37709 1.75822] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.346575,-1.37354, mag=1.41659 -86: Participating contact 1 is Sliding; vel=-0.34125,-0.425976, mag=0.545808 +86: Participating contact 0 is Sliding; vel=-0.346384,0.857117, mag=0.924463 +86: Participating contact 1 is Sliding; vel=-0.37709,1.75822, mag=1.7982 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.346575,-1.37354, mag=1.41659 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.34125,-0.425976, mag=0.545808 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.346384,0.857117, mag=0.924463 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.37709,1.75822, mag=1.7982 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000752397; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000752397; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00100045; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00100045; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000752397 -0.000752397 -0.346575 -1.37354 -0.34125 -0.425976] +86: : verrLeft was=~[-0.00100045 0.00100045 -0.346384 0.857117 -0.37709 1.75822] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000752397 -0.346575 -1.37354 -0.000752397 -0.34125 -0.425976] +86: : rhsActive=~[-0.00100045 -0.346384 0.857117 0.00100045 -0.37709 1.75822] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.65475e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.000941443... -86: > NEWTON iter 1: errNorm=0.000941443(v) -> deltaNorm=0.00609143(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000695285 0 0 -0.000324016 0.00034125 0.000425976] -86: > deltaPi=~[0.00435181 3.96582e-09 1.57173e-08 -0.00422297 0.000361201 0.00045088] -86: DBG: Line search iter 1: back=1, prevNorm=0.000941443. -86: > piNow=~[0.00564819 -3.96582e-09 -1.57173e-08 -0.00577703 -0.000361201 -0.00045088] -86: > errNow=~[1.0842e-19 -5.61796e-09 -2.22651e-08 0 -5.36788e-09 -6.70061e-09] normNow=2.45154e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.60403e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.76221e-05 -86: > NEWTON iter 2: errNorm=2.45154e-08(v) -> deltaNorm=3.2445e-08(pi) -86: > piActive=~[0.00564819 -3.96582e-09 -1.57173e-08 -0.00577703 -0.000361201 -0.00045088] -86: > errActive=~[1.0842e-19 -5.61796e-09 -2.22651e-08 0 -5.36788e-09 -6.70061e-09] -86: > deltaPi=~[1.93437e-08 -3.96577e-09 -1.57171e-08 1.45599e-08 -8.92451e-09 -1.11403e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.45154e-08. -86: > piNow=~[0.00564817 -5.52433e-14 -2.1894e-13 -0.00577704 -0.000361192 -0.000450869] -86: > errNow=~[0 -7.82573e-14 -3.10149e-13 0 5.54419e-14 6.9207e-14] normNow=3.31934e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.35398e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.31934e-13. -86: DBG: Worst offender is normal contact 0 err=0.00564817 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.53139e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00113976... +86: > NEWTON iter 1: errNorm=0.00113976(v) -> deltaNorm=0.00359993(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000631052 0.000346384 -0.000857117 0.00021495 0 0] +86: > deltaPi=~[-0.00249536 0.000281193 -0.000695802 0.00248384 1.94018e-09 -9.04628e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00113976. +86: > piNow=~[-0.00750464 -0.000281193 0.000695802 0.00751616 -1.94018e-09 9.04628e-09] +86: > errNow=~[0 -3.21961e-09 7.96682e-09 0 -3.48883e-09 1.6267e-08] normNow=1.8725e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.64288e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.33391e-05 +86: > NEWTON iter 2: errNorm=1.8725e-08(v) -> deltaNorm=2.07684e-08(pi) +86: > piActive=~[-0.00750464 -0.000281193 0.000695802 0.00751616 -1.94018e-09 9.04628e-09] +86: > errActive=~[0 -3.21961e-09 7.96682e-09 0 -3.48883e-09 1.6267e-08] +86: > deltaPi=~[-1.14195e-08 -3.91053e-09 9.67648e-09 -1.03147e-08 -1.94019e-09 9.04634e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.8725e-08. +86: > piNow=~[-0.00750463 -0.000281189 0.000695792 0.00751617 1.42608e-14 -6.64925e-14] +86: > errNow=~[0 -2.61589e-14 6.47293e-14 -2.1684e-19 2.56438e-14 -1.19567e-13] normNow=1.40812e-13 +86: DBG: Improvement rate now/prev at iter 2 is 7.52002e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.40812e-13. +86: DBG: Worst offender is normal contact 1 err=0.00751617 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.346575,-1.37354, mag=1.41659 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.34125,-0.425976, mag=0.545808 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.346384,0.857117, mag=0.924463 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.37709,1.75822, mag=1.7982 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000752397; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00100045; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000752397 -0.000752397 -0.346575 -1.37354 -0.34125 -0.425976] +86: : verrLeft was=~[-0.00100045 0.00100045 -0.346384 0.857117 -0.37709 1.75822] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000752397 -0.34125 -0.425976] -86: : pi was=~[0 -0.00577704 -5.52433e-14 -2.1894e-13 -0.000361192 -0.000450869] -86: : piActive=~[-0.01 -0.000361192 -0.000450869] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.03307e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00143229... -86: > NEWTON iter 1: errNorm=0.00143229(v) -> deltaNorm=0.0066639(pi) -86: > piActive=~[-0.01 -0.000361192 -0.000450869] -86: > errActive=~[-0.00141362 0.000144108 0.000179888] -86: > deltaPi=~[-0.00665945 -0.000152319 -0.000190136] -86: DBG: Line search iter 1: back=1, prevNorm=0.00143229. -86: > piNow=~[-0.00334055 -0.000208873 -0.000260732] -86: > errNow=~[0 -8.46492e-09 -1.05666e-08] normNow=1.35391e-08 -86: DBG: Improvement rate now/prev at iter 1 is 9.45276e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.82024e-05 -86: > NEWTON iter 2: errNorm=1.35391e-08(v) -> deltaNorm=3.18607e-08(pi) -86: > piActive=~[-0.00334055 -0.000208873 -0.000260732] -86: > errActive=~[0 -8.46492e-09 -1.05666e-08] -86: > deltaPi=~[2.25017e-08 -1.41026e-08 -1.7604e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.35391e-08. -86: > piNow=~[-0.00334057 -0.000208859 -0.000260715] -86: > errNow=~[0 2.5608e-13 3.1966e-13] normNow=4.09585e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.0252e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.09585e-13. +86: : rhsActive=~[-0.00100045 -0.346384 0.857117] +86: : pi was=~[-0.00750463 0 -0.000281189 0.000695792 1.42608e-14 -6.64925e-14] +86: : piActive=~[-0.01 -0.000281189 0.000695792] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.44351e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00150377... +86: > NEWTON iter 1: errNorm=0.00150377(v) -> deltaNorm=0.00586244(pi) +86: > piActive=~[-0.01 -0.000281189 0.000695792] +86: > errActive=~[-0.00148597 8.64358e-05 -0.000213883] +86: > deltaPi=~[-0.00585282 -0.000125791 0.000311266] +86: DBG: Line search iter 1: back=1, prevNorm=0.00150377. +86: > piNow=~[-0.00414718 -0.000155398 0.000384527] +86: > errNow=~[0 -7.55153e-09 1.8686e-08] normNow=2.01542e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.34025e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.00106e-05 +86: > NEWTON iter 2: errNorm=2.01542e-08(v) -> deltaNorm=3.63105e-08(pi) +86: > piActive=~[-0.00414718 -0.000155398 0.000384527] +86: > errActive=~[0 -7.55153e-09 1.8686e-08] +86: > deltaPi=~[-2.68157e-08 -9.17309e-09 2.26985e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.01542e-08. +86: > piNow=~[-0.00414716 -0.000155389 0.000384504] +86: > errNow=~[0 -2.01057e-13 4.97509e-13] normNow=5.36599e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.66247e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.36599e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.34125,-0.425976] to ~[-0.341226,-0.425024] -86: DBG: Friction 1 rotated 0.0605539 deg, less than max 30 +86: slipVel 0 from ~[-0.346384,0.857117] to ~[-0.346444,0.858258] +86: DBG: Friction 0 rotated 0.02303 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00334057 -0.000208859 -0.000260715] -86: : m_verrLeft=~[0.00110747 0 -0.346554 -1.37309 -0.341226 -0.425024] +86: : m_piActive=~[-0.00414716 -0.000155389 0.000384504] +86: : m_verrLeft=~[0 0.00139999 -0.346444 0.858258 -0.377126 1.75867] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00110747 pi*v=0 -86: DBG: 1: pi=-0.00334057 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00334057 0 0 -0.000208859 -0.000260715] errNorm=4.09585e-13 -86: Postcompression verr=~[0.00110747 0 -0.346554 -1.37309 -0.341226 -0.425024] -86: impulse=~[0 -0.00334057 0 0 -0.000208859 -0.000260715] +86: DBG: 0: pi=-0.00414716 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00139999 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00414716 0 -0.000155389 0.000384504 0 0] errNorm=5.36599e-13 +86: Postcompression verr=~[0 0.00139999 -0.346444 0.858258 -0.377126 1.75867] +86: impulse=~[-0.00414716 0 -0.000155389 0.000384504 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00334057 0 0 -0.000208859 -0.000260715]-> du ~[0.000404203 0.00122264 0.000500848 -0.000700953 2.26764e-05 0.000553734 -0.00215041 0.00166895] -86: Now verr0=~[0.00110747 -2.1684e-19 -0.346554 -1.37309 -0.341226 -0.425024] +86: Impact: imp ~[-0.00414716 0 -0.000155389 0.000384504 0 0]-> du ~[-0.000650347 0.00144084 -0.000692851 -0.000795381 -4.82963e-05 0.000699996 -0.00275546 0.00165233] +86: Now verr0=~[-2.49366e-18 0.00139999 -0.346444 0.858258 -0.377126 1.75867] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00110747 -2.1684e-19 -0.346554 -1.37309 -0.341226 -0.425024] -86: verrExt=~[-0.546901 -0.435171 -0.0133117 -0.675535 -0.0123317 -0.503326] -86: total verr=~[-0.545794 -0.435171 -0.359865 -2.04863 -0.353558 -0.92835] -86: DYN t=0.073: verrStart=~[0.00110747 -2.1684e-19 -0.346554 -1.37309 -0.341226 -0.425024] -86: verrApplied=~[-0.546901 -0.435171 -0.0133117 -0.675535 -0.0123317 -0.503326] +86: verr0 =~[-2.49366e-18 0.00139999 -0.346444 0.858258 -0.377126 1.75867] +86: verrExt=~[-0.576736 -0.453693 0.0100466 -0.655243 0.00412309 -0.482267] +86: total verr=~[-0.576736 -0.452293 -0.336398 0.203016 -0.373003 1.2764] +86: DYN t=0.128: verrStart=~[-2.49366e-18 0.00139999 -0.346444 0.858258 -0.377126 1.75867] +86: verrApplied=~[-0.576736 -0.453693 0.0100466 -0.655243 0.00412309 -0.482267] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -42023,113 +53497,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00110747 -2.1684e-19 -0.346554 -1.37309 -0.341226 -0.425024] -86: verrApplied=~[-0.546901 -0.435171 -0.0133117 -0.675535 -0.0123317 -0.503326] +86: verrLeft=~[-2.49366e-18 0.00139999 -0.346444 0.858258 -0.377126 1.75867] +86: verrApplied=~[-0.576736 -0.453693 0.0100466 -0.655243 0.00412309 -0.482267] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.346554,-1.37309, mag=1.41615 -86: Participating contact 1 is Sliding; vel=-0.341226,-0.425024, mag=0.545051 +86: Participating contact 0 is Sliding; vel=-0.346444,0.858258, mag=0.925544 +86: Participating contact 1 is Sliding; vel=-0.377126,1.75867, mag=1.79865 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.346554,-1.37309, mag=1.41615 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.341226,-0.425024, mag=0.545051 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.346444,0.858258, mag=0.925544 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.377126,1.75867, mag=1.79865 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.545794; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.435171; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.576736; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.452293; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00110747 -2.1684e-19 -0.346554 -1.37309 -0.341226 -0.425024] +86: : verrLeft was=~[-2.49366e-18 0.00139999 -0.346444 0.858258 -0.377126 1.75867] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.546901 -0.435171 -0.0133117 -0.675535 -0.0123317 -0.503326] -86: : rhsActive=~[-0.545794 -0.359865 -2.04863 -0.435171 -0.353558 -0.92835] +86: : verrApplied was=~[-0.576736 -0.453693 0.0100466 -0.655243 0.00412309 -0.482267] +86: : rhsActive=~[-0.576736 -0.336398 0.203016 -0.452293 -0.373003 1.2764] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.6522e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.693511... -86: > NEWTON iter 1: errNorm=0.693511(v) -> deltaNorm=1.94325(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.53471e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.727878... +86: > NEWTON iter 1: errNorm=0.727878(v) -> deltaNorm=2.29017(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.542403 0.000346554 0.00137309 0.432151 0.000341226 0.000425024] -86: > deltaPi=~[1.53764 0.0378717 0.150053 1.17216 0.0740054 0.0921796] -86: DBG: Line search iter 1: back=1, prevNorm=0.693511. -86: > piNow=~[-1.54764 -0.0378717 -0.150053 -1.18216 -0.0740054 -0.0921796] -86: > errNow=~[-4.44089e-16 1.98489e-06 7.86441e-06 5.55112e-17 1.48984e-06 1.85571e-06] normNow=8.45293e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.21886e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.59475e-10 -86: > NEWTON iter 2: errNorm=8.45293e-06(v) -> deltaNorm=9.7807e-06(pi) -86: > piActive=~[-1.54764 -0.0378717 -0.150053 -1.18216 -0.0740054 -0.0921796] -86: > errActive=~[-4.44089e-16 1.98489e-06 7.86441e-06 5.55112e-17 1.48984e-06 1.85571e-06] -86: > deltaPi=~[-6.11985e-06 1.25185e-06 4.95999e-06 -4.04286e-06 2.48029e-06 3.0894e-06] -86: DBG: Line search iter 1: back=1, prevNorm=8.45293e-06. -86: > piNow=~[-1.54763 -0.0378729 -0.150058 -1.18215 -0.0740079 -0.0921827] -86: > errNow=~[0 -3.26128e-16 -1.249e-15 -5.55112e-17 -3.67761e-16 -4.51028e-16] normNow=1.41708e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.67644e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.41708e-15. +86: > errActive=~[0.572949 0.000346444 -0.000858258 0.448922 0.000377126 -0.00175867] +86: > deltaPi=~[1.84686 0.0695022 -0.17218 1.33471 0.0281937 -0.131477] +86: DBG: Line search iter 1: back=1, prevNorm=0.727878. +86: > piNow=~[-1.85686 -0.0695022 0.17218 -1.34471 -0.0281937 0.131477] +86: > errNow=~[-1.11022e-16 2.3833e-06 -5.90422e-06 1.66533e-16 1.87492e-06 -8.7434e-06] normNow=1.09774e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.50813e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.77558e-10 +86: > NEWTON iter 2: errNorm=1.09774e-05(v) -> deltaNorm=1.41837e-05(pi) +86: > piActive=~[-1.85686 -0.0695022 0.17218 -1.34471 -0.0281937 0.131477] +86: > errActive=~[-1.11022e-16 2.3833e-06 -5.90422e-06 1.66533e-16 1.87492e-06 -8.7434e-06] +86: > deltaPi=~[8.46806e-06 2.89199e-06 -7.16444e-06 6.20524e-06 1.17251e-06 -5.46783e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.09774e-05. +86: > piNow=~[-1.85686 -0.0695051 0.172187 -1.34471 -0.0281949 0.131482] +86: > errNow=~[0 3.19189e-16 -8.04912e-16 0 4.78784e-16 -2.22045e-15] normNow=2.43092e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.21449e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.43092e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.346554,-1.37309] to ~[-0.349258,-1.3464] -86: DBG: Friction 0 rotated 0.377098 deg, less than max 30 -86: slipVel 1 from ~[-0.341226,-0.425024] to ~[-0.343867,-0.387097] -103: [min,max]=0.1,0.5 actual=0.234367 -86: DBG: Friction 1 rotated 2.85655 deg, less than max 30 +86: slipVel 0 from ~[-0.346444,0.858258] to ~[-0.357482,0.864677] +86: DBG: Friction 0 rotated 0.479642 deg, less than max 30 +86: slipVel 1 from ~[-0.377126,1.75867] to ~[-0.388804,1.78389] +86: DBG: Friction 1 rotated 0.192385 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.54763 -0.0378729 -0.150058 -1.18215 -0.0740079 -0.0921827] -86: : m_verrLeft=~[0 5.55112e-17 -0.349258 -1.3464 -0.343867 -0.387097] +86: : m_piActive=~[-1.85686 -0.0695051 0.172187 -1.34471 -0.0281949 0.131482] +86: : m_verrLeft=~[0 0 -0.357482 0.864677 -0.388804 1.78389] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.54763 verr=0 pi*v=-0 -86: DBG: 1: pi=-1.18215 verr=5.55112e-17 pi*v=-6.56226e-17 -86: SP FINAL 1 intervals, piTotal=~[-1.54763 -1.18215 -0.0378729 -0.150058 -0.0740079 -0.0921827] errNorm=1.41708e-15 +86: DBG: 0: pi=-1.85686 verr=0 pi*v=-0 +86: DBG: 1: pi=-1.34471 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-1.85686 -1.34471 -0.0695051 0.172187 -0.0281949 0.131482] errNorm=2.43092e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.346554 -1.37309, |slipV|=1.41615 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.346444 0.858258, |slipV|=0.925544 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.341226 -0.425024, |slipV|=0.545051 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.377126 1.75867, |slipV|=1.79865 86: ------------------------------ 86: -86: dynamics impulse=~[-1.54763 -1.18215 -0.0378729 -0.150058 -0.0740079 -0.0921827] -86: updated verrStart=~[0 5.55112e-17 -0.349258 -1.3464 -0.343867 -0.387097] +86: dynamics impulse=~[-1.85686 -1.34471 -0.0695051 0.172187 -0.0281949 0.131482] +86: updated verrStart=~[0 0 -0.357482 0.864677 -0.388804 1.78389] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.101215 -0.00821821 0 0 0 0] -103: calc wrms=0.234367 +86: posVerr=~[0.320515 0.559134 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.241926 0.097158 -0.00304425 0.305581 -0.00410131 0.1203] -86: [0.097158 0.204799 0.00598232 0.12224 0.00674788 0.256372] -86: [-0.00304425 0.00598232 0.0509542 0.0390705 0.0505353 -0.0356411] -86: [0.305581 0.12224 0.0390705 0.455969 0.0372282 0.131715] -86: [-0.00410131 0.00674788 0.0505353 0.0372282 0.0501353 -0.0341647] -86: [0.1203 0.256372 -0.0356411 0.131715 -0.0341647 0.391791] +86: [0.27091 0.10776 -0.0141539 0.31433 -0.00752352 0.120892] +86: [0.10776 0.2293 -0.000449162 0.122973 -0.00530438 0.264608] +86: [-0.0141539 -0.000449162 0.0482851 0.0233447 0.0503847 -0.0383681] +86: [0.31433 0.122973 0.0233447 0.430226 0.0339375 0.120701] +86: [-0.00752352 -0.00530438 0.0503847 0.0339375 0.0531333 -0.0467415] +86: [0.120892 0.264608 -0.0383681 0.120701 -0.0467415 0.365427] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.386148 rank=2 -86: rhs=~[0.101215 -0.00821821 0 0 0 0] +86: rcond(A+D)=0.390031 rank=2 +86: rhs=~[0.320515 0.559134 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.536749 -0.294765] -86: -> pi=~[0.536749 -0.294765 0 0 0 0] -86: resid active=~[8.32667e-17 2.60209e-17] -103: Done -86: resid=~[8.32667e-17 2.60209e-17 -0.00339738 0.127988 -0.00419041 -0.0109988] -103: testUnconstrained done. real/CPU ms: 74.6 / 74.6 -103: testConstrained ... +86: -> piActive=~[0.26217 2.31523] +86: -> pi=~[0.26217 2.31523 0 0 0 0] +86: resid active=~[0 -1.11022e-16] +86: resid=~[0 -1.11022e-16 -0.00475064 0.367119 -0.0142533 0.644322] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-3.28513e-17 -9.53014e-17 -0.349258 -1.3464 -0.343867 -0.387097] -86: perr=~[0.000101215 -8.21821e-06 0] -86: END OF STEP (0.073,0.074): -86: verr=~[0.000739807 -0.000739807 -0.348798 -1.3464 -0.344327 -0.387095] -86: perr=~[0.000101585 -8.58812e-06 -1.11022e-16] +86: verr=~[-2.59124e-17 -1.20346e-17 -0.357482 0.864677 -0.388804 1.78389] +86: perr=~[0.000320515 0.000559134 0] +86: END OF STEP (0.128,0.129): +86: verr=~[-0.00103454 0.00103454 -0.357059 0.864692 -0.389227 1.78387] +86: perr=~[0.000319997 0.000559651 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -42137,16 +53606,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.39085 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.518077 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000739807 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.935513 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.82584 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00103454 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000739807 -0.000739807 -0.348798 -1.3464 -0.344327 -0.387095] -86: IMP t=0.074 verr=~[0.000739807 -0.000739807 -0.348798 -1.3464 -0.344327 -0.387095] +86: verr=~[-0.00103454 0.00103454 -0.357059 0.864692 -0.389227 1.78387] +86: IMP t=0.129 verr=~[-0.00103454 0.00103454 -0.357059 0.864692 -0.389227 1.78387] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -42158,115 +53627,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000739807 -0.000739807 -0.348798 -1.3464 -0.344327 -0.387095] +86: verrLeft=~[-0.00103454 0.00103454 -0.357059 0.864692 -0.389227 1.78387] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.348798,-1.3464, mag=1.39085 -86: Participating contact 1 is Sliding; vel=-0.344327,-0.387095, mag=0.518077 +86: Participating contact 0 is Sliding; vel=-0.357059,0.864692, mag=0.935513 +86: Participating contact 1 is Sliding; vel=-0.389227,1.78387, mag=1.82584 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.348798,-1.3464, mag=1.39085 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.344327,-0.387095, mag=0.518077 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.357059,0.864692, mag=0.935513 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.389227,1.78387, mag=1.82584 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000739807; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000739807; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00103454; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00103454; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000739807 -0.000739807 -0.348798 -1.3464 -0.344327 -0.387095] +86: : verrLeft was=~[-0.00103454 0.00103454 -0.357059 0.864692 -0.389227 1.78387] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000739807 -0.348798 -1.3464 -0.000739807 -0.344327 -0.387095] +86: : rhsActive=~[-0.00103454 -0.357059 0.864692 0.00103454 -0.389227 1.78387] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.52847e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.000942126... -86: > NEWTON iter 1: errNorm=0.000942126(v) -> deltaNorm=0.00622811(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000709776 0 0 -0.000339731 0.000344327 0.000387095] -86: > deltaPi=~[0.00445838 4.16469e-09 1.60762e-08 -0.00431144 0.000378087 0.000425048] -86: DBG: Line search iter 1: back=1, prevNorm=0.000942126. -86: > piNow=~[0.00554162 -4.16469e-09 -1.60762e-08 -0.00568856 -0.000378087 -0.000425048] -86: > errNow=~[3.25261e-19 -5.79244e-09 -2.23595e-08 -1.0842e-19 -5.52975e-09 -6.21658e-09] normNow=2.45505e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.60586e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.78886e-05 -86: > NEWTON iter 2: errNorm=2.45505e-08(v) -> deltaNorm=3.2993e-08(pi) -86: > piActive=~[0.00554162 -4.16469e-09 -1.60762e-08 -0.00568856 -0.000378087 -0.000425048] -86: > errActive=~[3.25261e-19 -5.79244e-09 -2.23595e-08 -1.0842e-19 -5.52975e-09 -6.21658e-09] -86: > deltaPi=~[1.97927e-08 -4.16463e-09 -1.6076e-08 1.43963e-08 -9.7169e-09 -1.09238e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.45505e-08. -86: > piNow=~[0.0055416 -6.01906e-14 -2.32343e-13 -0.00568857 -0.000378077 -0.000425037] -86: > errNow=~[-3.25261e-19 -8.37158e-14 -3.23153e-13 -1.0842e-19 5.70465e-14 6.41322e-14] normNow=3.44679e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.40396e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.44679e-13. -86: DBG: Worst offender is normal contact 0 err=0.0055416 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.64178e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00113127... +86: > NEWTON iter 1: errNorm=0.00113127(v) -> deltaNorm=0.00332421(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000607401 0.000357059 -0.000864692 0.000188791 0 0] +86: > deltaPi=~[-0.00229606 0.000294041 -0.000712082 0.00227705 1.80811e-09 -8.28676e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00113127. +86: > piNow=~[-0.00770394 -0.000294041 0.000712082 0.00772295 -1.80811e-09 8.28676e-09] +86: > errNow=~[0 -3.05376e-09 7.39531e-09 2.1684e-19 -3.30131e-09 1.51303e-08] normNow=1.7431e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.54084e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.28245e-05 +86: > NEWTON iter 2: errNorm=1.7431e-08(v) -> deltaNorm=1.90092e-08(pi) +86: > piActive=~[-0.00770394 -0.000294041 0.000712082 0.00772295 -1.80811e-09 8.28676e-09] +86: > errActive=~[0 -3.05376e-09 7.39531e-09 2.1684e-19 -3.30131e-09 1.51303e-08] +86: > deltaPi=~[-1.04294e-08 -3.6623e-09 8.86901e-09 -9.41094e-09 -1.80812e-09 8.28682e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.7431e-08. +86: > piNow=~[-0.00770393 -0.000294037 0.000712073 0.00772296 1.25281e-14 -5.74177e-14] +86: > errNow=~[-2.1684e-19 -2.33697e-14 5.65945e-14 0 2.28743e-14 -1.04835e-13] normNow=1.23543e-13 +86: DBG: Improvement rate now/prev at iter 2 is 7.08752e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.23543e-13. +86: DBG: Worst offender is normal contact 1 err=0.00772296 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.348798,-1.3464, mag=1.39085 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.344327,-0.387095, mag=0.518077 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.357059,0.864692, mag=0.935513 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.389227,1.78387, mag=1.82584 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000739807; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00103454; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000739807 -0.000739807 -0.348798 -1.3464 -0.344327 -0.387095] +86: : verrLeft was=~[-0.00103454 0.00103454 -0.357059 0.864692 -0.389227 1.78387] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000739807 -0.344327 -0.387095] -86: : pi was=~[0 -0.00568857 -6.01906e-14 -2.32343e-13 -0.000378077 -0.000425037] -86: : piActive=~[-0.01 -0.000378077 -0.000425037] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.92977e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00143289... -86: > NEWTON iter 1: errNorm=0.00143289(v) -> deltaNorm=0.00670114(pi) -86: > piActive=~[-0.01 -0.000378077 -0.000425037] -86: > errActive=~[-0.00141538 0.000148454 0.000166893] -86: > deltaPi=~[-0.00669689 -0.000158527 -0.000178218] -86: DBG: Line search iter 1: back=1, prevNorm=0.00143289. -86: > piNow=~[-0.00330311 -0.000219549 -0.000246819] -86: > errNow=~[0 -8.58927e-09 -9.65611e-09] normNow=1.29235e-08 -86: DBG: Improvement rate now/prev at iter 1 is 9.01915e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.76711e-05 -86: > NEWTON iter 2: errNorm=1.29235e-08(v) -> deltaNorm=3.15438e-08(pi) -86: > piActive=~[-0.00330311 -0.000219549 -0.000246819] -86: > errActive=~[0 -8.58927e-09 -9.65611e-09] -86: > deltaPi=~[2.1838e-08 -1.51282e-08 -1.70073e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.29235e-08. -86: > piNow=~[-0.00330313 -0.000219534 -0.000246802] -86: > errNow=~[0 2.56481e-13 2.88338e-13] normNow=3.85903e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.98606e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.85903e-13. +86: : rhsActive=~[-0.00103454 -0.357059 0.864692] +86: : pi was=~[-0.00770393 0 -0.000294037 0.000712073 1.25281e-14 -5.74177e-14] +86: : piActive=~[-0.01 -0.000294037 0.000712073] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.48467e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00147683... +86: > NEWTON iter 1: errNorm=0.00147683(v) -> deltaNorm=0.00574873(pi) +86: > piActive=~[-0.01 -0.000294037 0.000712073] +86: > errActive=~[-0.00146113 8.19832e-05 -0.000198539] +86: > deltaPi=~[-0.00573841 -0.000131376 0.000318155] +86: DBG: Line search iter 1: back=1, prevNorm=0.00147683. +86: > piNow=~[-0.00426159 -0.000162661 0.000393917] +86: > errNow=~[-2.1684e-19 -7.63209e-09 1.84827e-08] normNow=1.99965e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.35401e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.91779e-05 +86: > NEWTON iter 2: errNorm=1.99965e-08(v) -> deltaNorm=3.54438e-08(pi) +86: > piActive=~[-0.00426159 -0.000162661 0.000393917] +86: > errActive=~[-2.1684e-19 -7.63209e-09 1.84827e-08] +86: > deltaPi=~[-2.60966e-08 -9.15402e-09 2.21684e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.99965e-08. +86: > piNow=~[-0.00426156 -0.000162652 0.000393895] +86: > errNow=~[0 -1.91018e-13 4.62589e-13] normNow=5.00476e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.50283e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.00476e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.344327,-0.387095] to ~[-0.344303,-0.386158] -86: DBG: Friction 1 rotated 0.0669191 deg, less than max 30 +86: slipVel 0 from ~[-0.357059,0.864692] to ~[-0.357122,0.865868] +86: DBG: Friction 0 rotated 0.0239132 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00330313 -0.000219534 -0.000246802] -86: : m_verrLeft=~[0.00108691 0 -0.348775 -1.34596 -0.344303 -0.386158] +86: : m_piActive=~[-0.00426156 -0.000162652 0.000393895] +86: : m_verrLeft=~[0 0.00144715 -0.357122 0.865868 -0.389264 1.78433] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00108691 pi*v=0 -86: DBG: 1: pi=-0.00330313 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00330313 0 0 -0.000219534 -0.000246802] errNorm=3.85903e-13 -86: Postcompression verr=~[0.00108691 0 -0.348775 -1.34596 -0.344303 -0.386158] -86: impulse=~[0 -0.00330313 0 0 -0.000219534 -0.000246802] +86: DBG: 0: pi=-0.00426156 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00144715 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00426156 0 -0.000162652 0.000393895 0 0] errNorm=5.00476e-13 +86: Postcompression verr=~[0 0.00144715 -0.357122 0.865868 -0.389264 1.78433] +86: impulse=~[-0.00426156 0 -0.000162652 0.000393895 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00330313 0 0 -0.000219534 -0.000246802]-> du ~[0.000398316 0.00120244 0.000493413 -0.00068993 2.33192e-05 0.000543453 -0.00211481 0.00164421] -86: Now verr0=~[0.00108691 6.50521e-19 -0.348775 -1.34596 -0.344303 -0.386158] +86: Impact: imp ~[-0.00426156 0 -0.000162652 0.000393895 0 0]-> du ~[-0.000674288 0.00148521 -0.000714605 -0.000818733 -5.00993e-05 0.000723577 -0.00284165 0.00170246] +86: Now verr0=~[-7.58942e-19 0.00144715 -0.357122 0.865868 -0.389264 1.78433] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00108691 6.50521e-19 -0.348775 -1.34596 -0.344303 -0.386158] -86: verrExt=~[-0.481733 -0.385618 -0.00940648 -0.588137 -0.00871778 -0.44263] -86: total verr=~[-0.480646 -0.385618 -0.358182 -1.93409 -0.35302 -0.828788] -86: DYN t=0.074: verrStart=~[0.00108691 6.50521e-19 -0.348775 -1.34596 -0.344303 -0.386158] -86: verrApplied=~[-0.481733 -0.385618 -0.00940648 -0.588137 -0.00871778 -0.44263] +86: verr0 =~[-7.58942e-19 0.00144715 -0.357122 0.865868 -0.389264 1.78433] +86: verrExt=~[-0.556693 -0.437823 0.0104081 -0.627634 0.00458517 -0.462059] +86: total verr=~[-0.556693 -0.436376 -0.346714 0.238235 -0.384679 1.32227] +86: DYN t=0.129: verrStart=~[-7.58942e-19 0.00144715 -0.357122 0.865868 -0.389264 1.78433] +86: verrApplied=~[-0.556693 -0.437823 0.0104081 -0.627634 0.00458517 -0.462059] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -42278,108 +53747,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00108691 6.50521e-19 -0.348775 -1.34596 -0.344303 -0.386158] -86: verrApplied=~[-0.481733 -0.385618 -0.00940648 -0.588137 -0.00871778 -0.44263] +86: verrLeft=~[-7.58942e-19 0.00144715 -0.357122 0.865868 -0.389264 1.78433] +86: verrApplied=~[-0.556693 -0.437823 0.0104081 -0.627634 0.00458517 -0.462059] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.348775,-1.34596, mag=1.39041 -86: Participating contact 1 is Sliding; vel=-0.344303,-0.386158, mag=0.517361 +86: Participating contact 0 is Sliding; vel=-0.357122,0.865868, mag=0.936624 +86: Participating contact 1 is Sliding; vel=-0.389264,1.78433, mag=1.8263 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.348775,-1.34596, mag=1.39041 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.344303,-0.386158, mag=0.517361 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.357122,0.865868, mag=0.936624 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.389264,1.78433, mag=1.8263 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.480646; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.385618; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.556693; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.436376; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00108691 6.50521e-19 -0.348775 -1.34596 -0.344303 -0.386158] +86: : verrLeft was=~[-7.58942e-19 0.00144715 -0.357122 0.865868 -0.389264 1.78433] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.481733 -0.385618 -0.00940648 -0.588137 -0.00871778 -0.44263] -86: : rhsActive=~[-0.480646 -0.358182 -1.93409 -0.385618 -0.35302 -0.828788] +86: : verrApplied was=~[-0.556693 -0.437823 0.0104081 -0.627634 0.00458517 -0.462059] +86: : rhsActive=~[-0.556693 -0.346714 0.238235 -0.436376 -0.384679 1.32227] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.52602e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.611701... -86: > NEWTON iter 1: errNorm=0.611701(v) -> deltaNorm=1.72243(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.64519e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.702258... +86: > NEWTON iter 1: errNorm=0.702258(v) -> deltaNorm=2.19685(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.477268 0.000348775 0.00134596 0.38261 0.000344303 0.000386158] -86: > deltaPi=~[1.35225 0.0341699 0.131865 1.05277 0.0707247 0.0793225] -86: DBG: Line search iter 1: back=1, prevNorm=0.611701. -86: > piNow=~[-1.36225 -0.0341699 -0.131865 -1.06277 -0.0707247 -0.0793225] -86: > errNow=~[1.11022e-16 1.75677e-06 6.77953e-06 -1.66533e-16 1.35016e-06 1.5143e-06] normNow=7.29139e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.19199e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.25816e-10 -86: > NEWTON iter 2: errNorm=7.29139e-06(v) -> deltaNorm=8.61601e-06(pi) -86: > piActive=~[-1.36225 -0.0341699 -0.131865 -1.06277 -0.0707247 -0.0793225] -86: > errActive=~[1.11022e-16 1.75677e-06 6.77953e-06 -1.66533e-16 1.35016e-06 1.5143e-06] -86: > deltaPi=~[-5.37417e-06 1.12868e-06 4.35568e-06 -3.51631e-06 2.37571e-06 2.66451e-06] -86: DBG: Line search iter 1: back=1, prevNorm=7.29139e-06. -86: > piNow=~[-1.36224 -0.034171 -0.131869 -1.06277 -0.0707271 -0.0793251] -86: > errNow=~[1.11022e-16 -3.81639e-16 -1.44329e-15 1.11022e-16 -4.02456e-16 -4.51028e-16] normNow=1.61827e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.21942e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.61827e-15. +86: > errActive=~[0.552887 0.000357122 -0.000865868 0.432988 0.000389264 -0.00178433] +86: > deltaPi=~[1.77178 0.0679343 -0.164712 1.28006 0.0274959 -0.126037] +86: DBG: Line search iter 1: back=1, prevNorm=0.702258. +86: > piNow=~[-1.78178 -0.0679343 0.164712 -1.29006 -0.0274959 0.126037] +86: > errNow=~[0 2.35688e-06 -5.71443e-06 -5.55112e-17 1.85604e-06 -8.50782e-06] normNow=1.06788e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.52064e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.09809e-10 +86: > NEWTON iter 2: errNorm=1.06788e-05(v) -> deltaNorm=1.35513e-05(pi) +86: > piActive=~[-1.78178 -0.0679343 0.164712 -1.29006 -0.0274959 0.126037] +86: > errActive=~[0 2.35688e-06 -5.71443e-06 -5.55112e-17 1.85604e-06 -8.50782e-06] +86: > deltaPi=~[8.06351e-06 2.82381e-06 -6.84654e-06 5.91946e-06 1.14246e-06 -5.23685e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.06788e-05. +86: > piNow=~[-1.78179 -0.0679371 0.164719 -1.29007 -0.027497 0.126042] +86: > errNow=~[1.11022e-16 3.46945e-16 -8.04912e-16 0 5.13478e-16 -2.33147e-15] normNow=2.54558e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.38376e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.54558e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.348775,-1.34596] to ~[-0.349148,-1.31366] -86: DBG: Friction 0 rotated 0.356687 deg, less than max 30 -86: slipVel 1 from ~[-0.344303,-0.386158] to ~[-0.344646,-0.34773] -86: DBG: Friction 1 rotated 3.02429 deg, less than max 30 +86: slipVel 0 from ~[-0.357122,0.865868] to ~[-0.367494,0.874271] +86: DBG: Friction 0 rotated 0.385744 deg, less than max 30 +86: slipVel 1 from ~[-0.389264,1.78433] to ~[-0.400234,1.80983] +86: DBG: Friction 1 rotated 0.163315 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.36224 -0.034171 -0.131869 -1.06277 -0.0707271 -0.0793251] -86: : m_verrLeft=~[-1.11022e-16 -1.11022e-16 -0.349148 -1.31366 -0.344646 -0.34773] +86: : m_piActive=~[-1.78179 -0.0679371 0.164719 -1.29007 -0.027497 0.126042] +86: : m_verrLeft=~[-1.11022e-16 0 -0.367494 0.874271 -0.400234 1.80983] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.36224 verr=-1.11022e-16 pi*v=1.5124e-16 -86: DBG: 1: pi=-1.06277 verr=-1.11022e-16 pi*v=1.17991e-16 -86: SP FINAL 1 intervals, piTotal=~[-1.36224 -1.06277 -0.034171 -0.131869 -0.0707271 -0.0793251] errNorm=1.61827e-15 +86: DBG: 0: pi=-1.78179 verr=-1.11022e-16 pi*v=1.97818e-16 +86: DBG: 1: pi=-1.29007 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-1.78179 -1.29007 -0.0679371 0.164719 -0.027497 0.126042] errNorm=2.54558e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.348775 -1.34596, |slipV|=1.39041 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.357122 0.865868, |slipV|=0.936624 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.344303 -0.386158, |slipV|=0.517361 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.389264 1.78433, |slipV|=1.8263 86: ------------------------------ 86: -86: dynamics impulse=~[-1.36224 -1.06277 -0.034171 -0.131869 -0.0707271 -0.0793251] -86: updated verrStart=~[-1.11022e-16 -1.11022e-16 -0.349148 -1.31366 -0.344646 -0.34773] +86: dynamics impulse=~[-1.78179 -1.29007 -0.0679371 0.164719 -0.027497 0.126042] +86: updated verrStart=~[-1.11022e-16 0 -0.367494 0.874271 -0.400234 1.80983] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.101585 -0.00858812 0 0 0 0] +86: posVerr=~[0.319997 0.559651 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.241369 0.0964111 -0.0035822 0.305584 -0.00446296 0.120018] -86: [0.0964111 0.204365 0.00600318 0.121846 0.00664262 0.256504] -86: [-0.0035822 0.00600318 0.0507329 0.0382695 0.0503905 -0.0354299] -86: [0.305584 0.121846 0.0382695 0.457025 0.0367354 0.132179] -86: [-0.00446296 0.00664262 0.0503905 0.0367354 0.0500611 -0.0342003] -86: [0.120018 0.256504 -0.0354299 0.132179 -0.0342003 0.392795] +86: [0.272401 0.108206 -0.0144257 0.314713 -0.00760214 0.120858] +86: [0.108206 0.23054 -0.000612332 0.122919 -0.00561202 0.264946] +86: [-0.0144257 -0.000612332 0.0482171 0.0229589 0.0503596 -0.0383565] +86: [0.314713 0.122919 0.0229589 0.428817 0.0338064 0.120168] +86: [-0.00760214 -0.00561202 0.0503596 0.0338064 0.0531845 -0.0469289] +86: [0.120858 0.264946 -0.0383565 0.120168 -0.0469289 0.364136] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.388418 rank=2 -86: rhs=~[0.101585 -0.00858812 0 0 0 0] +86: rcond(A+D)=0.390558 rank=2 +86: rhs=~[0.319997 0.559651 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.539273 -0.29643] -86: -> pi=~[0.539273 -0.29643 0 0 0 0] -86: resid active=~[1.38778e-17 1.73472e-18] -86: resid=~[1.38778e-17 1.73472e-18 -0.00371131 0.128674 -0.00437583 -0.0113134] +86: -> piActive=~[0.258644 2.30617] +86: -> pi=~[0.258644 2.30617 0 0 0 0] +86: resid active=~[1.66533e-16 0] +86: resid=~[1.66533e-16 0 -0.00514325 0.364872 -0.0149085 0.642271] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-7.275e-17 -1.62088e-16 -0.349148 -1.31366 -0.344646 -0.34773] -86: perr=~[0.000101585 -8.58812e-06 -1.11022e-16] -86: END OF STEP (0.074,0.075): -86: verr=~[0.00071941 -0.00071941 -0.348681 -1.31366 -0.345113 -0.347729] -86: perr=~[0.000101944 -8.94782e-06 0] +86: verr=~[-4.81386e-17 -7.58942e-17 -0.367494 0.874271 -0.400234 1.80983] +86: perr=~[0.000319997 0.000559651 0] +86: END OF STEP (0.129,0.13): +86: verr=~[-0.00106843 0.00106843 -0.367056 0.874287 -0.400672 1.80981] +86: perr=~[0.000319463 0.000560185 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -42387,16 +53856,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.35915 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.489917 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.00071941 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.948213 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.85363 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00106843 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.00071941 -0.00071941 -0.348681 -1.31366 -0.345113 -0.347729] -86: IMP t=0.075 verr=~[0.00071941 -0.00071941 -0.348681 -1.31366 -0.345113 -0.347729] +86: verr=~[-0.00106843 0.00106843 -0.367056 0.874287 -0.400672 1.80981] +86: IMP t=0.13 verr=~[-0.00106843 0.00106843 -0.367056 0.874287 -0.400672 1.80981] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -42408,115 +53877,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00071941 -0.00071941 -0.348681 -1.31366 -0.345113 -0.347729] +86: verrLeft=~[-0.00106843 0.00106843 -0.367056 0.874287 -0.400672 1.80981] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.348681,-1.31366, mag=1.35915 -86: Participating contact 1 is Sliding; vel=-0.345113,-0.347729, mag=0.489917 +86: Participating contact 0 is Sliding; vel=-0.367056,0.874287, mag=0.948213 +86: Participating contact 1 is Sliding; vel=-0.400672,1.80981, mag=1.85363 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.348681,-1.31366, mag=1.35915 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.345113,-0.347729, mag=0.489917 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.367056,0.874287, mag=0.948213 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.400672,1.80981, mag=1.85363 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.00071941; guess pi=0.01 -86: DBG: active normal 3 has v=-0.00071941; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00106843; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00106843; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.00071941 -0.00071941 -0.348681 -1.31366 -0.345113 -0.347729] +86: : verrLeft was=~[-0.00106843 0.00106843 -0.367056 0.874287 -0.400672 1.80981] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.00071941 -0.348681 -1.31366 -0.00071941 -0.345113 -0.347729] +86: : rhsActive=~[-0.00106843 -0.367056 0.874287 0.00106843 -0.400672 1.80981] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.38152e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00095318... -86: > NEWTON iter 1: errNorm=0.00095318(v) -> deltaNorm=0.00644757(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000732376 0 0 -0.000363536 0.000345113 0.000347729] -86: > deltaPi=~[0.00462422 4.41887e-09 1.66482e-08 -0.00445878 0.000390353 0.000393312] -86: DBG: Line search iter 1: back=1, prevNorm=0.00095318. -86: > piNow=~[0.00537578 -4.41887e-09 -1.66482e-08 -0.00554122 -0.000390353 -0.000393312] -86: > errNow=~[-6.50521e-19 -6.00591e-09 -2.26273e-08 -1.0842e-19 -5.73177e-09 -5.77521e-09] normNow=2.47845e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.6002e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.84941e-05 -86: > NEWTON iter 2: errNorm=2.47845e-08(v) -> deltaNorm=3.39465e-08(pi) -86: > piActive=~[0.00537578 -4.41887e-09 -1.66482e-08 -0.00554122 -0.000390353 -0.000393312] -86: > errActive=~[-6.50521e-19 -6.00591e-09 -2.26273e-08 -1.0842e-19 -5.73177e-09 -5.77521e-09] -86: > deltaPi=~[2.0498e-08 -4.4188e-09 -1.66479e-08 1.4325e-08 -1.06905e-08 -1.07715e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.47845e-08. -86: > piNow=~[0.00537576 -6.77614e-14 -2.55292e-13 -0.00554124 -0.000390343 -0.000393301] -86: > errNow=~[4.33681e-19 -9.20979e-14 -3.4698e-13 0 5.99579e-14 6.04124e-14] normNow=3.68947e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.48862e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.68947e-13. -86: DBG: Worst offender is normal contact 0 err=0.00537576 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.75549e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00112572... +86: > NEWTON iter 1: errNorm=0.00112572(v) -> deltaNorm=0.00305929(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000584361 0.000367056 -0.000874287 0.000163258 0 0] +86: > deltaPi=~[-0.00210297 0.000305699 -0.000728142 0.00207681 1.67214e-09 -7.55296e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00112572. +86: > piNow=~[-0.00789703 -0.000305699 0.000728142 0.00792319 -1.67214e-09 7.55296e-09] +86: > errNow=~[4.33681e-19 -2.87526e-09 6.84856e-09 -2.1684e-19 -3.09954e-09 1.40004e-08] normNow=1.6149e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.43455e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.23703e-05 +86: > NEWTON iter 2: errNorm=1.6149e-08(v) -> deltaNorm=1.7319e-08(pi) +86: > piActive=~[-0.00789703 -0.000305699 0.000728142 0.00792319 -1.67214e-09 7.55296e-09] +86: > errActive=~[4.33681e-19 -2.87526e-09 6.84856e-09 -2.1684e-19 -3.09954e-09 1.40004e-08] +86: > deltaPi=~[-9.4867e-09 -3.3995e-09 8.09726e-09 -8.54316e-09 -1.67215e-09 7.55301e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.6149e-08. +86: > piNow=~[-0.00789702 -0.000305695 0.000728134 0.0079232 1.09564e-14 -4.94892e-14] +86: > errNow=~[-4.33681e-19 -2.07971e-14 4.95363e-14 0 2.03091e-14 -9.17348e-14] normNow=1.08232e-13 +86: DBG: Improvement rate now/prev at iter 2 is 6.70209e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.08232e-13. +86: DBG: Worst offender is normal contact 1 err=0.0079232 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.348681,-1.31366, mag=1.35915 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.345113,-0.347729, mag=0.489917 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.367056,0.874287, mag=0.948213 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.400672,1.80981, mag=1.85363 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.00071941; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00106843; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00071941 -0.00071941 -0.348681 -1.31366 -0.345113 -0.347729] +86: : verrLeft was=~[-0.00106843 0.00106843 -0.367056 0.874287 -0.400672 1.80981] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.00071941 -0.345113 -0.347729] -86: : pi was=~[0 -0.00554124 -6.77614e-14 -2.55292e-13 -0.000390343 -0.000393301] -86: : piActive=~[-0.01 -0.000390343 -0.000393301] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.82488e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00144039... -86: > NEWTON iter 1: errNorm=0.00144039(v) -> deltaNorm=0.00677271(pi) -86: > piActive=~[-0.01 -0.000390343 -0.000393301] -86: > errActive=~[-0.00142373 0.000153878 0.000155044] -86: > deltaPi=~[-0.00676877 -0.000162706 -0.00016394] -86: DBG: Line search iter 1: back=1, prevNorm=0.00144039. -86: > piNow=~[-0.00323123 -0.000227636 -0.000229362] -86: > errNow=~[-6.50521e-19 -8.70127e-09 -8.76722e-09] normNow=1.23522e-08 -86: DBG: Improvement rate now/prev at iter 1 is 8.5756e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.74615e-05 -86: > NEWTON iter 2: errNorm=1.23522e-08(v) -> deltaNorm=3.13194e-08(pi) -86: > piActive=~[-0.00323123 -0.000227636 -0.000229362] -86: > errActive=~[-6.50521e-19 -8.70127e-09 -8.76722e-09] -86: > deltaPi=~[2.11511e-08 -1.62713e-08 -1.63946e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.23522e-08. -86: > piNow=~[-0.00323125 -0.00022762 -0.000229345] -86: > errNow=~[0 2.60167e-13 2.62139e-13] normNow=3.69329e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.98999e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.69329e-13. +86: : rhsActive=~[-0.00106843 -0.367056 0.874287] +86: : pi was=~[-0.00789702 0 -0.000305695 0.000728134 1.09564e-14 -4.94892e-14] +86: : piActive=~[-0.01 -0.000305695 0.000728134] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.53197e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00145071... +86: > NEWTON iter 1: errNorm=0.00145071(v) -> deltaNorm=0.00563769(pi) +86: > piActive=~[-0.01 -0.000305695 0.000728134] +86: > errActive=~[-0.00143694 7.71911e-05 -0.000183861] +86: > deltaPi=~[-0.00562667 -0.000136395 0.000324878] +86: DBG: Line search iter 1: back=1, prevNorm=0.00145071. +86: > piNow=~[-0.00437333 -0.000169301 0.000403256] +86: > errNow=~[0 -7.69299e-09 1.83239e-08] normNow=1.98733e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.3699e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.84581e-05 +86: > NEWTON iter 2: errNorm=1.98733e-08(v) -> deltaNorm=3.46127e-08(pi) +86: > piActive=~[-0.00437333 -0.000169301 0.000403256] +86: > errActive=~[0 -7.69299e-09 1.83239e-08] +86: > deltaPi=~[-2.54129e-08 -9.09669e-09 2.16673e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.98733e-08. +86: > piNow=~[-0.0043733 -0.000169292 0.000403235] +86: > errNow=~[0 -1.8158e-13 4.32505e-13] normNow=4.69076e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.36034e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.69076e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.345113,-0.347729] to ~[-0.345088,-0.346817] -86: DBG: Friction 1 rotated 0.0731728 deg, less than max 30 +86: slipVel 0 from ~[-0.367056,0.874287] to ~[-0.367121,0.875497] +86: DBG: Friction 0 rotated 0.024626 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00323125 -0.00022762 -0.000229345] -86: : m_verrLeft=~[0.0010549 0 -0.348659 -1.31323 -0.345088 -0.346817] +86: : m_piActive=~[-0.0043733 -0.000169292 0.000403235] +86: : m_verrLeft=~[0 0.00149392 -0.367121 0.875497 -0.400711 1.81028] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.0010549 pi*v=0 -86: DBG: 1: pi=-0.00323125 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00323125 0 0 -0.00022762 -0.000229345] errNorm=3.69329e-13 -86: Postcompression verr=~[0.0010549 0 -0.348659 -1.31323 -0.345088 -0.346817] -86: impulse=~[0 -0.00323125 0 0 -0.00022762 -0.000229345] +86: DBG: 0: pi=-0.0043733 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00149392 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.0043733 0 -0.000169292 0.000403235 0 0] errNorm=4.69076e-13 +86: Postcompression verr=~[0 0.00149392 -0.367121 0.875497 -0.400711 1.81028] +86: impulse=~[-0.0043733 0 -0.000169292 0.000403235 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00323125 0 0 -0.00022762 -0.000229345]-> du ~[0.000388239 0.00116937 0.000480617 -0.000671454 2.37361e-05 0.000527451 -0.00205657 0.00160182] -86: Now verr0=~[0.0010549 -3.25261e-19 -0.348659 -1.31323 -0.345088 -0.346817] +86: Impact: imp ~[-0.0043733 0 -0.000169292 0.000403235 0 0]-> du ~[-0.000698285 0.00152885 -0.000736005 -0.000841598 -5.1971e-05 0.00074696 -0.00292661 0.00175188] +86: Now verr0=~[7.58942e-19 0.00149392 -0.367121 0.875497 -0.400711 1.81028] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.0010549 -3.25261e-19 -0.348659 -1.31323 -0.345088 -0.346817] -86: verrExt=~[-0.416916 -0.336471 -0.0058297 -0.500662 -0.00538148 -0.381753] -86: total verr=~[-0.415861 -0.336471 -0.354488 -1.81389 -0.35047 -0.72857] -86: DYN t=0.075: verrStart=~[0.0010549 -3.25261e-19 -0.348659 -1.31323 -0.345088 -0.346817] -86: verrApplied=~[-0.416916 -0.336471 -0.0058297 -0.500662 -0.00538148 -0.381753] +86: verr0 =~[7.58942e-19 0.00149392 -0.367121 0.875497 -0.400711 1.81028] +86: verrExt=~[-0.536617 -0.42221 0.0108512 -0.600127 0.00515917 -0.442488] +86: total verr=~[-0.536617 -0.420716 -0.35627 0.27537 -0.395552 1.3678] +86: DYN t=0.13: verrStart=~[7.58942e-19 0.00149392 -0.367121 0.875497 -0.400711 1.81028] +86: verrApplied=~[-0.536617 -0.42221 0.0108512 -0.600127 0.00515917 -0.442488] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -42528,108 +53997,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.0010549 -3.25261e-19 -0.348659 -1.31323 -0.345088 -0.346817] -86: verrApplied=~[-0.416916 -0.336471 -0.0058297 -0.500662 -0.00538148 -0.381753] +86: verrLeft=~[7.58942e-19 0.00149392 -0.367121 0.875497 -0.400711 1.81028] +86: verrApplied=~[-0.536617 -0.42221 0.0108512 -0.600127 0.00515917 -0.442488] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.348659,-1.31323, mag=1.35873 -86: Participating contact 1 is Sliding; vel=-0.345088,-0.346817, mag=0.489253 +86: Participating contact 0 is Sliding; vel=-0.367121,0.875497, mag=0.949354 +86: Participating contact 1 is Sliding; vel=-0.400711,1.81028, mag=1.8541 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.348659,-1.31323, mag=1.35873 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.345088,-0.346817, mag=0.489253 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.367121,0.875497, mag=0.949354 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.400711,1.81028, mag=1.8541 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.415861; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.336471; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.536617; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.420716; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.0010549 -3.25261e-19 -0.348659 -1.31323 -0.345088 -0.346817] +86: : verrLeft was=~[7.58942e-19 0.00149392 -0.367121 0.875497 -0.400711 1.81028] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.416916 -0.336471 -0.0058297 -0.500662 -0.00538148 -0.381753] -86: : rhsActive=~[-0.415861 -0.354488 -1.81389 -0.336471 -0.35047 -0.72857] +86: : verrApplied was=~[-0.536617 -0.42221 0.0108512 -0.600127 0.00515917 -0.442488] +86: : rhsActive=~[-0.536617 -0.35627 0.27537 -0.420716 -0.395552 1.3678] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.3792e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.530434... -86: > NEWTON iter 1: errNorm=0.530434(v) -> deltaNorm=1.50126(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.75899e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.676772... +86: > NEWTON iter 1: errNorm=0.676772(v) -> deltaNorm=2.10479(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.412496 0.000348659 0.00131323 0.333475 0.000345088 0.000346817] -86: > deltaPi=~[1.16642 0.0301866 0.113699 0.933023 0.0665125 0.0668457] -86: DBG: Line search iter 1: back=1, prevNorm=0.530434. -86: > piNow=~[-1.17642 -0.0301866 -0.113699 -0.943023 -0.0665125 -0.0668457] -86: > errNow=~[5.55112e-17 1.51484e-06 5.70568e-06 -5.55112e-17 1.19932e-06 1.20533e-06] normNow=6.14335e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.15817e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.10585e-10 -86: > NEWTON iter 2: errNorm=6.14335e-06(v) -> deltaNorm=7.45325e-06(pi) -86: > piActive=~[-1.17642 -0.0301866 -0.113699 -0.943023 -0.0665125 -0.0668457] -86: > errActive=~[5.55112e-17 1.51484e-06 5.70568e-06 -5.55112e-17 1.19932e-06 1.20533e-06] -86: > deltaPi=~[-4.6272e-06 9.96159e-07 3.75206e-06 -2.99749e-06 2.2399e-06 2.25112e-06] -86: DBG: Line search iter 1: back=1, prevNorm=6.14335e-06. -86: > piNow=~[-1.17641 -0.0301876 -0.113702 -0.94302 -0.0665148 -0.066848] -86: > errNow=~[5.55112e-17 -4.3715e-16 -1.63758e-15 0 -4.30211e-16 -4.30211e-16] normNow=1.80167e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.93272e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.80167e-15. +86: > errActive=~[0.532791 0.000367121 -0.000875497 0.417312 0.000400711 -0.00181028] +86: > deltaPi=~[1.69675 0.0659987 -0.157391 1.2275 0.026744 -0.120821] +86: DBG: Line search iter 1: back=1, prevNorm=0.676772. +86: > piNow=~[-1.70675 -0.0659987 0.157391 -1.2375 -0.026744 0.120821] +86: > errNow=~[0 2.32027e-06 -5.5333e-06 1.66533e-16 1.83216e-06 -8.27711e-06] normNow=1.0386e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.53464e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.64403e-10 +86: > NEWTON iter 2: errNorm=1.0386e-05(v) -> deltaNorm=1.2935e-05(pi) +86: > piActive=~[-1.70675 -0.0659987 0.157391 -1.2375 -0.026744 0.120821] +86: > errActive=~[0 2.32027e-06 -5.5333e-06 1.66533e-16 1.83216e-06 -8.27711e-06] +86: > deltaPi=~[7.66882e-06 2.74061e-06 -6.53571e-06 5.64707e-06 1.11021e-06 -5.01557e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.0386e-05. +86: > piNow=~[-1.70676 -0.0660014 0.157398 -1.2375 -0.0267451 0.120826] +86: > errNow=~[-2.22045e-16 3.60822e-16 -8.60423e-16 -5.55112e-17 5.55112e-16 -2.498e-15] normNow=2.73333e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.63175e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.73333e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.348659,-1.31323] to ~[-0.346887,-1.27537] -86: DBG: Friction 0 rotated 0.346881 deg, less than max 30 -86: slipVel 1 from ~[-0.345088,-0.346817] to ~[-0.343311,-0.307629] -86: DBG: Friction 1 rotated 3.28078 deg, less than max 30 +86: slipVel 0 from ~[-0.367121,0.875497] to ~[-0.376729,0.885884] +86: DBG: Friction 0 rotated 0.288307 deg, less than max 30 +86: slipVel 1 from ~[-0.400711,1.81028] to ~[-0.410865,1.83586] +86: DBG: Friction 1 rotated 0.133571 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.17641 -0.0301876 -0.113702 -0.94302 -0.0665148 -0.066848] -86: : m_verrLeft=~[-5.55112e-17 0 -0.346887 -1.27537 -0.343311 -0.307629] +86: : m_piActive=~[-1.70676 -0.0660014 0.157398 -1.2375 -0.0267451 0.120826] +86: : m_verrLeft=~[2.22045e-16 5.55112e-17 -0.376729 0.885884 -0.410865 1.83586] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.17641 verr=-5.55112e-17 pi*v=6.53041e-17 -86: DBG: 1: pi=-0.94302 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-1.17641 -0.94302 -0.0301876 -0.113702 -0.0665148 -0.066848] errNorm=1.80167e-15 +86: DBG: 0: pi=-1.70676 verr=2.22045e-16 pi*v=-3.78977e-16 +86: DBG: 1: pi=-1.2375 verr=5.55112e-17 pi*v=-6.86952e-17 +86: SP FINAL 1 intervals, piTotal=~[-1.70676 -1.2375 -0.0660014 0.157398 -0.0267451 0.120826] errNorm=2.73333e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.348659 -1.31323, |slipV|=1.35873 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.367121 0.875497, |slipV|=0.949354 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.345088 -0.346817, |slipV|=0.489253 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.400711 1.81028, |slipV|=1.8541 86: ------------------------------ 86: -86: dynamics impulse=~[-1.17641 -0.94302 -0.0301876 -0.113702 -0.0665148 -0.066848] -86: updated verrStart=~[-5.55112e-17 0 -0.346887 -1.27537 -0.343311 -0.307629] +86: dynamics impulse=~[-1.70676 -1.2375 -0.0660014 0.157398 -0.0267451 0.120826] +86: updated verrStart=~[2.22045e-16 5.55112e-17 -0.376729 0.885884 -0.410865 1.83586] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.101944 -0.00894782 0 0 0 0] +86: posVerr=~[0.319463 0.560185 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.240848 0.0956696 -0.00412369 0.305597 -0.00482645 0.119728] -86: [0.0956696 0.203964 0.00602442 0.121444 0.00653594 0.256652] -86: [-0.00412369 0.00602442 0.0505129 0.0374562 0.0502455 -0.0352155] -86: [0.305597 0.121444 0.0374562 0.458042 0.0362335 0.132626] -86: [-0.00482645 0.00653594 0.0502455 0.0362335 0.0499864 -0.0342355] -86: [0.119728 0.256652 -0.0352155 0.132626 -0.0342355 0.39378] +86: [0.27393 0.108651 -0.0147084 0.315109 -0.00768709 0.120819] +86: [0.108651 0.23182 -0.000776597 0.122856 -0.005925 0.265308] +86: [-0.0147084 -0.000776597 0.0481456 0.022559 0.0503305 -0.0383387] +86: [0.315109 0.122856 0.022559 0.427392 0.0336641 0.119631] +86: [-0.00768709 -0.005925 0.0503305 0.0336641 0.0532327 -0.047113] +86: [0.120819 0.265308 -0.0383387 0.119631 -0.047113 0.362847] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.390747 rank=2 -86: rhs=~[0.101944 -0.00894782 0 0 0 0] +86: rcond(A+D)=0.391152 rank=2 +86: rhs=~[0.319463 0.560185 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.541609 -0.297912] -86: -> pi=~[0.541609 -0.297912 0 0 0 0] -86: resid active=~[6.93889e-17 2.08167e-17] -86: resid=~[6.93889e-17 2.08167e-17 -0.00402817 0.129334 -0.00456118 -0.0116137] +86: -> piActive=~[0.255198 2.29686] +86: -> pi=~[0.255198 2.29686 0 0 0 0] +86: resid active=~[0 0] +86: resid=~[0 0 -0.00553727 0.362599 -0.0155706 0.640208] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[1.13624e-16 1.03216e-16 -0.346887 -1.27537 -0.343311 -0.307629] -86: perr=~[0.000101944 -8.94782e-06 0] -86: END OF STEP (0.075,0.076): -86: verr=~[0.000691689 -0.000691689 -0.346418 -1.27537 -0.34378 -0.307628] -86: perr=~[0.00010229 -9.29367e-06 0] +86: verr=~[6.04985e-17 -9.21572e-17 -0.376729 0.885884 -0.410865 1.83586] +86: perr=~[0.000319463 0.000560185 0] +86: END OF STEP (0.13,0.131): +86: verr=~[-0.00110177 0.00110177 -0.376277 0.885902 -0.411317 1.83585] +86: perr=~[0.000318912 0.000560736 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -42637,16 +54106,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.32158 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.461324 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000691689 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.9625 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.88136 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00110177 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000691689 -0.000691689 -0.346418 -1.27537 -0.34378 -0.307628] -86: IMP t=0.076 verr=~[0.000691689 -0.000691689 -0.346418 -1.27537 -0.34378 -0.307628] +86: verr=~[-0.00110177 0.00110177 -0.376277 0.885902 -0.411317 1.83585] +86: IMP t=0.131 verr=~[-0.00110177 0.00110177 -0.376277 0.885902 -0.411317 1.83585] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -42658,115 +54127,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000691689 -0.000691689 -0.346418 -1.27537 -0.34378 -0.307628] +86: verrLeft=~[-0.00110177 0.00110177 -0.376277 0.885902 -0.411317 1.83585] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.346418,-1.27537, mag=1.32158 -86: Participating contact 1 is Sliding; vel=-0.34378,-0.307628, mag=0.461324 +86: Participating contact 0 is Sliding; vel=-0.376277,0.885902, mag=0.9625 +86: Participating contact 1 is Sliding; vel=-0.411317,1.83585, mag=1.88136 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.346418,-1.27537, mag=1.32158 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.34378,-0.307628, mag=0.461324 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.376277,0.885902, mag=0.9625 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.411317,1.83585, mag=1.88136 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000691689; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000691689; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00110177; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00110177; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000691689 -0.000691689 -0.346418 -1.27537 -0.34378 -0.307628] +86: : verrLeft was=~[-0.00110177 0.00110177 -0.376277 0.885902 -0.411317 1.83585] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000691689 -0.346418 -1.27537 -0.000691689 -0.34378 -0.307628] +86: : rhsActive=~[-0.00110177 -0.376277 0.885902 0.00110177 -0.411317 1.83585] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.21403e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.000974801... -86: > NEWTON iter 1: errNorm=0.000974801(v) -> deltaNorm=0.00674381(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.00076255 0 0 -0.000394885 0.00034378 0.000307628] -86: > deltaPi=~[0.00484495 4.7305e-09 1.74158e-08 -0.00466051 0.000397914 0.000356069] -86: DBG: Line search iter 1: back=1, prevNorm=0.000974801. -86: > piNow=~[0.00515505 -4.7305e-09 -1.74158e-08 -0.00533949 -0.000397914 -0.000356069] -86: > errNow=~[-8.67362e-19 -6.25175e-09 -2.30165e-08 2.1684e-19 -5.96795e-09 -5.34036e-09] normNow=2.51591e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.58094e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.94742e-05 -86: > NEWTON iter 2: errNorm=2.51591e-08(v) -> deltaNorm=3.52534e-08(pi) -86: > piActive=~[0.00515505 -4.7305e-09 -1.74158e-08 -0.00533949 -0.000397914 -0.000356069] -86: > errActive=~[-8.67362e-19 -6.25175e-09 -2.30165e-08 2.1684e-19 -5.96795e-09 -5.34036e-09] -86: > deltaPi=~[2.14365e-08 -4.73042e-09 -1.74155e-08 1.42743e-08 -1.1873e-08 -1.06244e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.51591e-08. -86: > piNow=~[0.00515503 -7.87356e-14 -2.89873e-13 -0.00533951 -0.000397902 -0.000356058] -86: > errNow=~[4.33681e-19 -1.04056e-13 -3.83092e-13 1.0842e-19 6.40949e-14 5.73547e-14] normNow=4.06184e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.61446e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.06184e-13. -86: DBG: Worst offender is normal contact 0 err=0.00515503 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.87167e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00112328... +86: > NEWTON iter 1: errNorm=0.00112328(v) -> deltaNorm=0.00280863(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000562247 0.000376277 -0.000885902 0.000138663 0 0] +86: > deltaPi=~[-0.00191838 0.000315944 -0.000743853 0.0018855 1.53547e-09 -6.85334e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00112328. +86: > piNow=~[-0.00808162 -0.000315944 0.000743853 0.0081145 -1.53547e-09 6.85334e-09] +86: > errNow=~[-4.33681e-19 -2.68877e-09 6.33041e-09 -4.33681e-19 -2.88878e-09 1.28936e-08] normNow=1.48961e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.32612e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.19744e-05 +86: > NEWTON iter 2: errNorm=1.48961e-08(v) -> deltaNorm=1.57155e-08(pi) +86: > piActive=~[-0.00808162 -0.000315944 0.000743853 0.0081145 -1.53547e-09 6.85334e-09] +86: > errActive=~[-4.33681e-19 -2.68877e-09 6.33041e-09 -4.33681e-19 -2.88878e-09 1.28936e-08] +86: > deltaPi=~[-8.59973e-09 -3.12971e-09 7.36854e-09 -7.72048e-09 -1.53548e-09 6.85338e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.48961e-08. +86: > piNow=~[-0.00808161 -0.00031594 0.000743845 0.00811451 9.54798e-15 -4.26159e-14] +86: > errNow=~[2.1684e-19 -1.84537e-14 4.34471e-14 4.33681e-19 1.79632e-14 -8.01757e-14] normNow=9.47577e-14 +86: DBG: Improvement rate now/prev at iter 2 is 6.36125e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.47577e-14. +86: DBG: Worst offender is normal contact 1 err=0.00811451 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.346418,-1.27537, mag=1.32158 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.34378,-0.307628, mag=0.461324 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.376277,0.885902, mag=0.9625 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.411317,1.83585, mag=1.88136 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000691689; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00110177; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000691689 -0.000691689 -0.346418 -1.27537 -0.34378 -0.307628] +86: : verrLeft was=~[-0.00110177 0.00110177 -0.376277 0.885902 -0.411317 1.83585] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000691689 -0.34378 -0.307628] -86: : pi was=~[0 -0.00533951 -7.87356e-14 -2.89873e-13 -0.000397902 -0.000356058] -86: : piActive=~[-0.01 -0.000397902 -0.000356058] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.71837e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00145425... -86: > NEWTON iter 1: errNorm=0.00145425(v) -> deltaNorm=0.0068766(pi) -86: > piActive=~[-0.01 -0.000397902 -0.000356058] -86: > errActive=~[-0.00143827 0.000160218 0.00014337] -86: > deltaPi=~[-0.00687304 -0.000164861 -0.000147524] -86: DBG: Line search iter 1: back=1, prevNorm=0.00145425. -86: > piNow=~[-0.00312696 -0.000233041 -0.000208535] -86: > errNow=~[-3.25261e-19 -8.80117e-09 -7.87564e-09] normNow=1.18104e-08 -86: DBG: Improvement rate now/prev at iter 1 is 8.12133e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.7556e-05 -86: > NEWTON iter 2: errNorm=1.18104e-08(v) -> deltaNorm=3.11518e-08(pi) -86: > piActive=~[-0.00312696 -0.000233041 -0.000208535] -86: > errActive=~[-3.25261e-19 -8.80117e-09 -7.87564e-09] -86: > deltaPi=~[2.03752e-08 -1.75603e-08 -1.57137e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.18104e-08. -86: > piNow=~[-0.00312698 -0.000233024 -0.000208519] -86: > errNow=~[1.0842e-19 2.66564e-13 2.38532e-13] normNow=3.57707e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.02873e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.57707e-13. +86: : rhsActive=~[-0.00110177 -0.376277 0.885902] +86: : pi was=~[-0.00808161 0 -0.00031594 0.000743845 9.54798e-15 -4.26159e-14] +86: : piActive=~[-0.01 -0.00031594 0.000743845] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.58519e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00142579... +86: > NEWTON iter 1: errNorm=0.00142579(v) -> deltaNorm=0.00553062(pi) +86: > piActive=~[-0.01 -0.00031594 0.000743845] +86: > errActive=~[-0.00141378 7.21846e-05 -0.00016995] +86: > deltaPi=~[-0.00551889 -0.000140749 0.000331377] +86: DBG: Line search iter 1: back=1, prevNorm=0.00142579. +86: > piNow=~[-0.00448111 -0.000175192 0.000412468] +86: > errNow=~[-2.1684e-19 -7.73519e-09 1.82116e-08] normNow=1.97863e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.38774e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.78463e-05 +86: > NEWTON iter 2: errNorm=1.97863e-08(v) -> deltaNorm=3.38249e-08(pi) +86: > piActive=~[-0.00448111 -0.000175192 0.000412468] +86: > errActive=~[-2.1684e-19 -7.73519e-09 1.82116e-08] +86: > deltaPi=~[-2.47704e-08 -9.00475e-09 2.12006e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.97863e-08. +86: > piNow=~[-0.00448109 -0.000175183 0.000412447] +86: > errNow=~[0 -1.72817e-13 4.06878e-13] normNow=4.42058e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.23417e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.42058e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.34378,-0.307628] to ~[-0.343755,-0.30675] -86: DBG: Friction 1 rotated 0.0792705 deg, less than max 30 +86: slipVel 0 from ~[-0.376277,0.885902] to ~[-0.376345,0.887144] +86: DBG: Friction 0 rotated 0.025152 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00312698 -0.000233024 -0.000208519] -86: : m_verrLeft=~[0.00101226 -1.0842e-19 -0.346395 -1.27496 -0.343755 -0.30675] +86: : m_piActive=~[-0.00448109 -0.000175183 0.000412447] +86: : m_verrLeft=~[0 0.00153984 -0.376345 0.887144 -0.411356 1.83633] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00101226 pi*v=0 -86: DBG: 1: pi=-0.00312698 verr=-1.0842e-19 pi*v=3.39028e-22 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00312698 0 0 -0.000233024 -0.000208519] errNorm=3.57707e-13 -86: Postcompression verr=~[0.00101226 -1.0842e-19 -0.346395 -1.27496 -0.343755 -0.30675] -86: impulse=~[0 -0.00312698 0 0 -0.000233024 -0.000208519] +86: DBG: 0: pi=-0.00448109 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00153984 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00448109 0 -0.000175183 0.000412447 0 0] errNorm=4.42058e-13 +86: Postcompression verr=~[0 0.00153984 -0.376345 0.887144 -0.411356 1.83633] +86: impulse=~[-0.00448109 0 -0.000175183 0.000412447 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00312698 0 0 -0.000233024 -0.000208519]-> du ~[0.000374189 0.00112421 0.000462689 -0.00064596 2.3934e-05 0.000506128 -0.00197708 0.00154263] -86: Now verr0=~[0.00101226 -1.0842e-19 -0.346395 -1.27496 -0.343755 -0.30675] +86: Impact: imp ~[-0.00448109 0 -0.000175183 0.000412447 0 0]-> du ~[-0.000722117 0.0015713 -0.000756811 -0.000863712 -5.38978e-05 0.000769919 -0.00300945 0.00180007] +86: Now verr0=~[6.50521e-18 0.00153984 -0.376345 0.887144 -0.411356 1.83633] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.00101226 -1.0842e-19 -0.346395 -1.27496 -0.343755 -0.30675] -86: verrExt=~[-0.352926 -0.288065 -0.00262226 -0.413805 -0.00236229 -0.321114] -86: total verr=~[-0.351914 -0.288065 -0.349017 -1.68877 -0.346117 -0.627864] -86: DYN t=0.076: verrStart=~[0.00101226 -1.0842e-19 -0.346395 -1.27496 -0.343755 -0.30675] -86: verrApplied=~[-0.352926 -0.288065 -0.00262226 -0.413805 -0.00236229 -0.321114] +86: verr0 =~[6.50521e-18 0.00153984 -0.376345 0.887144 -0.411356 1.83633] +86: verrExt=~[-0.516479 -0.4068 0.0113488 -0.572705 0.00581703 -0.423451] +86: total verr=~[-0.516479 -0.40526 -0.364996 0.314439 -0.405539 1.41288] +86: DYN t=0.131: verrStart=~[6.50521e-18 0.00153984 -0.376345 0.887144 -0.411356 1.83633] +86: verrApplied=~[-0.516479 -0.4068 0.0113488 -0.572705 0.00581703 -0.423451] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -42778,108 +54247,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00101226 -1.0842e-19 -0.346395 -1.27496 -0.343755 -0.30675] -86: verrApplied=~[-0.352926 -0.288065 -0.00262226 -0.413805 -0.00236229 -0.321114] +86: verrLeft=~[6.50521e-18 0.00153984 -0.376345 0.887144 -0.411356 1.83633] +86: verrApplied=~[-0.516479 -0.4068 0.0113488 -0.572705 0.00581703 -0.423451] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.346395,-1.27496, mag=1.32118 -86: Participating contact 1 is Sliding; vel=-0.343755,-0.30675, mag=0.460721 +86: Participating contact 0 is Sliding; vel=-0.376345,0.887144, mag=0.96367 +86: Participating contact 1 is Sliding; vel=-0.411356,1.83633, mag=1.88184 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.346395,-1.27496, mag=1.32118 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.343755,-0.30675, mag=0.460721 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.376345,0.887144, mag=0.96367 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.411356,1.83633, mag=1.88184 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.351914; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.288065; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.516479; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.40526; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00101226 -1.0842e-19 -0.346395 -1.27496 -0.343755 -0.30675] +86: : verrLeft was=~[6.50521e-18 0.00153984 -0.376345 0.887144 -0.411356 1.83633] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.352926 -0.288065 -0.00262226 -0.413805 -0.00236229 -0.321114] -86: : rhsActive=~[-0.351914 -0.349017 -1.68877 -0.288065 -0.346117 -0.627864] +86: : verrApplied was=~[-0.516479 -0.4068 0.0113488 -0.572705 0.00581703 -0.423451] +86: : rhsActive=~[-0.516479 -0.364996 0.314439 -0.40526 -0.405539 1.41288] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.21186e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.450297... -86: > NEWTON iter 1: errNorm=0.450297(v) -> deltaNorm=1.28155(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.87525e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.651361... +86: > NEWTON iter 1: errNorm=0.651361(v) -> deltaNorm=2.01383(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.348561 0.000346395 0.00127496 0.28508 0.000343755 0.00030675] -86: > deltaPi=~[0.981663 0.0259991 0.0956937 0.81369 0.0614553 0.0548397] -86: DBG: Line search iter 1: back=1, prevNorm=0.450297. -86: > piNow=~[-0.991663 -0.0259991 -0.0956937 -0.82369 -0.0614553 -0.0548397] -86: > errNow=~[1.11022e-16 1.26662e-06 4.66198e-06 0 1.04188e-06 9.29728e-07] normNow=5.02875e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.11676e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.68425e-10 -86: > NEWTON iter 2: errNorm=5.02875e-06(v) -> deltaNorm=6.30202e-06(pi) -86: > piActive=~[-0.991663 -0.0259991 -0.0956937 -0.82369 -0.0614553 -0.0548397] -86: > errActive=~[1.11022e-16 1.26662e-06 4.66198e-06 0 1.04188e-06 9.29728e-07] -86: > deltaPi=~[-3.8851e-06 8.56841e-07 3.15374e-06 -2.4905e-06 2.0756e-06 1.85217e-06] -86: DBG: Line search iter 1: back=1, prevNorm=5.02875e-06. -86: > piNow=~[-0.991659 -0.026 -0.0956968 -0.823687 -0.0614574 -0.0548416] -86: > errNow=~[5.55112e-17 -5.20417e-16 -1.85962e-15 0 -4.71845e-16 -4.19803e-16] normNow=2.03248e-15 -86: DBG: Improvement rate now/prev at iter 2 is 4.04173e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.03248e-15. +86: > errActive=~[0.512633 0.000376345 -0.000887144 0.401838 0.000411356 -0.00183633] +86: > deltaPi=~[1.62177 0.0637237 -0.150213 1.17672 0.0259398 -0.115798] +86: DBG: Line search iter 1: back=1, prevNorm=0.651361. +86: > piNow=~[-1.63177 -0.0637237 0.150213 -1.18672 -0.0259398 0.115798] +86: > errNow=~[0 2.27346e-06 -5.35913e-06 1.66533e-16 1.80303e-06 -8.04887e-06] normNow=1.00958e-05 +86: DBG: Improvement rate now/prev at iter 1 is 1.54995e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.04504e-10 +86: > NEWTON iter 2: errNorm=1.00958e-05(v) -> deltaNorm=1.23333e-05(pi) +86: > piActive=~[-1.63177 -0.0637237 0.150213 -1.18672 -0.0259398 0.115798] +86: > errActive=~[0 2.27346e-06 -5.35913e-06 1.66533e-16 1.80303e-06 -8.04887e-06] +86: > deltaPi=~[7.28363e-06 2.64362e-06 -6.23169e-06 5.3864e-06 1.07586e-06 -4.80274e-06] +86: DBG: Line search iter 1: back=1, prevNorm=1.00958e-05. +86: > piNow=~[-1.63178 -0.0637263 0.15022 -1.18672 -0.0259409 0.115802] +86: > errNow=~[-1.11022e-16 3.88578e-16 -8.88178e-16 0 5.82867e-16 -2.63678e-15] normNow=2.87133e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.84409e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.87133e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.346395,-1.27496] to ~[-0.34269,-1.23163] -86: DBG: Friction 0 rotated 0.348943 deg, less than max 30 -86: slipVel 1 from ~[-0.343755,-0.30675] to ~[-0.340059,-0.266531] -86: DBG: Friction 1 rotated 3.65561 deg, less than max 30 +86: slipVel 0 from ~[-0.376345,0.887144] to ~[-0.385114,0.899505] +86: DBG: Friction 0 rotated 0.190017 deg, less than max 30 +86: slipVel 1 from ~[-0.411356,1.83633] to ~[-0.420609,1.86183] +86: DBG: Friction 1 rotated 0.103707 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.991659 -0.026 -0.0956968 -0.823687 -0.0614574 -0.0548416] -86: : m_verrLeft=~[-5.55112e-17 0 -0.34269 -1.23163 -0.340059 -0.266531] +86: : m_piActive=~[-1.63178 -0.0637263 0.15022 -1.18672 -0.0259409 0.115802] +86: : m_verrLeft=~[1.11022e-16 0 -0.385114 0.899505 -0.420609 1.86183] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.991659 verr=-5.55112e-17 pi*v=5.50481e-17 -86: DBG: 1: pi=-0.823687 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.991659 -0.823687 -0.026 -0.0956968 -0.0614574 -0.0548416] errNorm=2.03248e-15 +86: DBG: 0: pi=-1.63178 verr=1.11022e-16 pi*v=-1.81164e-16 +86: DBG: 1: pi=-1.18672 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-1.63178 -1.18672 -0.0637263 0.15022 -0.0259409 0.115802] errNorm=2.87133e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.346395 -1.27496, |slipV|=1.32118 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.376345 0.887144, |slipV|=0.96367 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.343755 -0.30675, |slipV|=0.460721 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.411356 1.83633, |slipV|=1.88184 86: ------------------------------ 86: -86: dynamics impulse=~[-0.991659 -0.823687 -0.026 -0.0956968 -0.0614574 -0.0548416] -86: updated verrStart=~[-5.55112e-17 0 -0.34269 -1.23163 -0.340059 -0.266531] +86: dynamics impulse=~[-1.63178 -1.18672 -0.0637263 0.15022 -0.0259409 0.115802] +86: updated verrStart=~[1.11022e-16 0 -0.385114 0.899505 -0.420609 1.86183] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.10229 -0.00929367 0 0 0 0] +86: posVerr=~[0.318912 0.560736 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.240363 0.0949386 -0.00466531 0.305616 -0.00518918 0.119434] -86: [0.0949386 0.203596 0.00604594 0.121038 0.00642826 0.256811] -86: [-0.00466531 0.00604594 0.0502962 0.0366368 0.050102 -0.0350001] -86: [0.305616 0.121038 0.0366368 0.459014 0.0357274 0.133054] -86: [-0.00518918 0.00642826 0.050102 0.0357274 0.0499125 -0.0342713] -86: [0.119434 0.256811 -0.0350001 0.133054 -0.0342713 0.394735] +86: [0.275499 0.109097 -0.0150008 0.315515 -0.0077775 0.120775] +86: [0.109097 0.23314 -0.000942014 0.122785 -0.00624312 0.265691] +86: [-0.0150008 -0.000942014 0.0480711 0.0221473 0.0502979 -0.0383155] +86: [0.315515 0.122785 0.0221473 0.425947 0.0335124 0.119089] +86: [-0.0077775 -0.00624312 0.0502979 0.0335124 0.0532781 -0.0472941] +86: [0.120775 0.265691 -0.0383155 0.119089 -0.0472941 0.361559] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.393111 rank=2 -86: rhs=~[0.10229 -0.00929367 0 0 0 0] +86: rcond(A+D)=0.391804 rank=2 +86: rhs=~[0.318912 0.560736 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.543745 -0.299201] -86: -> pi=~[0.543745 -0.299201 0 0 0 0] -86: resid active=~[-2.77556e-17 -1.73472e-18] -86: resid=~[-2.77556e-17 -1.73472e-18 -0.00434569 0.129963 -0.00474493 -0.0118964] +86: -> piActive=~[0.251814 2.28731] +86: -> pi=~[0.251814 2.28731 0 0 0 0] +86: resid active=~[0 0] +86: resid=~[0 0 -0.00593208 0.360298 -0.0162384 0.63813] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[5.09575e-17 6.44016e-17 -0.34269 -1.23163 -0.340059 -0.266531] -86: perr=~[0.00010229 -9.29367e-06 0] -86: END OF STEP (0.076,0.077): -86: verr=~[0.000657265 -0.000657265 -0.342225 -1.23163 -0.340525 -0.26653] -86: perr=~[0.000102619 -9.6223e-06 -1.11022e-16] +86: verr=~[-5.62701e-17 1.31188e-17 -0.385114 0.899505 -0.420609 1.86183] +86: perr=~[0.000318912 0.000560736 0] +86: END OF STEP (0.131,0.132): +86: verr=~[-0.00113429 0.00113429 -0.38465 0.899523 -0.421073 1.86181] +86: perr=~[0.000318345 0.000561303 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -42887,16 +54356,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.27829 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.43243 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000657265 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.978314 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.90883 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00113429 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000657265 -0.000657265 -0.342225 -1.23163 -0.340525 -0.26653] -86: IMP t=0.077 verr=~[0.000657265 -0.000657265 -0.342225 -1.23163 -0.340525 -0.26653] +86: verr=~[-0.00113429 0.00113429 -0.38465 0.899523 -0.421073 1.86181] +86: IMP t=0.132 verr=~[-0.00113429 0.00113429 -0.38465 0.899523 -0.421073 1.86181] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -42908,115 +54377,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000657265 -0.000657265 -0.342225 -1.23163 -0.340525 -0.26653] +86: verrLeft=~[-0.00113429 0.00113429 -0.38465 0.899523 -0.421073 1.86181] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.342225,-1.23163, mag=1.27829 -86: Participating contact 1 is Sliding; vel=-0.340525,-0.26653, mag=0.43243 +86: Participating contact 0 is Sliding; vel=-0.38465,0.899523, mag=0.978314 +86: Participating contact 1 is Sliding; vel=-0.421073,1.86181, mag=1.90883 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.342225,-1.23163, mag=1.27829 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.340525,-0.26653, mag=0.43243 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.38465,0.899523, mag=0.978314 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.421073,1.86181, mag=1.90883 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000657265; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000657265; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00113429; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00113429; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000657265 -0.000657265 -0.342225 -1.23163 -0.340525 -0.26653] +86: : verrLeft was=~[-0.00113429 0.00113429 -0.38465 0.899523 -0.421073 1.86181] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000657265 -0.342225 -1.23163 -0.000657265 -0.340525 -0.26653] +86: : rhsActive=~[-0.00113429 -0.38465 0.899523 0.00113429 -0.421073 1.86181] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.02654e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00100696... -86: > NEWTON iter 1: errNorm=0.00100696(v) -> deltaNorm=0.00710933(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000799626 0 0 -0.000433094 0.000340525 0.00026653] -86: > deltaPi=~[0.00511522 5.10103e-09 1.8358e-08 -0.00491101 0.000400756 0.000313673] -86: DBG: Line search iter 1: back=1, prevNorm=0.00100696. -86: > piNow=~[0.00488478 -5.10103e-09 -1.8358e-08 -0.00508899 -0.000400756 -0.000313673] -86: > errNow=~[-3.25261e-19 -6.5206e-09 -2.34669e-08 3.25261e-19 -6.22919e-09 -4.87561e-09] normNow=2.56084e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.54314e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.08945e-05 -86: > NEWTON iter 2: errNorm=2.56084e-08(v) -> deltaNorm=3.6849e-08(pi) -86: > piActive=~[0.00488478 -5.10103e-09 -1.8358e-08 -0.00508899 -0.000400756 -0.000313673] -86: > errActive=~[-3.25261e-19 -6.5206e-09 -2.34669e-08 3.25261e-19 -6.22919e-09 -4.87561e-09] -86: > deltaPi=~[2.25794e-08 -5.10093e-09 -1.83577e-08 1.4146e-08 -1.32913e-08 -1.04032e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.56084e-08. -86: > piNow=~[0.00488475 -9.43327e-14 -3.39493e-13 -0.005089 -0.000400743 -0.000313663] -86: > errNow=~[2.1684e-19 -1.20585e-13 -4.33971e-13 -1.0842e-19 6.92615e-14 5.42112e-14] normNow=4.5892e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.79207e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.5892e-13. -86: DBG: Worst offender is normal contact 0 err=0.00488475 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.98961e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00112402... +86: > NEWTON iter 1: errNorm=0.00112402(v) -> deltaNorm=0.00257514(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000541333 0.00038465 -0.000899523 0.00011528 0 0] +86: > deltaPi=~[-0.00174421 0.000324601 -0.000759095 0.00170513 1.40106e-09 -6.19493e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00112402. +86: > piNow=~[-0.00825579 -0.000324601 0.000759095 0.00829487 -1.40106e-09 6.19493e-09] +86: > errNow=~[6.50521e-19 -2.49906e-09 5.84417e-09 0 -2.6744e-09 1.18251e-08] normNow=1.36889e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.21785e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.16344e-05 +86: > NEWTON iter 2: errNorm=1.36889e-08(v) -> deltaNorm=1.42131e-08(pi) +86: > piActive=~[-0.00825579 -0.000324601 0.000759095 0.00829487 -1.40106e-09 6.19493e-09] +86: > errActive=~[6.50521e-19 -2.49906e-09 5.84417e-09 0 -2.6744e-09 1.18251e-08] +86: > deltaPi=~[-7.7748e-09 -2.86013e-09 6.68854e-09 -6.95028e-09 -1.40107e-09 6.19497e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.36889e-08. +86: > piNow=~[-0.00825578 -0.000324598 0.000759089 0.00829488 8.29969e-15 -3.66978e-14] +86: > errNow=~[-2.1684e-19 -1.63428e-14 3.82185e-14 0 1.58427e-14 -7.00501e-14] normNow=8.29804e-14 +86: DBG: Improvement rate now/prev at iter 2 is 6.06189e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.29804e-14. +86: DBG: Worst offender is normal contact 1 err=0.00829488 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.342225,-1.23163, mag=1.27829 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.340525,-0.26653, mag=0.43243 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.38465,0.899523, mag=0.978314 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.421073,1.86181, mag=1.90883 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000657265; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00113429; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000657265 -0.000657265 -0.342225 -1.23163 -0.340525 -0.26653] +86: : verrLeft was=~[-0.00113429 0.00113429 -0.38465 0.899523 -0.421073 1.86181] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000657265 -0.340525 -0.26653] -86: : pi was=~[0 -0.005089 -9.43327e-14 -3.39493e-13 -0.000400743 -0.000313663] -86: : piActive=~[-0.01 -0.000400743 -0.000313663] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.61075e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00147384... -86: > NEWTON iter 1: errNorm=0.00147384(v) -> deltaNorm=0.00701008(pi) -86: > piActive=~[-0.01 -0.000400743 -0.000313663] -86: > errActive=~[-0.00145846 0.000167232 0.000130893] -86: > deltaPi=~[-0.00700695 -0.000165029 -0.000129169] -86: DBG: Line search iter 1: back=1, prevNorm=0.00147384. -86: > piNow=~[-0.00299305 -0.000235714 -0.000184494] -86: > errNow=~[2.1684e-19 -8.8877e-09 -6.95644e-09] normNow=1.12864e-08 -86: DBG: Improvement rate now/prev at iter 1 is 7.6578e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.796e-05 -86: > NEWTON iter 2: errNorm=1.12864e-08(v) -> deltaNorm=3.0995e-08(pi) -86: > piActive=~[-0.00299305 -0.000235714 -0.000184494] -86: > errActive=~[2.1684e-19 -8.8877e-09 -6.95644e-09] -86: > deltaPi=~[1.94173e-08 -1.90245e-08 -1.48906e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.12864e-08. -86: > piNow=~[-0.00299307 -0.000235695 -0.000184479] -86: > errNow=~[-1.0842e-19 2.74618e-13 2.14944e-13] normNow=3.48735e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.08986e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.48735e-13. +86: : rhsActive=~[-0.00113429 -0.38465 0.899523] +86: : pi was=~[-0.00825578 0 -0.000324598 0.000759089 8.29969e-15 -3.66978e-14] +86: : piActive=~[-0.01 -0.000324598 0.000759089] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.6441e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00140241... +86: > NEWTON iter 1: errNorm=0.00140241(v) -> deltaNorm=0.00542861(pi) +86: > piActive=~[-0.01 -0.000324598 0.000759089] +86: > errActive=~[-0.00139199 6.70914e-05 -0.000156896] +86: > deltaPi=~[-0.00541618 -0.000144365 0.000337604] +86: DBG: Line search iter 1: back=1, prevNorm=0.00140241. +86: > piNow=~[-0.00458382 -0.000180233 0.000421484] +86: > errNow=~[-2.1684e-19 -7.76016e-09 1.81475e-08] normNow=1.97371e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.40737e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.73361e-05 +86: > NEWTON iter 2: errNorm=1.97371e-08(v) -> deltaNorm=3.30861e-08(pi) +86: > piActive=~[-0.00458382 -0.000180233 0.000421484] +86: > errActive=~[-2.1684e-19 -7.76016e-09 1.81475e-08] +86: > deltaPi=~[-2.41727e-08 -8.88242e-09 2.0772e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.97371e-08. +86: > piNow=~[-0.0045838 -0.000180224 0.000421463] +86: > errNow=~[0 -1.64765e-13 3.85311e-13] normNow=4.19061e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.12322e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.19061e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.340525,-0.26653] to ~[-0.3405,-0.265696] -86: DBG: Friction 1 rotated 0.0851403 deg, less than max 30 +86: slipVel 0 from ~[-0.38465,0.899523] to ~[-0.384721,0.900796] +86: DBG: Friction 0 rotated 0.0254816 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00299307 -0.000235695 -0.000184479] -86: : m_verrLeft=~[0.000959953 1.0842e-19 -0.342201 -1.23124 -0.3405 -0.265696] +86: : m_piActive=~[-0.0045838 -0.000180224 0.000421463] +86: : m_verrLeft=~[0 0.0015845 -0.384721 0.900796 -0.421114 1.86231] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000959953 pi*v=0 -86: DBG: 1: pi=-0.00299307 verr=1.0842e-19 pi*v=-3.24509e-22 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00299307 0 0 -0.000235695 -0.000184479] errNorm=3.48735e-13 -86: Postcompression verr=~[0.000959953 1.0842e-19 -0.342201 -1.23124 -0.3405 -0.265696] -86: impulse=~[0 -0.00299307 0 0 -0.000235695 -0.000184479] +86: DBG: 0: pi=-0.0045838 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.0015845 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.0045838 0 -0.000180224 0.000421463 0 0] errNorm=4.19061e-13 +86: Postcompression verr=~[0 0.0015845 -0.384721 0.900796 -0.421114 1.86231] +86: impulse=~[-0.0045838 0 -0.000180224 0.000421463 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00299307 0 0 -0.000235695 -0.000184479]-> du ~[0.00035646 0.00106798 0.00043995 -0.000614014 2.3926e-05 0.000479976 -0.00187811 0.00146782] -86: Now verr0=~[0.000959953 1.0842e-19 -0.342201 -1.23124 -0.3405 -0.265696] +86: Impact: imp ~[-0.0045838 0 -0.000180224 0.000421463 0 0]-> du ~[-0.000745585 0.00161215 -0.000776811 -0.000884849 -5.58654e-05 0.00079225 -0.00308937 0.00184656] +86: Now verr0=~[-5.52943e-18 0.0015845 -0.384721 0.900796 -0.421114 1.86231] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000959953 1.0842e-19 -0.342201 -1.23124 -0.3405 -0.265696] -86: verrExt=~[-0.29029 -0.240773 0.000187804 -0.328334 0.000311611 -0.261204] -86: total verr=~[-0.28933 -0.240773 -0.342013 -1.55957 -0.340189 -0.5269] -86: DYN t=0.077: verrStart=~[0.000959953 1.0842e-19 -0.342201 -1.23124 -0.3405 -0.265696] -86: verrApplied=~[-0.29029 -0.240773 0.000187804 -0.328334 0.000311611 -0.261204] +86: verr0 =~[-5.52943e-18 0.0015845 -0.384721 0.900796 -0.421114 1.86231] +86: verrExt=~[-0.496209 -0.391501 0.0118714 -0.545301 0.00652788 -0.404797] +86: total verr=~[-0.496209 -0.389916 -0.37285 0.355495 -0.414586 1.45751] +86: DYN t=0.132: verrStart=~[-5.52943e-18 0.0015845 -0.384721 0.900796 -0.421114 1.86231] +86: verrApplied=~[-0.496209 -0.391501 0.0118714 -0.545301 0.00652788 -0.404797] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -43028,108 +54497,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000959953 1.0842e-19 -0.342201 -1.23124 -0.3405 -0.265696] -86: verrApplied=~[-0.29029 -0.240773 0.000187804 -0.328334 0.000311611 -0.261204] +86: verrLeft=~[-5.52943e-18 0.0015845 -0.384721 0.900796 -0.421114 1.86231] +86: verrApplied=~[-0.496209 -0.391501 0.0118714 -0.545301 0.00652788 -0.404797] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.342201,-1.23124, mag=1.27791 -86: Participating contact 1 is Sliding; vel=-0.3405,-0.265696, mag=0.431897 +86: Participating contact 0 is Sliding; vel=-0.384721,0.900796, mag=0.979512 +86: Participating contact 1 is Sliding; vel=-0.421114,1.86231, mag=1.90933 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.342201,-1.23124, mag=1.27791 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.3405,-0.265696, mag=0.431897 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.384721,0.900796, mag=0.979512 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.421114,1.86231, mag=1.90933 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.28933; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.240773; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.496209; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.389916; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000959953 1.0842e-19 -0.342201 -1.23124 -0.3405 -0.265696] +86: : verrLeft was=~[-5.52943e-18 0.0015845 -0.384721 0.900796 -0.421114 1.86231] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.29029 -0.240773 0.000187804 -0.328334 0.000311611 -0.261204] -86: : rhsActive=~[-0.28933 -0.342013 -1.55957 -0.240773 -0.340189 -0.5269] +86: : verrApplied was=~[-0.496209 -0.391501 0.0118714 -0.545301 0.00652788 -0.404797] +86: : rhsActive=~[-0.496209 -0.37285 0.355495 -0.389916 -0.414586 1.45751] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.02455e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.37194... -86: > NEWTON iter 1: errNorm=0.37194(v) -> deltaNorm=1.06534(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.99329e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.625915... +86: > NEWTON iter 1: errNorm=0.625915(v) -> deltaNorm=1.92363(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.285989 0.000342201 0.00123124 0.237798 0.0003405 0.000265696] -86: > deltaPi=~[0.799655 0.0216804 0.0780057 0.69568 0.0556326 0.0434107] -86: DBG: Line search iter 1: back=1, prevNorm=0.37194. -86: > piNow=~[-0.809655 -0.0216804 -0.0780057 -0.70568 -0.0556326 -0.0434107] -86: > errNow=~[0 1.01929e-06 3.66738e-06 -5.55112e-17 8.82345e-07 6.88503e-07] normNow=3.96751e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.06671e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.00626e-10 -86: > NEWTON iter 2: errNorm=3.96751e-06(v) -> deltaNorm=5.17337e-06(pi) -86: > piActive=~[-0.809655 -0.0216804 -0.0780057 -0.70568 -0.0556326 -0.0434107] -86: > errActive=~[0 1.01929e-06 3.66738e-06 -5.55112e-17 8.82345e-07 6.88503e-07] -86: > deltaPi=~[-3.15476e-06 7.13143e-07 2.56588e-06 -2.00015e-06 1.88526e-06 1.47109e-06] -86: DBG: Line search iter 1: back=1, prevNorm=3.96751e-06. -86: > piNow=~[-0.809652 -0.0216811 -0.0780083 -0.705678 -0.0556345 -0.0434122] -86: > errNow=~[0 -6.14092e-16 -2.20657e-15 -2.77556e-17 -5.06539e-16 -4.02456e-16] normNow=2.3802e-15 -86: DBG: Improvement rate now/prev at iter 2 is 5.99924e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.3802e-15. +86: > errActive=~[0.492343 0.000384721 -0.000900796 0.386476 0.000421114 -0.00186231] +86: > deltaPi=~[1.54671 0.0611405 -0.143156 1.12732 0.0250834 -0.110928] +86: DBG: Line search iter 1: back=1, prevNorm=0.625915. +86: > piNow=~[-1.55671 -0.0611405 0.143156 -1.13732 -0.0250834 0.110928] +86: > errNow=~[0 2.2165e-06 -5.18977e-06 -2.77556e-16 1.76832e-06 -7.8201e-06] normNow=9.80446e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.56642e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.51952e-10 +86: > NEWTON iter 2: errNorm=9.80446e-06(v) -> deltaNorm=1.17436e-05(pi) +86: > piActive=~[-1.55671 -0.0611405 0.143156 -1.13732 -0.0250834 0.110928] +86: > errActive=~[0 2.2165e-06 -5.18977e-06 -2.77556e-16 1.76832e-06 -7.8201e-06] +86: > deltaPi=~[6.90682e-06 2.53414e-06 -5.9335e-06 5.1353e-06 1.03941e-06 -4.59662e-06] +86: DBG: Line search iter 1: back=1, prevNorm=9.80446e-06. +86: > piNow=~[-1.55672 -0.061143 0.143162 -1.13733 -0.0250845 0.110932] +86: > errNow=~[-1.11022e-16 4.02456e-16 -9.4369e-16 5.55112e-17 6.245e-16 -2.80331e-15] normNow=3.05229e-15 +86: DBG: Improvement rate now/prev at iter 2 is 3.11317e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.05229e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.342201,-1.23124] to ~[-0.336795,-1.18257] -86: DBG: Friction 0 rotated 0.364535 deg, less than max 30 -86: slipVel 1 from ~[-0.3405,-0.265696] to ~[-0.335107,-0.224175] -86: DBG: Friction 1 rotated 4.18414 deg, less than max 30 +86: slipVel 0 from ~[-0.384721,0.900796] to ~[-0.392598,0.915112] +86: DBG: Friction 0 rotated 0.0933063 deg, less than max 30 +86: slipVel 1 from ~[-0.421114,1.86231] to ~[-0.429407,1.88762] +86: DBG: Friction 1 rotated 0.0742013 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.809652 -0.0216811 -0.0780083 -0.705678 -0.0556345 -0.0434122] -86: : m_verrLeft=~[0 2.77556e-17 -0.336795 -1.18257 -0.335107 -0.224175] +86: : m_piActive=~[-1.55672 -0.061143 0.143162 -1.13733 -0.0250845 0.110932] +86: : m_verrLeft=~[1.11022e-16 -5.55112e-17 -0.392598 0.915112 -0.429407 1.88762] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.809652 verr=0 pi*v=-0 -86: DBG: 1: pi=-0.705678 verr=2.77556e-17 pi*v=-1.95865e-17 -86: SP FINAL 1 intervals, piTotal=~[-0.809652 -0.705678 -0.0216811 -0.0780083 -0.0556345 -0.0434122] errNorm=2.3802e-15 +86: DBG: 0: pi=-1.55672 verr=1.11022e-16 pi*v=-1.72831e-16 +86: DBG: 1: pi=-1.13733 verr=-5.55112e-17 pi*v=6.31344e-17 +86: SP FINAL 1 intervals, piTotal=~[-1.55672 -1.13733 -0.061143 0.143162 -0.0250845 0.110932] errNorm=3.05229e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.342201 -1.23124, |slipV|=1.27791 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.384721 0.900796, |slipV|=0.979512 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.3405 -0.265696, |slipV|=0.431897 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.421114 1.86231, |slipV|=1.90933 86: ------------------------------ 86: -86: dynamics impulse=~[-0.809652 -0.705678 -0.0216811 -0.0780083 -0.0556345 -0.0434122] -86: updated verrStart=~[0 2.77556e-17 -0.336795 -1.18257 -0.335107 -0.224175] +86: dynamics impulse=~[-1.55672 -1.13733 -0.061143 0.143162 -0.0250845 0.110932] +86: updated verrStart=~[1.11022e-16 -5.55112e-17 -0.392598 0.915112 -0.429407 1.88762] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.102619 -0.0096223 0 0 0 0] +86: posVerr=~[0.318345 0.561303 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.239913 0.0942234 -0.00520367 0.305641 -0.00554855 0.119137] -86: [0.0942234 0.203259 0.0060674 0.120631 0.00631981 0.256976] -86: [-0.00520367 0.0060674 0.0500847 0.0358175 0.0499616 -0.0347862] -86: [0.305641 0.120631 0.0358175 0.459933 0.0352216 0.133459] -86: [-0.00554855 0.00631981 0.0499616 0.0352216 0.0498404 -0.0343088] -86: [0.119137 0.256976 -0.0347862 0.133459 -0.0343088 0.395652] +86: [0.277106 0.109544 -0.0153016 0.31593 -0.0078725 0.120727] +86: [0.109544 0.234501 -0.00110853 0.122706 -0.00656601 0.266092] +86: [-0.0153016 -0.00110853 0.0479942 0.0217262 0.0502622 -0.0382875] +86: [0.31593 0.122706 0.0217262 0.42448 0.0333527 0.118542] +86: [-0.0078725 -0.00656601 0.0502622 0.0333527 0.0533211 -0.047472] +86: [0.120727 0.266092 -0.0382875 0.118542 -0.047472 0.360269] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.395487 rank=2 -86: rhs=~[0.102619 -0.0096223 0 0 0 0] +86: rcond(A+D)=0.392508 rank=2 +86: rhs=~[0.318345 0.561303 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.545672 -0.300293] -86: -> pi=~[0.545672 -0.300293 0 0 0 0] -86: resid active=~[-1.38778e-17 -8.67362e-18] -86: resid=~[-1.38778e-17 -8.67362e-18 -0.00466149 0.130555 -0.00492548 -0.0121584] +86: -> piActive=~[0.248478 2.27754] +86: -> pi=~[0.248478 2.27754 0 0 0 0] +86: resid active=~[-5.55112e-17 0] +86: resid=~[-5.55112e-17 0 -0.00632683 0.357969 -0.0169105 0.636034] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-2.21177e-17 -3.1225e-17 -0.336795 -1.18257 -0.335107 -0.224175] -86: perr=~[0.000102619 -9.6223e-06 -1.11022e-16] -86: END OF STEP (0.077,0.078): -86: verr=~[0.000616872 -0.000616872 -0.336336 -1.18257 -0.335566 -0.224175] -86: perr=~[0.000102927 -9.93074e-06 -2.22045e-16] +86: verr=~[-4.59702e-17 -1.43115e-16 -0.392598 0.915112 -0.429407 1.88762] +86: perr=~[0.000318345 0.000561303 0] +86: END OF STEP (0.132,0.133): +86: verr=~[-0.00116573 0.00116573 -0.392125 0.915132 -0.429881 1.8876] +86: perr=~[0.000317762 0.000561886 -1.11022e-16] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -43137,16 +54606,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.22947 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.403558 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000616872 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=0.995604 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.93593 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00116573 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000616872 -0.000616872 -0.336336 -1.18257 -0.335566 -0.224175] -86: IMP t=0.078 verr=~[0.000616872 -0.000616872 -0.336336 -1.18257 -0.335566 -0.224175] +86: verr=~[-0.00116573 0.00116573 -0.392125 0.915132 -0.429881 1.8876] +86: IMP t=0.133 verr=~[-0.00116573 0.00116573 -0.392125 0.915132 -0.429881 1.8876] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -43158,115 +54627,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000616872 -0.000616872 -0.336336 -1.18257 -0.335566 -0.224175] +86: verrLeft=~[-0.00116573 0.00116573 -0.392125 0.915132 -0.429881 1.8876] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.336336,-1.18257, mag=1.22947 -86: Participating contact 1 is Sliding; vel=-0.335566,-0.224175, mag=0.403558 +86: Participating contact 0 is Sliding; vel=-0.392125,0.915132, mag=0.995604 +86: Participating contact 1 is Sliding; vel=-0.429881,1.8876, mag=1.93593 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.336336,-1.18257, mag=1.22947 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.335566,-0.224175, mag=0.403558 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.392125,0.915132, mag=0.995604 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.429881,1.8876, mag=1.93593 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000616872; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000616872; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00116573; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00116573; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000616872 -0.000616872 -0.336336 -1.18257 -0.335566 -0.224175] +86: : verrLeft was=~[-0.00116573 0.00116573 -0.392125 0.915132 -0.429881 1.8876] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000616872 -0.336336 -1.18257 -0.000616872 -0.335566 -0.224175] +86: : rhsActive=~[-0.00116573 -0.392125 0.915132 0.00116573 -0.429881 1.8876] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.82002e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00104933... -86: > NEWTON iter 1: errNorm=0.00104933(v) -> deltaNorm=0.00753537(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.00084282 0 0 -0.000477368 0.000335566 0.000224175] -86: > deltaPi=~[0.00542888 5.53193e-09 1.94505e-08 -0.00520376 0.000398833 0.00026644] -86: DBG: Line search iter 1: back=1, prevNorm=0.00104933. -86: > piNow=~[0.00457112 -5.53193e-09 -1.94505e-08 -0.00479624 -0.000398833 -0.00026644] -86: > errNow=~[1.0842e-19 -6.80135e-09 -2.39138e-08 1.0842e-19 -6.5044e-09 -4.34526e-09] normNow=2.60637e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.48386e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.2861e-05 -86: > NEWTON iter 2: errNorm=2.60637e-08(v) -> deltaNorm=3.86589e-08(pi) -86: > piActive=~[0.00457112 -5.53193e-09 -1.94505e-08 -0.00479624 -0.000398833 -0.00026644] -86: > errActive=~[1.0842e-19 -6.80135e-09 -2.39138e-08 1.0842e-19 -6.5044e-09 -4.34526e-09] -86: > deltaPi=~[2.38934e-08 -5.53181e-09 -1.94501e-08 1.38058e-08 -1.49698e-08 -1.00006e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.60637e-08. -86: > piNow=~[0.0045711 -1.1647e-13 -4.09515e-13 -0.00479626 -0.000398818 -0.00026643] -86: > errNow=~[0 -1.43197e-13 -5.03486e-13 0 7.49871e-14 5.00951e-14] normNow=5.31165e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.03795e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.31165e-13. -86: DBG: Worst offender is normal contact 0 err=0.0045711 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.10881e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00112795... +86: > NEWTON iter 1: errNorm=0.00112795(v) -> deltaNorm=0.00236104(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000521849 0.000392125 -0.000915132 9.33297e-05 0 0] +86: > deltaPi=~[-0.00158199 0.000331551 -0.000773766 0.00153727 1.27151e-09 -5.58319e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00112795. +86: > piNow=~[-0.00841801 -0.000331551 0.000773766 0.00846273 -1.27151e-09 5.58319e-09] +86: > errNow=~[-6.50521e-19 -2.31067e-09 5.39259e-09 -4.33681e-19 -2.46156e-09 1.08087e-08] normNow=1.25422e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.11195e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.13472e-05 +86: > NEWTON iter 2: errNorm=1.25422e-08(v) -> deltaNorm=1.28224e-08(pi) +86: > piActive=~[-0.00841801 -0.000331551 0.000773766 0.00846273 -1.27151e-09 5.58319e-09] +86: > errActive=~[-6.50521e-19 -2.31067e-09 5.39259e-09 -4.33681e-19 -2.46156e-09 1.08087e-08] +86: > deltaPi=~[-7.01617e-09 -2.5972e-09 6.06128e-09 -6.23807e-09 -1.27152e-09 5.58323e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.25422e-08. +86: > piNow=~[-0.00841801 -0.000331548 0.00077376 0.00846273 7.2041e-15 -3.16331e-14] +86: > errNow=~[0 -1.44609e-14 3.37487e-14 4.33681e-19 1.39466e-14 -6.12394e-14] normNow=7.27521e-14 +86: DBG: Improvement rate now/prev at iter 2 is 5.8006e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.27521e-14. +86: DBG: Worst offender is normal contact 1 err=0.00846273 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.336336,-1.18257, mag=1.22947 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.335566,-0.224175, mag=0.403558 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.392125,0.915132, mag=0.995604 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.429881,1.8876, mag=1.93593 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000616872; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00116573; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000616872 -0.000616872 -0.336336 -1.18257 -0.335566 -0.224175] +86: : verrLeft was=~[-0.00116573 0.00116573 -0.392125 0.915132 -0.429881 1.8876] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000616872 -0.335566 -0.224175] -86: : pi was=~[0 -0.00479626 -1.1647e-13 -4.09515e-13 -0.000398818 -0.00026643] -86: : piActive=~[-0.01 -0.000398818 -0.00026643] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.5032e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00149844... -86: > NEWTON iter 1: errNorm=0.00149844(v) -> deltaNorm=0.00716982(pi) -86: > piActive=~[-0.01 -0.000398818 -0.00026643] -86: > errActive=~[-0.00148365 0.00017462 0.000116655] -86: > deltaPi=~[-0.00716713 -0.000163237 -0.000109051] -86: DBG: Line search iter 1: back=1, prevNorm=0.00149844. -86: > piNow=~[-0.00283287 -0.000235581 -0.000157379] -86: > errNow=~[4.33681e-19 -8.95851e-09 -5.98472e-09] normNow=1.07737e-08 -86: DBG: Improvement rate now/prev at iter 1 is 7.18993e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.87072e-05 -86: > NEWTON iter 2: errNorm=1.07737e-08(v) -> deltaNorm=3.07968e-08(pi) -86: > piActive=~[-0.00283287 -0.000235581 -0.000157379] -86: > errActive=~[4.33681e-19 -8.95851e-09 -5.98472e-09] -86: > deltaPi=~[1.81461e-08 -2.06906e-08 -1.38223e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.07737e-08. -86: > piNow=~[-0.00283288 -0.00023556 -0.000157366] -86: > errNow=~[-1.0842e-19 2.82271e-13 1.88571e-13] normNow=3.39464e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.15087e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.39464e-13. +86: : rhsActive=~[-0.00116573 -0.392125 0.915132] +86: : pi was=~[-0.00841801 0 -0.000331548 0.00077376 7.2041e-15 -3.16331e-14] +86: : piActive=~[-0.01 -0.000331548 0.00077376] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.7085e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00138085... +86: > NEWTON iter 1: errNorm=0.00138085(v) -> deltaNorm=0.00533256(pi) +86: > piActive=~[-0.01 -0.000331548 0.00077376] +86: > errActive=~[-0.00137184 6.20339e-05 -0.000144773] +86: > deltaPi=~[-0.00531945 -0.000147194 0.000343519] +86: DBG: Line search iter 1: back=1, prevNorm=0.00138085. +86: > piNow=~[-0.00468055 -0.000184354 0.000430241] +86: > errNow=~[2.1684e-19 -7.76968e-09 1.81327e-08] normNow=1.97272e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.42863e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.69212e-05 +86: > NEWTON iter 2: errNorm=1.97272e-08(v) -> deltaNorm=3.24005e-08(pi) +86: > piActive=~[-0.00468055 -0.000184354 0.000430241] +86: > errActive=~[2.1684e-19 -7.76968e-09 1.81327e-08] +86: > deltaPi=~[-2.36222e-08 -8.7342e-09 2.03837e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.97272e-08. +86: > piNow=~[-0.00468052 -0.000184345 0.000430221] +86: > errNow=~[0 -1.57431e-13 3.67409e-13] normNow=3.99717e-13 +86: DBG: Improvement rate now/prev at iter 2 is 2.02623e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.99717e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.335566,-0.224175] to ~[-0.335543,-0.223392] -86: DBG: Friction 1 rotated 0.0906262 deg, less than max 30 +86: slipVel 0 from ~[-0.392125,0.915132] to ~[-0.392198,0.916434] +86: DBG: Friction 0 rotated 0.0256119 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00283288 -0.00023556 -0.000157366] -86: : m_verrLeft=~[0.000899141 1.0842e-19 -0.336312 -1.1822 -0.335543 -0.223392] +86: : m_piActive=~[-0.00468052 -0.000184345 0.000430221] +86: : m_verrLeft=~[0 0.00162757 -0.392198 0.916434 -0.429923 1.8881] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000899141 pi*v=0 -86: DBG: 1: pi=-0.00283288 verr=1.0842e-19 pi*v=-3.07142e-22 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00283288 0 0 -0.00023556 -0.000157366] errNorm=3.39464e-13 -86: Postcompression verr=~[0.000899141 1.0842e-19 -0.336312 -1.1822 -0.335543 -0.223392] -86: impulse=~[0 -0.00283288 0 0 -0.00023556 -0.000157366] +86: DBG: 0: pi=-0.00468052 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00162757 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00468052 0 -0.000184345 0.000430221 0 0] errNorm=3.99717e-13 +86: Postcompression verr=~[0 0.00162757 -0.392198 0.916434 -0.429923 1.8881] +86: impulse=~[-0.00468052 0 -0.000184345 0.000430221 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00283288 0 0 -0.00023556 -0.000157366]-> du ~[0.000335408 0.00100189 0.00041282 -0.000576297 2.37279e-05 0.00044957 -0.00176177 0.00137887] -86: Now verr0=~[0.000899141 5.42101e-20 -0.336312 -1.1822 -0.335543 -0.223392] +86: Impact: imp ~[-0.00468052 0 -0.000184345 0.000430221 0 0]-> du ~[-0.000768515 0.00165105 -0.000795831 -0.000904824 -5.78596e-05 0.000813785 -0.00316572 0.00189097] +86: Now verr0=~[5.20417e-18 0.00162757 -0.392198 0.916434 -0.429923 1.8881] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000899141 5.42101e-20 -0.336312 -1.1822 -0.335543 -0.223392] -86: verrExt=~[-0.229574 -0.194998 0.0025856 -0.245083 0.00262363 -0.202582] -86: total verr=~[-0.228675 -0.194998 -0.333727 -1.42729 -0.332919 -0.425974] -86: DYN t=0.078: verrStart=~[0.000899141 5.42101e-20 -0.336312 -1.1822 -0.335543 -0.223392] -86: verrApplied=~[-0.229574 -0.194998 0.0025856 -0.245083 0.00262363 -0.202582] +86: verr0 =~[5.20417e-18 0.00162757 -0.392198 0.916434 -0.429923 1.8881] +86: verrExt=~[-0.475718 -0.376202 0.0123882 -0.517831 0.00725966 -0.38636] +86: total verr=~[-0.475718 -0.374575 -0.37981 0.398603 -0.422663 1.50174] +86: DYN t=0.133: verrStart=~[5.20417e-18 0.00162757 -0.392198 0.916434 -0.429923 1.8881] +86: verrApplied=~[-0.475718 -0.376202 0.0123882 -0.517831 0.00725966 -0.38636] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -43278,108 +54747,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000899141 5.42101e-20 -0.336312 -1.1822 -0.335543 -0.223392] -86: verrApplied=~[-0.229574 -0.194998 0.0025856 -0.245083 0.00262363 -0.202582] +86: verrLeft=~[5.20417e-18 0.00162757 -0.392198 0.916434 -0.429923 1.8881] +86: verrApplied=~[-0.475718 -0.376202 0.0123882 -0.517831 0.00725966 -0.38636] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.336312,-1.1822, mag=1.22911 -86: Participating contact 1 is Sliding; vel=-0.335543,-0.223392, mag=0.403104 +86: Participating contact 0 is Sliding; vel=-0.392198,0.916434, mag=0.996831 +86: Participating contact 1 is Sliding; vel=-0.429923,1.8881, mag=1.93643 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.336312,-1.1822, mag=1.22911 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.335543,-0.223392, mag=0.403104 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.392198,0.916434, mag=0.996831 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.429923,1.8881, mag=1.93643 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.228675; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.194998; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.475718; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.374575; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000899141 5.42101e-20 -0.336312 -1.1822 -0.335543 -0.223392] +86: : verrLeft was=~[5.20417e-18 0.00162757 -0.392198 0.916434 -0.429923 1.8881] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.229574 -0.194998 0.0025856 -0.245083 0.00262363 -0.202582] -86: : rhsActive=~[-0.228675 -0.333727 -1.42729 -0.194998 -0.332919 -0.425974] +86: : verrApplied was=~[-0.475718 -0.376202 0.0123882 -0.517831 0.00725966 -0.38636] +86: : rhsActive=~[-0.475718 -0.37981 0.398603 -0.374575 -0.422663 1.50174] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.81821e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.296072... -86: > NEWTON iter 1: errNorm=0.296072(v) -> deltaNorm=0.854985(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.11257e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.600297... +86: > NEWTON iter 1: errNorm=0.600297(v) -> deltaNorm=1.83379(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.225345 0.000336312 0.0011822 0.192033 0.000335543 0.000223392] -86: > deltaPi=~[0.622199 0.0172978 0.060805 0.579992 0.0491089 0.032695] -86: DBG: Line search iter 1: back=1, prevNorm=0.296072. -86: > piNow=~[-0.632199 -0.0172978 -0.060805 -0.589992 -0.0491089 -0.032695] -86: > errNow=~[0 7.79442e-07 2.73989e-06 2.77556e-17 7.24905e-07 4.82615e-07] normNow=2.97875e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.00609e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.22796e-09 -86: > NEWTON iter 2: errNorm=2.97875e-06(v) -> deltaNorm=4.08015e-06(pi) -86: > piActive=~[-0.632199 -0.0172978 -0.060805 -0.589992 -0.0491089 -0.032695] -86: > errActive=~[0 7.79442e-07 2.73989e-06 2.77556e-17 7.24905e-07 4.82615e-07] -86: > deltaPi=~[-2.44374e-06 5.67286e-07 1.99412e-06 -1.53257e-06 1.67074e-06 1.11232e-06] -86: DBG: Line search iter 1: back=1, prevNorm=2.97875e-06. -86: > piNow=~[-0.632197 -0.0172984 -0.060807 -0.58999 -0.0491106 -0.0326961] -86: > errNow=~[-2.77556e-17 -7.66748e-16 -2.69229e-15 -2.77556e-17 -5.48173e-16 -3.66027e-16] normNow=2.87617e-15 -86: DBG: Improvement rate now/prev at iter 2 is 9.65563e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.87617e-15. +86: > errActive=~[0.471831 0.000392198 -0.000916434 0.371116 0.000429923 -0.0018881] +86: > deltaPi=~[1.47141 0.0582834 -0.136188 1.07886 0.0241737 -0.106164] +86: DBG: Line search iter 1: back=1, prevNorm=0.600297. +86: > piNow=~[-1.48141 -0.0582834 0.136188 -1.08886 -0.0241737 0.106164] +86: > errNow=~[-1.11022e-16 2.14957e-06 -5.02282e-06 -1.11022e-16 1.72769e-06 -7.58756e-06] normNow=9.50817e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.58391e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.20041e-10 +86: > NEWTON iter 2: errNorm=9.50817e-06(v) -> deltaNorm=1.11628e-05(pi) +86: > piActive=~[-1.48141 -0.0582834 0.136188 -1.08886 -0.0241737 0.106164] +86: > errActive=~[-1.11022e-16 2.14957e-06 -5.02282e-06 -1.11022e-16 1.72769e-06 -7.58756e-06] +86: > deltaPi=~[6.53687e-06 2.4136e-06 -5.63976e-06 4.89142e-06 1.0008e-06 -4.39525e-06] +86: DBG: Line search iter 1: back=1, prevNorm=9.50817e-06. +86: > piNow=~[-1.48142 -0.0582858 0.136194 -1.08886 -0.0241747 0.106169] +86: > errNow=~[-5.55112e-17 4.30211e-16 -1.02696e-15 -5.55112e-17 6.66134e-16 -2.91434e-15] normNow=3.19108e-15 +86: DBG: Improvement rate now/prev at iter 2 is 3.35614e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.19108e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.336312,-1.1822] to ~[-0.329453,-1.1284] -86: DBG: Friction 0 rotated 0.395919 deg, less than max 30 -86: slipVel 1 from ~[-0.335543,-0.223392] to ~[-0.328691,-0.180313] -86: DBG: Friction 1 rotated 4.90597 deg, less than max 30 +86: slipVel 0 from ~[-0.392198,0.916434] to ~[-0.399156,0.932678] +86: DBG: Friction 0 rotated 0.000300973 deg, less than max 30 +86: slipVel 1 from ~[-0.429923,1.8881] to ~[-0.437222,1.91315] +86: DBG: Friction 1 rotated 0.0454626 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.632197 -0.0172984 -0.060807 -0.58999 -0.0491106 -0.0326961] -86: : m_verrLeft=~[2.77556e-17 2.77556e-17 -0.329453 -1.1284 -0.328691 -0.180313] +86: : m_piActive=~[-1.48142 -0.0582858 0.136194 -1.08886 -0.0241747 0.106169] +86: : m_verrLeft=~[5.55112e-17 5.55112e-17 -0.399156 0.932678 -0.437222 1.91315] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.632197 verr=2.77556e-17 pi*v=-1.7547e-17 -86: DBG: 1: pi=-0.58999 verr=2.77556e-17 pi*v=-1.63755e-17 -86: SP FINAL 1 intervals, piTotal=~[-0.632197 -0.58999 -0.0172984 -0.060807 -0.0491106 -0.0326961] errNorm=2.87617e-15 +86: DBG: 0: pi=-1.48142 verr=5.55112e-17 pi*v=-8.22354e-17 +86: DBG: 1: pi=-1.08886 verr=5.55112e-17 pi*v=-6.0444e-17 +86: SP FINAL 1 intervals, piTotal=~[-1.48142 -1.08886 -0.0582858 0.136194 -0.0241747 0.106169] errNorm=3.19108e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.336312 -1.1822, |slipV|=1.22911 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.392198 0.916434, |slipV|=0.996831 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.335543 -0.223392, |slipV|=0.403104 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.429923 1.8881, |slipV|=1.93643 86: ------------------------------ 86: -86: dynamics impulse=~[-0.632197 -0.58999 -0.0172984 -0.060807 -0.0491106 -0.0326961] -86: updated verrStart=~[2.77556e-17 2.77556e-17 -0.329453 -1.1284 -0.328691 -0.180313] +86: dynamics impulse=~[-1.48142 -1.08886 -0.0582858 0.136194 -0.0241747 0.106169] +86: updated verrStart=~[5.55112e-17 5.55112e-17 -0.399156 0.932678 -0.437222 1.91315] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.102927 -0.00993074 0 0 0 0] +86: posVerr=~[0.317762 0.561886 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.239498 0.0935294 -0.0057354 0.305669 -0.00590192 0.11884] -86: [0.0935294 0.202953 0.00608828 0.120227 0.00621059 0.257143] -86: [-0.0057354 0.00608828 0.0498801 0.0350045 0.0498255 -0.034576] -86: [0.305669 0.120227 0.0350045 0.460796 0.034721 0.133839] -86: [-0.00590192 0.00621059 0.0498255 0.034721 0.0497714 -0.0343494] -86: [0.11884 0.257143 -0.034576 0.133839 -0.0343494 0.396521] +86: [0.278752 0.109995 -0.0156095 0.316352 -0.00797128 0.120674] +86: [0.109995 0.2359 -0.00127603 0.12262 -0.0068932 0.266511] +86: [-0.0156095 -0.00127603 0.0479155 0.0212978 0.0502241 -0.038255] +86: [0.316352 0.12262 0.0212978 0.422989 0.0331865 0.117988] +86: [-0.00797128 -0.0068932 0.0502241 0.0331865 0.0533621 -0.0476466] +86: [0.120674 0.266511 -0.038255 0.117988 -0.0476466 0.358971] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.397848 rank=2 -86: rhs=~[0.102927 -0.00993074 0 0 0 0] +86: rcond(A+D)=0.393257 rank=2 +86: rhs=~[0.317762 0.561886 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.547382 -0.301188] -86: -> pi=~[0.547382 -0.301188 0 0 0 0] -86: resid active=~[0 -5.20417e-18] -86: resid=~[0 -5.20417e-18 -0.00497317 0.131107 -0.00510116 -0.0123973] +86: -> piActive=~[0.245175 2.26756] +86: -> pi=~[0.245175 2.26756 0 0 0 0] +86: resid active=~[0 0] +86: resid=~[0 0 -0.00672054 0.35561 -0.0175851 0.633916] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[1.66154e-16 1.46096e-16 -0.329453 -1.1284 -0.328691 -0.180313] -86: perr=~[0.000102927 -9.93074e-06 -2.22045e-16] -86: END OF STEP (0.078,0.079): -86: verr=~[0.000571333 -0.000571333 -0.329003 -1.1284 -0.329141 -0.180314] -86: perr=~[0.000103213 -1.02164e-05 0] +86: verr=~[-1.06685e-16 -1.34441e-16 -0.399156 0.932678 -0.437222 1.91315] +86: perr=~[0.000317762 0.000561886 -1.11022e-16] +86: END OF STEP (0.133,0.134): +86: verr=~[-0.0011959 0.0011959 -0.398675 0.932699 -0.437703 1.91313] +86: perr=~[0.000317164 0.000562484 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -43387,16 +54856,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.17539 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.375296 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000571333 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.01433 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.96256 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.0011959 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000571333 -0.000571333 -0.329003 -1.1284 -0.329141 -0.180314] -86: IMP t=0.079 verr=~[0.000571333 -0.000571333 -0.329003 -1.1284 -0.329141 -0.180314] +86: verr=~[-0.0011959 0.0011959 -0.398675 0.932699 -0.437703 1.91313] +86: IMP t=0.134 verr=~[-0.0011959 0.0011959 -0.398675 0.932699 -0.437703 1.91313] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -43408,115 +54877,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000571333 -0.000571333 -0.329003 -1.1284 -0.329141 -0.180314] +86: verrLeft=~[-0.0011959 0.0011959 -0.398675 0.932699 -0.437703 1.91313] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.329003,-1.1284, mag=1.17539 -86: Participating contact 1 is Sliding; vel=-0.329141,-0.180314, mag=0.375296 +86: Participating contact 0 is Sliding; vel=-0.398675,0.932699, mag=1.01433 +86: Participating contact 1 is Sliding; vel=-0.437703,1.91313, mag=1.96256 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.329003,-1.1284, mag=1.17539 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.329141,-0.180314, mag=0.375296 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.398675,0.932699, mag=1.01433 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.437703,1.91313, mag=1.96256 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000571333; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000571333; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.0011959; guess pi=-0.01 +86: DBG: active normal 3 has v=0.0011959; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000571333 -0.000571333 -0.329003 -1.1284 -0.329141 -0.180314] +86: : verrLeft was=~[-0.0011959 0.0011959 -0.398675 0.932699 -0.437703 1.91313] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000571333 -0.329003 -1.1284 -0.000571333 -0.329141 -0.180314] +86: : rhsActive=~[-0.0011959 -0.398675 0.932699 0.0011959 -0.437703 1.91313] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.59593e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00110124... -86: > NEWTON iter 1: errNorm=0.00110124(v) -> deltaNorm=0.00801228(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000891256 0 0 -0.000526822 0.000329141 0.000180314] -86: > deltaPi=~[0.00577916 6.02553e-09 2.06661e-08 -0.00553156 0.000391908 0.000214699] -86: DBG: Line search iter 1: back=1, prevNorm=0.00110124. -86: > piNow=~[0.00422084 -6.02553e-09 -2.06661e-08 -0.00446844 -0.000391908 -0.000214699] -86: > errNow=~[3.25261e-19 -7.08234e-09 -2.42907e-08 1.0842e-19 -6.78175e-09 -3.71525e-09] normNow=2.64574e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.40251e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.55399e-05 -86: > NEWTON iter 2: errNorm=2.64574e-08(v) -> deltaNorm=4.06046e-08(pi) -86: > piActive=~[0.00422084 -6.02553e-09 -2.06661e-08 -0.00446844 -0.000391908 -0.000214699] -86: > errActive=~[3.25261e-19 -7.08234e-09 -2.42907e-08 1.0842e-19 -6.78175e-09 -3.71525e-09] -86: > deltaPi=~[2.53406e-08 -6.02538e-09 -2.06656e-08 1.30698e-08 -1.69244e-08 -9.2717e-09] -86: DBG: Line search iter 1: back=1, prevNorm=2.64574e-08. -86: > piNow=~[0.00422082 -1.48226e-13 -5.08381e-13 -0.00446845 -0.000391891 -0.00021469] -86: > errNow=~[0 -1.74223e-13 -5.97545e-13 -1.0842e-19 8.02153e-14 4.39444e-14] normNow=6.2911e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.37782e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.2911e-13. -86: DBG: Worst offender is normal contact 0 err=0.00422082 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.22894e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00113498... +86: > NEWTON iter 1: errNorm=0.00113498(v) -> deltaNorm=0.00216788(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000503969 0.000398675 -0.000932699 7.29816e-05 0 0] +86: > deltaPi=~[-0.00143281 0.000336729 -0.000787776 0.00138304 1.14895e-09 -5.02188e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00113498. +86: > piNow=~[-0.00856719 -0.000336729 0.000787776 0.00861696 -1.14895e-09 5.02188e-09] +86: > errNow=~[4.33681e-19 -2.12774e-09 4.97783e-09 0 -2.25489e-09 9.85573e-09] normNow=1.14685e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.01046e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.11094e-05 +86: > NEWTON iter 2: errNorm=1.14685e-08(v) -> deltaNorm=1.15506e-08(pi) +86: > piActive=~[-0.00856719 -0.000336729 0.000787776 0.00861696 -1.14895e-09 5.02188e-09] +86: > errActive=~[4.33681e-19 -2.12774e-09 4.97783e-09 0 -2.25489e-09 9.85573e-09] +86: > deltaPi=~[-6.32623e-09 -2.34631e-09 5.48918e-09 -5.58739e-09 -1.14896e-09 5.02191e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.14685e-08. +86: > piNow=~[-0.00856719 -0.000336726 0.000787771 0.00861697 6.25104e-15 -2.73222e-14] +86: > errNow=~[-6.50521e-19 -1.27991e-14 2.99435e-14 -2.1684e-19 1.2268e-14 -5.36214e-14] normNow=6.39233e-14 +86: DBG: Improvement rate now/prev at iter 2 is 5.57383e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.39233e-14. +86: DBG: Worst offender is normal contact 1 err=0.00861697 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.329003,-1.1284, mag=1.17539 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.329141,-0.180314, mag=0.375296 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.398675,0.932699, mag=1.01433 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.437703,1.91313, mag=1.96256 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000571333; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.0011959; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000571333 -0.000571333 -0.329003 -1.1284 -0.329141 -0.180314] +86: : verrLeft was=~[-0.0011959 0.0011959 -0.398675 0.932699 -0.437703 1.91313] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000571333 -0.329141 -0.180314] -86: : pi was=~[0 -0.00446845 -1.48226e-13 -5.08381e-13 -0.000391891 -0.00021469] -86: : piActive=~[-0.01 -0.000391891 -0.00021469] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.39793e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00152725... -86: > NEWTON iter 1: errNorm=0.00152725(v) -> deltaNorm=0.00735199(pi) -86: > piActive=~[-0.01 -0.000391891 -0.00021469] -86: > errActive=~[-0.00151308 0.000182066 9.97414e-05] -86: > deltaPi=~[-0.00734974 -0.000159435 -8.73433e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.00152725. -86: > piNow=~[-0.00265026 -0.000232456 -0.000127347] -86: > errNow=~[0 -9.01085e-09 -4.93642e-09] normNow=1.02744e-08 -86: DBG: Improvement rate now/prev at iter 1 is 6.7274e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.98732e-05 -86: > NEWTON iter 2: errNorm=1.02744e-08(v) -> deltaNorm=3.05096e-08(pi) -86: > piActive=~[-0.00265026 -0.000232456 -0.000127347] -86: > errActive=~[0 -9.01085e-09 -4.93642e-09] -86: > deltaPi=~[1.63798e-08 -2.25742e-08 -1.23669e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.02744e-08. -86: > piNow=~[-0.00265027 -0.000232434 -0.000127334] -86: > errNow=~[0 2.85486e-13 1.56398e-13] normNow=3.25519e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.16825e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.25519e-13. +86: : rhsActive=~[-0.0011959 -0.398675 0.932699] +86: : pi was=~[-0.00856719 0 -0.000336726 0.000787771 6.25104e-15 -2.73222e-14] +86: : piActive=~[-0.01 -0.000336726 0.000787771] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.77826e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00136133... +86: > NEWTON iter 1: errNorm=0.00136133(v) -> deltaNorm=0.00524316(pi) +86: > piActive=~[-0.01 -0.000336726 0.000787771] +86: > errActive=~[-0.00135355 5.71226e-05 -0.000133638] +86: > deltaPi=~[-0.00522939 -0.000149214 0.000349086] +86: DBG: Line search iter 1: back=1, prevNorm=0.00136133. +86: > piNow=~[-0.00477061 -0.000187512 0.000438685] +86: > errNow=~[8.67362e-19 -7.76572e-09 1.81679e-08] normNow=1.9758e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.45137e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.65951e-05 +86: > NEWTON iter 2: errNorm=1.9758e-08(v) -> deltaNorm=3.17701e-08(pi) +86: > piActive=~[-0.00477061 -0.000187512 0.000438685] +86: > errActive=~[8.67362e-19 -7.76572e-09 1.81679e-08] +86: > deltaPi=~[-2.31197e-08 -8.56455e-09 2.00367e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.9758e-08. +86: > piNow=~[-0.00477058 -0.000187504 0.000438665] +86: > errNow=~[0 -1.508e-13 3.52795e-13] normNow=3.83673e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.94186e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.83673e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.329141,-0.180314] to ~[-0.329118,-0.179589] -86: DBG: Friction 1 rotated 0.0953922 deg, less than max 30 +86: slipVel 0 from ~[-0.398675,0.932699] to ~[-0.398751,0.934029] +86: DBG: Friction 0 rotated 0.0255469 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00265027 -0.000232434 -0.000127334] -86: : m_verrLeft=~[0.000831086 0 -0.32898 -1.12806 -0.329118 -0.179589] +86: : m_piActive=~[-0.00477058 -0.000187504 0.000438665] +86: : m_verrLeft=~[0 0.00166879 -0.398751 0.934029 -0.437747 1.91364] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000831086 pi*v=0 -86: DBG: 1: pi=-0.00265027 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00265027 0 0 -0.000232434 -0.000127334] errNorm=3.25519e-13 -86: Postcompression verr=~[0.000831086 0 -0.32898 -1.12806 -0.329118 -0.179589] -86: impulse=~[0 -0.00265027 0 0 -0.000232434 -0.000127334] +86: DBG: 0: pi=-0.00477058 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00166879 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00477058 0 -0.000187504 0.000438665 0 0] errNorm=3.83673e-13 +86: Postcompression verr=~[0 0.00166879 -0.398751 0.934029 -0.437747 1.91364] +86: impulse=~[-0.00477058 0 -0.000187504 0.000438665 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00265027 0 0 -0.000232434 -0.000127334]-> du ~[0.000311446 0.000927304 0.000381805 -0.000533585 2.33515e-05 0.000415543 -0.00163047 0.00127751] -86: Now verr0=~[0.000831086 1.0842e-19 -0.32898 -1.12806 -0.329118 -0.179589] +86: Impact: imp ~[-0.00477058 0 -0.000187504 0.000438665 0 0]-> du ~[-0.000790768 0.00168776 -0.000813738 -0.000923496 -5.98662e-05 0.000834395 -0.00323801 0.001933] +86: Now verr0=~[4.77049e-18 0.00166879 -0.398751 0.934029 -0.437747 1.91364] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000831086 1.0842e-19 -0.32898 -1.12806 -0.329118 -0.179589] -86: verrExt=~[-0.171374 -0.151169 0.00456911 -0.164932 0.00456864 -0.145859] -86: total verr=~[-0.170543 -0.151169 -0.324411 -1.29299 -0.324549 -0.325448] -86: DYN t=0.079: verrStart=~[0.000831086 1.0842e-19 -0.32898 -1.12806 -0.329118 -0.179589] -86: verrApplied=~[-0.171374 -0.151169 0.00456911 -0.164932 0.00456864 -0.145859] +86: verr0 =~[4.77049e-18 0.00166879 -0.398751 0.934029 -0.437747 1.91364] +86: verrExt=~[-0.45492 -0.360795 0.0128697 -0.490213 0.00798082 -0.367979] +86: total verr=~[-0.45492 -0.359127 -0.385881 0.443816 -0.429766 1.54566] +86: DYN t=0.134: verrStart=~[4.77049e-18 0.00166879 -0.398751 0.934029 -0.437747 1.91364] +86: verrApplied=~[-0.45492 -0.360795 0.0128697 -0.490213 0.00798082 -0.367979] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -43528,108 +54997,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000831086 1.0842e-19 -0.32898 -1.12806 -0.329118 -0.179589] -86: verrApplied=~[-0.171374 -0.151169 0.00456911 -0.164932 0.00456864 -0.145859] +86: verrLeft=~[4.77049e-18 0.00166879 -0.398751 0.934029 -0.437747 1.91364] +86: verrApplied=~[-0.45492 -0.360795 0.0128697 -0.490213 0.00798082 -0.367979] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.32898,-1.12806, mag=1.17505 -86: Participating contact 1 is Sliding; vel=-0.329118,-0.179589, mag=0.374928 +86: Participating contact 0 is Sliding; vel=-0.398751,0.934029, mag=1.01558 +86: Participating contact 1 is Sliding; vel=-0.437747,1.91364, mag=1.96307 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.32898,-1.12806, mag=1.17505 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.329118,-0.179589, mag=0.374928 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.398751,0.934029, mag=1.01558 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.437747,1.91364, mag=1.96307 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.170543; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.151169; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.45492; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.359127; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000831086 1.0842e-19 -0.32898 -1.12806 -0.329118 -0.179589] +86: : verrLeft was=~[4.77049e-18 0.00166879 -0.398751 0.934029 -0.437747 1.91364] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.171374 -0.151169 0.00456911 -0.164932 0.00456864 -0.145859] -86: : rhsActive=~[-0.170543 -0.324411 -1.29299 -0.151169 -0.324549 -0.325448] +86: : verrApplied was=~[-0.45492 -0.360795 0.0128697 -0.490213 0.00798082 -0.367979] +86: : rhsActive=~[-0.45492 -0.385881 0.443816 -0.359127 -0.429766 1.54566] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.59433e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.223456... -86: > NEWTON iter 1: errNorm=0.223456(v) -> deltaNorm=0.653228(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.23278e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.574371... +86: > NEWTON iter 1: errNorm=0.574371(v) -> deltaNorm=1.74393(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.167223 0.00032898 0.00112806 0.148214 0.000329118 0.000179589] -86: > deltaPi=~[0.451194 0.0129116 0.0442734 0.467678 0.0419299 0.0228798] -86: DBG: Line search iter 1: back=1, prevNorm=0.223456. -86: > piNow=~[-0.461194 -0.0129116 -0.0442734 -0.477678 -0.0419299 -0.0228798] -86: > errNow=~[0 5.52897e-07 1.89586e-06 0 5.73337e-07 3.12852e-07] normNow=2.08004e-06 -86: DBG: Improvement rate now/prev at iter 1 is 9.30852e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.14385e-09 -86: > NEWTON iter 2: errNorm=2.08004e-06(v) -> deltaNorm=3.03781e-06(pi) -86: > piActive=~[-0.461194 -0.0129116 -0.0442734 -0.477678 -0.0419299 -0.0228798] -86: > errActive=~[0 5.52897e-07 1.89586e-06 0 5.73337e-07 3.12852e-07] -86: > deltaPi=~[-1.76015e-06 4.2125e-07 1.44445e-06 -1.09608e-06 1.43298e-06 7.81931e-07] -86: DBG: Line search iter 1: back=1, prevNorm=2.08004e-06. -86: > piNow=~[-0.461192 -0.012912 -0.0442748 -0.477677 -0.0419313 -0.0228806] -86: > errNow=~[-2.77556e-17 -1.01481e-15 -3.48332e-15 0 -5.89806e-16 -3.22659e-16] normNow=3.69001e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.774e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.69001e-15. +86: > errActive=~[0.451011 0.000398751 -0.000934029 0.355649 0.000437747 -0.00191364] +86: > deltaPi=~[1.39571 0.0551906 -0.129278 1.03087 0.0232096 -0.101463] +86: DBG: Line search iter 1: back=1, prevNorm=0.574371. +86: > piNow=~[-1.40571 -0.0551906 0.129278 -1.04087 -0.0232096 0.101463] +86: > errNow=~[-2.22045e-16 2.07304e-06 -4.85587e-06 -2.22045e-16 1.68089e-06 -7.34814e-06] normNow=9.20313e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.6023e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.82745e-10 +86: > NEWTON iter 2: errNorm=9.20313e-06(v) -> deltaNorm=1.05878e-05(pi) +86: > piActive=~[-1.40571 -0.0551906 0.129278 -1.04087 -0.0232096 0.101463] +86: > errActive=~[-2.22045e-16 2.07304e-06 -4.85587e-06 -2.22045e-16 1.68089e-06 -7.34814e-06] +86: > deltaPi=~[6.17218e-06 2.28357e-06 -5.34901e-06 4.65245e-06 9.60001e-07 -4.19672e-06] +86: DBG: Line search iter 1: back=1, prevNorm=9.20313e-06. +86: > piNow=~[-1.40572 -0.0551929 0.129283 -1.04088 -0.0232106 0.101467] +86: > errNow=~[5.55112e-17 4.71845e-16 -1.08247e-15 0 7.00828e-16 -3.05311e-15] normNow=3.34815e-15 +86: DBG: Improvement rate now/prev at iter 2 is 3.63806e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.34815e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.32898,-1.12806] to ~[-0.320926,-1.06938] -86: DBG: Friction 0 rotated 0.446274 deg, less than max 30 -86: slipVel 1 from ~[-0.329118,-0.179589] to ~[-0.321061,-0.134718] -86: DBG: Friction 1 rotated 5.8569 deg, less than max 30 +86: slipVel 0 from ~[-0.398751,0.934029] to ~[-0.404783,0.952169] +86: DBG: Friction 0 rotated 0.0872051 deg, less than max 30 +86: slipVel 1 from ~[-0.437747,1.91364] to ~[-0.444041,1.93838] +86: DBG: Friction 1 rotated 0.0178381 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.461192 -0.012912 -0.0442748 -0.477677 -0.0419313 -0.0228806] -86: : m_verrLeft=~[2.77556e-17 0 -0.320926 -1.06938 -0.321061 -0.134718] +86: : m_piActive=~[-1.40572 -0.0551929 0.129283 -1.04088 -0.0232106 0.101467] +86: : m_verrLeft=~[-5.55112e-17 0 -0.404783 0.952169 -0.444041 1.93838] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.461192 verr=2.77556e-17 pi*v=-1.28006e-17 -86: DBG: 1: pi=-0.477677 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.461192 -0.477677 -0.012912 -0.0442748 -0.0419313 -0.0228806] errNorm=3.69001e-15 +86: DBG: 0: pi=-1.40572 verr=-5.55112e-17 pi*v=7.80329e-17 +86: DBG: 1: pi=-1.04088 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-1.40572 -1.04088 -0.0551929 0.129283 -0.0232106 0.101467] errNorm=3.34815e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.32898 -1.12806, |slipV|=1.17505 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.398751 0.934029, |slipV|=1.01558 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.329118 -0.179589, |slipV|=0.374928 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.437747 1.91364, |slipV|=1.96307 86: ------------------------------ 86: -86: dynamics impulse=~[-0.461192 -0.477677 -0.012912 -0.0442748 -0.0419313 -0.0228806] -86: updated verrStart=~[2.77556e-17 0 -0.320926 -1.06938 -0.321061 -0.134718] +86: dynamics impulse=~[-1.40572 -1.04088 -0.0551929 0.129283 -0.0232106 0.101467] +86: updated verrStart=~[-5.55112e-17 0 -0.404783 0.952169 -0.444041 1.93838] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.103213 -0.0102164 0 0 0 0] +86: posVerr=~[0.317164 0.562484 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.239121 0.0928621 -0.00625722 0.305698 -0.00624668 0.118547] -86: [0.0928621 0.202678 0.00610784 0.119831 0.00610036 0.257309] -86: [-0.00625722 0.00610784 0.0496839 0.0342039 0.0496953 -0.0343721] -86: [0.305698 0.119831 0.0342039 0.461596 0.0342303 0.134192] -86: [-0.00624668 0.00610036 0.0496953 0.0342303 0.0497066 -0.0343945] -86: [0.118547 0.257309 -0.0343721 0.134192 -0.0343945 0.397335] +86: [0.280437 0.11045 -0.0159233 0.31678 -0.00807301 0.120618] +86: [0.11045 0.237338 -0.00144434 0.122528 -0.00722413 0.266942] +86: [-0.0159233 -0.00144434 0.0478355 0.0208645 0.0501839 -0.0382186] +86: [0.31678 0.122528 0.0208645 0.421471 0.0330152 0.117427] +86: [-0.00807301 -0.00722413 0.0501839 0.0330152 0.0534013 -0.0478175] +86: [0.120618 0.266942 -0.0382186 0.117427 -0.0478175 0.357662] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.400169 rank=2 -86: rhs=~[0.103213 -0.0102164 0 0 0 0] +86: rcond(A+D)=0.394042 rank=2 +86: rhs=~[0.317164 0.562484 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.548872 -0.301887] -86: -> pi=~[0.548872 -0.301887 0 0 0 0] -86: resid active=~[-4.16334e-17 -1.38778e-17] -86: resid=~[-4.16334e-17 -1.38778e-17 -0.0052783 0.131614 -0.00527025 -0.0126113] +86: -> piActive=~[0.24189 2.2574] +86: -> pi=~[0.24189 2.2574 0 0 0 0] +86: resid active=~[-1.66533e-16 0] +86: resid=~[-1.66533e-16 0 -0.00711213 0.353222 -0.0182606 0.631773] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[6.26533e-17 6.78846e-17 -0.320926 -1.06938 -0.321061 -0.134718] -86: perr=~[0.000103213 -1.02164e-05 0] -86: END OF STEP (0.079,0.08): -86: verr=~[0.00052154 -0.00052154 -0.320489 -1.06938 -0.321498 -0.134718] -86: perr=~[0.000103474 -1.04772e-05 0] +86: verr=~[2.1066e-16 1.96783e-16 -0.404783 0.952169 -0.444041 1.93838] +86: perr=~[0.000317164 0.000562484 0] +86: END OF STEP (0.134,0.135): +86: verr=~[-0.00122467 0.00122467 -0.404296 0.95219 -0.444528 1.93836] +86: perr=~[0.000316552 0.000563097 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -43637,16 +55106,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.11637 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.348583 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.00052154 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.03447 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=1.98868 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00122467 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.00052154 -0.00052154 -0.320489 -1.06938 -0.321498 -0.134718] -86: IMP t=0.08 verr=~[0.00052154 -0.00052154 -0.320489 -1.06938 -0.321498 -0.134718] +86: verr=~[-0.00122467 0.00122467 -0.404296 0.95219 -0.444528 1.93836] +86: IMP t=0.135 verr=~[-0.00122467 0.00122467 -0.404296 0.95219 -0.444528 1.93836] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -43658,115 +55127,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00052154 -0.00052154 -0.320489 -1.06938 -0.321498 -0.134718] +86: verrLeft=~[-0.00122467 0.00122467 -0.404296 0.95219 -0.444528 1.93836] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.320489,-1.06938, mag=1.11637 -86: Participating contact 1 is Sliding; vel=-0.321498,-0.134718, mag=0.348583 +86: Participating contact 0 is Sliding; vel=-0.404296,0.95219, mag=1.03447 +86: Participating contact 1 is Sliding; vel=-0.444528,1.93836, mag=1.98868 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.320489,-1.06938, mag=1.11637 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.321498,-0.134718, mag=0.348583 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.404296,0.95219, mag=1.03447 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.444528,1.93836, mag=1.98868 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.00052154; guess pi=0.01 -86: DBG: active normal 3 has v=-0.00052154; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00122467; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00122467; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.00052154 -0.00052154 -0.320489 -1.06938 -0.321498 -0.134718] +86: : verrLeft was=~[-0.00122467 0.00122467 -0.404296 0.95219 -0.444528 1.93836] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.00052154 -0.320489 -1.06938 -0.00052154 -0.321498 -0.134718] +86: : rhsActive=~[-0.00122467 -0.404296 0.95219 0.00122467 -0.444528 1.93836] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.35635e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00116174... -86: > NEWTON iter 1: errNorm=0.00116174(v) -> deltaNorm=0.00852991(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000943996 0 0 -0.000580509 0.000321498 0.000134718] -86: > deltaPi=~[0.00615893 6.58599e-09 2.19756e-08 -0.00588708 0.000379355 0.000158962] -86: DBG: Line search iter 1: back=1, prevNorm=0.00116174. -86: > piNow=~[0.00384107 -6.58599e-09 -2.19756e-08 -0.00411292 -0.000379355 -0.000158962] -86: > errNow=~[-1.0842e-18 -7.35242e-09 -2.45329e-08 -2.1684e-19 -7.05001e-09 -2.95419e-09] normNow=2.67274e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.30064e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.91928e-05 -86: > NEWTON iter 2: errNorm=2.67274e-08(v) -> deltaNorm=4.26198e-08(pi) -86: > piActive=~[0.00384107 -6.58599e-09 -2.19756e-08 -0.00411292 -0.000379355 -0.000158962] -86: > errActive=~[-1.0842e-18 -7.35242e-09 -2.45329e-08 -2.1684e-19 -7.05001e-09 -2.95419e-09] -86: > deltaPi=~[2.68801e-08 -6.58579e-09 -2.19749e-08 1.16904e-08 -1.91468e-08 -8.02315e-09] -86: DBG: Line search iter 1: back=1, prevNorm=2.67274e-08. -86: > piNow=~[0.00384104 -1.94698e-13 -6.49653e-13 -0.00411294 -0.000379336 -0.000158954] -86: > errNow=~[0 -2.17356e-13 -7.25255e-13 0 8.27141e-14 3.466e-14] normNow=7.62418e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.85257e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.62418e-13. -86: DBG: Worst offender is normal contact 0 err=0.00384104 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.34984e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00114501... +86: > NEWTON iter 1: errNorm=0.00114501(v) -> deltaNorm=0.00199642(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000487814 0.000404296 -0.00095219 5.43471e-05 0 0] +86: > deltaPi=~[-0.00129734 0.000340124 -0.000801054 0.00124307 1.035e-09 -4.51311e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00114501. +86: > piNow=~[-0.00870266 -0.000340124 0.000801054 0.00875693 -1.035e-09 4.51311e-09] +86: > errNow=~[8.67362e-19 -1.95373e-09 4.60139e-09 0 -2.05828e-09 8.97513e-09] normNow=1.04776e-08 +86: DBG: Improvement rate now/prev at iter 1 is 9.15067e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.09174e-05 +86: > NEWTON iter 2: errNorm=1.04776e-08(v) -> deltaNorm=1.04012e-08(pi) +86: > piActive=~[-0.00870266 -0.000340124 0.000801054 0.00875693 -1.035e-09 4.51311e-09] +86: > errActive=~[8.67362e-19 -1.95373e-09 4.60139e-09 0 -2.05828e-09 8.97513e-09] +86: > deltaPi=~[-5.70555e-09 -2.11161e-09 4.97323e-09 -4.99991e-09 -1.03501e-09 4.51314e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.04776e-08. +86: > piNow=~[-0.00870265 -0.000340122 0.000801049 0.00875694 5.42862e-15 -2.36715e-14] +86: > errNow=~[-8.67362e-19 -1.13445e-14 2.67185e-14 -4.33681e-19 1.07958e-14 -4.70749e-14] normNow=5.63487e-14 +86: DBG: Improvement rate now/prev at iter 2 is 5.37803e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.63487e-14. +86: DBG: Worst offender is normal contact 1 err=0.00875694 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.320489,-1.06938, mag=1.11637 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.321498,-0.134718, mag=0.348583 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.404296,0.95219, mag=1.03447 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.444528,1.93836, mag=1.98868 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.00052154; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00122467; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00052154 -0.00052154 -0.320489 -1.06938 -0.321498 -0.134718] +86: : verrLeft was=~[-0.00122467 0.00122467 -0.404296 0.95219 -0.444528 1.93836] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.00052154 -0.321498 -0.134718] -86: : pi was=~[0 -0.00411294 -1.94698e-13 -6.49653e-13 -0.000379336 -0.000158954] -86: : piActive=~[-0.01 -0.000379336 -0.000158954] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.29843e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00155954... -86: > NEWTON iter 1: errNorm=0.00155954(v) -> deltaNorm=0.00755255(pi) -86: > piActive=~[-0.01 -0.000379336 -0.000158954] -86: > errActive=~[-0.00154598 0.000189268 7.93096e-05] -86: > deltaPi=~[-0.00755072 -0.000153413 -6.42853e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.00155954. -86: > piNow=~[-0.00244928 -0.000225923 -9.46692e-05] -86: > errNow=~[3.25261e-19 -9.0423e-09 -3.78902e-09] normNow=9.80407e-09 -86: DBG: Improvement rate now/prev at iter 1 is 6.28652e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.16064e-05 -86: > NEWTON iter 2: errNorm=9.80407e-09(v) -> deltaNorm=3.01238e-08(pi) -86: > piActive=~[-0.00244928 -0.000225923 -9.46692e-05] -86: > errActive=~[3.25261e-19 -9.0423e-09 -3.78902e-09] -86: > deltaPi=~[1.38732e-08 -2.46614e-08 -1.0334e-08] -86: DBG: Line search iter 1: back=1, prevNorm=9.80407e-09. -86: > piNow=~[-0.00244929 -0.000225898 -9.46589e-05] -86: > errNow=~[0 2.7646e-13 1.15846e-13] normNow=2.99751e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.05741e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.99751e-13. +86: : rhsActive=~[-0.00122467 -0.404296 0.95219] +86: : pi was=~[-0.00870265 0 -0.000340122 0.000801049 5.42862e-15 -2.36715e-14] +86: : piActive=~[-0.01 -0.000340122 0.000801049] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.85326e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00134401... +86: > NEWTON iter 1: errNorm=0.00134401(v) -> deltaNorm=0.00516083(pi) +86: > piActive=~[-0.01 -0.000340122 0.000801049] +86: > errActive=~[-0.0013373 5.24512e-05 -0.000123532] +86: > deltaPi=~[-0.00514646 -0.000150426 0.00035428] +86: DBG: Line search iter 1: back=1, prevNorm=0.00134401. +86: > piNow=~[-0.00485354 -0.000189696 0.000446769] +86: > errNow=~[-2.1684e-19 -7.75032e-09 1.82534e-08] normNow=1.98306e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.47548e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.63513e-05 +86: > NEWTON iter 2: errNorm=1.98306e-08(v) -> deltaNorm=3.11958e-08(pi) +86: > piActive=~[-0.00485354 -0.000189696 0.000446769] +86: > errActive=~[-2.1684e-19 -7.75032e-09 1.82534e-08] +86: > deltaPi=~[-2.26644e-08 -8.37773e-09 1.97311e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.98306e-08. +86: > piNow=~[-0.00485352 -0.000189688 0.000446749] +86: > errNow=~[2.1684e-19 -1.44837e-13 3.41118e-13] normNow=3.70593e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.86879e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.70593e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.321498,-0.134718] to ~[-0.321476,-0.134058] -86: DBG: Friction 1 rotated 0.0987741 deg, less than max 30 +86: slipVel 0 from ~[-0.404296,0.95219] to ~[-0.404375,0.953546] +86: DBG: Friction 0 rotated 0.0252962 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00244929 -0.000225898 -9.46589e-05] -86: : m_verrLeft=~[0.000757139 0 -0.320466 -1.06907 -0.321476 -0.134058] +86: : m_piActive=~[-0.00485352 -0.000189688 0.000446749] +86: : m_verrLeft=~[-2.1684e-19 0.00170797 -0.404375 0.953546 -0.444572 1.93889] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000757139 pi*v=0 -86: DBG: 1: pi=-0.00244929 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00244929 0 0 -0.000225898 -9.46589e-05] errNorm=2.99751e-13 -86: Postcompression verr=~[0.000757139 0 -0.320466 -1.06907 -0.321476 -0.134058] -86: impulse=~[0 -0.00244929 0 0 -0.000225898 -9.46589e-05] +86: DBG: 0: pi=-0.00485352 verr=-2.1684e-19 pi*v=1.05244e-21 +86: DBG: 1: pi=0 verr=0.00170797 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00485352 0 -0.000189688 0.000446749 0 0] errNorm=3.70593e-13 +86: Postcompression verr=~[-2.1684e-19 0.00170797 -0.404375 0.953546 -0.444572 1.93889] +86: impulse=~[-0.00485352 0 -0.000189688 0.000446749 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00244929 0 0 -0.000225898 -9.46589e-05]-> du ~[0.000285028 0.00084569 0.000347508 -0.000486722 2.2794e-05 0.00037857 -0.00148679 0.00116571] -86: Now verr0=~[0.000757139 1.0842e-19 -0.320466 -1.06907 -0.321476 -0.134058] +86: Impact: imp ~[-0.00485352 0 -0.000189688 0.000446749 0 0]-> du ~[-0.000812235 0.00172209 -0.00083044 -0.000940772 -6.18717e-05 0.000853987 -0.00330588 0.00197244] +86: Now verr0=~[-1.50704e-17 0.00170797 -0.404375 0.953546 -0.444572 1.93889] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000757139 1.0842e-19 -0.320466 -1.06907 -0.321476 -0.134058] -86: verrExt=~[-0.116302 -0.109731 0.00614846 -0.0887878 0.00615234 -0.0916914] -86: total verr=~[-0.115544 -0.109731 -0.314318 -1.15786 -0.315323 -0.225749] -86: DYN t=0.08: verrStart=~[0.000757139 1.0842e-19 -0.320466 -1.06907 -0.321476 -0.134058] -86: verrApplied=~[-0.116302 -0.109731 0.00614846 -0.0887878 0.00615234 -0.0916914] +86: verr0 =~[-1.50704e-17 0.00170797 -0.404375 0.953546 -0.444572 1.93889] +86: verrExt=~[-0.433745 -0.345184 0.0132885 -0.46239 0.00866179 -0.349513] +86: total verr=~[-0.433745 -0.343476 -0.391086 0.491156 -0.435911 1.58937] +86: DYN t=0.135: verrStart=~[-1.50704e-17 0.00170797 -0.404375 0.953546 -0.444572 1.93889] +86: verrApplied=~[-0.433745 -0.345184 0.0132885 -0.46239 0.00866179 -0.349513] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -43778,108 +55247,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000757139 1.0842e-19 -0.320466 -1.06907 -0.321476 -0.134058] -86: verrApplied=~[-0.116302 -0.109731 0.00614846 -0.0887878 0.00615234 -0.0916914] +86: verrLeft=~[-1.50704e-17 0.00170797 -0.404375 0.953546 -0.444572 1.93889] +86: verrApplied=~[-0.433745 -0.345184 0.0132885 -0.46239 0.00866179 -0.349513] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.320466,-1.06907, mag=1.11607 -86: Participating contact 1 is Sliding; vel=-0.321476,-0.134058, mag=0.348308 +86: Participating contact 0 is Sliding; vel=-0.404375,0.953546, mag=1.03575 +86: Participating contact 1 is Sliding; vel=-0.444572,1.93889, mag=1.9892 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.320466,-1.06907, mag=1.11607 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.321476,-0.134058, mag=0.348308 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.404375,0.953546, mag=1.03575 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.444572,1.93889, mag=1.9892 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.115544; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.109731; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.433745; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.343476; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000757139 1.0842e-19 -0.320466 -1.06907 -0.321476 -0.134058] +86: : verrLeft was=~[-1.50704e-17 0.00170797 -0.404375 0.953546 -0.444572 1.93889] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.116302 -0.109731 0.00614846 -0.0887878 0.00615234 -0.0916914] -86: : rhsActive=~[-0.115544 -0.314318 -1.15786 -0.109731 -0.315323 -0.225749] +86: : verrApplied was=~[-0.433745 -0.345184 0.0132885 -0.46239 0.00866179 -0.349513] +86: : rhsActive=~[-0.433745 -0.391086 0.491156 -0.343476 -0.435911 1.58937] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.35496e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.154922... -86: > NEWTON iter 1: errNorm=0.154922(v) -> deltaNorm=0.463662(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.35376e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.548024... +86: > NEWTON iter 1: errNorm=0.548024(v) -> deltaNorm=1.65374(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.112234 0.000320466 0.00106907 0.106784 0.000321476 0.000134058] -86: > deltaPi=~[0.288585 0.00857321 0.0286001 0.359781 0.0341282 0.0142318] -86: DBG: Line search iter 1: back=1, prevNorm=0.154922. -86: > piNow=~[-0.298585 -0.00857321 -0.0286001 -0.369781 -0.0341282 -0.0142318] -86: > errNow=~[0 3.44482e-07 1.14919e-06 -1.38778e-17 4.30822e-07 1.79656e-07] normNow=1.28732e-06 -86: DBG: Improvement rate now/prev at iter 1 is 8.30946e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.75548e-09 -86: > NEWTON iter 2: errNorm=1.28732e-06(v) -> deltaNorm=2.06701e-06(pi) -86: > piActive=~[-0.298585 -0.00857321 -0.0286001 -0.369781 -0.0341282 -0.0142318] -86: > errActive=~[0 3.44482e-07 1.14919e-06 -1.38778e-17 4.30822e-07 1.79656e-07] -86: > deltaPi=~[-1.1125e-06 2.76713e-07 9.23109e-07 -7.02536e-07 1.17206e-06 4.88758e-07] -86: DBG: Line search iter 1: back=1, prevNorm=1.28732e-06. -86: > piNow=~[-0.298584 -0.00857349 -0.028601 -0.36978 -0.0341294 -0.0142322] -86: > errNow=~[0 -1.49013e-15 -4.97519e-15 1.38778e-17 -6.15827e-16 -2.55872e-16] normNow=5.23621e-15 -86: DBG: Improvement rate now/prev at iter 2 is 4.06754e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.23621e-15. +86: > errActive=~[0.429814 0.000404375 -0.000953546 0.339979 0.000444572 -0.00193889] +86: > deltaPi=~[1.3195 0.0519043 -0.122394 0.982976 0.0221915 -0.0967823] +86: DBG: Line search iter 1: back=1, prevNorm=0.548024. +86: > piNow=~[-1.3295 -0.0519043 0.122394 -0.992976 -0.0221915 0.0967823] +86: > errNow=~[-1.11022e-16 1.98749e-06 -4.68664e-06 -1.11022e-16 1.62778e-06 -7.09915e-06] normNow=8.88608e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.62148e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.8353e-10 +86: > NEWTON iter 2: errNorm=8.88608e-06(v) -> deltaNorm=1.0016e-05(pi) +86: > piActive=~[-1.3295 -0.0519043 0.122394 -0.992976 -0.0221915 0.0967823] +86: > errActive=~[-1.11022e-16 1.98749e-06 -4.68664e-06 -1.11022e-16 1.62778e-06 -7.09915e-06] +86: > deltaPi=~[5.81138e-06 2.14578e-06 -5.05992e-06 4.41641e-06 9.17015e-07 -3.99932e-06] +86: DBG: Line search iter 1: back=1, prevNorm=8.88608e-06. +86: > piNow=~[-1.3295 -0.0519064 0.122399 -0.99298 -0.0221924 0.0967863] +86: > errNow=~[0 4.996e-16 -1.13798e-15 0 7.42462e-16 -3.2474e-15] normNow=3.55548e-15 +86: DBG: Improvement rate now/prev at iter 2 is 4.00118e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.55548e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.320466,-1.06907] to ~[-0.311487,-1.00583] -86: DBG: Friction 0 rotated 0.520138 deg, less than max 30 -86: slipVel 1 from ~[-0.321476,-0.134058] to ~[-0.312479,-0.0871864] -86: DBG: Friction 1 rotated 7.04662 deg, less than max 30 +86: slipVel 0 from ~[-0.404375,0.953546] to ~[-0.409495,0.973541] +86: DBG: Friction 0 rotated 0.167759 deg, less than max 30 +86: slipVel 1 from ~[-0.444572,1.93889] to ~[-0.449874,1.96332] +86: DBG: Friction 1 rotated 0.00837824 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.298584 -0.00857349 -0.028601 -0.36978 -0.0341294 -0.0142322] -86: : m_verrLeft=~[0 -1.38778e-17 -0.311487 -1.00583 -0.312479 -0.0871864] +86: : m_piActive=~[-1.3295 -0.0519064 0.122399 -0.99298 -0.0221924 0.0967863] +86: : m_verrLeft=~[0 0 -0.409495 0.973541 -0.449874 1.96332] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.298584 verr=0 pi*v=-0 -86: DBG: 1: pi=-0.36978 verr=-1.38778e-17 pi*v=5.13173e-18 -86: SP FINAL 1 intervals, piTotal=~[-0.298584 -0.36978 -0.00857349 -0.028601 -0.0341294 -0.0142322] errNorm=5.23621e-15 +86: DBG: 0: pi=-1.3295 verr=0 pi*v=-0 +86: DBG: 1: pi=-0.99298 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-1.3295 -0.99298 -0.0519064 0.122399 -0.0221924 0.0967863] errNorm=3.55548e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.320466 -1.06907, |slipV|=1.11607 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.404375 0.953546, |slipV|=1.03575 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.321476 -0.134058, |slipV|=0.348308 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.444572 1.93889, |slipV|=1.9892 86: ------------------------------ 86: -86: dynamics impulse=~[-0.298584 -0.36978 -0.00857349 -0.028601 -0.0341294 -0.0142322] -86: updated verrStart=~[0 -1.38778e-17 -0.311487 -1.00583 -0.312479 -0.0871864] +86: dynamics impulse=~[-1.3295 -0.99298 -0.0519064 0.122399 -0.0221924 0.0967863] +86: updated verrStart=~[0 0 -0.409495 0.973541 -0.449874 1.96332] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.103474 -0.0104772 0 0 0 0] +86: posVerr=~[0.316552 0.563097 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.238781 0.0922272 -0.00676597 0.305728 -0.00658027 0.118261] -86: [0.0922272 0.202432 0.00612516 0.119447 0.0059887 0.257472] -86: [-0.00676597 0.00612516 0.0494975 0.0334214 0.0495719 -0.0341771] -86: [0.305728 0.119447 0.0334214 0.46233 0.0337541 0.134517] -86: [-0.00658027 0.0059887 0.0495719 0.0337541 0.049647 -0.0344458] -86: [0.118261 0.257472 -0.0341771 0.134517 -0.0344458 0.398088] +86: [0.282159 0.110911 -0.0162416 0.31721 -0.00817688 0.120558] +86: [0.110911 0.238812 -0.00161327 0.122431 -0.00755819 0.267383] +86: [-0.0162416 -0.00161327 0.0477548 0.0204285 0.0501421 -0.0381785] +86: [0.31721 0.122431 0.0204285 0.419924 0.0328403 0.116857] +86: [-0.00817688 -0.00755819 0.0501421 0.0328403 0.0534392 -0.0479844] +86: [0.120558 0.267383 -0.0381785 0.116857 -0.0479844 0.356338] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.402424 rank=2 -86: rhs=~[0.103474 -0.0104772 0 0 0 0] +86: rcond(A+D)=0.394858 rank=2 +86: rhs=~[0.316552 0.563097 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.550141 -0.302398] -86: -> pi=~[0.550141 -0.302398 0 0 0 0] -86: resid active=~[5.55112e-17 1.56125e-17] -86: resid=~[5.55112e-17 1.56125e-17 -0.00557447 0.132073 -0.00543105 -0.012799] +86: -> piActive=~[0.238611 2.24709] +86: -> pi=~[0.238611 2.24709 0 0 0 0] +86: resid active=~[0 0] +86: resid=~[0 0 -0.00750058 0.350804 -0.018935 0.6296] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-4.11997e-18 -8.45678e-18 -0.311487 -1.00583 -0.312479 -0.0871864] -86: perr=~[0.000103474 -1.04772e-05 0] -86: END OF STEP (0.08,0.081): -86: verr=~[0.000468421 -0.000468421 -0.311065 -1.00582 -0.312901 -0.0871873] -86: perr=~[0.000103708 -1.07114e-05 -2.22045e-16] +86: verr=~[8.21825e-17 8.21825e-17 -0.409495 0.973541 -0.449874 1.96332] +86: perr=~[0.000316552 0.000563097 0] +86: END OF STEP (0.135,0.136): +86: verr=~[-0.00125195 0.00125195 -0.409005 0.973563 -0.450364 1.9633] +86: perr=~[0.000315926 0.000563723 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -43887,16 +55356,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.05283 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.324821 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000468421 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.05599 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.01429 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00125195 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000468421 -0.000468421 -0.311065 -1.00582 -0.312901 -0.0871873] -86: IMP t=0.081 verr=~[0.000468421 -0.000468421 -0.311065 -1.00582 -0.312901 -0.0871873] +86: verr=~[-0.00125195 0.00125195 -0.409005 0.973563 -0.450364 1.9633] +86: IMP t=0.136 verr=~[-0.00125195 0.00125195 -0.409005 0.973563 -0.450364 1.9633] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -43908,115 +55377,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000468421 -0.000468421 -0.311065 -1.00582 -0.312901 -0.0871873] +86: verrLeft=~[-0.00125195 0.00125195 -0.409005 0.973563 -0.450364 1.9633] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.311065,-1.00582, mag=1.05283 -86: Participating contact 1 is Sliding; vel=-0.312901,-0.0871873, mag=0.324821 +86: Participating contact 0 is Sliding; vel=-0.409005,0.973563, mag=1.05599 +86: Participating contact 1 is Sliding; vel=-0.450364,1.9633, mag=2.01429 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.311065,-1.00582, mag=1.05283 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.312901,-0.0871873, mag=0.324821 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.409005,0.973563, mag=1.05599 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.450364,1.9633, mag=2.01429 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000468421; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000468421; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00125195; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00125195; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000468421 -0.000468421 -0.311065 -1.00582 -0.312901 -0.0871873] +86: : verrLeft was=~[-0.00125195 0.00125195 -0.409005 0.973563 -0.450364 1.9633] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000468421 -0.311065 -1.00582 -0.000468421 -0.312901 -0.0871873] +86: : rhsActive=~[-0.00125195 -0.409005 0.973563 0.00125195 -0.450364 1.9633] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.10405e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00122963... -86: > NEWTON iter 1: errNorm=0.00122963(v) -> deltaNorm=0.00907832(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.00100007 0 0 -0.000637448 0.000312901 8.71873e-05] -86: > deltaPi=~[0.00656089 7.22052e-09 2.33474e-08 -0.00626347 0.000359963 0.000100301] -86: DBG: Line search iter 1: back=1, prevNorm=0.00122963. -86: > piNow=~[0.00343911 -7.22052e-09 -2.33474e-08 -0.00373653 -0.000359963 -0.000100301] -86: > errNow=~[1.0842e-19 -7.60196e-09 -2.45808e-08 5.42101e-20 -7.30018e-09 -2.03414e-09] normNow=2.68223e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.18134e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.42426e-05 -86: > NEWTON iter 2: errNorm=2.68223e-08(v) -> deltaNorm=4.4685e-08(pi) -86: > piActive=~[0.00343911 -7.22052e-09 -2.33474e-08 -0.00373653 -0.000359963 -0.000100301] -86: > errActive=~[1.0842e-19 -7.60196e-09 -2.45808e-08 5.42101e-20 -7.30018e-09 -2.03414e-09] -86: > deltaPi=~[2.84697e-08 -7.22025e-09 -2.33466e-08 9.35228e-09 -2.15738e-08 -6.01137e-09] -86: DBG: Line search iter 1: back=1, prevNorm=2.68223e-08. -86: > piNow=~[0.00343909 -2.64688e-13 -8.55864e-13 -0.00373654 -0.000359942 -0.000100295] -86: > errNow=~[0 -2.78671e-13 -9.01077e-13 5.42101e-20 7.80191e-14 2.17394e-14] normNow=9.46655e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.52936e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.46655e-13. -86: DBG: Worst offender is normal contact 0 err=0.00343909 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.47152e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00115787... +86: > NEWTON iter 1: errNorm=0.00115787(v) -> deltaNorm=0.0018467(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.00047345 0.000409005 -0.000973563 3.74836e-05 0 0] +86: > deltaPi=~[-0.00117586 0.000341778 -0.000813542 0.00111758 9.30748e-10 -4.05747e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00115787. +86: > piNow=~[-0.00882414 -0.000341778 0.000813542 0.00888242 -9.30748e-10 4.05747e-09] +86: > errNow=~[-2.1684e-19 -1.79141e-09 4.26413e-09 -4.33681e-19 -1.8748e-09 8.17294e-09] normNow=9.57621e-09 +86: DBG: Improvement rate now/prev at iter 1 is 8.27052e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.07679e-05 +86: > NEWTON iter 2: errNorm=9.57621e-09(v) -> deltaNorm=9.3744e-09(pi) +86: > piActive=~[-0.00882414 -0.000341778 0.000813542 0.00888242 -9.30748e-10 4.05747e-09] +86: > errActive=~[-2.1684e-19 -1.79141e-09 4.26413e-09 -4.33681e-19 -1.8748e-09 8.17294e-09] +86: > deltaPi=~[-5.15323e-09 -1.89602e-09 4.51313e-09 -4.47558e-09 -9.30753e-10 4.05749e-09] +86: DBG: Line search iter 1: back=1, prevNorm=9.57621e-09. +86: > piNow=~[-0.00882414 -0.000341776 0.000813537 0.00888242 4.72418e-15 -2.05944e-14] +86: > errNow=~[2.1684e-19 -1.00823e-14 2.39991e-14 -2.1684e-19 9.51589e-15 -4.14832e-14] normNow=4.98901e-14 +86: DBG: Improvement rate now/prev at iter 2 is 5.2098e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.98901e-14. +86: DBG: Worst offender is normal contact 1 err=0.00888242 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.311065,-1.00582, mag=1.05283 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.312901,-0.0871873, mag=0.324821 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.409005,0.973563, mag=1.05599 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.450364,1.9633, mag=2.01429 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000468421; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00125195; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000468421 -0.000468421 -0.311065 -1.00582 -0.312901 -0.0871873] +86: : verrLeft was=~[-0.00125195 0.00125195 -0.409005 0.973563 -0.450364 1.9633] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000468421 -0.312901 -0.0871873] -86: : pi was=~[0 -0.00373654 -2.64688e-13 -8.55864e-13 -0.000359942 -0.000100295] -86: : piActive=~[-0.01 -0.000359942 -0.000100295] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.20992e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00159474... -86: > NEWTON iter 1: errNorm=0.00159474(v) -> deltaNorm=0.00776768(pi) -86: > piActive=~[-0.01 -0.000359942 -0.000100295] -86: > errActive=~[-0.0015817 0.000195984 5.46094e-05] -86: > deltaPi=~[-0.00776623 -0.000144734 -4.03289e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.00159474. -86: > piNow=~[-0.00223377 -0.000215208 -5.99659e-05] -86: > errNow=~[4.87891e-19 -9.05167e-09 -2.52217e-09] normNow=9.39649e-09 -86: DBG: Improvement rate now/prev at iter 1 is 5.89219e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.41966e-05 -86: > NEWTON iter 2: errNorm=9.39649e-09(v) -> deltaNorm=2.97448e-08(pi) -86: > piActive=~[-0.00223377 -0.000215208 -5.99659e-05] -86: > errActive=~[4.87891e-19 -9.05167e-09 -2.52217e-09] -86: > deltaPi=~[1.03206e-08 -2.68732e-08 -7.48799e-09] -86: DBG: Line search iter 1: back=1, prevNorm=9.39649e-09. -86: > piNow=~[-0.00223378 -0.000215181 -5.99584e-05] -86: > errNow=~[-5.42101e-20 2.40559e-13 6.70297e-14] normNow=2.49723e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.65762e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.49723e-13. +86: : rhsActive=~[-0.00125195 -0.409005 0.973563] +86: : pi was=~[-0.00882414 0 -0.000341776 0.000813537 4.72418e-15 -2.05944e-14] +86: : piActive=~[-0.01 -0.000341776 0.000813537] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.93342e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00132897... +86: > NEWTON iter 1: errNorm=0.00132897(v) -> deltaNorm=0.00508582(pi) +86: > piActive=~[-0.01 -0.000341776 0.000813537] +86: > errActive=~[-0.00132316 4.80934e-05 -0.000114478] +86: > deltaPi=~[-0.00507089 -0.000150855 0.000359083] +86: DBG: Line search iter 1: back=1, prevNorm=0.00132897. +86: > piNow=~[-0.00492911 -0.000190922 0.000454455] +86: > errNow=~[-6.50521e-19 -7.72545e-09 1.83891e-08] normNow=1.99459e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.50085e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.61838e-05 +86: > NEWTON iter 2: errNorm=1.99459e-08(v) -> deltaNorm=3.06766e-08(pi) +86: > piActive=~[-0.00492911 -0.000190922 0.000454455] +86: > errActive=~[-6.50521e-19 -7.72545e-09 1.83891e-08] +86: > deltaPi=~[-2.22547e-08 -8.17769e-09 1.94655e-08] +86: DBG: Line search iter 1: back=1, prevNorm=1.99459e-08. +86: > piNow=~[-0.00492909 -0.000190913 0.000454435] +86: > errNow=~[-2.1684e-19 -1.395e-13 3.32054e-13] normNow=3.60166e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.80571e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.60166e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.312901,-0.0871873] to ~[-0.312879,-0.0865953] -86: DBG: Friction 1 rotated 0.0996134 deg, less than max 30 +86: slipVel 0 from ~[-0.409005,0.973563] to ~[-0.409086,0.974942] +86: DBG: Friction 0 rotated 0.0248744 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00223378 -0.000215181 -5.99584e-05] -86: : m_verrLeft=~[0.000678693 5.42101e-20 -0.311043 -1.00554 -0.312879 -0.0865953] +86: : m_piActive=~[-0.00492909 -0.000190913 0.000454435] +86: : m_verrLeft=~[2.1684e-19 0.00174501 -0.409086 0.974942 -0.45041 1.96384] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000678693 pi*v=0 -86: DBG: 1: pi=-0.00223378 verr=5.42101e-20 pi*v=-1.21094e-22 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00223378 0 0 -0.000215181 -5.99584e-05] errNorm=2.49723e-13 -86: Postcompression verr=~[0.000678693 5.42101e-20 -0.311043 -1.00554 -0.312879 -0.0865953] -86: impulse=~[0 -0.00223378 0 0 -0.000215181 -5.99584e-05] +86: DBG: 0: pi=-0.00492909 verr=2.1684e-19 pi*v=-1.06883e-21 +86: DBG: 1: pi=0 verr=0.00174501 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00492909 0 -0.000190913 0.000454435 0 0] errNorm=3.60166e-13 +86: Postcompression verr=~[2.1684e-19 0.00174501 -0.409086 0.974942 -0.45041 1.96384] +86: impulse=~[-0.00492909 0 -0.000190913 0.000454435 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00223378 0 0 -0.000215181 -5.99584e-05]-> du ~[0.000256634 0.000758605 0.000310638 -0.000436609 2.20218e-05 0.000339346 -0.00133348 0.00104565] -86: Now verr0=~[0.000678693 1.6263e-19 -0.311043 -1.00554 -0.312879 -0.0865953] +86: Impact: imp ~[-0.00492909 0 -0.000190913 0.000454435 0 0]-> du ~[-0.000832843 0.00175396 -0.000845884 -0.000956602 -6.38631e-05 0.000872507 -0.00336914 0.00200915] +86: Now verr0=~[6.50521e-19 0.00174501 -0.409086 0.974942 -0.45041 1.96384] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000678693 1.6263e-19 -0.311043 -1.00554 -0.312879 -0.0865953] -86: verrExt=~[-0.0649667 -0.0711291 0.00734466 -0.0175625 0.00739031 -0.0407557] -86: total verr=~[-0.064288 -0.0711291 -0.303698 -1.02311 -0.305489 -0.127351] -86: DYN t=0.081: verrStart=~[0.000678693 1.6263e-19 -0.311043 -1.00554 -0.312879 -0.0865953] -86: verrApplied=~[-0.0649667 -0.0711291 0.00734466 -0.0175625 0.00739031 -0.0407557] +86: verr0 =~[6.50521e-19 0.00174501 -0.409086 0.974942 -0.45041 1.96384] +86: verrExt=~[-0.412157 -0.3293 0.0136211 -0.434342 0.00927634 -0.330861] +86: total verr=~[-0.412157 -0.327555 -0.395465 0.5406 -0.441134 1.63297] +86: DYN t=0.136: verrStart=~[6.50521e-19 0.00174501 -0.409086 0.974942 -0.45041 1.96384] +86: verrApplied=~[-0.412157 -0.3293 0.0136211 -0.434342 0.00927634 -0.330861] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -44028,110 +55497,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000678693 1.6263e-19 -0.311043 -1.00554 -0.312879 -0.0865953] -86: verrApplied=~[-0.0649667 -0.0711291 0.00734466 -0.0175625 0.00739031 -0.0407557] +86: verrLeft=~[6.50521e-19 0.00174501 -0.409086 0.974942 -0.45041 1.96384] +86: verrApplied=~[-0.412157 -0.3293 0.0136211 -0.434342 0.00927634 -0.330861] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.311043,-1.00554, mag=1.05255 -86: Participating contact 1 is Sliding; vel=-0.312879,-0.0865953, mag=0.324642 +86: Participating contact 0 is Sliding; vel=-0.409086,0.974942, mag=1.05729 +86: Participating contact 1 is Sliding; vel=-0.45041,1.96384, mag=2.01482 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.311043,-1.00554, mag=1.05255 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.312879,-0.0865953, mag=0.324642 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.409086,0.974942, mag=1.05729 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.45041,1.96384, mag=2.01482 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.064288; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.0711291; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.412157; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.327555; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000678693 1.6263e-19 -0.311043 -1.00554 -0.312879 -0.0865953] +86: : verrLeft was=~[6.50521e-19 0.00174501 -0.409086 0.974942 -0.45041 1.96384] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.0649667 -0.0711291 0.00734466 -0.0175625 0.00739031 -0.0407557] -86: : rhsActive=~[-0.064288 -0.303698 -1.02311 -0.0711291 -0.305489 -0.127351] +86: : verrApplied was=~[-0.412157 -0.3293 0.0136211 -0.434342 0.00927634 -0.330861] +86: : rhsActive=~[-0.412157 -0.395465 0.5406 -0.327555 -0.441134 1.63297] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -100: testWeld done. real/CPU ms: 90.1 / 90.1 -100: testGimbal ... -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.10287e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0914909... -86: > NEWTON iter 1: errNorm=0.0914909(v) -> deltaNorm=0.292728(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.47553e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.521188... +86: > NEWTON iter 1: errNorm=0.521188(v) -> deltaNorm=1.56304(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.0609869 0.000311043 0.00100554 0.0681907 0.000312879 8.65953e-05] -86: > deltaPi=~[0.136318 0.00432373 0.0139778 0.257253 0.0257561 0.00712849] -86: DBG: Line search iter 1: back=1, prevNorm=0.0914909. -86: > piNow=~[-0.146318 -0.00432373 -0.0139778 -0.267253 -0.0257561 -0.00712849] -86: > errNow=~[-1.38778e-17 1.57937e-07 5.10581e-07 0 2.99812e-07 8.29787e-08] normNow=6.18393e-07 -86: DBG: Improvement rate now/prev at iter 1 is 6.75907e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.83928e-08 -86: > NEWTON iter 2: errNorm=6.18393e-07(v) -> deltaNorm=1.20555e-06(pi) -86: > piActive=~[-0.146318 -0.00432373 -0.0139778 -0.267253 -0.0257561 -0.00712849] -86: > errActive=~[-1.38778e-17 1.57937e-07 5.10581e-07 0 2.99812e-07 8.29787e-08] -86: > deltaPi=~[-5.09493e-07 1.34995e-07 4.36415e-07 -3.69118e-07 8.87942e-07 2.45755e-07] -86: DBG: Line search iter 1: back=1, prevNorm=6.18393e-07. -86: > piNow=~[-0.146317 -0.00432387 -0.0139783 -0.267253 -0.025757 -0.00712873] -86: > errNow=~[0 -2.75908e-15 -8.91648e-15 1.38778e-17 -6.03684e-16 -1.66967e-16] normNow=9.3546e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.51273e-08 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.3546e-15. +86: > errActive=~[0.408204 0.000409086 -0.000974942 0.324038 0.00045041 -0.00196384] +86: > deltaPi=~[1.24278 0.0484706 -0.115516 0.934865 0.0211215 -0.092092] +86: DBG: Line search iter 1: back=1, prevNorm=0.521188. +86: > piNow=~[-1.25278 -0.0484706 0.115516 -0.944865 -0.0211215 0.092092] +86: > errNow=~[1.11022e-16 1.89374e-06 -4.51319e-06 5.55112e-17 1.56844e-06 -6.83858e-06] normNow=8.55461e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.64137e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.83145e-10 +86: > NEWTON iter 2: errNorm=8.55461e-06(v) -> deltaNorm=9.44547e-06(pi) +86: > piActive=~[-1.25278 -0.0484706 0.115516 -0.944865 -0.0211215 0.092092] +86: > errActive=~[1.11022e-16 1.89374e-06 -4.51319e-06 5.55112e-17 1.56844e-06 -6.83858e-06] +86: > deltaPi=~[5.45349e-06 2.00213e-06 -4.77151e-06 4.18175e-06 8.71934e-07 -3.80172e-06] +86: DBG: Line search iter 1: back=1, prevNorm=8.55461e-06. +86: > piNow=~[-1.25278 -0.0484726 0.115521 -0.94487 -0.0211224 0.0920958] +86: > errNow=~[0 5.34295e-16 -1.26288e-15 -5.55112e-17 7.77156e-16 -3.38618e-15] normNow=3.73545e-15 +86: DBG: Improvement rate now/prev at iter 2 is 4.3666e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.73545e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.311043,-1.00554] to ~[-0.301418,-0.938112] -86: DBG: Friction 0 rotated 0.624058 deg, less than max 30 -86: slipVel 1 from ~[-0.312879,-0.0865953] to ~[-0.303218,-0.0375445] -86: DBG: Friction 1 rotated 8.41198 deg, less than max 30 +86: slipVel 0 from ~[-0.409086,0.974942] to ~[-0.413328,0.996744] +86: DBG: Friction 0 rotated 0.240248 deg, less than max 30 +86: slipVel 1 from ~[-0.45041,1.96384] to ~[-0.45475,1.988] +86: DBG: Friction 1 rotated 0.0329387 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.146317 -0.00432387 -0.0139783 -0.267253 -0.025757 -0.00712873] -86: : m_verrLeft=~[0 -1.38778e-17 -0.301418 -0.938112 -0.303218 -0.0375445] +86: : m_piActive=~[-1.25278 -0.0484726 0.115521 -0.94487 -0.0211224 0.0920958] +86: : m_verrLeft=~[0 5.55112e-17 -0.413328 0.996744 -0.45475 1.988] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.146317 verr=0 pi*v=-0 -86: DBG: 1: pi=-0.267253 verr=-1.38778e-17 pi*v=3.70888e-18 -86: SP FINAL 1 intervals, piTotal=~[-0.146317 -0.267253 -0.00432387 -0.0139783 -0.025757 -0.00712873] errNorm=9.3546e-15 +86: DBG: 0: pi=-1.25278 verr=0 pi*v=-0 +86: DBG: 1: pi=-0.94487 verr=5.55112e-17 pi*v=-5.24508e-17 +86: SP FINAL 1 intervals, piTotal=~[-1.25278 -0.94487 -0.0484726 0.115521 -0.0211224 0.0920958] errNorm=3.73545e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.311043 -1.00554, |slipV|=1.05255 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.409086 0.974942, |slipV|=1.05729 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.312879 -0.0865953, |slipV|=0.324642 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.45041 1.96384, |slipV|=2.01482 86: ------------------------------ 86: -86: dynamics impulse=~[-0.146317 -0.267253 -0.00432387 -0.0139783 -0.025757 -0.00712873] -86: updated verrStart=~[0 -1.38778e-17 -0.301418 -0.938112 -0.303218 -0.0375445] +86: dynamics impulse=~[-1.25278 -0.94487 -0.0484726 0.115521 -0.0211224 0.0920958] +86: updated verrStart=~[0 5.55112e-17 -0.413328 0.996744 -0.45475 1.988] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.103708 -0.0107114 0 0 0 0] +86: posVerr=~[0.315926 0.563723 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.238479 0.0916304 -0.00725864 0.305758 -0.00690021 0.117985] -86: [0.0916304 0.202217 0.00613917 0.11908 0.00587496 0.257628] -86: [-0.00725864 0.00613917 0.0493219 0.0326627 0.0494566 -0.0339937] -86: [0.305758 0.11908 0.0326627 0.462993 0.0332972 0.13481] -86: [-0.00690021 0.00587496 0.0494566 0.0332972 0.0495936 -0.0345052] -86: [0.117985 0.257628 -0.0339937 0.13481 -0.0345052 0.398773] +86: [0.283919 0.111379 -0.0165631 0.317642 -0.00828206 0.120495] +86: [0.111379 0.240322 -0.00178266 0.12233 -0.00789481 0.267831] +86: [-0.0165631 -0.00178266 0.047674 0.0199919 0.0500993 -0.0381352] +86: [0.317642 0.12233 0.0199919 0.418346 0.032663 0.116278] +86: [-0.00828206 -0.00789481 0.0500993 0.032663 0.0534761 -0.0481471] +86: [0.120495 0.267831 -0.0381352 0.116278 -0.0481471 0.354993] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.404587 rank=2 -86: rhs=~[0.103708 -0.0107114 0 0 0 0] +86: rcond(A+D)=0.395697 rank=2 +86: rhs=~[0.315926 0.563723 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.551189 -0.302729] -86: -> pi=~[0.551189 -0.302729 0 0 0 0] -86: resid active=~[0 1.73472e-18] -86: resid=~[0 1.73472e-18 -0.00585939 0.132482 -0.00558184 -0.0129598] +86: -> piActive=~[0.235324 2.23664] +86: -> pi=~[0.235324 2.23664 0 0 0 0] +86: resid active=~[-1.11022e-16 0] +86: resid=~[-1.11022e-16 0 -0.00788488 0.348355 -0.0196068 0.627396] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[1.53144e-16 1.29942e-16 -0.301418 -0.938112 -0.303218 -0.0375445] -86: perr=~[0.000103708 -1.07114e-05 -2.22045e-16] -86: END OF STEP (0.081,0.082): -86: verr=~[0.00041291 -0.00041291 -0.301013 -0.938111 -0.303623 -0.0375457] -86: perr=~[0.000103914 -1.09178e-05 0] +86: verr=~[-7.54605e-17 4.94396e-17 -0.413328 0.996744 -0.45475 1.988] +86: perr=~[0.000315926 0.000563723 0] +86: END OF STEP (0.136,0.137): +86: verr=~[-0.00127771 0.00127771 -0.412836 0.996767 -0.455242 1.98798] +86: perr=~[0.000315287 0.000564361 -1.11022e-16] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -44139,16 +55606,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.985221 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.305936 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.00041291 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.07888 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.03944 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00127771 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.00041291 -0.00041291 -0.301013 -0.938111 -0.303623 -0.0375457] -86: IMP t=0.082 verr=~[0.00041291 -0.00041291 -0.301013 -0.938111 -0.303623 -0.0375457] +86: verr=~[-0.00127771 0.00127771 -0.412836 0.996767 -0.455242 1.98798] +86: IMP t=0.137 verr=~[-0.00127771 0.00127771 -0.412836 0.996767 -0.455242 1.98798] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -44160,115 +55627,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.00041291 -0.00041291 -0.301013 -0.938111 -0.303623 -0.0375457] +86: verrLeft=~[-0.00127771 0.00127771 -0.412836 0.996767 -0.455242 1.98798] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.301013,-0.938111, mag=0.985221 -86: Participating contact 1 is Sliding; vel=-0.303623,-0.0375457, mag=0.305936 +86: Participating contact 0 is Sliding; vel=-0.412836,0.996767, mag=1.07888 +86: Participating contact 1 is Sliding; vel=-0.455242,1.98798, mag=2.03944 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.301013,-0.938111, mag=0.985221 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.303623,-0.0375457, mag=0.305936 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.412836,0.996767, mag=1.07888 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.455242,1.98798, mag=2.03944 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.00041291; guess pi=0.01 -86: DBG: active normal 3 has v=-0.00041291; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00127771; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00127771; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.00041291 -0.00041291 -0.301013 -0.938111 -0.303623 -0.0375457] +86: : verrLeft was=~[-0.00127771 0.00127771 -0.412836 0.996767 -0.455242 1.98798] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.00041291 -0.301013 -0.938111 -0.00041291 -0.303623 -0.0375457] +86: : rhsActive=~[-0.00127771 -0.412836 0.996767 0.00127771 -0.455242 1.98798] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.84269e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00130358... -86: > NEWTON iter 1: errNorm=0.00130358(v) -> deltaNorm=0.00964875(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.00105849 0 0 -0.000696653 0.000303623 3.75457e-05] -86: > deltaPi=~[0.00697775 7.94105e-09 2.47484e-08 -0.00665564 0.000331933 4.10464e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.00130358. -86: > piNow=~[0.00302225 -7.94105e-09 -2.47484e-08 -0.00334436 -0.000331933 -4.10464e-05] -86: > errNow=~[-1.6263e-19 -7.82369e-09 -2.43827e-08 -1.6263e-19 -7.52725e-09 -9.30812e-10] normNow=2.67067e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.04872e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.14039e-05 -86: > NEWTON iter 2: errNorm=2.67067e-08(v) -> deltaNorm=4.68918e-08(pi) -86: > piActive=~[0.00302225 -7.94105e-09 -2.47484e-08 -0.00334436 -0.000331933 -4.10464e-05] -86: > errActive=~[-1.6263e-19 -7.82369e-09 -2.43827e-08 -1.6263e-19 -7.52725e-09 -9.30812e-10] -86: > deltaPi=~[3.00688e-08 -7.94068e-09 -2.47472e-08 5.7081e-09 -2.40377e-08 -2.97248e-09] -86: DBG: Line search iter 1: back=1, prevNorm=2.67067e-08. -86: > piNow=~[0.00302222 -3.74227e-13 -1.16628e-12 -0.00334437 -0.000331909 -4.10434e-05] -86: > errNow=~[5.42101e-20 -3.68696e-13 -1.14905e-12 5.42101e-20 5.7667e-14 7.13103e-15] normNow=1.20815e-12 -86: DBG: Improvement rate now/prev at iter 2 is 4.52376e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.20815e-12. -86: DBG: Worst offender is normal contact 0 err=0.00302222 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.59412e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00117341... +86: > NEWTON iter 1: errNorm=0.00117341(v) -> deltaNorm=0.00171809(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000460894 0.000412836 -0.000996767 2.23988e-05 0 0] +86: > deltaPi=~[-0.00106827 0.000341777 -0.000825199 0.00100641 8.36798e-10 -3.65418e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00117341. +86: > piNow=~[-0.00893173 -0.000341777 0.000825199 0.00899359 -8.36798e-10 3.65418e-09] +86: > errNow=~[0 -1.64274e-09 3.9663e-09 4.33681e-19 -1.7066e-09 7.45247e-09] normNow=8.76824e-09 +86: DBG: Improvement rate now/prev at iter 1 is 7.47241e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.06573e-05 +86: > NEWTON iter 2: errNorm=8.76824e-09(v) -> deltaNorm=8.46777e-09(pi) +86: > piActive=~[-0.00893173 -0.000341777 0.000825199 0.00899359 -8.36798e-10 3.65418e-09] +86: > errActive=~[0 -1.64274e-09 3.9663e-09 4.33681e-19 -1.7066e-09 7.45247e-09] +86: > deltaPi=~[-4.66705e-09 -1.70122e-09 4.10749e-09 -4.01284e-09 -8.36802e-10 3.6542e-09] +86: DBG: Line search iter 1: back=1, prevNorm=8.76824e-09. +86: > piNow=~[-0.00893173 -0.000341775 0.000825195 0.00899359 4.12495e-15 -1.80131e-14] +86: > errNow=~[-4.33681e-19 -8.99595e-15 2.172e-14 -6.50521e-19 8.41257e-15 -3.67366e-14] normNow=4.44188e-14 +86: DBG: Improvement rate now/prev at iter 2 is 5.06588e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.44188e-14. +86: DBG: Worst offender is normal contact 1 err=0.00899359 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.301013,-0.938111, mag=0.985221 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.303623,-0.0375457, mag=0.305936 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.412836,0.996767, mag=1.07888 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.455242,1.98798, mag=2.03944 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.00041291; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00127771; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00041291 -0.00041291 -0.301013 -0.938111 -0.303623 -0.0375457] +86: : verrLeft was=~[-0.00127771 0.00127771 -0.412836 0.996767 -0.455242 1.98798] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.00041291 -0.303623 -0.0375457] -86: : pi was=~[0 -0.00334437 -3.74227e-13 -1.16628e-12 -0.000331909 -4.10434e-05] -86: : piActive=~[-0.01 -0.000331909 -4.10434e-05] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.13957e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00163266... -86: > NEWTON iter 1: errNorm=0.00163266(v) -> deltaNorm=0.00799445(pi) -86: > piActive=~[-0.01 -0.000331909 -4.10434e-05] -86: > errActive=~[-0.00161992 0.000202081 2.49891e-05] -86: > deltaPi=~[-0.00799333 -0.000132729 -1.64132e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.00163266. -86: > piNow=~[-0.00200667 -0.000199179 -2.46303e-05] -86: > errNow=~[-3.25261e-19 -9.04013e-09 -1.11789e-09] normNow=9.10899e-09 -86: DBG: Improvement rate now/prev at iter 1 is 5.57922e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.82252e-05 -86: > NEWTON iter 2: errNorm=9.10899e-09(v) -> deltaNorm=2.97296e-08(pi) -86: > piActive=~[-0.00200667 -0.000199179 -2.46303e-05] -86: > errActive=~[-3.25261e-19 -9.04013e-09 -1.11789e-09] -86: > deltaPi=~[5.40459e-09 -2.90132e-08 -3.58774e-09] -86: DBG: Line search iter 1: back=1, prevNorm=9.10899e-09. -86: > piNow=~[-0.00200667 -0.00019915 -2.46267e-05] -86: > errNow=~[5.42101e-20 1.51392e-13 1.8721e-14] normNow=1.52546e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.67467e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.52546e-13. +86: : rhsActive=~[-0.00127771 -0.412836 0.996767] +86: : pi was=~[-0.00893173 0 -0.000341775 0.000825195 4.12495e-15 -1.80131e-14] +86: : piActive=~[-0.01 -0.000341775 0.000825195] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.01868e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00131625... +86: > NEWTON iter 1: errNorm=0.00131625(v) -> deltaNorm=0.00501817(pi) +86: > piActive=~[-0.01 -0.000341775 0.000825195] +86: > errActive=~[-0.0013112 4.41022e-05 -0.000106482] +86: > deltaPi=~[-0.00500273 -0.000150546 0.000363484] +86: DBG: Line search iter 1: back=1, prevNorm=0.00131625. +86: > piNow=~[-0.00499727 -0.000191229 0.000461711] +86: > errNow=~[0 -7.69301e-09 1.85743e-08] normNow=2.01044e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.5274e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.60869e-05 +86: > NEWTON iter 2: errNorm=2.01044e-08(v) -> deltaNorm=3.02106e-08(pi) +86: > piActive=~[-0.00499727 -0.000191229 0.000461711] +86: > errActive=~[0 -7.69301e-09 1.85743e-08] +86: > deltaPi=~[-2.18879e-08 -7.96799e-09 1.92382e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.01044e-08. +86: > piNow=~[-0.00499725 -0.000191221 0.000461692] +86: > errNow=~[0 -1.34736e-13 3.25311e-13] normNow=3.52109e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.7514e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.52109e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.303623,-0.0375457] to ~[-0.303603,-0.0370255] -86: DBG: Friction 1 rotated 0.0962451 deg, less than max 30 +86: slipVel 0 from ~[-0.412836,0.996767] to ~[-0.41292,0.998168] +86: DBG: Friction 0 rotated 0.0243001 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00200667 -0.00019915 -2.46267e-05] -86: : m_verrLeft=~[0.000597136 -5.42101e-20 -0.300991 -0.937863 -0.303603 -0.0370255] +86: : m_piActive=~[-0.00499725 -0.000191221 0.000461692] +86: : m_verrLeft=~[0 0.00177987 -0.41292 0.998168 -0.45529 1.98852] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000597136 pi*v=0 -86: DBG: 1: pi=-0.00200667 verr=-5.42101e-20 pi*v=1.08782e-22 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00200667 0 0 -0.00019915 -2.46267e-05] errNorm=1.52546e-13 -86: Postcompression verr=~[0.000597136 -5.42101e-20 -0.300991 -0.937863 -0.303603 -0.0370255] -86: impulse=~[0 -0.00200667 0 0 -0.00019915 -2.46267e-05] +86: DBG: 0: pi=-0.00499725 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00177987 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00499725 0 -0.000191221 0.000461692 0 0] errNorm=3.52109e-13 +86: Postcompression verr=~[0 0.00177987 -0.41292 0.998168 -0.45529 1.98852] +86: impulse=~[-0.00499725 0 -0.000191221 0.000461692 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00200667 0 0 -0.00019915 -2.46267e-05]-> du ~[0.000226749 0.000667644 0.000272019 -0.000384178 2.09522e-05 0.000298568 -0.00117336 0.00091968] -86: Now verr0=~[0.000597136 -1.6263e-19 -0.300991 -0.937863 -0.303603 -0.0370255] +86: Impact: imp ~[-0.00499725 0 -0.000191221 0.000461692 0 0]-> du ~[-0.000852548 0.00178335 -0.000860053 -0.000970973 -6.58283e-05 0.000889935 -0.00342773 0.00204308] +86: Now verr0=~[5.42101e-18 0.00177987 -0.41292 0.998168 -0.45529 1.98852] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000597136 -1.6263e-19 -0.300991 -0.937863 -0.303603 -0.0370255] -86: verrExt=~[-0.0179623 -0.0358032 0.008188 0.047854 0.0083065 0.00626947] -86: total verr=~[-0.0173651 -0.0358032 -0.292803 -0.890009 -0.295296 -0.030756] -86: DYN t=0.082: verrStart=~[0.000597136 -1.6263e-19 -0.300991 -0.937863 -0.303603 -0.0370255] -86: verrApplied=~[-0.0179623 -0.0358032 0.008188 0.047854 0.0083065 0.00626947] +86: verr0 =~[5.42101e-18 0.00177987 -0.41292 0.998168 -0.45529 1.98852] +86: verrExt=~[-0.390165 -0.313112 0.013849 -0.406102 0.0098027 -0.311971] +86: total verr=~[-0.390165 -0.311332 -0.399071 0.592066 -0.445487 1.67655] +86: DYN t=0.137: verrStart=~[5.42101e-18 0.00177987 -0.41292 0.998168 -0.45529 1.98852] +86: verrApplied=~[-0.390165 -0.313112 0.013849 -0.406102 0.0098027 -0.311971] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -44280,108 +55747,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000597136 -1.6263e-19 -0.300991 -0.937863 -0.303603 -0.0370255] -86: verrApplied=~[-0.0179623 -0.0358032 0.008188 0.047854 0.0083065 0.00626947] +86: verrLeft=~[5.42101e-18 0.00177987 -0.41292 0.998168 -0.45529 1.98852] +86: verrApplied=~[-0.390165 -0.313112 0.013849 -0.406102 0.0098027 -0.311971] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.300991,-0.937863, mag=0.984978 -86: Participating contact 1 is Sliding; vel=-0.303603,-0.0370255, mag=0.305852 +86: Participating contact 0 is Sliding; vel=-0.41292,0.998168, mag=1.0802 +86: Participating contact 1 is Sliding; vel=-0.45529,1.98852, mag=2.03998 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.300991,-0.937863, mag=0.984978 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.303603,-0.0370255, mag=0.305852 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.41292,0.998168, mag=1.0802 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.45529,1.98852, mag=2.03998 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.0173651; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.0358032; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.390165; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.311332; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000597136 -1.6263e-19 -0.300991 -0.937863 -0.303603 -0.0370255] +86: : verrLeft was=~[5.42101e-18 0.00177987 -0.41292 0.998168 -0.45529 1.98852] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.0179623 -0.0358032 0.008188 0.047854 0.0083065 0.00626947] -86: : rhsActive=~[-0.0173651 -0.292803 -0.890009 -0.0358032 -0.295296 -0.030756] +86: : verrApplied was=~[-0.390165 -0.313112 0.013849 -0.406102 0.0098027 -0.311971] +86: : rhsActive=~[-0.390165 -0.399071 0.592066 -0.311332 -0.445487 1.67655] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.84173e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0357724... -86: > NEWTON iter 1: errNorm=0.0357724(v) -> deltaNorm=0.161849(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.59821e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.493848... +86: > NEWTON iter 1: errNorm=0.493848(v) -> deltaNorm=1.47183(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.0140722 0.000300991 0.000937863 0.0328721 0.000303603 3.70255e-05] -86: > deltaPi=~[-0.00371516 0.000192058 0.000598434 0.1609 0.0169637 0.00206879] -86: DBG: Line search iter 1: back=1, prevNorm=0.0357724. -86: > piNow=~[-0.00628484 -0.000192058 -0.000598434 -0.1709 -0.0169637 -0.00206879] -86: > errNow=~[3.46945e-18 -4.16527e-09 -1.29786e-08 6.93889e-18 1.81959e-07 2.21906e-08] normNow=1.83813e-07 -86: DBG: Improvement rate now/prev at iter 1 is 5.13842e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.28699e-06 -86: > NEWTON iter 2: errNorm=1.83813e-07(v) -> deltaNorm=6.00884e-07(pi) -86: > piActive=~[-0.00628484 -0.000192058 -0.000598434 -0.1709 -0.0169637 -0.00206879] -86: > errActive=~[3.46945e-18 -4.16527e-09 -1.29786e-08 6.93889e-18 1.81959e-07 2.21906e-08] -86: > deltaPi=~[4.02319e-08 -2.99949e-09 -9.34616e-09 -1.1989e-07 5.83025e-07 7.11021e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.83813e-07. -86: > piNow=~[-0.00628488 -0.000192055 -0.000598425 -0.1709 -0.0169643 -0.00206886] -86: > errNow=~[-3.46945e-18 1.14175e-13 3.55761e-13 0 -4.64039e-16 -5.65954e-17] normNow=3.73633e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.03268e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.73633e-13. +86: > errActive=~[0.38619 0.00041292 -0.000998168 0.307795 0.00045529 -0.00198852] +86: > deltaPi=~[1.16567 0.0449395 -0.108634 0.88636 0.0200046 -0.0873719] +86: DBG: Line search iter 1: back=1, prevNorm=0.493848. +86: > piNow=~[-1.17567 -0.0449395 0.108634 -0.89636 -0.0200046 0.0873719] +86: > errNow=~[0 1.79289e-06 -4.33401e-06 -5.55112e-17 1.50318e-06 -6.56526e-06] normNow=8.20733e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.66192e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.93489e-10 +86: > NEWTON iter 2: errNorm=8.20733e-06(v) -> deltaNorm=8.87565e-06(pi) +86: > piActive=~[-1.17567 -0.0449395 0.108634 -0.89636 -0.0200046 0.0873719] +86: > errActive=~[0 1.79289e-06 -4.33401e-06 -5.55112e-17 1.50318e-06 -6.56526e-06] +86: > deltaPi=~[5.09818e-06 1.85465e-06 -4.48331e-06 3.94753e-06 8.24961e-07 -3.6031e-06] +86: DBG: Line search iter 1: back=1, prevNorm=8.20733e-06. +86: > piNow=~[-1.17567 -0.0449414 0.108639 -0.896364 -0.0200054 0.0873755] +86: > errNow=~[0 5.68989e-16 -1.38778e-15 0 8.39606e-16 -3.60822e-15] normNow=3.99674e-15 +86: DBG: Improvement rate now/prev at iter 2 is 4.86972e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.99674e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.300991,-0.937863] to ~[-0.291005,-0.866675] -86: DBG: Friction 0 rotated 0.767461 deg, less than max 30 -86: slipVel 1 from ~[-0.303603,-0.0370255] to ~[-0.293559,0.0143522] -86: DBG: Friction 1 rotated 9.75207 deg, less than max 30 +86: slipVel 0 from ~[-0.41292,0.998168] to ~[-0.416331,1.02172] +86: DBG: Friction 0 rotated 0.30389 deg, less than max 30 +86: slipVel 1 from ~[-0.45529,1.98852] to ~[-0.458716,2.01247] +86: DBG: Friction 1 rotated 0.0556376 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00628488 -0.000192055 -0.000598425 -0.1709 -0.0169643 -0.00206886] -86: : m_verrLeft=~[3.46945e-18 0 -0.291005 -0.866675 -0.293559 0.0143522] +86: : m_piActive=~[-1.17567 -0.0449414 0.108639 -0.896364 -0.0200054 0.0873755] +86: : m_verrLeft=~[0 0 -0.416331 1.02172 -0.458716 2.01247] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00628488 verr=3.46945e-18 pi*v=-2.18051e-20 -86: DBG: 1: pi=-0.1709 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.00628488 -0.1709 -0.000192055 -0.000598425 -0.0169643 -0.00206886] errNorm=3.73633e-13 +86: DBG: 0: pi=-1.17567 verr=0 pi*v=-0 +86: DBG: 1: pi=-0.896364 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-1.17567 -0.896364 -0.0449414 0.108639 -0.0200054 0.0873755] errNorm=3.99674e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.300991 -0.937863, |slipV|=0.984978 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.41292 0.998168, |slipV|=1.0802 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.303603 -0.0370255, |slipV|=0.305852 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.45529 1.98852, |slipV|=2.03998 86: ------------------------------ 86: -86: dynamics impulse=~[-0.00628488 -0.1709 -0.000192055 -0.000598425 -0.0169643 -0.00206886] -86: updated verrStart=~[3.46945e-18 0 -0.291005 -0.866675 -0.293559 0.0143522] +86: dynamics impulse=~[-1.17567 -0.896364 -0.0449414 0.108639 -0.0200054 0.0873755] +86: updated verrStart=~[0 0 -0.416331 1.02172 -0.458716 2.01247] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.103914 -0.0109178 0 0 0 0] +86: posVerr=~[0.315287 0.564361 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.238217 0.0910772 -0.00773246 0.305789 -0.00720417 0.117722] -86: [0.0910772 0.202033 0.00614866 0.118733 0.00575833 0.257778] -86: [-0.00773246 0.00614866 0.0491579 0.0319329 0.0493502 -0.0338244] -86: [0.305789 0.118733 0.0319329 0.463585 0.0328637 0.135072] -86: [-0.00720417 0.00575833 0.0493502 0.0328637 0.0495471 -0.0345745] -86: [0.117722 0.257778 -0.0338244 0.135072 -0.0345745 0.399386] +86: [0.285715 0.111855 -0.0168866 0.318073 -0.0083877 0.120429] +86: [0.111855 0.241865 -0.0019524 0.122224 -0.00823341 0.268282] +86: [-0.0168866 -0.0019524 0.0475935 0.019557 0.0500559 -0.0380891] +86: [0.318073 0.122224 0.019557 0.416733 0.032485 0.115688] +86: [-0.0083877 -0.00823341 0.0500559 0.032485 0.0535122 -0.0483052] +86: [0.120429 0.268282 -0.0380891 0.115688 -0.0483052 0.353624] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.406632 rank=2 -86: rhs=~[0.103914 -0.0109178 0 0 0 0] +86: rcond(A+D)=0.396552 rank=2 +86: rhs=~[0.315287 0.564361 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.552021 -0.302892] -86: -> pi=~[0.552021 -0.302892 0 0 0 0] -86: resid active=~[4.16334e-17 5.20417e-18] -86: resid=~[4.16334e-17 5.20417e-18 -0.00613086 0.132838 -0.005721 -0.0130937] +86: -> piActive=~[0.232018 2.22607] +86: -> pi=~[0.232018 2.22607 0 0 0 0] +86: resid active=~[0 0] +86: resid=~[0 0 -0.00826416 0.345877 -0.0202742 0.625156] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-4.71628e-18 2.6563e-18 -0.291005 -0.866675 -0.293559 0.0143522] -86: perr=~[0.000103914 -1.09178e-05 0] -86: END OF STEP (0.082,0.083): -86: verr=~[0.000355912 -0.000355912 -0.290617 -0.866673 -0.293947 0.0143507] -86: perr=~[0.000104092 -1.10958e-05 0] +86: verr=~[6.01732e-17 -3.69713e-17 -0.416331 1.02172 -0.458716 2.01247] +86: perr=~[0.000315287 0.000564361 -1.11022e-16] +86: END OF STEP (0.137,0.138): +86: verr=~[-0.00130195 0.00130195 -0.415839 1.02174 -0.459208 2.01245] +86: perr=~[0.000314636 0.000565012 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -44389,16 +55856,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.914101 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.294298 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000355912 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.10312 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.06417 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00130195 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.000355912 -0.000355912 -0.290617 -0.866673 -0.293947 0.0143507] -86: IMP t=0.083 verr=~[0.000355912 -0.000355912 -0.290617 -0.866673 -0.293947 0.0143507] +86: verr=~[-0.00130195 0.00130195 -0.415839 1.02174 -0.459208 2.01245] +86: IMP t=0.138 verr=~[-0.00130195 0.00130195 -0.415839 1.02174 -0.459208 2.01245] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -44410,115 +55877,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000355912 -0.000355912 -0.290617 -0.866673 -0.293947 0.0143507] +86: verrLeft=~[-0.00130195 0.00130195 -0.415839 1.02174 -0.459208 2.01245] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.290617,-0.866673, mag=0.914101 -86: Participating contact 1 is Sliding; vel=-0.293947,0.0143507, mag=0.294298 +86: Participating contact 0 is Sliding; vel=-0.415839,1.02174, mag=1.10312 +86: Participating contact 1 is Sliding; vel=-0.459208,2.01245, mag=2.06417 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.290617,-0.866673, mag=0.914101 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.293947,0.0143507, mag=0.294298 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.415839,1.02174, mag=1.10312 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.459208,2.01245, mag=2.06417 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.000355912; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000355912; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00130195; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00130195; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000355912 -0.000355912 -0.290617 -0.866673 -0.293947 0.0143507] +86: : verrLeft was=~[-0.00130195 0.00130195 -0.415839 1.02174 -0.459208 2.01245] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.000355912 -0.290617 -0.866673 -0.000355912 -0.293947 0.0143507] +86: : rhsActive=~[-0.00130195 -0.415839 1.02174 0.00130195 -0.459208 2.01245] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.57703e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00138224... -86: > NEWTON iter 1: errNorm=0.00138224(v) -> deltaNorm=0.0102348(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[0.00111833 0 0 -0.000757175 0.000293947 -1.43507e-05] -86: > deltaPi=~[0.00740259 8.76642e-09 2.61431e-08 -0.00706162 0.000293515 -1.43296e-05] -86: DBG: Line search iter 1: back=1, prevNorm=0.00138224. -86: > piNow=~[0.00259741 -8.76642e-09 -2.61431e-08 -0.00293838 -0.000293515 1.43296e-05] -86: > errNow=~[-6.50521e-19 -8.0134e-09 -2.38974e-08 0 -7.73189e-09 3.77476e-10] normNow=2.63671e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.90757e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.19624e-05 -86: > NEWTON iter 2: errNorm=2.63671e-08(v) -> deltaNorm=4.95067e-08(pi) -86: > piActive=~[0.00259741 -8.76642e-09 -2.61431e-08 -0.00293838 -0.000293515 1.43296e-05] -86: > errActive=~[-6.50521e-19 -8.0134e-09 -2.38974e-08 0 -7.73189e-09 3.77476e-10] -86: > deltaPi=~[3.16417e-08 -8.76587e-09 -2.61414e-08 5.01067e-10 -2.62223e-08 1.28019e-09] -86: DBG: Line search iter 1: back=1, prevNorm=2.63671e-08. -86: > piNow=~[0.00259738 -5.54558e-13 -1.65379e-12 -0.00293838 -0.000293488 1.43283e-05] -86: > errNow=~[0 -5.06922e-13 -1.51173e-12 -1.0842e-19 6.34672e-15 -3.0985e-16] normNow=1.59448e-12 -86: DBG: Improvement rate now/prev at iter 2 is 6.04721e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.59448e-12. -86: DBG: Worst offender is normal contact 0 err=0.00259738 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.71787e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00119146... +86: > NEWTON iter 1: errNorm=0.00119146(v) -> deltaNorm=0.00160939(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.00045012 0.000415839 -0.00102174 9.05798e-06 0 0] +86: > deltaPi=~[-0.000974183 0.000340243 -0.000835999 0.000909085 7.53319e-10 -3.30137e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00119146. +86: > piNow=~[-0.00902582 -0.000340243 0.000835999 0.00909092 -7.53319e-10 3.30137e-09] +86: > errNow=~[-4.33681e-19 -1.50896e-09 3.70761e-09 4.33681e-19 -1.55498e-09 6.8146e-09] normNow=8.05481e-09 +86: DBG: Improvement rate now/prev at iter 1 is 6.76047e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.05825e-05 +86: > NEWTON iter 2: errNorm=8.05481e-09(v) -> deltaNorm=7.67648e-09(pi) +86: > piActive=~[-0.00902582 -0.000340243 0.000835999 0.00909092 -7.53319e-10 3.30137e-09] +86: > errActive=~[-4.33681e-19 -1.50896e-09 3.70761e-09 4.33681e-19 -1.55498e-09 6.8146e-09] +86: > deltaPi=~[-4.24379e-09 -1.52787e-09 3.75406e-09 -3.60894e-09 -7.53323e-10 3.30138e-09] +86: DBG: Line search iter 1: back=1, prevNorm=8.05481e-09. +86: > piNow=~[-0.00902581 -0.000340242 0.000835995 0.00909092 3.61851e-15 -1.58579e-14] +86: > errNow=~[0 -8.0688e-15 1.98255e-14 -2.1684e-19 7.46923e-15 -3.27334e-14] normNow=3.98173e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.94329e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.98173e-14. +86: DBG: Worst offender is normal contact 1 err=0.00909092 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.290617,-0.866673, mag=0.914101 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.293947,0.0143507, mag=0.294298 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.415839,1.02174, mag=1.10312 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.459208,2.01245, mag=2.06417 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000355912; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00130195; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000355912 -0.000355912 -0.290617 -0.866673 -0.293947 0.0143507] +86: : verrLeft was=~[-0.00130195 0.00130195 -0.415839 1.02174 -0.459208 2.01245] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000355912 -0.293947 0.0143507] -86: : pi was=~[0 -0.00293838 -5.54558e-13 -1.65379e-12 -0.000293488 1.43283e-05] -86: : piActive=~[-0.01 -0.000293488 1.43283e-05] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.09622e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00167382... -86: > NEWTON iter 1: errNorm=0.00167382(v) -> deltaNorm=0.00823177(pi) -86: > piActive=~[-0.01 -0.000293488 1.43283e-05] -86: > errActive=~[-0.00166086 0.000207575 -1.01339e-05] -86: > deltaPi=~[-0.00823094 -0.000116762 5.70042e-06] -86: DBG: Line search iter 1: back=1, prevNorm=0.00167382. -86: > piNow=~[-0.00176906 -0.000176726 8.6279e-06] -86: > errNow=~[5.42101e-19 -9.0122e-09 4.39982e-10] normNow=9.02293e-09 -86: DBG: Improvement rate now/prev at iter 1 is 5.39064e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.49071e-05 -86: > NEWTON iter 2: errNorm=9.02293e-09(v) -> deltaNorm=3.07831e-08(pi) -86: > piActive=~[-0.00176906 -0.000176726 8.6279e-06] -86: > errActive=~[5.42101e-19 -9.0122e-09 4.39982e-10] -86: > deltaPi=~[-1.05846e-09 -3.07283e-08 1.50018e-09] -86: DBG: Line search iter 1: back=1, prevNorm=9.02293e-09. -86: > piNow=~[-0.00176906 -0.000176695 8.6264e-06] -86: > errNow=~[5.42101e-20 -3.69038e-14 1.80167e-15] normNow=3.69478e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.09487e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.69478e-14. +86: : rhsActive=~[-0.00130195 -0.415839 1.02174] +86: : pi was=~[-0.00902581 0 -0.000340242 0.000835995 3.61851e-15 -1.58579e-14] +86: : piActive=~[-0.01 -0.000340242 0.000835995] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.10899e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00130583... +86: > NEWTON iter 1: errNorm=0.00130583(v) -> deltaNorm=0.00495777(pi) +86: > piActive=~[-0.01 -0.000340242 0.000835995] +86: > errActive=~[-0.0013014 4.05105e-05 -9.95369e-05] +86: > deltaPi=~[-0.00494187 -0.000149561 0.00036748] +86: DBG: Line search iter 1: back=1, prevNorm=0.00130583. +86: > piNow=~[-0.00505813 -0.000190681 0.000468515] +86: > errNow=~[0 -7.6547e-09 1.88081e-08] normNow=2.03061e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.55503e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.60551e-05 +86: > NEWTON iter 2: errNorm=2.03061e-08(v) -> deltaNorm=2.97949e-08(pi) +86: > piActive=~[-0.00505813 -0.000190681 0.000468515] +86: > errActive=~[0 -7.6547e-09 1.88081e-08] +86: > deltaPi=~[-2.15609e-08 -7.75177e-09 1.90466e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.03061e-08. +86: > piNow=~[-0.00505811 -0.000190673 0.000468496] +86: > errNow=~[0 -1.30491e-13 3.20625e-13] normNow=3.46163e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.70472e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.46163e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.293947,0.0143507] to ~[-0.293928,0.0147974] -86: DBG: Friction 1 rotated 0.0870428 deg, less than max 30 +86: slipVel 0 from ~[-0.415839,1.02174] to ~[-0.415926,1.02316] +86: DBG: Friction 0 rotated 0.0235947 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00176906 -0.000176695 8.6264e-06] -86: : m_verrLeft=~[0.000513804 -5.42101e-20 -0.290597 -0.866459 -0.293928 0.0147974] +86: : m_piActive=~[-0.00505811 -0.000190673 0.000468496] +86: : m_verrLeft=~[0 0.00181256 -0.415926 1.02316 -0.459257 2.01299] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.000513804 pi*v=0 -86: DBG: 1: pi=-0.00176906 verr=-5.42101e-20 pi*v=9.59009e-23 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00176906 0 0 -0.000176695 8.6264e-06] errNorm=3.69478e-14 -86: Postcompression verr=~[0.000513804 -5.42101e-20 -0.290597 -0.866459 -0.293928 0.0147974] -86: impulse=~[0 -0.00176906 0 0 -0.000176695 8.6264e-06] +86: DBG: 0: pi=-0.00505811 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00181256 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00505811 0 -0.000190673 0.000468496 0 0] errNorm=3.46163e-13 +86: Postcompression verr=~[0 0.00181256 -0.415926 1.02316 -0.459257 2.01299] +86: impulse=~[-0.00505811 0 -0.000190673 0.000468496 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00176906 0 0 -0.000176695 8.6264e-06]-> du ~[0.00019585 0.000574393 0.00023259 -0.000330373 1.94488e-05 0.000256902 -0.00100923 0.000790284] -86: Now verr0=~[0.000513804 -1.6263e-19 -0.290597 -0.866459 -0.293928 0.0147974] +86: Impact: imp ~[-0.00505811 0 -0.000190673 0.000468496 0 0]-> du ~[-0.000871335 0.00181028 -0.000872959 -0.000983909 -6.77558e-05 0.000906281 -0.0034817 0.00207426] +86: Now verr0=~[-3.25261e-19 0.00181256 -0.415926 1.02316 -0.459257 2.01299] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.000513804 -1.6263e-19 -0.290597 -0.866459 -0.293928 0.0147974] -86: verrExt=~[0.0241535 -0.00416883 0.00871604 0.106619 0.00893161 0.0487257] -86: total verr=~[0.0246673 -0.00416883 -0.281881 -0.75984 -0.284997 0.0635231] -86: DYN t=0.083: verrStart=~[0.000513804 -1.6263e-19 -0.290597 -0.866459 -0.293928 0.0147974] -86: verrApplied=~[0.0241535 -0.00416883 0.00871604 0.106619 0.00893161 0.0487257] +86: verr0 =~[-3.25261e-19 0.00181256 -0.415926 1.02316 -0.459257 2.01299] +86: verrExt=~[-0.367825 -0.29663 0.0139593 -0.377755 0.0102244 -0.292843] +86: total verr=~[-0.367825 -0.294817 -0.401967 0.645408 -0.449032 1.72015] +86: DYN t=0.138: verrStart=~[-3.25261e-19 0.00181256 -0.415926 1.02316 -0.459257 2.01299] +86: verrApplied=~[-0.367825 -0.29663 0.0139593 -0.377755 0.0102244 -0.292843] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -44530,161 +55997,125 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.000513804 -1.6263e-19 -0.290597 -0.866459 -0.293928 0.0147974] -86: verrApplied=~[0.0241535 -0.00416883 0.00871604 0.106619 0.00893161 0.0487257] +86: verrLeft=~[-3.25261e-19 0.00181256 -0.415926 1.02316 -0.459257 2.01299] +86: verrApplied=~[-0.367825 -0.29663 0.0139593 -0.377755 0.0102244 -0.292843] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.290597,-0.866459, mag=0.913892 -86: Participating contact 1 is Sliding; vel=-0.293928,0.0147974, mag=0.294301 +86: Participating contact 0 is Sliding; vel=-0.415926,1.02316, mag=1.10447 +86: Participating contact 1 is Sliding; vel=-0.459257,2.01299, mag=2.06472 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.290597,-0.866459, mag=0.913892 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.293928,0.0147974, mag=0.294301 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.415926,1.02316, mag=1.10447 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.459257,2.01299, mag=2.06472 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.0246673; guess pi=0.01 -86: DBG: active normal 3 has v=-0.00416883; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.367825; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.294817; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000513804 -1.6263e-19 -0.290597 -0.866459 -0.293928 0.0147974] +86: : verrLeft was=~[-3.25261e-19 0.00181256 -0.415926 1.02316 -0.459257 2.01299] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0241535 -0.00416883 0.00871604 0.106619 0.00893161 0.0487257] -86: : rhsActive=~[0.0246673 -0.281881 -0.75984 -0.00416883 -0.284997 0.0635231] +86: : verrApplied was=~[-0.367825 -0.29663 0.0139593 -0.377755 0.0102244 -0.292843] +86: : rhsActive=~[-0.367825 -0.401967 0.645408 -0.294817 -0.449032 1.72015] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.57629e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0233954... -86: > NEWTON iter 1: errNorm=0.0233954(v) -> deltaNorm=0.1432(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[-0.0231931 0 0 0.00305575 0.000293928 -1.47974e-05] -86: > deltaPi=~[-0.124047 -1.46924e-07 -4.38076e-07 0.071084 0.00809788 -0.000407677] -86: DBG: Line search iter 1: back=1, prevNorm=0.0233954. -86: > piNow=~[0.134047 1.46924e-07 4.38076e-07 -0.081084 -0.00809788 0.000407677] -86: > errNow=~[3.46945e-18 1.34273e-07 4.00354e-07 8.67362e-19 7.78261e-08 -3.91805e-09] normNow=4.29401e-07 -86: DBG: Improvement rate now/prev at iter 1 is 1.83541e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.52403e-08 -86: > NEWTON iter 2: errNorm=4.29401e-07(v) -> deltaNorm=7.57612e-07(pi) -86: > piActive=~[0.134047 1.46924e-07 4.38076e-07 -0.081084 -0.00809788 0.000407677] -86: > errActive=~[3.46945e-18 1.34273e-07 4.00354e-07 8.67362e-19 7.78261e-08 -3.91805e-09] -86: > deltaPi=~[-5.39255e-07 1.46924e-07 4.38076e-07 -9.90649e-09 2.63455e-07 -1.32633e-08] -86: DBG: Line search iter 1: back=1, prevNorm=4.29401e-07. -86: > piNow=~[0.134047 3.555e-15 1.05998e-14 -0.081084 -0.00809814 0.00040769] -86: > errNow=~[0 3.24888e-15 9.68703e-15 2.60209e-18 -1.65232e-16 8.29415e-18] normNow=1.02187e-14 -86: DBG: Improvement rate now/prev at iter 2 is 2.37975e-08 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.02187e-14. -86: DBG: Worst offender is normal contact 0 err=0.134047 ... -86: DBG: ... normal contact 0 released. -86: -86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.290597,-0.866459, mag=0.913892 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.293928,0.0147974, mag=0.294301 -86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.00416883; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[0.000513804 -1.6263e-19 -0.290597 -0.866459 -0.293928 0.0147974] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0241535 -0.00416883 0.00871604 0.106619 0.00893161 0.0487257] -86: : rhsActive=~[-0.00416883 -0.284997 0.0635231] -86: : pi was=~[0 -0.081084 3.555e-15 1.05998e-14 -0.00809814 0.00040769] -86: : piActive=~[-0.01 -0.00809814 0.00040769] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.09623e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00304277... -86: > NEWTON iter 1: errNorm=0.00304277(v) -> deltaNorm=0.012307(pi) -86: > piActive=~[-0.01 -0.00809814 0.00040769] -86: > errActive=~[0.00220951 -0.00208936 0.000105186] -86: > deltaPi=~[0.0107252 -0.00602828 0.000303486] -86: DBG: Line search iter 1: back=1, prevNorm=0.00304277. -86: > piNow=~[-0.0207252 -0.00206986 0.000104204] -86: > errNow=~[-8.67362e-19 1.17425e-08 -5.91158e-10] normNow=1.17573e-08 -86: DBG: Improvement rate now/prev at iter 1 is 3.86402e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.55236e-07 -86: > NEWTON iter 2: errNorm=1.17573e-08(v) -> deltaNorm=4.01223e-08(pi) -86: > piActive=~[-0.0207252 -0.00206986 0.000104204] -86: > errActive=~[-8.67362e-19 1.17425e-08 -5.91158e-10] -86: > deltaPi=~[1.45729e-09 4.00451e-08 -2.01601e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.17573e-08. -86: > piNow=~[-0.0207252 -0.0020699 0.000104206] -86: > errNow=~[8.67362e-19 3.71556e-16 -1.86957e-17] normNow=3.72027e-16 -86: DBG: Improvement rate now/prev at iter 2 is 3.16421e-08 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.72027e-16. +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.72203e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.466054... +86: > NEWTON iter 1: errNorm=0.466054(v) -> deltaNorm=1.38028(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.363826 0.000415926 -0.00102316 0.29126 0.000459257 -0.00201299] +86: > deltaPi=~[1.08843 0.0413634 -0.101753 0.837418 0.0188485 -0.0826158] +86: DBG: Line search iter 1: back=1, prevNorm=0.466054. +86: > piNow=~[-1.09843 -0.0413634 0.101753 -0.847418 -0.0188485 0.0826158] +86: > errNow=~[5.55112e-17 1.68627e-06 -4.14816e-06 0 1.43255e-06 -6.27908e-06] normNow=7.84409e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.68309e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.13657e-09 +86: > NEWTON iter 2: errNorm=7.84409e-06(v) -> deltaNorm=8.30702e-06(pi) +86: > piActive=~[-1.09843 -0.0413634 0.101753 -0.847418 -0.0188485 0.0826158] +86: > errActive=~[5.55112e-17 1.68627e-06 -4.14816e-06 0 1.43255e-06 -6.27908e-06] +86: > deltaPi=~[4.74577e-06 1.70548e-06 -4.19543e-06 3.71342e-06 7.7642e-07 -3.40317e-06] +86: DBG: Line search iter 1: back=1, prevNorm=7.84409e-06. +86: > piNow=~[-1.09843 -0.0413651 0.101757 -0.847421 -0.0188492 0.0826192] +86: > errNow=~[0 6.10623e-16 -1.48492e-15 0 8.8124e-16 -3.85803e-15] normNow=4.27069e-15 +86: DBG: Improvement rate now/prev at iter 2 is 5.44447e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.27069e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.293928,0.0147974] to ~[-0.284774,0.0687551] -86: DBG: Friction 1 rotated 10.6915 deg, less than max 30 +86: slipVel 0 from ~[-0.415926,1.02316] to ~[-0.418565,1.0484] +86: DBG: Friction 0 rotated 0.358217 deg, less than max 30 +86: slipVel 1 from ~[-0.459257,2.01299] to ~[-0.461832,2.03679] +86: DBG: Friction 1 rotated 0.0763084 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.0207252 -0.0020699 0.000104206] -86: : m_verrLeft=~[0.0265167 -8.67362e-19 -0.281648 -0.757333 -0.284774 0.0687551] +86: : m_piActive=~[-1.09843 -0.0413651 0.101757 -0.847421 -0.0188492 0.0826192] +86: : m_verrLeft=~[0 0 -0.418565 1.0484 -0.461832 2.03679] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.0265167 pi*v=0 -86: DBG: 1: pi=-0.0207252 verr=-8.67362e-19 pi*v=1.79763e-20 -86: SP FINAL 1 intervals, piTotal=~[0 -0.0207252 0 0 -0.0020699 0.000104206] errNorm=3.72027e-16 +86: DBG: 0: pi=-1.09843 verr=0 pi*v=-0 +86: DBG: 1: pi=-0.847421 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-1.09843 -0.847421 -0.0413651 0.101757 -0.0188492 0.0826192] errNorm=4.27069e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.290597 -0.866459, |slipV|=0.913892 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.415926 1.02316, |slipV|=1.10447 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.293928 0.0147974, |slipV|=0.294301 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.459257 2.01299, |slipV|=2.06472 86: ------------------------------ 86: -86: dynamics impulse=~[0 -0.0207252 0 0 -0.0020699 0.000104206] -86: updated verrStart=~[0.0265167 -8.67362e-19 -0.281648 -0.757333 -0.284774 0.0687551] +86: dynamics impulse=~[-1.09843 -0.847421 -0.0413651 0.101757 -0.0188492 0.0826192] +86: updated verrStart=~[0 0 -0.418565 1.0484 -0.461832 2.03679] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.104092 -0.0110958 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: posVerr=~[0.314636 0.565012 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.237997 0.090573 -0.0081849 0.30582 -0.00748997 0.117477] -86: [0.090573 0.201882 0.00615233 0.118412 0.00563782 0.257919] -86: [-0.0081849 0.00615233 0.0490064 0.0312365 0.0492534 -0.0336717] -86: [0.30582 0.118412 0.0312365 0.464102 0.0324578 0.135301] -86: [-0.00748997 0.00563782 0.0492534 0.0324578 0.0495086 -0.0346558] -86: [0.117477 0.257919 -0.0336717 0.135301 -0.0346558 0.399922] +86: [0.287547 0.11234 -0.0172105 0.318501 -0.00849293 0.12036] +86: [0.11234 0.243441 -0.00212242 0.122114 -0.00857349 0.268732] +86: [-0.0172105 -0.00212242 0.0475137 0.019126 0.0500124 -0.0380405] +86: [0.318501 0.122114 0.019126 0.415083 0.0323076 0.115087] +86: [-0.00849293 -0.00857349 0.0500124 0.0323076 0.053548 -0.0484585] +86: [0.12036 0.268732 -0.0380405 0.115087 -0.0484585 0.352226] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.104092 -0.0110958 0 0 0 0] -86: active=(1) -86: -> piActive=~[-0.0549619] -86: -> pi=~[0 -0.0549619 0 0 0 0] -86: resid active=~[0] -86: resid=~[-0.10907 0 -0.000338143 -0.00650815 -0.000309865 -0.0141757] +86: rcond(A+D)=0.397416 rank=2 +86: rhs=~[0.314636 0.565012 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.228678 2.21542] +86: -> pi=~[0.228678 2.21542 0 0 0 0] +86: resid active=~[5.55112e-17 0] +86: resid=~[5.55112e-17 0 -0.00863771 0.343368 -0.020936 0.622877] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[0.0265167 1.16226e-16 -0.281648 -0.757333 -0.284774 0.0687551] -86: perr=~[0.000104092 -1.10958e-05 0] -86: END OF STEP (0.083,0.084): -86: verr=~[0.0267905 -0.000273783 -0.281307 -0.757323 -0.285115 0.0687448] -86: perr=~[0.000130746 -1.12327e-05 0] +86: verr=~[2.55872e-17 1.08854e-16 -0.418565 1.0484 -0.461832 2.03679] +86: perr=~[0.000314636 0.000565012 0] +86: END OF STEP (0.138,0.139): +86: verr=~[-0.00132471 0.00132471 -0.418076 1.04842 -0.462321 2.03677] +86: perr=~[0.000313974 0.000565675 -2.22045e-16] 86: constraint status: -86: 0: cont UniOff fric Sliding +86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding 86: Proximal unilateral contacts: (0,2) 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.807881 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.293286 -> mu=0.1 -86: DBG: Uni contact 2 verr vel=-0.000273783 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.1287 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.08858 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00132471 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (1) -86: observers: (0) +86: impacters: (0) +86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[0.0267905 -0.000273783 -0.281307 -0.757323 -0.285115 0.0687448] -86: IMP t=0.084 verr=~[0.0267905 -0.000273783 -0.281307 -0.757323 -0.285115 0.0687448] +86: verr=~[-0.00132471 0.00132471 -0.418076 1.04842 -0.462321 2.03677] +86: IMP t=0.139 verr=~[-0.00132471 0.00132471 -0.418076 1.04842 -0.462321 2.03677] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -44696,115 +56127,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.0267905 -0.000273783 -0.281307 -0.757323 -0.285115 0.0687448] +86: verrLeft=~[-0.00132471 0.00132471 -0.418076 1.04842 -0.462321 2.03677] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.281307,-0.757323, mag=0.807881 -86: Participating contact 1 is Sliding; vel=-0.285115,0.0687448, mag=0.293286 +86: Participating contact 0 is Sliding; vel=-0.418076,1.04842, mag=1.1287 +86: Participating contact 1 is Sliding; vel=-0.462321,2.03677, mag=2.08858 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.281307,-0.757323, mag=0.807881 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.285115,0.0687448, mag=0.293286 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.418076,1.04842, mag=1.1287 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.462321,2.03677, mag=2.08858 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.0267905; guess pi=0.01 -86: DBG: active normal 3 has v=-0.000273783; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00132471; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00132471; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.0267905 -0.000273783 -0.281307 -0.757323 -0.285115 0.0687448] +86: : verrLeft was=~[-0.00132471 0.00132471 -0.418076 1.04842 -0.462321 2.03677] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[0.0267905 -0.281307 -0.757323 -0.000273783 -0.285115 0.0687448] +86: : rhsActive=~[-0.00132471 -0.418076 1.04842 0.00132471 -0.462321 2.03677] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.20142e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0253293... -86: > NEWTON iter 1: errNorm=0.0253293(v) -> deltaNorm=0.13705(pi) -86: > piActive=~[0.01 0 0 -0.01 0 0] -86: > errActive=~[-0.0253136 0 0 -0.000842596 0.000285115 -6.87448e-05] -86: > deltaPi=~[-0.125886 -1.63275e-07 -4.39564e-07 0.0538041 0.00620247 -0.00149549] -86: DBG: Line search iter 1: back=1, prevNorm=0.0253293. -86: > piNow=~[0.135886 1.63275e-07 4.39564e-07 -0.0638041 -0.00620247 0.00149549] -86: > errNow=~[1.38778e-17 1.31907e-07 3.55115e-07 9.75782e-19 5.7141e-08 -1.37774e-08] normNow=3.83355e-07 -86: DBG: Improvement rate now/prev at iter 1 is 1.51348e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.13998e-08 -86: > NEWTON iter 2: errNorm=3.83355e-07(v) -> deltaNorm=7.46742e-07(pi) -86: > piActive=~[0.135886 1.63275e-07 4.39564e-07 -0.0638041 -0.00620247 0.00149549] -86: > errActive=~[1.38778e-17 1.31907e-07 3.55115e-07 9.75782e-19 5.7141e-08 -1.37774e-08] -86: > deltaPi=~[-5.42986e-07 1.63275e-07 4.39564e-07 3.59831e-08 1.98328e-07 -4.78194e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.83355e-07. -86: > piNow=~[0.135886 3.81446e-15 1.02691e-14 -0.0638041 -0.00620267 0.00149554] -86: > errNow=~[-3.46945e-18 3.08163e-15 8.29625e-15 -1.40946e-18 9.38919e-16 -2.26381e-16] normNow=8.90264e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.3223e-08 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.90264e-15. -86: DBG: Worst offender is normal contact 0 err=0.135886 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.84305e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00121182... +86: > NEWTON iter 1: errNorm=0.00121182(v) -> deltaNorm=0.00151895(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000441068 0.000418076 -0.00104842 -2.60739e-06 0 0] +86: > deltaPi=~[-0.000892978 0.000337329 -0.000845928 0.000824871 6.80129e-10 -2.99632e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00121182. +86: > piNow=~[-0.00910702 -0.000337329 0.000845928 0.00917513 -6.80129e-10 2.99632e-09] +86: > errNow=~[-2.1684e-19 -1.39062e-09 3.48728e-09 -2.1684e-19 -1.4205e-09 6.25804e-09] normNow=7.43478e-09 +86: DBG: Improvement rate now/prev at iter 1 is 6.13519e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.05402e-05 +86: > NEWTON iter 2: errNorm=7.43478e-09(v) -> deltaNorm=6.99398e-09(pi) +86: > piActive=~[-0.00910702 -0.000337329 0.000845928 0.00917513 -6.80129e-10 2.99632e-09] +86: > errActive=~[-2.1684e-19 -1.39062e-09 3.48728e-09 -2.1684e-19 -1.4205e-09 6.25804e-09] +86: > deltaPi=~[-3.87955e-09 -1.37574e-09 3.44998e-09 -3.26025e-09 -6.80132e-10 2.99633e-09] +86: DBG: Line search iter 1: back=1, prevNorm=7.43478e-09. +86: > piNow=~[-0.00910702 -0.000337327 0.000845924 0.00917513 3.19317e-15 -1.40676e-14] +86: > errNow=~[0 -7.28427e-15 1.82669e-14 4.33681e-19 6.66918e-15 -2.93812e-14] normNow=3.59788e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.83925e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.59788e-14. +86: DBG: Worst offender is normal contact 1 err=0.00917513 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.281307,-0.757323, mag=0.807881 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.285115,0.0687448, mag=0.293286 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.418076,1.04842, mag=1.1287 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.462321,2.03677, mag=2.08858 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=-0.000273783; guess pi=-0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00132471; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.0267905 -0.000273783 -0.281307 -0.757323 -0.285115 0.0687448] +86: : verrLeft was=~[-0.00132471 0.00132471 -0.418076 1.04842 -0.462321 2.03677] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000273783 -0.285115 0.0687448] -86: : pi was=~[0 -0.0638041 3.81446e-15 1.02691e-14 -0.00620267 0.00149554] -86: : piActive=~[-0.01 -0.00620267 0.00149554] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.09245e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00210442... -86: > NEWTON iter 1: errNorm=0.00210442(v) -> deltaNorm=0.0106299(pi) -86: > piActive=~[-0.01 -0.00620267 0.00149554] -86: > errActive=~[-0.0013923 -0.00153404 0.000369876] -86: > deltaPi=~[-0.00860503 -0.00606702 0.00146283] -86: DBG: Line search iter 1: back=1, prevNorm=0.00210442. -86: > piNow=~[-0.00139497 -0.000135642 3.2705e-05] -86: > errNow=~[6.50521e-19 -9.13871e-09 2.20345e-09] normNow=9.40059e-09 -86: DBG: Improvement rate now/prev at iter 1 is 4.46707e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.58259e-05 -86: > NEWTON iter 2: errNorm=9.40059e-09(v) -> deltaNorm=3.41584e-08(pi) -86: > piActive=~[-0.00139497 -0.000135642 3.2705e-05] -86: > errActive=~[6.50521e-19 -9.13871e-09 2.20345e-09] -86: > deltaPi=~[-9.00142e-09 -3.20331e-08 7.72357e-09] -86: DBG: Line search iter 1: back=1, prevNorm=9.40059e-09. -86: > piNow=~[-0.00139496 -0.00013561 3.26972e-05] -86: > errNow=~[-5.42101e-20 -4.88513e-13 1.17786e-13] normNow=5.02512e-13 -86: DBG: Improvement rate now/prev at iter 2 is 5.34553e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.02512e-13. +86: : rhsActive=~[-0.00132471 -0.418076 1.04842] +86: : pi was=~[-0.00910702 0 -0.000337327 0.000845924 3.19317e-15 -1.40676e-14] +86: : piActive=~[-0.01 -0.000337327 0.000845924] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.20428e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00129766... +86: > NEWTON iter 1: errNorm=0.00129766(v) -> deltaNorm=0.00490435(pi) +86: > piActive=~[-0.01 -0.000337327 0.000845924] +86: > errActive=~[-0.00129374 3.73334e-05 -9.3622e-05] +86: > deltaPi=~[-0.00488806 -0.000147972 0.000371074] +86: DBG: Line search iter 1: back=1, prevNorm=0.00129766. +86: > piNow=~[-0.00511194 -0.000189355 0.00047485] +86: > errNow=~[2.1684e-19 -7.61208e-09 1.9089e-08] normNow=2.05508e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.58368e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.60836e-05 +86: > NEWTON iter 2: errNorm=2.05508e-08(v) -> deltaNorm=2.94259e-08(pi) +86: > piActive=~[-0.00511194 -0.000189355 0.00047485] +86: > errActive=~[2.1684e-19 -7.61208e-09 1.9089e-08] +86: > deltaPi=~[-2.12699e-08 -7.53182e-09 1.88877e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.05508e-08. +86: > piNow=~[-0.00511192 -0.000189348 0.000474832] +86: > errNow=~[0 -1.26714e-13 3.17763e-13] normNow=3.42096e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.66464e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.42096e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.285115,0.0687448] to ~[-0.2851,0.069087] -86: DBG: Friction 1 rotated 0.0656832 deg, less than max 30 +86: slipVel 0 from ~[-0.418076,1.04842] to ~[-0.418166,1.04986] +86: DBG: Friction 0 rotated 0.022781 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00139496 -0.00013561 3.26972e-05] -86: : m_verrLeft=~[0.0269114 5.42101e-20 -0.28129 -0.757158 -0.2851 0.069087] +86: : m_piActive=~[-0.00511192 -0.000189348 0.000474832] +86: : m_verrLeft=~[0 0.00184316 -0.418166 1.04986 -0.462371 2.03732] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.0269114 pi*v=0 -86: DBG: 1: pi=-0.00139496 verr=5.42101e-20 pi*v=-7.56211e-23 -86: SP FINAL 1 intervals, piTotal=~[0 -0.00139496 0 0 -0.00013561 3.26972e-05] errNorm=5.02512e-13 -86: Postcompression verr=~[0.0269114 5.42101e-20 -0.28129 -0.757158 -0.2851 0.069087] -86: impulse=~[0 -0.00139496 0 0 -0.00013561 3.26972e-05] +86: DBG: 0: pi=-0.00511192 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00184316 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00511192 0 -0.000189348 0.000474832 0 0] errNorm=3.42096e-13 +86: Postcompression verr=~[0 0.00184316 -0.418166 1.04986 -0.462371 2.03732] +86: impulse=~[-0.00511192 0 -0.000189348 0.000474832 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[0 -0.00139496 0 0 -0.00013561 3.26972e-05]-> du ~[0.000150897 0.000440938 0.000177414 -0.000253446 1.59454e-05 0.00019732 -0.000774538 0.000605815] -86: Now verr0=~[0.0269114 0 -0.28129 -0.757158 -0.2851 0.069087] +86: Impact: imp ~[-0.00511192 0 -0.000189348 0.000474832 0 0]-> du ~[-0.000889208 0.00183485 -0.000884641 -0.000995459 -6.96354e-05 0.00092158 -0.0035312 0.00210276] +86: Now verr0=~[-2.38524e-18 0.00184316 -0.418166 1.04986 -0.462371 2.03732] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.0269114 0 -0.28129 -0.757158 -0.2851 0.069087] -86: verrExt=~[0.0542052 0.0176639 0.00900104 0.148792 0.00932139 0.0781132] -86: total verr=~[0.0811166 0.0176639 -0.272289 -0.608367 -0.275779 0.1472] -86: DYN t=0.084: verrStart=~[0.0269114 0 -0.28129 -0.757158 -0.2851 0.069087] -86: verrApplied=~[0.0542052 0.0176639 0.00900104 0.148792 0.00932139 0.0781132] +86: verr0 =~[-2.38524e-18 0.00184316 -0.418166 1.04986 -0.462371 2.03732] +86: verrExt=~[-0.345243 -0.279911 0.0139453 -0.349445 0.0105308 -0.273537] +86: total verr=~[-0.345243 -0.278068 -0.40422 0.700413 -0.45184 1.76378] +86: DYN t=0.139: verrStart=~[-2.38524e-18 0.00184316 -0.418166 1.04986 -0.462371 2.03732] +86: verrApplied=~[-0.345243 -0.279911 0.0139453 -0.349445 0.0105308 -0.273537] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -44816,176 +56247,125 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.0269114 0 -0.28129 -0.757158 -0.2851 0.069087] -86: verrApplied=~[0.0542052 0.0176639 0.00900104 0.148792 0.00932139 0.0781132] +86: verrLeft=~[-2.38524e-18 0.00184316 -0.418166 1.04986 -0.462371 2.03732] +86: verrApplied=~[-0.345243 -0.279911 0.0139453 -0.349445 0.0105308 -0.273537] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.28129,-0.757158, mag=0.807721 -86: Participating contact 1 is Sliding; vel=-0.2851,0.069087, mag=0.293351 +86: Participating contact 0 is Sliding; vel=-0.418166,1.04986, mag=1.13007 +86: Participating contact 1 is Sliding; vel=-0.462371,2.03732, mag=2.08913 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.28129,-0.757158, mag=0.807721 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.2851,0.069087, mag=0.293351 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.418166,1.04986, mag=1.13007 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.462371,2.03732, mag=2.08913 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.0811166; guess pi=0.01 -86: DBG: active normal 3 has v=0.0176639; guess pi=0.01 +86: DBG: active normal 0 has v=-0.345243; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.278068; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.0269114 0 -0.28129 -0.757158 -0.2851 0.069087] +86: : verrLeft was=~[-2.38524e-18 0.00184316 -0.418166 1.04986 -0.462371 2.03732] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0542052 0.0176639 0.00900104 0.148792 0.00932139 0.0781132] -86: : rhsActive=~[0.0811166 -0.272289 -0.608367 0.0176639 -0.275779 0.1472] +86: : verrApplied was=~[-0.345243 -0.279911 0.0139453 -0.349445 0.0105308 -0.273537] +86: : rhsActive=~[-0.345243 -0.40422 0.700413 -0.278068 -0.45184 1.76378] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.20094e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0792211... -86: > NEWTON iter 1: errNorm=0.0792211(v) -> deltaNorm=0.371226(pi) -86: > piActive=~[0.01 0 0 0.01 0 0] -86: > errActive=~[-0.0778368 0 0 -0.0147448 0 0] -86: > deltaPi=~[-0.360637 -4.67816e-07 -1.25923e-06 0.0880334 3.1869e-07 -7.72267e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.0792211. -86: > piNow=~[0.370637 4.67816e-07 1.25923e-06 -0.0780334 -3.1869e-07 7.72267e-08] -86: > errNow=~[1.38778e-17 3.77865e-07 1.01711e-06 0 0.00222464 -0.000539087] normNow=0.00228902 -86: DBG: Improvement rate now/prev at iter 1 is 0.0288941 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.808e-08 -86: > NEWTON iter 2: errNorm=0.00228902(v) -> deltaNorm=0.00826314(pi) -86: > piActive=~[0.370637 4.67816e-07 1.25923e-06 -0.0780334 -3.1869e-07 7.72267e-08] -86: > errActive=~[1.38778e-17 3.77865e-07 1.01711e-06 0 0.00222464 -0.000539087] -86: > deltaPi=~[0.000419365 4.67816e-07 1.25924e-06 0.00200987 0.00777887 -0.00188502] -86: DBG: Line search iter 1: back=1, prevNorm=0.00228902. -86: > piNow=~[0.370217 -3.9605e-13 -1.06606e-12 -0.0800433 -0.00777918 0.00188509] -86: > errNow=~[-1.38778e-17 -3.19898e-13 -8.61078e-13 -3.46945e-18 3.5056e-11 -8.49496e-12] normNow=3.60823e-11 -86: DBG: Improvement rate now/prev at iter 2 is 1.57632e-08 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.60823e-11. -86: DBG: Worst offender is normal contact 0 err=0.370217 ... -86: DBG: ... normal contact 0 released. -86: -86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.28129,-0.757158, mag=0.807721 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.2851,0.069087, mag=0.293351 -86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=0.0176639; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[0.0269114 0 -0.28129 -0.757158 -0.2851 0.069087] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0542052 0.0176639 0.00900104 0.148792 0.00932139 0.0781132] -86: : rhsActive=~[0.0176639 -0.275779 0.1472] -86: : pi was=~[0 -0.0800433 -3.9605e-13 -1.06606e-12 -0.00777918 0.00188509] -86: : piActive=~[0.01 -0.00777918 0.00188509] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.0927e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0153829... -86: > NEWTON iter 1: errNorm=0.0153829(v) -> deltaNorm=0.0779536(pi) -86: > piActive=~[0.01 -0.00777918 0.00188509] -86: > errActive=~[-0.0152026 -0.00228203 0.000552995] -86: > deltaPi=~[-0.0775416 -0.00777947 0.00188516] -86: DBG: Line search iter 1: back=1, prevNorm=0.0153829. -86: > piNow=~[0.0875416 2.80708e-07 -6.80228e-08] -86: > errNow=~[0 8.23461e-08 -1.99546e-08] normNow=8.47294e-08 -86: DBG: Improvement rate now/prev at iter 1 is 5.50802e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.426e-08 -86: > NEWTON iter 2: errNorm=8.47294e-08(v) -> deltaNorm=2.99525e-07(pi) -86: > piActive=~[0.0875416 2.80708e-07 -6.80228e-08] -86: > errActive=~[0 8.23461e-08 -1.99546e-08] -86: > deltaPi=~[7.93156e-08 2.80708e-07 -6.80228e-08] -86: DBG: Line search iter 1: back=1, prevNorm=8.47294e-08. -86: > piNow=~[0.0875415 -3.74713e-15 9.08025e-16] -86: > errNow=~[3.46945e-18 -1.09923e-15 2.6637e-16] normNow=1.13104e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.33489e-08 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.13104e-15. -86: DBG: Worst offender is normal contact 1 err=0.0875415 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 3 start -86: : active=() -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.28129,-0.757158, mag=0.807721 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.2851,0.069087, mag=0.293351 -86: fillMult2Active: -86: : active=() -86: : mult2active=(-1111111111,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111) -86: initializeNewton: -86: : verrLeft was=~[0.0269114 0 -0.28129 -0.757158 -0.2851 0.069087] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0542052 0.0176639 0.00900104 0.148792 0.00932139 0.0781132] -86: : rhsActive=~[] -86: : pi was=~[0 0 -3.9605e-13 -1.06606e-12 -3.74713e-15 9.08025e-16] -86: : piActive=~[] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.84727e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.437928... +86: > NEWTON iter 1: errNorm=0.437928(v) -> deltaNorm=1.2888(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.341221 0.000418166 -0.00104986 0.274489 0.000462371 -0.00203732] +86: > deltaPi=~[1.01145 0.0377958 -0.0948912 0.788138 0.0176639 -0.0778316] +86: DBG: Line search iter 1: back=1, prevNorm=0.437928. +86: > piNow=~[-1.02145 -0.0377958 0.0948912 -0.798138 -0.0176639 0.0778316] +86: > errNow=~[5.55112e-17 1.57545e-06 -3.95537e-06 0 1.35739e-06 -5.98099e-06] normNow=7.46604e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.70485e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.29598e-09 +86: > NEWTON iter 2: errNorm=7.46604e-06(v) -> deltaNorm=7.74137e-06(pi) +86: > piActive=~[-1.02145 -0.0377958 0.0948912 -0.798138 -0.0176639 0.0778316] +86: > errActive=~[5.55112e-17 1.57545e-06 -3.95537e-06 0 1.35739e-06 -5.98099e-06] +86: > deltaPi=~[4.39731e-06 1.55683e-06 -3.90862e-06 3.47977e-06 7.26755e-07 -3.20226e-06] +86: DBG: Line search iter 1: back=1, prevNorm=7.46604e-06. +86: > piNow=~[-1.02146 -0.0377974 0.0948951 -0.798141 -0.0176647 0.0778348] +86: > errNow=~[-1.11022e-16 6.52256e-16 -1.65146e-15 0 9.4369e-16 -4.13558e-15] normNow=4.59985e-15 +86: DBG: Improvement rate now/prev at iter 2 is 6.16104e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.59985e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.418166,1.04986] to ~[-0.420102,1.07669] +86: DBG: Friction 0 rotated 0.403055 deg, less than max 30 +86: slipVel 1 from ~[-0.462371,2.03732] to ~[-0.464167,2.06103] +86: DBG: Friction 1 rotated 0.0948222 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[] -86: : m_verrLeft=~[0.0811166 0.0176639 -0.272289 -0.608367 -0.275779 0.1472] +86: : m_piActive=~[-1.02146 -0.0377974 0.0948951 -0.798141 -0.0176647 0.0778348] +86: : m_verrLeft=~[1.11022e-16 0 -0.420102 1.07669 -0.464167 2.06103] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.0811166 pi*v=0 -86: DBG: 1: pi=0 verr=0.0176639 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[0 0 0 0 0 0] errNorm=0 +86: DBG: 0: pi=-1.02146 verr=1.11022e-16 pi*v=-1.13404e-16 +86: DBG: 1: pi=-0.798141 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-1.02146 -0.798141 -0.0377974 0.0948951 -0.0176647 0.0778348] errNorm=4.59985e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.28129 -0.757158, |slipV|=0.807721 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.418166 1.04986, |slipV|=1.13007 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.2851 0.069087, |slipV|=0.293351 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.462371 2.03732, |slipV|=2.08913 86: ------------------------------ 86: -86: dynamics impulse=~[0 0 0 0 0 0] -86: updated verrStart=~[0.0811166 0.0176639 -0.272289 -0.608367 -0.275779 0.1472] +86: dynamics impulse=~[-1.02146 -0.798141 -0.0377974 0.0948951 -0.0176647 0.0778348] +86: updated verrStart=~[1.11022e-16 0 -0.420102 1.07669 -0.464167 2.06103] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.130746 -0.0112327 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: posVerr=~[0.313974 0.565675 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.237834 0.09014 -0.0085928 0.305857 -0.0077451 0.117263] -86: [0.09014 0.201778 0.00614991 0.118129 0.00552123 0.258061] -86: [-0.0085928 0.00614991 0.0488713 0.0306091 0.0491688 -0.0335388] -86: [0.305857 0.118129 0.0306091 0.464529 0.032098 0.135489] -86: [-0.0077451 0.00552123 0.0491688 0.032098 0.0494786 -0.0347388] -86: [0.117263 0.258061 -0.0335388 0.135489 -0.0347388 0.400376] +86: [0.289415 0.112837 -0.0175336 0.318925 -0.00859685 0.120287] +86: [0.112837 0.245047 -0.00229274 0.122002 -0.00891465 0.269179] +86: [-0.0175336 -0.00229274 0.0474353 0.018701 0.0499693 -0.0379902] +86: [0.318925 0.122002 0.018701 0.413396 0.0321322 0.114474] +86: [-0.00859685 -0.00891465 0.0499693 0.0321322 0.0535837 -0.0486069] +86: [0.120287 0.269179 -0.0379902 0.114474 -0.0486069 0.350796] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.130746 -0.0112327 0 0 0 0] -86: active=(1) -86: -> piActive=~[-0.0556686] -86: -> pi=~[0 -0.0556686 0 0 0 0] -86: resid active=~[0] -86: resid=~[-0.135764 0 -0.000342356 -0.00657608 -0.000307359 -0.0143659] +86: rcond(A+D)=0.398281 rank=2 +86: rhs=~[0.313974 0.565675 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.225294 2.20469] +86: -> pi=~[0.225294 2.20469 0 0 0 0] +86: resid active=~[0 0] +86: resid=~[0 0 -0.009005 0.340828 -0.0215908 0.620556] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[0.0811166 0.0176639 -0.272289 -0.608367 -0.275779 0.1472] -86: perr=~[0.000130746 -1.12327e-05 0] -86: END OF STEP (0.084,0.085): -86: verr=~[0.0812911 0.0174894 -0.272002 -0.60835 -0.276066 0.147184] -86: perr=~[0.00021195 6.34399e-06 -1.11022e-16] +86: verr=~[2.81893e-17 6.98226e-17 -0.420102 1.07669 -0.464167 2.06103] +86: perr=~[0.000313974 0.000565675 -2.22045e-16] +86: END OF STEP (0.139,0.14): +86: verr=~[-0.00134606 0.00134606 -0.419617 1.07671 -0.464653 2.06101] +86: perr=~[0.000313301 0.000566348 -1.11022e-16] 86: constraint status: -86: 0: cont UniOff fric Sliding -86: 2: cont UniOff fric Sliding +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding 86: Proximal unilateral contacts: (0,2) 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.66639 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.312851 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=1.15559 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.11274 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00134606 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.0812911 0.0174894 -0.272002 -0.60835 -0.276066 0.147184] -86: verrExt=~[0.0661041 0.0246395 0.00928729 0.16593 0.00970108 0.0871634] -86: total verr=~[0.147395 0.042129 -0.262715 -0.442421 -0.266365 0.234348] -86: DYN t=0.085: verrStart=~[0.0812911 0.0174894 -0.272002 -0.60835 -0.276066 0.147184] -86: verrApplied=~[0.0661041 0.0246395 0.00928729 0.16593 0.00970108 0.0871634] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.00134606 0.00134606 -0.419617 1.07671 -0.464653 2.06101] +86: IMP t=0.14 verr=~[-0.00134606 0.00134606 -0.419617 1.07671 -0.464653 2.06101] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -44997,162 +56377,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.0812911 0.0174894 -0.272002 -0.60835 -0.276066 0.147184] -86: verrApplied=~[0.0661041 0.0246395 0.00928729 0.16593 0.00970108 0.0871634] +86: verrLeft=~[-0.00134606 0.00134606 -0.419617 1.07671 -0.464653 2.06101] +86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.272002,-0.60835, mag=0.66639 -86: Participating contact 1 is Sliding; vel=-0.276066,0.147184, mag=0.312851 +86: Participating contact 0 is Sliding; vel=-0.419617,1.07671, mag=1.15559 +86: Participating contact 1 is Sliding; vel=-0.464653,2.06101, mag=2.11274 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.272002,-0.60835, mag=0.66639 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.276066,0.147184, mag=0.312851 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.419617,1.07671, mag=1.15559 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.464653,2.06101, mag=2.11274 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.147395; guess pi=0.01 -86: DBG: active normal 3 has v=0.042129; guess pi=0.01 +86: DBG: active normal 0 has v=-0.00134606; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00134606; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.0812911 0.0174894 -0.272002 -0.60835 -0.276066 0.147184] +86: : verrLeft was=~[-0.00134606 0.00134606 -0.419617 1.07671 -0.464653 2.06101] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0661041 0.0246395 0.00928729 0.16593 0.00970108 0.0871634] -86: : rhsActive=~[0.147395 -0.262715 -0.442421 0.042129 -0.266365 0.234348] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00134606 -0.419617 1.07671 0.00134606 -0.464653 2.06101] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.74215e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.149359... -86: > NEWTON iter 1: errNorm=0.149359(v) -> deltaNorm=0.646828(pi) -86: > piActive=~[0.01 0 0 0.01 0 0] -86: > errActive=~[-0.144119 0 0 -0.0392134 0 0] -86: > deltaPi=~[-0.640433 -9.73708e-07 -2.17776e-06 0.0907286 2.98216e-07 -1.58994e-07] -86: DBG: Line search iter 1: back=1, prevNorm=0.149359. -86: > piNow=~[0.650433 9.73708e-07 2.17776e-06 -0.0807286 -2.98216e-07 1.58994e-07] -86: > errNow=~[-8.32667e-17 6.48869e-07 1.45124e-06 1.38778e-17 0.00222855 -0.00118815] normNow=0.00252549 -86: DBG: Improvement rate now/prev at iter 1 is 0.0169089 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.78928e-08 -86: > NEWTON iter 2: errNorm=0.00252549(v) -> deltaNorm=0.00978792(pi) -86: > piActive=~[0.650433 9.73708e-07 2.17776e-06 -0.0807286 -2.98216e-07 1.58994e-07] -86: > errActive=~[-8.32667e-17 6.48869e-07 1.45124e-06 1.38778e-17 0.00222855 -0.00118815] -86: > deltaPi=~[0.000436186 9.73709e-07 2.17776e-06 0.00474915 0.00754243 -0.00402124] -86: DBG: Line search iter 1: back=1, prevNorm=0.00252549. -86: > piNow=~[0.649997 -1.56773e-13 -3.50633e-13 -0.0854777 -0.00754273 0.00402139] -86: > errNow=~[2.77556e-17 -1.04472e-13 -2.33658e-13 0 7.49435e-11 -3.9956e-11] normNow=8.49298e-11 -86: DBG: Improvement rate now/prev at iter 2 is 3.3629e-08 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.49298e-11. -86: DBG: Worst offender is normal contact 0 err=0.649997 ... -86: DBG: ... normal contact 0 released. -86: -86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.272002,-0.60835, mag=0.66639 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.276066,0.147184, mag=0.312851 -86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=0.042129; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[0.0812911 0.0174894 -0.272002 -0.60835 -0.276066 0.147184] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0661041 0.0246395 0.00928729 0.16593 0.00970108 0.0871634] -86: : rhsActive=~[0.042129 -0.266365 0.234348] -86: : pi was=~[0 -0.0854777 -1.56773e-13 -3.50633e-13 -0.00754273 0.00402139] -86: : piActive=~[0.01 -0.00754273 0.00402139] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.16533e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0392052... -86: > NEWTON iter 1: errNorm=0.0392052(v) -> deltaNorm=0.199003(pi) -86: > piActive=~[0.01 -0.00754273 0.00402139] -86: > errActive=~[-0.0391139 -0.00235975 0.0012581] -86: > deltaPi=~[-0.198819 -0.00754339 0.00402174] -86: DBG: Line search iter 1: back=1, prevNorm=0.0392052. -86: > piNow=~[0.208819 6.53499e-07 -3.48412e-07] -86: > errNow=~[0 2.04448e-07 -1.09001e-07] normNow=2.31689e-07 -86: DBG: Improvement rate now/prev at iter 1 is 5.90967e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.67275e-09 -86: > NEWTON iter 2: errNorm=2.31689e-07(v) -> deltaNorm=8.55566e-07(pi) -86: > piActive=~[0.208819 6.53499e-07 -3.48412e-07] -86: > errActive=~[0 2.04448e-07 -1.09001e-07] -86: > deltaPi=~[4.28417e-07 6.53499e-07 -3.48412e-07] -86: DBG: Line search iter 1: back=1, prevNorm=2.31689e-07. -86: > piNow=~[0.208818 -3.22971e-15 1.72191e-15] -86: > errNow=~[0 -1.01042e-15 5.38702e-16] normNow=1.14505e-15 -86: DBG: Improvement rate now/prev at iter 2 is 4.94218e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.14505e-15. -86: DBG: Worst offender is normal contact 1 err=0.208818 ... +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.96995e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00123434... +86: > NEWTON iter 1: errNorm=0.00123434(v) -> deltaNorm=0.00144486(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000433652 0.000419617 -0.00107671 -1.26905e-05 0 0] +86: > deltaPi=~[-0.000823868 0.000333204 -0.000854982 0.000752887 6.16772e-10 -2.73574e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00123434. +86: > piNow=~[-0.00917613 -0.000333204 0.000854982 0.00924711 -6.16772e-10 2.73574e-09] +86: > errNow=~[2.1684e-19 -1.28772e-09 3.30422e-09 -2.1684e-19 -1.30308e-09 5.7799e-09] normNow=6.90517e-09 +86: DBG: Improvement rate now/prev at iter 1 is 5.5942e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.05276e-05 +86: > NEWTON iter 2: errNorm=6.90517e-09(v) -> deltaNorm=6.41261e-09(pi) +86: > piActive=~[-0.00917613 -0.000333204 0.000854982 0.00924711 -6.16772e-10 2.73574e-09] +86: > errActive=~[2.1684e-19 -1.28772e-09 3.30422e-09 -2.1684e-19 -1.30308e-09 5.7799e-09] +86: > deltaPi=~[-3.56991e-09 -1.24396e-09 3.19194e-09 -2.96253e-09 -6.16774e-10 2.73576e-09] +86: DBG: Line search iter 1: back=1, prevNorm=6.90517e-09. +86: > piNow=~[-0.00917613 -0.000333202 0.000854979 0.00924712 2.83817e-15 -1.25889e-14] +86: > errNow=~[0 -6.62659e-15 1.70035e-14 2.1684e-19 5.99629e-15 -2.65971e-14] normNow=3.28084e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.75128e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.28084e-14. +86: DBG: Worst offender is normal contact 1 err=0.00924712 ... 86: DBG: ... normal contact 1 released. 86: -86: ....... Active set iter 3 start -86: : active=() -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.272002,-0.60835, mag=0.66639 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.276066,0.147184, mag=0.312851 +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.419617,1.07671, mag=1.15559 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.464653,2.06101, mag=2.11274 86: fillMult2Active: -86: : active=() -86: : mult2active=(-1111111111,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111) +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00134606; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.0812911 0.0174894 -0.272002 -0.60835 -0.276066 0.147184] +86: : verrLeft was=~[-0.00134606 0.00134606 -0.419617 1.07671 -0.464653 2.06101] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0661041 0.0246395 0.00928729 0.16593 0.00970108 0.0871634] -86: : rhsActive=~[] -86: : pi was=~[0 0 -1.56773e-13 -3.50633e-13 -3.22971e-15 1.72191e-15] -86: : piActive=~[] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00134606 -0.419617 1.07671] +86: : pi was=~[-0.00917613 0 -0.000333202 0.000854979 2.83817e-15 -1.25889e-14] +86: : piActive=~[-0.01 -0.000333202 0.000854979] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.30443e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00129165... +86: > NEWTON iter 1: errNorm=0.00129165(v) -> deltaNorm=0.0048576(pi) +86: > piActive=~[-0.01 -0.000333202 0.000854979] +86: > errActive=~[-0.00128813 3.4571e-05 -8.87074e-05] +86: > deltaPi=~[-0.00484097 -0.000145862 0.000374273] +86: DBG: Line search iter 1: back=1, prevNorm=0.00129165. +86: > piNow=~[-0.00515903 -0.000187341 0.000480706] +86: > errNow=~[0 -7.56653e-09 1.94153e-08] normNow=2.08376e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.61326e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.61676e-05 +86: > NEWTON iter 2: errNorm=2.08376e-08(v) -> deltaNorm=2.90999e-08(pi) +86: > piActive=~[-0.00515903 -0.000187341 0.000480706] +86: > errActive=~[0 -7.56653e-09 1.94153e-08] +86: > deltaPi=~[-2.10112e-08 -7.3106e-09 1.87586e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.08376e-08. +86: > piNow=~[-0.00515901 -0.000187333 0.000480687] +86: > errNow=~[0 -1.23352e-13 3.16514e-13] normNow=3.39701e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.63023e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.39701e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.419617,1.07671] to ~[-0.419709,1.07817] +86: DBG: Friction 0 rotated 0.0218825 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[] -86: : m_verrLeft=~[0.147395 0.042129 -0.262715 -0.442421 -0.266365 0.234348] -86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : m_piActive=~[-0.00515901 -0.000187333 0.000480687] +86: : m_verrLeft=~[0 0.00187177 -0.419709 1.07817 -0.464703 2.06157] +86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.147395 pi*v=0 -86: DBG: 1: pi=0 verr=0.042129 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[0 0 0 0 0 0] errNorm=0 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.272002 -0.60835, |slipV|=0.66639 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.276066 0.147184, |slipV|=0.312851 -86: ------------------------------ -86: -86: dynamics impulse=~[0 0 0 0 0 0] -86: updated verrStart=~[0.147395 0.042129 -0.262715 -0.442421 -0.266365 0.234348] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.21195 0.00634399 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 0 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: DBG: no bilateral participators. Nothing to do. -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[0.147395 0.042129 -0.262715 -0.442421 -0.266365 0.234348] -86: perr=~[0.00021195 6.34399e-06 -1.11022e-16] -86: END OF STEP (0.085,0.086): -86: verr=~[0.147476 0.0420481 -0.26248 -0.442407 -0.266599 0.234334] -86: perr=~[0.000359385 4.84325e-05 -1.11022e-16] -86: constraint status: -86: 0: cont UniOff fric Sliding -86: 2: cont UniOff fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.514412 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.354947 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: 0: pi=-0.00515901 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00187177 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00515901 0 -0.000187333 0.000480687 0 0] errNorm=3.39701e-13 +86: Postcompression verr=~[0 0.00187177 -0.419709 1.07817 -0.464703 2.06157] +86: impulse=~[-0.00515901 0 -0.000187333 0.000480687 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00515901 0 -0.000187333 0.000480687 0 0]-> du ~[-0.00090619 0.00185717 -0.000895152 -0.00100569 -7.14573e-05 0.000935884 -0.00357644 0.0021287] +86: Now verr0=~[-3.14419e-18 0.00187177 -0.419709 1.07817 -0.464703 2.06157] 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.147476 0.0420481 -0.26248 -0.442407 -0.266599 0.234334] -86: verrExt=~[0.0641925 0.0206406 0.00958427 0.163808 0.01007 0.0811288] -86: total verr=~[0.211669 0.0626887 -0.252896 -0.278599 -0.256529 0.315462] -86: DYN t=0.086: verrStart=~[0.147476 0.0420481 -0.26248 -0.442407 -0.266599 0.234334] -86: verrApplied=~[0.0641925 0.0206406 0.00958427 0.163808 0.01007 0.0811288] +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[-3.14419e-18 0.00187177 -0.419709 1.07817 -0.464703 2.06157] +86: verrExt=~[-0.322579 -0.263056 0.013807 -0.321368 0.0107172 -0.254167] +86: total verr=~[-0.322579 -0.261184 -0.405902 0.756799 -0.453986 1.8074] +86: DYN t=0.14: verrStart=~[-3.14419e-18 0.00187177 -0.419709 1.07817 -0.464703 2.06157] +86: verrApplied=~[-0.322579 -0.263056 0.013807 -0.321368 0.0107172 -0.254167] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -45164,171 +56497,125 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.147476 0.0420481 -0.26248 -0.442407 -0.266599 0.234334] -86: verrApplied=~[0.0641925 0.0206406 0.00958427 0.163808 0.01007 0.0811288] +86: verrLeft=~[-3.14419e-18 0.00187177 -0.419709 1.07817 -0.464703 2.06157] +86: verrApplied=~[-0.322579 -0.263056 0.013807 -0.321368 0.0107172 -0.254167] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.26248,-0.442407, mag=0.514412 -86: Participating contact 1 is Sliding; vel=-0.266599,0.234334, mag=0.354947 +86: Participating contact 0 is Sliding; vel=-0.419709,1.07817, mag=1.15698 +86: Participating contact 1 is Sliding; vel=-0.464703,2.06157, mag=2.11329 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.26248,-0.442407, mag=0.514412 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.266599,0.234334, mag=0.354947 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.419709,1.07817, mag=1.15698 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.464703,2.06157, mag=2.11329 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.211669; guess pi=0.01 -86: DBG: active normal 3 has v=0.0626887; guess pi=0.01 +86: DBG: active normal 0 has v=-0.322579; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.261184; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.147476 0.0420481 -0.26248 -0.442407 -0.266599 0.234334] +86: : verrLeft was=~[-3.14419e-18 0.00187177 -0.419709 1.07817 -0.464703 2.06157] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0641925 0.0206406 0.00958427 0.163808 0.01007 0.0811288] -86: : rhsActive=~[0.211669 -0.252896 -0.278599 0.0626887 -0.256529 0.315462] +86: : verrApplied was=~[-0.322579 -0.263056 0.013807 -0.321368 0.0107172 -0.254167] +86: : rhsActive=~[-0.322579 -0.405902 0.756799 -0.261184 -0.453986 1.8074] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.32799e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.216798... -86: > NEWTON iter 1: errNorm=0.216798(v) -> deltaNorm=0.925236(pi) -86: > piActive=~[0.01 0 0 0.01 0 0] -86: > errActive=~[-0.208395 0 0 -0.0597747 0 0] -86: > deltaPi=~[-0.918483 -1.74569e-06 -2.94234e-06 0.111585 3.12185e-07 -2.74402e-07] -86: DBG: Line search iter 1: back=1, prevNorm=0.216798. -86: > piNow=~[0.928483 1.74569e-06 2.94234e-06 -0.101585 -3.12185e-07 2.74402e-07] -86: > errNow=~[5.55112e-17 8.98006e-07 1.51358e-06 -2.77556e-17 0.00270814 -0.00238038] normNow=0.00360558 -86: DBG: Improvement rate now/prev at iter 1 is 0.016631 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.28153e-08 -86: > NEWTON iter 2: errNorm=0.00360558(v) -> deltaNorm=0.0141884(pi) -86: > piActive=~[0.928483 1.74569e-06 2.94234e-06 -0.101585 -3.12185e-07 2.74402e-07] -86: > errActive=~[5.55112e-17 8.98006e-07 1.51358e-06 -2.77556e-17 0.00270814 -0.00238038] -86: > deltaPi=~[0.00051855 1.74569e-06 2.94234e-06 0.00888852 0.0082973 -0.0072931] -86: DBG: Line search iter 1: back=1, prevNorm=0.00360558. -86: > piNow=~[0.927964 -1.14337e-13 -1.92715e-13 -0.110473 -0.00829762 0.00729338] -86: > errNow=~[0 -5.88165e-14 -9.91351e-14 2.77556e-17 8.5544e-11 -7.51909e-11] normNow=1.13892e-10 -86: DBG: Improvement rate now/prev at iter 2 is 3.15878e-08 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.08368e-08 -86: > NEWTON iter 3: errNorm=1.13892e-10(v) -> deltaNorm=4.48203e-10(pi) -86: > piActive=~[0.927964 -1.14337e-13 -1.92715e-13 -0.110473 -0.00829762 0.00729338] -86: > errActive=~[0 -5.88165e-14 -9.91351e-14 2.77556e-17 8.5544e-11 -7.51909e-11] -86: > deltaPi=~[1.67357e-11 -1.14337e-13 -1.92715e-13 2.80784e-10 2.62095e-10 -2.30374e-10] -86: DBG: Line search iter 1: back=1, prevNorm=1.13892e-10. -86: > piNow=~[0.927964 -3.69425e-21 -6.22663e-21 -0.110473 -0.00829762 0.00729338] -86: > errNow=~[0 -1.90037e-21 -3.20305e-21 0 2.60209e-18 -1.73472e-18] normNow=3.12732e-18 -86: DBG: Improvement rate now/prev at iter 3 is 2.74586e-08 -86: DBG: <<<< NEWTON done in 3 iters; norm=3.12732e-18. -86: DBG: Worst offender is normal contact 0 err=0.927964 ... -86: DBG: ... normal contact 0 released. -86: -86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.26248,-0.442407, mag=0.514412 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.266599,0.234334, mag=0.354947 -86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=0.0626887; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[0.147476 0.0420481 -0.26248 -0.442407 -0.266599 0.234334] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0641925 0.0206406 0.00958427 0.163808 0.01007 0.0811288] -86: : rhsActive=~[0.0626887 -0.256529 0.315462] -86: : pi was=~[0 -0.110473 -3.69425e-21 -6.22663e-21 -0.00829762 0.00729338] -86: : piActive=~[0.01 -0.00829762 0.00729338] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.32213e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0589606... -86: > NEWTON iter 1: errNorm=0.0589606(v) -> deltaNorm=0.300845(pi) -86: > piActive=~[0.01 -0.00829762 0.00729338] -86: > errActive=~[-0.05883 -0.00294521 0.00258876] -86: > deltaPi=~[-0.300642 -0.00829846 0.00729412] -86: DBG: Line search iter 1: back=1, prevNorm=0.0589606. -86: > piNow=~[0.310642 8.41117e-07 -7.39319e-07] -86: > errNow=~[2.77556e-17 2.98552e-07 -2.62419e-07] normNow=3.97489e-07 -86: DBG: Improvement rate now/prev at iter 1 is 6.7416e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.37027e-09 -86: > NEWTON iter 2: errNorm=3.97489e-07(v) -> deltaNorm=1.4522e-06(pi) -86: > piActive=~[0.310642 8.41117e-07 -7.39319e-07] -86: > errActive=~[2.77556e-17 2.98552e-07 -2.62419e-07] -86: > deltaPi=~[9.24568e-07 8.41117e-07 -7.39319e-07] -86: DBG: Line search iter 1: back=1, prevNorm=3.97489e-07. -86: > piNow=~[0.310641 -2.68086e-15 2.3564e-15] -86: > errNow=~[-1.38778e-17 -9.51564e-16 8.36399e-16] normNow=1.26698e-15 -86: DBG: Improvement rate now/prev at iter 2 is 3.18745e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.26698e-15. -86: DBG: Worst offender is normal contact 1 err=0.310641 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 3 start -86: : active=() -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.26248,-0.442407, mag=0.514412 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.266599,0.234334, mag=0.354947 -86: fillMult2Active: -86: : active=() -86: : mult2active=(-1111111111,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111) -86: initializeNewton: -86: : verrLeft was=~[0.147476 0.0420481 -0.26248 -0.442407 -0.266599 0.234334] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0641925 0.0206406 0.00958427 0.163808 0.01007 0.0811288] -86: : rhsActive=~[] -86: : pi was=~[0 0 -3.69425e-21 -6.22663e-21 -2.68086e-15 2.3564e-15] -86: : piActive=~[] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.97424e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.409656... +86: > NEWTON iter 1: errNorm=0.409656(v) -> deltaNorm=1.19793(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.318532 0.000419709 -0.00107817 0.257584 0.000464703 -0.00206157] +86: > deltaPi=~[0.935272 0.0342897 -0.0880849 0.738762 0.0164643 -0.0730408] +86: DBG: Line search iter 1: back=1, prevNorm=0.409656. +86: > piNow=~[-0.945272 -0.0342897 0.0880849 -0.748762 -0.0164643 0.0730408] +86: > errNow=~[-2.77556e-16 1.46217e-06 -3.75609e-06 -1.11022e-16 1.27877e-06 -5.67301e-06] normNow=7.07562e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.72721e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.48534e-09 +86: > NEWTON iter 2: errNorm=7.07562e-06(v) -> deltaNorm=7.18172e-06(pi) +86: > piActive=~[-0.945272 -0.0342897 0.0880849 -0.748762 -0.0164643 0.0730408] +86: > errActive=~[-2.77556e-16 1.46217e-06 -3.75609e-06 -1.11022e-16 1.27877e-06 -5.67301e-06] +86: > deltaPi=~[4.05452e-06 1.41087e-06 -3.6243e-06 3.24758e-06 6.76521e-07 -3.00125e-06] +86: DBG: Line search iter 1: back=1, prevNorm=7.07562e-06. +86: > piNow=~[-0.945276 -0.0342911 0.0880886 -0.748765 -0.016465 0.0730438] +86: > errNow=~[5.55112e-17 7.07767e-16 -1.81799e-15 0 9.99201e-16 -4.44089e-15] normNow=4.95268e-15 +86: DBG: Improvement rate now/prev at iter 2 is 6.99964e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.95268e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.419709,1.07817] to ~[-0.421017,1.10651] +86: DBG: Friction 0 rotated 0.438496 deg, less than max 30 +86: slipVel 1 from ~[-0.464703,2.06157] to ~[-0.465799,2.08527] +86: DBG: Friction 1 rotated 0.111087 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[] -86: : m_verrLeft=~[0.211669 0.0626887 -0.252896 -0.278599 -0.256529 0.315462] +86: : m_piActive=~[-0.945276 -0.0342911 0.0880886 -0.748765 -0.016465 0.0730438] +86: : m_verrLeft=~[-5.55112e-17 0 -0.421017 1.10651 -0.465799 2.08527] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.211669 pi*v=0 -86: DBG: 1: pi=0 verr=0.0626887 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[0 0 0 0 0 0] errNorm=0 +86: DBG: 0: pi=-0.945276 verr=-5.55112e-17 pi*v=5.24734e-17 +86: DBG: 1: pi=-0.748765 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.945276 -0.748765 -0.0342911 0.0880886 -0.016465 0.0730438] errNorm=4.95268e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.26248 -0.442407, |slipV|=0.514412 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.419709 1.07817, |slipV|=1.15698 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.266599 0.234334, |slipV|=0.354947 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.464703 2.06157, |slipV|=2.11329 86: ------------------------------ 86: -86: dynamics impulse=~[0 0 0 0 0 0] -86: updated verrStart=~[0.211669 0.0626887 -0.252896 -0.278599 -0.256529 0.315462] +86: dynamics impulse=~[-0.945276 -0.748765 -0.0342911 0.0880886 -0.016465 0.0730438] +86: updated verrStart=~[-5.55112e-17 0 -0.421017 1.10651 -0.465799 2.08527] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.359385 0.0484325 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 0 participators +86: posVerr=~[0.313301 0.566348 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: -86: DBG: no bilateral participators. Nothing to do. +86: A= +86: [0.291318 0.113346 -0.0178545 0.319342 -0.00869854 0.120213] +86: [0.113346 0.246684 -0.00246347 0.121887 -0.00925655 0.26962] +86: [-0.0178545 -0.00246347 0.0473584 0.018284 0.0499269 -0.0379385] +86: [0.319342 0.121887 0.018284 0.411667 0.0319603 0.113848] +86: [-0.00869854 -0.00925655 0.0499269 0.0319603 0.0536198 -0.0487505] +86: [0.120213 0.26962 -0.0379385 0.113848 -0.0487505 0.34933] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.399139 rank=2 +86: rhs=~[0.313301 0.566348 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.221851 2.19391] +86: -> pi=~[0.221851 2.19391 0 0 0 0] +86: resid active=~[-5.55112e-17 0] +86: resid=~[-5.55112e-17 0 -0.00936569 0.338256 -0.0222378 0.618191] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[0.211669 0.0626887 -0.252896 -0.278599 -0.256529 0.315462] -86: perr=~[0.000359385 4.84325e-05 -1.11022e-16] -86: END OF STEP (0.086,0.087): -86: verr=~[0.211675 0.0626818 -0.252708 -0.278596 -0.256717 0.315459] -86: perr=~[0.000571057 0.000111118 0] +86: verr=~[-2.39717e-16 -2.95228e-16 -0.421017 1.10651 -0.465799 2.08527] +86: perr=~[0.000313301 0.000566348 -1.11022e-16] +86: END OF STEP (0.14,0.141): +86: verr=~[-0.00136609 0.00136609 -0.420538 1.10653 -0.466279 2.08524] +86: perr=~[0.000312618 0.000567031 0] 86: constraint status: -86: 0: cont UniOff fric Sliding -86: 2: cont UniOff fric Sliding +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding 86: Proximal unilateral contacts: (0,2) 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.376134 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.406716 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=1.18375 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.13674 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00136609 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.211675 0.0626818 -0.252708 -0.278596 -0.256717 0.315459] -86: verrExt=~[0.0542406 0.0107046 0.00981594 0.15029 0.0103481 0.0670284] -86: total verr=~[0.265916 0.0733864 -0.242892 -0.128306 -0.246369 0.382488] -86: DYN t=0.087: verrStart=~[0.211675 0.0626818 -0.252708 -0.278596 -0.256717 0.315459] -86: verrApplied=~[0.0542406 0.0107046 0.00981594 0.15029 0.0103481 0.0670284] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.00136609 0.00136609 -0.420538 1.10653 -0.466279 2.08524] +86: IMP t=0.141 verr=~[-0.00136609 0.00136609 -0.420538 1.10653 -0.466279 2.08524] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -45340,171 +56627,245 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.211675 0.0626818 -0.252708 -0.278596 -0.256717 0.315459] -86: verrApplied=~[0.0542406 0.0107046 0.00981594 0.15029 0.0103481 0.0670284] +86: verrLeft=~[-0.00136609 0.00136609 -0.420538 1.10653 -0.466279 2.08524] +86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.252708,-0.278596, mag=0.376134 -86: Participating contact 1 is Sliding; vel=-0.256717,0.315459, mag=0.406716 +86: Participating contact 0 is Sliding; vel=-0.420538,1.10653, mag=1.18375 +86: Participating contact 1 is Sliding; vel=-0.466279,2.08524, mag=2.13674 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.252708,-0.278596, mag=0.376134 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.256717,0.315459, mag=0.406716 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420538,1.10653, mag=1.18375 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.466279,2.08524, mag=2.13674 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.265916; guess pi=0.01 -86: DBG: active normal 3 has v=0.0733864; guess pi=0.01 +86: DBG: active normal 0 has v=-0.00136609; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00136609; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.211675 0.0626818 -0.252708 -0.278596 -0.256717 0.315459] +86: : verrLeft was=~[-0.00136609 0.00136609 -0.420538 1.10653 -0.466279 2.08524] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0542406 0.0107046 0.00981594 0.15029 0.0103481 0.0670284] -86: : rhsActive=~[0.265916 -0.242892 -0.128306 0.0733864 -0.246369 0.382488] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00136609 -0.420538 1.10653 0.00136609 -0.466279 2.08524] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.06351e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.271932... -86: > NEWTON iter 1: errNorm=0.271932(v) -> deltaNorm=1.17952(pi) -86: > piActive=~[0.01 0 0 0.01 0 0] -86: > errActive=~[-0.262642 0 0 -0.0704721 0 0] -86: > deltaPi=~[-1.16743 -2.9216e-06 -3.22088e-06 0.168397 3.95922e-07 -4.86518e-07] -86: DBG: Line search iter 1: back=1, prevNorm=0.271932. -86: > piNow=~[1.17743 2.9216e-06 3.22088e-06 -0.158397 -3.95922e-07 4.86518e-07] -86: > errNow=~[-5.55112e-17 1.09891e-06 1.21148e-06 2.77556e-17 0.00406617 -0.0049966] normNow=0.00644203 -86: DBG: Improvement rate now/prev at iter 1 is 0.0236898 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.03972e-09 -86: > NEWTON iter 2: errNorm=0.00644203(v) -> deltaNorm=0.0242707(pi) -86: > piActive=~[1.17743 2.9216e-06 3.22088e-06 -0.158397 -3.95922e-07 4.86518e-07] -86: > errActive=~[-5.55112e-17 1.09891e-06 1.21148e-06 2.77556e-17 0.00406617 -0.0049966] -86: > deltaPi=~[0.000743395 2.9216e-06 3.22088e-06 0.0167827 0.0110569 -0.0135869] -86: DBG: Line search iter 1: back=1, prevNorm=0.00644203. -86: > piNow=~[1.17669 -1.34209e-13 -1.47958e-13 -0.17518 -0.0110573 0.0135874] -86: > errNow=~[5.55112e-17 -5.04806e-14 -5.56519e-14 -2.77556e-17 6.39705e-11 -7.86083e-11] normNow=1.01348e-10 -86: DBG: Improvement rate now/prev at iter 2 is 1.57324e-08 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.93862e-09 -86: > NEWTON iter 3: errNorm=1.01348e-10(v) -> deltaNorm=3.81855e-10(pi) -86: > piActive=~[1.17669 -1.34209e-13 -1.47958e-13 -0.17518 -0.0110573 0.0135874] -86: > errActive=~[5.55112e-17 -5.04806e-14 -5.56519e-14 -2.77556e-17 6.39705e-11 -7.86083e-11] -86: > deltaPi=~[1.19392e-11 -1.34209e-13 -1.47958e-13 2.64045e-10 1.73952e-10 -2.13756e-10] -86: DBG: Line search iter 1: back=1, prevNorm=1.01348e-10. -86: > piNow=~[1.17669 -2.15814e-21 -2.37926e-21 -0.17518 -0.0110573 0.0135874] -86: > errNow=~[-1.11022e-16 -8.11751e-22 -8.94923e-22 -1.38778e-17 1.73472e-18 -1.73472e-18] normNow=1.11913e-16 -86: DBG: Improvement rate now/prev at iter 3 is 1.10424e-06 -86: DBG: <<<< NEWTON done in 3 iters; norm=1.11913e-16. -86: DBG: Worst offender is normal contact 0 err=1.17669 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.09885e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00125885... +86: > NEWTON iter 1: errNorm=0.00125885(v) -> deltaNorm=0.00138509(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000427771 0.000420538 -0.00110653 -2.13e-05 0 0] +86: > deltaPi=~[-0.000765969 0.000328049 -0.00086317 0.000692152 5.6261e-10 -2.51604e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00125885. +86: > piNow=~[-0.00923403 -0.000328049 0.00086317 0.00930785 -5.6261e-10 2.51604e-09] +86: > errNow=~[6.50521e-19 -1.19985e-09 3.15708e-09 0 -1.20215e-09 5.37612e-09] normNow=6.46179e-09 +86: DBG: Improvement rate now/prev at iter 1 is 5.13309e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.0542e-05 +86: > NEWTON iter 2: errNorm=6.46179e-09(v) -> deltaNorm=5.92411e-09(pi) +86: > piActive=~[-0.00923403 -0.000328049 0.00086317 0.00930785 -5.6261e-10 2.51604e-09] +86: > errActive=~[6.50521e-19 -1.19985e-09 3.15708e-09 0 -1.20215e-09 5.37612e-09] +86: > deltaPi=~[-3.31029e-09 -1.1312e-09 2.97644e-09 -2.7113e-09 -5.62613e-10 2.51605e-09] +86: DBG: Line search iter 1: back=1, prevNorm=6.46179e-09. +86: > piNow=~[-0.00923403 -0.000328048 0.000863167 0.00930785 2.54377e-15 -1.1376e-14] +86: > errNow=~[2.1684e-19 -6.08124e-15 1.60011e-14 -2.1684e-19 5.43537e-15 -2.43075e-14] normNow=3.02227e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.67715e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.02227e-14. +86: DBG: Worst offender is normal contact 1 err=0.00930785 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.252708,-0.278596, mag=0.376134 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.256717,0.315459, mag=0.406716 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420538,1.10653, mag=1.18375 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.466279,2.08524, mag=2.13674 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=0.0733864; guess pi=0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00136609; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.211675 0.0626818 -0.252708 -0.278596 -0.256717 0.315459] +86: : verrLeft was=~[-0.00136609 0.00136609 -0.420538 1.10653 -0.466279 2.08524] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0542406 0.0107046 0.00981594 0.15029 0.0103481 0.0670284] -86: : rhsActive=~[0.0733864 -0.246369 0.382488] -86: : pi was=~[0 -0.17518 -2.15814e-21 -2.37926e-21 -0.0110573 0.0135874] -86: : piActive=~[0.01 -0.0110573 0.0135874] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.51497e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0682837... -86: > NEWTON iter 1: errNorm=0.0682837(v) -> deltaNorm=0.353849(pi) -86: > piActive=~[0.01 -0.0110573 0.0135874] -86: > errActive=~[-0.067911 -0.00449717 0.00552622] -86: > deltaPi=~[-0.353415 -0.0110581 0.0135884] -86: DBG: Line search iter 1: back=1, prevNorm=0.0682837. -86: > piNow=~[0.363415 8.3092e-07 -1.02105e-06] -86: > errNow=~[2.77556e-17 3.37949e-07 -4.15279e-07] normNow=5.35412e-07 -86: DBG: Improvement rate now/prev at iter 1 is 7.84099e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.14723e-09 -86: > NEWTON iter 2: errNorm=5.35412e-07(v) -> deltaNorm=1.8404e-06(pi) -86: > piActive=~[0.363415 8.3092e-07 -1.02105e-06] -86: > errActive=~[2.77556e-17 3.37949e-07 -4.15279e-07] -86: > deltaPi=~[1.28612e-06 8.3092e-07 -1.02105e-06] -86: DBG: Line search iter 1: back=1, prevNorm=5.35412e-07. -86: > piNow=~[0.363414 -2.2898e-15 2.81376e-15] -86: > errNow=~[-1.38778e-17 -9.31301e-16 1.1444e-15] normNow=1.47552e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.75587e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.47552e-15. -86: DBG: Worst offender is normal contact 1 err=0.363414 ... -86: DBG: ... normal contact 1 released. +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00136609 -0.420538 1.10653] +86: : pi was=~[-0.00923403 0 -0.000328048 0.000863167 2.54377e-15 -1.1376e-14] +86: : piActive=~[-0.01 -0.000328048 0.000863167] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.40931e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0012877... +86: > NEWTON iter 1: errNorm=0.0012877(v) -> deltaNorm=0.00481713(pi) +86: > piActive=~[-0.01 -0.000328048 0.000863167] +86: > errActive=~[-0.00128451 3.2212e-05 -8.47571e-05] +86: > deltaPi=~[-0.00480021 -0.000143314 0.000377091] +86: DBG: Line search iter 1: back=1, prevNorm=0.0012877. +86: > piNow=~[-0.00519979 -0.000184734 0.000486076] +86: > errNow=~[-2.1684e-19 -7.51929e-09 1.97849e-08] normNow=2.11656e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.64367e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.6303e-05 +86: > NEWTON iter 2: errNorm=2.11656e-08(v) -> deltaNorm=2.88127e-08(pi) +86: > piActive=~[-0.00519979 -0.000184734 0.000486076] +86: > errActive=~[-2.1684e-19 -7.51929e-09 1.97849e-08] +86: > deltaPi=~[-2.0781e-08 -7.09027e-09 1.86561e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.11656e-08. +86: > piNow=~[-0.00519977 -0.000184727 0.000486058] +86: > errNow=~[0 -1.2036e-13 3.16693e-13] normNow=3.38793e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.60068e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.38793e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.420538,1.10653] to ~[-0.420632,1.108] +86: DBG: Friction 0 rotated 0.0209224 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00519977 -0.000184727 0.000486058] +86: : m_verrLeft=~[0 0.00189851 -0.420632 1.108 -0.466331 2.0858] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.00519977 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00189851 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00519977 0 -0.000184727 0.000486058 0 0] errNorm=3.38793e-13 +86: Postcompression verr=~[0 0.00189851 -0.420632 1.108 -0.466331 2.0858] +86: impulse=~[-0.00519977 0 -0.000184727 0.000486058 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00519977 0 -0.000184727 0.000486058 0 0]-> du ~[-0.000922316 0.00187738 -0.000904557 -0.00101468 -7.32127e-05 0.000949255 -0.00361769 0.00215222] +86: Now verr0=~[-5.96311e-18 0.00189851 -0.420632 1.108 -0.466331 2.0858] 86: -86: ....... Active set iter 3 start -86: : active=() -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.252708,-0.278596, mag=0.376134 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.256717,0.315459, mag=0.406716 +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[-5.96311e-18 0.00189851 -0.420632 1.108 -0.466331 2.0858] +86: verrExt=~[-0.300036 -0.246208 0.0135502 -0.293768 0.0107851 -0.234896] +86: total verr=~[-0.300036 -0.244309 -0.407082 0.814227 -0.455546 1.85091] +86: DYN t=0.141: verrStart=~[-5.96311e-18 0.00189851 -0.420632 1.108 -0.466331 2.0858] +86: verrApplied=~[-0.300036 -0.246208 0.0135502 -0.293768 0.0107851 -0.234896] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=() -86: : mult2active=(-1111111111,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-5.96311e-18 0.00189851 -0.420632 1.108 -0.466331 2.0858] +86: verrApplied=~[-0.300036 -0.246208 0.0135502 -0.293768 0.0107851 -0.234896] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.420632,1.108, mag=1.18515 +86: Participating contact 1 is Sliding; vel=-0.466331,2.0858, mag=2.1373 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420632,1.108, mag=1.18515 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.466331,2.0858, mag=2.1373 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.300036; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.244309; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.211675 0.0626818 -0.252708 -0.278596 -0.256717 0.315459] +86: : verrLeft was=~[-5.96311e-18 0.00189851 -0.420632 1.108 -0.466331 2.0858] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0542406 0.0107046 0.00981594 0.15029 0.0103481 0.0670284] -86: : rhsActive=~[] -86: : pi was=~[0 0 -2.15814e-21 -2.37926e-21 -2.2898e-15 2.81376e-15] -86: : piActive=~[] +86: : verrApplied was=~[-0.300036 -0.246208 0.0135502 -0.293768 0.0107851 -0.234896] +86: : rhsActive=~[-0.300036 -0.407082 0.814227 -0.244309 -0.455546 1.85091] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.10321e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.381486... +86: > NEWTON iter 1: errNorm=0.381486(v) -> deltaNorm=1.10843(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.295965 0.000420632 -0.001108 0.240687 0.000466331 -0.0020858] +86: > deltaPi=~[0.860526 0.0308954 -0.0813823 0.689658 0.0152651 -0.0682776] +86: DBG: Line search iter 1: back=1, prevNorm=0.381486. +86: > piNow=~[-0.870526 -0.0308954 0.0813823 -0.699658 -0.0152651 0.0682776] +86: > errNow=~[-5.55112e-17 1.34827e-06 -3.55152e-06 0 1.19795e-06 -5.3582e-06] normNow=6.67657e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.75015e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.7346e-09 +86: > NEWTON iter 2: errNorm=6.67657e-06(v) -> deltaNorm=6.63216e-06(pi) +86: > piActive=~[-0.870526 -0.0308954 0.0813823 -0.699658 -0.0152651 0.0682776] +86: > errActive=~[-5.55112e-17 1.34827e-06 -3.55152e-06 0 1.19795e-06 -5.3582e-06] +86: > deltaPi=~[3.71974e-06 1.26966e-06 -3.34443e-06 3.0184e-06 6.26356e-07 -2.80157e-06] +86: DBG: Line search iter 1: back=1, prevNorm=6.67657e-06. +86: > piNow=~[-0.87053 -0.0308967 0.0813856 -0.699661 -0.0152657 0.0682804] +86: > errNow=~[5.55112e-17 7.63278e-16 -2.02616e-15 5.55112e-17 1.06859e-15 -4.77396e-15] normNow=5.35039e-15 +86: DBG: Improvement rate now/prev at iter 2 is 8.01368e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.35039e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.420632,1.108] to ~[-0.42139,1.13773] +86: DBG: Friction 0 rotated 0.464864 deg, less than max 30 +86: slipVel 1 from ~[-0.466331,2.0858] to ~[-0.466809,2.10955] +86: DBG: Friction 1 rotated 0.125048 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[] -86: : m_verrLeft=~[0.265916 0.0733864 -0.242892 -0.128306 -0.246369 0.382488] +86: : m_piActive=~[-0.87053 -0.0308967 0.0813856 -0.699661 -0.0152657 0.0682804] +86: : m_verrLeft=~[-5.55112e-17 -5.55112e-17 -0.42139 1.13773 -0.466809 2.10955] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.265916 pi*v=0 -86: DBG: 1: pi=0 verr=0.0733864 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[0 0 0 0 0 0] errNorm=0 +86: DBG: 0: pi=-0.87053 verr=-5.55112e-17 pi*v=4.83241e-17 +86: DBG: 1: pi=-0.699661 verr=-5.55112e-17 pi*v=3.8839e-17 +86: SP FINAL 1 intervals, piTotal=~[-0.87053 -0.699661 -0.0308967 0.0813856 -0.0152657 0.0682804] errNorm=5.35039e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.252708 -0.278596, |slipV|=0.376134 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.420632 1.108, |slipV|=1.18515 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.256717 0.315459, |slipV|=0.406716 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.466331 2.0858, |slipV|=2.1373 86: ------------------------------ 86: -86: dynamics impulse=~[0 0 0 0 0 0] -86: updated verrStart=~[0.265916 0.0733864 -0.242892 -0.128306 -0.246369 0.382488] +86: dynamics impulse=~[-0.87053 -0.699661 -0.0308967 0.0813856 -0.0152657 0.0682804] +86: updated verrStart=~[-5.55112e-17 -5.55112e-17 -0.42139 1.13773 -0.466809 2.10955] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.571057 0.111118 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 0 participators +86: posVerr=~[0.312618 0.567031 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: -86: DBG: no bilateral participators. Nothing to do. +86: A= +86: [0.293256 0.11387 -0.0181719 0.319752 -0.00879706 0.120136] +86: [0.11387 0.248348 -0.00263479 0.121771 -0.00959901 0.270051] +86: [-0.0181719 -0.00263479 0.0472835 0.0178772 0.0498857 -0.0378861] +86: [0.319752 0.121771 0.0178772 0.409897 0.0317935 0.113208] +86: [-0.00879706 -0.00959901 0.0498857 0.0317935 0.0536566 -0.0488892] +86: [0.120136 0.270051 -0.0378861 0.113208 -0.0488892 0.347825] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.399984 rank=2 +86: rhs=~[0.312618 0.567031 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.218339 2.1831] +86: -> pi=~[0.218339 2.1831 0 0 0 0] +86: resid active=~[0 0] +86: resid=~[0 0 -0.00971965 0.335652 -0.0228763 0.615779] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[0.265916 0.0733864 -0.242892 -0.128306 -0.246369 0.382488] -86: perr=~[0.000571057 0.000111118 0] -86: END OF STEP (0.087,0.088): -86: verr=~[0.265873 0.0734293 -0.242743 -0.128321 -0.246518 0.382503] -86: perr=~[0.000836952 0.000184526 -1.11022e-16] +86: verr=~[-2.88289e-16 -2.32778e-16 -0.42139 1.13773 -0.466809 2.10955] +86: perr=~[0.000312618 0.000567031 0] +86: END OF STEP (0.141,0.142): +86: verr=~[-0.00138487 0.00138487 -0.420917 1.13775 -0.467282 2.10953] +86: perr=~[0.000311925 0.000567723 0] 86: constraint status: -86: 0: cont UniOff fric Sliding -86: 2: cont UniOff fric Sliding +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding 86: Proximal unilateral contacts: (0,2) 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.274573 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=0.45506 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=1.21312 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.16066 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00138487 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.265873 0.0734293 -0.242743 -0.128321 -0.246518 0.382503] -86: verrExt=~[0.0408594 -0.00119603 0.00989476 0.131745 0.0104479 0.050475] -86: total verr=~[0.306732 0.0722333 -0.232849 0.00342389 -0.23607 0.432978] -86: DYN t=0.088: verrStart=~[0.265873 0.0734293 -0.242743 -0.128321 -0.246518 0.382503] -86: verrApplied=~[0.0408594 -0.00119603 0.00989476 0.131745 0.0104479 0.050475] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.00138487 0.00138487 -0.420917 1.13775 -0.467282 2.10953] +86: IMP t=0.142 verr=~[-0.00138487 0.00138487 -0.420917 1.13775 -0.467282 2.10953] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -45516,3119 +56877,2657 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0.265873 0.0734293 -0.242743 -0.128321 -0.246518 0.382503] -86: verrApplied=~[0.0408594 -0.00119603 0.00989476 0.131745 0.0104479 0.050475] +86: verrLeft=~[-0.00138487 0.00138487 -0.420917 1.13775 -0.467282 2.10953] +86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.242743,-0.128321, mag=0.274573 -86: Participating contact 1 is Sliding; vel=-0.246518,0.382503, mag=0.45506 +86: Participating contact 0 is Sliding; vel=-0.420917,1.13775, mag=1.21312 +86: Participating contact 1 is Sliding; vel=-0.467282,2.10953, mag=2.16066 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.242743,-0.128321, mag=0.274573 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.246518,0.382503, mag=0.45506 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420917,1.13775, mag=1.21312 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.467282,2.10953, mag=2.16066 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=0.306732; guess pi=0.01 -86: DBG: active normal 3 has v=0.0722333; guess pi=0.01 +86: DBG: active normal 0 has v=-0.00138487; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00138487; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.265873 0.0734293 -0.242743 -0.128321 -0.246518 0.382503] +86: : verrLeft was=~[-0.00138487 0.00138487 -0.420917 1.13775 -0.467282 2.10953] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0408594 -0.00119603 0.00989476 0.131745 0.0104479 0.050475] -86: : rhsActive=~[0.306732 -0.232849 0.00342389 0.0722333 -0.23607 0.432978] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00138487 -0.420917 1.13775 0.00138487 -0.467282 2.10953] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.97969e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.311273... -86: > NEWTON iter 1: errNorm=0.311273(v) -> deltaNorm=1.39991(pi) -86: > piActive=~[0.01 0 0 0.01 0 0] -86: > errActive=~[-0.303457 0 0 -0.0693172 0 0] -86: > deltaPi=~[-1.37449 -4.52629e-06 -2.39272e-06 0.265579 5.35902e-07 -8.31518e-07] -86: DBG: Line search iter 1: back=1, prevNorm=0.311273. -86: > piNow=~[1.38449 4.52629e-06 2.39272e-06 -0.255579 -5.35902e-07 8.31518e-07] -86: > errNow=~[0 1.2428e-06 6.56978e-07 2.77556e-17 0.00630024 -0.0097756] normNow=0.0116299 -86: DBG: Improvement rate now/prev at iter 1 is 0.0373625 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.59441e-09 -86: > NEWTON iter 2: errNorm=0.0116299(v) -> deltaNorm=0.0413001(pi) -86: > piActive=~[1.38449 4.52629e-06 2.39272e-06 -0.255579 -5.35902e-07 8.31518e-07] -86: > errActive=~[0 1.2428e-06 6.56978e-07 2.77556e-17 0.00630024 -0.0097756] -86: > deltaPi=~[0.00110433 4.52629e-06 2.39272e-06 0.0298319 0.0154609 -0.0239895] -86: DBG: Line search iter 1: back=1, prevNorm=0.0116299. -86: > piNow=~[1.38339 -1.89749e-13 -1.00303e-13 -0.285411 -0.0154615 0.0239904] -86: > errNow=~[5.55112e-17 -5.21001e-14 -2.75405e-14 0 4.1941e-11 -6.50766e-11] normNow=7.7421e-11 -86: DBG: Improvement rate now/prev at iter 2 is 6.65705e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.7421e-11. -86: DBG: Worst offender is normal contact 0 err=1.38339 ... -86: DBG: ... normal contact 0 released. +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.22997e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00128517... +86: > NEWTON iter 1: errNorm=0.00128517(v) -> deltaNorm=0.00133763(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000423315 0.000420917 -0.00113775 -2.85515e-05 0 0] +86: > deltaPi=~[-0.000718359 0.000322048 -0.000870505 0.000641656 5.16899e-10 -2.33352e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00128517. +86: > piNow=~[-0.00928164 -0.000322048 0.000870505 0.00935834 -5.16899e-10 2.33352e-09] +86: > errNow=~[-2.1684e-19 -1.12629e-09 3.04439e-09 4.33681e-19 -1.11684e-09 5.04196e-09] normNow=6.09964e-09 +86: DBG: Improvement rate now/prev at iter 1 is 4.74617e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.05811e-05 +86: > NEWTON iter 2: errNorm=6.09964e-09(v) -> deltaNorm=5.52004e-09(pi) +86: > piActive=~[-0.00928164 -0.000322048 0.000870505 0.00935834 -5.16899e-10 2.33352e-09] +86: > errActive=~[-2.1684e-19 -1.12629e-09 3.04439e-09 4.33681e-19 -1.11684e-09 5.04196e-09] +86: > deltaPi=~[-3.09607e-09 -1.03585e-09 2.79992e-09 -2.50201e-09 -5.16901e-10 2.33353e-09] +86: DBG: Line search iter 1: back=1, prevNorm=6.09964e-09. +86: > piNow=~[-0.00928164 -0.000322047 0.000870502 0.00935835 2.30137e-15 -1.03895e-14] +86: > errNow=~[2.1684e-19 -5.63449e-15 1.52302e-14 -2.1684e-19 4.9725e-15 -2.24482e-14] normNow=2.81488e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.61483e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.81488e-14. +86: DBG: Worst offender is normal contact 1 err=0.00935835 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=(1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.242743,-0.128321, mag=0.274573 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.246518,0.382503, mag=0.45506 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420917,1.13775, mag=1.21312 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.467282,2.10953, mag=2.16066 86: fillMult2Active: -86: : active=(1,4,5) -86: : mult2active=(-1111111111,0,-1111111111,-1111111111,1,2) -86: DBG: active normal 0 has v=0.0722333; guess pi=0.01 +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00138487; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.265873 0.0734293 -0.242743 -0.128321 -0.246518 0.382503] +86: : verrLeft was=~[-0.00138487 0.00138487 -0.420917 1.13775 -0.467282 2.10953] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0408594 -0.00119603 0.00989476 0.131745 0.0104479 0.050475] -86: : rhsActive=~[0.0722333 -0.23607 0.432978] -86: : pi was=~[0 -0.285411 -1.89749e-13 -1.00303e-13 -0.0154615 0.0239904] -86: : piActive=~[0.01 -0.0154615 0.0239904] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.69504e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0653857... -86: > NEWTON iter 1: errNorm=0.0653857(v) -> deltaNorm=0.348534(pi) -86: > piActive=~[0.01 -0.0154615 0.0239904] -86: > errActive=~[-0.0640828 -0.00703589 0.0109171] -86: > deltaPi=~[-0.347363 -0.0154622 0.0239914] -86: DBG: Line search iter 1: back=1, prevNorm=0.0653857. -86: > piNow=~[0.357363 7.00931e-07 -1.08758e-06] -86: > errNow=~[0 3.18965e-07 -4.94914e-07] normNow=5.88795e-07 -86: DBG: Improvement rate now/prev at iter 1 is 9.00495e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.32745e-09 -86: > NEWTON iter 2: errNorm=5.88795e-07(v) -> deltaNorm=1.88782e-06(pi) -86: > piActive=~[0.357363 7.00931e-07 -1.08758e-06] -86: > errActive=~[0 3.18965e-07 -4.94914e-07] -86: > deltaPi=~[1.37468e-06 7.00931e-07 -1.08758e-06] -86: DBG: Line search iter 1: back=1, prevNorm=5.88795e-07. -86: > piNow=~[0.357362 -2.17231e-15 3.37061e-15] -86: > errNow=~[0 -9.88532e-16 1.53383e-15] normNow=1.82478e-15 -86: DBG: Improvement rate now/prev at iter 2 is 3.09918e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.82478e-15. -86: DBG: Worst offender is normal contact 1 err=0.357362 ... -86: DBG: ... normal contact 1 released. +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00138487 -0.420917 1.13775] +86: : pi was=~[-0.00928164 0 -0.000322047 0.000870502 2.30137e-15 -1.03895e-14] +86: : piActive=~[-0.01 -0.000322047 0.000870502] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.5187e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00128572... +86: > NEWTON iter 1: errNorm=0.00128572(v) -> deltaNorm=0.00478251(pi) +86: > piActive=~[-0.01 -0.000322047 0.000870502] +86: > errActive=~[-0.00128276 3.02371e-05 -8.17317e-05] +86: > deltaPi=~[-0.00476536 -0.000140413 0.000379541] +86: DBG: Line search iter 1: back=1, prevNorm=0.00128572. +86: > piNow=~[-0.00523464 -0.000181633 0.000490961] +86: > errNow=~[-2.1684e-19 -7.47144e-09 2.01955e-08] normNow=2.15333e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.6748e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.64859e-05 +86: > NEWTON iter 2: errNorm=2.15333e-08(v) -> deltaNorm=2.85605e-08(pi) +86: > piActive=~[-0.00523464 -0.000181633 0.000490961] +86: > errActive=~[-2.1684e-19 -7.47144e-09 2.01955e-08] +86: > deltaPi=~[-2.05757e-08 -6.8727e-09 1.85771e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.15333e-08. +86: > piNow=~[-0.00523462 -0.000181627 0.000490942] +86: > errNow=~[0 -1.17696e-13 3.18135e-13] normNow=3.39209e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.57528e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.39209e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.420917,1.13775] to ~[-0.421014,1.13923] +86: DBG: Friction 0 rotated 0.0199226 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00523462 -0.000181627 0.000490942] +86: : m_verrLeft=~[0 0.00192353 -0.421014 1.13923 -0.467335 2.1101] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.00523462 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00192353 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00523462 0 -0.000181627 0.000490942 0 0] errNorm=3.39209e-13 +86: Postcompression verr=~[0 0.00192353 -0.421014 1.13923 -0.467335 2.1101] +86: impulse=~[-0.00523462 0 -0.000181627 0.000490942 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00523462 0 -0.000181627 0.000490942 0 0]-> du ~[-0.000937624 0.00189565 -0.000912926 -0.00102251 -7.48933e-05 0.000961763 -0.00365522 0.0021735] +86: Now verr0=~[2.1684e-19 0.00192353 -0.421014 1.13923 -0.467335 2.1101] 86: -86: ....... Active set iter 3 start -86: : active=() -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.242743,-0.128321, mag=0.274573 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.246518,0.382503, mag=0.45506 +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[2.1684e-19 0.00192353 -0.421014 1.13923 -0.467335 2.1101] +86: verrExt=~[-0.277857 -0.229546 0.0131866 -0.266925 0.0107412 -0.215929] +86: total verr=~[-0.277857 -0.227623 -0.407827 0.872305 -0.456594 1.89417] +86: DYN t=0.142: verrStart=~[2.1684e-19 0.00192353 -0.421014 1.13923 -0.467335 2.1101] +86: verrApplied=~[-0.277857 -0.229546 0.0131866 -0.266925 0.0107412 -0.215929] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=() -86: : mult2active=(-1111111111,-1111111111,-1111111111,-1111111111,-1111111111,-1111111111) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[2.1684e-19 0.00192353 -0.421014 1.13923 -0.467335 2.1101] +86: verrApplied=~[-0.277857 -0.229546 0.0131866 -0.266925 0.0107412 -0.215929] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.421014,1.13923, mag=1.21454 +86: Participating contact 1 is Sliding; vel=-0.467335,2.1101, mag=2.16123 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.421014,1.13923, mag=1.21454 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.467335,2.1101, mag=2.16123 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.277857; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.227623; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.265873 0.0734293 -0.242743 -0.128321 -0.246518 0.382503] +86: : verrLeft was=~[2.1684e-19 0.00192353 -0.421014 1.13923 -0.467335 2.1101] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[0.0408594 -0.00119603 0.00989476 0.131745 0.0104479 0.050475] -86: : rhsActive=~[] -86: : pi was=~[0 0 -1.89749e-13 -1.00303e-13 -2.17231e-15 3.37061e-15] -86: : piActive=~[] +86: : verrApplied was=~[-0.277857 -0.229546 0.0131866 -0.266925 0.0107412 -0.215929] +86: : rhsActive=~[-0.277857 -0.407827 0.872305 -0.227623 -0.456594 1.89417] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.23439e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.353719... +86: > NEWTON iter 1: errNorm=0.353719(v) -> deltaNorm=1.02114(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.27376 0.000421014 -0.00113923 0.223978 0.000467335 -0.0021101] +86: > deltaPi=~[0.787939 0.0276592 -0.0748436 0.641301 0.0140829 -0.0635869] +86: DBG: Line search iter 1: back=1, prevNorm=0.353719. +86: > piNow=~[-0.797939 -0.0276592 0.0748436 -0.651301 -0.0140829 0.0635869] +86: > errNow=~[0 1.23566e-06 -3.34361e-06 0 1.11635e-06 -5.04053e-06] normNow=6.27374e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.77365e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.03886e-09 +86: > NEWTON iter 2: errNorm=6.27374e-06(v) -> deltaNorm=6.09763e-06(pi) +86: > piActive=~[-0.797939 -0.0276592 0.0748436 -0.651301 -0.0140829 0.0635869] +86: > errActive=~[0 1.23566e-06 -3.34361e-06 0 1.11635e-06 -5.04053e-06] +86: > deltaPi=~[3.3958e-06 1.13511e-06 -3.07152e-06 2.79422e-06 5.76958e-07 -2.60506e-06] +86: DBG: Line search iter 1: back=1, prevNorm=6.27374e-06. +86: > piNow=~[-0.797942 -0.0276603 0.0748467 -0.651304 -0.0140835 0.0635895] +86: > errNow=~[-5.55112e-17 8.39606e-16 -2.27596e-15 -2.77556e-17 1.14492e-15 -5.19029e-15] normNow=5.84284e-15 +86: DBG: Improvement rate now/prev at iter 2 is 9.31317e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=5.84284e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.421014,1.13923] to ~[-0.4213,1.17023] +86: DBG: Friction 0 rotated 0.482677 deg, less than max 30 +86: slipVel 1 from ~[-0.467335,2.1101] to ~[-0.467279,2.13395] +86: DBG: Friction 1 rotated 0.136687 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[] -86: : m_verrLeft=~[0.306732 0.0722333 -0.232849 0.00342389 -0.23607 0.432978] +86: : m_piActive=~[-0.797942 -0.0276603 0.0748467 -0.651304 -0.0140835 0.0635895] +86: : m_verrLeft=~[5.55112e-17 2.77556e-17 -0.4213 1.17023 -0.467279 2.13395] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.306732 pi*v=0 -86: DBG: 1: pi=0 verr=0.0722333 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[0 0 0 0 0 0] errNorm=0 +86: DBG: 0: pi=-0.797942 verr=5.55112e-17 pi*v=-4.42947e-17 +86: DBG: 1: pi=-0.651304 verr=2.77556e-17 pi*v=-1.80773e-17 +86: SP FINAL 1 intervals, piTotal=~[-0.797942 -0.651304 -0.0276603 0.0748467 -0.0140835 0.0635895] errNorm=5.84284e-15 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.242743 -0.128321, |slipV|=0.274573 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.421014 1.13923, |slipV|=1.21454 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.246518 0.382503, |slipV|=0.45506 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.467335 2.1101, |slipV|=2.16123 86: ------------------------------ 86: -86: dynamics impulse=~[0 0 0 0 0 0] -86: updated verrStart=~[0.306732 0.0722333 -0.232849 0.00342389 -0.23607 0.432978] +86: dynamics impulse=~[-0.797942 -0.651304 -0.0276603 0.0748467 -0.0140835 0.0635895] +86: updated verrStart=~[5.55112e-17 2.77556e-17 -0.4213 1.17023 -0.467279 2.13395] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.836952 0.184526 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 0 participators +86: posVerr=~[0.311925 0.567723 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: -86: DBG: no bilateral participators. Nothing to do. +86: A= +86: [0.295228 0.114409 -0.0184844 0.320151 -0.00889145 0.120057] +86: [0.114409 0.250041 -0.00280698 0.121654 -0.0099419 0.270472] +86: [-0.0184844 -0.00280698 0.0472109 0.0174823 0.0498461 -0.0378337] +86: [0.320151 0.121654 0.0174823 0.408084 0.0316331 0.112553] +86: [-0.00889145 -0.0099419 0.0498461 0.0316331 0.0536945 -0.0490234] +86: [0.120057 0.270472 -0.0378337 0.112553 -0.0490234 0.346279] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.400808 rank=2 +86: rhs=~[0.311925 0.567723 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.214746 2.17226] +86: -> pi=~[0.214746 2.17226 0 0 0 0] +86: resid active=~[1.11022e-16 0] +86: resid=~[1.11022e-16 0 -0.0100669 0.333016 -0.0235058 0.613317] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[0.306732 0.0722333 -0.232849 0.00342389 -0.23607 0.432978] -86: perr=~[0.000836952 0.000184526 -1.11022e-16] -86: END OF STEP (0.088,0.089): -86: verr=~[0.306662 0.0723039 -0.232729 0.00338632 -0.23619 0.433015] -86: perr=~[0.00114365 0.000256794 0] +86: verr=~[3.17238e-16 3.17238e-16 -0.4213 1.17023 -0.467279 2.13395] +86: perr=~[0.000311925 0.000567723 0] +86: END OF STEP (0.142,0.143): +86: verr=~[-0.00140251 0.00140251 -0.420835 1.17025 -0.467744 2.13392] +86: perr=~[0.000311224 0.000568425 0] 86: constraint status: -86: 0: cont UniOff fric Sliding -86: 2: cont UniOff fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=0.493242 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=1.24362 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.18458 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00140251 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.0723039 -0.23619 0.433015] -86: verrExt=~[-0.01244 0.0103038 0.0351943] -86: total verr=~[0.0598639 -0.225886 0.46821] -86: DYN t=0.089: verrStart=~[0.0723039 -0.23619 0.433015] -86: verrApplied=~[-0.01244 0.0103038 0.0351943] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.00140251 0.00140251 -0.420835 1.17025 -0.467744 2.13392] +86: IMP t=0.143 verr=~[-0.00140251 0.00140251 -0.420835 1.17025 -0.467744 2.13392] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0.0723039 -0.23619 0.433015] -86: verrApplied=~[-0.01244 0.0103038 0.0351943] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-0.00140251 0.00140251 -0.420835 1.17025 -0.467744 2.13392] +86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.23619,0.433015, mag=0.493242 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.420835,1.17025, mag=1.24362 +86: Participating contact 1 is Sliding; vel=-0.467744,2.13392, mag=2.18458 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.23619,0.433015, mag=0.493242 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420835,1.17025, mag=1.24362 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.467744,2.13392, mag=2.18458 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=0.0598639; guess pi=0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.00140251; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00140251; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.0723039 -0.23619 0.433015] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.01244 0.0103038 0.0351943] -86: : rhsActive=~[0.0598639 -0.225886 0.46821] -86: : pi was=~[0 0 0] -86: : piActive=~[0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.83727e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0578402... -86: > NEWTON iter 1: errNorm=0.0578402(v) -> deltaNorm=0.285821(pi) -86: > piActive=~[0.01 0 0] -86: > errActive=~[-0.0578402 0 0] -86: > deltaPi=~[-0.285821 -5.09809e-07 9.3465e-07] -86: DBG: Line search iter 1: back=1, prevNorm=0.0578402. -86: > piNow=~[0.295821 5.09809e-07 -9.3465e-07] -86: > errNow=~[1.38778e-17 2.51459e-07 -4.61009e-07] normNow=5.2513e-07 -86: DBG: Improvement rate now/prev at iter 1 is 9.07897e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.09973e-09 -86: > NEWTON iter 2: errNorm=5.2513e-07(v) -> deltaNorm=1.59179e-06(pi) -86: > piActive=~[0.295821 5.09809e-07 -9.3465e-07] -86: > errActive=~[1.38778e-17 2.51459e-07 -4.61009e-07] -86: > deltaPi=~[1.18335e-06 5.09809e-07 -9.3465e-07] -86: DBG: Line search iter 1: back=1, prevNorm=5.2513e-07. -86: > piNow=~[0.29582 -2.41222e-15 4.4224e-15] -86: > errNow=~[6.93889e-18 -1.18981e-15 2.18132e-15] normNow=2.48472e-15 -86: DBG: Improvement rate now/prev at iter 2 is 4.73163e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.48472e-15. -86: DBG: Worst offender is normal contact 0 err=0.29582 ... -86: DBG: ... normal contact 0 released. +86: : verrLeft was=~[-0.00140251 0.00140251 -0.420835 1.17025 -0.467744 2.13392] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00140251 -0.420835 1.17025 0.00140251 -0.467744 2.13392] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.36345e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00131314... +86: > NEWTON iter 1: errNorm=0.00131314(v) -> deltaNorm=0.00130064(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000420171 0.000420835 -0.00117025 -3.45606e-05 0 0] +86: > deltaPi=~[-0.000680122 0.00031538 -0.000877007 0.00060041 4.7885e-10 -2.18459e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00131314. +86: > piNow=~[-0.00931988 -0.00031538 0.000877007 0.00939959 -4.7885e-10 2.18459e-09] +86: > errNow=~[0 -1.06613e-09 2.96468e-09 0 -1.04609e-09 4.77241e-09] normNow=5.81345e-09 +86: DBG: Improvement rate now/prev at iter 1 is 4.42714e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.06425e-05 +86: > NEWTON iter 2: errNorm=5.81345e-09(v) -> deltaNorm=5.19221e-09(pi) +86: > piActive=~[-0.00931988 -0.00031538 0.000877007 0.00939959 -4.7885e-10 2.18459e-09] +86: > errActive=~[0 -1.06613e-09 2.96468e-09 0 -1.04609e-09 4.77241e-09] +86: > deltaPi=~[-2.92283e-09 -9.5618e-10 2.65894e-09 -2.33026e-09 -4.78852e-10 2.1846e-09] +86: DBG: Line search iter 1: back=1, prevNorm=5.81345e-09. +86: > piNow=~[-0.00931988 -0.000315379 0.000877004 0.00939959 2.10345e-15 -9.59625e-15] +86: > errNow=~[0 -5.2747e-15 1.4668e-14 2.1684e-19 4.59516e-15 -2.09638e-14] normNow=2.65249e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.56267e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.65249e-14. +86: DBG: Worst offender is normal contact 1 err=0.00939959 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=() -86: Participating UniCont 0 (ix=2): cond=UniOff/Sliding, vel=-0.23619,0.433015, mag=0.493242 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420835,1.17025, mag=1.24362 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.467744,2.13392, mag=2.18458 86: fillMult2Active: -86: : active=() -86: : mult2active=(-1111111111,-1111111111,-1111111111) +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00140251; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.0723039 -0.23619 0.433015] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.01244 0.0103038 0.0351943] -86: : rhsActive=~[] -86: : pi was=~[0 -2.41222e-15 4.4224e-15] -86: : piActive=~[] +86: : verrLeft was=~[-0.00140251 0.00140251 -0.420835 1.17025 -0.467744 2.13392] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00140251 -0.420835 1.17025] +86: : pi was=~[-0.00931988 0 -0.000315379 0.000877004 2.10345e-15 -9.59625e-15] +86: : piActive=~[-0.01 -0.000315379 0.000877004] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.63234e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00128558... +86: > NEWTON iter 1: errNorm=0.00128558(v) -> deltaNorm=0.00475334(pi) +86: > piActive=~[-0.01 -0.000315379 0.000877004] +86: > errActive=~[-0.00128279 2.8622e-05 -7.95919e-05] +86: > deltaPi=~[-0.00473601 -0.000137243 0.000381644] +86: DBG: Line search iter 1: back=1, prevNorm=0.00128558. +86: > piNow=~[-0.00526399 -0.000178136 0.000495361] +86: > errNow=~[-2.1684e-19 -7.42396e-09 2.06445e-08] normNow=2.19388e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.70653e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.67126e-05 +86: > NEWTON iter 2: errNorm=2.19388e-08(v) -> deltaNorm=2.83396e-08(pi) +86: > piActive=~[-0.00526399 -0.000178136 0.000495361] +86: > errActive=~[-2.1684e-19 -7.42396e-09 2.06445e-08] +86: > deltaPi=~[-2.0392e-08 -6.65959e-09 1.85189e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.19388e-08. +86: > piNow=~[-0.00526397 -0.00017813 0.000495342] +86: > errNow=~[0 -1.15326e-13 3.20696e-13] normNow=3.40802e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.55342e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.40802e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.420835,1.17025] to ~[-0.420934,1.17174] +86: DBG: Friction 0 rotated 0.018903 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[] -86: : m_verrLeft=~[0.0598639 -0.225886 0.46821] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.00526397 -0.00017813 0.000495342] +86: : m_verrLeft=~[0 0.00194696 -0.420934 1.17174 -0.467798 2.13449] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.0598639 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[0 0 0] errNorm=0 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.23619 0.433015, |slipV|=0.493242 -86: ------------------------------ -86: -86: dynamics impulse=~[0 0 0] -86: updated verrStart=~[0.0598639 -0.225886 0.46821] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.256794 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 0 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: DBG: no bilateral participators. Nothing to do. -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[0.0598639 -0.225886 0.46821] -86: perr=~[0.000256794 0] -86: END OF STEP (0.089,0.09): -86: verr=~[0.0599447 -0.225986 0.468272] -86: perr=~[0.000316699 0] -86: constraint status: -86: 2: cont UniOff fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=0.51995 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: 0: pi=-0.00526397 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00194696 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00526397 0 -0.00017813 0.000495342 0 0] errNorm=3.40802e-13 +86: Postcompression verr=~[0 0.00194696 -0.420934 1.17174 -0.467798 2.13449] +86: impulse=~[-0.00526397 0 -0.00017813 0.000495342 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00526397 0 -0.00017813 0.000495342 0 0]-> du ~[-0.000952157 0.00191212 -0.000920329 -0.00102927 -7.64914e-05 0.000973478 -0.00368932 0.0021927] +86: Now verr0=~[1.9082e-17 0.00194696 -0.420934 1.17174 -0.467798 2.13449] 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.0599447 -0.225986 0.468272] -86: verrExt=~[-0.0216826 0.00988765 0.0230881] -86: total verr=~[0.0382621 -0.216099 0.49136] -86: DYN t=0.09: verrStart=~[0.0599447 -0.225986 0.468272] -86: verrApplied=~[-0.0216826 0.00988765 0.0230881] +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[1.9082e-17 0.00194696 -0.420934 1.17174 -0.467798 2.13449] +86: verrExt=~[-0.256312 -0.213278 0.0127327 -0.241142 0.0105972 -0.197499] +86: total verr=~[-0.256312 -0.211331 -0.408201 0.930601 -0.457201 1.93699] +86: DYN t=0.143: verrStart=~[1.9082e-17 0.00194696 -0.420934 1.17174 -0.467798 2.13449] +86: verrApplied=~[-0.256312 -0.213278 0.0127327 -0.241142 0.0105972 -0.197499] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0.0599447 -0.225986 0.468272] -86: verrApplied=~[-0.0216826 0.00988765 0.0230881] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[1.9082e-17 0.00194696 -0.420934 1.17174 -0.467798 2.13449] +86: verrApplied=~[-0.256312 -0.213278 0.0127327 -0.241142 0.0105972 -0.197499] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.225986,0.468272, mag=0.51995 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.420934,1.17174, mag=1.24506 +86: Participating contact 1 is Sliding; vel=-0.467798,2.13449, mag=2.18515 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.225986,0.468272, mag=0.51995 -86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=0.0382621; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[0.0599447 -0.225986 0.468272] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.0216826 0.00988765 0.0230881] -86: : rhsActive=~[0.0382621 -0.216099 0.49136] -86: : pi was=~[0 0 0] -86: : piActive=~[0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.93675e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0362358... -86: > NEWTON iter 1: errNorm=0.0362358(v) -> deltaNorm=0.178829(pi) -86: > piActive=~[0.01 0 0] -86: > errActive=~[-0.0362358 0 0] -86: > deltaPi=~[-0.178829 -2.89514e-07 5.9991e-07] -86: DBG: Line search iter 1: back=1, prevNorm=0.0362358. -86: > piNow=~[0.188829 2.89514e-07 -5.9991e-07] -86: > errNow=~[0 1.50533e-07 -3.11923e-07] normNow=3.46347e-07 -86: DBG: Improvement rate now/prev at iter 1 is 9.55814e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.4323e-09 -86: > NEWTON iter 2: errNorm=3.46347e-07(v) -> deltaNorm=1.01063e-06(pi) -86: > piActive=~[0.188829 2.89514e-07 -5.9991e-07] -86: > errActive=~[0 1.50533e-07 -3.11923e-07] -86: > deltaPi=~[7.60037e-07 2.89514e-07 -5.9991e-07] -86: DBG: Line search iter 1: back=1, prevNorm=3.46347e-07. -86: > piNow=~[0.188828 -3.45126e-15 7.15144e-15] -86: > errNow=~[0 -1.79448e-15 3.71839e-15] normNow=4.12875e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.19208e-08 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.12875e-15. -86: DBG: Worst offender is normal contact 0 err=0.188828 ... -86: DBG: ... normal contact 0 released. -86: -86: ....... Active set iter 2 start -86: : active=() -86: Participating UniCont 0 (ix=2): cond=UniOff/Sliding, vel=-0.225986,0.468272, mag=0.51995 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420934,1.17174, mag=1.24506 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.467798,2.13449, mag=2.18515 86: fillMult2Active: -86: : active=() -86: : mult2active=(-1111111111,-1111111111,-1111111111) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.256312; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.211331; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.0599447 -0.225986 0.468272] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.0216826 0.00988765 0.0230881] -86: : rhsActive=~[] -86: : pi was=~[0 -3.45126e-15 7.15144e-15] -86: : piActive=~[] +86: : verrLeft was=~[1.9082e-17 0.00194696 -0.420934 1.17174 -0.467798 2.13449] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.256312 -0.213278 0.0127327 -0.241142 0.0105972 -0.197499] +86: : rhsActive=~[-0.256312 -0.408201 0.930601 -0.211331 -0.457201 1.93699] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.36793e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.326695... +86: > NEWTON iter 1: errNorm=0.326695(v) -> deltaNorm=0.937028(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.25219 0.000420934 -0.00117174 0.207663 0.000467798 -0.00213449] +86: > deltaPi=~[0.718289 0.0246214 -0.0685379 0.594246 0.0129353 -0.0590215] +86: DBG: Line search iter 1: back=1, prevNorm=0.326695. +86: > piNow=~[-0.728289 -0.0246214 0.0685379 -0.604246 -0.0129353 0.0590215] +86: > errNow=~[2.22045e-16 1.12622e-06 -3.13504e-06 2.77556e-17 1.03547e-06 -4.72468e-06] normNow=5.87296e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.79769e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.40452e-09 +86: > NEWTON iter 2: errNorm=5.87296e-06(v) -> deltaNorm=5.58367e-06(pi) +86: > piActive=~[-0.728289 -0.0246214 0.0685379 -0.604246 -0.0129353 0.0590215] +86: > errActive=~[2.22045e-16 1.12622e-06 -3.13504e-06 2.77556e-17 1.03547e-06 -4.72468e-06] +86: > deltaPi=~[3.08584e-06 1.00888e-06 -2.8084e-06 2.57741e-06 5.29043e-07 -2.41394e-06] +86: DBG: Line search iter 1: back=1, prevNorm=5.87296e-06. +86: > piNow=~[-0.728292 -0.0246224 0.0685408 -0.604248 -0.0129358 0.059024] +86: > errNow=~[0 9.08995e-16 -2.53964e-15 -2.77556e-17 1.22471e-15 -5.60663e-15] normNow=6.34121e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.07973e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.34121e-15. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.420934,1.17174] to ~[-0.420824,1.20387] +86: DBG: Friction 0 rotated 0.492602 deg, less than max 30 +86: slipVel 1 from ~[-0.467798,2.13449] to ~[-0.467292,2.15847] +86: DBG: Friction 1 rotated 0.14602 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[] -86: : m_verrLeft=~[0.0382621 -0.216099 0.49136] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.728292 -0.0246224 0.0685408 -0.604248 -0.0129358 0.059024] +86: : m_verrLeft=~[0 2.77556e-17 -0.420824 1.20387 -0.467292 2.15847] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.0382621 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[0 0 0] errNorm=0 +86: DBG: 0: pi=-0.728292 verr=0 pi*v=-0 +86: DBG: 1: pi=-0.604248 verr=2.77556e-17 pi*v=-1.67713e-17 +86: SP FINAL 1 intervals, piTotal=~[-0.728292 -0.604248 -0.0246224 0.0685408 -0.0129358 0.059024] errNorm=6.34121e-15 86: 86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.225986 0.468272, |slipV|=0.51995 +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.420934 1.17174, |slipV|=1.24506 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.467798 2.13449, |slipV|=2.18515 86: ------------------------------ 86: -86: dynamics impulse=~[0 0 0] -86: updated verrStart=~[0.0382621 -0.216099 0.49136] +86: dynamics impulse=~[-0.728292 -0.604248 -0.0246224 0.0685408 -0.0129358 0.059024] +86: updated verrStart=~[0 2.77556e-17 -0.420824 1.20387 -0.467292 2.15847] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.316699 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 0 participators +86: posVerr=~[0.311224 0.568425 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: -86: DBG: no bilateral participators. Nothing to do. +86: A= +86: [0.297235 0.114966 -0.0187906 0.32054 -0.00898076 0.119977] +86: [0.114966 0.251761 -0.00298039 0.121537 -0.0102853 0.270879] +86: [-0.0187906 -0.00298039 0.0471409 0.0171013 0.0498084 -0.037782] +86: [0.32054 0.121537 0.0171013 0.406227 0.0314805 0.111883] +86: [-0.00898076 -0.0102853 0.0498084 0.0314805 0.0537338 -0.0491534] +86: [0.119977 0.270879 -0.037782 0.111883 -0.0491534 0.344691] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.401604 rank=2 +86: rhs=~[0.311224 0.568425 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.211061 2.16141] +86: -> pi=~[0.211061 2.16141 0 0 0 0] +86: resid active=~[1.66533e-16 0] +86: resid=~[1.66533e-16 0 -0.0104078 0.330345 -0.0241261 0.610804] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[0.0382621 -0.216099 0.49136] -86: perr=~[0.000316699 0] -86: END OF STEP (0.09,0.091): -86: verr=~[0.0383411 -0.216187 0.491446] -86: perr=~[0.000355 0] +86: verr=~[-3.89229e-17 -1.2219e-16 -0.420824 1.20387 -0.467292 2.15847] +86: perr=~[0.000311224 0.000568425 0] +86: END OF STEP (0.143,0.144): +86: verr=~[-0.00141909 0.00141909 -0.420368 1.20389 -0.467748 2.15844] +86: perr=~[0.000310515 0.000569134 -1.11022e-16] 86: constraint status: -86: 2: cont UniOff fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: 0: cont UniActive fric Sliding +86: 2: cont UniActive fric Sliding +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=0.536895 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=1.27517 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.20854 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00141909 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.0383411 -0.216187 0.491446] -86: verrExt=~[-0.0285762 0.00920797 0.0146187] -86: total verr=~[0.00976492 -0.206979 0.506065] -86: DYN t=0.091: verrStart=~[0.0383411 -0.216187 0.491446] -86: verrApplied=~[-0.0285762 0.00920797 0.0146187] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.00141909 0.00141909 -0.420368 1.20389 -0.467748 2.15844] +86: IMP t=0.144 verr=~[-0.00141909 0.00141909 -0.420368 1.20389 -0.467748 2.15844] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0.0383411 -0.216187 0.491446] -86: verrApplied=~[-0.0285762 0.00920797 0.0146187] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-0.00141909 0.00141909 -0.420368 1.20389 -0.467748 2.15844] +86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.216187,0.491446, mag=0.536895 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.420368,1.20389, mag=1.27517 +86: Participating contact 1 is Sliding; vel=-0.467748,2.15844, mag=2.20854 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.216187,0.491446, mag=0.536895 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420368,1.20389, mag=1.27517 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.467748,2.15844, mag=2.20854 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=0.00976492; guess pi=0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.00141909; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00141909; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.0383411 -0.216187 0.491446] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.0285762 0.00920797 0.0146187] -86: : rhsActive=~[0.00976492 -0.206979 0.506065] -86: : pi was=~[0 0 0] -86: : piActive=~[0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.99987e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00773586... -86: > NEWTON iter 1: errNorm=0.00773586(v) -> deltaNorm=0.0381254(pi) -86: > piActive=~[0.01 0 0] -86: > errActive=~[-0.00773586 0 0] -86: > deltaPi=~[-0.0381254 -5.71828e-08 1.29991e-07] -86: DBG: Line search iter 1: back=1, prevNorm=0.00773586. -86: > piNow=~[0.0481254 5.71828e-08 -1.29991e-07] -86: > errNow=~[0 3.07012e-08 -6.97914e-08] normNow=7.62456e-08 -86: DBG: Improvement rate now/prev at iter 1 is 9.85614e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.63572e-08 -86: > NEWTON iter 2: errNorm=7.62456e-08(v) -> deltaNorm=2.17465e-07(pi) -86: > piActive=~[0.0481254 5.71828e-08 -1.29991e-07] -86: > errActive=~[0 3.07012e-08 -6.97914e-08] -86: > deltaPi=~[1.64692e-07 5.71828e-08 -1.29991e-07] -86: DBG: Line search iter 1: back=1, prevNorm=7.62456e-08. -86: > piNow=~[0.0481252 -1.06665e-14 2.42476e-14] -86: > errNow=~[0 -5.72679e-15 1.30184e-14] normNow=1.42224e-14 -86: DBG: Improvement rate now/prev at iter 2 is 1.86533e-07 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.42224e-14. -86: DBG: Worst offender is normal contact 0 err=0.0481252 ... -86: DBG: ... normal contact 0 released. +86: : verrLeft was=~[-0.00141909 0.00141909 -0.420368 1.20389 -0.467748 2.15844] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00141909 -0.420368 1.20389 0.00141909 -0.467748 2.15844] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.49933e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00134259... +86: > NEWTON iter 1: errNorm=0.00134259(v) -> deltaNorm=0.00127248(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000418234 0.000420368 -0.00120389 -3.94374e-05 0 0] +86: > deltaPi=~[-0.000650389 0.000308216 -0.0008827 0.000567484 4.47683e-10 -2.06585e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00134259. +86: > piNow=~[-0.00934961 -0.000308216 0.0008827 0.00943252 -4.47683e-10 2.06585e-09] +86: > errNow=~[-4.33681e-19 -1.01839e-09 2.91657e-09 0 -9.88728e-10 4.56253e-09] normNow=5.59802e-09 +86: DBG: Improvement rate now/prev at iter 1 is 4.16957e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.07244e-05 +86: > NEWTON iter 2: errNorm=5.59802e-09(v) -> deltaNorm=4.93291e-09(pi) +86: > piActive=~[-0.00934961 -0.000308216 0.0008827 0.00943252 -4.47683e-10 2.06585e-09] +86: > errActive=~[-4.33681e-19 -1.01839e-09 2.91657e-09 0 -9.88728e-10 4.56253e-09] +86: > deltaPi=~[-2.78639e-09 -8.90479e-10 2.55025e-09 -2.19197e-09 -4.47685e-10 2.06586e-09] +86: DBG: Line search iter 1: back=1, prevNorm=5.59802e-09. +86: > piNow=~[-0.00934961 -0.000308215 0.000882698 0.00943252 1.94353e-15 -8.96851e-15] +86: > errNow=~[0 -4.99102e-15 1.42937e-14 2.1684e-19 4.29237e-15 -1.98073e-14] normNow=2.52977e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.51905e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.52977e-14. +86: DBG: Worst offender is normal contact 1 err=0.00943252 ... +86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start -86: : active=() -86: Participating UniCont 0 (ix=2): cond=UniOff/Sliding, vel=-0.216187,0.491446, mag=0.536895 +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420368,1.20389, mag=1.27517 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.467748,2.15844, mag=2.20854 86: fillMult2Active: -86: : active=() -86: : mult2active=(-1111111111,-1111111111,-1111111111) +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00141909; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.0383411 -0.216187 0.491446] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.0285762 0.00920797 0.0146187] -86: : rhsActive=~[] -86: : pi was=~[0 -1.06665e-14 2.42476e-14] -86: : piActive=~[] +86: : verrLeft was=~[-0.00141909 0.00141909 -0.420368 1.20389 -0.467748 2.15844] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00141909 -0.420368 1.20389] +86: : pi was=~[-0.00934961 0 -0.000308215 0.000882698 1.94353e-15 -8.96851e-15] +86: : piActive=~[-0.01 -0.000308215 0.000882698] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.74986e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00128719... +86: > NEWTON iter 1: errNorm=0.00128719(v) -> deltaNorm=0.00472922(pi) +86: > piActive=~[-0.01 -0.000308215 0.000882698] +86: > errActive=~[-0.00128451 2.73403e-05 -7.83002e-05] +86: > deltaPi=~[-0.00471175 -0.000133879 0.000383417] +86: DBG: Line search iter 1: back=1, prevNorm=0.00128719. +86: > piNow=~[-0.00528825 -0.000174336 0.000499281] +86: > errNow=~[-4.33681e-19 -7.37774e-09 2.11291e-08] normNow=2.23802e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.73869e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.69798e-05 +86: > NEWTON iter 2: errNorm=2.23802e-08(v) -> deltaNorm=2.81466e-08(pi) +86: > piActive=~[-0.00528825 -0.000174336 0.000499281] +86: > errActive=~[-4.33681e-19 -7.37774e-09 2.11291e-08] +86: > deltaPi=~[-2.02268e-08 -6.45237e-09 1.8479e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.23802e-08. +86: > piNow=~[-0.00528823 -0.000174329 0.000499262] +86: > errNow=~[0 -1.13219e-13 3.24249e-13] normNow=3.43447e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.53461e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.43447e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.420368,1.20389] to ~[-0.420469,1.20539] +86: DBG: Friction 0 rotated 0.0178815 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[] -86: : m_verrLeft=~[0.00976492 -0.206979 0.506065] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.00528823 -0.000174329 0.000499262] +86: : m_verrLeft=~[0 0.00196894 -0.420469 1.20539 -0.467803 2.15902] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=0 verr=0.00976492 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[0 0 0] errNorm=0 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.216187 0.491446, |slipV|=0.536895 -86: ------------------------------ -86: -86: dynamics impulse=~[0 0 0] -86: updated verrStart=~[0.00976492 -0.206979 0.506065] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.355 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 0 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: DBG: no bilateral participators. Nothing to do. -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[0.00976492 -0.206979 0.506065] -86: perr=~[0.000355 0] -86: END OF STEP (0.091,0.092): -86: verr=~[0.00983465 -0.207062 0.506175] -86: perr=~[0.0003648 0] -86: constraint status: -86: 2: cont UniOff fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=0.546889 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: 0: pi=-0.00528823 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00196894 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00528823 0 -0.000174329 0.000499262 0 0] errNorm=3.43447e-13 +86: Postcompression verr=~[0 0.00196894 -0.420469 1.20539 -0.467803 2.15902] +86: impulse=~[-0.00528823 0 -0.000174329 0.000499262 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00528823 0 -0.000174329 0.000499262 0 0]-> du ~[-0.000965954 0.00192694 -0.000926832 -0.00103504 -7.79999e-05 0.000984469 -0.00372025 0.00221] +86: Now verr0=~[9.1073e-18 0.00196894 -0.420469 1.20539 -0.467803 2.15902] 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.00983465 -0.207062 0.506175] -86: verrExt=~[-0.0334158 0.0083008 0.00931963] -86: total verr=~[-0.0235811 -0.198761 0.515494] -86: DYN t=0.092: verrStart=~[0.00983465 -0.207062 0.506175] -86: verrApplied=~[-0.0334158 0.0083008 0.00931963] +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[9.1073e-18 0.00196894 -0.420469 1.20539 -0.467803 2.15902] +86: verrExt=~[-0.235689 -0.197628 0.0122091 -0.216734 0.010369 -0.17986] +86: total verr=~[-0.235689 -0.195659 -0.408259 0.988657 -0.457434 1.97916] +86: DYN t=0.144: verrStart=~[9.1073e-18 0.00196894 -0.420469 1.20539 -0.467803 2.15902] +86: verrApplied=~[-0.235689 -0.197628 0.0122091 -0.216734 0.010369 -0.17986] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0.00983465 -0.207062 0.506175] -86: verrApplied=~[-0.0334158 0.0083008 0.00931963] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[9.1073e-18 0.00196894 -0.420469 1.20539 -0.467803 2.15902] +86: verrApplied=~[-0.235689 -0.197628 0.0122091 -0.216734 0.010369 -0.17986] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.207062,0.506175, mag=0.546889 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.420469,1.20539, mag=1.27662 +86: Participating contact 1 is Sliding; vel=-0.467803,2.15902, mag=2.20912 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.207062,0.506175, mag=0.546889 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420469,1.20539, mag=1.27662 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.467803,2.15902, mag=2.20912 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.0235811; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.235689; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.195659; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00983465 -0.207062 0.506175] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.0334158 0.0083008 0.00931963] -86: : rhsActive=~[-0.0235811 -0.198761 0.515494] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.03709e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0215562... -86: > NEWTON iter 1: errNorm=0.0215562(v) -> deltaNorm=0.122173(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.0215492 0.000207062 -0.000506175] -86: > deltaPi=~[0.121464 0.00497728 -0.0121673] -86: DBG: Line search iter 1: back=1, prevNorm=0.0215562. -86: > piNow=~[-0.131464 -0.00497728 0.0121673] -86: > errNow=~[3.46945e-18 9.36826e-08 -2.29013e-07] normNow=2.47433e-07 -86: DBG: Improvement rate now/prev at iter 1 is 1.14785e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.17883e-08 -86: > NEWTON iter 2: errNorm=2.47433e-07(v) -> deltaNorm=7.89668e-07(pi) -86: > piActive=~[-0.131464 -0.00497728 0.0121673] -86: > errActive=~[3.46945e-18 9.36826e-08 -2.29013e-07] -86: > deltaPi=~[6.00754e-07 1.94046e-07 -4.74359e-07] -86: DBG: Line search iter 1: back=1, prevNorm=2.47433e-07. -86: > piNow=~[-0.131465 -0.00497748 0.0121678] -86: > errNow=~[0 2.68102e-15 -6.55379e-15] normNow=7.08096e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.86176e-08 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.08096e-15. +86: : verrLeft was=~[9.1073e-18 0.00196894 -0.420469 1.20539 -0.467803 2.15902] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.235689 -0.197628 0.0122091 -0.216734 0.010369 -0.17986] +86: : rhsActive=~[-0.235689 -0.408259 0.988657 -0.195659 -0.457434 1.97916] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.50387e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.300781... +86: > NEWTON iter 1: errNorm=0.300781(v) -> deltaNorm=0.857099(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.231541 0.000420469 -0.00120539 0.191968 0.000467803 -0.00215902] +86: > deltaPi=~[0.652379 0.0218153 -0.0625398 0.549097 0.011839 -0.0546398] +86: DBG: Line search iter 1: back=1, prevNorm=0.300781. +86: > piNow=~[-0.662379 -0.0218153 0.0625398 -0.559097 -0.011839 0.0546398] +86: > errNow=~[-8.32667e-17 1.02175e-06 -2.92914e-06 -5.55112e-17 9.56805e-07 -4.41587e-06] normNow=5.4808e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.82219e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.85404e-09 +86: > NEWTON iter 2: errNorm=5.4808e-06(v) -> deltaNorm=5.09615e-06(pi) +86: > piActive=~[-0.662379 -0.0218153 0.0625398 -0.559097 -0.011839 0.0546398] +86: > errActive=~[-8.32667e-17 1.02175e-06 -2.92914e-06 -5.55112e-17 9.56805e-07 -4.41587e-06] +86: > deltaPi=~[2.79317e-06 8.92351e-07 -2.55818e-06 2.37048e-06 4.83314e-07 -2.23061e-06] +86: DBG: Line search iter 1: back=1, prevNorm=5.4808e-06. +86: > piNow=~[-0.662382 -0.0218162 0.0625424 -0.559099 -0.0118395 0.054642] +86: > errNow=~[-5.55112e-17 9.95731e-16 -2.88658e-15 -5.55112e-17 1.32186e-15 -6.10623e-15] normNow=6.95437e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.26886e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.95437e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.207062,0.506175] to ~[-0.19745,0.544537] -86: DBG: Friction 0 rotated 2.31736 deg, less than max 30 +86: slipVel 0 from ~[-0.420469,1.20539] to ~[-0.420037,1.23849] +86: DBG: Friction 0 rotated 0.495413 deg, less than max 30 +86: slipVel 1 from ~[-0.467803,2.15902] to ~[-0.466925,2.18314] +86: DBG: Friction 1 rotated 0.153096 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.131465 -0.00497748 0.0121678] -86: : m_verrLeft=~[0 -0.19745 0.544537] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.662382 -0.0218162 0.0625424 -0.559099 -0.0118395 0.054642] +86: : m_verrLeft=~[5.55112e-17 5.55112e-17 -0.420037 1.23849 -0.466925 2.18314] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.131465 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.131465 -0.00497748 0.0121678] errNorm=7.08096e-15 +86: DBG: 0: pi=-0.662382 verr=5.55112e-17 pi*v=-3.67696e-17 +86: DBG: 1: pi=-0.559099 verr=5.55112e-17 pi*v=-3.10363e-17 +86: SP FINAL 1 intervals, piTotal=~[-0.662382 -0.559099 -0.0218162 0.0625424 -0.0118395 0.054642] errNorm=6.95437e-15 86: 86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.207062 0.506175, |slipV|=0.546889 +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.420469 1.20539, |slipV|=1.27662 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.467803 2.15902, |slipV|=2.20912 86: ------------------------------ 86: -86: dynamics impulse=~[-0.131465 -0.00497748 0.0121678] -86: updated verrStart=~[0 -0.19745 0.544537] +86: dynamics impulse=~[-0.662382 -0.559099 -0.0218162 0.0625424 -0.0118395 0.054642] +86: updated verrStart=~[5.55112e-17 5.55112e-17 -0.420037 1.23849 -0.466925 2.18314] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.3648 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: posVerr=~[0.310515 0.569134 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.20319 0.00482214 0.259303] -86: [0.00482214 0.0495962 -0.0353483] -86: [0.259303 -0.0353483 0.40027] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.3648 0 0] -86: active=(0) -86: -> piActive=~[1.79537] -86: -> pi=~[1.79537 0 0] -86: resid active=~[0] -86: resid=~[0 0.00865751 0.465544] +86: [0.299276 0.115543 -0.0190894 0.320917 -0.00906404 0.119897] +86: [0.115543 0.253509 -0.00315544 0.121421 -0.0106291 0.271272] +86: [-0.0190894 -0.00315544 0.0470737 0.0167359 0.0497731 -0.0377316] +86: [0.320917 0.121421 0.0167359 0.404324 0.0313372 0.111196] +86: [-0.00906404 -0.0106291 0.0497731 0.0313372 0.0537749 -0.0492793] +86: [0.119897 0.271272 -0.0377316 0.111196 -0.0492793 0.343057] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.402366 rank=2 +86: rhs=~[0.310515 0.569134 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.207272 2.15056] +86: -> pi=~[0.207272 2.15056 0 0 0 0] +86: resid active=~[-5.55112e-17 0] +86: resid=~[-5.55112e-17 0 -0.0107427 0.32764 -0.0247373 0.608238] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[8.32667e-17 -0.19745 0.544537] -86: perr=~[0.0003648 0] -86: END OF STEP (0.092,0.093): -86: verr=~[6.52096e-05 -0.19753 0.544671] -86: perr=~[0.000364833 0] +86: verr=~[5.76796e-17 2.1684e-18 -0.420037 1.23849 -0.466925 2.18314] +86: perr=~[0.000310515 0.000569134 -1.11022e-16] +86: END OF STEP (0.144,0.145): +86: verr=~[-0.00143469 0.00143469 -0.41959 1.23851 -0.467372 2.18311] +86: perr=~[0.000309797 0.000569851 0] 86: constraint status: +86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=0.579383 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=1.30766 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.23258 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00143469 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[6.52096e-05 -0.19753 0.544671] -86: verrExt=~[-0.0434653 0.00740407 -0.00311185] -86: total verr=~[-0.0434001 -0.190126 0.541559] -86: DYN t=0.093: verrStart=~[6.52096e-05 -0.19753 0.544671] -86: verrApplied=~[-0.0434653 0.00740407 -0.00311185] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.00143469 0.00143469 -0.41959 1.23851 -0.467372 2.18311] +86: IMP t=0.145 verr=~[-0.00143469 0.00143469 -0.41959 1.23851 -0.467372 2.18311] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[6.52096e-05 -0.19753 0.544671] -86: verrApplied=~[-0.0434653 0.00740407 -0.00311185] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-0.00143469 0.00143469 -0.41959 1.23851 -0.467372 2.18311] +86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.19753,0.544671, mag=0.579383 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.41959,1.23851, mag=1.30766 +86: Participating contact 1 is Sliding; vel=-0.467372,2.18311, mag=2.23258 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.19753,0.544671, mag=0.579383 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.41959,1.23851, mag=1.30766 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.467372,2.18311, mag=2.23258 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.0434001; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.00143469; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00143469; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[6.52096e-05 -0.19753 0.544671] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.0434653 0.00740407 -0.00311185] -86: : rhsActive=~[-0.0434001 -0.190126 0.541559] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.15813e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0413692... -86: > NEWTON iter 1: errNorm=0.0413692(v) -> deltaNorm=0.233345(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.0413652 0.00019753 -0.000544671] -86: > deltaPi=~[0.232086 0.0082532 -0.0227574] -86: DBG: Line search iter 1: back=1, prevNorm=0.0413692. -86: > piNow=~[-0.242086 -0.0082532 0.0227574] -86: > errNow=~[6.93889e-18 1.70763e-07 -4.70864e-07] normNow=5.00872e-07 -86: DBG: Improvement rate now/prev at iter 1 is 1.21074e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.68323e-09 -86: > NEWTON iter 2: errNorm=5.00872e-07(v) -> deltaNorm=1.52546e-06(pi) -86: > piActive=~[-0.242086 -0.0082532 0.0227574] -86: > errActive=~[6.93889e-18 1.70763e-07 -4.70864e-07] -86: > deltaPi=~[1.16795e-06 3.34552e-07 -9.22496e-07] -86: DBG: Line search iter 1: back=1, prevNorm=5.00872e-07. -86: > piNow=~[-0.242088 -0.00825353 0.0227584] -86: > errNow=~[0 1.46671e-15 -4.04364e-15] normNow=4.30143e-15 -86: DBG: Improvement rate now/prev at iter 2 is 8.58787e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.30143e-15. +86: : verrLeft was=~[-0.00143469 0.00143469 -0.41959 1.23851 -0.467372 2.18311] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00143469 -0.41959 1.23851 0.00143469 -0.467372 2.18311] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.63755e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00137334... +86: > NEWTON iter 1: errNorm=0.00137334(v) -> deltaNorm=0.00125176(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000417405 0.00041959 -0.00123851 -4.32828e-05 0 0] +86: > deltaPi=~[-0.000628357 0.00030071 -0.000887612 0.00054203 4.2266e-10 -1.97426e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00137334. +86: > piNow=~[-0.00937164 -0.00030071 0.000887612 0.00945797 -4.2266e-10 1.97426e-09] +86: > errNow=~[-4.33681e-19 -9.82071e-10 2.89879e-09 -4.33681e-19 -9.43621e-10 4.40768e-09] normNow=5.44845e-09 +86: DBG: Improvement rate now/prev at iter 1 is 3.9673e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.0825e-05 +86: > NEWTON iter 2: errNorm=5.44845e-09(v) -> deltaNorm=4.73511e-09(pi) +86: > piActive=~[-0.00937164 -0.00030071 0.000887612 0.00945797 -4.2266e-10 1.97426e-09] +86: > errActive=~[-4.33681e-19 -9.82071e-10 2.89879e-09 -4.33681e-19 -9.43621e-10 4.40768e-09] +86: > deltaPi=~[-2.68295e-09 -8.37101e-10 2.47088e-09 -2.08343e-09 -4.22661e-10 1.97427e-09] +86: DBG: Line search iter 1: back=1, prevNorm=5.44845e-09. +86: > piNow=~[-0.00937164 -0.00030071 0.000887609 0.00945797 1.81612e-15 -8.48317e-15] +86: > errNow=~[0 -4.77434e-15 1.40927e-14 4.33681e-19 4.05464e-15 -1.89394e-14] normNow=2.44241e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.48277e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.44241e-14. +86: DBG: Worst offender is normal contact 1 err=0.00945797 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.41959,1.23851, mag=1.30766 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.467372,2.18311, mag=2.23258 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00143469; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.00143469 0.00143469 -0.41959 1.23851 -0.467372 2.18311] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00143469 -0.41959 1.23851] +86: : pi was=~[-0.00937164 0 -0.00030071 0.000887609 1.81612e-15 -8.48317e-15] +86: : piActive=~[-0.01 -0.00030071 0.000887609] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.87085e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00129044... +86: > NEWTON iter 1: errNorm=0.00129044(v) -> deltaNorm=0.00470979(pi) +86: > piActive=~[-0.01 -0.00030071 0.000887609] +86: > errActive=~[-0.00128782 2.63653e-05 -7.7823e-05] +86: > deltaPi=~[-0.00469222 -0.000130392 0.000384881] +86: DBG: Line search iter 1: back=1, prevNorm=0.00129044. +86: > piNow=~[-0.00530778 -0.000170317 0.000502728] +86: > errNow=~[-4.33681e-19 -7.33357e-09 2.16466e-08] normNow=2.28551e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.77111e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.72845e-05 +86: > NEWTON iter 2: errNorm=2.28551e-08(v) -> deltaNorm=2.79786e-08(pi) +86: > piActive=~[-0.00530778 -0.000170317 0.000502728] +86: > errActive=~[-4.33681e-19 -7.33357e-09 2.16466e-08] +86: > deltaPi=~[-2.00778e-08 -6.25233e-09 1.84551e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.28551e-08. +86: > piNow=~[-0.00530776 -0.000170311 0.00050271] +86: > errNow=~[0 -1.11353e-13 3.28683e-13] normNow=3.47033e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.51841e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.47033e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.19753,0.544671] to ~[-0.187753,0.59496] -86: DBG: Friction 0 rotated 2.41941 deg, less than max 30 +86: slipVel 0 from ~[-0.41959,1.23851] to ~[-0.419693,1.24002] +86: DBG: Friction 0 rotated 0.0168732 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.242088 -0.00825353 0.0227584] -86: : m_verrLeft=~[0 -0.187753 0.59496] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.00530776 -0.000170311 0.00050271] +86: : m_verrLeft=~[0 0.00198959 -0.419693 1.24002 -0.467428 2.18368] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.242088 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.242088 -0.00825353 0.0227584] errNorm=4.30143e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.19753 0.544671, |slipV|=0.579383 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.242088 -0.00825353 0.0227584] -86: updated verrStart=~[0 -0.187753 0.59496] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.364833 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.203495 0.00478536 0.259375] -86: [0.00478536 0.0496392 -0.0353783] -86: [0.259375 -0.0353783 0.399809] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.364833 0 0] -86: active=(0) -86: -> piActive=~[1.79283] -86: -> pi=~[1.79283 0 0] -86: resid active=~[0] -86: resid=~[0 0.00857935 0.465016] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[0 -0.187753 0.59496] -86: perr=~[0.000364833 0] -86: END OF STEP (0.093,0.094): -86: verr=~[6.58742e-05 -0.18783 0.595112] -86: perr=~[0.000364865 0] -86: constraint status: -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=0.62405 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: 0: pi=-0.00530776 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00198959 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00530776 0 -0.000170311 0.00050271 0 0] errNorm=3.47033e-13 +86: Postcompression verr=~[0 0.00198959 -0.419693 1.24002 -0.467428 2.18368] +86: impulse=~[-0.00530776 0 -0.000170311 0.00050271 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00530776 0 -0.000170311 0.00050271 0 0]-> du ~[-0.000979052 0.00194024 -0.000932496 -0.00103989 -7.94121e-05 0.000994796 -0.00374827 0.00222555] +86: Now verr0=~[1.66967e-17 0.00198959 -0.419693 1.24002 -0.467428 2.18368] 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[6.58742e-05 -0.18783 0.595112] -86: verrExt=~[-0.0565537 0.0064591 -0.0195936] -86: total verr=~[-0.0564879 -0.181371 0.575519] -86: DYN t=0.094: verrStart=~[6.58742e-05 -0.18783 0.595112] -86: verrApplied=~[-0.0565537 0.0064591 -0.0195936] +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[1.66967e-17 0.00198959 -0.419693 1.24002 -0.467428 2.18368] +86: verrExt=~[-0.216284 -0.182831 0.0116391 -0.194015 0.0100751 -0.163269] +86: total verr=~[-0.216284 -0.180842 -0.408054 1.046 -0.457353 2.02042] +86: DYN t=0.145: verrStart=~[1.66967e-17 0.00198959 -0.419693 1.24002 -0.467428 2.18368] +86: verrApplied=~[-0.216284 -0.182831 0.0116391 -0.194015 0.0100751 -0.163269] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[6.58742e-05 -0.18783 0.595112] -86: verrApplied=~[-0.0565537 0.0064591 -0.0195936] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[1.66967e-17 0.00198959 -0.419693 1.24002 -0.467428 2.18368] +86: verrApplied=~[-0.216284 -0.182831 0.0116391 -0.194015 0.0100751 -0.163269] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.18783,0.595112, mag=0.62405 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.419693,1.24002, mag=1.30911 +86: Participating contact 1 is Sliding; vel=-0.467428,2.18368, mag=2.23315 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.18783,0.595112, mag=0.62405 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.419693,1.24002, mag=1.30911 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.467428,2.18368, mag=2.23315 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.0564879; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.216284; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.180842; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[6.58742e-05 -0.18783 0.595112] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.0565537 0.0064591 -0.0195936] -86: : rhsActive=~[-0.0564879 -0.181371 0.575519] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.32451e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0544532... -86: > NEWTON iter 1: errNorm=0.0544532(v) -> deltaNorm=0.306792(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.0544496 0.00018783 -0.000595112] -86: > deltaPi=~[0.305169 0.00948578 -0.0300544] -86: DBG: Line search iter 1: back=1, prevNorm=0.0544532. -86: > piNow=~[-0.315169 -0.00948578 0.0300544] -86: > errNow=~[-6.93889e-18 2.13509e-07 -6.76474e-07] normNow=7.09368e-07 -86: DBG: Improvement rate now/prev at iter 1 is 1.30271e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.33983e-09 -86: > NEWTON iter 2: errNorm=7.09368e-07(v) -> deltaNorm=2.02604e-06(pi) -86: > piActive=~[-0.315169 -0.00948578 0.0300544] -86: > errActive=~[-6.93889e-18 2.13509e-07 -6.76474e-07] -86: > deltaPi=~[1.56003e-06 3.89089e-07 -1.23278e-06] -86: DBG: Line search iter 1: back=1, prevNorm=7.09368e-07. -86: > piNow=~[-0.315171 -0.00948617 0.0300556] -86: > errNow=~[6.93889e-18 1.09895e-15 -3.48332e-15] normNow=3.65257e-15 -86: DBG: Improvement rate now/prev at iter 2 is 5.14905e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.65257e-15. +86: : verrLeft was=~[1.66967e-17 0.00198959 -0.419693 1.24002 -0.467428 2.18368] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.216284 -0.182831 0.0116391 -0.194015 0.0100751 -0.163269] +86: : rhsActive=~[-0.216284 -0.408054 1.046 -0.180842 -0.457353 2.02042] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.64214e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.276353... +86: > NEWTON iter 1: errNorm=0.276353(v) -> deltaNorm=0.782353(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.212109 0.000419693 -0.00124002 0.177128 0.000467428 -0.00218368] +86: > deltaPi=~[0.590996 0.0192668 -0.0569253 0.506478 0.0108102 -0.0505019] +86: DBG: Line search iter 1: back=1, prevNorm=0.276353. +86: > piNow=~[-0.600996 -0.0192668 0.0569253 -0.516478 -0.0108102 0.0505019] +86: > errNow=~[2.77556e-17 9.23907e-07 -2.72975e-06 -8.32667e-17 8.81835e-07 -4.11967e-06] normNow=5.10436e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.84704e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.40291e-09 +86: > NEWTON iter 2: errNorm=5.10436e-06(v) -> deltaNorm=4.6409e-06(pi) +86: > piActive=~[-0.600996 -0.0192668 0.0569253 -0.516478 -0.0108102 0.0505019] +86: > errActive=~[2.77556e-17 9.23907e-07 -2.72975e-06 -8.32667e-17 8.81835e-07 -4.11967e-06] +86: > deltaPi=~[2.52106e-06 7.86572e-07 -2.32399e-06 2.17602e-06 4.4043e-07 -2.05756e-06] +86: DBG: Line search iter 1: back=1, prevNorm=5.10436e-06. +86: > piNow=~[-0.600999 -0.0192676 0.0569276 -0.516481 -0.0108106 0.050504] +86: > errNow=~[0 1.09635e-15 -3.23352e-15 -2.77556e-17 1.42247e-15 -6.64746e-15] normNow=7.60727e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.49035e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=7.60727e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.18783,0.595112] to ~[-0.178339,0.644948] -86: DBG: Friction 0 rotated 2.05973 deg, less than max 30 +86: slipVel 0 from ~[-0.419693,1.24002] to ~[-0.419009,1.27391] +86: DBG: Friction 0 rotated 0.491948 deg, less than max 30 +86: slipVel 1 from ~[-0.467428,2.18368] to ~[-0.466255,2.20794] +86: DBG: Friction 1 rotated 0.157994 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.315171 -0.00948617 0.0300556] -86: : m_verrLeft=~[-6.93889e-18 -0.178339 0.644948] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.600999 -0.0192676 0.0569276 -0.516481 -0.0108106 0.050504] +86: : m_verrLeft=~[0 2.77556e-17 -0.419009 1.27391 -0.466255 2.20794] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.315171 verr=-6.93889e-18 pi*v=2.18694e-18 -86: SP FINAL 1 intervals, piTotal=~[-0.315171 -0.00948617 0.0300556] errNorm=3.65257e-15 +86: DBG: 0: pi=-0.600999 verr=0 pi*v=-0 +86: DBG: 1: pi=-0.516481 verr=2.77556e-17 pi*v=-1.43352e-17 +86: SP FINAL 1 intervals, piTotal=~[-0.600999 -0.516481 -0.0192676 0.0569276 -0.0108106 0.050504] errNorm=7.60727e-15 86: 86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.18783 0.595112, |slipV|=0.62405 +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.419693 1.24002, |slipV|=1.30911 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.467428 2.18368, |slipV|=2.23315 86: ------------------------------ 86: -86: dynamics impulse=~[-0.315171 -0.00948617 0.0300556] -86: updated verrStart=~[-6.93889e-18 -0.178339 0.644948] +86: dynamics impulse=~[-0.600999 -0.516481 -0.0192676 0.0569276 -0.0108106 0.050504] +86: updated verrStart=~[0 2.77556e-17 -0.419009 1.27391 -0.466255 2.20794] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.364865 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: posVerr=~[0.309797 0.569851 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.203827 0.00474477 0.259433] -86: [0.00474477 0.0496892 -0.0354183] -86: [0.259433 -0.0354183 0.399266] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.364865 0 0] -86: active=(0) -86: -> piActive=~[1.79008] -86: -> pi=~[1.79008 0 0] -86: resid active=~[0] -86: resid=~[0 0.0084935 0.464404] +86: [0.301351 0.116142 -0.0193795 0.321282 -0.00914037 0.119816] +86: [0.116142 0.255282 -0.00333258 0.121305 -0.0109738 0.271649] +86: [-0.0193795 -0.00333258 0.0470094 0.0163876 0.0497403 -0.0376832] +86: [0.321282 0.121305 0.0163876 0.402376 0.0312043 0.110492] +86: [-0.00914037 -0.0109738 0.0497403 0.0312043 0.0538182 -0.0494019] +86: [0.119816 0.271649 -0.0376832 0.110492 -0.0494019 0.341378] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.403086 rank=2 +86: rhs=~[0.309797 0.569851 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.203373 2.13971] +86: -> pi=~[0.203373 2.13971 0 0 0 0] +86: resid active=~[5.55112e-17 -1.11022e-16] +86: resid=~[5.55112e-17 -1.11022e-16 -0.011072 0.324899 -0.0253396 0.605618] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[2.77556e-17 -0.178339 0.644948] -86: perr=~[0.000364865 0] -86: END OF STEP (0.094,0.095): -86: verr=~[7.2338e-05 -0.178411 0.64511] -86: perr=~[0.000364902 0] +86: verr=~[1.661e-16 2.77122e-16 -0.419009 1.27391 -0.466255 2.20794] +86: perr=~[0.000309797 0.000569851 0] +86: END OF STEP (0.145,0.146): +86: verr=~[-0.00144938 0.00144938 -0.418571 1.27393 -0.466692 2.20791] +86: perr=~[0.000309073 0.000570576 0] 86: constraint status: +86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=0.669326 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=1.34094 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.25669 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00144938 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[7.2338e-05 -0.178411 0.64511] -86: verrExt=~[-0.0696621 0.00539374 -0.0358724] -86: total verr=~[-0.0695897 -0.173017 0.609237] -86: DYN t=0.095: verrStart=~[7.2338e-05 -0.178411 0.64511] -86: verrApplied=~[-0.0696621 0.00539374 -0.0358724] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.00144938 0.00144938 -0.418571 1.27393 -0.466692 2.20791] +86: IMP t=0.146 verr=~[-0.00144938 0.00144938 -0.418571 1.27393 -0.466692 2.20791] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[7.2338e-05 -0.178411 0.64511] -86: verrApplied=~[-0.0696621 0.00539374 -0.0358724] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-0.00144938 0.00144938 -0.418571 1.27393 -0.466692 2.20791] +86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.178411,0.64511, mag=0.669326 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.418571,1.27393, mag=1.34094 +86: Participating contact 1 is Sliding; vel=-0.466692,2.20791, mag=2.25669 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.178411,0.64511, mag=0.669326 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.418571,1.27393, mag=1.34094 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.466692,2.20791, mag=2.25669 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.0695897; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.00144938; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00144938; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[7.2338e-05 -0.178411 0.64511] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.0696621 0.00539374 -0.0358724] -86: : rhsActive=~[-0.0695897 -0.173017 0.609237] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.49315e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0675512... -86: > NEWTON iter 1: errNorm=0.0675512(v) -> deltaNorm=0.380111(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.0675479 0.000178411 -0.00064511] -86: > deltaPi=~[0.378124 0.0103452 -0.0374068] -86: DBG: Line search iter 1: back=1, prevNorm=0.0675512. -86: > piNow=~[-0.388124 -0.0103452 0.0374068] -86: > errNow=~[0 2.51286e-07 -9.08614e-07] normNow=9.42722e-07 -86: DBG: Improvement rate now/prev at iter 1 is 1.39557e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.6539e-09 -86: > NEWTON iter 2: errNorm=9.42722e-07(v) -> deltaNorm=2.52856e-06(pi) -86: > piActive=~[-0.388124 -0.0103452 0.0374068] -86: > errActive=~[0 2.51286e-07 -9.08614e-07] -86: > deltaPi=~[1.95474e-06 4.27535e-07 -1.54591e-06] -86: DBG: Line search iter 1: back=1, prevNorm=9.42722e-07. -86: > piNow=~[-0.388126 -0.0103456 0.0374084] -86: > errNow=~[0 8.62158e-16 -3.12597e-15] normNow=3.24269e-15 -86: DBG: Improvement rate now/prev at iter 2 is 3.43971e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.24269e-15. +86: : verrLeft was=~[-0.00144938 0.00144938 -0.418571 1.27393 -0.466692 2.20791] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00144938 -0.418571 1.27393 0.00144938 -0.466692 2.20791] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.7779e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00140521... +86: > NEWTON iter 1: errNorm=0.00140521(v) -> deltaNorm=0.00123737(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000417594 0.000418571 -0.00127393 -4.61865e-05 0 0] +86: > deltaPi=~[-0.000613303 0.000293005 -0.00089177 0.000523295 4.03103e-10 -1.90707e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00140521. +86: > piNow=~[-0.0093867 -0.000293005 0.00089177 0.00947671 -4.03103e-10 1.90707e-09] +86: > errNow=~[-2.1684e-19 -9.56216e-10 2.91027e-09 2.1684e-19 -9.0968e-10 4.30368e-09] normNow=5.36033e-09 +86: DBG: Improvement rate now/prev at iter 1 is 3.8146e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.09426e-05 +86: > NEWTON iter 2: errNorm=5.36033e-09(v) -> deltaNorm=4.59251e-09(pi) +86: > piActive=~[-0.0093867 -0.000293005 0.00089177 0.00947671 -4.03103e-10 1.90707e-09] +86: > errActive=~[-2.1684e-19 -9.56216e-10 2.91027e-09 2.1684e-19 -9.0968e-10 4.30368e-09] +86: > deltaPi=~[-2.60909e-09 -7.94535e-10 2.41819e-09 -2.00135e-09 -4.03104e-10 1.90708e-09] +86: DBG: Line search iter 1: back=1, prevNorm=5.36033e-09. +86: > piNow=~[-0.00938669 -0.000293005 0.000891767 0.00947671 1.71661e-15 -8.12125e-15] +86: > errNow=~[8.67362e-19 -4.61675e-15 1.40515e-14 0 3.87387e-15 -1.83272e-14] normNow=2.38674e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.45259e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.38674e-14. +86: DBG: Worst offender is normal contact 1 err=0.00947671 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.418571,1.27393, mag=1.34094 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.466692,2.20791, mag=2.25669 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00144938; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.00144938 0.00144938 -0.418571 1.27393 -0.466692 2.20791] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00144938 -0.418571 1.27393] +86: : pi was=~[-0.00938669 0 -0.000293005 0.000891767 1.71661e-15 -8.12125e-15] +86: : piActive=~[-0.01 -0.000293005 0.000891767] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.99482e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00129527... +86: > NEWTON iter 1: errNorm=0.00129527(v) -> deltaNorm=0.00469471(pi) +86: > piActive=~[-0.01 -0.000293005 0.000891767] +86: > errActive=~[-0.00129265 2.56712e-05 -7.81311e-05] +86: > deltaPi=~[-0.00467709 -0.000126845 0.000386056] +86: DBG: Line search iter 1: back=1, prevNorm=0.00129527. +86: > piNow=~[-0.00532291 -0.000166159 0.000505711] +86: > errNow=~[-2.1684e-19 -7.29217e-09 2.21939e-08] normNow=2.33612e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.80358e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.76238e-05 +86: > NEWTON iter 2: errNorm=2.33612e-08(v) -> deltaNorm=2.78329e-08(pi) +86: > piActive=~[-0.00532291 -0.000166159 0.000505711] +86: > errActive=~[-2.1684e-19 -7.29217e-09 2.21939e-08] +86: > deltaPi=~[-1.99426e-08 -6.06054e-09 1.84454e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.33612e-08. +86: > piNow=~[-0.00532289 -0.000166153 0.000505692] +86: > errNow=~[0 -1.09709e-13 3.33901e-13] normNow=3.51463e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.50447e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.51463e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.178411,0.64511] to ~[-0.169353,0.694667] -86: DBG: Friction 0 rotated 1.75837 deg, less than max 30 +86: slipVel 0 from ~[-0.418571,1.27393] to ~[-0.418676,1.27545] +86: DBG: Friction 0 rotated 0.0158908 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.388126 -0.0103456 0.0374084] -86: : m_verrLeft=~[0 -0.169353 0.694667] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.00532289 -0.000166153 0.000505692] +86: : m_verrLeft=~[0 0.00200903 -0.418676 1.27545 -0.466749 2.20849] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.388126 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.388126 -0.0103456 0.0374084] errNorm=3.24269e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.178411 0.64511, |slipV|=0.669326 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.388126 -0.0103456 0.0374084] -86: updated verrStart=~[0 -0.169353 0.694667] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.364902 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.20418 0.00469548 0.259476] -86: [0.00469548 0.0497457 -0.0354745] -86: [0.259476 -0.0354745 0.398648] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.364902 0 0] -86: active=(0) -86: -> piActive=~[1.78715] -86: -> pi=~[1.78715 0 0] -86: resid active=~[0] -86: resid=~[0 0.00839154 0.463724] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-2.77556e-17 -0.169353 0.694667] -86: perr=~[0.000364902 0] -86: END OF STEP (0.095,0.096): -86: verr=~[8.74349e-05 -0.169419 0.694826] -86: perr=~[0.000364945 -2.22045e-16] -86: constraint status: -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=0.715183 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: 0: pi=-0.00532289 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00200903 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00532289 0 -0.000166153 0.000505692 0 0] errNorm=3.51463e-13 +86: Postcompression verr=~[0 0.00200903 -0.418676 1.27545 -0.466749 2.20849] +86: impulse=~[-0.00532289 0 -0.000166153 0.000505692 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00532289 0 -0.000166153 0.000505692 0 0]-> du ~[-0.000991482 0.00195214 -0.000937374 -0.00104389 -8.07219e-05 0.00100452 -0.00377361 0.00223949] +86: Now verr0=~[-1.73472e-18 0.00200903 -0.418676 1.27545 -0.466749 2.20849] 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[8.74349e-05 -0.169419 0.694826] -86: verrExt=~[-0.0822771 0.00422416 -0.0512663] -86: total verr=~[-0.0821896 -0.165195 0.64356] -86: DYN t=0.096: verrStart=~[8.74349e-05 -0.169419 0.694826] -86: verrApplied=~[-0.0822771 0.00422416 -0.0512663] +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[-1.73472e-18 0.00200903 -0.418676 1.27545 -0.466749 2.20849] +86: verrExt=~[-0.198385 -0.169122 0.0110475 -0.173282 0.00973616 -0.147978] +86: total verr=~[-0.198385 -0.167113 -0.407629 1.10216 -0.457012 2.06051] +86: DYN t=0.146: verrStart=~[-1.73472e-18 0.00200903 -0.418676 1.27545 -0.466749 2.20849] +86: verrApplied=~[-0.198385 -0.169122 0.0110475 -0.173282 0.00973616 -0.147978] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[8.74349e-05 -0.169419 0.694826] -86: verrApplied=~[-0.0822771 0.00422416 -0.0512663] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-1.73472e-18 0.00200903 -0.418676 1.27545 -0.466749 2.20849] +86: verrApplied=~[-0.198385 -0.169122 0.0110475 -0.173282 0.00973616 -0.147978] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.169419,0.694826, mag=0.715183 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.418676,1.27545, mag=1.34241 +86: Participating contact 1 is Sliding; vel=-0.466749,2.20849, mag=2.25727 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.169419,0.694826, mag=0.715183 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.418676,1.27545, mag=1.34241 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.466749,2.20849, mag=2.25727 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.0821896; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.198385; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.167113; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[8.74349e-05 -0.169419 0.694826] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.0822771 0.00422416 -0.0512663] -86: : rhsActive=~[-0.0821896 -0.165195 0.64356] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.66396e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0801473... -86: > NEWTON iter 1: errNorm=0.0801473(v) -> deltaNorm=0.450345(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.0801441 0.000169419 -0.000694826] -86: > deltaPi=~[0.44801 0.0108494 -0.0444958] -86: DBG: Line search iter 1: back=1, prevNorm=0.0801473. -86: > piNow=~[-0.45801 -0.0108494 0.0444958] -86: > errNow=~[-1.38778e-17 2.82723e-07 -1.15951e-06] normNow=1.19348e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.48911e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.27035e-09 -86: > NEWTON iter 2: errNorm=1.19348e-06(v) -> deltaNorm=3.01128e-06(pi) -86: > piActive=~[-0.45801 -0.0108494 0.0444958] -86: > errActive=~[-1.38778e-17 2.82723e-07 -1.15951e-06] -86: > deltaPi=~[2.33438e-06 4.50615e-07 -1.84808e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.19348e-06. -86: > piNow=~[-0.458013 -0.0108498 0.0444976] -86: > errNow=~[1.38778e-17 7.02563e-16 -2.88658e-15] normNow=2.97088e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.48925e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.97088e-15. +86: : verrLeft was=~[-1.73472e-18 0.00200903 -0.418676 1.27545 -0.466749 2.20849] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.198385 -0.169122 0.0110475 -0.173282 0.00973616 -0.147978] +86: : rhsActive=~[-0.198385 -0.407629 1.10216 -0.167113 -0.457012 2.06051] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.78254e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.253782... +86: > NEWTON iter 1: errNorm=0.253782(v) -> deltaNorm=0.713748(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.194183 0.000418676 -0.00127545 0.163374 0.000466749 -0.00220849] +86: > deltaPi=~[0.534886 0.0169936 -0.0517688 0.467001 0.00986286 -0.0466675] +86: DBG: Line search iter 1: back=1, prevNorm=0.253782. +86: > piNow=~[-0.544886 -0.0169936 0.0517688 -0.477001 -0.00986286 0.0466675] +86: > errNow=~[8.32667e-17 8.34164e-07 -2.54118e-06 -2.77556e-17 8.11918e-07 -3.8417e-06] normNow=4.75093e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.87205e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.05696e-09 +86: > NEWTON iter 2: errNorm=4.75093e-06(v) -> deltaNorm=4.2235e-06(pi) +86: > piActive=~[-0.544886 -0.0169936 0.0517688 -0.477001 -0.00986286 0.0466675] +86: > errActive=~[8.32667e-17 8.34164e-07 -2.54118e-06 -2.77556e-17 8.11918e-07 -3.8417e-06] +86: > deltaPi=~[2.27261e-06 6.92274e-07 -2.10893e-06 1.99651e-06 4.00973e-07 -1.89726e-06] +86: DBG: Line search iter 1: back=1, prevNorm=4.75093e-06. +86: > piNow=~[-0.544888 -0.0169943 0.0517709 -0.477003 -0.00986326 0.0466694] +86: > errNow=~[-2.77556e-17 1.20043e-15 -3.64986e-15 0 1.53003e-15 -7.21645e-15] normNow=8.31754e-15 +86: DBG: Improvement rate now/prev at iter 2 is 1.75072e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.31754e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.169419,0.694826] to ~[-0.160951,0.744323] -86: DBG: Friction 0 rotated 1.50135 deg, less than max 30 +86: slipVel 0 from ~[-0.418676,1.27545] to ~[-0.417803,1.30996] +86: DBG: Friction 0 rotated 0.483068 deg, less than max 30 +86: slipVel 1 from ~[-0.466749,2.20849] to ~[-0.465352,2.23284] +86: DBG: Friction 1 rotated 0.16082 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.458013 -0.0108498 0.0444976] -86: : m_verrLeft=~[-1.38778e-17 -0.160951 0.744323] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.544888 -0.0169943 0.0517709 -0.477003 -0.00986326 0.0466694] +86: : m_verrLeft=~[2.77556e-17 0 -0.417803 1.30996 -0.465352 2.23284] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.458013 verr=-1.38778e-17 pi*v=6.3562e-18 -86: SP FINAL 1 intervals, piTotal=~[-0.458013 -0.0108498 0.0444976] errNorm=2.97088e-15 +86: DBG: 0: pi=-0.544888 verr=2.77556e-17 pi*v=-1.51237e-17 +86: DBG: 1: pi=-0.477003 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.544888 -0.477003 -0.0169943 0.0517709 -0.00986326 0.0466694] errNorm=8.31754e-15 86: 86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.169419 0.694826, |slipV|=0.715183 +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.418676 1.27545, |slipV|=1.34241 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.466749 2.20849, |slipV|=2.25727 86: ------------------------------ 86: -86: dynamics impulse=~[-0.458013 -0.0108498 0.0444976] -86: updated verrStart=~[-1.38778e-17 -0.160951 0.744323] +86: dynamics impulse=~[-0.544888 -0.477003 -0.0169943 0.0517709 -0.00986326 0.0466694] +86: updated verrStart=~[2.77556e-17 0 -0.417803 1.30996 -0.465352 2.23284] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.364945 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: posVerr=~[0.309073 0.570576 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.204551 0.00463233 0.259506] -86: [0.00463233 0.0498085 -0.0355533] -86: [0.259506 -0.0355533 0.397967] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.364945 0 0] -86: active=(0) -86: -> piActive=~[1.78413] -86: -> pi=~[1.78413 0 0] -86: resid active=~[0] -86: resid=~[0 0.00826469 0.462993] +86: [0.303461 0.116764 -0.0196599 0.321632 -0.00920887 0.119734] +86: [0.116764 0.257083 -0.0035123 0.121192 -0.0113194 0.272009] +86: [-0.0196599 -0.0035123 0.0469482 0.0160578 0.0497104 -0.0376375] +86: [0.321632 0.121192 0.0160578 0.400383 0.0310831 0.10977] +86: [-0.00920887 -0.0113194 0.0497104 0.0310831 0.0538638 -0.0495213] +86: [0.119734 0.272009 -0.0376375 0.10977 -0.0495213 0.339653] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.403759 rank=2 +86: rhs=~[0.309073 0.570576 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.199354 2.12888] +86: -> pi=~[0.199354 2.12888 0 0 0 0] +86: resid active=~[-5.55112e-17 0] +86: resid=~[-5.55112e-17 0 -0.0113965 0.322122 -0.0259333 0.602943] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[2.77556e-17 -0.160951 0.744323] -86: perr=~[0.000364945 -2.22045e-16] -86: END OF STEP (0.096,0.097): -86: verr=~[0.000112711 -0.161011 0.744468] -86: perr=~[0.000365002 -2.22045e-16] +86: verr=~[-2.66497e-16 -2.38741e-16 -0.417803 1.30996 -0.465352 2.23284] +86: perr=~[0.000309073 0.000570576 0] +86: END OF STEP (0.146,0.147): +86: verr=~[-0.00146322 0.00146322 -0.417377 1.30998 -0.465778 2.23281] +86: perr=~[0.000308341 0.000571308 0] 86: constraint status: +86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=0.761681 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=1.37486 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.28088 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00146322 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.000112711 -0.161011 0.744468] -86: verrExt=~[-0.0940195 0.00297808 -0.0652962] -86: total verr=~[-0.0939068 -0.158033 0.679172] -86: DYN t=0.097: verrStart=~[0.000112711 -0.161011 0.744468] -86: verrApplied=~[-0.0940195 0.00297808 -0.0652962] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.00146322 0.00146322 -0.417377 1.30998 -0.465778 2.23281] +86: IMP t=0.147 verr=~[-0.00146322 0.00146322 -0.417377 1.30998 -0.465778 2.23281] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0.000112711 -0.161011 0.744468] -86: verrApplied=~[-0.0940195 0.00297808 -0.0652962] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-0.00146322 0.00146322 -0.417377 1.30998 -0.465778 2.23281] +86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.161011,0.744468, mag=0.761681 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.417377,1.30998, mag=1.37486 +86: Participating contact 1 is Sliding; vel=-0.465778,2.23281, mag=2.28088 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.161011,0.744468, mag=0.761681 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.417377,1.30998, mag=1.37486 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.465778,2.23281, mag=2.28088 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.0939068; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.00146322; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00146322; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000112711 -0.161011 0.744468] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.0940195 0.00297808 -0.0652962] -86: : rhsActive=~[-0.0939068 -0.158033 0.679172] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.83716e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0918606... -86: > NEWTON iter 1: errNorm=0.0918606(v) -> deltaNorm=0.515335(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.0918574 0.000161011 -0.000744468] -86: > deltaPi=~[0.512678 0.0110484 -0.0510847] -86: DBG: Line search iter 1: back=1, prevNorm=0.0918606. -86: > piNow=~[-0.522678 -0.0110484 0.0510847] -86: > errNow=~[0 3.07476e-07 -1.42168e-06] normNow=1.45455e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.58343e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.03899e-09 -86: > NEWTON iter 2: errNorm=1.45455e-06(v) -> deltaNorm=3.45818e-06(pi) -86: > piActive=~[-0.522678 -0.0110484 0.0510847] -86: > errActive=~[0 3.07476e-07 -1.42168e-06] -86: > deltaPi=~[2.68593e-06 4.60459e-07 -2.12903e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.45455e-06. -86: > piNow=~[-0.52268 -0.0110489 0.0510869] -86: > errNow=~[1.38778e-17 5.88071e-16 -2.71311e-15] normNow=2.77614e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.90859e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.77614e-15. +86: : verrLeft was=~[-0.00146322 0.00146322 -0.417377 1.30998 -0.465778 2.23281] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00146322 -0.417377 1.30998 0.00146322 -0.465778 2.23281] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.9201e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00143802... +86: > NEWTON iter 1: errNorm=0.00143802(v) -> deltaNorm=0.00122841(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000418724 0.000417377 -0.00130998 -4.82267e-05 0 0] +86: > deltaPi=~[-0.000604585 0.000285224 -0.000895204 0.00051062 3.88407e-10 -1.86191e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00143802. +86: > piNow=~[-0.00939542 -0.000285224 0.000895204 0.00948938 -3.88407e-10 1.86191e-09] +86: > errNow=~[0 -9.39933e-10 2.95008e-09 -4.33681e-19 -8.85908e-10 4.2468e-09] normNow=5.32978e-09 +86: DBG: Improvement rate now/prev at iter 1 is 3.70633e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.10757e-05 +86: > NEWTON iter 2: errNorm=5.32978e-09(v) -> deltaNorm=4.49953e-09(pi) +86: > piActive=~[-0.00939542 -0.000285224 0.000895204 0.00948938 -3.88407e-10 1.86191e-09] +86: > errActive=~[0 -9.39933e-10 2.95008e-09 -4.33681e-19 -8.85908e-10 4.2468e-09] +86: > deltaPi=~[-2.56176e-09 -7.61421e-10 2.3898e-09 -1.94283e-09 -3.88408e-10 1.86192e-09] +86: DBG: Line search iter 1: back=1, prevNorm=5.32978e-09. +86: > piNow=~[-0.00939541 -0.000285223 0.000895201 0.00948938 1.64113e-15 -7.86713e-15] +86: > errNow=~[0 -4.51174e-15 1.41608e-14 2.1684e-19 3.74322e-15 -1.7944e-14] normNow=2.35983e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.42764e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.35983e-14. +86: DBG: Worst offender is normal contact 1 err=0.00948938 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.417377,1.30998, mag=1.37486 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.465778,2.23281, mag=2.28088 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00146322; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.00146322 0.00146322 -0.417377 1.30998 -0.465778 2.23281] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00146322 -0.417377 1.30998] +86: : pi was=~[-0.00939541 0 -0.000285223 0.000895201 1.64113e-15 -7.86713e-15] +86: : piActive=~[-0.01 -0.000285223 0.000895201] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.12119e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00130158... +86: > NEWTON iter 1: errNorm=0.00130158(v) -> deltaNorm=0.00468369(pi) +86: > piActive=~[-0.01 -0.000285223 0.000895201] +86: > errActive=~[-0.00129893 2.52341e-05 -7.91997e-05] +86: > deltaPi=~[-0.00466605 -0.000123291 0.000386962] +86: DBG: Line search iter 1: back=1, prevNorm=0.00130158. +86: > piNow=~[-0.00533395 -0.000161932 0.000508239] +86: > errNow=~[2.1684e-19 -7.2542e-09 2.2768e-08] normNow=2.38957e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.8359e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.7995e-05 +86: > NEWTON iter 2: errNorm=2.38957e-08(v) -> deltaNorm=2.77074e-08(pi) +86: > piActive=~[-0.00533395 -0.000161932 0.000508239] +86: > errActive=~[2.1684e-19 -7.2542e-09 2.2768e-08] +86: > deltaPi=~[-1.98194e-08 -5.8779e-09 1.84484e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.38957e-08. +86: > piNow=~[-0.00533393 -0.000161926 0.000508221] +86: > errNow=~[0 -1.08271e-13 3.39819e-13] normNow=3.5665e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.49253e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.5665e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.161011,0.744468] to ~[-0.153282,0.794132] -86: DBG: Friction 0 rotated 1.27901 deg, less than max 30 +86: slipVel 0 from ~[-0.417377,1.30998] to ~[-0.417483,1.3115] +86: DBG: Friction 0 rotated 0.0149444 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.52268 -0.0110489 0.0510869] -86: : m_verrLeft=~[-1.38778e-17 -0.153282 0.794132] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.00533393 -0.000161926 0.000508221] +86: : m_verrLeft=~[0 0.00202735 -0.417483 1.3115 -0.465835 2.23339] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.52268 verr=-1.38778e-17 pi*v=7.25365e-18 -86: SP FINAL 1 intervals, piTotal=~[-0.52268 -0.0110489 0.0510869] errNorm=2.77614e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.161011 0.744468, |slipV|=0.761681 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.52268 -0.0110489 0.0510869] -86: updated verrStart=~[-1.38778e-17 -0.153282 0.794132] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.365002 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.204934 0.00455008 0.259524] -86: [0.00455008 0.0498773 -0.0356612] -86: [0.259524 -0.0356612 0.397232] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.365002 0 0] -86: active=(0) -86: -> piActive=~[1.78107] -86: -> pi=~[1.78107 0 0] -86: resid active=~[0] -86: resid=~[0 0.00810403 0.46223] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[6.93889e-17 -0.153282 0.794132] -86: perr=~[0.000365002 -2.22045e-16] -86: END OF STEP (0.097,0.098): -86: verr=~[0.000148446 -0.153342 0.794253] -86: perr=~[0.000365076 -1.11022e-16] -86: constraint status: -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=0.80892 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: 0: pi=-0.00533393 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00202735 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00533393 0 -0.000161926 0.000508221 0 0] errNorm=3.5665e-13 +86: Postcompression verr=~[0 0.00202735 -0.417483 1.3115 -0.465835 2.23339] +86: impulse=~[-0.00533393 0 -0.000161926 0.000508221 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00533393 0 -0.000161926 0.000508221 0 0]-> du ~[-0.00100327 0.00196275 -0.000941514 -0.00104709 -8.1924e-05 0.00101368 -0.00379645 0.00225198] +86: Now verr0=~[-1.60462e-17 0.00202735 -0.417483 1.3115 -0.465835 2.23339] 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.000148446 -0.153342 0.794253] -86: verrExt=~[-0.104634 0.00169236 -0.0776678] -86: total verr=~[-0.104485 -0.15165 0.716585] -86: DYN t=0.098: verrStart=~[0.000148446 -0.153342 0.794253] -86: verrApplied=~[-0.104634 0.00169236 -0.0776678] +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[-1.60462e-17 0.00202735 -0.417483 1.3115 -0.465835 2.23339] +86: verrExt=~[-0.182267 -0.156721 0.01046 -0.154804 0.00937363 -0.13422] +86: total verr=~[-0.182267 -0.154694 -0.407023 1.15669 -0.456462 2.09917] +86: DYN t=0.147: verrStart=~[-1.60462e-17 0.00202735 -0.417483 1.3115 -0.465835 2.23339] +86: verrApplied=~[-0.182267 -0.156721 0.01046 -0.154804 0.00937363 -0.13422] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0.000148446 -0.153342 0.794253] -86: verrApplied=~[-0.104634 0.00169236 -0.0776678] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-1.60462e-17 0.00202735 -0.417483 1.3115 -0.465835 2.23339] +86: verrApplied=~[-0.182267 -0.156721 0.01046 -0.154804 0.00937363 -0.13422] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.153342,0.794253, mag=0.80892 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.417483,1.3115, mag=1.37634 +86: Participating contact 1 is Sliding; vel=-0.465835,2.23339, mag=2.28145 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.153342,0.794253, mag=0.80892 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.417483,1.3115, mag=1.37634 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.465835,2.23339, mag=2.28145 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.104485; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.182267; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.154694; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000148446 -0.153342 0.794253] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.104634 0.00169236 -0.0776678] -86: : rhsActive=~[-0.104485 -0.15165 0.716585] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.01312e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.102435... -86: > NEWTON iter 1: errNorm=0.102435(v) -> deltaNorm=0.573652(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.102432 0.000153342 -0.000794253] -86: > deltaPi=~[0.570706 0.0110077 -0.0570156] -86: DBG: Line search iter 1: back=1, prevNorm=0.102435. -86: > piNow=~[-0.580706 -0.0110077 0.0570156] -86: > errNow=~[-4.16334e-17 3.25976e-07 -1.68843e-06] normNow=1.71961e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.67873e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.97295e-10 -86: > NEWTON iter 2: errNorm=1.71961e-06(v) -> deltaNorm=3.85868e-06(pi) -86: > piActive=~[-0.580706 -0.0110077 0.0570156] -86: > errActive=~[-4.16334e-17 3.25976e-07 -1.68843e-06] -86: > deltaPi=~[3.00075e-06 4.59861e-07 -2.3819e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.71961e-06. -86: > piNow=~[-0.580709 -0.0110082 0.0570179] -86: > errNow=~[1.38778e-17 5.06539e-16 -2.6229e-15] normNow=2.6714e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.5535e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.6714e-15. +86: : verrLeft was=~[-1.60462e-17 0.00202735 -0.417483 1.3115 -0.465835 2.23339] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.182267 -0.156721 0.01046 -0.154804 0.00937363 -0.13422] +86: : rhsActive=~[-0.182267 -0.407023 1.15669 -0.154694 -0.456462 2.09917] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.92478e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.233418... +86: > NEWTON iter 1: errNorm=0.233418(v) -> deltaNorm=0.652156(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.178036 0.000417483 -0.0013115 0.150931 0.000465835 -0.00223339] +86: > deltaPi=~[0.484718 0.0150056 -0.0471393 0.431234 0.00900895 -0.0431922] +86: DBG: Line search iter 1: back=1, prevNorm=0.233418. +86: > piNow=~[-0.494718 -0.0150056 0.0471393 -0.441234 -0.00900895 0.0431922] +86: > errNow=~[-1.11022e-16 7.53772e-07 -2.36793e-06 -5.55112e-17 7.48268e-07 -3.58747e-06] normNow=4.42777e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.89692e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.83666e-09 +86: > NEWTON iter 2: errNorm=4.42777e-06(v) -> deltaNorm=3.84896e-06(pi) +86: > piActive=~[-0.494718 -0.0150056 0.0471393 -0.441234 -0.00900895 0.0431922] +86: > errActive=~[-1.11022e-16 7.53772e-07 -2.36793e-06 -5.55112e-17 7.48268e-07 -3.58747e-06] +86: > deltaPi=~[2.05055e-06 6.09862e-07 -1.91584e-06 1.83419e-06 3.6543e-07 -1.75201e-06] +86: DBG: Line search iter 1: back=1, prevNorm=4.42777e-06. +86: > piNow=~[-0.49472 -0.0150063 0.0471412 -0.441236 -0.00900931 0.043194] +86: > errNow=~[-2.77556e-17 1.30451e-15 -4.09395e-15 0 1.63411e-15 -7.82707e-15] normNow=9.07724e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.05007e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.07724e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.153342,0.794253] to ~[-0.146478,0.844297] -86: DBG: Friction 0 rotated 1.08501 deg, less than max 30 +86: slipVel 0 from ~[-0.417483,1.3115] to ~[-0.416481,1.34643] +86: DBG: Friction 0 rotated 0.469624 deg, less than max 30 +86: slipVel 1 from ~[-0.465835,2.23339] to ~[-0.46428,2.25779] +86: DBG: Friction 1 rotated 0.161698 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.580709 -0.0110082 0.0570179] -86: : m_verrLeft=~[-1.38778e-17 -0.146478 0.844297] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.49472 -0.0150063 0.0471412 -0.441236 -0.00900931 0.043194] +86: : m_verrLeft=~[2.77556e-17 0 -0.416481 1.34643 -0.46428 2.25779] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.580709 verr=-1.38778e-17 pi*v=8.05895e-18 -86: SP FINAL 1 intervals, piTotal=~[-0.580709 -0.0110082 0.0570179] errNorm=2.6714e-15 +86: DBG: 0: pi=-0.49472 verr=2.77556e-17 pi*v=-1.37312e-17 +86: DBG: 1: pi=-0.441236 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.49472 -0.441236 -0.0150063 0.0471412 -0.00900931 0.043194] errNorm=9.07724e-15 86: 86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.153342 0.794253, |slipV|=0.80892 +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.417483 1.3115, |slipV|=1.37634 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.465835 2.23339, |slipV|=2.28145 86: ------------------------------ 86: -86: dynamics impulse=~[-0.580709 -0.0110082 0.0570179] -86: updated verrStart=~[-1.38778e-17 -0.146478 0.844297] +86: dynamics impulse=~[-0.49472 -0.441236 -0.0150063 0.0471412 -0.00900931 0.043194] +86: updated verrStart=~[2.77556e-17 0 -0.416481 1.34643 -0.46428 2.25779] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.365076 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: posVerr=~[0.308341 0.571308 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.205326 0.00444357 0.25953] -86: [0.00444357 0.0499517 -0.0358045] -86: [0.25953 -0.0358045 0.396456] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.365076 0 0] -86: active=(0) -86: -> piActive=~[1.77804] -86: -> pi=~[1.77804 0 0] -86: resid active=~[0] -86: resid=~[0 0.00790082 0.461454] +86: [0.305606 0.117411 -0.0199293 0.321969 -0.00926873 0.119653] +86: [0.117411 0.258911 -0.00369512 0.121081 -0.0116662 0.272351] +86: [-0.0199293 -0.00369512 0.0468902 0.0157478 0.0496836 -0.0375952] +86: [0.321969 0.121081 0.0157478 0.398343 0.0309747 0.10903] +86: [-0.00926873 -0.0116662 0.0496836 0.0309747 0.0539123 -0.0496382] +86: [0.119653 0.272351 -0.0375952 0.10903 -0.0496382 0.337881] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.404381 rank=2 +86: rhs=~[0.308341 0.571308 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.19521 2.11806] +86: -> pi=~[0.19521 2.11806 0 0 0 0] +86: resid active=~[5.55112e-17 0] +86: resid=~[5.55112e-17 0 -0.0117169 0.319308 -0.026519 0.600212] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[1.52656e-16 -0.146478 0.844297] -86: perr=~[0.000365076 -1.11022e-16] -86: END OF STEP (0.098,0.099): -86: verr=~[0.000193837 -0.146549 0.844382] -86: perr=~[0.000365173 0] +86: verr=~[2.66931e-16 1.83664e-16 -0.416481 1.34643 -0.46428 2.25779] +86: perr=~[0.000308341 0.000571308 0] +86: END OF STEP (0.147,0.148): +86: verr=~[-0.00147628 0.00147628 -0.416064 1.34645 -0.464696 2.25776] +86: perr=~[0.000307603 0.000572046 0] 86: constraint status: +86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=0.857005 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=1.40927 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.30509 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00147628 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.000193837 -0.146549 0.844382] -86: verrExt=~[-0.11397 0.000409587 -0.0882419] -86: total verr=~[-0.113777 -0.146139 0.75614] -86: DYN t=0.099: verrStart=~[0.000193837 -0.146549 0.844382] -86: verrApplied=~[-0.11397 0.000409587 -0.0882419] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.00147628 0.00147628 -0.416064 1.34645 -0.464696 2.25776] +86: IMP t=0.148 verr=~[-0.00147628 0.00147628 -0.416064 1.34645 -0.464696 2.25776] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0.000193837 -0.146549 0.844382] -86: verrApplied=~[-0.11397 0.000409587 -0.0882419] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-0.00147628 0.00147628 -0.416064 1.34645 -0.464696 2.25776] +86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.146549,0.844382, mag=0.857005 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.416064,1.34645, mag=1.40927 +86: Participating contact 1 is Sliding; vel=-0.464696,2.25776, mag=2.30509 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.146549,0.844382, mag=0.857005 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.416064,1.34645, mag=1.40927 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.464696,2.25776, mag=2.30509 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.113777; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.00147628; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00147628; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000193837 -0.146549 0.844382] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.11397 0.000409587 -0.0882419] -86: : rhsActive=~[-0.113777 -0.146139 0.75614] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.19224e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.111723... -86: > NEWTON iter 1: errNorm=0.111723(v) -> deltaNorm=0.624493(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.111719 0.000146549 -0.000844382] -86: > deltaPi=~[0.621294 0.0107948 -0.0621973] -86: DBG: Line search iter 1: back=1, prevNorm=0.111723. -86: > piNow=~[-0.631294 -0.0107948 0.0621973] -86: > errNow=~[0 3.39149e-07 -1.9541e-06] normNow=1.98332e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.77522e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.06492e-10 -86: > NEWTON iter 2: errNorm=1.98332e-06(v) -> deltaNorm=4.20682e-06(pi) -86: > piActive=~[-0.631294 -0.0107948 0.0621973] -86: > errActive=~[0 3.39149e-07 -1.9541e-06] -86: > deltaPi=~[3.27399e-06 4.51724e-07 -2.60273e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.98332e-06. -86: > piNow=~[-0.631297 -0.0107953 0.0621999] -86: > errNow=~[0 4.47559e-16 -2.58821e-15] normNow=2.62662e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.32436e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.62662e-15. +86: : verrLeft was=~[-0.00147628 0.00147628 -0.416064 1.34645 -0.464696 2.25776] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00147628 -0.416064 1.34645 0.00147628 -0.464696 2.25776] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.00637e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00147157... +86: > NEWTON iter 1: errNorm=0.00147157(v) -> deltaNorm=0.00122422(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000420726 0.000416064 -0.00134645 -4.94712e-05 0 0] +86: > deltaPi=~[-0.000601634 0.000277472 -0.000897946 0.000503431 3.78035e-10 -1.83671e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00147157. +86: > piNow=~[-0.00939837 -0.000277472 0.000897946 0.00949657 -3.78035e-10 1.83671e-09] +86: > errNow=~[2.1684e-19 -9.32405e-10 3.01742e-09 -4.33681e-19 -8.71405e-10 4.23379e-09] normNow=5.35337e-09 +86: DBG: Improvement rate now/prev at iter 1 is 3.63787e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.12231e-05 +86: > NEWTON iter 2: errNorm=5.35337e-09(v) -> deltaNorm=4.45125e-09(pi) +86: > piActive=~[-0.00939837 -0.000277472 0.000897946 0.00949657 -3.78035e-10 1.83671e-09] +86: > errActive=~[2.1684e-19 -9.32405e-10 3.01742e-09 -4.33681e-19 -8.71405e-10 4.23379e-09] +86: > deltaPi=~[-2.53824e-09 -7.36556e-10 2.38362e-09 -1.90536e-09 -3.78036e-10 1.83672e-09] +86: DBG: Line search iter 1: back=1, prevNorm=5.35337e-09. +86: > piNow=~[-0.00939836 -0.000277471 0.000897943 0.00949657 1.58646e-15 -7.70797e-15] +86: > errNow=~[-2.1684e-19 -4.45341e-15 1.44119e-14 -2.1684e-19 3.65694e-15 -1.77676e-14] normNow=2.35923e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.40699e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.35923e-14. +86: DBG: Worst offender is normal contact 1 err=0.00949657 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.416064,1.34645, mag=1.40927 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.464696,2.25776, mag=2.30509 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00147628; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.00147628 0.00147628 -0.416064 1.34645 -0.464696 2.25776] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00147628 -0.416064 1.34645] +86: : pi was=~[-0.00939836 0 -0.000277471 0.000897943 1.58646e-15 -7.70797e-15] +86: : piActive=~[-0.01 -0.000277471 0.000897943] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.24936e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00130933... +86: > NEWTON iter 1: errNorm=0.00130933(v) -> deltaNorm=0.00467647(pi) +86: > piActive=~[-0.01 -0.000277471 0.000897943] +86: > errActive=~[-0.00130658 2.5032e-05 -8.10076e-05] +86: > deltaPi=~[-0.00465884 -0.000119777 0.000387619] +86: DBG: Line search iter 1: back=1, prevNorm=0.00130933. +86: > piNow=~[-0.00534116 -0.000157694 0.000510324] +86: > errNow=~[0 -7.22022e-09 2.33658e-08] normNow=2.4456e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.86782e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.83956e-05 +86: > NEWTON iter 2: errNorm=2.4456e-08(v) -> deltaNorm=2.76004e-08(pi) +86: > piActive=~[-0.00534116 -0.000157694 0.000510324] +86: > errActive=~[0 -7.22022e-09 2.33658e-08] +86: > deltaPi=~[-1.97069e-08 -5.7051e-09 1.84627e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.4456e-08. +86: > piNow=~[-0.00534114 -0.000157688 0.000510306] +86: > errNow=~[0 -1.07028e-13 3.46361e-13] normNow=3.6252e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.48234e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.6252e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.146549,0.844382] to ~[-0.140641,0.894982] -86: DBG: Friction 0 rotated 0.915375 deg, less than max 30 +86: slipVel 0 from ~[-0.416064,1.34645] to ~[-0.416173,1.34798] +86: DBG: Friction 0 rotated 0.0140415 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.631297 -0.0107953 0.0621999] -86: : m_verrLeft=~[0 -0.140641 0.894982] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.00534114 -0.000157688 0.000510306] +86: : m_verrLeft=~[0 0.00204464 -0.416173 1.34798 -0.464753 2.25834] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.631297 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.631297 -0.0107953 0.0621999] errNorm=2.62662e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.146549 0.844382, |slipV|=0.857005 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.631297 -0.0107953 0.0621999] -86: updated verrStart=~[0 -0.140641 0.894982] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.365173 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.205724 0.0043078 0.259529] -86: [0.0043078 0.0500316 -0.0359892] -86: [0.259529 -0.0359892 0.395649] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.365173 0 0] -86: active=(0) -86: -> piActive=~[1.77507] -86: -> pi=~[1.77507 0 0] -86: resid active=~[0] -86: resid=~[0 0.00764663 0.460681] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[6.245e-17 -0.140641 0.894982] -86: perr=~[0.000365173 0] -86: END OF STEP (0.099,0.1): -86: verr=~[0.000247263 -0.140738 0.895024] -86: perr=~[0.000365297 -1.11022e-16] -86: constraint status: -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=0.906021 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: 0: pi=-0.00534114 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00204464 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00534114 0 -0.000157688 0.000510306 0 0] errNorm=3.6252e-13 +86: Postcompression verr=~[0 0.00204464 -0.416173 1.34798 -0.464753 2.25834] +86: impulse=~[-0.00534114 0 -0.000157688 0.000510306 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00534114 0 -0.000157688 0.000510306 0 0]-> du ~[-0.00101444 0.00197217 -0.000944957 -0.00104955 -8.30136e-05 0.00102232 -0.00381697 0.00226311] +86: Now verr0=~[3.68629e-18 0.00204464 -0.416173 1.34798 -0.464753 2.25834] 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.000247263 -0.140738 0.895024] -86: verrExt=~[-0.121964 -0.000825526 -0.096999] -86: total verr=~[-0.121717 -0.141564 0.798025] -86: DYN t=0.1: verrStart=~[0.000247263 -0.140738 0.895024] -86: verrApplied=~[-0.121964 -0.000825526 -0.096999] +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[3.68629e-18 0.00204464 -0.416173 1.34798 -0.464753 2.25834] +86: verrExt=~[-0.168175 -0.145834 0.00990119 -0.138815 0.0090087 -0.122201] +86: total verr=~[-0.168175 -0.143789 -0.406272 1.20916 -0.455745 2.13614] +86: DYN t=0.148: verrStart=~[3.68629e-18 0.00204464 -0.416173 1.34798 -0.464753 2.25834] +86: verrApplied=~[-0.168175 -0.145834 0.00990119 -0.138815 0.0090087 -0.122201] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0.000247263 -0.140738 0.895024] -86: verrApplied=~[-0.121964 -0.000825526 -0.096999] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[3.68629e-18 0.00204464 -0.416173 1.34798 -0.464753 2.25834] +86: verrApplied=~[-0.168175 -0.145834 0.00990119 -0.138815 0.0090087 -0.122201] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.140738,0.895024, mag=0.906021 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.416173,1.34798, mag=1.41076 +86: Participating contact 1 is Sliding; vel=-0.464753,2.25834, mag=2.30567 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.140738,0.895024, mag=0.906021 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.416173,1.34798, mag=1.41076 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.464753,2.25834, mag=2.30567 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.121717; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.168175; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.143789; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000247263 -0.140738 0.895024] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.121964 -0.000825526 -0.096999] -86: : rhsActive=~[-0.121717 -0.141564 0.798025] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.37481e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.119659... -86: > NEWTON iter 1: errNorm=0.119659(v) -> deltaNorm=0.667543(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.119656 0.000140738 -0.000895024] -86: > deltaPi=~[0.664131 0.0104713 -0.0665924] -86: DBG: Line search iter 1: back=1, prevNorm=0.119659. -86: > piNow=~[-0.674131 -0.0104713 0.0665924] -86: > errNow=~[2.77556e-17 3.48158e-07 -2.21411e-06] normNow=2.24132e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.87309e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.43744e-10 -86: > NEWTON iter 2: errNorm=2.24132e-06(v) -> deltaNorm=4.5003e-06(pi) -86: > piActive=~[-0.674131 -0.0104713 0.0665924] -86: > errActive=~[2.77556e-17 3.48158e-07 -2.21411e-06] -86: > deltaPi=~[3.50381e-06 4.38699e-07 -2.7899e-06] -86: DBG: Line search iter 1: back=1, prevNorm=2.24132e-06. -86: > piNow=~[-0.674134 -0.0104718 0.0665952] -86: > errNow=~[0 4.02456e-16 -2.56739e-15] normNow=2.59874e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.15947e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.59874e-15. +86: : verrLeft was=~[3.68629e-18 0.00204464 -0.416173 1.34798 -0.464753 2.25834] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.168175 -0.145834 0.00990119 -0.138815 0.0090087 -0.122201] +86: : rhsActive=~[-0.168175 -0.406272 1.20916 -0.143789 -0.455745 2.13614] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.00684e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.215583... +86: > NEWTON iter 1: errNorm=0.215583(v) -> deltaNorm=0.598327(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.163916 0.000416173 -0.00134798 0.14 0.000464753 -0.00225834] +86: > deltaPi=~[0.441065 0.0133059 -0.0430976 0.39968 0.00825762 -0.0401256] +86: DBG: Line search iter 1: back=1, prevNorm=0.215583. +86: > piNow=~[-0.451065 -0.0133059 0.0430976 -0.40968 -0.00825762 0.0401256] +86: > errNow=~[0 6.83735e-07 -2.2146e-06 5.55112e-17 6.91905e-07 -3.36212e-06] normNow=4.14181e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.92121e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.72243e-09 +86: > NEWTON iter 2: errNorm=4.14181e-06(v) -> deltaNorm=3.52149e-06(pi) +86: > piActive=~[-0.451065 -0.0133059 0.0430976 -0.40968 -0.00825762 0.0401256] +86: > errActive=~[0 6.83735e-07 -2.2146e-06 5.55112e-17 6.91905e-07 -3.36212e-06] +86: > deltaPi=~[1.85717e-06 5.39444e-07 -1.74725e-06 1.69098e-06 3.34174e-07 -1.62383e-06] +86: DBG: Line search iter 1: back=1, prevNorm=4.14181e-06. +86: > piNow=~[-0.451067 -0.0133064 0.0430993 -0.409682 -0.00825795 0.0401273] +86: > errNow=~[2.77556e-17 1.41206e-15 -4.58661e-15 0 1.74513e-15 -8.47933e-15] normNow=9.89829e-15 +86: DBG: Improvement rate now/prev at iter 2 is 2.38985e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.89829e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.140738,0.895024] to ~[-0.135837,0.946304] -86: DBG: Friction 0 rotated 0.7676 deg, less than max 30 +86: slipVel 0 from ~[-0.416173,1.34798] to ~[-0.415093,1.38313] +86: DBG: Friction 0 rotated 0.452425 deg, less than max 30 +86: slipVel 1 from ~[-0.464753,2.25834] to ~[-0.463098,2.28272] +86: DBG: Friction 1 rotated 0.160769 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.674134 -0.0104718 0.0665952] -86: : m_verrLeft=~[0 -0.135837 0.946304] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.451067 -0.0133064 0.0430993 -0.409682 -0.00825795 0.0401273] +86: : m_verrLeft=~[-2.77556e-17 0 -0.415093 1.38313 -0.463098 2.28272] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.674134 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.674134 -0.0104718 0.0665952] errNorm=2.59874e-15 +86: DBG: 0: pi=-0.451067 verr=-2.77556e-17 pi*v=1.25196e-17 +86: DBG: 1: pi=-0.409682 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.451067 -0.409682 -0.0133064 0.0430993 -0.00825795 0.0401273] errNorm=9.89829e-15 86: 86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.140738 0.895024, |slipV|=0.906021 +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.416173 1.34798, |slipV|=1.41076 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.464753 2.25834, |slipV|=2.30567 86: ------------------------------ 86: -86: dynamics impulse=~[-0.674134 -0.0104718 0.0665952] -86: updated verrStart=~[0 -0.135837 0.946304] +86: dynamics impulse=~[-0.451067 -0.409682 -0.0133064 0.0430993 -0.00825795 0.0401273] +86: updated verrStart=~[-2.77556e-17 0 -0.415093 1.38313 -0.463098 2.28272] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.365297 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: posVerr=~[0.307603 0.572046 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.206126 0.00413809 0.259522] -86: [0.00413809 0.0501169 -0.0362208] -86: [0.259522 -0.0362208 0.394823] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.365297 0 0] -86: active=(0) -86: -> piActive=~[1.7722] -86: -> pi=~[1.7722 0 0] -86: resid active=~[0] -86: resid=~[0 0.00733354 0.459925] +86: [0.307786 0.118085 -0.020187 0.322289 -0.00931917 0.119573] +86: [0.118085 0.260766 -0.00388151 0.120973 -0.0120146 0.272675] +86: [-0.020187 -0.00388151 0.0468354 0.0154586 0.0496601 -0.0375567] +86: [0.322289 0.120973 0.0154586 0.396258 0.0308798 0.108271] +86: [-0.00931917 -0.0120146 0.0496601 0.0308798 0.0539637 -0.049753] +86: [0.119573 0.272675 -0.0375567 0.108271 -0.049753 0.336063] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.404945 rank=2 +86: rhs=~[0.307603 0.572046 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.190936 2.10725] +86: -> pi=~[0.190936 2.10725 0 0 0 0] +86: resid active=~[5.55112e-17 0] +86: resid=~[5.55112e-17 0 -0.0120338 0.316457 -0.0270972 0.597425] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[1.97758e-16 -0.135837 0.946304] -86: perr=~[0.000365297 -1.11022e-16] -86: END OF STEP (0.1,0.101): -86: verr=~[0.000306587 -0.135982 0.946296] -86: perr=~[0.00036545 -1.11022e-16] +86: verr=~[3.73399e-16 3.45644e-16 -0.415093 1.38313 -0.463098 2.28272] +86: perr=~[0.000307603 0.000572046 0] +86: END OF STEP (0.148,0.149): +86: verr=~[-0.00148858 0.00148858 -0.414688 1.38316 -0.463504 2.2827] +86: perr=~[0.000306859 0.00057279 -1.11022e-16] 86: constraint status: +86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=0.956016 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=1.44398 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.32928 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00148858 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.000306587 -0.135982 0.946296] -86: verrExt=~[-0.128613 -0.00196955 -0.104004] -86: total verr=~[-0.128306 -0.137952 0.842292] -86: DYN t=0.101: verrStart=~[0.000306587 -0.135982 0.946296] -86: verrApplied=~[-0.128613 -0.00196955 -0.104004] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.00148858 0.00148858 -0.414688 1.38316 -0.463504 2.2827] +86: IMP t=0.149 verr=~[-0.00148858 0.00148858 -0.414688 1.38316 -0.463504 2.2827] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0.000306587 -0.135982 0.946296] -86: verrApplied=~[-0.128613 -0.00196955 -0.104004] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-0.00148858 0.00148858 -0.414688 1.38316 -0.463504 2.2827] +86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.135982,0.946296, mag=0.956016 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.414688,1.38316, mag=1.44398 +86: Participating contact 1 is Sliding; vel=-0.463504,2.2827, mag=2.32928 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.135982,0.946296, mag=0.956016 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.414688,1.38316, mag=1.44398 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.463504,2.2827, mag=2.32928 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.128306; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.00148858; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00148858; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000306587 -0.135982 0.946296] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.128613 -0.00196955 -0.104004] -86: : rhsActive=~[-0.128306 -0.137952 0.842292] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.56104e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.126244... -86: > NEWTON iter 1: errNorm=0.126244(v) -> deltaNorm=0.702852(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.126241 0.000135982 -0.000946296] -86: > deltaPi=~[0.699264 0.0100881 -0.0702027] -86: DBG: Line search iter 1: back=1, prevNorm=0.126244. -86: > piNow=~[-0.709264 -0.0100881 0.0702027] -86: > errNow=~[-2.77556e-17 3.54188e-07 -2.46479e-06] normNow=2.49011e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.97245e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.12144e-10 -86: > NEWTON iter 2: errNorm=2.49011e-06(v) -> deltaNorm=4.73953e-06(pi) -86: > piActive=~[-0.709264 -0.0100881 0.0702027] -86: > errActive=~[-2.77556e-17 3.54188e-07 -2.46479e-06] -86: > deltaPi=~[3.69054e-06 4.22977e-07 -2.94349e-06] -86: DBG: Line search iter 1: back=1, prevNorm=2.49011e-06. -86: > piNow=~[-0.709268 -0.0100885 0.0702057] -86: > errNow=~[0 3.72966e-16 -2.58127e-15] normNow=2.60807e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.04737e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.60807e-15. +86: : verrLeft was=~[-0.00148858 0.00148858 -0.414688 1.38316 -0.463504 2.2827] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00148858 -0.414688 1.38316 0.00148858 -0.463504 2.2827] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.02082e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00150565... +86: > NEWTON iter 1: errNorm=0.00150565(v) -> deltaNorm=0.00122427(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000423541 0.000414688 -0.00138316 -4.99789e-05 0 0] +86: > deltaPi=~[-0.000603942 0.00026984 -0.000900028 0.000501223 3.71513e-10 -1.82966e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00150565. +86: > piNow=~[-0.00939606 -0.00026984 0.000900028 0.00949878 -3.71513e-10 1.82966e-09] +86: > errNow=~[2.1684e-19 -9.32885e-10 3.11156e-09 -4.33681e-19 -8.65358e-10 4.26178e-09] normNow=5.42805e-09 +86: DBG: Improvement rate now/prev at iter 1 is 3.60513e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.13834e-05 +86: > NEWTON iter 2: errNorm=5.42805e-09(v) -> deltaNorm=4.44332e-09(pi) +86: > piActive=~[-0.00939606 -0.00026984 0.000900028 0.00949878 -3.71513e-10 1.82966e-09] +86: > errActive=~[2.1684e-19 -9.32885e-10 3.11156e-09 -4.33681e-19 -8.65358e-10 4.26178e-09] +86: > deltaPi=~[-2.53608e-09 -7.18878e-10 2.39776e-09 -1.8867e-09 -3.71515e-10 1.82966e-09] +86: DBG: Line search iter 1: back=1, prevNorm=5.42805e-09. +86: > piNow=~[-0.00939606 -0.000269839 0.000900025 0.00949878 1.5499e-15 -7.63308e-15] +86: > errNow=~[-2.1684e-19 -4.4371e-15 1.47998e-14 4.33681e-19 3.61016e-15 -1.77796e-14] normNow=2.383e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.39016e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.383e-14. +86: DBG: Worst offender is normal contact 1 err=0.00949878 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.414688,1.38316, mag=1.44398 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.463504,2.2827, mag=2.32928 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00148858; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.00148858 0.00148858 -0.414688 1.38316 -0.463504 2.2827] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00148858 -0.414688 1.38316] +86: : pi was=~[-0.00939606 0 -0.000269839 0.000900025 1.5499e-15 -7.63308e-15] +86: : piActive=~[-0.01 -0.000269839 0.000900025] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.37866e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00131845... +86: > NEWTON iter 1: errNorm=0.00131845(v) -> deltaNorm=0.00467282(pi) +86: > piActive=~[-0.01 -0.000269839 0.000900025] +86: > errActive=~[-0.00131556 2.50448e-05 -8.35351e-05] +86: > deltaPi=~[-0.00465522 -0.000116341 0.000388046] +86: DBG: Line search iter 1: back=1, prevNorm=0.00131845. +86: > piNow=~[-0.00534478 -0.000153498 0.00051198] +86: > errNow=~[-2.1684e-19 -7.19074e-09 2.39841e-08] normNow=2.50389e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.89912e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.88232e-05 +86: > NEWTON iter 2: errNorm=2.50389e-08(v) -> deltaNorm=2.751e-08(pi) +86: > piActive=~[-0.00534478 -0.000153498 0.00051198] +86: > errActive=~[-2.1684e-19 -7.19074e-09 2.39841e-08] +86: > deltaPi=~[-1.96036e-08 -5.5427e-09 1.84872e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.50389e-08. +86: > piNow=~[-0.00534476 -0.000153492 0.000511961] +86: > errNow=~[0 -1.05972e-13 3.5346e-13] normNow=3.69004e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.47372e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.69004e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.135982,0.946296] to ~[-0.132095,0.998327] -86: DBG: Friction 0 rotated 0.640012 deg, less than max 30 +86: slipVel 0 from ~[-0.414688,1.38316] to ~[-0.414798,1.38468] +86: DBG: Friction 0 rotated 0.0131877 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.709268 -0.0100885 0.0702057] -86: : m_verrLeft=~[0 -0.132095 0.998327] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.00534476 -0.000153492 0.000511961] +86: : m_verrLeft=~[0 0.00206097 -0.414798 1.38468 -0.463562 2.28328] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.709268 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.709268 -0.0100885 0.0702057] errNorm=2.60807e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.135982 0.946296, |slipV|=0.956016 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.709268 -0.0100885 0.0702057] -86: updated verrStart=~[0 -0.132095 0.998327] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.36545 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.20653 0.00393016 0.259512] -86: [0.00393016 0.0502074 -0.0365043] -86: [0.259512 -0.0365043 0.393986] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.36545 0 0] -86: active=(0) -86: -> piActive=~[1.76947] -86: -> pi=~[1.76947 0 0] -86: resid active=~[0] -86: resid=~[0 0.0069543 0.459199] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[1.45717e-16 -0.132095 0.998327] -86: perr=~[0.00036545 -1.11022e-16] -86: END OF STEP (0.101,0.102): -86: verr=~[0.000369432 -0.132315 0.998265] -86: perr=~[0.000365635 -1.11022e-16] -86: constraint status: -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=1.007 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: 0: pi=-0.00534476 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00206097 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00534476 0 -0.000153492 0.000511961 0 0] errNorm=3.69004e-13 +86: Postcompression verr=~[0 0.00206097 -0.414798 1.38468 -0.463562 2.28328] +86: impulse=~[-0.00534476 0 -0.000153492 0.000511961 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00534476 0 -0.000153492 0.000511961 0 0]-> du ~[-0.00102502 0.00198047 -0.000947739 -0.00105131 -8.39872e-05 0.00103048 -0.00383533 0.00227301] +86: Now verr0=~[-9.54098e-18 0.00206097 -0.414798 1.38468 -0.463562 2.28328] +82: runOnce done. real/CPU ms: 291.9 / 291.9 +82: +82: TrikeyWheelResponse done. real/CPU ms: 535.6 / 535.3 +82: SemiExplicitEuler2 @ 0.001 accuracy +82: Test with order 1 integator SemiExplicitEuler2, Accuracy=0.001, MaxStepSize=0.001 +82: +82: -------------------------------------------------------- +82: Using controller: don't expect energy to be conserved. +82: -------------------------------------------------------- +82: Energy = 330.37973655 +82: Energy = 446.085149732585 +82: TriKey angle=0.000501559913419965 rate=0.000720535888758853 +82: 1.66523210580607 182.017090322264 +82: 1.66523210580607 182.017090322264 +82: 1.66523210580606 182.017090322264 +82: +82: +82: Done -- simulated 1.5s with 2426 steps, avg step=0.618301731244847ms 0.301083902047371ms/eval +82: Used Integrator SemiExplicitEuler2 at accuracy 0.001: +82: # STEPS/ATTEMPTS = 2426/2554 +82: # ERR TEST FAILS = 128 +82: # REALIZE/PROJECT = 4982/0 +82: RungeKuttaMerson @ 1e-06 accuracy +82: Test with order 4 integator RungeKuttaMerson, Accuracy=1e-06, MaxStepSize=0.001 +82: +82: -------------------------------------------------------- +82: Using controller: don't expect energy to be conserved. +82: -------------------------------------------------------- +82: Energy = 330.37973655 +82: Energy = 675.266874013293 +82: TriKey angle=-9.68305839306926e-05 rate=0.00563676438679395 +82: 1.8683978362359 295.052014473698 +82: 1.86839783623589 295.052014473698 +82: 1.86839783623588 295.052014473698 +82: +82: +82: Done -- simulated 1.5s with 1500 steps, avg step=1ms 0.199946680885097ms/eval +82: Used Integrator RungeKuttaMerson at accuracy 1e-06: +82: # STEPS/ATTEMPTS = 1500/1500 +82: # ERR TEST FAILS = 0 +82: # REALIZE/PROJECT = 7502/0 + 89/108 Test #82: GazeboBasicControllerResponse .................. Passed 0.56 sec 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.000369432 -0.132315 0.998265] -86: verrExt=~[-0.133955 -0.00298317 -0.109375] -86: total verr=~[-0.133586 -0.135298 0.88889] -86: DYN t=0.102: verrStart=~[0.000369432 -0.132315 0.998265] -86: verrApplied=~[-0.133955 -0.00298317 -0.109375] +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[-9.54098e-18 0.00206097 -0.414798 1.38468 -0.463562 2.28328] +86: verrExt=~[-0.156323 -0.136635 0.00939445 -0.1255 0.00866146 -0.11209] +86: total verr=~[-0.156323 -0.134574 -0.405403 1.25918 -0.454901 2.17119] +86: DYN t=0.149: verrStart=~[-9.54098e-18 0.00206097 -0.414798 1.38468 -0.463562 2.28328] +86: verrApplied=~[-0.156323 -0.136635 0.00939445 -0.1255 0.00866146 -0.11209] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0.000369432 -0.132315 0.998265] -86: verrApplied=~[-0.133955 -0.00298317 -0.109375] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-9.54098e-18 0.00206097 -0.414798 1.38468 -0.463562 2.28328] +86: verrApplied=~[-0.156323 -0.136635 0.00939445 -0.1255 0.00866146 -0.11209] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.132315,0.998265, mag=1.007 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.414798,1.38468, mag=1.44548 +86: Participating contact 1 is Sliding; vel=-0.463562,2.28328, mag=2.32986 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.132315,0.998265, mag=1.007 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.414798,1.38468, mag=1.44548 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.463562,2.28328, mag=2.32986 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.133586; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.156323; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.134574; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.000369432 -0.132315 0.998265] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.133955 -0.00298317 -0.109375] -86: : rhsActive=~[-0.133586 -0.135298 0.88889] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.75093e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.13152... -86: > NEWTON iter 1: errNorm=0.13152(v) -> deltaNorm=0.730706(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.131516 0.000132315 -0.000998265] -86: > deltaPi=~[0.72698 0.00968327 -0.0730563] -86: DBG: Line search iter 1: back=1, prevNorm=0.13152. -86: > piNow=~[-0.73698 -0.00968327 0.0730563] -86: > errNow=~[2.77556e-17 3.58298e-07 -2.70321e-06] normNow=2.72685e-06 -86: DBG: Improvement rate now/prev at iter 1 is 2.07333e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.89251e-10 -86: > NEWTON iter 2: errNorm=2.72685e-06(v) -> deltaNorm=4.92666e-06(pi) -86: > piActive=~[-0.73698 -0.00968327 0.0730563] -86: > errActive=~[2.77556e-17 3.58298e-07 -2.70321e-06] -86: > deltaPi=~[3.83596e-06 4.06212e-07 -3.0647e-06] -86: DBG: Line search iter 1: back=1, prevNorm=2.72685e-06. -86: > piNow=~[-0.736984 -0.00968368 0.0730594] -86: > errNow=~[0 3.46945e-16 -2.6229e-15] normNow=2.64575e-15 -86: DBG: Improvement rate now/prev at iter 2 is 9.70258e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.64575e-15. +86: : verrLeft was=~[-9.54098e-18 0.00206097 -0.414798 1.38468 -0.463562 2.28328] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.156323 -0.136635 0.00939445 -0.1255 0.00866146 -0.11209] +86: : rhsActive=~[-0.156323 -0.405403 1.25918 -0.134574 -0.454901 2.17119] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.0213e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.20055... +86: > NEWTON iter 1: errNorm=0.20055(v) -> deltaNorm=0.552859(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.152036 0.000414798 -0.00138468 0.13076 0.000463562 -0.00228328] +86: > deltaPi=~[0.404381 0.0118908 -0.0396939 0.372755 0.00761524 -0.0375089] +86: DBG: Line search iter 1: back=1, prevNorm=0.20055. +86: > piNow=~[-0.414381 -0.0118908 0.0396939 -0.382755 -0.00761524 0.0375089] +86: > errNow=~[-2.77556e-17 6.24797e-07 -2.0857e-06 2.77556e-17 6.43641e-07 -3.17026e-06] normNow=3.8994e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.94435e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.69853e-09 +86: > NEWTON iter 2: errNorm=3.8994e-06(v) -> deltaNorm=3.24437e-06(pi) +86: > piActive=~[-0.414381 -0.0118908 0.0396939 -0.382755 -0.00761524 0.0375089] +86: > errActive=~[-2.77556e-17 6.24797e-07 -2.0857e-06 2.77556e-17 6.43641e-07 -3.17026e-06] +86: > deltaPi=~[1.69416e-06 4.80859e-07 -1.60521e-06 1.56839e-06 3.07463e-07 -1.51441e-06] +86: DBG: Line search iter 1: back=1, prevNorm=3.8994e-06. +86: > piNow=~[-0.414383 -0.0118912 0.0396955 -0.382757 -0.00761555 0.0375104] +86: > errNow=~[2.77556e-17 1.52309e-15 -5.09315e-15 -5.55112e-17 1.84922e-15 -9.10383e-15] normNow=1.07034e-14 +86: DBG: Improvement rate now/prev at iter 2 is 2.74489e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.07034e-14. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.132315,0.998265] to ~[-0.129407,1.05106] -86: DBG: Friction 0 rotated 0.531295 deg, less than max 30 +86: slipVel 0 from ~[-0.414798,1.38468] to ~[-0.41369,1.41986] +86: DBG: Friction 0 rotated 0.432223 deg, less than max 30 +86: slipVel 1 from ~[-0.463562,2.28328] to ~[-0.461862,2.30756] +86: DBG: Friction 1 rotated 0.158185 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.736984 -0.00968368 0.0730594] -86: : m_verrLeft=~[0 -0.129407 1.05106] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.414383 -0.0118912 0.0396955 -0.382757 -0.00761555 0.0375104] +86: : m_verrLeft=~[-2.77556e-17 5.55112e-17 -0.41369 1.41986 -0.461862 2.30756] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.736984 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.736984 -0.00968368 0.0730594] errNorm=2.64575e-15 +86: DBG: 0: pi=-0.414383 verr=-2.77556e-17 pi*v=1.15014e-17 +86: DBG: 1: pi=-0.382757 verr=5.55112e-17 pi*v=-2.12473e-17 +86: SP FINAL 1 intervals, piTotal=~[-0.414383 -0.382757 -0.0118912 0.0396955 -0.00761555 0.0375104] errNorm=1.07034e-14 86: 86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.132315 0.998265, |slipV|=1.007 +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.414798 1.38468, |slipV|=1.44548 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.463562 2.28328, |slipV|=2.32986 86: ------------------------------ 86: -86: dynamics impulse=~[-0.736984 -0.00968368 0.0730594] -86: updated verrStart=~[0 -0.129407 1.05106] +86: dynamics impulse=~[-0.414383 -0.382757 -0.0118912 0.0396955 -0.00761555 0.0375104] +86: updated verrStart=~[-2.77556e-17 5.55112e-17 -0.41369 1.41986 -0.461862 2.30756] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.365635 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: posVerr=~[0.306859 0.57279 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.206937 0.00368013 0.259503] -86: [0.00368013 0.0503032 -0.0368442] -86: [0.259503 -0.0368442 0.393149] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.365635 0 0] -86: active=(0) -86: -> piActive=~[1.76689] -86: -> pi=~[1.76689 0 0] -86: resid active=~[0] -86: resid=~[0 0.00650237 0.458512] +86: [0.31 0.118788 -0.0204321 0.322595 -0.00935955 0.119493] +86: [0.118788 0.262648 -0.00407196 0.120867 -0.0123649 0.27298] +86: [-0.0204321 -0.00407196 0.0467838 0.015191 0.04964 -0.0375226] +86: [0.322595 0.120867 0.015191 0.394128 0.0307995 0.107493] +86: [-0.00935955 -0.0123649 0.04964 0.0307995 0.0540183 -0.049866] +86: [0.119493 0.27298 -0.0375226 0.107493 -0.049866 0.334198] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.40545 rank=2 +86: rhs=~[0.306859 0.57279 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.18653 2.09647] +86: -> pi=~[0.18653 2.09647 0 0 0 0] +86: resid active=~[-1.11022e-16 0] +86: resid=~[-1.11022e-16 0 -0.0123479 0.313568 -0.0276684 0.594581] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-1.38778e-16 -0.129407 1.05106] -86: perr=~[0.000365635 -1.11022e-16] -86: END OF STEP (0.102,0.103): -86: verr=~[0.000433428 -0.129736 1.05094] -86: perr=~[0.000365851 0] +86: verr=~[-2.50668e-16 -8.41341e-17 -0.41369 1.41986 -0.461862 2.30756] +86: perr=~[0.000306859 0.00057279 -1.11022e-16] +86: END OF STEP (0.149,0.15): +86: verr=~[-0.00150019 0.00150019 -0.413295 1.41989 -0.462257 2.30754] +86: perr=~[0.000306108 0.00057354 -1.11022e-16] 86: constraint status: +86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=1.05892 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=1.47881 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.35338 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00150019 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.000433428 -0.129736 1.05094] -86: verrExt=~[-0.138058 -0.00383333 -0.113255] -86: total verr=~[-0.137624 -0.133569 0.937686] -86: DYN t=0.103: verrStart=~[0.000433428 -0.129736 1.05094] -86: verrApplied=~[-0.138058 -0.00383333 -0.113255] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.00150019 0.00150019 -0.413295 1.41989 -0.462257 2.30754] +86: IMP t=0.15 verr=~[-0.00150019 0.00150019 -0.413295 1.41989 -0.462257 2.30754] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0.000433428 -0.129736 1.05094] -86: verrApplied=~[-0.138058 -0.00383333 -0.113255] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-0.00150019 0.00150019 -0.413295 1.41989 -0.462257 2.30754] +86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.129736,1.05094, mag=1.05892 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.413295,1.41989, mag=1.47881 +86: Participating contact 1 is Sliding; vel=-0.462257,2.30754, mag=2.35338 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.129736,1.05094, mag=1.05892 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.413295,1.41989, mag=1.47881 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.462257,2.30754, mag=2.35338 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.137624; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.00150019; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00150019; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000433428 -0.129736 1.05094] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.138058 -0.00383333 -0.113255] -86: : rhsActive=~[-0.137624 -0.133569 0.937686] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.94434e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.135555... -86: > NEWTON iter 1: errNorm=0.135555(v) -> deltaNorm=0.751532(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.135551 0.000129736 -0.00105094] -86: > deltaPi=~[0.747703 0.00928284 -0.0751967] -86: DBG: Line search iter 1: back=1, prevNorm=0.135555. -86: > piNow=~[-0.757703 -0.00928284 0.0751967] -86: > errNow=~[-2.77556e-17 3.61327e-07 -2.92697e-06] normNow=2.94919e-06 -86: DBG: Improvement rate now/prev at iter 1 is 2.17564e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.86859e-10 -86: > NEWTON iter 2: errNorm=2.94919e-06(v) -> deltaNorm=5.06492e-06(pi) -86: > piActive=~[-0.757703 -0.00928284 0.0751967] -86: > errActive=~[-2.77556e-17 3.61327e-07 -2.92697e-06] -86: > deltaPi=~[3.94271e-06 3.89528e-07 -3.15542e-06] -86: DBG: Line search iter 1: back=1, prevNorm=2.94919e-06. -86: > piNow=~[-0.757707 -0.00928323 0.0751998] -86: > errNow=~[-2.77556e-17 3.33067e-16 -2.69229e-15] normNow=2.71296e-15 -86: DBG: Improvement rate now/prev at iter 2 is 9.19899e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.71296e-15. +86: : verrLeft was=~[-0.00150019 0.00150019 -0.413295 1.41989 -0.462257 2.30754] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00150019 -0.413295 1.41989 0.00150019 -0.462257 2.30754] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.03531e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00154006... +86: > NEWTON iter 1: errNorm=0.00154006(v) -> deltaNorm=0.00122819(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000427112 0.000413295 -0.00141989 -4.98032e-05 0 0] +86: > deltaPi=~[-0.000611045 0.000262401 -0.000901485 0.000503544 3.68418e-10 -1.8391e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00154006. +86: > piNow=~[-0.00938896 -0.000262401 0.000901485 0.00949646 -3.68418e-10 1.8391e-09] +86: > errNow=~[-2.1684e-19 -9.40686e-10 3.23175e-09 4.33681e-19 -8.67028e-10 4.3281e-09] normNow=5.55098e-09 +86: DBG: Improvement rate now/prev at iter 1 is 3.60438e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.15554e-05 +86: > NEWTON iter 2: errNorm=5.55098e-09(v) -> deltaNorm=4.47174e-09(pi) +86: > piActive=~[-0.00938896 -0.000262401 0.000901485 0.00949646 -3.68418e-10 1.8391e-09] +86: > errActive=~[-2.1684e-19 -9.40686e-10 3.23175e-09 4.33681e-19 -8.67028e-10 4.3281e-09] +86: > deltaPi=~[-2.55303e-09 -7.07458e-10 2.43049e-09 -1.88484e-09 -3.68419e-10 1.83911e-09] +86: DBG: Line search iter 1: back=1, prevNorm=5.55098e-09. +86: > piNow=~[-0.00938895 -0.0002624 0.000901482 0.00949646 1.52915e-15 -7.63333e-15] +86: > errNow=~[2.1684e-19 -4.45851e-15 1.53174e-14 0 3.59866e-15 -1.79641e-14] normNow=2.42932e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.37639e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.42932e-14. +86: DBG: Worst offender is normal contact 1 err=0.00949646 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.413295,1.41989, mag=1.47881 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.462257,2.30754, mag=2.35338 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00150019; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.00150019 0.00150019 -0.413295 1.41989 -0.462257 2.30754] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00150019 -0.413295 1.41989] +86: : pi was=~[-0.00938895 0 -0.0002624 0.000901482 1.52915e-15 -7.63333e-15] +86: : piActive=~[-0.01 -0.0002624 0.000901482] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.50839e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00132889... +86: > NEWTON iter 1: errNorm=0.00132889(v) -> deltaNorm=0.00467249(pi) +86: > piActive=~[-0.01 -0.0002624 0.000901482] +86: > errActive=~[-0.00132581 2.52543e-05 -8.67617e-05] +86: > deltaPi=~[-0.00465496 -0.000113013 0.000388261] +86: DBG: Line search iter 1: back=1, prevNorm=0.00132889. +86: > piNow=~[-0.00534504 -0.000149387 0.000513222] +86: > errNow=~[-2.1684e-19 -7.16618e-09 2.46196e-08] normNow=2.56413e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.92954e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.92753e-05 +86: > NEWTON iter 2: errNorm=2.56413e-08(v) -> deltaNorm=2.7435e-08(pi) +86: > piActive=~[-0.00534504 -0.000149387 0.000513222] +86: > errActive=~[-2.1684e-19 -7.16618e-09 2.46196e-08] +86: > deltaPi=~[-1.95086e-08 -5.39105e-09 1.85211e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.56413e-08. +86: > piNow=~[-0.00534502 -0.000149381 0.000513203] +86: > errNow=~[0 -1.05093e-13 3.61051e-13] normNow=3.76035e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.46652e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.76035e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.129736,1.05094] to ~[-0.127736,1.10446] -86: DBG: Friction 0 rotated 0.4402 deg, less than max 30 +86: slipVel 0 from ~[-0.413295,1.41989] to ~[-0.413406,1.42141] +86: DBG: Friction 0 rotated 0.0123866 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.757707 -0.00928323 0.0751998] -86: : m_verrLeft=~[2.77556e-17 -0.127736 1.10446] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.00534502 -0.000149381 0.000513203] +86: : m_verrLeft=~[0 0.00207641 -0.413406 1.42141 -0.462316 2.30811] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.757707 verr=2.77556e-17 pi*v=-2.10306e-17 -86: SP FINAL 1 intervals, piTotal=~[-0.757707 -0.00928323 0.0751998] errNorm=2.71296e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.129736 1.05094, |slipV|=1.05892 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.757707 -0.00928323 0.0751998] -86: updated verrStart=~[2.77556e-17 -0.127736 1.10446] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.365851 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.207345 0.00338466 0.259497] -86: [0.00338466 0.0504044 -0.0372441] -86: [0.259497 -0.0372441 0.39232] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.365851 0 0] -86: active=(0) -86: -> piActive=~[1.76445] -86: -> pi=~[1.76445 0 0] -86: resid active=~[0] -86: resid=~[0 0.00597208 0.457871] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-1.11022e-16 -0.127736 1.10446] -86: perr=~[0.000365851 0] -86: END OF STEP (0.103,0.104): -86: verr=~[0.00049639 -0.128209 1.10428] -86: perr=~[0.000366099 -2.22045e-16] -86: constraint status: -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=1.1117 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: 0: pi=-0.00534502 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00207641 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00534502 0 -0.000149381 0.000513203 0 0] errNorm=3.76035e-13 +86: Postcompression verr=~[0 0.00207641 -0.413406 1.42141 -0.462316 2.30811] +86: impulse=~[-0.00534502 0 -0.000149381 0.000513203 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00534502 0 -0.000149381 0.000513203 0 0]-> du ~[-0.00103501 0.00198773 -0.000949896 -0.00105241 -8.4842e-05 0.0010382 -0.00385168 0.00228178] +86: Now verr0=~[-2.38524e-18 0.00207641 -0.413406 1.42141 -0.462316 2.30811] 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.00049639 -0.128209 1.10428] -86: verrExt=~[-0.140998 -0.00449468 -0.115795] -86: total verr=~[-0.140501 -0.132704 0.98849] -86: DYN t=0.104: verrStart=~[0.00049639 -0.128209 1.10428] -86: verrApplied=~[-0.140998 -0.00449468 -0.115795] +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[-2.38524e-18 0.00207641 -0.413406 1.42141 -0.462316 2.30811] +86: verrExt=~[-0.146885 -0.12927 0.00896047 -0.114996 0.00835006 -0.104015] +86: total verr=~[-0.146885 -0.127193 -0.404446 1.30642 -0.453966 2.2041] +86: DYN t=0.15: verrStart=~[-2.38524e-18 0.00207641 -0.413406 1.42141 -0.462316 2.30811] +86: verrApplied=~[-0.146885 -0.12927 0.00896047 -0.114996 0.00835006 -0.104015] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0.00049639 -0.128209 1.10428] -86: verrApplied=~[-0.140998 -0.00449468 -0.115795] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-2.38524e-18 0.00207641 -0.413406 1.42141 -0.462316 2.30811] +86: verrApplied=~[-0.146885 -0.12927 0.00896047 -0.114996 0.00835006 -0.104015] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.128209,1.10428, mag=1.1117 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.413406,1.42141, mag=1.48031 +86: Participating contact 1 is Sliding; vel=-0.462316,2.30811, mag=2.35396 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.128209,1.10428, mag=1.1117 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.413406,1.42141, mag=1.48031 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.462316,2.30811, mag=2.35396 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.140501; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.146885; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.127193; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0.00049639 -0.128209 1.10428] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.140998 -0.00449468 -0.115795] -86: : rhsActive=~[-0.140501 -0.132704 0.98849] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.14095e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.138428... -86: > NEWTON iter 1: errNorm=0.138428(v) -> deltaNorm=0.765823(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.138424 0.000128209 -0.00110428] -86: > deltaPi=~[0.761923 0.008902 -0.0766744] -86: DBG: Line search iter 1: back=1, prevNorm=0.138428. -86: > piNow=~[-0.771923 -0.008902 0.0766744] -86: > errNow=~[-5.55112e-17 3.63866e-07 -3.13403e-06] normNow=3.15508e-06 -86: DBG: Improvement rate now/prev at iter 1 is 2.27922e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.00986e-10 -86: > NEWTON iter 2: errNorm=3.15508e-06(v) -> deltaNorm=5.15795e-06(pi) -86: > piActive=~[-0.771923 -0.008902 0.0766744] -86: > errActive=~[-5.55112e-17 3.63866e-07 -3.13403e-06] -86: > deltaPi=~[4.01379e-06 3.73595e-07 -3.21783e-06] -86: DBG: Line search iter 1: back=1, prevNorm=3.15508e-06. -86: > piNow=~[-0.771927 -0.00890238 0.0766776] -86: > errNow=~[-2.77556e-17 3.22659e-16 -2.77556e-15] normNow=2.79439e-15 -86: DBG: Improvement rate now/prev at iter 2 is 8.85677e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.79439e-15. +86: : verrLeft was=~[-2.38524e-18 0.00207641 -0.413406 1.42141 -0.462316 2.30811] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.146885 -0.12927 0.00896047 -0.114996 0.00835006 -0.104015] +86: : rhsActive=~[-0.146885 -0.404446 1.30642 -0.127193 -0.453966 2.2041] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.03579e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.188544... +86: > NEWTON iter 1: errNorm=0.188544(v) -> deltaNorm=0.516183(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.142567 0.000413406 -0.00142141 0.123352 0.000462316 -0.00230811] +86: > deltaPi=~[0.374992 0.0107513 -0.0369661 0.350774 0.00708532 -0.0353735] +86: DBG: Line search iter 1: back=1, prevNorm=0.188544. +86: > piNow=~[-0.384992 -0.0107513 0.0369661 -0.360774 -0.00708532 0.0353735] +86: > errNow=~[0 5.77445e-07 -1.98542e-06 5.55112e-17 6.04057e-07 -3.01576e-06] normNow=3.70608e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.96563e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.68974e-09 +86: > NEWTON iter 2: errNorm=3.70608e-06(v) -> deltaNorm=3.01982e-06(pi) +86: > piActive=~[-0.384992 -0.0107513 0.0369661 -0.360774 -0.00708532 0.0353735] +86: > errActive=~[0 5.77445e-07 -1.98542e-06 5.55112e-17 6.04057e-07 -3.01576e-06] +86: > deltaPi=~[1.56263e-06 4.33723e-07 -1.49127e-06 1.46743e-06 2.85433e-07 -1.42503e-06] +86: DBG: Line search iter 1: back=1, prevNorm=3.70608e-06. +86: > piNow=~[-0.384993 -0.0107517 0.0369676 -0.360776 -0.00708561 0.0353749] +86: > errNow=~[0 1.6237e-15 -5.59275e-15 2.77556e-17 1.93942e-15 -9.6867e-15] normNow=1.14678e-14 +86: DBG: Improvement rate now/prev at iter 2 is 3.09431e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.14678e-14. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.128209,1.10428] to ~[-0.127015,1.15845] -86: DBG: Friction 0 rotated 0.365401 deg, less than max 30 +86: slipVel 0 from ~[-0.413406,1.42141] to ~[-0.412313,1.45641] +86: DBG: Friction 0 rotated 0.409693 deg, less than max 30 +86: slipVel 1 from ~[-0.462316,2.30811] to ~[-0.46062,2.3322] +86: DBG: Friction 1 rotated 0.154102 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.771927 -0.00890238 0.0766776] -86: : m_verrLeft=~[2.77556e-17 -0.127015 1.15845] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.384993 -0.0107517 0.0369676 -0.360776 -0.00708561 0.0353749] +86: : m_verrLeft=~[0 -2.77556e-17 -0.412313 1.45641 -0.46062 2.3322] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.771927 verr=2.77556e-17 pi*v=-2.14253e-17 -86: SP FINAL 1 intervals, piTotal=~[-0.771927 -0.00890238 0.0766776] errNorm=2.79439e-15 +86: DBG: 0: pi=-0.384993 verr=0 pi*v=-0 +86: DBG: 1: pi=-0.360776 verr=-2.77556e-17 pi*v=1.00135e-17 +86: SP FINAL 1 intervals, piTotal=~[-0.384993 -0.360776 -0.0107517 0.0369676 -0.00708561 0.0353749] errNorm=1.14678e-14 86: 86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.128209 1.10428, |slipV|=1.1117 +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.413406 1.42141, |slipV|=1.48031 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.462316 2.30811, |slipV|=2.35396 86: ------------------------------ 86: -86: dynamics impulse=~[-0.771927 -0.00890238 0.0766776] -86: updated verrStart=~[2.77556e-17 -0.127015 1.15845] +86: dynamics impulse=~[-0.384993 -0.360776 -0.0107517 0.0369676 -0.00708561 0.0353749] +86: updated verrStart=~[0 -2.77556e-17 -0.412313 1.45641 -0.46062 2.3322] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.366099 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: posVerr=~[0.306108 0.57354 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.207755 0.00304092 0.259498] -86: [0.00304092 0.0505114 -0.0377071] -86: [0.259498 -0.0377071 0.391505] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.366099 0 0] -86: active=(0) -86: -> piActive=~[1.76217] -86: -> pi=~[1.76217 0 0] -86: resid active=~[0] -86: resid=~[0 0.00535861 0.457279] +86: [0.312249 0.119519 -0.020664 0.322884 -0.00938929 0.119414] +86: [0.119519 0.264558 -0.00426688 0.120765 -0.0127174 0.273265] +86: [-0.020664 -0.00426688 0.0467354 0.0149456 0.0496234 -0.0374932] +86: [0.322884 0.120765 0.0149456 0.391953 0.0307341 0.106696] +86: [-0.00938929 -0.0127174 0.0496234 0.0307341 0.0540763 -0.0499777] +86: [0.119414 0.273265 -0.0374932 0.106696 -0.0499777 0.332288] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.405891 rank=2 +86: rhs=~[0.306108 0.57354 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.181991 2.0857] +86: -> pi=~[0.181991 2.0857 0 0 0 0] +86: resid active=~[-1.11022e-16 0] +86: resid=~[-1.11022e-16 0 -0.0126601 0.310642 -0.0282334 0.591682] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[1.11022e-16 -0.127015 1.15845] -86: perr=~[0.000366099 -2.22045e-16] -86: END OF STEP (0.104,0.105): -86: verr=~[0.00055646 -0.127671 1.15822] -86: perr=~[0.000366378 0] +86: verr=~[1.47668e-16 6.44016e-17 -0.412313 1.45641 -0.46062 2.3322] +86: perr=~[0.000306108 0.00057354 -1.11022e-16] +86: END OF STEP (0.15,0.151): +86: verr=~[-0.00151113 0.00151113 -0.411928 1.45643 -0.461004 2.33218] +86: perr=~[0.000305353 0.000574296 -2.22045e-16] 86: constraint status: +86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=1.16523 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=1.51356 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.37731 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00151113 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.00055646 -0.127671 1.15822] -86: verrExt=~[-0.142856 -0.0049503 -0.11714] -86: total verr=~[-0.1423 -0.132622 1.04108] -86: DYN t=0.105: verrStart=~[0.00055646 -0.127671 1.15822] -86: verrApplied=~[-0.142856 -0.0049503 -0.11714] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.00151113 0.00151113 -0.411928 1.45643 -0.461004 2.33218] +86: IMP t=0.151 verr=~[-0.00151113 0.00151113 -0.411928 1.45643 -0.461004 2.33218] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0.00055646 -0.127671 1.15822] -86: verrApplied=~[-0.142856 -0.0049503 -0.11714] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-0.00151113 0.00151113 -0.411928 1.45643 -0.461004 2.33218] +86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.127671,1.15822, mag=1.16523 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.411928,1.45643, mag=1.51356 +86: Participating contact 1 is Sliding; vel=-0.461004,2.33218, mag=2.37731 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.127671,1.15822, mag=1.16523 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.411928,1.45643, mag=1.51356 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.461004,2.33218, mag=2.37731 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.1423; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.00151113; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00151113; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.00055646 -0.127671 1.15822] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.142856 -0.0049503 -0.11714] -86: : rhsActive=~[-0.1423 -0.132622 1.04108] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.34034e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.140223... -86: > NEWTON iter 1: errNorm=0.140223(v) -> deltaNorm=0.774086(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.140218 0.000127671 -0.00115822] -86: > deltaPi=~[0.770145 0.00854753 -0.0775419] -86: DBG: Line search iter 1: back=1, prevNorm=0.140223. -86: > piNow=~[-0.780145 -0.00854753 0.0775419] -86: > errNow=~[2.77556e-17 3.6625e-07 -3.32257e-06] normNow=3.34269e-06 -86: DBG: Improvement rate now/prev at iter 1 is 2.38384e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.19586e-10 -86: > NEWTON iter 2: errNorm=3.34269e-06(v) -> deltaNorm=5.20954e-06(pi) -86: > piActive=~[-0.780145 -0.00854753 0.0775419] -86: > errActive=~[2.77556e-17 3.6625e-07 -3.32257e-06] -86: > deltaPi=~[4.05225e-06 3.58715e-07 -3.25421e-06] -86: DBG: Line search iter 1: back=1, prevNorm=3.34269e-06. -86: > piNow=~[-0.780149 -0.00854789 0.0775452] -86: > errNow=~[-2.77556e-17 3.1572e-16 -2.8727e-15] normNow=2.89013e-15 -86: DBG: Improvement rate now/prev at iter 2 is 8.64612e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.89013e-15. +86: : verrLeft was=~[-0.00151113 0.00151113 -0.411928 1.45643 -0.461004 2.33218] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00151113 -0.411928 1.45643 0.00151113 -0.461004 2.33218] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.04976e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0015746... +86: > NEWTON iter 1: errNorm=0.0015746(v) -> deltaNorm=0.0012357(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0] +86: > errActive=~[-0.000431389 0.000411928 -0.00145643 -4.89945e-05 0 0] +86: > deltaPi=~[-0.000622504 0.000255216 -0.000902354 0.000509972 3.68365e-10 -1.86352e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.0015746. +86: > piNow=~[-0.0093775 -0.000255216 0.000902354 0.00949003 -3.68365e-10 1.86352e-09] +86: > errNow=~[0 -9.55158e-10 3.3771e-09 0 -8.75716e-10 4.43017e-09] normNow=5.7193e-09 +86: DBG: Improvement rate now/prev at iter 1 is 3.63222e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.17378e-05 +86: > NEWTON iter 2: errNorm=5.7193e-09(v) -> deltaNorm=4.53278e-09(pi) +86: > piActive=~[-0.0093775 -0.000255216 0.000902354 0.00949003 -3.68365e-10 1.86352e-09] +86: > errActive=~[0 -9.55158e-10 3.3771e-09 0 -8.75716e-10 4.43017e-09] +86: > deltaPi=~[-2.58696e-09 -7.01468e-10 2.48014e-09 -1.89792e-09 -3.68366e-10 1.86353e-09] +86: DBG: Line search iter 1: back=1, prevNorm=5.7193e-09. +86: > piNow=~[-0.00937749 -0.000255216 0.000902352 0.00949003 1.52219e-15 -7.70063e-15] +86: > errNow=~[4.33681e-19 -4.5137e-15 1.59588e-14 -2.1684e-19 3.61872e-15 -1.83068e-14] normNow=2.49658e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.36518e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.49658e-14. +86: DBG: Worst offender is normal contact 1 err=0.00949003 ... +86: DBG: ... normal contact 1 released. +86: +86: ....... Active set iter 2 start +86: : active=(0,2,3) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.411928,1.45643, mag=1.51356 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.461004,2.33218, mag=2.37731 +86: fillMult2Active: +86: : active=(0,2,3) +86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) +86: DBG: active normal 0 has v=-0.00151113; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.00151113 0.00151113 -0.411928 1.45643 -0.461004 2.33218] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.00151113 -0.411928 1.45643] +86: : pi was=~[-0.00937749 0 -0.000255216 0.000902352 1.52219e-15 -7.70063e-15] +86: : piActive=~[-0.01 -0.000255216 0.000902352] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.63784e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00134059... +86: > NEWTON iter 1: errNorm=0.00134059(v) -> deltaNorm=0.00467528(pi) +86: > piActive=~[-0.01 -0.000255216 0.000902352] +86: > errActive=~[-0.00133728 2.56428e-05 -9.06638e-05] +86: > deltaPi=~[-0.00465783 -0.00010982 0.000388283] +86: DBG: Line search iter 1: back=1, prevNorm=0.00134059. +86: > piNow=~[-0.00534217 -0.000145396 0.000514068] +86: > errNow=~[-6.50521e-19 -7.14688e-09 2.52688e-08] normNow=2.62601e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.95884e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.97495e-05 +86: > NEWTON iter 2: errNorm=2.62601e-08(v) -> deltaNorm=2.7374e-08(pi) +86: > piActive=~[-0.00534217 -0.000145396 0.000514068] +86: > errActive=~[-6.50521e-19 -7.14688e-09 2.52688e-08] +86: > deltaPi=~[-1.94209e-08 -5.25037e-09 1.85635e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.62601e-08. +86: > piNow=~[-0.00534215 -0.000145391 0.00051405] +86: > errNow=~[0 -1.04387e-13 3.69074e-13] normNow=3.83552e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.46059e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.83552e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.127671,1.15822] to ~[-0.127159,1.21291] -86: DBG: Friction 0 rotated 0.305441 deg, less than max 30 +86: slipVel 0 from ~[-0.411928,1.45643] to ~[-0.412041,1.45796] +86: DBG: Friction 0 rotated 0.0116403 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.780149 -0.00854789 0.0775452] -86: : m_verrLeft=~[2.77556e-17 -0.127159 1.21291] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] +86: : m_piActive=~[-0.00534215 -0.000145391 0.00051405] +86: : m_verrLeft=~[0 0.00209102 -0.412041 1.45796 -0.461063 2.33276] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.780149 verr=2.77556e-17 pi*v=-2.16535e-17 -86: SP FINAL 1 intervals, piTotal=~[-0.780149 -0.00854789 0.0775452] errNorm=2.89013e-15 +86: DBG: 0: pi=-0.00534215 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00209102 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00534215 0 -0.000145391 0.00051405 0 0] errNorm=3.83552e-13 +86: Postcompression verr=~[0 0.00209102 -0.412041 1.45796 -0.461063 2.33276] +86: impulse=~[-0.00534215 0 -0.000145391 0.00051405 0 0] +86: Next expansion impulse=~[0 0 0 0 0 0] +86: Next expanders: () +86: DBG: performSimultaneousImpact(): No expansion; done. +86: Impact: imp ~[-0.00534215 0 -0.000145391 0.00051405 0 0]-> du ~[-0.00104445 0.00199403 -0.000951461 -0.00105289 -8.55766e-05 0.00104551 -0.00386615 0.0022895] +86: Now verr0=~[-9.32414e-18 0.00209102 -0.412041 1.45796 -0.461063 2.33276] +86: +86: DYNAMICS PHASE after 1 impact rounds: +86: verr0 =~[-9.32414e-18 0.00209102 -0.412041 1.45796 -0.461063 2.33276] +86: verrExt=~[-0.139986 -0.123846 0.00861694 -0.107384 0.00809013 -0.0980609] +86: total verr=~[-0.139986 -0.121755 -0.403424 1.35058 -0.452973 2.2347] +86: DYN t=0.151: verrStart=~[-9.32414e-18 0.00209102 -0.412041 1.45796 -0.461063 2.33276] +86: verrApplied=~[-0.139986 -0.123846 0.00861694 -0.107384 0.00809013 -0.0980609] +86: DBG: +86: -------------------------------- +86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: +86: ***** Sliding interval 1 start +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-9.32414e-18 0.00209102 -0.412041 1.45796 -0.461063 2.33276] +86: verrApplied=~[-0.139986 -0.123846 0.00861694 -0.107384 0.00809013 -0.0980609] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.412041,1.45796, mag=1.51507 +86: Participating contact 1 is Sliding; vel=-0.461063,2.33276, mag=2.37788 +86: +86: ....... Active set iter 1 start +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.412041,1.45796, mag=1.51507 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.461063,2.33276, mag=2.37788 +86: fillMult2Active: +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.139986; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.121755; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-9.32414e-18 0.00209102 -0.412041 1.45796 -0.461063 2.33276] +86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrApplied was=~[-0.139986 -0.123846 0.00861694 -0.107384 0.00809013 -0.0980609] +86: : rhsActive=~[-0.139986 -0.403424 1.35058 -0.121755 -0.452973 2.2347] +86: : pi was=~[0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.05024e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.17973... +86: > NEWTON iter 1: errNorm=0.17973(v) -> deltaNorm=0.488554(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.135638 0.000412041 -0.00145796 0.117887 0.000461063 -0.00233276] +86: > deltaPi=~[0.353083 0.00987413 -0.0349385 0.333941 0.00666865 -0.0337401] +86: DBG: Line search iter 1: back=1, prevNorm=0.17973. +86: > piNow=~[-0.363083 -0.00987413 0.0349385 -0.343941 -0.00666865 0.0337401] +86: > errNow=~[0 5.41912e-07 -1.9175e-06 5.55112e-17 5.73511e-07 -2.90169e-06] normNow=3.56639e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.9843e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.61627e-09 +86: > NEWTON iter 2: errNorm=3.56639e-06(v) -> deltaNorm=2.84896e-06(pi) +86: > piActive=~[-0.363083 -0.00987413 0.0349385 -0.343941 -0.00666865 0.0337401] +86: > errActive=~[0 5.41912e-07 -1.9175e-06 5.55112e-17 5.73511e-07 -2.90169e-06] +86: > deltaPi=~[1.46301e-06 3.9747e-07 -1.4064e-06 1.38861e-06 2.6811e-07 -1.35651e-06] +86: DBG: Line search iter 1: back=1, prevNorm=3.56639e-06. +86: > piNow=~[-0.363085 -0.00987453 0.0349399 -0.343942 -0.00666892 0.0337415] +86: > errNow=~[2.77556e-17 1.70523e-15 -6.01602e-15 -1.38778e-17 2.01575e-15 -1.02141e-14] normNow=1.21446e-14 +86: DBG: Improvement rate now/prev at iter 2 is 3.40529e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.21446e-14. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 0 from ~[-0.412041,1.45796] to ~[-0.411,1.49257] +86: DBG: Friction 0 rotated 0.38543 deg, less than max 30 +86: slipVel 1 from ~[-0.461063,2.33276] to ~[-0.459416,2.35656] +86: DBG: Friction 1 rotated 0.148675 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.363085 -0.00987453 0.0349399 -0.343942 -0.00666892 0.0337415] +86: : m_verrLeft=~[-2.77556e-17 1.38778e-17 -0.411 1.49257 -0.459416 2.35656] +86: : verrAppliedLeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0] +86: DBG: SP DONE. Check normal complementarity ... +86: DBG: 0: pi=-0.363085 verr=-2.77556e-17 pi*v=1.00776e-17 +86: DBG: 1: pi=-0.343942 verr=1.38778e-17 pi*v=-4.77316e-18 +86: SP FINAL 1 intervals, piTotal=~[-0.363085 -0.343942 -0.00987453 0.0349399 -0.00666892 0.0337415] errNorm=1.21446e-14 86: 86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.127671 1.15822, |slipV|=1.16523 +86: Unilateral contact runtimes (n=2): +86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 +86: friction MultIndices: (2,3) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.412041 1.45796, |slipV|=1.51507 +86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 +86: friction MultIndices: (4,5) effMu=0.1 +86: inputs: ContactType=Participating, effCOR=0 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.461063 2.33276, |slipV|=2.37788 86: ------------------------------ 86: -86: dynamics impulse=~[-0.780149 -0.00854789 0.0775452] -86: updated verrStart=~[2.77556e-17 -0.127159 1.21291] +86: dynamics impulse=~[-0.363085 -0.343942 -0.00987453 0.0349399 -0.00666892 0.0337415] +86: updated verrStart=~[-2.77556e-17 1.38778e-17 -0.411 1.49257 -0.459416 2.35656] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.366378 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: posVerr=~[0.305353 0.574296 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.208167 0.0026466 0.259508] -86: [0.0026466 0.0506246 -0.0382357] -86: [0.259508 -0.0382357 0.390711] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.366378 0 0] -86: active=(0) -86: -> piActive=~[1.76002] -86: -> pi=~[1.76002 0 0] -86: resid active=~[0] -86: resid=~[0 0.00465807 0.45674] +86: [0.314534 0.120282 -0.0208819 0.323156 -0.00940792 0.119336] +86: [0.120282 0.266496 -0.00446665 0.120666 -0.0130723 0.273531] +86: [-0.0208819 -0.00446665 0.0466902 0.0147229 0.0496105 -0.0374687] +86: [0.323156 0.120666 0.0147229 0.389733 0.0306841 0.105879] +86: [-0.00940792 -0.0130723 0.0496105 0.0306841 0.0541378 -0.0500883] +86: [0.119336 0.273531 -0.0374687 0.105879 -0.0500883 0.330333] +86: D=~[0 0 0 0 0 0] +86: rcond(A+D)=0.406268 rank=2 +86: rhs=~[0.305353 0.574296 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.17732 2.07496] +86: -> pi=~[0.17732 2.07496 0 0 0 0] +86: resid active=~[-5.55112e-17 0] +86: resid=~[-5.55112e-17 0 -0.0129709 0.307679 -0.0287928 0.588727] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[0 -0.127159 1.21291] -86: perr=~[0.000366378 0] -86: END OF STEP (0.105,0.106): -86: verr=~[0.000612186 -0.128038 1.21262] -86: perr=~[0.000366684 0] +86: verr=~[-8.82541e-17 5.05238e-17 -0.411 1.49257 -0.459416 2.35656] +86: perr=~[0.000305353 0.000574296 -2.22045e-16] +86: END OF STEP (0.151,0.152): +86: verr=~[-0.00152147 0.00152147 -0.410626 1.49259 -0.45979 2.35653] +86: perr=~[0.000304592 0.000575057 0] 86: constraint status: +86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) +86: Proximal unilateral contacts: (0,2) +86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=1.21936 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. +86: DBG: Uni fric 0 verr speed=1.54805 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.40097 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00152147 -> cor=0 86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.000612186 -0.128038 1.21262] -86: verrExt=~[-0.143715 -0.005192 -0.117421] -86: total verr=~[-0.143103 -0.13323 1.0952] -86: DYN t=0.106: verrStart=~[0.000612186 -0.128038 1.21262] -86: verrApplied=~[-0.143715 -0.005192 -0.117421] +86: performSimultaneousImpact(): COMPRESSION ROUND: +86: impacters: (0) +86: observers: (1) +86: participating multx: (0,2,3,1,4,5) +86: verr=~[-0.00152147 0.00152147 -0.410626 1.49259 -0.45979 2.35653] +86: IMP t=0.152 verr=~[-0.00152147 0.00152147 -0.410626 1.49259 -0.45979 2.35653] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) 86: 86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0.000612186 -0.128038 1.21262] -86: verrApplied=~[-0.143715 -0.005192 -0.117421] +86: active=(0,2,3,1,4,5) +86: mult2active=(0,3,1,2,4,5) +86: piTotal=~[0 0 0 0 0 0] +86: verrLeft=~[-0.00152147 0.00152147 -0.410626 1.49259 -0.45979 2.35653] +86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.128038,1.21262, mag=1.21936 +86: piELeft=~[0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 2 uni contacts +86: Participating contact 0 is Sliding; vel=-0.410626,1.49259, mag=1.54805 +86: Participating contact 1 is Sliding; vel=-0.45979,2.35653, mag=2.40097 86: 86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.128038,1.21262, mag=1.21936 +86: : active=(0,2,3,1,4,5) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.410626,1.49259, mag=1.54805 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.45979,2.35653, mag=2.40097 86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.143103; guess pi=-0.01 +86: : active=(0,2,3,1,4,5) +86: : mult2active=(0,3,1,2,4,5) +86: DBG: active normal 0 has v=-0.00152147; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00152147; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[0.000612186 -0.128038 1.21262] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.143715 -0.005192 -0.117421] -86: : rhsActive=~[-0.143103 -0.13323 1.0952] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.54197e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.141022... -86: > NEWTON iter 1: errNorm=0.141022(v) -> deltaNorm=0.776815(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.141017 0.000128038 -0.00121262] -100: testGimbal done. real/CPU ms: 19.5 / 19.5 -100: testBushing ... -86: > deltaPi=~[0.77286 0.00822007 -0.0778504] -86: DBG: Line search iter 1: back=1, prevNorm=0.141022. -86: > piNow=~[-0.78286 -0.00822007 0.0778504] -86: > errNow=~[0 3.68598e-07 -3.4909e-06] normNow=3.51031e-06 -86: DBG: Improvement rate now/prev at iter 1 is 2.48919e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.39016e-10 -86: > NEWTON iter 2: errNorm=3.51031e-06(v) -> deltaNorm=5.2233e-06(pi) -86: > piActive=~[-0.78286 -0.00822007 0.0778504] -86: > errActive=~[0 3.68598e-07 -3.4909e-06] -86: > deltaPi=~[4.06106e-06 3.4493e-07 -3.26675e-06] -86: DBG: Line search iter 1: back=1, prevNorm=3.51031e-06. -86: > piNow=~[-0.782864 -0.00822042 0.0778536] -86: > errNow=~[0 3.13985e-16 -2.98372e-15] normNow=3.0002e-15 -86: DBG: Improvement rate now/prev at iter 2 is 8.54683e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.0002e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.128038,1.21262] to ~[-0.128068,1.2677] -86: DBG: Friction 0 rotated 0.258748 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.782864 -0.00822042 0.0778536] -86: : m_verrLeft=~[0 -0.128068 1.2677] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.782864 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.782864 -0.00822042 0.0778536] errNorm=3.0002e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.128038 1.21262, |slipV|=1.21936 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.782864 -0.00822042 0.0778536] -86: updated verrStart=~[0 -0.128068 1.2677] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.366684 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.20858 0.00219994 0.259529] -86: [0.00219994 0.0507445 -0.0388315] -86: [0.259529 -0.0388315 0.38994] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.366684 0 0] -86: active=(0) -86: -> piActive=~[1.758] -86: -> pi=~[1.758 0 0] -86: resid active=~[0] -86: resid=~[0 0.0038675 0.456251] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[1.66533e-16 -0.128068 1.2677] -86: perr=~[0.000366684 0] -86: END OF STEP (0.106,0.107): -86: verr=~[0.000662567 -0.12921 1.26736] -86: perr=~[0.000367015 -1.11022e-16] -86: constraint status: -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=1.27393 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. -86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.000662567 -0.12921 1.26736] -86: verrExt=~[-0.14365 -0.00522004 -0.116755] -86: total verr=~[-0.142988 -0.13443 1.15061] -86: DYN t=0.107: verrStart=~[0.000662567 -0.12921 1.26736] -86: verrApplied=~[-0.14365 -0.00522004 -0.116755] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: -86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0.000662567 -0.12921 1.26736] -86: verrApplied=~[-0.14365 -0.00522004 -0.116755] -86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.12921,1.26736, mag=1.27393 -86: -86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.12921,1.26736, mag=1.27393 -86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.142988; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[0.000662567 -0.12921 1.26736] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.14365 -0.00522004 -0.116755] -86: : rhsActive=~[-0.142988 -0.13443 1.15061] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.74523e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.140903... -86: > NEWTON iter 1: errNorm=0.140903(v) -> deltaNorm=0.774476(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.140898 0.00012921 -0.00126736] -86: > deltaPi=~[0.770533 0.00791635 -0.077648] -86: DBG: Line search iter 1: back=1, prevNorm=0.140903. -86: > piNow=~[-0.780533 -0.00791635 0.077648] -86: > errNow=~[-2.77556e-17 3.7085e-07 -3.6375e-06] normNow=3.65636e-06 -86: DBG: Improvement rate now/prev at iter 1 is 2.59494e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.86699e-10 -86: > NEWTON iter 2: errNorm=3.65636e-06(v) -> deltaNorm=5.20267e-06(pi) -86: > piActive=~[-0.780533 -0.00791635 0.077648] -86: > errActive=~[-2.77556e-17 3.7085e-07 -3.6375e-06] -86: > deltaPi=~[4.04299e-06 3.32113e-07 -3.25755e-06] -86: DBG: Line search iter 1: back=1, prevNorm=3.65636e-06. -86: > piNow=~[-0.780538 -0.00791668 0.0776512] -86: > errNow=~[0 3.19189e-16 -3.1225e-15] normNow=3.13877e-15 -86: DBG: Improvement rate now/prev at iter 2 is 8.58443e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.13877e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.12921,1.26736] to ~[-0.129633,1.32267] -86: DBG: Friction 0 rotated 0.223673 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.780538 -0.00791668 0.0776512] -86: : m_verrLeft=~[0 -0.129633 1.32267] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.780538 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.780538 -0.00791668 0.0776512] errNorm=3.13877e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.12921 1.26736, |slipV|=1.27393 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.780538 -0.00791668 0.0776512] -86: updated verrStart=~[0 -0.129633 1.32267] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.367015 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.208996 0.00169973 0.259562] -86: [0.00169973 0.0508717 -0.0394958] -86: [0.259562 -0.0394958 0.389197] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.367015 0 0] -86: active=(0) -86: -> piActive=~[1.75608] -86: -> pi=~[1.75608 0 0] -86: resid active=~[0] -86: resid=~[0 0.00298487 0.455812] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[1.11022e-16 -0.129633 1.32267] -86: perr=~[0.000367015 -1.11022e-16] -86: END OF STEP (0.107,0.108): -86: verr=~[0.000707068 -0.131076 1.32228] -86: perr=~[0.000367369 0] -86: constraint status: -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (2) -86: Distal unilateral contacts: (0,1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 2 verr speed=1.32876 -> mu=0.1 -86: DBG: performSimultaneousImpact(): No impacters; nothing to do. -86: DBG: No impact. -86: -86: DYNAMICS PHASE after 0 impact rounds: -86: verr0 =~[0.000707068 -0.131076 1.32228] -86: verrExt=~[-0.142736 -0.00504264 -0.115241] -86: total verr=~[-0.142029 -0.136119 1.20704] -86: DYN t=0.108: verrStart=~[0.000707068 -0.131076 1.32228] -86: verrApplied=~[-0.142736 -0.00504264 -0.115241] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: -86: ***** Sliding interval 1 start -86: active=(0,1,2) -86: mult2active=(0,1,2) -86: piTotal=~[0 0 0] -86: verrLeft=~[0.000707068 -0.131076 1.32228] -86: verrApplied=~[-0.142736 -0.00504264 -0.115241] -86: expanding=() -86: piELeft=~[0 0 0] -86: verrExpand=~[0 0 0] -86: DBG: classifyFrictionals(): 1 uni contacts -86: Participating contact 0 is Sliding; vel=-0.131076,1.32228, mag=1.32876 -86: -86: ....... Active set iter 1 start -86: : active=(0,1,2) -86: Participating UniCont 0 (ix=2): cond=UniActive/Sliding, vel=-0.131076,1.32228, mag=1.32876 -86: fillMult2Active: -86: : active=(0,1,2) -86: : mult2active=(0,1,2) -86: DBG: active normal 0 has v=-0.142029; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[0.000707068 -0.131076 1.32228] -86: : verrExpand was=~[0 0 0] -86: : verrApplied was=~[-0.142736 -0.00504264 -0.115241] -86: : rhsActive=~[-0.142029 -0.136119 1.20704] -86: : pi was=~[0 0 0] -86: : piActive=~[-0.01 0 0] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.94947e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.139941... -86: > NEWTON iter 1: errNorm=0.139941(v) -> deltaNorm=0.767514(pi) -86: > piActive=~[-0.01 0 0] -86: > errActive=~[0.139935 0.000131076 -0.00132228] -86: > deltaPi=~[0.763605 0.00763096 -0.0769804] -86: DBG: Line search iter 1: back=1, prevNorm=0.139941. -86: > piNow=~[-0.773605 -0.00763096 0.0769804] -86: > errNow=~[0 3.72824e-07 -3.76101e-06] normNow=3.77944e-06 -86: DBG: Improvement rate now/prev at iter 1 is 2.70074e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.30878e-10 -86: > NEWTON iter 2: errNorm=3.77944e-06(v) -> deltaNorm=5.15085e-06(pi) -86: > piActive=~[-0.773605 -0.00763096 0.0769804] -86: > errActive=~[0 3.72824e-07 -3.76101e-06] -86: > deltaPi=~[4.00064e-06 3.20044e-07 -3.22857e-06] -86: DBG: Line search iter 1: back=1, prevNorm=3.77944e-06. -86: > piNow=~[-0.773609 -0.00763128 0.0769836] -86: > errNow=~[-2.77556e-17 3.27863e-16 -3.30291e-15] normNow=3.31926e-15 -86: DBG: Improvement rate now/prev at iter 2 is 8.78241e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.31926e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.131076,1.32228] to ~[-0.131746,1.37766] -86: DBG: Friction 0 rotated 0.19855 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.773609 -0.00763128 0.0769836] -86: : m_verrLeft=~[2.77556e-17 -0.131746 1.37766] -86: : verrAppliedLeft=~[0 0 0] -86: : piELeft=~[0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.773609 verr=2.77556e-17 pi*v=-2.1472e-17 -86: SP FINAL 1 intervals, piTotal=~[-0.773609 -0.00763128 0.0769836] errNorm=3.31926e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=1): -86: 0: UnilateralContactIndex 2, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (1,2) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=nan -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.131076 1.32228, |slipV|=1.32876 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.773609 -0.00763128 0.0769836] -86: updated verrStart=~[2.77556e-17 -0.131746 1.37766] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.367369 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.209415 0.00114524 0.259608] -86: [0.00114524 0.0510072 -0.040229] -86: [0.259608 -0.040229 0.388482] -86: D=~[0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.367369 0 0] -86: active=(0) -86: -> piActive=~[1.75426] -86: -> pi=~[1.75426 0 0] -86: resid active=~[0] -86: resid=~[0 0.00200905 0.455419] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[1.11022e-16 -0.131746 1.37766] -86: perr=~[0.000367369 0] -86: END OF STEP (0.108,0.109): -86: verr=~[0.000745603 -0.133525 1.37723] -86: perr=~[0.000367741 0] -86: constraint status: -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.304692 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.38369 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.893887 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.893887 0.000745603 -0.100071 -0.28779 -0.133525 1.37723] -86: IMP t=0.109 verr=~[-0.893887 0.000745603 -0.100071 -0.28779 -0.133525 1.37723] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.893887 0.000745603 -0.100071 -0.28779 -0.133525 1.37723] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.100071,-0.28779, mag=0.304692 -86: Participating contact 1 is Sliding; vel=-0.133525,1.37723, mag=1.38369 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.100071,-0.28779, mag=0.304692 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.133525,1.37723, mag=1.38369 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.893887; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000745603; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.893887 0.000745603 -0.100071 -0.28779 -0.133525 1.37723] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.893887 -0.100071 -0.28779 0.000745603 -0.133525 1.37723] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.27753e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.892368... -86: > NEWTON iter 1: errNorm=0.892368(v) -> deltaNorm=4.4198(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[0.892368 0.000100071 0.00028779 0.000393829 0 0] -86: > deltaPi=~[3.91971 0.12906 0.371158 -2.00402 -7.20343e-07 7.42989e-06] -86: DBG: Line search iter 1: back=1, prevNorm=0.892368. -86: > piNow=~[-3.92971 -0.12906 -0.371158 2.01402 7.20343e-07 -7.42989e-06] -86: > errNow=~[0 1.46108e-06 4.20186e-06 -2.29851e-17 9.96728e-07 -1.02806e-05] normNow=1.12461e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.26026e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.73365e-10 -86: > NEWTON iter 2: errNorm=1.12461e-05(v) -> deltaNorm=2.30935e-05(pi) -86: > piActive=~[-3.92971 -0.12906 -0.371158 2.01402 7.20343e-07 -7.42989e-06] -86: > errActive=~[0 1.46108e-06 4.20186e-06 -2.29851e-17 9.96728e-07 -1.02806e-05] -86: > deltaPi=~[-1.50516e-05 4.30091e-06 1.23688e-05 8.91923e-06 7.20343e-07 -7.42989e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.12461e-05. -86: > piNow=~[-3.92969 -0.129064 -0.37117 2.01401 -7.90467e-17 8.15317e-16] -86: > errNow=~[0 -4.16334e-17 -1.11022e-16 1.00722e-16 -1.09376e-16 1.12814e-15] normNow=1.14406e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.01729e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.14406e-15. -86: DBG: Worst offender is normal contact 1 err=2.01401 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.100071,-0.28779, mag=0.304692 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.133525,1.37723, mag=1.38369 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.893887; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.893887 0.000745603 -0.100071 -0.28779 -0.133525 1.37723] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.893887 -0.100071 -0.28779] -86: : pi was=~[-3.92969 0 -0.129064 -0.37117 -7.90467e-17 8.15317e-16] -86: : piActive=~[-0.01 -0.129064 -0.37117] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.13494e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.787582... -86: > NEWTON iter 1: errNorm=0.787582(v) -> deltaNorm=3.22226(pi) -86: > piActive=~[-0.01 -0.129064 -0.37117] -86: > errActive=~[0.778474 -0.0392247 -0.112805] -86: > deltaPi=~[3.22151 -0.0229347 -0.0659569] -86: DBG: Line search iter 1: back=1, prevNorm=0.787582. -86: > piNow=~[-3.23151 -0.106129 -0.305213] -86: > errNow=~[1.11022e-16 1.20082e-06 3.4534e-06] normNow=3.65622e-06 -86: DBG: Improvement rate now/prev at iter 1 is 4.64233e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.40497e-11 -86: > NEWTON iter 2: errNorm=3.65622e-06(v) -> deltaNorm=1.64636e-05(pi) -86: > piActive=~[-3.23151 -0.106129 -0.305213] -86: > errActive=~[1.11022e-16 1.20082e-06 3.4534e-06] -86: > deltaPi=~[-1.24669e-05 3.53164e-06 1.01565e-05] -86: DBG: Line search iter 1: back=1, prevNorm=3.65622e-06. -86: > piNow=~[-3.23149 -0.106133 -0.305223] -86: > errNow=~[0 -4.16334e-17 -1.38778e-16] normNow=1.44888e-16 -86: DBG: Improvement rate now/prev at iter 2 is 3.96279e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.44888e-16. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.100071,-0.28779] to ~[-0.126097,0.85027] -86: DBG: TOO BIG: Sliding fric 0; endmag=0.859569, rot=152.391 deg > 30 -86: DBG: --> returning stepLength=0.250736 (dist to origin=0.106625) -86: DBG: -->max change solutions: 0.809484 and 0.17348; returning 0.17348 -86: DBG: Frac=0.17348 reduces angle to 30 degrees. -86: SP interval 1 end: s=0.17348 -86: : m_piActive=~[-0.560598 -0.0184119 -0.05295] -86: : m_verrLeft=~[-0.738816 0.0609285 -0.104586 -0.0903601 -0.135535 1.45002] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 2 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[-0.560598 0 -0.0184119 -0.05295 0 0] -86: verrLeft=~[-0.738816 0.0609285 -0.104586 -0.0903601 -0.135535 1.45002] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.104586,-0.0903601, mag=0.138214 -86: Participating contact 1 is Sliding; vel=-0.135535,1.45002, mag=1.45634 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.104586,-0.0903601, mag=0.138214 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.135535,1.45002, mag=1.45634 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.738816; guess pi=-0.01 -86: DBG: active normal 3 has v=0.0609285; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.738816 0.0609285 -0.104586 -0.0903601 -0.135535 1.45002] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.738816 -0.104586 -0.0903601 0.0609285 -0.135535 1.45002] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.44907e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.739717... -86: > NEWTON iter 1: errNorm=0.739717(v) -> deltaNorm=4.03526(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[0.737296 0.000104586 9.03601e-05 -0.0597891 0 0] -86: > deltaPi=~[3.48116 0.264164 0.228232 -2.01072 -6.97026e-07 7.45716e-06] -86: DBG: Line search iter 1: back=1, prevNorm=0.739717. -86: > piNow=~[-3.49116 -0.264164 -0.228232 2.02072 6.97026e-07 -7.45716e-06] -86: > errNow=~[-2.22045e-16 1.35615e-06 1.17169e-06 8.32667e-17 1.01511e-06 -1.08602e-05] normNow=1.10538e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.49433e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.39401e-10 -86: > NEWTON iter 2: errNorm=1.10538e-05(v) -> deltaNorm=1.90179e-05(pi) -86: > piActive=~[-3.49116 -0.264164 -0.228232 2.02072 6.97026e-07 -7.45716e-06] -86: > errActive=~[-2.22045e-16 1.35615e-06 1.17169e-06 8.32667e-17 1.01511e-06 -1.08602e-05] -86: > deltaPi=~[-9.1519e-06 9.11945e-06 7.87901e-06 8.75136e-06 6.97026e-07 -7.45716e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.10538e-05. -86: > piNow=~[-3.49115 -0.264174 -0.22824 2.02071 -7.4304e-17 7.94942e-16] -86: > errNow=~[1.11022e-16 -2.77556e-17 -2.08167e-17 1.38778e-17 -1.08212e-16 1.15771e-15] normNow=1.16864e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.05723e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.16864e-15. -86: DBG: Worst offender is normal contact 1 err=2.02071 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.104586,-0.0903601, mag=0.138214 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.135535,1.45002, mag=1.45634 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.738816; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.738816 0.0609285 -0.104586 -0.0903601 -0.135535 1.45002] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.738816 -0.104586 -0.0903601] -86: : pi was=~[-3.49115 0 -0.264174 -0.22824 -7.4304e-17 7.94942e-16] -86: : piActive=~[-0.01 -0.264174 -0.22824] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.1483e-07 -86: DBG: >>>> Start NEWTON solve with errNorm=0.670854... -86: > NEWTON iter 1: errNorm=0.670854(v) -> deltaNorm=2.75671(pi) -86: > piActive=~[-0.01 -0.264174 -0.22824] -86: > errActive=~[0.669127 -0.036408 -0.0314557] -86: > deltaPi=~[2.75576 -0.0548977 -0.0474304] -86: DBG: Line search iter 1: back=1, prevNorm=0.670854. -86: > piNow=~[-2.76576 -0.209276 -0.18081] -86: > errNow=~[-1.11022e-16 1.07356e-06 9.27533e-07] normNow=1.41875e-06 -86: DBG: Improvement rate now/prev at iter 1 is 2.11484e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.41421e-11 -86: > NEWTON iter 2: errNorm=1.41875e-06(v) -> deltaNorm=1.20604e-05(pi) -86: > piActive=~[-2.76576 -0.209276 -0.18081] -86: > errActive=~[-1.11022e-16 1.07356e-06 9.27533e-07] -86: > deltaPi=~[-7.39774e-06 7.20758e-06 6.2272e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.41875e-06. -86: > piNow=~[-2.76575 -0.209283 -0.180816] -86: > errNow=~[1.11022e-16 -3.81639e-17 -2.77556e-17] normNow=1.20635e-16 -86: DBG: Improvement rate now/prev at iter 2 is 8.50291e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.20635e-16. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.104586,-0.0903601] to ~[-0.12321,0.850262] -86: DBG: TOO BIG: Sliding fric 0; endmag=0.859143, rot=122.581 deg > 30 -86: DBG: --> returning stepLength=0.0938259 (dist to origin=0.106354) -86: DBG: -->max change solutions: -0.211646 and 0.0745188; returning 0.0745188 -86: DBG: Frac=0.0745188 reduces angle to 30 degrees. -86: SP interval 2 end: s=0.0745188 -86: : m_piActive=~[-0.2061 -0.0155955 -0.0134742] -86: : m_verrLeft=~[-0.683761 0.0823637 -0.105974 -0.020266 -0.136029 1.47569] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 3 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[-0.766698 0 -0.0340074 -0.0664242 0 0] -86: verrLeft=~[-0.683761 0.0823637 -0.105974 -0.020266 -0.136029 1.47569] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.105974,-0.020266, mag=0.107894 -86: Participating contact 1 is Sliding; vel=-0.136029,1.47569, mag=1.48194 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.105974,-0.020266, mag=0.107894 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.136029,1.47569, mag=1.48194 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.683761; guess pi=-0.01 -86: DBG: active normal 3 has v=0.0823637; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.683761 0.0823637 -0.105974 -0.020266 -0.136029 1.47569] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.683761 -0.105974 -0.020266 0.0823637 -0.136029 1.47569] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.53466e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.687059... -86: > NEWTON iter 1: errNorm=0.687059(v) -> deltaNorm=4.0247(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[0.682241 0.000105974 2.0266e-05 -0.0812243 0 0] -86: > deltaPi=~[3.46697 0.341496 0.0653063 -2.01431 -6.88716e-07 7.47139e-06] -86: DBG: Line search iter 1: back=1, prevNorm=0.687059. -86: > piNow=~[-3.47697 -0.341496 -0.0653063 2.02431 6.88716e-07 -7.47139e-06] -86: > errNow=~[-1.11022e-16 1.36855e-06 2.61716e-07 5.55112e-17 1.02064e-06 -1.10722e-05] normNow=1.12061e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.63102e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.59624e-10 -86: > NEWTON iter 2: errNorm=1.12061e-05(v) -> deltaNorm=1.72263e-05(pi) -86: > piActive=~[-3.47697 -0.341496 -0.0653063 2.02431 6.88716e-07 -7.47139e-06] -86: > errActive=~[-1.11022e-16 1.36855e-06 2.61716e-07 5.55112e-17 1.02064e-06 -1.10722e-05] -86: > deltaPi=~[-2.10275e-06 1.24776e-05 2.38618e-06 8.63964e-06 6.88716e-07 -7.47139e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.12061e-05. -86: > piNow=~[-3.47697 -0.341508 -0.0653087 2.0243 -7.20944e-17 7.82103e-16] -86: > errNow=~[2.22045e-16 -1.38778e-17 -8.67362e-19 -5.55112e-17 -1.0684e-16 1.15903e-15] normNow=1.18632e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.05864e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.18632e-15. -86: DBG: Worst offender is normal contact 1 err=2.0243 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.105974,-0.020266, mag=0.107894 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.136029,1.47569, mag=1.48194 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.683761; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.683761 0.0823637 -0.105974 -0.020266 -0.136029 1.47569] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.683761 -0.105974 -0.020266] -86: : pi was=~[-3.47697 0 -0.341508 -0.0653087 -7.20944e-17 7.82103e-16] -86: : piActive=~[-0.01 -0.341508 -0.0653087] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.01892e-07 -86: DBG: >>>> Start NEWTON solve with errNorm=0.666317... -86: > NEWTON iter 1: errNorm=0.666317(v) -> deltaNorm=2.69922(pi) -86: > piActive=~[-0.01 -0.341508 -0.0653087] -86: > errActive=~[0.665266 -0.0367408 -0.00702617] -86: > deltaPi=~[2.69813 -0.0755253 -0.0144432] -86: DBG: Line search iter 1: back=1, prevNorm=0.666317. -86: > piNow=~[-2.70813 -0.265983 -0.0508655] -86: > errNow=~[0 1.06506e-06 2.03677e-07] normNow=1.08436e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.62739e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.25119e-11 -86: > NEWTON iter 2: errNorm=1.08436e-06(v) -> deltaNorm=1.00357e-05(pi) -86: > piActive=~[-2.70813 -0.265983 -0.0508655] -86: > errActive=~[0 1.06506e-06 2.03677e-07] -86: > deltaPi=~[-1.83349e-06 9.69122e-06 1.85331e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.08436e-06. -86: > piNow=~[-2.70813 -0.265992 -0.0508674] -86: > errNow=~[0 -1.38778e-17 -2.60209e-18] normNow=1.41196e-17 -86: DBG: Improvement rate now/prev at iter 2 is 1.30212e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.41196e-17. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.105974,-0.020266] to ~[-0.124524,0.845092] -86: DBG: TOO BIG: Sliding fric 0; endmag=0.854218, rot=92.4441 deg > 30 -86: DBG: --> returning stepLength=0.0207845 (dist to origin=0.106384) -86: DBG: -->max change solutions: -0.0808875 and 0.0664977; returning 0.0664977 -86: DBG: Frac=0.0664977 reduces angle to 30 degrees. -86: SP interval 3 end: s=0.0664977 -86: : m_piActive=~[-0.180084 -0.0176879 -0.00338257] -86: : m_verrLeft=~[-0.638292 0.100098 -0.107207 0.0372784 -0.136532 1.49687] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 4 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[-0.946783 0 -0.0516953 -0.0698068 0 0] -86: verrLeft=~[-0.638292 0.100098 -0.107207 0.0372784 -0.136532 1.49687] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.107207,0.0372784, mag=0.113504 -86: Participating contact 1 is Sliding; vel=-0.136532,1.49687, mag=1.50308 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.107207,0.0372784, mag=0.113504 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.136532,1.49687, mag=1.50308 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.638292; guess pi=-0.01 -86: DBG: active normal 3 has v=0.100098; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.638292 0.100098 -0.107207 0.0372784 -0.136532 1.49687] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.638292 -0.107207 0.0372784 0.100098 -0.136532 1.49687] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.61473e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.644416... -86: > NEWTON iter 1: errNorm=0.644416(v) -> deltaNorm=4.06019(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[0.636772 0.000107207 -3.72784e-05 -0.098959 0 0] -86: > deltaPi=~[3.50796 0.332269 -0.115537 -2.01385 -6.81383e-07 7.47034e-06] -86: DBG: Line search iter 1: back=1, prevNorm=0.644416. -86: > piNow=~[-3.51796 -0.332269 0.115537 2.02385 6.81383e-07 -7.47034e-06] -86: > errNow=~[-1.11022e-16 1.40085e-06 -4.87105e-07 2.22045e-16 1.02417e-06 -1.12285e-05] normNow=1.13723e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.76474e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.52031e-10 -86: > NEWTON iter 2: errNorm=1.13723e-05(v) -> deltaNorm=1.90091e-05(pi) -86: > piActive=~[-3.51796 -0.332269 0.115537 2.02385 6.81383e-07 -7.47034e-06] -86: > errActive=~[-1.11022e-16 1.40085e-06 -4.87105e-07 2.22045e-16 1.02417e-06 -1.12285e-05] -86: > deltaPi=~[6.49136e-06 1.2955e-05 -4.50473e-06 8.64947e-06 6.81383e-07 -7.47034e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.13723e-05. -86: > piNow=~[-3.51797 -0.332282 0.115542 2.02384 -7.14569e-17 7.83418e-16] -86: > errNow=~[1.11022e-16 2.08167e-17 -8.67362e-18 -9.71445e-17 -1.07405e-16 1.17754e-15] normNow=1.19181e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.048e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.19181e-15. -86: DBG: Worst offender is normal contact 1 err=2.02384 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.107207,0.0372784, mag=0.113504 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.136532,1.49687, mag=1.50308 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.638292; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.638292 0.100098 -0.107207 0.0372784 -0.136532 1.49687] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.638292 -0.107207 0.0372784] -86: : pi was=~[-3.51797 0 -0.332282 0.115542 -7.14569e-17 7.83418e-16] -86: : piActive=~[-0.01 -0.332282 0.115542] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.22785e-07 -86: DBG: >>>> Start NEWTON solve with errNorm=0.676646... -86: > NEWTON iter 1: errNorm=0.676646(v) -> deltaNorm=2.68896(pi) -86: > piActive=~[-0.01 -0.332282 0.115542] -86: > errActive=~[0.675473 -0.037608 0.0130771] -86: > deltaPi=~[2.68771 -0.0774852 0.0269433] -86: DBG: Line search iter 1: back=1, prevNorm=0.676646. -86: > piNow=~[-2.69771 -0.254796 0.0885983] -86: > errNow=~[1.11022e-16 1.07329e-06 -3.73207e-07] normNow=1.13633e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.67935e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.25848e-11 -86: > NEWTON iter 2: errNorm=1.13633e-06(v) -> deltaNorm=1.15222e-05(pi) -86: > piActive=~[-2.69771 -0.254796 0.0885983] -86: > errActive=~[1.11022e-16 1.07329e-06 -3.73207e-07] -86: > deltaPi=~[4.77015e-06 9.90656e-06 -3.44473e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.13633e-06. -86: > piNow=~[-2.69771 -0.254806 0.0886017] -86: > errNow=~[0 2.42861e-17 -8.67362e-18] normNow=2.57885e-17 -86: DBG: Improvement rate now/prev at iter 2 is 2.26946e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.57885e-17. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.107207,0.0372784] to ~[-0.129791,0.835856] -86: DBG: TOO BIG: Sliding fric 0; endmag=0.845873, rot=62 deg > 30 -86: DBG: --> returning stepLength=0 (dist to origin=0.113504) -86: DBG: -->max change solutions: -0.0719648 and 0.112381; returning 0.112381 -86: DBG: Frac=0.112381 reduces angle to 30 degrees. -86: SP interval 4 end: s=0.112381 -86: : m_piActive=~[-0.303171 -0.0286353 0.00995714] -86: : m_verrLeft=~[-0.56656 0.12807 -0.109745 0.127023 -0.137942 1.53052] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 5 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[-1.24995 0 -0.0803306 -0.0598496 0 0] -86: verrLeft=~[-0.56656 0.12807 -0.109745 0.127023 -0.137942 1.53052] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.109745,0.127023, mag=0.167866 -86: Participating contact 1 is Sliding; vel=-0.137942,1.53052, mag=1.53672 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.109745,0.127023, mag=0.167866 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.137942,1.53052, mag=1.53672 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.56656; guess pi=-0.01 -86: DBG: active normal 3 has v=0.12807; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.56656 0.12807 -0.109745 0.127023 -0.137942 1.53052] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.56656 -0.109745 0.127023 0.12807 -0.137942 1.53052] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.75815e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.579122... -86: > NEWTON iter 1: errNorm=0.579122(v) -> deltaNorm=3.95332(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[0.56504 0.000109745 -0.000127023 -0.126931 0 0] -86: > deltaPi=~[3.38761 0.222116 -0.257086 -2.00934 -6.71842e-07 7.45432e-06] -86: DBG: Line search iter 1: back=1, prevNorm=0.579122. -86: > piNow=~[-3.39761 -0.222116 0.257086 2.01934 6.71842e-07 -7.45432e-06] -86: > errNow=~[-2.22045e-16 1.38481e-06 -1.60283e-06 -1.66533e-16 1.03243e-06 -1.14552e-05] normNow=1.16951e-05 -86: DBG: Improvement rate now/prev at iter 1 is 2.01945e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.78273e-10 -86: > NEWTON iter 2: errNorm=1.16951e-05(v) -> deltaNorm=2.28153e-05(pi) -86: > piActive=~[-3.39761 -0.222116 0.257086 2.01934 6.71842e-07 -7.45432e-06] -86: > errActive=~[-2.22045e-16 1.38481e-06 -1.60283e-06 -1.66533e-16 1.03243e-06 -1.14552e-05] -86: > deltaPi=~[1.38019e-05 9.15183e-06 -1.05927e-05 8.8357e-06 6.71842e-07 -7.45432e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.16951e-05. -86: > piNow=~[-3.39762 -0.222126 0.257096 2.01933 -7.24576e-17 8.03944e-16] -86: > errNow=~[1.11022e-16 4.16334e-17 -4.85723e-17 1.11022e-16 -1.11347e-16 1.23544e-15] normNow=1.25198e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.07052e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.25198e-15. -86: DBG: Worst offender is normal contact 1 err=2.01933 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.109745,0.127023, mag=0.167866 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.137942,1.53052, mag=1.53672 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.56656; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.56656 0.12807 -0.109745 0.127023 -0.137942 1.53052] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.56656 -0.109745 0.127023] -86: : pi was=~[-3.39762 0 -0.222126 0.257096 -7.24576e-17 8.03944e-16] -86: : piActive=~[-0.01 -0.222126 0.257096] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.2528e-07 -86: DBG: >>>> Start NEWTON solve with errNorm=0.648573... -86: > NEWTON iter 1: errNorm=0.648573(v) -> deltaNorm=2.52363(pi) -86: > piActive=~[-0.01 -0.222126 0.257096] -86: > errActive=~[0.646075 -0.0371776 0.0430306] -86: > deltaPi=~[2.52215 -0.056588 0.0654969] -86: DBG: Line search iter 1: back=1, prevNorm=0.648573. -86: > piNow=~[-2.53215 -0.165538 0.191599] -86: > errNow=~[0 1.03102e-06 -1.19334e-06] normNow=1.57705e-06 -86: DBG: Improvement rate now/prev at iter 1 is 2.43156e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.3212e-11 -86: > NEWTON iter 2: errNorm=1.57705e-06(v) -> deltaNorm=1.45258e-05(pi) -86: > piActive=~[-2.53215 -0.165538 0.191599] -86: > errActive=~[0 1.03102e-06 -1.19334e-06] -86: > deltaPi=~[1.01328e-05 6.8044e-06 -7.87565e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.57705e-06. -86: > piNow=~[-2.53216 -0.165544 0.191607] -86: > errNow=~[1.11022e-16 5.89806e-17 -6.93889e-17] normNow=1.43595e-16 -86: DBG: Improvement rate now/prev at iter 2 is 9.10531e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.43595e-16. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.109745,0.127023] to ~[-0.137322,0.825483] -86: DBG: TOO BIG: Sliding fric 0; endmag=0.836827, rot=31.3814 deg > 30 -86: DBG: --> returning stepLength=0 (dist to origin=0.167866) -86: DBG: -->max change solutions: -0.128997 and 0.806215; returning 0.806215 -86: DBG: Frac=0.806215 reduces angle to 30 degrees. -86: SP interval 5 end: s=0.806215 -86: : m_piActive=~[-2.04146 -0.133464 0.154476] -86: : m_verrLeft=~[-0.109791 0.305719 -0.131978 0.690131 -0.153223 1.74782] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 6 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[-3.29142 0 -0.213795 0.0946268 0 0] -86: verrLeft=~[-0.109791 0.305719 -0.131978 0.690131 -0.153223 1.74782] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.131978,0.690131, mag=0.702638 -86: Participating contact 1 is Sliding; vel=-0.153223,1.74782, mag=1.75453 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.131978,0.690131, mag=0.702638 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.153223,1.74782, mag=1.75453 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.109791; guess pi=-0.01 -86: DBG: active normal 3 has v=0.305719; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.109791 0.305719 -0.131978 0.690131 -0.153223 1.74782] +86: : verrLeft was=~[-0.00152147 0.00152147 -0.410626 1.49259 -0.45979 2.35653] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.109791 -0.131978 0.690131 0.305719 -0.153223 1.74782] +86: : rhsActive=~[-0.00152147 -0.410626 1.49259 0.00152147 -0.45979 2.35653] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.03998e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.323252... -86: > NEWTON iter 1: errNorm=0.323252(v) -> deltaNorm=2.44171(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.06411e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00160907... +86: > NEWTON iter 1: errNorm=0.00160907(v) -> deltaNorm=0.00124655(pi) 86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[0.108271 0.000131978 -0.000690131 -0.30458 0 0] -86: > deltaPi=~[1.38468 0.0261957 -0.136981 -2.00627 -6.5263e-07 7.44457e-06] -86: DBG: Line search iter 1: back=1, prevNorm=0.323252. -86: > piNow=~[-1.39468 -0.0261957 0.136981 2.01627 6.5263e-07 -7.44457e-06] -86: > errNow=~[-6.93889e-17 6.80713e-07 -3.55954e-06 -1.11022e-16 1.14506e-06 -1.30617e-05] normNow=1.36034e-05 -86: DBG: Improvement rate now/prev at iter 1 is 4.2083e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.14446e-10 -86: > NEWTON iter 2: errNorm=1.36034e-05(v) -> deltaNorm=1.50914e-05(pi) -86: > piActive=~[-1.39468 -0.0261957 0.136981 2.01627 6.5263e-07 -7.44457e-06] -86: > errActive=~[-6.93889e-17 6.80713e-07 -3.55954e-06 -1.11022e-16 1.14506e-06 -1.30617e-05] -86: > deltaPi=~[7.28577e-06 1.10565e-06 -5.78158e-06 9.17447e-06 6.5263e-07 -7.44457e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.36034e-05. -86: > piNow=~[-1.39469 -0.0261968 0.136987 2.01627 -7.34188e-17 8.3749e-16] -86: > errNow=~[4.16334e-17 1.8735e-16 -9.71445e-16 5.55112e-17 -1.28815e-16 1.4694e-15] normNow=1.77746e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.30662e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.77746e-15. -86: DBG: Worst offender is normal contact 1 err=2.01627 ... +86: > errActive=~[-0.000436318 0.000410626 -0.00149259 -4.76029e-05 0 0] +86: > deltaPi=~[-0.000637889 0.000248334 -0.000902677 0.000520097 3.70996e-10 -1.90144e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00160907. +86: > piNow=~[-0.00936211 -0.000248334 0.000902677 0.0094799 -3.70996e-10 1.90144e-09] +86: > errNow=~[0 -9.75671e-10 3.54649e-09 4.33681e-19 -8.90749e-10 4.56529e-09] normNow=5.93e-09 +86: DBG: Improvement rate now/prev at iter 1 is 3.68537e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.19294e-05 +86: > NEWTON iter 2: errNorm=5.93e-09(v) -> deltaNorm=4.62281e-09(pi) +86: > piActive=~[-0.00936211 -0.000248334 0.000902677 0.0094799 -3.70996e-10 1.90144e-09] +86: > errActive=~[0 -9.75671e-10 3.54649e-09 4.33681e-19 -8.90749e-10 4.56529e-09] +86: > deltaPi=~[-2.63578e-09 -7.00171e-10 2.54507e-09 -1.92414e-09 -3.70997e-10 1.90145e-09] +86: DBG: Line search iter 1: back=1, prevNorm=5.93e-09. +86: > piNow=~[-0.00936211 -0.000248334 0.000902674 0.00947991 1.52725e-15 -7.82749e-15] +86: > errNow=~[2.1684e-19 -4.59951e-15 1.67188e-14 -4.33681e-19 3.66687e-15 -1.87936e-14] normNow=2.58325e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.35624e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.58325e-14. +86: DBG: Worst offender is normal contact 1 err=0.00947991 ... 86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start 86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.131978,0.690131, mag=0.702638 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.153223,1.74782, mag=1.75453 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.410626,1.49259, mag=1.54805 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.45979,2.35653, mag=2.40097 86: fillMult2Active: 86: : active=(0,2,3) 86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.109791; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00152147; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.109791 0.305719 -0.131978 0.690131 -0.153223 1.74782] +86: : verrLeft was=~[-0.00152147 0.00152147 -0.410626 1.49259 -0.45979 2.35653] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.109791 -0.131978 0.690131] -86: : pi was=~[-1.39469 0 -0.0261968 0.136987 -7.34188e-17 8.3749e-16] -86: : piActive=~[-0.01 -0.0261968 0.136987] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.61723e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.178695... -86: > NEWTON iter 1: errNorm=0.178695(v) -> deltaNorm=0.503052(pi) -86: > piActive=~[-0.01 -0.0261968 0.136987] -86: > errActive=~[0.149886 -0.0182749 0.0955619] -86: > deltaPi=~[0.495124 -0.0167093 0.0873752] -86: DBG: Line search iter 1: back=1, prevNorm=0.178695. -86: > piNow=~[-0.505124 -0.00948752 0.0496115] -86: > errNow=~[0 2.43404e-07 -1.27279e-06] normNow=1.29586e-06 -86: DBG: Improvement rate now/prev at iter 1 is 7.2518e-06 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.02584e-09 -86: > NEWTON iter 2: errNorm=1.29586e-06(v) -> deltaNorm=3.33654e-06(pi) -86: > piActive=~[-0.505124 -0.00948752 0.0496115] -86: > errActive=~[0 2.43404e-07 -1.27279e-06] -86: > deltaPi=~[2.59012e-06 3.95066e-07 -2.06585e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.29586e-06. -86: > piNow=~[-0.505127 -0.00948792 0.0496136] -86: > errNow=~[4.16334e-17 4.97866e-16 -2.60902e-15] normNow=2.65643e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.04994e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.65643e-15. +86: : rhsActive=~[-0.00152147 -0.410626 1.49259] +86: : pi was=~[-0.00936211 0 -0.000248334 0.000902674 1.52725e-15 -7.82749e-15] +86: : piActive=~[-0.01 -0.000248334 0.000902674] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.76628e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00135351... +86: > NEWTON iter 1: errNorm=0.00135351(v) -> deltaNorm=0.00468094(pi) +86: > piActive=~[-0.01 -0.000248334 0.000902674] +86: > errActive=~[-0.0013499 2.61935e-05 -9.52114e-05] +86: > deltaPi=~[-0.0046636 -0.000106779 0.000388133] +86: DBG: Line search iter 1: back=1, prevNorm=0.00135351. +86: > piNow=~[-0.0053364 -0.000141555 0.000514541] +86: > errNow=~[0 -7.13311e-09 2.59283e-08] normNow=2.68916e-08 +86: DBG: Improvement rate now/prev at iter 1 is 1.98681e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.02431e-05 +86: > NEWTON iter 2: errNorm=2.68916e-08(v) -> deltaNorm=2.73257e-08(pi) +86: > piActive=~[-0.0053364 -0.000141555 0.000514541] +86: > errActive=~[0 -7.13311e-09 2.59283e-08] +86: > deltaPi=~[-1.93394e-08 -5.12073e-09 1.86135e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.68916e-08. +86: > piNow=~[-0.00533638 -0.00014155 0.000514523] +86: > errNow=~[2.1684e-19 -1.03844e-13 3.77465e-13] normNow=3.91489e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.4558e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.91489e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.131978,0.690131] to ~[-0.138915,0.823685] -86: DBG: Friction 0 rotated 1.25344 deg, less than max 30 -86: SP interval 6 end: s=1 -86: : m_piActive=~[-0.505127 -0.00948792 0.0496136] -86: : m_verrLeft=~[-4.16334e-17 0.348228 -0.138915 0.823685 -0.158543 1.80095] +86: slipVel 0 from ~[-0.410626,1.49259] to ~[-0.410739,1.49412] +86: DBG: Friction 0 rotated 0.0109493 deg, less than max 30 +86: SP interval 1 end: s=1 +86: : m_piActive=~[-0.00533638 -0.00014155 0.000514523] +86: : m_verrLeft=~[-2.1684e-19 0.00210487 -0.410739 1.49412 -0.459849 2.35711] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-3.79654 verr=-4.16334e-17 pi*v=1.58063e-16 -86: DBG: 1: pi=0 verr=0.348228 pi*v=0 -86: SP FINAL 6 intervals, piTotal=~[-3.79654 0 -0.223283 0.14424 0 0] errNorm=2.65643e-15 -86: Postcompression verr=~[-4.16334e-17 0.348228 -0.138915 0.823685 -0.158543 1.80095] -86: impulse=~[-3.79654 0 -0.223283 0.14424 0 0] +86: DBG: 0: pi=-0.00533638 verr=-2.1684e-19 pi*v=1.15714e-21 +86: DBG: 1: pi=0 verr=0.00210487 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00533638 0 -0.00014155 0.000514523 0 0] errNorm=3.91489e-13 +86: Postcompression verr=~[-2.1684e-19 0.00210487 -0.410739 1.49412 -0.459849 2.35711] +86: impulse=~[-0.00533638 0 -0.00014155 0.000514523 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-3.79654 0 -0.223283 0.14424 0 0]-> du ~[-0.573616 1.35028 -0.68784 -0.767597 -0.031931 0.620685 -2.56649 1.51478] -86: Now verr0=~[2.77556e-17 0.348228 -0.138915 0.823685 -0.158543 1.80095] +86: Impact: imp ~[-0.00533638 0 -0.00014155 0.000514523 0 0]-> du ~[-0.00105336 0.00199944 -0.00095247 -0.0010528 -8.6191e-05 0.00105244 -0.00387888 0.00229629] +86: Now verr0=~[-4.98733e-18 0.00210487 -0.410739 1.49412 -0.459849 2.35711] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[2.77556e-17 0.348228 -0.138915 0.823685 -0.158543 1.80095] -86: verrExt=~[-0.377997 -0.310509 0.00272553 -0.444062 0.000725921 -0.344569] -86: total verr=~[-0.377997 0.0377194 -0.136189 0.379623 -0.157817 1.45638] -86: DYN t=0.109: verrStart=~[2.77556e-17 0.348228 -0.138915 0.823685 -0.158543 1.80095] -86: verrApplied=~[-0.377997 -0.310509 0.00272553 -0.444062 0.000725921 -0.344569] +86: verr0 =~[-4.98733e-18 0.00210487 -0.410739 1.49412 -0.459849 2.35711] +86: verrExt=~[-0.135708 -0.120433 0.00837799 -0.102689 0.00789439 -0.094264] +86: total verr=~[-0.135708 -0.118328 -0.402361 1.39143 -0.451955 2.26284] +86: DYN t=0.152: verrStart=~[-4.98733e-18 0.00210487 -0.410739 1.49412 -0.459849 2.35711] +86: verrApplied=~[-0.135708 -0.120433 0.00837799 -0.102689 0.00789439 -0.094264] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -48640,161 +59539,125 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[2.77556e-17 0.348228 -0.138915 0.823685 -0.158543 1.80095] -86: verrApplied=~[-0.377997 -0.310509 0.00272553 -0.444062 0.000725921 -0.344569] +86: verrLeft=~[-4.98733e-18 0.00210487 -0.410739 1.49412 -0.459849 2.35711] +86: verrApplied=~[-0.135708 -0.120433 0.00837799 -0.102689 0.00789439 -0.094264] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.138915,0.823685, mag=0.835317 -86: Participating contact 1 is Sliding; vel=-0.158543,1.80095, mag=1.80791 +86: Participating contact 0 is Sliding; vel=-0.410739,1.49412, mag=1.54955 +86: Participating contact 1 is Sliding; vel=-0.459849,2.35711, mag=2.40155 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.138915,0.823685, mag=0.835317 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.158543,1.80095, mag=1.80791 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.410739,1.49412, mag=1.54955 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.459849,2.35711, mag=2.40155 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.377997; guess pi=-0.01 -86: DBG: active normal 3 has v=0.0377194; guess pi=0.01 +86: DBG: active normal 0 has v=-0.135708; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.118328; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[2.77556e-17 0.348228 -0.138915 0.823685 -0.158543 1.80095] +86: : verrLeft was=~[-4.98733e-18 0.00210487 -0.410739 1.49412 -0.459849 2.35711] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.377997 -0.310509 0.00272553 -0.444062 0.000725921 -0.344569] -86: : rhsActive=~[-0.377997 -0.136189 0.379623 0.0377194 -0.157817 1.45638] +86: : verrApplied was=~[-0.135708 -0.120433 0.00837799 -0.102689 0.00789439 -0.094264] +86: : rhsActive=~[-0.135708 -0.402361 1.39143 -0.118328 -0.451955 2.26284] 86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.4183e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.378251... -86: > NEWTON iter 1: errNorm=0.378251(v) -> deltaNorm=2.45025(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[0.376477 0.000138915 -0.000823685 -0.03658 0 0] -86: > deltaPi=~[2.20015 0.0367539 -0.217929 -1.05557 -3.44802e-07 3.91673e-06] -86: DBG: Line search iter 1: back=1, prevNorm=0.378251. -86: > piNow=~[-2.21015 -0.0367539 0.217929 1.06557 3.44802e-07 -3.91673e-06] -86: > errNow=~[1.11022e-16 1.13845e-06 -6.75034e-06 1.17961e-16 6.23372e-07 -7.0811e-06] normNow=9.86883e-06 -86: DBG: Improvement rate now/prev at iter 1 is 2.60907e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.0025e-10 -86: > NEWTON iter 2: errNorm=9.86883e-06(v) -> deltaNorm=1.61295e-05(pi) -86: > piActive=~[-2.21015 -0.0367539 0.217929 1.06557 3.44802e-07 -3.91673e-06] -86: > errActive=~[1.11022e-16 1.13845e-06 -6.75034e-06 1.17961e-16 6.23372e-07 -7.0811e-06] -86: > deltaPi=~[1.15788e-05 1.55545e-06 -9.22293e-06 4.81135e-06 3.44802e-07 -3.91673e-06] -86: DBG: Line search iter 1: back=1, prevNorm=9.86883e-06. -86: > piNow=~[-2.21016 -0.0367554 0.217939 1.06557 -1.3843e-16 1.57248e-15] -86: > errNow=~[1.11022e-16 1.21431e-16 -6.93889e-16 -6.93889e-18 -2.50269e-16 2.8429e-15] normNow=2.94165e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.98075e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.94165e-15. -86: DBG: Worst offender is normal contact 1 err=1.06557 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.138915,0.823685, mag=0.835317 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.158543,1.80095, mag=1.80791 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.377997; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[2.77556e-17 0.348228 -0.138915 0.823685 -0.158543 1.80095] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.377997 -0.310509 0.00272553 -0.444062 0.000725921 -0.344569] -86: : rhsActive=~[-0.377997 -0.136189 0.379623] -86: : pi was=~[-2.21016 0 -0.0367554 0.217939 -1.3843e-16 1.57248e-15] -86: : piActive=~[-0.01 -0.0367554 0.217939] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.11145e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.479786... -86: > NEWTON iter 1: errNorm=0.479786(v) -> deltaNorm=1.73047(pi) -86: > piActive=~[-0.01 -0.0367554 0.217939] -86: > errActive=~[0.443191 -0.0305635 0.181224] -86: > deltaPi=~[1.72983 -0.00782281 0.0463848] -86: DBG: Line search iter 1: back=1, prevNorm=0.479786. -86: > piNow=~[-1.73983 -0.0289326 0.171554] -86: > errNow=~[-5.55112e-17 8.95083e-07 -5.30733e-06] normNow=5.38228e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.12181e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.05774e-10 -86: > NEWTON iter 2: errNorm=5.38228e-06(v) -> deltaNorm=1.16835e-05(pi) -86: > piActive=~[-1.73983 -0.0289326 0.171554] -86: > errActive=~[-5.55112e-17 8.95083e-07 -5.30733e-06] -86: > deltaPi=~[9.08078e-06 1.22256e-06 -7.24911e-06] -86: DBG: Line search iter 1: back=1, prevNorm=5.38228e-06. -86: > piNow=~[-1.73984 -0.0289339 0.171561] -86: > errNow=~[0 1.52656e-16 -8.88178e-16] normNow=9.01202e-16 -86: DBG: Improvement rate now/prev at iter 2 is 1.67439e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.01202e-16. +86: : piActive=~[-0.01 0 0 -0.01 0 0] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.06459e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.174213... +86: > NEWTON iter 1: errNorm=0.174213(v) -> deltaNorm=0.470049(pi) +86: > piActive=~[-0.01 0 0 -0.01 0 0] +86: > errActive=~[0.131329 0.000410739 -0.00149412 0.114433 0.000459849 -0.00235711] +86: > deltaPi=~[0.338703 0.00924272 -0.0336217 0.322345 0.00636352 -0.0326183] +86: DBG: Line search iter 1: back=1, prevNorm=0.174213. +86: > piNow=~[-0.348703 -0.00924272 0.0336217 -0.332345 -0.00636352 0.0326183] +86: > errNow=~[0 5.18199e-07 -1.88502e-06 -1.38778e-17 5.52138e-07 -2.83016e-06] normNow=3.48375e-06 +86: DBG: Improvement rate now/prev at iter 1 is 1.9997e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.38058e-09 +86: > NEWTON iter 2: errNorm=3.48375e-06(v) -> deltaNorm=2.73181e-06(pi) +86: > piActive=~[-0.348703 -0.00924272 0.0336217 -0.332345 -0.00636352 0.0326183] +86: > errActive=~[0 5.18199e-07 -1.88502e-06 -1.38778e-17 5.52138e-07 -2.83016e-06] +86: > deltaPi=~[1.39507e-06 3.71398e-07 -1.35101e-06 1.33196e-06 2.55414e-07 -1.30921e-06] +86: DBG: Line search iter 1: back=1, prevNorm=3.48375e-06. +86: > piNow=~[-0.348704 -0.00924309 0.0336231 -0.332346 -0.00636378 0.0326196] +86: > errNow=~[2.77556e-17 1.75554e-15 -6.39072e-15 -2.77556e-17 2.06432e-15 -1.05888e-14] normNow=1.26613e-14 +86: DBG: Improvement rate now/prev at iter 2 is 3.63438e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.26613e-14. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.138915,0.823685] to ~[-0.16028,0.839226] -86: DBG: Friction 0 rotated 1.23961 deg, less than max 30 +86: slipVel 0 from ~[-0.410739,1.49412] to ~[-0.409786,1.52815] +86: DBG: Friction 0 rotated 0.359946 deg, less than max 30 +86: slipVel 1 from ~[-0.459849,2.35711] to ~[-0.458291,2.38051] +86: DBG: Friction 1 rotated 0.14206 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.73984 -0.0289339 0.171561] -86: : m_verrLeft=~[0 0.184042 -0.16028 0.839226 -0.176348 1.6394] +86: : m_piActive=~[-0.348704 -0.00924309 0.0336231 -0.332346 -0.00636378 0.0326196] +86: : m_verrLeft=~[-2.77556e-17 2.77556e-17 -0.409786 1.52815 -0.458291 2.38051] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.73984 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.184042 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-1.73984 0 -0.0289339 0.171561 0 0] errNorm=9.01202e-16 +86: DBG: 0: pi=-0.348704 verr=-2.77556e-17 pi*v=9.67848e-18 +86: DBG: 1: pi=-0.332346 verr=2.77556e-17 pi*v=-9.22445e-18 +86: SP FINAL 1 intervals, piTotal=~[-0.348704 -0.332346 -0.00924309 0.0336231 -0.00636378 0.0326196] errNorm=1.26613e-14 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.138915 0.823685, |slipV|=0.835317 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.410739 1.49412, |slipV|=1.54955 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniOff friction cond=Sliding slipV=-0.158543 1.80095, |slipV|=1.80791 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.459849 2.35711, |slipV|=2.40155 86: ------------------------------ 86: -86: dynamics impulse=~[-1.73984 0 -0.0289339 0.171561 0 0] -86: updated verrStart=~[0 0.184042 -0.16028 0.839226 -0.176348 1.6394] +86: dynamics impulse=~[-0.348704 -0.332346 -0.00924309 0.0336231 -0.00636378 0.0326196] +86: updated verrStart=~[-2.77556e-17 2.77556e-17 -0.409786 1.52815 -0.458291 2.38051] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.327865 0.367741 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 1 participators +86: posVerr=~[0.304592 0.575057 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.247879 0.095895 -0.0120947 0.308472 -0.00827939 0.118683] -86: [0.095895 0.209838 0.00334072 0.120167 0.000536277 0.259667] -86: [-0.0120947 0.00334072 0.048438 0.0259372 0.0496778 -0.0358659] -86: [0.308472 0.120167 0.0259372 0.453708 0.0324272 0.130729] -86: [-0.00827939 0.000536277 0.0496778 0.0324272 0.0511518 -0.0410311] -86: [0.118683 0.259667 -0.0358659 0.130729 -0.0410311 0.387796] +86: [0.316854 0.121075 -0.0210856 0.32341 -0.00941509 0.119259] +86: [0.121075 0.268461 -0.00467155 0.12057 -0.01343 0.273778] +86: [-0.0210856 -0.00467155 0.046648 0.014523 0.0496011 -0.0374495] +86: [0.32341 0.12057 0.014523 0.38747 0.0306498 0.105042] +86: [-0.00941509 -0.01343 0.0496011 0.0306498 0.0542029 -0.0501981] +86: [0.119259 0.273778 -0.0374495 0.105042 -0.0501981 0.328334] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0 rank=1 -86: rhs=~[0.327865 0.367741 0 0 0 0] -86: active=(0) -86: -> piActive=~[1.32269] -86: -> pi=~[1.32269 0 0 0 0 0] -86: resid active=~[0] -86: resid=~[0 -0.240903 -0.0159974 0.408011 -0.010951 0.15698] +86: rcond(A+D)=0.406579 rank=2 +86: rhs=~[0.304592 0.575057 0 0 0 0] +86: active=(0,1) +86: -> piActive=~[0.172522 2.06424] +86: -> pi=~[0.172522 2.06424 0 0 0 0] +86: resid active=~[-5.55112e-17 -1.11022e-16] +86: resid=~[-5.55112e-17 -1.11022e-16 -0.0132809 0.30468 -0.029347 0.585717] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[4.16334e-17 0.184042 -0.16028 0.839226 -0.176348 1.6394] -86: perr=~[0.000327865 0.000367741 0] -86: END OF STEP (0.109,0.11): -86: verr=~[-0.000851634 0.184894 -0.159947 0.839429 -0.176681 1.6392] -86: perr=~[0.00032744 0.000552209 0] +86: verr=~[-2.16407e-16 -1.88651e-16 -0.409786 1.52815 -0.458291 2.38051] +86: perr=~[0.000304592 0.000575057 0] +86: END OF STEP (0.152,0.153): +86: verr=~[-0.00153123 0.00153123 -0.409422 1.52818 -0.458655 2.38049] +86: perr=~[0.000303827 0.000575822 0] 86: constraint status: 86: 0: cont UniActive fric Sliding -86: 2: cont UniOff fric Sliding +86: 2: cont UniActive fric Sliding 86: Proximal unilateral contacts: (0,2) 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.854532 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.64869 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000851634 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.58207 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.42427 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00153123 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (0) 86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000851634 0.184894 -0.159947 0.839429 -0.176681 1.6392] -86: IMP t=0.11 verr=~[-0.000851634 0.184894 -0.159947 0.839429 -0.176681 1.6392] +86: verr=~[-0.00153123 0.00153123 -0.409422 1.52818 -0.458655 2.38049] +86: IMP t=0.153 verr=~[-0.00153123 0.00153123 -0.409422 1.52818 -0.458655 2.38049] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -48806,115 +59669,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000851634 0.184894 -0.159947 0.839429 -0.176681 1.6392] +86: verrLeft=~[-0.00153123 0.00153123 -0.409422 1.52818 -0.458655 2.38049] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.159947,0.839429, mag=0.854532 -86: Participating contact 1 is Sliding; vel=-0.176681,1.6392, mag=1.64869 +86: Participating contact 0 is Sliding; vel=-0.409422,1.52818, mag=1.58207 +86: Participating contact 1 is Sliding; vel=-0.458655,2.38049, mag=2.42427 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.159947,0.839429, mag=0.854532 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.176681,1.6392, mag=1.64869 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.409422,1.52818, mag=1.58207 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.458655,2.38049, mag=2.42427 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000851634; guess pi=-0.01 -86: DBG: active normal 3 has v=0.184894; guess pi=0.01 +86: DBG: active normal 0 has v=-0.00153123; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00153123; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000851634 0.184894 -0.159947 0.839429 -0.176681 1.6392] +86: : verrLeft was=~[-0.00153123 0.00153123 -0.409422 1.52818 -0.458655 2.38049] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000851634 -0.159947 0.839429 0.184894 -0.176681 1.6392] +86: : rhsActive=~[-0.00153123 -0.409422 1.52818 0.00153123 -0.458655 2.38049] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.91705e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.183756... -86: > NEWTON iter 1: errNorm=0.183756(v) -> deltaNorm=1.15902(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.07829e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00164325... +86: > NEWTON iter 1: errNorm=0.00164325(v) -> deltaNorm=0.00126053(pi) 86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000670363 0.000159947 -0.000839429 -0.183753 0 0] -86: > deltaPi=~[0.467771 0.00894236 -0.046931 -1.05935 -4.22866e-07 3.92323e-06] -86: DBG: Line search iter 1: back=1, prevNorm=0.183756. -86: > piNow=~[-0.477771 -0.00894236 0.046931 1.06935 4.22866e-07 -3.92323e-06] -86: > errNow=~[-3.54534e-17 2.7869e-07 -1.46261e-06 -1.11022e-16 6.97175e-07 -6.4682e-06] normNow=6.67387e-06 -86: DBG: Improvement rate now/prev at iter 1 is 3.63192e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.49249e-09 -86: > NEWTON iter 2: errNorm=6.67387e-06(v) -> deltaNorm=6.98576e-06(pi) -86: > piActive=~[-0.477771 -0.00894236 0.046931 1.06935 4.22866e-07 -3.92323e-06] -86: > errActive=~[-3.54534e-17 2.7869e-07 -1.46261e-06 -1.11022e-16 6.97175e-07 -6.4682e-06] -86: > deltaPi=~[2.45402e-06 3.72065e-07 -1.95266e-06 4.82253e-06 4.22866e-07 -3.92323e-06] -86: DBG: Line search iter 1: back=1, prevNorm=6.67387e-06. -86: > piNow=~[-0.477774 -0.00894273 0.046933 1.06935 -1.68362e-16 1.56202e-15] -86: > errNow=~[2.08167e-17 6.40113e-16 -3.36536e-15 2.77556e-17 -2.77577e-16 2.57528e-15] normNow=4.29485e-15 -86: DBG: Improvement rate now/prev at iter 2 is 6.43532e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.29485e-15. -86: DBG: Worst offender is normal contact 1 err=1.06935 ... +86: > errActive=~[-0.000441845 0.000409422 -0.00152818 -4.56817e-05 0 0] +86: > deltaPi=~[-0.000656765 0.000241793 -0.000902497 0.000533501 3.75969e-10 -1.95134e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00164325. +86: > piNow=~[-0.00934324 -0.000241793 0.000902497 0.0094665 -3.75969e-10 1.95134e-09] +86: > errNow=~[0 -1.0016e-09 3.73848e-09 2.1684e-19 -9.11451e-10 4.73057e-09] normNow=6.17968e-09 +86: DBG: Improvement rate now/prev at iter 1 is 3.76065e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.21287e-05 +86: > NEWTON iter 2: errNorm=6.17968e-09(v) -> deltaNorm=4.7382e-09(pi) +86: > piActive=~[-0.00934324 -0.000241793 0.000902497 0.0094665 -3.75969e-10 1.95134e-09] +86: > errActive=~[0 -1.0016e-09 3.73848e-09 2.1684e-19 -9.11451e-10 4.73057e-09] +86: > deltaPi=~[-2.6974e-09 -7.02895e-10 2.62357e-09 -1.96171e-09 -3.75971e-10 1.95134e-09] +86: DBG: Line search iter 1: back=1, prevNorm=6.17968e-09. +86: > piNow=~[-0.00934323 -0.000241792 0.000902495 0.0094665 1.54265e-15 -8.00659e-15] +86: > errNow=~[0 -4.71232e-15 1.75886e-14 2.1684e-19 3.73981e-15 -1.94101e-14] normNow=2.68757e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.34905e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.68757e-14. +86: DBG: Worst offender is normal contact 1 err=0.0094665 ... 86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start 86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.159947,0.839429, mag=0.854532 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.176681,1.6392, mag=1.64869 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.409422,1.52818, mag=1.58207 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.458655,2.38049, mag=2.42427 86: fillMult2Active: 86: : active=(0,2,3) 86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000851634; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00153123; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000851634 0.184894 -0.159947 0.839429 -0.176681 1.6392] +86: : verrLeft was=~[-0.00153123 0.00153123 -0.409422 1.52818 -0.458655 2.38049] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000851634 -0.159947 0.839429] -86: : pi was=~[-0.477774 0 -0.00894273 0.046933 -1.68362e-16 1.56202e-15] -86: : piActive=~[-0.01 -0.00894273 0.046933] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.18303e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0420224... -86: > NEWTON iter 1: errNorm=0.0420224(v) -> deltaNorm=0.0477786(pi) -86: > piActive=~[-0.01 -0.00894273 0.046933] -86: > errActive=~[0.0129638 -0.00748191 0.0392663] -86: > deltaPi=~[-0.00610117 -0.00886975 0.04655] -86: DBG: Line search iter 1: back=1, prevNorm=0.0420224. -86: > piNow=~[-0.00389883 -7.29807e-05 0.000383015] -86: > errNow=~[9.75782e-19 -3.63497e-09 1.90769e-08] normNow=1.94202e-08 -86: DBG: Improvement rate now/prev at iter 1 is 4.62138e-07 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.09267e-05 -86: > NEWTON iter 2: errNorm=1.94202e-08(v) -> deltaNorm=4.10135e-08(pi) -86: > piActive=~[-0.00389883 -7.29807e-05 0.000383015] -86: > errActive=~[9.75782e-19 -3.63497e-09 1.90769e-08] -86: > deltaPi=~[-3.17968e-08 -4.84877e-09 2.54472e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.94202e-08. -86: > piNow=~[-0.0038988 -7.29758e-05 0.00038299] -86: > errNow=~[0 -1.24547e-13 6.53641e-13] normNow=6.65401e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.42634e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.65401e-13. +86: : rhsActive=~[-0.00153123 -0.409422 1.52818] +86: : pi was=~[-0.00934323 0 -0.000241792 0.000902495 1.54265e-15 -8.00659e-15] +86: : piActive=~[-0.01 -0.000241792 0.000902495] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.89302e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00136757... +86: > NEWTON iter 1: errNorm=0.00136757(v) -> deltaNorm=0.00468923(pi) +86: > piActive=~[-0.01 -0.000241792 0.000902495] +86: > errActive=~[-0.00136361 2.68895e-05 -0.000100366] +86: > deltaPi=~[-0.00467201 -0.000103905 0.000387829] +86: DBG: Line search iter 1: back=1, prevNorm=0.00136757. +86: > piNow=~[-0.00532799 -0.000137887 0.000514666] +86: > errNow=~[-2.1684e-19 -7.12503e-09 2.65943e-08] normNow=2.75323e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.01323e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.07534e-05 +86: > NEWTON iter 2: errNorm=2.75323e-08(v) -> deltaNorm=2.72887e-08(pi) +86: > piActive=~[-0.00532799 -0.000137887 0.000514666] +86: > errActive=~[-2.1684e-19 -7.12503e-09 2.65943e-08] +86: > deltaPi=~[-1.92633e-08 -5.00205e-09 1.86703e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.75323e-08. +86: > piNow=~[-0.00532797 -0.000137882 0.000514647] +86: > errNow=~[0 -1.03458e-13 3.86159e-13] normNow=3.99778e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.45203e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.99778e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.159947,0.839429] to ~[-0.160001,0.840462] -86: DBG: Friction 0 rotated 0.00941004 deg, less than max 30 +86: slipVel 0 from ~[-0.409422,1.52818] to ~[-0.409537,1.52971] +86: DBG: Friction 0 rotated 0.0103134 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.0038988 -7.29758e-05 0.00038299] -86: : m_verrLeft=~[0 0.185225 -0.160001 0.840462 -0.176722 1.63961] +86: : m_piActive=~[-0.00532797 -0.000137882 0.000514647] +86: : m_verrLeft=~[0 0.00211804 -0.409537 1.52971 -0.458714 2.38106] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.0038988 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.185225 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.0038988 0 -7.29758e-05 0.00038299 0 0] errNorm=6.65401e-13 -86: Postcompression verr=~[0 0.185225 -0.160001 0.840462 -0.176722 1.63961] -86: impulse=~[-0.0038988 0 -7.29758e-05 0.00038299 0 0] +86: DBG: 0: pi=-0.00532797 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00211804 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00532797 0 -0.000137882 0.000514647 0 0] errNorm=3.99778e-13 +86: Postcompression verr=~[0 0.00211804 -0.409537 1.52971 -0.458714 2.38106] +86: impulse=~[-0.00532797 0 -0.000137882 0.000514647 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.0038988 0 -7.29758e-05 0.00038299 0 0]-> du ~[-0.000546955 0.00127659 -0.000620919 -0.000722007 -4.71624e-05 0.000591535 -0.00242685 0.00145106] -86: Now verr0=~[-1.38778e-17 0.185225 -0.160001 0.840462 -0.176722 1.63961] +86: Impact: imp ~[-0.00532797 0 -0.000137882 0.000514647 0 0]-> du ~[-0.00106176 0.00200404 -0.000952961 -0.00105218 -8.66867e-05 0.00105902 -0.00389002 0.00230224] +86: Now verr0=~[-7.15573e-18 0.00211804 -0.409537 1.52971 -0.458714 2.38106] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-1.38778e-17 0.185225 -0.160001 0.840462 -0.176722 1.63961] -86: verrExt=~[-0.439358 -0.360596 0.00518781 -0.522198 0.00278939 -0.408132] -86: total verr=~[-0.439358 -0.175371 -0.154813 0.318264 -0.173932 1.23148] -86: DYN t=0.11: verrStart=~[-1.38778e-17 0.185225 -0.160001 0.840462 -0.176722 1.63961] -86: verrApplied=~[-0.439358 -0.360596 0.00518781 -0.522198 0.00278939 -0.408132] +86: verr0 =~[-7.15573e-18 0.00211804 -0.409537 1.52971 -0.458714 2.38106] +86: verrExt=~[-0.134083 -0.119062 0.00825396 -0.100883 0.00777234 -0.0926161] +86: total verr=~[-0.134083 -0.116944 -0.401283 1.42882 -0.450942 2.28845] +86: DYN t=0.153: verrStart=~[-7.15573e-18 0.00211804 -0.409537 1.52971 -0.458714 2.38106] +86: verrApplied=~[-0.134083 -0.119062 0.00825396 -0.100883 0.00777234 -0.0926161] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -48926,108 +59789,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-1.38778e-17 0.185225 -0.160001 0.840462 -0.176722 1.63961] -86: verrApplied=~[-0.439358 -0.360596 0.00518781 -0.522198 0.00278939 -0.408132] +86: verrLeft=~[-7.15573e-18 0.00211804 -0.409537 1.52971 -0.458714 2.38106] +86: verrApplied=~[-0.134083 -0.119062 0.00825396 -0.100883 0.00777234 -0.0926161] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.160001,0.840462, mag=0.855556 -86: Participating contact 1 is Sliding; vel=-0.176722,1.63961, mag=1.64911 +86: Participating contact 0 is Sliding; vel=-0.409537,1.52971, mag=1.58358 +86: Participating contact 1 is Sliding; vel=-0.458714,2.38106, mag=2.42485 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.160001,0.840462, mag=0.855556 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.176722,1.63961, mag=1.64911 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.409537,1.52971, mag=1.58358 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.458714,2.38106, mag=2.42485 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.439358; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.175371; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.134083; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.116944; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-1.38778e-17 0.185225 -0.160001 0.840462 -0.176722 1.63961] +86: : verrLeft was=~[-7.15573e-18 0.00211804 -0.409537 1.52971 -0.458714 2.38106] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.439358 -0.360596 0.00518781 -0.522198 0.00278939 -0.408132] -86: : rhsActive=~[-0.439358 -0.154813 0.318264 -0.175371 -0.173932 1.23148] +86: : verrApplied was=~[-0.134083 -0.119062 0.00825396 -0.100883 0.00777234 -0.0926161] +86: : rhsActive=~[-0.134083 -0.401283 1.42882 -0.116944 -0.450942 2.28845] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.92018e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.468719... -86: > NEWTON iter 1: errNorm=0.468719(v) -> deltaNorm=2.0003(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.07877e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.172037... +86: > NEWTON iter 1: errNorm=0.172037(v) -> deltaNorm=0.460574(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.4359 0.000160001 -0.000840462 0.172294 0.000176722 -0.00163961] -86: > deltaPi=~[1.99018 0.0374048 -0.196482 0.0188348 0.000308992 -0.0028668] -86: DBG: Line search iter 1: back=1, prevNorm=0.468719. -86: > piNow=~[-2.00018 -0.0374048 0.196482 -0.0288348 -0.000308992 0.0028668] -86: > errNow=~[0 1.18611e-06 -6.2305e-06 -2.77556e-17 1.23983e-08 -1.1503e-07] normNow=6.34345e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.35336e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.38874e-07 -86: > NEWTON iter 2: errNorm=6.34345e-06(v) -> deltaNorm=1.33965e-05(pi) -86: > piActive=~[-2.00018 -0.0374048 0.196482 -0.0288348 -0.000308992 0.0028668] -86: > errActive=~[0 1.18611e-06 -6.2305e-06 -2.77556e-17 1.23983e-08 -1.1503e-07] -86: > deltaPi=~[1.0393e-05 1.58073e-06 -8.30335e-06 4.62177e-08 8.01346e-09 -7.43482e-08] -86: DBG: Line search iter 1: back=1, prevNorm=6.34345e-06. -86: > piNow=~[-2.00019 -0.0374064 0.19649 -0.0288348 -0.000309 0.00286688] -86: > errNow=~[0 1.59595e-16 -8.04912e-16 -5.55112e-17 3.65951e-15 -3.3952e-14] normNow=3.41586e-14 -86: DBG: Improvement rate now/prev at iter 2 is 5.38486e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.41586e-14. +86: > errActive=~[0.129672 0.000409537 -0.00152971 0.11302 0.000458714 -0.00238106] +86: > deltaPi=~[0.331761 0.00883812 -0.0330123 0.315963 0.00616609 -0.0320065] +86: DBG: Line search iter 1: back=1, prevNorm=0.172037. +86: > piNow=~[-0.341761 -0.00883812 0.0330123 -0.325963 -0.00616609 0.0320065] +86: > errNow=~[0 5.06092e-07 -1.89036e-06 -1.38778e-17 5.3987e-07 -2.80232e-06] normNow=3.46036e-06 +86: DBG: Improvement rate now/prev at iter 1 is 2.0114e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.87855e-09 +86: > NEWTON iter 2: errNorm=3.46036e-06(v) -> deltaNorm=2.66735e-06(pi) +86: > piActive=~[-0.341761 -0.00883812 0.0330123 -0.325963 -0.00616609 0.0320065] +86: > errActive=~[0 5.06092e-07 -1.89036e-06 -1.38778e-17 5.3987e-07 -2.80232e-06] +86: > deltaPi=~[1.35801e-06 3.54708e-07 -1.32491e-06 1.29697e-06 2.47176e-07 -1.28303e-06] +86: DBG: Line search iter 1: back=1, prevNorm=3.46036e-06. +86: > piNow=~[-0.341762 -0.00883848 0.0330136 -0.325964 -0.00616634 0.0320078] +86: > errNow=~[2.77556e-17 1.77115e-15 -6.6197e-15 -1.38778e-17 2.08514e-15 -1.08108e-14] normNow=1.29684e-14 +86: DBG: Improvement rate now/prev at iter 2 is 3.74771e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.29684e-14. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.160001,0.840462] to ~[-0.182159,0.851097] -86: DBG: Friction 0 rotated 1.30208 deg, less than max 30 -86: slipVel 1 from ~[-0.176722,1.63961] to ~[-0.194637,1.44895] -86: DBG: Friction 1 rotated 1.49895 deg, less than max 30 +86: slipVel 0 from ~[-0.409537,1.52971] to ~[-0.408703,1.56297] +86: DBG: Friction 0 rotated 0.333669 deg, less than max 30 +86: slipVel 1 from ~[-0.458714,2.38106] to ~[-0.457281,2.40397] +86: DBG: Friction 1 rotated 0.134404 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.00019 -0.0374064 0.19649 -0.0288348 -0.000309 0.00286688] -86: : m_verrLeft=~[0 5.55112e-17 -0.182159 0.851097 -0.194637 1.44895] +86: : m_piActive=~[-0.341762 -0.00883848 0.0330136 -0.325964 -0.00616634 0.0320078] +86: : m_verrLeft=~[-2.77556e-17 1.38778e-17 -0.408703 1.56297 -0.457281 2.40397] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.00019 verr=0 pi*v=-0 -86: DBG: 1: pi=-0.0288348 verr=5.55112e-17 pi*v=-1.60065e-18 -86: SP FINAL 1 intervals, piTotal=~[-2.00019 -0.0288348 -0.0374064 0.19649 -0.000309 0.00286688] errNorm=3.41586e-14 +86: DBG: 0: pi=-0.341762 verr=-2.77556e-17 pi*v=9.48581e-18 +86: DBG: 1: pi=-0.325964 verr=1.38778e-17 pi*v=-4.52366e-18 +86: SP FINAL 1 intervals, piTotal=~[-0.341762 -0.325964 -0.00883848 0.0330136 -0.00616634 0.0320078] errNorm=1.29684e-14 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.160001 0.840462, |slipV|=0.855556 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.409537 1.52971, |slipV|=1.58358 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.176722 1.63961, |slipV|=1.64911 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.458714 2.38106, |slipV|=2.42485 86: ------------------------------ 86: -86: dynamics impulse=~[-2.00019 -0.0288348 -0.0374064 0.19649 -0.000309 0.00286688] -86: updated verrStart=~[0 5.55112e-17 -0.182159 0.851097 -0.194637 1.44895] +86: dynamics impulse=~[-0.341762 -0.325964 -0.00883848 0.0330136 -0.00616634 0.0320078] +86: updated verrStart=~[-2.77556e-17 1.38778e-17 -0.408703 1.56297 -0.457281 2.40397] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.32744 0.552209 0 0 0 0] +86: posVerr=~[0.303827 0.575822 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.248998 0.0967981 -0.0121342 0.308816 -0.00813841 0.119006] -86: [0.0967981 0.210885 0.00303782 0.120582 0.000101163 0.260056] -86: [-0.0121342 0.00303782 0.0484786 0.0259302 0.0497722 -0.0362111] -86: [0.308816 0.120582 0.0259302 0.452659 0.0327026 0.130203] -86: [-0.00813841 0.000101163 0.0497722 0.0327026 0.0513211 -0.0416002] -86: [0.119006 0.260056 -0.0362111 0.130203 -0.0416002 0.38689] +86: [0.319208 0.1219 -0.0212748 0.323647 -0.00941056 0.119181] +86: [0.1219 0.270455 -0.00488182 0.120476 -0.0137905 0.274004] +86: [-0.0212748 -0.00488182 0.0466088 0.0143459 0.0495953 -0.0374353] +86: [0.323647 0.120476 0.0143459 0.385163 0.0306313 0.104186] +86: [-0.00941056 -0.0137905 0.0495953 0.0306313 0.0542718 -0.050307] +86: [0.119181 0.274004 -0.0374353 0.104186 -0.050307 0.326292] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.399532 rank=2 -86: rhs=~[0.32744 0.552209 0 0 0 0] +86: rcond(A+D)=0.406824 rank=2 +86: rhs=~[0.303827 0.575822 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.361596 2.45256] -86: -> pi=~[0.361596 2.45256 0 0 0 0] -86: resid active=~[0 -1.11022e-16] -86: resid=~[0 -1.11022e-16 0.00306275 0.407402 -0.0026947 0.680835] +86: -> piActive=~[0.167601 2.05354] +86: -> pi=~[0.167601 2.05354 0 0 0 0] +86: resid active=~[-1.11022e-16 0] +86: resid=~[-1.11022e-16 0 -0.0135907 0.301646 -0.0298966 0.582653] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-1.14492e-16 -7.97973e-17 -0.182159 0.851097 -0.194637 1.44895] -86: perr=~[0.00032744 0.000552209 0] -86: END OF STEP (0.11,0.111): -86: verr=~[-0.000589465 0.000589465 -0.18198 0.851101 -0.194816 1.44895] -86: perr=~[0.000327145 0.000552504 2.22045e-16] +86: verr=~[2.81025e-16 3.08781e-16 -0.408703 1.56297 -0.457281 2.40397] +86: perr=~[0.000303827 0.000575822 0] +86: END OF STEP (0.153,0.154): +86: verr=~[-0.0015405 0.0015405 -0.408348 1.56299 -0.457636 2.40395] +86: perr=~[0.000303056 0.000576592 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -49035,16 +59898,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.870339 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.46199 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000589465 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.61545 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.44712 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.0015405 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (0) 86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000589465 0.000589465 -0.18198 0.851101 -0.194816 1.44895] -86: IMP t=0.111 verr=~[-0.000589465 0.000589465 -0.18198 0.851101 -0.194816 1.44895] +86: verr=~[-0.0015405 0.0015405 -0.408348 1.56299 -0.457636 2.40395] +86: IMP t=0.154 verr=~[-0.0015405 0.0015405 -0.408348 1.56299 -0.457636 2.40395] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -49056,115 +59919,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000589465 0.000589465 -0.18198 0.851101 -0.194816 1.44895] +86: verrLeft=~[-0.0015405 0.0015405 -0.408348 1.56299 -0.457636 2.40395] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.18198,0.851101, mag=0.870339 -86: Participating contact 1 is Sliding; vel=-0.194816,1.44895, mag=1.46199 +86: Participating contact 0 is Sliding; vel=-0.408348,1.56299, mag=1.61545 +86: Participating contact 1 is Sliding; vel=-0.457636,2.40395, mag=2.44712 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.18198,0.851101, mag=0.870339 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.194816,1.44895, mag=1.46199 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.408348,1.56299, mag=1.61545 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.457636,2.40395, mag=2.44712 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000589465; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000589465; guess pi=0.01 +86: DBG: active normal 0 has v=-0.0015405; guess pi=-0.01 +86: DBG: active normal 3 has v=0.0015405; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000589465 0.000589465 -0.18198 0.851101 -0.194816 1.44895] +86: : verrLeft was=~[-0.0015405 0.0015405 -0.408348 1.56299 -0.457636 2.40395] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000589465 -0.18198 0.851101 0.000589465 -0.194816 1.44895] +86: : rhsActive=~[-0.0015405 -0.408348 1.56299 0.0015405 -0.457636 2.40395] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.33764e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00139189... -86: > NEWTON iter 1: errNorm=0.00139189(v) -> deltaNorm=0.00743739(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.09223e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00167696... +86: > NEWTON iter 1: errNorm=0.00167696(v) -> deltaNorm=0.00127738(pi) 86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000934951 0.00018198 -0.000851101 0.000552923 0 0] -86: > deltaPi=~[-0.00521675 0.000100017 -0.000467771 0.00527934 2.62043e-09 -1.94895e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.00139189. -86: > piNow=~[-0.00478325 -0.000100017 0.000467771 0.00472066 -2.62043e-09 1.94895e-08] -86: > errNow=~[0 -3.53618e-09 1.65384e-08 -2.1684e-19 -3.83102e-09 2.84934e-08] normNow=3.33552e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.3964e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.8237e-05 -86: > NEWTON iter 2: errNorm=3.33552e-08(v) -> deltaNorm=4.66495e-08(pi) -86: > piActive=~[-0.00478325 -0.000100017 0.000467771 0.00472066 -2.62043e-09 1.94895e-08] -86: > errActive=~[0 -3.53618e-09 1.65384e-08 -2.1684e-19 -3.83102e-09 2.84934e-08] -86: > deltaPi=~[-2.70919e-08 -4.62937e-09 2.16511e-08 -2.37757e-08 -2.62048e-09 1.94899e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.33552e-08. -86: > piNow=~[-0.00478322 -0.000100013 0.00046775 0.00472068 5.2936e-14 -3.93713e-13] -86: > errNow=~[0 -8.02351e-14 3.75252e-13 2.1684e-19 7.73916e-14 -5.75603e-13] normNow=6.96103e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.08694e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.96103e-13. -86: DBG: Worst offender is normal contact 1 err=0.00472068 ... +86: > errActive=~[-0.000447911 0.000408348 -0.00156299 -4.3289e-05 0 0] +86: > deltaPi=~[-0.000678676 0.000235621 -0.000901864 0.000549753 3.82952e-10 -2.01163e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00167696. +86: > piNow=~[-0.00932132 -0.000235621 0.000901864 0.00945025 -3.82952e-10 2.01163e-09] +86: > errNow=~[0 -1.0323e-09 3.95122e-09 0 -9.37128e-10 4.92271e-09] normNow=6.46444e-09 +86: DBG: Improvement rate now/prev at iter 1 is 3.85486e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.23342e-05 +86: > NEWTON iter 2: errNorm=6.46444e-09(v) -> deltaNorm=4.8752e-09(pi) +86: > piActive=~[-0.00932132 -0.000235621 0.000901864 0.00945025 -3.82952e-10 2.01163e-09] +86: > errActive=~[0 -1.0323e-09 3.95122e-09 0 -9.37128e-10 4.92271e-09] +86: > deltaPi=~[-2.7697e-09 -7.09022e-10 2.71385e-09 -2.0088e-09 -3.82953e-10 2.01164e-09] +86: DBG: Line search iter 1: back=1, prevNorm=6.46444e-09. +86: > piNow=~[-0.00932132 -0.000235621 0.000901861 0.00945025 1.56683e-15 -8.2305e-15] +86: > errNow=~[0 -4.84855e-15 1.85581e-14 0 3.83422e-15 -2.0141e-14] normNow=2.80762e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.34317e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.80762e-14. +86: DBG: Worst offender is normal contact 1 err=0.00945025 ... 86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start 86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.18198,0.851101, mag=0.870339 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.194816,1.44895, mag=1.46199 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.408348,1.56299, mag=1.61545 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.457636,2.40395, mag=2.44712 86: fillMult2Active: 86: : active=(0,2,3) 86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000589465; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.0015405; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000589465 0.000589465 -0.18198 0.851101 -0.194816 1.44895] +86: : verrLeft was=~[-0.0015405 0.0015405 -0.408348 1.56299 -0.457636 2.40395] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000589465 -0.18198 0.851101] -86: : pi was=~[-0.00478322 0 -0.000100013 0.00046775 5.2936e-14 -3.93713e-13] -86: : piActive=~[-0.01 -0.000100013 0.00046775] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.2419e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0018226... -86: > NEWTON iter 1: errNorm=0.0018226(v) -> deltaNorm=0.0073182(pi) -86: > piActive=~[-0.01 -0.000100013 0.00046775] -86: > errActive=~[-0.00176514 9.49348e-05 -0.000444001] -86: > deltaPi=~[-0.00731519 -4.38702e-05 0.000205177] -86: DBG: Line search iter 1: back=1, prevNorm=0.0018226. -86: > piNow=~[-0.00268481 -5.61425e-05 0.000262573] -86: > errNow=~[-7.58942e-19 -4.95862e-09 2.3191e-08] normNow=2.37152e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.30117e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.49107e-05 -86: > NEWTON iter 2: errNorm=2.37152e-08(v) -> deltaNorm=4.89247e-08(pi) -86: > piActive=~[-0.00268481 -5.61425e-05 0.000262573] -86: > errActive=~[-7.58942e-19 -4.95862e-09 2.3191e-08] -86: > deltaPi=~[-3.78264e-08 -6.48784e-09 3.0343e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.37152e-08. -86: > piNow=~[-0.00268477 -5.6136e-05 0.000262543] -86: > errNow=~[0 -3.55205e-13 1.66126e-12] normNow=1.69881e-12 -86: DBG: Improvement rate now/prev at iter 2 is 7.1634e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.69881e-12. +86: : rhsActive=~[-0.0015405 -0.408348 1.56299] +86: : pi was=~[-0.00932132 0 -0.000235621 0.000901861 1.56683e-15 -8.2305e-15] +86: : piActive=~[-0.01 -0.000235621 0.000901861] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.01737e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0013827... +86: > NEWTON iter 1: errNorm=0.0013827(v) -> deltaNorm=0.00469989(pi) +86: > piActive=~[-0.01 -0.000235621 0.000901861] +86: > errActive=~[-0.00137834 2.77137e-05 -0.000106077] +86: > deltaPi=~[-0.0046828 -0.00010121 0.000387392] +86: DBG: Line search iter 1: back=1, prevNorm=0.0013827. +86: > piNow=~[-0.0053172 -0.00013441 0.000514469] +86: > errNow=~[0 -7.12275e-09 2.7263e-08] normNow=2.81781e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.03791e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.12773e-05 +86: > NEWTON iter 2: errNorm=2.81781e-08(v) -> deltaNorm=2.72615e-08(pi) +86: > piActive=~[-0.0053172 -0.00013441 0.000514469] +86: > errActive=~[0 -7.12275e-09 2.7263e-08] +86: > deltaPi=~[-1.91915e-08 -4.89418e-09 1.8733e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.81781e-08. +86: > piNow=~[-0.00531718 -0.000134406 0.00051445] +86: > errNow=~[2.1684e-19 -1.03219e-13 3.95082e-13] normNow=4.08343e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.44915e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.08343e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.18198,0.851101] to ~[-0.182016,0.851814] -86: DBG: Friction 0 rotated 0.00744861 deg, less than max 30 +86: slipVel 0 from ~[-0.408348,1.56299] to ~[-0.408463,1.56452] +86: DBG: Friction 0 rotated 0.00973163 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00268477 -5.6136e-05 0.000262543] -86: : m_verrLeft=~[0 0.000819904 -0.182016 0.851814 -0.194843 1.44923] +86: : m_piActive=~[-0.00531718 -0.000134406 0.00051445] +86: : m_verrLeft=~[-2.1684e-19 0.0021306 -0.408463 1.56452 -0.457695 2.40452] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00268477 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.000819904 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00268477 0 -5.6136e-05 0.000262543 0 0] errNorm=1.69881e-12 -86: Postcompression verr=~[0 0.000819904 -0.182016 0.851814 -0.194843 1.44923] -86: impulse=~[-0.00268477 0 -5.6136e-05 0.000262543 0 0] +86: DBG: 0: pi=-0.00531718 verr=-2.1684e-19 pi*v=1.15298e-21 +86: DBG: 1: pi=0 verr=0.0021306 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00531718 0 -0.000134406 0.00051445 0 0] errNorm=4.08343e-13 +86: Postcompression verr=~[-2.1684e-19 0.0021306 -0.408463 1.56452 -0.457695 2.40452] +86: impulse=~[-0.00531718 0 -0.000134406 0.00051445 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00268477 0 -5.6136e-05 0.000262543 0 0]-> du ~[-0.000378055 0.000882508 -0.000428554 -0.00049847 -3.19683e-05 0.000409952 -0.00167828 0.00100556] -86: Now verr0=~[-5.42101e-20 0.000819904 -0.182016 0.851814 -0.194843 1.44923] +86: Impact: imp ~[-0.00531718 0 -0.000134406 0.00051445 0 0]-> du ~[-0.0010697 0.00200791 -0.000952979 -0.00105107 -8.70666e-05 0.0010653 -0.00389975 0.00230745] +86: Now verr0=~[-4.98733e-18 0.0021306 -0.408463 1.56452 -0.457695 2.40452] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-5.42101e-20 0.000819904 -0.182016 0.851814 -0.194843 1.44923] -86: verrExt=~[-0.478325 -0.391515 0.00655577 -0.570597 0.00384915 -0.445441] -86: total verr=~[-0.478325 -0.390695 -0.175461 0.281218 -0.190994 1.00379] -86: DYN t=0.111: verrStart=~[-5.42101e-20 0.000819904 -0.182016 0.851814 -0.194843 1.44923] -86: verrApplied=~[-0.478325 -0.391515 0.00655577 -0.570597 0.00384915 -0.445441] +86: verr0 =~[-4.98733e-18 0.0021306 -0.408463 1.56452 -0.457695 2.40452] +86: verrExt=~[-0.135096 -0.119723 0.00825134 -0.101885 0.00773025 -0.0930658] +86: total verr=~[-0.135096 -0.117593 -0.400212 1.46263 -0.449965 2.31146] +86: DYN t=0.154: verrStart=~[-4.98733e-18 0.0021306 -0.408463 1.56452 -0.457695 2.40452] +86: verrApplied=~[-0.135096 -0.119723 0.00825134 -0.101885 0.00773025 -0.0930658] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -49176,108 +60039,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-5.42101e-20 0.000819904 -0.182016 0.851814 -0.194843 1.44923] -86: verrApplied=~[-0.478325 -0.391515 0.00655577 -0.570597 0.00384915 -0.445441] +86: verrLeft=~[-4.98733e-18 0.0021306 -0.408463 1.56452 -0.457695 2.40452] +86: verrApplied=~[-0.135096 -0.119723 0.00825134 -0.101885 0.00773025 -0.0930658] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.182016,0.851814, mag=0.871044 -86: Participating contact 1 is Sliding; vel=-0.194843,1.44923, mag=1.46227 +86: Participating contact 0 is Sliding; vel=-0.408463,1.56452, mag=1.61696 +86: Participating contact 1 is Sliding; vel=-0.457695,2.40452, mag=2.4477 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.182016,0.851814, mag=0.871044 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.194843,1.44923, mag=1.46227 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.408463,1.56452, mag=1.61696 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.457695,2.40452, mag=2.4477 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.478325; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.390695; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.135096; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.117593; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-5.42101e-20 0.000819904 -0.182016 0.851814 -0.194843 1.44923] +86: : verrLeft was=~[-4.98733e-18 0.0021306 -0.408463 1.56452 -0.457695 2.40452] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.478325 -0.391515 0.00655577 -0.570597 0.00384915 -0.445441] -86: : rhsActive=~[-0.478325 -0.175461 0.281218 -0.390695 -0.190994 1.00379] +86: : verrApplied was=~[-0.135096 -0.119723 0.00825134 -0.101885 0.00773025 -0.0930658] +86: : rhsActive=~[-0.135096 -0.400212 1.46263 -0.117593 -0.449965 2.31146] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.3399e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.612959... -86: > NEWTON iter 1: errNorm=0.612959(v) -> deltaNorm=2.12516(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.09271e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.173184... +86: > NEWTON iter 1: errNorm=0.173184(v) -> deltaNorm=0.459881(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.474849 0.000182016 -0.000851814 0.387601 0.000194843 -0.00144923] -86: > deltaPi=~[1.64749 0.0346343 -0.162084 1.32543 0.0177935 -0.132347] -86: DBG: Line search iter 1: back=1, prevNorm=0.612959. -86: > piNow=~[-1.65749 -0.0346343 0.162084 -1.33543 -0.0177935 0.132347] -86: > errNow=~[0 1.11698e-06 -5.22733e-06 1.11022e-16 9.6195e-07 -7.15493e-06] normNow=8.98282e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.46548e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.22202e-10 -86: > NEWTON iter 2: errNorm=8.98282e-06(v) -> deltaNorm=1.41293e-05(pi) -86: > piActive=~[-1.65749 -0.0346343 0.162084 -1.33543 -0.0177935 0.132347] -86: > errActive=~[0 1.11698e-06 -5.22733e-06 1.11022e-16 9.6195e-07 -7.15493e-06] -86: > deltaPi=~[8.55501e-06 1.46112e-06 -6.83784e-06 6.78421e-06 7.48244e-07 -5.5654e-06] -86: DBG: Line search iter 1: back=1, prevNorm=8.98282e-06. -86: > piNow=~[-1.6575 -0.0346357 0.162091 -1.33544 -0.0177942 0.132353] -86: > errNow=~[0 2.08167e-16 -9.71445e-16 -5.55112e-17 2.74086e-16 -2.05391e-15] normNow=2.29865e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.55894e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.29865e-15. +86: > errActive=~[0.130652 0.000408463 -0.00156452 0.113641 0.000457695 -0.00240452] +86: > deltaPi=~[0.332042 0.00864007 -0.0330937 0.314666 0.00607071 -0.0318928] +86: DBG: Line search iter 1: back=1, prevNorm=0.173184. +86: > piNow=~[-0.342042 -0.00864007 0.0330937 -0.324666 -0.00607071 0.0318928] +86: > errNow=~[0 5.05194e-07 -1.93502e-06 2.77556e-17 5.3646e-07 -2.81832e-06] normNow=3.49718e-06 +86: DBG: Improvement rate now/prev at iter 1 is 2.01934e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.00589e-08 +86: > NEWTON iter 2: errNorm=3.49718e-06(v) -> deltaNorm=2.65366e-06(pi) +86: > piActive=~[-0.342042 -0.00864007 0.0330937 -0.324666 -0.00607071 0.0318928] +86: > errActive=~[0 5.05194e-07 -1.93502e-06 2.77556e-17 5.3646e-07 -2.81832e-06] +86: > deltaPi=~[1.35041e-06 3.46547e-07 -1.32736e-06 1.28273e-06 2.43155e-07 -1.27743e-06] +86: DBG: Line search iter 1: back=1, prevNorm=3.49718e-06. +86: > piNow=~[-0.342044 -0.00864042 0.033095 -0.324667 -0.00607096 0.0318941] +86: > errNow=~[0 1.75554e-15 -6.71685e-15 0 2.07473e-15 -1.09218e-14] normNow=1.31068e-14 +86: DBG: Improvement rate now/prev at iter 2 is 3.74783e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.31068e-14. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.182016,0.851814] to ~[-0.188618,0.866183] -86: DBG: Friction 0 rotated 0.223169 deg, less than max 30 -86: slipVel 1 from ~[-0.194843,1.44923] to ~[-0.201691,1.47511] -86: DBG: Friction 1 rotated 0.128498 deg, less than max 30 +86: slipVel 0 from ~[-0.408463,1.56452] to ~[-0.407776,1.59684] +86: DBG: Friction 0 rotated 0.306954 deg, less than max 30 +86: slipVel 1 from ~[-0.457695,2.40452] to ~[-0.45642,2.42683] +86: DBG: Friction 1 rotated 0.125848 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.6575 -0.0346357 0.162091 -1.33544 -0.0177942 0.132353] -86: : m_verrLeft=~[0 5.55112e-17 -0.188618 0.866183 -0.201691 1.47511] +86: : m_piActive=~[-0.342044 -0.00864042 0.033095 -0.324667 -0.00607096 0.0318941] +86: : m_verrLeft=~[0 0 -0.407776 1.59684 -0.45642 2.42683] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.6575 verr=0 pi*v=-0 -86: DBG: 1: pi=-1.33544 verr=5.55112e-17 pi*v=-7.41315e-17 -86: SP FINAL 1 intervals, piTotal=~[-1.6575 -1.33544 -0.0346357 0.162091 -0.0177942 0.132353] errNorm=2.29865e-15 +86: DBG: 0: pi=-0.342044 verr=0 pi*v=-0 +86: DBG: 1: pi=-0.324667 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.342044 -0.324667 -0.00864042 0.033095 -0.00607096 0.0318941] errNorm=1.31068e-14 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.182016 0.851814, |slipV|=0.871044 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.408463 1.56452, |slipV|=1.61696 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.194843 1.44923, |slipV|=1.46227 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.457695 2.40452, |slipV|=2.4477 86: ------------------------------ 86: -86: dynamics impulse=~[-1.6575 -1.33544 -0.0346357 0.162091 -0.0177942 0.132353] -86: updated verrStart=~[0 5.55112e-17 -0.188618 0.866183 -0.201691 1.47511] +86: dynamics impulse=~[-0.342044 -0.324667 -0.00864042 0.033095 -0.00607096 0.0318941] +86: updated verrStart=~[0 0 -0.407776 1.59684 -0.45642 2.42683] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.327145 0.552504 0 0 0 0] +86: posVerr=~[0.303056 0.576592 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.250041 0.097599 -0.0121072 0.309119 -0.00799715 0.119282] -86: [0.097599 0.211838 0.00279432 0.120925 -0.000225614 0.260387] -86: [-0.0121072 0.00279432 0.0485154 0.0260098 0.0498535 -0.0364757] -86: [0.309119 0.120925 0.0260098 0.451643 0.032964 0.129709] -86: [-0.00799715 -0.000225614 0.0498535 0.032964 0.0514614 -0.04201] -86: [0.119282 0.260387 -0.0364757 0.129709 -0.04201 0.385999] +86: [0.321597 0.122757 -0.0214494 0.323865 -0.00939423 0.119104] +86: [0.122757 0.272477 -0.0050976 0.120385 -0.014154 0.27421] +86: [-0.0214494 -0.0050976 0.0465724 0.0141913 0.0495931 -0.0374264] +86: [0.323865 0.120385 0.0141913 0.382815 0.0306284 0.10331] +86: [-0.00939423 -0.014154 0.0495931 0.0306284 0.0543442 -0.0504152] +86: [0.119104 0.27421 -0.0374264 0.10331 -0.0504152 0.324207] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.39798 rank=2 -86: rhs=~[0.327145 0.552504 0 0 0 0] +86: rcond(A+D)=0.407004 rank=2 +86: rhs=~[0.303056 0.576592 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.353981 2.44506] -86: -> pi=~[0.353981 2.44506 0 0 0 0] -86: resid active=~[0 0] -86: resid=~[0 0 0.00254655 0.405092 -0.00338248 0.678885] +86: -> piActive=~[0.162563 2.04287] +86: -> pi=~[0.162563 2.04287 0 0 0 0] +86: resid active=~[5.55112e-17 0] +86: resid=~[5.55112e-17 0 -0.0139006 0.298579 -0.030442 0.579538] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[5.1608e-17 5.1608e-17 -0.188618 0.866183 -0.201691 1.47511] -86: perr=~[0.000327145 0.000552504 2.22045e-16] -86: END OF STEP (0.111,0.112): -86: verr=~[-0.000611189 0.000611189 -0.188432 0.866188 -0.201876 1.4751] -86: perr=~[0.000326839 0.00055281 0] +86: verr=~[-1.29887e-16 -1.29887e-16 -0.407776 1.59684 -0.45642 2.42683] +86: perr=~[0.000303056 0.000576592 0] +86: END OF STEP (0.154,0.155): +86: verr=~[-0.00154931 0.00154931 -0.407431 1.59686 -0.456766 2.42681] +86: perr=~[0.000302282 0.000577367 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -49285,16 +60148,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.886447 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.48885 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000611189 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.64802 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.46942 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00154931 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (0) 86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000611189 0.000611189 -0.188432 0.866188 -0.201876 1.4751] -86: IMP t=0.112 verr=~[-0.000611189 0.000611189 -0.188432 0.866188 -0.201876 1.4751] +86: verr=~[-0.00154931 0.00154931 -0.407431 1.59686 -0.456766 2.42681] +86: IMP t=0.155 verr=~[-0.00154931 0.00154931 -0.407431 1.59686 -0.456766 2.42681] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -49306,115 +60169,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000611189 0.000611189 -0.188432 0.866188 -0.201876 1.4751] +86: verrLeft=~[-0.00154931 0.00154931 -0.407431 1.59686 -0.456766 2.42681] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.188432,0.866188, mag=0.886447 -86: Participating contact 1 is Sliding; vel=-0.201876,1.4751, mag=1.48885 +86: Participating contact 0 is Sliding; vel=-0.407431,1.59686, mag=1.64802 +86: Participating contact 1 is Sliding; vel=-0.456766,2.42681, mag=2.46942 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.188432,0.866188, mag=0.886447 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.201876,1.4751, mag=1.48885 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.407431,1.59686, mag=1.64802 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.456766,2.42681, mag=2.46942 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000611189; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000611189; guess pi=0.01 +86: DBG: active normal 0 has v=-0.00154931; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00154931; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000611189 0.000611189 -0.188432 0.866188 -0.201876 1.4751] +86: : verrLeft was=~[-0.00154931 0.00154931 -0.407431 1.59686 -0.456766 2.42681] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000611189 -0.188432 0.866188 0.000611189 -0.201876 1.4751] +86: : rhsActive=~[-0.00154931 -0.407431 1.59686 0.00154931 -0.456766 2.42681] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.45433e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00138158... -86: > NEWTON iter 1: errNorm=0.00138158(v) -> deltaNorm=0.00720423(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.10586e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00171001... +86: > NEWTON iter 1: errNorm=0.00171001(v) -> deltaNorm=0.00129684(pi) 86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000915943 0.000188432 -0.000866188 0.000532927 0 0] -86: > deltaPi=~[-0.00505031 0.000105219 -0.000483675 0.00511373 2.58276e-09 -1.88721e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.00138158. -86: > piNow=~[-0.00494969 -0.000105219 0.000483675 0.00488627 -2.58276e-09 1.88721e-08] -86: > errNow=~[3.25261e-19 -3.54474e-09 1.62945e-08 2.1684e-19 -3.84534e-09 2.80978e-08] normNow=3.28991e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.38127e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.68452e-05 -86: > NEWTON iter 2: errNorm=3.28991e-08(v) -> deltaNorm=4.50372e-08(pi) -86: > piActive=~[-0.00494969 -0.000105219 0.000483675 0.00488627 -2.58276e-09 1.88721e-08] -86: > errActive=~[3.25261e-19 -3.54474e-09 1.62945e-08 2.1684e-19 -3.84534e-09 2.80978e-08] -86: > deltaPi=~[-2.60885e-08 -4.5533e-09 2.09307e-08 -2.29363e-08 -2.5828e-09 1.88724e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.28991e-08. -86: > piNow=~[-0.00494966 -0.000105215 0.000483654 0.00488629 4.85019e-14 -3.54402e-13] -86: > errNow=~[-1.0842e-19 -7.47155e-14 3.43454e-13 1.0842e-19 7.22122e-14 -5.27652e-13] normNow=6.38102e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.93957e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.38102e-13. -86: DBG: Worst offender is normal contact 1 err=0.00488629 ... +86: > errActive=~[-0.000454448 0.000407431 -0.00159686 -4.04891e-05 0 0] +86: > deltaPi=~[-0.000703144 0.000229842 -0.000900829 0.00056839 3.91612e-10 -2.08065e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00171001. +86: > piNow=~[-0.00929686 -0.000229842 0.000900829 0.00943161 -3.91612e-10 2.08065e-09] +86: > errNow=~[-4.33681e-19 -1.06711e-09 4.18238e-09 2.1684e-19 -9.67056e-10 5.138e-09] normNow=6.77977e-09 +86: DBG: Improvement rate now/prev at iter 1 is 3.96476e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.25444e-05 +86: > NEWTON iter 2: errNorm=6.77977e-09(v) -> deltaNorm=5.0299e-09(pi) +86: > piActive=~[-0.00929686 -0.000229842 0.000900829 0.00943161 -3.91612e-10 2.08065e-09] +86: > errActive=~[-4.33681e-19 -1.06711e-09 4.18238e-09 2.1684e-19 -9.67056e-10 5.138e-09] +86: > deltaPi=~[-2.85047e-09 -7.17979e-10 2.81401e-09 -2.06351e-09 -3.91614e-10 2.08066e-09] +86: DBG: Line search iter 1: back=1, prevNorm=6.77977e-09. +86: > piNow=~[-0.00929685 -0.000229841 0.000900826 0.00943161 1.59823e-15 -8.49145e-15] +86: > errNow=~[-2.1684e-19 -5.00495e-15 1.96158e-14 -6.50521e-19 3.94671e-15 -2.0969e-14] normNow=2.94127e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.3383e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.94127e-14. +86: DBG: Worst offender is normal contact 1 err=0.00943161 ... 86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start 86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.188432,0.866188, mag=0.886447 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.201876,1.4751, mag=1.48885 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.407431,1.59686, mag=1.64802 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.456766,2.42681, mag=2.46942 86: fillMult2Active: 86: : active=(0,2,3) 86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000611189; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00154931; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000611189 0.000611189 -0.188432 0.866188 -0.201876 1.4751] +86: : verrLeft was=~[-0.00154931 0.00154931 -0.407431 1.59686 -0.456766 2.42681] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000611189 -0.188432 0.866188] -86: : pi was=~[-0.00494966 0 -0.000105215 0.000483654 4.85019e-14 -3.54402e-13] -86: : piActive=~[-0.01 -0.000105215 0.000483654] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.3019e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00180535... -86: > NEWTON iter 1: errNorm=0.00180535(v) -> deltaNorm=0.00723287(pi) -86: > piActive=~[-0.01 -0.000105215 0.000483654] -86: > errActive=~[-0.00174897 9.51646e-05 -0.000437454] -86: > deltaPi=~[-0.00722959 -4.63185e-05 0.000212918] -86: DBG: Line search iter 1: back=1, prevNorm=0.00180535. -86: > piNow=~[-0.00277041 -5.88964e-05 0.000270736] -86: > errNow=~[2.1684e-19 -5.07434e-09 2.33258e-08] normNow=2.38714e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.32226e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.29628e-05 -86: > NEWTON iter 2: errNorm=2.38714e-08(v) -> deltaNorm=4.82129e-08(pi) -86: > piActive=~[-0.00277041 -5.88964e-05 0.000270736] -86: > errActive=~[2.1684e-19 -5.07434e-09 2.33258e-08] -86: > deltaPi=~[-3.72171e-08 -6.5151e-09 2.99488e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.38714e-08. -86: > piNow=~[-0.00277037 -5.88899e-05 0.000270706] -86: > errNow=~[2.1684e-19 -3.39889e-13 1.56241e-12] normNow=1.59895e-12 -86: DBG: Improvement rate now/prev at iter 2 is 6.69819e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.59895e-12. +86: : rhsActive=~[-0.00154931 -0.407431 1.59686] +86: : pi was=~[-0.00929685 0 -0.000229841 0.000900826 1.59823e-15 -8.49145e-15] +86: : piActive=~[-0.01 -0.000229841 0.000900826] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.13867e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00139881... +86: > NEWTON iter 1: errNorm=0.00139881(v) -> deltaNorm=0.00471262(pi) +86: > piActive=~[-0.01 -0.000229841 0.000900826] +86: > errActive=~[-0.001394 2.86484e-05 -0.000112283] +86: > deltaPi=~[-0.00469568 -9.87007e-05 0.000386842] +86: DBG: Line search iter 1: back=1, prevNorm=0.00139881. +86: > piNow=~[-0.00530432 -0.00013114 0.000513984] +86: > errNow=~[6.50521e-19 -7.12629e-09 2.79304e-08] normNow=2.88252e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.06069e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.18117e-05 +86: > NEWTON iter 2: errNorm=2.88252e-08(v) -> deltaNorm=2.72426e-08(pi) +86: > piActive=~[-0.00530432 -0.00013114 0.000513984] +86: > errActive=~[6.50521e-19 -7.12629e-09 2.79304e-08] +86: > deltaPi=~[-1.91229e-08 -4.79685e-09 1.88005e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.88252e-08. +86: > piNow=~[-0.00530431 -0.000131135 0.000513965] +86: > errNow=~[-2.1684e-19 -1.03118e-13 4.04157e-13] normNow=4.17104e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.44701e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.17104e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.188432,0.866188] to ~[-0.18847,0.866924] -86: DBG: Friction 0 rotated 0.00773615 deg, less than max 30 +86: slipVel 0 from ~[-0.407431,1.59686] to ~[-0.407546,1.59839] +86: DBG: Friction 0 rotated 0.00920216 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00277037 -5.88899e-05 0.000270706] -86: : m_verrLeft=~[-2.1684e-19 0.000851106 -0.18847 0.866924 -0.201904 1.4754] +86: : m_piActive=~[-0.00530431 -0.000131135 0.000513965] +86: : m_verrLeft=~[2.1684e-19 0.00214264 -0.407546 1.59839 -0.456825 2.42738] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00277037 verr=-2.1684e-19 pi*v=6.00729e-22 -86: DBG: 1: pi=0 verr=0.000851106 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00277037 0 -5.88899e-05 0.000270706 0 0] errNorm=1.59895e-12 -86: Postcompression verr=~[-2.1684e-19 0.000851106 -0.18847 0.866924 -0.201904 1.4754] -86: impulse=~[-0.00277037 0 -5.88899e-05 0.000270706 0 0] +86: DBG: 0: pi=-0.00530431 verr=2.1684e-19 pi*v=-1.15019e-21 +86: DBG: 1: pi=0 verr=0.00214264 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00530431 0 -0.000131135 0.000513965 0 0] errNorm=4.17104e-13 +86: Postcompression verr=~[2.1684e-19 0.00214264 -0.407546 1.59839 -0.456825 2.42738] +86: impulse=~[-0.00530431 0 -0.000131135 0.000513965 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00277037 0 -5.88899e-05 0.000270706 0 0]-> du ~[-0.000391538 0.000913742 -0.000442625 -0.000515407 -3.27595e-05 0.000425553 -0.00173829 0.00104378] -86: Now verr0=~[-3.90313e-18 0.000851106 -0.18847 0.866924 -0.201904 1.4754] +86: Impact: imp ~[-0.00530431 0 -0.000131135 0.000513965 0 0]-> du ~[-0.00107723 0.00201115 -0.000952571 -0.00104953 -8.73351e-05 0.00107132 -0.00390824 0.00231204] +86: Now verr0=~[-1.30104e-18 0.00214264 -0.407546 1.59839 -0.456825 2.42738] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-3.90313e-18 0.000851106 -0.18847 0.866924 -0.201904 1.4754] -86: verrExt=~[-0.539387 -0.44169 0.00836699 -0.648333 0.00526544 -0.508857] -86: total verr=~[-0.539387 -0.440839 -0.180103 0.218592 -0.196639 0.96654] -86: DYN t=0.112: verrStart=~[-3.90313e-18 0.000851106 -0.18847 0.866924 -0.201904 1.4754] -86: verrApplied=~[-0.539387 -0.44169 0.00836699 -0.648333 0.00526544 -0.508857] +86: verr0 =~[-1.30104e-18 0.00214264 -0.407546 1.59839 -0.456825 2.42738] +86: verrExt=~[-0.138688 -0.122374 0.00837286 -0.105568 0.00777122 -0.0955219] +86: total verr=~[-0.138688 -0.120231 -0.399174 1.49282 -0.449053 2.33186] +86: DYN t=0.155: verrStart=~[-1.30104e-18 0.00214264 -0.407546 1.59839 -0.456825 2.42738] +86: verrApplied=~[-0.138688 -0.122374 0.00837286 -0.105568 0.00777122 -0.0955219] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -49426,108 +60289,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-3.90313e-18 0.000851106 -0.18847 0.866924 -0.201904 1.4754] -86: verrApplied=~[-0.539387 -0.44169 0.00836699 -0.648333 0.00526544 -0.508857] +86: verrLeft=~[-1.30104e-18 0.00214264 -0.407546 1.59839 -0.456825 2.42738] +86: verrApplied=~[-0.138688 -0.122374 0.00837286 -0.105568 0.00777122 -0.0955219] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.18847,0.866924, mag=0.887175 -86: Participating contact 1 is Sliding; vel=-0.201904,1.4754, mag=1.48915 +86: Participating contact 0 is Sliding; vel=-0.407546,1.59839, mag=1.64953 +86: Participating contact 1 is Sliding; vel=-0.456825,2.42738, mag=2.47 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.18847,0.866924, mag=0.887175 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.201904,1.4754, mag=1.48915 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.407546,1.59839, mag=1.64953 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.456825,2.42738, mag=2.47 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.539387; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.440839; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.138688; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.120231; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-3.90313e-18 0.000851106 -0.18847 0.866924 -0.201904 1.4754] +86: : verrLeft was=~[-1.30104e-18 0.00214264 -0.407546 1.59839 -0.456825 2.42738] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.539387 -0.44169 0.00836699 -0.648333 0.00526544 -0.508857] -86: : rhsActive=~[-0.539387 -0.180103 0.218592 -0.440839 -0.196639 0.96654] +86: : verrApplied was=~[-0.138688 -0.122374 0.00837286 -0.105568 0.00777122 -0.0955219] +86: : rhsActive=~[-0.138688 -0.399174 1.49282 -0.120231 -0.449053 2.33186] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.45666e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.691945... -86: > NEWTON iter 1: errNorm=0.691945(v) -> deltaNorm=2.38424(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.10635e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.177582... +86: > NEWTON iter 1: errNorm=0.177582(v) -> deltaNorm=0.467581(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.535892 0.00018847 -0.000866924 0.437727 0.000201904 -0.0014754] -86: > deltaPi=~[1.84831 0.039476 -0.181582 1.48708 0.0202972 -0.14832] -86: DBG: Line search iter 1: back=1, prevNorm=0.691945. -86: > piNow=~[-1.85831 -0.039476 0.181582 -1.49708 -0.0202972 0.14832] -86: > errNow=~[-1.11022e-16 1.29756e-06 -5.96852e-06 -5.55112e-17 1.11838e-06 -8.17249e-06] normNow=1.02639e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.48334e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.68762e-10 -86: > NEWTON iter 2: errNorm=1.02639e-05(v) -> deltaNorm=1.58006e-05(pi) -86: > piActive=~[-1.85831 -0.039476 0.181582 -1.49708 -0.0202972 0.14832] -86: > errActive=~[-1.11022e-16 1.29756e-06 -5.96852e-06 -5.55112e-17 1.11838e-06 -8.17249e-06] -86: > deltaPi=~[9.54811e-06 1.66541e-06 -7.66058e-06 7.57526e-06 8.53731e-07 -6.23856e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.02639e-05. -86: > piNow=~[-1.85832 -0.0394777 0.18159 -1.49709 -0.0202981 0.148326] -86: > errNow=~[0 1.8735e-16 -8.88178e-16 1.11022e-16 2.498e-16 -1.85962e-15] normNow=2.08732e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.03365e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.08732e-15. +86: > errActive=~[0.134211 0.000407546 -0.00159839 0.116249 0.000456825 -0.00242738] +86: > deltaPi=~[0.339213 0.00862765 -0.0338375 0.318229 0.00607036 -0.0322555] +86: DBG: Line search iter 1: back=1, prevNorm=0.177582. +86: > piNow=~[-0.349213 -0.00862765 0.0338375 -0.328229 -0.00607036 0.0322555] +86: > errNow=~[2.77556e-17 5.14946e-07 -2.01961e-06 2.77556e-17 5.41503e-07 -2.87733e-06] normNow=3.59392e-06 +86: DBG: Improvement rate now/prev at iter 1 is 2.02381e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.90502e-09 +86: > NEWTON iter 2: errNorm=3.59392e-06(v) -> deltaNorm=2.68797e-06(pi) +86: > piActive=~[-0.349213 -0.00862765 0.0338375 -0.328229 -0.00607036 0.0322555] +86: > errActive=~[2.77556e-17 5.14946e-07 -2.01961e-06 2.77556e-17 5.41503e-07 -2.87733e-06] +86: > deltaPi=~[1.37039e-06 3.46036e-07 -1.35714e-06 1.28789e-06 2.43052e-07 -1.29148e-06] +86: DBG: Line search iter 1: back=1, prevNorm=3.59392e-06. +86: > piNow=~[-0.349214 -0.008628 0.0338388 -0.32823 -0.0060706 0.0322568] +86: > errNow=~[-2.77556e-17 1.70523e-15 -6.69603e-15 0 2.03483e-15 -1.08108e-14] normNow=1.29907e-14 +86: DBG: Improvement rate now/prev at iter 2 is 3.61465e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.29907e-14. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.18847,0.866924] to ~[-0.195102,0.875836] -86: DBG: Friction 0 rotated 0.29296 deg, less than max 30 -86: slipVel 1 from ~[-0.201904,1.4754] to ~[-0.208797,1.49611] -86: DBG: Friction 1 rotated 0.152502 deg, less than max 30 +86: slipVel 0 from ~[-0.407546,1.59839] to ~[-0.407032,1.6296] +86: DBG: Friction 0 rotated 0.28009 deg, less than max 30 +86: slipVel 1 from ~[-0.456825,2.42738] to ~[-0.455739,2.44901] +86: DBG: Friction 1 rotated 0.116523 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.85832 -0.0394777 0.18159 -1.49709 -0.0202981 0.148326] -86: : m_verrLeft=~[0 -1.11022e-16 -0.195102 0.875836 -0.208797 1.49611] +86: : m_piActive=~[-0.349214 -0.008628 0.0338388 -0.32823 -0.0060706 0.0322568] +86: : m_verrLeft=~[2.77556e-17 0 -0.407032 1.6296 -0.455739 2.44901] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.85832 verr=0 pi*v=-0 -86: DBG: 1: pi=-1.49709 verr=-1.11022e-16 pi*v=1.6621e-16 -86: SP FINAL 1 intervals, piTotal=~[-1.85832 -1.49709 -0.0394777 0.18159 -0.0202981 0.148326] errNorm=2.08732e-15 +86: DBG: 0: pi=-0.349214 verr=2.77556e-17 pi*v=-9.69265e-18 +86: DBG: 1: pi=-0.32823 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.349214 -0.32823 -0.008628 0.0338388 -0.0060706 0.0322568] errNorm=1.29907e-14 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.18847 0.866924, |slipV|=0.887175 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.407546 1.59839, |slipV|=1.64953 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.201904 1.4754, |slipV|=1.48915 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.456825 2.42738, |slipV|=2.47 86: ------------------------------ 86: -86: dynamics impulse=~[-1.85832 -1.49709 -0.0394777 0.18159 -0.0202981 0.148326] -86: updated verrStart=~[0 -1.11022e-16 -0.195102 0.875836 -0.208797 1.49611] +86: dynamics impulse=~[-0.349214 -0.32823 -0.008628 0.0338388 -0.0060706 0.0322568] +86: updated verrStart=~[2.77556e-17 0 -0.407032 1.6296 -0.455739 2.44901] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.326839 0.55281 0 0 0 0] +86: posVerr=~[0.302282 0.577367 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.251108 0.0983947 -0.0120883 0.309421 -0.00786154 0.119545] -86: [0.0983947 0.212806 0.00255238 0.121253 -0.00055256 0.260711] -86: [-0.0120883 0.00255238 0.0485498 0.0260758 0.0499332 -0.0367314] -86: [0.309421 0.121253 0.0260758 0.45059 0.0332143 0.129201] -86: [-0.00786154 -0.00055256 0.0499332 0.0332143 0.0516013 -0.0424125] -86: [0.119545 0.260711 -0.0367314 0.129201 -0.0424125 0.385065] +86: [0.324021 0.123645 -0.0216092 0.324064 -0.00936609 0.119026] +86: [0.123645 0.274527 -0.00531892 0.120294 -0.0145206 0.274395] +86: [-0.0216092 -0.00531892 0.0465387 0.0140589 0.0495943 -0.0374223] +86: [0.324064 0.120294 0.0140589 0.380425 0.0306407 0.102415] +86: [-0.00936609 -0.0145206 0.0495943 0.0306407 0.0544203 -0.0505226] +86: [0.119026 0.274395 -0.0374223 0.102415 -0.0505226 0.322081] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.396498 rank=2 -86: rhs=~[0.326839 0.55281 0 0 0 0] +86: rcond(A+D)=0.407121 rank=2 +86: rhs=~[0.302282 0.577367 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.346466 2.43752] -86: -> pi=~[0.346466 2.43752 0 0 0 0] -86: resid active=~[1.66533e-16 1.11022e-16] -86: resid=~[1.66533e-16 1.11022e-16 0.00203329 0.402759 -0.00407063 0.676905] +86: -> piActive=~[0.157419 2.03223] +86: -> pi=~[0.157419 2.03223 0 0 0 0] +86: resid active=~[5.55112e-17 0] +86: resid=~[5.55112e-17 0 -0.014211 0.29548 -0.0309837 0.576371] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[1.03541e-16 -2.82977e-17 -0.195102 0.875836 -0.208797 1.49611] -86: perr=~[0.000326839 0.00055281 0] -86: END OF STEP (0.112,0.113): -86: verr=~[-0.000630508 0.000630508 -0.19491 0.875841 -0.20899 1.49611] -86: perr=~[0.000326524 0.000553125 0] +86: verr=~[-2.1684e-19 -5.5728e-17 -0.407032 1.6296 -0.455739 2.44901] +86: perr=~[0.000302282 0.000577367 0] +86: END OF STEP (0.155,0.156): +86: verr=~[-0.00155777 0.00155777 -0.406695 1.62963 -0.456076 2.44898] +86: perr=~[0.000301503 0.000578146 0] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -49535,16 +60398,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.897266 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.51063 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000630508 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.67961 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.49109 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00155777 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (0) 86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000630508 0.000630508 -0.19491 0.875841 -0.20899 1.49611] -86: IMP t=0.113 verr=~[-0.000630508 0.000630508 -0.19491 0.875841 -0.20899 1.49611] +86: verr=~[-0.00155777 0.00155777 -0.406695 1.62963 -0.456076 2.44898] +86: IMP t=0.156 verr=~[-0.00155777 0.00155777 -0.406695 1.62963 -0.456076 2.44898] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -49556,115 +60419,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000630508 0.000630508 -0.19491 0.875841 -0.20899 1.49611] +86: verrLeft=~[-0.00155777 0.00155777 -0.406695 1.62963 -0.456076 2.44898] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.19491,0.875841, mag=0.897266 -86: Participating contact 1 is Sliding; vel=-0.20899,1.49611, mag=1.51063 +86: Participating contact 0 is Sliding; vel=-0.406695,1.62963, mag=1.67961 +86: Participating contact 1 is Sliding; vel=-0.456076,2.44898, mag=2.49109 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.19491,0.875841, mag=0.897266 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.20899,1.49611, mag=1.51063 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.406695,1.62963, mag=1.67961 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.456076,2.44898, mag=2.49109 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000630508; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000630508; guess pi=0.01 +86: DBG: active normal 0 has v=-0.00155777; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00155777; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000630508 0.000630508 -0.19491 0.875841 -0.20899 1.49611] +86: : verrLeft was=~[-0.00155777 0.00155777 -0.406695 1.62963 -0.456076 2.44898] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000630508 -0.19491 0.875841 0.000630508 -0.20899 1.49611] +86: : rhsActive=~[-0.00155777 -0.406695 1.62963 0.00155777 -0.456076 2.44898] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.54465e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00137125... -86: > NEWTON iter 1: errNorm=0.00137125(v) -> deltaNorm=0.00700083(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.11911e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00174223... +86: > NEWTON iter 1: errNorm=0.00174223(v) -> deltaNorm=0.00131857(pi) 86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000899687 0.00019491 -0.000875841 0.000515558 0 0] -86: > deltaPi=~[-0.00490536 0.000110673 -0.000497316 0.00496885 2.56055e-09 -1.83304e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.00137125. -86: > piNow=~[-0.00509464 -0.000110673 0.000497316 0.00503115 -2.56055e-09 1.83304e-08] -86: > errNow=~[-1.0842e-19 -3.56136e-09 1.60032e-08 1.0842e-19 -3.86805e-09 2.76904e-08] normNow=3.24116e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.36365e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.56816e-05 -86: > NEWTON iter 2: errNorm=3.24116e-08(v) -> deltaNorm=4.36156e-08(pi) -86: > piActive=~[-0.00509464 -0.000110673 0.000497316 0.00503115 -2.56055e-09 1.83304e-08] -86: > errActive=~[-1.0842e-19 -3.56136e-09 1.60032e-08 1.0842e-19 -3.86805e-09 2.76904e-08] -86: > deltaPi=~[-2.51984e-08 -4.51642e-09 2.02949e-08 -2.21926e-08 -2.5606e-09 1.83307e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.24116e-08. -86: > piNow=~[-0.00509461 -0.000110668 0.000497296 0.00503117 4.51657e-14 -3.2333e-13] -86: > errNow=~[1.0842e-19 -7.04616e-14 3.16624e-13 -1.0842e-19 6.82287e-14 -4.88433e-13] normNow=5.90286e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.82122e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.90286e-13. -86: DBG: Worst offender is normal contact 1 err=0.00503117 ... +86: > errActive=~[-0.000461384 0.000406695 -0.00162963 -3.73536e-05 0 0] +86: > deltaPi=~[-0.000729661 0.00022447 -0.00089945 0.000588923 4.01622e-10 -2.15659e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00174223. +86: > piNow=~[-0.00927034 -0.00022447 0.00089945 0.00941108 -4.01622e-10 2.15659e-09] +86: > errNow=~[-4.33681e-19 -1.10535e-09 4.42915e-09 2.1684e-19 -1.00048e-09 5.37225e-09] normNow=7.12048e-09 +86: DBG: Improvement rate now/prev at iter 1 is 4.087e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.27575e-05 +86: > NEWTON iter 2: errNorm=7.12048e-09(v) -> deltaNorm=5.19822e-09(pi) +86: > piActive=~[-0.00927034 -0.00022447 0.00089945 0.00941108 -4.01622e-10 2.15659e-09] +86: > errActive=~[-4.33681e-19 -1.10535e-09 4.42915e-09 2.1684e-19 -1.00048e-09 5.37225e-09] +86: > deltaPi=~[-2.93744e-09 -7.29226e-10 2.92201e-09 -2.12389e-09 -4.01624e-10 2.15659e-09] +86: DBG: Line search iter 1: back=1, prevNorm=7.12048e-09. +86: > piNow=~[-0.00927034 -0.000224469 0.000899447 0.00941108 1.63533e-15 -8.78121e-15] +86: > errNow=~[0 -5.17782e-15 2.07475e-14 -4.33681e-19 4.07375e-15 -2.18748e-14] normNow=3.08605e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.33405e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.08605e-14. +86: DBG: Worst offender is normal contact 1 err=0.00941108 ... 86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start 86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.19491,0.875841, mag=0.897266 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.20899,1.49611, mag=1.51063 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.406695,1.62963, mag=1.67961 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.456076,2.44898, mag=2.49109 86: fillMult2Active: 86: : active=(0,2,3) 86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000630508; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00155777; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000630508 0.000630508 -0.19491 0.875841 -0.20899 1.49611] +86: : verrLeft was=~[-0.00155777 0.00155777 -0.406695 1.62963 -0.456076 2.44898] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000630508 -0.19491 0.875841] -86: : pi was=~[-0.00509461 0 -0.000110668 0.000497296 4.51657e-14 -3.2333e-13] -86: : piActive=~[-0.01 -0.000110668 0.000497296] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.3422e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00179101... -86: > NEWTON iter 1: errNorm=0.00179101(v) -> deltaNorm=0.00715954(pi) -86: > piActive=~[-0.01 -0.000110668 0.000497296] -86: > errActive=~[-0.00173609 9.56107e-05 -0.000429634] -86: > deltaPi=~[-0.007156 -4.88834e-05 0.000219661] -86: DBG: Line search iter 1: back=1, prevNorm=0.00179101. -86: > piNow=~[-0.002844 -6.17848e-05 0.000277635] -86: > errNow=~[1.0842e-19 -5.19535e-09 2.33457e-08] normNow=2.39168e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.33538e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.12689e-05 -86: > NEWTON iter 2: errNorm=2.39168e-08(v) -> deltaNorm=4.75748e-08(pi) -86: > piActive=~[-0.002844 -6.17848e-05 0.000277635] -86: > errActive=~[1.0842e-19 -5.19535e-09 2.33457e-08] -86: > deltaPi=~[-3.66617e-08 -6.58623e-09 2.95957e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.39168e-08. -86: > piNow=~[-0.00284396 -6.17783e-05 0.000277605] -86: > errNow=~[-1.0842e-19 -3.28661e-13 1.47686e-12] normNow=1.51299e-12 -86: DBG: Improvement rate now/prev at iter 2 is 6.32605e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.51299e-12. +86: : rhsActive=~[-0.00155777 -0.406695 1.62963] +86: : pi was=~[-0.00927034 0 -0.000224469 0.000899447 1.63533e-15 -8.78121e-15] +86: : piActive=~[-0.01 -0.000224469 0.000899447] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.25633e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00141581... +86: > NEWTON iter 1: errNorm=0.00141581(v) -> deltaNorm=0.0047271(pi) +86: > piActive=~[-0.01 -0.000224469 0.000899447] +86: > errActive=~[-0.0014105 2.96751e-05 -0.000118908] +86: > deltaPi=~[-0.00471032 -9.6382e-05 0.000386203] +86: DBG: Line search iter 1: back=1, prevNorm=0.00141581. +86: > piNow=~[-0.00528968 -0.000128087 0.000513244] +86: > errNow=~[-4.33681e-19 -7.1356e-09 2.85923e-08] normNow=2.94693e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.08144e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.2353e-05 +86: > NEWTON iter 2: errNorm=2.94693e-08(v) -> deltaNorm=2.72302e-08(pi) +86: > piActive=~[-0.00528968 -0.000128087 0.000513244] +86: > errActive=~[-4.33681e-19 -7.1356e-09 2.85923e-08] +86: > deltaPi=~[-1.90565e-08 -4.70974e-09 1.88719e-08] +86: DBG: Line search iter 1: back=1, prevNorm=2.94693e-08. +86: > piNow=~[-0.00528967 -0.000128082 0.000513226] +86: > errNow=~[0 -1.03143e-13 4.13294e-13] normNow=4.2597e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.44547e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.2597e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.19491,0.875841] to ~[-0.194948,0.876598] -86: DBG: Friction 0 rotated 0.0080964 deg, less than max 30 +86: slipVel 0 from ~[-0.406695,1.62963] to ~[-0.406811,1.63115] +86: DBG: Friction 0 rotated 0.00872298 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00284396 -6.17783e-05 0.000277605] -86: : m_verrLeft=~[1.0842e-19 0.000878958 -0.194948 0.876598 -0.209018 1.49641] +86: : m_piActive=~[-0.00528967 -0.000128082 0.000513226] +86: : m_verrLeft=~[0 0.00215426 -0.406811 1.63115 -0.456134 2.44956] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00284396 verr=1.0842e-19 pi*v=-3.08343e-22 -86: DBG: 1: pi=0 verr=0.000878958 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00284396 0 -6.17783e-05 0.000277605 0 0] errNorm=1.51299e-12 -86: Postcompression verr=~[1.0842e-19 0.000878958 -0.194948 0.876598 -0.209018 1.49641] -86: impulse=~[-0.00284396 0 -6.17783e-05 0.000277605 0 0] +86: DBG: 0: pi=-0.00528967 verr=0 pi*v=-0 +86: DBG: 1: pi=0 verr=0.00215426 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00528967 0 -0.000128082 0.000513226 0 0] errNorm=4.2597e-13 +86: Postcompression verr=~[0 0.00215426 -0.406811 1.63115 -0.456134 2.44956] +86: impulse=~[-0.00528967 0 -0.000128082 0.000513226 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00284396 0 -6.17783e-05 0.000277605 0 0]-> du ~[-0.000403521 0.000941202 -0.000454895 -0.000530164 -3.34006e-05 0.000439479 -0.00179114 0.00107759] -86: Now verr0=~[-5.31259e-18 0.000878958 -0.194948 0.876598 -0.209018 1.49641] +86: Impact: imp ~[-0.00528967 0 -0.000128082 0.000513226 0 0]-> du ~[-0.00108438 0.00201387 -0.000951792 -0.00104762 -8.74981e-05 0.00107713 -0.00391569 0.00231612] +86: Now verr0=~[-2.60209e-18 0.00215426 -0.406811 1.63115 -0.456134 2.44956] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-5.31259e-18 0.000878958 -0.194948 0.876598 -0.209018 1.49641] -86: verrExt=~[-0.591457 -0.484045 0.0098061 -0.713737 0.00631911 -0.561196] -86: total verr=~[-0.591457 -0.483166 -0.185142 0.162861 -0.202699 0.935213] -86: DYN t=0.113: verrStart=~[-5.31259e-18 0.000878958 -0.194948 0.876598 -0.209018 1.49641] -86: verrApplied=~[-0.591457 -0.484045 0.0098061 -0.713737 0.00631911 -0.561196] +86: verr0 =~[-2.60209e-18 0.00215426 -0.406811 1.63115 -0.456134 2.44956] +86: verrExt=~[-0.144759 -0.126934 0.00861775 -0.111762 0.00789544 -0.099859] +86: total verr=~[-0.144759 -0.12478 -0.398194 1.51939 -0.448239 2.3497] +86: DYN t=0.156: verrStart=~[-2.60209e-18 0.00215426 -0.406811 1.63115 -0.456134 2.44956] +86: verrApplied=~[-0.144759 -0.126934 0.00861775 -0.111762 0.00789544 -0.099859] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -49676,108 +60539,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-5.31259e-18 0.000878958 -0.194948 0.876598 -0.209018 1.49641] -86: verrApplied=~[-0.591457 -0.484045 0.0098061 -0.713737 0.00631911 -0.561196] +86: verrLeft=~[-2.60209e-18 0.00215426 -0.406811 1.63115 -0.456134 2.44956] +86: verrApplied=~[-0.144759 -0.126934 0.00861775 -0.111762 0.00789544 -0.099859] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.194948,0.876598, mag=0.898014 -86: Participating contact 1 is Sliding; vel=-0.209018,1.49641, mag=1.51094 +86: Participating contact 0 is Sliding; vel=-0.406811,1.63115, mag=1.68111 +86: Participating contact 1 is Sliding; vel=-0.456134,2.44956, mag=2.49166 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.194948,0.876598, mag=0.898014 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.209018,1.49641, mag=1.51094 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.406811,1.63115, mag=1.68111 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.456134,2.44956, mag=2.49166 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.591457; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.483166; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.144759; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.12478; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-5.31259e-18 0.000878958 -0.194948 0.876598 -0.209018 1.49641] +86: : verrLeft was=~[-2.60209e-18 0.00215426 -0.406811 1.63115 -0.456134 2.44956] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.591457 -0.484045 0.0098061 -0.713737 0.00631911 -0.561196] -86: : rhsActive=~[-0.591457 -0.185142 0.162861 -0.483166 -0.202699 0.935213] +86: : verrApplied was=~[-0.144759 -0.126934 0.00861775 -0.111762 0.00789544 -0.099859] +86: : rhsActive=~[-0.144759 -0.398194 1.51939 -0.12478 -0.448239 2.3497] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.54705e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.759023... -86: > NEWTON iter 1: errNorm=0.759023(v) -> deltaNorm=2.59939(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.1196e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.185104... +86: > NEWTON iter 1: errNorm=0.185104(v) -> deltaNorm=0.483158(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.587943 0.000194948 -0.000876598 0.480036 0.000209018 -0.00149641] -86: > deltaPi=~[2.01716 0.0440055 -0.197874 1.61873 0.0225305 -0.161302] -86: DBG: Line search iter 1: back=1, prevNorm=0.759023. -86: > piNow=~[-2.02716 -0.0440055 0.197874 -1.62873 -0.0225305 0.161302] -86: > errNow=~[1.11022e-16 1.46477e-06 -6.58645e-06 0 1.26029e-06 -9.02272e-06] normNow=1.13369e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.49361e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.30327e-10 -86: > NEWTON iter 2: errNorm=1.13369e-05(v) -> deltaNorm=1.71683e-05(pi) -86: > piActive=~[-2.02716 -0.0440055 0.197874 -1.62873 -0.0225305 0.161302] -86: > errActive=~[1.11022e-16 1.46477e-06 -6.58645e-06 0 1.26029e-06 -9.02272e-06] -86: > deltaPi=~[1.03636e-05 1.8561e-06 -8.34611e-06 8.20492e-06 9.47617e-07 -6.78421e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.13369e-05. -86: > piNow=~[-2.02717 -0.0440073 0.197882 -1.62874 -0.0225315 0.161308] -86: > errNow=~[0 1.80411e-16 -8.04912e-16 -5.55112e-17 2.42861e-16 -1.69309e-15] normNow=1.89975e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.67573e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.89975e-15. +86: > errActive=~[0.140249 0.000406811 -0.00163115 0.120768 0.000456134 -0.00244956] +86: > deltaPi=~[0.352839 0.00877999 -0.0352042 0.326341 0.00615698 -0.0330646] +86: DBG: Line search iter 1: back=1, prevNorm=0.185104. +86: > piNow=~[-0.362839 -0.00877999 0.0352042 -0.336341 -0.00615698 0.0330646] +86: > errNow=~[5.55112e-17 5.34664e-07 -2.14379e-06 2.77556e-17 5.54468e-07 -2.97763e-06] normNow=3.74906e-06 +86: DBG: Improvement rate now/prev at iter 1 is 2.02537e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.47698e-09 +86: > NEWTON iter 2: errNorm=3.74906e-06(v) -> deltaNorm=2.76681e-06(pi) +86: > piActive=~[-0.362839 -0.00877999 0.0352042 -0.336341 -0.00615698 0.0330646] +86: > errActive=~[5.55112e-17 5.34664e-07 -2.14379e-06 2.77556e-17 5.54468e-07 -2.97763e-06] +86: > deltaPi=~[1.41564e-06 3.52299e-07 -1.41258e-06 1.3108e-06 2.46525e-07 -1.3239e-06] +86: DBG: Line search iter 1: back=1, prevNorm=3.74906e-06. +86: > piNow=~[-0.36284 -0.00878034 0.0352056 -0.336343 -0.00615723 0.0330659] +86: > errNow=~[-2.77556e-17 1.63064e-15 -6.5295e-15 0 1.96891e-15 -1.05749e-14] normNow=1.26885e-14 +86: DBG: Improvement rate now/prev at iter 2 is 3.38446e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.26885e-14. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.194948,0.876598] to ~[-0.201802,0.880898] -86: DBG: Friction 0 rotated 0.364992 deg, less than max 30 -86: slipVel 1 from ~[-0.209018,1.49641] to ~[-0.216154,1.51317] -86: DBG: Friction 1 rotated 0.17803 deg, less than max 30 +86: slipVel 0 from ~[-0.406811,1.63115] to ~[-0.406492,1.66111] +86: DBG: Friction 0 rotated 0.253306 deg, less than max 30 +86: slipVel 1 from ~[-0.456134,2.44956] to ~[-0.455266,2.47041] +86: DBG: Friction 1 rotated 0.106553 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.02717 -0.0440073 0.197882 -1.62874 -0.0225315 0.161308] -86: : m_verrLeft=~[0 5.55112e-17 -0.201802 0.880898 -0.216154 1.51317] +86: : m_piActive=~[-0.36284 -0.00878034 0.0352056 -0.336343 -0.00615723 0.0330659] +86: : m_verrLeft=~[2.77556e-17 0 -0.406492 1.66111 -0.455266 2.47041] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.02717 verr=0 pi*v=-0 -86: DBG: 1: pi=-1.62874 verr=5.55112e-17 pi*v=-9.04134e-17 -86: SP FINAL 1 intervals, piTotal=~[-2.02717 -1.62874 -0.0440073 0.197882 -0.0225315 0.161308] errNorm=1.89975e-15 +86: DBG: 0: pi=-0.36284 verr=2.77556e-17 pi*v=-1.00708e-17 +86: DBG: 1: pi=-0.336343 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.36284 -0.336343 -0.00878034 0.0352056 -0.00615723 0.0330659] errNorm=1.26885e-14 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.194948 0.876598, |slipV|=0.898014 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.406811 1.63115, |slipV|=1.68111 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.209018 1.49641, |slipV|=1.51094 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.456134 2.44956, |slipV|=2.49166 86: ------------------------------ 86: -86: dynamics impulse=~[-2.02717 -1.62874 -0.0440073 0.197882 -0.0225315 0.161308] -86: updated verrStart=~[0 5.55112e-17 -0.201802 0.880898 -0.216154 1.51317] +86: dynamics impulse=~[-0.36284 -0.336343 -0.00878034 0.0352056 -0.00615723 0.0330659] +86: updated verrStart=~[2.77556e-17 0 -0.406492 1.66111 -0.455266 2.47041] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.326524 0.553125 0 0 0 0] +86: posVerr=~[0.301503 0.578146 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.252195 0.0991758 -0.0120808 0.309719 -0.00773475 0.119789] -86: [0.0991758 0.213782 0.0023148 0.121558 -0.000876891 0.261019] -86: [-0.0120808 0.0023148 0.0485808 0.0261231 0.0500098 -0.0369735] -86: [0.309719 0.121558 0.0261231 0.449499 0.0334481 0.128682] -86: [-0.00773475 -0.000876891 0.0500098 0.0334481 0.0517392 -0.0428031] -86: [0.119789 0.261019 -0.0369735 0.128682 -0.0428031 0.384083] +86: [0.326479 0.124564 -0.0217547 0.324243 -0.00932626 0.118947] +86: [0.124564 0.276605 -0.00554578 0.120205 -0.0148903 0.274559] +86: [-0.0217547 -0.00554578 0.0465075 0.0139481 0.0495989 -0.0374229] +86: [0.324243 0.120205 0.0139481 0.377994 0.0306679 0.1015] +86: [-0.00932626 -0.0148903 0.0495989 0.0306679 0.0544999 -0.050629] +86: [0.118947 0.274559 -0.0374229 0.1015 -0.050629 0.319914] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.395112 rank=2 -86: rhs=~[0.326524 0.553125 0 0 0 0] +86: rcond(A+D)=0.407177 rank=2 +86: rhs=~[0.301503 0.578146 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.339129 2.43] -86: -> pi=~[0.339129 2.43 0 0 0 0] -86: resid active=~[-5.55112e-17 0] -86: resid=~[-5.55112e-17 0 0.00152804 0.400421 -0.00475392 0.674901] +86: -> piActive=~[0.152177 2.02162] +86: -> pi=~[0.152177 2.02162 0 0 0 0] +86: resid active=~[1.11022e-16 1.11022e-16] +86: resid=~[1.11022e-16 1.11022e-16 -0.014522 0.29235 -0.0315217 0.573155] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[2.09793e-17 -3.45318e-17 -0.201802 0.880898 -0.216154 1.51317] -86: perr=~[0.000326524 0.000553125 0] -86: END OF STEP (0.113,0.114): -86: verr=~[-0.000648233 0.000648233 -0.201602 0.880903 -0.216354 1.51316] -86: perr=~[0.0003262 0.000553449 -2.22045e-16] +86: verr=~[-5.61617e-17 -5.61617e-17 -0.406492 1.66111 -0.455266 2.47041] +86: perr=~[0.000301503 0.000578146 0] +86: END OF STEP (0.156,0.157): +86: verr=~[-0.00156594 0.00156594 -0.406164 1.66114 -0.455594 2.47039] +86: perr=~[0.00030072 0.000578929 -1.11022e-16] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -49785,16 +60648,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.903678 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.52855 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000648233 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.71007 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.51205 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00156594 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (0) 86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000648233 0.000648233 -0.201602 0.880903 -0.216354 1.51316] -86: IMP t=0.114 verr=~[-0.000648233 0.000648233 -0.201602 0.880903 -0.216354 1.51316] +86: verr=~[-0.00156594 0.00156594 -0.406164 1.66114 -0.455594 2.47039] +86: IMP t=0.157 verr=~[-0.00156594 0.00156594 -0.406164 1.66114 -0.455594 2.47039] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -49806,115 +60669,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000648233 0.000648233 -0.201602 0.880903 -0.216354 1.51316] +86: verrLeft=~[-0.00156594 0.00156594 -0.406164 1.66114 -0.455594 2.47039] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.201602,0.880903, mag=0.903678 -86: Participating contact 1 is Sliding; vel=-0.216354,1.51316, mag=1.52855 +86: Participating contact 0 is Sliding; vel=-0.406164,1.66114, mag=1.71007 +86: Participating contact 1 is Sliding; vel=-0.455594,2.47039, mag=2.51205 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.201602,0.880903, mag=0.903678 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.216354,1.51316, mag=1.52855 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.406164,1.66114, mag=1.71007 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.455594,2.47039, mag=2.51205 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000648233; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000648233; guess pi=0.01 +86: DBG: active normal 0 has v=-0.00156594; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00156594; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000648233 0.000648233 -0.201602 0.880903 -0.216354 1.51316] +86: : verrLeft was=~[-0.00156594 0.00156594 -0.406164 1.66114 -0.455594 2.47039] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000648233 -0.201602 0.880903 0.000648233 -0.216354 1.51316] +86: : rhsActive=~[-0.00156594 -0.406164 1.66114 0.00156594 -0.455594 2.47039] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.61425e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00136037... -86: > NEWTON iter 1: errNorm=0.00136037(v) -> deltaNorm=0.00681816(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.13194e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00177345... +86: > NEWTON iter 1: errNorm=0.00177345(v) -> deltaNorm=0.00134217(pi) 86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000885413 0.000201602 -0.000880903 0.000500022 0 0] -86: > deltaPi=~[-0.00477548 0.000116558 -0.000509303 0.00483829 2.55088e-09 -1.78406e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.00136037. -86: > piNow=~[-0.00522452 -0.000116558 0.000509303 0.00516171 -2.55088e-09 1.78406e-08] -86: > errNow=~[2.1684e-19 -3.58611e-09 1.56696e-08 -4.33681e-19 -3.89914e-09 2.72703e-08] normNow=3.18946e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.34455e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.46654e-05 -86: > NEWTON iter 2: errNorm=3.18946e-08(v) -> deltaNorm=4.23272e-08(pi) -86: > piActive=~[-0.00522452 -0.000116558 0.000509303 0.00516171 -2.55088e-09 1.78406e-08] -86: > errActive=~[2.1684e-19 -3.58611e-09 1.56696e-08 -4.33681e-19 -3.89914e-09 2.72703e-08] -86: > deltaPi=~[-2.43876e-08 -4.51233e-09 1.97167e-08 -2.15156e-08 -2.55092e-09 1.78409e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.18946e-08. -86: > piNow=~[-0.0052245 -0.000116554 0.000509283 0.00516173 4.25628e-14 -2.9768e-13] -86: > errNow=~[1.0842e-19 -6.70737e-14 2.9308e-13 2.1684e-19 6.50594e-14 -4.5502e-13] normNow=5.49245e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.72206e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.49245e-13. -86: DBG: Worst offender is normal contact 1 err=0.00516173 ... +86: > errActive=~[-0.00046864 0.000406164 -0.00166114 -3.39613e-05 0 0] +86: > deltaPi=~[-0.000757693 0.000219518 -0.000897786 0.000610831 4.12651e-10 -2.23754e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00177345. +86: > piNow=~[-0.00924231 -0.000219518 0.000897786 0.00938917 -4.12651e-10 2.23754e-09] +86: > errNow=~[-4.33681e-19 -1.14632e-09 4.68824e-09 -2.1684e-19 -1.0366e-09 5.6208e-09] normNow=7.48075e-09 +86: DBG: Improvement rate now/prev at iter 1 is 4.21819e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.29716e-05 +86: > NEWTON iter 2: errNorm=7.48075e-09(v) -> deltaNorm=5.37594e-09(pi) +86: > piActive=~[-0.00924231 -0.000219518 0.000897786 0.00938917 -4.12651e-10 2.23754e-09] +86: > errActive=~[-4.33681e-19 -1.14632e-09 4.68824e-09 -2.1684e-19 -1.0366e-09 5.6208e-09] +86: > deltaPi=~[-3.02829e-09 -7.42258e-10 3.0357e-09 -2.18789e-09 -4.12653e-10 2.23755e-09] +86: DBG: Line search iter 1: back=1, prevNorm=7.48075e-09. +86: > piNow=~[-0.0092423 -0.000219517 0.000897783 0.00938917 1.67659e-15 -9.09104e-15] +86: > errNow=~[2.1684e-19 -5.36339e-15 2.19351e-14 0 4.21167e-15 -2.28371e-14] normNow=3.23912e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.32994e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.23912e-14. +86: DBG: Worst offender is normal contact 1 err=0.00938917 ... 86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start 86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.201602,0.880903, mag=0.903678 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.216354,1.51316, mag=1.52855 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.406164,1.66114, mag=1.71007 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.455594,2.47039, mag=2.51205 86: fillMult2Active: 86: : active=(0,2,3) 86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000648233; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00156594; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000648233 0.000648233 -0.201602 0.880903 -0.216354 1.51316] +86: : verrLeft was=~[-0.00156594 0.00156594 -0.406164 1.66114 -0.455594 2.47039] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000648233 -0.201602 0.880903] -86: : pi was=~[-0.0052245 0 -0.000116554 0.000509283 4.25628e-14 -2.9768e-13] -86: : piActive=~[-0.01 -0.000116554 0.000509283] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.36609e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00177862... -86: > NEWTON iter 1: errNorm=0.00177862(v) -> deltaNorm=0.00709439(pi) -86: > piActive=~[-0.01 -0.000116554 0.000509283] -86: > errActive=~[-0.00172547 9.62751e-05 -0.000420676] -86: > deltaPi=~[-0.00709061 -5.1642e-05 0.000225651] -86: DBG: Line search iter 1: back=1, prevNorm=0.00177862. -86: > piNow=~[-0.00290939 -6.49115e-05 0.000283632] -86: > errNow=~[3.25261e-19 -5.32464e-09 2.32661e-08] normNow=2.38676e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.34192e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.9719e-05 -86: > NEWTON iter 2: errNorm=2.38676e-08(v) -> deltaNorm=4.69844e-08(pi) -86: > piActive=~[-0.00290939 -6.49115e-05 0.000283632] -86: > errActive=~[3.25261e-19 -5.32464e-09 2.32661e-08] -86: > deltaPi=~[-3.61399e-08 -6.69808e-09 2.92674e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.38676e-08. -86: > piNow=~[-0.00290935 -6.49048e-05 0.000283603] -86: > errNow=~[-1.0842e-19 -3.20233e-13 1.39926e-12] normNow=1.43544e-12 -86: DBG: Improvement rate now/prev at iter 2 is 6.01417e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.43544e-12. +86: : rhsActive=~[-0.00156594 -0.406164 1.66114] +86: : pi was=~[-0.0092423 0 -0.000219517 0.000897783 1.67659e-15 -9.09104e-15] +86: : piActive=~[-0.01 -0.000219517 0.000897783] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.3698e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00143359... +86: > NEWTON iter 1: errNorm=0.00143359(v) -> deltaNorm=0.00474301(pi) +86: > piActive=~[-0.01 -0.000219517 0.000897783] +86: > errActive=~[-0.00142772 3.07749e-05 -0.000125864] +86: > deltaPi=~[-0.00472638 -9.42572e-05 0.000385494] +86: DBG: Line search iter 1: back=1, prevNorm=0.00143359. +86: > piNow=~[-0.00527362 -0.00012526 0.000512289] +86: > errNow=~[-2.1684e-19 -7.15058e-09 2.92446e-08] normNow=3.01061e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.10005e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.28972e-05 +86: > NEWTON iter 2: errNorm=3.01061e-08(v) -> deltaNorm=2.72225e-08(pi) +86: > piActive=~[-0.00527362 -0.00012526 0.000512289] +86: > errActive=~[-2.1684e-19 -7.15058e-09 2.92446e-08] +86: > deltaPi=~[-1.8991e-08 -4.63246e-09 1.89459e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.01061e-08. +86: > piNow=~[-0.0052736 -0.000125255 0.00051227] +86: > errNow=~[-2.1684e-19 -1.0328e-13 4.22397e-13] normNow=4.3484e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.44436e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.3484e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.201602,0.880903] to ~[-0.201641,0.88168] -86: DBG: Friction 0 rotated 0.00853885 deg, less than max 30 +86: slipVel 0 from ~[-0.406164,1.66114] to ~[-0.406281,1.66266] +86: DBG: Friction 0 rotated 0.00829175 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00290935 -6.49048e-05 0.000283603] -86: : m_verrLeft=~[1.0842e-19 0.000904561 -0.201641 0.88168 -0.216383 1.51347] +86: : m_piActive=~[-0.0052736 -0.000125255 0.00051227] +86: : m_verrLeft=~[2.1684e-19 0.00216558 -0.406281 1.66266 -0.455652 2.47096] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00290935 verr=1.0842e-19 pi*v=-3.15432e-22 -86: DBG: 1: pi=0 verr=0.000904561 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00290935 0 -6.49048e-05 0.000283603 0 0] errNorm=1.43544e-12 -86: Postcompression verr=~[1.0842e-19 0.000904561 -0.201641 0.88168 -0.216383 1.51347] -86: impulse=~[-0.00290935 0 -6.49048e-05 0.000283603 0 0] +86: DBG: 0: pi=-0.0052736 verr=2.1684e-19 pi*v=-1.14353e-21 +86: DBG: 1: pi=0 verr=0.00216558 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.0052736 0 -0.000125255 0.00051227 0 0] errNorm=4.3484e-13 +86: Postcompression verr=~[2.1684e-19 0.00216558 -0.406281 1.66266 -0.455652 2.47096] +86: impulse=~[-0.0052736 0 -0.000125255 0.00051227 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00290935 0 -6.49048e-05 0.000283603 0 0]-> du ~[-0.000414553 0.000966097 -0.000465985 -0.000543434 -3.39452e-05 0.00045228 -0.00183912 0.00110824] -86: Now verr0=~[1.95156e-18 0.000904561 -0.201641 0.88168 -0.216383 1.51347] +86: Impact: imp ~[-0.0052736 0 -0.000125255 0.00051227 0 0]-> du ~[-0.00109124 0.00201617 -0.000950699 -0.00104539 -8.75627e-05 0.00108279 -0.00392232 0.00231983] +86: Now verr0=~[-1.06252e-17 0.00216558 -0.406281 1.66266 -0.455652 2.47096] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[1.95156e-18 0.000904561 -0.201641 0.88168 -0.216383 1.51347] -86: verrExt=~[-0.634018 -0.518156 0.0108636 -0.766298 0.00700614 -0.602101] -86: total verr=~[-0.634018 -0.517252 -0.190778 0.115382 -0.209377 0.911372] -86: DYN t=0.114: verrStart=~[1.95156e-18 0.000904561 -0.201641 0.88168 -0.216383 1.51347] -86: verrApplied=~[-0.634018 -0.518156 0.0108636 -0.766298 0.00700614 -0.602101] +86: verr0 =~[-1.06252e-17 0.00216558 -0.406281 1.66266 -0.455652 2.47096] +86: verrExt=~[-0.153172 -0.133298 0.00898204 -0.120265 0.00810045 -0.105922] +86: total verr=~[-0.153172 -0.131132 -0.397299 1.54239 -0.447552 2.36504] +86: DYN t=0.157: verrStart=~[-1.06252e-17 0.00216558 -0.406281 1.66266 -0.455652 2.47096] +86: verrApplied=~[-0.153172 -0.133298 0.00898204 -0.120265 0.00810045 -0.105922] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -49926,108 +60789,108 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[1.95156e-18 0.000904561 -0.201641 0.88168 -0.216383 1.51347] -86: verrApplied=~[-0.634018 -0.518156 0.0108636 -0.766298 0.00700614 -0.602101] +86: verrLeft=~[-1.06252e-17 0.00216558 -0.406281 1.66266 -0.455652 2.47096] +86: verrApplied=~[-0.153172 -0.133298 0.00898204 -0.120265 0.00810045 -0.105922] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.201641,0.88168, mag=0.904444 -86: Participating contact 1 is Sliding; vel=-0.216383,1.51347, mag=1.52886 +86: Participating contact 0 is Sliding; vel=-0.406281,1.66266, mag=1.71157 +86: Participating contact 1 is Sliding; vel=-0.455652,2.47096, mag=2.51262 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.201641,0.88168, mag=0.904444 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.216383,1.51347, mag=1.52886 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.406281,1.66266, mag=1.71157 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.455652,2.47096, mag=2.51262 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.634018; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.517252; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.153172; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.131132; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[1.95156e-18 0.000904561 -0.201641 0.88168 -0.216383 1.51347] +86: : verrLeft was=~[-1.06252e-17 0.00216558 -0.406281 1.66266 -0.455652 2.47096] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.634018 -0.518156 0.0108636 -0.766298 0.00700614 -0.602101] -86: : rhsActive=~[-0.634018 -0.190778 0.115382 -0.517252 -0.209377 0.911372] +86: : verrApplied was=~[-0.153172 -0.133298 0.00898204 -0.120265 0.00810045 -0.105922] +86: : rhsActive=~[-0.153172 -0.397299 1.54239 -0.131132 -0.447552 2.36504] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.6167e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.813522... -86: > NEWTON iter 1: errNorm=0.813522(v) -> deltaNorm=2.76922(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.13243e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.195579... +86: > NEWTON iter 1: errNorm=0.195579(v) -> deltaNorm=0.505988(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.630485 0.000201641 -0.00088168 0.514105 0.000216383 -0.00151347] -86: > deltaPi=~[2.15281 0.048217 -0.21083 1.71969 0.0244797 -0.171221] -86: DBG: Line search iter 1: back=1, prevNorm=0.813522. -86: > piNow=~[-2.16281 -0.048217 0.21083 -1.72969 -0.0244797 0.171221] -86: > errNow=~[1.11022e-16 1.61695e-06 -7.07014e-06 3.33067e-16 1.38607e-06 -9.69472e-06] normNow=1.21865e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.49799e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.2288e-10 -86: > NEWTON iter 2: errNorm=1.21865e-05(v) -> deltaNorm=1.82258e-05(pi) -86: > piActive=~[-2.16281 -0.048217 0.21083 -1.72969 -0.0244797 0.171221] -86: > errActive=~[1.11022e-16 1.61695e-06 -7.07014e-06 3.33067e-16 1.38607e-06 -9.69472e-06] -86: > deltaPi=~[1.09972e-05 2.03296e-06 -8.88916e-06 8.67168e-06 1.02933e-06 -7.19957e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.21865e-05. -86: > piNow=~[-2.16282 -0.048219 0.210838 -1.72969 -0.0244807 0.171228] -86: > errNow=~[1.11022e-16 1.80411e-16 -7.77156e-16 0 2.35922e-16 -1.60982e-15] normNow=1.8155e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.48976e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.8155e-15. +86: > errActive=~[0.148627 0.000406281 -0.00166266 0.12709 0.000455652 -0.00247096] +86: > deltaPi=~[0.372399 0.00907676 -0.0371456 0.338623 0.0063219 -0.034283] +86: DBG: Line search iter 1: back=1, prevNorm=0.195579. +86: > piNow=~[-0.382399 -0.00907676 0.0371456 -0.348623 -0.0063219 0.034283] +86: > errNow=~[0 5.63567e-07 -2.30633e-06 -5.55112e-17 5.74727e-07 -3.11669e-06] normNow=3.9599e-06 +86: DBG: Improvement rate now/prev at iter 1 is 2.02471e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.84463e-09 +86: > NEWTON iter 2: errNorm=3.9599e-06(v) -> deltaNorm=2.88609e-06(pi) +86: > piActive=~[-0.382399 -0.00907676 0.0371456 -0.348623 -0.0063219 0.034283] +86: > errActive=~[0 5.63567e-07 -2.30633e-06 -5.55112e-17 5.74727e-07 -3.11669e-06] +86: > deltaPi=~[1.48353e-06 3.64483e-07 -1.4916e-06 1.34955e-06 2.5321e-07 -1.37313e-06] +86: DBG: Line search iter 1: back=1, prevNorm=3.9599e-06. +86: > piNow=~[-0.3824 -0.00907712 0.0371471 -0.348624 -0.00632215 0.0342844] +86: > errNow=~[0 1.53523e-15 -6.30052e-15 0 1.88738e-15 -1.02141e-14] normNow=1.22451e-14 +86: DBG: Improvement rate now/prev at iter 2 is 3.09227e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.22451e-14. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.201641,0.88168] to ~[-0.20889,0.882234] -86: DBG: Friction 0 rotated 0.438757 deg, less than max 30 -86: slipVel 1 from ~[-0.216383,1.51347] to ~[-0.223945,1.52746] -86: DBG: Friction 1 rotated 0.204353 deg, less than max 30 +86: slipVel 0 from ~[-0.406281,1.66266] to ~[-0.406178,1.69124] +86: DBG: Friction 0 rotated 0.226783 deg, less than max 30 +86: slipVel 1 from ~[-0.455652,2.47096] to ~[-0.455026,2.49097] +86: DBG: Friction 1 rotated 0.096054 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.16282 -0.048219 0.210838 -1.72969 -0.0244807 0.171228] -86: : m_verrLeft=~[-1.11022e-16 0 -0.20889 0.882234 -0.223945 1.52746] +86: : m_piActive=~[-0.3824 -0.00907712 0.0371471 -0.348624 -0.00632215 0.0342844] +86: : m_verrLeft=~[0 0 -0.406178 1.69124 -0.455026 2.49097] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.16282 verr=-1.11022e-16 pi*v=2.40121e-16 -86: DBG: 1: pi=-1.72969 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-2.16282 -1.72969 -0.048219 0.210838 -0.0244807 0.171228] errNorm=1.8155e-15 +86: DBG: 0: pi=-0.3824 verr=0 pi*v=-0 +86: DBG: 1: pi=-0.348624 verr=0 pi*v=-0 +86: SP FINAL 1 intervals, piTotal=~[-0.3824 -0.348624 -0.00907712 0.0371471 -0.00632215 0.0342844] errNorm=1.22451e-14 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.201641 0.88168, |slipV|=0.904444 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.406281 1.66266, |slipV|=1.71157 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.216383 1.51347, |slipV|=1.52886 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.455652 2.47096, |slipV|=2.51262 86: ------------------------------ 86: -86: dynamics impulse=~[-2.16282 -1.72969 -0.048219 0.210838 -0.0244807 0.171228] -86: updated verrStart=~[-1.11022e-16 0 -0.20889 0.882234 -0.223945 1.52746] +86: dynamics impulse=~[-0.3824 -0.348624 -0.00907712 0.0371471 -0.00632215 0.0342844] +86: updated verrStart=~[0 0 -0.406178 1.69124 -0.455026 2.49097] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.3262 0.553449 0 0 0 0] +86: posVerr=~[0.30072 0.578929 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.2533 0.0999351 -0.0120874 0.310013 -0.00761938 0.120011] -86: [0.0999351 0.214761 0.00208372 0.121838 -0.00119657 0.261309] -86: [-0.0120874 0.00208372 0.0486075 0.026147 0.0500822 -0.0371987] -86: [0.310013 0.121838 0.026147 0.448373 0.0336612 0.128155] -86: [-0.00761938 -0.00119657 0.0500822 0.0336612 0.0518736 -0.0431781] -86: [0.120011 0.261309 -0.0371987 0.128155 -0.0431781 0.383049] +86: [0.32897 0.125513 -0.0218859 0.324402 -0.00927498 0.118865] +86: [0.125513 0.27871 -0.00577804 0.120114 -0.0152629 0.274702] +86: [-0.0218859 -0.00577804 0.0464786 0.013858 0.0496066 -0.0374277] +86: [0.324402 0.120114 0.013858 0.375524 0.0307093 0.100567] +86: [-0.00927498 -0.0152629 0.0496066 0.0307093 0.0545829 -0.0507342] +86: [0.118865 0.274702 -0.0374277 0.100567 -0.0507342 0.317709] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.393841 rank=2 -86: rhs=~[0.3262 0.553449 0 0 0 0] +86: rcond(A+D)=0.407176 rank=2 +86: rhs=~[0.30072 0.578929 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.332027 2.42255] -86: -> pi=~[0.332027 2.42255 0 0 0 0] -86: resid active=~[1.11022e-16 0] -86: resid=~[1.11022e-16 0 0.00103455 0.398091 -0.00542859 0.67288] +86: -> piActive=~[0.146848 2.01104] +86: -> pi=~[0.146848 2.01104 0 0 0 0] +86: resid active=~[5.55112e-17 -1.11022e-16] +86: resid=~[5.55112e-17 -1.11022e-16 -0.0148338 0.289193 -0.0320564 0.569892] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-8.26704e-17 3.05908e-16 -0.20889 0.882234 -0.223945 1.52746] -86: perr=~[0.0003262 0.000553449 -2.22045e-16] -86: END OF STEP (0.114,0.115): -86: verr=~[-0.000665178 0.000665178 -0.208682 0.88224 -0.224153 1.52745] -86: perr=~[0.000325867 0.000553781 0] +86: verr=~[-1.35742e-16 -1.63498e-16 -0.406178 1.69124 -0.455026 2.49097] +86: perr=~[0.00030072 0.000578929 -1.11022e-16] +86: END OF STEP (0.157,0.158): +86: verr=~[-0.00157391 0.00157391 -0.405858 1.69126 -0.455346 2.49095] +86: perr=~[0.000299933 0.000579716 -1.11022e-16] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding @@ -50035,16 +60898,16 @@ 86: Distal unilateral contacts: (1,3,4,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.906584 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.54381 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000665178 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.73928 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.53222 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00157391 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: 86: impacters: (0) 86: observers: (1) 86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000665178 0.000665178 -0.208682 0.88224 -0.224153 1.52745] -86: IMP t=0.115 verr=~[-0.000665178 0.000665178 -0.208682 0.88224 -0.224153 1.52745] +86: verr=~[-0.00157391 0.00157391 -0.405858 1.69126 -0.455346 2.49095] +86: IMP t=0.158 verr=~[-0.00157391 0.00157391 -0.405858 1.69126 -0.455346 2.49095] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -50056,115 +60919,115 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000665178 0.000665178 -0.208682 0.88224 -0.224153 1.52745] +86: verrLeft=~[-0.00157391 0.00157391 -0.405858 1.69126 -0.455346 2.49095] 86: verrApplied=~[] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.208682,0.88224, mag=0.906584 -86: Participating contact 1 is Sliding; vel=-0.224153,1.52745, mag=1.54381 +86: Participating contact 0 is Sliding; vel=-0.405858,1.69126, mag=1.73928 +86: Participating contact 1 is Sliding; vel=-0.455346,2.49095, mag=2.53222 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.208682,0.88224, mag=0.906584 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.224153,1.52745, mag=1.54381 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.405858,1.69126, mag=1.73928 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.455346,2.49095, mag=2.53222 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000665178; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000665178; guess pi=0.01 +86: DBG: active normal 0 has v=-0.00157391; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00157391; guess pi=0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000665178 0.000665178 -0.208682 0.88224 -0.224153 1.52745] +86: : verrLeft was=~[-0.00157391 0.00157391 -0.405858 1.69126 -0.455346 2.49095] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000665178 -0.208682 0.88224 0.000665178 -0.224153 1.52745] +86: : rhsActive=~[-0.00157391 -0.405858 1.69126 0.00157391 -0.455346 2.49095] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.66873e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00134856... -86: > NEWTON iter 1: errNorm=0.00134856(v) -> deltaNorm=0.00664721(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.14428e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00180353... +86: > NEWTON iter 1: errNorm=0.00180353(v) -> deltaNorm=0.00136717(pi) 86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000872342 0.000208682 -0.00088224 0.000485525 0 0] -86: > deltaPi=~[-0.00465426 0.000123055 -0.000520236 0.00471567 2.55038e-09 -1.73791e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.00134856. -86: > piNow=~[-0.00534574 -0.000123055 0.000520236 0.00528433 -2.55038e-09 1.73791e-08] -86: > errNow=~[2.1684e-19 -3.61781e-09 1.5295e-08 2.1684e-19 -3.93731e-09 2.68302e-08] normNow=3.1343e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.32419e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.37361e-05 -86: > NEWTON iter 2: errNorm=3.1343e-08(v) -> deltaNorm=4.11148e-08(pi) -86: > piActive=~[-0.00534574 -0.000123055 0.000520236 0.00528433 -2.55038e-09 1.73791e-08] -86: > errActive=~[2.1684e-19 -3.61781e-09 1.5295e-08 2.1684e-19 -3.93731e-09 2.68302e-08] -86: > deltaPi=~[-2.36224e-08 -4.53428e-09 1.91695e-08 -2.08765e-08 -2.55042e-09 1.73794e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.1343e-08. -86: > piNow=~[-0.00534572 -0.00012305 0.000520217 0.00528435 4.04216e-14 -2.75447e-13] -86: > errNow=~[-1.0842e-19 -6.42366e-14 2.71572e-13 1.0842e-19 6.24035e-14 -4.25238e-13] normNow=5.12445e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.63496e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.12445e-13. -86: DBG: Worst offender is normal contact 1 err=0.00528435 ... +86: > errActive=~[-0.000476128 0.000405858 -0.00169126 -3.03972e-05 0 0] +86: > deltaPi=~[-0.000786687 0.000214992 -0.000895899 0.000633573 4.24373e-10 -2.32151e-09] +86: DBG: Line search iter 1: back=1, prevNorm=0.00180353. +86: > piNow=~[-0.00921331 -0.000214992 0.000895899 0.00936643 -4.24373e-10 2.32151e-09] +86: > errNow=~[0 -1.18929e-09 4.95592e-09 0 -1.07461e-09 5.87858e-09] normNow=7.85418e-09 +86: DBG: Improvement rate now/prev at iter 1 is 4.3549e-06 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.31847e-05 +86: > NEWTON iter 2: errNorm=7.85418e-09(v) -> deltaNorm=5.55872e-09(pi) +86: > piActive=~[-0.00921331 -0.000214992 0.000895899 0.00936643 -4.24373e-10 2.32151e-09] +86: > errActive=~[0 -1.18929e-09 4.95592e-09 0 -1.07461e-09 5.87858e-09] +86: > deltaPi=~[-3.1207e-09 -7.56601e-10 3.15286e-09 -2.25347e-09 -4.24375e-10 2.32152e-09] +86: DBG: Line search iter 1: back=1, prevNorm=7.85418e-09. +86: > piNow=~[-0.00921331 -0.000214991 0.000895896 0.00936643 1.72048e-15 -9.41178e-15] +86: > errNow=~[4.33681e-19 -5.55778e-15 2.31599e-14 2.1684e-19 4.35664e-15 -2.38327e-14] normNow=3.39742e-14 +86: DBG: Improvement rate now/prev at iter 2 is 4.32562e-06 +86: DBG: <<<< NEWTON done in 2 iters; norm=3.39742e-14. +86: DBG: Worst offender is normal contact 1 err=0.00936643 ... 86: DBG: ... normal contact 1 released. 86: 86: ....... Active set iter 2 start 86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.208682,0.88224, mag=0.906584 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.224153,1.52745, mag=1.54381 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.405858,1.69126, mag=1.73928 +86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.455346,2.49095, mag=2.53222 86: fillMult2Active: 86: : active=(0,2,3) 86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000665178; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.00157391; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000665178 0.000665178 -0.208682 0.88224 -0.224153 1.52745] +86: : verrLeft was=~[-0.00157391 0.00157391 -0.405858 1.69126 -0.455346 2.49095] 86: : verrExpand was=~[0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000665178 -0.208682 0.88224] -86: : pi was=~[-0.00534572 0 -0.00012305 0.000520217 4.04216e-14 -2.75447e-13] -86: : piActive=~[-0.01 -0.00012305 0.000520217] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.37691e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00176721... -86: > NEWTON iter 1: errNorm=0.00176721(v) -> deltaNorm=0.00703368(pi) -86: > piActive=~[-0.01 -0.00012305 0.000520217] -86: > errActive=~[-0.0017161 9.71263e-05 -0.000410619] -86: > deltaPi=~[-0.00702967 -5.46717e-05 0.000231135] -86: DBG: Line search iter 1: back=1, prevNorm=0.00176721. -86: > piNow=~[-0.00297033 -6.83784e-05 0.000289082] -86: > errNow=~[-4.33681e-19 -5.46425e-09 2.31011e-08] normNow=2.37386e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.34328e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.82304e-05 -86: > NEWTON iter 2: errNorm=2.37386e-08(v) -> deltaNorm=4.64162e-08(pi) -86: > piActive=~[-0.00297033 -6.83784e-05 0.000289082] -86: > errActive=~[-4.33681e-19 -5.46425e-09 2.31011e-08] -86: > deltaPi=~[-3.56317e-08 -6.84714e-09 2.89475e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.37386e-08. -86: > piNow=~[-0.00297029 -6.83716e-05 0.000289053] -86: > errNow=~[0 -3.13561e-13 1.32563e-12] normNow=1.36221e-12 -86: DBG: Improvement rate now/prev at iter 2 is 5.7384e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.36221e-12. +86: : rhsActive=~[-0.00157391 -0.405858 1.69126] +86: : pi was=~[-0.00921331 0 -0.000214991 0.000895896 1.72048e-15 -9.41178e-15] +86: : piActive=~[-0.01 -0.000214991 0.000895896] +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.47859e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.00145201... +86: > NEWTON iter 1: errNorm=0.00145201(v) -> deltaNorm=0.00475997(pi) +86: > piActive=~[-0.01 -0.000214991 0.000895896] +86: > errActive=~[-0.00144555 3.19284e-05 -0.00013305] +86: > deltaPi=~[-0.0047435 -9.23274e-05 0.00038474] +86: DBG: Line search iter 1: back=1, prevNorm=0.00145201. +86: > piNow=~[-0.0052565 -0.000122664 0.000511155] +86: > errNow=~[-4.33681e-19 -7.17108e-09 2.98828e-08] normNow=3.07312e-08 +86: DBG: Improvement rate now/prev at iter 1 is 2.11646e-05 +86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.34402e-05 +86: > NEWTON iter 2: errNorm=3.07312e-08(v) -> deltaNorm=2.72177e-08(pi) +86: > piActive=~[-0.0052565 -0.000122664 0.000511155] +86: > errActive=~[-4.33681e-19 -7.17108e-09 2.98828e-08] +86: > deltaPi=~[-1.89251e-08 -4.56457e-09 1.90212e-08] +86: DBG: Line search iter 1: back=1, prevNorm=3.07312e-08. +86: > piNow=~[-0.00525648 -0.000122659 0.000511136] +86: > errNow=~[2.1684e-19 -1.03515e-13 4.31361e-13] normNow=4.43608e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.44351e-05 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.43608e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.208682,0.88224] to ~[-0.208722,0.883034] -86: DBG: Friction 0 rotated 0.00907329 deg, less than max 30 +86: slipVel 0 from ~[-0.405858,1.69126] to ~[-0.405975,1.69278] +86: DBG: Friction 0 rotated 0.00790599 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00297029 -6.83716e-05 0.000289053] -86: : m_verrLeft=~[0 0.000929026 -0.208722 0.883034 -0.224182 1.52777] +86: : m_piActive=~[-0.00525648 -0.000122659 0.000511136] +86: : m_verrLeft=~[-2.1684e-19 0.00217672 -0.405975 1.69278 -0.455404 2.49152] 86: : verrAppliedLeft=~[] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00297029 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.000929026 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00297029 0 -6.83716e-05 0.000289053 0 0] errNorm=1.36221e-12 -86: Postcompression verr=~[0 0.000929026 -0.208722 0.883034 -0.224182 1.52777] -86: impulse=~[-0.00297029 0 -6.83716e-05 0.000289053 0 0] +86: DBG: 0: pi=-0.00525648 verr=-2.1684e-19 pi*v=1.13982e-21 +86: DBG: 1: pi=0 verr=0.00217672 pi*v=0 +86: SP FINAL 1 intervals, piTotal=~[-0.00525648 0 -0.000122659 0.000511136 0 0] errNorm=4.43608e-13 +86: Postcompression verr=~[-2.1684e-19 0.00217672 -0.405975 1.69278 -0.455404 2.49152] +86: impulse=~[-0.00525648 0 -0.000122659 0.000511136 0 0] 86: Next expansion impulse=~[0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00297029 0 -6.83716e-05 0.000289053 0 0]-> du ~[-0.000425175 0.000989639 -0.000476507 -0.000555908 -3.44443e-05 0.000464513 -0.00188452 0.00113704] -86: Now verr0=~[0 0.000929026 -0.208722 0.883034 -0.224182 1.52777] +86: Impact: imp ~[-0.00525648 0 -0.000122659 0.000511136 0 0]-> du ~[-0.00109785 0.00201819 -0.000949357 -0.00104291 -8.7537e-05 0.00108836 -0.00392838 0.0023233] +86: Now verr0=~[-1.0842e-17 0.00217672 -0.405975 1.69278 -0.455404 2.49152] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0 0.000929026 -0.208722 0.883034 -0.224182 1.52777] -86: verrExt=~[-0.667016 -0.544015 0.0115546 -0.806106 0.0073464 -0.631777] -86: total verr=~[-0.667016 -0.543086 -0.197167 0.0769276 -0.216835 0.895995] -86: DYN t=0.115: verrStart=~[0 0.000929026 -0.208722 0.883034 -0.224182 1.52777] -86: verrApplied=~[-0.667016 -0.544015 0.0115546 -0.806106 0.0073464 -0.631777] +86: verr0 =~[-1.0842e-17 0.00217672 -0.405975 1.69278 -0.455404 2.49152] +86: verrExt=~[-0.163758 -0.141332 0.00945905 -0.130844 0.0083816 -0.113534] +86: total verr=~[-0.163758 -0.139155 -0.396516 1.56194 -0.447023 2.37798] +86: DYN t=0.158: verrStart=~[-1.0842e-17 0.00217672 -0.405975 1.69278 -0.455404 2.49152] +86: verrApplied=~[-0.163758 -0.141332 0.00945905 -0.130844 0.0083816 -0.113534] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: @@ -50176,11613 +61039,848 @@ 86: active=(0,2,3,1,4,5) 86: mult2active=(0,3,1,2,4,5) 86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[0 0.000929026 -0.208722 0.883034 -0.224182 1.52777] -86: verrApplied=~[-0.667016 -0.544015 0.0115546 -0.806106 0.0073464 -0.631777] +86: verrLeft=~[-1.0842e-17 0.00217672 -0.405975 1.69278 -0.455404 2.49152] +86: verrApplied=~[-0.163758 -0.141332 0.00945905 -0.130844 0.0083816 -0.113534] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.208722,0.883034, mag=0.907366 -86: Participating contact 1 is Sliding; vel=-0.224182,1.52777, mag=1.54413 +86: Participating contact 0 is Sliding; vel=-0.405975,1.69278, mag=1.74078 +86: Participating contact 1 is Sliding; vel=-0.455404,2.49152, mag=2.53279 86: 86: ....... Active set iter 1 start 86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.208722,0.883034, mag=0.907366 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.224182,1.52777, mag=1.54413 +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.405975,1.69278, mag=1.74078 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.455404,2.49152, mag=2.53279 86: fillMult2Active: 86: : active=(0,2,3,1,4,5) 86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.667016; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.543086; guess pi=-0.01 +86: DBG: active normal 0 has v=-0.163758; guess pi=-0.01 +86: DBG: active normal 3 has v=-0.139155; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[0 0.000929026 -0.208722 0.883034 -0.224182 1.52777] +86: : verrLeft was=~[-1.0842e-17 0.00217672 -0.405975 1.69278 -0.455404 2.49152] 86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.667016 -0.544015 0.0115546 -0.806106 0.0073464 -0.631777] -86: : rhsActive=~[-0.667016 -0.197167 0.0769276 -0.543086 -0.216835 0.895995] +86: : verrApplied was=~[-0.163758 -0.141332 0.00945905 -0.130844 0.0083816 -0.113534] +86: : rhsActive=~[-0.163758 -0.396516 1.56194 -0.139155 -0.447023 2.37798] 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.67123e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.855398... -86: > NEWTON iter 1: errNorm=0.855398(v) -> deltaNorm=2.89446(pi) +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.14478e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=0.208792... +86: > NEWTON iter 1: errNorm=0.208792(v) -> deltaNorm=0.535356(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.663465 0.000208722 -0.000883034 0.539922 0.000224182 -0.00152777] -86: > deltaPi=~[2.25555 0.0521127 -0.220472 1.79071 0.0261423 -0.178157] -86: DBG: Line search iter 1: back=1, prevNorm=0.855398. -86: > piNow=~[-2.26555 -0.0521127 0.220472 -1.80071 -0.0261423 0.178157] -86: > errNow=~[1.11022e-16 1.75361e-06 -7.41895e-06 -1.11022e-16 1.49533e-06 -1.01905e-05] normNow=1.2814e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.49801e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.18854e-10 -86: > NEWTON iter 2: errNorm=1.2814e-05(v) -> deltaNorm=1.89806e-05(pi) -86: > piActive=~[-2.26555 -0.0521127 0.220472 -1.80071 -0.0261423 0.178157] -86: > errActive=~[1.11022e-16 1.75361e-06 -7.41895e-06 -1.11022e-16 1.49533e-06 -1.01905e-05] -86: > deltaPi=~[1.14529e-05 2.19609e-06 -9.29092e-06 8.98172e-06 1.0988e-06 -7.48816e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.2814e-05. -86: > piNow=~[-2.26557 -0.0521149 0.220481 -1.80072 -0.0261434 0.178164] -86: > errNow=~[0 1.73472e-16 -7.49401e-16 -1.11022e-16 2.28983e-16 -1.4988e-15] normNow=1.70378e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.32962e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.70378e-15. +86: > errActive=~[0.159178 0.000405975 -0.00169278 0.135082 0.000455404 -0.00249152] +86: > deltaPi=~[0.397302 0.00949852 -0.0396057 0.354638 0.00655608 -0.0358683] +86: DBG: Line search iter 1: back=1, prevNorm=0.208792. +86: > piNow=~[-0.407302 -0.00949852 0.0396057 -0.364638 -0.00655608 0.0358683] +86: > errNow=~[5.55112e-17 6.00802e-07 -2.50514e-06 -5.55112e-17 6.01582e-07 -3.29125e-06] normNow=4.22267e-06 +86: DBG: Improvement rate now/prev at iter 1 is 2.02242e-05 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.09633e-09 +86: > NEWTON iter 2: errNorm=4.22267e-06(v) -> deltaNorm=3.04125e-06(pi) +86: > piActive=~[-0.407302 -0.00949852 0.0396057 -0.364638 -0.00655608 0.0358683] +86: > errActive=~[5.55112e-17 6.00802e-07 -2.50514e-06 -5.55112e-17 6.01582e-07 -3.29125e-06] +86: > deltaPi=~[1.57118e-06 3.81776e-07 -1.59188e-06 1.40204e-06 2.62726e-07 -1.43737e-06] +86: DBG: Line search iter 1: back=1, prevNorm=4.22267e-06. +86: > piNow=~[-0.407304 -0.0094989 0.0396072 -0.36464 -0.00655634 0.0358697] +86: > errNow=~[-2.77556e-17 1.43288e-15 -5.96745e-15 2.77556e-17 1.78677e-15 -9.76996e-15] normNow=1.16752e-14 +86: DBG: Improvement rate now/prev at iter 2 is 2.76488e-09 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.16752e-14. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.208722,0.883034] to ~[-0.216509,0.880692] -86: DBG: Friction 0 rotated 0.512808 deg, less than max 30 -86: slipVel 1 from ~[-0.224182,1.52777] to ~[-0.23232,1.54009] -86: DBG: Friction 1 rotated 0.230446 deg, less than max 30 +86: slipVel 0 from ~[-0.405975,1.69278] to ~[-0.406108,1.71987] +86: DBG: Friction 0 rotated 0.200663 deg, less than max 30 +86: slipVel 1 from ~[-0.455404,2.49152] to ~[-0.455043,2.51062] +86: DBG: Friction 1 rotated 0.0851332 deg, less than max 30 86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.26557 -0.0521149 0.220481 -1.80072 -0.0261434 0.178164] -86: : m_verrLeft=~[0 1.11022e-16 -0.216509 0.880692 -0.23232 1.54009] +86: : m_piActive=~[-0.407304 -0.0094989 0.0396072 -0.36464 -0.00655634 0.0358697] +86: : m_verrLeft=~[2.77556e-17 -2.77556e-17 -0.406108 1.71987 -0.455043 2.51062] 86: : verrAppliedLeft=~[0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.26557 verr=0 pi*v=-0 -86: DBG: 1: pi=-1.80072 verr=1.11022e-16 pi*v=-1.9992e-16 -86: SP FINAL 1 intervals, piTotal=~[-2.26557 -1.80072 -0.0521149 0.220481 -0.0261434 0.178164] errNorm=1.70378e-15 +86: DBG: 0: pi=-0.407304 verr=2.77556e-17 pi*v=-1.13049e-17 +86: DBG: 1: pi=-0.36464 verr=-2.77556e-17 pi*v=1.01208e-17 +86: SP FINAL 1 intervals, piTotal=~[-0.407304 -0.36464 -0.0094989 0.0396072 -0.00655634 0.0358697] errNorm=1.16752e-14 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=2): 86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 86: friction MultIndices: (2,3) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.208722 0.883034, |slipV|=0.907366 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.405975 1.69278, |slipV|=1.74078 86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 86: friction MultIndices: (4,5) effMu=0.1 86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.224182 1.52777, |slipV|=1.54413 +86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.455404 2.49152, |slipV|=2.53279 86: ------------------------------ 86: -86: dynamics impulse=~[-2.26557 -1.80072 -0.0521149 0.220481 -0.0261434 0.178164] -86: updated verrStart=~[0 1.11022e-16 -0.216509 0.880692 -0.23232 1.54009] +86: dynamics impulse=~[-0.407304 -0.36464 -0.0094989 0.0396072 -0.00655634 0.0358697] +86: updated verrStart=~[2.77556e-17 -2.77556e-17 -0.406108 1.71987 -0.455043 2.51062] 86: 86: POSITION CORRECTION PHASE: -86: posVerr=~[0.325867 0.553781 0 0 0 0] +86: posVerr=~[0.299933 0.579716 0 0 0 0] 86: DBG: BILATERAL POSITION CORRECTION, 2 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: 86: A= -86: [0.254419 0.100667 -0.0121105 0.310301 -0.00751742 0.120209] -86: [0.100667 0.215737 0.00186059 0.122089 -0.0015103 0.261576] -86: [-0.0121105 0.00186059 0.0486288 0.0261439 0.0501494 -0.0374042] -86: [0.310301 0.122089 0.0261439 0.447213 0.03385 0.127621] -86: [-0.00751742 -0.0015103 0.0501494 0.03385 0.0520036 -0.0435351] -86: [0.120209 0.261576 -0.0374042 0.127621 -0.0435351 0.381963] +86: [0.331495 0.126491 -0.0220033 0.32454 -0.00921259 0.118781] +86: [0.126491 0.280842 -0.00601553 0.120023 -0.0156385 0.274823] +86: [-0.0220033 -0.00601553 0.0464519 0.0137877 0.0496174 -0.0374364] +86: [0.32454 0.120023 0.0137877 0.373015 0.0307641 0.0996156] +86: [-0.00921259 -0.0156385 0.0496174 0.0307641 0.054669 -0.0508378] +86: [0.118781 0.274823 -0.0374364 0.0996156 -0.0508378 0.315465] 86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.392699 rank=2 -86: rhs=~[0.325867 0.553781 0 0 0 0] +86: rcond(A+D)=0.407122 rank=2 +86: rhs=~[0.299933 0.579716 0 0 0 0] 86: active=(0,1) -86: -> piActive=~[0.325205 2.41518] -86: -> pi=~[0.325205 2.41518 0 0 0 0] -86: resid active=~[-5.55112e-17 0] -86: resid=~[-5.55112e-17 0 0.000555238 0.395778 -0.00609235 0.670846] +86: -> piActive=~[0.141445 2.0005] +86: -> pi=~[0.141445 2.0005 0 0 0 0] +86: resid active=~[5.55112e-17 0] +86: resid=~[5.55112e-17 0 -0.0151463 0.286011 -0.0325878 0.566584] 86: DBG: -------------------------------- 86: Before position update: -86: verr=~[-2.53703e-16 4.46691e-17 -0.216509 0.880692 -0.23232 1.54009] -86: perr=~[0.000325867 0.000553781 0] -93: Done -86: END OF STEP (0.115,0.116): -86: verr=~[-0.000682103 0.000682103 -0.216291 0.880698 -0.232538 1.54008] -86: perr=~[0.000325526 0.000554123 0] +86: verr=~[-9.17235e-17 -1.47235e-16 -0.406108 1.71987 -0.455043 2.51062] +86: perr=~[0.000299933 0.000579716 -1.11022e-16] +86: END OF STEP (0.158,0.159): +86: verr=~[-0.00158179 0.00158179 -0.405794 1.7199 -0.455356 2.5106] +86: perr=~[0.000299142 0.000580507 -1.11022e-16] 86: constraint status: 86: 0: cont UniActive fric Sliding 86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) +86: Proximal unilateral contacts: (0,2,4) +86: Distal unilateral contacts: (1,3,5,6,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.906869 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.55754 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000682103 at or below tol 0.001 -> cor=0 +86: DBG: Uni fric 0 verr speed=1.76712 -> mu=0.1 +86: DBG: Uni fric 2 verr speed=2.55156 -> mu=0.1 +86: DBG: Uni fric 4 verr speed=1.80869 -> mu=0.1 +86: DBG: Uni contact 0 verr vel=-0.00158179 -> cor=0 +86: DBG: Uni contact 4 verr vel=-3.9947 -> cor=0 86: 86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) +86: impacters: (0,2) 86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000682103 0.000682103 -0.216291 0.880698 -0.232538 1.54008] -86: IMP t=0.116 verr=~[-0.000682103 0.000682103 -0.216291 0.880698 -0.232538 1.54008] +86: participating multx: (0,3,4,1,5,6,2,7,8) +86: verr=~[-0.00158179 0.00158179 -3.9947 -0.405794 1.7199 -0.455356 2.5106 0.386188 1.76698] +86: IMP t=0.159 verr=~[-0.00158179 0.00158179 -3.9947 -0.405794 1.7199 -0.455356 2.5106 0.386188 1.76698] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) +86: : active=(0,3,4,1,5,6,2,7,8) +86: : mult2active=(0,3,6,1,2,4,5,7,8) 86: 86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000682103 0.000682103 -0.216291 0.880698 -0.232538 1.54008] +86: active=(0,3,4,1,5,6,2,7,8) +86: mult2active=(0,3,6,1,2,4,5,7,8) +86: piTotal=~[0 0 0 0 0 0 0 0 0] +86: verrLeft=~[-0.00158179 0.00158179 -3.9947 -0.405794 1.7199 -0.455356 2.5106 0.386188 1.76698] 86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.216291,0.880698, mag=0.906869 -86: Participating contact 1 is Sliding; vel=-0.232538,1.54008, mag=1.55754 +86: piELeft=~[0 0 0 0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 3 uni contacts +86: Participating contact 0 is Sliding; vel=-0.405794,1.7199, mag=1.76712 +86: Participating contact 1 is Sliding; vel=-0.455356,2.5106, mag=2.55156 +86: Participating contact 2 is Sliding; vel=0.386188,1.76698, mag=1.80869 86: 86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.216291,0.880698, mag=0.906869 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.232538,1.54008, mag=1.55754 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000682103; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000682103; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000682103 0.000682103 -0.216291 0.880698 -0.232538 1.54008] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000682103 -0.216291 0.880698 0.000682103 -0.232538 1.54008] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.71339e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00133556... -86: > NEWTON iter 1: errNorm=0.00133556(v) -> deltaNorm=0.00647973(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000859741 0.000216291 -0.000880698 0.000471327 0 0] -86: > deltaPi=~[-0.00453579 0.000130327 -0.000530668 0.00459509 2.55541e-09 -1.69243e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.00133556. -86: > piNow=~[-0.00546421 -0.000130327 0.000530668 0.00540491 -2.55541e-09 1.69243e-08] -86: > errNow=~[1.0842e-19 -3.6543e-09 1.48796e-08 -3.25261e-19 -3.98015e-09 2.63602e-08] normNow=3.07483e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.30228e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.28501e-05 -86: > NEWTON iter 2: errNorm=3.07483e-08(v) -> deltaNorm=3.99264e-08(pi) -86: > piActive=~[-0.00546421 -0.000130327 0.000530668 0.00540491 -2.55541e-09 1.69243e-08] -86: > errActive=~[1.0842e-19 -3.6543e-09 1.48796e-08 -3.25261e-19 -3.98015e-09 2.63602e-08] -86: > deltaPi=~[-2.28725e-08 -4.57502e-09 1.86286e-08 -2.02493e-08 -2.55545e-09 1.69246e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.07483e-08. -86: > piNow=~[-0.00546419 -0.000130323 0.00053065 0.00540493 3.85374e-14 -2.55231e-13] -86: > errNow=~[-2.1684e-19 -6.17015e-14 2.51237e-13 -2.1684e-19 6.00234e-14 -3.97531e-13] normNow=4.7808e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.55482e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.7808e-13. -86: DBG: Worst offender is normal contact 1 err=0.00540493 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.216291,0.880698, mag=0.906869 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.232538,1.54008, mag=1.55754 +86: : active=(0,3,4,1,5,6,2,7,8) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.405794,1.7199, mag=1.76712 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.455356,2.5106, mag=2.55156 +86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.386188,1.76698, mag=1.80869 86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000682103; guess pi=-0.01 +86: : active=(0,3,4,1,5,6,2,7,8) +86: : mult2active=(0,3,6,1,2,4,5,7,8) +86: DBG: active normal 0 has v=-0.00158179; guess pi=-0.01 +86: DBG: active normal 3 has v=0.00158179; guess pi=0.01 +86: DBG: active normal 6 has v=-3.9947; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000682103 0.000682103 -0.216291 0.880698 -0.232538 1.54008] -86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrLeft was=~[-0.00158179 0.00158179 -3.9947 -0.405794 1.7199 -0.455356 2.5106 0.386188 1.76698] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000682103 -0.216291 0.880698] -86: : pi was=~[-0.00546419 0 -0.000130323 0.00053065 3.85374e-14 -2.55231e-13] -86: : piActive=~[-0.01 -0.000130323 0.00053065] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.37797e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00175589... -86: > NEWTON iter 1: errNorm=0.00175589(v) -> deltaNorm=0.006974(pi) -86: > piActive=~[-0.01 -0.000130323 0.00053065] -86: > errActive=~[-0.00170703 9.81057e-05 -0.000399468] -86: > deltaPi=~[-0.00696975 -5.80441e-05 0.000236345] -86: DBG: Line search iter 1: back=1, prevNorm=0.00175589. -86: > piNow=~[-0.00303025 -7.22786e-05 0.000294305] -86: > errNow=~[-1.0842e-19 -5.61524e-09 2.28642e-08] normNow=2.35436e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.34084e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.67469e-05 -86: > NEWTON iter 2: errNorm=2.35436e-08(v) -> deltaNorm=4.58471e-08(pi) -86: > piActive=~[-0.00303025 -7.22786e-05 0.000294305] -86: > errActive=~[-1.0842e-19 -5.61524e-09 2.28642e-08] -86: > deltaPi=~[-3.51192e-08 -7.02916e-09 2.86214e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.35436e-08. -86: > piNow=~[-0.00303021 -7.22716e-05 0.000294276] -86: > errNow=~[0 -3.07794e-13 1.25328e-12] normNow=1.29052e-12 -86: DBG: Improvement rate now/prev at iter 2 is 5.48141e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.29052e-12. +86: : rhsActive=~[-0.00158179 -0.405794 1.7199 0.00158179 -0.455356 2.5106 -3.9947 0.386188 1.76698] +86: : pi was=~[0 0 0 0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 0.01 0 0 -0.01 0 0] +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.33808e-05 +86: DBG: >>>> Start NEWTON solve with errNorm=3.99032... +86: > NEWTON iter 1: errNorm=3.99032(v) -> deltaNorm=143.142(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0 -0.01 0 0] +86: > errActive=~[0.000594668 0.000405794 -0.0017199 0.00260592 0 0 3.99032 -0.000386188 -0.00176698] +86: > deltaPi=~[3.14134 0.0723636 -0.306701 99.5798 6.61955e-05 -0.000364968 102.269 -2.18375 -9.99163] +86: DBG: Line search iter 1: back=1, prevNorm=3.99032. +86: > piNow=~[-3.15134 -0.0723636 0.306701 -99.5698 -6.61955e-05 0.000364968 -102.279 2.18375 9.99163] +86: > errNow=~[2.71463e-15 4.74824e-06 -2.01247e-05 1.24013e-14 4.53381 -24.9971 -2.08722e-14 -0.000147114 -0.000673109] normNow=25.4049 +86: DBG: GOT WORSE @iter 1: backtrack to back=0.5 +86: DBG: Line search iter 2: back=0.5, prevNorm=3.99032. +86: > piNow=~[-1.58067 -0.0361818 0.153351 -49.7799 -3.30978e-05 0.000182484 -51.1443 1.09188 4.99581] +86: > errNow=~[0.000297334 0.000205271 -0.00087001 0.00130296 2.26668 -12.4973 1.99516 -0.000266651 -0.00122004] normNow=12.8569 +86: DBG: GOT WORSE @iter 2: backtrack to back=0.25 +86: DBG: Line search iter 3: back=0.25, prevNorm=3.99032. +86: > piNow=~[-0.795336 -0.0180909 0.0766754 -24.885 -1.65489e-05 9.1242e-05 -25.5772 0.545939 2.49791] +86: > errNow=~[0.000446001 0.000305533 -0.00129495 0.00195444 1.13311 -6.24738 2.99274 -0.00032642 -0.00149351] normNow=7.01928 +86: DBG: GOT WORSE @iter 3: backtrack to back=0.125 +86: DBG: Line search iter 4: back=0.125, prevNorm=3.99032. +86: > piNow=~[-0.402668 -0.00904545 0.0383377 -12.4375 -8.27444e-06 4.5621e-05 -12.7936 0.272969 1.24895] +86: > errNow=~[0.000520334 0.000355664 -0.00150742 0.00228018 0.566327 -3.12244 3.49153 -0.000356304 -0.00163025] normNow=4.71817 +86: DBG: GOT WORSE @iter 4: backtrack to back=0.0625 +86: DBG: Line search iter 5: back=0.0625, prevNorm=3.99032. +86: > piNow=~[-0.206334 -0.00452272 0.0191688 -6.21374 -4.13722e-06 2.28105e-05 -6.40179 0.136485 0.624477] +86: > errNow=~[0.000557501 0.000380729 -0.00161366 0.00244305 0.282936 -1.55996 3.74093 -0.000371246 -0.00169861] normNow=4.06301 +86: DBG: GOT WORSE @iter 5: backtrack to back=0.03125 +86: DBG: Line search iter 6: back=0.03125, prevNorm=3.99032. +86: > piNow=~[-0.108167 -0.00226136 0.00958442 -3.10187 -2.06861e-06 1.14052e-05 -3.20589 0.0682423 0.312238] +86: > errNow=~[0.000576085 0.000393262 -0.00166678 0.00252449 0.14124 -0.778726 3.86562 -0.000378717 -0.0017328] normNow=3.94581 +86: DBG: Improvement rate now/prev at iter 1 is 0.988845 +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.62669e-08 +86: > NEWTON iter 2: errNorm=3.94581(v) -> deltaNorm=139.532(pi) +86: > piActive=~[-0.108167 -0.00226136 0.00958442 -3.10187 -2.06861e-06 1.14052e-05 -3.20589 0.0682423 0.312238] +86: > errActive=~[0.000576085 0.000393262 -0.00166678 0.00252449 0.14124 -0.778726 3.86562 -0.000378717 -0.0017328] +86: > deltaPi=~[2.69416 0.0620901 -0.263159 101.939 1.87458 -10.3355 94.1874 -2.01128 -9.20249] +86: DBG: Line search iter 1: back=1, prevNorm=3.94581. +86: > piNow=~[-2.80232 -0.0643514 0.272743 -105.041 -1.87458 10.3355 -97.3933 2.07952 9.51473] +86: > errNow=~[5.82325e-15 3.48096e-08 -1.47535e-07 -4.91816e-15 1.79724e-09 -9.90904e-09 2.66454e-15 -1.31842e-09 -6.03235e-09] normNow=1.52045e-07 +86: DBG: Improvement rate now/prev at iter 2 is 3.85334e-08 +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.66234e-09 +86: > NEWTON iter 3: errNorm=1.52045e-07(v) -> deltaNorm=1.47791e-07(pi) +86: > piActive=~[-2.80232 -0.0643514 0.272743 -105.041 -1.87458 10.3355 -97.3933 2.07952 9.51473] +86: > errActive=~[5.82325e-15 3.48096e-08 -1.47535e-07 -4.91816e-15 1.79724e-09 -9.90904e-09 2.66454e-15 -1.31842e-09 -6.03235e-09] +86: > deltaPi=~[9.30994e-08 2.18364e-08 -9.25501e-08 -4.55948e-08 -1.09324e-10 6.02765e-10 -4.52985e-08 2.38273e-10 1.09019e-09] +86: DBG: Line search iter 1: back=1, prevNorm=1.52045e-07. +86: > piNow=~[-2.80232 -0.0643515 0.272743 -105.041 -1.87458 10.3355 -97.3933 2.07952 9.51473] +86: > errNow=~[-8.38088e-16 0 0 3.74158e-15 0 -3.55271e-15 -1.77636e-15 0 3.55271e-15] normNow=6.56512e-15 +86: DBG: Improvement rate now/prev at iter 3 is 4.31787e-08 +86: DBG: <<<< NEWTON done in 3 iters; norm=6.56512e-15. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.216291,0.880698] to ~[-0.216332,0.88151] -86: DBG: Friction 0 rotated 0.00970867 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00303021 -7.22716e-05 0.000294276] -86: : m_verrLeft=~[0 0.000953397 -0.216332 0.88151 -0.232566 1.5404] +86: slipVel 0 from ~[-0.405794,1.7199] to ~[-0.130268,-0.279574] +86: DBG: TOO BIG: Sliding fric 0; endmag=0.308434, rot=141.741 deg > 30 +86: DBG: --> returning stepLength=0.871592 (dist to origin=0.167213) +86: DBG: -->max change solutions: 1.05279 and 0.755144; returning 0.755144 +86: DBG: Frac=0.755144 reduces angle to 30 degrees. +86: slipVel 1 from ~[-0.455356,2.5106] to ~[-0.161498,0.218664] +86: DBG: Friction 1 rotated 26.1681 deg, less than max 30 +86: slipVel 2 from ~[0.386188,1.76698] to ~[0.367969,-0.248345] +86: DBG: TOO BIG: Sliding fric 2; endmag=0.443933, rot=111.687 deg > 30 +86: DBG: --> returning stepLength=0.878432 (dist to origin=0.370199) +86: DBG: -->max change solutions: 1.43746 and 0.673069; returning 0.673069 +86: DBG: Frac=0.673069 reduces angle to 30 degrees. +86: SP interval 1 end: s=0.673069 +86: : m_piActive=~[-1.88616 -0.043313 0.183575 -70.7 -1.26173 6.9565 -65.5524 1.39966 6.40407] +86: : m_verrLeft=~[-0.000517137 0.000517137 -1.30599 -0.220346 0.374114 -0.257569 0.967968 0.373926 0.410527] 86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00303021 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.000953397 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00303021 0 -7.22716e-05 0.000294276 0 0] errNorm=1.29052e-12 -86: Postcompression verr=~[0 0.000953397 -0.216332 0.88151 -0.232566 1.5404] -86: impulse=~[-0.00303021 0 -7.22716e-05 0.000294276 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00303021 0 -7.22716e-05 0.000294276 0 0]-> du ~[-0.000435891 0.00101295 -0.000487022 -0.00056822 -3.49433e-05 0.000476699 -0.00192949 0.00116522] -86: Now verr0=~[-1.78893e-18 0.000953397 -0.216332 0.88151 -0.232566 1.5404] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-1.78893e-18 0.000953397 -0.216332 0.88151 -0.232566 1.5404] -86: verrExt=~[-0.690793 -0.561966 0.0119143 -0.833754 0.0073794 -0.650888] -86: total verr=~[-0.690793 -0.561013 -0.204418 0.0477556 -0.225187 0.889516] -86: DYN t=0.116: verrStart=~[-1.78893e-18 0.000953397 -0.216332 0.88151 -0.232566 1.5404] -86: verrApplied=~[-0.690793 -0.561966 0.0119143 -0.833754 0.0073794 -0.650888] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: : piELeft=~[0 0 0 0 0 0 0 0 0] 86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) +86: : active=(0,3,4,1,5,6,2,7,8) +86: : mult2active=(0,3,6,1,2,4,5,7,8) 86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-1.78893e-18 0.000953397 -0.216332 0.88151 -0.232566 1.5404] -86: verrApplied=~[-0.690793 -0.561966 0.0119143 -0.833754 0.0073794 -0.650888] +86: ***** Sliding interval 2 start +86: active=(0,3,4,1,5,6,2,7,8) +86: mult2active=(0,3,6,1,2,4,5,7,8) +86: piTotal=~[-1.88616 -70.7 -65.5524 -0.043313 0.183575 -1.26173 6.9565 1.39966 6.40407] +86: verrLeft=~[-0.000517137 0.000517137 -1.30599 -0.220346 0.374114 -0.257569 0.967968 0.373926 0.410527] +86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.216332,0.88151, mag=0.907667 -86: Participating contact 1 is Sliding; vel=-0.232566,1.5404, mag=1.55786 +86: piELeft=~[0 0 0 0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 3 uni contacts +86: Participating contact 0 is Sliding; vel=-0.220346,0.374114, mag=0.434182 +86: Participating contact 1 is Sliding; vel=-0.257569,0.967968, mag=1.00165 +86: Participating contact 2 is Sliding; vel=0.373926,0.410527, mag=0.555295 86: 86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.216332,0.88151, mag=0.907667 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.232566,1.5404, mag=1.55786 +86: : active=(0,3,4,1,5,6,2,7,8) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.220346,0.374114, mag=0.434182 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.257569,0.967968, mag=1.00165 +86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.373926,0.410527, mag=0.555295 86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.690793; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.561013; guess pi=-0.01 +86: : active=(0,3,4,1,5,6,2,7,8) +86: : mult2active=(0,3,6,1,2,4,5,7,8) +86: DBG: active normal 0 has v=-0.000517137; guess pi=-0.01 +86: DBG: active normal 3 has v=0.000517137; guess pi=0.01 +86: DBG: active normal 6 has v=-1.30599; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-1.78893e-18 0.000953397 -0.216332 0.88151 -0.232566 1.5404] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.690793 -0.561966 0.0119143 -0.833754 0.0073794 -0.650888] -86: : rhsActive=~[-0.690793 -0.204418 0.0477556 -0.561013 -0.225187 0.889516] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.71593e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.885131... -86: > NEWTON iter 1: errNorm=0.885131(v) -> deltaNorm=2.97757(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.687224 0.000216332 -0.00088151 0.557832 0.000232566 -0.0015404] -86: > deltaPi=~[2.32691 0.0556957 -0.226948 1.83379 0.0275242 -0.182306] -86: DBG: Line search iter 1: back=1, prevNorm=0.885131. -86: > piNow=~[-2.33691 -0.0556957 0.226948 -1.84379 -0.0275242 0.182306] -86: > errNow=~[2.22045e-16 1.87505e-06 -7.64045e-06 -2.22045e-16 1.58858e-06 -1.0522e-05] normNow=1.32336e-05 - 83/108 Test #93: TestForces ..................................... Passed 0.32 sec -86: DBG: Improvement rate now/prev at iter 1 is 1.4951e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.8907e-10 -86: > NEWTON iter 2: errNorm=1.32336e-05(v) -> deltaNorm=1.94515e-05(pi) -86: > piActive=~[-2.33691 -0.0556957 0.226948 -1.84379 -0.0275242 0.182306] -86: > errActive=~[2.22045e-16 1.87505e-06 -7.64045e-06 -2.22045e-16 1.58858e-06 -1.0522e-05] -86: > deltaPi=~[1.17406e-05 2.34562e-06 -9.55791e-06 9.14731e-06 1.15627e-06 -7.65859e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.32336e-05. -86: > piNow=~[-2.33693 -0.055698 0.226958 -1.8438 -0.0275253 0.182314] -86: > errNow=~[0 1.73472e-16 -6.93889e-16 0 2.35922e-16 -1.55431e-15] normNow=1.72717e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.30514e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.72717e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.216332,0.88151] to ~[-0.224762,0.877079] -86: DBG: Friction 0 rotated 0.584928 deg, less than max 30 -86: slipVel 1 from ~[-0.232566,1.5404] to ~[-0.241392,1.55201] -86: DBG: Friction 1 rotated 0.255095 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.33693 -0.055698 0.226958 -1.8438 -0.0275253 0.182314] -86: : m_verrLeft=~[0 0 -0.224762 0.877079 -0.241392 1.55201] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.33693 verr=0 pi*v=-0 -86: DBG: 1: pi=-1.8438 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-2.33693 -1.8438 -0.055698 0.226958 -0.0275253 0.182314] errNorm=1.72717e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.216332 0.88151, |slipV|=0.907667 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.232566 1.5404, |slipV|=1.55786 -86: ------------------------------ -86: -86: dynamics impulse=~[-2.33693 -1.8438 -0.055698 0.226958 -0.0275253 0.182314] -86: updated verrStart=~[0 0 -0.224762 0.877079 -0.241392 1.55201] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.325526 0.554123 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.255553 0.101369 -0.0121518 0.310586 -0.00743031 0.120381] -86: [0.101369 0.216712 0.00164622 0.12231 -0.00181749 0.261823] -86: [-0.0121518 0.00164622 0.048644 0.0261112 0.0502103 -0.0375885] -86: [0.310586 0.12231 0.0261112 0.446023 0.0340123 0.127084] -86: [-0.00743031 -0.00181749 0.0502103 0.0340123 0.052128 -0.0438726] -86: [0.120381 0.261823 -0.0375885 0.127084 -0.0438726 0.380827] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.391697 rank=2 -86: rhs=~[0.325526 0.554123 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.318689 2.40789] -86: -> pi=~[0.318689 2.40789 0 0 0 0] -86: resid active=~[-5.55112e-17 0] -86: resid=~[-5.55112e-17 0 9.12594e-05 0.393489 -0.00674428 0.668804] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-6.0878e-17 -1.16389e-16 -0.224762 0.877079 -0.241392 1.55201] -86: perr=~[0.000325526 0.000554123 0] -86: END OF STEP (0.116,0.117): -86: verr=~[-0.000699668 0.000699668 -0.224534 0.877085 -0.24162 1.55201] -86: perr=~[0.000325176 0.000554472 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.90537 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.5707 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000699668 at or below tol 0.001 -> cor=0 +86: : verrLeft was=~[-0.000517137 0.000517137 -1.30599 -0.220346 0.374114 -0.257569 0.967968 0.373926 0.410527] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.000517137 -0.220346 0.374114 0.000517137 -0.257569 0.967968 -1.30599 0.373926 0.410527] +86: : pi was=~[0 0 0 0 0 0 0 0 0] +86: : piActive=~[-0.01 0 0 0.01 0 0 -0.01 0 0] +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.56228e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=1.30162... +86: > NEWTON iter 1: errNorm=1.30162(v) -> deltaNorm=48.6511(pi) +86: > piActive=~[-0.01 0 0 0.01 0 0 -0.01 0 0] +86: > errActive=~[-0.000469988 0.000220346 -0.000374114 0.00367058 0 0 1.30161 -0.000373926 -0.000410527] +86: > deltaPi=~[-1.6093 -0.0811608 0.137799 34.6271 3.31669e-05 -0.000124644 33.9666 -2.28784 -2.51178] +86: DBG: Line search iter 1: back=1, prevNorm=1.30162. +86: > piNow=~[1.5993 0.0811608 -0.137799 -34.6171 -3.31669e-05 0.000124644 -33.9766 2.28784 2.51178] +86: > errNow=~[-3.93999e-16 0.0352386 -0.0598297 1.57665e-15 0.891597 -3.3507 -3.9968e-15 -4.73095e-05 -5.19404e-05] normNow=3.46799 +86: DBG: GOT WORSE @iter 1: backtrack to back=0.5 +86: DBG: Line search iter 2: back=0.5, prevNorm=1.30162. +86: > piNow=~[0.794648 0.0405804 -0.0688993 -17.3036 -1.65835e-05 6.23222e-05 -16.9933 1.14392 1.25589] +86: > errNow=~[-0.000234994 0.0176193 -0.0299148 0.00183529 0.44567 -1.67487 0.650805 -0.000210618 -0.000231234] normNow=1.85164 +86: DBG: GOT WORSE @iter 2: backtrack to back=0.25 +86: DBG: Line search iter 3: back=0.25, prevNorm=1.30162. +86: > piNow=~[0.392324 0.0202902 -0.0344497 -8.64678 -8.29174e-06 3.11611e-05 -8.50164 0.571959 0.627944] +86: > errNow=~[-0.000352491 0.00880964 -0.0149574 0.00275293 0.222706 -0.83695 0.976208 -0.000292272 -0.00032088] normNow=1.30513 +86: DBG: GOT WORSE @iter 3: backtrack to back=0.125 +86: DBG: Line search iter 4: back=0.125, prevNorm=1.30162. +86: > piNow=~[0.191162 0.0101451 -0.0172248 -4.31839 -4.14587e-06 1.55806e-05 -4.25582 0.285979 0.313972] +86: > errNow=~[-0.000411239 0.00440482 -0.00747871 0.00321176 0.111224 -0.417991 1.13891 -0.000333099 -0.000365704] normNow=1.21831 +86: DBG: Improvement rate now/prev at iter 1 is 0.936001 +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.43104e-09 +86: > NEWTON iter 2: errNorm=1.21831(v) -> deltaNorm=42.7499(pi) +86: > piActive=~[0.191162 0.0101451 -0.0172248 -4.31839 -4.14587e-06 1.55806e-05 -4.25582 0.285979 0.313972] +86: > errActive=~[-0.000411239 0.00440482 -0.00747871 0.00321176 0.111224 -0.417991 1.13891 -0.000333099 -0.000365704] +86: > deltaPi=~[-1.2509 0.0101451 -0.0172248 31.9886 0.933611 -3.5086 27.9591 -1.88331 -2.06766] +86: DBG: Line search iter 1: back=1, prevNorm=1.21831. +86: > piNow=~[1.44206 6.47161e-09 -1.09878e-08 -36.307 -0.933615 3.50861 -32.2149 2.16929 2.38163] +86: > errNow=~[-1.72627e-15 2.80985e-09 -4.7707e-09 5.77446e-16 1.64591e-10 -6.18548e-10 2.22045e-16 -2.15032e-10 -2.3608e-10] normNow=5.5827e-09 +86: DBG: Improvement rate now/prev at iter 2 is 4.58232e-09 +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.60053e-09 +86: > NEWTON iter 3: errNorm=5.5827e-09(v) -> deltaNorm=1.88447e-08(pi) +86: > piActive=~[1.44206 6.47161e-09 -1.09878e-08 -36.307 -0.933615 3.50861 -32.2149 2.16929 2.38163] +86: > errActive=~[-1.72627e-15 2.80985e-09 -4.7707e-09 5.77446e-16 1.64591e-10 -6.18548e-10 2.22045e-16 -2.15032e-10 -2.3608e-10] +86: > deltaPi=~[1.1419e-08 6.47161e-09 -1.09878e-08 -5.50184e-09 2.28426e-11 -8.58457e-11 -5.6425e-09 -7.28278e-12 -7.99681e-12] +86: DBG: Line search iter 1: back=1, prevNorm=5.5827e-09. +86: > piNow=~[1.44206 -1.03814e-18 1.76261e-18 -36.307 -0.933615 3.50861 -32.2149 2.16929 2.38163] +86: > errNow=~[4.94179e-16 -4.50741e-19 7.65292e-19 -5.32777e-16 0 0 -4.44089e-16 -2.22045e-16 0] normNow=8.80105e-16 +86: DBG: Improvement rate now/prev at iter 3 is 1.57648e-07 +86: DBG: <<<< NEWTON done in 3 iters; norm=8.80105e-16. +86: DBG: Worst offender is normal contact 0 err=1.44206 ... +86: DBG: ... normal contact 0 released. 86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000699668 0.000699668 -0.224534 0.877085 -0.24162 1.55201] -86: IMP t=0.117 verr=~[-0.000699668 0.000699668 -0.224534 0.877085 -0.24162 1.55201] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: ....... Active set iter 2 start +86: : active=(2,7,8,1,5,6) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.220346,0.374114, mag=0.434182 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.257569,0.967968, mag=1.00165 +86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.373926,0.410527, mag=0.555295 86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) +86: : active=(2,7,8,1,5,6) +86: : mult2active=(-1111111111,3,0,-1111111111,-1111111111,4,5,1,2) +86: DBG: active normal 3 has v=0.000517137; guess pi=0.01 +86: DBG: active normal 0 has v=-1.30599; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[-0.000517137 0.000517137 -1.30599 -0.220346 0.374114 -0.257569 0.967968 0.373926 0.410527] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-1.30599 0.373926 0.410527 0.000517137 -0.257569 0.967968] +86: : pi was=~[0 -36.307 -32.2149 -1.03814e-18 1.76261e-18 -0.933615 3.50861 2.16929 2.38163] +86: : piActive=~[-0.01 2.16929 2.38163 0.01 -0.933615 3.50861] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.266e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=4.3734... +86: > NEWTON iter 1: errNorm=4.3734(v) -> deltaNorm=47.5107(pi) +86: > piActive=~[-0.01 2.16929 2.38163 0.01 -0.933615 3.50861] +86: > errActive=~[-0.305888 1.20422 1.3221 1.61538 -0.935156 3.5144] +86: > deltaPi=~[33.4965 -0.0868898 -0.0953949 33.497 -0.933583 3.50849] +86: DBG: Line search iter 1: back=1, prevNorm=4.3734. +86: > piNow=~[-33.5065 2.25618 2.47703 -33.487 -3.20845e-05 0.000120576] +86: > errNow=~[2.44249e-15 -4.66548e-05 -5.12216e-05 4.76106e-15 0.862489 -3.24131] normNow=3.3541 +86: DBG: Improvement rate now/prev at iter 1 is 0.766932 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.89379e-09 +86: > NEWTON iter 2: errNorm=3.3541(v) -> deltaNorm=4.24951(pi) +86: > piActive=~[-33.5065 2.25618 2.47703 -33.487 -3.20845e-05 0.000120576] +86: > errActive=~[2.44249e-15 -4.66548e-05 -5.12216e-05 4.76106e-15 0.862489 -3.24131] +86: > deltaPi=~[-1.6387 0.110263 0.121056 1.7184 0.905256 -3.40203] +86: DBG: Line search iter 1: back=1, prevNorm=3.3541. +86: > piNow=~[-31.8678 2.14592 2.35597 -35.2054 -0.905288 3.40215] +86: > errNow=~[-4.44089e-16 2.03393e-13 2.23155e-13 -2.58669e-15 1.46883e-13 -5.52447e-13] normNow=6.46487e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.92745e-13 +86: DBG: <<<< NEWTON done in 2 iters; norm=6.46487e-13. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.257569,0.967968] to ~[-0.0811008,0.152297] +86: DBG: Friction 1 rotated 13.1355 deg, less than max 30 +86: slipVel 2 from ~[0.373926,0.410527] to ~[-0.139391,0.203711] +86: DBG: TOO BIG: Sliding fric 2; endmag=0.246836, rot=76.7109 deg > 30 +86: DBG: --> returning stepLength=0.903936 (dist to origin=0.241043) +86: DBG: -->max change solutions: 6.73309 and 0.607119; returning 0.607119 +86: DBG: Frac=0.607119 reduces angle to 30 degrees. +86: SP interval 2 end: s=0.607119 +86: : m_piActive=~[-19.3475 1.30283 1.43035 -21.3739 -0.549617 2.06551] +86: : m_verrLeft=~[0.239163 0.000203173 -0.513099 -0.137972 0.272895 -0.150432 0.472759 0.0622815 0.284965] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0 0 0 0] +86: fillMult2Active: +86: : active=(0,3,4,1,5,6,2,7,8) +86: : mult2active=(0,3,6,1,2,4,5,7,8) 86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000699668 0.000699668 -0.224534 0.877085 -0.24162 1.55201] +86: ***** Sliding interval 3 start +86: active=(0,3,4,1,5,6,2,7,8) +86: mult2active=(0,3,6,1,2,4,5,7,8) +86: piTotal=~[-1.88616 -92.0738 -84.9 -0.043313 0.183575 -1.81134 9.02201 2.70249 7.83443] +86: verrLeft=~[0.239163 0.000203173 -0.513099 -0.137972 0.272895 -0.150432 0.472759 0.0622815 0.284965] 86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.224534,0.877085, mag=0.90537 -86: Participating contact 1 is Sliding; vel=-0.24162,1.55201, mag=1.5707 +86: piELeft=~[0 0 0 0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 3 uni contacts +86: Participating contact 0 is Sliding; vel=-0.137972,0.272895, mag=0.30579 +86: Participating contact 1 is Sliding; vel=-0.150432,0.472759, mag=0.496115 +86: Participating contact 2 is Sliding; vel=0.0622815,0.284965, mag=0.291692 86: 86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.224534,0.877085, mag=0.90537 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.24162,1.55201, mag=1.5707 +86: : active=(0,3,4,1,5,6,2,7,8) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.137972,0.272895, mag=0.30579 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.150432,0.472759, mag=0.496115 +86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.0622815,0.284965, mag=0.291692 86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000699668; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000699668; guess pi=0.01 +86: : active=(0,3,4,1,5,6,2,7,8) +86: : mult2active=(0,3,6,1,2,4,5,7,8) +86: DBG: active normal 0 has v=0.239163; guess pi=0.01 +86: DBG: active normal 3 has v=0.000203173; guess pi=0.01 +86: DBG: active normal 6 has v=-0.513099; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000699668 0.000699668 -0.224534 0.877085 -0.24162 1.55201] -86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrLeft was=~[0.239163 0.000203173 -0.513099 -0.137972 0.272895 -0.150432 0.472759 0.0622815 0.284965] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000699668 -0.224534 0.877085 0.000699668 -0.24162 1.55201] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.75302e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00132125... -86: > NEWTON iter 1: errNorm=0.00132125(v) -> deltaNorm=0.00630862(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000846971 0.000224534 -0.000877085 0.000456793 0 0] -86: > deltaPi=~[-0.00441501 0.000138513 -0.000541067 0.00447151 2.56215e-09 -1.64576e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.00132125. -86: > piNow=~[-0.00558499 -0.000138513 0.000541067 0.00552849 -2.56215e-09 1.64576e-08] -86: > errNow=~[2.1684e-19 -3.69255e-09 1.4424e-08 0 -4.02437e-09 2.585e-08] normNow=3.01015e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.27825e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.1979e-05 -86: > NEWTON iter 2: errNorm=3.01015e-08(v) -> deltaNorm=3.87178e-08(pi) -86: > piActive=~[-0.00558499 -0.000138513 0.000541067 0.00552849 -2.56215e-09 1.64576e-08] -86: > errActive=~[2.1684e-19 -3.69255e-09 1.4424e-08 0 -4.02437e-09 2.585e-08] -86: > deltaPi=~[-2.21123e-08 -4.62683e-09 1.80735e-08 -1.96121e-08 -2.56218e-09 1.64578e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.01015e-08. -86: > piNow=~[-0.00558496 -0.000138509 0.000541049 0.00552851 3.67579e-14 -2.36109e-13] -86: > errNow=~[1.0842e-19 -5.92758e-14 2.31545e-13 1.0842e-19 5.77357e-14 -3.70857e-13] normNow=4.44966e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.47822e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.44966e-13. -86: DBG: Worst offender is normal contact 1 err=0.00552851 ... -86: DBG: ... normal contact 1 released. +86: : rhsActive=~[0.239163 -0.137972 0.272895 0.000203173 -0.150432 0.472759 -0.513099 0.0622815 0.284965] +86: : pi was=~[0 0 0 0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0] +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.42753e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.557814... +86: > NEWTON iter 1: errNorm=0.557814(v) -> deltaNorm=19.022(pi) +86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0] +86: > errActive=~[-0.233469 0 0 0.00653447 0 0 0.506563 -6.22815e-05 -0.000284965] +86: > deltaPi=~[-0.482616 -8.1111e-07 1.6043e-06 13.4407 1.51807e-05 -4.7708e-05 13.3848 -0.285994 -1.30855] +86: DBG: Line search iter 1: back=1, prevNorm=0.557814. +86: > piNow=~[0.492616 8.1111e-07 -1.6043e-06 -13.4307 -1.51807e-05 4.7708e-05 -13.3948 0.285994 1.30855] +86: > errNow=~[-6.93889e-16 2.4803e-07 -4.90578e-07 -1.16443e-16 0.202034 -0.634926 4.44089e-16 -3.10516e-06 -1.42075e-05] normNow=0.666295 +86: DBG: GOT WORSE @iter 1: backtrack to back=0.5 +86: DBG: Line search iter 2: back=0.5, prevNorm=0.557814. +86: > piNow=~[0.251308 4.05555e-07 -8.02148e-07 -6.71037 -7.59035e-06 2.3854e-05 -6.70242 0.142997 0.654273] +86: > errNow=~[-0.116734 1.24015e-07 -2.45289e-07 0.00326724 0.100942 -0.317227 0.253281 -3.26933e-05 -0.000149586] normNow=0.434294 +86: DBG: Improvement rate now/prev at iter 1 is 0.778564 +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.81237e-09 +86: > NEWTON iter 2: errNorm=0.434294(v) -> deltaNorm=9.71193(pi) +86: > piActive=~[0.251308 4.05555e-07 -8.02148e-07 -6.71037 -7.59035e-06 2.3854e-05 -6.70242 0.142997 0.654273] +86: > errActive=~[-0.116734 1.24015e-07 -2.45289e-07 0.00326724 0.100942 -0.317227 0.253281 -3.26933e-05 -0.000149586] +86: > deltaPi=~[-0.28135 4.04806e-07 -8.00667e-07 7.43643 0.428951 -1.34805 6.04767 -0.129241 -0.591333] +86: DBG: Line search iter 1: back=1, prevNorm=0.434294. +86: > piNow=~[0.532658 7.48791e-10 -1.48104e-09 -14.1468 -0.428959 1.34808 -12.7501 0.272238 1.24561] +86: > errNow=~[-4.71845e-16 2.28973e-10 -4.52887e-10 -6.16044e-16 9.25485e-12 -2.90848e-11 1.77636e-15 -3.12317e-12 -1.4291e-11] normNow=5.08607e-10 +86: DBG: Improvement rate now/prev at iter 2 is 1.17111e-09 +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.56465e-10 +86: > NEWTON iter 3: errNorm=5.08607e-10(v) -> deltaNorm=2.4783e-09(pi) +86: > piActive=~[0.532658 7.48791e-10 -1.48104e-09 -14.1468 -0.428959 1.34808 -12.7501 0.272238 1.24561] +86: > errActive=~[-4.71845e-16 2.28973e-10 -4.52887e-10 -6.16044e-16 9.25485e-12 -2.90848e-11 1.77636e-15 -3.12317e-12 -1.4291e-11] +86: > deltaPi=~[1.51449e-09 7.48791e-10 -1.48104e-09 -7.45482e-10 -3.94986e-12 1.24134e-11 -7.33256e-10 4.94927e-12 2.26413e-11] +86: DBG: Line search iter 1: back=1, prevNorm=5.08607e-10. +86: > piNow=~[0.532658 -8.97215e-19 1.7746e-18 -14.1468 -0.428959 1.34808 -12.7501 0.272238 1.24561] +86: > errNow=~[3.88578e-16 -2.7436e-19 5.42657e-19 -1.44199e-16 0 -1.11022e-16 -4.44089e-16 0 0] normNow=6.17517e-16 +86: DBG: Improvement rate now/prev at iter 3 is 1.21413e-06 +86: DBG: <<<< NEWTON done in 3 iters; norm=6.17517e-16. +86: DBG: Worst offender is normal contact 0 err=0.532658 ... +86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.224534,0.877085, mag=0.90537 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.24162,1.55201, mag=1.5707 +86: : active=(2,7,8,1,5,6) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.137972,0.272895, mag=0.30579 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.150432,0.472759, mag=0.496115 +86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.0622815,0.284965, mag=0.291692 86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000699668; guess pi=-0.01 +86: : active=(2,7,8,1,5,6) +86: : mult2active=(-1111111111,3,0,-1111111111,-1111111111,4,5,1,2) +86: DBG: active normal 3 has v=0.000203173; guess pi=0.01 +86: DBG: active normal 0 has v=-0.513099; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.000699668 0.000699668 -0.224534 0.877085 -0.24162 1.55201] -86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrLeft was=~[0.239163 0.000203173 -0.513099 -0.137972 0.272895 -0.150432 0.472759 0.0622815 0.284965] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.000699668 -0.224534 0.877085] -86: : pi was=~[-0.00558496 0 -0.000138509 0.000541049 3.67579e-14 -2.36109e-13] -86: : piActive=~[-0.01 -0.000138509 0.000541049] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.37239e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00174389... -86: > NEWTON iter 1: errNorm=0.00174389(v) -> deltaNorm=0.00691246(pi) -86: > piActive=~[-0.01 -0.000138509 0.000541049] -86: > errActive=~[-0.00169746 9.91327e-05 -0.000387236] -86: > deltaPi=~[-0.00690796 -6.1819e-05 0.00024148] -86: DBG: Line search iter 1: back=1, prevNorm=0.00174389. -86: > piNow=~[-0.00309204 -7.66898e-05 0.000299569] -86: > errNow=~[-2.1684e-19 -5.77756e-09 2.25685e-08] normNow=2.32963e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.33588e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.52363e-05 -86: > NEWTON iter 2: errNorm=2.32963e-08(v) -> deltaNorm=4.52581e-08(pi) -86: > piActive=~[-0.00309204 -7.66898e-05 0.000299569] -86: > errActive=~[-2.1684e-19 -5.77756e-09 2.25685e-08] -86: > deltaPi=~[-3.45877e-08 -7.23889e-09 2.82768e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.32963e-08. -86: > piNow=~[-0.003092 -7.66825e-05 0.00029954] -86: > errNow=~[0 -3.02252e-13 1.18067e-12] normNow=1.21874e-12 -86: DBG: Improvement rate now/prev at iter 2 is 5.23148e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.21874e-12. +86: : rhsActive=~[-0.513099 0.0622815 0.284965 0.000203173 -0.150432 0.472759] +86: : pi was=~[0 -14.1468 -12.7501 -8.97215e-19 1.7746e-18 -0.428959 1.34808 0.272238 1.24561] +86: : piActive=~[-0.01 0.272238 1.24561 0.01 -0.428959 1.34808] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.14372e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.988486... +86: > NEWTON iter 1: errNorm=0.988486(v) -> deltaNorm=18.6732(pi) +86: > piActive=~[-0.01 0.272238 1.24561 0.01 -0.428959 1.34808] +86: > errActive=~[-0.0697953 0.0793472 0.363048 0.584421 -0.212813 0.668802] +86: > deltaPi=~[13.2478 -0.0108297 -0.0495506 13.0836 -0.428944 1.34803] +86: DBG: Line search iter 1: back=1, prevNorm=0.988486. +86: > piNow=~[-13.2578 0.283068 1.29516 -13.0736 -1.47774e-05 4.64405e-05] +86: > errNow=~[2.22045e-16 -3.07336e-06 -1.4062e-05 -7.65718e-16 0.196662 -0.618045] normNow=0.64858 +86: DBG: Improvement rate now/prev at iter 1 is 0.656134 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.00006e-10 +86: > NEWTON iter 2: errNorm=0.64858(v) -> deltaNorm=1.65628(pi) +86: > piActive=~[-13.2578 0.283068 1.29516 -13.0736 -1.47774e-05 4.64405e-05] +86: > errActive=~[2.22045e-16 -3.07336e-06 -1.4062e-05 -7.65718e-16 0.196662 -0.618045] +86: > deltaPi=~[-0.637079 0.0135923 0.0621905 0.667324 0.416638 -1.30936] +86: DBG: Line search iter 1: back=1, prevNorm=0.64858. +86: > piNow=~[-12.6207 0.269475 1.23297 -13.741 -0.416653 1.30941] +86: > errNow=~[-4.44089e-16 8.41271e-14 3.84748e-13 -2.55221e-16 2.18853e-13 -6.8745e-13] normNow=8.21944e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.2673e-12 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.21944e-13. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.224534,0.877085] to ~[-0.224576,0.877915] -86: DBG: Friction 0 rotated 0.0104519 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.003092 -7.66825e-05 0.00029954] -86: : m_verrLeft=~[0 0.000978586 -0.224576 0.877915 -0.241649 1.55234] +86: slipVel 1 from ~[-0.150432,0.472759] to ~[-0.102438,0.172499] +86: DBG: Friction 1 rotated 13.0527 deg, less than max 30 +86: slipVel 2 from ~[0.0622815,0.284965] to ~[0.152509,-0.0523732] +86: DBG: TOO BIG: Sliding fric 2; endmag=0.161251, rot=96.6244 deg > 30 +86: DBG: --> returning stepLength=0.742263 (dist to origin=0.133797) +86: DBG: -->max change solutions: 8.87593 and 0.496307; returning 0.496307 +86: DBG: Frac=0.496307 reduces angle to 30 degrees. +86: SP interval 3 end: s=0.496307 +86: : m_piActive=~[-6.26375 0.133743 0.61193 -6.81974 -0.206788 0.649867] +86: : m_verrLeft=~[0.193996 0.000102337 -0.258445 -0.112896 0.104044 -0.126612 0.323737 0.107062 0.117542] 86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.003092 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.000978586 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.003092 0 -7.66825e-05 0.00029954 0 0] errNorm=1.21874e-12 -86: Postcompression verr=~[0 0.000978586 -0.224576 0.877915 -0.241649 1.55234] -86: impulse=~[-0.003092 0 -7.66825e-05 0.00029954 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.003092 0 -7.66825e-05 0.00029954 0 0]-> du ~[-0.000447136 0.001037 -0.000498009 -0.000580916 -3.54801e-05 0.000489293 -0.00197587 0.00119387] -86: Now verr0=~[1.73472e-18 0.000978586 -0.224576 0.877915 -0.241649 1.55234] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[1.73472e-18 0.000978586 -0.224576 0.877915 -0.241649 1.55234] -86: verrExt=~[-0.706001 -0.572629 0.0119934 -0.850215 0.00715905 -0.660445] -86: total verr=~[-0.706001 -0.571651 -0.212583 0.0277004 -0.23449 0.891894] -86: DYN t=0.117: verrStart=~[1.73472e-18 0.000978586 -0.224576 0.877915 -0.241649 1.55234] -86: verrApplied=~[-0.706001 -0.572629 0.0119934 -0.850215 0.00715905 -0.660445] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: : piELeft=~[0 0 0 0 0 0 0 0 0] 86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) +86: : active=(0,3,4,1,5,6,2,7,8) +86: : mult2active=(0,3,6,1,2,4,5,7,8) 86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[1.73472e-18 0.000978586 -0.224576 0.877915 -0.241649 1.55234] -86: verrApplied=~[-0.706001 -0.572629 0.0119934 -0.850215 0.00715905 -0.660445] +86: ***** Sliding interval 4 start +86: active=(0,3,4,1,5,6,2,7,8) +86: mult2active=(0,3,6,1,2,4,5,7,8) +86: piTotal=~[-1.88616 -98.8936 -91.1637 -0.043313 0.183575 -2.01813 9.67188 2.83623 8.44636] +86: verrLeft=~[0.193996 0.000102337 -0.258445 -0.112896 0.104044 -0.126612 0.323737 0.107062 0.117542] +86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.224576,0.877915, mag=0.906184 -86: Participating contact 1 is Sliding; vel=-0.241649,1.55234, mag=1.57104 +86: piELeft=~[0 0 0 0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 3 uni contacts +86: Participating contact 0 is Sliding; vel=-0.112896,0.104044, mag=0.153528 +86: Participating contact 1 is Sliding; vel=-0.126612,0.323737, mag=0.347616 +86: Participating contact 2 is Sliding; vel=0.107062,0.117542, mag=0.158992 86: 86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.224576,0.877915, mag=0.906184 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.241649,1.55234, mag=1.57104 +86: : active=(0,3,4,1,5,6,2,7,8) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.112896,0.104044, mag=0.153528 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.126612,0.323737, mag=0.347616 +86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.107062,0.117542, mag=0.158992 86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.706001; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.571651; guess pi=-0.01 +86: : active=(0,3,4,1,5,6,2,7,8) +86: : mult2active=(0,3,6,1,2,4,5,7,8) +86: DBG: active normal 0 has v=0.193996; guess pi=0.01 +86: DBG: active normal 3 has v=0.000102337; guess pi=0.01 +86: DBG: active normal 6 has v=-0.258445; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[1.73472e-18 0.000978586 -0.224576 0.877915 -0.241649 1.55234] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.706001 -0.572629 0.0119934 -0.850215 0.00715905 -0.660445] -86: : rhsActive=~[-0.706001 -0.212583 0.0277004 -0.571651 -0.23449 0.891894] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.75561e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.90362... -86: > NEWTON iter 1: errNorm=0.90362(v) -> deltaNorm=3.02231(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.702414 0.000224576 -0.000877915 0.568454 0.000241649 -0.00155234] -86: > deltaPi=~[2.36936 0.0589647 -0.230505 1.8518 0.0286363 -0.183958] -86: DBG: Line search iter 1: back=1, prevNorm=0.90362. -86: > piNow=~[-2.37936 -0.0589647 0.230505 -1.8618 -0.0286363 0.183958] -86: > errNow=~[1.11022e-16 1.98202e-06 -7.74811e-06 2.22045e-16 1.66683e-06 -1.07076e-05] normNow=1.34682e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.49048e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.95021e-10 -86: > NEWTON iter 2: errNorm=1.34682e-05(v) -> deltaNorm=1.96659e-05(pi) -86: > piActive=~[-2.37936 -0.0589647 0.230505 -1.8618 -0.0286363 0.183958] -86: > errActive=~[1.11022e-16 1.98202e-06 -7.74811e-06 2.22045e-16 1.66683e-06 -1.07076e-05] -86: > deltaPi=~[1.18754e-05 2.48152e-06 -9.70076e-06 9.18506e-06 1.20225e-06 -7.72323e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.34682e-05. -86: > piNow=~[-2.37938 -0.0589672 0.230515 -1.86181 -0.0286375 0.183966] -86: > errNow=~[2.22045e-16 1.80411e-16 -7.21645e-16 -1.11022e-16 2.42861e-16 -1.60982e-15] normNow=1.80706e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.34172e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.80706e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.224576,0.877915] to ~[-0.233709,0.87214] -86: DBG: Friction 0 rotated 0.652325 deg, less than max 30 -86: slipVel 1 from ~[-0.241649,1.55234] to ~[-0.251225,1.56406] -86: DBG: Friction 1 rotated 0.277027 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.37938 -0.0589672 0.230515 -1.86181 -0.0286375 0.183966] -86: : m_verrLeft=~[-2.22045e-16 1.11022e-16 -0.233709 0.87214 -0.251225 1.56406] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.37938 verr=-2.22045e-16 pi*v=5.28328e-16 -86: DBG: 1: pi=-1.86181 verr=1.11022e-16 pi*v=-2.06703e-16 -86: SP FINAL 1 intervals, piTotal=~[-2.37938 -1.86181 -0.0589672 0.230515 -0.0286375 0.183966] errNorm=1.80706e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.224576 0.877915, |slipV|=0.906184 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.241649 1.55234, |slipV|=1.57104 -86: ------------------------------ -86: -86: dynamics impulse=~[-2.37938 -1.86181 -0.0589672 0.230515 -0.0286375 0.183966] -86: updated verrStart=~[-2.22045e-16 1.11022e-16 -0.233709 0.87214 -0.251225 1.56406] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.325176 0.554472 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.256702 0.102038 -0.0122126 0.310866 -0.00735892 0.120528] -86: [0.102038 0.217684 0.00144087 0.1225 -0.00211818 0.26205] -86: [-0.0122126 0.00144087 0.0486527 0.0260469 0.0502645 -0.0377509] -86: [0.310866 0.1225 0.0260469 0.444804 0.0341464 0.126546] -86: [-0.00735892 -0.00211818 0.0502645 0.0341464 0.0522463 -0.0441903] -86: [0.120528 0.26205 -0.0377509 0.126546 -0.0441903 0.379646] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.390839 rank=2 -86: rhs=~[0.325176 0.554472 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.312495 2.40067] -86: -> pi=~[0.312495 2.40067 0 0 0 0] -86: resid active=~[5.55112e-17 1.11022e-16] -86: resid=~[5.55112e-17 1.11022e-16 -0.00035731 0.391225 -0.00738467 0.666758] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-1.80845e-16 1.661e-16 -0.233709 0.87214 -0.251225 1.56406] -86: perr=~[0.000325176 0.000554472 0] -86: END OF STEP (0.117,0.118): -86: verr=~[-0.00071841 0.00071841 -0.23347 0.872147 -0.251464 1.56405] -86: perr=~[0.000324817 0.000554832 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.902855 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.58414 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00071841 at or below tol 0.001 -> cor=0 +86: : verrLeft was=~[0.193996 0.000102337 -0.258445 -0.112896 0.104044 -0.126612 0.323737 0.107062 0.117542] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[0.193996 -0.112896 0.104044 0.000102337 -0.126612 0.323737 -0.258445 0.107062 0.117542] +86: : pi was=~[0 0 0 0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0] +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.53438e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.314578... +86: > NEWTON iter 1: errNorm=0.314578(v) -> deltaNorm=10.1595(pi) +86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0] +86: > errActive=~[-0.188302 0 0 0.00663531 0 0 0.251908 -0.000107062 -0.000117542] +86: > deltaPi=~[-0.98825 -2.70689e-06 2.49465e-06 7.36215 9.98831e-06 -2.55394e-05 6.89643 -0.465049 -0.51057] +86: DBG: Line search iter 1: back=1, prevNorm=0.314578. +86: > piNow=~[0.99825 2.70689e-06 -2.49465e-06 -7.35215 -9.98831e-06 2.55394e-05 -6.90643 0.465049 0.51057] +86: > errNow=~[-8.32667e-17 4.15584e-07 -3.82999e-07 9.17235e-17 0.0930836 -0.238008 -1.11022e-16 -2.75024e-06 -3.01945e-06] normNow=0.255563 +86: DBG: Improvement rate now/prev at iter 1 is 0.812399 +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.26219e-10 +86: > NEWTON iter 2: errNorm=0.255563(v) -> deltaNorm=0.922123(pi) +86: > piActive=~[0.99825 2.70689e-06 -2.49465e-06 -7.35215 -9.98831e-06 2.55394e-05 -6.90643 0.465049 0.51057] +86: > errActive=~[-8.32667e-17 4.15584e-07 -3.82999e-07 9.17235e-17 0.0930836 -0.238008 -1.11022e-16 -2.75024e-06 -3.01945e-06] +86: > deltaPi=~[0.0035774 2.70689e-06 -2.49465e-06 0.362921 0.280996 -0.718486 -0.34955 0.0235207 0.025823] +86: DBG: Line search iter 1: back=1, prevNorm=0.255563. +86: > piNow=~[0.994672 -9.83414e-13 9.06356e-13 -7.71507 -0.281006 0.718512 -6.55688 0.441528 0.484747] +86: > errNow=~[-5.55112e-17 -1.50982e-13 1.39151e-13 -2.27466e-16 3.16677e-13 -8.09741e-13 2.22045e-16 2.92308e-13 3.20896e-13] normNow=9.93248e-13 +86: DBG: Improvement rate now/prev at iter 2 is 3.88652e-12 +86: DBG: <<<< NEWTON done in 2 iters; norm=9.93248e-13. +86: DBG: Worst offender is normal contact 0 err=0.994672 ... +86: DBG: ... normal contact 0 released. 86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00071841 0.00071841 -0.23347 0.872147 -0.251464 1.56405] -86: IMP t=0.118 verr=~[-0.00071841 0.00071841 -0.23347 0.872147 -0.251464 1.56405] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: +86: ....... Active set iter 2 start +86: : active=(2,7,8,1,5,6) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.112896,0.104044, mag=0.153528 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.126612,0.323737, mag=0.347616 +86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.107062,0.117542, mag=0.158992 86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) +86: : active=(2,7,8,1,5,6) +86: : mult2active=(-1111111111,3,0,-1111111111,-1111111111,4,5,1,2) +86: DBG: active normal 3 has v=0.000102337; guess pi=0.01 +86: DBG: active normal 0 has v=-0.258445; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.193996 0.000102337 -0.258445 -0.112896 0.104044 -0.126612 0.323737 0.107062 0.117542] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[] +86: : rhsActive=~[-0.258445 0.107062 0.117542 0.000102337 -0.126612 0.323737] +86: : pi was=~[0 -7.71507 -6.55688 -9.83414e-13 9.06356e-13 -0.281006 0.718512 0.441528 0.484747] +86: : piActive=~[-0.01 0.441528 0.484747 0.01 -0.281006 0.718512] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.42383e-06 +86: DBG: >>>> Start NEWTON solve with errNorm=0.448771... +86: > NEWTON iter 1: errNorm=0.448771(v) -> deltaNorm=9.40613(pi) +86: > piActive=~[-0.01 0.441528 0.484747 0.01 -0.281006 0.718512] +86: > errActive=~[-0.0766333 0.0700922 0.0769531 0.335803 -0.0976821 0.249766] +86: > deltaPi=~[6.62066 -0.00495122 -0.00543586 6.63679 -0.280997 0.718489] +86: DBG: Line search iter 1: back=1, prevNorm=0.448771. +86: > piNow=~[-6.63066 0.44648 0.490183 -6.62679 -9.00421e-06 2.30231e-05] +86: > errNow=~[5.55112e-17 -2.64027e-06 -2.89871e-06 -1.71738e-16 0.0839 -0.214526] normNow=0.230349 +86: DBG: Improvement rate now/prev at iter 1 is 0.513288 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.20647e-10 +86: > NEWTON iter 2: errNorm=0.230349(v) -> deltaNorm=0.832019(pi) +86: > piActive=~[-6.63066 0.44648 0.490183 -6.62679 -9.00421e-06 2.30231e-05] +86: > errActive=~[5.55112e-17 -2.64027e-06 -2.89871e-06 -1.71738e-16 0.0839 -0.214526] +86: > deltaPi=~[-0.314284 0.0211467 0.0232166 0.329575 0.253363 -0.64783] +86: DBG: Line search iter 1: back=1, prevNorm=0.230349. +86: > piNow=~[-6.31637 0.425333 0.466966 -6.95637 -0.253372 0.647853] +86: > errNow=~[5.55112e-16 2.85091e-13 3.13041e-13 7.78457e-17 3.53981e-13 -9.05137e-13] normNow=1.06012e-12 +86: DBG: Improvement rate now/prev at iter 2 is 4.60222e-12 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.06012e-12. +86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. +86: slipVel 1 from ~[-0.126612,0.323737] to ~[-0.0885899,0.160672] +86: DBG: Friction 1 rotated 7.5109 deg, less than max 30 +86: slipVel 2 from ~[0.107062,0.117542] to ~[0.00442879,0.0786261] +86: DBG: TOO BIG: Sliding fric 2; endmag=0.0787507, rot=39.1047 deg > 30 +86: DBG: --> returning stepLength=1 (dist to origin=0.0787507) +86: DBG: -->max change solutions: 13.4188 and 0.864486; returning 0.864486 +86: DBG: Frac=0.864486 reduces angle to 30 degrees. +86: SP interval 4 end: s=0.864486 +86: : m_piActive=~[-5.46042 0.367695 0.403686 -6.01369 -0.219036 0.56006] +86: : m_verrLeft=~[0.261399 1.3868e-05 -0.0350227 -0.0872162 0.0774734 -0.0937424 0.182769 0.018337 0.0838996] +86: : verrAppliedLeft=~[] +86: : piELeft=~[0 0 0 0 0 0 0 0 0] +86: fillMult2Active: +86: : active=(0,3,4,1,5,6,2,7,8) +86: : mult2active=(0,3,6,1,2,4,5,7,8) 86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00071841 0.00071841 -0.23347 0.872147 -0.251464 1.56405] +86: ***** Sliding interval 5 start +86: active=(0,3,4,1,5,6,2,7,8) +86: mult2active=(0,3,6,1,2,4,5,7,8) +86: piTotal=~[-1.88616 -104.907 -96.6241 -0.043313 0.183575 -2.23717 10.2319 3.20393 8.85004] +86: verrLeft=~[0.261399 1.3868e-05 -0.0350227 -0.0872162 0.0774734 -0.0937424 0.182769 0.018337 0.0838996] 86: verrApplied=~[] 86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.23347,0.872147, mag=0.902855 -86: Participating contact 1 is Sliding; vel=-0.251464,1.56405, mag=1.58414 +86: piELeft=~[0 0 0 0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 3 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0872162,0.0774734, mag=0.116657 +86: Participating contact 1 is Sliding; vel=-0.0937424,0.182769, mag=0.205408 +86: Participating contact 2 is Sliding; vel=0.018337,0.0838996, mag=0.0858801 86: 86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.23347,0.872147, mag=0.902855 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.251464,1.56405, mag=1.58414 +86: : active=(0,3,4,1,5,6,2,7,8) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0872162,0.0774734, mag=0.116657 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0937424,0.182769, mag=0.205408 +86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.018337,0.0838996, mag=0.0858801 86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00071841; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00071841; guess pi=0.01 +86: : active=(0,3,4,1,5,6,2,7,8) +86: : mult2active=(0,3,6,1,2,4,5,7,8) +86: DBG: active normal 0 has v=0.261399; guess pi=0.01 +86: DBG: active normal 3 has v=1.3868e-05; guess pi=0.01 +86: DBG: active normal 6 has v=-0.0350227; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.00071841 0.00071841 -0.23347 0.872147 -0.251464 1.56405] -86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrLeft was=~[0.261399 1.3868e-05 -0.0350227 -0.0872162 0.0774734 -0.0937424 0.182769 0.018337 0.0838996] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.00071841 -0.23347 0.872147 0.00071841 -0.251464 1.56405] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.79179e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00130565... -86: > NEWTON iter 1: errNorm=0.00130565(v) -> deltaNorm=0.00612829(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000833512 0.00023347 -0.000872147 0.000441408 0 0] -86: > deltaPi=~[-0.0042879 0.000147714 -0.000551797 0.00434092 2.56671e-09 -1.59644e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.00130565. -86: > piNow=~[-0.0057121 -0.000147714 0.000551797 0.00565908 -2.56671e-09 1.59644e-08] -86: > errNow=~[-3.25261e-19 -3.72895e-09 1.39298e-08 -2.1684e-19 -4.06602e-09 2.52897e-08] normNow=2.93947e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.25134e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.11072e-05 -86: > NEWTON iter 2: errNorm=2.93947e-08(v) -> deltaNorm=3.74549e-08(pi) -86: > piActive=~[-0.0057121 -0.000147714 0.000551797 0.00565908 -2.56671e-09 1.59644e-08] -86: > errActive=~[-3.25261e-19 -3.72895e-09 1.39298e-08 -2.1684e-19 -4.06602e-09 2.52897e-08] -86: > deltaPi=~[-2.13223e-08 -4.68149e-09 1.74881e-08 -1.89479e-08 -2.56674e-09 1.59646e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.93947e-08. -86: > piNow=~[-0.00571208 -0.000147709 0.00055178 0.0056591 3.49752e-14 -2.17538e-13] -86: > errNow=~[-3.25261e-19 -5.68179e-14 2.12248e-13 2.1684e-19 5.54056e-14 -3.44611e-13] normNow=4.12436e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.4031e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.12436e-13. -86: DBG: Worst offender is normal contact 1 err=0.0056591 ... -86: DBG: ... normal contact 1 released. +86: : rhsActive=~[0.261399 -0.0872162 0.0774734 1.3868e-05 -0.0937424 0.182769 -0.0350227 0.018337 0.0838996] +86: : pi was=~[0 0 0 0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0] +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.36245e-07 +86: DBG: >>>> Start NEWTON solve with errNorm=0.257375... +86: > NEWTON iter 1: errNorm=0.257375(v) -> deltaNorm=2.14356(pi) +86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0] +86: > errActive=~[-0.255705 0 0 0.00672378 0 0 0.0284861 -1.8337e-05 -8.38996e-05] +86: > deltaPi=~[-0.902825 -2.51422e-06 2.23336e-06 1.56407 2.65881e-06 -5.18388e-06 1.14891 -0.024744 -0.113214] +86: DBG: Line search iter 1: back=1, prevNorm=0.257375. +86: > piNow=~[0.912825 2.51422e-06 -2.23336e-06 -1.55407 -2.65881e-06 5.18388e-06 -1.15891 0.024744 0.113214] +86: > errNow=~[1.11022e-16 2.933e-07 -2.60536e-07 -1.75641e-17 0.0145677 -0.0284026 -1.11022e-16 -7.8474e-08 -3.59053e-07] normNow=0.0319206 +86: DBG: Improvement rate now/prev at iter 1 is 0.124024 +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.68417e-11 +86: > NEWTON iter 2: errNorm=0.0319206(v) -> deltaNorm=0.194145(pi) +86: > piActive=~[0.912825 2.51422e-06 -2.23336e-06 -1.55407 -2.65881e-06 5.18388e-06 -1.15891 0.024744 0.113214] +86: > errActive=~[1.11022e-16 2.933e-07 -2.60536e-07 -1.75641e-17 0.0145677 -0.0284026 -1.11022e-16 -7.8474e-08 -3.59053e-07] +86: > deltaPi=~[-0.00413813 2.51422e-06 -2.23336e-06 0.0778269 0.0744727 -0.145199 -0.0702823 0.00149974 0.00686197] +86: DBG: Line search iter 1: back=1, prevNorm=0.0319206. +86: > piNow=~[0.916964 1.38313e-12 -1.22868e-12 -1.6319 -0.0744754 0.145204 -1.08863 0.0232442 0.106352] +86: > errNow=~[5.55112e-17 1.61352e-13 -1.43333e-13 1.53957e-17 1.12535e-12 -2.19407e-12 5.55112e-17 3.57463e-13 1.63556e-12] normNow=2.98827e-12 +86: DBG: Improvement rate now/prev at iter 2 is 9.36156e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=2.98827e-12. +86: DBG: Worst offender is normal contact 0 err=0.916964 ... +86: DBG: ... normal contact 0 released. 86: 86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.23347,0.872147, mag=0.902855 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.251464,1.56405, mag=1.58414 +86: : active=(2,7,8,1,5,6) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.0872162,0.0774734, mag=0.116657 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0937424,0.182769, mag=0.205408 +86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.018337,0.0838996, mag=0.0858801 86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00071841; guess pi=-0.01 +86: : active=(2,7,8,1,5,6) +86: : mult2active=(-1111111111,3,0,-1111111111,-1111111111,4,5,1,2) +86: DBG: active normal 3 has v=1.3868e-05; guess pi=0.01 +86: DBG: active normal 0 has v=-0.0350227; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-0.00071841 0.00071841 -0.23347 0.872147 -0.251464 1.56405] -86: : verrExpand was=~[0 0 0 0 0 0] +86: : verrLeft was=~[0.261399 1.3868e-05 -0.0350227 -0.0872162 0.0774734 -0.0937424 0.182769 0.018337 0.0838996] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] 86: : verrApplied was=~[] -86: : rhsActive=~[-0.00071841 -0.23347 0.872147] -86: : pi was=~[-0.00571208 0 -0.000147709 0.00055178 3.49752e-14 -2.17538e-13] -86: : piActive=~[-0.01 -0.000147709 0.00055178] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.36302e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00173061... -86: > NEWTON iter 1: errNorm=0.00173061(v) -> deltaNorm=0.00684678(pi) -86: > piActive=~[-0.01 -0.000147709 0.00055178] -86: > errActive=~[-0.00168676 0.00010011 -0.000373969] -86: > deltaPi=~[-0.00684201 -6.60398e-05 0.000246697] -86: DBG: Line search iter 1: back=1, prevNorm=0.00173061. -86: > piNow=~[-0.00315799 -8.16692e-05 0.000305082] -86: > errNow=~[1.0842e-19 -5.95013e-09 2.22272e-08] normNow=2.30098e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.32958e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.36877e-05 -86: > NEWTON iter 2: errNorm=2.30098e-08(v) -> deltaNorm=4.46344e-08(pi) -86: > piActive=~[-0.00315799 -8.16692e-05 0.000305082] -86: > errActive=~[1.0842e-19 -5.95013e-09 2.22272e-08] -86: > deltaPi=~[-3.40261e-08 -7.4699e-09 2.79044e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.30098e-08. -86: > piNow=~[-0.00315795 -8.16617e-05 0.000305054] -86: > errNow=~[0 -2.96412e-13 1.10727e-12] normNow=1.14626e-12 -86: DBG: Improvement rate now/prev at iter 2 is 4.98161e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.14626e-12. +86: : rhsActive=~[-0.0350227 0.018337 0.0838996 1.3868e-05 -0.0937424 0.182769] +86: : pi was=~[0 -1.6319 -1.08863 1.38313e-12 -1.22868e-12 -0.0744754 0.145204 0.0232442 0.106352] +86: : piActive=~[-0.01 0.0232442 0.106352 0.01 -0.0744754 0.145204] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.29299e-07 +86: DBG: >>>> Start NEWTON solve with errNorm=0.0780723... +86: > NEWTON iter 1: errNorm=0.0780723(v) -> deltaNorm=1.28147(pi) +86: > piActive=~[-0.01 0.0232442 0.106352 0.01 -0.0744754 0.145204] +86: > errActive=~[-0.028598 0.00197788 0.00904965 0.063781 -0.0152978 0.0298261] +86: > deltaPi=~[0.89494 0.00392281 0.0179485 0.902371 -0.0744738 0.145202] +86: DBG: Line search iter 1: back=1, prevNorm=0.0780723. +86: > piNow=~[-0.90494 0.0193214 0.0884038 -0.892371 -1.53397e-06 2.99077e-06] +86: > errNow=~[6.93889e-18 -6.1127e-08 -2.79683e-07 4.08795e-17 0.00836498 -0.0163092] normNow=0.0183293 +86: DBG: Improvement rate now/prev at iter 1 is 0.234773 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.09196e-10 +86: > NEWTON iter 2: errNorm=0.0183293(v) -> deltaNorm=0.110807(pi) +86: > piActive=~[-0.90494 0.0193214 0.0884038 -0.892371 -1.53397e-06 2.99077e-06] +86: > errActive=~[6.93889e-18 -6.1127e-08 -2.79683e-07 4.08795e-17 0.00836498 -0.0163092] +86: > deltaPi=~[-0.0409392 0.000873415 0.00399625 0.042884 0.0426809 -0.0832149] +86: DBG: Line search iter 1: back=1, prevNorm=0.0183293. +86: > piNow=~[-0.864001 0.018448 0.0844076 -0.935255 -0.0426825 0.0832179] +86: > errNow=~[-6.93889e-18 3.41495e-13 1.5625e-12 -5.39933e-17 1.88062e-12 -3.66665e-12] normNow=4.4203e-12 +86: DBG: Improvement rate now/prev at iter 2 is 2.41161e-10 +86: DBG: <<<< NEWTON done in 2 iters; norm=4.4203e-12. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.23347,0.872147] to ~[-0.233513,0.872996] -86: DBG: Friction 0 rotated 0.0113068 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00315795 -8.16617e-05 0.000305054] -86: : m_verrLeft=~[0 0.00100533 -0.233513 0.872996 -0.251494 1.56439] +86: slipVel 1 from ~[-0.0937424,0.182769] to ~[-0.0899216,0.162009] +86: DBG: Friction 1 rotated 1.87873 deg, less than max 30 +86: slipVel 2 from ~[0.018337,0.0838996] to ~[0.0243873,0.0611847] +86: DBG: Friction 2 rotated 9.4029 deg, less than max 30 +86: SP interval 5 end: s=1 +86: : m_piActive=~[-0.864001 0.018448 0.0844076 -0.935255 -0.0426825 0.0832179] +86: : m_verrLeft=~[0.255109 5.39933e-17 6.93889e-18 -0.0832612 0.0546007 -0.0899216 0.162009 0.0243873 0.0611847] 86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] +86: : piELeft=~[0 0 0 0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00315795 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00100533 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00315795 0 -8.16617e-05 0.000305054 0 0] errNorm=1.14626e-12 -86: Postcompression verr=~[0 0.00100533 -0.233513 0.872996 -0.251494 1.56439] -86: impulse=~[-0.00315795 0 -8.16617e-05 0.000305054 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] +86: DBG: 0: pi=-1.88616 verr=0.255109 pi*v=-0.481175 +86: DBG: 1: pi=-105.842 verr=5.39933e-17 pi*v=-5.71478e-15 +86: DBG: 2: pi=-97.4881 verr=6.93889e-18 pi*v=-6.7646e-16 +86: SP FINAL 5 intervals, piTotal=~[-1.88616 -105.842 -97.4881 -0.043313 0.183575 -2.27985 10.3152 3.22238 8.93445] errNorm=4.4203e-12 +86: Postcompression verr=~[0.255109 5.39933e-17 6.93889e-18 -0.0832612 0.0546007 -0.0899216 0.162009 0.0243873 0.0611847] +86: impulse=~[-1.88616 -105.842 -97.4881 -0.043313 0.183575 -2.27985 10.3152 3.22238 8.93445] +86: Next expansion impulse=~[0 0 0 0 0 0 0 0 0] 86: Next expanders: () 86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00315795 0 -8.16617e-05 0.000305054 0 0]-> du ~[-0.000459265 0.00106257 -0.000509849 -0.000594434 -3.6085e-05 0.000502667 -0.00202516 0.0012239] -86: Now verr0=~[-2.05998e-18 0.00100533 -0.233513 0.872996 -0.251494 1.56439] +86: Impact: imp ~[-1.88616 -105.842 -97.4881 -0.043313 0.183575 -2.27985 10.3152 3.22238 8.93445]-> du ~[-0.0239284 -3.74685 -0.685693 2.00694 0.343984 0.127554 8.71773 -10.0908] +86: Now verr0=~[0.255109 -3.55271e-15 1.80411e-15 -0.0832612 0.0546007 -0.0899216 0.162009 0.0243873 0.0611847] 86: 86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-2.05998e-18 0.00100533 -0.233513 0.872996 -0.251494 1.56439] -86: verrExt=~[-0.713517 -0.576823 0.0118519 -0.856726 0.00674829 -0.66169] -86: total verr=~[-0.713517 -0.575817 -0.221661 0.0162705 -0.244745 0.902701] -86: DYN t=0.118: verrStart=~[-2.05998e-18 0.00100533 -0.233513 0.872996 -0.251494 1.56439] -86: verrApplied=~[-0.713517 -0.576823 0.0118519 -0.856726 0.00674829 -0.66169] +86: verr0 =~[0.255109 -3.55271e-15 1.80411e-15 -0.0832612 0.0546007 -0.0899216 0.162009 0.0243873 0.0611847] +86: verrExt=~[0.69779 0.618484 -0.741239 -0.062034 0.740481 -0.058711 0.687822 -0.114182 0.736291] +86: total verr=~[0.952898 0.618484 -0.741239 -0.145295 0.795081 -0.148633 0.849831 -0.0897948 0.797475] +86: DYN t=0.159: verrStart=~[0.255109 -3.55271e-15 1.80411e-15 -0.0832612 0.0546007 -0.0899216 0.162009 0.0243873 0.0611847] +86: verrApplied=~[0.69779 0.618484 -0.741239 -0.062034 0.740481 -0.058711 0.687822 -0.114182 0.736291] 86: DBG: 86: -------------------------------- 86: DBG: START SUCCESSIVE PRUNING SOLVER: 86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) +86: : active=(0,3,4,1,5,6,2,7,8) +86: : mult2active=(0,3,6,1,2,4,5,7,8) 86: 86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-2.05998e-18 0.00100533 -0.233513 0.872996 -0.251494 1.56439] -86: verrApplied=~[-0.713517 -0.576823 0.0118519 -0.856726 0.00674829 -0.66169] +86: active=(0,3,4,1,5,6,2,7,8) +86: mult2active=(0,3,6,1,2,4,5,7,8) +86: piTotal=~[0 0 0 0 0 0 0 0 0] +86: verrLeft=~[0.255109 -3.55271e-15 1.80411e-15 -0.0832612 0.0546007 -0.0899216 0.162009 0.0243873 0.0611847] +86: verrApplied=~[0.69779 0.618484 -0.741239 -0.062034 0.740481 -0.058711 0.687822 -0.114182 0.736291] 86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.233513,0.872996, mag=0.903687 -86: Participating contact 1 is Sliding; vel=-0.251494,1.56439, mag=1.58448 +86: piELeft=~[0 0 0 0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 3 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0832612,0.0546007, mag=0.0995674 +86: Participating contact 1 is Sliding; vel=-0.0899216,0.162009, mag=0.185291 +86: Participating contact 2 is Sliding; vel=0.0243873,0.0611847, mag=0.0658659 86: 86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.233513,0.872996, mag=0.903687 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.251494,1.56439, mag=1.58448 +86: : active=(0,3,4,1,5,6,2,7,8) +86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0832612,0.0546007, mag=0.0995674 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0899216,0.162009, mag=0.185291 +86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.0243873,0.0611847, mag=0.0658659 86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.713517; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.575817; guess pi=-0.01 +86: : active=(0,3,4,1,5,6,2,7,8) +86: : mult2active=(0,3,6,1,2,4,5,7,8) +86: DBG: active normal 0 has v=0.952898; guess pi=0.01 +86: DBG: active normal 3 has v=0.618484; guess pi=0.01 +86: DBG: active normal 6 has v=-0.741239; guess pi=-0.01 86: initializeNewton: -86: : verrLeft was=~[-2.05998e-18 0.00100533 -0.233513 0.872996 -0.251494 1.56439] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.713517 -0.576823 0.0118519 -0.856726 0.00674829 -0.66169] -86: : rhsActive=~[-0.713517 -0.221661 0.0162705 -0.575817 -0.244745 0.902701] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.79442e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.912059... -86: > NEWTON iter 1: errNorm=0.912059(v) -> deltaNorm=3.03329(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.709911 0.000233513 -0.000872996 0.572604 0.000251494 -0.00156439] -86: > deltaPi=~[2.38603 0.0619111 -0.231457 1.84819 0.0294927 -0.183457] -86: DBG: Line search iter 1: back=1, prevNorm=0.912059. -86: > piNow=~[-2.39603 -0.0619111 0.231457 -1.85819 -0.0294927 0.183457] -86: > errNow=~[0 2.07538e-06 -7.75889e-06 -2.22045e-16 1.73135e-06 -1.07697e-05] normNow=1.35459e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.4852e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.89733e-10 -86: > NEWTON iter 2: errNorm=1.35459e-05(v) -> deltaNorm=1.96565e-05(pi) -86: > piActive=~[-2.39603 -0.0619111 0.231457 -1.85819 -0.0294927 0.183457] -86: > errActive=~[0 2.07538e-06 -7.75889e-06 -2.22045e-16 1.73135e-06 -1.07697e-05] -86: > deltaPi=~[1.18754e-05 2.60343e-06 -9.73302e-06 9.11422e-06 1.23736e-06 -7.69687e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.35459e-05. -86: > piNow=~[-2.39604 -0.0619137 0.231467 -1.8582 -0.0294939 0.183464] -86: > errNow=~[0 1.80411e-16 -6.66134e-16 1.11022e-16 2.498e-16 -1.4988e-15] normNow=1.67255e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.23472e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.67255e-15. +86: : verrLeft was=~[0.255109 -3.55271e-15 1.80411e-15 -0.0832612 0.0546007 -0.0899216 0.162009 0.0243873 0.0611847] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[0.69779 0.618484 -0.741239 -0.062034 0.740481 -0.058711 0.687822 -0.114182 0.736291] +86: : rhsActive=~[0.952898 -0.145295 0.795081 0.618484 -0.148633 0.849831 -0.741239 -0.0897948 0.797475] +86: : pi was=~[0 0 0 0 0 0 0 0 0] +86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0] +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.21036e-07 +86: DBG: >>>> Start NEWTON solve with errNorm=1.34581... +86: > NEWTON iter 1: errNorm=1.34581(v) -> deltaNorm=6.69455(pi) +86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0] +86: > errActive=~[-0.947204 0 0 -0.611747 0 0 0.734702 -2.43873e-05 -6.11847e-05] +86: > deltaPi=~[-2.39472 -7.4592e-06 4.89157e-06 3.81065 6.88841e-06 -1.24107e-05 4.93123 -0.182946 -0.458989] +86: DBG: Line search iter 1: back=1, prevNorm=1.34581. +86: > piNow=~[2.40472 7.4592e-06 -4.89157e-06 -3.80065 -6.88841e-06 1.24107e-05 -4.94123 0.182946 0.458989] +86: > errNow=~[0 7.42693e-07 -4.87041e-07 0 0.0341747 -0.0615717 0 -4.47952e-07 -1.12385e-06] normNow=0.07042 +86: DBG: Improvement rate now/prev at iter 1 is 0.0523252 +86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.69228e-10 +86: > NEWTON iter 2: errNorm=0.07042(v) -> deltaNorm=0.470842(pi) +86: > piActive=~[2.40472 7.4592e-06 -4.89157e-06 -3.80065 -6.88841e-06 1.24107e-05 -4.94123 0.182946 0.458989] +86: > errActive=~[0 7.42693e-07 -4.87041e-07 0 0.0341747 -0.0615717 0 -4.47952e-07 -1.12385e-06] +86: > deltaPi=~[-0.00627338 7.4592e-06 -4.89157e-06 0.184017 0.193368 -0.348386 -0.169528 0.0062701 0.0157309] +86: DBG: Line search iter 1: back=1, prevNorm=0.07042. +86: > piNow=~[2.411 3.37962e-13 -2.21483e-13 -3.98466 -0.193375 0.348399 -4.77171 0.176676 0.443258] +86: > errNow=~[0 3.365e-14 -2.20525e-14 0 4.26742e-13 -7.68843e-13 2.22045e-16 6.30867e-14 1.58266e-13] normNow=8.96591e-13 +86: DBG: Improvement rate now/prev at iter 2 is 1.2732e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=8.96591e-13. +86: DBG: Worst offender is normal contact 0 err=2.411 ... +86: DBG: ... normal contact 0 released. +86: +86: ....... Active set iter 2 start +86: : active=(2,7,8,1,5,6) +86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.0832612,0.0546007, mag=0.0995674 +86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0899216,0.162009, mag=0.185291 +86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.0243873,0.0611847, mag=0.0658659 +86: fillMult2Active: +86: : active=(2,7,8,1,5,6) +86: : mult2active=(-1111111111,3,0,-1111111111,-1111111111,4,5,1,2) +86: DBG: active normal 3 has v=0.618484; guess pi=0.01 +86: DBG: active normal 0 has v=-0.741239; guess pi=-0.01 +86: initializeNewton: +86: : verrLeft was=~[0.255109 -3.55271e-15 1.80411e-15 -0.0832612 0.0546007 -0.0899216 0.162009 0.0243873 0.0611847] +86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] +86: : verrApplied was=~[0.69779 0.618484 -0.741239 -0.062034 0.740481 -0.058711 0.687822 -0.114182 0.736291] +86: : rhsActive=~[-0.741239 -0.0897948 0.797475 0.618484 -0.148633 0.849831] +86: : pi was=~[0 -3.98466 -4.77171 3.37962e-13 -2.21483e-13 -0.193375 0.348399 0.176676 0.443258] +86: : piActive=~[-0.01 0.176676 0.443258 0.01 -0.193375 0.348399] +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.32496e-07 +86: DBG: >>>> Start NEWTON solve with errNorm=0.706011... +86: > NEWTON iter 1: errNorm=0.706011(v) -> deltaNorm=4.75517(pi) +86: > piActive=~[-0.01 0.176676 0.443258 0.01 -0.193375 0.348399] +86: > errActive=~[0.553791 0.0116125 0.0291344 -0.430503 -0.0358307 0.0645552] +86: > deltaPi=~[4.26428 0.0184236 0.0462226 2.06551 -0.193371 0.348392] +86: DBG: Line search iter 1: back=1, prevNorm=0.706011. +86: > piNow=~[-4.27428 0.158252 0.397035 -2.05551 -3.73378e-06 6.72705e-06] +86: > errNow=~[-1.11022e-16 -3.87366e-07 -9.71851e-07 -2.22045e-16 0.0184828 -0.0333] normNow=0.0380855 +86: DBG: Improvement rate now/prev at iter 1 is 0.0539446 +86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.2919e-10 +86: > NEWTON iter 2: errNorm=0.0380855(v) -> deltaNorm=0.253714(pi) +86: > piActive=~[-4.27428 0.158252 0.397035 -2.05551 -3.73378e-06 6.72705e-06] +86: > errActive=~[-1.11022e-16 -3.87366e-07 -9.71851e-07 -2.22045e-16 0.0184828 -0.0333] +86: > deltaPi=~[-0.0925177 0.00341966 0.00857948 0.0969457 0.104455 -0.188193] +86: DBG: Line search iter 1: back=1, prevNorm=0.0380855. +86: > piNow=~[-4.18176 0.154833 0.388456 -2.15246 -0.104459 0.1882] +86: > errNow=~[1.11022e-16 4.60118e-14 1.15429e-13 1.11022e-16 7.68625e-13 -1.3848e-12] normNow=1.58868e-12 +86: DBG: Improvement rate now/prev at iter 2 is 4.17135e-11 +86: DBG: <<<< NEWTON done in 2 iters; norm=1.58868e-12. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.233513,0.872996] to ~[-0.243363,0.866544] -86: DBG: Friction 0 rotated 0.711888 deg, less than max 30 -86: slipVel 1 from ~[-0.251494,1.56439] to ~[-0.261836,1.57686] -86: DBG: Friction 1 rotated 0.295054 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.39604 -0.0619137 0.231467 -1.8582 -0.0294939 0.183464] -86: : m_verrLeft=~[0 -1.11022e-16 -0.243363 0.866544 -0.261836 1.57686] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.39604 verr=0 pi*v=-0 -86: DBG: 1: pi=-1.8582 verr=-1.11022e-16 pi*v=2.06301e-16 -86: SP FINAL 1 intervals, piTotal=~[-2.39604 -1.8582 -0.0619137 0.231467 -0.0294939 0.183464] errNorm=1.67255e-15 +86: slipVel 1 from ~[-0.0899216,0.162009] to ~[-0.106012,0.159681] +86: DBG: Friction 1 rotated 4.54822 deg, less than max 30 +86: slipVel 2 from ~[0.0243873,0.0611847] to ~[-0.405219,0.423591] +86: DBG: TOO BIG: Sliding fric 2; endmag=0.586201, rot=65.4616 deg > 30 +86: DBG: --> returning stepLength=0 (dist to origin=0.0658659) +86: DBG: -->max change solutions: -0.0598121 and 0.0882869; returning 0.0882869 +86: DBG: Frac=0.0882869 reduces angle to 30 degrees. +86: SP interval 1 end: s=0.0882869 +86: : m_piActive=~[-0.369194 0.0136697 0.0342955 -0.190034 -0.00922232 0.0166156] +86: : m_verrLeft=~[0.291503 -3.2474e-15 1.6237e-15 -0.0868468 0.0887723 -0.0913422 0.161804 -0.0135412 0.0931805] +86: : verrAppliedLeft=~[0.636184 0.56388 -0.675797 -0.0565572 0.675106 -0.0535276 0.627096 -0.104101 0.671286] +86: : piELeft=~[0 0 0 0 0 0 0 0 0] +86: fillMult2Active: +86: : active=(0,3,4,1,5,6,2,7,8) +86: : mult2active=(0,3,6,1,2,4,5,7,8) 86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.233513 0.872996, |slipV|=0.903687 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.251494 1.56439, |slipV|=1.58448 -86: ------------------------------ -86: -86: dynamics impulse=~[-2.39604 -1.8582 -0.0619137 0.231467 -0.0294939 0.183464] -86: updated verrStart=~[0 -1.11022e-16 -0.243363 0.866544 -0.261836 1.57686] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.324817 0.554832 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.257867 0.102674 -0.0122935 0.311146 -0.00730368 0.12065] -86: [0.102674 0.218656 0.00124429 0.122659 -0.00241292 0.262261] -86: [-0.0122935 0.00124429 0.0486542 0.02595 0.0503114 -0.0378914] -86: [0.311146 0.122659 0.02595 0.44356 0.0342517 0.126007] -86: [-0.00730368 -0.00241292 0.0503114 0.0342517 0.052358 -0.0444884] -86: [0.12065 0.262261 -0.0378914 0.126007 -0.0444884 0.378426] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.390127 rank=2 -86: rhs=~[0.324817 0.554832 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.306625 2.39348] -86: -> pi=~[0.306625 2.39348 0 0 0 0] -86: resid active=~[0 0] -86: resid=~[0 0 -0.0007913 0.388987 -0.00801476 0.66471] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-9.21572e-17 -1.19913e-16 -0.243363 0.866544 -0.261836 1.57686] -86: perr=~[0.000324817 0.000554832 0] -86: END OF STEP (0.118,0.119): -86: verr=~[-0.000738731 0.000738731 -0.24311 0.866552 -0.262088 1.57686] -86: perr=~[0.000324448 0.000555201 -2.22045e-16] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.900008 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.59849 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000738731 at or below tol 0.001 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000738731 0.000738731 -0.24311 0.866552 -0.262088 1.57686] -86: IMP t=0.119 verr=~[-0.000738731 0.000738731 -0.24311 0.866552 -0.262088 1.57686] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000738731 0.000738731 -0.24311 0.866552 -0.262088 1.57686] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.24311,0.866552, mag=0.900008 -86: Participating contact 1 is Sliding; vel=-0.262088,1.57686, mag=1.59849 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.24311,0.866552, mag=0.900008 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.262088,1.57686, mag=1.59849 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000738731; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000738731; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000738731 0.000738731 -0.24311 0.866552 -0.262088 1.57686] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000738731 -0.24311 0.866552 0.000738731 -0.262088 1.57686] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.83307e-06 -94: Gimbal with User Axes: Passed -86: DBG: >>>> Start NEWTON solve with errNorm=0.00128887... -86: > NEWTON iter 1: errNorm=0.00128887(v) -> deltaNorm=0.00593472(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000818968 0.00024311 -0.000866552 0.000424794 0 0] -86: > deltaPi=~[-0.00415154 0.000157983 -0.00056312 0.00420042 2.56532e-09 -1.54343e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.00128887. -86: > piNow=~[-0.00584846 -0.000157983 0.00056312 0.00579958 -2.56532e-09 1.54343e-08] -86: > errNow=~[1.0842e-19 -3.75945e-09 1.34003e-08 0 -4.10064e-09 2.46715e-08] normNow=2.86217e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.22069e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.02299e-05 -86: > NEWTON iter 2: errNorm=2.86217e-08(v) -> deltaNorm=3.61137e-08(pi) -86: > piActive=~[-0.00584846 -0.000157983 0.00056312 0.00579958 -2.56532e-09 1.54343e-08] -86: > errActive=~[1.0842e-19 -3.75945e-09 1.34003e-08 0 -4.10064e-09 2.46715e-08] -86: > deltaPi=~[-2.04896e-08 -4.73054e-09 1.68617e-08 -1.8245e-08 -2.56535e-09 1.54345e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.86217e-08. -86: > piNow=~[-0.00584844 -0.000157978 0.000563103 0.0057996 3.3121e-14 -1.99273e-13] -86: > errNow=~[1.0842e-19 -5.4234e-14 1.93314e-13 -1.0842e-19 5.29436e-14 -3.18536e-13] normNow=3.80236e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.32849e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.80236e-13. -86: DBG: Worst offender is normal contact 1 err=0.0057996 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.24311,0.866552, mag=0.900008 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.262088,1.57686, mag=1.59849 -86: fillMult2Active: -86: : active=(0,2,3) -100: testBushing done. real/CPU ms: 20.0 / 20.0 -100: -100: TestMobilizedBody done. real/CPU ms: 130.9 / 130.9 -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000738731; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000738731 0.000738731 -0.24311 0.866552 -0.262088 1.57686] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000738731 -0.24311 0.866552] -86: : pi was=~[-0.00584844 0 -0.000157978 0.000563103 3.3121e-14 -1.99273e-13] -86: : piActive=~[-0.01 -0.000157978 0.000563103] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.35242e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00171562... -86: > NEWTON iter 1: errNorm=0.00171562(v) -> deltaNorm=0.00677531(pi) -86: > piActive=~[-0.01 -0.000157978 0.000563103] -86: > errActive=~[-0.00167444 0.000100929 -0.000359754] -86: > deltaPi=~[-0.00677025 -7.07293e-05 0.00025211] -86: DBG: Line search iter 1: back=1, prevNorm=0.00171562. -86: > piNow=~[-0.00322975 -8.72488e-05 0.000310993] -86: > errNow=~[0 -6.13084e-09 2.1853e-08] normNow=2.26967e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.32294e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.21074e-05 -86: > NEWTON iter 2: errNorm=2.26967e-08(v) -> deltaNorm=4.39664e-08(pi) -86: > piActive=~[-0.00322975 -8.72488e-05 0.000310993] -86: > errActive=~[0 -6.13084e-09 2.1853e-08] -86: > deltaPi=~[-3.34272e-08 -7.7146e-09 2.74982e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.26967e-08. -86: > piNow=~[-0.00322971 -8.72411e-05 0.000310965] -86: > errNow=~[0 -2.89909e-13 1.03336e-12] normNow=1.07326e-12 -86: DBG: Improvement rate now/prev at iter 2 is 4.7287e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.07326e-12. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.24311,0.866552] to ~[-0.243154,0.867422] -86: DBG: Friction 0 rotated 0.0122725 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00322971 -8.72411e-05 0.000310965] -86: : m_verrLeft=~[0 0.0010342 -0.243154 0.867422 -0.262118 1.5772] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00322971 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.0010342 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00322971 0 -8.72411e-05 0.000310965 0 0] errNorm=1.07326e-12 -86: Postcompression verr=~[0 0.0010342 -0.243154 0.867422 -0.262118 1.5772] -86: impulse=~[-0.00322971 0 -8.72411e-05 0.000310965 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00322971 0 -8.72411e-05 0.000310965 0 0]-> du ~[-0.000472546 0.00109023 -0.00052282 -0.000609091 -3.6781e-05 0.000517101 -0.00207846 0.00125598] -86: Now verr0=~[-1.40946e-18 0.0010342 -0.243154 0.867422 -0.262118 1.5772] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-1.40946e-18 0.0010342 -0.243154 0.867422 -0.262118 1.5772] -86: verrExt=~[-0.714352 -0.57548 0.0115543 -0.854674 0.00621381 -0.655986] -86: total verr=~[-0.714352 -0.574446 -0.2316 0.0127485 -0.255904 0.921219] -86: DYN t=0.119: verrStart=~[-1.40946e-18 0.0010342 -0.243154 0.867422 -0.262118 1.5772] -86: verrApplied=~[-0.714352 -0.57548 0.0115543 -0.854674 0.00621381 -0.655986] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-1.40946e-18 0.0010342 -0.243154 0.867422 -0.262118 1.5772] -86: verrApplied=~[-0.714352 -0.57548 0.0115543 -0.854674 0.00621381 -0.655986] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.243154,0.867422, mag=0.900858 -86: Participating contact 1 is Sliding; vel=-0.262118,1.5772, mag=1.59884 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.243154,0.867422, mag=0.900858 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.262118,1.5772, mag=1.59884 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.714352; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.574446; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-1.40946e-18 0.0010342 -0.243154 0.867422 -0.262118 1.5772] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.714352 -0.57548 0.0115543 -0.854674 0.00621381 -0.655986] -86: : rhsActive=~[-0.714352 -0.2316 0.0127485 -0.574446 -0.255904 0.921219] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.83575e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.911826... -86: > NEWTON iter 1: errNorm=0.911826(v) -> deltaNorm=3.01562(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.710729 0.000243154 -0.000867422 0.571217 0.000262118 -0.0015772] -86: > deltaPi=~[2.38041 0.0645182 -0.23016 1.82667 0.0301098 -0.181175] - 84/108 Test #100: TestMobilizedBody .............................. Passed 0.14 sec -86: DBG: Line search iter 1: back=1, prevNorm=0.911826. -86: > piNow=~[-2.39041 -0.0645182 0.23016 -1.83667 -0.0301098 0.181175] -86: > errNow=~[-5.55112e-16 2.15598e-06 -7.6912e-06 -3.33067e-16 1.78348e-06 -1.07315e-05] normNow=1.34962e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.48013e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.82563e-10 -86: > NEWTON iter 2: errNorm=1.34962e-05(v) -> deltaNorm=1.94588e-05(pi) -86: > piActive=~[-2.39041 -0.0645182 0.23016 -1.83667 -0.0301098 0.181175] -86: > errActive=~[-5.55112e-16 2.15598e-06 -7.6912e-06 -3.33067e-16 1.78348e-06 -1.07315e-05] -86: > deltaPi=~[1.17604e-05 2.71069e-06 -9.67003e-06 8.95511e-06 1.2623e-06 -7.59546e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.34962e-05. -86: > piNow=~[-2.39042 -0.0645209 0.23017 -1.83668 -0.0301111 0.181183] -86: > errNow=~[1.11022e-16 1.8735e-16 -6.38378e-16 1.11022e-16 2.56739e-16 -1.55431e-15] normNow=1.71729e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.27242e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.71729e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.243154,0.867422] to ~[-0.253691,0.860879] -86: DBG: Friction 0 rotated 0.760482 deg, less than max 30 -86: slipVel 1 from ~[-0.262118,1.5772] to ~[-0.273195,1.5909] -86: DBG: Friction 1 rotated 0.308189 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.39042 -0.0645209 0.23017 -1.83668 -0.0301111 0.181183] -86: : m_verrLeft=~[-1.11022e-16 -1.11022e-16 -0.253691 0.860879 -0.273195 1.5909] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.39042 verr=-1.11022e-16 pi*v=2.6539e-16 -86: DBG: 1: pi=-1.83668 verr=-1.11022e-16 pi*v=2.03912e-16 -86: SP FINAL 1 intervals, piTotal=~[-2.39042 -1.83668 -0.0645209 0.23017 -0.0301111 0.181183] errNorm=1.71729e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.243154 0.867422, |slipV|=0.900858 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.262118 1.5772, |slipV|=1.59884 -86: ------------------------------ -86: -86: dynamics impulse=~[-2.39042 -1.83668 -0.0645209 0.23017 -0.0301111 0.181183] -86: updated verrStart=~[-1.11022e-16 -1.11022e-16 -0.253691 0.860879 -0.273195 1.5909] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.324448 0.555201 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.259049 0.103279 -0.012395 0.311427 -0.00726459 0.120748] -86: [0.103279 0.219632 0.00105585 0.12279 -0.00270267 0.262461] -86: [-0.012395 0.00105585 0.0486484 0.0258201 0.0503507 -0.0380106] -86: [0.311427 0.12279 0.0258201 0.442295 0.0343284 0.12547] -86: [-0.00726459 -0.00270267 0.0503507 0.0343284 0.0524629 -0.0447681] -86: [0.120748 0.262461 -0.0380106 0.12547 -0.0447681 0.377172] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.389561 rank=2 -86: rhs=~[0.324448 0.555201 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.301073 2.38629] -86: -> pi=~[0.301073 2.38629 0 0 0 0] -86: resid active=~[1.11022e-16 0] -86: resid=~[1.11022e-16 0 -0.00121223 0.386774 -0.00863653 0.662663] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-2.77556e-16 -1.73472e-16 -0.253691 0.860879 -0.273195 1.5909] -86: perr=~[0.000324448 0.000555201 -2.22045e-16] -86: END OF STEP (0.119,0.12): -86: verr=~[-0.000760898 0.000760898 -0.253424 0.860887 -0.273462 1.59089] -86: perr=~[0.000324067 0.000555581 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.897414 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.61422 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000760898 at or below tol 0.001 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000760898 0.000760898 -0.253424 0.860887 -0.273462 1.59089] -86: IMP t=0.12 verr=~[-0.000760898 0.000760898 -0.253424 0.860887 -0.273462 1.59089] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000760898 0.000760898 -0.253424 0.860887 -0.273462 1.59089] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.253424,0.860887, mag=0.897414 -86: Participating contact 1 is Sliding; vel=-0.273462,1.59089, mag=1.61422 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.253424,0.860887, mag=0.897414 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.273462,1.59089, mag=1.61422 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000760898; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000760898; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000760898 0.000760898 -0.253424 0.860887 -0.273462 1.59089] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000760898 -0.253424 0.860887 0.000760898 -0.273462 1.59089] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.87949e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0012711... -86: > NEWTON iter 1: errNorm=0.0012711(v) -> deltaNorm=0.00572545(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000803078 0.000253424 -0.000860887 0.000406707 0 0] -86: > deltaPi=~[-0.00400415 0.000169324 -0.000575196 0.00404822 2.55452e-09 -1.48612e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.0012711. -86: > piNow=~[-0.00599585 -0.000169324 0.000575196 0.00595178 -2.55452e-09 1.48612e-08] -86: > errNow=~[0 -3.77981e-09 1.28401e-08 3.25261e-19 -4.12356e-09 2.39892e-08] normNow=2.77784e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.18538e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.93499e-05 -86: > NEWTON iter 2: errNorm=2.77784e-08(v) -> deltaNorm=3.46805e-08(pi) -86: > piActive=~[-0.00599585 -0.000169324 0.000575196 0.00595178 -2.55452e-09 1.48612e-08] -86: > errActive=~[0 -3.77981e-09 1.28401e-08 3.25261e-19 -4.12356e-09 2.39892e-08] -86: > deltaPi=~[-1.96071e-08 -4.76553e-09 1.61886e-08 -1.74967e-08 -2.55455e-09 1.48613e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.77784e-08. -86: > piNow=~[-0.00599583 -0.000169319 0.000575179 0.0059518 3.11616e-14 -1.81286e-13] -86: > errNow=~[-2.1684e-19 -5.14737e-14 1.74857e-13 -2.1684e-19 5.03018e-14 -2.92635e-13] normNow=3.48411e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.25425e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.48411e-13. -86: DBG: Worst offender is normal contact 1 err=0.0059518 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.253424,0.860887, mag=0.897414 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.273462,1.59089, mag=1.61422 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000760898; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000760898 0.000760898 -0.253424 0.860887 -0.273462 1.59089] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000760898 -0.253424 0.860887] -86: : pi was=~[-0.00599583 0 -0.000169319 0.000575179 3.11616e-14 -1.81286e-13] -86: : piActive=~[-0.01 -0.000169319 0.000575179] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.34275e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00169866... -86: > NEWTON iter 1: errNorm=0.00169866(v) -> deltaNorm=0.00669706(pi) -86: > piActive=~[-0.01 -0.000169319 0.000575179] -86: > errActive=~[-0.00166022 0.000101475 -0.000344714] -86: > deltaPi=~[-0.00669167 -7.58864e-05 0.000257788] -86: DBG: Line search iter 1: back=1, prevNorm=0.00169866. -86: > piNow=~[-0.00330833 -9.34324e-05 0.000317392] -86: > errNow=~[1.0842e-19 -6.31676e-09 2.14582e-08] normNow=2.23686e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.31684e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.05135e-05 -86: > NEWTON iter 2: errNorm=2.23686e-08(v) -> deltaNorm=4.3249e-08(pi) -86: > piActive=~[-0.00330833 -9.34324e-05 0.000317392] -86: > errActive=~[1.0842e-19 -6.31676e-09 2.14582e-08] -86: > deltaPi=~[-3.27879e-08 -7.96445e-09 2.70554e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.23686e-08. -86: > piNow=~[-0.0033083 -9.34245e-05 0.000317365] -86: > errNow=~[0 -2.82528e-13 9.59753e-13] normNow=1.00047e-12 -86: DBG: Improvement rate now/prev at iter 2 is 4.47267e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.00047e-12. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.253424,0.860887] to ~[-0.253469,0.861781] -86: DBG: Friction 0 rotated 0.0133429 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.0033083 -9.34245e-05 0.000317365] -86: : m_verrLeft=~[0 0.00106556 -0.253469 0.861781 -0.273492 1.59125] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.0033083 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00106556 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.0033083 0 -9.34245e-05 0.000317365 0 0] errNorm=1.00047e-12 -86: Postcompression verr=~[0 0.00106556 -0.253469 0.861781 -0.273492 1.59125] -86: impulse=~[-0.0033083 0 -9.34245e-05 0.000317365 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.0033083 0 -9.34245e-05 0.000317365 0 0]-> du ~[-0.000487159 0.00112036 -0.000537099 -0.000625091 -3.75843e-05 0.000532781 -0.0021365 0.00129057] -86: Now verr0=~[2.1684e-19 0.00106556 -0.253469 0.861781 -0.273492 1.59125] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[2.1684e-19 0.00106556 -0.253469 0.861781 -0.273492 1.59125] -86: verrExt=~[-0.70958 -0.569581 0.0111648 -0.845497 0.00562134 -0.644716] -86: total verr=~[-0.70958 -0.568515 -0.242305 0.016284 -0.267871 0.94653] -86: DYN t=0.12: verrStart=~[2.1684e-19 0.00106556 -0.253469 0.861781 -0.273492 1.59125] -86: verrApplied=~[-0.70958 -0.569581 0.0111648 -0.845497 0.00562134 -0.644716] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[2.1684e-19 0.00106556 -0.253469 0.861781 -0.273492 1.59125] -86: verrApplied=~[-0.70958 -0.569581 0.0111648 -0.845497 0.00562134 -0.644716] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.253469,0.861781, mag=0.898284 -86: Participating contact 1 is Sliding; vel=-0.273492,1.59125, mag=1.61458 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.253469,0.861781, mag=0.898284 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.273492,1.59125, mag=1.61458 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.70958; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.568515; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[2.1684e-19 0.00106556 -0.253469 0.861781 -0.273492 1.59125] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.70958 -0.569581 0.0111648 -0.845497 0.00562134 -0.644716] -86: : rhsActive=~[-0.70958 -0.242305 0.016284 -0.568515 -0.267871 0.94653] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.88223e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.904369... -86: > NEWTON iter 1: errNorm=0.904369(v) -> deltaNorm=2.97447(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.705938 0.000253469 -0.000861781 0.565271 0.000273492 -0.00159125] -86: > deltaPi=~[2.35614 0.0667631 -0.226991 1.79099 0.0305057 -0.17749] -86: DBG: Line search iter 1: back=1, prevNorm=0.904369. -86: > piNow=~[-2.36614 -0.0667631 0.226991 -1.80099 -0.0305057 0.17749] -86: > errNow=~[-2.22045e-16 2.22453e-06 -7.56327e-06 1.11022e-16 1.82453e-06 -1.06155e-05] normNow=1.3348e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.47595e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.02356e-10 -86: > NEWTON iter 2: errNorm=1.3348e-05(v) -> deltaNorm=1.91087e-05(pi) -86: > piActive=~[-2.36614 -0.0667631 0.226991 -1.80099 -0.0305057 0.17749] -86: > errActive=~[-2.22045e-16 2.22453e-06 -7.56327e-06 1.11022e-16 1.82453e-06 -1.06155e-05] -86: > deltaPi=~[1.1551e-05 2.80236e-06 -9.52785e-06 8.72779e-06 1.27787e-06 -7.43498e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.3348e-05. -86: > piNow=~[-2.36615 -0.0667659 0.227 -1.801 -0.030507 0.177497] -86: > errNow=~[0 1.8735e-16 -6.66134e-16 0 2.70617e-16 -1.60982e-15] normNow=1.77302e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.3283e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.77302e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.253469,0.861781] to ~[-0.264622,0.855646] -86: DBG: Friction 0 rotated 0.795254 deg, less than max 30 -86: slipVel 1 from ~[-0.273492,1.59125] to ~[-0.285231,1.60646] -86: DBG: Friction 1 rotated 0.315744 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.36615 -0.0667659 0.227 -1.801 -0.030507 0.177497] -86: : m_verrLeft=~[0 0 -0.264622 0.855646 -0.285231 1.60646] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.36615 verr=0 pi*v=-0 -86: DBG: 1: pi=-1.801 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-2.36615 -1.801 -0.0667659 0.227 -0.030507 0.177497] errNorm=1.77302e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.253469 0.861781, |slipV|=0.898284 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.273492 1.59125, |slipV|=1.61458 -86: ------------------------------ -86: -86: dynamics impulse=~[-2.36615 -1.801 -0.0667659 0.227 -0.030507 0.177497] -86: updated verrStart=~[0 0 -0.264622 0.855646 -0.285231 1.60646] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.324067 0.555581 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.260253 0.103855 -0.012517 0.311711 -0.0072413 0.120824] -86: [0.103855 0.220616 0.000874618 0.122892 -0.00298868 0.262656] -94: Translation: Passed -86: [-0.012517 0.000874618 0.0486351 0.0256575 0.0503823 -0.0381096] -86: [0.311711 0.122892 0.0256575 0.44101 0.0343769 0.124935] -86: [-0.0072413 -0.00298868 0.0503823 0.0343769 0.0525609 -0.0450307] -86: [0.120824 0.262656 -0.0381096 0.124935 -0.0450307 0.375893] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.389137 rank=2 -86: rhs=~[0.324067 0.555581 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.295826 2.37906] -86: -> pi=~[0.295826 2.37906 0 0 0 0] -86: resid active=~[-5.55112e-17 0] -86: resid=~[-5.55112e-17 0 -0.00162209 0.384581 -0.00925243 0.660618] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-2.25514e-17 9.54098e-17 -0.264622 0.855646 -0.285231 1.60646] -86: perr=~[0.000324067 0.000555581 0] -86: END OF STEP (0.12,0.121): -86: verr=~[-0.000785051 0.000785051 -0.26434 0.855655 -0.285513 1.60646] -86: perr=~[0.000323675 0.000555974 -1.11022e-16] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.895556 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.63163 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000785051 at or below tol 0.001 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000785051 0.000785051 -0.26434 0.855655 -0.285513 1.60646] -86: IMP t=0.121 verr=~[-0.000785051 0.000785051 -0.26434 0.855655 -0.285513 1.60646] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000785051 0.000785051 -0.26434 0.855655 -0.285513 1.60646] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.26434,0.855655, mag=0.895556 -86: Participating contact 1 is Sliding; vel=-0.285513,1.60646, mag=1.63163 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.26434,0.855655, mag=0.895556 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.285513,1.60646, mag=1.63163 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000785051; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000785051; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000785051 0.000785051 -0.26434 0.855655 -0.285513 1.60646] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000785051 -0.26434 0.855655 0.000785051 -0.285513 1.60646] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.93291e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00125265... -86: > NEWTON iter 1: errNorm=0.00125265(v) -> deltaNorm=0.00549952(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.0007857 0.00026434 -0.000855655 0.000387026 0 0] -86: > deltaPi=~[-0.00384495 0.000181682 -0.000588095 0.00388359 2.53133e-09 -1.42427e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.00125265. -86: > piNow=~[-0.00615505 -0.000181682 0.000588095 0.00611641 -2.53133e-09 1.42427e-08] -86: > errNow=~[3.25261e-19 -3.78587e-09 1.22547e-08 -2.1684e-19 -4.1302e-09 2.32388e-08] normNow=2.68628e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.14448e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.84751e-05 -86: > NEWTON iter 2: errNorm=2.68628e-08(v) -> deltaNorm=3.31511e-08(pi) -86: > piActive=~[-0.00615505 -0.000181682 0.000588095 0.00611641 -2.53133e-09 1.42427e-08] -86: > errActive=~[3.25261e-19 -3.78587e-09 1.22547e-08 -2.1684e-19 -4.1302e-09 2.32388e-08] -86: > deltaPi=~[-1.86738e-08 -4.77853e-09 1.54679e-08 -1.67011e-08 -2.53136e-09 1.42428e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.68628e-08. -86: > piNow=~[-0.00615503 -0.000181677 0.000588079 0.00611643 2.90928e-14 -1.63692e-13] -86: > errNow=~[-1.0842e-19 -4.85251e-14 1.57073e-13 1.0842e-19 4.74687e-14 -2.67085e-13] normNow=3.17198e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.18081e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.17198e-13. -86: DBG: Worst offender is normal contact 1 err=0.00611643 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.26434,0.855655, mag=0.895556 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.285513,1.60646, mag=1.63163 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000785051; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000785051 0.000785051 -0.26434 0.855655 -0.285513 1.60646] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000785051 -0.26434 0.855655] -86: : pi was=~[-0.00615503 0 -0.000181677 0.000588079 2.90928e-14 -1.63692e-13] -86: : piActive=~[-0.01 -0.000181677 0.000588079] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.33583e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00167963... -86: > NEWTON iter 1: errNorm=0.00167963(v) -> deltaNorm=0.00661158(pi) -86: > piActive=~[-0.01 -0.000181677 0.000588079] -86: > errActive=~[-0.00164396 0.000101638 -0.000328997] -86: > deltaPi=~[-0.00660582 -8.14843e-05 0.00026376] -86: DBG: Line search iter 1: back=1, prevNorm=0.00167963. -86: > piNow=~[-0.00339418 -0.000100193 0.000324319] -86: > errNow=~[-3.25261e-19 -6.50431e-09 2.10541e-08] normNow=2.20359e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.31195e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.89309e-05 -86: > NEWTON iter 2: errNorm=2.20359e-08(v) -> deltaNorm=4.24816e-08(pi) -86: > piActive=~[-0.00339418 -0.000100193 0.000324319] -86: > errActive=~[-3.25261e-19 -6.50431e-09 2.10541e-08] -86: > deltaPi=~[-3.21088e-08 -8.21032e-09 2.65764e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.20359e-08. -86: > piNow=~[-0.00339415 -0.000100185 0.000324293] -86: > errNow=~[0 -2.74193e-13 8.87547e-13] normNow=9.28936e-13 -86: DBG: Improvement rate now/prev at iter 2 is 4.21556e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.28936e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.26434,0.855655] to ~[-0.264387,0.856574] -86: DBG: Friction 0 rotated 0.0145054 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00339415 -0.000100185 0.000324293] -86: : m_verrLeft=~[0 0.00109961 -0.264387 0.856574 -0.285544 1.60682] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00339415 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00109961 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00339415 0 -0.000100185 0.000324293 0 0] errNorm=9.28936e-13 -86: Postcompression verr=~[0 0.00109961 -0.264387 0.856574 -0.285544 1.60682] -86: impulse=~[-0.00339415 0 -0.000100185 0.000324293 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00339415 0 -0.000100185 0.000324293 0 0]-> du ~[-0.000503202 0.00115314 -0.000552767 -0.000642527 -3.85052e-05 0.000549803 -0.00219963 0.00132791] -86: Now verr0=~[3.46945e-18 0.00109961 -0.264387 0.856574 -0.285544 1.60682] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[3.46945e-18 0.00109961 -0.264387 0.856574 -0.285544 1.60682] -86: verrExt=~[-0.700263 -0.560086 0.0107435 -0.830599 0.00503177 -0.629209] -86: total verr=~[-0.700263 -0.558986 -0.253643 0.0259742 -0.280512 0.977613] -86: DYN t=0.121: verrStart=~[3.46945e-18 0.00109961 -0.264387 0.856574 -0.285544 1.60682] -86: verrApplied=~[-0.700263 -0.560086 0.0107435 -0.830599 0.00503177 -0.629209] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[3.46945e-18 0.00109961 -0.264387 0.856574 -0.285544 1.60682] -86: verrApplied=~[-0.700263 -0.560086 0.0107435 -0.830599 0.00503177 -0.629209] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.264387,0.856574, mag=0.896448 -86: Participating contact 1 is Sliding; vel=-0.285544,1.60682, mag=1.632 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.264387,0.856574, mag=0.896448 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.285544,1.60682, mag=1.632 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.700263; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.558986; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[3.46945e-18 0.00109961 -0.264387 0.856574 -0.285544 1.60682] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.700263 -0.560086 0.0107435 -0.830599 0.00503177 -0.629209] -86: : rhsActive=~[-0.700263 -0.253643 0.0259742 -0.558986 -0.280512 0.977613] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.9357e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.891118... -86: > NEWTON iter 1: errNorm=0.891118(v) -> deltaNorm=2.91485(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.696604 0.000264387 -0.000856574 0.555726 0.000285544 -0.00160682] -86: > deltaPi=~[2.31678 0.0686203 -0.22232 1.7447 0.0307002 -0.172757] -86: DBG: Line search iter 1: back=1, prevNorm=0.891118. -86: > piNow=~[-2.32678 -0.0686203 0.22232 -1.7547 -0.0307002 0.172757] -86: > errNow=~[0 2.28158e-06 -7.39197e-06 -1.11022e-16 1.85569e-06 -1.04424e-05] normNow=1.31276e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.47316e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.11945e-10 -86: > NEWTON iter 2: errNorm=1.31276e-05(v) -> deltaNorm=1.86409e-05(pi) -86: > piActive=~[-2.32678 -0.0686203 0.22232 -1.7547 -0.0307002 0.172757] -86: > errActive=~[0 2.28158e-06 -7.39197e-06 -1.11022e-16 1.85569e-06 -1.04424e-05] -86: > deltaPi=~[1.12669e-05 2.87742e-06 -9.32242e-06 8.45101e-06 1.28493e-06 -7.23061e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.31276e-05. -86: > piNow=~[-2.32679 -0.0686232 0.222329 -1.75471 -0.0307015 0.172764] -86: > errNow=~[0 2.01228e-16 -6.66134e-16 0 2.98372e-16 -1.66533e-15] normNow=1.82937e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.39353e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.82937e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.264387,0.856574] to ~[-0.276051,0.851261] -86: DBG: Friction 0 rotated 0.813917 deg, less than max 30 -86: slipVel 1 from ~[-0.285544,1.60682] to ~[-0.297834,1.62372] -86: DBG: Friction 1 rotated 0.317376 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.32679 -0.0686232 0.222329 -1.75471 -0.0307015 0.172764] -86: : m_verrLeft=~[0 0 -0.276051 0.851261 -0.297834 1.62372] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.32679 verr=0 pi*v=-0 -86: DBG: 1: pi=-1.75471 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-2.32679 -1.75471 -0.0686232 0.222329 -0.0307015 0.172764] errNorm=1.82937e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.264387 0.856574, |slipV|=0.896448 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.285544 1.60682, |slipV|=1.632 -86: ------------------------------ -86: -86: dynamics impulse=~[-2.32679 -1.75471 -0.0686232 0.222329 -0.0307015 0.172764] -86: updated verrStart=~[0 0 -0.276051 0.851261 -0.297834 1.62372] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.323675 0.555974 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.261479 0.104404 -0.0126593 0.312001 -0.00723322 0.120881] -86: [0.104404 0.221611 0.000699496 0.12297 -0.00327238 0.262851] -86: [-0.0126593 0.000699496 0.0486144 0.025463 0.0504063 -0.0381898] -86: [0.312001 0.12297 0.025463 0.439708 0.0343985 0.124402] -86: [-0.00723322 -0.00327238 0.0504063 0.0343985 0.0526523 -0.0452782] -86: [0.120881 0.262851 -0.0381898 0.124402 -0.0452782 0.374595] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.38885 rank=2 -86: rhs=~[0.323675 0.555974 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.290867 2.37175] -86: -> pi=~[0.290867 2.37175 0 0 0 0] -86: resid active=~[5.55112e-17 0] -86: resid=~[5.55112e-17 0 -0.00202314 0.382404 -0.00986516 0.658577] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[9.43256e-18 2.33103e-17 -0.276051 0.851261 -0.297834 1.62372] -86: perr=~[0.000323675 0.000555974 -1.11022e-16] -86: END OF STEP (0.121,0.122): -86: verr=~[-0.000811211 0.000811211 -0.275752 0.851271 -0.298133 1.62371] -86: perr=~[0.000323269 0.00055638 -2.22045e-16] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.894819 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.65085 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000811211 at or below tol 0.001 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000811211 0.000811211 -0.275752 0.851271 -0.298133 1.62371] -86: IMP t=0.122 verr=~[-0.000811211 0.000811211 -0.275752 0.851271 -0.298133 1.62371] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000811211 0.000811211 -0.275752 0.851271 -0.298133 1.62371] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.275752,0.851271, mag=0.894819 -86: Participating contact 1 is Sliding; vel=-0.298133,1.62371, mag=1.65085 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.275752,0.851271, mag=0.894819 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.298133,1.62371, mag=1.65085 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000811211; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000811211; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000811211 0.000811211 -0.275752 0.851271 -0.298133 1.62371] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000811211 -0.275752 0.851271 0.000811211 -0.298133 1.62371] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.99446e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00123388... -86: > NEWTON iter 1: errNorm=0.00123388(v) -> deltaNorm=0.00525728(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000766809 0.000275752 -0.000851271 0.000365748 0 0] -86: > deltaPi=~[-0.00367411 0.000194946 -0.000601815 0.00370671 2.49345e-09 -1.358e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.00123388. -86: > piNow=~[-0.00632589 -0.000194946 0.000601815 0.00629329 -2.49345e-09 1.358e-08] -86: > errNow=~[3.25261e-19 -3.77384e-09 1.16502e-08 4.33681e-19 -4.11633e-09 2.24186e-08] normNow=2.58748e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.09702e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.76163e-05 -86: > NEWTON iter 2: errNorm=2.58748e-08(v) -> deltaNorm=3.15293e-08(pi) -86: > piActive=~[-0.00632589 -0.000194946 0.000601815 0.00629329 -2.49345e-09 1.358e-08] -86: > errActive=~[3.25261e-19 -3.77384e-09 1.16502e-08 4.33681e-19 -4.11633e-09 2.24186e-08] -86: > deltaPi=~[-1.76937e-08 -4.76263e-09 1.47027e-08 -1.586e-08 -2.49348e-09 1.35802e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.58748e-08. -86: > piNow=~[-0.00632587 -0.000194941 0.000601801 0.0062933 2.69332e-14 -1.46685e-13] -86: > errNow=~[-2.1684e-19 -4.5408e-14 1.40178e-13 -1.0842e-19 4.44628e-14 -2.42156e-13] normNow=2.86929e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.10891e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.86929e-13. -86: DBG: Worst offender is normal contact 1 err=0.0062933 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.275752,0.851271, mag=0.894819 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.298133,1.62371, mag=1.65085 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000811211; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000811211 0.000811211 -0.275752 0.851271 -0.298133 1.62371] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000811211 -0.275752 0.851271] -86: : pi was=~[-0.00632587 0 -0.000194941 0.000601801 2.69332e-14 -1.46685e-13] -86: : piActive=~[-0.01 -0.000194941 0.000601801] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.33309e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00165857... -86: > NEWTON iter 1: errNorm=0.00165857(v) -> deltaNorm=0.00651895(pi) -86: > piActive=~[-0.01 -0.000194941 0.000601801] -86: > errActive=~[-0.00162566 0.000101315 -0.000312768] -86: > deltaPi=~[-0.00651277 -8.74696e-05 0.000270026] -86: DBG: Line search iter 1: back=1, prevNorm=0.00165857. -86: > piNow=~[-0.00348723 -0.000107472 0.000331775] -86: > errNow=~[-1.0842e-19 -6.68954e-09 2.06512e-08] normNow=2.17076e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.30882e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.73865e-05 -86: > NEWTON iter 2: errNorm=2.17076e-08(v) -> deltaNorm=4.16677e-08(pi) -86: > piActive=~[-0.00348723 -0.000107472 0.000331775] -86: > errActive=~[-1.0842e-19 -6.68954e-09 2.06512e-08] -86: > deltaPi=~[-3.13937e-08 -8.44301e-09 2.60643e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.17076e-08. -86: > piNow=~[-0.0034872 -0.000107463 0.000331748] -86: > errNow=~[-1.0842e-19 -2.64949e-13 8.1792e-13] normNow=8.59762e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.96064e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.59762e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.275752,0.851271] to ~[-0.2758,0.852217] -86: DBG: Friction 0 rotated 0.0157413 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.0034872 -0.000107463 0.000331748] -86: : m_verrLeft=~[1.0842e-19 0.00113636 -0.2758 0.852217 -0.298164 1.62409] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.0034872 verr=1.0842e-19 pi*v=-3.78083e-22 -86: DBG: 1: pi=0 verr=0.00113636 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.0034872 0 -0.000107463 0.000331748 0 0] errNorm=8.59762e-13 -86: Postcompression verr=~[1.0842e-19 0.00113636 -0.2758 0.852217 -0.298164 1.62409] -86: impulse=~[-0.0034872 0 -0.000107463 0.000331748 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.0034872 0 -0.000107463 0.000331748 0 0]-> du ~[-0.000520701 0.00118857 -0.000569819 -0.000661394 -3.95495e-05 0.000568181 -0.00226788 0.00136805] -86: Now verr0=~[1.0842e-18 0.00113636 -0.2758 0.852217 -0.298164 1.62409] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[1.0842e-18 0.00113636 -0.2758 0.852217 -0.298164 1.62409] -86: verrExt=~[-0.687402 -0.54789 0.010343 -0.811286 0.00449815 -0.610677] -86: total verr=~[-0.687402 -0.546753 -0.265457 0.0409307 -0.293666 1.01341] -86: DYN t=0.122: verrStart=~[1.0842e-18 0.00113636 -0.2758 0.852217 -0.298164 1.62409] -86: verrApplied=~[-0.687402 -0.54789 0.010343 -0.811286 0.00449815 -0.610677] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[1.0842e-18 0.00113636 -0.2758 0.852217 -0.298164 1.62409] -86: verrApplied=~[-0.687402 -0.54789 0.010343 -0.811286 0.00449815 -0.610677] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.2758,0.852217, mag=0.895734 -86: Participating contact 1 is Sliding; vel=-0.298164,1.62409, mag=1.65123 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.2758,0.852217, mag=0.895734 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.298164,1.62409, mag=1.65123 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.687402; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.546753; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[1.0842e-18 0.00113636 -0.2758 0.852217 -0.298164 1.62409] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.687402 -0.54789 0.010343 -0.811286 0.00449815 -0.610677] -86: : rhsActive=~[-0.687402 -0.265457 0.0409307 -0.546753 -0.293666 1.01341] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.99731e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.873414... -86: > NEWTON iter 1: errNorm=0.873414(v) -> deltaNorm=2.84137(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.683725 0.0002758 -0.000852217 0.543478 0.000298164 -0.00162409] -86: > deltaPi=~[2.26563 0.0700651 -0.2165 1.69102 0.0307143 -0.1673] -86: DBG: Line search iter 1: back=1, prevNorm=0.873414. -86: > piNow=~[-2.27563 -0.0700651 0.2165 -1.70102 -0.0307143 0.1673] -86: > errNow=~[0 2.32753e-06 -7.19203e-06 -2.22045e-16 1.87808e-06 -1.02299e-05] normNow=1.28577e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.47212e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.30884e-10 -86: > NEWTON iter 2: errNorm=1.28577e-05(v) -> deltaNorm=1.80867e-05(pi) -86: > piActive=~[-2.27563 -0.0700651 0.2165 -1.70102 -0.0307143 0.1673] -86: > errActive=~[0 2.32753e-06 -7.19203e-06 -2.22045e-16 1.87808e-06 -1.02299e-05] -86: > deltaPi=~[1.09267e-05 2.9349e-06 -9.06879e-06 8.14146e-06 1.2844e-06 -6.99606e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.28577e-05. -86: > piNow=~[-2.27565 -0.070068 0.216509 -1.70103 -0.0307156 0.167307] -86: > errNow=~[1.11022e-16 2.35922e-16 -6.66134e-16 1.11022e-16 3.05311e-16 -1.72085e-15] normNow=1.89171e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.47127e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.89171e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.2758,0.852217] to ~[-0.287844,0.848063] -86: DBG: Friction 0 rotated 0.814973 deg, less than max 30 -86: slipVel 1 from ~[-0.298164,1.62409] to ~[-0.310867,1.64269] -86: DBG: Friction 1 rotated 0.313086 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.27565 -0.070068 0.216509 -1.70103 -0.0307156 0.167307] -86: : m_verrLeft=~[-1.11022e-16 -1.11022e-16 -0.287844 0.848063 -0.310867 1.64269] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.27565 verr=-1.11022e-16 pi*v=2.52647e-16 -86: DBG: 1: pi=-1.70103 verr=-1.11022e-16 pi*v=1.88852e-16 -86: SP FINAL 1 intervals, piTotal=~[-2.27565 -1.70103 -0.070068 0.216509 -0.0307156 0.167307] errNorm=1.89171e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.2758 0.852217, |slipV|=0.895734 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.298164 1.62409, |slipV|=1.65123 -86: ------------------------------ -86: -86: dynamics impulse=~[-2.27565 -1.70103 -0.070068 0.216509 -0.0307156 0.167307] -86: updated verrStart=~[-1.11022e-16 -1.11022e-16 -0.287844 0.848063 -0.310867 1.64269] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.323269 0.55638 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.262731 0.104929 -0.0128212 0.312298 -0.00723955 0.12092] -86: [0.104929 0.222625 0.000529289 0.123024 -0.00355524 0.263052] -86: [-0.0128212 0.000529289 0.0485864 0.0252378 0.0504228 -0.0382531] -86: [0.312298 0.123024 0.0252378 0.438392 0.0343947 0.123871] -86: [-0.00723955 -0.00355524 0.0504228 0.0343947 0.0527371 -0.0455126] -86: [0.12092 0.263052 -0.0382531 0.123871 -0.0455126 0.373285] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.388692 rank=2 -86: rhs=~[0.323269 0.55638 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.286171 2.3643] -86: -> pi=~[0.286171 2.3643 0 0 0 0] -86: resid active=~[1.66533e-16 1.11022e-16] -86: resid=~[1.66533e-16 1.11022e-16 -0.00241767 0.380236 -0.0104774 0.656538] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[3.46945e-17 4.16334e-17 -0.287844 0.848063 -0.310867 1.64269] -86: perr=~[0.000323269 0.00055638 -2.22045e-16] -86: END OF STEP (0.122,0.123): -86: verr=~[-0.000839297 0.000839297 -0.287528 0.848073 -0.311183 1.64268] -86: perr=~[0.00032285 0.000556799 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.895489 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.67189 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000839297 at or below tol 0.001 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000839297 0.000839297 -0.287528 0.848073 -0.311183 1.64268] -86: IMP t=0.123 verr=~[-0.000839297 0.000839297 -0.287528 0.848073 -0.311183 1.64268] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000839297 0.000839297 -0.287528 0.848073 -0.311183 1.64268] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.287528,0.848073, mag=0.895489 -86: Participating contact 1 is Sliding; vel=-0.311183,1.64268, mag=1.67189 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.287528,0.848073, mag=0.895489 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.311183,1.64268, mag=1.67189 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000839297; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000839297; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000839297 0.000839297 -0.287528 0.848073 -0.311183 1.64268] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000839297 -0.287528 0.848073 0.000839297 -0.311183 1.64268] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.06463e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00121522... -86: > NEWTON iter 1: errNorm=0.00121522(v) -> deltaNorm=0.00500022(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000746479 0.000287528 -0.000848073 0.000342968 0 0] -86: > deltaPi=~[-0.00349258 0.000208948 -0.000616297 0.0035186 2.43943e-09 -1.28773e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.00121522. -86: > piNow=~[-0.00650742 -0.000208948 0.000616297 0.0064814 -2.43943e-09 1.28773e-08] -86: > errNow=~[1.0842e-19 -3.74058e-09 1.10329e-08 -1.0842e-19 -4.07847e-09 2.15295e-08] normNow=2.48168e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.04216e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.67847e-05 -86: > NEWTON iter 2: errNorm=2.48168e-08(v) -> deltaNorm=2.98261e-08(pi) -86: > piActive=~[-0.00650742 -0.000208948 0.000616297 0.0064814 -2.43943e-09 1.28773e-08] -86: > errActive=~[1.0842e-19 -3.74058e-09 1.10329e-08 -1.0842e-19 -4.07847e-09 2.15295e-08] -86: > deltaPi=~[-1.66744e-08 -4.71248e-09 1.38996e-08 -1.49791e-08 -2.43946e-09 1.28775e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.48168e-08. -86: > piNow=~[-0.0065074 -0.000208943 0.000616284 0.00648141 2.47172e-14 -1.30478e-13] -86: > errNow=~[-3.25261e-19 -4.21657e-14 1.24369e-13 -1.0842e-19 4.13246e-14 -2.18145e-13] normNow=2.57954e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.03944e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.57954e-13. -86: DBG: Worst offender is normal contact 1 err=0.00648141 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.287528,0.848073, mag=0.895489 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.311183,1.64268, mag=1.67189 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000839297; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000839297 0.000839297 -0.287528 0.848073 -0.311183 1.64268] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000839297 -0.287528 0.848073] -86: : pi was=~[-0.0065074 0 -0.000208943 0.000616284 2.47172e-14 -1.30478e-13] -86: : piActive=~[-0.01 -0.000208943 0.000616284] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.33558e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00163562... -86: > NEWTON iter 1: errNorm=0.00163562(v) -> deltaNorm=0.00641969(pi) -86: > piActive=~[-0.01 -0.000208943 0.000616284] -86: > errActive=~[-0.00160544 0.000100422 -0.000296198] -86: > deltaPi=~[-0.00641304 -9.37635e-05 0.000276558] -86: DBG: Line search iter 1: back=1, prevNorm=0.00163562. -86: > piNow=~[-0.00358696 -0.00011518 0.000339725] -86: > errNow=~[1.0842e-19 -6.86841e-09 2.02586e-08] normNow=2.13912e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.30784e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.59055e-05 -86: > NEWTON iter 2: errNorm=2.13912e-08(v) -> deltaNorm=4.08138e-08(pi) -86: > piActive=~[-0.00358696 -0.00011518 0.000339725] -86: > errActive=~[1.0842e-19 -6.86841e-09 2.02586e-08] -86: > deltaPi=~[-3.06491e-08 -8.65383e-09 2.55247e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.13912e-08. -86: > piNow=~[-0.00358693 -0.000115171 0.0003397] -86: > errNow=~[0 -2.54935e-13 7.51938e-13] normNow=7.93979e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.7117e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.93979e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.287528,0.848073] to ~[-0.287578,0.849049] -86: DBG: Friction 0 rotated 0.0170254 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00358693 -0.000115171 0.0003397] -86: : m_verrLeft=~[0 0.00117572 -0.287578 0.849049 -0.311215 1.64307] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00358693 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00117572 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00358693 0 -0.000115171 0.0003397 0 0] errNorm=7.93979e-13 -86: Postcompression verr=~[0 0.00117572 -0.287578 0.849049 -0.311215 1.64307] -86: impulse=~[-0.00358693 0 -0.000115171 0.0003397 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00358693 0 -0.000115171 0.0003397 0 0]-> du ~[-0.000539611 0.0012265 -0.000588172 -0.000681602 -4.07187e-05 0.000587859 -0.00234099 0.00141088] -86: Now verr0=~[-2.60209e-18 0.00117572 -0.287578 0.849049 -0.311215 1.64307] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-2.60209e-18 0.00117572 -0.287578 0.849049 -0.311215 1.64307] -86: verrExt=~[-0.671896 -0.533788 0.0100066 -0.788719 0.00406374 -0.590173] -86: total verr=~[-0.671896 -0.532612 -0.277571 0.0603299 -0.307151 1.05289] -86: DYN t=0.123: verrStart=~[-2.60209e-18 0.00117572 -0.287578 0.849049 -0.311215 1.64307] -86: verrApplied=~[-0.671896 -0.533788 0.0100066 -0.788719 0.00406374 -0.590173] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-2.60209e-18 0.00117572 -0.287578 0.849049 -0.311215 1.64307] -86: verrApplied=~[-0.671896 -0.533788 0.0100066 -0.788719 0.00406374 -0.590173] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.287578,0.849049, mag=0.896429 -86: Participating contact 1 is Sliding; vel=-0.311215,1.64307, mag=1.67228 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.287578,0.849049, mag=0.896429 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.311215,1.64307, mag=1.67228 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.671896; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.532612; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-2.60209e-18 0.00117572 -0.287578 0.849049 -0.311215 1.64307] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.671896 -0.533788 0.0100066 -0.788719 0.00406374 -0.590173] -86: : rhsActive=~[-0.671896 -0.277571 0.0603299 -0.532612 -0.307151 1.05289] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.06756e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.852454... -86: > NEWTON iter 1: errNorm=0.852454(v) -> deltaNorm=2.75806(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.668202 0.000287578 -0.000849049 0.529321 0.000311215 -0.00164307] -86: > deltaPi=~[2.20569 0.0710775 -0.20985 1.63272 0.0305702 -0.161396] -86: DBG: Line search iter 1: back=1, prevNorm=0.852454. -86: > piNow=~[-2.21569 -0.0710775 0.20985 -1.64272 -0.0305702 0.161396] -86: > errNow=~[1.11022e-16 2.36271e-06 -6.97571e-06 2.22045e-16 1.89271e-06 -9.99258e-06] normNow=1.25569e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.47303e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.55814e-10 -86: > NEWTON iter 2: errNorm=1.25569e-05(v) -> deltaNorm=1.74739e-05(pi) -86: > piActive=~[-2.21569 -0.0710775 0.20985 -1.64272 -0.0305702 0.161396] -86: > errActive=~[1.11022e-16 2.36271e-06 -6.97571e-06 2.22045e-16 1.89271e-06 -9.99258e-06] -86: > deltaPi=~[1.05472e-05 2.97405e-06 -8.78063e-06 7.81334e-06 1.27722e-06 -6.74311e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.25569e-05. -86: > piNow=~[-2.2157 -0.0710804 0.209859 -1.64272 -0.0305715 0.161403] -86: > errNow=~[1.11022e-16 2.22045e-16 -6.93889e-16 0 3.33067e-16 -1.83187e-15] normNow=2.00245e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.59469e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.00245e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.287578,0.849049] to ~[-0.299852,0.846316] -86: DBG: Friction 0 rotated 0.797848 deg, less than max 30 -86: slipVel 1 from ~[-0.311215,1.64307] to ~[-0.324173,1.66329] -86: DBG: Friction 1 rotated 0.303178 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.2157 -0.0710804 0.209859 -1.64272 -0.0305715 0.161403] -86: : m_verrLeft=~[-1.11022e-16 0 -0.299852 0.846316 -0.324173 1.66329] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.2157 verr=-1.11022e-16 pi*v=2.45992e-16 -86: DBG: 1: pi=-1.64272 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-2.2157 -1.64272 -0.0710804 0.209859 -0.0305715 0.161403] errNorm=2.00245e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.287578 0.849049, |slipV|=0.896429 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.311215 1.64307, |slipV|=1.67228 -86: ------------------------------ -86: -86: dynamics impulse=~[-2.2157 -1.64272 -0.0710804 0.209859 -0.0305715 0.161403] -86: updated verrStart=~[-1.11022e-16 0 -0.299852 0.846316 -0.324173 1.66329] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.32285 0.556799 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.264011 0.105433 -0.013002 0.312606 -0.00725933 0.120943] -86: [0.105433 0.22366 0.000362796 0.123056 -0.00383869 0.263264] -86: [-0.013002 0.000362796 0.0485514 0.0249835 0.0504322 -0.038301] -86: [0.312606 0.123056 0.0249835 0.437062 0.034367 0.123341] -86: [-0.00725933 -0.00383869 0.0504322 0.034367 0.0528159 -0.0457357] -86: [0.120943 0.263264 -0.038301 0.123341 -0.0457357 0.371969] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.388657 rank=2 -86: rhs=~[0.32285 0.556799 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.281716 2.35669] -86: -> pi=~[0.281716 2.35669 0 0 0 0] -86: resid active=~[5.55112e-17 0] -86: resid=~[5.55112e-17 0 -0.00280789 0.378072 -0.0110917 0.654502] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[3.33934e-17 1.95156e-17 -0.299852 0.846316 -0.324173 1.66329] -86: perr=~[0.00032285 0.000556799 0] -86: END OF STEP (0.123,0.124): -86: verr=~[-0.000869139 0.000869139 -0.299518 0.846327 -0.324507 1.66328] -86: perr=~[0.000322415 0.000557234 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.897764 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.69464 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000869139 at or below tol 0.001 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000869139 0.000869139 -0.299518 0.846327 -0.324507 1.66328] -86: IMP t=0.124 verr=~[-0.000869139 0.000869139 -0.299518 0.846327 -0.324507 1.66328] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000869139 0.000869139 -0.299518 0.846327 -0.324507 1.66328] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.299518,0.846327, mag=0.897764 -86: Participating contact 1 is Sliding; vel=-0.324507,1.66328, mag=1.69464 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.299518,0.846327, mag=0.897764 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.324507,1.66328, mag=1.69464 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000869139; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000869139; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000869139 0.000869139 -0.299518 0.846327 -0.324507 1.66328] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000869139 -0.299518 0.846327 0.000869139 -0.324507 1.66328] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.14341e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00119712... -86: > NEWTON iter 1: errNorm=0.00119712(v) -> deltaNorm=0.00473077(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000724872 0.000299518 -0.000846327 0.000318868 0 0] -86: > deltaPi=~[-0.00330196 0.000223469 -0.000631439 0.00332093 2.36874e-09 -1.21411e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.00119712. -86: > piNow=~[-0.00669804 -0.000223469 0.000631439 0.00667907 -2.36874e-09 1.21411e-08] -86: > errNow=~[0 -3.68389e-09 1.04093e-08 -2.1684e-19 -4.01417e-09 2.05749e-08] normNow=2.36931e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.97918e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.5991e-05 -86: > NEWTON iter 2: errNorm=2.36931e-08(v) -> deltaNorm=2.80577e-08(pi) -86: > piActive=~[-0.00669804 -0.000223469 0.000631439 0.00667907 -2.36874e-09 1.21411e-08] -86: > errActive=~[0 -3.68389e-09 1.04093e-08 -2.1684e-19 -4.01417e-09 2.05749e-08] -86: > deltaPi=~[-1.56269e-08 -4.62472e-09 1.30677e-08 -1.40663e-08 -2.36876e-09 1.21413e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.36931e-08. -86: > piNow=~[-0.00669802 -0.000223464 0.000631426 0.00667908 2.24877e-14 -1.15262e-13] -86: > errNow=~[-1.0842e-19 -3.88555e-14 1.09791e-13 1.0842e-19 3.81086e-14 -1.95328e-13] normNow=2.30585e-13 -86: DBG: Improvement rate now/prev at iter 2 is 9.73213e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.30585e-13. -86: DBG: Worst offender is normal contact 1 err=0.00667908 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.299518,0.846327, mag=0.897764 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.324507,1.66328, mag=1.69464 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000869139; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000869139 0.000869139 -0.299518 0.846327 -0.324507 1.66328] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000869139 -0.299518 0.846327] -86: : pi was=~[-0.00669802 0 -0.000223464 0.000631426 2.24877e-14 -1.15262e-13] -86: : piActive=~[-0.01 -0.000223464 0.000631426] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.34406e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00161105... -86: > NEWTON iter 1: errNorm=0.00161105(v) -> deltaNorm=0.00631466(pi) -86: > piActive=~[-0.01 -0.000223464 0.000631426] -86: > errActive=~[-0.00158354 9.89003e-05 -0.000279455] -86: > deltaPi=~[-0.0063075 -0.000100264 0.00028331] -86: DBG: Line search iter 1: back=1, prevNorm=0.00161105. -86: > piNow=~[-0.0036925 -0.0001232 0.000348116] -86: > errNow=~[2.1684e-19 -7.03707e-09 1.98841e-08] normNow=2.10926e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.30925e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.4509e-05 -86: > NEWTON iter 2: errNorm=2.10926e-08(v) -> deltaNorm=3.99292e-08(pi) -86: > piActive=~[-0.0036925 -0.0001232 0.000348116] -86: > errActive=~[2.1684e-19 -7.03707e-09 1.98841e-08] -86: > deltaPi=~[-2.98836e-08 -8.83517e-09 2.49649e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.10926e-08. -86: > piNow=~[-0.00369247 -0.000123191 0.000348091] -86: > errNow=~[0 -2.44354e-13 6.90454e-13] normNow=7.32418e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.47238e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.32418e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.299518,0.846327] to ~[-0.29957,0.847333] -86: DBG: Friction 0 rotated 0.0183277 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00369247 -0.000123191 0.000348091] -86: : m_verrLeft=~[0 0.00121743 -0.29957 0.847333 -0.324539 1.66368] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00369247 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00121743 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00369247 0 -0.000123191 0.000348091 0 0] errNorm=7.32418e-13 -86: Postcompression verr=~[0 0.00121743 -0.29957 0.847333 -0.324539 1.66368] -86: impulse=~[-0.00369247 0 -0.000123191 0.000348091 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00369247 0 -0.000123191 0.000348091 0 0]-> du ~[-0.000559833 0.00126665 -0.000607683 -0.00070299 -4.20113e-05 0.000608716 -0.00241845 0.00145613] -86: Now verr0=~[2.38524e-18 0.00121743 -0.29957 0.847333 -0.324539 1.66368] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[2.38524e-18 0.00121743 -0.29957 0.847333 -0.324539 1.66368] -86: verrExt=~[-0.654516 -0.518453 0.0097668 -0.763885 0.00376081 -0.568572] -86: total verr=~[-0.654516 -0.517236 -0.289803 0.0834487 -0.320779 1.09511] -86: DYN t=0.124: verrStart=~[2.38524e-18 0.00121743 -0.29957 0.847333 -0.324539 1.66368] -86: verrApplied=~[-0.654516 -0.518453 0.0097668 -0.763885 0.00376081 -0.568572] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[2.38524e-18 0.00121743 -0.29957 0.847333 -0.324539 1.66368] -86: verrApplied=~[-0.654516 -0.518453 0.0097668 -0.763885 0.00376081 -0.568572] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.29957,0.847333, mag=0.89873 -86: Participating contact 1 is Sliding; vel=-0.324539,1.66368, mag=1.69504 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.29957,0.847333, mag=0.89873 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.324539,1.66368, mag=1.69504 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.654516; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.517236; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[2.38524e-18 0.00121743 -0.29957 0.847333 -0.324539 1.66368] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.654516 -0.518453 0.0097668 -0.763885 0.00376081 -0.568572] -86: : rhsActive=~[-0.654516 -0.289803 0.0834487 -0.517236 -0.320779 1.09511] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.1464e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.82926... -86: > NEWTON iter 1: errNorm=0.82926(v) -> deltaNorm=2.66833(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.650803 0.00029957 -0.000847333 0.513929 0.000324539 -0.00166368] -86: > deltaPi=~[2.13948 0.0716448 -0.202648 1.57208 0.03029 -0.155275] -86: DBG: Line search iter 1: back=1, prevNorm=0.82926. -86: > piNow=~[-2.14948 -0.0716448 0.202648 -1.58208 -0.03029 0.155275] -86: > errNow=~[-1.11022e-16 2.38735e-06 -6.75264e-06 -1.11022e-16 1.90043e-06 -9.74217e-06] normNow=1.22401e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.47602e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.35761e-10 -86: > NEWTON iter 2: errNorm=1.22401e-05(v) -> deltaNorm=1.68257e-05(pi) -86: > piActive=~[-2.14948 -0.0716448 0.202648 -1.58208 -0.03029 0.155275] -86: > errActive=~[-1.11022e-16 2.38735e-06 -6.75264e-06 -1.11022e-16 1.90043e-06 -9.74217e-06] -86: > deltaPi=~[1.01424e-05 2.99444e-06 -8.46977e-06 7.47814e-06 1.26435e-06 -6.48143e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.22401e-05. -86: > piNow=~[-2.14949 -0.0716478 0.202656 -1.58208 -0.0302912 0.155282] -86: > errNow=~[0 2.35922e-16 -6.93889e-16 1.11022e-16 3.60822e-16 -1.88738e-15] normNow=2.05958e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.68265e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.05958e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.29957,0.847333] to ~[-0.311913,0.846221] -86: DBG: Friction 0 rotated 0.762915 deg, less than max 30 -86: slipVel 1 from ~[-0.324539,1.66368] to ~[-0.33758,1.68538] -86: DBG: Friction 1 rotated 0.288195 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.14949 -0.0716478 0.202656 -1.58208 -0.0302912 0.155282] -86: : m_verrLeft=~[0 -1.11022e-16 -0.311913 0.846221 -0.33758 1.68538] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.14949 verr=0 pi*v=-0 -86: DBG: 1: pi=-1.58208 verr=-1.11022e-16 pi*v=1.75647e-16 -86: SP FINAL 1 intervals, piTotal=~[-2.14949 -1.58208 -0.0716478 0.202656 -0.0302912 0.155282] errNorm=2.05958e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.29957 0.847333, |slipV|=0.89873 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.324539 1.66368, |slipV|=1.69504 -86: ------------------------------ -86: -86: dynamics impulse=~[-2.14949 -1.58208 -0.0716478 0.202656 -0.0302912 0.155282] -86: updated verrStart=~[0 -1.11022e-16 -0.311913 0.846221 -0.33758 1.68538] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.322415 0.557234 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.265322 0.10592 -0.0132008 0.312925 -0.00729155 0.120953] -86: [0.10592 0.224721 0.000198879 0.12307 -0.00412406 0.26349] -86: [-0.0132008 0.000198879 0.0485097 0.024702 0.0504346 -0.0383353] -86: [0.312925 0.12307 0.024702 0.435719 0.0343174 0.122814] -86: [-0.00729155 -0.00412406 0.0504346 0.0343174 0.052889 -0.0459495] -86: [0.120953 0.26349 -0.0383353 0.122814 -0.0459495 0.370652] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.388736 rank=2 -86: rhs=~[0.322415 0.557234 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.277476 2.34888] -86: -> pi=~[0.277476 2.34888 0 0 0 0] -86: resid active=~[-1.11022e-16 0] -86: resid=~[-1.11022e-16 0 -0.00319578 0.375906 -0.0117102 0.652469] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-5.80048e-17 5.30175e-17 -0.311913 0.846221 -0.33758 1.68538] -86: perr=~[0.000322415 0.000557234 0] -86: END OF STEP (0.124,0.125): -86: verr=~[-0.000900493 0.000900493 -0.311561 0.846233 -0.337933 1.68537] -86: perr=~[0.000321965 0.000557684 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.901765 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.71891 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000900493 at or below tol 0.001 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000900493 0.000900493 -0.311561 0.846233 -0.337933 1.68537] -86: IMP t=0.125 verr=~[-0.000900493 0.000900493 -0.311561 0.846233 -0.337933 1.68537] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000900493 0.000900493 -0.311561 0.846233 -0.337933 1.68537] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.311561,0.846233, mag=0.901765 -86: Participating contact 1 is Sliding; vel=-0.337933,1.68537, mag=1.71891 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.311561,0.846233, mag=0.901765 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.337933,1.68537, mag=1.71891 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000900493; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000900493; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000900493 0.000900493 -0.311561 0.846233 -0.337933 1.68537] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000900493 -0.311561 0.846233 0.000900493 -0.337933 1.68537] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.23032e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00118006... -86: > NEWTON iter 1: errNorm=0.00118006(v) -> deltaNorm=0.00445214(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.00070222 0.000311561 -0.000846233 0.000293698 0 0] -86: > deltaPi=~[-0.00310437 0.000238249 -0.00064711 0.00311592 2.28179e-09 -1.13799e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.00118006. -86: > piNow=~[-0.00689563 -0.000238249 0.00064711 0.00688408 -2.28179e-09 1.13799e-08] -86: > errNow=~[-1.0842e-19 -3.60269e-09 9.7853e-09 1.0842e-19 -3.92219e-09 1.95611e-08] normNow=2.25111e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.90762e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.5244e-05 -86: > NEWTON iter 2: errNorm=2.25111e-08(v) -> deltaNorm=2.62445e-08(pi) -86: > piActive=~[-0.00689563 -0.000238249 0.00064711 0.00688408 -2.28179e-09 1.13799e-08] -86: > errActive=~[-1.0842e-19 -3.60269e-09 9.7853e-09 1.0842e-19 -3.92219e-09 1.95611e-08] -86: > deltaPi=~[-1.45639e-08 -4.4983e-09 1.22179e-08 -1.31318e-08 -2.28181e-09 1.138e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.25111e-08. -86: > piNow=~[-0.00689562 -0.000238244 0.000647098 0.00688409 2.02892e-14 -1.01188e-13] -86: > errNow=~[-2.1684e-19 -3.55411e-14 9.65337e-14 -2.1684e-19 3.48754e-14 -1.73933e-13] normNow=2.05064e-13 -86: DBG: Improvement rate now/prev at iter 2 is 9.10944e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.05064e-13. -86: DBG: Worst offender is normal contact 1 err=0.00688409 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.311561,0.846233, mag=0.901765 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.337933,1.68537, mag=1.71891 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000900493; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000900493 0.000900493 -0.311561 0.846233 -0.337933 1.68537] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000900493 -0.311561 0.846233] -86: : pi was=~[-0.00689562 0 -0.000238244 0.000647098 2.02892e-14 -1.01188e-13] -86: : piActive=~[-0.01 -0.000238244 0.000647098] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.35896e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00158517... -86: > NEWTON iter 1: errNorm=0.00158517(v) -> deltaNorm=0.00620501(pi) -86: > piActive=~[-0.01 -0.000238244 0.000647098] -86: > errActive=~[-0.00156026 9.67202e-05 -0.000262703] -86: > deltaPi=~[-0.0061973 -0.000106853 0.000290223] -86: DBG: Line search iter 1: back=1, prevNorm=0.00158517. -86: > piNow=~[-0.0038027 -0.000131392 0.000356874] -86: > errNow=~[2.1684e-19 -7.19211e-09 1.95346e-08] normNow=2.08165e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.3132e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.32131e-05 -86: > NEWTON iter 2: errNorm=2.08165e-08(v) -> deltaNorm=3.90246e-08(pi) -86: > piActive=~[-0.0038027 -0.000131392 0.000356874] -86: > errActive=~[2.1684e-19 -7.19211e-09 1.95346e-08] -86: > deltaPi=~[-2.91071e-08 -8.98099e-09 2.43934e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.08165e-08. -86: > piNow=~[-0.00380267 -0.000131383 0.00035685] -86: > errNow=~[0 -2.33443e-13 6.34058e-13] normNow=6.75667e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.24583e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.75667e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.311561,0.846233] to ~[-0.311614,0.847272] -86: DBG: Friction 0 rotated 0.0196144 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00380267 -0.000131383 0.00035685] -86: : m_verrLeft=~[0 0.00126116 -0.311614 0.847272 -0.337966 1.68578] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00380267 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00126116 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00380267 0 -0.000131383 0.00035685 0 0] errNorm=6.75667e-13 -86: Postcompression verr=~[0 0.00126116 -0.311614 0.847272 -0.337966 1.68578] -86: impulse=~[-0.00380267 0 -0.000131383 0.00035685 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00380267 0 -0.000131383 0.00035685 0 0]-> du ~[-0.000581217 0.00130864 -0.000628155 -0.000725336 -4.3423e-05 0.000630581 -0.00249953 0.0015034] -86: Now verr0=~[-3.25261e-19 0.00126116 -0.311614 0.847272 -0.337966 1.68578] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-3.25261e-19 0.00126116 -0.311614 0.847272 -0.337966 1.68578] -86: verrExt=~[-0.63589 -0.502428 0.00964528 -0.737587 0.00361035 -0.54656] -86: total verr=~[-0.63589 -0.501166 -0.301969 0.109685 -0.334356 1.13922] -86: DYN t=0.125: verrStart=~[-3.25261e-19 0.00126116 -0.311614 0.847272 -0.337966 1.68578] -86: verrApplied=~[-0.63589 -0.502428 0.00964528 -0.737587 0.00361035 -0.54656] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-3.25261e-19 0.00126116 -0.311614 0.847272 -0.337966 1.68578] -86: verrApplied=~[-0.63589 -0.502428 0.00964528 -0.737587 0.00361035 -0.54656] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.311614,0.847272, mag=0.902759 -86: Participating contact 1 is Sliding; vel=-0.337966,1.68578, mag=1.71932 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.311614,0.847272, mag=0.902759 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.337966,1.68578, mag=1.71932 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.63589; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.501166; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-3.25261e-19 0.00126116 -0.311614 0.847272 -0.337966 1.68578] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.63589 -0.502428 0.00964528 -0.737587 0.00361035 -0.54656] -86: : rhsActive=~[-0.63589 -0.301969 0.109685 -0.501166 -0.334356 1.13922] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.23339e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.804661... -86: > NEWTON iter 1: errNorm=0.804661(v) -> deltaNorm=2.57492(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.63216 0.000311614 -0.000847272 0.497844 0.000337966 -0.00168578] -86: > deltaPi=~[2.06908 0.0717631 -0.195122 1.51088 0.0298947 -0.149115] -86: DBG: Line search iter 1: back=1, prevNorm=0.804661. -86: > piNow=~[-2.07908 -0.0717631 0.195122 -1.52088 -0.0298947 0.149115] -86: > errNow=~[-2.22045e-16 2.40163e-06 -6.52999e-06 0 1.90202e-06 -9.48727e-06] normNow=1.19178e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.4811e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.77496e-10 -86: > NEWTON iter 2: errNorm=1.19178e-05(v) -> deltaNorm=1.61606e-05(pi) -86: > piActive=~[-2.07908 -0.0717631 0.195122 -1.52088 -0.0298947 0.149115] -86: > errActive=~[-2.22045e-16 2.40163e-06 -6.52999e-06 0 1.90202e-06 -9.48727e-06] -86: > deltaPi=~[9.72429e-06 2.99599e-06 -8.14603e-06 7.14462e-06 1.2467e-06 -6.21856e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.19178e-05. -86: > piNow=~[-2.07909 -0.071766 0.19513 -1.52089 -0.029896 0.149121] -86: > errNow=~[2.22045e-16 2.63678e-16 -6.93889e-16 0 3.88578e-16 -1.94289e-15] normNow=2.12747e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.78512e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.12747e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.311614,0.847272] to ~[-0.323862,0.847925] -86: DBG: Friction 0 rotated 0.711421 deg, less than max 30 -86: slipVel 1 from ~[-0.337966,1.68578] to ~[-0.350915,1.70873] -86: DBG: Friction 1 rotated 0.268837 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.07909 -0.071766 0.19513 -1.52089 -0.029896 0.149121] -86: : m_verrLeft=~[-2.22045e-16 0 -0.323862 0.847925 -0.350915 1.70873] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.07909 verr=-2.22045e-16 pi*v=4.61651e-16 -86: DBG: 1: pi=-1.52089 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-2.07909 -1.52089 -0.071766 0.19513 -0.029896 0.149121] errNorm=2.12747e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.311614 0.847272, |slipV|=0.902759 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.337966 1.68578, |slipV|=1.71932 -86: ------------------------------ -86: -86: dynamics impulse=~[-2.07909 -1.52089 -0.071766 0.19513 -0.029896 0.149121] -86: updated verrStart=~[-2.22045e-16 0 -0.323862 0.847925 -0.350915 1.70873] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.321965 0.557684 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.266665 0.106394 -0.0134166 0.313256 -0.00733514 0.120951] -86: [0.106394 0.225813 3.65131e-05 0.123067 -0.00441251 0.263736] -86: [-0.0134166 3.65131e-05 0.0484617 0.0243951 0.0504307 -0.0383578] -86: [0.313256 0.123067 0.0243951 0.434365 0.0342478 0.122287] -86: [-0.00733514 -0.00441251 0.0504307 0.0342478 0.0529568 -0.0461556] -86: [0.120951 0.263736 -0.0383578 0.122287 -0.0461556 0.369337] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.388921 rank=2 -86: rhs=~[0.321965 0.557684 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.273426 2.34084] -86: -> pi=~[0.273426 2.34084 0 0 0 0] -86: resid active=~[-1.11022e-16 0] -86: resid=~[-1.11022e-16 0 -0.00358297 0.373733 -0.0123346 0.650436] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-7.1991e-17 1.77809e-16 -0.323862 0.847925 -0.350915 1.70873] -86: perr=~[0.000321965 0.000557684 0] -86: END OF STEP (0.125,0.126): -86: verr=~[-0.000933059 0.000933059 -0.323491 0.847938 -0.351286 1.70871] -86: perr=~[0.000321498 0.000558151 -2.22045e-16] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.907549 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.74445 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000933059 at or below tol 0.001 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000933059 0.000933059 -0.323491 0.847938 -0.351286 1.70871] -86: IMP t=0.126 verr=~[-0.000933059 0.000933059 -0.323491 0.847938 -0.351286 1.70871] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000933059 0.000933059 -0.323491 0.847938 -0.351286 1.70871] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.323491,0.847938, mag=0.907549 -86: Participating contact 1 is Sliding; vel=-0.351286,1.70871, mag=1.74445 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.323491,0.847938, mag=0.907549 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.351286,1.70871, mag=1.74445 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000933059; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000933059; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000933059 0.000933059 -0.323491 0.847938 -0.351286 1.70871] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000933059 -0.323491 0.847938 0.000933059 -0.351286 1.70871] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.32461e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00116453... -86: > NEWTON iter 1: errNorm=0.00116453(v) -> deltaNorm=0.00416806(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000678811 0.000323491 -0.000847938 0.00026776 0 0] -86: > deltaPi=~[-0.00290226 0.000252999 -0.000663164 0.00290617 2.17989e-09 -1.06034e-08] -86: DBG: Line search iter 1: back=1, prevNorm=0.00116453. -86: > piNow=~[-0.00709774 -0.000252999 0.000663164 0.00709383 -2.17989e-09 1.06034e-08] -86: > errNow=~[0 -3.49712e-09 9.16667e-09 4.33681e-19 -3.8027e-09 1.8497e-08] normNow=2.12804e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.82739e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.45503e-05 -86: > NEWTON iter 2: errNorm=2.12804e-08(v) -> deltaNorm=2.44093e-08(pi) -86: > piActive=~[-0.00709774 -0.000252999 0.000663164 0.00709383 -2.17989e-09 1.06034e-08] -86: > errActive=~[0 -3.49712e-09 9.16667e-09 4.33681e-19 -3.8027e-09 1.8497e-08] -86: > deltaPi=~[-1.34993e-08 -4.3345e-09 1.13616e-08 -1.21869e-08 -2.17991e-09 1.06034e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.12804e-08. -86: > piNow=~[-0.00709773 -0.000252995 0.000663152 0.00709384 1.81635e-14 -8.83501e-14] -86: > errNow=~[-1.0842e-19 -3.22847e-14 8.46249e-14 0 3.16852e-14 -1.54122e-13] normNow=1.81553e-13 -86: DBG: Improvement rate now/prev at iter 2 is 8.53142e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.81553e-13. -86: DBG: Worst offender is normal contact 1 err=0.00709384 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.323491,0.847938, mag=0.907549 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.351286,1.70871, mag=1.74445 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000933059; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000933059 0.000933059 -0.323491 0.847938 -0.351286 1.70871] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000933059 -0.323491 0.847938] -86: : pi was=~[-0.00709773 0 -0.000252995 0.000663152 1.81635e-14 -8.83501e-14] -86: : piActive=~[-0.01 -0.000252995 0.000663152] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.38051e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00155838... -86: > NEWTON iter 1: errNorm=0.00155838(v) -> deltaNorm=0.0060921(pi) -86: > piActive=~[-0.01 -0.000252995 0.000663152] -86: > errActive=~[-0.00153596 9.3886e-05 -0.000246095] -86: > deltaPi=~[-0.00608378 -0.000113395 0.000297233] -86: DBG: Line search iter 1: back=1, prevNorm=0.00155838. -86: > piNow=~[-0.00391622 -0.0001396 0.00036592] -86: > errNow=~[-1.0842e-19 -7.33074e-09 1.92154e-08] normNow=2.05663e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.31972e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.20283e-05 -86: > NEWTON iter 2: errNorm=2.05663e-08(v) -> deltaNorm=3.8112e-08(pi) -86: > piActive=~[-0.00391622 -0.0001396 0.00036592] -86: > errActive=~[-1.0842e-19 -7.33074e-09 1.92154e-08] -86: > deltaPi=~[-2.83302e-08 -9.08708e-09 2.38191e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.05663e-08. -86: > piNow=~[-0.00391619 -0.000139591 0.000365896] -86: > errNow=~[1.0842e-19 -2.22445e-13 5.83074e-13] normNow=6.24065e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.03441e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.24065e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.323491,0.847938] to ~[-0.323547,0.849011] -86: DBG: Friction 0 rotated 0.02085 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00391619 -0.000139591 0.000365896] -86: : m_verrLeft=~[-1.0842e-19 0.00130649 -0.323547 0.849011 -0.35132 1.70914] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00391619 verr=-1.0842e-19 pi*v=4.24594e-22 -86: DBG: 1: pi=0 verr=0.00130649 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00391619 0 -0.000139591 0.000365896 0 0] errNorm=6.24065e-13 -86: Postcompression verr=~[-1.0842e-19 0.00130649 -0.323547 0.849011 -0.35132 1.70914] -86: impulse=~[-0.00391619 0 -0.000139591 0.000365896 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00391619 0 -0.000139591 0.000365896 0 0]-> du ~[-0.000603576 0.00135202 -0.00064935 -0.000748379 -4.49471e-05 0.000653244 -0.00258338 0.00155222] -86: Now verr0=~[-9.75782e-19 0.00130649 -0.323547 0.849011 -0.35132 1.70914] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-9.75782e-19 0.00130649 -0.323547 0.849011 -0.35132 1.70914] -86: verrExt=~[-0.616506 -0.486121 0.00965265 -0.710444 0.00362231 -0.524641] -86: total verr=~[-0.616506 -0.484814 -0.313894 0.138567 -0.347698 1.1845] -86: DYN t=0.126: verrStart=~[-9.75782e-19 0.00130649 -0.323547 0.849011 -0.35132 1.70914] -86: verrApplied=~[-0.616506 -0.486121 0.00965265 -0.710444 0.00362231 -0.524641] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-9.75782e-19 0.00130649 -0.323547 0.849011 -0.35132 1.70914] -86: verrApplied=~[-0.616506 -0.486121 0.00965265 -0.710444 0.00362231 -0.524641] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.323547,0.849011, mag=0.908572 -86: Participating contact 1 is Sliding; vel=-0.35132,1.70914, mag=1.74487 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.323547,0.849011, mag=0.908572 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.35132,1.70914, mag=1.74487 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.616506; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.484814; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-9.75782e-19 0.00130649 -0.323547 0.849011 -0.35132 1.70914] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.616506 -0.486121 0.00965265 -0.710444 0.00362231 -0.524641] -86: : rhsActive=~[-0.616506 -0.313894 0.138567 -0.484814 -0.347698 1.1845] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.32776e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.779291... -86: > NEWTON iter 1: errNorm=0.779291(v) -> deltaNorm=2.47988(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.612757 0.000323547 -0.000849011 0.481476 0.00035132 -0.00170914] -86: > deltaPi=~[1.99613 0.0714365 -0.187455 1.45042 0.0294036 -0.143045] -86: DBG: Line search iter 1: back=1, prevNorm=0.779291. -86: > piNow=~[-2.00613 -0.0714365 0.187455 -1.46042 -0.0294036 0.143045] -86: > errNow=~[-1.11022e-16 2.40567e-06 -6.31267e-06 -3.33067e-16 1.89805e-06 -9.23381e-06] normNow=1.15975e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.48822e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.21171e-10 -86: > NEWTON iter 2: errNorm=1.15975e-05(v) -> deltaNorm=1.54928e-05(pi) -86: > piActive=~[-2.00613 -0.0714365 0.187455 -1.46042 -0.0294036 0.143045] -86: > errActive=~[-1.11022e-16 2.40567e-06 -6.31267e-06 -3.33067e-16 1.89805e-06 -9.23381e-06] -86: > deltaPi=~[9.30182e-06 2.979e-06 -7.81711e-06 6.81901e-06 1.22508e-06 -5.95991e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.15975e-05. -86: > piNow=~[-2.00614 -0.0714395 0.187463 -1.46042 -0.0294048 0.143051] -86: > errNow=~[-1.11022e-16 2.91434e-16 -7.49401e-16 -5.55112e-17 4.16334e-16 -2.05391e-15] normNow=2.24807e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.93841e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.24807e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.323547,0.849011] to ~[-0.335538,0.85153] -86: DBG: Friction 0 rotated 0.645334 deg, less than max 30 -86: slipVel 1 from ~[-0.35132,1.70914] to ~[-0.364004,1.7331] -86: DBG: Friction 1 rotated 0.245887 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-2.00614 -0.0714395 0.187463 -1.46042 -0.0294048 0.143051] -86: : m_verrLeft=~[1.11022e-16 5.55112e-17 -0.335538 0.85153 -0.364004 1.7331] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-2.00614 verr=1.11022e-16 pi*v=-2.22726e-16 -86: DBG: 1: pi=-1.46042 verr=5.55112e-17 pi*v=-8.10697e-17 -86: SP FINAL 1 intervals, piTotal=~[-2.00614 -1.46042 -0.0714395 0.187463 -0.0294048 0.143051] errNorm=2.24807e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.323547 0.849011, |slipV|=0.908572 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.35132 1.70914, |slipV|=1.74487 -86: ------------------------------ -86: -86: dynamics impulse=~[-2.00614 -1.46042 -0.0714395 0.187463 -0.0294048 0.143051] -86: updated verrStart=~[1.11022e-16 5.55112e-17 -0.335538 0.85153 -0.364004 1.7331] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.321498 0.558151 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.268044 0.106857 -0.0136481 0.3136 -0.00738902 0.120939] -86: [0.106857 0.226938 -0.000125177 0.123048 -0.00470495 0.264003] -86: [-0.0136481 -0.000125177 0.0484079 0.0240651 0.0504207 -0.0383699] -86: [0.3136 0.123048 0.0240651 0.432998 0.03416 0.121759] -86: [-0.00738902 -0.00470495 0.0504207 0.03416 0.0530199 -0.0463556] -86: [0.120939 0.264003 -0.0383699 0.121759 -0.0463556 0.368028] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.389204 rank=2 -86: rhs=~[0.321498 0.558151 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.26954 2.33256] -86: -> pi=~[0.26954 2.33256 0 0 0 0] -86: resid active=~[2.22045e-16 0] -86: resid=~[2.22045e-16 0 -0.0039707 0.371546 -0.0129662 0.648402] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-5.9848e-17 -1.7087e-16 -0.335538 0.85153 -0.364004 1.7331] -86: perr=~[0.000321498 0.000558151 -2.22045e-16] -86: END OF STEP (0.126,0.127): -86: verr=~[-0.000966497 0.000966497 -0.335149 0.851544 -0.364393 1.73308] -86: perr=~[0.000321015 0.000558634 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.915124 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.77098 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.000966497 at or below tol 0.001 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.000966497 0.000966497 -0.335149 0.851544 -0.364393 1.73308] -86: IMP t=0.127 verr=~[-0.000966497 0.000966497 -0.335149 0.851544 -0.364393 1.73308] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.000966497 0.000966497 -0.335149 0.851544 -0.364393 1.73308] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.335149,0.851544, mag=0.915124 -86: Participating contact 1 is Sliding; vel=-0.364393,1.73308, mag=1.77098 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.335149,0.851544, mag=0.915124 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.364393,1.73308, mag=1.77098 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.000966497; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000966497; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000966497 0.000966497 -0.335149 0.851544 -0.364393 1.73308] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000966497 -0.335149 0.851544 0.000966497 -0.364393 1.73308] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.42532e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00115096... -86: > NEWTON iter 1: errNorm=0.00115096(v) -> deltaNorm=0.00388259(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000654973 0.000335149 -0.000851544 0.000241392 0 0] -86: > deltaPi=~[-0.00269833 0.000267415 -0.000679446 0.0026945 2.06513e-09 -9.82192e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00115096. -86: > piNow=~[-0.00730167 -0.000267415 0.000679446 0.0073055 -2.06513e-09 9.82192e-09] -86: > errNow=~[3.25261e-19 -3.36857e-09 8.55883e-09 -1.0842e-19 -3.65729e-09 1.73944e-08] normNow=2.00135e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.73885e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.39145e-05 -86: > NEWTON iter 2: errNorm=2.00135e-08(v) -> deltaNorm=2.25759e-08(pi) -86: > piActive=~[-0.00730167 -0.000267415 0.000679446 0.0073055 -2.06513e-09 9.82192e-09] -86: > errActive=~[3.25261e-19 -3.36857e-09 8.55883e-09 -1.0842e-19 -3.65729e-09 1.73944e-08] -86: > deltaPi=~[-1.24468e-08 -4.13681e-09 1.05108e-08 -1.12439e-08 -2.06514e-09 9.822e-09] -86: DBG: Line search iter 1: back=1, prevNorm=2.00135e-08. -86: > piNow=~[-0.00730165 -0.000267411 0.000679436 0.00730551 1.61452e-14 -7.67878e-14] -86: > errNow=~[-4.33681e-19 -2.9142e-14 7.40439e-14 -2.1684e-19 2.85927e-14 -1.35989e-13] normNow=1.60132e-13 -86: DBG: Improvement rate now/prev at iter 2 is 8.00121e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.60132e-13. -86: DBG: Worst offender is normal contact 1 err=0.00730551 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.335149,0.851544, mag=0.915124 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.364393,1.73308, mag=1.77098 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.000966497; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000966497 0.000966497 -0.335149 0.851544 -0.364393 1.73308] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000966497 -0.335149 0.851544] -86: : pi was=~[-0.00730165 0 -0.000267411 0.000679436 1.61452e-14 -7.67878e-14] -86: : piActive=~[-0.01 -0.000267411 0.000679436] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.40872e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0015311... -86: > NEWTON iter 1: errNorm=0.0015311(v) -> deltaNorm=0.0059774(pi) -86: > piActive=~[-0.01 -0.000267411 0.000679436] -86: > errActive=~[-0.00151105 9.0435e-05 -0.000229776] -86: > deltaPi=~[-0.00596845 -0.000119754 0.000304269] -86: DBG: Line search iter 1: back=1, prevNorm=0.0015311. -86: > piNow=~[-0.00403155 -0.000147657 0.000375166] -86: > errNow=~[1.0842e-19 -7.45095e-09 1.89313e-08] normNow=2.03448e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.32877e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.09603e-05 -86: > NEWTON iter 2: errNorm=2.03448e-08(v) -> deltaNorm=3.72034e-08(pi) -86: > piActive=~[-0.00403155 -0.000147657 0.000375166] -86: > errActive=~[1.0842e-19 -7.45095e-09 1.89313e-08] -86: > deltaPi=~[-2.75631e-08 -9.15123e-09 2.32513e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.03448e-08. -86: > piNow=~[-0.00403153 -0.000147648 0.000375143] -86: > errNow=~[1.0842e-19 -2.11584e-13 5.37591e-13] normNow=5.7773e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.8397e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.7773e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.335149,0.851544] to ~[-0.335207,0.852652] -86: DBG: Friction 0 rotated 0.0219994 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00403153 -0.000147648 0.000375143] -86: : m_verrLeft=~[-1.0842e-19 0.00135293 -0.335207 0.852652 -0.364428 1.73352] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00403153 verr=-1.0842e-19 pi*v=4.37099e-22 -86: DBG: 1: pi=0 verr=0.00135293 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00403153 0 -0.000147648 0.000375143 0 0] errNorm=5.7773e-13 -86: Postcompression verr=~[-1.0842e-19 0.00135293 -0.335207 0.852652 -0.364428 1.73352] -86: impulse=~[-0.00403153 0 -0.000147648 0.000375143 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00403153 0 -0.000147648 0.000375143 0 0]-> du ~[-0.000626697 0.00139627 -0.000671007 -0.000771829 -4.6575e-05 0.000676467 -0.00266903 0.00160206] -86: Now verr0=~[-3.25261e-18 0.00135293 -0.335207 0.852652 -0.364428 1.73352] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-3.25261e-18 0.00135293 -0.335207 0.852652 -0.364428 1.73352] -86: verrExt=~[-0.596713 -0.469818 0.00978933 -0.682899 0.00379639 -0.503148] -86: total verr=~[-0.596713 -0.468465 -0.325418 0.169753 -0.360632 1.23037] -86: DYN t=0.127: verrStart=~[-3.25261e-18 0.00135293 -0.335207 0.852652 -0.364428 1.73352] -86: verrApplied=~[-0.596713 -0.469818 0.00978933 -0.682899 0.00379639 -0.503148] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-3.25261e-18 0.00135293 -0.335207 0.852652 -0.364428 1.73352] -86: verrApplied=~[-0.596713 -0.469818 0.00978933 -0.682899 0.00379639 -0.503148] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.335207,0.852652, mag=0.916176 -86: Participating contact 1 is Sliding; vel=-0.364428,1.73352, mag=1.77141 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.335207,0.852652, mag=0.916176 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.364428,1.73352, mag=1.77141 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.596713; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.468465; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-3.25261e-18 0.00135293 -0.335207 0.852652 -0.364428 1.73352] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.596713 -0.469818 0.00978933 -0.682899 0.00379639 -0.503148] -86: : rhsActive=~[-0.596713 -0.325418 0.169753 -0.468465 -0.360632 1.23037] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.42855e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.753602... -86: > NEWTON iter 1: errNorm=0.753602(v) -> deltaNorm=2.38466(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.592946 0.000335207 -0.000852652 0.465111 0.000364428 -0.00173352] -86: > deltaPi=~[1.92179 0.070677 -0.179778 1.39154 0.0288324 -0.137151] -86: DBG: Line search iter 1: back=1, prevNorm=0.753602. -86: > piNow=~[-1.93179 -0.070677 0.179778 -1.40154 -0.0288324 0.137151] -86: > errNow=~[-2.22045e-16 2.39956e-06 -6.10364e-06 -2.22045e-16 1.88894e-06 -8.98535e-06] normNow=1.12835e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.49727e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.40509e-10 -86: > NEWTON iter 2: errNorm=1.12835e-05(v) -> deltaNorm=1.48318e-05(pi) -86: > piActive=~[-1.93179 -0.070677 0.179778 -1.40154 -0.0288324 0.137151] -86: > errActive=~[-2.22045e-16 2.39956e-06 -6.10364e-06 -2.22045e-16 1.88894e-06 -8.98535e-06] -86: > deltaPi=~[8.88162e-06 2.94406e-06 -7.48866e-06 6.50522e-06 1.20018e-06 -5.70903e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.12835e-05. -86: > piNow=~[-1.9318 -0.07068 0.179785 -1.40154 -0.0288336 0.137156] -86: > errNow=~[1.11022e-16 3.05311e-16 -7.49401e-16 1.11022e-16 4.51028e-16 -2.13718e-15] normNow=2.33462e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.06906e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.33462e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.335207,0.852652] to ~[-0.346791,0.857102] -86: DBG: Friction 0 rotated 0.567142 deg, less than max 30 -86: slipVel 1 from ~[-0.364428,1.73352] to ~[-0.376683,1.75823] -86: DBG: Friction 1 rotated 0.220146 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.9318 -0.07068 0.179785 -1.40154 -0.0288336 0.137156] -86: : m_verrLeft=~[-1.11022e-16 -1.11022e-16 -0.346791 0.857102 -0.376683 1.75823] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.9318 verr=-1.11022e-16 pi*v=2.14473e-16 -86: DBG: 1: pi=-1.40154 verr=-1.11022e-16 pi*v=1.55603e-16 -86: SP FINAL 1 intervals, piTotal=~[-1.9318 -1.40154 -0.07068 0.179785 -0.0288336 0.137156] errNorm=2.33462e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.335207 0.852652, |slipV|=0.916176 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.364428 1.73352, |slipV|=1.77141 -86: ------------------------------ -86: -86: dynamics impulse=~[-1.9318 -1.40154 -0.07068 0.179785 -0.0288336 0.137156] -86: updated verrStart=~[-1.11022e-16 -1.11022e-16 -0.346791 0.857102 -0.376683 1.75823] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.321015 0.558634 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.269458 0.107311 -0.0138943 0.313958 -0.00745215 0.120919] -86: [0.107311 0.2281 -0.000286894 0.123017 -0.0050021 0.264293] -86: [-0.0138943 -0.000286894 0.0483489 0.0237143 0.0504052 -0.0383729] -86: [0.313958 0.123017 0.0237143 0.431619 0.034056 0.121231] -86: [-0.00745215 -0.0050021 0.0504052 0.034056 0.0530785 -0.0465506] -86: [0.120919 0.264293 -0.0383729 0.121231 -0.0465506 0.366724] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.389577 rank=2 -86: rhs=~[0.321015 0.558634 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.265796 2.32403] -86: -> pi=~[0.265796 2.32403 0 0 0 0] -86: resid active=~[-1.11022e-16 -1.11022e-16] -86: resid=~[-1.11022e-16 -1.11022e-16 -0.00435979 0.369343 -0.0136058 0.646365] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-2.00577e-17 9.09646e-17 -0.346791 0.857102 -0.376683 1.75823] -86: perr=~[0.000321015 0.000558634 0] -86: END OF STEP (0.127,0.128): -86: verr=~[-0.00100045 0.00100045 -0.346384 0.857117 -0.37709 1.75822] -86: perr=~[0.000320515 0.000559134 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.924463 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.7982 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00100045 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00100045 0.00100045 -0.346384 0.857117 -0.37709 1.75822] -86: IMP t=0.128 verr=~[-0.00100045 0.00100045 -0.346384 0.857117 -0.37709 1.75822] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00100045 0.00100045 -0.346384 0.857117 -0.37709 1.75822] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.346384,0.857117, mag=0.924463 -86: Participating contact 1 is Sliding; vel=-0.37709,1.75822, mag=1.7982 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.346384,0.857117, mag=0.924463 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.37709,1.75822, mag=1.7982 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00100045; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00100045; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00100045 0.00100045 -0.346384 0.857117 -0.37709 1.75822] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00100045 -0.346384 0.857117 0.00100045 -0.37709 1.75822] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.53139e-06 -103: [min,max]=0,0.03 actual=0.00131739 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00113976... -86: > NEWTON iter 1: errNorm=0.00113976(v) -> deltaNorm=0.00359993(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000631052 0.000346384 -0.000857117 0.00021495 0 0] -86: > deltaPi=~[-0.00249536 0.000281193 -0.000695802 0.00248384 1.94018e-09 -9.04628e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00113976. -86: > piNow=~[-0.00750464 -0.000281193 0.000695802 0.00751616 -1.94018e-09 9.04628e-09] -86: > errNow=~[0 -3.21961e-09 7.96682e-09 0 -3.48883e-09 1.6267e-08] normNow=1.8725e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.64288e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.33391e-05 -86: > NEWTON iter 2: errNorm=1.8725e-08(v) -> deltaNorm=2.07684e-08(pi) -86: > piActive=~[-0.00750464 -0.000281193 0.000695802 0.00751616 -1.94018e-09 9.04628e-09] -86: > errActive=~[0 -3.21961e-09 7.96682e-09 0 -3.48883e-09 1.6267e-08] -86: > deltaPi=~[-1.14195e-08 -3.91053e-09 9.67648e-09 -1.03147e-08 -1.94019e-09 9.04634e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.8725e-08. -86: > piNow=~[-0.00750463 -0.000281189 0.000695792 0.00751617 1.42608e-14 -6.64925e-14] -86: > errNow=~[0 -2.61589e-14 6.47293e-14 -2.1684e-19 2.56438e-14 -1.19567e-13] normNow=1.40812e-13 -86: DBG: Improvement rate now/prev at iter 2 is 7.52002e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.40812e-13. -86: DBG: Worst offender is normal contact 1 err=0.00751617 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.346384,0.857117, mag=0.924463 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.37709,1.75822, mag=1.7982 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00100045; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00100045 0.00100045 -0.346384 0.857117 -0.37709 1.75822] -86: : verrExpand was=~[0 0 0 0 0 0] -103: calc wrms=0.00131739 -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00100045 -0.346384 0.857117] -86: : pi was=~[-0.00750463 0 -0.000281189 0.000695792 1.42608e-14 -6.64925e-14] -86: : piActive=~[-0.01 -0.000281189 0.000695792] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.44351e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00150377... -86: > NEWTON iter 1: errNorm=0.00150377(v) -> deltaNorm=0.00586244(pi) -86: > piActive=~[-0.01 -0.000281189 0.000695792] -86: > errActive=~[-0.00148597 8.64358e-05 -0.000213883] -86: > deltaPi=~[-0.00585282 -0.000125791 0.000311266] -86: DBG: Line search iter 1: back=1, prevNorm=0.00150377. -86: > piNow=~[-0.00414718 -0.000155398 0.000384527] -86: > errNow=~[0 -7.55153e-09 1.8686e-08] normNow=2.01542e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.34025e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.00106e-05 -86: > NEWTON iter 2: errNorm=2.01542e-08(v) -> deltaNorm=3.63105e-08(pi) -86: > piActive=~[-0.00414718 -0.000155398 0.000384527] -86: > errActive=~[0 -7.55153e-09 1.8686e-08] -86: > deltaPi=~[-2.68157e-08 -9.17309e-09 2.26985e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.01542e-08. -86: > piNow=~[-0.00414716 -0.000155389 0.000384504] -86: > errNow=~[0 -2.01057e-13 4.97509e-13] normNow=5.36599e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.66247e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.36599e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.346384,0.857117] to ~[-0.346444,0.858258] -86: DBG: Friction 0 rotated 0.02303 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00414716 -0.000155389 0.000384504] -86: : m_verrLeft=~[0 0.00139999 -0.346444 0.858258 -0.377126 1.75867] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00414716 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00139999 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00414716 0 -0.000155389 0.000384504 0 0] errNorm=5.36599e-13 -86: Postcompression verr=~[0 0.00139999 -0.346444 0.858258 -0.377126 1.75867] -86: impulse=~[-0.00414716 0 -0.000155389 0.000384504 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00414716 0 -0.000155389 0.000384504 0 0]-> du ~[-0.000650347 0.00144084 -0.000692851 -0.000795381 -4.82963e-05 0.000699996 -0.00275546 0.00165233] -86: Now verr0=~[-2.49366e-18 0.00139999 -0.346444 0.858258 -0.377126 1.75867] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-2.49366e-18 0.00139999 -0.346444 0.858258 -0.377126 1.75867] -86: verrExt=~[-0.576736 -0.453693 0.0100466 -0.655243 0.00412309 -0.482267] -86: total verr=~[-0.576736 -0.452293 -0.336398 0.203016 -0.373003 1.2764] -86: DYN t=0.128: verrStart=~[-2.49366e-18 0.00139999 -0.346444 0.858258 -0.377126 1.75867] -86: verrApplied=~[-0.576736 -0.453693 0.0100466 -0.655243 0.00412309 -0.482267] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-2.49366e-18 0.00139999 -0.346444 0.858258 -0.377126 1.75867] -86: verrApplied=~[-0.576736 -0.453693 0.0100466 -0.655243 0.00412309 -0.482267] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.346444,0.858258, mag=0.925544 -86: Participating contact 1 is Sliding; vel=-0.377126,1.75867, mag=1.79865 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.346444,0.858258, mag=0.925544 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.377126,1.75867, mag=1.79865 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.576736; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.452293; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-2.49366e-18 0.00139999 -0.346444 0.858258 -0.377126 1.75867] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.576736 -0.453693 0.0100466 -0.655243 0.00412309 -0.482267] -86: : rhsActive=~[-0.576736 -0.336398 0.203016 -0.452293 -0.373003 1.2764] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.53471e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.727878... -86: > NEWTON iter 1: errNorm=0.727878(v) -> deltaNorm=2.29017(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.572949 0.000346444 -0.000858258 0.448922 0.000377126 -0.00175867] -86: > deltaPi=~[1.84686 0.0695022 -0.17218 1.33471 0.0281937 -0.131477] -86: DBG: Line search iter 1: back=1, prevNorm=0.727878. -86: > piNow=~[-1.85686 -0.0695022 0.17218 -1.34471 -0.0281937 0.131477] -86: > errNow=~[-1.11022e-16 2.3833e-06 -5.90422e-06 1.66533e-16 1.87492e-06 -8.7434e-06] normNow=1.09774e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.50813e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.77558e-10 -86: > NEWTON iter 2: errNorm=1.09774e-05(v) -> deltaNorm=1.41837e-05(pi) -86: > piActive=~[-1.85686 -0.0695022 0.17218 -1.34471 -0.0281937 0.131477] -86: > errActive=~[-1.11022e-16 2.3833e-06 -5.90422e-06 1.66533e-16 1.87492e-06 -8.7434e-06] -86: > deltaPi=~[8.46806e-06 2.89199e-06 -7.16444e-06 6.20524e-06 1.17251e-06 -5.46783e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.09774e-05. -86: > piNow=~[-1.85686 -0.0695051 0.172187 -1.34471 -0.0281949 0.131482] -86: > errNow=~[0 3.19189e-16 -8.04912e-16 0 4.78784e-16 -2.22045e-15] normNow=2.43092e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.21449e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.43092e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.346444,0.858258] to ~[-0.357482,0.864677] -86: DBG: Friction 0 rotated 0.479642 deg, less than max 30 -86: slipVel 1 from ~[-0.377126,1.75867] to ~[-0.388804,1.78389] -86: DBG: Friction 1 rotated 0.192385 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.85686 -0.0695051 0.172187 -1.34471 -0.0281949 0.131482] -86: : m_verrLeft=~[0 0 -0.357482 0.864677 -0.388804 1.78389] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.85686 verr=0 pi*v=-0 -86: DBG: 1: pi=-1.34471 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-1.85686 -1.34471 -0.0695051 0.172187 -0.0281949 0.131482] errNorm=2.43092e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.346444 0.858258, |slipV|=0.925544 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.377126 1.75867, |slipV|=1.79865 -86: ------------------------------ -86: -86: dynamics impulse=~[-1.85686 -1.34471 -0.0695051 0.172187 -0.0281949 0.131482] -86: updated verrStart=~[0 0 -0.357482 0.864677 -0.388804 1.78389] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.320515 0.559134 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.27091 0.10776 -0.0141539 0.31433 -0.00752352 0.120892] -86: [0.10776 0.2293 -0.000449162 0.122973 -0.00530438 0.264608] -86: [-0.0141539 -0.000449162 0.0482851 0.0233447 0.0503847 -0.0383681] -86: [0.31433 0.122973 0.0233447 0.430226 0.0339375 0.120701] -86: [-0.00752352 -0.00530438 0.0503847 0.0339375 0.0531333 -0.0467415] -86: [0.120892 0.264608 -0.0383681 0.120701 -0.0467415 0.365427] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.390031 rank=2 -86: rhs=~[0.320515 0.559134 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.26217 2.31523] -86: -> pi=~[0.26217 2.31523 0 0 0 0] -86: resid active=~[0 -1.11022e-16] -86: resid=~[0 -1.11022e-16 -0.00475064 0.367119 -0.0142533 0.644322] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-2.59124e-17 -1.20346e-17 -0.357482 0.864677 -0.388804 1.78389] -86: perr=~[0.000320515 0.000559134 0] -86: END OF STEP (0.128,0.129): -86: verr=~[-0.00103454 0.00103454 -0.357059 0.864692 -0.389227 1.78387] -86: perr=~[0.000319997 0.000559651 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.935513 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.82584 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00103454 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00103454 0.00103454 -0.357059 0.864692 -0.389227 1.78387] -86: IMP t=0.129 verr=~[-0.00103454 0.00103454 -0.357059 0.864692 -0.389227 1.78387] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00103454 0.00103454 -0.357059 0.864692 -0.389227 1.78387] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.357059,0.864692, mag=0.935513 -86: Participating contact 1 is Sliding; vel=-0.389227,1.78387, mag=1.82584 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.357059,0.864692, mag=0.935513 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.389227,1.78387, mag=1.82584 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00103454; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00103454; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00103454 0.00103454 -0.357059 0.864692 -0.389227 1.78387] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00103454 -0.357059 0.864692 0.00103454 -0.389227 1.78387] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.64178e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00113127... -86: > NEWTON iter 1: errNorm=0.00113127(v) -> deltaNorm=0.00332421(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000607401 0.000357059 -0.000864692 0.000188791 0 0] -86: > deltaPi=~[-0.00229606 0.000294041 -0.000712082 0.00227705 1.80811e-09 -8.28676e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00113127. -86: > piNow=~[-0.00770394 -0.000294041 0.000712082 0.00772295 -1.80811e-09 8.28676e-09] -86: > errNow=~[0 -3.05376e-09 7.39531e-09 2.1684e-19 -3.30131e-09 1.51303e-08] normNow=1.7431e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.54084e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.28245e-05 -86: > NEWTON iter 2: errNorm=1.7431e-08(v) -> deltaNorm=1.90092e-08(pi) -86: > piActive=~[-0.00770394 -0.000294041 0.000712082 0.00772295 -1.80811e-09 8.28676e-09] -86: > errActive=~[0 -3.05376e-09 7.39531e-09 2.1684e-19 -3.30131e-09 1.51303e-08] -86: > deltaPi=~[-1.04294e-08 -3.6623e-09 8.86901e-09 -9.41094e-09 -1.80812e-09 8.28682e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.7431e-08. -86: > piNow=~[-0.00770393 -0.000294037 0.000712073 0.00772296 1.25281e-14 -5.74177e-14] -86: > errNow=~[-2.1684e-19 -2.33697e-14 5.65945e-14 0 2.28743e-14 -1.04835e-13] normNow=1.23543e-13 -86: DBG: Improvement rate now/prev at iter 2 is 7.08752e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.23543e-13. -86: DBG: Worst offender is normal contact 1 err=0.00772296 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.357059,0.864692, mag=0.935513 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.389227,1.78387, mag=1.82584 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00103454; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00103454 0.00103454 -0.357059 0.864692 -0.389227 1.78387] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00103454 -0.357059 0.864692] -86: : pi was=~[-0.00770393 0 -0.000294037 0.000712073 1.25281e-14 -5.74177e-14] -86: : piActive=~[-0.01 -0.000294037 0.000712073] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.48467e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00147683... -86: > NEWTON iter 1: errNorm=0.00147683(v) -> deltaNorm=0.00574873(pi) -86: > piActive=~[-0.01 -0.000294037 0.000712073] -86: > errActive=~[-0.00146113 8.19832e-05 -0.000198539] -86: > deltaPi=~[-0.00573841 -0.000131376 0.000318155] -86: DBG: Line search iter 1: back=1, prevNorm=0.00147683. -86: > piNow=~[-0.00426159 -0.000162661 0.000393917] -86: > errNow=~[-2.1684e-19 -7.63209e-09 1.84827e-08] normNow=1.99965e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.35401e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.91779e-05 -86: > NEWTON iter 2: errNorm=1.99965e-08(v) -> deltaNorm=3.54438e-08(pi) -86: > piActive=~[-0.00426159 -0.000162661 0.000393917] -86: > errActive=~[-2.1684e-19 -7.63209e-09 1.84827e-08] -86: > deltaPi=~[-2.60966e-08 -9.15402e-09 2.21684e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.99965e-08. -86: > piNow=~[-0.00426156 -0.000162652 0.000393895] -86: > errNow=~[0 -1.91018e-13 4.62589e-13] normNow=5.00476e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.50283e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.00476e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.357059,0.864692] to ~[-0.357122,0.865868] -86: DBG: Friction 0 rotated 0.0239132 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00426156 -0.000162652 0.000393895] -86: : m_verrLeft=~[0 0.00144715 -0.357122 0.865868 -0.389264 1.78433] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00426156 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00144715 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00426156 0 -0.000162652 0.000393895 0 0] errNorm=5.00476e-13 -86: Postcompression verr=~[0 0.00144715 -0.357122 0.865868 -0.389264 1.78433] -86: impulse=~[-0.00426156 0 -0.000162652 0.000393895 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00426156 0 -0.000162652 0.000393895 0 0]-> du ~[-0.000674288 0.00148521 -0.000714605 -0.000818733 -5.00993e-05 0.000723577 -0.00284165 0.00170246] -86: Now verr0=~[-7.58942e-19 0.00144715 -0.357122 0.865868 -0.389264 1.78433] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-7.58942e-19 0.00144715 -0.357122 0.865868 -0.389264 1.78433] -86: verrExt=~[-0.556693 -0.437823 0.0104081 -0.627634 0.00458517 -0.462059] -86: total verr=~[-0.556693 -0.436376 -0.346714 0.238235 -0.384679 1.32227] -86: DYN t=0.129: verrStart=~[-7.58942e-19 0.00144715 -0.357122 0.865868 -0.389264 1.78433] -86: verrApplied=~[-0.556693 -0.437823 0.0104081 -0.627634 0.00458517 -0.462059] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-7.58942e-19 0.00144715 -0.357122 0.865868 -0.389264 1.78433] -86: verrApplied=~[-0.556693 -0.437823 0.0104081 -0.627634 0.00458517 -0.462059] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.357122,0.865868, mag=0.936624 -86: Participating contact 1 is Sliding; vel=-0.389264,1.78433, mag=1.8263 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.357122,0.865868, mag=0.936624 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.389264,1.78433, mag=1.8263 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.556693; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.436376; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-7.58942e-19 0.00144715 -0.357122 0.865868 -0.389264 1.78433] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.556693 -0.437823 0.0104081 -0.627634 0.00458517 -0.462059] -86: : rhsActive=~[-0.556693 -0.346714 0.238235 -0.436376 -0.384679 1.32227] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.64519e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.702258... -86: > NEWTON iter 1: errNorm=0.702258(v) -> deltaNorm=2.19685(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.552887 0.000357122 -0.000865868 0.432988 0.000389264 -0.00178433] -86: > deltaPi=~[1.77178 0.0679343 -0.164712 1.28006 0.0274959 -0.126037] -86: DBG: Line search iter 1: back=1, prevNorm=0.702258. -86: > piNow=~[-1.78178 -0.0679343 0.164712 -1.29006 -0.0274959 0.126037] -86: > errNow=~[0 2.35688e-06 -5.71443e-06 -5.55112e-17 1.85604e-06 -8.50782e-06] normNow=1.06788e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.52064e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.09809e-10 -86: > NEWTON iter 2: errNorm=1.06788e-05(v) -> deltaNorm=1.35513e-05(pi) -86: > piActive=~[-1.78178 -0.0679343 0.164712 -1.29006 -0.0274959 0.126037] -86: > errActive=~[0 2.35688e-06 -5.71443e-06 -5.55112e-17 1.85604e-06 -8.50782e-06] -86: > deltaPi=~[8.06351e-06 2.82381e-06 -6.84654e-06 5.91946e-06 1.14246e-06 -5.23685e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.06788e-05. -86: > piNow=~[-1.78179 -0.0679371 0.164719 -1.29007 -0.027497 0.126042] -86: > errNow=~[1.11022e-16 3.46945e-16 -8.04912e-16 0 5.13478e-16 -2.33147e-15] normNow=2.54558e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.38376e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.54558e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.357122,0.865868] to ~[-0.367494,0.874271] -86: DBG: Friction 0 rotated 0.385744 deg, less than max 30 -86: slipVel 1 from ~[-0.389264,1.78433] to ~[-0.400234,1.80983] -86: DBG: Friction 1 rotated 0.163315 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.78179 -0.0679371 0.164719 -1.29007 -0.027497 0.126042] -86: : m_verrLeft=~[-1.11022e-16 0 -0.367494 0.874271 -0.400234 1.80983] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.78179 verr=-1.11022e-16 pi*v=1.97818e-16 -86: DBG: 1: pi=-1.29007 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-1.78179 -1.29007 -0.0679371 0.164719 -0.027497 0.126042] errNorm=2.54558e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.357122 0.865868, |slipV|=0.936624 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.389264 1.78433, |slipV|=1.8263 -86: ------------------------------ -86: -86: dynamics impulse=~[-1.78179 -1.29007 -0.0679371 0.164719 -0.027497 0.126042] -86: updated verrStart=~[-1.11022e-16 0 -0.367494 0.874271 -0.400234 1.80983] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.319997 0.559651 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.272401 0.108206 -0.0144257 0.314713 -0.00760214 0.120858] -86: [0.108206 0.23054 -0.000612332 0.122919 -0.00561202 0.264946] -86: [-0.0144257 -0.000612332 0.0482171 0.0229589 0.0503596 -0.0383565] -86: [0.314713 0.122919 0.0229589 0.428817 0.0338064 0.120168] -86: [-0.00760214 -0.00561202 0.0503596 0.0338064 0.0531845 -0.0469289] -86: [0.120858 0.264946 -0.0383565 0.120168 -0.0469289 0.364136] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.390558 rank=2 -86: rhs=~[0.319997 0.559651 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.258644 2.30617] -86: -> pi=~[0.258644 2.30617 0 0 0 0] -86: resid active=~[1.66533e-16 0] -86: resid=~[1.66533e-16 0 -0.00514325 0.364872 -0.0149085 0.642271] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-4.81386e-17 -7.58942e-17 -0.367494 0.874271 -0.400234 1.80983] -86: perr=~[0.000319997 0.000559651 0] -86: END OF STEP (0.129,0.13): -86: verr=~[-0.00106843 0.00106843 -0.367056 0.874287 -0.400672 1.80981] -86: perr=~[0.000319463 0.000560185 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.948213 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.85363 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00106843 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00106843 0.00106843 -0.367056 0.874287 -0.400672 1.80981] -86: IMP t=0.13 verr=~[-0.00106843 0.00106843 -0.367056 0.874287 -0.400672 1.80981] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00106843 0.00106843 -0.367056 0.874287 -0.400672 1.80981] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.367056,0.874287, mag=0.948213 -86: Participating contact 1 is Sliding; vel=-0.400672,1.80981, mag=1.85363 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.367056,0.874287, mag=0.948213 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.400672,1.80981, mag=1.85363 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00106843; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00106843; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00106843 0.00106843 -0.367056 0.874287 -0.400672 1.80981] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00106843 -0.367056 0.874287 0.00106843 -0.400672 1.80981] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.75549e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00112572... -86: > NEWTON iter 1: errNorm=0.00112572(v) -> deltaNorm=0.00305929(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000584361 0.000367056 -0.000874287 0.000163258 0 0] -86: > deltaPi=~[-0.00210297 0.000305699 -0.000728142 0.00207681 1.67214e-09 -7.55296e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00112572. -86: > piNow=~[-0.00789703 -0.000305699 0.000728142 0.00792319 -1.67214e-09 7.55296e-09] -86: > errNow=~[4.33681e-19 -2.87526e-09 6.84856e-09 -2.1684e-19 -3.09954e-09 1.40004e-08] normNow=1.6149e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.43455e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.23703e-05 -86: > NEWTON iter 2: errNorm=1.6149e-08(v) -> deltaNorm=1.7319e-08(pi) -86: > piActive=~[-0.00789703 -0.000305699 0.000728142 0.00792319 -1.67214e-09 7.55296e-09] -86: > errActive=~[4.33681e-19 -2.87526e-09 6.84856e-09 -2.1684e-19 -3.09954e-09 1.40004e-08] -86: > deltaPi=~[-9.4867e-09 -3.3995e-09 8.09726e-09 -8.54316e-09 -1.67215e-09 7.55301e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.6149e-08. -86: > piNow=~[-0.00789702 -0.000305695 0.000728134 0.0079232 1.09564e-14 -4.94892e-14] -86: > errNow=~[-4.33681e-19 -2.07971e-14 4.95363e-14 0 2.03091e-14 -9.17348e-14] normNow=1.08232e-13 -86: DBG: Improvement rate now/prev at iter 2 is 6.70209e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.08232e-13. -86: DBG: Worst offender is normal contact 1 err=0.0079232 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.367056,0.874287, mag=0.948213 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.400672,1.80981, mag=1.85363 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00106843; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00106843 0.00106843 -0.367056 0.874287 -0.400672 1.80981] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00106843 -0.367056 0.874287] -86: : pi was=~[-0.00789702 0 -0.000305695 0.000728134 1.09564e-14 -4.94892e-14] -86: : piActive=~[-0.01 -0.000305695 0.000728134] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.53197e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00145071... -86: > NEWTON iter 1: errNorm=0.00145071(v) -> deltaNorm=0.00563769(pi) -86: > piActive=~[-0.01 -0.000305695 0.000728134] -86: > errActive=~[-0.00143694 7.71911e-05 -0.000183861] -86: > deltaPi=~[-0.00562667 -0.000136395 0.000324878] -86: DBG: Line search iter 1: back=1, prevNorm=0.00145071. -86: > piNow=~[-0.00437333 -0.000169301 0.000403256] -86: > errNow=~[0 -7.69299e-09 1.83239e-08] normNow=1.98733e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.3699e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.84581e-05 -86: > NEWTON iter 2: errNorm=1.98733e-08(v) -> deltaNorm=3.46127e-08(pi) -86: > piActive=~[-0.00437333 -0.000169301 0.000403256] -86: > errActive=~[0 -7.69299e-09 1.83239e-08] -86: > deltaPi=~[-2.54129e-08 -9.09669e-09 2.16673e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.98733e-08. -86: > piNow=~[-0.0043733 -0.000169292 0.000403235] -86: > errNow=~[0 -1.8158e-13 4.32505e-13] normNow=4.69076e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.36034e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.69076e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.367056,0.874287] to ~[-0.367121,0.875497] -86: DBG: Friction 0 rotated 0.024626 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.0043733 -0.000169292 0.000403235] -86: : m_verrLeft=~[0 0.00149392 -0.367121 0.875497 -0.400711 1.81028] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.0043733 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00149392 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.0043733 0 -0.000169292 0.000403235 0 0] errNorm=4.69076e-13 -86: Postcompression verr=~[0 0.00149392 -0.367121 0.875497 -0.400711 1.81028] -86: impulse=~[-0.0043733 0 -0.000169292 0.000403235 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.0043733 0 -0.000169292 0.000403235 0 0]-> du ~[-0.000698285 0.00152885 -0.000736005 -0.000841598 -5.1971e-05 0.00074696 -0.00292661 0.00175188] -86: Now verr0=~[7.58942e-19 0.00149392 -0.367121 0.875497 -0.400711 1.81028] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[7.58942e-19 0.00149392 -0.367121 0.875497 -0.400711 1.81028] -86: verrExt=~[-0.536617 -0.42221 0.0108512 -0.600127 0.00515917 -0.442488] -86: total verr=~[-0.536617 -0.420716 -0.35627 0.27537 -0.395552 1.3678] -86: DYN t=0.13: verrStart=~[7.58942e-19 0.00149392 -0.367121 0.875497 -0.400711 1.81028] -86: verrApplied=~[-0.536617 -0.42221 0.0108512 -0.600127 0.00515917 -0.442488] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[7.58942e-19 0.00149392 -0.367121 0.875497 -0.400711 1.81028] -86: verrApplied=~[-0.536617 -0.42221 0.0108512 -0.600127 0.00515917 -0.442488] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.367121,0.875497, mag=0.949354 -86: Participating contact 1 is Sliding; vel=-0.400711,1.81028, mag=1.8541 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.367121,0.875497, mag=0.949354 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.400711,1.81028, mag=1.8541 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.536617; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.420716; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[7.58942e-19 0.00149392 -0.367121 0.875497 -0.400711 1.81028] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.536617 -0.42221 0.0108512 -0.600127 0.00515917 -0.442488] -86: : rhsActive=~[-0.536617 -0.35627 0.27537 -0.420716 -0.395552 1.3678] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.75899e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.676772... -86: > NEWTON iter 1: errNorm=0.676772(v) -> deltaNorm=2.10479(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.532791 0.000367121 -0.000875497 0.417312 0.000400711 -0.00181028] -86: > deltaPi=~[1.69675 0.0659987 -0.157391 1.2275 0.026744 -0.120821] -86: DBG: Line search iter 1: back=1, prevNorm=0.676772. -86: > piNow=~[-1.70675 -0.0659987 0.157391 -1.2375 -0.026744 0.120821] -86: > errNow=~[0 2.32027e-06 -5.5333e-06 1.66533e-16 1.83216e-06 -8.27711e-06] normNow=1.0386e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.53464e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.64403e-10 -86: > NEWTON iter 2: errNorm=1.0386e-05(v) -> deltaNorm=1.2935e-05(pi) -86: > piActive=~[-1.70675 -0.0659987 0.157391 -1.2375 -0.026744 0.120821] -86: > errActive=~[0 2.32027e-06 -5.5333e-06 1.66533e-16 1.83216e-06 -8.27711e-06] -86: > deltaPi=~[7.66882e-06 2.74061e-06 -6.53571e-06 5.64707e-06 1.11021e-06 -5.01557e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.0386e-05. -86: > piNow=~[-1.70676 -0.0660014 0.157398 -1.2375 -0.0267451 0.120826] -86: > errNow=~[-2.22045e-16 3.60822e-16 -8.60423e-16 -5.55112e-17 5.55112e-16 -2.498e-15] normNow=2.73333e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.63175e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.73333e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.367121,0.875497] to ~[-0.376729,0.885884] -86: DBG: Friction 0 rotated 0.288307 deg, less than max 30 -86: slipVel 1 from ~[-0.400711,1.81028] to ~[-0.410865,1.83586] -86: DBG: Friction 1 rotated 0.133571 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.70676 -0.0660014 0.157398 -1.2375 -0.0267451 0.120826] -86: : m_verrLeft=~[2.22045e-16 5.55112e-17 -0.376729 0.885884 -0.410865 1.83586] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.70676 verr=2.22045e-16 pi*v=-3.78977e-16 -86: DBG: 1: pi=-1.2375 verr=5.55112e-17 pi*v=-6.86952e-17 -86: SP FINAL 1 intervals, piTotal=~[-1.70676 -1.2375 -0.0660014 0.157398 -0.0267451 0.120826] errNorm=2.73333e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.367121 0.875497, |slipV|=0.949354 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.400711 1.81028, |slipV|=1.8541 -86: ------------------------------ -86: -86: dynamics impulse=~[-1.70676 -1.2375 -0.0660014 0.157398 -0.0267451 0.120826] -86: updated verrStart=~[2.22045e-16 5.55112e-17 -0.376729 0.885884 -0.410865 1.83586] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.319463 0.560185 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.27393 0.108651 -0.0147084 0.315109 -0.00768709 0.120819] -86: [0.108651 0.23182 -0.000776597 0.122856 -0.005925 0.265308] -86: [-0.0147084 -0.000776597 0.0481456 0.022559 0.0503305 -0.0383387] -86: [0.315109 0.122856 0.022559 0.427392 0.0336641 0.119631] -86: [-0.00768709 -0.005925 0.0503305 0.0336641 0.0532327 -0.047113] -86: [0.120819 0.265308 -0.0383387 0.119631 -0.047113 0.362847] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.391152 rank=2 -86: rhs=~[0.319463 0.560185 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.255198 2.29686] -86: -> pi=~[0.255198 2.29686 0 0 0 0] -86: resid active=~[0 0] -86: resid=~[0 0 -0.00553727 0.362599 -0.0155706 0.640208] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[6.04985e-17 -9.21572e-17 -0.376729 0.885884 -0.410865 1.83586] -86: perr=~[0.000319463 0.000560185 0] -86: END OF STEP (0.13,0.131): -86: verr=~[-0.00110177 0.00110177 -0.376277 0.885902 -0.411317 1.83585] -86: perr=~[0.000318912 0.000560736 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.9625 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.88136 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00110177 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00110177 0.00110177 -0.376277 0.885902 -0.411317 1.83585] -86: IMP t=0.131 verr=~[-0.00110177 0.00110177 -0.376277 0.885902 -0.411317 1.83585] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00110177 0.00110177 -0.376277 0.885902 -0.411317 1.83585] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.376277,0.885902, mag=0.9625 -86: Participating contact 1 is Sliding; vel=-0.411317,1.83585, mag=1.88136 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.376277,0.885902, mag=0.9625 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.411317,1.83585, mag=1.88136 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00110177; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00110177; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00110177 0.00110177 -0.376277 0.885902 -0.411317 1.83585] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00110177 -0.376277 0.885902 0.00110177 -0.411317 1.83585] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.87167e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00112328... -86: > NEWTON iter 1: errNorm=0.00112328(v) -> deltaNorm=0.00280863(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000562247 0.000376277 -0.000885902 0.000138663 0 0] -86: > deltaPi=~[-0.00191838 0.000315944 -0.000743853 0.0018855 1.53547e-09 -6.85334e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00112328. -86: > piNow=~[-0.00808162 -0.000315944 0.000743853 0.0081145 -1.53547e-09 6.85334e-09] -86: > errNow=~[-4.33681e-19 -2.68877e-09 6.33041e-09 -4.33681e-19 -2.88878e-09 1.28936e-08] normNow=1.48961e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.32612e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.19744e-05 -86: > NEWTON iter 2: errNorm=1.48961e-08(v) -> deltaNorm=1.57155e-08(pi) -86: > piActive=~[-0.00808162 -0.000315944 0.000743853 0.0081145 -1.53547e-09 6.85334e-09] -86: > errActive=~[-4.33681e-19 -2.68877e-09 6.33041e-09 -4.33681e-19 -2.88878e-09 1.28936e-08] -86: > deltaPi=~[-8.59973e-09 -3.12971e-09 7.36854e-09 -7.72048e-09 -1.53548e-09 6.85338e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.48961e-08. -86: > piNow=~[-0.00808161 -0.00031594 0.000743845 0.00811451 9.54798e-15 -4.26159e-14] -86: > errNow=~[2.1684e-19 -1.84537e-14 4.34471e-14 4.33681e-19 1.79632e-14 -8.01757e-14] normNow=9.47577e-14 -86: DBG: Improvement rate now/prev at iter 2 is 6.36125e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.47577e-14. -86: DBG: Worst offender is normal contact 1 err=0.00811451 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.376277,0.885902, mag=0.9625 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.411317,1.83585, mag=1.88136 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00110177; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00110177 0.00110177 -0.376277 0.885902 -0.411317 1.83585] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00110177 -0.376277 0.885902] -86: : pi was=~[-0.00808161 0 -0.00031594 0.000743845 9.54798e-15 -4.26159e-14] -86: : piActive=~[-0.01 -0.00031594 0.000743845] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.58519e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00142579... -86: > NEWTON iter 1: errNorm=0.00142579(v) -> deltaNorm=0.00553062(pi) -86: > piActive=~[-0.01 -0.00031594 0.000743845] -86: > errActive=~[-0.00141378 7.21846e-05 -0.00016995] -86: > deltaPi=~[-0.00551889 -0.000140749 0.000331377] -86: DBG: Line search iter 1: back=1, prevNorm=0.00142579. -86: > piNow=~[-0.00448111 -0.000175192 0.000412468] -86: > errNow=~[-2.1684e-19 -7.73519e-09 1.82116e-08] normNow=1.97863e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.38774e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.78463e-05 -86: > NEWTON iter 2: errNorm=1.97863e-08(v) -> deltaNorm=3.38249e-08(pi) -86: > piActive=~[-0.00448111 -0.000175192 0.000412468] -86: > errActive=~[-2.1684e-19 -7.73519e-09 1.82116e-08] -86: > deltaPi=~[-2.47704e-08 -9.00475e-09 2.12006e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.97863e-08. -86: > piNow=~[-0.00448109 -0.000175183 0.000412447] -86: > errNow=~[0 -1.72817e-13 4.06878e-13] normNow=4.42058e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.23417e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.42058e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.376277,0.885902] to ~[-0.376345,0.887144] -86: DBG: Friction 0 rotated 0.025152 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00448109 -0.000175183 0.000412447] -86: : m_verrLeft=~[0 0.00153984 -0.376345 0.887144 -0.411356 1.83633] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00448109 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00153984 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00448109 0 -0.000175183 0.000412447 0 0] errNorm=4.42058e-13 -86: Postcompression verr=~[0 0.00153984 -0.376345 0.887144 -0.411356 1.83633] -86: impulse=~[-0.00448109 0 -0.000175183 0.000412447 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00448109 0 -0.000175183 0.000412447 0 0]-> du ~[-0.000722117 0.0015713 -0.000756811 -0.000863712 -5.38978e-05 0.000769919 -0.00300945 0.00180007] -86: Now verr0=~[6.50521e-18 0.00153984 -0.376345 0.887144 -0.411356 1.83633] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[6.50521e-18 0.00153984 -0.376345 0.887144 -0.411356 1.83633] -86: verrExt=~[-0.516479 -0.4068 0.0113488 -0.572705 0.00581703 -0.423451] -86: total verr=~[-0.516479 -0.40526 -0.364996 0.314439 -0.405539 1.41288] -86: DYN t=0.131: verrStart=~[6.50521e-18 0.00153984 -0.376345 0.887144 -0.411356 1.83633] -86: verrApplied=~[-0.516479 -0.4068 0.0113488 -0.572705 0.00581703 -0.423451] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[6.50521e-18 0.00153984 -0.376345 0.887144 -0.411356 1.83633] -86: verrApplied=~[-0.516479 -0.4068 0.0113488 -0.572705 0.00581703 -0.423451] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.376345,0.887144, mag=0.96367 -86: Participating contact 1 is Sliding; vel=-0.411356,1.83633, mag=1.88184 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.376345,0.887144, mag=0.96367 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.411356,1.83633, mag=1.88184 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.516479; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.40526; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[6.50521e-18 0.00153984 -0.376345 0.887144 -0.411356 1.83633] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.516479 -0.4068 0.0113488 -0.572705 0.00581703 -0.423451] -86: : rhsActive=~[-0.516479 -0.364996 0.314439 -0.40526 -0.405539 1.41288] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.87525e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.651361... -86: > NEWTON iter 1: errNorm=0.651361(v) -> deltaNorm=2.01383(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.512633 0.000376345 -0.000887144 0.401838 0.000411356 -0.00183633] -86: > deltaPi=~[1.62177 0.0637237 -0.150213 1.17672 0.0259398 -0.115798] -86: DBG: Line search iter 1: back=1, prevNorm=0.651361. -86: > piNow=~[-1.63177 -0.0637237 0.150213 -1.18672 -0.0259398 0.115798] -86: > errNow=~[0 2.27346e-06 -5.35913e-06 1.66533e-16 1.80303e-06 -8.04887e-06] normNow=1.00958e-05 -86: DBG: Improvement rate now/prev at iter 1 is 1.54995e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.04504e-10 -86: > NEWTON iter 2: errNorm=1.00958e-05(v) -> deltaNorm=1.23333e-05(pi) -86: > piActive=~[-1.63177 -0.0637237 0.150213 -1.18672 -0.0259398 0.115798] -86: > errActive=~[0 2.27346e-06 -5.35913e-06 1.66533e-16 1.80303e-06 -8.04887e-06] -86: > deltaPi=~[7.28363e-06 2.64362e-06 -6.23169e-06 5.3864e-06 1.07586e-06 -4.80274e-06] -86: DBG: Line search iter 1: back=1, prevNorm=1.00958e-05. -86: > piNow=~[-1.63178 -0.0637263 0.15022 -1.18672 -0.0259409 0.115802] -86: > errNow=~[-1.11022e-16 3.88578e-16 -8.88178e-16 0 5.82867e-16 -2.63678e-15] normNow=2.87133e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.84409e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.87133e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.376345,0.887144] to ~[-0.385114,0.899505] -86: DBG: Friction 0 rotated 0.190017 deg, less than max 30 -86: slipVel 1 from ~[-0.411356,1.83633] to ~[-0.420609,1.86183] -86: DBG: Friction 1 rotated 0.103707 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.63178 -0.0637263 0.15022 -1.18672 -0.0259409 0.115802] -86: : m_verrLeft=~[1.11022e-16 0 -0.385114 0.899505 -0.420609 1.86183] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.63178 verr=1.11022e-16 pi*v=-1.81164e-16 -86: DBG: 1: pi=-1.18672 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-1.63178 -1.18672 -0.0637263 0.15022 -0.0259409 0.115802] errNorm=2.87133e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.376345 0.887144, |slipV|=0.96367 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.411356 1.83633, |slipV|=1.88184 -86: ------------------------------ -86: -86: dynamics impulse=~[-1.63178 -1.18672 -0.0637263 0.15022 -0.0259409 0.115802] -86: updated verrStart=~[1.11022e-16 0 -0.385114 0.899505 -0.420609 1.86183] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.318912 0.560736 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.275499 0.109097 -0.0150008 0.315515 -0.0077775 0.120775] -86: [0.109097 0.23314 -0.000942014 0.122785 -0.00624312 0.265691] -86: [-0.0150008 -0.000942014 0.0480711 0.0221473 0.0502979 -0.0383155] -86: [0.315515 0.122785 0.0221473 0.425947 0.0335124 0.119089] -86: [-0.0077775 -0.00624312 0.0502979 0.0335124 0.0532781 -0.0472941] -86: [0.120775 0.265691 -0.0383155 0.119089 -0.0472941 0.361559] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.391804 rank=2 -86: rhs=~[0.318912 0.560736 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.251814 2.28731] -86: -> pi=~[0.251814 2.28731 0 0 0 0] -86: resid active=~[0 0] -86: resid=~[0 0 -0.00593208 0.360298 -0.0162384 0.63813] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-5.62701e-17 1.31188e-17 -0.385114 0.899505 -0.420609 1.86183] -86: perr=~[0.000318912 0.000560736 0] -86: END OF STEP (0.131,0.132): -86: verr=~[-0.00113429 0.00113429 -0.38465 0.899523 -0.421073 1.86181] -86: perr=~[0.000318345 0.000561303 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.978314 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.90883 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00113429 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00113429 0.00113429 -0.38465 0.899523 -0.421073 1.86181] -86: IMP t=0.132 verr=~[-0.00113429 0.00113429 -0.38465 0.899523 -0.421073 1.86181] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00113429 0.00113429 -0.38465 0.899523 -0.421073 1.86181] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.38465,0.899523, mag=0.978314 -86: Participating contact 1 is Sliding; vel=-0.421073,1.86181, mag=1.90883 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.38465,0.899523, mag=0.978314 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.421073,1.86181, mag=1.90883 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00113429; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00113429; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00113429 0.00113429 -0.38465 0.899523 -0.421073 1.86181] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00113429 -0.38465 0.899523 0.00113429 -0.421073 1.86181] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.98961e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00112402... -86: > NEWTON iter 1: errNorm=0.00112402(v) -> deltaNorm=0.00257514(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000541333 0.00038465 -0.000899523 0.00011528 0 0] -86: > deltaPi=~[-0.00174421 0.000324601 -0.000759095 0.00170513 1.40106e-09 -6.19493e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00112402. -86: > piNow=~[-0.00825579 -0.000324601 0.000759095 0.00829487 -1.40106e-09 6.19493e-09] -86: > errNow=~[6.50521e-19 -2.49906e-09 5.84417e-09 0 -2.6744e-09 1.18251e-08] normNow=1.36889e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.21785e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.16344e-05 -86: > NEWTON iter 2: errNorm=1.36889e-08(v) -> deltaNorm=1.42131e-08(pi) -86: > piActive=~[-0.00825579 -0.000324601 0.000759095 0.00829487 -1.40106e-09 6.19493e-09] -86: > errActive=~[6.50521e-19 -2.49906e-09 5.84417e-09 0 -2.6744e-09 1.18251e-08] -86: > deltaPi=~[-7.7748e-09 -2.86013e-09 6.68854e-09 -6.95028e-09 -1.40107e-09 6.19497e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.36889e-08. -86: > piNow=~[-0.00825578 -0.000324598 0.000759089 0.00829488 8.29969e-15 -3.66978e-14] -86: > errNow=~[-2.1684e-19 -1.63428e-14 3.82185e-14 0 1.58427e-14 -7.00501e-14] normNow=8.29804e-14 -86: DBG: Improvement rate now/prev at iter 2 is 6.06189e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.29804e-14. -86: DBG: Worst offender is normal contact 1 err=0.00829488 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.38465,0.899523, mag=0.978314 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.421073,1.86181, mag=1.90883 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00113429; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00113429 0.00113429 -0.38465 0.899523 -0.421073 1.86181] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00113429 -0.38465 0.899523] -86: : pi was=~[-0.00825578 0 -0.000324598 0.000759089 8.29969e-15 -3.66978e-14] -86: : piActive=~[-0.01 -0.000324598 0.000759089] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.6441e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00140241... -86: > NEWTON iter 1: errNorm=0.00140241(v) -> deltaNorm=0.00542861(pi) -86: > piActive=~[-0.01 -0.000324598 0.000759089] -86: > errActive=~[-0.00139199 6.70914e-05 -0.000156896] -86: > deltaPi=~[-0.00541618 -0.000144365 0.000337604] -86: DBG: Line search iter 1: back=1, prevNorm=0.00140241. -86: > piNow=~[-0.00458382 -0.000180233 0.000421484] -86: > errNow=~[-2.1684e-19 -7.76016e-09 1.81475e-08] normNow=1.97371e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.40737e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.73361e-05 -86: > NEWTON iter 2: errNorm=1.97371e-08(v) -> deltaNorm=3.30861e-08(pi) -86: > piActive=~[-0.00458382 -0.000180233 0.000421484] -86: > errActive=~[-2.1684e-19 -7.76016e-09 1.81475e-08] -86: > deltaPi=~[-2.41727e-08 -8.88242e-09 2.0772e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.97371e-08. -86: > piNow=~[-0.0045838 -0.000180224 0.000421463] -86: > errNow=~[0 -1.64765e-13 3.85311e-13] normNow=4.19061e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.12322e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.19061e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.38465,0.899523] to ~[-0.384721,0.900796] -86: DBG: Friction 0 rotated 0.0254816 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.0045838 -0.000180224 0.000421463] -86: : m_verrLeft=~[0 0.0015845 -0.384721 0.900796 -0.421114 1.86231] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.0045838 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.0015845 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.0045838 0 -0.000180224 0.000421463 0 0] errNorm=4.19061e-13 -86: Postcompression verr=~[0 0.0015845 -0.384721 0.900796 -0.421114 1.86231] -86: impulse=~[-0.0045838 0 -0.000180224 0.000421463 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.0045838 0 -0.000180224 0.000421463 0 0]-> du ~[-0.000745585 0.00161215 -0.000776811 -0.000884849 -5.58654e-05 0.00079225 -0.00308937 0.00184656] -86: Now verr0=~[-5.52943e-18 0.0015845 -0.384721 0.900796 -0.421114 1.86231] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-5.52943e-18 0.0015845 -0.384721 0.900796 -0.421114 1.86231] -86: verrExt=~[-0.496209 -0.391501 0.0118714 -0.545301 0.00652788 -0.404797] -86: total verr=~[-0.496209 -0.389916 -0.37285 0.355495 -0.414586 1.45751] -86: DYN t=0.132: verrStart=~[-5.52943e-18 0.0015845 -0.384721 0.900796 -0.421114 1.86231] -86: verrApplied=~[-0.496209 -0.391501 0.0118714 -0.545301 0.00652788 -0.404797] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-5.52943e-18 0.0015845 -0.384721 0.900796 -0.421114 1.86231] -86: verrApplied=~[-0.496209 -0.391501 0.0118714 -0.545301 0.00652788 -0.404797] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.384721,0.900796, mag=0.979512 -86: Participating contact 1 is Sliding; vel=-0.421114,1.86231, mag=1.90933 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.384721,0.900796, mag=0.979512 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.421114,1.86231, mag=1.90933 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.496209; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.389916; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-5.52943e-18 0.0015845 -0.384721 0.900796 -0.421114 1.86231] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.496209 -0.391501 0.0118714 -0.545301 0.00652788 -0.404797] -86: : rhsActive=~[-0.496209 -0.37285 0.355495 -0.389916 -0.414586 1.45751] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.99329e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.625915... -86: > NEWTON iter 1: errNorm=0.625915(v) -> deltaNorm=1.92363(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.492343 0.000384721 -0.000900796 0.386476 0.000421114 -0.00186231] -86: > deltaPi=~[1.54671 0.0611405 -0.143156 1.12732 0.0250834 -0.110928] -86: DBG: Line search iter 1: back=1, prevNorm=0.625915. -86: > piNow=~[-1.55671 -0.0611405 0.143156 -1.13732 -0.0250834 0.110928] -86: > errNow=~[0 2.2165e-06 -5.18977e-06 -2.77556e-16 1.76832e-06 -7.8201e-06] normNow=9.80446e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.56642e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.51952e-10 -86: > NEWTON iter 2: errNorm=9.80446e-06(v) -> deltaNorm=1.17436e-05(pi) -86: > piActive=~[-1.55671 -0.0611405 0.143156 -1.13732 -0.0250834 0.110928] -86: > errActive=~[0 2.2165e-06 -5.18977e-06 -2.77556e-16 1.76832e-06 -7.8201e-06] -86: > deltaPi=~[6.90682e-06 2.53414e-06 -5.9335e-06 5.1353e-06 1.03941e-06 -4.59662e-06] -86: DBG: Line search iter 1: back=1, prevNorm=9.80446e-06. -86: > piNow=~[-1.55672 -0.061143 0.143162 -1.13733 -0.0250845 0.110932] -86: > errNow=~[-1.11022e-16 4.02456e-16 -9.4369e-16 5.55112e-17 6.245e-16 -2.80331e-15] normNow=3.05229e-15 -86: DBG: Improvement rate now/prev at iter 2 is 3.11317e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.05229e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.384721,0.900796] to ~[-0.392598,0.915112] -86: DBG: Friction 0 rotated 0.0933063 deg, less than max 30 -86: slipVel 1 from ~[-0.421114,1.86231] to ~[-0.429407,1.88762] -86: DBG: Friction 1 rotated 0.0742013 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.55672 -0.061143 0.143162 -1.13733 -0.0250845 0.110932] -86: : m_verrLeft=~[1.11022e-16 -5.55112e-17 -0.392598 0.915112 -0.429407 1.88762] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.55672 verr=1.11022e-16 pi*v=-1.72831e-16 -86: DBG: 1: pi=-1.13733 verr=-5.55112e-17 pi*v=6.31344e-17 -86: SP FINAL 1 intervals, piTotal=~[-1.55672 -1.13733 -0.061143 0.143162 -0.0250845 0.110932] errNorm=3.05229e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.384721 0.900796, |slipV|=0.979512 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.421114 1.86231, |slipV|=1.90933 -86: ------------------------------ -86: -86: dynamics impulse=~[-1.55672 -1.13733 -0.061143 0.143162 -0.0250845 0.110932] -86: updated verrStart=~[1.11022e-16 -5.55112e-17 -0.392598 0.915112 -0.429407 1.88762] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.318345 0.561303 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.277106 0.109544 -0.0153016 0.31593 -0.0078725 0.120727] -86: [0.109544 0.234501 -0.00110853 0.122706 -0.00656601 0.266092] -86: [-0.0153016 -0.00110853 0.0479942 0.0217262 0.0502622 -0.0382875] -86: [0.31593 0.122706 0.0217262 0.42448 0.0333527 0.118542] -86: [-0.0078725 -0.00656601 0.0502622 0.0333527 0.0533211 -0.047472] -86: [0.120727 0.266092 -0.0382875 0.118542 -0.047472 0.360269] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.392508 rank=2 -86: rhs=~[0.318345 0.561303 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.248478 2.27754] -86: -> pi=~[0.248478 2.27754 0 0 0 0] -86: resid active=~[-5.55112e-17 0] -86: resid=~[-5.55112e-17 0 -0.00632683 0.357969 -0.0169105 0.636034] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-4.59702e-17 -1.43115e-16 -0.392598 0.915112 -0.429407 1.88762] -86: perr=~[0.000318345 0.000561303 0] -86: END OF STEP (0.132,0.133): -86: verr=~[-0.00116573 0.00116573 -0.392125 0.915132 -0.429881 1.8876] -86: perr=~[0.000317762 0.000561886 -1.11022e-16] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=0.995604 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.93593 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00116573 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00116573 0.00116573 -0.392125 0.915132 -0.429881 1.8876] -86: IMP t=0.133 verr=~[-0.00116573 0.00116573 -0.392125 0.915132 -0.429881 1.8876] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00116573 0.00116573 -0.392125 0.915132 -0.429881 1.8876] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.392125,0.915132, mag=0.995604 -86: Participating contact 1 is Sliding; vel=-0.429881,1.8876, mag=1.93593 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.392125,0.915132, mag=0.995604 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.429881,1.8876, mag=1.93593 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00116573; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00116573; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00116573 0.00116573 -0.392125 0.915132 -0.429881 1.8876] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00116573 -0.392125 0.915132 0.00116573 -0.429881 1.8876] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.10881e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00112795... -86: > NEWTON iter 1: errNorm=0.00112795(v) -> deltaNorm=0.00236104(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000521849 0.000392125 -0.000915132 9.33297e-05 0 0] -86: > deltaPi=~[-0.00158199 0.000331551 -0.000773766 0.00153727 1.27151e-09 -5.58319e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00112795. -86: > piNow=~[-0.00841801 -0.000331551 0.000773766 0.00846273 -1.27151e-09 5.58319e-09] -86: > errNow=~[-6.50521e-19 -2.31067e-09 5.39259e-09 -4.33681e-19 -2.46156e-09 1.08087e-08] normNow=1.25422e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.11195e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.13472e-05 -86: > NEWTON iter 2: errNorm=1.25422e-08(v) -> deltaNorm=1.28224e-08(pi) -86: > piActive=~[-0.00841801 -0.000331551 0.000773766 0.00846273 -1.27151e-09 5.58319e-09] -86: > errActive=~[-6.50521e-19 -2.31067e-09 5.39259e-09 -4.33681e-19 -2.46156e-09 1.08087e-08] -86: > deltaPi=~[-7.01617e-09 -2.5972e-09 6.06128e-09 -6.23807e-09 -1.27152e-09 5.58323e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.25422e-08. -86: > piNow=~[-0.00841801 -0.000331548 0.00077376 0.00846273 7.2041e-15 -3.16331e-14] -86: > errNow=~[0 -1.44609e-14 3.37487e-14 4.33681e-19 1.39466e-14 -6.12394e-14] normNow=7.27521e-14 -86: DBG: Improvement rate now/prev at iter 2 is 5.8006e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.27521e-14. -86: DBG: Worst offender is normal contact 1 err=0.00846273 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.392125,0.915132, mag=0.995604 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.429881,1.8876, mag=1.93593 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00116573; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00116573 0.00116573 -0.392125 0.915132 -0.429881 1.8876] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00116573 -0.392125 0.915132] -86: : pi was=~[-0.00841801 0 -0.000331548 0.00077376 7.2041e-15 -3.16331e-14] -86: : piActive=~[-0.01 -0.000331548 0.00077376] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.7085e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00138085... -86: > NEWTON iter 1: errNorm=0.00138085(v) -> deltaNorm=0.00533256(pi) -86: > piActive=~[-0.01 -0.000331548 0.00077376] -86: > errActive=~[-0.00137184 6.20339e-05 -0.000144773] -86: > deltaPi=~[-0.00531945 -0.000147194 0.000343519] -86: DBG: Line search iter 1: back=1, prevNorm=0.00138085. -86: > piNow=~[-0.00468055 -0.000184354 0.000430241] -86: > errNow=~[2.1684e-19 -7.76968e-09 1.81327e-08] normNow=1.97272e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.42863e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.69212e-05 -86: > NEWTON iter 2: errNorm=1.97272e-08(v) -> deltaNorm=3.24005e-08(pi) -86: > piActive=~[-0.00468055 -0.000184354 0.000430241] -86: > errActive=~[2.1684e-19 -7.76968e-09 1.81327e-08] -86: > deltaPi=~[-2.36222e-08 -8.7342e-09 2.03837e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.97272e-08. -86: > piNow=~[-0.00468052 -0.000184345 0.000430221] -86: > errNow=~[0 -1.57431e-13 3.67409e-13] normNow=3.99717e-13 -86: DBG: Improvement rate now/prev at iter 2 is 2.02623e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.99717e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.392125,0.915132] to ~[-0.392198,0.916434] -86: DBG: Friction 0 rotated 0.0256119 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00468052 -0.000184345 0.000430221] -86: : m_verrLeft=~[0 0.00162757 -0.392198 0.916434 -0.429923 1.8881] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00468052 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00162757 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00468052 0 -0.000184345 0.000430221 0 0] errNorm=3.99717e-13 -86: Postcompression verr=~[0 0.00162757 -0.392198 0.916434 -0.429923 1.8881] -86: impulse=~[-0.00468052 0 -0.000184345 0.000430221 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00468052 0 -0.000184345 0.000430221 0 0]-> du ~[-0.000768515 0.00165105 -0.000795831 -0.000904824 -5.78596e-05 0.000813785 -0.00316572 0.00189097] -86: Now verr0=~[5.20417e-18 0.00162757 -0.392198 0.916434 -0.429923 1.8881] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[5.20417e-18 0.00162757 -0.392198 0.916434 -0.429923 1.8881] -86: verrExt=~[-0.475718 -0.376202 0.0123882 -0.517831 0.00725966 -0.38636] -86: total verr=~[-0.475718 -0.374575 -0.37981 0.398603 -0.422663 1.50174] -86: DYN t=0.133: verrStart=~[5.20417e-18 0.00162757 -0.392198 0.916434 -0.429923 1.8881] -86: verrApplied=~[-0.475718 -0.376202 0.0123882 -0.517831 0.00725966 -0.38636] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[5.20417e-18 0.00162757 -0.392198 0.916434 -0.429923 1.8881] -86: verrApplied=~[-0.475718 -0.376202 0.0123882 -0.517831 0.00725966 -0.38636] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.392198,0.916434, mag=0.996831 -86: Participating contact 1 is Sliding; vel=-0.429923,1.8881, mag=1.93643 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.392198,0.916434, mag=0.996831 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.429923,1.8881, mag=1.93643 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.475718; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.374575; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[5.20417e-18 0.00162757 -0.392198 0.916434 -0.429923 1.8881] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.475718 -0.376202 0.0123882 -0.517831 0.00725966 -0.38636] -86: : rhsActive=~[-0.475718 -0.37981 0.398603 -0.374575 -0.422663 1.50174] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.11257e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.600297... -86: > NEWTON iter 1: errNorm=0.600297(v) -> deltaNorm=1.83379(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.471831 0.000392198 -0.000916434 0.371116 0.000429923 -0.0018881] -86: > deltaPi=~[1.47141 0.0582834 -0.136188 1.07886 0.0241737 -0.106164] -86: DBG: Line search iter 1: back=1, prevNorm=0.600297. -86: > piNow=~[-1.48141 -0.0582834 0.136188 -1.08886 -0.0241737 0.106164] -86: > errNow=~[-1.11022e-16 2.14957e-06 -5.02282e-06 -1.11022e-16 1.72769e-06 -7.58756e-06] normNow=9.50817e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.58391e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.20041e-10 -86: > NEWTON iter 2: errNorm=9.50817e-06(v) -> deltaNorm=1.11628e-05(pi) -86: > piActive=~[-1.48141 -0.0582834 0.136188 -1.08886 -0.0241737 0.106164] -86: > errActive=~[-1.11022e-16 2.14957e-06 -5.02282e-06 -1.11022e-16 1.72769e-06 -7.58756e-06] -86: > deltaPi=~[6.53687e-06 2.4136e-06 -5.63976e-06 4.89142e-06 1.0008e-06 -4.39525e-06] -86: DBG: Line search iter 1: back=1, prevNorm=9.50817e-06. -86: > piNow=~[-1.48142 -0.0582858 0.136194 -1.08886 -0.0241747 0.106169] -86: > errNow=~[-5.55112e-17 4.30211e-16 -1.02696e-15 -5.55112e-17 6.66134e-16 -2.91434e-15] normNow=3.19108e-15 -86: DBG: Improvement rate now/prev at iter 2 is 3.35614e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.19108e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.392198,0.916434] to ~[-0.399156,0.932678] -86: DBG: Friction 0 rotated 0.000300973 deg, less than max 30 -86: slipVel 1 from ~[-0.429923,1.8881] to ~[-0.437222,1.91315] -86: DBG: Friction 1 rotated 0.0454626 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.48142 -0.0582858 0.136194 -1.08886 -0.0241747 0.106169] -86: : m_verrLeft=~[5.55112e-17 5.55112e-17 -0.399156 0.932678 -0.437222 1.91315] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.48142 verr=5.55112e-17 pi*v=-8.22354e-17 -86: DBG: 1: pi=-1.08886 verr=5.55112e-17 pi*v=-6.0444e-17 -86: SP FINAL 1 intervals, piTotal=~[-1.48142 -1.08886 -0.0582858 0.136194 -0.0241747 0.106169] errNorm=3.19108e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.392198 0.916434, |slipV|=0.996831 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.429923 1.8881, |slipV|=1.93643 -86: ------------------------------ -86: -86: dynamics impulse=~[-1.48142 -1.08886 -0.0582858 0.136194 -0.0241747 0.106169] -86: updated verrStart=~[5.55112e-17 5.55112e-17 -0.399156 0.932678 -0.437222 1.91315] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.317762 0.561886 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.278752 0.109995 -0.0156095 0.316352 -0.00797128 0.120674] -86: [0.109995 0.2359 -0.00127603 0.12262 -0.0068932 0.266511] -86: [-0.0156095 -0.00127603 0.0479155 0.0212978 0.0502241 -0.038255] -86: [0.316352 0.12262 0.0212978 0.422989 0.0331865 0.117988] -86: [-0.00797128 -0.0068932 0.0502241 0.0331865 0.0533621 -0.0476466] -86: [0.120674 0.266511 -0.038255 0.117988 -0.0476466 0.358971] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.393257 rank=2 -86: rhs=~[0.317762 0.561886 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.245175 2.26756] -86: -> pi=~[0.245175 2.26756 0 0 0 0] -86: resid active=~[0 0] -86: resid=~[0 0 -0.00672054 0.35561 -0.0175851 0.633916] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-1.06685e-16 -1.34441e-16 -0.399156 0.932678 -0.437222 1.91315] -86: perr=~[0.000317762 0.000561886 -1.11022e-16] -86: END OF STEP (0.133,0.134): -86: verr=~[-0.0011959 0.0011959 -0.398675 0.932699 -0.437703 1.91313] -86: perr=~[0.000317164 0.000562484 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.01433 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.96256 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.0011959 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.0011959 0.0011959 -0.398675 0.932699 -0.437703 1.91313] -86: IMP t=0.134 verr=~[-0.0011959 0.0011959 -0.398675 0.932699 -0.437703 1.91313] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.0011959 0.0011959 -0.398675 0.932699 -0.437703 1.91313] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.398675,0.932699, mag=1.01433 -86: Participating contact 1 is Sliding; vel=-0.437703,1.91313, mag=1.96256 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.398675,0.932699, mag=1.01433 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.437703,1.91313, mag=1.96256 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.0011959; guess pi=-0.01 -86: DBG: active normal 3 has v=0.0011959; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.0011959 0.0011959 -0.398675 0.932699 -0.437703 1.91313] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.0011959 -0.398675 0.932699 0.0011959 -0.437703 1.91313] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.22894e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00113498... -86: > NEWTON iter 1: errNorm=0.00113498(v) -> deltaNorm=0.00216788(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000503969 0.000398675 -0.000932699 7.29816e-05 0 0] -86: > deltaPi=~[-0.00143281 0.000336729 -0.000787776 0.00138304 1.14895e-09 -5.02188e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00113498. -86: > piNow=~[-0.00856719 -0.000336729 0.000787776 0.00861696 -1.14895e-09 5.02188e-09] -86: > errNow=~[4.33681e-19 -2.12774e-09 4.97783e-09 0 -2.25489e-09 9.85573e-09] normNow=1.14685e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.01046e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.11094e-05 -86: > NEWTON iter 2: errNorm=1.14685e-08(v) -> deltaNorm=1.15506e-08(pi) -86: > piActive=~[-0.00856719 -0.000336729 0.000787776 0.00861696 -1.14895e-09 5.02188e-09] -86: > errActive=~[4.33681e-19 -2.12774e-09 4.97783e-09 0 -2.25489e-09 9.85573e-09] -86: > deltaPi=~[-6.32623e-09 -2.34631e-09 5.48918e-09 -5.58739e-09 -1.14896e-09 5.02191e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.14685e-08. -86: > piNow=~[-0.00856719 -0.000336726 0.000787771 0.00861697 6.25104e-15 -2.73222e-14] -86: > errNow=~[-6.50521e-19 -1.27991e-14 2.99435e-14 -2.1684e-19 1.2268e-14 -5.36214e-14] normNow=6.39233e-14 -86: DBG: Improvement rate now/prev at iter 2 is 5.57383e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.39233e-14. -86: DBG: Worst offender is normal contact 1 err=0.00861697 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.398675,0.932699, mag=1.01433 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.437703,1.91313, mag=1.96256 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.0011959; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.0011959 0.0011959 -0.398675 0.932699 -0.437703 1.91313] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.0011959 -0.398675 0.932699] -86: : pi was=~[-0.00856719 0 -0.000336726 0.000787771 6.25104e-15 -2.73222e-14] -86: : piActive=~[-0.01 -0.000336726 0.000787771] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.77826e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00136133... -86: > NEWTON iter 1: errNorm=0.00136133(v) -> deltaNorm=0.00524316(pi) -86: > piActive=~[-0.01 -0.000336726 0.000787771] -86: > errActive=~[-0.00135355 5.71226e-05 -0.000133638] -86: > deltaPi=~[-0.00522939 -0.000149214 0.000349086] -86: DBG: Line search iter 1: back=1, prevNorm=0.00136133. -86: > piNow=~[-0.00477061 -0.000187512 0.000438685] -86: > errNow=~[8.67362e-19 -7.76572e-09 1.81679e-08] normNow=1.9758e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.45137e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.65951e-05 -86: > NEWTON iter 2: errNorm=1.9758e-08(v) -> deltaNorm=3.17701e-08(pi) -86: > piActive=~[-0.00477061 -0.000187512 0.000438685] -86: > errActive=~[8.67362e-19 -7.76572e-09 1.81679e-08] -86: > deltaPi=~[-2.31197e-08 -8.56455e-09 2.00367e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.9758e-08. -86: > piNow=~[-0.00477058 -0.000187504 0.000438665] -86: > errNow=~[0 -1.508e-13 3.52795e-13] normNow=3.83673e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.94186e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.83673e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.398675,0.932699] to ~[-0.398751,0.934029] -86: DBG: Friction 0 rotated 0.0255469 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00477058 -0.000187504 0.000438665] -86: : m_verrLeft=~[0 0.00166879 -0.398751 0.934029 -0.437747 1.91364] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00477058 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00166879 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00477058 0 -0.000187504 0.000438665 0 0] errNorm=3.83673e-13 -86: Postcompression verr=~[0 0.00166879 -0.398751 0.934029 -0.437747 1.91364] -86: impulse=~[-0.00477058 0 -0.000187504 0.000438665 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -94: Free: Passed -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00477058 0 -0.000187504 0.000438665 0 0]-> du ~[-0.000790768 0.00168776 -0.000813738 -0.000923496 -5.98662e-05 0.000834395 -0.00323801 0.001933] -86: Now verr0=~[4.77049e-18 0.00166879 -0.398751 0.934029 -0.437747 1.91364] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[4.77049e-18 0.00166879 -0.398751 0.934029 -0.437747 1.91364] -86: verrExt=~[-0.45492 -0.360795 0.0128697 -0.490213 0.00798082 -0.367979] -86: total verr=~[-0.45492 -0.359127 -0.385881 0.443816 -0.429766 1.54566] -86: DYN t=0.134: verrStart=~[4.77049e-18 0.00166879 -0.398751 0.934029 -0.437747 1.91364] -86: verrApplied=~[-0.45492 -0.360795 0.0128697 -0.490213 0.00798082 -0.367979] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[4.77049e-18 0.00166879 -0.398751 0.934029 -0.437747 1.91364] -86: verrApplied=~[-0.45492 -0.360795 0.0128697 -0.490213 0.00798082 -0.367979] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.398751,0.934029, mag=1.01558 -86: Participating contact 1 is Sliding; vel=-0.437747,1.91364, mag=1.96307 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.398751,0.934029, mag=1.01558 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.437747,1.91364, mag=1.96307 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.45492; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.359127; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[4.77049e-18 0.00166879 -0.398751 0.934029 -0.437747 1.91364] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.45492 -0.360795 0.0128697 -0.490213 0.00798082 -0.367979] -86: : rhsActive=~[-0.45492 -0.385881 0.443816 -0.359127 -0.429766 1.54566] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.23278e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.574371... -86: > NEWTON iter 1: errNorm=0.574371(v) -> deltaNorm=1.74393(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.451011 0.000398751 -0.000934029 0.355649 0.000437747 -0.00191364] -86: > deltaPi=~[1.39571 0.0551906 -0.129278 1.03087 0.0232096 -0.101463] -86: DBG: Line search iter 1: back=1, prevNorm=0.574371. -86: > piNow=~[-1.40571 -0.0551906 0.129278 -1.04087 -0.0232096 0.101463] -86: > errNow=~[-2.22045e-16 2.07304e-06 -4.85587e-06 -2.22045e-16 1.68089e-06 -7.34814e-06] normNow=9.20313e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.6023e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.82745e-10 -86: > NEWTON iter 2: errNorm=9.20313e-06(v) -> deltaNorm=1.05878e-05(pi) -86: > piActive=~[-1.40571 -0.0551906 0.129278 -1.04087 -0.0232096 0.101463] -86: > errActive=~[-2.22045e-16 2.07304e-06 -4.85587e-06 -2.22045e-16 1.68089e-06 -7.34814e-06] -86: > deltaPi=~[6.17218e-06 2.28357e-06 -5.34901e-06 4.65245e-06 9.60001e-07 -4.19672e-06] -86: DBG: Line search iter 1: back=1, prevNorm=9.20313e-06. -86: > piNow=~[-1.40572 -0.0551929 0.129283 -1.04088 -0.0232106 0.101467] -86: > errNow=~[5.55112e-17 4.71845e-16 -1.08247e-15 0 7.00828e-16 -3.05311e-15] normNow=3.34815e-15 -86: DBG: Improvement rate now/prev at iter 2 is 3.63806e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.34815e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.398751,0.934029] to ~[-0.404783,0.952169] -86: DBG: Friction 0 rotated 0.0872051 deg, less than max 30 -86: slipVel 1 from ~[-0.437747,1.91364] to ~[-0.444041,1.93838] -86: DBG: Friction 1 rotated 0.0178381 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.40572 -0.0551929 0.129283 -1.04088 -0.0232106 0.101467] -86: : m_verrLeft=~[-5.55112e-17 0 -0.404783 0.952169 -0.444041 1.93838] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.40572 verr=-5.55112e-17 pi*v=7.80329e-17 -86: DBG: 1: pi=-1.04088 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-1.40572 -1.04088 -0.0551929 0.129283 -0.0232106 0.101467] errNorm=3.34815e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.398751 0.934029, |slipV|=1.01558 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.437747 1.91364, |slipV|=1.96307 -86: ------------------------------ -86: -86: dynamics impulse=~[-1.40572 -1.04088 -0.0551929 0.129283 -0.0232106 0.101467] -86: updated verrStart=~[-5.55112e-17 0 -0.404783 0.952169 -0.444041 1.93838] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.317164 0.562484 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.280437 0.11045 -0.0159233 0.31678 -0.00807301 0.120618] -86: [0.11045 0.237338 -0.00144434 0.122528 -0.00722413 0.266942] -86: [-0.0159233 -0.00144434 0.0478355 0.0208645 0.0501839 -0.0382186] -86: [0.31678 0.122528 0.0208645 0.421471 0.0330152 0.117427] -86: [-0.00807301 -0.00722413 0.0501839 0.0330152 0.0534013 -0.0478175] -86: [0.120618 0.266942 -0.0382186 0.117427 -0.0478175 0.357662] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.394042 rank=2 -86: rhs=~[0.317164 0.562484 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.24189 2.2574] -86: -> pi=~[0.24189 2.2574 0 0 0 0] -86: resid active=~[-1.66533e-16 0] -86: resid=~[-1.66533e-16 0 -0.00711213 0.353222 -0.0182606 0.631773] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[2.1066e-16 1.96783e-16 -0.404783 0.952169 -0.444041 1.93838] -86: perr=~[0.000317164 0.000562484 0] -86: END OF STEP (0.134,0.135): -86: verr=~[-0.00122467 0.00122467 -0.404296 0.95219 -0.444528 1.93836] -86: perr=~[0.000316552 0.000563097 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.03447 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=1.98868 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00122467 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00122467 0.00122467 -0.404296 0.95219 -0.444528 1.93836] -86: IMP t=0.135 verr=~[-0.00122467 0.00122467 -0.404296 0.95219 -0.444528 1.93836] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00122467 0.00122467 -0.404296 0.95219 -0.444528 1.93836] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.404296,0.95219, mag=1.03447 -86: Participating contact 1 is Sliding; vel=-0.444528,1.93836, mag=1.98868 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.404296,0.95219, mag=1.03447 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.444528,1.93836, mag=1.98868 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00122467; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00122467; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00122467 0.00122467 -0.404296 0.95219 -0.444528 1.93836] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00122467 -0.404296 0.95219 0.00122467 -0.444528 1.93836] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.34984e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00114501... -86: > NEWTON iter 1: errNorm=0.00114501(v) -> deltaNorm=0.00199642(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000487814 0.000404296 -0.00095219 5.43471e-05 0 0] -86: > deltaPi=~[-0.00129734 0.000340124 -0.000801054 0.00124307 1.035e-09 -4.51311e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00114501. -86: > piNow=~[-0.00870266 -0.000340124 0.000801054 0.00875693 -1.035e-09 4.51311e-09] -86: > errNow=~[8.67362e-19 -1.95373e-09 4.60139e-09 0 -2.05828e-09 8.97513e-09] normNow=1.04776e-08 -86: DBG: Improvement rate now/prev at iter 1 is 9.15067e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.09174e-05 -86: > NEWTON iter 2: errNorm=1.04776e-08(v) -> deltaNorm=1.04012e-08(pi) -86: > piActive=~[-0.00870266 -0.000340124 0.000801054 0.00875693 -1.035e-09 4.51311e-09] -86: > errActive=~[8.67362e-19 -1.95373e-09 4.60139e-09 0 -2.05828e-09 8.97513e-09] -86: > deltaPi=~[-5.70555e-09 -2.11161e-09 4.97323e-09 -4.99991e-09 -1.03501e-09 4.51314e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.04776e-08. -86: > piNow=~[-0.00870265 -0.000340122 0.000801049 0.00875694 5.42862e-15 -2.36715e-14] -86: > errNow=~[-8.67362e-19 -1.13445e-14 2.67185e-14 -4.33681e-19 1.07958e-14 -4.70749e-14] normNow=5.63487e-14 -86: DBG: Improvement rate now/prev at iter 2 is 5.37803e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.63487e-14. -86: DBG: Worst offender is normal contact 1 err=0.00875694 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.404296,0.95219, mag=1.03447 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.444528,1.93836, mag=1.98868 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00122467; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00122467 0.00122467 -0.404296 0.95219 -0.444528 1.93836] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00122467 -0.404296 0.95219] -86: : pi was=~[-0.00870265 0 -0.000340122 0.000801049 5.42862e-15 -2.36715e-14] -86: : piActive=~[-0.01 -0.000340122 0.000801049] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.85326e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00134401... -86: > NEWTON iter 1: errNorm=0.00134401(v) -> deltaNorm=0.00516083(pi) -86: > piActive=~[-0.01 -0.000340122 0.000801049] -86: > errActive=~[-0.0013373 5.24512e-05 -0.000123532] -86: > deltaPi=~[-0.00514646 -0.000150426 0.00035428] -86: DBG: Line search iter 1: back=1, prevNorm=0.00134401. -86: > piNow=~[-0.00485354 -0.000189696 0.000446769] -86: > errNow=~[-2.1684e-19 -7.75032e-09 1.82534e-08] normNow=1.98306e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.47548e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.63513e-05 -86: > NEWTON iter 2: errNorm=1.98306e-08(v) -> deltaNorm=3.11958e-08(pi) -86: > piActive=~[-0.00485354 -0.000189696 0.000446769] -86: > errActive=~[-2.1684e-19 -7.75032e-09 1.82534e-08] -86: > deltaPi=~[-2.26644e-08 -8.37773e-09 1.97311e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.98306e-08. -86: > piNow=~[-0.00485352 -0.000189688 0.000446749] -86: > errNow=~[2.1684e-19 -1.44837e-13 3.41118e-13] normNow=3.70593e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.86879e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.70593e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.404296,0.95219] to ~[-0.404375,0.953546] -86: DBG: Friction 0 rotated 0.0252962 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00485352 -0.000189688 0.000446749] -86: : m_verrLeft=~[-2.1684e-19 0.00170797 -0.404375 0.953546 -0.444572 1.93889] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00485352 verr=-2.1684e-19 pi*v=1.05244e-21 -86: DBG: 1: pi=0 verr=0.00170797 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00485352 0 -0.000189688 0.000446749 0 0] errNorm=3.70593e-13 -86: Postcompression verr=~[-2.1684e-19 0.00170797 -0.404375 0.953546 -0.444572 1.93889] -86: impulse=~[-0.00485352 0 -0.000189688 0.000446749 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00485352 0 -0.000189688 0.000446749 0 0]-> du ~[-0.000812235 0.00172209 -0.00083044 -0.000940772 -6.18717e-05 0.000853987 -0.00330588 0.00197244] -86: Now verr0=~[-1.50704e-17 0.00170797 -0.404375 0.953546 -0.444572 1.93889] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-1.50704e-17 0.00170797 -0.404375 0.953546 -0.444572 1.93889] -86: verrExt=~[-0.433745 -0.345184 0.0132885 -0.46239 0.00866179 -0.349513] -86: total verr=~[-0.433745 -0.343476 -0.391086 0.491156 -0.435911 1.58937] -86: DYN t=0.135: verrStart=~[-1.50704e-17 0.00170797 -0.404375 0.953546 -0.444572 1.93889] -86: verrApplied=~[-0.433745 -0.345184 0.0132885 -0.46239 0.00866179 -0.349513] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-1.50704e-17 0.00170797 -0.404375 0.953546 -0.444572 1.93889] -86: verrApplied=~[-0.433745 -0.345184 0.0132885 -0.46239 0.00866179 -0.349513] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.404375,0.953546, mag=1.03575 -86: Participating contact 1 is Sliding; vel=-0.444572,1.93889, mag=1.9892 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.404375,0.953546, mag=1.03575 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.444572,1.93889, mag=1.9892 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.433745; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.343476; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-1.50704e-17 0.00170797 -0.404375 0.953546 -0.444572 1.93889] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.433745 -0.345184 0.0132885 -0.46239 0.00866179 -0.349513] -86: : rhsActive=~[-0.433745 -0.391086 0.491156 -0.343476 -0.435911 1.58937] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.35376e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.548024... -86: > NEWTON iter 1: errNorm=0.548024(v) -> deltaNorm=1.65374(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.429814 0.000404375 -0.000953546 0.339979 0.000444572 -0.00193889] -86: > deltaPi=~[1.3195 0.0519043 -0.122394 0.982976 0.0221915 -0.0967823] -86: DBG: Line search iter 1: back=1, prevNorm=0.548024. -86: > piNow=~[-1.3295 -0.0519043 0.122394 -0.992976 -0.0221915 0.0967823] -86: > errNow=~[-1.11022e-16 1.98749e-06 -4.68664e-06 -1.11022e-16 1.62778e-06 -7.09915e-06] normNow=8.88608e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.62148e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.8353e-10 -86: > NEWTON iter 2: errNorm=8.88608e-06(v) -> deltaNorm=1.0016e-05(pi) -86: > piActive=~[-1.3295 -0.0519043 0.122394 -0.992976 -0.0221915 0.0967823] -86: > errActive=~[-1.11022e-16 1.98749e-06 -4.68664e-06 -1.11022e-16 1.62778e-06 -7.09915e-06] -86: > deltaPi=~[5.81138e-06 2.14578e-06 -5.05992e-06 4.41641e-06 9.17015e-07 -3.99932e-06] -86: DBG: Line search iter 1: back=1, prevNorm=8.88608e-06. -86: > piNow=~[-1.3295 -0.0519064 0.122399 -0.99298 -0.0221924 0.0967863] -86: > errNow=~[0 4.996e-16 -1.13798e-15 0 7.42462e-16 -3.2474e-15] normNow=3.55548e-15 -86: DBG: Improvement rate now/prev at iter 2 is 4.00118e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.55548e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.404375,0.953546] to ~[-0.409495,0.973541] -86: DBG: Friction 0 rotated 0.167759 deg, less than max 30 -86: slipVel 1 from ~[-0.444572,1.93889] to ~[-0.449874,1.96332] -86: DBG: Friction 1 rotated 0.00837824 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.3295 -0.0519064 0.122399 -0.99298 -0.0221924 0.0967863] -86: : m_verrLeft=~[0 0 -0.409495 0.973541 -0.449874 1.96332] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.3295 verr=0 pi*v=-0 -86: DBG: 1: pi=-0.99298 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-1.3295 -0.99298 -0.0519064 0.122399 -0.0221924 0.0967863] errNorm=3.55548e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.404375 0.953546, |slipV|=1.03575 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.444572 1.93889, |slipV|=1.9892 -86: ------------------------------ -86: -86: dynamics impulse=~[-1.3295 -0.99298 -0.0519064 0.122399 -0.0221924 0.0967863] -86: updated verrStart=~[0 0 -0.409495 0.973541 -0.449874 1.96332] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.316552 0.563097 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.282159 0.110911 -0.0162416 0.31721 -0.00817688 0.120558] -86: [0.110911 0.238812 -0.00161327 0.122431 -0.00755819 0.267383] -86: [-0.0162416 -0.00161327 0.0477548 0.0204285 0.0501421 -0.0381785] -86: [0.31721 0.122431 0.0204285 0.419924 0.0328403 0.116857] -86: [-0.00817688 -0.00755819 0.0501421 0.0328403 0.0534392 -0.0479844] -86: [0.120558 0.267383 -0.0381785 0.116857 -0.0479844 0.356338] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.394858 rank=2 -86: rhs=~[0.316552 0.563097 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.238611 2.24709] -86: -> pi=~[0.238611 2.24709 0 0 0 0] -86: resid active=~[0 0] -86: resid=~[0 0 -0.00750058 0.350804 -0.018935 0.6296] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[8.21825e-17 8.21825e-17 -0.409495 0.973541 -0.449874 1.96332] -86: perr=~[0.000316552 0.000563097 0] -86: END OF STEP (0.135,0.136): -86: verr=~[-0.00125195 0.00125195 -0.409005 0.973563 -0.450364 1.9633] -86: perr=~[0.000315926 0.000563723 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.05599 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.01429 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00125195 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00125195 0.00125195 -0.409005 0.973563 -0.450364 1.9633] -86: IMP t=0.136 verr=~[-0.00125195 0.00125195 -0.409005 0.973563 -0.450364 1.9633] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00125195 0.00125195 -0.409005 0.973563 -0.450364 1.9633] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.409005,0.973563, mag=1.05599 -86: Participating contact 1 is Sliding; vel=-0.450364,1.9633, mag=2.01429 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.409005,0.973563, mag=1.05599 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.450364,1.9633, mag=2.01429 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00125195; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00125195; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00125195 0.00125195 -0.409005 0.973563 -0.450364 1.9633] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00125195 -0.409005 0.973563 0.00125195 -0.450364 1.9633] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.47152e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00115787... -86: > NEWTON iter 1: errNorm=0.00115787(v) -> deltaNorm=0.0018467(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.00047345 0.000409005 -0.000973563 3.74836e-05 0 0] -86: > deltaPi=~[-0.00117586 0.000341778 -0.000813542 0.00111758 9.30748e-10 -4.05747e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00115787. -86: > piNow=~[-0.00882414 -0.000341778 0.000813542 0.00888242 -9.30748e-10 4.05747e-09] -86: > errNow=~[-2.1684e-19 -1.79141e-09 4.26413e-09 -4.33681e-19 -1.8748e-09 8.17294e-09] normNow=9.57621e-09 -86: DBG: Improvement rate now/prev at iter 1 is 8.27052e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.07679e-05 -86: > NEWTON iter 2: errNorm=9.57621e-09(v) -> deltaNorm=9.3744e-09(pi) -86: > piActive=~[-0.00882414 -0.000341778 0.000813542 0.00888242 -9.30748e-10 4.05747e-09] -86: > errActive=~[-2.1684e-19 -1.79141e-09 4.26413e-09 -4.33681e-19 -1.8748e-09 8.17294e-09] -86: > deltaPi=~[-5.15323e-09 -1.89602e-09 4.51313e-09 -4.47558e-09 -9.30753e-10 4.05749e-09] -86: DBG: Line search iter 1: back=1, prevNorm=9.57621e-09. -86: > piNow=~[-0.00882414 -0.000341776 0.000813537 0.00888242 4.72418e-15 -2.05944e-14] -86: > errNow=~[2.1684e-19 -1.00823e-14 2.39991e-14 -2.1684e-19 9.51589e-15 -4.14832e-14] normNow=4.98901e-14 -86: DBG: Improvement rate now/prev at iter 2 is 5.2098e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.98901e-14. -86: DBG: Worst offender is normal contact 1 err=0.00888242 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.409005,0.973563, mag=1.05599 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.450364,1.9633, mag=2.01429 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00125195; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00125195 0.00125195 -0.409005 0.973563 -0.450364 1.9633] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00125195 -0.409005 0.973563] -86: : pi was=~[-0.00882414 0 -0.000341776 0.000813537 4.72418e-15 -2.05944e-14] -86: : piActive=~[-0.01 -0.000341776 0.000813537] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.93342e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00132897... -86: > NEWTON iter 1: errNorm=0.00132897(v) -> deltaNorm=0.00508582(pi) -86: > piActive=~[-0.01 -0.000341776 0.000813537] -86: > errActive=~[-0.00132316 4.80934e-05 -0.000114478] -86: > deltaPi=~[-0.00507089 -0.000150855 0.000359083] -86: DBG: Line search iter 1: back=1, prevNorm=0.00132897. -86: > piNow=~[-0.00492911 -0.000190922 0.000454455] -86: > errNow=~[-6.50521e-19 -7.72545e-09 1.83891e-08] normNow=1.99459e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.50085e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.61838e-05 -86: > NEWTON iter 2: errNorm=1.99459e-08(v) -> deltaNorm=3.06766e-08(pi) -86: > piActive=~[-0.00492911 -0.000190922 0.000454455] -86: > errActive=~[-6.50521e-19 -7.72545e-09 1.83891e-08] -86: > deltaPi=~[-2.22547e-08 -8.17769e-09 1.94655e-08] -86: DBG: Line search iter 1: back=1, prevNorm=1.99459e-08. -86: > piNow=~[-0.00492909 -0.000190913 0.000454435] -86: > errNow=~[-2.1684e-19 -1.395e-13 3.32054e-13] normNow=3.60166e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.80571e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.60166e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.409005,0.973563] to ~[-0.409086,0.974942] -86: DBG: Friction 0 rotated 0.0248744 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00492909 -0.000190913 0.000454435] -86: : m_verrLeft=~[2.1684e-19 0.00174501 -0.409086 0.974942 -0.45041 1.96384] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00492909 verr=2.1684e-19 pi*v=-1.06883e-21 -86: DBG: 1: pi=0 verr=0.00174501 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00492909 0 -0.000190913 0.000454435 0 0] errNorm=3.60166e-13 -86: Postcompression verr=~[2.1684e-19 0.00174501 -0.409086 0.974942 -0.45041 1.96384] -86: impulse=~[-0.00492909 0 -0.000190913 0.000454435 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00492909 0 -0.000190913 0.000454435 0 0]-> du ~[-0.000832843 0.00175396 -0.000845884 -0.000956602 -6.38631e-05 0.000872507 -0.00336914 0.00200915] -86: Now verr0=~[6.50521e-19 0.00174501 -0.409086 0.974942 -0.45041 1.96384] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[6.50521e-19 0.00174501 -0.409086 0.974942 -0.45041 1.96384] -86: verrExt=~[-0.412157 -0.3293 0.0136211 -0.434342 0.00927634 -0.330861] -86: total verr=~[-0.412157 -0.327555 -0.395465 0.5406 -0.441134 1.63297] -86: DYN t=0.136: verrStart=~[6.50521e-19 0.00174501 -0.409086 0.974942 -0.45041 1.96384] -86: verrApplied=~[-0.412157 -0.3293 0.0136211 -0.434342 0.00927634 -0.330861] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[6.50521e-19 0.00174501 -0.409086 0.974942 -0.45041 1.96384] -86: verrApplied=~[-0.412157 -0.3293 0.0136211 -0.434342 0.00927634 -0.330861] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.409086,0.974942, mag=1.05729 -86: Participating contact 1 is Sliding; vel=-0.45041,1.96384, mag=2.01482 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.409086,0.974942, mag=1.05729 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.45041,1.96384, mag=2.01482 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.412157; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.327555; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[6.50521e-19 0.00174501 -0.409086 0.974942 -0.45041 1.96384] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.412157 -0.3293 0.0136211 -0.434342 0.00927634 -0.330861] -86: : rhsActive=~[-0.412157 -0.395465 0.5406 -0.327555 -0.441134 1.63297] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.47553e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.521188... -86: > NEWTON iter 1: errNorm=0.521188(v) -> deltaNorm=1.56304(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.408204 0.000409086 -0.000974942 0.324038 0.00045041 -0.00196384] -86: > deltaPi=~[1.24278 0.0484706 -0.115516 0.934865 0.0211215 -0.092092] -86: DBG: Line search iter 1: back=1, prevNorm=0.521188. -86: > piNow=~[-1.25278 -0.0484706 0.115516 -0.944865 -0.0211215 0.092092] -86: > errNow=~[1.11022e-16 1.89374e-06 -4.51319e-06 5.55112e-17 1.56844e-06 -6.83858e-06] normNow=8.55461e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.64137e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.83145e-10 -86: > NEWTON iter 2: errNorm=8.55461e-06(v) -> deltaNorm=9.44547e-06(pi) -86: > piActive=~[-1.25278 -0.0484706 0.115516 -0.944865 -0.0211215 0.092092] -86: > errActive=~[1.11022e-16 1.89374e-06 -4.51319e-06 5.55112e-17 1.56844e-06 -6.83858e-06] -86: > deltaPi=~[5.45349e-06 2.00213e-06 -4.77151e-06 4.18175e-06 8.71934e-07 -3.80172e-06] -86: DBG: Line search iter 1: back=1, prevNorm=8.55461e-06. -86: > piNow=~[-1.25278 -0.0484726 0.115521 -0.94487 -0.0211224 0.0920958] -86: > errNow=~[0 5.34295e-16 -1.26288e-15 -5.55112e-17 7.77156e-16 -3.38618e-15] normNow=3.73545e-15 -86: DBG: Improvement rate now/prev at iter 2 is 4.3666e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.73545e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.409086,0.974942] to ~[-0.413328,0.996744] -86: DBG: Friction 0 rotated 0.240248 deg, less than max 30 -86: slipVel 1 from ~[-0.45041,1.96384] to ~[-0.45475,1.988] -86: DBG: Friction 1 rotated 0.0329387 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.25278 -0.0484726 0.115521 -0.94487 -0.0211224 0.0920958] -86: : m_verrLeft=~[0 5.55112e-17 -0.413328 0.996744 -0.45475 1.988] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.25278 verr=0 pi*v=-0 -86: DBG: 1: pi=-0.94487 verr=5.55112e-17 pi*v=-5.24508e-17 -86: SP FINAL 1 intervals, piTotal=~[-1.25278 -0.94487 -0.0484726 0.115521 -0.0211224 0.0920958] errNorm=3.73545e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.409086 0.974942, |slipV|=1.05729 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.45041 1.96384, |slipV|=2.01482 -86: ------------------------------ -86: -86: dynamics impulse=~[-1.25278 -0.94487 -0.0484726 0.115521 -0.0211224 0.0920958] -86: updated verrStart=~[0 5.55112e-17 -0.413328 0.996744 -0.45475 1.988] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.315926 0.563723 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.283919 0.111379 -0.0165631 0.317642 -0.00828206 0.120495] -86: [0.111379 0.240322 -0.00178266 0.12233 -0.00789481 0.267831] -86: [-0.0165631 -0.00178266 0.047674 0.0199919 0.0500993 -0.0381352] -86: [0.317642 0.12233 0.0199919 0.418346 0.032663 0.116278] -86: [-0.00828206 -0.00789481 0.0500993 0.032663 0.0534761 -0.0481471] -86: [0.120495 0.267831 -0.0381352 0.116278 -0.0481471 0.354993] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.395697 rank=2 -86: rhs=~[0.315926 0.563723 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.235324 2.23664] -86: -> pi=~[0.235324 2.23664 0 0 0 0] -86: resid active=~[-1.11022e-16 0] -86: resid=~[-1.11022e-16 0 -0.00788488 0.348355 -0.0196068 0.627396] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-7.54605e-17 4.94396e-17 -0.413328 0.996744 -0.45475 1.988] -86: perr=~[0.000315926 0.000563723 0] -86: END OF STEP (0.136,0.137): -86: verr=~[-0.00127771 0.00127771 -0.412836 0.996767 -0.455242 1.98798] -86: perr=~[0.000315287 0.000564361 -1.11022e-16] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.07888 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.03944 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00127771 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00127771 0.00127771 -0.412836 0.996767 -0.455242 1.98798] -86: IMP t=0.137 verr=~[-0.00127771 0.00127771 -0.412836 0.996767 -0.455242 1.98798] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00127771 0.00127771 -0.412836 0.996767 -0.455242 1.98798] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.412836,0.996767, mag=1.07888 -86: Participating contact 1 is Sliding; vel=-0.455242,1.98798, mag=2.03944 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.412836,0.996767, mag=1.07888 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.455242,1.98798, mag=2.03944 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00127771; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00127771; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00127771 0.00127771 -0.412836 0.996767 -0.455242 1.98798] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00127771 -0.412836 0.996767 0.00127771 -0.455242 1.98798] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.59412e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00117341... -86: > NEWTON iter 1: errNorm=0.00117341(v) -> deltaNorm=0.00171809(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000460894 0.000412836 -0.000996767 2.23988e-05 0 0] -86: > deltaPi=~[-0.00106827 0.000341777 -0.000825199 0.00100641 8.36798e-10 -3.65418e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00117341. -86: > piNow=~[-0.00893173 -0.000341777 0.000825199 0.00899359 -8.36798e-10 3.65418e-09] -86: > errNow=~[0 -1.64274e-09 3.9663e-09 4.33681e-19 -1.7066e-09 7.45247e-09] normNow=8.76824e-09 -86: DBG: Improvement rate now/prev at iter 1 is 7.47241e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.06573e-05 -86: > NEWTON iter 2: errNorm=8.76824e-09(v) -> deltaNorm=8.46777e-09(pi) -86: > piActive=~[-0.00893173 -0.000341777 0.000825199 0.00899359 -8.36798e-10 3.65418e-09] -86: > errActive=~[0 -1.64274e-09 3.9663e-09 4.33681e-19 -1.7066e-09 7.45247e-09] -86: > deltaPi=~[-4.66705e-09 -1.70122e-09 4.10749e-09 -4.01284e-09 -8.36802e-10 3.6542e-09] -86: DBG: Line search iter 1: back=1, prevNorm=8.76824e-09. -86: > piNow=~[-0.00893173 -0.000341775 0.000825195 0.00899359 4.12495e-15 -1.80131e-14] -86: > errNow=~[-4.33681e-19 -8.99595e-15 2.172e-14 -6.50521e-19 8.41257e-15 -3.67366e-14] normNow=4.44188e-14 -86: DBG: Improvement rate now/prev at iter 2 is 5.06588e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.44188e-14. -86: DBG: Worst offender is normal contact 1 err=0.00899359 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.412836,0.996767, mag=1.07888 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.455242,1.98798, mag=2.03944 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00127771; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00127771 0.00127771 -0.412836 0.996767 -0.455242 1.98798] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00127771 -0.412836 0.996767] -86: : pi was=~[-0.00893173 0 -0.000341775 0.000825195 4.12495e-15 -1.80131e-14] -86: : piActive=~[-0.01 -0.000341775 0.000825195] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.01868e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00131625... -86: > NEWTON iter 1: errNorm=0.00131625(v) -> deltaNorm=0.00501817(pi) -86: > piActive=~[-0.01 -0.000341775 0.000825195] -86: > errActive=~[-0.0013112 4.41022e-05 -0.000106482] -86: > deltaPi=~[-0.00500273 -0.000150546 0.000363484] -86: DBG: Line search iter 1: back=1, prevNorm=0.00131625. -86: > piNow=~[-0.00499727 -0.000191229 0.000461711] -86: > errNow=~[0 -7.69301e-09 1.85743e-08] normNow=2.01044e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.5274e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.60869e-05 -86: > NEWTON iter 2: errNorm=2.01044e-08(v) -> deltaNorm=3.02106e-08(pi) -86: > piActive=~[-0.00499727 -0.000191229 0.000461711] -86: > errActive=~[0 -7.69301e-09 1.85743e-08] -86: > deltaPi=~[-2.18879e-08 -7.96799e-09 1.92382e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.01044e-08. -86: > piNow=~[-0.00499725 -0.000191221 0.000461692] -86: > errNow=~[0 -1.34736e-13 3.25311e-13] normNow=3.52109e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.7514e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.52109e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.412836,0.996767] to ~[-0.41292,0.998168] -86: DBG: Friction 0 rotated 0.0243001 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00499725 -0.000191221 0.000461692] -86: : m_verrLeft=~[0 0.00177987 -0.41292 0.998168 -0.45529 1.98852] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00499725 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00177987 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00499725 0 -0.000191221 0.000461692 0 0] errNorm=3.52109e-13 -86: Postcompression verr=~[0 0.00177987 -0.41292 0.998168 -0.45529 1.98852] -86: impulse=~[-0.00499725 0 -0.000191221 0.000461692 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00499725 0 -0.000191221 0.000461692 0 0]-> du ~[-0.000852548 0.00178335 -0.000860053 -0.000970973 -6.58283e-05 0.000889935 -0.00342773 0.00204308] -86: Now verr0=~[5.42101e-18 0.00177987 -0.41292 0.998168 -0.45529 1.98852] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[5.42101e-18 0.00177987 -0.41292 0.998168 -0.45529 1.98852] -86: verrExt=~[-0.390165 -0.313112 0.013849 -0.406102 0.0098027 -0.311971] -86: total verr=~[-0.390165 -0.311332 -0.399071 0.592066 -0.445487 1.67655] -86: DYN t=0.137: verrStart=~[5.42101e-18 0.00177987 -0.41292 0.998168 -0.45529 1.98852] -86: verrApplied=~[-0.390165 -0.313112 0.013849 -0.406102 0.0098027 -0.311971] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[5.42101e-18 0.00177987 -0.41292 0.998168 -0.45529 1.98852] -86: verrApplied=~[-0.390165 -0.313112 0.013849 -0.406102 0.0098027 -0.311971] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.41292,0.998168, mag=1.0802 -86: Participating contact 1 is Sliding; vel=-0.45529,1.98852, mag=2.03998 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.41292,0.998168, mag=1.0802 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.45529,1.98852, mag=2.03998 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.390165; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.311332; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[5.42101e-18 0.00177987 -0.41292 0.998168 -0.45529 1.98852] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.390165 -0.313112 0.013849 -0.406102 0.0098027 -0.311971] -86: : rhsActive=~[-0.390165 -0.399071 0.592066 -0.311332 -0.445487 1.67655] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.59821e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.493848... -86: > NEWTON iter 1: errNorm=0.493848(v) -> deltaNorm=1.47183(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.38619 0.00041292 -0.000998168 0.307795 0.00045529 -0.00198852] -86: > deltaPi=~[1.16567 0.0449395 -0.108634 0.88636 0.0200046 -0.0873719] -86: DBG: Line search iter 1: back=1, prevNorm=0.493848. -86: > piNow=~[-1.17567 -0.0449395 0.108634 -0.89636 -0.0200046 0.0873719] -86: > errNow=~[0 1.79289e-06 -4.33401e-06 -5.55112e-17 1.50318e-06 -6.56526e-06] normNow=8.20733e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.66192e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.93489e-10 -86: > NEWTON iter 2: errNorm=8.20733e-06(v) -> deltaNorm=8.87565e-06(pi) -86: > piActive=~[-1.17567 -0.0449395 0.108634 -0.89636 -0.0200046 0.0873719] -86: > errActive=~[0 1.79289e-06 -4.33401e-06 -5.55112e-17 1.50318e-06 -6.56526e-06] -86: > deltaPi=~[5.09818e-06 1.85465e-06 -4.48331e-06 3.94753e-06 8.24961e-07 -3.6031e-06] -86: DBG: Line search iter 1: back=1, prevNorm=8.20733e-06. -86: > piNow=~[-1.17567 -0.0449414 0.108639 -0.896364 -0.0200054 0.0873755] -86: > errNow=~[0 5.68989e-16 -1.38778e-15 0 8.39606e-16 -3.60822e-15] normNow=3.99674e-15 -86: DBG: Improvement rate now/prev at iter 2 is 4.86972e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.99674e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.41292,0.998168] to ~[-0.416331,1.02172] -86: DBG: Friction 0 rotated 0.30389 deg, less than max 30 -86: slipVel 1 from ~[-0.45529,1.98852] to ~[-0.458716,2.01247] -86: DBG: Friction 1 rotated 0.0556376 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.17567 -0.0449414 0.108639 -0.896364 -0.0200054 0.0873755] -86: : m_verrLeft=~[0 0 -0.416331 1.02172 -0.458716 2.01247] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.17567 verr=0 pi*v=-0 -86: DBG: 1: pi=-0.896364 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-1.17567 -0.896364 -0.0449414 0.108639 -0.0200054 0.0873755] errNorm=3.99674e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.41292 0.998168, |slipV|=1.0802 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.45529 1.98852, |slipV|=2.03998 -86: ------------------------------ -86: -86: dynamics impulse=~[-1.17567 -0.896364 -0.0449414 0.108639 -0.0200054 0.0873755] -86: updated verrStart=~[0 0 -0.416331 1.02172 -0.458716 2.01247] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.315287 0.564361 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.285715 0.111855 -0.0168866 0.318073 -0.0083877 0.120429] -86: [0.111855 0.241865 -0.0019524 0.122224 -0.00823341 0.268282] -86: [-0.0168866 -0.0019524 0.0475935 0.019557 0.0500559 -0.0380891] -86: [0.318073 0.122224 0.019557 0.416733 0.032485 0.115688] -86: [-0.0083877 -0.00823341 0.0500559 0.032485 0.0535122 -0.0483052] -86: [0.120429 0.268282 -0.0380891 0.115688 -0.0483052 0.353624] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.396552 rank=2 -86: rhs=~[0.315287 0.564361 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.232018 2.22607] -86: -> pi=~[0.232018 2.22607 0 0 0 0] -86: resid active=~[0 0] -86: resid=~[0 0 -0.00826416 0.345877 -0.0202742 0.625156] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[6.01732e-17 -3.69713e-17 -0.416331 1.02172 -0.458716 2.01247] -86: perr=~[0.000315287 0.000564361 -1.11022e-16] -86: END OF STEP (0.137,0.138): -86: verr=~[-0.00130195 0.00130195 -0.415839 1.02174 -0.459208 2.01245] -86: perr=~[0.000314636 0.000565012 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.10312 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.06417 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00130195 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00130195 0.00130195 -0.415839 1.02174 -0.459208 2.01245] -86: IMP t=0.138 verr=~[-0.00130195 0.00130195 -0.415839 1.02174 -0.459208 2.01245] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00130195 0.00130195 -0.415839 1.02174 -0.459208 2.01245] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.415839,1.02174, mag=1.10312 -86: Participating contact 1 is Sliding; vel=-0.459208,2.01245, mag=2.06417 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.415839,1.02174, mag=1.10312 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.459208,2.01245, mag=2.06417 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00130195; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00130195; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00130195 0.00130195 -0.415839 1.02174 -0.459208 2.01245] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00130195 -0.415839 1.02174 0.00130195 -0.459208 2.01245] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.71787e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00119146... -86: > NEWTON iter 1: errNorm=0.00119146(v) -> deltaNorm=0.00160939(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.00045012 0.000415839 -0.00102174 9.05798e-06 0 0] -86: > deltaPi=~[-0.000974183 0.000340243 -0.000835999 0.000909085 7.53319e-10 -3.30137e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00119146. -86: > piNow=~[-0.00902582 -0.000340243 0.000835999 0.00909092 -7.53319e-10 3.30137e-09] -86: > errNow=~[-4.33681e-19 -1.50896e-09 3.70761e-09 4.33681e-19 -1.55498e-09 6.8146e-09] normNow=8.05481e-09 -86: DBG: Improvement rate now/prev at iter 1 is 6.76047e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.05825e-05 -86: > NEWTON iter 2: errNorm=8.05481e-09(v) -> deltaNorm=7.67648e-09(pi) -86: > piActive=~[-0.00902582 -0.000340243 0.000835999 0.00909092 -7.53319e-10 3.30137e-09] -86: > errActive=~[-4.33681e-19 -1.50896e-09 3.70761e-09 4.33681e-19 -1.55498e-09 6.8146e-09] -86: > deltaPi=~[-4.24379e-09 -1.52787e-09 3.75406e-09 -3.60894e-09 -7.53323e-10 3.30138e-09] -86: DBG: Line search iter 1: back=1, prevNorm=8.05481e-09. -86: > piNow=~[-0.00902581 -0.000340242 0.000835995 0.00909092 3.61851e-15 -1.58579e-14] -86: > errNow=~[0 -8.0688e-15 1.98255e-14 -2.1684e-19 7.46923e-15 -3.27334e-14] normNow=3.98173e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.94329e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.98173e-14. -86: DBG: Worst offender is normal contact 1 err=0.00909092 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.415839,1.02174, mag=1.10312 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.459208,2.01245, mag=2.06417 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00130195; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00130195 0.00130195 -0.415839 1.02174 -0.459208 2.01245] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00130195 -0.415839 1.02174] -86: : pi was=~[-0.00902581 0 -0.000340242 0.000835995 3.61851e-15 -1.58579e-14] -86: : piActive=~[-0.01 -0.000340242 0.000835995] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.10899e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00130583... -86: > NEWTON iter 1: errNorm=0.00130583(v) -> deltaNorm=0.00495777(pi) -86: > piActive=~[-0.01 -0.000340242 0.000835995] -86: > errActive=~[-0.0013014 4.05105e-05 -9.95369e-05] -86: > deltaPi=~[-0.00494187 -0.000149561 0.00036748] -86: DBG: Line search iter 1: back=1, prevNorm=0.00130583. -86: > piNow=~[-0.00505813 -0.000190681 0.000468515] -86: > errNow=~[0 -7.6547e-09 1.88081e-08] normNow=2.03061e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.55503e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.60551e-05 -86: > NEWTON iter 2: errNorm=2.03061e-08(v) -> deltaNorm=2.97949e-08(pi) -86: > piActive=~[-0.00505813 -0.000190681 0.000468515] -86: > errActive=~[0 -7.6547e-09 1.88081e-08] -86: > deltaPi=~[-2.15609e-08 -7.75177e-09 1.90466e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.03061e-08. -86: > piNow=~[-0.00505811 -0.000190673 0.000468496] -86: > errNow=~[0 -1.30491e-13 3.20625e-13] normNow=3.46163e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.70472e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.46163e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.415839,1.02174] to ~[-0.415926,1.02316] -86: DBG: Friction 0 rotated 0.0235947 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00505811 -0.000190673 0.000468496] -86: : m_verrLeft=~[0 0.00181256 -0.415926 1.02316 -0.459257 2.01299] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00505811 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00181256 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00505811 0 -0.000190673 0.000468496 0 0] errNorm=3.46163e-13 -86: Postcompression verr=~[0 0.00181256 -0.415926 1.02316 -0.459257 2.01299] -86: impulse=~[-0.00505811 0 -0.000190673 0.000468496 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00505811 0 -0.000190673 0.000468496 0 0]-> du ~[-0.000871335 0.00181028 -0.000872959 -0.000983909 -6.77558e-05 0.000906281 -0.0034817 0.00207426] -86: Now verr0=~[-3.25261e-19 0.00181256 -0.415926 1.02316 -0.459257 2.01299] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-3.25261e-19 0.00181256 -0.415926 1.02316 -0.459257 2.01299] -86: verrExt=~[-0.367825 -0.29663 0.0139593 -0.377755 0.0102244 -0.292843] -86: total verr=~[-0.367825 -0.294817 -0.401967 0.645408 -0.449032 1.72015] -86: DYN t=0.138: verrStart=~[-3.25261e-19 0.00181256 -0.415926 1.02316 -0.459257 2.01299] -86: verrApplied=~[-0.367825 -0.29663 0.0139593 -0.377755 0.0102244 -0.292843] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-3.25261e-19 0.00181256 -0.415926 1.02316 -0.459257 2.01299] -86: verrApplied=~[-0.367825 -0.29663 0.0139593 -0.377755 0.0102244 -0.292843] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.415926,1.02316, mag=1.10447 -86: Participating contact 1 is Sliding; vel=-0.459257,2.01299, mag=2.06472 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.415926,1.02316, mag=1.10447 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.459257,2.01299, mag=2.06472 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.367825; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.294817; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-3.25261e-19 0.00181256 -0.415926 1.02316 -0.459257 2.01299] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.367825 -0.29663 0.0139593 -0.377755 0.0102244 -0.292843] -86: : rhsActive=~[-0.367825 -0.401967 0.645408 -0.294817 -0.449032 1.72015] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.72203e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.466054... -86: > NEWTON iter 1: errNorm=0.466054(v) -> deltaNorm=1.38028(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.363826 0.000415926 -0.00102316 0.29126 0.000459257 -0.00201299] -86: > deltaPi=~[1.08843 0.0413634 -0.101753 0.837418 0.0188485 -0.0826158] -86: DBG: Line search iter 1: back=1, prevNorm=0.466054. -86: > piNow=~[-1.09843 -0.0413634 0.101753 -0.847418 -0.0188485 0.0826158] -86: > errNow=~[5.55112e-17 1.68627e-06 -4.14816e-06 0 1.43255e-06 -6.27908e-06] normNow=7.84409e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.68309e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.13657e-09 -86: > NEWTON iter 2: errNorm=7.84409e-06(v) -> deltaNorm=8.30702e-06(pi) -86: > piActive=~[-1.09843 -0.0413634 0.101753 -0.847418 -0.0188485 0.0826158] -86: > errActive=~[5.55112e-17 1.68627e-06 -4.14816e-06 0 1.43255e-06 -6.27908e-06] -86: > deltaPi=~[4.74577e-06 1.70548e-06 -4.19543e-06 3.71342e-06 7.7642e-07 -3.40317e-06] -86: DBG: Line search iter 1: back=1, prevNorm=7.84409e-06. -86: > piNow=~[-1.09843 -0.0413651 0.101757 -0.847421 -0.0188492 0.0826192] -86: > errNow=~[0 6.10623e-16 -1.48492e-15 0 8.8124e-16 -3.85803e-15] normNow=4.27069e-15 -86: DBG: Improvement rate now/prev at iter 2 is 5.44447e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.27069e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.415926,1.02316] to ~[-0.418565,1.0484] -86: DBG: Friction 0 rotated 0.358217 deg, less than max 30 -86: slipVel 1 from ~[-0.459257,2.01299] to ~[-0.461832,2.03679] -86: DBG: Friction 1 rotated 0.0763084 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.09843 -0.0413651 0.101757 -0.847421 -0.0188492 0.0826192] -86: : m_verrLeft=~[0 0 -0.418565 1.0484 -0.461832 2.03679] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.09843 verr=0 pi*v=-0 -86: DBG: 1: pi=-0.847421 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-1.09843 -0.847421 -0.0413651 0.101757 -0.0188492 0.0826192] errNorm=4.27069e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.415926 1.02316, |slipV|=1.10447 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.459257 2.01299, |slipV|=2.06472 -86: ------------------------------ -86: -86: dynamics impulse=~[-1.09843 -0.847421 -0.0413651 0.101757 -0.0188492 0.0826192] -86: updated verrStart=~[0 0 -0.418565 1.0484 -0.461832 2.03679] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.314636 0.565012 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.287547 0.11234 -0.0172105 0.318501 -0.00849293 0.12036] -86: [0.11234 0.243441 -0.00212242 0.122114 -0.00857349 0.268732] -86: [-0.0172105 -0.00212242 0.0475137 0.019126 0.0500124 -0.0380405] -86: [0.318501 0.122114 0.019126 0.415083 0.0323076 0.115087] -86: [-0.00849293 -0.00857349 0.0500124 0.0323076 0.053548 -0.0484585] -86: [0.12036 0.268732 -0.0380405 0.115087 -0.0484585 0.352226] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.397416 rank=2 -86: rhs=~[0.314636 0.565012 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.228678 2.21542] -86: -> pi=~[0.228678 2.21542 0 0 0 0] -86: resid active=~[5.55112e-17 0] -86: resid=~[5.55112e-17 0 -0.00863771 0.343368 -0.020936 0.622877] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[2.55872e-17 1.08854e-16 -0.418565 1.0484 -0.461832 2.03679] -86: perr=~[0.000314636 0.000565012 0] -86: END OF STEP (0.138,0.139): -86: verr=~[-0.00132471 0.00132471 -0.418076 1.04842 -0.462321 2.03677] -86: perr=~[0.000313974 0.000565675 -2.22045e-16] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.1287 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.08858 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00132471 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00132471 0.00132471 -0.418076 1.04842 -0.462321 2.03677] -86: IMP t=0.139 verr=~[-0.00132471 0.00132471 -0.418076 1.04842 -0.462321 2.03677] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00132471 0.00132471 -0.418076 1.04842 -0.462321 2.03677] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.418076,1.04842, mag=1.1287 -86: Participating contact 1 is Sliding; vel=-0.462321,2.03677, mag=2.08858 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.418076,1.04842, mag=1.1287 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.462321,2.03677, mag=2.08858 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00132471; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00132471; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00132471 0.00132471 -0.418076 1.04842 -0.462321 2.03677] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00132471 -0.418076 1.04842 0.00132471 -0.462321 2.03677] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.84305e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00121182... -86: > NEWTON iter 1: errNorm=0.00121182(v) -> deltaNorm=0.00151895(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000441068 0.000418076 -0.00104842 -2.60739e-06 0 0] -86: > deltaPi=~[-0.000892978 0.000337329 -0.000845928 0.000824871 6.80129e-10 -2.99632e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00121182. -86: > piNow=~[-0.00910702 -0.000337329 0.000845928 0.00917513 -6.80129e-10 2.99632e-09] -86: > errNow=~[-2.1684e-19 -1.39062e-09 3.48728e-09 -2.1684e-19 -1.4205e-09 6.25804e-09] normNow=7.43478e-09 -86: DBG: Improvement rate now/prev at iter 1 is 6.13519e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.05402e-05 -86: > NEWTON iter 2: errNorm=7.43478e-09(v) -> deltaNorm=6.99398e-09(pi) -86: > piActive=~[-0.00910702 -0.000337329 0.000845928 0.00917513 -6.80129e-10 2.99632e-09] -86: > errActive=~[-2.1684e-19 -1.39062e-09 3.48728e-09 -2.1684e-19 -1.4205e-09 6.25804e-09] -86: > deltaPi=~[-3.87955e-09 -1.37574e-09 3.44998e-09 -3.26025e-09 -6.80132e-10 2.99633e-09] -86: DBG: Line search iter 1: back=1, prevNorm=7.43478e-09. -86: > piNow=~[-0.00910702 -0.000337327 0.000845924 0.00917513 3.19317e-15 -1.40676e-14] -86: > errNow=~[0 -7.28427e-15 1.82669e-14 4.33681e-19 6.66918e-15 -2.93812e-14] normNow=3.59788e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.83925e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.59788e-14. -86: DBG: Worst offender is normal contact 1 err=0.00917513 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.418076,1.04842, mag=1.1287 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.462321,2.03677, mag=2.08858 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00132471; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00132471 0.00132471 -0.418076 1.04842 -0.462321 2.03677] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00132471 -0.418076 1.04842] -86: : pi was=~[-0.00910702 0 -0.000337327 0.000845924 3.19317e-15 -1.40676e-14] -86: : piActive=~[-0.01 -0.000337327 0.000845924] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.20428e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00129766... -86: > NEWTON iter 1: errNorm=0.00129766(v) -> deltaNorm=0.00490435(pi) -86: > piActive=~[-0.01 -0.000337327 0.000845924] -86: > errActive=~[-0.00129374 3.73334e-05 -9.3622e-05] -86: > deltaPi=~[-0.00488806 -0.000147972 0.000371074] -86: DBG: Line search iter 1: back=1, prevNorm=0.00129766. -86: > piNow=~[-0.00511194 -0.000189355 0.00047485] -86: > errNow=~[2.1684e-19 -7.61208e-09 1.9089e-08] normNow=2.05508e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.58368e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.60836e-05 -86: > NEWTON iter 2: errNorm=2.05508e-08(v) -> deltaNorm=2.94259e-08(pi) -86: > piActive=~[-0.00511194 -0.000189355 0.00047485] -86: > errActive=~[2.1684e-19 -7.61208e-09 1.9089e-08] -86: > deltaPi=~[-2.12699e-08 -7.53182e-09 1.88877e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.05508e-08. -86: > piNow=~[-0.00511192 -0.000189348 0.000474832] -86: > errNow=~[0 -1.26714e-13 3.17763e-13] normNow=3.42096e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.66464e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.42096e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.418076,1.04842] to ~[-0.418166,1.04986] -86: DBG: Friction 0 rotated 0.022781 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00511192 -0.000189348 0.000474832] -86: : m_verrLeft=~[0 0.00184316 -0.418166 1.04986 -0.462371 2.03732] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00511192 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00184316 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00511192 0 -0.000189348 0.000474832 0 0] errNorm=3.42096e-13 -86: Postcompression verr=~[0 0.00184316 -0.418166 1.04986 -0.462371 2.03732] -86: impulse=~[-0.00511192 0 -0.000189348 0.000474832 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00511192 0 -0.000189348 0.000474832 0 0]-> du ~[-0.000889208 0.00183485 -0.000884641 -0.000995459 -6.96354e-05 0.00092158 -0.0035312 0.00210276] -86: Now verr0=~[-2.38524e-18 0.00184316 -0.418166 1.04986 -0.462371 2.03732] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-2.38524e-18 0.00184316 -0.418166 1.04986 -0.462371 2.03732] -86: verrExt=~[-0.345243 -0.279911 0.0139453 -0.349445 0.0105308 -0.273537] -86: total verr=~[-0.345243 -0.278068 -0.40422 0.700413 -0.45184 1.76378] -86: DYN t=0.139: verrStart=~[-2.38524e-18 0.00184316 -0.418166 1.04986 -0.462371 2.03732] -86: verrApplied=~[-0.345243 -0.279911 0.0139453 -0.349445 0.0105308 -0.273537] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-2.38524e-18 0.00184316 -0.418166 1.04986 -0.462371 2.03732] -86: verrApplied=~[-0.345243 -0.279911 0.0139453 -0.349445 0.0105308 -0.273537] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.418166,1.04986, mag=1.13007 -86: Participating contact 1 is Sliding; vel=-0.462371,2.03732, mag=2.08913 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.418166,1.04986, mag=1.13007 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.462371,2.03732, mag=2.08913 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.345243; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.278068; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-2.38524e-18 0.00184316 -0.418166 1.04986 -0.462371 2.03732] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.345243 -0.279911 0.0139453 -0.349445 0.0105308 -0.273537] -86: : rhsActive=~[-0.345243 -0.40422 0.700413 -0.278068 -0.45184 1.76378] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.84727e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.437928... -86: > NEWTON iter 1: errNorm=0.437928(v) -> deltaNorm=1.2888(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.341221 0.000418166 -0.00104986 0.274489 0.000462371 -0.00203732] -86: > deltaPi=~[1.01145 0.0377958 -0.0948912 0.788138 0.0176639 -0.0778316] -86: DBG: Line search iter 1: back=1, prevNorm=0.437928. -86: > piNow=~[-1.02145 -0.0377958 0.0948912 -0.798138 -0.0176639 0.0778316] -86: > errNow=~[5.55112e-17 1.57545e-06 -3.95537e-06 0 1.35739e-06 -5.98099e-06] normNow=7.46604e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.70485e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.29598e-09 -86: > NEWTON iter 2: errNorm=7.46604e-06(v) -> deltaNorm=7.74137e-06(pi) -86: > piActive=~[-1.02145 -0.0377958 0.0948912 -0.798138 -0.0176639 0.0778316] -86: > errActive=~[5.55112e-17 1.57545e-06 -3.95537e-06 0 1.35739e-06 -5.98099e-06] -86: > deltaPi=~[4.39731e-06 1.55683e-06 -3.90862e-06 3.47977e-06 7.26755e-07 -3.20226e-06] -86: DBG: Line search iter 1: back=1, prevNorm=7.46604e-06. -86: > piNow=~[-1.02146 -0.0377974 0.0948951 -0.798141 -0.0176647 0.0778348] -86: > errNow=~[-1.11022e-16 6.52256e-16 -1.65146e-15 0 9.4369e-16 -4.13558e-15] normNow=4.59985e-15 -86: DBG: Improvement rate now/prev at iter 2 is 6.16104e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.59985e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.418166,1.04986] to ~[-0.420102,1.07669] -86: DBG: Friction 0 rotated 0.403055 deg, less than max 30 -86: slipVel 1 from ~[-0.462371,2.03732] to ~[-0.464167,2.06103] -86: DBG: Friction 1 rotated 0.0948222 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-1.02146 -0.0377974 0.0948951 -0.798141 -0.0176647 0.0778348] -86: : m_verrLeft=~[1.11022e-16 0 -0.420102 1.07669 -0.464167 2.06103] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.02146 verr=1.11022e-16 pi*v=-1.13404e-16 -86: DBG: 1: pi=-0.798141 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-1.02146 -0.798141 -0.0377974 0.0948951 -0.0176647 0.0778348] errNorm=4.59985e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.418166 1.04986, |slipV|=1.13007 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.462371 2.03732, |slipV|=2.08913 -86: ------------------------------ -86: -86: dynamics impulse=~[-1.02146 -0.798141 -0.0377974 0.0948951 -0.0176647 0.0778348] -86: updated verrStart=~[1.11022e-16 0 -0.420102 1.07669 -0.464167 2.06103] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.313974 0.565675 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.289415 0.112837 -0.0175336 0.318925 -0.00859685 0.120287] -86: [0.112837 0.245047 -0.00229274 0.122002 -0.00891465 0.269179] -86: [-0.0175336 -0.00229274 0.0474353 0.018701 0.0499693 -0.0379902] -86: [0.318925 0.122002 0.018701 0.413396 0.0321322 0.114474] -86: [-0.00859685 -0.00891465 0.0499693 0.0321322 0.0535837 -0.0486069] -86: [0.120287 0.269179 -0.0379902 0.114474 -0.0486069 0.350796] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.398281 rank=2 -86: rhs=~[0.313974 0.565675 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.225294 2.20469] -86: -> pi=~[0.225294 2.20469 0 0 0 0] -86: resid active=~[0 0] -86: resid=~[0 0 -0.009005 0.340828 -0.0215908 0.620556] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[2.81893e-17 6.98226e-17 -0.420102 1.07669 -0.464167 2.06103] -86: perr=~[0.000313974 0.000565675 -2.22045e-16] -86: END OF STEP (0.139,0.14): -86: verr=~[-0.00134606 0.00134606 -0.419617 1.07671 -0.464653 2.06101] -86: perr=~[0.000313301 0.000566348 -1.11022e-16] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.15559 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.11274 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00134606 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00134606 0.00134606 -0.419617 1.07671 -0.464653 2.06101] -86: IMP t=0.14 verr=~[-0.00134606 0.00134606 -0.419617 1.07671 -0.464653 2.06101] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00134606 0.00134606 -0.419617 1.07671 -0.464653 2.06101] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.419617,1.07671, mag=1.15559 -86: Participating contact 1 is Sliding; vel=-0.464653,2.06101, mag=2.11274 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.419617,1.07671, mag=1.15559 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.464653,2.06101, mag=2.11274 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00134606; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00134606; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00134606 0.00134606 -0.419617 1.07671 -0.464653 2.06101] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00134606 -0.419617 1.07671 0.00134606 -0.464653 2.06101] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.96995e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00123434... -86: > NEWTON iter 1: errNorm=0.00123434(v) -> deltaNorm=0.00144486(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000433652 0.000419617 -0.00107671 -1.26905e-05 0 0] -86: > deltaPi=~[-0.000823868 0.000333204 -0.000854982 0.000752887 6.16772e-10 -2.73574e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00123434. -86: > piNow=~[-0.00917613 -0.000333204 0.000854982 0.00924711 -6.16772e-10 2.73574e-09] -86: > errNow=~[2.1684e-19 -1.28772e-09 3.30422e-09 -2.1684e-19 -1.30308e-09 5.7799e-09] normNow=6.90517e-09 -86: DBG: Improvement rate now/prev at iter 1 is 5.5942e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.05276e-05 -86: > NEWTON iter 2: errNorm=6.90517e-09(v) -> deltaNorm=6.41261e-09(pi) -86: > piActive=~[-0.00917613 -0.000333204 0.000854982 0.00924711 -6.16772e-10 2.73574e-09] -86: > errActive=~[2.1684e-19 -1.28772e-09 3.30422e-09 -2.1684e-19 -1.30308e-09 5.7799e-09] -86: > deltaPi=~[-3.56991e-09 -1.24396e-09 3.19194e-09 -2.96253e-09 -6.16774e-10 2.73576e-09] -86: DBG: Line search iter 1: back=1, prevNorm=6.90517e-09. -86: > piNow=~[-0.00917613 -0.000333202 0.000854979 0.00924712 2.83817e-15 -1.25889e-14] -86: > errNow=~[0 -6.62659e-15 1.70035e-14 2.1684e-19 5.99629e-15 -2.65971e-14] normNow=3.28084e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.75128e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.28084e-14. -86: DBG: Worst offender is normal contact 1 err=0.00924712 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.419617,1.07671, mag=1.15559 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.464653,2.06101, mag=2.11274 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00134606; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00134606 0.00134606 -0.419617 1.07671 -0.464653 2.06101] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00134606 -0.419617 1.07671] -86: : pi was=~[-0.00917613 0 -0.000333202 0.000854979 2.83817e-15 -1.25889e-14] -86: : piActive=~[-0.01 -0.000333202 0.000854979] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.30443e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00129165... -86: > NEWTON iter 1: errNorm=0.00129165(v) -> deltaNorm=0.0048576(pi) -86: > piActive=~[-0.01 -0.000333202 0.000854979] -86: > errActive=~[-0.00128813 3.4571e-05 -8.87074e-05] -86: > deltaPi=~[-0.00484097 -0.000145862 0.000374273] -86: DBG: Line search iter 1: back=1, prevNorm=0.00129165. -86: > piNow=~[-0.00515903 -0.000187341 0.000480706] -86: > errNow=~[0 -7.56653e-09 1.94153e-08] normNow=2.08376e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.61326e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.61676e-05 -86: > NEWTON iter 2: errNorm=2.08376e-08(v) -> deltaNorm=2.90999e-08(pi) -86: > piActive=~[-0.00515903 -0.000187341 0.000480706] -86: > errActive=~[0 -7.56653e-09 1.94153e-08] -86: > deltaPi=~[-2.10112e-08 -7.3106e-09 1.87586e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.08376e-08. -86: > piNow=~[-0.00515901 -0.000187333 0.000480687] -86: > errNow=~[0 -1.23352e-13 3.16514e-13] normNow=3.39701e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.63023e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.39701e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.419617,1.07671] to ~[-0.419709,1.07817] -86: DBG: Friction 0 rotated 0.0218825 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00515901 -0.000187333 0.000480687] -86: : m_verrLeft=~[0 0.00187177 -0.419709 1.07817 -0.464703 2.06157] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00515901 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00187177 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00515901 0 -0.000187333 0.000480687 0 0] errNorm=3.39701e-13 -86: Postcompression verr=~[0 0.00187177 -0.419709 1.07817 -0.464703 2.06157] -86: impulse=~[-0.00515901 0 -0.000187333 0.000480687 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00515901 0 -0.000187333 0.000480687 0 0]-> du ~[-0.00090619 0.00185717 -0.000895152 -0.00100569 -7.14573e-05 0.000935884 -0.00357644 0.0021287] -86: Now verr0=~[-3.14419e-18 0.00187177 -0.419709 1.07817 -0.464703 2.06157] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-3.14419e-18 0.00187177 -0.419709 1.07817 -0.464703 2.06157] -86: verrExt=~[-0.322579 -0.263056 0.013807 -0.321368 0.0107172 -0.254167] -86: total verr=~[-0.322579 -0.261184 -0.405902 0.756799 -0.453986 1.8074] -86: DYN t=0.14: verrStart=~[-3.14419e-18 0.00187177 -0.419709 1.07817 -0.464703 2.06157] -86: verrApplied=~[-0.322579 -0.263056 0.013807 -0.321368 0.0107172 -0.254167] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-3.14419e-18 0.00187177 -0.419709 1.07817 -0.464703 2.06157] -86: verrApplied=~[-0.322579 -0.263056 0.013807 -0.321368 0.0107172 -0.254167] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.419709,1.07817, mag=1.15698 -86: Participating contact 1 is Sliding; vel=-0.464703,2.06157, mag=2.11329 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.419709,1.07817, mag=1.15698 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.464703,2.06157, mag=2.11329 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.322579; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.261184; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-3.14419e-18 0.00187177 -0.419709 1.07817 -0.464703 2.06157] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.322579 -0.263056 0.013807 -0.321368 0.0107172 -0.254167] -86: : rhsActive=~[-0.322579 -0.405902 0.756799 -0.261184 -0.453986 1.8074] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.97424e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.409656... -86: > NEWTON iter 1: errNorm=0.409656(v) -> deltaNorm=1.19793(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.318532 0.000419709 -0.00107817 0.257584 0.000464703 -0.00206157] -86: > deltaPi=~[0.935272 0.0342897 -0.0880849 0.738762 0.0164643 -0.0730408] -86: DBG: Line search iter 1: back=1, prevNorm=0.409656. -86: > piNow=~[-0.945272 -0.0342897 0.0880849 -0.748762 -0.0164643 0.0730408] -86: > errNow=~[-2.77556e-16 1.46217e-06 -3.75609e-06 -1.11022e-16 1.27877e-06 -5.67301e-06] normNow=7.07562e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.72721e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.48534e-09 -86: > NEWTON iter 2: errNorm=7.07562e-06(v) -> deltaNorm=7.18172e-06(pi) -86: > piActive=~[-0.945272 -0.0342897 0.0880849 -0.748762 -0.0164643 0.0730408] -86: > errActive=~[-2.77556e-16 1.46217e-06 -3.75609e-06 -1.11022e-16 1.27877e-06 -5.67301e-06] -86: > deltaPi=~[4.05452e-06 1.41087e-06 -3.6243e-06 3.24758e-06 6.76521e-07 -3.00125e-06] -86: DBG: Line search iter 1: back=1, prevNorm=7.07562e-06. -86: > piNow=~[-0.945276 -0.0342911 0.0880886 -0.748765 -0.016465 0.0730438] -86: > errNow=~[5.55112e-17 7.07767e-16 -1.81799e-15 0 9.99201e-16 -4.44089e-15] normNow=4.95268e-15 -86: DBG: Improvement rate now/prev at iter 2 is 6.99964e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.95268e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.419709,1.07817] to ~[-0.421017,1.10651] -86: DBG: Friction 0 rotated 0.438496 deg, less than max 30 -86: slipVel 1 from ~[-0.464703,2.06157] to ~[-0.465799,2.08527] -86: DBG: Friction 1 rotated 0.111087 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.945276 -0.0342911 0.0880886 -0.748765 -0.016465 0.0730438] -86: : m_verrLeft=~[-5.55112e-17 0 -0.421017 1.10651 -0.465799 2.08527] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.945276 verr=-5.55112e-17 pi*v=5.24734e-17 -86: DBG: 1: pi=-0.748765 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.945276 -0.748765 -0.0342911 0.0880886 -0.016465 0.0730438] errNorm=4.95268e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.419709 1.07817, |slipV|=1.15698 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.464703 2.06157, |slipV|=2.11329 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.945276 -0.748765 -0.0342911 0.0880886 -0.016465 0.0730438] -86: updated verrStart=~[-5.55112e-17 0 -0.421017 1.10651 -0.465799 2.08527] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.313301 0.566348 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.291318 0.113346 -0.0178545 0.319342 -0.00869854 0.120213] -86: [0.113346 0.246684 -0.00246347 0.121887 -0.00925655 0.26962] -86: [-0.0178545 -0.00246347 0.0473584 0.018284 0.0499269 -0.0379385] -86: [0.319342 0.121887 0.018284 0.411667 0.0319603 0.113848] -86: [-0.00869854 -0.00925655 0.0499269 0.0319603 0.0536198 -0.0487505] -86: [0.120213 0.26962 -0.0379385 0.113848 -0.0487505 0.34933] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.399139 rank=2 -86: rhs=~[0.313301 0.566348 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.221851 2.19391] -86: -> pi=~[0.221851 2.19391 0 0 0 0] -86: resid active=~[-5.55112e-17 0] -86: resid=~[-5.55112e-17 0 -0.00936569 0.338256 -0.0222378 0.618191] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-2.39717e-16 -2.95228e-16 -0.421017 1.10651 -0.465799 2.08527] -86: perr=~[0.000313301 0.000566348 -1.11022e-16] -86: END OF STEP (0.14,0.141): -86: verr=~[-0.00136609 0.00136609 -0.420538 1.10653 -0.466279 2.08524] -86: perr=~[0.000312618 0.000567031 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.18375 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.13674 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00136609 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00136609 0.00136609 -0.420538 1.10653 -0.466279 2.08524] -86: IMP t=0.141 verr=~[-0.00136609 0.00136609 -0.420538 1.10653 -0.466279 2.08524] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00136609 0.00136609 -0.420538 1.10653 -0.466279 2.08524] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.420538,1.10653, mag=1.18375 -86: Participating contact 1 is Sliding; vel=-0.466279,2.08524, mag=2.13674 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420538,1.10653, mag=1.18375 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.466279,2.08524, mag=2.13674 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00136609; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00136609; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00136609 0.00136609 -0.420538 1.10653 -0.466279 2.08524] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00136609 -0.420538 1.10653 0.00136609 -0.466279 2.08524] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.09885e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00125885... -86: > NEWTON iter 1: errNorm=0.00125885(v) -> deltaNorm=0.00138509(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000427771 0.000420538 -0.00110653 -2.13e-05 0 0] -86: > deltaPi=~[-0.000765969 0.000328049 -0.00086317 0.000692152 5.6261e-10 -2.51604e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00125885. -86: > piNow=~[-0.00923403 -0.000328049 0.00086317 0.00930785 -5.6261e-10 2.51604e-09] -86: > errNow=~[6.50521e-19 -1.19985e-09 3.15708e-09 0 -1.20215e-09 5.37612e-09] normNow=6.46179e-09 -86: DBG: Improvement rate now/prev at iter 1 is 5.13309e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.0542e-05 -86: > NEWTON iter 2: errNorm=6.46179e-09(v) -> deltaNorm=5.92411e-09(pi) -86: > piActive=~[-0.00923403 -0.000328049 0.00086317 0.00930785 -5.6261e-10 2.51604e-09] -86: > errActive=~[6.50521e-19 -1.19985e-09 3.15708e-09 0 -1.20215e-09 5.37612e-09] -86: > deltaPi=~[-3.31029e-09 -1.1312e-09 2.97644e-09 -2.7113e-09 -5.62613e-10 2.51605e-09] -86: DBG: Line search iter 1: back=1, prevNorm=6.46179e-09. -86: > piNow=~[-0.00923403 -0.000328048 0.000863167 0.00930785 2.54377e-15 -1.1376e-14] -86: > errNow=~[2.1684e-19 -6.08124e-15 1.60011e-14 -2.1684e-19 5.43537e-15 -2.43075e-14] normNow=3.02227e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.67715e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.02227e-14. -86: DBG: Worst offender is normal contact 1 err=0.00930785 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420538,1.10653, mag=1.18375 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.466279,2.08524, mag=2.13674 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00136609; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00136609 0.00136609 -0.420538 1.10653 -0.466279 2.08524] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00136609 -0.420538 1.10653] -86: : pi was=~[-0.00923403 0 -0.000328048 0.000863167 2.54377e-15 -1.1376e-14] -86: : piActive=~[-0.01 -0.000328048 0.000863167] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.40931e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0012877... -86: > NEWTON iter 1: errNorm=0.0012877(v) -> deltaNorm=0.00481713(pi) -86: > piActive=~[-0.01 -0.000328048 0.000863167] -86: > errActive=~[-0.00128451 3.2212e-05 -8.47571e-05] -86: > deltaPi=~[-0.00480021 -0.000143314 0.000377091] -86: DBG: Line search iter 1: back=1, prevNorm=0.0012877. -86: > piNow=~[-0.00519979 -0.000184734 0.000486076] -86: > errNow=~[-2.1684e-19 -7.51929e-09 1.97849e-08] normNow=2.11656e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.64367e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.6303e-05 -86: > NEWTON iter 2: errNorm=2.11656e-08(v) -> deltaNorm=2.88127e-08(pi) -86: > piActive=~[-0.00519979 -0.000184734 0.000486076] -86: > errActive=~[-2.1684e-19 -7.51929e-09 1.97849e-08] -86: > deltaPi=~[-2.0781e-08 -7.09027e-09 1.86561e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.11656e-08. -86: > piNow=~[-0.00519977 -0.000184727 0.000486058] -86: > errNow=~[0 -1.2036e-13 3.16693e-13] normNow=3.38793e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.60068e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.38793e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.420538,1.10653] to ~[-0.420632,1.108] -86: DBG: Friction 0 rotated 0.0209224 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00519977 -0.000184727 0.000486058] -86: : m_verrLeft=~[0 0.00189851 -0.420632 1.108 -0.466331 2.0858] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00519977 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00189851 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00519977 0 -0.000184727 0.000486058 0 0] errNorm=3.38793e-13 -86: Postcompression verr=~[0 0.00189851 -0.420632 1.108 -0.466331 2.0858] -86: impulse=~[-0.00519977 0 -0.000184727 0.000486058 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00519977 0 -0.000184727 0.000486058 0 0]-> du ~[-0.000922316 0.00187738 -0.000904557 -0.00101468 -7.32127e-05 0.000949255 -0.00361769 0.00215222] -86: Now verr0=~[-5.96311e-18 0.00189851 -0.420632 1.108 -0.466331 2.0858] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-5.96311e-18 0.00189851 -0.420632 1.108 -0.466331 2.0858] -86: verrExt=~[-0.300036 -0.246208 0.0135502 -0.293768 0.0107851 -0.234896] -86: total verr=~[-0.300036 -0.244309 -0.407082 0.814227 -0.455546 1.85091] -86: DYN t=0.141: verrStart=~[-5.96311e-18 0.00189851 -0.420632 1.108 -0.466331 2.0858] -86: verrApplied=~[-0.300036 -0.246208 0.0135502 -0.293768 0.0107851 -0.234896] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-5.96311e-18 0.00189851 -0.420632 1.108 -0.466331 2.0858] -86: verrApplied=~[-0.300036 -0.246208 0.0135502 -0.293768 0.0107851 -0.234896] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.420632,1.108, mag=1.18515 -86: Participating contact 1 is Sliding; vel=-0.466331,2.0858, mag=2.1373 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420632,1.108, mag=1.18515 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.466331,2.0858, mag=2.1373 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.300036; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.244309; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-5.96311e-18 0.00189851 -0.420632 1.108 -0.466331 2.0858] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.300036 -0.246208 0.0135502 -0.293768 0.0107851 -0.234896] -86: : rhsActive=~[-0.300036 -0.407082 0.814227 -0.244309 -0.455546 1.85091] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.10321e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.381486... -86: > NEWTON iter 1: errNorm=0.381486(v) -> deltaNorm=1.10843(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.295965 0.000420632 -0.001108 0.240687 0.000466331 -0.0020858] -86: > deltaPi=~[0.860526 0.0308954 -0.0813823 0.689658 0.0152651 -0.0682776] -86: DBG: Line search iter 1: back=1, prevNorm=0.381486. -86: > piNow=~[-0.870526 -0.0308954 0.0813823 -0.699658 -0.0152651 0.0682776] -86: > errNow=~[-5.55112e-17 1.34827e-06 -3.55152e-06 0 1.19795e-06 -5.3582e-06] normNow=6.67657e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.75015e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.7346e-09 -86: > NEWTON iter 2: errNorm=6.67657e-06(v) -> deltaNorm=6.63216e-06(pi) -86: > piActive=~[-0.870526 -0.0308954 0.0813823 -0.699658 -0.0152651 0.0682776] -86: > errActive=~[-5.55112e-17 1.34827e-06 -3.55152e-06 0 1.19795e-06 -5.3582e-06] -86: > deltaPi=~[3.71974e-06 1.26966e-06 -3.34443e-06 3.0184e-06 6.26356e-07 -2.80157e-06] -86: DBG: Line search iter 1: back=1, prevNorm=6.67657e-06. -86: > piNow=~[-0.87053 -0.0308967 0.0813856 -0.699661 -0.0152657 0.0682804] -86: > errNow=~[5.55112e-17 7.63278e-16 -2.02616e-15 5.55112e-17 1.06859e-15 -4.77396e-15] normNow=5.35039e-15 -86: DBG: Improvement rate now/prev at iter 2 is 8.01368e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.35039e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.420632,1.108] to ~[-0.42139,1.13773] -86: DBG: Friction 0 rotated 0.464864 deg, less than max 30 -86: slipVel 1 from ~[-0.466331,2.0858] to ~[-0.466809,2.10955] -86: DBG: Friction 1 rotated 0.125048 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.87053 -0.0308967 0.0813856 -0.699661 -0.0152657 0.0682804] -86: : m_verrLeft=~[-5.55112e-17 -5.55112e-17 -0.42139 1.13773 -0.466809 2.10955] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.87053 verr=-5.55112e-17 pi*v=4.83241e-17 -86: DBG: 1: pi=-0.699661 verr=-5.55112e-17 pi*v=3.8839e-17 -86: SP FINAL 1 intervals, piTotal=~[-0.87053 -0.699661 -0.0308967 0.0813856 -0.0152657 0.0682804] errNorm=5.35039e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.420632 1.108, |slipV|=1.18515 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.466331 2.0858, |slipV|=2.1373 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.87053 -0.699661 -0.0308967 0.0813856 -0.0152657 0.0682804] -86: updated verrStart=~[-5.55112e-17 -5.55112e-17 -0.42139 1.13773 -0.466809 2.10955] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.312618 0.567031 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.293256 0.11387 -0.0181719 0.319752 -0.00879706 0.120136] -86: [0.11387 0.248348 -0.00263479 0.121771 -0.00959901 0.270051] -86: [-0.0181719 -0.00263479 0.0472835 0.0178772 0.0498857 -0.0378861] -86: [0.319752 0.121771 0.0178772 0.409897 0.0317935 0.113208] -86: [-0.00879706 -0.00959901 0.0498857 0.0317935 0.0536566 -0.0488892] -86: [0.120136 0.270051 -0.0378861 0.113208 -0.0488892 0.347825] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.399984 rank=2 -86: rhs=~[0.312618 0.567031 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.218339 2.1831] -86: -> pi=~[0.218339 2.1831 0 0 0 0] -86: resid active=~[0 0] -86: resid=~[0 0 -0.00971965 0.335652 -0.0228763 0.615779] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-2.88289e-16 -2.32778e-16 -0.42139 1.13773 -0.466809 2.10955] -86: perr=~[0.000312618 0.000567031 0] -86: END OF STEP (0.141,0.142): -86: verr=~[-0.00138487 0.00138487 -0.420917 1.13775 -0.467282 2.10953] -86: perr=~[0.000311925 0.000567723 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.21312 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.16066 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00138487 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00138487 0.00138487 -0.420917 1.13775 -0.467282 2.10953] -86: IMP t=0.142 verr=~[-0.00138487 0.00138487 -0.420917 1.13775 -0.467282 2.10953] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00138487 0.00138487 -0.420917 1.13775 -0.467282 2.10953] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.420917,1.13775, mag=1.21312 -86: Participating contact 1 is Sliding; vel=-0.467282,2.10953, mag=2.16066 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420917,1.13775, mag=1.21312 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.467282,2.10953, mag=2.16066 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00138487; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00138487; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00138487 0.00138487 -0.420917 1.13775 -0.467282 2.10953] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00138487 -0.420917 1.13775 0.00138487 -0.467282 2.10953] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.22997e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00128517... -86: > NEWTON iter 1: errNorm=0.00128517(v) -> deltaNorm=0.00133763(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000423315 0.000420917 -0.00113775 -2.85515e-05 0 0] -86: > deltaPi=~[-0.000718359 0.000322048 -0.000870505 0.000641656 5.16899e-10 -2.33352e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00128517. -86: > piNow=~[-0.00928164 -0.000322048 0.000870505 0.00935834 -5.16899e-10 2.33352e-09] -86: > errNow=~[-2.1684e-19 -1.12629e-09 3.04439e-09 4.33681e-19 -1.11684e-09 5.04196e-09] normNow=6.09964e-09 -86: DBG: Improvement rate now/prev at iter 1 is 4.74617e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.05811e-05 -86: > NEWTON iter 2: errNorm=6.09964e-09(v) -> deltaNorm=5.52004e-09(pi) -86: > piActive=~[-0.00928164 -0.000322048 0.000870505 0.00935834 -5.16899e-10 2.33352e-09] -86: > errActive=~[-2.1684e-19 -1.12629e-09 3.04439e-09 4.33681e-19 -1.11684e-09 5.04196e-09] -86: > deltaPi=~[-3.09607e-09 -1.03585e-09 2.79992e-09 -2.50201e-09 -5.16901e-10 2.33353e-09] -86: DBG: Line search iter 1: back=1, prevNorm=6.09964e-09. -86: > piNow=~[-0.00928164 -0.000322047 0.000870502 0.00935835 2.30137e-15 -1.03895e-14] -86: > errNow=~[2.1684e-19 -5.63449e-15 1.52302e-14 -2.1684e-19 4.9725e-15 -2.24482e-14] normNow=2.81488e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.61483e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.81488e-14. -86: DBG: Worst offender is normal contact 1 err=0.00935835 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420917,1.13775, mag=1.21312 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.467282,2.10953, mag=2.16066 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00138487; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00138487 0.00138487 -0.420917 1.13775 -0.467282 2.10953] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00138487 -0.420917 1.13775] -86: : pi was=~[-0.00928164 0 -0.000322047 0.000870502 2.30137e-15 -1.03895e-14] -86: : piActive=~[-0.01 -0.000322047 0.000870502] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.5187e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00128572... -86: > NEWTON iter 1: errNorm=0.00128572(v) -> deltaNorm=0.00478251(pi) -86: > piActive=~[-0.01 -0.000322047 0.000870502] -86: > errActive=~[-0.00128276 3.02371e-05 -8.17317e-05] -86: > deltaPi=~[-0.00476536 -0.000140413 0.000379541] -86: DBG: Line search iter 1: back=1, prevNorm=0.00128572. -86: > piNow=~[-0.00523464 -0.000181633 0.000490961] -86: > errNow=~[-2.1684e-19 -7.47144e-09 2.01955e-08] normNow=2.15333e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.6748e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.64859e-05 -86: > NEWTON iter 2: errNorm=2.15333e-08(v) -> deltaNorm=2.85605e-08(pi) -86: > piActive=~[-0.00523464 -0.000181633 0.000490961] -86: > errActive=~[-2.1684e-19 -7.47144e-09 2.01955e-08] -86: > deltaPi=~[-2.05757e-08 -6.8727e-09 1.85771e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.15333e-08. -86: > piNow=~[-0.00523462 -0.000181627 0.000490942] -86: > errNow=~[0 -1.17696e-13 3.18135e-13] normNow=3.39209e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.57528e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.39209e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.420917,1.13775] to ~[-0.421014,1.13923] -86: DBG: Friction 0 rotated 0.0199226 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00523462 -0.000181627 0.000490942] -86: : m_verrLeft=~[0 0.00192353 -0.421014 1.13923 -0.467335 2.1101] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00523462 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00192353 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00523462 0 -0.000181627 0.000490942 0 0] errNorm=3.39209e-13 -86: Postcompression verr=~[0 0.00192353 -0.421014 1.13923 -0.467335 2.1101] -86: impulse=~[-0.00523462 0 -0.000181627 0.000490942 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00523462 0 -0.000181627 0.000490942 0 0]-> du ~[-0.000937624 0.00189565 -0.000912926 -0.00102251 -7.48933e-05 0.000961763 -0.00365522 0.0021735] -86: Now verr0=~[2.1684e-19 0.00192353 -0.421014 1.13923 -0.467335 2.1101] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[2.1684e-19 0.00192353 -0.421014 1.13923 -0.467335 2.1101] -86: verrExt=~[-0.277857 -0.229546 0.0131866 -0.266925 0.0107412 -0.215929] -86: total verr=~[-0.277857 -0.227623 -0.407827 0.872305 -0.456594 1.89417] -86: DYN t=0.142: verrStart=~[2.1684e-19 0.00192353 -0.421014 1.13923 -0.467335 2.1101] -86: verrApplied=~[-0.277857 -0.229546 0.0131866 -0.266925 0.0107412 -0.215929] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[2.1684e-19 0.00192353 -0.421014 1.13923 -0.467335 2.1101] -86: verrApplied=~[-0.277857 -0.229546 0.0131866 -0.266925 0.0107412 -0.215929] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.421014,1.13923, mag=1.21454 -86: Participating contact 1 is Sliding; vel=-0.467335,2.1101, mag=2.16123 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.421014,1.13923, mag=1.21454 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.467335,2.1101, mag=2.16123 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.277857; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.227623; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[2.1684e-19 0.00192353 -0.421014 1.13923 -0.467335 2.1101] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.277857 -0.229546 0.0131866 -0.266925 0.0107412 -0.215929] -86: : rhsActive=~[-0.277857 -0.407827 0.872305 -0.227623 -0.456594 1.89417] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.23439e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.353719... -86: > NEWTON iter 1: errNorm=0.353719(v) -> deltaNorm=1.02114(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.27376 0.000421014 -0.00113923 0.223978 0.000467335 -0.0021101] -86: > deltaPi=~[0.787939 0.0276592 -0.0748436 0.641301 0.0140829 -0.0635869] -86: DBG: Line search iter 1: back=1, prevNorm=0.353719. -86: > piNow=~[-0.797939 -0.0276592 0.0748436 -0.651301 -0.0140829 0.0635869] -86: > errNow=~[0 1.23566e-06 -3.34361e-06 0 1.11635e-06 -5.04053e-06] normNow=6.27374e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.77365e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.03886e-09 -86: > NEWTON iter 2: errNorm=6.27374e-06(v) -> deltaNorm=6.09763e-06(pi) -86: > piActive=~[-0.797939 -0.0276592 0.0748436 -0.651301 -0.0140829 0.0635869] -86: > errActive=~[0 1.23566e-06 -3.34361e-06 0 1.11635e-06 -5.04053e-06] -86: > deltaPi=~[3.3958e-06 1.13511e-06 -3.07152e-06 2.79422e-06 5.76958e-07 -2.60506e-06] -86: DBG: Line search iter 1: back=1, prevNorm=6.27374e-06. -86: > piNow=~[-0.797942 -0.0276603 0.0748467 -0.651304 -0.0140835 0.0635895] -86: > errNow=~[-5.55112e-17 8.39606e-16 -2.27596e-15 -2.77556e-17 1.14492e-15 -5.19029e-15] normNow=5.84284e-15 -86: DBG: Improvement rate now/prev at iter 2 is 9.31317e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=5.84284e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.421014,1.13923] to ~[-0.4213,1.17023] -86: DBG: Friction 0 rotated 0.482677 deg, less than max 30 -86: slipVel 1 from ~[-0.467335,2.1101] to ~[-0.467279,2.13395] -86: DBG: Friction 1 rotated 0.136687 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.797942 -0.0276603 0.0748467 -0.651304 -0.0140835 0.0635895] -86: : m_verrLeft=~[5.55112e-17 2.77556e-17 -0.4213 1.17023 -0.467279 2.13395] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.797942 verr=5.55112e-17 pi*v=-4.42947e-17 -86: DBG: 1: pi=-0.651304 verr=2.77556e-17 pi*v=-1.80773e-17 -86: SP FINAL 1 intervals, piTotal=~[-0.797942 -0.651304 -0.0276603 0.0748467 -0.0140835 0.0635895] errNorm=5.84284e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.421014 1.13923, |slipV|=1.21454 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.467335 2.1101, |slipV|=2.16123 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.797942 -0.651304 -0.0276603 0.0748467 -0.0140835 0.0635895] -86: updated verrStart=~[5.55112e-17 2.77556e-17 -0.4213 1.17023 -0.467279 2.13395] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.311925 0.567723 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.295228 0.114409 -0.0184844 0.320151 -0.00889145 0.120057] -86: [0.114409 0.250041 -0.00280698 0.121654 -0.0099419 0.270472] -86: [-0.0184844 -0.00280698 0.0472109 0.0174823 0.0498461 -0.0378337] -86: [0.320151 0.121654 0.0174823 0.408084 0.0316331 0.112553] -86: [-0.00889145 -0.0099419 0.0498461 0.0316331 0.0536945 -0.0490234] -86: [0.120057 0.270472 -0.0378337 0.112553 -0.0490234 0.346279] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.400808 rank=2 -86: rhs=~[0.311925 0.567723 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.214746 2.17226] -86: -> pi=~[0.214746 2.17226 0 0 0 0] -86: resid active=~[1.11022e-16 0] -86: resid=~[1.11022e-16 0 -0.0100669 0.333016 -0.0235058 0.613317] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[3.17238e-16 3.17238e-16 -0.4213 1.17023 -0.467279 2.13395] -86: perr=~[0.000311925 0.000567723 0] -86: END OF STEP (0.142,0.143): -86: verr=~[-0.00140251 0.00140251 -0.420835 1.17025 -0.467744 2.13392] -86: perr=~[0.000311224 0.000568425 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.24362 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.18458 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00140251 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00140251 0.00140251 -0.420835 1.17025 -0.467744 2.13392] -86: IMP t=0.143 verr=~[-0.00140251 0.00140251 -0.420835 1.17025 -0.467744 2.13392] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00140251 0.00140251 -0.420835 1.17025 -0.467744 2.13392] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.420835,1.17025, mag=1.24362 -86: Participating contact 1 is Sliding; vel=-0.467744,2.13392, mag=2.18458 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420835,1.17025, mag=1.24362 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.467744,2.13392, mag=2.18458 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00140251; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00140251; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00140251 0.00140251 -0.420835 1.17025 -0.467744 2.13392] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00140251 -0.420835 1.17025 0.00140251 -0.467744 2.13392] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.36345e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00131314... -86: > NEWTON iter 1: errNorm=0.00131314(v) -> deltaNorm=0.00130064(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000420171 0.000420835 -0.00117025 -3.45606e-05 0 0] -86: > deltaPi=~[-0.000680122 0.00031538 -0.000877007 0.00060041 4.7885e-10 -2.18459e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00131314. -86: > piNow=~[-0.00931988 -0.00031538 0.000877007 0.00939959 -4.7885e-10 2.18459e-09] -86: > errNow=~[0 -1.06613e-09 2.96468e-09 0 -1.04609e-09 4.77241e-09] normNow=5.81345e-09 -86: DBG: Improvement rate now/prev at iter 1 is 4.42714e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.06425e-05 -86: > NEWTON iter 2: errNorm=5.81345e-09(v) -> deltaNorm=5.19221e-09(pi) -86: > piActive=~[-0.00931988 -0.00031538 0.000877007 0.00939959 -4.7885e-10 2.18459e-09] -86: > errActive=~[0 -1.06613e-09 2.96468e-09 0 -1.04609e-09 4.77241e-09] -86: > deltaPi=~[-2.92283e-09 -9.5618e-10 2.65894e-09 -2.33026e-09 -4.78852e-10 2.1846e-09] -86: DBG: Line search iter 1: back=1, prevNorm=5.81345e-09. -86: > piNow=~[-0.00931988 -0.000315379 0.000877004 0.00939959 2.10345e-15 -9.59625e-15] -86: > errNow=~[0 -5.2747e-15 1.4668e-14 2.1684e-19 4.59516e-15 -2.09638e-14] normNow=2.65249e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.56267e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.65249e-14. -86: DBG: Worst offender is normal contact 1 err=0.00939959 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420835,1.17025, mag=1.24362 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.467744,2.13392, mag=2.18458 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00140251; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00140251 0.00140251 -0.420835 1.17025 -0.467744 2.13392] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00140251 -0.420835 1.17025] -86: : pi was=~[-0.00931988 0 -0.000315379 0.000877004 2.10345e-15 -9.59625e-15] -86: : piActive=~[-0.01 -0.000315379 0.000877004] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.63234e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00128558... -86: > NEWTON iter 1: errNorm=0.00128558(v) -> deltaNorm=0.00475334(pi) -86: > piActive=~[-0.01 -0.000315379 0.000877004] -86: > errActive=~[-0.00128279 2.8622e-05 -7.95919e-05] -86: > deltaPi=~[-0.00473601 -0.000137243 0.000381644] -86: DBG: Line search iter 1: back=1, prevNorm=0.00128558. -86: > piNow=~[-0.00526399 -0.000178136 0.000495361] -86: > errNow=~[-2.1684e-19 -7.42396e-09 2.06445e-08] normNow=2.19388e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.70653e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.67126e-05 -86: > NEWTON iter 2: errNorm=2.19388e-08(v) -> deltaNorm=2.83396e-08(pi) -86: > piActive=~[-0.00526399 -0.000178136 0.000495361] -86: > errActive=~[-2.1684e-19 -7.42396e-09 2.06445e-08] -86: > deltaPi=~[-2.0392e-08 -6.65959e-09 1.85189e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.19388e-08. -86: > piNow=~[-0.00526397 -0.00017813 0.000495342] -86: > errNow=~[0 -1.15326e-13 3.20696e-13] normNow=3.40802e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.55342e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.40802e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.420835,1.17025] to ~[-0.420934,1.17174] -86: DBG: Friction 0 rotated 0.018903 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00526397 -0.00017813 0.000495342] -86: : m_verrLeft=~[0 0.00194696 -0.420934 1.17174 -0.467798 2.13449] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00526397 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00194696 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00526397 0 -0.00017813 0.000495342 0 0] errNorm=3.40802e-13 -86: Postcompression verr=~[0 0.00194696 -0.420934 1.17174 -0.467798 2.13449] -86: impulse=~[-0.00526397 0 -0.00017813 0.000495342 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00526397 0 -0.00017813 0.000495342 0 0]-> du ~[-0.000952157 0.00191212 -0.000920329 -0.00102927 -7.64914e-05 0.000973478 -0.00368932 0.0021927] -86: Now verr0=~[1.9082e-17 0.00194696 -0.420934 1.17174 -0.467798 2.13449] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[1.9082e-17 0.00194696 -0.420934 1.17174 -0.467798 2.13449] -86: verrExt=~[-0.256312 -0.213278 0.0127327 -0.241142 0.0105972 -0.197499] -86: total verr=~[-0.256312 -0.211331 -0.408201 0.930601 -0.457201 1.93699] -86: DYN t=0.143: verrStart=~[1.9082e-17 0.00194696 -0.420934 1.17174 -0.467798 2.13449] -86: verrApplied=~[-0.256312 -0.213278 0.0127327 -0.241142 0.0105972 -0.197499] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[1.9082e-17 0.00194696 -0.420934 1.17174 -0.467798 2.13449] -86: verrApplied=~[-0.256312 -0.213278 0.0127327 -0.241142 0.0105972 -0.197499] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.420934,1.17174, mag=1.24506 -86: Participating contact 1 is Sliding; vel=-0.467798,2.13449, mag=2.18515 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420934,1.17174, mag=1.24506 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.467798,2.13449, mag=2.18515 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.256312; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.211331; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[1.9082e-17 0.00194696 -0.420934 1.17174 -0.467798 2.13449] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.256312 -0.213278 0.0127327 -0.241142 0.0105972 -0.197499] -86: : rhsActive=~[-0.256312 -0.408201 0.930601 -0.211331 -0.457201 1.93699] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.36793e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.326695... -86: > NEWTON iter 1: errNorm=0.326695(v) -> deltaNorm=0.937028(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.25219 0.000420934 -0.00117174 0.207663 0.000467798 -0.00213449] -86: > deltaPi=~[0.718289 0.0246214 -0.0685379 0.594246 0.0129353 -0.0590215] -86: DBG: Line search iter 1: back=1, prevNorm=0.326695. -86: > piNow=~[-0.728289 -0.0246214 0.0685379 -0.604246 -0.0129353 0.0590215] -86: > errNow=~[2.22045e-16 1.12622e-06 -3.13504e-06 2.77556e-17 1.03547e-06 -4.72468e-06] normNow=5.87296e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.79769e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.40452e-09 -86: > NEWTON iter 2: errNorm=5.87296e-06(v) -> deltaNorm=5.58367e-06(pi) -86: > piActive=~[-0.728289 -0.0246214 0.0685379 -0.604246 -0.0129353 0.0590215] -86: > errActive=~[2.22045e-16 1.12622e-06 -3.13504e-06 2.77556e-17 1.03547e-06 -4.72468e-06] -86: > deltaPi=~[3.08584e-06 1.00888e-06 -2.8084e-06 2.57741e-06 5.29043e-07 -2.41394e-06] -86: DBG: Line search iter 1: back=1, prevNorm=5.87296e-06. -86: > piNow=~[-0.728292 -0.0246224 0.0685408 -0.604248 -0.0129358 0.059024] -86: > errNow=~[0 9.08995e-16 -2.53964e-15 -2.77556e-17 1.22471e-15 -5.60663e-15] normNow=6.34121e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.07973e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.34121e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.420934,1.17174] to ~[-0.420824,1.20387] -86: DBG: Friction 0 rotated 0.492602 deg, less than max 30 -86: slipVel 1 from ~[-0.467798,2.13449] to ~[-0.467292,2.15847] -86: DBG: Friction 1 rotated 0.14602 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.728292 -0.0246224 0.0685408 -0.604248 -0.0129358 0.059024] -86: : m_verrLeft=~[0 2.77556e-17 -0.420824 1.20387 -0.467292 2.15847] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.728292 verr=0 pi*v=-0 -86: DBG: 1: pi=-0.604248 verr=2.77556e-17 pi*v=-1.67713e-17 -86: SP FINAL 1 intervals, piTotal=~[-0.728292 -0.604248 -0.0246224 0.0685408 -0.0129358 0.059024] errNorm=6.34121e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.420934 1.17174, |slipV|=1.24506 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.467798 2.13449, |slipV|=2.18515 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.728292 -0.604248 -0.0246224 0.0685408 -0.0129358 0.059024] -86: updated verrStart=~[0 2.77556e-17 -0.420824 1.20387 -0.467292 2.15847] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.311224 0.568425 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.297235 0.114966 -0.0187906 0.32054 -0.00898076 0.119977] -86: [0.114966 0.251761 -0.00298039 0.121537 -0.0102853 0.270879] -86: [-0.0187906 -0.00298039 0.0471409 0.0171013 0.0498084 -0.037782] -86: [0.32054 0.121537 0.0171013 0.406227 0.0314805 0.111883] -86: [-0.00898076 -0.0102853 0.0498084 0.0314805 0.0537338 -0.0491534] -86: [0.119977 0.270879 -0.037782 0.111883 -0.0491534 0.344691] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.401604 rank=2 -86: rhs=~[0.311224 0.568425 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.211061 2.16141] -86: -> pi=~[0.211061 2.16141 0 0 0 0] -86: resid active=~[1.66533e-16 0] -86: resid=~[1.66533e-16 0 -0.0104078 0.330345 -0.0241261 0.610804] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-3.89229e-17 -1.2219e-16 -0.420824 1.20387 -0.467292 2.15847] -86: perr=~[0.000311224 0.000568425 0] -86: END OF STEP (0.143,0.144): -86: verr=~[-0.00141909 0.00141909 -0.420368 1.20389 -0.467748 2.15844] -86: perr=~[0.000310515 0.000569134 -1.11022e-16] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.27517 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.20854 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00141909 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00141909 0.00141909 -0.420368 1.20389 -0.467748 2.15844] -86: IMP t=0.144 verr=~[-0.00141909 0.00141909 -0.420368 1.20389 -0.467748 2.15844] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00141909 0.00141909 -0.420368 1.20389 -0.467748 2.15844] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.420368,1.20389, mag=1.27517 -86: Participating contact 1 is Sliding; vel=-0.467748,2.15844, mag=2.20854 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420368,1.20389, mag=1.27517 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.467748,2.15844, mag=2.20854 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00141909; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00141909; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00141909 0.00141909 -0.420368 1.20389 -0.467748 2.15844] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00141909 -0.420368 1.20389 0.00141909 -0.467748 2.15844] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.49933e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00134259... -86: > NEWTON iter 1: errNorm=0.00134259(v) -> deltaNorm=0.00127248(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000418234 0.000420368 -0.00120389 -3.94374e-05 0 0] -86: > deltaPi=~[-0.000650389 0.000308216 -0.0008827 0.000567484 4.47683e-10 -2.06585e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00134259. -86: > piNow=~[-0.00934961 -0.000308216 0.0008827 0.00943252 -4.47683e-10 2.06585e-09] -86: > errNow=~[-4.33681e-19 -1.01839e-09 2.91657e-09 0 -9.88728e-10 4.56253e-09] normNow=5.59802e-09 -86: DBG: Improvement rate now/prev at iter 1 is 4.16957e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.07244e-05 -86: > NEWTON iter 2: errNorm=5.59802e-09(v) -> deltaNorm=4.93291e-09(pi) -86: > piActive=~[-0.00934961 -0.000308216 0.0008827 0.00943252 -4.47683e-10 2.06585e-09] -86: > errActive=~[-4.33681e-19 -1.01839e-09 2.91657e-09 0 -9.88728e-10 4.56253e-09] -86: > deltaPi=~[-2.78639e-09 -8.90479e-10 2.55025e-09 -2.19197e-09 -4.47685e-10 2.06586e-09] -86: DBG: Line search iter 1: back=1, prevNorm=5.59802e-09. -86: > piNow=~[-0.00934961 -0.000308215 0.000882698 0.00943252 1.94353e-15 -8.96851e-15] -86: > errNow=~[0 -4.99102e-15 1.42937e-14 2.1684e-19 4.29237e-15 -1.98073e-14] normNow=2.52977e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.51905e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.52977e-14. -86: DBG: Worst offender is normal contact 1 err=0.00943252 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420368,1.20389, mag=1.27517 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.467748,2.15844, mag=2.20854 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00141909; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00141909 0.00141909 -0.420368 1.20389 -0.467748 2.15844] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00141909 -0.420368 1.20389] -86: : pi was=~[-0.00934961 0 -0.000308215 0.000882698 1.94353e-15 -8.96851e-15] -86: : piActive=~[-0.01 -0.000308215 0.000882698] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.74986e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00128719... -86: > NEWTON iter 1: errNorm=0.00128719(v) -> deltaNorm=0.00472922(pi) -86: > piActive=~[-0.01 -0.000308215 0.000882698] -86: > errActive=~[-0.00128451 2.73403e-05 -7.83002e-05] -86: > deltaPi=~[-0.00471175 -0.000133879 0.000383417] -86: DBG: Line search iter 1: back=1, prevNorm=0.00128719. -86: > piNow=~[-0.00528825 -0.000174336 0.000499281] -86: > errNow=~[-4.33681e-19 -7.37774e-09 2.11291e-08] normNow=2.23802e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.73869e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.69798e-05 -86: > NEWTON iter 2: errNorm=2.23802e-08(v) -> deltaNorm=2.81466e-08(pi) -86: > piActive=~[-0.00528825 -0.000174336 0.000499281] -86: > errActive=~[-4.33681e-19 -7.37774e-09 2.11291e-08] -86: > deltaPi=~[-2.02268e-08 -6.45237e-09 1.8479e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.23802e-08. -86: > piNow=~[-0.00528823 -0.000174329 0.000499262] -86: > errNow=~[0 -1.13219e-13 3.24249e-13] normNow=3.43447e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.53461e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.43447e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.420368,1.20389] to ~[-0.420469,1.20539] -86: DBG: Friction 0 rotated 0.0178815 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00528823 -0.000174329 0.000499262] -86: : m_verrLeft=~[0 0.00196894 -0.420469 1.20539 -0.467803 2.15902] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00528823 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00196894 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00528823 0 -0.000174329 0.000499262 0 0] errNorm=3.43447e-13 -86: Postcompression verr=~[0 0.00196894 -0.420469 1.20539 -0.467803 2.15902] -86: impulse=~[-0.00528823 0 -0.000174329 0.000499262 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00528823 0 -0.000174329 0.000499262 0 0]-> du ~[-0.000965954 0.00192694 -0.000926832 -0.00103504 -7.79999e-05 0.000984469 -0.00372025 0.00221] -86: Now verr0=~[9.1073e-18 0.00196894 -0.420469 1.20539 -0.467803 2.15902] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[9.1073e-18 0.00196894 -0.420469 1.20539 -0.467803 2.15902] -86: verrExt=~[-0.235689 -0.197628 0.0122091 -0.216734 0.010369 -0.17986] -86: total verr=~[-0.235689 -0.195659 -0.408259 0.988657 -0.457434 1.97916] -86: DYN t=0.144: verrStart=~[9.1073e-18 0.00196894 -0.420469 1.20539 -0.467803 2.15902] -86: verrApplied=~[-0.235689 -0.197628 0.0122091 -0.216734 0.010369 -0.17986] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[9.1073e-18 0.00196894 -0.420469 1.20539 -0.467803 2.15902] -86: verrApplied=~[-0.235689 -0.197628 0.0122091 -0.216734 0.010369 -0.17986] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.420469,1.20539, mag=1.27662 -86: Participating contact 1 is Sliding; vel=-0.467803,2.15902, mag=2.20912 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.420469,1.20539, mag=1.27662 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.467803,2.15902, mag=2.20912 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.235689; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.195659; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[9.1073e-18 0.00196894 -0.420469 1.20539 -0.467803 2.15902] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.235689 -0.197628 0.0122091 -0.216734 0.010369 -0.17986] -86: : rhsActive=~[-0.235689 -0.408259 0.988657 -0.195659 -0.457434 1.97916] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.50387e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.300781... -86: > NEWTON iter 1: errNorm=0.300781(v) -> deltaNorm=0.857099(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.231541 0.000420469 -0.00120539 0.191968 0.000467803 -0.00215902] -86: > deltaPi=~[0.652379 0.0218153 -0.0625398 0.549097 0.011839 -0.0546398] -86: DBG: Line search iter 1: back=1, prevNorm=0.300781. -86: > piNow=~[-0.662379 -0.0218153 0.0625398 -0.559097 -0.011839 0.0546398] -86: > errNow=~[-8.32667e-17 1.02175e-06 -2.92914e-06 -5.55112e-17 9.56805e-07 -4.41587e-06] normNow=5.4808e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.82219e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.85404e-09 -86: > NEWTON iter 2: errNorm=5.4808e-06(v) -> deltaNorm=5.09615e-06(pi) -86: > piActive=~[-0.662379 -0.0218153 0.0625398 -0.559097 -0.011839 0.0546398] -86: > errActive=~[-8.32667e-17 1.02175e-06 -2.92914e-06 -5.55112e-17 9.56805e-07 -4.41587e-06] -86: > deltaPi=~[2.79317e-06 8.92351e-07 -2.55818e-06 2.37048e-06 4.83314e-07 -2.23061e-06] -86: DBG: Line search iter 1: back=1, prevNorm=5.4808e-06. -86: > piNow=~[-0.662382 -0.0218162 0.0625424 -0.559099 -0.0118395 0.054642] -86: > errNow=~[-5.55112e-17 9.95731e-16 -2.88658e-15 -5.55112e-17 1.32186e-15 -6.10623e-15] normNow=6.95437e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.26886e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.95437e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.420469,1.20539] to ~[-0.420037,1.23849] -86: DBG: Friction 0 rotated 0.495413 deg, less than max 30 -86: slipVel 1 from ~[-0.467803,2.15902] to ~[-0.466925,2.18314] -86: DBG: Friction 1 rotated 0.153096 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.662382 -0.0218162 0.0625424 -0.559099 -0.0118395 0.054642] -86: : m_verrLeft=~[5.55112e-17 5.55112e-17 -0.420037 1.23849 -0.466925 2.18314] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.662382 verr=5.55112e-17 pi*v=-3.67696e-17 -86: DBG: 1: pi=-0.559099 verr=5.55112e-17 pi*v=-3.10363e-17 -86: SP FINAL 1 intervals, piTotal=~[-0.662382 -0.559099 -0.0218162 0.0625424 -0.0118395 0.054642] errNorm=6.95437e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.420469 1.20539, |slipV|=1.27662 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.467803 2.15902, |slipV|=2.20912 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.662382 -0.559099 -0.0218162 0.0625424 -0.0118395 0.054642] -86: updated verrStart=~[5.55112e-17 5.55112e-17 -0.420037 1.23849 -0.466925 2.18314] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.310515 0.569134 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.299276 0.115543 -0.0190894 0.320917 -0.00906404 0.119897] -86: [0.115543 0.253509 -0.00315544 0.121421 -0.0106291 0.271272] -86: [-0.0190894 -0.00315544 0.0470737 0.0167359 0.0497731 -0.0377316] -86: [0.320917 0.121421 0.0167359 0.404324 0.0313372 0.111196] -86: [-0.00906404 -0.0106291 0.0497731 0.0313372 0.0537749 -0.0492793] -86: [0.119897 0.271272 -0.0377316 0.111196 -0.0492793 0.343057] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.402366 rank=2 -86: rhs=~[0.310515 0.569134 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.207272 2.15056] -86: -> pi=~[0.207272 2.15056 0 0 0 0] -86: resid active=~[-5.55112e-17 0] -86: resid=~[-5.55112e-17 0 -0.0107427 0.32764 -0.0247373 0.608238] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[5.76796e-17 2.1684e-18 -0.420037 1.23849 -0.466925 2.18314] -86: perr=~[0.000310515 0.000569134 -1.11022e-16] -86: END OF STEP (0.144,0.145): -86: verr=~[-0.00143469 0.00143469 -0.41959 1.23851 -0.467372 2.18311] -86: perr=~[0.000309797 0.000569851 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.30766 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.23258 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00143469 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00143469 0.00143469 -0.41959 1.23851 -0.467372 2.18311] -86: IMP t=0.145 verr=~[-0.00143469 0.00143469 -0.41959 1.23851 -0.467372 2.18311] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00143469 0.00143469 -0.41959 1.23851 -0.467372 2.18311] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.41959,1.23851, mag=1.30766 -86: Participating contact 1 is Sliding; vel=-0.467372,2.18311, mag=2.23258 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.41959,1.23851, mag=1.30766 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.467372,2.18311, mag=2.23258 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00143469; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00143469; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00143469 0.00143469 -0.41959 1.23851 -0.467372 2.18311] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00143469 -0.41959 1.23851 0.00143469 -0.467372 2.18311] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.63755e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00137334... -86: > NEWTON iter 1: errNorm=0.00137334(v) -> deltaNorm=0.00125176(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000417405 0.00041959 -0.00123851 -4.32828e-05 0 0] -86: > deltaPi=~[-0.000628357 0.00030071 -0.000887612 0.00054203 4.2266e-10 -1.97426e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00137334. -86: > piNow=~[-0.00937164 -0.00030071 0.000887612 0.00945797 -4.2266e-10 1.97426e-09] -86: > errNow=~[-4.33681e-19 -9.82071e-10 2.89879e-09 -4.33681e-19 -9.43621e-10 4.40768e-09] normNow=5.44845e-09 -86: DBG: Improvement rate now/prev at iter 1 is 3.9673e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.0825e-05 -86: > NEWTON iter 2: errNorm=5.44845e-09(v) -> deltaNorm=4.73511e-09(pi) -86: > piActive=~[-0.00937164 -0.00030071 0.000887612 0.00945797 -4.2266e-10 1.97426e-09] -86: > errActive=~[-4.33681e-19 -9.82071e-10 2.89879e-09 -4.33681e-19 -9.43621e-10 4.40768e-09] -86: > deltaPi=~[-2.68295e-09 -8.37101e-10 2.47088e-09 -2.08343e-09 -4.22661e-10 1.97427e-09] -86: DBG: Line search iter 1: back=1, prevNorm=5.44845e-09. -86: > piNow=~[-0.00937164 -0.00030071 0.000887609 0.00945797 1.81612e-15 -8.48317e-15] -86: > errNow=~[0 -4.77434e-15 1.40927e-14 4.33681e-19 4.05464e-15 -1.89394e-14] normNow=2.44241e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.48277e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.44241e-14. -86: DBG: Worst offender is normal contact 1 err=0.00945797 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.41959,1.23851, mag=1.30766 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.467372,2.18311, mag=2.23258 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00143469; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00143469 0.00143469 -0.41959 1.23851 -0.467372 2.18311] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00143469 -0.41959 1.23851] -86: : pi was=~[-0.00937164 0 -0.00030071 0.000887609 1.81612e-15 -8.48317e-15] -86: : piActive=~[-0.01 -0.00030071 0.000887609] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.87085e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00129044... -86: > NEWTON iter 1: errNorm=0.00129044(v) -> deltaNorm=0.00470979(pi) -86: > piActive=~[-0.01 -0.00030071 0.000887609] -86: > errActive=~[-0.00128782 2.63653e-05 -7.7823e-05] -86: > deltaPi=~[-0.00469222 -0.000130392 0.000384881] -86: DBG: Line search iter 1: back=1, prevNorm=0.00129044. -86: > piNow=~[-0.00530778 -0.000170317 0.000502728] -86: > errNow=~[-4.33681e-19 -7.33357e-09 2.16466e-08] normNow=2.28551e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.77111e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.72845e-05 -86: > NEWTON iter 2: errNorm=2.28551e-08(v) -> deltaNorm=2.79786e-08(pi) -86: > piActive=~[-0.00530778 -0.000170317 0.000502728] -86: > errActive=~[-4.33681e-19 -7.33357e-09 2.16466e-08] -86: > deltaPi=~[-2.00778e-08 -6.25233e-09 1.84551e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.28551e-08. -86: > piNow=~[-0.00530776 -0.000170311 0.00050271] -86: > errNow=~[0 -1.11353e-13 3.28683e-13] normNow=3.47033e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.51841e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.47033e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.41959,1.23851] to ~[-0.419693,1.24002] -86: DBG: Friction 0 rotated 0.0168732 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00530776 -0.000170311 0.00050271] -86: : m_verrLeft=~[0 0.00198959 -0.419693 1.24002 -0.467428 2.18368] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00530776 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00198959 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00530776 0 -0.000170311 0.00050271 0 0] errNorm=3.47033e-13 -86: Postcompression verr=~[0 0.00198959 -0.419693 1.24002 -0.467428 2.18368] -86: impulse=~[-0.00530776 0 -0.000170311 0.00050271 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00530776 0 -0.000170311 0.00050271 0 0]-> du ~[-0.000979052 0.00194024 -0.000932496 -0.00103989 -7.94121e-05 0.000994796 -0.00374827 0.00222555] -86: Now verr0=~[1.66967e-17 0.00198959 -0.419693 1.24002 -0.467428 2.18368] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[1.66967e-17 0.00198959 -0.419693 1.24002 -0.467428 2.18368] -86: verrExt=~[-0.216284 -0.182831 0.0116391 -0.194015 0.0100751 -0.163269] -86: total verr=~[-0.216284 -0.180842 -0.408054 1.046 -0.457353 2.02042] -86: DYN t=0.145: verrStart=~[1.66967e-17 0.00198959 -0.419693 1.24002 -0.467428 2.18368] -86: verrApplied=~[-0.216284 -0.182831 0.0116391 -0.194015 0.0100751 -0.163269] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[1.66967e-17 0.00198959 -0.419693 1.24002 -0.467428 2.18368] -86: verrApplied=~[-0.216284 -0.182831 0.0116391 -0.194015 0.0100751 -0.163269] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.419693,1.24002, mag=1.30911 -86: Participating contact 1 is Sliding; vel=-0.467428,2.18368, mag=2.23315 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.419693,1.24002, mag=1.30911 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.467428,2.18368, mag=2.23315 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.216284; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.180842; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[1.66967e-17 0.00198959 -0.419693 1.24002 -0.467428 2.18368] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.216284 -0.182831 0.0116391 -0.194015 0.0100751 -0.163269] -86: : rhsActive=~[-0.216284 -0.408054 1.046 -0.180842 -0.457353 2.02042] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -94: F-B Free vs. Translation and Gimbal: Passed -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.64214e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.276353... -86: > NEWTON iter 1: errNorm=0.276353(v) -> deltaNorm=0.782353(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.212109 0.000419693 -0.00124002 0.177128 0.000467428 -0.00218368] -86: > deltaPi=~[0.590996 0.0192668 -0.0569253 0.506478 0.0108102 -0.0505019] -86: DBG: Line search iter 1: back=1, prevNorm=0.276353. -86: > piNow=~[-0.600996 -0.0192668 0.0569253 -0.516478 -0.0108102 0.0505019] -86: > errNow=~[2.77556e-17 9.23907e-07 -2.72975e-06 -8.32667e-17 8.81835e-07 -4.11967e-06] normNow=5.10436e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.84704e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.40291e-09 -86: > NEWTON iter 2: errNorm=5.10436e-06(v) -> deltaNorm=4.6409e-06(pi) -86: > piActive=~[-0.600996 -0.0192668 0.0569253 -0.516478 -0.0108102 0.0505019] -86: > errActive=~[2.77556e-17 9.23907e-07 -2.72975e-06 -8.32667e-17 8.81835e-07 -4.11967e-06] -86: > deltaPi=~[2.52106e-06 7.86572e-07 -2.32399e-06 2.17602e-06 4.4043e-07 -2.05756e-06] -86: DBG: Line search iter 1: back=1, prevNorm=5.10436e-06. -86: > piNow=~[-0.600999 -0.0192676 0.0569276 -0.516481 -0.0108106 0.050504] -86: > errNow=~[0 1.09635e-15 -3.23352e-15 -2.77556e-17 1.42247e-15 -6.64746e-15] normNow=7.60727e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.49035e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=7.60727e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.419693,1.24002] to ~[-0.419009,1.27391] -86: DBG: Friction 0 rotated 0.491948 deg, less than max 30 -86: slipVel 1 from ~[-0.467428,2.18368] to ~[-0.466255,2.20794] -86: DBG: Friction 1 rotated 0.157994 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.600999 -0.0192676 0.0569276 -0.516481 -0.0108106 0.050504] -86: : m_verrLeft=~[0 2.77556e-17 -0.419009 1.27391 -0.466255 2.20794] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.600999 verr=0 pi*v=-0 -86: DBG: 1: pi=-0.516481 verr=2.77556e-17 pi*v=-1.43352e-17 -86: SP FINAL 1 intervals, piTotal=~[-0.600999 -0.516481 -0.0192676 0.0569276 -0.0108106 0.050504] errNorm=7.60727e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.419693 1.24002, |slipV|=1.30911 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.467428 2.18368, |slipV|=2.23315 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.600999 -0.516481 -0.0192676 0.0569276 -0.0108106 0.050504] -86: updated verrStart=~[0 2.77556e-17 -0.419009 1.27391 -0.466255 2.20794] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.309797 0.569851 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.301351 0.116142 -0.0193795 0.321282 -0.00914037 0.119816] -86: [0.116142 0.255282 -0.00333258 0.121305 -0.0109738 0.271649] -86: [-0.0193795 -0.00333258 0.0470094 0.0163876 0.0497403 -0.0376832] -86: [0.321282 0.121305 0.0163876 0.402376 0.0312043 0.110492] -86: [-0.00914037 -0.0109738 0.0497403 0.0312043 0.0538182 -0.0494019] -86: [0.119816 0.271649 -0.0376832 0.110492 -0.0494019 0.341378] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.403086 rank=2 -86: rhs=~[0.309797 0.569851 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.203373 2.13971] -86: -> pi=~[0.203373 2.13971 0 0 0 0] -86: resid active=~[5.55112e-17 -1.11022e-16] -86: resid=~[5.55112e-17 -1.11022e-16 -0.011072 0.324899 -0.0253396 0.605618] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[1.661e-16 2.77122e-16 -0.419009 1.27391 -0.466255 2.20794] -86: perr=~[0.000309797 0.000569851 0] -86: END OF STEP (0.145,0.146): -86: verr=~[-0.00144938 0.00144938 -0.418571 1.27393 -0.466692 2.20791] -86: perr=~[0.000309073 0.000570576 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.34094 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.25669 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00144938 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00144938 0.00144938 -0.418571 1.27393 -0.466692 2.20791] -86: IMP t=0.146 verr=~[-0.00144938 0.00144938 -0.418571 1.27393 -0.466692 2.20791] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00144938 0.00144938 -0.418571 1.27393 -0.466692 2.20791] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.418571,1.27393, mag=1.34094 -86: Participating contact 1 is Sliding; vel=-0.466692,2.20791, mag=2.25669 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.418571,1.27393, mag=1.34094 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.466692,2.20791, mag=2.25669 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00144938; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00144938; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00144938 0.00144938 -0.418571 1.27393 -0.466692 2.20791] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00144938 -0.418571 1.27393 0.00144938 -0.466692 2.20791] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.7779e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00140521... -86: > NEWTON iter 1: errNorm=0.00140521(v) -> deltaNorm=0.00123737(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000417594 0.000418571 -0.00127393 -4.61865e-05 0 0] -86: > deltaPi=~[-0.000613303 0.000293005 -0.00089177 0.000523295 4.03103e-10 -1.90707e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00140521. -86: > piNow=~[-0.0093867 -0.000293005 0.00089177 0.00947671 -4.03103e-10 1.90707e-09] -86: > errNow=~[-2.1684e-19 -9.56216e-10 2.91027e-09 2.1684e-19 -9.0968e-10 4.30368e-09] normNow=5.36033e-09 -86: DBG: Improvement rate now/prev at iter 1 is 3.8146e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.09426e-05 -86: > NEWTON iter 2: errNorm=5.36033e-09(v) -> deltaNorm=4.59251e-09(pi) -86: > piActive=~[-0.0093867 -0.000293005 0.00089177 0.00947671 -4.03103e-10 1.90707e-09] -86: > errActive=~[-2.1684e-19 -9.56216e-10 2.91027e-09 2.1684e-19 -9.0968e-10 4.30368e-09] -86: > deltaPi=~[-2.60909e-09 -7.94535e-10 2.41819e-09 -2.00135e-09 -4.03104e-10 1.90708e-09] -86: DBG: Line search iter 1: back=1, prevNorm=5.36033e-09. -86: > piNow=~[-0.00938669 -0.000293005 0.000891767 0.00947671 1.71661e-15 -8.12125e-15] -86: > errNow=~[8.67362e-19 -4.61675e-15 1.40515e-14 0 3.87387e-15 -1.83272e-14] normNow=2.38674e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.45259e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.38674e-14. -86: DBG: Worst offender is normal contact 1 err=0.00947671 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.418571,1.27393, mag=1.34094 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.466692,2.20791, mag=2.25669 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00144938; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00144938 0.00144938 -0.418571 1.27393 -0.466692 2.20791] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00144938 -0.418571 1.27393] -86: : pi was=~[-0.00938669 0 -0.000293005 0.000891767 1.71661e-15 -8.12125e-15] -86: : piActive=~[-0.01 -0.000293005 0.000891767] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.99482e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00129527... -86: > NEWTON iter 1: errNorm=0.00129527(v) -> deltaNorm=0.00469471(pi) -86: > piActive=~[-0.01 -0.000293005 0.000891767] -86: > errActive=~[-0.00129265 2.56712e-05 -7.81311e-05] -86: > deltaPi=~[-0.00467709 -0.000126845 0.000386056] -86: DBG: Line search iter 1: back=1, prevNorm=0.00129527. -86: > piNow=~[-0.00532291 -0.000166159 0.000505711] -86: > errNow=~[-2.1684e-19 -7.29217e-09 2.21939e-08] normNow=2.33612e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.80358e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.76238e-05 -86: > NEWTON iter 2: errNorm=2.33612e-08(v) -> deltaNorm=2.78329e-08(pi) -86: > piActive=~[-0.00532291 -0.000166159 0.000505711] -86: > errActive=~[-2.1684e-19 -7.29217e-09 2.21939e-08] -86: > deltaPi=~[-1.99426e-08 -6.06054e-09 1.84454e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.33612e-08. -86: > piNow=~[-0.00532289 -0.000166153 0.000505692] -86: > errNow=~[0 -1.09709e-13 3.33901e-13] normNow=3.51463e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.50447e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.51463e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.418571,1.27393] to ~[-0.418676,1.27545] -86: DBG: Friction 0 rotated 0.0158908 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00532289 -0.000166153 0.000505692] -86: : m_verrLeft=~[0 0.00200903 -0.418676 1.27545 -0.466749 2.20849] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00532289 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00200903 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00532289 0 -0.000166153 0.000505692 0 0] errNorm=3.51463e-13 -86: Postcompression verr=~[0 0.00200903 -0.418676 1.27545 -0.466749 2.20849] -86: impulse=~[-0.00532289 0 -0.000166153 0.000505692 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00532289 0 -0.000166153 0.000505692 0 0]-> du ~[-0.000991482 0.00195214 -0.000937374 -0.00104389 -8.07219e-05 0.00100452 -0.00377361 0.00223949] -86: Now verr0=~[-1.73472e-18 0.00200903 -0.418676 1.27545 -0.466749 2.20849] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-1.73472e-18 0.00200903 -0.418676 1.27545 -0.466749 2.20849] -86: verrExt=~[-0.198385 -0.169122 0.0110475 -0.173282 0.00973616 -0.147978] -86: total verr=~[-0.198385 -0.167113 -0.407629 1.10216 -0.457012 2.06051] -86: DYN t=0.146: verrStart=~[-1.73472e-18 0.00200903 -0.418676 1.27545 -0.466749 2.20849] -86: verrApplied=~[-0.198385 -0.169122 0.0110475 -0.173282 0.00973616 -0.147978] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-1.73472e-18 0.00200903 -0.418676 1.27545 -0.466749 2.20849] -86: verrApplied=~[-0.198385 -0.169122 0.0110475 -0.173282 0.00973616 -0.147978] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.418676,1.27545, mag=1.34241 -86: Participating contact 1 is Sliding; vel=-0.466749,2.20849, mag=2.25727 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.418676,1.27545, mag=1.34241 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.466749,2.20849, mag=2.25727 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.198385; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.167113; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-1.73472e-18 0.00200903 -0.418676 1.27545 -0.466749 2.20849] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.198385 -0.169122 0.0110475 -0.173282 0.00973616 -0.147978] -86: : rhsActive=~[-0.198385 -0.407629 1.10216 -0.167113 -0.457012 2.06051] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.78254e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.253782... -86: > NEWTON iter 1: errNorm=0.253782(v) -> deltaNorm=0.713748(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.194183 0.000418676 -0.00127545 0.163374 0.000466749 -0.00220849] -86: > deltaPi=~[0.534886 0.0169936 -0.0517688 0.467001 0.00986286 -0.0466675] -86: DBG: Line search iter 1: back=1, prevNorm=0.253782. -86: > piNow=~[-0.544886 -0.0169936 0.0517688 -0.477001 -0.00986286 0.0466675] -86: > errNow=~[8.32667e-17 8.34164e-07 -2.54118e-06 -2.77556e-17 8.11918e-07 -3.8417e-06] normNow=4.75093e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.87205e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.05696e-09 -86: > NEWTON iter 2: errNorm=4.75093e-06(v) -> deltaNorm=4.2235e-06(pi) -86: > piActive=~[-0.544886 -0.0169936 0.0517688 -0.477001 -0.00986286 0.0466675] -86: > errActive=~[8.32667e-17 8.34164e-07 -2.54118e-06 -2.77556e-17 8.11918e-07 -3.8417e-06] -86: > deltaPi=~[2.27261e-06 6.92274e-07 -2.10893e-06 1.99651e-06 4.00973e-07 -1.89726e-06] -86: DBG: Line search iter 1: back=1, prevNorm=4.75093e-06. -86: > piNow=~[-0.544888 -0.0169943 0.0517709 -0.477003 -0.00986326 0.0466694] -86: > errNow=~[-2.77556e-17 1.20043e-15 -3.64986e-15 0 1.53003e-15 -7.21645e-15] normNow=8.31754e-15 -86: DBG: Improvement rate now/prev at iter 2 is 1.75072e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.31754e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.418676,1.27545] to ~[-0.417803,1.30996] -86: DBG: Friction 0 rotated 0.483068 deg, less than max 30 -86: slipVel 1 from ~[-0.466749,2.20849] to ~[-0.465352,2.23284] -86: DBG: Friction 1 rotated 0.16082 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.544888 -0.0169943 0.0517709 -0.477003 -0.00986326 0.0466694] -86: : m_verrLeft=~[2.77556e-17 0 -0.417803 1.30996 -0.465352 2.23284] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.544888 verr=2.77556e-17 pi*v=-1.51237e-17 -86: DBG: 1: pi=-0.477003 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.544888 -0.477003 -0.0169943 0.0517709 -0.00986326 0.0466694] errNorm=8.31754e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.418676 1.27545, |slipV|=1.34241 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.466749 2.20849, |slipV|=2.25727 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.544888 -0.477003 -0.0169943 0.0517709 -0.00986326 0.0466694] -86: updated verrStart=~[2.77556e-17 0 -0.417803 1.30996 -0.465352 2.23284] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.309073 0.570576 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.303461 0.116764 -0.0196599 0.321632 -0.00920887 0.119734] -86: [0.116764 0.257083 -0.0035123 0.121192 -0.0113194 0.272009] -86: [-0.0196599 -0.0035123 0.0469482 0.0160578 0.0497104 -0.0376375] -86: [0.321632 0.121192 0.0160578 0.400383 0.0310831 0.10977] -86: [-0.00920887 -0.0113194 0.0497104 0.0310831 0.0538638 -0.0495213] -86: [0.119734 0.272009 -0.0376375 0.10977 -0.0495213 0.339653] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.403759 rank=2 -86: rhs=~[0.309073 0.570576 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.199354 2.12888] -86: -> pi=~[0.199354 2.12888 0 0 0 0] -86: resid active=~[-5.55112e-17 0] -86: resid=~[-5.55112e-17 0 -0.0113965 0.322122 -0.0259333 0.602943] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-2.66497e-16 -2.38741e-16 -0.417803 1.30996 -0.465352 2.23284] -86: perr=~[0.000309073 0.000570576 0] -86: END OF STEP (0.146,0.147): -86: verr=~[-0.00146322 0.00146322 -0.417377 1.30998 -0.465778 2.23281] -86: perr=~[0.000308341 0.000571308 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.37486 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.28088 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00146322 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00146322 0.00146322 -0.417377 1.30998 -0.465778 2.23281] -86: IMP t=0.147 verr=~[-0.00146322 0.00146322 -0.417377 1.30998 -0.465778 2.23281] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00146322 0.00146322 -0.417377 1.30998 -0.465778 2.23281] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.417377,1.30998, mag=1.37486 -86: Participating contact 1 is Sliding; vel=-0.465778,2.23281, mag=2.28088 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.417377,1.30998, mag=1.37486 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.465778,2.23281, mag=2.28088 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00146322; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00146322; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00146322 0.00146322 -0.417377 1.30998 -0.465778 2.23281] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00146322 -0.417377 1.30998 0.00146322 -0.465778 2.23281] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.9201e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00143802... -86: > NEWTON iter 1: errNorm=0.00143802(v) -> deltaNorm=0.00122841(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000418724 0.000417377 -0.00130998 -4.82267e-05 0 0] -86: > deltaPi=~[-0.000604585 0.000285224 -0.000895204 0.00051062 3.88407e-10 -1.86191e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00143802. -86: > piNow=~[-0.00939542 -0.000285224 0.000895204 0.00948938 -3.88407e-10 1.86191e-09] -86: > errNow=~[0 -9.39933e-10 2.95008e-09 -4.33681e-19 -8.85908e-10 4.2468e-09] normNow=5.32978e-09 -86: DBG: Improvement rate now/prev at iter 1 is 3.70633e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.10757e-05 -86: > NEWTON iter 2: errNorm=5.32978e-09(v) -> deltaNorm=4.49953e-09(pi) -86: > piActive=~[-0.00939542 -0.000285224 0.000895204 0.00948938 -3.88407e-10 1.86191e-09] -86: > errActive=~[0 -9.39933e-10 2.95008e-09 -4.33681e-19 -8.85908e-10 4.2468e-09] -86: > deltaPi=~[-2.56176e-09 -7.61421e-10 2.3898e-09 -1.94283e-09 -3.88408e-10 1.86192e-09] -86: DBG: Line search iter 1: back=1, prevNorm=5.32978e-09. -86: > piNow=~[-0.00939541 -0.000285223 0.000895201 0.00948938 1.64113e-15 -7.86713e-15] -86: > errNow=~[0 -4.51174e-15 1.41608e-14 2.1684e-19 3.74322e-15 -1.7944e-14] normNow=2.35983e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.42764e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.35983e-14. -86: DBG: Worst offender is normal contact 1 err=0.00948938 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.417377,1.30998, mag=1.37486 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.465778,2.23281, mag=2.28088 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00146322; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00146322 0.00146322 -0.417377 1.30998 -0.465778 2.23281] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00146322 -0.417377 1.30998] -86: : pi was=~[-0.00939541 0 -0.000285223 0.000895201 1.64113e-15 -7.86713e-15] -86: : piActive=~[-0.01 -0.000285223 0.000895201] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.12119e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00130158... -86: > NEWTON iter 1: errNorm=0.00130158(v) -> deltaNorm=0.00468369(pi) -86: > piActive=~[-0.01 -0.000285223 0.000895201] -86: > errActive=~[-0.00129893 2.52341e-05 -7.91997e-05] -86: > deltaPi=~[-0.00466605 -0.000123291 0.000386962] -86: DBG: Line search iter 1: back=1, prevNorm=0.00130158. -86: > piNow=~[-0.00533395 -0.000161932 0.000508239] -86: > errNow=~[2.1684e-19 -7.2542e-09 2.2768e-08] normNow=2.38957e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.8359e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.7995e-05 -86: > NEWTON iter 2: errNorm=2.38957e-08(v) -> deltaNorm=2.77074e-08(pi) -86: > piActive=~[-0.00533395 -0.000161932 0.000508239] -86: > errActive=~[2.1684e-19 -7.2542e-09 2.2768e-08] -86: > deltaPi=~[-1.98194e-08 -5.8779e-09 1.84484e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.38957e-08. -86: > piNow=~[-0.00533393 -0.000161926 0.000508221] -86: > errNow=~[0 -1.08271e-13 3.39819e-13] normNow=3.5665e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.49253e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.5665e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.417377,1.30998] to ~[-0.417483,1.3115] -86: DBG: Friction 0 rotated 0.0149444 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00533393 -0.000161926 0.000508221] -86: : m_verrLeft=~[0 0.00202735 -0.417483 1.3115 -0.465835 2.23339] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00533393 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00202735 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00533393 0 -0.000161926 0.000508221 0 0] errNorm=3.5665e-13 -86: Postcompression verr=~[0 0.00202735 -0.417483 1.3115 -0.465835 2.23339] -86: impulse=~[-0.00533393 0 -0.000161926 0.000508221 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00533393 0 -0.000161926 0.000508221 0 0]-> du ~[-0.00100327 0.00196275 -0.000941514 -0.00104709 -8.1924e-05 0.00101368 -0.00379645 0.00225198] -86: Now verr0=~[-1.60462e-17 0.00202735 -0.417483 1.3115 -0.465835 2.23339] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-1.60462e-17 0.00202735 -0.417483 1.3115 -0.465835 2.23339] -86: verrExt=~[-0.182267 -0.156721 0.01046 -0.154804 0.00937363 -0.13422] -86: total verr=~[-0.182267 -0.154694 -0.407023 1.15669 -0.456462 2.09917] -86: DYN t=0.147: verrStart=~[-1.60462e-17 0.00202735 -0.417483 1.3115 -0.465835 2.23339] -86: verrApplied=~[-0.182267 -0.156721 0.01046 -0.154804 0.00937363 -0.13422] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-1.60462e-17 0.00202735 -0.417483 1.3115 -0.465835 2.23339] -86: verrApplied=~[-0.182267 -0.156721 0.01046 -0.154804 0.00937363 -0.13422] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.417483,1.3115, mag=1.37634 -86: Participating contact 1 is Sliding; vel=-0.465835,2.23339, mag=2.28145 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.417483,1.3115, mag=1.37634 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.465835,2.23339, mag=2.28145 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.182267; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.154694; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-1.60462e-17 0.00202735 -0.417483 1.3115 -0.465835 2.23339] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.182267 -0.156721 0.01046 -0.154804 0.00937363 -0.13422] -86: : rhsActive=~[-0.182267 -0.407023 1.15669 -0.154694 -0.456462 2.09917] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.92478e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.233418... -86: > NEWTON iter 1: errNorm=0.233418(v) -> deltaNorm=0.652156(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.178036 0.000417483 -0.0013115 0.150931 0.000465835 -0.00223339] -86: > deltaPi=~[0.484718 0.0150056 -0.0471393 0.431234 0.00900895 -0.0431922] -86: DBG: Line search iter 1: back=1, prevNorm=0.233418. -86: > piNow=~[-0.494718 -0.0150056 0.0471393 -0.441234 -0.00900895 0.0431922] -86: > errNow=~[-1.11022e-16 7.53772e-07 -2.36793e-06 -5.55112e-17 7.48268e-07 -3.58747e-06] normNow=4.42777e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.89692e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.83666e-09 -86: > NEWTON iter 2: errNorm=4.42777e-06(v) -> deltaNorm=3.84896e-06(pi) -86: > piActive=~[-0.494718 -0.0150056 0.0471393 -0.441234 -0.00900895 0.0431922] -86: > errActive=~[-1.11022e-16 7.53772e-07 -2.36793e-06 -5.55112e-17 7.48268e-07 -3.58747e-06] -86: > deltaPi=~[2.05055e-06 6.09862e-07 -1.91584e-06 1.83419e-06 3.6543e-07 -1.75201e-06] -86: DBG: Line search iter 1: back=1, prevNorm=4.42777e-06. -86: > piNow=~[-0.49472 -0.0150063 0.0471412 -0.441236 -0.00900931 0.043194] -86: > errNow=~[-2.77556e-17 1.30451e-15 -4.09395e-15 0 1.63411e-15 -7.82707e-15] normNow=9.07724e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.05007e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.07724e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.417483,1.3115] to ~[-0.416481,1.34643] -86: DBG: Friction 0 rotated 0.469624 deg, less than max 30 -86: slipVel 1 from ~[-0.465835,2.23339] to ~[-0.46428,2.25779] -86: DBG: Friction 1 rotated 0.161698 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.49472 -0.0150063 0.0471412 -0.441236 -0.00900931 0.043194] -86: : m_verrLeft=~[2.77556e-17 0 -0.416481 1.34643 -0.46428 2.25779] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.49472 verr=2.77556e-17 pi*v=-1.37312e-17 -86: DBG: 1: pi=-0.441236 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.49472 -0.441236 -0.0150063 0.0471412 -0.00900931 0.043194] errNorm=9.07724e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.417483 1.3115, |slipV|=1.37634 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.465835 2.23339, |slipV|=2.28145 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.49472 -0.441236 -0.0150063 0.0471412 -0.00900931 0.043194] -86: updated verrStart=~[2.77556e-17 0 -0.416481 1.34643 -0.46428 2.25779] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.308341 0.571308 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.305606 0.117411 -0.0199293 0.321969 -0.00926873 0.119653] -86: [0.117411 0.258911 -0.00369512 0.121081 -0.0116662 0.272351] -86: [-0.0199293 -0.00369512 0.0468902 0.0157478 0.0496836 -0.0375952] -86: [0.321969 0.121081 0.0157478 0.398343 0.0309747 0.10903] -86: [-0.00926873 -0.0116662 0.0496836 0.0309747 0.0539123 -0.0496382] -86: [0.119653 0.272351 -0.0375952 0.10903 -0.0496382 0.337881] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.404381 rank=2 -86: rhs=~[0.308341 0.571308 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.19521 2.11806] -86: -> pi=~[0.19521 2.11806 0 0 0 0] -86: resid active=~[5.55112e-17 0] -86: resid=~[5.55112e-17 0 -0.0117169 0.319308 -0.026519 0.600212] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[2.66931e-16 1.83664e-16 -0.416481 1.34643 -0.46428 2.25779] -86: perr=~[0.000308341 0.000571308 0] -86: END OF STEP (0.147,0.148): -86: verr=~[-0.00147628 0.00147628 -0.416064 1.34645 -0.464696 2.25776] -86: perr=~[0.000307603 0.000572046 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.40927 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.30509 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00147628 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00147628 0.00147628 -0.416064 1.34645 -0.464696 2.25776] -86: IMP t=0.148 verr=~[-0.00147628 0.00147628 -0.416064 1.34645 -0.464696 2.25776] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00147628 0.00147628 -0.416064 1.34645 -0.464696 2.25776] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.416064,1.34645, mag=1.40927 -86: Participating contact 1 is Sliding; vel=-0.464696,2.25776, mag=2.30509 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.416064,1.34645, mag=1.40927 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.464696,2.25776, mag=2.30509 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00147628; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00147628; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00147628 0.00147628 -0.416064 1.34645 -0.464696 2.25776] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00147628 -0.416064 1.34645 0.00147628 -0.464696 2.25776] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.00637e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00147157... -86: > NEWTON iter 1: errNorm=0.00147157(v) -> deltaNorm=0.00122422(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000420726 0.000416064 -0.00134645 -4.94712e-05 0 0] -86: > deltaPi=~[-0.000601634 0.000277472 -0.000897946 0.000503431 3.78035e-10 -1.83671e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00147157. -86: > piNow=~[-0.00939837 -0.000277472 0.000897946 0.00949657 -3.78035e-10 1.83671e-09] -86: > errNow=~[2.1684e-19 -9.32405e-10 3.01742e-09 -4.33681e-19 -8.71405e-10 4.23379e-09] normNow=5.35337e-09 -86: DBG: Improvement rate now/prev at iter 1 is 3.63787e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.12231e-05 -86: > NEWTON iter 2: errNorm=5.35337e-09(v) -> deltaNorm=4.45125e-09(pi) -86: > piActive=~[-0.00939837 -0.000277472 0.000897946 0.00949657 -3.78035e-10 1.83671e-09] -86: > errActive=~[2.1684e-19 -9.32405e-10 3.01742e-09 -4.33681e-19 -8.71405e-10 4.23379e-09] -86: > deltaPi=~[-2.53824e-09 -7.36556e-10 2.38362e-09 -1.90536e-09 -3.78036e-10 1.83672e-09] -86: DBG: Line search iter 1: back=1, prevNorm=5.35337e-09. -86: > piNow=~[-0.00939836 -0.000277471 0.000897943 0.00949657 1.58646e-15 -7.70797e-15] -86: > errNow=~[-2.1684e-19 -4.45341e-15 1.44119e-14 -2.1684e-19 3.65694e-15 -1.77676e-14] normNow=2.35923e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.40699e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.35923e-14. -86: DBG: Worst offender is normal contact 1 err=0.00949657 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.416064,1.34645, mag=1.40927 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.464696,2.25776, mag=2.30509 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00147628; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00147628 0.00147628 -0.416064 1.34645 -0.464696 2.25776] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00147628 -0.416064 1.34645] -86: : pi was=~[-0.00939836 0 -0.000277471 0.000897943 1.58646e-15 -7.70797e-15] -86: : piActive=~[-0.01 -0.000277471 0.000897943] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.24936e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00130933... -86: > NEWTON iter 1: errNorm=0.00130933(v) -> deltaNorm=0.00467647(pi) -86: > piActive=~[-0.01 -0.000277471 0.000897943] -86: > errActive=~[-0.00130658 2.5032e-05 -8.10076e-05] -86: > deltaPi=~[-0.00465884 -0.000119777 0.000387619] -86: DBG: Line search iter 1: back=1, prevNorm=0.00130933. -86: > piNow=~[-0.00534116 -0.000157694 0.000510324] -86: > errNow=~[0 -7.22022e-09 2.33658e-08] normNow=2.4456e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.86782e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.83956e-05 -86: > NEWTON iter 2: errNorm=2.4456e-08(v) -> deltaNorm=2.76004e-08(pi) -86: > piActive=~[-0.00534116 -0.000157694 0.000510324] -86: > errActive=~[0 -7.22022e-09 2.33658e-08] -86: > deltaPi=~[-1.97069e-08 -5.7051e-09 1.84627e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.4456e-08. -86: > piNow=~[-0.00534114 -0.000157688 0.000510306] -86: > errNow=~[0 -1.07028e-13 3.46361e-13] normNow=3.6252e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.48234e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.6252e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.416064,1.34645] to ~[-0.416173,1.34798] -86: DBG: Friction 0 rotated 0.0140415 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00534114 -0.000157688 0.000510306] -86: : m_verrLeft=~[0 0.00204464 -0.416173 1.34798 -0.464753 2.25834] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00534114 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00204464 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00534114 0 -0.000157688 0.000510306 0 0] errNorm=3.6252e-13 -86: Postcompression verr=~[0 0.00204464 -0.416173 1.34798 -0.464753 2.25834] -86: impulse=~[-0.00534114 0 -0.000157688 0.000510306 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00534114 0 -0.000157688 0.000510306 0 0]-> du ~[-0.00101444 0.00197217 -0.000944957 -0.00104955 -8.30136e-05 0.00102232 -0.00381697 0.00226311] -86: Now verr0=~[3.68629e-18 0.00204464 -0.416173 1.34798 -0.464753 2.25834] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[3.68629e-18 0.00204464 -0.416173 1.34798 -0.464753 2.25834] -86: verrExt=~[-0.168175 -0.145834 0.00990119 -0.138815 0.0090087 -0.122201] -86: total verr=~[-0.168175 -0.143789 -0.406272 1.20916 -0.455745 2.13614] -86: DYN t=0.148: verrStart=~[3.68629e-18 0.00204464 -0.416173 1.34798 -0.464753 2.25834] -86: verrApplied=~[-0.168175 -0.145834 0.00990119 -0.138815 0.0090087 -0.122201] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[3.68629e-18 0.00204464 -0.416173 1.34798 -0.464753 2.25834] -86: verrApplied=~[-0.168175 -0.145834 0.00990119 -0.138815 0.0090087 -0.122201] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.416173,1.34798, mag=1.41076 -86: Participating contact 1 is Sliding; vel=-0.464753,2.25834, mag=2.30567 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.416173,1.34798, mag=1.41076 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.464753,2.25834, mag=2.30567 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.168175; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.143789; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[3.68629e-18 0.00204464 -0.416173 1.34798 -0.464753 2.25834] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.168175 -0.145834 0.00990119 -0.138815 0.0090087 -0.122201] -86: : rhsActive=~[-0.168175 -0.406272 1.20916 -0.143789 -0.455745 2.13614] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.00684e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.215583... -86: > NEWTON iter 1: errNorm=0.215583(v) -> deltaNorm=0.598327(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.163916 0.000416173 -0.00134798 0.14 0.000464753 -0.00225834] -86: > deltaPi=~[0.441065 0.0133059 -0.0430976 0.39968 0.00825762 -0.0401256] -86: DBG: Line search iter 1: back=1, prevNorm=0.215583. -86: > piNow=~[-0.451065 -0.0133059 0.0430976 -0.40968 -0.00825762 0.0401256] -86: > errNow=~[0 6.83735e-07 -2.2146e-06 5.55112e-17 6.91905e-07 -3.36212e-06] normNow=4.14181e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.92121e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.72243e-09 -86: > NEWTON iter 2: errNorm=4.14181e-06(v) -> deltaNorm=3.52149e-06(pi) -86: > piActive=~[-0.451065 -0.0133059 0.0430976 -0.40968 -0.00825762 0.0401256] -86: > errActive=~[0 6.83735e-07 -2.2146e-06 5.55112e-17 6.91905e-07 -3.36212e-06] -86: > deltaPi=~[1.85717e-06 5.39444e-07 -1.74725e-06 1.69098e-06 3.34174e-07 -1.62383e-06] -86: DBG: Line search iter 1: back=1, prevNorm=4.14181e-06. -86: > piNow=~[-0.451067 -0.0133064 0.0430993 -0.409682 -0.00825795 0.0401273] -86: > errNow=~[2.77556e-17 1.41206e-15 -4.58661e-15 0 1.74513e-15 -8.47933e-15] normNow=9.89829e-15 -86: DBG: Improvement rate now/prev at iter 2 is 2.38985e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.89829e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.416173,1.34798] to ~[-0.415093,1.38313] -86: DBG: Friction 0 rotated 0.452425 deg, less than max 30 -86: slipVel 1 from ~[-0.464753,2.25834] to ~[-0.463098,2.28272] -86: DBG: Friction 1 rotated 0.160769 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.451067 -0.0133064 0.0430993 -0.409682 -0.00825795 0.0401273] -86: : m_verrLeft=~[-2.77556e-17 0 -0.415093 1.38313 -0.463098 2.28272] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.451067 verr=-2.77556e-17 pi*v=1.25196e-17 -86: DBG: 1: pi=-0.409682 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.451067 -0.409682 -0.0133064 0.0430993 -0.00825795 0.0401273] errNorm=9.89829e-15 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.416173 1.34798, |slipV|=1.41076 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.464753 2.25834, |slipV|=2.30567 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.451067 -0.409682 -0.0133064 0.0430993 -0.00825795 0.0401273] -86: updated verrStart=~[-2.77556e-17 0 -0.415093 1.38313 -0.463098 2.28272] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.307603 0.572046 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.307786 0.118085 -0.020187 0.322289 -0.00931917 0.119573] -86: [0.118085 0.260766 -0.00388151 0.120973 -0.0120146 0.272675] -86: [-0.020187 -0.00388151 0.0468354 0.0154586 0.0496601 -0.0375567] -86: [0.322289 0.120973 0.0154586 0.396258 0.0308798 0.108271] -86: [-0.00931917 -0.0120146 0.0496601 0.0308798 0.0539637 -0.049753] -86: [0.119573 0.272675 -0.0375567 0.108271 -0.049753 0.336063] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.404945 rank=2 -86: rhs=~[0.307603 0.572046 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.190936 2.10725] -86: -> pi=~[0.190936 2.10725 0 0 0 0] -86: resid active=~[5.55112e-17 0] -86: resid=~[5.55112e-17 0 -0.0120338 0.316457 -0.0270972 0.597425] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[3.73399e-16 3.45644e-16 -0.415093 1.38313 -0.463098 2.28272] -86: perr=~[0.000307603 0.000572046 0] -86: END OF STEP (0.148,0.149): -86: verr=~[-0.00148858 0.00148858 -0.414688 1.38316 -0.463504 2.2827] -86: perr=~[0.000306859 0.00057279 -1.11022e-16] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.44398 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.32928 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00148858 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00148858 0.00148858 -0.414688 1.38316 -0.463504 2.2827] -86: IMP t=0.149 verr=~[-0.00148858 0.00148858 -0.414688 1.38316 -0.463504 2.2827] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00148858 0.00148858 -0.414688 1.38316 -0.463504 2.2827] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.414688,1.38316, mag=1.44398 -86: Participating contact 1 is Sliding; vel=-0.463504,2.2827, mag=2.32928 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.414688,1.38316, mag=1.44398 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.463504,2.2827, mag=2.32928 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00148858; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00148858; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00148858 0.00148858 -0.414688 1.38316 -0.463504 2.2827] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00148858 -0.414688 1.38316 0.00148858 -0.463504 2.2827] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.02082e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00150565... -86: > NEWTON iter 1: errNorm=0.00150565(v) -> deltaNorm=0.00122427(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000423541 0.000414688 -0.00138316 -4.99789e-05 0 0] -86: > deltaPi=~[-0.000603942 0.00026984 -0.000900028 0.000501223 3.71513e-10 -1.82966e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00150565. -86: > piNow=~[-0.00939606 -0.00026984 0.000900028 0.00949878 -3.71513e-10 1.82966e-09] -86: > errNow=~[2.1684e-19 -9.32885e-10 3.11156e-09 -4.33681e-19 -8.65358e-10 4.26178e-09] normNow=5.42805e-09 -86: DBG: Improvement rate now/prev at iter 1 is 3.60513e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.13834e-05 -86: > NEWTON iter 2: errNorm=5.42805e-09(v) -> deltaNorm=4.44332e-09(pi) -86: > piActive=~[-0.00939606 -0.00026984 0.000900028 0.00949878 -3.71513e-10 1.82966e-09] -86: > errActive=~[2.1684e-19 -9.32885e-10 3.11156e-09 -4.33681e-19 -8.65358e-10 4.26178e-09] -86: > deltaPi=~[-2.53608e-09 -7.18878e-10 2.39776e-09 -1.8867e-09 -3.71515e-10 1.82966e-09] -86: DBG: Line search iter 1: back=1, prevNorm=5.42805e-09. -86: > piNow=~[-0.00939606 -0.000269839 0.000900025 0.00949878 1.5499e-15 -7.63308e-15] -86: > errNow=~[-2.1684e-19 -4.4371e-15 1.47998e-14 4.33681e-19 3.61016e-15 -1.77796e-14] normNow=2.383e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.39016e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.383e-14. -86: DBG: Worst offender is normal contact 1 err=0.00949878 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.414688,1.38316, mag=1.44398 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.463504,2.2827, mag=2.32928 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00148858; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00148858 0.00148858 -0.414688 1.38316 -0.463504 2.2827] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00148858 -0.414688 1.38316] -86: : pi was=~[-0.00939606 0 -0.000269839 0.000900025 1.5499e-15 -7.63308e-15] -86: : piActive=~[-0.01 -0.000269839 0.000900025] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.37866e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00131845... -86: > NEWTON iter 1: errNorm=0.00131845(v) -> deltaNorm=0.00467282(pi) -86: > piActive=~[-0.01 -0.000269839 0.000900025] -86: > errActive=~[-0.00131556 2.50448e-05 -8.35351e-05] -86: > deltaPi=~[-0.00465522 -0.000116341 0.000388046] -86: DBG: Line search iter 1: back=1, prevNorm=0.00131845. -86: > piNow=~[-0.00534478 -0.000153498 0.00051198] -86: > errNow=~[-2.1684e-19 -7.19074e-09 2.39841e-08] normNow=2.50389e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.89912e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.88232e-05 -86: > NEWTON iter 2: errNorm=2.50389e-08(v) -> deltaNorm=2.751e-08(pi) -86: > piActive=~[-0.00534478 -0.000153498 0.00051198] -86: > errActive=~[-2.1684e-19 -7.19074e-09 2.39841e-08] -86: > deltaPi=~[-1.96036e-08 -5.5427e-09 1.84872e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.50389e-08. -86: > piNow=~[-0.00534476 -0.000153492 0.000511961] -86: > errNow=~[0 -1.05972e-13 3.5346e-13] normNow=3.69004e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.47372e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.69004e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.414688,1.38316] to ~[-0.414798,1.38468] -86: DBG: Friction 0 rotated 0.0131877 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00534476 -0.000153492 0.000511961] -86: : m_verrLeft=~[0 0.00206097 -0.414798 1.38468 -0.463562 2.28328] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00534476 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00206097 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00534476 0 -0.000153492 0.000511961 0 0] errNorm=3.69004e-13 -86: Postcompression verr=~[0 0.00206097 -0.414798 1.38468 -0.463562 2.28328] -86: impulse=~[-0.00534476 0 -0.000153492 0.000511961 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00534476 0 -0.000153492 0.000511961 0 0]-> du ~[-0.00102502 0.00198047 -0.000947739 -0.00105131 -8.39872e-05 0.00103048 -0.00383533 0.00227301] -86: Now verr0=~[-9.54098e-18 0.00206097 -0.414798 1.38468 -0.463562 2.28328] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-9.54098e-18 0.00206097 -0.414798 1.38468 -0.463562 2.28328] -86: verrExt=~[-0.156323 -0.136635 0.00939445 -0.1255 0.00866146 -0.11209] -86: total verr=~[-0.156323 -0.134574 -0.405403 1.25918 -0.454901 2.17119] -86: DYN t=0.149: verrStart=~[-9.54098e-18 0.00206097 -0.414798 1.38468 -0.463562 2.28328] -86: verrApplied=~[-0.156323 -0.136635 0.00939445 -0.1255 0.00866146 -0.11209] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-9.54098e-18 0.00206097 -0.414798 1.38468 -0.463562 2.28328] -86: verrApplied=~[-0.156323 -0.136635 0.00939445 -0.1255 0.00866146 -0.11209] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.414798,1.38468, mag=1.44548 -86: Participating contact 1 is Sliding; vel=-0.463562,2.28328, mag=2.32986 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.414798,1.38468, mag=1.44548 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.463562,2.28328, mag=2.32986 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.156323; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.134574; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-9.54098e-18 0.00206097 -0.414798 1.38468 -0.463562 2.28328] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.156323 -0.136635 0.00939445 -0.1255 0.00866146 -0.11209] -86: : rhsActive=~[-0.156323 -0.405403 1.25918 -0.134574 -0.454901 2.17119] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.0213e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.20055... -86: > NEWTON iter 1: errNorm=0.20055(v) -> deltaNorm=0.552859(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.152036 0.000414798 -0.00138468 0.13076 0.000463562 -0.00228328] -86: > deltaPi=~[0.404381 0.0118908 -0.0396939 0.372755 0.00761524 -0.0375089] -86: DBG: Line search iter 1: back=1, prevNorm=0.20055. -86: > piNow=~[-0.414381 -0.0118908 0.0396939 -0.382755 -0.00761524 0.0375089] -86: > errNow=~[-2.77556e-17 6.24797e-07 -2.0857e-06 2.77556e-17 6.43641e-07 -3.17026e-06] normNow=3.8994e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.94435e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.69853e-09 -86: > NEWTON iter 2: errNorm=3.8994e-06(v) -> deltaNorm=3.24437e-06(pi) -86: > piActive=~[-0.414381 -0.0118908 0.0396939 -0.382755 -0.00761524 0.0375089] -86: > errActive=~[-2.77556e-17 6.24797e-07 -2.0857e-06 2.77556e-17 6.43641e-07 -3.17026e-06] -86: > deltaPi=~[1.69416e-06 4.80859e-07 -1.60521e-06 1.56839e-06 3.07463e-07 -1.51441e-06] -86: DBG: Line search iter 1: back=1, prevNorm=3.8994e-06. -86: > piNow=~[-0.414383 -0.0118912 0.0396955 -0.382757 -0.00761555 0.0375104] -86: > errNow=~[2.77556e-17 1.52309e-15 -5.09315e-15 -5.55112e-17 1.84922e-15 -9.10383e-15] normNow=1.07034e-14 -86: DBG: Improvement rate now/prev at iter 2 is 2.74489e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.07034e-14. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.414798,1.38468] to ~[-0.41369,1.41986] -86: DBG: Friction 0 rotated 0.432223 deg, less than max 30 -86: slipVel 1 from ~[-0.463562,2.28328] to ~[-0.461862,2.30756] -86: DBG: Friction 1 rotated 0.158185 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.414383 -0.0118912 0.0396955 -0.382757 -0.00761555 0.0375104] -86: : m_verrLeft=~[-2.77556e-17 5.55112e-17 -0.41369 1.41986 -0.461862 2.30756] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.414383 verr=-2.77556e-17 pi*v=1.15014e-17 -86: DBG: 1: pi=-0.382757 verr=5.55112e-17 pi*v=-2.12473e-17 -86: SP FINAL 1 intervals, piTotal=~[-0.414383 -0.382757 -0.0118912 0.0396955 -0.00761555 0.0375104] errNorm=1.07034e-14 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.414798 1.38468, |slipV|=1.44548 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.463562 2.28328, |slipV|=2.32986 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.414383 -0.382757 -0.0118912 0.0396955 -0.00761555 0.0375104] -86: updated verrStart=~[-2.77556e-17 5.55112e-17 -0.41369 1.41986 -0.461862 2.30756] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.306859 0.57279 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.31 0.118788 -0.0204321 0.322595 -0.00935955 0.119493] -86: [0.118788 0.262648 -0.00407196 0.120867 -0.0123649 0.27298] -86: [-0.0204321 -0.00407196 0.0467838 0.015191 0.04964 -0.0375226] -86: [0.322595 0.120867 0.015191 0.394128 0.0307995 0.107493] -86: [-0.00935955 -0.0123649 0.04964 0.0307995 0.0540183 -0.049866] -86: [0.119493 0.27298 -0.0375226 0.107493 -0.049866 0.334198] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.40545 rank=2 -86: rhs=~[0.306859 0.57279 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.18653 2.09647] -86: -> pi=~[0.18653 2.09647 0 0 0 0] -86: resid active=~[-1.11022e-16 0] -86: resid=~[-1.11022e-16 0 -0.0123479 0.313568 -0.0276684 0.594581] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-2.50668e-16 -8.41341e-17 -0.41369 1.41986 -0.461862 2.30756] -86: perr=~[0.000306859 0.00057279 -1.11022e-16] -86: END OF STEP (0.149,0.15): -86: verr=~[-0.00150019 0.00150019 -0.413295 1.41989 -0.462257 2.30754] -86: perr=~[0.000306108 0.00057354 -1.11022e-16] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.47881 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.35338 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00150019 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00150019 0.00150019 -0.413295 1.41989 -0.462257 2.30754] -86: IMP t=0.15 verr=~[-0.00150019 0.00150019 -0.413295 1.41989 -0.462257 2.30754] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00150019 0.00150019 -0.413295 1.41989 -0.462257 2.30754] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.413295,1.41989, mag=1.47881 -86: Participating contact 1 is Sliding; vel=-0.462257,2.30754, mag=2.35338 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.413295,1.41989, mag=1.47881 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.462257,2.30754, mag=2.35338 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00150019; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00150019; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00150019 0.00150019 -0.413295 1.41989 -0.462257 2.30754] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00150019 -0.413295 1.41989 0.00150019 -0.462257 2.30754] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.03531e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00154006... -86: > NEWTON iter 1: errNorm=0.00154006(v) -> deltaNorm=0.00122819(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000427112 0.000413295 -0.00141989 -4.98032e-05 0 0] -86: > deltaPi=~[-0.000611045 0.000262401 -0.000901485 0.000503544 3.68418e-10 -1.8391e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00154006. -86: > piNow=~[-0.00938896 -0.000262401 0.000901485 0.00949646 -3.68418e-10 1.8391e-09] -86: > errNow=~[-2.1684e-19 -9.40686e-10 3.23175e-09 4.33681e-19 -8.67028e-10 4.3281e-09] normNow=5.55098e-09 -86: DBG: Improvement rate now/prev at iter 1 is 3.60438e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.15554e-05 -86: > NEWTON iter 2: errNorm=5.55098e-09(v) -> deltaNorm=4.47174e-09(pi) -86: > piActive=~[-0.00938896 -0.000262401 0.000901485 0.00949646 -3.68418e-10 1.8391e-09] -86: > errActive=~[-2.1684e-19 -9.40686e-10 3.23175e-09 4.33681e-19 -8.67028e-10 4.3281e-09] -86: > deltaPi=~[-2.55303e-09 -7.07458e-10 2.43049e-09 -1.88484e-09 -3.68419e-10 1.83911e-09] -86: DBG: Line search iter 1: back=1, prevNorm=5.55098e-09. -86: > piNow=~[-0.00938895 -0.0002624 0.000901482 0.00949646 1.52915e-15 -7.63333e-15] -86: > errNow=~[2.1684e-19 -4.45851e-15 1.53174e-14 0 3.59866e-15 -1.79641e-14] normNow=2.42932e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.37639e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.42932e-14. -86: DBG: Worst offender is normal contact 1 err=0.00949646 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.413295,1.41989, mag=1.47881 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.462257,2.30754, mag=2.35338 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00150019; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00150019 0.00150019 -0.413295 1.41989 -0.462257 2.30754] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00150019 -0.413295 1.41989] -86: : pi was=~[-0.00938895 0 -0.0002624 0.000901482 1.52915e-15 -7.63333e-15] -86: : piActive=~[-0.01 -0.0002624 0.000901482] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.50839e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00132889... -86: > NEWTON iter 1: errNorm=0.00132889(v) -> deltaNorm=0.00467249(pi) -86: > piActive=~[-0.01 -0.0002624 0.000901482] -86: > errActive=~[-0.00132581 2.52543e-05 -8.67617e-05] -86: > deltaPi=~[-0.00465496 -0.000113013 0.000388261] -86: DBG: Line search iter 1: back=1, prevNorm=0.00132889. -86: > piNow=~[-0.00534504 -0.000149387 0.000513222] -86: > errNow=~[-2.1684e-19 -7.16618e-09 2.46196e-08] normNow=2.56413e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.92954e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.92753e-05 -86: > NEWTON iter 2: errNorm=2.56413e-08(v) -> deltaNorm=2.7435e-08(pi) -86: > piActive=~[-0.00534504 -0.000149387 0.000513222] -86: > errActive=~[-2.1684e-19 -7.16618e-09 2.46196e-08] -86: > deltaPi=~[-1.95086e-08 -5.39105e-09 1.85211e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.56413e-08. -86: > piNow=~[-0.00534502 -0.000149381 0.000513203] -86: > errNow=~[0 -1.05093e-13 3.61051e-13] normNow=3.76035e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.46652e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.76035e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.413295,1.41989] to ~[-0.413406,1.42141] -86: DBG: Friction 0 rotated 0.0123866 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00534502 -0.000149381 0.000513203] -86: : m_verrLeft=~[0 0.00207641 -0.413406 1.42141 -0.462316 2.30811] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00534502 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00207641 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00534502 0 -0.000149381 0.000513203 0 0] errNorm=3.76035e-13 -86: Postcompression verr=~[0 0.00207641 -0.413406 1.42141 -0.462316 2.30811] -86: impulse=~[-0.00534502 0 -0.000149381 0.000513203 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00534502 0 -0.000149381 0.000513203 0 0]-> du ~[-0.00103501 0.00198773 -0.000949896 -0.00105241 -8.4842e-05 0.0010382 -0.00385168 0.00228178] -86: Now verr0=~[-2.38524e-18 0.00207641 -0.413406 1.42141 -0.462316 2.30811] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-2.38524e-18 0.00207641 -0.413406 1.42141 -0.462316 2.30811] -86: verrExt=~[-0.146885 -0.12927 0.00896047 -0.114996 0.00835006 -0.104015] -86: total verr=~[-0.146885 -0.127193 -0.404446 1.30642 -0.453966 2.2041] -86: DYN t=0.15: verrStart=~[-2.38524e-18 0.00207641 -0.413406 1.42141 -0.462316 2.30811] -86: verrApplied=~[-0.146885 -0.12927 0.00896047 -0.114996 0.00835006 -0.104015] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-2.38524e-18 0.00207641 -0.413406 1.42141 -0.462316 2.30811] -86: verrApplied=~[-0.146885 -0.12927 0.00896047 -0.114996 0.00835006 -0.104015] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.413406,1.42141, mag=1.48031 -86: Participating contact 1 is Sliding; vel=-0.462316,2.30811, mag=2.35396 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.413406,1.42141, mag=1.48031 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.462316,2.30811, mag=2.35396 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.146885; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.127193; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-2.38524e-18 0.00207641 -0.413406 1.42141 -0.462316 2.30811] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.146885 -0.12927 0.00896047 -0.114996 0.00835006 -0.104015] -86: : rhsActive=~[-0.146885 -0.404446 1.30642 -0.127193 -0.453966 2.2041] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.03579e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.188544... -86: > NEWTON iter 1: errNorm=0.188544(v) -> deltaNorm=0.516183(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.142567 0.000413406 -0.00142141 0.123352 0.000462316 -0.00230811] -86: > deltaPi=~[0.374992 0.0107513 -0.0369661 0.350774 0.00708532 -0.0353735] -86: DBG: Line search iter 1: back=1, prevNorm=0.188544. -86: > piNow=~[-0.384992 -0.0107513 0.0369661 -0.360774 -0.00708532 0.0353735] -86: > errNow=~[0 5.77445e-07 -1.98542e-06 5.55112e-17 6.04057e-07 -3.01576e-06] normNow=3.70608e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.96563e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.68974e-09 -86: > NEWTON iter 2: errNorm=3.70608e-06(v) -> deltaNorm=3.01982e-06(pi) -86: > piActive=~[-0.384992 -0.0107513 0.0369661 -0.360774 -0.00708532 0.0353735] -86: > errActive=~[0 5.77445e-07 -1.98542e-06 5.55112e-17 6.04057e-07 -3.01576e-06] -86: > deltaPi=~[1.56263e-06 4.33723e-07 -1.49127e-06 1.46743e-06 2.85433e-07 -1.42503e-06] -86: DBG: Line search iter 1: back=1, prevNorm=3.70608e-06. -86: > piNow=~[-0.384993 -0.0107517 0.0369676 -0.360776 -0.00708561 0.0353749] -86: > errNow=~[0 1.6237e-15 -5.59275e-15 2.77556e-17 1.93942e-15 -9.6867e-15] normNow=1.14678e-14 -86: DBG: Improvement rate now/prev at iter 2 is 3.09431e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.14678e-14. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.413406,1.42141] to ~[-0.412313,1.45641] -86: DBG: Friction 0 rotated 0.409693 deg, less than max 30 -86: slipVel 1 from ~[-0.462316,2.30811] to ~[-0.46062,2.3322] -86: DBG: Friction 1 rotated 0.154102 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.384993 -0.0107517 0.0369676 -0.360776 -0.00708561 0.0353749] -86: : m_verrLeft=~[0 -2.77556e-17 -0.412313 1.45641 -0.46062 2.3322] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.384993 verr=0 pi*v=-0 -86: DBG: 1: pi=-0.360776 verr=-2.77556e-17 pi*v=1.00135e-17 -86: SP FINAL 1 intervals, piTotal=~[-0.384993 -0.360776 -0.0107517 0.0369676 -0.00708561 0.0353749] errNorm=1.14678e-14 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.413406 1.42141, |slipV|=1.48031 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.462316 2.30811, |slipV|=2.35396 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.384993 -0.360776 -0.0107517 0.0369676 -0.00708561 0.0353749] -86: updated verrStart=~[0 -2.77556e-17 -0.412313 1.45641 -0.46062 2.3322] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.306108 0.57354 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.312249 0.119519 -0.020664 0.322884 -0.00938929 0.119414] -86: [0.119519 0.264558 -0.00426688 0.120765 -0.0127174 0.273265] -86: [-0.020664 -0.00426688 0.0467354 0.0149456 0.0496234 -0.0374932] -86: [0.322884 0.120765 0.0149456 0.391953 0.0307341 0.106696] -86: [-0.00938929 -0.0127174 0.0496234 0.0307341 0.0540763 -0.0499777] -86: [0.119414 0.273265 -0.0374932 0.106696 -0.0499777 0.332288] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.405891 rank=2 -86: rhs=~[0.306108 0.57354 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.181991 2.0857] -86: -> pi=~[0.181991 2.0857 0 0 0 0] -86: resid active=~[-1.11022e-16 0] -86: resid=~[-1.11022e-16 0 -0.0126601 0.310642 -0.0282334 0.591682] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[1.47668e-16 6.44016e-17 -0.412313 1.45641 -0.46062 2.3322] -86: perr=~[0.000306108 0.00057354 -1.11022e-16] -86: END OF STEP (0.15,0.151): -86: verr=~[-0.00151113 0.00151113 -0.411928 1.45643 -0.461004 2.33218] -86: perr=~[0.000305353 0.000574296 -2.22045e-16] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.51356 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.37731 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00151113 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00151113 0.00151113 -0.411928 1.45643 -0.461004 2.33218] -86: IMP t=0.151 verr=~[-0.00151113 0.00151113 -0.411928 1.45643 -0.461004 2.33218] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00151113 0.00151113 -0.411928 1.45643 -0.461004 2.33218] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.411928,1.45643, mag=1.51356 -86: Participating contact 1 is Sliding; vel=-0.461004,2.33218, mag=2.37731 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.411928,1.45643, mag=1.51356 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.461004,2.33218, mag=2.37731 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00151113; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00151113; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00151113 0.00151113 -0.411928 1.45643 -0.461004 2.33218] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00151113 -0.411928 1.45643 0.00151113 -0.461004 2.33218] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.04976e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0015746... -86: > NEWTON iter 1: errNorm=0.0015746(v) -> deltaNorm=0.0012357(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000431389 0.000411928 -0.00145643 -4.89945e-05 0 0] -86: > deltaPi=~[-0.000622504 0.000255216 -0.000902354 0.000509972 3.68365e-10 -1.86352e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.0015746. -86: > piNow=~[-0.0093775 -0.000255216 0.000902354 0.00949003 -3.68365e-10 1.86352e-09] -86: > errNow=~[0 -9.55158e-10 3.3771e-09 0 -8.75716e-10 4.43017e-09] normNow=5.7193e-09 -86: DBG: Improvement rate now/prev at iter 1 is 3.63222e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.17378e-05 -86: > NEWTON iter 2: errNorm=5.7193e-09(v) -> deltaNorm=4.53278e-09(pi) -86: > piActive=~[-0.0093775 -0.000255216 0.000902354 0.00949003 -3.68365e-10 1.86352e-09] -86: > errActive=~[0 -9.55158e-10 3.3771e-09 0 -8.75716e-10 4.43017e-09] -86: > deltaPi=~[-2.58696e-09 -7.01468e-10 2.48014e-09 -1.89792e-09 -3.68366e-10 1.86353e-09] -86: DBG: Line search iter 1: back=1, prevNorm=5.7193e-09. -86: > piNow=~[-0.00937749 -0.000255216 0.000902352 0.00949003 1.52219e-15 -7.70063e-15] -86: > errNow=~[4.33681e-19 -4.5137e-15 1.59588e-14 -2.1684e-19 3.61872e-15 -1.83068e-14] normNow=2.49658e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.36518e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.49658e-14. -86: DBG: Worst offender is normal contact 1 err=0.00949003 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.411928,1.45643, mag=1.51356 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.461004,2.33218, mag=2.37731 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00151113; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00151113 0.00151113 -0.411928 1.45643 -0.461004 2.33218] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00151113 -0.411928 1.45643] -86: : pi was=~[-0.00937749 0 -0.000255216 0.000902352 1.52219e-15 -7.70063e-15] -86: : piActive=~[-0.01 -0.000255216 0.000902352] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.63784e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00134059... -86: > NEWTON iter 1: errNorm=0.00134059(v) -> deltaNorm=0.00467528(pi) -86: > piActive=~[-0.01 -0.000255216 0.000902352] -86: > errActive=~[-0.00133728 2.56428e-05 -9.06638e-05] -86: > deltaPi=~[-0.00465783 -0.00010982 0.000388283] -86: DBG: Line search iter 1: back=1, prevNorm=0.00134059. -86: > piNow=~[-0.00534217 -0.000145396 0.000514068] -86: > errNow=~[-6.50521e-19 -7.14688e-09 2.52688e-08] normNow=2.62601e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.95884e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.97495e-05 -86: > NEWTON iter 2: errNorm=2.62601e-08(v) -> deltaNorm=2.7374e-08(pi) -86: > piActive=~[-0.00534217 -0.000145396 0.000514068] -86: > errActive=~[-6.50521e-19 -7.14688e-09 2.52688e-08] -86: > deltaPi=~[-1.94209e-08 -5.25037e-09 1.85635e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.62601e-08. -86: > piNow=~[-0.00534215 -0.000145391 0.00051405] -86: > errNow=~[0 -1.04387e-13 3.69074e-13] normNow=3.83552e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.46059e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.83552e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.411928,1.45643] to ~[-0.412041,1.45796] -86: DBG: Friction 0 rotated 0.0116403 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00534215 -0.000145391 0.00051405] -86: : m_verrLeft=~[0 0.00209102 -0.412041 1.45796 -0.461063 2.33276] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00534215 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00209102 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00534215 0 -0.000145391 0.00051405 0 0] errNorm=3.83552e-13 -86: Postcompression verr=~[0 0.00209102 -0.412041 1.45796 -0.461063 2.33276] -86: impulse=~[-0.00534215 0 -0.000145391 0.00051405 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00534215 0 -0.000145391 0.00051405 0 0]-> du ~[-0.00104445 0.00199403 -0.000951461 -0.00105289 -8.55766e-05 0.00104551 -0.00386615 0.0022895] -86: Now verr0=~[-9.32414e-18 0.00209102 -0.412041 1.45796 -0.461063 2.33276] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-9.32414e-18 0.00209102 -0.412041 1.45796 -0.461063 2.33276] -86: verrExt=~[-0.139986 -0.123846 0.00861694 -0.107384 0.00809013 -0.0980609] -86: total verr=~[-0.139986 -0.121755 -0.403424 1.35058 -0.452973 2.2347] -86: DYN t=0.151: verrStart=~[-9.32414e-18 0.00209102 -0.412041 1.45796 -0.461063 2.33276] -86: verrApplied=~[-0.139986 -0.123846 0.00861694 -0.107384 0.00809013 -0.0980609] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-9.32414e-18 0.00209102 -0.412041 1.45796 -0.461063 2.33276] -86: verrApplied=~[-0.139986 -0.123846 0.00861694 -0.107384 0.00809013 -0.0980609] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.412041,1.45796, mag=1.51507 -86: Participating contact 1 is Sliding; vel=-0.461063,2.33276, mag=2.37788 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.412041,1.45796, mag=1.51507 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.461063,2.33276, mag=2.37788 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.139986; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.121755; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-9.32414e-18 0.00209102 -0.412041 1.45796 -0.461063 2.33276] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.139986 -0.123846 0.00861694 -0.107384 0.00809013 -0.0980609] -86: : rhsActive=~[-0.139986 -0.403424 1.35058 -0.121755 -0.452973 2.2347] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.05024e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.17973... -86: > NEWTON iter 1: errNorm=0.17973(v) -> deltaNorm=0.488554(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.135638 0.000412041 -0.00145796 0.117887 0.000461063 -0.00233276] -86: > deltaPi=~[0.353083 0.00987413 -0.0349385 0.333941 0.00666865 -0.0337401] -86: DBG: Line search iter 1: back=1, prevNorm=0.17973. -86: > piNow=~[-0.363083 -0.00987413 0.0349385 -0.343941 -0.00666865 0.0337401] -86: > errNow=~[0 5.41912e-07 -1.9175e-06 5.55112e-17 5.73511e-07 -2.90169e-06] normNow=3.56639e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.9843e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.61627e-09 -86: > NEWTON iter 2: errNorm=3.56639e-06(v) -> deltaNorm=2.84896e-06(pi) -86: > piActive=~[-0.363083 -0.00987413 0.0349385 -0.343941 -0.00666865 0.0337401] -86: > errActive=~[0 5.41912e-07 -1.9175e-06 5.55112e-17 5.73511e-07 -2.90169e-06] -86: > deltaPi=~[1.46301e-06 3.9747e-07 -1.4064e-06 1.38861e-06 2.6811e-07 -1.35651e-06] -86: DBG: Line search iter 1: back=1, prevNorm=3.56639e-06. -86: > piNow=~[-0.363085 -0.00987453 0.0349399 -0.343942 -0.00666892 0.0337415] -86: > errNow=~[2.77556e-17 1.70523e-15 -6.01602e-15 -1.38778e-17 2.01575e-15 -1.02141e-14] normNow=1.21446e-14 -86: DBG: Improvement rate now/prev at iter 2 is 3.40529e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.21446e-14. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.412041,1.45796] to ~[-0.411,1.49257] -86: DBG: Friction 0 rotated 0.38543 deg, less than max 30 -86: slipVel 1 from ~[-0.461063,2.33276] to ~[-0.459416,2.35656] -86: DBG: Friction 1 rotated 0.148675 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.363085 -0.00987453 0.0349399 -0.343942 -0.00666892 0.0337415] -86: : m_verrLeft=~[-2.77556e-17 1.38778e-17 -0.411 1.49257 -0.459416 2.35656] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.363085 verr=-2.77556e-17 pi*v=1.00776e-17 -86: DBG: 1: pi=-0.343942 verr=1.38778e-17 pi*v=-4.77316e-18 -86: SP FINAL 1 intervals, piTotal=~[-0.363085 -0.343942 -0.00987453 0.0349399 -0.00666892 0.0337415] errNorm=1.21446e-14 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.412041 1.45796, |slipV|=1.51507 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.461063 2.33276, |slipV|=2.37788 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.363085 -0.343942 -0.00987453 0.0349399 -0.00666892 0.0337415] -86: updated verrStart=~[-2.77556e-17 1.38778e-17 -0.411 1.49257 -0.459416 2.35656] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.305353 0.574296 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.314534 0.120282 -0.0208819 0.323156 -0.00940792 0.119336] -86: [0.120282 0.266496 -0.00446665 0.120666 -0.0130723 0.273531] -86: [-0.0208819 -0.00446665 0.0466902 0.0147229 0.0496105 -0.0374687] -86: [0.323156 0.120666 0.0147229 0.389733 0.0306841 0.105879] -86: [-0.00940792 -0.0130723 0.0496105 0.0306841 0.0541378 -0.0500883] -86: [0.119336 0.273531 -0.0374687 0.105879 -0.0500883 0.330333] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.406268 rank=2 -86: rhs=~[0.305353 0.574296 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.17732 2.07496] -86: -> pi=~[0.17732 2.07496 0 0 0 0] -86: resid active=~[-5.55112e-17 0] -86: resid=~[-5.55112e-17 0 -0.0129709 0.307679 -0.0287928 0.588727] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-8.82541e-17 5.05238e-17 -0.411 1.49257 -0.459416 2.35656] -86: perr=~[0.000305353 0.000574296 -2.22045e-16] -86: END OF STEP (0.151,0.152): -86: verr=~[-0.00152147 0.00152147 -0.410626 1.49259 -0.45979 2.35653] -86: perr=~[0.000304592 0.000575057 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.54805 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.40097 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00152147 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00152147 0.00152147 -0.410626 1.49259 -0.45979 2.35653] -86: IMP t=0.152 verr=~[-0.00152147 0.00152147 -0.410626 1.49259 -0.45979 2.35653] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00152147 0.00152147 -0.410626 1.49259 -0.45979 2.35653] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.410626,1.49259, mag=1.54805 -86: Participating contact 1 is Sliding; vel=-0.45979,2.35653, mag=2.40097 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.410626,1.49259, mag=1.54805 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.45979,2.35653, mag=2.40097 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00152147; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00152147; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00152147 0.00152147 -0.410626 1.49259 -0.45979 2.35653] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00152147 -0.410626 1.49259 0.00152147 -0.45979 2.35653] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.06411e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00160907... -86: > NEWTON iter 1: errNorm=0.00160907(v) -> deltaNorm=0.00124655(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000436318 0.000410626 -0.00149259 -4.76029e-05 0 0] -86: > deltaPi=~[-0.000637889 0.000248334 -0.000902677 0.000520097 3.70996e-10 -1.90144e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00160907. -86: > piNow=~[-0.00936211 -0.000248334 0.000902677 0.0094799 -3.70996e-10 1.90144e-09] -86: > errNow=~[0 -9.75671e-10 3.54649e-09 4.33681e-19 -8.90749e-10 4.56529e-09] normNow=5.93e-09 -86: DBG: Improvement rate now/prev at iter 1 is 3.68537e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.19294e-05 -86: > NEWTON iter 2: errNorm=5.93e-09(v) -> deltaNorm=4.62281e-09(pi) -86: > piActive=~[-0.00936211 -0.000248334 0.000902677 0.0094799 -3.70996e-10 1.90144e-09] -86: > errActive=~[0 -9.75671e-10 3.54649e-09 4.33681e-19 -8.90749e-10 4.56529e-09] -86: > deltaPi=~[-2.63578e-09 -7.00171e-10 2.54507e-09 -1.92414e-09 -3.70997e-10 1.90145e-09] -86: DBG: Line search iter 1: back=1, prevNorm=5.93e-09. -86: > piNow=~[-0.00936211 -0.000248334 0.000902674 0.00947991 1.52725e-15 -7.82749e-15] -86: > errNow=~[2.1684e-19 -4.59951e-15 1.67188e-14 -4.33681e-19 3.66687e-15 -1.87936e-14] normNow=2.58325e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.35624e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.58325e-14. -86: DBG: Worst offender is normal contact 1 err=0.00947991 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.410626,1.49259, mag=1.54805 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.45979,2.35653, mag=2.40097 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00152147; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00152147 0.00152147 -0.410626 1.49259 -0.45979 2.35653] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00152147 -0.410626 1.49259] -86: : pi was=~[-0.00936211 0 -0.000248334 0.000902674 1.52725e-15 -7.82749e-15] -86: : piActive=~[-0.01 -0.000248334 0.000902674] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.76628e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00135351... -86: > NEWTON iter 1: errNorm=0.00135351(v) -> deltaNorm=0.00468094(pi) -86: > piActive=~[-0.01 -0.000248334 0.000902674] -86: > errActive=~[-0.0013499 2.61935e-05 -9.52114e-05] -86: > deltaPi=~[-0.0046636 -0.000106779 0.000388133] -86: DBG: Line search iter 1: back=1, prevNorm=0.00135351. -86: > piNow=~[-0.0053364 -0.000141555 0.000514541] -86: > errNow=~[0 -7.13311e-09 2.59283e-08] normNow=2.68916e-08 -86: DBG: Improvement rate now/prev at iter 1 is 1.98681e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.02431e-05 -86: > NEWTON iter 2: errNorm=2.68916e-08(v) -> deltaNorm=2.73257e-08(pi) -86: > piActive=~[-0.0053364 -0.000141555 0.000514541] -86: > errActive=~[0 -7.13311e-09 2.59283e-08] -86: > deltaPi=~[-1.93394e-08 -5.12073e-09 1.86135e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.68916e-08. -86: > piNow=~[-0.00533638 -0.00014155 0.000514523] -86: > errNow=~[2.1684e-19 -1.03844e-13 3.77465e-13] normNow=3.91489e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.4558e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.91489e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.410626,1.49259] to ~[-0.410739,1.49412] -86: DBG: Friction 0 rotated 0.0109493 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00533638 -0.00014155 0.000514523] -86: : m_verrLeft=~[-2.1684e-19 0.00210487 -0.410739 1.49412 -0.459849 2.35711] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00533638 verr=-2.1684e-19 pi*v=1.15714e-21 -86: DBG: 1: pi=0 verr=0.00210487 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00533638 0 -0.00014155 0.000514523 0 0] errNorm=3.91489e-13 -86: Postcompression verr=~[-2.1684e-19 0.00210487 -0.410739 1.49412 -0.459849 2.35711] -86: impulse=~[-0.00533638 0 -0.00014155 0.000514523 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00533638 0 -0.00014155 0.000514523 0 0]-> du ~[-0.00105336 0.00199944 -0.00095247 -0.0010528 -8.6191e-05 0.00105244 -0.00387888 0.00229629] -86: Now verr0=~[-4.98733e-18 0.00210487 -0.410739 1.49412 -0.459849 2.35711] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-4.98733e-18 0.00210487 -0.410739 1.49412 -0.459849 2.35711] -86: verrExt=~[-0.135708 -0.120433 0.00837799 -0.102689 0.00789439 -0.094264] -86: total verr=~[-0.135708 -0.118328 -0.402361 1.39143 -0.451955 2.26284] -86: DYN t=0.152: verrStart=~[-4.98733e-18 0.00210487 -0.410739 1.49412 -0.459849 2.35711] -86: verrApplied=~[-0.135708 -0.120433 0.00837799 -0.102689 0.00789439 -0.094264] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-4.98733e-18 0.00210487 -0.410739 1.49412 -0.459849 2.35711] -86: verrApplied=~[-0.135708 -0.120433 0.00837799 -0.102689 0.00789439 -0.094264] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.410739,1.49412, mag=1.54955 -86: Participating contact 1 is Sliding; vel=-0.459849,2.35711, mag=2.40155 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.410739,1.49412, mag=1.54955 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.459849,2.35711, mag=2.40155 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.135708; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.118328; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-4.98733e-18 0.00210487 -0.410739 1.49412 -0.459849 2.35711] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.135708 -0.120433 0.00837799 -0.102689 0.00789439 -0.094264] -86: : rhsActive=~[-0.135708 -0.402361 1.39143 -0.118328 -0.451955 2.26284] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.06459e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.174213... -86: > NEWTON iter 1: errNorm=0.174213(v) -> deltaNorm=0.470049(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.131329 0.000410739 -0.00149412 0.114433 0.000459849 -0.00235711] -86: > deltaPi=~[0.338703 0.00924272 -0.0336217 0.322345 0.00636352 -0.0326183] -86: DBG: Line search iter 1: back=1, prevNorm=0.174213. -86: > piNow=~[-0.348703 -0.00924272 0.0336217 -0.332345 -0.00636352 0.0326183] -86: > errNow=~[0 5.18199e-07 -1.88502e-06 -1.38778e-17 5.52138e-07 -2.83016e-06] normNow=3.48375e-06 -86: DBG: Improvement rate now/prev at iter 1 is 1.9997e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.38058e-09 -86: > NEWTON iter 2: errNorm=3.48375e-06(v) -> deltaNorm=2.73181e-06(pi) -86: > piActive=~[-0.348703 -0.00924272 0.0336217 -0.332345 -0.00636352 0.0326183] -86: > errActive=~[0 5.18199e-07 -1.88502e-06 -1.38778e-17 5.52138e-07 -2.83016e-06] -86: > deltaPi=~[1.39507e-06 3.71398e-07 -1.35101e-06 1.33196e-06 2.55414e-07 -1.30921e-06] -86: DBG: Line search iter 1: back=1, prevNorm=3.48375e-06. -86: > piNow=~[-0.348704 -0.00924309 0.0336231 -0.332346 -0.00636378 0.0326196] -86: > errNow=~[2.77556e-17 1.75554e-15 -6.39072e-15 -2.77556e-17 2.06432e-15 -1.05888e-14] normNow=1.26613e-14 -86: DBG: Improvement rate now/prev at iter 2 is 3.63438e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.26613e-14. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.410739,1.49412] to ~[-0.409786,1.52815] -86: DBG: Friction 0 rotated 0.359946 deg, less than max 30 -86: slipVel 1 from ~[-0.459849,2.35711] to ~[-0.458291,2.38051] -86: DBG: Friction 1 rotated 0.14206 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.348704 -0.00924309 0.0336231 -0.332346 -0.00636378 0.0326196] -86: : m_verrLeft=~[-2.77556e-17 2.77556e-17 -0.409786 1.52815 -0.458291 2.38051] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.348704 verr=-2.77556e-17 pi*v=9.67848e-18 -86: DBG: 1: pi=-0.332346 verr=2.77556e-17 pi*v=-9.22445e-18 -86: SP FINAL 1 intervals, piTotal=~[-0.348704 -0.332346 -0.00924309 0.0336231 -0.00636378 0.0326196] errNorm=1.26613e-14 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.410739 1.49412, |slipV|=1.54955 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.459849 2.35711, |slipV|=2.40155 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.348704 -0.332346 -0.00924309 0.0336231 -0.00636378 0.0326196] -86: updated verrStart=~[-2.77556e-17 2.77556e-17 -0.409786 1.52815 -0.458291 2.38051] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.304592 0.575057 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.316854 0.121075 -0.0210856 0.32341 -0.00941509 0.119259] -86: [0.121075 0.268461 -0.00467155 0.12057 -0.01343 0.273778] -86: [-0.0210856 -0.00467155 0.046648 0.014523 0.0496011 -0.0374495] -86: [0.32341 0.12057 0.014523 0.38747 0.0306498 0.105042] -86: [-0.00941509 -0.01343 0.0496011 0.0306498 0.0542029 -0.0501981] -86: [0.119259 0.273778 -0.0374495 0.105042 -0.0501981 0.328334] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.406579 rank=2 -86: rhs=~[0.304592 0.575057 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.172522 2.06424] -86: -> pi=~[0.172522 2.06424 0 0 0 0] -86: resid active=~[-5.55112e-17 -1.11022e-16] -86: resid=~[-5.55112e-17 -1.11022e-16 -0.0132809 0.30468 -0.029347 0.585717] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-2.16407e-16 -1.88651e-16 -0.409786 1.52815 -0.458291 2.38051] -86: perr=~[0.000304592 0.000575057 0] -86: END OF STEP (0.152,0.153): -86: verr=~[-0.00153123 0.00153123 -0.409422 1.52818 -0.458655 2.38049] -86: perr=~[0.000303827 0.000575822 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.58207 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.42427 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00153123 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00153123 0.00153123 -0.409422 1.52818 -0.458655 2.38049] -86: IMP t=0.153 verr=~[-0.00153123 0.00153123 -0.409422 1.52818 -0.458655 2.38049] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00153123 0.00153123 -0.409422 1.52818 -0.458655 2.38049] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.409422,1.52818, mag=1.58207 -86: Participating contact 1 is Sliding; vel=-0.458655,2.38049, mag=2.42427 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.409422,1.52818, mag=1.58207 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.458655,2.38049, mag=2.42427 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00153123; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00153123; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00153123 0.00153123 -0.409422 1.52818 -0.458655 2.38049] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00153123 -0.409422 1.52818 0.00153123 -0.458655 2.38049] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.07829e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00164325... -86: > NEWTON iter 1: errNorm=0.00164325(v) -> deltaNorm=0.00126053(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000441845 0.000409422 -0.00152818 -4.56817e-05 0 0] -86: > deltaPi=~[-0.000656765 0.000241793 -0.000902497 0.000533501 3.75969e-10 -1.95134e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00164325. -86: > piNow=~[-0.00934324 -0.000241793 0.000902497 0.0094665 -3.75969e-10 1.95134e-09] -86: > errNow=~[0 -1.0016e-09 3.73848e-09 2.1684e-19 -9.11451e-10 4.73057e-09] normNow=6.17968e-09 -86: DBG: Improvement rate now/prev at iter 1 is 3.76065e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.21287e-05 -86: > NEWTON iter 2: errNorm=6.17968e-09(v) -> deltaNorm=4.7382e-09(pi) -86: > piActive=~[-0.00934324 -0.000241793 0.000902497 0.0094665 -3.75969e-10 1.95134e-09] -86: > errActive=~[0 -1.0016e-09 3.73848e-09 2.1684e-19 -9.11451e-10 4.73057e-09] -86: > deltaPi=~[-2.6974e-09 -7.02895e-10 2.62357e-09 -1.96171e-09 -3.75971e-10 1.95134e-09] -86: DBG: Line search iter 1: back=1, prevNorm=6.17968e-09. -86: > piNow=~[-0.00934323 -0.000241792 0.000902495 0.0094665 1.54265e-15 -8.00659e-15] -86: > errNow=~[0 -4.71232e-15 1.75886e-14 2.1684e-19 3.73981e-15 -1.94101e-14] normNow=2.68757e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.34905e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.68757e-14. -86: DBG: Worst offender is normal contact 1 err=0.0094665 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.409422,1.52818, mag=1.58207 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.458655,2.38049, mag=2.42427 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00153123; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00153123 0.00153123 -0.409422 1.52818 -0.458655 2.38049] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00153123 -0.409422 1.52818] -86: : pi was=~[-0.00934323 0 -0.000241792 0.000902495 1.54265e-15 -8.00659e-15] -86: : piActive=~[-0.01 -0.000241792 0.000902495] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.89302e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00136757... -86: > NEWTON iter 1: errNorm=0.00136757(v) -> deltaNorm=0.00468923(pi) -86: > piActive=~[-0.01 -0.000241792 0.000902495] -86: > errActive=~[-0.00136361 2.68895e-05 -0.000100366] -86: > deltaPi=~[-0.00467201 -0.000103905 0.000387829] -86: DBG: Line search iter 1: back=1, prevNorm=0.00136757. -86: > piNow=~[-0.00532799 -0.000137887 0.000514666] -86: > errNow=~[-2.1684e-19 -7.12503e-09 2.65943e-08] normNow=2.75323e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.01323e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.07534e-05 -86: > NEWTON iter 2: errNorm=2.75323e-08(v) -> deltaNorm=2.72887e-08(pi) -86: > piActive=~[-0.00532799 -0.000137887 0.000514666] -86: > errActive=~[-2.1684e-19 -7.12503e-09 2.65943e-08] -86: > deltaPi=~[-1.92633e-08 -5.00205e-09 1.86703e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.75323e-08. -86: > piNow=~[-0.00532797 -0.000137882 0.000514647] -86: > errNow=~[0 -1.03458e-13 3.86159e-13] normNow=3.99778e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.45203e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.99778e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.409422,1.52818] to ~[-0.409537,1.52971] -86: DBG: Friction 0 rotated 0.0103134 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00532797 -0.000137882 0.000514647] -86: : m_verrLeft=~[0 0.00211804 -0.409537 1.52971 -0.458714 2.38106] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00532797 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00211804 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00532797 0 -0.000137882 0.000514647 0 0] errNorm=3.99778e-13 -86: Postcompression verr=~[0 0.00211804 -0.409537 1.52971 -0.458714 2.38106] -86: impulse=~[-0.00532797 0 -0.000137882 0.000514647 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00532797 0 -0.000137882 0.000514647 0 0]-> du ~[-0.00106176 0.00200404 -0.000952961 -0.00105218 -8.66867e-05 0.00105902 -0.00389002 0.00230224] -86: Now verr0=~[-7.15573e-18 0.00211804 -0.409537 1.52971 -0.458714 2.38106] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-7.15573e-18 0.00211804 -0.409537 1.52971 -0.458714 2.38106] -86: verrExt=~[-0.134083 -0.119062 0.00825396 -0.100883 0.00777234 -0.0926161] -86: total verr=~[-0.134083 -0.116944 -0.401283 1.42882 -0.450942 2.28845] -86: DYN t=0.153: verrStart=~[-7.15573e-18 0.00211804 -0.409537 1.52971 -0.458714 2.38106] -86: verrApplied=~[-0.134083 -0.119062 0.00825396 -0.100883 0.00777234 -0.0926161] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-7.15573e-18 0.00211804 -0.409537 1.52971 -0.458714 2.38106] -86: verrApplied=~[-0.134083 -0.119062 0.00825396 -0.100883 0.00777234 -0.0926161] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.409537,1.52971, mag=1.58358 -86: Participating contact 1 is Sliding; vel=-0.458714,2.38106, mag=2.42485 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.409537,1.52971, mag=1.58358 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.458714,2.38106, mag=2.42485 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.134083; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.116944; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-7.15573e-18 0.00211804 -0.409537 1.52971 -0.458714 2.38106] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.134083 -0.119062 0.00825396 -0.100883 0.00777234 -0.0926161] -86: : rhsActive=~[-0.134083 -0.401283 1.42882 -0.116944 -0.450942 2.28845] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.07877e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.172037... -86: > NEWTON iter 1: errNorm=0.172037(v) -> deltaNorm=0.460574(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.129672 0.000409537 -0.00152971 0.11302 0.000458714 -0.00238106] -86: > deltaPi=~[0.331761 0.00883812 -0.0330123 0.315963 0.00616609 -0.0320065] -86: DBG: Line search iter 1: back=1, prevNorm=0.172037. -86: > piNow=~[-0.341761 -0.00883812 0.0330123 -0.325963 -0.00616609 0.0320065] -86: > errNow=~[0 5.06092e-07 -1.89036e-06 -1.38778e-17 5.3987e-07 -2.80232e-06] normNow=3.46036e-06 -86: DBG: Improvement rate now/prev at iter 1 is 2.0114e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.87855e-09 -86: > NEWTON iter 2: errNorm=3.46036e-06(v) -> deltaNorm=2.66735e-06(pi) -86: > piActive=~[-0.341761 -0.00883812 0.0330123 -0.325963 -0.00616609 0.0320065] -86: > errActive=~[0 5.06092e-07 -1.89036e-06 -1.38778e-17 5.3987e-07 -2.80232e-06] -86: > deltaPi=~[1.35801e-06 3.54708e-07 -1.32491e-06 1.29697e-06 2.47176e-07 -1.28303e-06] -86: DBG: Line search iter 1: back=1, prevNorm=3.46036e-06. -86: > piNow=~[-0.341762 -0.00883848 0.0330136 -0.325964 -0.00616634 0.0320078] -86: > errNow=~[2.77556e-17 1.77115e-15 -6.6197e-15 -1.38778e-17 2.08514e-15 -1.08108e-14] normNow=1.29684e-14 -86: DBG: Improvement rate now/prev at iter 2 is 3.74771e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.29684e-14. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.409537,1.52971] to ~[-0.408703,1.56297] -86: DBG: Friction 0 rotated 0.333669 deg, less than max 30 -86: slipVel 1 from ~[-0.458714,2.38106] to ~[-0.457281,2.40397] -86: DBG: Friction 1 rotated 0.134404 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.341762 -0.00883848 0.0330136 -0.325964 -0.00616634 0.0320078] -86: : m_verrLeft=~[-2.77556e-17 1.38778e-17 -0.408703 1.56297 -0.457281 2.40397] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.341762 verr=-2.77556e-17 pi*v=9.48581e-18 -86: DBG: 1: pi=-0.325964 verr=1.38778e-17 pi*v=-4.52366e-18 -86: SP FINAL 1 intervals, piTotal=~[-0.341762 -0.325964 -0.00883848 0.0330136 -0.00616634 0.0320078] errNorm=1.29684e-14 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.409537 1.52971, |slipV|=1.58358 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.458714 2.38106, |slipV|=2.42485 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.341762 -0.325964 -0.00883848 0.0330136 -0.00616634 0.0320078] -86: updated verrStart=~[-2.77556e-17 1.38778e-17 -0.408703 1.56297 -0.457281 2.40397] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.303827 0.575822 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.319208 0.1219 -0.0212748 0.323647 -0.00941056 0.119181] -86: [0.1219 0.270455 -0.00488182 0.120476 -0.0137905 0.274004] -86: [-0.0212748 -0.00488182 0.0466088 0.0143459 0.0495953 -0.0374353] -86: [0.323647 0.120476 0.0143459 0.385163 0.0306313 0.104186] -86: [-0.00941056 -0.0137905 0.0495953 0.0306313 0.0542718 -0.050307] -86: [0.119181 0.274004 -0.0374353 0.104186 -0.050307 0.326292] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.406824 rank=2 -86: rhs=~[0.303827 0.575822 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.167601 2.05354] -86: -> pi=~[0.167601 2.05354 0 0 0 0] -86: resid active=~[-1.11022e-16 0] -86: resid=~[-1.11022e-16 0 -0.0135907 0.301646 -0.0298966 0.582653] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[2.81025e-16 3.08781e-16 -0.408703 1.56297 -0.457281 2.40397] -86: perr=~[0.000303827 0.000575822 0] -86: END OF STEP (0.153,0.154): -86: verr=~[-0.0015405 0.0015405 -0.408348 1.56299 -0.457636 2.40395] -86: perr=~[0.000303056 0.000576592 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.61545 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.44712 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.0015405 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.0015405 0.0015405 -0.408348 1.56299 -0.457636 2.40395] -86: IMP t=0.154 verr=~[-0.0015405 0.0015405 -0.408348 1.56299 -0.457636 2.40395] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.0015405 0.0015405 -0.408348 1.56299 -0.457636 2.40395] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.408348,1.56299, mag=1.61545 -86: Participating contact 1 is Sliding; vel=-0.457636,2.40395, mag=2.44712 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.408348,1.56299, mag=1.61545 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.457636,2.40395, mag=2.44712 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.0015405; guess pi=-0.01 -86: DBG: active normal 3 has v=0.0015405; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.0015405 0.0015405 -0.408348 1.56299 -0.457636 2.40395] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.0015405 -0.408348 1.56299 0.0015405 -0.457636 2.40395] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.09223e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00167696... -86: > NEWTON iter 1: errNorm=0.00167696(v) -> deltaNorm=0.00127738(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000447911 0.000408348 -0.00156299 -4.3289e-05 0 0] -86: > deltaPi=~[-0.000678676 0.000235621 -0.000901864 0.000549753 3.82952e-10 -2.01163e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00167696. -86: > piNow=~[-0.00932132 -0.000235621 0.000901864 0.00945025 -3.82952e-10 2.01163e-09] -86: > errNow=~[0 -1.0323e-09 3.95122e-09 0 -9.37128e-10 4.92271e-09] normNow=6.46444e-09 -86: DBG: Improvement rate now/prev at iter 1 is 3.85486e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.23342e-05 -86: > NEWTON iter 2: errNorm=6.46444e-09(v) -> deltaNorm=4.8752e-09(pi) -86: > piActive=~[-0.00932132 -0.000235621 0.000901864 0.00945025 -3.82952e-10 2.01163e-09] -86: > errActive=~[0 -1.0323e-09 3.95122e-09 0 -9.37128e-10 4.92271e-09] -86: > deltaPi=~[-2.7697e-09 -7.09022e-10 2.71385e-09 -2.0088e-09 -3.82953e-10 2.01164e-09] -86: DBG: Line search iter 1: back=1, prevNorm=6.46444e-09. -86: > piNow=~[-0.00932132 -0.000235621 0.000901861 0.00945025 1.56683e-15 -8.2305e-15] -86: > errNow=~[0 -4.84855e-15 1.85581e-14 0 3.83422e-15 -2.0141e-14] normNow=2.80762e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.34317e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.80762e-14. -86: DBG: Worst offender is normal contact 1 err=0.00945025 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.408348,1.56299, mag=1.61545 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.457636,2.40395, mag=2.44712 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.0015405; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.0015405 0.0015405 -0.408348 1.56299 -0.457636 2.40395] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.0015405 -0.408348 1.56299] -86: : pi was=~[-0.00932132 0 -0.000235621 0.000901861 1.56683e-15 -8.2305e-15] -86: : piActive=~[-0.01 -0.000235621 0.000901861] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.01737e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0013827... -86: > NEWTON iter 1: errNorm=0.0013827(v) -> deltaNorm=0.00469989(pi) -86: > piActive=~[-0.01 -0.000235621 0.000901861] -86: > errActive=~[-0.00137834 2.77137e-05 -0.000106077] -86: > deltaPi=~[-0.0046828 -0.00010121 0.000387392] -86: DBG: Line search iter 1: back=1, prevNorm=0.0013827. -86: > piNow=~[-0.0053172 -0.00013441 0.000514469] -86: > errNow=~[0 -7.12275e-09 2.7263e-08] normNow=2.81781e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.03791e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.12773e-05 -86: > NEWTON iter 2: errNorm=2.81781e-08(v) -> deltaNorm=2.72615e-08(pi) -86: > piActive=~[-0.0053172 -0.00013441 0.000514469] -86: > errActive=~[0 -7.12275e-09 2.7263e-08] -86: > deltaPi=~[-1.91915e-08 -4.89418e-09 1.8733e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.81781e-08. -86: > piNow=~[-0.00531718 -0.000134406 0.00051445] -86: > errNow=~[2.1684e-19 -1.03219e-13 3.95082e-13] normNow=4.08343e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.44915e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.08343e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.408348,1.56299] to ~[-0.408463,1.56452] -86: DBG: Friction 0 rotated 0.00973163 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00531718 -0.000134406 0.00051445] -86: : m_verrLeft=~[-2.1684e-19 0.0021306 -0.408463 1.56452 -0.457695 2.40452] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00531718 verr=-2.1684e-19 pi*v=1.15298e-21 -86: DBG: 1: pi=0 verr=0.0021306 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00531718 0 -0.000134406 0.00051445 0 0] errNorm=4.08343e-13 -86: Postcompression verr=~[-2.1684e-19 0.0021306 -0.408463 1.56452 -0.457695 2.40452] -86: impulse=~[-0.00531718 0 -0.000134406 0.00051445 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00531718 0 -0.000134406 0.00051445 0 0]-> du ~[-0.0010697 0.00200791 -0.000952979 -0.00105107 -8.70666e-05 0.0010653 -0.00389975 0.00230745] -86: Now verr0=~[-4.98733e-18 0.0021306 -0.408463 1.56452 -0.457695 2.40452] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-4.98733e-18 0.0021306 -0.408463 1.56452 -0.457695 2.40452] -86: verrExt=~[-0.135096 -0.119723 0.00825134 -0.101885 0.00773025 -0.0930658] -86: total verr=~[-0.135096 -0.117593 -0.400212 1.46263 -0.449965 2.31146] -86: DYN t=0.154: verrStart=~[-4.98733e-18 0.0021306 -0.408463 1.56452 -0.457695 2.40452] -86: verrApplied=~[-0.135096 -0.119723 0.00825134 -0.101885 0.00773025 -0.0930658] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-4.98733e-18 0.0021306 -0.408463 1.56452 -0.457695 2.40452] -86: verrApplied=~[-0.135096 -0.119723 0.00825134 -0.101885 0.00773025 -0.0930658] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.408463,1.56452, mag=1.61696 -86: Participating contact 1 is Sliding; vel=-0.457695,2.40452, mag=2.4477 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.408463,1.56452, mag=1.61696 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.457695,2.40452, mag=2.4477 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.135096; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.117593; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-4.98733e-18 0.0021306 -0.408463 1.56452 -0.457695 2.40452] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.135096 -0.119723 0.00825134 -0.101885 0.00773025 -0.0930658] -86: : rhsActive=~[-0.135096 -0.400212 1.46263 -0.117593 -0.449965 2.31146] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.09271e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.173184... -86: > NEWTON iter 1: errNorm=0.173184(v) -> deltaNorm=0.459881(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.130652 0.000408463 -0.00156452 0.113641 0.000457695 -0.00240452] -86: > deltaPi=~[0.332042 0.00864007 -0.0330937 0.314666 0.00607071 -0.0318928] -86: DBG: Line search iter 1: back=1, prevNorm=0.173184. -86: > piNow=~[-0.342042 -0.00864007 0.0330937 -0.324666 -0.00607071 0.0318928] -86: > errNow=~[0 5.05194e-07 -1.93502e-06 2.77556e-17 5.3646e-07 -2.81832e-06] normNow=3.49718e-06 -86: DBG: Improvement rate now/prev at iter 1 is 2.01934e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.00589e-08 -86: > NEWTON iter 2: errNorm=3.49718e-06(v) -> deltaNorm=2.65366e-06(pi) -86: > piActive=~[-0.342042 -0.00864007 0.0330937 -0.324666 -0.00607071 0.0318928] -86: > errActive=~[0 5.05194e-07 -1.93502e-06 2.77556e-17 5.3646e-07 -2.81832e-06] -86: > deltaPi=~[1.35041e-06 3.46547e-07 -1.32736e-06 1.28273e-06 2.43155e-07 -1.27743e-06] -86: DBG: Line search iter 1: back=1, prevNorm=3.49718e-06. -86: > piNow=~[-0.342044 -0.00864042 0.033095 -0.324667 -0.00607096 0.0318941] -86: > errNow=~[0 1.75554e-15 -6.71685e-15 0 2.07473e-15 -1.09218e-14] normNow=1.31068e-14 -86: DBG: Improvement rate now/prev at iter 2 is 3.74783e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.31068e-14. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.408463,1.56452] to ~[-0.407776,1.59684] -86: DBG: Friction 0 rotated 0.306954 deg, less than max 30 -86: slipVel 1 from ~[-0.457695,2.40452] to ~[-0.45642,2.42683] -86: DBG: Friction 1 rotated 0.125848 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.342044 -0.00864042 0.033095 -0.324667 -0.00607096 0.0318941] -86: : m_verrLeft=~[0 0 -0.407776 1.59684 -0.45642 2.42683] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.342044 verr=0 pi*v=-0 -86: DBG: 1: pi=-0.324667 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.342044 -0.324667 -0.00864042 0.033095 -0.00607096 0.0318941] errNorm=1.31068e-14 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.408463 1.56452, |slipV|=1.61696 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.457695 2.40452, |slipV|=2.4477 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.342044 -0.324667 -0.00864042 0.033095 -0.00607096 0.0318941] -86: updated verrStart=~[0 0 -0.407776 1.59684 -0.45642 2.42683] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.303056 0.576592 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.321597 0.122757 -0.0214494 0.323865 -0.00939423 0.119104] -86: [0.122757 0.272477 -0.0050976 0.120385 -0.014154 0.27421] -86: [-0.0214494 -0.0050976 0.0465724 0.0141913 0.0495931 -0.0374264] -86: [0.323865 0.120385 0.0141913 0.382815 0.0306284 0.10331] -86: [-0.00939423 -0.014154 0.0495931 0.0306284 0.0543442 -0.0504152] -86: [0.119104 0.27421 -0.0374264 0.10331 -0.0504152 0.324207] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.407004 rank=2 -86: rhs=~[0.303056 0.576592 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.162563 2.04287] -86: -> pi=~[0.162563 2.04287 0 0 0 0] -86: resid active=~[5.55112e-17 0] -86: resid=~[5.55112e-17 0 -0.0139006 0.298579 -0.030442 0.579538] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-1.29887e-16 -1.29887e-16 -0.407776 1.59684 -0.45642 2.42683] -86: perr=~[0.000303056 0.000576592 0] -86: END OF STEP (0.154,0.155): -86: verr=~[-0.00154931 0.00154931 -0.407431 1.59686 -0.456766 2.42681] -86: perr=~[0.000302282 0.000577367 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.64802 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.46942 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00154931 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00154931 0.00154931 -0.407431 1.59686 -0.456766 2.42681] -86: IMP t=0.155 verr=~[-0.00154931 0.00154931 -0.407431 1.59686 -0.456766 2.42681] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00154931 0.00154931 -0.407431 1.59686 -0.456766 2.42681] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.407431,1.59686, mag=1.64802 -86: Participating contact 1 is Sliding; vel=-0.456766,2.42681, mag=2.46942 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.407431,1.59686, mag=1.64802 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.456766,2.42681, mag=2.46942 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00154931; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00154931; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00154931 0.00154931 -0.407431 1.59686 -0.456766 2.42681] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00154931 -0.407431 1.59686 0.00154931 -0.456766 2.42681] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.10586e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00171001... -86: > NEWTON iter 1: errNorm=0.00171001(v) -> deltaNorm=0.00129684(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000454448 0.000407431 -0.00159686 -4.04891e-05 0 0] -86: > deltaPi=~[-0.000703144 0.000229842 -0.000900829 0.00056839 3.91612e-10 -2.08065e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00171001. -86: > piNow=~[-0.00929686 -0.000229842 0.000900829 0.00943161 -3.91612e-10 2.08065e-09] -86: > errNow=~[-4.33681e-19 -1.06711e-09 4.18238e-09 2.1684e-19 -9.67056e-10 5.138e-09] normNow=6.77977e-09 -86: DBG: Improvement rate now/prev at iter 1 is 3.96476e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.25444e-05 -86: > NEWTON iter 2: errNorm=6.77977e-09(v) -> deltaNorm=5.0299e-09(pi) -86: > piActive=~[-0.00929686 -0.000229842 0.000900829 0.00943161 -3.91612e-10 2.08065e-09] -86: > errActive=~[-4.33681e-19 -1.06711e-09 4.18238e-09 2.1684e-19 -9.67056e-10 5.138e-09] -86: > deltaPi=~[-2.85047e-09 -7.17979e-10 2.81401e-09 -2.06351e-09 -3.91614e-10 2.08066e-09] -86: DBG: Line search iter 1: back=1, prevNorm=6.77977e-09. -86: > piNow=~[-0.00929685 -0.000229841 0.000900826 0.00943161 1.59823e-15 -8.49145e-15] -86: > errNow=~[-2.1684e-19 -5.00495e-15 1.96158e-14 -6.50521e-19 3.94671e-15 -2.0969e-14] normNow=2.94127e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.3383e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.94127e-14. -86: DBG: Worst offender is normal contact 1 err=0.00943161 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.407431,1.59686, mag=1.64802 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.456766,2.42681, mag=2.46942 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00154931; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00154931 0.00154931 -0.407431 1.59686 -0.456766 2.42681] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00154931 -0.407431 1.59686] -86: : pi was=~[-0.00929685 0 -0.000229841 0.000900826 1.59823e-15 -8.49145e-15] -86: : piActive=~[-0.01 -0.000229841 0.000900826] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.13867e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00139881... -86: > NEWTON iter 1: errNorm=0.00139881(v) -> deltaNorm=0.00471262(pi) -86: > piActive=~[-0.01 -0.000229841 0.000900826] -86: > errActive=~[-0.001394 2.86484e-05 -0.000112283] -86: > deltaPi=~[-0.00469568 -9.87007e-05 0.000386842] -86: DBG: Line search iter 1: back=1, prevNorm=0.00139881. -86: > piNow=~[-0.00530432 -0.00013114 0.000513984] -86: > errNow=~[6.50521e-19 -7.12629e-09 2.79304e-08] normNow=2.88252e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.06069e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.18117e-05 -86: > NEWTON iter 2: errNorm=2.88252e-08(v) -> deltaNorm=2.72426e-08(pi) -86: > piActive=~[-0.00530432 -0.00013114 0.000513984] -86: > errActive=~[6.50521e-19 -7.12629e-09 2.79304e-08] -86: > deltaPi=~[-1.91229e-08 -4.79685e-09 1.88005e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.88252e-08. -86: > piNow=~[-0.00530431 -0.000131135 0.000513965] -86: > errNow=~[-2.1684e-19 -1.03118e-13 4.04157e-13] normNow=4.17104e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.44701e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.17104e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.407431,1.59686] to ~[-0.407546,1.59839] -86: DBG: Friction 0 rotated 0.00920216 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00530431 -0.000131135 0.000513965] -86: : m_verrLeft=~[2.1684e-19 0.00214264 -0.407546 1.59839 -0.456825 2.42738] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00530431 verr=2.1684e-19 pi*v=-1.15019e-21 -86: DBG: 1: pi=0 verr=0.00214264 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00530431 0 -0.000131135 0.000513965 0 0] errNorm=4.17104e-13 -86: Postcompression verr=~[2.1684e-19 0.00214264 -0.407546 1.59839 -0.456825 2.42738] -86: impulse=~[-0.00530431 0 -0.000131135 0.000513965 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00530431 0 -0.000131135 0.000513965 0 0]-> du ~[-0.00107723 0.00201115 -0.000952571 -0.00104953 -8.73351e-05 0.00107132 -0.00390824 0.00231204] -86: Now verr0=~[-1.30104e-18 0.00214264 -0.407546 1.59839 -0.456825 2.42738] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-1.30104e-18 0.00214264 -0.407546 1.59839 -0.456825 2.42738] -86: verrExt=~[-0.138688 -0.122374 0.00837286 -0.105568 0.00777122 -0.0955219] -86: total verr=~[-0.138688 -0.120231 -0.399174 1.49282 -0.449053 2.33186] -86: DYN t=0.155: verrStart=~[-1.30104e-18 0.00214264 -0.407546 1.59839 -0.456825 2.42738] -86: verrApplied=~[-0.138688 -0.122374 0.00837286 -0.105568 0.00777122 -0.0955219] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-1.30104e-18 0.00214264 -0.407546 1.59839 -0.456825 2.42738] -86: verrApplied=~[-0.138688 -0.122374 0.00837286 -0.105568 0.00777122 -0.0955219] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.407546,1.59839, mag=1.64953 -86: Participating contact 1 is Sliding; vel=-0.456825,2.42738, mag=2.47 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.407546,1.59839, mag=1.64953 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.456825,2.42738, mag=2.47 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.138688; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.120231; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-1.30104e-18 0.00214264 -0.407546 1.59839 -0.456825 2.42738] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.138688 -0.122374 0.00837286 -0.105568 0.00777122 -0.0955219] -86: : rhsActive=~[-0.138688 -0.399174 1.49282 -0.120231 -0.449053 2.33186] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.10635e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.177582... -86: > NEWTON iter 1: errNorm=0.177582(v) -> deltaNorm=0.467581(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.134211 0.000407546 -0.00159839 0.116249 0.000456825 -0.00242738] -86: > deltaPi=~[0.339213 0.00862765 -0.0338375 0.318229 0.00607036 -0.0322555] -86: DBG: Line search iter 1: back=1, prevNorm=0.177582. -86: > piNow=~[-0.349213 -0.00862765 0.0338375 -0.328229 -0.00607036 0.0322555] -86: > errNow=~[2.77556e-17 5.14946e-07 -2.01961e-06 2.77556e-17 5.41503e-07 -2.87733e-06] normNow=3.59392e-06 -86: DBG: Improvement rate now/prev at iter 1 is 2.02381e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.90502e-09 -86: > NEWTON iter 2: errNorm=3.59392e-06(v) -> deltaNorm=2.68797e-06(pi) -86: > piActive=~[-0.349213 -0.00862765 0.0338375 -0.328229 -0.00607036 0.0322555] -86: > errActive=~[2.77556e-17 5.14946e-07 -2.01961e-06 2.77556e-17 5.41503e-07 -2.87733e-06] -86: > deltaPi=~[1.37039e-06 3.46036e-07 -1.35714e-06 1.28789e-06 2.43052e-07 -1.29148e-06] -86: DBG: Line search iter 1: back=1, prevNorm=3.59392e-06. -86: > piNow=~[-0.349214 -0.008628 0.0338388 -0.32823 -0.0060706 0.0322568] -86: > errNow=~[-2.77556e-17 1.70523e-15 -6.69603e-15 0 2.03483e-15 -1.08108e-14] normNow=1.29907e-14 -86: DBG: Improvement rate now/prev at iter 2 is 3.61465e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.29907e-14. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.407546,1.59839] to ~[-0.407032,1.6296] -86: DBG: Friction 0 rotated 0.28009 deg, less than max 30 -86: slipVel 1 from ~[-0.456825,2.42738] to ~[-0.455739,2.44901] -86: DBG: Friction 1 rotated 0.116523 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.349214 -0.008628 0.0338388 -0.32823 -0.0060706 0.0322568] -86: : m_verrLeft=~[2.77556e-17 0 -0.407032 1.6296 -0.455739 2.44901] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.349214 verr=2.77556e-17 pi*v=-9.69265e-18 -86: DBG: 1: pi=-0.32823 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.349214 -0.32823 -0.008628 0.0338388 -0.0060706 0.0322568] errNorm=1.29907e-14 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.407546 1.59839, |slipV|=1.64953 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.456825 2.42738, |slipV|=2.47 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.349214 -0.32823 -0.008628 0.0338388 -0.0060706 0.0322568] -86: updated verrStart=~[2.77556e-17 0 -0.407032 1.6296 -0.455739 2.44901] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.302282 0.577367 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.324021 0.123645 -0.0216092 0.324064 -0.00936609 0.119026] -86: [0.123645 0.274527 -0.00531892 0.120294 -0.0145206 0.274395] -86: [-0.0216092 -0.00531892 0.0465387 0.0140589 0.0495943 -0.0374223] -86: [0.324064 0.120294 0.0140589 0.380425 0.0306407 0.102415] -86: [-0.00936609 -0.0145206 0.0495943 0.0306407 0.0544203 -0.0505226] -86: [0.119026 0.274395 -0.0374223 0.102415 -0.0505226 0.322081] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.407121 rank=2 -86: rhs=~[0.302282 0.577367 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.157419 2.03223] -86: -> pi=~[0.157419 2.03223 0 0 0 0] -86: resid active=~[5.55112e-17 0] -86: resid=~[5.55112e-17 0 -0.014211 0.29548 -0.0309837 0.576371] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-2.1684e-19 -5.5728e-17 -0.407032 1.6296 -0.455739 2.44901] -86: perr=~[0.000302282 0.000577367 0] -86: END OF STEP (0.155,0.156): -86: verr=~[-0.00155777 0.00155777 -0.406695 1.62963 -0.456076 2.44898] -86: perr=~[0.000301503 0.000578146 0] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.67961 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.49109 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00155777 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00155777 0.00155777 -0.406695 1.62963 -0.456076 2.44898] -86: IMP t=0.156 verr=~[-0.00155777 0.00155777 -0.406695 1.62963 -0.456076 2.44898] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00155777 0.00155777 -0.406695 1.62963 -0.456076 2.44898] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.406695,1.62963, mag=1.67961 -86: Participating contact 1 is Sliding; vel=-0.456076,2.44898, mag=2.49109 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.406695,1.62963, mag=1.67961 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.456076,2.44898, mag=2.49109 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00155777; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00155777; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00155777 0.00155777 -0.406695 1.62963 -0.456076 2.44898] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00155777 -0.406695 1.62963 0.00155777 -0.456076 2.44898] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.11911e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00174223... -86: > NEWTON iter 1: errNorm=0.00174223(v) -> deltaNorm=0.00131857(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000461384 0.000406695 -0.00162963 -3.73536e-05 0 0] -86: > deltaPi=~[-0.000729661 0.00022447 -0.00089945 0.000588923 4.01622e-10 -2.15659e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00174223. -86: > piNow=~[-0.00927034 -0.00022447 0.00089945 0.00941108 -4.01622e-10 2.15659e-09] -86: > errNow=~[-4.33681e-19 -1.10535e-09 4.42915e-09 2.1684e-19 -1.00048e-09 5.37225e-09] normNow=7.12048e-09 -86: DBG: Improvement rate now/prev at iter 1 is 4.087e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.27575e-05 -86: > NEWTON iter 2: errNorm=7.12048e-09(v) -> deltaNorm=5.19822e-09(pi) -86: > piActive=~[-0.00927034 -0.00022447 0.00089945 0.00941108 -4.01622e-10 2.15659e-09] -86: > errActive=~[-4.33681e-19 -1.10535e-09 4.42915e-09 2.1684e-19 -1.00048e-09 5.37225e-09] -86: > deltaPi=~[-2.93744e-09 -7.29226e-10 2.92201e-09 -2.12389e-09 -4.01624e-10 2.15659e-09] -86: DBG: Line search iter 1: back=1, prevNorm=7.12048e-09. -86: > piNow=~[-0.00927034 -0.000224469 0.000899447 0.00941108 1.63533e-15 -8.78121e-15] -86: > errNow=~[0 -5.17782e-15 2.07475e-14 -4.33681e-19 4.07375e-15 -2.18748e-14] normNow=3.08605e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.33405e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.08605e-14. -86: DBG: Worst offender is normal contact 1 err=0.00941108 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.406695,1.62963, mag=1.67961 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.456076,2.44898, mag=2.49109 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00155777; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00155777 0.00155777 -0.406695 1.62963 -0.456076 2.44898] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00155777 -0.406695 1.62963] -86: : pi was=~[-0.00927034 0 -0.000224469 0.000899447 1.63533e-15 -8.78121e-15] -86: : piActive=~[-0.01 -0.000224469 0.000899447] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.25633e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00141581... -86: > NEWTON iter 1: errNorm=0.00141581(v) -> deltaNorm=0.0047271(pi) -86: > piActive=~[-0.01 -0.000224469 0.000899447] -86: > errActive=~[-0.0014105 2.96751e-05 -0.000118908] -86: > deltaPi=~[-0.00471032 -9.6382e-05 0.000386203] -86: DBG: Line search iter 1: back=1, prevNorm=0.00141581. -86: > piNow=~[-0.00528968 -0.000128087 0.000513244] -86: > errNow=~[-4.33681e-19 -7.1356e-09 2.85923e-08] normNow=2.94693e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.08144e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.2353e-05 -86: > NEWTON iter 2: errNorm=2.94693e-08(v) -> deltaNorm=2.72302e-08(pi) -86: > piActive=~[-0.00528968 -0.000128087 0.000513244] -86: > errActive=~[-4.33681e-19 -7.1356e-09 2.85923e-08] -86: > deltaPi=~[-1.90565e-08 -4.70974e-09 1.88719e-08] -86: DBG: Line search iter 1: back=1, prevNorm=2.94693e-08. -86: > piNow=~[-0.00528967 -0.000128082 0.000513226] -86: > errNow=~[0 -1.03143e-13 4.13294e-13] normNow=4.2597e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.44547e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.2597e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.406695,1.62963] to ~[-0.406811,1.63115] -86: DBG: Friction 0 rotated 0.00872298 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00528967 -0.000128082 0.000513226] -86: : m_verrLeft=~[0 0.00215426 -0.406811 1.63115 -0.456134 2.44956] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00528967 verr=0 pi*v=-0 -86: DBG: 1: pi=0 verr=0.00215426 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00528967 0 -0.000128082 0.000513226 0 0] errNorm=4.2597e-13 -86: Postcompression verr=~[0 0.00215426 -0.406811 1.63115 -0.456134 2.44956] -86: impulse=~[-0.00528967 0 -0.000128082 0.000513226 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00528967 0 -0.000128082 0.000513226 0 0]-> du ~[-0.00108438 0.00201387 -0.000951792 -0.00104762 -8.74981e-05 0.00107713 -0.00391569 0.00231612] -86: Now verr0=~[-2.60209e-18 0.00215426 -0.406811 1.63115 -0.456134 2.44956] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-2.60209e-18 0.00215426 -0.406811 1.63115 -0.456134 2.44956] -86: verrExt=~[-0.144759 -0.126934 0.00861775 -0.111762 0.00789544 -0.099859] -86: total verr=~[-0.144759 -0.12478 -0.398194 1.51939 -0.448239 2.3497] -86: DYN t=0.156: verrStart=~[-2.60209e-18 0.00215426 -0.406811 1.63115 -0.456134 2.44956] -86: verrApplied=~[-0.144759 -0.126934 0.00861775 -0.111762 0.00789544 -0.099859] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-2.60209e-18 0.00215426 -0.406811 1.63115 -0.456134 2.44956] -86: verrApplied=~[-0.144759 -0.126934 0.00861775 -0.111762 0.00789544 -0.099859] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.406811,1.63115, mag=1.68111 -86: Participating contact 1 is Sliding; vel=-0.456134,2.44956, mag=2.49166 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.406811,1.63115, mag=1.68111 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.456134,2.44956, mag=2.49166 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.144759; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.12478; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-2.60209e-18 0.00215426 -0.406811 1.63115 -0.456134 2.44956] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.144759 -0.126934 0.00861775 -0.111762 0.00789544 -0.099859] -86: : rhsActive=~[-0.144759 -0.398194 1.51939 -0.12478 -0.448239 2.3497] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.1196e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.185104... -86: > NEWTON iter 1: errNorm=0.185104(v) -> deltaNorm=0.483158(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.140249 0.000406811 -0.00163115 0.120768 0.000456134 -0.00244956] -86: > deltaPi=~[0.352839 0.00877999 -0.0352042 0.326341 0.00615698 -0.0330646] -86: DBG: Line search iter 1: back=1, prevNorm=0.185104. -86: > piNow=~[-0.362839 -0.00877999 0.0352042 -0.336341 -0.00615698 0.0330646] -86: > errNow=~[5.55112e-17 5.34664e-07 -2.14379e-06 2.77556e-17 5.54468e-07 -2.97763e-06] normNow=3.74906e-06 -86: DBG: Improvement rate now/prev at iter 1 is 2.02537e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.47698e-09 -86: > NEWTON iter 2: errNorm=3.74906e-06(v) -> deltaNorm=2.76681e-06(pi) -86: > piActive=~[-0.362839 -0.00877999 0.0352042 -0.336341 -0.00615698 0.0330646] -86: > errActive=~[5.55112e-17 5.34664e-07 -2.14379e-06 2.77556e-17 5.54468e-07 -2.97763e-06] -86: > deltaPi=~[1.41564e-06 3.52299e-07 -1.41258e-06 1.3108e-06 2.46525e-07 -1.3239e-06] -86: DBG: Line search iter 1: back=1, prevNorm=3.74906e-06. -86: > piNow=~[-0.36284 -0.00878034 0.0352056 -0.336343 -0.00615723 0.0330659] -86: > errNow=~[-2.77556e-17 1.63064e-15 -6.5295e-15 0 1.96891e-15 -1.05749e-14] normNow=1.26885e-14 -86: DBG: Improvement rate now/prev at iter 2 is 3.38446e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.26885e-14. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.406811,1.63115] to ~[-0.406492,1.66111] -86: DBG: Friction 0 rotated 0.253306 deg, less than max 30 -86: slipVel 1 from ~[-0.456134,2.44956] to ~[-0.455266,2.47041] -86: DBG: Friction 1 rotated 0.106553 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.36284 -0.00878034 0.0352056 -0.336343 -0.00615723 0.0330659] -86: : m_verrLeft=~[2.77556e-17 0 -0.406492 1.66111 -0.455266 2.47041] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.36284 verr=2.77556e-17 pi*v=-1.00708e-17 -86: DBG: 1: pi=-0.336343 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.36284 -0.336343 -0.00878034 0.0352056 -0.00615723 0.0330659] errNorm=1.26885e-14 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.406811 1.63115, |slipV|=1.68111 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.456134 2.44956, |slipV|=2.49166 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.36284 -0.336343 -0.00878034 0.0352056 -0.00615723 0.0330659] -86: updated verrStart=~[2.77556e-17 0 -0.406492 1.66111 -0.455266 2.47041] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.301503 0.578146 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.326479 0.124564 -0.0217547 0.324243 -0.00932626 0.118947] -86: [0.124564 0.276605 -0.00554578 0.120205 -0.0148903 0.274559] -86: [-0.0217547 -0.00554578 0.0465075 0.0139481 0.0495989 -0.0374229] -86: [0.324243 0.120205 0.0139481 0.377994 0.0306679 0.1015] -86: [-0.00932626 -0.0148903 0.0495989 0.0306679 0.0544999 -0.050629] -86: [0.118947 0.274559 -0.0374229 0.1015 -0.050629 0.319914] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.407177 rank=2 -86: rhs=~[0.301503 0.578146 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.152177 2.02162] -86: -> pi=~[0.152177 2.02162 0 0 0 0] -86: resid active=~[1.11022e-16 1.11022e-16] -86: resid=~[1.11022e-16 1.11022e-16 -0.014522 0.29235 -0.0315217 0.573155] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-5.61617e-17 -5.61617e-17 -0.406492 1.66111 -0.455266 2.47041] -86: perr=~[0.000301503 0.000578146 0] -86: END OF STEP (0.156,0.157): -86: verr=~[-0.00156594 0.00156594 -0.406164 1.66114 -0.455594 2.47039] -86: perr=~[0.00030072 0.000578929 -1.11022e-16] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.71007 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.51205 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00156594 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00156594 0.00156594 -0.406164 1.66114 -0.455594 2.47039] -86: IMP t=0.157 verr=~[-0.00156594 0.00156594 -0.406164 1.66114 -0.455594 2.47039] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00156594 0.00156594 -0.406164 1.66114 -0.455594 2.47039] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.406164,1.66114, mag=1.71007 -86: Participating contact 1 is Sliding; vel=-0.455594,2.47039, mag=2.51205 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.406164,1.66114, mag=1.71007 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.455594,2.47039, mag=2.51205 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00156594; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00156594; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00156594 0.00156594 -0.406164 1.66114 -0.455594 2.47039] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00156594 -0.406164 1.66114 0.00156594 -0.455594 2.47039] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.13194e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00177345... -86: > NEWTON iter 1: errNorm=0.00177345(v) -> deltaNorm=0.00134217(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.00046864 0.000406164 -0.00166114 -3.39613e-05 0 0] -86: > deltaPi=~[-0.000757693 0.000219518 -0.000897786 0.000610831 4.12651e-10 -2.23754e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00177345. -86: > piNow=~[-0.00924231 -0.000219518 0.000897786 0.00938917 -4.12651e-10 2.23754e-09] -86: > errNow=~[-4.33681e-19 -1.14632e-09 4.68824e-09 -2.1684e-19 -1.0366e-09 5.6208e-09] normNow=7.48075e-09 -86: DBG: Improvement rate now/prev at iter 1 is 4.21819e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.29716e-05 -86: > NEWTON iter 2: errNorm=7.48075e-09(v) -> deltaNorm=5.37594e-09(pi) -86: > piActive=~[-0.00924231 -0.000219518 0.000897786 0.00938917 -4.12651e-10 2.23754e-09] -86: > errActive=~[-4.33681e-19 -1.14632e-09 4.68824e-09 -2.1684e-19 -1.0366e-09 5.6208e-09] -86: > deltaPi=~[-3.02829e-09 -7.42258e-10 3.0357e-09 -2.18789e-09 -4.12653e-10 2.23755e-09] -86: DBG: Line search iter 1: back=1, prevNorm=7.48075e-09. -86: > piNow=~[-0.0092423 -0.000219517 0.000897783 0.00938917 1.67659e-15 -9.09104e-15] -86: > errNow=~[2.1684e-19 -5.36339e-15 2.19351e-14 0 4.21167e-15 -2.28371e-14] normNow=3.23912e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.32994e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.23912e-14. -86: DBG: Worst offender is normal contact 1 err=0.00938917 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.406164,1.66114, mag=1.71007 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.455594,2.47039, mag=2.51205 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00156594; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00156594 0.00156594 -0.406164 1.66114 -0.455594 2.47039] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00156594 -0.406164 1.66114] -86: : pi was=~[-0.0092423 0 -0.000219517 0.000897783 1.67659e-15 -9.09104e-15] -86: : piActive=~[-0.01 -0.000219517 0.000897783] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.3698e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00143359... -86: > NEWTON iter 1: errNorm=0.00143359(v) -> deltaNorm=0.00474301(pi) -86: > piActive=~[-0.01 -0.000219517 0.000897783] -86: > errActive=~[-0.00142772 3.07749e-05 -0.000125864] -86: > deltaPi=~[-0.00472638 -9.42572e-05 0.000385494] -86: DBG: Line search iter 1: back=1, prevNorm=0.00143359. -86: > piNow=~[-0.00527362 -0.00012526 0.000512289] -86: > errNow=~[-2.1684e-19 -7.15058e-09 2.92446e-08] normNow=3.01061e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.10005e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.28972e-05 -86: > NEWTON iter 2: errNorm=3.01061e-08(v) -> deltaNorm=2.72225e-08(pi) -86: > piActive=~[-0.00527362 -0.00012526 0.000512289] -86: > errActive=~[-2.1684e-19 -7.15058e-09 2.92446e-08] -86: > deltaPi=~[-1.8991e-08 -4.63246e-09 1.89459e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.01061e-08. -86: > piNow=~[-0.0052736 -0.000125255 0.00051227] -86: > errNow=~[-2.1684e-19 -1.0328e-13 4.22397e-13] normNow=4.3484e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.44436e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.3484e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.406164,1.66114] to ~[-0.406281,1.66266] -86: DBG: Friction 0 rotated 0.00829175 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.0052736 -0.000125255 0.00051227] -86: : m_verrLeft=~[2.1684e-19 0.00216558 -0.406281 1.66266 -0.455652 2.47096] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.0052736 verr=2.1684e-19 pi*v=-1.14353e-21 -86: DBG: 1: pi=0 verr=0.00216558 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.0052736 0 -0.000125255 0.00051227 0 0] errNorm=4.3484e-13 -86: Postcompression verr=~[2.1684e-19 0.00216558 -0.406281 1.66266 -0.455652 2.47096] -86: impulse=~[-0.0052736 0 -0.000125255 0.00051227 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.0052736 0 -0.000125255 0.00051227 0 0]-> du ~[-0.00109124 0.00201617 -0.000950699 -0.00104539 -8.75627e-05 0.00108279 -0.00392232 0.00231983] -86: Now verr0=~[-1.06252e-17 0.00216558 -0.406281 1.66266 -0.455652 2.47096] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-1.06252e-17 0.00216558 -0.406281 1.66266 -0.455652 2.47096] -86: verrExt=~[-0.153172 -0.133298 0.00898204 -0.120265 0.00810045 -0.105922] -86: total verr=~[-0.153172 -0.131132 -0.397299 1.54239 -0.447552 2.36504] -86: DYN t=0.157: verrStart=~[-1.06252e-17 0.00216558 -0.406281 1.66266 -0.455652 2.47096] -86: verrApplied=~[-0.153172 -0.133298 0.00898204 -0.120265 0.00810045 -0.105922] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-1.06252e-17 0.00216558 -0.406281 1.66266 -0.455652 2.47096] -86: verrApplied=~[-0.153172 -0.133298 0.00898204 -0.120265 0.00810045 -0.105922] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.406281,1.66266, mag=1.71157 -86: Participating contact 1 is Sliding; vel=-0.455652,2.47096, mag=2.51262 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.406281,1.66266, mag=1.71157 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.455652,2.47096, mag=2.51262 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.153172; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.131132; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-1.06252e-17 0.00216558 -0.406281 1.66266 -0.455652 2.47096] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.153172 -0.133298 0.00898204 -0.120265 0.00810045 -0.105922] -86: : rhsActive=~[-0.153172 -0.397299 1.54239 -0.131132 -0.447552 2.36504] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.13243e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.195579... -86: > NEWTON iter 1: errNorm=0.195579(v) -> deltaNorm=0.505988(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.148627 0.000406281 -0.00166266 0.12709 0.000455652 -0.00247096] -86: > deltaPi=~[0.372399 0.00907676 -0.0371456 0.338623 0.0063219 -0.034283] -86: DBG: Line search iter 1: back=1, prevNorm=0.195579. -86: > piNow=~[-0.382399 -0.00907676 0.0371456 -0.348623 -0.0063219 0.034283] -86: > errNow=~[0 5.63567e-07 -2.30633e-06 -5.55112e-17 5.74727e-07 -3.11669e-06] normNow=3.9599e-06 -86: DBG: Improvement rate now/prev at iter 1 is 2.02471e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.84463e-09 -86: > NEWTON iter 2: errNorm=3.9599e-06(v) -> deltaNorm=2.88609e-06(pi) -86: > piActive=~[-0.382399 -0.00907676 0.0371456 -0.348623 -0.0063219 0.034283] -86: > errActive=~[0 5.63567e-07 -2.30633e-06 -5.55112e-17 5.74727e-07 -3.11669e-06] -86: > deltaPi=~[1.48353e-06 3.64483e-07 -1.4916e-06 1.34955e-06 2.5321e-07 -1.37313e-06] -86: DBG: Line search iter 1: back=1, prevNorm=3.9599e-06. -86: > piNow=~[-0.3824 -0.00907712 0.0371471 -0.348624 -0.00632215 0.0342844] -86: > errNow=~[0 1.53523e-15 -6.30052e-15 0 1.88738e-15 -1.02141e-14] normNow=1.22451e-14 -86: DBG: Improvement rate now/prev at iter 2 is 3.09227e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.22451e-14. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.406281,1.66266] to ~[-0.406178,1.69124] -86: DBG: Friction 0 rotated 0.226783 deg, less than max 30 -86: slipVel 1 from ~[-0.455652,2.47096] to ~[-0.455026,2.49097] -86: DBG: Friction 1 rotated 0.096054 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.3824 -0.00907712 0.0371471 -0.348624 -0.00632215 0.0342844] -86: : m_verrLeft=~[0 0 -0.406178 1.69124 -0.455026 2.49097] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.3824 verr=0 pi*v=-0 -86: DBG: 1: pi=-0.348624 verr=0 pi*v=-0 -86: SP FINAL 1 intervals, piTotal=~[-0.3824 -0.348624 -0.00907712 0.0371471 -0.00632215 0.0342844] errNorm=1.22451e-14 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.406281 1.66266, |slipV|=1.71157 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.455652 2.47096, |slipV|=2.51262 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.3824 -0.348624 -0.00907712 0.0371471 -0.00632215 0.0342844] -86: updated verrStart=~[0 0 -0.406178 1.69124 -0.455026 2.49097] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.30072 0.578929 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.32897 0.125513 -0.0218859 0.324402 -0.00927498 0.118865] -86: [0.125513 0.27871 -0.00577804 0.120114 -0.0152629 0.274702] -86: [-0.0218859 -0.00577804 0.0464786 0.013858 0.0496066 -0.0374277] -86: [0.324402 0.120114 0.013858 0.375524 0.0307093 0.100567] -86: [-0.00927498 -0.0152629 0.0496066 0.0307093 0.0545829 -0.0507342] -86: [0.118865 0.274702 -0.0374277 0.100567 -0.0507342 0.317709] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.407176 rank=2 -86: rhs=~[0.30072 0.578929 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.146848 2.01104] -86: -> pi=~[0.146848 2.01104 0 0 0 0] -86: resid active=~[5.55112e-17 -1.11022e-16] -86: resid=~[5.55112e-17 -1.11022e-16 -0.0148338 0.289193 -0.0320564 0.569892] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-1.35742e-16 -1.63498e-16 -0.406178 1.69124 -0.455026 2.49097] -86: perr=~[0.00030072 0.000578929 -1.11022e-16] -86: END OF STEP (0.157,0.158): -86: verr=~[-0.00157391 0.00157391 -0.405858 1.69126 -0.455346 2.49095] -86: perr=~[0.000299933 0.000579716 -1.11022e-16] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2) -86: Distal unilateral contacts: (1,3,4,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.73928 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.53222 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00157391 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0) -86: observers: (1) -86: participating multx: (0,2,3,1,4,5) -86: verr=~[-0.00157391 0.00157391 -0.405858 1.69126 -0.455346 2.49095] -86: IMP t=0.158 verr=~[-0.00157391 0.00157391 -0.405858 1.69126 -0.455346 2.49095] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-0.00157391 0.00157391 -0.405858 1.69126 -0.455346 2.49095] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.405858,1.69126, mag=1.73928 -86: Participating contact 1 is Sliding; vel=-0.455346,2.49095, mag=2.53222 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.405858,1.69126, mag=1.73928 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.455346,2.49095, mag=2.53222 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.00157391; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00157391; guess pi=0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00157391 0.00157391 -0.405858 1.69126 -0.455346 2.49095] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00157391 -0.405858 1.69126 0.00157391 -0.455346 2.49095] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.14428e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00180353... -86: > NEWTON iter 1: errNorm=0.00180353(v) -> deltaNorm=0.00136717(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0] -86: > errActive=~[-0.000476128 0.000405858 -0.00169126 -3.03972e-05 0 0] -86: > deltaPi=~[-0.000786687 0.000214992 -0.000895899 0.000633573 4.24373e-10 -2.32151e-09] -86: DBG: Line search iter 1: back=1, prevNorm=0.00180353. -86: > piNow=~[-0.00921331 -0.000214992 0.000895899 0.00936643 -4.24373e-10 2.32151e-09] -86: > errNow=~[0 -1.18929e-09 4.95592e-09 0 -1.07461e-09 5.87858e-09] normNow=7.85418e-09 -86: DBG: Improvement rate now/prev at iter 1 is 4.3549e-06 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.31847e-05 -86: > NEWTON iter 2: errNorm=7.85418e-09(v) -> deltaNorm=5.55872e-09(pi) -86: > piActive=~[-0.00921331 -0.000214992 0.000895899 0.00936643 -4.24373e-10 2.32151e-09] -86: > errActive=~[0 -1.18929e-09 4.95592e-09 0 -1.07461e-09 5.87858e-09] -86: > deltaPi=~[-3.1207e-09 -7.56601e-10 3.15286e-09 -2.25347e-09 -4.24375e-10 2.32152e-09] -86: DBG: Line search iter 1: back=1, prevNorm=7.85418e-09. -86: > piNow=~[-0.00921331 -0.000214991 0.000895896 0.00936643 1.72048e-15 -9.41178e-15] -86: > errNow=~[4.33681e-19 -5.55778e-15 2.31599e-14 2.1684e-19 4.35664e-15 -2.38327e-14] normNow=3.39742e-14 -86: DBG: Improvement rate now/prev at iter 2 is 4.32562e-06 -86: DBG: <<<< NEWTON done in 2 iters; norm=3.39742e-14. -86: DBG: Worst offender is normal contact 1 err=0.00936643 ... -86: DBG: ... normal contact 1 released. -86: -86: ....... Active set iter 2 start -86: : active=(0,2,3) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.405858,1.69126, mag=1.73928 -86: Participating UniCont 1 (ix=2): cond=UniOff/Sliding, vel=-0.455346,2.49095, mag=2.53222 -86: fillMult2Active: -86: : active=(0,2,3) -86: : mult2active=(0,-1111111111,1,2,-1111111111,-1111111111) -86: DBG: active normal 0 has v=-0.00157391; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00157391 0.00157391 -0.405858 1.69126 -0.455346 2.49095] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00157391 -0.405858 1.69126] -86: : pi was=~[-0.00921331 0 -0.000214991 0.000895896 1.72048e-15 -9.41178e-15] -86: : piActive=~[-0.01 -0.000214991 0.000895896] -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.47859e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.00145201... -86: > NEWTON iter 1: errNorm=0.00145201(v) -> deltaNorm=0.00475997(pi) -86: > piActive=~[-0.01 -0.000214991 0.000895896] -86: > errActive=~[-0.00144555 3.19284e-05 -0.00013305] -86: > deltaPi=~[-0.0047435 -9.23274e-05 0.00038474] -86: DBG: Line search iter 1: back=1, prevNorm=0.00145201. -86: > piNow=~[-0.0052565 -0.000122664 0.000511155] -86: > errNow=~[-4.33681e-19 -7.17108e-09 2.98828e-08] normNow=3.07312e-08 -86: DBG: Improvement rate now/prev at iter 1 is 2.11646e-05 -86: Updated 1 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.34402e-05 -86: > NEWTON iter 2: errNorm=3.07312e-08(v) -> deltaNorm=2.72177e-08(pi) -86: > piActive=~[-0.0052565 -0.000122664 0.000511155] -86: > errActive=~[-4.33681e-19 -7.17108e-09 2.98828e-08] -86: > deltaPi=~[-1.89251e-08 -4.56457e-09 1.90212e-08] -86: DBG: Line search iter 1: back=1, prevNorm=3.07312e-08. -86: > piNow=~[-0.00525648 -0.000122659 0.000511136] -86: > errNow=~[2.1684e-19 -1.03515e-13 4.31361e-13] normNow=4.43608e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.44351e-05 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.43608e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.405858,1.69126] to ~[-0.405975,1.69278] -86: DBG: Friction 0 rotated 0.00790599 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.00525648 -0.000122659 0.000511136] -86: : m_verrLeft=~[-2.1684e-19 0.00217672 -0.405975 1.69278 -0.455404 2.49152] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.00525648 verr=-2.1684e-19 pi*v=1.13982e-21 -86: DBG: 1: pi=0 verr=0.00217672 pi*v=0 -86: SP FINAL 1 intervals, piTotal=~[-0.00525648 0 -0.000122659 0.000511136 0 0] errNorm=4.43608e-13 -86: Postcompression verr=~[-2.1684e-19 0.00217672 -0.405975 1.69278 -0.455404 2.49152] -86: impulse=~[-0.00525648 0 -0.000122659 0.000511136 0 0] -86: Next expansion impulse=~[0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-0.00525648 0 -0.000122659 0.000511136 0 0]-> du ~[-0.00109785 0.00201819 -0.000949357 -0.00104291 -8.7537e-05 0.00108836 -0.00392838 0.0023233] -86: Now verr0=~[-1.0842e-17 0.00217672 -0.405975 1.69278 -0.455404 2.49152] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[-1.0842e-17 0.00217672 -0.405975 1.69278 -0.455404 2.49152] -86: verrExt=~[-0.163758 -0.141332 0.00945905 -0.130844 0.0083816 -0.113534] -86: total verr=~[-0.163758 -0.139155 -0.396516 1.56194 -0.447023 2.37798] -86: DYN t=0.158: verrStart=~[-1.0842e-17 0.00217672 -0.405975 1.69278 -0.455404 2.49152] -86: verrApplied=~[-0.163758 -0.141332 0.00945905 -0.130844 0.0083816 -0.113534] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: -86: ***** Sliding interval 1 start -86: active=(0,2,3,1,4,5) -86: mult2active=(0,3,1,2,4,5) -86: piTotal=~[0 0 0 0 0 0] -86: verrLeft=~[-1.0842e-17 0.00217672 -0.405975 1.69278 -0.455404 2.49152] -86: verrApplied=~[-0.163758 -0.141332 0.00945905 -0.130844 0.0083816 -0.113534] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 2 uni contacts -86: Participating contact 0 is Sliding; vel=-0.405975,1.69278, mag=1.74078 -86: Participating contact 1 is Sliding; vel=-0.455404,2.49152, mag=2.53279 -86: -86: ....... Active set iter 1 start -86: : active=(0,2,3,1,4,5) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.405975,1.69278, mag=1.74078 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.455404,2.49152, mag=2.53279 -86: fillMult2Active: -86: : active=(0,2,3,1,4,5) -86: : mult2active=(0,3,1,2,4,5) -86: DBG: active normal 0 has v=-0.163758; guess pi=-0.01 -86: DBG: active normal 3 has v=-0.139155; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-1.0842e-17 0.00217672 -0.405975 1.69278 -0.455404 2.49152] -86: : verrExpand was=~[0 0 0 0 0 0] -86: : verrApplied was=~[-0.163758 -0.141332 0.00945905 -0.130844 0.0083816 -0.113534] -86: : rhsActive=~[-0.163758 -0.396516 1.56194 -0.139155 -0.447023 2.37798] -86: : pi was=~[0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 -0.01 0 0] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.14478e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=0.208792... -86: > NEWTON iter 1: errNorm=0.208792(v) -> deltaNorm=0.535356(pi) -86: > piActive=~[-0.01 0 0 -0.01 0 0] -86: > errActive=~[0.159178 0.000405975 -0.00169278 0.135082 0.000455404 -0.00249152] -86: > deltaPi=~[0.397302 0.00949852 -0.0396057 0.354638 0.00655608 -0.0358683] -86: DBG: Line search iter 1: back=1, prevNorm=0.208792. -86: > piNow=~[-0.407302 -0.00949852 0.0396057 -0.364638 -0.00655608 0.0358683] -86: > errNow=~[5.55112e-17 6.00802e-07 -2.50514e-06 -5.55112e-17 6.01582e-07 -3.29125e-06] normNow=4.22267e-06 -86: DBG: Improvement rate now/prev at iter 1 is 2.02242e-05 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.09633e-09 -86: > NEWTON iter 2: errNorm=4.22267e-06(v) -> deltaNorm=3.04125e-06(pi) -86: > piActive=~[-0.407302 -0.00949852 0.0396057 -0.364638 -0.00655608 0.0358683] -86: > errActive=~[5.55112e-17 6.00802e-07 -2.50514e-06 -5.55112e-17 6.01582e-07 -3.29125e-06] -86: > deltaPi=~[1.57118e-06 3.81776e-07 -1.59188e-06 1.40204e-06 2.62726e-07 -1.43737e-06] -86: DBG: Line search iter 1: back=1, prevNorm=4.22267e-06. -86: > piNow=~[-0.407304 -0.0094989 0.0396072 -0.36464 -0.00655634 0.0358697] -86: > errNow=~[-2.77556e-17 1.43288e-15 -5.96745e-15 2.77556e-17 1.78677e-15 -9.76996e-15] normNow=1.16752e-14 -86: DBG: Improvement rate now/prev at iter 2 is 2.76488e-09 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.16752e-14. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.405975,1.69278] to ~[-0.406108,1.71987] -86: DBG: Friction 0 rotated 0.200663 deg, less than max 30 -86: slipVel 1 from ~[-0.455404,2.49152] to ~[-0.455043,2.51062] -86: DBG: Friction 1 rotated 0.0851332 deg, less than max 30 -86: SP interval 1 end: s=1 -86: : m_piActive=~[-0.407304 -0.0094989 0.0396072 -0.36464 -0.00655634 0.0358697] -86: : m_verrLeft=~[2.77556e-17 -2.77556e-17 -0.406108 1.71987 -0.455043 2.51062] -86: : verrAppliedLeft=~[0 0 0 0 0 0] -86: : piELeft=~[0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-0.407304 verr=2.77556e-17 pi*v=-1.13049e-17 -86: DBG: 1: pi=-0.36464 verr=-2.77556e-17 pi*v=1.01208e-17 -86: SP FINAL 1 intervals, piTotal=~[-0.407304 -0.36464 -0.0094989 0.0396072 -0.00655634 0.0358697] errNorm=1.16752e-14 -86: -86: ----------Post-dynamics---------- -86: Unilateral contact runtimes (n=2): -86: 0: UnilateralContactIndex 0, normal MultiplierIndex 0, sign=1, hasFriction: 1 -86: friction MultIndices: (2,3) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.405975 1.69278, |slipV|=1.74078 -86: 1: UnilateralContactIndex 2, normal MultiplierIndex 1, sign=1, hasFriction: 1 -86: friction MultIndices: (4,5) effMu=0.1 -86: inputs: ContactType=Participating, effCOR=0 -86: outputs: normal cond=UniActive friction cond=Sliding slipV=-0.455404 2.49152, |slipV|=2.53279 -86: ------------------------------ -86: -86: dynamics impulse=~[-0.407304 -0.36464 -0.0094989 0.0396072 -0.00655634 0.0358697] -86: updated verrStart=~[2.77556e-17 -2.77556e-17 -0.406108 1.71987 -0.455043 2.51062] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.299933 0.579716 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 2 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.331495 0.126491 -0.0220033 0.32454 -0.00921259 0.118781] -86: [0.126491 0.280842 -0.00601553 0.120023 -0.0156385 0.274823] -86: [-0.0220033 -0.00601553 0.0464519 0.0137877 0.0496174 -0.0374364] -86: [0.32454 0.120023 0.0137877 0.373015 0.0307641 0.0996156] -86: [-0.00921259 -0.0156385 0.0496174 0.0307641 0.054669 -0.0508378] -86: [0.118781 0.274823 -0.0374364 0.0996156 -0.0508378 0.315465] -86: D=~[0 0 0 0 0 0] -86: rcond(A+D)=0.407122 rank=2 -86: rhs=~[0.299933 0.579716 0 0 0 0] -86: active=(0,1) -86: -> piActive=~[0.141445 2.0005] -86: -> pi=~[0.141445 2.0005 0 0 0 0] -86: resid active=~[5.55112e-17 0] -86: resid=~[5.55112e-17 0 -0.0151463 0.286011 -0.0325878 0.566584] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[-9.17235e-17 -1.47235e-16 -0.406108 1.71987 -0.455043 2.51062] -86: perr=~[0.000299933 0.000579716 -1.11022e-16] -86: END OF STEP (0.158,0.159): -86: verr=~[-0.00158179 0.00158179 -0.405794 1.7199 -0.455356 2.5106] -86: perr=~[0.000299142 0.000580507 -1.11022e-16] -86: constraint status: -86: 0: cont UniActive fric Sliding -86: 2: cont UniActive fric Sliding -86: Proximal unilateral contacts: (0,2,4) -86: Distal unilateral contacts: (1,3,5,6,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -86: DBG: Uni fric 0 verr speed=1.76712 -> mu=0.1 -86: DBG: Uni fric 2 verr speed=2.55156 -> mu=0.1 -86: DBG: Uni fric 4 verr speed=1.80869 -> mu=0.1 -86: DBG: Uni contact 0 verr vel=-0.00158179 -> cor=0 -86: DBG: Uni contact 4 verr vel=-3.9947 -> cor=0 -86: -86: performSimultaneousImpact(): COMPRESSION ROUND: -86: impacters: (0,2) -86: observers: (1) -86: participating multx: (0,3,4,1,5,6,2,7,8) -86: verr=~[-0.00158179 0.00158179 -3.9947 -0.405794 1.7199 -0.455356 2.5106 0.386188 1.76698] -86: IMP t=0.159 verr=~[-0.00158179 0.00158179 -3.9947 -0.405794 1.7199 -0.455356 2.5106 0.386188 1.76698] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,3,4,1,5,6,2,7,8) -86: : mult2active=(0,3,6,1,2,4,5,7,8) -86: -86: ***** Sliding interval 1 start -86: active=(0,3,4,1,5,6,2,7,8) -86: mult2active=(0,3,6,1,2,4,5,7,8) -86: piTotal=~[0 0 0 0 0 0 0 0 0] -86: verrLeft=~[-0.00158179 0.00158179 -3.9947 -0.405794 1.7199 -0.455356 2.5106 0.386188 1.76698] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 3 uni contacts -86: Participating contact 0 is Sliding; vel=-0.405794,1.7199, mag=1.76712 -86: Participating contact 1 is Sliding; vel=-0.455356,2.5106, mag=2.55156 -86: Participating contact 2 is Sliding; vel=0.386188,1.76698, mag=1.80869 -86: -86: ....... Active set iter 1 start -86: : active=(0,3,4,1,5,6,2,7,8) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.405794,1.7199, mag=1.76712 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.455356,2.5106, mag=2.55156 -86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.386188,1.76698, mag=1.80869 -86: fillMult2Active: -86: : active=(0,3,4,1,5,6,2,7,8) -86: : mult2active=(0,3,6,1,2,4,5,7,8) -86: DBG: active normal 0 has v=-0.00158179; guess pi=-0.01 -86: DBG: active normal 3 has v=0.00158179; guess pi=0.01 -86: DBG: active normal 6 has v=-3.9947; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.00158179 0.00158179 -3.9947 -0.405794 1.7199 -0.455356 2.5106 0.386188 1.76698] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.00158179 -0.405794 1.7199 0.00158179 -0.455356 2.5106 -3.9947 0.386188 1.76698] -86: : pi was=~[0 0 0 0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0 -0.01 0 0] -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.33808e-05 -86: DBG: >>>> Start NEWTON solve with errNorm=3.99032... -86: > NEWTON iter 1: errNorm=3.99032(v) -> deltaNorm=143.142(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0 -0.01 0 0] -86: > errActive=~[0.000594668 0.000405794 -0.0017199 0.00260592 0 0 3.99032 -0.000386188 -0.00176698] -86: > deltaPi=~[3.14134 0.0723636 -0.306701 99.5798 6.61955e-05 -0.000364968 102.269 -2.18375 -9.99163] -86: DBG: Line search iter 1: back=1, prevNorm=3.99032. -86: > piNow=~[-3.15134 -0.0723636 0.306701 -99.5698 -6.61955e-05 0.000364968 -102.279 2.18375 9.99163] -86: > errNow=~[2.71463e-15 4.74824e-06 -2.01247e-05 1.24013e-14 4.53381 -24.9971 -2.08722e-14 -0.000147114 -0.000673109] normNow=25.4049 -86: DBG: GOT WORSE @iter 1: backtrack to back=0.5 -86: DBG: Line search iter 2: back=0.5, prevNorm=3.99032. -86: > piNow=~[-1.58067 -0.0361818 0.153351 -49.7799 -3.30978e-05 0.000182484 -51.1443 1.09188 4.99581] -86: > errNow=~[0.000297334 0.000205271 -0.00087001 0.00130296 2.26668 -12.4973 1.99516 -0.000266651 -0.00122004] normNow=12.8569 -86: DBG: GOT WORSE @iter 2: backtrack to back=0.25 -86: DBG: Line search iter 3: back=0.25, prevNorm=3.99032. -86: > piNow=~[-0.795336 -0.0180909 0.0766754 -24.885 -1.65489e-05 9.1242e-05 -25.5772 0.545939 2.49791] -86: > errNow=~[0.000446001 0.000305533 -0.00129495 0.00195444 1.13311 -6.24738 2.99274 -0.00032642 -0.00149351] normNow=7.01928 -86: DBG: GOT WORSE @iter 3: backtrack to back=0.125 -86: DBG: Line search iter 4: back=0.125, prevNorm=3.99032. -86: > piNow=~[-0.402668 -0.00904545 0.0383377 -12.4375 -8.27444e-06 4.5621e-05 -12.7936 0.272969 1.24895] -86: > errNow=~[0.000520334 0.000355664 -0.00150742 0.00228018 0.566327 -3.12244 3.49153 -0.000356304 -0.00163025] normNow=4.71817 -86: DBG: GOT WORSE @iter 4: backtrack to back=0.0625 -86: DBG: Line search iter 5: back=0.0625, prevNorm=3.99032. -86: > piNow=~[-0.206334 -0.00452272 0.0191688 -6.21374 -4.13722e-06 2.28105e-05 -6.40179 0.136485 0.624477] -86: > errNow=~[0.000557501 0.000380729 -0.00161366 0.00244305 0.282936 -1.55996 3.74093 -0.000371246 -0.00169861] normNow=4.06301 -86: DBG: GOT WORSE @iter 5: backtrack to back=0.03125 -86: DBG: Line search iter 6: back=0.03125, prevNorm=3.99032. -86: > piNow=~[-0.108167 -0.00226136 0.00958442 -3.10187 -2.06861e-06 1.14052e-05 -3.20589 0.0682423 0.312238] -86: > errNow=~[0.000576085 0.000393262 -0.00166678 0.00252449 0.14124 -0.778726 3.86562 -0.000378717 -0.0017328] normNow=3.94581 -86: DBG: Improvement rate now/prev at iter 1 is 0.988845 -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=5.62669e-08 -86: > NEWTON iter 2: errNorm=3.94581(v) -> deltaNorm=139.532(pi) -86: > piActive=~[-0.108167 -0.00226136 0.00958442 -3.10187 -2.06861e-06 1.14052e-05 -3.20589 0.0682423 0.312238] -86: > errActive=~[0.000576085 0.000393262 -0.00166678 0.00252449 0.14124 -0.778726 3.86562 -0.000378717 -0.0017328] -86: > deltaPi=~[2.69416 0.0620901 -0.263159 101.939 1.87458 -10.3355 94.1874 -2.01128 -9.20249] -86: DBG: Line search iter 1: back=1, prevNorm=3.94581. -86: > piNow=~[-2.80232 -0.0643514 0.272743 -105.041 -1.87458 10.3355 -97.3933 2.07952 9.51473] -86: > errNow=~[5.82325e-15 3.48096e-08 -1.47535e-07 -4.91816e-15 1.79724e-09 -9.90904e-09 2.66454e-15 -1.31842e-09 -6.03235e-09] normNow=1.52045e-07 -86: DBG: Improvement rate now/prev at iter 2 is 3.85334e-08 -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.66234e-09 -86: > NEWTON iter 3: errNorm=1.52045e-07(v) -> deltaNorm=1.47791e-07(pi) -86: > piActive=~[-2.80232 -0.0643514 0.272743 -105.041 -1.87458 10.3355 -97.3933 2.07952 9.51473] -86: > errActive=~[5.82325e-15 3.48096e-08 -1.47535e-07 -4.91816e-15 1.79724e-09 -9.90904e-09 2.66454e-15 -1.31842e-09 -6.03235e-09] -86: > deltaPi=~[9.30994e-08 2.18364e-08 -9.25501e-08 -4.55948e-08 -1.09324e-10 6.02765e-10 -4.52985e-08 2.38273e-10 1.09019e-09] -86: DBG: Line search iter 1: back=1, prevNorm=1.52045e-07. -86: > piNow=~[-2.80232 -0.0643515 0.272743 -105.041 -1.87458 10.3355 -97.3933 2.07952 9.51473] -86: > errNow=~[-8.38088e-16 0 0 3.74158e-15 0 -3.55271e-15 -1.77636e-15 0 3.55271e-15] normNow=6.56512e-15 -86: DBG: Improvement rate now/prev at iter 3 is 4.31787e-08 -86: DBG: <<<< NEWTON done in 3 iters; norm=6.56512e-15. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 0 from ~[-0.405794,1.7199] to ~[-0.130268,-0.279574] -86: DBG: TOO BIG: Sliding fric 0; endmag=0.308434, rot=141.741 deg > 30 -86: DBG: --> returning stepLength=0.871592 (dist to origin=0.167213) -86: DBG: -->max change solutions: 1.05279 and 0.755144; returning 0.755144 -86: DBG: Frac=0.755144 reduces angle to 30 degrees. -86: slipVel 1 from ~[-0.455356,2.5106] to ~[-0.161498,0.218664] -86: DBG: Friction 1 rotated 26.1681 deg, less than max 30 -86: slipVel 2 from ~[0.386188,1.76698] to ~[0.367969,-0.248345] -86: DBG: TOO BIG: Sliding fric 2; endmag=0.443933, rot=111.687 deg > 30 -86: DBG: --> returning stepLength=0.878432 (dist to origin=0.370199) -86: DBG: -->max change solutions: 1.43746 and 0.673069; returning 0.673069 -86: DBG: Frac=0.673069 reduces angle to 30 degrees. -86: SP interval 1 end: s=0.673069 -86: : m_piActive=~[-1.88616 -0.043313 0.183575 -70.7 -1.26173 6.9565 -65.5524 1.39966 6.40407] -86: : m_verrLeft=~[-0.000517137 0.000517137 -1.30599 -0.220346 0.374114 -0.257569 0.967968 0.373926 0.410527] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0 0 0 0] -86: fillMult2Active: -86: : active=(0,3,4,1,5,6,2,7,8) -86: : mult2active=(0,3,6,1,2,4,5,7,8) -86: -86: ***** Sliding interval 2 start -86: active=(0,3,4,1,5,6,2,7,8) -86: mult2active=(0,3,6,1,2,4,5,7,8) -86: piTotal=~[-1.88616 -70.7 -65.5524 -0.043313 0.183575 -1.26173 6.9565 1.39966 6.40407] -86: verrLeft=~[-0.000517137 0.000517137 -1.30599 -0.220346 0.374114 -0.257569 0.967968 0.373926 0.410527] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 3 uni contacts -86: Participating contact 0 is Sliding; vel=-0.220346,0.374114, mag=0.434182 -86: Participating contact 1 is Sliding; vel=-0.257569,0.967968, mag=1.00165 -86: Participating contact 2 is Sliding; vel=0.373926,0.410527, mag=0.555295 -86: -86: ....... Active set iter 1 start -86: : active=(0,3,4,1,5,6,2,7,8) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.220346,0.374114, mag=0.434182 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.257569,0.967968, mag=1.00165 -86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.373926,0.410527, mag=0.555295 -86: fillMult2Active: -86: : active=(0,3,4,1,5,6,2,7,8) -86: : mult2active=(0,3,6,1,2,4,5,7,8) -86: DBG: active normal 0 has v=-0.000517137; guess pi=-0.01 -86: DBG: active normal 3 has v=0.000517137; guess pi=0.01 -86: DBG: active normal 6 has v=-1.30599; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000517137 0.000517137 -1.30599 -0.220346 0.374114 -0.257569 0.967968 0.373926 0.410527] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.000517137 -0.220346 0.374114 0.000517137 -0.257569 0.967968 -1.30599 0.373926 0.410527] -86: : pi was=~[0 0 0 0 0 0 0 0 0] -86: : piActive=~[-0.01 0 0 0.01 0 0 -0.01 0 0] -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.56228e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=1.30162... -86: > NEWTON iter 1: errNorm=1.30162(v) -> deltaNorm=48.6511(pi) -86: > piActive=~[-0.01 0 0 0.01 0 0 -0.01 0 0] -86: > errActive=~[-0.000469988 0.000220346 -0.000374114 0.00367058 0 0 1.30161 -0.000373926 -0.000410527] -86: > deltaPi=~[-1.6093 -0.0811608 0.137799 34.6271 3.31669e-05 -0.000124644 33.9666 -2.28784 -2.51178] -86: DBG: Line search iter 1: back=1, prevNorm=1.30162. -86: > piNow=~[1.5993 0.0811608 -0.137799 -34.6171 -3.31669e-05 0.000124644 -33.9766 2.28784 2.51178] -86: > errNow=~[-3.93999e-16 0.0352386 -0.0598297 1.57665e-15 0.891597 -3.3507 -3.9968e-15 -4.73095e-05 -5.19404e-05] normNow=3.46799 -86: DBG: GOT WORSE @iter 1: backtrack to back=0.5 -86: DBG: Line search iter 2: back=0.5, prevNorm=1.30162. -86: > piNow=~[0.794648 0.0405804 -0.0688993 -17.3036 -1.65835e-05 6.23222e-05 -16.9933 1.14392 1.25589] -86: > errNow=~[-0.000234994 0.0176193 -0.0299148 0.00183529 0.44567 -1.67487 0.650805 -0.000210618 -0.000231234] normNow=1.85164 -86: DBG: GOT WORSE @iter 2: backtrack to back=0.25 -86: DBG: Line search iter 3: back=0.25, prevNorm=1.30162. -86: > piNow=~[0.392324 0.0202902 -0.0344497 -8.64678 -8.29174e-06 3.11611e-05 -8.50164 0.571959 0.627944] -86: > errNow=~[-0.000352491 0.00880964 -0.0149574 0.00275293 0.222706 -0.83695 0.976208 -0.000292272 -0.00032088] normNow=1.30513 -86: DBG: GOT WORSE @iter 3: backtrack to back=0.125 -86: DBG: Line search iter 4: back=0.125, prevNorm=1.30162. -86: > piNow=~[0.191162 0.0101451 -0.0172248 -4.31839 -4.14587e-06 1.55806e-05 -4.25582 0.285979 0.313972] -86: > errNow=~[-0.000411239 0.00440482 -0.00747871 0.00321176 0.111224 -0.417991 1.13891 -0.000333099 -0.000365704] normNow=1.21831 -86: DBG: Improvement rate now/prev at iter 1 is 0.936001 -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.43104e-09 -86: > NEWTON iter 2: errNorm=1.21831(v) -> deltaNorm=42.7499(pi) -86: > piActive=~[0.191162 0.0101451 -0.0172248 -4.31839 -4.14587e-06 1.55806e-05 -4.25582 0.285979 0.313972] -86: > errActive=~[-0.000411239 0.00440482 -0.00747871 0.00321176 0.111224 -0.417991 1.13891 -0.000333099 -0.000365704] -86: > deltaPi=~[-1.2509 0.0101451 -0.0172248 31.9886 0.933611 -3.5086 27.9591 -1.88331 -2.06766] -94: F-B Free vs. Combination of Two Function-Based: Passed -94: Done -86: DBG: Line search iter 1: back=1, prevNorm=1.21831. -86: > piNow=~[1.44206 6.47161e-09 -1.09878e-08 -36.307 -0.933615 3.50861 -32.2149 2.16929 2.38163] -86: > errNow=~[-1.72627e-15 2.80985e-09 -4.7707e-09 5.77446e-16 1.64591e-10 -6.18548e-10 2.22045e-16 -2.15032e-10 -2.3608e-10] normNow=5.5827e-09 -86: DBG: Improvement rate now/prev at iter 2 is 4.58232e-09 -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.60053e-09 -86: > NEWTON iter 3: errNorm=5.5827e-09(v) -> deltaNorm=1.88447e-08(pi) -86: > piActive=~[1.44206 6.47161e-09 -1.09878e-08 -36.307 -0.933615 3.50861 -32.2149 2.16929 2.38163] -86: > errActive=~[-1.72627e-15 2.80985e-09 -4.7707e-09 5.77446e-16 1.64591e-10 -6.18548e-10 2.22045e-16 -2.15032e-10 -2.3608e-10] -86: > deltaPi=~[1.1419e-08 6.47161e-09 -1.09878e-08 -5.50184e-09 2.28426e-11 -8.58457e-11 -5.6425e-09 -7.28278e-12 -7.99681e-12] -86: DBG: Line search iter 1: back=1, prevNorm=5.5827e-09. -86: > piNow=~[1.44206 -1.03814e-18 1.76261e-18 -36.307 -0.933615 3.50861 -32.2149 2.16929 2.38163] -86: > errNow=~[4.94179e-16 -4.50741e-19 7.65292e-19 -5.32777e-16 0 0 -4.44089e-16 -2.22045e-16 0] normNow=8.80105e-16 -86: DBG: Improvement rate now/prev at iter 3 is 1.57648e-07 -86: DBG: <<<< NEWTON done in 3 iters; norm=8.80105e-16. -86: DBG: Worst offender is normal contact 0 err=1.44206 ... -86: DBG: ... normal contact 0 released. -86: -86: ....... Active set iter 2 start -86: : active=(2,7,8,1,5,6) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.220346,0.374114, mag=0.434182 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.257569,0.967968, mag=1.00165 -86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.373926,0.410527, mag=0.555295 -86: fillMult2Active: -86: : active=(2,7,8,1,5,6) -86: : mult2active=(-1111111111,3,0,-1111111111,-1111111111,4,5,1,2) -86: DBG: active normal 3 has v=0.000517137; guess pi=0.01 -86: DBG: active normal 0 has v=-1.30599; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[-0.000517137 0.000517137 -1.30599 -0.220346 0.374114 -0.257569 0.967968 0.373926 0.410527] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-1.30599 0.373926 0.410527 0.000517137 -0.257569 0.967968] -86: : pi was=~[0 -36.307 -32.2149 -1.03814e-18 1.76261e-18 -0.933615 3.50861 2.16929 2.38163] -86: : piActive=~[-0.01 2.16929 2.38163 0.01 -0.933615 3.50861] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.266e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=4.3734... -86: > NEWTON iter 1: errNorm=4.3734(v) -> deltaNorm=47.5107(pi) -86: > piActive=~[-0.01 2.16929 2.38163 0.01 -0.933615 3.50861] -86: > errActive=~[-0.305888 1.20422 1.3221 1.61538 -0.935156 3.5144] -86: > deltaPi=~[33.4965 -0.0868898 -0.0953949 33.497 -0.933583 3.50849] -86: DBG: Line search iter 1: back=1, prevNorm=4.3734. -86: > piNow=~[-33.5065 2.25618 2.47703 -33.487 -3.20845e-05 0.000120576] -86: > errNow=~[2.44249e-15 -4.66548e-05 -5.12216e-05 4.76106e-15 0.862489 -3.24131] normNow=3.3541 -86: DBG: Improvement rate now/prev at iter 1 is 0.766932 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.89379e-09 -86: > NEWTON iter 2: errNorm=3.3541(v) -> deltaNorm=4.24951(pi) -86: > piActive=~[-33.5065 2.25618 2.47703 -33.487 -3.20845e-05 0.000120576] -86: > errActive=~[2.44249e-15 -4.66548e-05 -5.12216e-05 4.76106e-15 0.862489 -3.24131] -86: > deltaPi=~[-1.6387 0.110263 0.121056 1.7184 0.905256 -3.40203] -86: DBG: Line search iter 1: back=1, prevNorm=3.3541. -86: > piNow=~[-31.8678 2.14592 2.35597 -35.2054 -0.905288 3.40215] -86: > errNow=~[-4.44089e-16 2.03393e-13 2.23155e-13 -2.58669e-15 1.46883e-13 -5.52447e-13] normNow=6.46487e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.92745e-13 -86: DBG: <<<< NEWTON done in 2 iters; norm=6.46487e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.257569,0.967968] to ~[-0.0811008,0.152297] -86: DBG: Friction 1 rotated 13.1355 deg, less than max 30 -86: slipVel 2 from ~[0.373926,0.410527] to ~[-0.139391,0.203711] -86: DBG: TOO BIG: Sliding fric 2; endmag=0.246836, rot=76.7109 deg > 30 -86: DBG: --> returning stepLength=0.903936 (dist to origin=0.241043) -86: DBG: -->max change solutions: 6.73309 and 0.607119; returning 0.607119 -86: DBG: Frac=0.607119 reduces angle to 30 degrees. -86: SP interval 2 end: s=0.607119 -86: : m_piActive=~[-19.3475 1.30283 1.43035 -21.3739 -0.549617 2.06551] -86: : m_verrLeft=~[0.239163 0.000203173 -0.513099 -0.137972 0.272895 -0.150432 0.472759 0.0622815 0.284965] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0 0 0 0] -86: fillMult2Active: -86: : active=(0,3,4,1,5,6,2,7,8) -86: : mult2active=(0,3,6,1,2,4,5,7,8) -86: -86: ***** Sliding interval 3 start -86: active=(0,3,4,1,5,6,2,7,8) -86: mult2active=(0,3,6,1,2,4,5,7,8) -86: piTotal=~[-1.88616 -92.0738 -84.9 -0.043313 0.183575 -1.81134 9.02201 2.70249 7.83443] -86: verrLeft=~[0.239163 0.000203173 -0.513099 -0.137972 0.272895 -0.150432 0.472759 0.0622815 0.284965] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 3 uni contacts -86: Participating contact 0 is Sliding; vel=-0.137972,0.272895, mag=0.30579 -86: Participating contact 1 is Sliding; vel=-0.150432,0.472759, mag=0.496115 -86: Participating contact 2 is Sliding; vel=0.0622815,0.284965, mag=0.291692 -86: -86: ....... Active set iter 1 start -86: : active=(0,3,4,1,5,6,2,7,8) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.137972,0.272895, mag=0.30579 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.150432,0.472759, mag=0.496115 -86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.0622815,0.284965, mag=0.291692 -86: fillMult2Active: -86: : active=(0,3,4,1,5,6,2,7,8) -86: : mult2active=(0,3,6,1,2,4,5,7,8) -86: DBG: active normal 0 has v=0.239163; guess pi=0.01 -86: DBG: active normal 3 has v=0.000203173; guess pi=0.01 -86: DBG: active normal 6 has v=-0.513099; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[0.239163 0.000203173 -0.513099 -0.137972 0.272895 -0.150432 0.472759 0.0622815 0.284965] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[0.239163 -0.137972 0.272895 0.000203173 -0.150432 0.472759 -0.513099 0.0622815 0.284965] -86: : pi was=~[0 0 0 0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0] -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.42753e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.557814... -86: > NEWTON iter 1: errNorm=0.557814(v) -> deltaNorm=19.022(pi) -86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0] -86: > errActive=~[-0.233469 0 0 0.00653447 0 0 0.506563 -6.22815e-05 -0.000284965] -86: > deltaPi=~[-0.482616 -8.1111e-07 1.6043e-06 13.4407 1.51807e-05 -4.7708e-05 13.3848 -0.285994 -1.30855] -86: DBG: Line search iter 1: back=1, prevNorm=0.557814. -86: > piNow=~[0.492616 8.1111e-07 -1.6043e-06 -13.4307 -1.51807e-05 4.7708e-05 -13.3948 0.285994 1.30855] -86: > errNow=~[-6.93889e-16 2.4803e-07 -4.90578e-07 -1.16443e-16 0.202034 -0.634926 4.44089e-16 -3.10516e-06 -1.42075e-05] normNow=0.666295 -86: DBG: GOT WORSE @iter 1: backtrack to back=0.5 -86: DBG: Line search iter 2: back=0.5, prevNorm=0.557814. -86: > piNow=~[0.251308 4.05555e-07 -8.02148e-07 -6.71037 -7.59035e-06 2.3854e-05 -6.70242 0.142997 0.654273] -86: > errNow=~[-0.116734 1.24015e-07 -2.45289e-07 0.00326724 0.100942 -0.317227 0.253281 -3.26933e-05 -0.000149586] normNow=0.434294 -86: DBG: Improvement rate now/prev at iter 1 is 0.778564 -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.81237e-09 -86: > NEWTON iter 2: errNorm=0.434294(v) -> deltaNorm=9.71193(pi) -86: > piActive=~[0.251308 4.05555e-07 -8.02148e-07 -6.71037 -7.59035e-06 2.3854e-05 -6.70242 0.142997 0.654273] -86: > errActive=~[-0.116734 1.24015e-07 -2.45289e-07 0.00326724 0.100942 -0.317227 0.253281 -3.26933e-05 -0.000149586] -86: > deltaPi=~[-0.28135 4.04806e-07 -8.00667e-07 7.43643 0.428951 -1.34805 6.04767 -0.129241 -0.591333] -86: DBG: Line search iter 1: back=1, prevNorm=0.434294. -86: > piNow=~[0.532658 7.48791e-10 -1.48104e-09 -14.1468 -0.428959 1.34808 -12.7501 0.272238 1.24561] -86: > errNow=~[-4.71845e-16 2.28973e-10 -4.52887e-10 -6.16044e-16 9.25485e-12 -2.90848e-11 1.77636e-15 -3.12317e-12 -1.4291e-11] normNow=5.08607e-10 - 85/108 Test #94: TestFunctionBasedMobilizedBodies ............... Passed 0.39 sec -86: DBG: Improvement rate now/prev at iter 2 is 1.17111e-09 -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.56465e-10 -86: > NEWTON iter 3: errNorm=5.08607e-10(v) -> deltaNorm=2.4783e-09(pi) -86: > piActive=~[0.532658 7.48791e-10 -1.48104e-09 -14.1468 -0.428959 1.34808 -12.7501 0.272238 1.24561] -86: > errActive=~[-4.71845e-16 2.28973e-10 -4.52887e-10 -6.16044e-16 9.25485e-12 -2.90848e-11 1.77636e-15 -3.12317e-12 -1.4291e-11] -86: > deltaPi=~[1.51449e-09 7.48791e-10 -1.48104e-09 -7.45482e-10 -3.94986e-12 1.24134e-11 -7.33256e-10 4.94927e-12 2.26413e-11] -86: DBG: Line search iter 1: back=1, prevNorm=5.08607e-10. -86: > piNow=~[0.532658 -8.97215e-19 1.7746e-18 -14.1468 -0.428959 1.34808 -12.7501 0.272238 1.24561] -86: > errNow=~[3.88578e-16 -2.7436e-19 5.42657e-19 -1.44199e-16 0 -1.11022e-16 -4.44089e-16 0 0] normNow=6.17517e-16 -86: DBG: Improvement rate now/prev at iter 3 is 1.21413e-06 -86: DBG: <<<< NEWTON done in 3 iters; norm=6.17517e-16. -86: DBG: Worst offender is normal contact 0 err=0.532658 ... -86: DBG: ... normal contact 0 released. -86: -86: ....... Active set iter 2 start -86: : active=(2,7,8,1,5,6) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.137972,0.272895, mag=0.30579 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.150432,0.472759, mag=0.496115 -86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.0622815,0.284965, mag=0.291692 -86: fillMult2Active: -86: : active=(2,7,8,1,5,6) -86: : mult2active=(-1111111111,3,0,-1111111111,-1111111111,4,5,1,2) -86: DBG: active normal 3 has v=0.000203173; guess pi=0.01 -86: DBG: active normal 0 has v=-0.513099; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[0.239163 0.000203173 -0.513099 -0.137972 0.272895 -0.150432 0.472759 0.0622815 0.284965] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.513099 0.0622815 0.284965 0.000203173 -0.150432 0.472759] -86: : pi was=~[0 -14.1468 -12.7501 -8.97215e-19 1.7746e-18 -0.428959 1.34808 0.272238 1.24561] -86: : piActive=~[-0.01 0.272238 1.24561 0.01 -0.428959 1.34808] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.14372e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.988486... -86: > NEWTON iter 1: errNorm=0.988486(v) -> deltaNorm=18.6732(pi) -86: > piActive=~[-0.01 0.272238 1.24561 0.01 -0.428959 1.34808] -86: > errActive=~[-0.0697953 0.0793472 0.363048 0.584421 -0.212813 0.668802] -86: > deltaPi=~[13.2478 -0.0108297 -0.0495506 13.0836 -0.428944 1.34803] -86: DBG: Line search iter 1: back=1, prevNorm=0.988486. -86: > piNow=~[-13.2578 0.283068 1.29516 -13.0736 -1.47774e-05 4.64405e-05] -86: > errNow=~[2.22045e-16 -3.07336e-06 -1.4062e-05 -7.65718e-16 0.196662 -0.618045] normNow=0.64858 -86: DBG: Improvement rate now/prev at iter 1 is 0.656134 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.00006e-10 -86: > NEWTON iter 2: errNorm=0.64858(v) -> deltaNorm=1.65628(pi) -86: > piActive=~[-13.2578 0.283068 1.29516 -13.0736 -1.47774e-05 4.64405e-05] -86: > errActive=~[2.22045e-16 -3.07336e-06 -1.4062e-05 -7.65718e-16 0.196662 -0.618045] -86: > deltaPi=~[-0.637079 0.0135923 0.0621905 0.667324 0.416638 -1.30936] -86: DBG: Line search iter 1: back=1, prevNorm=0.64858. -86: > piNow=~[-12.6207 0.269475 1.23297 -13.741 -0.416653 1.30941] -86: > errNow=~[-4.44089e-16 8.41271e-14 3.84748e-13 -2.55221e-16 2.18853e-13 -6.8745e-13] normNow=8.21944e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.2673e-12 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.21944e-13. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.150432,0.472759] to ~[-0.102438,0.172499] -86: DBG: Friction 1 rotated 13.0527 deg, less than max 30 -86: slipVel 2 from ~[0.0622815,0.284965] to ~[0.152509,-0.0523732] -86: DBG: TOO BIG: Sliding fric 2; endmag=0.161251, rot=96.6244 deg > 30 -86: DBG: --> returning stepLength=0.742263 (dist to origin=0.133797) -86: DBG: -->max change solutions: 8.87593 and 0.496307; returning 0.496307 -86: DBG: Frac=0.496307 reduces angle to 30 degrees. -86: SP interval 3 end: s=0.496307 -86: : m_piActive=~[-6.26375 0.133743 0.61193 -6.81974 -0.206788 0.649867] -86: : m_verrLeft=~[0.193996 0.000102337 -0.258445 -0.112896 0.104044 -0.126612 0.323737 0.107062 0.117542] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0 0 0 0] -86: fillMult2Active: -86: : active=(0,3,4,1,5,6,2,7,8) -86: : mult2active=(0,3,6,1,2,4,5,7,8) -86: -86: ***** Sliding interval 4 start -86: active=(0,3,4,1,5,6,2,7,8) -86: mult2active=(0,3,6,1,2,4,5,7,8) -86: piTotal=~[-1.88616 -98.8936 -91.1637 -0.043313 0.183575 -2.01813 9.67188 2.83623 8.44636] -86: verrLeft=~[0.193996 0.000102337 -0.258445 -0.112896 0.104044 -0.126612 0.323737 0.107062 0.117542] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 3 uni contacts -86: Participating contact 0 is Sliding; vel=-0.112896,0.104044, mag=0.153528 -86: Participating contact 1 is Sliding; vel=-0.126612,0.323737, mag=0.347616 -86: Participating contact 2 is Sliding; vel=0.107062,0.117542, mag=0.158992 -86: -86: ....... Active set iter 1 start -86: : active=(0,3,4,1,5,6,2,7,8) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.112896,0.104044, mag=0.153528 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.126612,0.323737, mag=0.347616 -86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.107062,0.117542, mag=0.158992 -86: fillMult2Active: -86: : active=(0,3,4,1,5,6,2,7,8) -86: : mult2active=(0,3,6,1,2,4,5,7,8) -86: DBG: active normal 0 has v=0.193996; guess pi=0.01 -86: DBG: active normal 3 has v=0.000102337; guess pi=0.01 -86: DBG: active normal 6 has v=-0.258445; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[0.193996 0.000102337 -0.258445 -0.112896 0.104044 -0.126612 0.323737 0.107062 0.117542] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[0.193996 -0.112896 0.104044 0.000102337 -0.126612 0.323737 -0.258445 0.107062 0.117542] -86: : pi was=~[0 0 0 0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0] -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.53438e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.314578... -86: > NEWTON iter 1: errNorm=0.314578(v) -> deltaNorm=10.1595(pi) -86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0] -86: > errActive=~[-0.188302 0 0 0.00663531 0 0 0.251908 -0.000107062 -0.000117542] -86: > deltaPi=~[-0.98825 -2.70689e-06 2.49465e-06 7.36215 9.98831e-06 -2.55394e-05 6.89643 -0.465049 -0.51057] -86: DBG: Line search iter 1: back=1, prevNorm=0.314578. -86: > piNow=~[0.99825 2.70689e-06 -2.49465e-06 -7.35215 -9.98831e-06 2.55394e-05 -6.90643 0.465049 0.51057] -86: > errNow=~[-8.32667e-17 4.15584e-07 -3.82999e-07 9.17235e-17 0.0930836 -0.238008 -1.11022e-16 -2.75024e-06 -3.01945e-06] normNow=0.255563 -86: DBG: Improvement rate now/prev at iter 1 is 0.812399 -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.26219e-10 -86: > NEWTON iter 2: errNorm=0.255563(v) -> deltaNorm=0.922123(pi) -86: > piActive=~[0.99825 2.70689e-06 -2.49465e-06 -7.35215 -9.98831e-06 2.55394e-05 -6.90643 0.465049 0.51057] -86: > errActive=~[-8.32667e-17 4.15584e-07 -3.82999e-07 9.17235e-17 0.0930836 -0.238008 -1.11022e-16 -2.75024e-06 -3.01945e-06] -86: > deltaPi=~[0.0035774 2.70689e-06 -2.49465e-06 0.362921 0.280996 -0.718486 -0.34955 0.0235207 0.025823] -86: DBG: Line search iter 1: back=1, prevNorm=0.255563. -86: > piNow=~[0.994672 -9.83414e-13 9.06356e-13 -7.71507 -0.281006 0.718512 -6.55688 0.441528 0.484747] -86: > errNow=~[-5.55112e-17 -1.50982e-13 1.39151e-13 -2.27466e-16 3.16677e-13 -8.09741e-13 2.22045e-16 2.92308e-13 3.20896e-13] normNow=9.93248e-13 -86: DBG: Improvement rate now/prev at iter 2 is 3.88652e-12 -86: DBG: <<<< NEWTON done in 2 iters; norm=9.93248e-13. -86: DBG: Worst offender is normal contact 0 err=0.994672 ... -86: DBG: ... normal contact 0 released. -86: -86: ....... Active set iter 2 start -86: : active=(2,7,8,1,5,6) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.112896,0.104044, mag=0.153528 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.126612,0.323737, mag=0.347616 -86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.107062,0.117542, mag=0.158992 -86: fillMult2Active: -86: : active=(2,7,8,1,5,6) -86: : mult2active=(-1111111111,3,0,-1111111111,-1111111111,4,5,1,2) -86: DBG: active normal 3 has v=0.000102337; guess pi=0.01 -86: DBG: active normal 0 has v=-0.258445; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[0.193996 0.000102337 -0.258445 -0.112896 0.104044 -0.126612 0.323737 0.107062 0.117542] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.258445 0.107062 0.117542 0.000102337 -0.126612 0.323737] -86: : pi was=~[0 -7.71507 -6.55688 -9.83414e-13 9.06356e-13 -0.281006 0.718512 0.441528 0.484747] -86: : piActive=~[-0.01 0.441528 0.484747 0.01 -0.281006 0.718512] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.42383e-06 -86: DBG: >>>> Start NEWTON solve with errNorm=0.448771... -86: > NEWTON iter 1: errNorm=0.448771(v) -> deltaNorm=9.40613(pi) -86: > piActive=~[-0.01 0.441528 0.484747 0.01 -0.281006 0.718512] -86: > errActive=~[-0.0766333 0.0700922 0.0769531 0.335803 -0.0976821 0.249766] -86: > deltaPi=~[6.62066 -0.00495122 -0.00543586 6.63679 -0.280997 0.718489] -86: DBG: Line search iter 1: back=1, prevNorm=0.448771. -86: > piNow=~[-6.63066 0.44648 0.490183 -6.62679 -9.00421e-06 2.30231e-05] -86: > errNow=~[5.55112e-17 -2.64027e-06 -2.89871e-06 -1.71738e-16 0.0839 -0.214526] normNow=0.230349 -86: DBG: Improvement rate now/prev at iter 1 is 0.513288 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.20647e-10 -86: > NEWTON iter 2: errNorm=0.230349(v) -> deltaNorm=0.832019(pi) -86: > piActive=~[-6.63066 0.44648 0.490183 -6.62679 -9.00421e-06 2.30231e-05] -86: > errActive=~[5.55112e-17 -2.64027e-06 -2.89871e-06 -1.71738e-16 0.0839 -0.214526] -86: > deltaPi=~[-0.314284 0.0211467 0.0232166 0.329575 0.253363 -0.64783] -86: DBG: Line search iter 1: back=1, prevNorm=0.230349. -86: > piNow=~[-6.31637 0.425333 0.466966 -6.95637 -0.253372 0.647853] -86: > errNow=~[5.55112e-16 2.85091e-13 3.13041e-13 7.78457e-17 3.53981e-13 -9.05137e-13] normNow=1.06012e-12 -86: DBG: Improvement rate now/prev at iter 2 is 4.60222e-12 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.06012e-12. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.126612,0.323737] to ~[-0.0885899,0.160672] -86: DBG: Friction 1 rotated 7.5109 deg, less than max 30 -86: slipVel 2 from ~[0.107062,0.117542] to ~[0.00442879,0.0786261] -86: DBG: TOO BIG: Sliding fric 2; endmag=0.0787507, rot=39.1047 deg > 30 -86: DBG: --> returning stepLength=1 (dist to origin=0.0787507) -86: DBG: -->max change solutions: 13.4188 and 0.864486; returning 0.864486 -86: DBG: Frac=0.864486 reduces angle to 30 degrees. -86: SP interval 4 end: s=0.864486 -86: : m_piActive=~[-5.46042 0.367695 0.403686 -6.01369 -0.219036 0.56006] -86: : m_verrLeft=~[0.261399 1.3868e-05 -0.0350227 -0.0872162 0.0774734 -0.0937424 0.182769 0.018337 0.0838996] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0 0 0 0] -86: fillMult2Active: -86: : active=(0,3,4,1,5,6,2,7,8) -86: : mult2active=(0,3,6,1,2,4,5,7,8) -86: -86: ***** Sliding interval 5 start -86: active=(0,3,4,1,5,6,2,7,8) -86: mult2active=(0,3,6,1,2,4,5,7,8) -86: piTotal=~[-1.88616 -104.907 -96.6241 -0.043313 0.183575 -2.23717 10.2319 3.20393 8.85004] -86: verrLeft=~[0.261399 1.3868e-05 -0.0350227 -0.0872162 0.0774734 -0.0937424 0.182769 0.018337 0.0838996] -86: verrApplied=~[] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 3 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0872162,0.0774734, mag=0.116657 -86: Participating contact 1 is Sliding; vel=-0.0937424,0.182769, mag=0.205408 -86: Participating contact 2 is Sliding; vel=0.018337,0.0838996, mag=0.0858801 -86: -86: ....... Active set iter 1 start -86: : active=(0,3,4,1,5,6,2,7,8) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0872162,0.0774734, mag=0.116657 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0937424,0.182769, mag=0.205408 -86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.018337,0.0838996, mag=0.0858801 -86: fillMult2Active: -86: : active=(0,3,4,1,5,6,2,7,8) -86: : mult2active=(0,3,6,1,2,4,5,7,8) -86: DBG: active normal 0 has v=0.261399; guess pi=0.01 -86: DBG: active normal 3 has v=1.3868e-05; guess pi=0.01 -86: DBG: active normal 6 has v=-0.0350227; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[0.261399 1.3868e-05 -0.0350227 -0.0872162 0.0774734 -0.0937424 0.182769 0.018337 0.0838996] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[0.261399 -0.0872162 0.0774734 1.3868e-05 -0.0937424 0.182769 -0.0350227 0.018337 0.0838996] -86: : pi was=~[0 0 0 0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0] -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.36245e-07 -86: DBG: >>>> Start NEWTON solve with errNorm=0.257375... -86: > NEWTON iter 1: errNorm=0.257375(v) -> deltaNorm=2.14356(pi) -86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0] -86: > errActive=~[-0.255705 0 0 0.00672378 0 0 0.0284861 -1.8337e-05 -8.38996e-05] -86: > deltaPi=~[-0.902825 -2.51422e-06 2.23336e-06 1.56407 2.65881e-06 -5.18388e-06 1.14891 -0.024744 -0.113214] -86: DBG: Line search iter 1: back=1, prevNorm=0.257375. -86: > piNow=~[0.912825 2.51422e-06 -2.23336e-06 -1.55407 -2.65881e-06 5.18388e-06 -1.15891 0.024744 0.113214] -86: > errNow=~[1.11022e-16 2.933e-07 -2.60536e-07 -1.75641e-17 0.0145677 -0.0284026 -1.11022e-16 -7.8474e-08 -3.59053e-07] normNow=0.0319206 -86: DBG: Improvement rate now/prev at iter 1 is 0.124024 -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.68417e-11 -86: > NEWTON iter 2: errNorm=0.0319206(v) -> deltaNorm=0.194145(pi) -86: > piActive=~[0.912825 2.51422e-06 -2.23336e-06 -1.55407 -2.65881e-06 5.18388e-06 -1.15891 0.024744 0.113214] -86: > errActive=~[1.11022e-16 2.933e-07 -2.60536e-07 -1.75641e-17 0.0145677 -0.0284026 -1.11022e-16 -7.8474e-08 -3.59053e-07] -86: > deltaPi=~[-0.00413813 2.51422e-06 -2.23336e-06 0.0778269 0.0744727 -0.145199 -0.0702823 0.00149974 0.00686197] -86: DBG: Line search iter 1: back=1, prevNorm=0.0319206. -86: > piNow=~[0.916964 1.38313e-12 -1.22868e-12 -1.6319 -0.0744754 0.145204 -1.08863 0.0232442 0.106352] -86: > errNow=~[5.55112e-17 1.61352e-13 -1.43333e-13 1.53957e-17 1.12535e-12 -2.19407e-12 5.55112e-17 3.57463e-13 1.63556e-12] normNow=2.98827e-12 -86: DBG: Improvement rate now/prev at iter 2 is 9.36156e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=2.98827e-12. -86: DBG: Worst offender is normal contact 0 err=0.916964 ... -86: DBG: ... normal contact 0 released. -86: -86: ....... Active set iter 2 start -86: : active=(2,7,8,1,5,6) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.0872162,0.0774734, mag=0.116657 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0937424,0.182769, mag=0.205408 -86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.018337,0.0838996, mag=0.0858801 -86: fillMult2Active: -86: : active=(2,7,8,1,5,6) -86: : mult2active=(-1111111111,3,0,-1111111111,-1111111111,4,5,1,2) -86: DBG: active normal 3 has v=1.3868e-05; guess pi=0.01 -86: DBG: active normal 0 has v=-0.0350227; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[0.261399 1.3868e-05 -0.0350227 -0.0872162 0.0774734 -0.0937424 0.182769 0.018337 0.0838996] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[] -86: : rhsActive=~[-0.0350227 0.018337 0.0838996 1.3868e-05 -0.0937424 0.182769] -86: : pi was=~[0 -1.6319 -1.08863 1.38313e-12 -1.22868e-12 -0.0744754 0.145204 0.0232442 0.106352] -86: : piActive=~[-0.01 0.0232442 0.106352 0.01 -0.0744754 0.145204] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.29299e-07 -86: DBG: >>>> Start NEWTON solve with errNorm=0.0780723... -86: > NEWTON iter 1: errNorm=0.0780723(v) -> deltaNorm=1.28147(pi) -86: > piActive=~[-0.01 0.0232442 0.106352 0.01 -0.0744754 0.145204] -86: > errActive=~[-0.028598 0.00197788 0.00904965 0.063781 -0.0152978 0.0298261] -86: > deltaPi=~[0.89494 0.00392281 0.0179485 0.902371 -0.0744738 0.145202] -86: DBG: Line search iter 1: back=1, prevNorm=0.0780723. -86: > piNow=~[-0.90494 0.0193214 0.0884038 -0.892371 -1.53397e-06 2.99077e-06] -86: > errNow=~[6.93889e-18 -6.1127e-08 -2.79683e-07 4.08795e-17 0.00836498 -0.0163092] normNow=0.0183293 -86: DBG: Improvement rate now/prev at iter 1 is 0.234773 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.09196e-10 -86: > NEWTON iter 2: errNorm=0.0183293(v) -> deltaNorm=0.110807(pi) -86: > piActive=~[-0.90494 0.0193214 0.0884038 -0.892371 -1.53397e-06 2.99077e-06] -86: > errActive=~[6.93889e-18 -6.1127e-08 -2.79683e-07 4.08795e-17 0.00836498 -0.0163092] -86: > deltaPi=~[-0.0409392 0.000873415 0.00399625 0.042884 0.0426809 -0.0832149] -86: DBG: Line search iter 1: back=1, prevNorm=0.0183293. -86: > piNow=~[-0.864001 0.018448 0.0844076 -0.935255 -0.0426825 0.0832179] -86: > errNow=~[-6.93889e-18 3.41495e-13 1.5625e-12 -5.39933e-17 1.88062e-12 -3.66665e-12] normNow=4.4203e-12 -86: DBG: Improvement rate now/prev at iter 2 is 2.41161e-10 -86: DBG: <<<< NEWTON done in 2 iters; norm=4.4203e-12. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.0937424,0.182769] to ~[-0.0899216,0.162009] -86: DBG: Friction 1 rotated 1.87873 deg, less than max 30 -86: slipVel 2 from ~[0.018337,0.0838996] to ~[0.0243873,0.0611847] -86: DBG: Friction 2 rotated 9.4029 deg, less than max 30 -86: SP interval 5 end: s=1 -86: : m_piActive=~[-0.864001 0.018448 0.0844076 -0.935255 -0.0426825 0.0832179] -86: : m_verrLeft=~[0.255109 5.39933e-17 6.93889e-18 -0.0832612 0.0546007 -0.0899216 0.162009 0.0243873 0.0611847] -86: : verrAppliedLeft=~[] -86: : piELeft=~[0 0 0 0 0 0 0 0 0] -86: DBG: SP DONE. Check normal complementarity ... -86: DBG: 0: pi=-1.88616 verr=0.255109 pi*v=-0.481175 -86: DBG: 1: pi=-105.842 verr=5.39933e-17 pi*v=-5.71478e-15 -86: DBG: 2: pi=-97.4881 verr=6.93889e-18 pi*v=-6.7646e-16 -86: SP FINAL 5 intervals, piTotal=~[-1.88616 -105.842 -97.4881 -0.043313 0.183575 -2.27985 10.3152 3.22238 8.93445] errNorm=4.4203e-12 -86: Postcompression verr=~[0.255109 5.39933e-17 6.93889e-18 -0.0832612 0.0546007 -0.0899216 0.162009 0.0243873 0.0611847] -86: impulse=~[-1.88616 -105.842 -97.4881 -0.043313 0.183575 -2.27985 10.3152 3.22238 8.93445] -86: Next expansion impulse=~[0 0 0 0 0 0 0 0 0] -86: Next expanders: () -86: DBG: performSimultaneousImpact(): No expansion; done. -86: Impact: imp ~[-1.88616 -105.842 -97.4881 -0.043313 0.183575 -2.27985 10.3152 3.22238 8.93445]-> du ~[-0.0239284 -3.74685 -0.685693 2.00694 0.343984 0.127554 8.71773 -10.0908] -86: Now verr0=~[0.255109 -3.55271e-15 1.80411e-15 -0.0832612 0.0546007 -0.0899216 0.162009 0.0243873 0.0611847] -86: -86: DYNAMICS PHASE after 1 impact rounds: -86: verr0 =~[0.255109 -3.55271e-15 1.80411e-15 -0.0832612 0.0546007 -0.0899216 0.162009 0.0243873 0.0611847] -86: verrExt=~[0.69779 0.618484 -0.741239 -0.062034 0.740481 -0.058711 0.687822 -0.114182 0.736291] -86: total verr=~[0.952898 0.618484 -0.741239 -0.145295 0.795081 -0.148633 0.849831 -0.0897948 0.797475] -86: DYN t=0.159: verrStart=~[0.255109 -3.55271e-15 1.80411e-15 -0.0832612 0.0546007 -0.0899216 0.162009 0.0243873 0.0611847] -86: verrApplied=~[0.69779 0.618484 -0.741239 -0.062034 0.740481 -0.058711 0.687822 -0.114182 0.736291] -86: DBG: -86: -------------------------------- -86: DBG: START SUCCESSIVE PRUNING SOLVER: -86: fillMult2Active: -86: : active=(0,3,4,1,5,6,2,7,8) -86: : mult2active=(0,3,6,1,2,4,5,7,8) -86: -86: ***** Sliding interval 1 start -86: active=(0,3,4,1,5,6,2,7,8) -86: mult2active=(0,3,6,1,2,4,5,7,8) -86: piTotal=~[0 0 0 0 0 0 0 0 0] -86: verrLeft=~[0.255109 -3.55271e-15 1.80411e-15 -0.0832612 0.0546007 -0.0899216 0.162009 0.0243873 0.0611847] -86: verrApplied=~[0.69779 0.618484 -0.741239 -0.062034 0.740481 -0.058711 0.687822 -0.114182 0.736291] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 3 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0832612,0.0546007, mag=0.0995674 -86: Participating contact 1 is Sliding; vel=-0.0899216,0.162009, mag=0.185291 -86: Participating contact 2 is Sliding; vel=0.0243873,0.0611847, mag=0.0658659 -86: -86: ....... Active set iter 1 start -86: : active=(0,3,4,1,5,6,2,7,8) -86: Participating UniCont 0 (ix=0): cond=UniActive/Sliding, vel=-0.0832612,0.0546007, mag=0.0995674 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0899216,0.162009, mag=0.185291 -86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.0243873,0.0611847, mag=0.0658659 -86: fillMult2Active: -86: : active=(0,3,4,1,5,6,2,7,8) -86: : mult2active=(0,3,6,1,2,4,5,7,8) -86: DBG: active normal 0 has v=0.952898; guess pi=0.01 -86: DBG: active normal 3 has v=0.618484; guess pi=0.01 -86: DBG: active normal 6 has v=-0.741239; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[0.255109 -3.55271e-15 1.80411e-15 -0.0832612 0.0546007 -0.0899216 0.162009 0.0243873 0.0611847] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[0.69779 0.618484 -0.741239 -0.062034 0.740481 -0.058711 0.687822 -0.114182 0.736291] -86: : rhsActive=~[0.952898 -0.145295 0.795081 0.618484 -0.148633 0.849831 -0.741239 -0.0897948 0.797475] -86: : pi was=~[0 0 0 0 0 0 0 0 0] -86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0] -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.21036e-07 -86: DBG: >>>> Start NEWTON solve with errNorm=1.34581... -86: > NEWTON iter 1: errNorm=1.34581(v) -> deltaNorm=6.69455(pi) -86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0] -86: > errActive=~[-0.947204 0 0 -0.611747 0 0 0.734702 -2.43873e-05 -6.11847e-05] -86: > deltaPi=~[-2.39472 -7.4592e-06 4.89157e-06 3.81065 6.88841e-06 -1.24107e-05 4.93123 -0.182946 -0.458989] -86: DBG: Line search iter 1: back=1, prevNorm=1.34581. -86: > piNow=~[2.40472 7.4592e-06 -4.89157e-06 -3.80065 -6.88841e-06 1.24107e-05 -4.94123 0.182946 0.458989] -86: > errNow=~[0 7.42693e-07 -4.87041e-07 0 0.0341747 -0.0615717 0 -4.47952e-07 -1.12385e-06] normNow=0.07042 -86: DBG: Improvement rate now/prev at iter 1 is 0.0523252 -86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.69228e-10 -86: > NEWTON iter 2: errNorm=0.07042(v) -> deltaNorm=0.470842(pi) -86: > piActive=~[2.40472 7.4592e-06 -4.89157e-06 -3.80065 -6.88841e-06 1.24107e-05 -4.94123 0.182946 0.458989] -86: > errActive=~[0 7.42693e-07 -4.87041e-07 0 0.0341747 -0.0615717 0 -4.47952e-07 -1.12385e-06] -86: > deltaPi=~[-0.00627338 7.4592e-06 -4.89157e-06 0.184017 0.193368 -0.348386 -0.169528 0.0062701 0.0157309] -86: DBG: Line search iter 1: back=1, prevNorm=0.07042. -86: > piNow=~[2.411 3.37962e-13 -2.21483e-13 -3.98466 -0.193375 0.348399 -4.77171 0.176676 0.443258] -86: > errNow=~[0 3.365e-14 -2.20525e-14 0 4.26742e-13 -7.68843e-13 2.22045e-16 6.30867e-14 1.58266e-13] normNow=8.96591e-13 -86: DBG: Improvement rate now/prev at iter 2 is 1.2732e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=8.96591e-13. -86: DBG: Worst offender is normal contact 0 err=2.411 ... -86: DBG: ... normal contact 0 released. -86: -86: ....... Active set iter 2 start -86: : active=(2,7,8,1,5,6) -86: Participating UniCont 0 (ix=0): cond=UniOff/Sliding, vel=-0.0832612,0.0546007, mag=0.0995674 -86: Participating UniCont 1 (ix=2): cond=UniActive/Sliding, vel=-0.0899216,0.162009, mag=0.185291 -86: Participating UniCont 2 (ix=4): cond=UniActive/Sliding, vel=0.0243873,0.0611847, mag=0.0658659 -86: fillMult2Active: -86: : active=(2,7,8,1,5,6) -86: : mult2active=(-1111111111,3,0,-1111111111,-1111111111,4,5,1,2) -86: DBG: active normal 3 has v=0.618484; guess pi=0.01 -86: DBG: active normal 0 has v=-0.741239; guess pi=-0.01 -86: initializeNewton: -86: : verrLeft was=~[0.255109 -3.55271e-15 1.80411e-15 -0.0832612 0.0546007 -0.0899216 0.162009 0.0243873 0.0611847] -86: : verrExpand was=~[0 0 0 0 0 0 0 0 0] -86: : verrApplied was=~[0.69779 0.618484 -0.741239 -0.062034 0.740481 -0.058711 0.687822 -0.114182 0.736291] -86: : rhsActive=~[-0.741239 -0.0897948 0.797475 0.618484 -0.148633 0.849831] -86: : pi was=~[0 -3.98466 -4.77171 3.37962e-13 -2.21483e-13 -0.193375 0.348399 0.176676 0.443258] -86: : piActive=~[-0.01 0.176676 0.443258 0.01 -0.193375 0.348399] -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.32496e-07 -86: DBG: >>>> Start NEWTON solve with errNorm=0.706011... -86: > NEWTON iter 1: errNorm=0.706011(v) -> deltaNorm=4.75517(pi) -86: > piActive=~[-0.01 0.176676 0.443258 0.01 -0.193375 0.348399] -86: > errActive=~[0.553791 0.0116125 0.0291344 -0.430503 -0.0358307 0.0645552] -86: > deltaPi=~[4.26428 0.0184236 0.0462226 2.06551 -0.193371 0.348392] -86: DBG: Line search iter 1: back=1, prevNorm=0.706011. -86: > piNow=~[-4.27428 0.158252 0.397035 -2.05551 -3.73378e-06 6.72705e-06] -86: > errNow=~[-1.11022e-16 -3.87366e-07 -9.71851e-07 -2.22045e-16 0.0184828 -0.0333] normNow=0.0380855 -86: DBG: Improvement rate now/prev at iter 1 is 0.0539446 -86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.2919e-10 -86: > NEWTON iter 2: errNorm=0.0380855(v) -> deltaNorm=0.253714(pi) -86: > piActive=~[-4.27428 0.158252 0.397035 -2.05551 -3.73378e-06 6.72705e-06] -86: > errActive=~[-1.11022e-16 -3.87366e-07 -9.71851e-07 -2.22045e-16 0.0184828 -0.0333] -86: > deltaPi=~[-0.0925177 0.00341966 0.00857948 0.0969457 0.104455 -0.188193] -86: DBG: Line search iter 1: back=1, prevNorm=0.0380855. -86: > piNow=~[-4.18176 0.154833 0.388456 -2.15246 -0.104459 0.1882] -86: > errNow=~[1.11022e-16 4.60118e-14 1.15429e-13 1.11022e-16 7.68625e-13 -1.3848e-12] normNow=1.58868e-12 -86: DBG: Improvement rate now/prev at iter 2 is 4.17135e-11 -86: DBG: <<<< NEWTON done in 2 iters; norm=1.58868e-12. -86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. -86: slipVel 1 from ~[-0.0899216,0.162009] to ~[-0.106012,0.159681] -86: DBG: Friction 1 rotated 4.54822 deg, less than max 30 -86: slipVel 2 from ~[0.0243873,0.0611847] to ~[-0.405219,0.423591] -86: DBG: TOO BIG: Sliding fric 2; endmag=0.586201, rot=65.4616 deg > 30 -86: DBG: --> returning stepLength=0 (dist to origin=0.0658659) -86: DBG: -->max change solutions: -0.0598121 and 0.0882869; returning 0.0882869 -86: DBG: Frac=0.0882869 reduces angle to 30 degrees. -86: SP interval 1 end: s=0.0882869 -86: : m_piActive=~[-0.369194 0.0136697 0.0342955 -0.190034 -0.00922232 0.0166156] -86: : m_verrLeft=~[0.291503 -3.2474e-15 1.6237e-15 -0.0868468 0.0887723 -0.0913422 0.161804 -0.0135412 0.0931805] -86: : verrAppliedLeft=~[0.636184 0.56388 -0.675797 -0.0565572 0.675106 -0.0535276 0.627096 -0.104101 0.671286] -86: : piELeft=~[0 0 0 0 0 0 0 0 0] -86: fillMult2Active: -86: : active=(0,3,4,1,5,6,2,7,8) -86: : mult2active=(0,3,6,1,2,4,5,7,8) -86: -86: ***** Sliding interval 2 start -86: active=(0,3,4,1,5,6,2,7,8) -86: mult2active=(0,3,6,1,2,4,5,7,8) -86: piTotal=~[0 -0.190034 -0.369194 0 0 -0.00922232 0.0166156 0.0136697 0.0342955] -86: verrLeft=~[0.291503 -3.2474e-15 1.6237e-15 -0.0868468 0.0887723 -0.0913422 0.161804 -0.0135412 0.0931805] -86: verrApplied=~[0.636184 0.56388 -0.675797 -0.0565572 0.675106 -0.0535276 0.627096 -0.104101 0.671286] -86: expanding=() -86: piELeft=~[0 0 0 0 0 0 0 0 0] -86: verrExpand=~[0 0 0 0 0 0 0 0 0] -86: DBG: classifyFrictionals(): 3 uni contacts -86: Participating contact 0 is Sliding; vel=-0.0868468,0.0887723, mag=0.124189 -86: Participating contact 1 is Sliding; vel=-0.0913422,0.161804, mag=0.185806 -86: Participating contact 2 is Sliding; vel=-0.0135412,0.0931805, mag=0.0941593 +86: ***** Sliding interval 2 start +86: active=(0,3,4,1,5,6,2,7,8) +86: mult2active=(0,3,6,1,2,4,5,7,8) +86: piTotal=~[0 -0.190034 -0.369194 0 0 -0.00922232 0.0166156 0.0136697 0.0342955] +86: verrLeft=~[0.291503 -3.2474e-15 1.6237e-15 -0.0868468 0.0887723 -0.0913422 0.161804 -0.0135412 0.0931805] +86: verrApplied=~[0.636184 0.56388 -0.675797 -0.0565572 0.675106 -0.0535276 0.627096 -0.104101 0.671286] +86: expanding=() +86: piELeft=~[0 0 0 0 0 0 0 0 0] +86: verrExpand=~[0 0 0 0 0 0 0 0 0] +86: DBG: classifyFrictionals(): 3 uni contacts +86: Participating contact 0 is Sliding; vel=-0.0868468,0.0887723, mag=0.124189 +86: Participating contact 1 is Sliding; vel=-0.0913422,0.161804, mag=0.185806 +86: Participating contact 2 is Sliding; vel=-0.0135412,0.0931805, mag=0.0941593 86: 86: ....... Active set iter 1 start 86: : active=(0,3,4,1,5,6,2,7,8) @@ -63190,6 +63288,7 @@ 86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] 86: Updated 4 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.99846e-06 +103: [min,max]=0.1,0.5 actual=0.228889 86: DBG: >>>> Start NEWTON solve with errNorm=3.04242... 86: > NEWTON iter 1: errNorm=3.04242(v) -> deltaNorm=5.38345(pi) 86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] @@ -63202,6 +63301,7 @@ 86: Updated 4 pairs of rows in Jacobian:Jacobian num vs. analytic norm=7.30918e-10 86: > NEWTON iter 2: errNorm=0.00652485(v) -> deltaNorm=0.0545488(pi) 86: > piActive=~[0.389913 3.66409e-07 1.36687e-06 -0.4545 -1.00016e-06 1.41184e-06 -3.22402 0.260868 -0.189428 -4.25344 0.375839 0.199119] +103: calc wrms=0.228889 86: > errActive=~[4.44089e-16 8.6552e-08 3.22878e-07 2.22045e-16 0.00377174 -0.00532425 -2.22045e-16 -3.40178e-06 2.47019e-06 -4.44089e-16 -4.14632e-06 -2.19671e-06] 86: > deltaPi=~[0.00339039 3.66411e-07 1.36688e-06 0.0180156 0.0273131 -0.0385556 -0.0200716 0.00161445 -0.00117232 -0.000345059 1.65238e-05 8.7543e-06] 86: DBG: Line search iter 1: back=1, prevNorm=0.00652485. @@ -63585,8 +63685,6 @@ 86: DYNAMICS PHASE after 0 impact rounds: 86: verr0 =~[0.00989873 0.00990143 -1.3503e-06 1.35103e-06 -0.0340205 -0.212002 -0.0513937 0.0603037 0.238282 -0.194629 0.220909 0.0776764] 86: verrExt=~[1.91882 1.59254 -1.74648 -2.07276 -0.143183 1.97546 -0.124336 1.67849 -0.441257 1.95636 -0.42241 1.65938] -52: testRosenbrock done. real/CPU ms: 257.8 / 257.7 -52: testSchwefel ... 86: total verr=~[1.92872 1.60244 -1.74648 -2.07276 -0.177204 1.76346 -0.175729 1.73879 -0.202975 1.76173 -0.201501 1.73706] 86: DYN t=0.164: verrStart=~[0.00989873 0.00990143 -1.3503e-06 1.35103e-06 -0.0340205 -0.212002 -0.0513937 0.0603037 0.238282 -0.194629 0.220909 0.0776764] 86: verrApplied=~[1.91882 1.59254 -1.74648 -2.07276 -0.143183 1.97546 -0.124336 1.67849 -0.441257 1.95636 -0.42241 1.65938] @@ -63683,6 +63781,8 @@ 86: DBG: Line search iter 1: back=1, prevNorm=3.16389. 86: > piNow=~[-5.58012 0.526398 0.185093 0.809706 1.93218e-06 -2.26715e-06 -2.5709 0.199104 -0.162628] 86: > errNow=~[4.44089e-16 -4.58342e-06 -1.61163e-06 0 1.53092e-07 -1.79633e-07 2.22045e-16 -2.27298e-06 1.85658e-06] normNow=5.68103e-06 +83: runOnce done. real/CPU ms: 251.6 / 251.6 +83: runOnce ... 86: DBG: Improvement rate now/prev at iter 1 is 1.79559e-06 86: Updated 3 pairs of rows in Jacobian:Jacobian num vs. analytic norm=4.10788e-10 86: > NEWTON iter 2: errNorm=5.68103e-06(v) -> deltaNorm=5.20986e-05(pi) @@ -65120,8 +65220,6 @@ 86: -> pi=~[2.91323 0.876059 0 0 0 0] 86: resid active=~[1.11022e-16 1.11022e-16] 86: resid=~[1.11022e-16 1.11022e-16 -0.259761 -0.629519 -0.241234 -0.919652] -52: testSchwefel done. real/CPU ms: 12.3 / 12.3 -52: testEasom ... 86: DBG: -------------------------------- 86: Before position update: 86: verr=~[-1.11022e-16 7.21645e-16 0.00609814 0.0415816 0.012133 -0.0524479] @@ -65323,7 +65421,6 @@ 86: DBG: Line search iter 1: back=1, prevNorm=2.59141. 86: > piNow=~[-3.92058 0.00826032 0.391957 -4.54458 0.0698435 -0.449042] 86: > errNow=~[-4.44089e-16 -1.6001e-08 -7.59257e-07 -4.44089e-16 -1.27224e-07 8.17954e-07] normNow=1.12337e-06 -103: [min,max]=0.1,0.5 actual=0.229169 86: DBG: Improvement rate now/prev at iter 1 is 4.33498e-07 86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=2.16622e-10 86: > NEWTON iter 2: errNorm=1.12337e-06(v) -> deltaNorm=2.80108e-05(pi) @@ -65364,7 +65461,6 @@ 86: 86: dynamics impulse=~[-3.92059 -4.54457 0.00826066 0.391972 0.0698459 -0.449058] 86: updated verrStart=~[2.22045e-16 0 -0.00454159 0.0631764 0.0025187 -0.0471668] -103: calc wrms=0.229169 86: 86: POSITION CORRECTION PHASE: 86: posVerr=~[0.938206 0.632599 0 0 0 0] @@ -66781,8 +66877,6 @@ 86: slipVel 0 from ~[-0.0460022,0.123958] to ~[-0.0434718,0.114805] 86: DBG: Friction 0 rotated 0.379176 deg, less than max 30 86: slipVel 1 from ~[-0.0314265,-0.111187] to ~[-0.0289032,-0.120225] -52: testEasom done. real/CPU ms: 10.8 / 10.8 -52: testStopFitness ... 86: DBG: Friction 1 rotated 2.2648 deg, less than max 30 86: SP interval 1 end: s=1 86: : m_piActive=~[-3.00861 -0.104677 0.282064 -3.0543 -0.083074 -0.293916] @@ -66843,8 +66937,6 @@ 86: Distal unilateral contacts: (0,1,2,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -52: testStopFitness done. real/CPU ms: 0.4 / 0.4 -52: testMultithreading ... 86: DBG: Uni fric 4 verr speed=0.123244 -> mu=0.1 86: DBG: Uni fric 6 verr speed=0.123166 -> mu=0.1 86: DBG: performSimultaneousImpact(): No impacters; nothing to do. @@ -67238,8 +67330,6 @@ 86: Distal unilateral contacts: (0,1,2,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -83: runOnce done. real/CPU ms: 451.2 / 451.0 -83: runOnce ... 86: DBG: Uni fric 4 verr speed=0.0719545 -> mu=0.1 86: DBG: Uni fric 6 verr speed=0.149931 -> mu=0.1 86: DBG: performSimultaneousImpact(): No impacters; nothing to do. @@ -70871,6 +70961,7 @@ 86: DBG: <<<< NEWTON done in 2 iters; norm=1.23642e-17. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. 86: slipVel 1 from ~[-0.0162904,0.00820653] to ~[-0.0247008,0.279803] +103: [min,max]=0,0.03 actual=0.00033428 86: DBG: TOO BIG: Sliding fric 1; endmag=0.280891, rot=58.2178 deg > 30 86: DBG: --> returning stepLength=0 (dist to origin=0.0182408) 86: DBG: -->max change solutions: -0.0335759 and 0.0642586; returning 0.0642586 @@ -70914,6 +71005,7 @@ 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 -0.01 0 0] 86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.3975e-06 +103: calc wrms=0.00033428 86: DBG: >>>> Start NEWTON solve with errNorm=0.800829... 86: > NEWTON iter 1: errNorm=0.800829(v) -> deltaNorm=4.23297(pi) 86: > piActive=~[0.01 0 0 -0.01 0 0] @@ -76462,7 +76554,6 @@ 86: > piActive=~[-2.45368 3.2783e-06 -8.57137e-06 0.535074 -1.95226e-06 -1.18235e-07 -3.32061 0.331433 0.0202205] 86: > errActive=~[1.94289e-16 -0.00800094 0.0209191 -8.32667e-17 -5.33461e-08 -3.2308e-09 5.55112e-17 -1.40593e-06 -8.57747e-08] 86: > deltaPi=~[-0.124141 -0.0832158 0.217574 0.00940663 -1.95227e-06 -1.18235e-07 0.109494 -0.0109414 -0.000667527] -68: Done 86: DBG: Line search iter 1: back=1, prevNorm=0.0223969. 86: > piNow=~[-2.32954 0.0832191 -0.217583 0.525667 1.22172e-11 7.39881e-13 -3.43011 0.342374 0.0208881] 86: > errNow=~[2.498e-16 2.50485e-13 -6.54903e-13 1.38778e-16 3.33839e-13 2.02175e-14 5.55112e-17 -4.21753e-13 -2.5732e-14] normNow=8.84328e-13 @@ -76581,7 +76672,6 @@ 86: Distal unilateral contacts: (1,3,4,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () - 86/108 Test #68: RungeKutta3IntegratorTest ...................... Passed 0.60 sec 86: DBG: Uni fric 0 verr speed=0.081277 -> mu=0.1 86: DBG: Uni fric 2 verr speed=0.0487601 -> mu=0.1 86: DBG: Uni fric 6 verr speed=0.134163 -> mu=0.1 @@ -77553,85 +77643,6 @@ 86: fillMult2Active: 86: : active=(0,4,5,2,8,9) 86: : mult2active=(0,-1111111111,3,-1111111111,1,2,-1111111111,-1111111111,4,5,-1111111111,-1111111111) -103: [min,max]=0,0.03 actual=0.00200077 -103: calc wrms=0.00200077 -103: [min,max]=0.1,0.5 actual=0.228889 -103: calc wrms=0.228889 -103: [min,max]=0,0.03 actual=0.00033428 -103: calc wrms=0.00033428 -103: [min,max]=0.1,0.5 actual=0.240562 -103: calc wrms=0.240562 -82: runOnce done. real/CPU ms: 292.1 / 292.1 -82: -82: TrikeyWheelResponse done. real/CPU ms: 566.5 / 566.3 -82: SemiExplicitEuler2 @ 0.001 accuracy -82: Test with order 1 integator SemiExplicitEuler2, Accuracy=0.001, MaxStepSize=0.001 -82: -82: -------------------------------------------------------- -82: Using controller: don't expect energy to be conserved. -82: -------------------------------------------------------- -82: Energy = 330.37973655 -82: Energy = 446.085149732585 -82: TriKey angle=0.000501559913419965 rate=0.000720535888758853 -82: 1.66523210580607 182.017090322264 -82: 1.66523210580607 182.017090322264 -82: 1.66523210580606 182.017090322264 -82: -82: -82: Done -- simulated 1.5s with 2426 steps, avg step=0.618301731244847ms 0.301083902047371ms/eval -82: Used Integrator SemiExplicitEuler2 at accuracy 0.001: -82: # STEPS/ATTEMPTS = 2426/2554 -82: # ERR TEST FAILS = 128 -82: # REALIZE/PROJECT = 4982/0 -82: RungeKuttaMerson @ 1e-06 accuracy -82: Test with order 4 integator RungeKuttaMerson, Accuracy=1e-06, MaxStepSize=0.001 -82: -82: -------------------------------------------------------- -82: Using controller: don't expect energy to be conserved. -82: -------------------------------------------------------- -82: Energy = 330.37973655 -82: Energy = 675.266874013293 -82: TriKey angle=-9.68305839306926e-05 rate=0.00563676438679395 -82: 1.8683978362359 295.052014473698 -82: 1.86839783623589 295.052014473698 -82: 1.86839783623588 295.052014473698 -82: -82: -82: Done -- simulated 1.5s with 1500 steps, avg step=1ms 0.199946680885097ms/eval -82: Used Integrator RungeKuttaMerson at accuracy 1e-06: -82: # STEPS/ATTEMPTS = 1500/1500 -82: # ERR TEST FAILS = 0 -82: # REALIZE/PROJECT = 7502/0 -70: Done -84: Reaction 1p=~[~[-749.887,0.337449,450],~[-600,200,-1000]] -84: Reaction 1c=~[~[749.887,450,-5.55112e-17],~[600,-999.85,-200.75]] -84: Reaction 2p=~[~[-249.962,-150,6.16174e-15],~[-300,499.925,100.375]] -84: Reaction 2c=~[~[249.962,150,0],~[300,-499.925,-100.375]] -84: -84: Done -- simulated 2.013s with 2037 steps, avg step=0.988218ms 0.492537ms/eval -84: Used Integrator SemiExplicitEuler2 at accuracy 0.01: -84: # STEPS/ATTEMPTS = 2037/2049 -84: # ERR TEST FAILS = 12 -84: # REALIZE/PROJECT = 4087/0 -84: -84: HIGH ACCURACY -84: Test with order 4 integator RungeKuttaMerson, Accuracy=1e-06, MaxStepSize=0.001 -84: t=2.013 -84: runOnce done. real/CPU ms: 453.7 / 449.0 -84: -84: GazeboReactionForce done. real/CPU ms: 657.9 / 614.6 -84: Reaction 1p=~[~[-749.887,0.337449,450],~[-600,200,-1000]] -84: Reaction 1c=~[~[749.887,450,-5.55112e-17],~[600,-999.85,-200.75]] -84: Reaction 2p=~[~[-249.962,-150,6.16174e-15],~[-300,499.925,100.375]] -84: Reaction 2c=~[~[249.962,150,0],~[300,-499.925,-100.375]] -84: -84: Done -- simulated 2.013s with 2100 steps, avg step=0.958571ms 0.186441ms/eval -84: Used Integrator RungeKuttaMerson at accuracy 1e-06: -84: # STEPS/ATTEMPTS = 2100/2174 -84: # ERR TEST FAILS = 74 -84: # REALIZE/PROJECT = 10797/0 - 87/108 Test #70: RungeKuttaMersonIntegratorTest ................. Passed 0.75 sec - 88/108 Test #82: GazeboBasicControllerResponse .................. Passed 0.68 sec 86: DBG: active normal 0 has v=-5.54929e-07; guess pi=-0.01 86: DBG: active normal 3 has v=-0.009293; guess pi=-0.01 86: initializeNewton: @@ -77839,6 +77850,7 @@ 86: Distal unilateral contacts: (1,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () +103: [min,max]=0.1,0.5 actual=0.240562 86: DBG: Uni fric 0 verr speed=0.0836993 -> mu=0.1 86: DBG: Uni fric 2 verr speed=0.165848 -> mu=0.1 86: DBG: Uni fric 4 verr speed=0.0491232 -> mu=0.1 @@ -77892,6 +77904,7 @@ 86: : verrExpand was=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : verrApplied was=~[0.472554 0.356068 -0.462571 -0.579057 -0.0269189 0.530176 -0.0189505 0.401944 -0.155393 0.521599 -0.147424 0.393367] 86: : rhsActive=~[0.472554 0.0523381 0.503271 0.356068 0.0674695 0.260392 -0.462571 -0.190782 0.487531 -0.579057 -0.175651 0.244652] +103: calc wrms=0.240562 86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] 86: Updated 4 pairs of rows in Jacobian:Jacobian num vs. analytic norm=9.11164e-07 @@ -78322,7 +78335,6 @@ 86: Distal unilateral contacts: (1,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () - 89/108 Test #84: GazeboReactionForce ............................ Passed 0.68 sec 86: DBG: Uni fric 0 verr speed=0.0804231 -> mu=0.1 86: DBG: Uni fric 2 verr speed=0.152745 -> mu=0.1 86: DBG: Uni fric 4 verr speed=0.0478468 -> mu=0.1 @@ -78548,8 +78560,6 @@ 86: DBG: Line search iter 1: back=1, prevNorm=1.36012. 86: > piNow=~[-0.478277 1.62266e-06 -8.21525e-07 -0.518654 1.00987e-06 -1.6905e-06 -2.32935 -0.106848 -0.206973 -2.35985 -0.0275518 -0.234362] 86: > errNow=~[1.11022e-16 -0.00345296 0.00174818 -2.22045e-16 -0.0040474 0.00677528 -1.11022e-16 1.89075e-07 3.66252e-07 1.11022e-16 1.40436e-07 1.19458e-06] normNow=0.00879005 -83: runOnce done. real/CPU ms: 220.6 / 220.6 -83: runOnce ... 86: DBG: Improvement rate now/prev at iter 1 is 0.00646268 86: Updated 4 pairs of rows in Jacobian:Jacobian num vs. analytic norm=3.21088e-10 86: > NEWTON iter 2: errNorm=0.00879005(v) -> deltaNorm=0.0774668(pi) @@ -79686,6 +79696,8 @@ 86: DBG: Line search iter 1: back=1, prevNorm=0.00681253. 86: > piNow=~[-0.277412 0.0256542 -0.0105563 -0.349383 0.0191206 -0.0292419 -2.59075 -0.112033 -0.2336 -2.65423 -0.0242579 -0.264312] 86: > errNow=~[0 2.75727e-12 -1.13457e-12 -2.22045e-16 4.22141e-12 -6.45596e-12 0 1.71842e-14 3.5829e-14 4.44089e-16 5.05802e-15 5.51087e-14] normNow=8.27008e-12 +76: testRandomPoints done. real/CPU ms: 879.6 / 879.3 +76: testCollinearPoints ... 86: DBG: Improvement rate now/prev at iter 2 is 1.21395e-09 86: DBG: <<<< NEWTON done in 2 iters; norm=8.27008e-12. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. @@ -83049,7 +83061,6 @@ 86: : rhsActive=~[0.135748 0.0725047 0.144666 0.100663 0.0794861 0.0258454 -0.204086 -0.0464086 0.137466 -0.239171 -0.0394272 0.0186455] 86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] -81: Done 86: Updated 4 pairs of rows in Jacobian:Jacobian num vs. analytic norm=8.42979e-07 86: DBG: >>>> Start NEWTON solve with errNorm=0.341071... 86: > NEWTON iter 1: errNorm=0.341071(v) -> deltaNorm=2.71226(pi) @@ -83134,7 +83145,6 @@ 86: [0.105352 0.284278 -0.28384 -0.104914 -0.0390473 0.0828774 -0.0532544 0.325356 0.203191 0.0969081 0.188984 0.339386] 86: D=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: rcond(A+D)=0.0440725 rank=3 - 90/108 Test #81: VerletIntegratorTest ........................... Passed 0.77 sec 86: rhs=~[0.377413 0.00565728 0.964547 0.592791 0 0 0 0 0 0 0 0] 86: active=(0,1,2,3) 86: -> piActive=~[12.5902 11.4811 13.3681 12.259] @@ -87485,11 +87495,13 @@ 86: [0.311437 0.129732 -0.128777 -0.310482 0.0135434 0.35449 0.0278246 0.110462 -0.230523 0.33988 -0.216241 0.0958519] 86: [-0.211921 0.136738 -0.136943 0.211715 -0.00482842 -0.240001 -0.0284254 0.163516 0.398502 -0.216241 0.374905 0.187276] 86: [0.107179 0.281924 -0.281121 -0.106376 -0.0414001 0.0817973 -0.0556319 0.324942 0.201508 0.0958519 0.187276 0.338997] +83: runOnce done. real/CPU ms: 192.4 / 192.4 86: D=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: rcond(A+D)=0.0439758 rank=3 86: rhs=~[0.377413 0.00565728 0.964547 0.592791 0 0 0 0 0 0 0 0] 86: active=(0,1,2,3) 86: -> piActive=~[12.6185 11.4647 13.4212 12.2674] +83: runOnce ... 86: -> pi=~[12.6185 11.4647 13.4212 12.2674 0 0 0 0 0 0 0 0] 86: resid active=~[-4.44089e-16 -4.56232e-16 -5.55112e-16 -2.22045e-16] 86: resid=~[-4.44089e-16 -4.56232e-16 -5.55112e-16 -2.22045e-16 0.00395125 -0.0983456 0.025769 -0.471749 -0.369029 -0.119932 -0.347211 -0.493335] @@ -88050,7 +88062,6 @@ 86: DBG: Line search iter 1: back=1, prevNorm=0.703083. 86: > piNow=~[-1.81639 -0.070321 0.167467 -1.67681 -0.0321014 0.164573 -0.814425 2.29221e-06 2.04354e-06 -0.661198 9.5346e-07 2.31118e-06] 86: > errNow=~[-5.55112e-17 1.58696e-08 -3.77929e-08 5.55112e-17 1.80292e-08 -9.24298e-08 5.55112e-17 -0.000562906 -0.00050184 0 -0.000420943 -0.00102036] normNow=0.0013368 -69: Done 86: DBG: Improvement rate now/prev at iter 1 is 0.00190134 86: Updated 4 pairs of rows in Jacobian:Jacobian num vs. analytic norm=1.25474e-10 86: > NEWTON iter 2: errNorm=0.0013368(v) -> deltaNorm=0.154184(pi) @@ -88108,7 +88119,6 @@ 86: 86: POSITION CORRECTION PHASE: 86: posVerr=~[0.377413 0.00565728 0.964547 0.592791 0 0 0 0 0 0 0 0] - 91/108 Test #69: RungeKuttaFeldbergIntegratorTest ............... Passed 0.85 sec 86: DBG: BILATERAL POSITION CORRECTION, 4 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: @@ -89502,8 +89512,6 @@ 86: 6: cont UniActive fric Sliding 86: Proximal unilateral contacts: (0,2,4,6) 86: Distal unilateral contacts: (1,3,5,7) -83: runOnce done. real/CPU ms: 109.1 / 109.1 -83: runOnce ... 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () 86: DBG: Uni fric 0 verr speed=0.00537462 -> mu=0.1 @@ -90135,6 +90143,8 @@ 86: DBG: Line search iter 1: back=1, prevNorm=2.94583e-05. 86: > piNow=~[-0.0590824 0.000244137 0.00590319 -0.0596904 7.47233e-05 0.00596857 -0.0371451 0.00148079 0.00340659 -0.0375271 0.00106214 0.00359927] 86: > errNow=~[-5.37764e-17 -4.47785e-15 -1.08269e-13 5.89806e-17 -2.93955e-14 -2.34798e-12 5.46438e-17 1.41232e-12 3.24907e-12 -5.11743e-17 5.16761e-14 1.75114e-13] normNow=4.25559e-12 +76: testCollinearPoints done. real/CPU ms: 97.5 / 97.5 +76: testCollocatedPoints ... 86: DBG: Improvement rate now/prev at iter 2 is 1.44461e-07 86: DBG: <<<< NEWTON done in 2 iters; norm=4.25559e-12. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. @@ -93191,7 +93201,6 @@ 86: : rhsActive=~[0.436381 -0.0253033 0.492704 0.334031 -0.0188811 0.383062 -0.441847 -0.135179 0.485714 -0.544197 -0.128756 0.376072] 86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] -103: [min,max]=0,0.03 actual=8.8117e-05 86: Jacobian num vs. analytic norm=1.64056e-10 86: DBG: >>>> Start NEWTON solve with errNorm=1.23988... 86: > NEWTON iter 1: errNorm=1.23988(v) -> deltaNorm=3.00378(pi) @@ -93226,7 +93235,6 @@ 86: : rhsActive=~[0.436381 -0.0253033 0.492704 0.334031 -0.0188811 0.383062 -0.441847 -0.135179 0.485714 -0.544197 -0.128756 0.376072] 86: : pi was=~[-0.749348 -0.805895 -1.95068 -2.00722 0.0219806 -0.0549188 0.0204744 -0.0779453 -0.0153569 -0.0578136 -0.0131993 -0.0947879] 86: : piActive=~[0.01 0.0219806 -0.0549188 0.01 0.0204744 -0.0779453 -0.01 -0.0153569 -0.0578136 -0.01 -0.0131993 -0.0947879] -103: calc wrms=8.8117e-05 86: DBG: Updated impending slipVel 1 to 0.0270809,-0.448968 86: Updated 1 pairs of rows in Jacobian:DBG: Updated impending slipVel 1 to 0.0270809,-0.448968 86: DBG: Updated impending slipVel 1 to 0.0270809,-0.448968 @@ -94094,6 +94102,7 @@ 86: [0.124121 0.284251 -0.26484 -0.104711 -0.00458041 0.117972 -0.013802 0.27549 0.152709 0.127011 0.143487 0.284529] 86: [-0.1046 -0.26484 0.284481 0.124241 0.00454777 -0.117518 0.0137753 -0.275136 -0.152842 -0.126563 -0.143615 -0.284181] 86: [-0.316405 -0.104711 0.124241 0.335935 0.0223585 -0.324661 0.0101959 -0.116904 0.230135 -0.312159 0.217972 -0.104402] +81: Done 86: [-0.0223911 -0.00458041 0.00454777 0.0223585 0.046101 0.0129192 0.0489625 -0.0355335 -0.00235341 0.01008 0.000508147 -0.0383726] 86: [0.325115 0.117972 -0.117518 -0.324661 0.0129192 0.36861 0.028714 0.0992363 -0.256477 0.352476 -0.240683 0.0831026] 86: [-0.0102226 -0.013802 0.0137753 0.0101959 0.0489625 0.028714 0.0534845 -0.048053 -0.0277943 0.0242055 -0.0232723 -0.0525616] @@ -94181,6 +94190,7 @@ 86: : rhsActive=~[0.498423 -0.0284773 0.555639 0.381668 -0.0211524 0.430584 -0.49042 -0.153794 0.547673 -0.607175 -0.146469 0.422619] 86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] + 90/108 Test #81: VerletIntegratorTest ........................... Passed 0.85 sec 86: Jacobian num vs. analytic norm=1.80608e-10 86: DBG: >>>> Start NEWTON solve with errNorm=1.3986... 86: > NEWTON iter 1: errNorm=1.3986(v) -> deltaNorm=3.08929(pi) @@ -97798,6 +97808,20 @@ 86: ------------------------------ 86: 86: dynamics impulse=~[-0.778864 -0.833566 -1.91455 -1.96925 0.0226146 -0.0502675 0.0214335 -0.0805568 -0.0150161 -0.0537972 -0.0128799 -0.0907434] +84: Reaction 1p=~[~[-749.887,0.337449,450],~[-600,200,-1000]] +84: Reaction 1c=~[~[749.887,450,-5.55112e-17],~[600,-999.85,-200.75]] +84: Reaction 2p=~[~[-249.962,-150,6.16174e-15],~[-300,499.925,100.375]] +84: Reaction 2c=~[~[249.962,150,0],~[300,-499.925,-100.375]] +84: +84: Done -- simulated 2.013s with 2037 steps, avg step=0.988218ms 0.492537ms/eval +84: Used Integrator SemiExplicitEuler2 at accuracy 0.01: +84: # STEPS/ATTEMPTS = 2037/2049 +84: # ERR TEST FAILS = 12 +84: # REALIZE/PROJECT = 4087/0 +84: +84: HIGH ACCURACY +84: Test with order 4 integator RungeKuttaMerson, Accuracy=1e-06, MaxStepSize=0.001 +84: t=2.013 86: updated verrStart=~[-4.996e-16 -2.77556e-16 2.77556e-16 2.22045e-16 2.04697e-16 -2.22045e-16 2.11636e-16 -2.77556e-16 1.94289e-16 -2.22045e-16 9.71445e-17 -2.77556e-16] 86: 86: POSITION CORRECTION PHASE: @@ -97808,6 +97832,7 @@ 86: A= 86: [0.335972 0.124138 -0.104617 -0.316451 -0.0223935 0.325161 -0.0102232 0.117272 -0.230302 0.312651 -0.218131 0.104762] 86: [0.124138 0.284346 -0.264938 -0.10473 -0.0045884 0.117982 -0.0138154 0.275591 0.152793 0.127026 0.143566 0.284636] +84: runOnce done. real/CPU ms: 593.5 / 593.4 86: [-0.104617 -0.264938 0.284581 0.12426 0.00455567 -0.117527 0.0137888 -0.27524 -0.152929 -0.126577 -0.143696 -0.284291] 86: [-0.316451 -0.10473 0.12426 0.33598 0.0223608 -0.324706 0.0101965 -0.116921 0.230165 -0.312202 0.218001 -0.104417] 86: [-0.0223935 -0.0045884 0.00455567 0.0223608 0.0460963 0.0129122 0.0489576 -0.0355368 -0.00235441 0.0100732 0.00050693 -0.0383758] @@ -97842,6 +97867,18 @@ 86: Distal unilateral contacts: (1,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () +84: +84: GazeboReactionForce done. real/CPU ms: 856.0 / 855.2 +84: Reaction 1p=~[~[-749.887,0.337449,450],~[-600,200,-1000]] +84: Reaction 1c=~[~[749.887,450,-5.55112e-17],~[600,-999.85,-200.75]] +84: Reaction 2p=~[~[-249.962,-150,6.16174e-15],~[-300,499.925,100.375]] +84: Reaction 2c=~[~[249.962,150,0],~[300,-499.925,-100.375]] +84: +84: Done -- simulated 2.013s with 2100 steps, avg step=0.958571ms 0.186441ms/eval +84: Used Integrator RungeKuttaMerson at accuracy 1e-06: +84: # STEPS/ATTEMPTS = 2100/2174 +84: # ERR TEST FAILS = 74 +84: # REALIZE/PROJECT = 10797/0 86: DBG: Uni fric 0 verr speed=7.81824e-16 -> mu=0.1 86: DBG: Uni fric 2 verr speed=7.89402e-16 -> mu=0.1 86: DBG: Uni fric 4 verr speed=7.79474e-16 -> mu=0.1 @@ -98041,6 +98078,7 @@ 86: : rhsActive=~[0.365767 -0.0219157 0.421023 0.278931 -0.0164959 0.328492 -0.385822 -0.114646 0.415117 -0.472659 -0.109227 0.322586] 86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] + 91/108 Test #84: GazeboReactionForce ............................ Passed 0.87 sec 86: Jacobian num vs. analytic norm=1.19173e-10 86: DBG: >>>> Start NEWTON solve with errNorm=1.05878... 86: > NEWTON iter 1: errNorm=1.05878(v) -> deltaNorm=2.91258(pi) @@ -98966,6 +99004,21 @@ 86: [0.324935 0.118656 -0.118096 -0.324375 0.0137098 0.369181 0.0295504 0.0990377 -0.256458 0.353002 -0.240617 0.0828583] 86: [-0.0096652 -0.0141488 0.0141166 0.00963307 0.0491841 0.0295504 0.0537898 -0.0486442 -0.0289997 0.0249576 -0.024394 -0.053237] 86: [0.11777 0.275173 -0.274728 -0.117325 -0.0361045 0.0990377 -0.0486442 0.312852 0.177482 0.111392 0.164942 0.325206] +76: testCollocatedPoints done. real/CPU ms: 76.4 / 76.4 +76: +76: TestGeo done. real/CPU ms: 1171.2 / 1170.9 +76: avg ratio=0.8271 worst=1 best=0.523478 +76: avg ratio=0.810013 worst=1 best=0.466136 +76: avg fratio=0.809994 worst=1.16232 best=0.466138 +103: [min,max]=0,0.03 actual=8.8117e-05 +103: calc wrms=8.8117e-05 +89: testDisablingConstraints done. real/CPU ms: 872.1 / 871.2 +89: +89: TestConstraints done. real/CPU ms: 891.1 / 890.2 +67: Done + 92/108 Test #67: RungeKutta2IntegratorTest ...................... Passed 1.29 sec + 93/108 Test #76: TestGeo ........................................ Passed 1.28 sec + 94/108 Test #89: TestConstraints ................................ Passed 0.97 sec 86: [-0.228979 0.151304 -0.151457 0.228825 -0.0035728 -0.256458 -0.0289997 0.177482 0.430161 -0.230855 0.404734 0.203084] 86: [0.312468 0.127636 -0.127083 -0.311915 0.0107903 0.353002 0.0249576 0.111392 -0.230855 0.338505 -0.216688 0.096895] 86: [-0.21685 0.142141 -0.142287 0.216704 -0.000631383 -0.240617 -0.024394 0.164942 0.404734 -0.216688 0.380972 0.188871] @@ -104466,6 +104519,8 @@ 86: Distal unilateral contacts: (1,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () +83: runOnce done. real/CPU ms: 242.4 / 242.3 +83: runOnce ... 86: DBG: Uni fric 0 verr speed=6.62986e-16 -> mu=0.1 86: DBG: Uni fric 2 verr speed=5.15453e-16 -> mu=0.1 86: DBG: Uni fric 4 verr speed=6.76384e-16 -> mu=0.1 @@ -110489,6 +110544,8 @@ 86: [-0.228326 0.150549 -0.150709 0.228166 -0.00415004 -0.256405 -0.0295623 0.177277 0.429327 -0.230818 0.403915 0.202864] 86: [0.312345 0.127914 -0.127311 -0.311742 0.0111369 0.353203 0.0253225 0.111284 -0.230818 0.338688 -0.216632 0.0967689] 86: [-0.216219 0.141419 -0.141572 0.216066 -0.00117032 -0.240544 -0.0249169 0.164733 0.403915 -0.216632 0.380168 0.188646] +52: testMultithreading done. real/CPU ms: 600.5 / 1059.5 +52: testInitStepSizeException ... 86: [0.105549 0.283856 -0.283371 -0.105064 -0.0393304 0.082727 -0.0535487 0.325161 0.202864 0.0967689 0.188646 0.339203] 86: D=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: rcond(A+D)=0.0440868 rank=3 @@ -110497,7 +110554,18 @@ 86: -> piActive=~[12.5938 11.4785 13.375 12.2597] 86: -> pi=~[12.5938 11.4785 13.375 12.2597 0 0 0 0 0 0 0 0] 86: resid active=~[-1.4988e-15 -1.9585e-15 1.88738e-15 2.44249e-15] +52: testInitStepSizeException done. real/CPU ms: 0.1 / 0.1 +52: +52: CMAES done. real/CPU ms: 1652.9 / 1604.5 86: resid=~[-1.4988e-15 -1.9585e-15 1.88738e-15 2.44249e-15 0.00154357 -0.101481 0.0230811 -0.469356 -0.365908 -0.122787 -0.344371 -0.490662] +52: +52: Warning: initialStandardDeviations. 0.3...0.3 used. +52: +52: Warning: initialStandardDeviations. 0.3...0.3 used. +52: +52: Warning: initialStandardDeviations. 0.3...0.3 used. +52: +52: Warning: initialStandardDeviations. 0.3...0.3 used. 86: DBG: -------------------------------- 86: Before position update: 86: verr=~[5.55754e-17 -1.15143e-16 -3.05802e-17 -2.01298e-16 -1.75789e-17 4.44933e-18 -1.41373e-17 -5.504e-17 -7.69935e-17 8.97825e-19 -7.35518e-17 -5.85915e-17] @@ -110569,6 +110637,7 @@ 86: : rhsActive=~[0.11892 -0.00993131 0.170422 0.0878755 -0.00808921 0.138963 -0.191471 -0.0414765 0.168381 -0.222515 -0.0396344 0.136921] 86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] + 95/108 Test #52: CMAESTest ...................................... Passed 1.66 sec 86: Jacobian num vs. analytic norm=4.03563e-11 86: DBG: >>>> Start NEWTON solve with errNorm=0.431943... 86: > NEWTON iter 1: errNorm=0.431943(v) -> deltaNorm=2.68038(pi) @@ -118103,6 +118172,8 @@ 86: 86: dynamics impulse=~[-1.01596 -1.05231 -1.63339 -1.66973 0.00736534 -0.0183041 0.00807833 -0.0306344 -0.00514393 -0.0193926 -0.00443094 -0.0317228] 86: updated verrStart=~[-8.32667e-17 -3.05311e-16 2.77556e-16 2.22045e-16 -3.29597e-17 -1.11022e-16 -3.1225e-17 -2.22045e-16 -1.52656e-16 -1.11022e-16 -2.22045e-16 -3.05311e-16] +83: runOnce done. real/CPU ms: 122.7 / 122.7 +83: runOnce ... 86: 86: POSITION CORRECTION PHASE: 86: posVerr=~[0.377413 0.00565728 0.964547 0.592791 0 0 0 0 0 0 0 0] @@ -119586,9 +119657,6 @@ 86: Distal unilateral contacts: (1,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -89: testDisablingConstraints done. real/CPU ms: 926.1 / 925.5 -89: -89: TestConstraints done. real/CPU ms: 949.4 / 948.8 86: DBG: Uni fric 0 verr speed=1.12961e-16 -> mu=0.1 86: DBG: Uni fric 2 verr speed=7.7311e-17 -> mu=0.1 86: DBG: Uni fric 4 verr speed=9.5037e-17 -> mu=0.1 @@ -119796,7 +119864,6 @@ 86: > deltaPi=~[1.00828 -0.00840057 0.0205418 1.04599 -0.00921841 0.0346603 1.6441 0.00590901 0.0217589 1.68182 0.00509116 0.0358774] 86: DBG: Line search iter 1: back=1, prevNorm=0.700052. 86: > piNow=~[-0.998277 0.00840057 -0.0205418 -1.03599 0.00921841 -0.0346603 -1.6541 -0.00590901 -0.0217589 -1.69182 -0.00509116 -0.0358774] - 92/108 Test #89: TestConstraints ................................ Passed 0.96 sec 86: > errNow=~[-1.11022e-16 -5.72459e-17 0 5.55112e-17 -5.89806e-17 8.32667e-17 -5.55112e-17 -1.38778e-17 0 -5.55112e-17 1.38778e-17 5.55112e-17] normNow=1.9679e-16 86: DBG: Improvement rate now/prev at iter 1 is 2.81108e-16 86: DBG: <<<< NEWTON done in 1 iters; norm=1.9679e-16. @@ -120714,8 +120781,6 @@ 86: [0.324822 0.118853 -0.118261 -0.32423 0.0139602 0.369306 0.0298127 0.0989616 -0.256408 0.353114 -0.240555 0.0827703] 86: [-0.0094955 -0.0142375 0.0142036 0.00946163 0.0492592 0.0298127 0.0538903 -0.0488147 -0.0293573 0.0251944 -0.0247262 -0.053433] 86: [0.117908 0.274958 -0.274482 -0.117432 -0.0362749 0.0989616 -0.0488147 0.312774 0.177309 0.111316 0.16477 0.325128] -83: runOnce done. real/CPU ms: 189.5 / 189.4 -83: runOnce ... 86: [-0.228545 0.15078 -0.150937 0.228388 -0.00394311 -0.256408 -0.0293573 0.177309 0.42957 -0.230819 0.404155 0.202899] 86: [0.31237 0.127809 -0.127224 -0.311785 0.0110159 0.353114 0.0251944 0.111316 -0.230819 0.338607 -0.21664 0.0968077] 86: [-0.216431 0.141641 -0.141791 0.216281 -0.000977004 -0.240555 -0.0247262 0.16477 0.404155 -0.21664 0.380406 0.188685] @@ -124903,6 +124968,8 @@ 86: -> piActive=~[12.6009 11.4745 13.3883 12.2618] 86: -> pi=~[12.6009 11.4745 13.3883 12.2618 0 0 0 0 0 0 0 0] 86: resid active=~[8.88178e-16 1.96978e-15 -6.66134e-16 0] +83: runOnce done. real/CPU ms: 60.7 / 60.7 +83: runOnce ... 86: resid=~[8.88178e-16 1.96978e-15 -6.66134e-16 0 0.00223793 -0.100582 0.0238688 -0.470042 -0.366798 -0.121981 -0.345168 -0.491441] 86: DBG: -------------------------------- 86: Before position update: @@ -125695,8 +125762,6 @@ 86: : rhsActive=~[0.00395542 -0.00463286 0.0535755 -0.00127668 -0.00447965 0.0509422 -0.100961 -0.00729829 0.0533567 -0.106193 -0.00714508 0.0507234] 86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 -0.01 0 0 -0.01 0 0 -0.01 0 0] -83: runOnce done. real/CPU ms: 86.4 / 86.4 -83: runOnce ... 86: Jacobian num vs. analytic norm=2.07735e-11 86: DBG: >>>> Start NEWTON solve with errNorm=0.169782... 86: > NEWTON iter 1: errNorm=0.169782(v) -> deltaNorm=2.61324(pi) @@ -129778,6 +129843,7 @@ 86: 86: POSITION CORRECTION PHASE: 86: posVerr=~[0.377413 0.00565728 0.964547 0.592791 0 0 0 0 0 0 0 0] +103: [min,max]=0.1,0.5 actual=0.227994 86: DBG: BILATERAL POSITION CORRECTION, 4 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: @@ -129791,6 +129857,7 @@ 86: [-0.00936998 -0.0143056 0.0142704 0.00933484 0.0493145 0.0300066 0.0539645 -0.048943 -0.0296242 0.0253693 -0.0249742 -0.0535804] 86: [0.118012 0.27482 -0.274321 -0.117514 -0.0364022 0.0989065 -0.048943 0.312737 0.177201 0.111262 0.16466 0.325092] 86: [-0.228229 0.15041 -0.150569 0.228069 -0.00421795 -0.256377 -0.0296242 0.177201 0.429156 -0.230796 0.403749 0.202782] +103: calc wrms=0.227994 86: [0.312305 0.127939 -0.12733 -0.311696 0.0111822 0.353204 0.0253693 0.111262 -0.230796 0.338688 -0.216609 0.0967452] 86: [-0.216125 0.141287 -0.14144 0.215973 -0.00123355 -0.240516 -0.0249742 0.16466 0.403749 -0.216609 0.380009 0.188566] 86: [0.105571 0.283759 -0.283267 -0.105079 -0.0393649 0.0827061 -0.0535804 0.325092 0.202782 0.0967452 0.188566 0.339131] @@ -129798,8 +129865,12 @@ 86: rcond(A+D)=0.0440913 rank=3 86: rhs=~[0.377413 0.00565728 0.964547 0.592791 0 0 0 0 0 0 0 0] 86: active=(0,1,2,3) +103: Done 86: -> piActive=~[12.5943 11.4779 13.3761 12.2597] 86: -> pi=~[12.5943 11.4779 13.3761 12.2597 0 0 0 0 0 0 0 0] +103: testConstrained done. real/CPU ms: 1019.6 / 1019.4 +103: +103: TestObservedPointFitter done. real/CPU ms: 1101.3 / 1101.1 86: resid active=~[1.88738e-15 -6.21898e-16 3.33067e-16 1.11022e-16] 86: resid=~[1.88738e-15 -6.21898e-16 3.33067e-16 1.11022e-16 0.00157647 -0.10144 0.0231186 -0.469394 -0.365953 -0.12275 -0.344411 -0.490704] 86: DBG: -------------------------------- @@ -129888,6 +129959,7 @@ 86: SP interval 1 end: s=1 86: : m_piActive=~[-1.06228 0.00483969 -0.0119195 -1.09509 0.00530347 -0.019998 -1.57821 -0.00338576 -0.0126959 -1.61103 -0.00292198 -0.0207744] 86: : m_verrLeft=~[5.55112e-16 0 1.11022e-16 -3.33067e-16 -1.9082e-17 3.60822e-16 -1.73472e-18 -2.77556e-17 -3.05311e-16 1.94289e-16 -3.05311e-16 8.32667e-17] + 96/108 Test #103: TestObservedPointFitter ........................ Passed 1.11 sec 86: : verrAppliedLeft=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... @@ -130826,6 +130898,73 @@ 86: Distal unilateral contacts: (1,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () +83: runOnce done. real/CPU ms: 61.1 / 61.1 +83: +83: GazeboInelasticCollision done. real/CPU ms: 1259.8 / 1259.7 +83: +83: -------------------------------------------------------------------- +83: Test with order 4 integator RungeKuttaMerson, Accuracy=0.001, MaxStepSize=0.001 #steps=2013 +83: +83: Done -- simulated 2.013s with 2023 steps, avg step=0.995057ms 0.198579ms/eval +83: Used Integrator RungeKuttaMerson at accuracy 0.001: +83: # STEPS/ATTEMPTS = 2023/2028 +83: # ERR TEST FAILS = 5 +83: # REALIZE/PROJECT = 10137/0 +83: +83: -------------------------------------------------------------------- +83: Test with order 3 integator RungeKutta3, Accuracy=0.001, MaxStepSize=0.001 #steps=2013 +83: +83: Done -- simulated 2.013s with 2034 steps, avg step=0.989676ms 0.329244ms/eval +83: Used Integrator RungeKutta3 at accuracy 0.001: +83: # STEPS/ATTEMPTS = 2034/2039 +83: # ERR TEST FAILS = 5 +83: # REALIZE/PROJECT = 6114/0 +83: +83: -------------------------------------------------------------------- +83: Test with order 2 integator RungeKutta2, Accuracy=0.001, MaxStepSize=0.001 #steps=2013 +83: +83: Done -- simulated 2.013s with 2060 steps, avg step=0.977184ms 0.487173ms/eval +83: Used Integrator RungeKutta2 at accuracy 0.001: +83: # STEPS/ATTEMPTS = 2060/2070 +83: # ERR TEST FAILS = 10 +83: # REALIZE/PROJECT = 4132/0 +83: +83: -------------------------------------------------------------------- +83: Test with order 1 integator SemiExplicitEuler2, Accuracy=0.001, MaxStepSize=0.001 #steps=2013 +83: +83: Done -- simulated 2.013s with 2046 steps, avg step=0.983871ms 0.491095ms/eval +83: Used Integrator SemiExplicitEuler2 at accuracy 0.001: +83: # STEPS/ATTEMPTS = 2046/2051 +83: # ERR TEST FAILS = 5 +83: # REALIZE/PROJECT = 4099/0 +83: +83: -------------------------------------------------------------------- +83: Test with order 1 integator ExplicitEuler, Accuracy=0.001, MaxStepSize=0.001 #steps=2013 +83: +83: Done -- simulated 2.013s with 2066 steps, avg step=0.974347ms 0.491335ms/eval +83: Used Integrator ExplicitEuler at accuracy 0.001: +83: # STEPS/ATTEMPTS = 2066/2082 +83: # ERR TEST FAILS = 16 +83: # REALIZE/PROJECT = 4097/0 +83: +83: -------------------------------------------------------------------- +83: Test with order 1 integator SemiExplicitEuler, Accuracy=0.001, MaxStepSize=0.001 #steps=990 +83: +83: Done -- simulated 0.99s with 990 steps, avg step=1ms 0.997984ms/eval +83: Used Integrator SemiExplicitEuler at accuracy 0.001: +83: # STEPS/ATTEMPTS = 990/990 +83: # ERR TEST FAILS = 0 +83: # REALIZE/PROJECT = 992/0 +83: +83: -------------------------------------------------------------------- +83: Test with order 1 integator ExplicitEuler, Accuracy=0.001, MaxStepSize=0.001 #steps=990 +83: +83: Done -- simulated 0.99s with 990 steps, avg step=1ms 0.499495ms/eval +83: Used Integrator ExplicitEuler at accuracy 0.001: +83: # STEPS/ATTEMPTS = 990/990 +83: # ERR TEST FAILS = 0 +83: # REALIZE/PROJECT = 1982/0 + 97/108 Test #83: GazeboInelasticCollision ....................... Passed 1.30 sec 86: DBG: Uni fric 0 verr speed=9.09396e-17 -> mu=0.1 86: DBG: Uni fric 2 verr speed=7.58571e-17 -> mu=0.1 86: DBG: Uni fric 4 verr speed=1.01846e-16 -> mu=0.1 @@ -133041,8 +133180,6 @@ 86: : rhsActive=~[0.112722 -0.00966945 0.164119 0.0831184 -0.00792363 0.134302 -0.186669 -0.0395687 0.162181 -0.216273 -0.0378229 0.132365] 86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] -83: runOnce done. real/CPU ms: 57.6 / 57.6 -83: runOnce ... 86: Jacobian num vs. analytic norm=3.91803e-11 86: DBG: >>>> Start NEWTON solve with errNorm=0.416599... 86: > NEWTON iter 1: errNorm=0.416599(v) -> deltaNorm=2.67749(pi) @@ -142121,7 +142258,6 @@ 86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] 86: > errActive=~[-0.131964 0.0104691 -0.183759 -0.0971332 0.00837743 -0.148039 0.201049 0.0462793 -0.181453 0.235879 0.0441876 -0.145734] 86: > deltaPi=~[1.10739 -0.00292717 0.00709825 1.13749 -0.00320216 0.0119555 1.52638 0.00205283 0.00763812 1.55648 0.00177784 0.0124954] -83: runOnce done. real/CPU ms: 59.4 / 59.2 86: DBG: Line search iter 1: back=1, prevNorm=0.486856. 86: > piNow=~[-1.09739 0.00292717 -0.00709825 -1.12749 0.00320216 -0.0119555 -1.53638 -0.00205283 -0.00763812 -1.56648 -0.00177784 -0.0124954] 86: > errNow=~[-3.33067e-16 7.11237e-17 -1.66533e-16 -2.77556e-17 5.89806e-17 1.38778e-16 -5.55112e-17 1.80411e-16 -1.66533e-16 1.66533e-16 2.98372e-16 2.77556e-17] normNow=5.90023e-16 @@ -142159,119 +142295,52 @@ 86: inputs: ContactType=Participating, effCOR=nan 86: outputs: normal cond=UniActive friction cond=Rolling slipV=1.76607e-16 2.3343e-16, |slipV|=2.92711e-16 86: ------------------------------ -86: -86: dynamics impulse=~[-1.09739 -1.12749 -1.53638 -1.56648 0.00292717 -0.00709825 0.00320216 -0.0119555 -0.00205283 -0.00763812 -0.00177784 -0.0124954] -86: updated verrStart=~[3.33067e-16 2.77556e-17 5.55112e-17 -1.66533e-16 -7.11237e-17 1.66533e-16 -5.89806e-17 -1.38778e-16 -1.80411e-16 1.66533e-16 -2.98372e-16 -2.77556e-17] -86: -86: POSITION CORRECTION PHASE: -86: posVerr=~[0.377413 0.00565728 0.964547 0.592791 0 0 0 0 0 0 0 0] -86: DBG: BILATERAL POSITION CORRECTION, 4 participators -86: DBG: -------------------------------- -86: DBG: PLUS BILATERAL SOLVER: -86: A= -86: [0.334691 0.126006 -0.106322 -0.315006 -0.0214113 0.324722 -0.00931226 0.118064 -0.228091 0.312285 -0.215992 0.105626] -86: [0.126006 0.283139 -0.263582 -0.10645 -0.00522401 0.11907 -0.0143402 0.27478 0.15026 0.128002 0.141143 0.283713] -86: [-0.106322 -0.263582 0.283061 0.1258 0.00518135 -0.118443 0.0143045 -0.274272 -0.150421 -0.127382 -0.141298 -0.283211] -86: [-0.315006 -0.10645 0.1258 0.334356 0.0213686 -0.324095 0.00927655 -0.117555 0.227929 -0.311665 0.215837 -0.105125] -86: [-0.0214113 -0.00522401 0.00518135 0.0213686 0.0463461 0.0142286 0.0493389 -0.0364617 -0.00434505 0.0112574 -0.00135225 -0.0394329] -86: [0.324722 0.11907 -0.118443 -0.324095 0.0142286 0.36946 0.0300948 0.0988834 -0.256372 0.353255 -0.240505 0.0826784] -86: [-0.00931226 -0.0143402 0.0143045 0.00927655 0.0493389 0.0300948 0.0539978 -0.0490045 -0.0297494 0.0254487 -0.0250906 -0.0536507] -86: [0.118064 0.27478 -0.274272 -0.117555 -0.0364617 0.0988834 -0.0490045 0.312745 0.177172 0.11124 0.164629 0.325102] -86: [-0.228091 0.15026 -0.150421 0.227929 -0.00434505 -0.256372 -0.0297494 0.177172 0.428995 -0.230793 0.403591 0.202751] -86: [0.312285 0.128002 -0.127382 -0.311665 0.0112574 0.353255 0.0254487 0.11124 -0.230793 0.338734 -0.216601 0.0967197] -86: [-0.215992 0.141143 -0.141298 0.215837 -0.00135225 -0.240505 -0.0250906 0.164629 0.403591 -0.216601 0.379852 0.188533] -86: [0.105626 0.283713 -0.283211 -0.105125 -0.0394329 0.0826784 -0.0536507 0.325102 0.202751 0.0967197 0.188533 0.339143] -86: D=~[0 0 0 0 0 0 0 0 0 0 0 0] -86: rcond(A+D)=0.0440706 rank=3 -86: rhs=~[0.377413 0.00565728 0.964547 0.592791 0 0 0 0 0 0 0 0] -86: active=(0,1,2,3) -86: -> piActive=~[12.5951 11.4776 13.3775 12.26] -86: -> pi=~[12.5951 11.4776 13.3775 12.26 0 0 0 0 0 0 0 0] -86: resid active=~[1.11022e-16 -1.03736e-15 5.55112e-16 1.44329e-15] -86: resid=~[1.11022e-16 -1.03736e-15 5.55112e-16 1.44329e-15 0.00165681 -0.101336 0.0232097 -0.469471 -0.366055 -0.122657 -0.344503 -0.490793] -86: DBG: -------------------------------- -86: Before position update: -86: verr=~[2.1694e-16 -3.49534e-17 4.49561e-16 1.97667e-16 -6.40828e-17 5.06619e-17 -5.4691e-17 -1.10325e-16 -2.24838e-16 4.13266e-17 -2.15446e-16 -1.1966e-16] -86: perr=~[0.000377413 5.65728e-06 0.000964547 0.000592791 0] -86: END OF STEP (0.656,0.657): -86: verr=~[2.1694e-16 -3.49534e-17 4.49561e-16 1.97667e-16 -6.40828e-17 5.06619e-17 -5.4691e-17 -1.10325e-16 -2.24838e-16 4.13266e-17 -2.15446e-16 -1.1966e-16] -86: perr=~[0.000377413 5.65728e-06 0.000964547 0.000592791 0] -86: constraint status: -86: 0: cont UniActive fric Rolling -86: 2: cont UniActive fric Rolling -86: 4: cont UniActive fric Rolling -86: 6: cont UniActive fric Rolling -86: Proximal unilateral contacts: (0,2,4,6) -86: Distal unilateral contacts: (1,3,5,7) -86: Proximal state-ltd friction: () -86: Distal state-ltd friction: () -83: -83: GazeboInelasticCollision done. real/CPU ms: 1175.4 / 1174.9 -83: -83: -------------------------------------------------------------------- -83: Test with order 4 integator RungeKuttaMerson, Accuracy=0.001, MaxStepSize=0.001 #steps=2013 -83: -83: Done -- simulated 2.013s with 2023 steps, avg step=0.995057ms 0.198579ms/eval -83: Used Integrator RungeKuttaMerson at accuracy 0.001: -83: # STEPS/ATTEMPTS = 2023/2028 -83: # ERR TEST FAILS = 5 -83: # REALIZE/PROJECT = 10137/0 -83: -83: -------------------------------------------------------------------- -83: Test with order 3 integator RungeKutta3, Accuracy=0.001, MaxStepSize=0.001 #steps=2013 -83: -83: Done -- simulated 2.013s with 2034 steps, avg step=0.989676ms 0.329244ms/eval -83: Used Integrator RungeKutta3 at accuracy 0.001: -83: # STEPS/ATTEMPTS = 2034/2039 -83: # ERR TEST FAILS = 5 -83: # REALIZE/PROJECT = 6114/0 -83: -83: -------------------------------------------------------------------- -83: Test with order 2 integator RungeKutta2, Accuracy=0.001, MaxStepSize=0.001 #steps=2013 -83: -83: Done -- simulated 2.013s with 2060 steps, avg step=0.977184ms 0.487173ms/eval -83: Used Integrator RungeKutta2 at accuracy 0.001: -83: # STEPS/ATTEMPTS = 2060/2070 -83: # ERR TEST FAILS = 10 -83: # REALIZE/PROJECT = 4132/0 -83: -83: -------------------------------------------------------------------- -83: Test with order 1 integator SemiExplicitEuler2, Accuracy=0.001, MaxStepSize=0.001 #steps=2013 -83: -83: Done -- simulated 2.013s with 2046 steps, avg step=0.983871ms 0.491095ms/eval -83: Used Integrator SemiExplicitEuler2 at accuracy 0.001: -83: # STEPS/ATTEMPTS = 2046/2051 -83: # ERR TEST FAILS = 5 -83: # REALIZE/PROJECT = 4099/0 -83: -83: -------------------------------------------------------------------- -83: Test with order 1 integator ExplicitEuler, Accuracy=0.001, MaxStepSize=0.001 #steps=2013 -83: -83: Done -- simulated 2.013s with 2066 steps, avg step=0.974347ms 0.491335ms/eval -83: Used Integrator ExplicitEuler at accuracy 0.001: -83: # STEPS/ATTEMPTS = 2066/2082 -83: # ERR TEST FAILS = 16 -83: # REALIZE/PROJECT = 4097/0 -83: -83: -------------------------------------------------------------------- -83: Test with order 1 integator SemiExplicitEuler, Accuracy=0.001, MaxStepSize=0.001 #steps=990 -83: -83: Done -- simulated 0.99s with 990 steps, avg step=1ms 0.997984ms/eval -83: Used Integrator SemiExplicitEuler at accuracy 0.001: -83: # STEPS/ATTEMPTS = 990/990 -83: # ERR TEST FAILS = 0 -83: # REALIZE/PROJECT = 992/0 -83: -83: -------------------------------------------------------------------- -83: Test with order 1 integator ExplicitEuler, Accuracy=0.001, MaxStepSize=0.001 #steps=990 -83: -83: Done -- simulated 0.99s with 990 steps, avg step=1ms 0.499495ms/eval -83: Used Integrator ExplicitEuler at accuracy 0.001: -83: # STEPS/ATTEMPTS = 990/990 -83: # ERR TEST FAILS = 0 -83: # REALIZE/PROJECT = 1982/0 -52: testMultithreading done. real/CPU ms: 725.8 / 1252.3 -52: testInitStepSizeException ... +86: +86: dynamics impulse=~[-1.09739 -1.12749 -1.53638 -1.56648 0.00292717 -0.00709825 0.00320216 -0.0119555 -0.00205283 -0.00763812 -0.00177784 -0.0124954] +86: updated verrStart=~[3.33067e-16 2.77556e-17 5.55112e-17 -1.66533e-16 -7.11237e-17 1.66533e-16 -5.89806e-17 -1.38778e-16 -1.80411e-16 1.66533e-16 -2.98372e-16 -2.77556e-17] +86: +86: POSITION CORRECTION PHASE: +86: posVerr=~[0.377413 0.00565728 0.964547 0.592791 0 0 0 0 0 0 0 0] +86: DBG: BILATERAL POSITION CORRECTION, 4 participators +86: DBG: -------------------------------- +86: DBG: PLUS BILATERAL SOLVER: +86: A= +86: [0.334691 0.126006 -0.106322 -0.315006 -0.0214113 0.324722 -0.00931226 0.118064 -0.228091 0.312285 -0.215992 0.105626] +86: [0.126006 0.283139 -0.263582 -0.10645 -0.00522401 0.11907 -0.0143402 0.27478 0.15026 0.128002 0.141143 0.283713] +86: [-0.106322 -0.263582 0.283061 0.1258 0.00518135 -0.118443 0.0143045 -0.274272 -0.150421 -0.127382 -0.141298 -0.283211] +86: [-0.315006 -0.10645 0.1258 0.334356 0.0213686 -0.324095 0.00927655 -0.117555 0.227929 -0.311665 0.215837 -0.105125] +86: [-0.0214113 -0.00522401 0.00518135 0.0213686 0.0463461 0.0142286 0.0493389 -0.0364617 -0.00434505 0.0112574 -0.00135225 -0.0394329] +86: [0.324722 0.11907 -0.118443 -0.324095 0.0142286 0.36946 0.0300948 0.0988834 -0.256372 0.353255 -0.240505 0.0826784] +86: [-0.00931226 -0.0143402 0.0143045 0.00927655 0.0493389 0.0300948 0.0539978 -0.0490045 -0.0297494 0.0254487 -0.0250906 -0.0536507] +86: [0.118064 0.27478 -0.274272 -0.117555 -0.0364617 0.0988834 -0.0490045 0.312745 0.177172 0.11124 0.164629 0.325102] +86: [-0.228091 0.15026 -0.150421 0.227929 -0.00434505 -0.256372 -0.0297494 0.177172 0.428995 -0.230793 0.403591 0.202751] +86: [0.312285 0.128002 -0.127382 -0.311665 0.0112574 0.353255 0.0254487 0.11124 -0.230793 0.338734 -0.216601 0.0967197] +86: [-0.215992 0.141143 -0.141298 0.215837 -0.00135225 -0.240505 -0.0250906 0.164629 0.403591 -0.216601 0.379852 0.188533] +86: [0.105626 0.283713 -0.283211 -0.105125 -0.0394329 0.0826784 -0.0536507 0.325102 0.202751 0.0967197 0.188533 0.339143] +86: D=~[0 0 0 0 0 0 0 0 0 0 0 0] +86: rcond(A+D)=0.0440706 rank=3 +86: rhs=~[0.377413 0.00565728 0.964547 0.592791 0 0 0 0 0 0 0 0] +86: active=(0,1,2,3) +86: -> piActive=~[12.5951 11.4776 13.3775 12.26] +86: -> pi=~[12.5951 11.4776 13.3775 12.26 0 0 0 0 0 0 0 0] +86: resid active=~[1.11022e-16 -1.03736e-15 5.55112e-16 1.44329e-15] +86: resid=~[1.11022e-16 -1.03736e-15 5.55112e-16 1.44329e-15 0.00165681 -0.101336 0.0232097 -0.469471 -0.366055 -0.122657 -0.344503 -0.490793] +86: DBG: -------------------------------- +86: Before position update: +86: verr=~[2.1694e-16 -3.49534e-17 4.49561e-16 1.97667e-16 -6.40828e-17 5.06619e-17 -5.4691e-17 -1.10325e-16 -2.24838e-16 4.13266e-17 -2.15446e-16 -1.1966e-16] +86: perr=~[0.000377413 5.65728e-06 0.000964547 0.000592791 0] +86: END OF STEP (0.656,0.657): +86: verr=~[2.1694e-16 -3.49534e-17 4.49561e-16 1.97667e-16 -6.40828e-17 5.06619e-17 -5.4691e-17 -1.10325e-16 -2.24838e-16 4.13266e-17 -2.15446e-16 -1.1966e-16] +86: perr=~[0.000377413 5.65728e-06 0.000964547 0.000592791 0] +86: constraint status: +86: 0: cont UniActive fric Rolling +86: 2: cont UniActive fric Rolling +86: 4: cont UniActive fric Rolling +86: 6: cont UniActive fric Rolling +86: Proximal unilateral contacts: (0,2,4,6) +86: Distal unilateral contacts: (1,3,5,7) +86: Proximal state-ltd friction: () +86: Distal state-ltd friction: () 86: DBG: Uni fric 0 verr speed=8.16899e-17 -> mu=0.1 86: DBG: Uni fric 2 verr speed=1.23137e-16 -> mu=0.1 86: DBG: Uni fric 4 verr speed=2.28604e-16 -> mu=0.1 @@ -142284,9 +142353,6 @@ 86: verrExt=~[0.140082 0.104379 -0.208281 -0.243985 -0.0109675 0.19191 -0.00882639 0.155345 -0.0476276 0.189545 -0.0454864 0.15298] 86: total verr=~[0.140082 0.104379 -0.208281 -0.243985 -0.0109675 0.19191 -0.00882639 0.155345 -0.0476276 0.189545 -0.0454864 0.15298] 86: DYN t=0.657: verrStart=~[2.1694e-16 -3.49534e-17 4.49561e-16 1.97667e-16 -6.40828e-17 5.06619e-17 -5.4691e-17 -1.10325e-16 -2.24838e-16 4.13266e-17 -2.15446e-16 -1.1966e-16] -52: testInitStepSizeException done. real/CPU ms: 0.1 / 0.1 -52: -52: CMAES done. real/CPU ms: 1302.3 / 1828.7 86: verrApplied=~[0.140082 0.104379 -0.208281 -0.243985 -0.0109675 0.19191 -0.00882639 0.155345 -0.0476276 0.189545 -0.0454864 0.15298] 86: DBG: 86: -------------------------------- @@ -142300,14 +142366,6 @@ 86: mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) 86: piTotal=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: verrLeft=~[2.1694e-16 -3.49534e-17 4.49561e-16 1.97667e-16 -6.40828e-17 5.06619e-17 -5.4691e-17 -1.10325e-16 -2.24838e-16 4.13266e-17 -2.15446e-16 -1.1966e-16] -52: -52: Warning: initialStandardDeviations. 0.3...0.3 used. -52: -52: Warning: initialStandardDeviations. 0.3...0.3 used. -52: -52: Warning: initialStandardDeviations. 0.3...0.3 used. -52: -52: Warning: initialStandardDeviations. 0.3...0.3 used. 86: verrApplied=~[0.140082 0.104379 -0.208281 -0.243985 -0.0109675 0.19191 -0.00882639 0.155345 -0.0476276 0.189545 -0.0454864 0.15298] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] @@ -142395,7 +142453,6 @@ 86: [0.126007 0.28314 -0.263583 -0.106451 -0.00522427 0.119071 -0.0143405 0.274781 0.150259 0.128003 0.141143 0.283713] 86: [-0.106322 -0.263583 0.283061 0.125801 0.0051816 -0.118443 0.0143048 -0.274273 -0.150421 -0.127383 -0.141298 -0.283212] 86: [-0.315006 -0.106451 0.125801 0.334356 0.0213683 -0.324095 0.00927627 -0.117556 0.227929 -0.311665 0.215837 -0.105126] - 93/108 Test #52: CMAESTest ...................................... Passed 1.31 sec 86: [-0.021411 -0.00522427 0.0051816 0.0213683 0.0463462 0.0142289 0.049339 -0.0364621 -0.00434566 0.0112577 -0.00135282 -0.0394333] 86: [0.324722 0.119071 -0.118443 -0.324095 0.0142289 0.36946 0.0300952 0.0988834 -0.256372 0.353255 -0.240506 0.0826783] 86: [-0.00931199 -0.0143405 0.0143048 0.00927627 0.049339 0.0300952 0.0539979 -0.0490049 -0.0297501 0.025449 -0.0250912 -0.0536511] @@ -142428,7 +142485,6 @@ 86: Distal unilateral contacts: (1,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () - 94/108 Test #83: GazeboInelasticCollision ....................... Passed 1.19 sec 86: DBG: Uni fric 0 verr speed=2.6588e-16 -> mu=0.1 86: DBG: Uni fric 2 verr speed=4.16994e-16 -> mu=0.1 86: DBG: Uni fric 4 verr speed=2.81829e-16 -> mu=0.1 @@ -158297,8 +158353,6 @@ 86: verrApplied=~[0.0776593 0.0559427 -0.159065 -0.180782 -0.00803492 0.128489 -0.00680295 0.107443 -0.0291471 0.127105 -0.0279151 0.10606] 86: expanding=() 86: piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] -76: testRandomPoints done. real/CPU ms: 1265.3 / 1265.2 -76: testCollinearPoints ... 86: verrExpand=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 4 uni contacts 86: Participating contact 0 is Rolling; vel=1.28997e-16,4.18984e-16, mag=4.38392e-16 @@ -158758,7 +158812,6 @@ 86: : rhsActive=~[0.0766133 -0.00798681 0.127425 0.0551337 -0.00677034 0.106644 -0.158244 -0.0288339 0.126059 -0.179724 -0.0276174 0.105278] 86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] -103: [min,max]=0.1,0.5 actual=0.227994 86: Jacobian num vs. analytic norm=3.68863e-11 86: DBG: >>>> Start NEWTON solve with errNorm=0.327536... 86: > NEWTON iter 1: errNorm=0.327536(v) -> deltaNorm=2.65622(pi) @@ -158775,7 +158828,6 @@ 86: : m_piActive=~[-1.17289 -0.00123867 0.0032018 -1.19728 -0.0013764 0.00538521 -1.44667 0.000874148 0.00317704 -1.47105 0.000736417 0.00536044] 86: : m_verrLeft=~[3.60822e-16 2.63678e-16 -1.11022e-16 -3.05311e-16 2.60209e-17 3.88578e-16 4.85723e-17 2.22045e-16 -1.35308e-16 2.498e-16 -1.83881e-16 2.08167e-16] 86: : verrAppliedLeft=~[0 0 0 0 0 0 0 0 0 0 0 0] -103: calc wrms=0.227994 86: : piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... 86: DBG: 0: pi=-1.17289 verr=3.60822e-16 pi*v=-4.23206e-16 @@ -158817,10 +158869,6 @@ 86: [0.126383 0.2829 -0.263313 -0.106796 -0.00535142 0.119289 -0.0144455 0.27462 0.149753 0.128199 0.140659 0.28353] 86: [-0.106664 -0.263313 0.282758 0.126109 0.00530671 -0.118626 0.014408 -0.274079 -0.14992 -0.127543 -0.140819 -0.282997] 86: [-0.314708 -0.106796 0.126109 0.334021 0.0211681 -0.323964 0.00909097 -0.117681 0.227473 -0.311549 0.215396 -0.105266] -103: Done -103: testConstrained done. real/CPU ms: 1010.8 / 1010.8 -103: -103: TestObservedPointFitter done. real/CPU ms: 1085.6 / 1085.4 86: [-0.0212128 -0.00535142 0.00530671 0.0211681 0.0463995 0.0144978 0.0494192 -0.0366505 -0.00474948 0.0114996 -0.00172981 -0.0396487] 86: [0.324627 0.119289 -0.118626 -0.323964 0.0144978 0.369619 0.0303782 0.0988051 -0.256341 0.3534 -0.24046 0.082586] 86: [-0.00912852 -0.0144455 0.014408 0.00909097 0.0494192 0.0303782 0.054106 -0.0491975 -0.0301453 0.0257039 -0.0254585 -0.0538717] @@ -158980,7 +159028,6 @@ 86: -> piActive=~[12.5976 11.4762 13.3822 12.2608] 86: -> pi=~[12.5976 11.4762 13.3822 12.2608 0 0 0 0 0 0 0 0] 86: resid active=~[2.66454e-15 1.72605e-16 8.88178e-16 -2.33147e-15] - 95/108 Test #103: TestObservedPointFitter ........................ Passed 1.10 sec 86: resid=~[2.66454e-15 1.72605e-16 8.88178e-16 -2.33147e-15 0.00190933 -0.101008 0.0234961 -0.469719 -0.366378 -0.122363 -0.344791 -0.491074] 86: DBG: -------------------------------- 86: Before position update: @@ -159921,8 +159968,6 @@ 86: DBG: >>>> Start NEWTON solve with errNorm=0.333907... 86: > NEWTON iter 1: errNorm=0.333907(v) -> deltaNorm=2.65773(pi) 86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] -76: testCollinearPoints done. real/CPU ms: 147.8 / 147.7 -76: testCollocatedPoints ... 86: > errActive=~[-0.0703963 0.0075796 -0.121206 -0.04937 0.00638546 -0.100807 0.152519 0.0280411 -0.119869 0.173545 0.026847 -0.0994698] 86: > deltaPi=~[1.17984 0.00107837 -0.0027728 1.20447 0.00120046 -0.00468922 1.44034 -0.000765345 -0.00272822 1.46497 -0.000643253 -0.00464464] 86: DBG: Line search iter 1: back=1, prevNorm=0.333907. @@ -165256,7 +165301,6 @@ 86: DBG: Line search iter 1: back=1, prevNorm=0.410019. 86: > piNow=~[-1.13353 0.000934387 -0.00217078 -1.16089 0.00101195 -0.0036601 -1.49342 -0.000652704 -0.0024642 -1.52078 -0.000575138 -0.00395352] 86: > errNow=~[1.94289e-16 -1.21431e-17 8.32667e-17 2.63678e-16 -2.94903e-17 3.60822e-16 -3.60822e-16 2.42861e-16 2.498e-16 -1.38778e-16 2.70617e-16 4.71845e-16] normNow=9.01178e-16 -67: Done 86: DBG: Improvement rate now/prev at iter 1 is 2.1979e-15 86: DBG: <<<< NEWTON done in 1 iters; norm=9.01178e-16. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. @@ -165415,7 +165459,6 @@ 86: DBG: 2: pi=-1.49282 verr=-1.38778e-16 pi*v=2.0717e-16 86: DBG: 3: pi=-1.52013 verr=2.77556e-17 pi*v=-4.21922e-17 86: SP FINAL 1 intervals, piTotal=~[-1.13404 -1.16136 -1.49282 -1.52013 0.000907101 -0.00210046 0.000981984 -0.00354401 -0.000633865 -0.00239051 -0.000558981 -0.00383406] errNorm=3.09384e-16 - 96/108 Test #67: RungeKutta2IntegratorTest ...................... Passed 1.59 sec 86: 86: ----------Post-dynamics---------- 86: Unilateral contact runtimes (n=4): @@ -179162,7 +179205,6 @@ 86: Distal unilateral contacts: (1,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -76: testCollocatedPoints done. real/CPU ms: 123.1 / 123.1 86: DBG: Uni fric 0 verr speed=4.62581e-16 -> mu=0.1 86: DBG: Uni fric 2 verr speed=1.23629e-16 -> mu=0.1 86: DBG: Uni fric 4 verr speed=6.31346e-16 -> mu=0.1 @@ -179174,8 +179216,6 @@ 86: verr0 =~[-6.82088e-16 -1.60745e-16 -2.77942e-16 2.43401e-16 -6.68921e-17 -4.57719e-16 -9.81007e-17 7.52362e-17 4.65882e-16 -4.26089e-16 4.34673e-16 1.06866e-16] 86: verrExt=~[0.0951247 0.0694999 -0.172838 -0.198463 -0.00885165 0.146235 -0.00736517 0.120845 -0.0343162 0.144577 -0.0328297 0.119187] 86: total verr=~[0.0951247 0.0694999 -0.172838 -0.198463 -0.00885165 0.146235 -0.00736517 0.120845 -0.0343162 0.144577 -0.0328297 0.119187] -76: -76: TestGeo done. real/CPU ms: 1628.9 / 1628.6 86: DYN t=0.913: verrStart=~[-6.82088e-16 -1.60745e-16 -2.77942e-16 2.43401e-16 -6.68921e-17 -4.57719e-16 -9.81007e-17 7.52362e-17 4.65882e-16 -4.26089e-16 4.34673e-16 1.06866e-16] 86: verrApplied=~[0.0951247 0.0694999 -0.172838 -0.198463 -0.00885165 0.146235 -0.00736517 0.120845 -0.0343162 0.144577 -0.0328297 0.119187] 86: DBG: @@ -179221,9 +179261,6 @@ 86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] 86: Jacobian num vs. analytic norm=4.60006e-11 -76: avg ratio=0.8271 worst=1 best=0.523478 -76: avg ratio=0.810013 worst=1 best=0.466136 -76: avg fratio=0.809994 worst=1.16232 best=0.466138 86: DBG: >>>> Start NEWTON solve with errNorm=0.372993... 86: > NEWTON iter 1: errNorm=0.372993(v) -> deltaNorm=2.66688(pi) 86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] @@ -179572,7 +179609,6 @@ 86: [0.324654 0.119228 -0.118575 -0.324001 0.0144223 0.369575 0.0302988 0.0988273 -0.25635 0.35336 -0.240473 0.0826121] 86: [-0.00917991 -0.0144163 0.0143792 0.00914287 0.0493966 0.0302988 0.0540755 -0.0491435 -0.0300346 0.0256324 -0.0253556 -0.0538099] 86: [0.118178 0.274666 -0.274134 -0.117646 -0.0365977 0.0988273 -0.0491435 0.312739 0.177087 0.111187 0.164541 0.325099] - 97/108 Test #76: TestGeo ........................................ Passed 1.64 sec 86: [-0.227766 0.149896 -0.150061 0.227601 -0.00463629 -0.25635 -0.0300346 0.177087 0.428597 -0.230777 0.403199 0.20266] 86: [0.312228 0.128144 -0.127499 -0.311582 0.0114316 0.35336 0.0256324 0.111187 -0.230777 0.33883 -0.216576 0.0966572] 86: [-0.215678 0.140795 -0.140954 0.21552 -0.00162416 -0.240473 -0.0253556 0.164541 0.403199 -0.216576 0.379467 0.188438] @@ -180664,6 +180700,7 @@ 86: : rhsActive=~[0.0906718 -0.0086436 0.14171 0.0660462 -0.00722218 0.117431 -0.16933 -0.0329955 0.140123 -0.193955 -0.0315741 0.115843] 86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] + 98/108 Test #102: TestNoseHooverThermostat ....................... Passed 1.73 sec 86: Jacobian num vs. analytic norm=4.90217e-11 86: DBG: >>>> Start NEWTON solve with errNorm=0.362011... 86: > NEWTON iter 1: errNorm=0.362011(v) -> deltaNorm=2.66425(pi) @@ -181586,6 +181623,8 @@ 86: [-0.106597 -0.263366 0.282817 0.126048 0.00528206 -0.11859 0.0143876 -0.274117 -0.150018 -0.127512 -0.140913 -0.283038] 86: [-0.314766 -0.106728 0.126048 0.334087 0.0212075 -0.32399 0.00912745 -0.117657 0.227563 -0.311572 0.215482 -0.105238] 86: [-0.0212518 -0.00532636 0.00528206 0.0212075 0.046389 0.0144448 0.0494033 -0.0366133 -0.00466988 0.0114519 -0.00165551 -0.0396062] +53: Done + 99/108 Test #53: CPodesIntegratorTest ........................... Passed 2.48 sec 86: [0.324646 0.119246 -0.11859 -0.32399 0.0144448 0.369588 0.0303224 0.0988206 -0.256347 0.353372 -0.240469 0.0826043] 86: [-0.00916464 -0.0144248 0.0143876 0.00912745 0.0494033 0.0303224 0.0540846 -0.0491594 -0.0300674 0.0256537 -0.0253861 -0.0538282] 86: [0.118191 0.274651 -0.274117 -0.117657 -0.0366133 0.0988206 -0.0491594 0.312737 0.177075 0.111181 0.164529 0.325097] @@ -206844,6 +206883,12 @@ 86: verrLeft=~[1.27967e-17 -9.22525e-17 -4.11561e-16 -5.1661e-16 -5.24041e-17 1.76034e-16 -4.99058e-17 1.3297e-16 -9.55473e-17 1.73242e-16 -9.3049e-17 1.30178e-16] 86: verrApplied=~[0.0956101 0.0698828 -0.173228 -0.198956 -0.00887549 0.146727 -0.00738241 0.121225 -0.0344529 0.145062 -0.0329598 0.11956] 86: expanding=() +85: LOW ACCURACY +85: Test with order 1 integator SemiExplicitEuler2, Accuracy=0.01, MaxStepSize=0.0005 +85: t=4.9995 +85: joint1 a=~[-1.75561e-06,8.16449e-05,-0.0335298] w=~[1.10822e-13,-7.8177e-13,1.78565e-07] +85: joint2 qerr=0.00351512 u=1.48232e-12 +85: joint3 qerr=1.27612e-05 u=-6.18746e-13 86: piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 4 uni contacts @@ -206861,6 +206906,8 @@ 86: fillMult2Active: 86: : active=(0,4,5,1,6,7,2,8,9,3,10,11) 86: : mult2active=(0,3,6,9,1,2,4,5,7,8,10,11) +85: runOnce done. real/CPU ms: 2111.4 / 2111.0 +85: runOnce ... 86: DBG: active normal 0 has v=0.0956101; guess pi=0.01 86: DBG: active normal 3 has v=0.0698828; guess pi=0.01 86: DBG: active normal 6 has v=-0.173228; guess pi=-0.01 @@ -220065,8 +220112,6 @@ 86: Distal unilateral contacts: (1,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -90: testSpeedCoupler2 done. real/CPU ms: 1634.6 / 1634.0 -90: testSpeedCoupler3 ... 86: DBG: Uni fric 0 verr speed=8.41157e-17 -> mu=0.1 86: DBG: Uni fric 2 verr speed=5.10357e-16 -> mu=0.1 86: DBG: Uni fric 4 verr speed=4.65595e-16 -> mu=0.1 @@ -221561,6 +221606,8 @@ 86: : verrApplied was=~[0.0970096 0.0709676 -0.17433 -0.200372 -0.00894083 0.148149 -0.00742726 0.122297 -0.0348686 0.146462 -0.0333551 0.12061] 86: : rhsActive=~[0.0970096 -0.00894083 0.148149 0.0709676 -0.00742726 0.122297 -0.17433 -0.0348686 0.146462 -0.200372 -0.0333551 0.12061] 86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] +90: testSpeedCoupler2 done. real/CPU ms: 2038.8 / 2038.6 +90: testSpeedCoupler3 ... 86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] 86: Jacobian num vs. analytic norm=4.04174e-11 86: DBG: >>>> Start NEWTON solve with errNorm=0.377658... @@ -254110,6 +254157,8 @@ 86: DBG: >>>> Start NEWTON solve with errNorm=0.375725... 86: > NEWTON iter 1: errNorm=0.375725(v) -> deltaNorm=2.66758(pi) 86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] +90: testSpeedCoupler3 done. real/CPU ms: 246.5 / 246.5 +90: testPrescribedMotion1 ... 86: > errActive=~[-0.0874065 0.0083734 -0.138491 -0.0625678 0.00693085 -0.113851 0.165926 0.033083 -0.136886 0.190764 0.0316404 -0.112246] 86: > deltaPi=~[1.15981 -3.33615e-05 -4.64022e-05 1.18594 -2.15813e-05 -8.11826e-05 1.4641 1.83885e-05 0.000135616 1.49023 3.01687e-05 0.000100836] 86: DBG: Line search iter 1: back=1, prevNorm=0.375725. @@ -254682,7 +254731,6 @@ 86: : rhsActive=~[0.0962592 -0.00890569 0.147387 0.0703854 -0.00740306 0.121722 -0.173739 -0.0346464 0.145712 -0.199613 -0.0331438 0.120046] 86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] -53: Done 86: Jacobian num vs. analytic norm=4.15452e-11 86: DBG: >>>> Start NEWTON solve with errNorm=0.375803... 86: > NEWTON iter 1: errNorm=0.375803(v) -> deltaNorm=2.6676(pi) @@ -254867,7 +254915,6 @@ 86: outputs: normal cond=UniActive friction cond=Rolling slipV=-1.55476e-16 -2.47145e-16, |slipV|=2.91983e-16 86: 3: UnilateralContactIndex 6, normal MultiplierIndex 3, sign=1, hasFriction: 1 86: friction MultIndices: (10,11) effMu=0.1 - 98/108 Test #53: CPodesIntegratorTest ........................... Passed 2.13 sec 86: inputs: ContactType=Participating, effCOR=nan 86: outputs: normal cond=UniActive friction cond=Rolling slipV=-1.41349e-16 -4.86884e-16, |slipV|=5.06987e-16 86: ------------------------------ @@ -259074,7 +259121,6 @@ 86: rhs=~[0.377413 0.00565728 0.964547 0.592791 0 0 0 0 0 0 0 0] 86: active=(0,1,2,3) 86: -> piActive=~[12.5969 11.4766 13.3808 12.2606] - 99/108 Test #102: TestNoseHooverThermostat ....................... Passed 1.81 sec 86: -> pi=~[12.5969 11.4766 13.3808 12.2606 0 0 0 0 0 0 0 0] 86: resid active=~[-1.9984e-15 -5.4904e-16 5.55112e-16 6.66134e-16] 86: resid=~[-1.9984e-15 -5.4904e-16 5.55112e-16 6.66134e-16 0.00183407 -0.101106 0.0234107 -0.469645 -0.366282 -0.122451 -0.344705 -0.49099] @@ -264566,6 +264612,8 @@ 86: Distal unilateral contacts: (1,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () +90: testPrescribedMotion1 done. real/CPU ms: 86.3 / 86.3 +90: testPrescribedMotion2 ... 86: DBG: Uni fric 0 verr speed=2.69496e-16 -> mu=0.1 86: DBG: Uni fric 2 verr speed=4.17406e-16 -> mu=0.1 86: DBG: Uni fric 4 verr speed=2.42881e-16 -> mu=0.1 @@ -275798,6 +275846,9 @@ 86: Distal unilateral contacts: (1,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () +90: testPrescribedMotion2 done. real/CPU ms: 98.9 / 98.9 +90: +90: TestCustomConstraints done. real/CPU ms: 2659.7 / 2659.4 86: DBG: Uni fric 0 verr speed=4.01021e-16 -> mu=0.1 86: DBG: Uni fric 2 verr speed=2.76624e-16 -> mu=0.1 86: DBG: Uni fric 4 verr speed=4.23389e-16 -> mu=0.1 @@ -275899,6 +275950,7 @@ 86: 86: dynamics impulse=~[-1.14994 -1.17606 -1.47394 -1.50007 2.62329e-05 6.42239e-05 1.37478e-05 0.000111029 -1.34028e-05 -0.000116913 -2.58878e-05 -7.01081e-05] 86: updated verrStart=~[2.35922e-16 2.91434e-16 -3.05311e-16 -2.498e-16 -8.67362e-18 3.33067e-16 -1.73472e-17 3.88578e-16 7.63278e-17 8.32667e-17 1.04083e-16 3.46945e-16] +100/108 Test #90: TestCustomConstraints .......................... Passed 2.67 sec 86: 86: POSITION CORRECTION PHASE: 86: posVerr=~[0.377413 0.00565728 0.964547 0.592791 0 0 0 0 0 0 0 0] @@ -289593,8 +289645,6 @@ 86: [-0.0212712 -0.00531394 0.00526984 0.0212271 0.0463837 0.0144185 0.0493955 -0.0365949 -0.00463045 0.0114283 -0.00161869 -0.0395852] 86: [0.324655 0.119225 -0.118572 -0.324003 0.0144185 0.369572 0.0302948 0.0988283 -0.25635 0.353357 -0.240473 0.0826133] 86: [-0.00918255 -0.0144145 0.0143775 0.00914554 0.0493955 0.0302948 0.054074 -0.0491406 -0.0300287 0.0256288 -0.0253502 -0.0538066] -90: testSpeedCoupler3 done. real/CPU ms: 319.2 / 319.1 -90: testPrescribedMotion1 ... 86: [0.118176 0.274667 -0.274135 -0.117644 -0.0365949 0.0988283 -0.0491406 0.312737 0.177087 0.111188 0.164541 0.325097] 86: [-0.227772 0.149901 -0.150067 0.227607 -0.00463045 -0.25635 -0.0300287 0.177087 0.428603 -0.230777 0.403204 0.20266] 86: [0.312228 0.128141 -0.127496 -0.311583 0.0114283 0.353357 0.0256288 0.111188 -0.230777 0.338827 -0.216576 0.0966582] @@ -313448,8 +313498,6 @@ 86: DBG: Line search iter 1: back=1, prevNorm=0.375439. 86: > piNow=~[-1.14995 2.59434e-05 6.51212e-05 -1.17607 1.34311e-05 0.000112393 -1.47394 -1.32207e-05 -0.00011598 -1.50006 -2.5733e-05 -6.87077e-05] 86: > errNow=~[-1.66533e-16 -3.46945e-18 1.94289e-16 -2.498e-16 1.38778e-17 -2.91434e-16 1.38778e-16 -4.64906e-16 2.77556e-17 0 -3.95517e-16 -2.498e-16] normNow=8.17325e-16 -90: testPrescribedMotion1 done. real/CPU ms: 106.9 / 106.9 -90: testPrescribedMotion2 ... 86: DBG: Improvement rate now/prev at iter 1 is 2.17699e-15 86: DBG: <<<< NEWTON done in 1 iters; norm=8.17325e-16. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. @@ -346206,9 +346254,6 @@ 86: Before position update: 86: verr=~[-9.27821e-17 -1.15912e-16 3.6595e-16 3.4282e-16 -1.56248e-17 -1.71596e-16 -2.66913e-17 1.60737e-17 1.72214e-16 -1.60259e-16 1.61147e-16 2.74114e-17] 86: perr=~[0.000377413 5.65728e-06 0.000964547 0.000592791 0] -90: testPrescribedMotion2 done. real/CPU ms: 154.0 / 153.8 -90: -90: TestCustomConstraints done. real/CPU ms: 2400.5 / 2399.5 86: END OF STEP (2.072,2.073): 86: verr=~[-9.27821e-17 -1.15912e-16 3.6595e-16 3.4282e-16 -1.56248e-17 -1.71596e-16 -2.66913e-17 1.60737e-17 1.72214e-16 -1.60259e-16 1.61147e-16 2.74114e-17] 86: perr=~[0.000377413 5.65728e-06 0.000964547 0.000592791 0] @@ -346493,7 +346538,6 @@ 86: -> pi=~[12.5969 11.4766 13.3808 12.2606 0 0 0 0 0 0 0 0] 86: resid active=~[-1.66533e-16 1.98105e-15 -6.66134e-16 -1.55431e-15] 86: resid=~[-1.66533e-16 1.98105e-15 -6.66134e-16 -1.55431e-15 0.00183397 -0.101106 0.0234106 -0.469645 -0.366282 -0.122451 -0.344705 -0.49099] -100/108 Test #90: TestCustomConstraints .......................... Passed 2.41 sec 86: DBG: -------------------------------- 86: Before position update: 86: verr=~[-6.43362e-16 -2.8111e-16 7.41634e-17 4.36415e-16 1.3013e-16 -1.2979e-16 1.30021e-16 -1.25648e-16 1.34293e-16 -1.29122e-16 1.34184e-16 -1.24981e-16] @@ -366382,14 +366426,6 @@ 86: Distal unilateral contacts: (1,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -85: LOW ACCURACY -85: Test with order 1 integator SemiExplicitEuler2, Accuracy=0.01, MaxStepSize=0.0005 -85: t=4.9995 -85: joint1 a=~[-1.75561e-06,8.16449e-05,-0.0335298] w=~[1.10822e-13,-7.8177e-13,1.78565e-07] -85: joint2 qerr=0.00351512 u=1.48232e-12 -85: joint3 qerr=1.27612e-05 u=-6.18746e-13 -85: runOnce done. real/CPU ms: 2510.3 / 2509.9 -85: runOnce ... 86: DBG: Uni fric 0 verr speed=2.45106e-16 -> mu=0.1 86: DBG: Uni fric 2 verr speed=1.86433e-16 -> mu=0.1 86: DBG: Uni fric 4 verr speed=2.5404e-16 -> mu=0.1 @@ -572135,6 +572171,8 @@ 86: [-0.106564 -0.263392 0.282846 0.126018 0.0052699 -0.118572 0.0143776 -0.274135 -0.150067 -0.127496 -0.140959 -0.283059] 86: [-0.314795 -0.106694 0.126018 0.334119 0.021227 -0.324002 0.00914545 -0.117644 0.227607 -0.311583 0.215525 -0.105225] 86: [-0.0212711 -0.00531401 0.0052699 0.021227 0.0463838 0.0144186 0.0493955 -0.036595 -0.00463065 0.0114284 -0.00161888 -0.0395853] +56: Done +101/108 Test #56: ExplicitEulerIntegratorTest .................... Passed 5.88 sec 86: [0.324655 0.119225 -0.118572 -0.324002 0.0144186 0.369572 0.0302949 0.0988282 -0.25635 0.353357 -0.240473 0.0826133] 86: [-0.00918246 -0.0144146 0.0143776 0.00914545 0.0493955 0.0302949 0.0540741 -0.0491407 -0.0300289 0.0256289 -0.0253504 -0.0538067] 86: [0.118176 0.274667 -0.274135 -0.117644 -0.036595 0.0988282 -0.0491407 0.312737 0.177087 0.111188 0.164541 0.325097] @@ -583889,6 +583927,11 @@ 86: DBG: >>>> Start NEWTON solve with errNorm=0.375419... 86: > NEWTON iter 1: errNorm=0.375419(v) -> deltaNorm=2.6675(pi) 86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] +105: Parallel Forces Time: 205.99 +105: NonParallel Forces Time: 5004.48 +105: +105: TestParallelForces done. real/CPU ms: 5210.5 / 16.1 +102/108 Test #105: TestParallelForces ............................. Passed 5.23 sec 86: > errActive=~[-0.0872825 0.00836758 -0.138365 -0.0624715 0.00692683 -0.113756 0.165828 0.0330464 -0.136762 0.190639 0.0316056 -0.112153] 86: > deltaPi=~[1.15996 -2.54085e-05 -6.64284e-05 1.18607 -1.28431e-05 -0.000114607 1.46393 1.28431e-05 0.000114607 1.49004 2.54085e-05 6.64284e-05] 86: DBG: Line search iter 1: back=1, prevNorm=0.375419. @@ -647505,7 +647548,6 @@ 86: verrLeft=~[-1.23538e-16 -2.3187e-16 -2.46419e-17 -1.32974e-16 4.47228e-17 -8.47876e-17 4.91661e-17 -1.60882e-16 -3.12727e-17 -8.92073e-17 -2.68294e-17 -1.65302e-16] 86: verrApplied=~[0.0961039 0.0702647 -0.173616 -0.199455 -0.0088984 0.147229 -0.00739803 0.121602 -0.0346005 0.145556 -0.0331001 0.119929] 86: expanding=() -56: Done 86: piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: verrExpand=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: DBG: classifyFrictionals(): 4 uni contacts @@ -647583,7 +647625,6 @@ 86: 86: POSITION CORRECTION PHASE: 86: posVerr=~[0.377413 0.00565728 0.964547 0.592791 0 0 0 0 0 0 0 0] -101/108 Test #56: ExplicitEulerIntegratorTest .................... Passed 4.70 sec 86: DBG: BILATERAL POSITION CORRECTION, 4 participators 86: DBG: -------------------------------- 86: DBG: PLUS BILATERAL SOLVER: @@ -770024,7 +770065,7 @@ 86: joint1 a=~[-0.000336577,-0.000607984,0.0588539] w=~[-5.75082e-17,-4.42431e-16,-1.83528e-16] 86: joint2 qerr=0.0035123 u=1.0593e-15 86: joint3 qerr=1.03787e-05 u=1.09932e-14 -86: runOnce done. real/CPU ms: 5299.1 / 4630.4 +86: runOnce done. real/CPU ms: 6584.8 / 5581.4 86: runOnce ... 86: Reaction 2p=~[~[-25.078,175.615,0.08001],~[-0.17614,0.111527,-300]] 86: Reaction 2c=~[~[25.0781,-175.615,0.00807158],~[-0.877548,-0.111527,299.999]] @@ -811769,10 +811810,6 @@ 86: : pi was=~[0 0 0 0 0 0] 86: : piActive=~[-0.01 0 0 -0.01 0 0] 86: Updated 2 pairs of rows in Jacobian:Jacobian num vs. analytic norm=6.07021e-06 -105: Parallel Forces Time: 211.921 -105: NonParallel Forces Time: 5008.43 -105: -105: TestParallelForces done. real/CPU ms: 5220.5 / 18.1 86: DBG: >>>> Start NEWTON solve with errNorm=1.90689... 86: > NEWTON iter 1: errNorm=1.90689(v) -> deltaNorm=8.47108(pi) 86: > piActive=~[-0.01 0 0 -0.01 0 0] @@ -812517,7 +812554,6 @@ 86: -> pi=~[0 -2.51041 0 0 0 0] 86: resid active=~[-1.11022e-16] 86: resid=~[-0.614022 -1.11022e-16 0.0161073 -0.305338 0.03795 -0.687339] -102/108 Test #105: TestParallelForces ............................. Passed 5.24 sec 86: DBG: -------------------------------- 86: Before position update: 86: verr=~[0.0880655 6.245e-17 0.00292415 0.242564 0.00180789 0.260256] @@ -1060653,6 +1060689,7 @@ 86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] 86: > errActive=~[-0.0872774 0.00836735 -0.138359 -0.0624675 0.00692667 -0.113752 0.165824 0.0330449 -0.136757 0.190634 0.0316042 -0.112149] 86: > deltaPi=~[1.15996 -2.50739e-05 -6.72413e-05 1.18608 -1.24752e-05 -0.000115987 1.46392 1.26062e-05 0.000113752 1.49004 2.5205e-05 6.50068e-05] +18: Done 86: DBG: Line search iter 1: back=1, prevNorm=0.375406. 86: > piNow=~[-1.14996 2.50739e-05 6.72413e-05 -1.17608 1.24752e-05 0.000115987 -1.47392 -1.26062e-05 -0.000113752 -1.50004 -2.5205e-05 -6.50068e-05] 86: > errNow=~[-1.38778e-17 -3.1225e-17 -5.55112e-17 -2.77556e-17 -4.33681e-17 -2.77556e-17 -5.55112e-17 -1.31839e-16 8.32667e-17 -5.55112e-17 -1.04083e-16 1.38778e-17] normNow=2.21753e-16 @@ -1060797,6 +1060834,7 @@ 86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] 86: > errActive=~[-0.0872779 0.00836737 -0.13836 -0.0624679 0.00692668 -0.113752 0.165824 0.033045 -0.136757 0.190634 0.0316043 -0.11215] 86: > deltaPi=~[1.15996 -2.51042e-05 -6.71653e-05 1.18608 -1.25085e-05 -0.00011586 1.46392 1.26275e-05 0.000113832 1.49004 2.52232e-05 6.51378e-05] +103/108 Test #18: TestParallel2DExecutor ......................... Passed 8.58 sec 86: DBG: Line search iter 1: back=1, prevNorm=0.375407. 86: > piNow=~[-1.14996 2.51042e-05 6.71653e-05 -1.17608 1.25085e-05 0.00011586 -1.47392 -1.26275e-05 -0.000113832 -1.50004 -2.52232e-05 -6.51378e-05] 86: > errNow=~[9.71445e-17 -1.56125e-17 2.498e-16 4.16334e-17 -9.54098e-18 6.93889e-17 1.11022e-16 -5.55112e-17 8.32667e-17 -1.38778e-16 -5.55112e-17 5.55112e-17] normNow=3.55645e-16 @@ -1122432,6 +1122470,23 @@ 86: DBG: Line search iter 1: back=1, prevNorm=0.37542. 86: > piNow=~[-1.14995 2.54293e-05 6.63774e-05 -1.17607 1.28659e-05 0.00011452 -1.47393 -1.28577e-05 -0.00011466 -1.50005 -2.54211e-05 -6.65172e-05] 86: > errNow=~[1.52656e-16 -9.02056e-17 1.38778e-16 3.88578e-16 -1.05818e-16 3.88578e-16 -3.33067e-16 1.249e-16 1.94289e-16 -2.498e-16 0 3.60822e-16] normNow=8.48975e-16 +85: Reaction 2p=~[~[-25.0009,175.756,-0.00124915],~[0.024462,0.00134749,-300]] +85: Reaction 2c=~[~[25.0008,-175.756,0.0891302],~[-1.079,-0.00134749,299.998]] +85: Reaction 3p=~[~[-25,0.127612,-0.0899163],~[0.179833,0.000224582,-49.9997]] +85: Reaction 3c=~[~[17.7415,-0.127612,-17.6139],~[35.2275,-0.000224582,35.4827]] +85: +85: Done -- simulated 4.9995s with 11210 steps, avg step=0.445986ms 0.215775ms/eval +85: Used Integrator SemiExplicitEuler2 at accuracy 0.01: +85: # STEPS/ATTEMPTS = 11210/11958 +85: # ERR TEST FAILS = 748 +85: # REALIZE/PROJECT = 23170/1 +85: +85: HIGH ACCURACY +85: Test with order 4 integator RungeKuttaMerson, Accuracy=1e-06, MaxStepSize=0.0005 +85: t=4.9995 +85: joint1 a=~[-1.7563e-06,8.16449e-05,-0.0335214] w=~[-1.70422e-14,-2.77013e-14,-1.49662e-07] +85: joint2 qerr=0.00351512 u=6.69588e-14 +85: joint3 qerr=1.27612e-05 u=-1.91141e-13 86: DBG: Improvement rate now/prev at iter 1 is 2.2614e-15 86: DBG: <<<< NEWTON done in 1 iters; norm=8.48975e-16. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. @@ -1122469,6 +1122524,7 @@ 86: 86: dynamics impulse=~[-1.14995 -1.17607 -1.47393 -1.50005 2.54293e-05 6.63774e-05 1.28659e-05 0.00011452 -1.28577e-05 -0.00011466 -2.54211e-05 -6.65172e-05] 86: updated verrStart=~[-1.52656e-16 -3.88578e-16 3.33067e-16 2.498e-16 9.02056e-17 -1.38778e-16 1.05818e-16 -3.88578e-16 -1.249e-16 -1.94289e-16 0 -3.60822e-16] +85: runOnce done. real/CPU ms: 6044.4 / 6043.2 86: 86: POSITION CORRECTION PHASE: 86: posVerr=~[0.377413 0.00565728 0.964547 0.592791 0 0 0 0 0 0 0 0] @@ -1122509,9 +1122565,21 @@ 86: 4: cont UniActive fric Rolling 86: 6: cont UniActive fric Rolling 86: Proximal unilateral contacts: (0,2,4,6) +85: +85: GazeboReactionForce done. real/CPU ms: 8161.2 / 8159.6 86: Distal unilateral contacts: (1,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () +85: Reaction 2p=~[~[-25.0009,175.756,-0.00124915],~[0.024462,0.00134749,-300]] +85: Reaction 2c=~[~[25.0008,-175.756,0.0891302],~[-1.079,-0.00134749,299.998]] +85: Reaction 3p=~[~[-25,0.127612,-0.0899163],~[0.179833,0.000224582,-49.9997]] +85: Reaction 3c=~[~[17.7415,-0.127612,-17.6139],~[35.2275,-0.000224582,35.4827]] +85: +85: Done -- simulated 4.9995s with 16587 steps, avg step=0.301411ms 0.0550357ms/eval +85: Used Integrator RungeKuttaMerson at accuracy 1e-06: +85: # STEPS/ATTEMPTS = 16587/18563 +85: # ERR TEST FAILS = 1976 +85: # REALIZE/PROJECT = 90841/1 86: DBG: Uni fric 0 verr speed=9.29609e-17 -> mu=0.1 86: DBG: Uni fric 2 verr speed=2.37739e-16 -> mu=0.1 86: DBG: Uni fric 4 verr speed=1.35383e-16 -> mu=0.1 @@ -1122712,6 +1122780,7 @@ 86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] 86: Jacobian num vs. analytic norm=4.05679e-11 +104/108 Test #85: GazeboReactionForceWithAppliedForceCompliant ... Passed 8.17 sec 86: DBG: >>>> Start NEWTON solve with errNorm=0.375419... 86: > NEWTON iter 1: errNorm=0.375419(v) -> deltaNorm=2.6675(pi) 86: > piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] @@ -1411790,7 +1411859,6 @@ 86: active=(0,1,2,3) 86: -> piActive=~[12.5969 11.4766 13.3808 12.2606] 86: -> pi=~[12.5969 11.4766 13.3808 12.2606 0 0 0 0 0 0 0 0] -18: Done 86: resid active=~[5.27356e-15 2.25514e-17 9.99201e-16 -2.77556e-15] 86: resid=~[5.27356e-15 2.25514e-17 9.99201e-16 -2.77556e-15 0.00183398 -0.101106 0.0234106 -0.469645 -0.366282 -0.122451 -0.344705 -0.49099] 86: DBG: -------------------------------- @@ -1411941,7 +1412009,6 @@ 86: Before position update: 86: verr=~[-2.25984e-16 1.4416e-17 2.45474e-16 4.85875e-16 -9.83271e-17 3.68803e-16 -1.09721e-16 5.63692e-16 9.65747e-17 3.80564e-16 8.51809e-17 5.75453e-16] 86: perr=~[0.000377413 5.65728e-06 0.000964547 0.000592791 0] -103/108 Test #18: TestParallel2DExecutor ......................... Passed 9.34 sec 86: END OF STEP (4.326,4.327): 86: verr=~[-2.25984e-16 1.4416e-17 2.45474e-16 4.85875e-16 -9.83271e-17 3.68803e-16 -1.09721e-16 5.63692e-16 9.65747e-17 3.80564e-16 8.51809e-17 5.75453e-16] 86: perr=~[0.000377413 5.65728e-06 0.000964547 0.000592791 0] @@ -1454247,6 +1454314,7 @@ 86: 86: dynamics impulse=~[-1.14996 -1.17607 -1.47393 -1.50004 2.54085e-05 6.64284e-05 1.28431e-05 0.000114607 -1.28431e-05 -0.000114607 -2.54085e-05 -6.64284e-05] 86: updated verrStart=~[1.38778e-16 -2.77556e-17 0 -1.38778e-16 5.0307e-17 2.22045e-16 6.41848e-17 1.38778e-17 -2.08167e-16 2.77556e-17 -1.59595e-16 -1.52656e-16] +71: Done 86: 86: POSITION CORRECTION PHASE: 86: posVerr=~[0.377413 0.00565728 0.964547 0.592791 0 0 0 0 0 0 0 0] @@ -1454354,6 +1454422,7 @@ 86: DBG: Line search iter 1: back=1, prevNorm=0.375419. 86: > piNow=~[-1.14996 2.54085e-05 6.64284e-05 -1.17607 1.28431e-05 0.000114607 -1.47393 -1.28431e-05 -0.000114607 -1.50004 -2.54085e-05 -6.64284e-05] 86: > errNow=~[-4.02456e-16 1.35308e-16 -2.22045e-16 -2.35922e-16 1.36176e-16 -2.63678e-16 1.94289e-16 2.70617e-16 -2.77556e-16 3.05311e-16 1.59595e-16 -2.91434e-16] normNow=8.74614e-16 +105/108 Test #71: SemiExplicitEuler2IntegratorTest ............... Passed 10.05 sec 86: DBG: Improvement rate now/prev at iter 1 is 2.3297e-15 86: DBG: <<<< NEWTON done in 1 iters; norm=8.74614e-16. 86: DBG: Bounded/Contact/Rolling OK: worst=0/0/0. Check sliding next. @@ -1465881,8 +1465950,6 @@ 86: : m_piActive=~[-1.14996 2.54085e-05 6.64284e-05 -1.17607 1.28431e-05 0.000114607 -1.47393 -1.28431e-05 -0.000114607 -1.50004 -2.54085e-05 -6.64284e-05] 86: : m_verrLeft=~[9.71445e-17 -1.52656e-16 3.05311e-16 2.77556e-17 9.19403e-17 -1.11022e-16 9.02056e-17 -6.93889e-17 -1.38778e-16 1.11022e-16 -7.63278e-17 -1.80411e-16] 86: : verrAppliedLeft=~[0 0 0 0 0 0 0 0 0 0 0 0] -71: Done -104/108 Test #71: SemiExplicitEuler2IntegratorTest ............... Passed 9.50 sec 86: : piELeft=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: DBG: SP DONE. Check normal complementarity ... 86: DBG: 0: pi=-1.14996 verr=9.71445e-17 pi*v=-1.11712e-16 @@ -1492596,24 +1492663,6 @@ 86: Distal unilateral contacts: (1,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -85: Reaction 2p=~[~[-25.0009,175.756,-0.00124915],~[0.024462,0.00134749,-300]] -85: Reaction 2c=~[~[25.0008,-175.756,0.0891302],~[-1.079,-0.00134749,299.998]] -85: Reaction 3p=~[~[-25,0.127612,-0.0899163],~[0.179833,0.000224582,-49.9997]] -85: Reaction 3c=~[~[17.7415,-0.127612,-17.6139],~[35.2275,-0.000224582,35.4827]] -85: -85: Done -- simulated 4.9995s with 11210 steps, avg step=0.445986ms 0.215775ms/eval -85: Used Integrator SemiExplicitEuler2 at accuracy 0.01: -85: # STEPS/ATTEMPTS = 11210/11958 -85: # ERR TEST FAILS = 748 -85: # REALIZE/PROJECT = 23170/1 -85: -85: HIGH ACCURACY -85: Test with order 4 integator RungeKuttaMerson, Accuracy=1e-06, MaxStepSize=0.0005 -85: t=4.9995 -85: joint1 a=~[-1.7563e-06,8.16449e-05,-0.0335214] w=~[-1.70422e-14,-2.77013e-14,-1.49662e-07] -85: joint2 qerr=0.00351512 u=6.69588e-14 -85: joint3 qerr=1.27612e-05 u=-1.91141e-13 -85: runOnce done. real/CPU ms: 7093.9 / 7091.7 86: DBG: Uni fric 0 verr speed=1.24557e-16 -> mu=0.1 86: DBG: Uni fric 2 verr speed=2.5018e-17 -> mu=0.1 86: DBG: Uni fric 4 verr speed=1.76376e-16 -> mu=0.1 @@ -1492669,18 +1492718,6 @@ 86: : rhsActive=~[0.0961039 -0.0088984 0.147229 0.0702647 -0.00739803 0.121602 -0.173616 -0.0346005 0.145556 -0.199455 -0.0331001 0.119929] 86: : pi was=~[0 0 0 0 0 0 0 0 0 0 0 0] 86: : piActive=~[0.01 0 0 0.01 0 0 -0.01 0 0 -0.01 0 0] -85: -85: GazeboReactionForce done. real/CPU ms: 9610.9 / 9608.3 -85: Reaction 2p=~[~[-25.0009,175.756,-0.00124915],~[0.024462,0.00134749,-300]] -85: Reaction 2c=~[~[25.0008,-175.756,0.0891302],~[-1.079,-0.00134749,299.998]] -85: Reaction 3p=~[~[-25,0.127612,-0.0899163],~[0.179833,0.000224582,-49.9997]] -85: Reaction 3c=~[~[17.7415,-0.127612,-17.6139],~[35.2275,-0.000224582,35.4827]] -85: -85: Done -- simulated 4.9995s with 16587 steps, avg step=0.301411ms 0.0550357ms/eval -85: Used Integrator RungeKuttaMerson at accuracy 1e-06: -85: # STEPS/ATTEMPTS = 16587/18563 -85: # ERR TEST FAILS = 1976 -85: # REALIZE/PROJECT = 90841/1 86: Jacobian num vs. analytic norm=4.03301e-11 86: DBG: >>>> Start NEWTON solve with errNorm=0.375419... 86: > NEWTON iter 1: errNorm=0.375419(v) -> deltaNorm=2.6675(pi) @@ -1492770,7 +1492807,6 @@ 86: Distal unilateral contacts: (1,3,5,7) 86: Proximal state-ltd friction: () 86: Distal state-ltd friction: () -105/108 Test #85: GazeboReactionForceWithAppliedForceCompliant ... Passed 9.62 sec 86: DBG: Uni fric 0 verr speed=2.40362e-16 -> mu=0.1 86: DBG: Uni fric 2 verr speed=7.21573e-17 -> mu=0.1 86: DBG: Uni fric 4 verr speed=2.77667e-16 -> mu=0.1 @@ -1511203,22 +1511239,22 @@ 86: joint1 a=~[-0.000336577,-0.000607984,0.0588539] w=~[-5.75082e-17,-4.42431e-16,-1.83528e-16] 86: joint2 qerr=0.0035123 u=1.0593e-15 86: joint3 qerr=1.03787e-05 u=1.09932e-14 -86: runOnce done. real/CPU ms: 4454.3 / 4385.1 +86: runOnce done. real/CPU ms: 3606.6 / 3360.4 86: -86: GazeboReactionForce done. real/CPU ms: 9760.6 / 9022.7 +86: GazeboReactionForce done. real/CPU ms: 10198.4 / 8948.4 86: Reaction 2p=~[~[-25.078,175.615,0.08001],~[-0.17614,0.111527,-300]] 86: Reaction 2c=~[~[25.0781,-175.615,0.00807158],~[-0.877548,-0.111527,299.999]] 86: Reaction 3p=~[~[-25.013,0.103787,-0.0731289],~[0.146258,0.0185878,-49.9998]] 86: Reaction 3c=~[~[17.7388,-0.103787,-17.635],~[35.2514,-0.0185878,35.459]] -106/108 Test #86: GazeboReactionForceWithAppliedForceRigid ....... Passed 9.77 sec +106/108 Test #86: GazeboReactionForceWithAppliedForceRigid ....... Passed 10.21 sec 72: Done -107/108 Test #72: SemiExplicitEulerIntegratorTest ................ Passed 10.17 sec +107/108 Test #72: SemiExplicitEulerIntegratorTest ................ Passed 10.91 sec 92: Done -108/108 Test #92: TestElasticFoundationForce ..................... Passed 11.86 sec +108/108 Test #92: TestElasticFoundationForce ..................... Passed 12.07 sec 100% tests passed, 0 tests failed out of 108 -Total Test time (real) = 12.14 sec +Total Test time (real) = 12.87 sec make[1]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' create-stamp debian/debhelper-build-stamp dh_testroot -O--buildsystem=cmake @@ -1511226,7 +1511262,7 @@ debian/rules override_dh_auto_install make[1]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg' dh_auto_install --buildsystem=cmake - cd obj-x86_64-linux-gnu && make -j42 install DESTDIR=/build/reproducible-path/simbody-3.7\+dfsg/debian/tmp AM_UPDATE_INFO_DIR=no INSTALL="install --strip-program=true" + cd obj-x86_64-linux-gnu && make -j40 install DESTDIR=/build/reproducible-path/simbody-3.7\+dfsg/debian/tmp AM_UPDATE_INFO_DIR=no INSTALL="install --strip-program=true" make[2]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' /usr/bin/cmake -S/build/reproducible-path/simbody-3.7+dfsg -B/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu --check-build-system CMakeFiles/Makefile.cmake 0 /usr/bin/cmake -E cmake_progress_start /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/CMakeFiles /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu//CMakeFiles/progress.marks @@ -1511263,21 +1511299,21 @@ make -f SimTKcommon/tests/CMakeFiles/MatVecTest.dir/build.make SimTKcommon/tests/CMakeFiles/MatVecTest.dir/depend make -f SimTKcommon/tests/CMakeFiles/OrientationTest.dir/build.make SimTKcommon/tests/CMakeFiles/OrientationTest.dir/depend make -f SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/build.make SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/depend -make -f SimTKcommon/tests/CMakeFiles/RandomTest.dir/build.make SimTKcommon/tests/CMakeFiles/RandomTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/BNTTest.dir/DependInfo.cmake "--color=" +make -f SimTKcommon/tests/CMakeFiles/RandomTest.dir/build.make SimTKcommon/tests/CMakeFiles/RandomTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/MatVecTest.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/RotationTest.dir/build.make SimTKcommon/tests/CMakeFiles/RotationTest.dir/depend make -f SimTKcommon/tests/CMakeFiles/SFMTTest.dir/build.make SimTKcommon/tests/CMakeFiles/SFMTTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/OrientationTest.dir/DependInfo.cmake "--color=" -make -f SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/build.make SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/DependInfo.cmake "--color=" +make -f SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/build.make SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/RandomTest.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/StateTest.dir/build.make SimTKcommon/tests/CMakeFiles/StateTest.dir/depend +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/RandomTest.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/TestArray.dir/build.make SimTKcommon/tests/CMakeFiles/TestArray.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/RotationTest.dir/DependInfo.cmake "--color=" @@ -1511287,17 +1511323,17 @@ make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/build.make SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/depend +make -f SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/build.make SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/StateTest.dir/DependInfo.cmake "--color=" -make -f SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/build.make SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestArray.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/TestFunction.dir/build.make SimTKcommon/tests/CMakeFiles/TestFunction.dir/depend -make -f SimTKcommon/tests/CMakeFiles/TestIteratorRange.dir/build.make SimTKcommon/tests/CMakeFiles/TestIteratorRange.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestAtomic.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/DependInfo.cmake "--color=" +make -f SimTKcommon/tests/CMakeFiles/TestIteratorRange.dir/build.make SimTKcommon/tests/CMakeFiles/TestIteratorRange.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/TestMassProperties.dir/build.make SimTKcommon/tests/CMakeFiles/TestMassProperties.dir/depend @@ -1511305,35 +1511341,35 @@ make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestFunction.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/TestParallel2DExecutor.dir/build.make SimTKcommon/tests/CMakeFiles/TestParallel2DExecutor.dir/depend +make -f SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/build.make SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestIteratorRange.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestMassProperties.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/DependInfo.cmake "--color=" -make -f SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/build.make SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/depend make -f SimTKcommon/tests/CMakeFiles/TestParallelWorkQueue.dir/build.make SimTKcommon/tests/CMakeFiles/TestParallelWorkQueue.dir/depend make -f SimTKcommon/tests/CMakeFiles/TestPlugin.dir/build.make SimTKcommon/tests/CMakeFiles/TestPlugin.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestParallel2DExecutor.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/build.make SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/depend +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestParallelWorkQueue.dir/DependInfo.cmake "--color=" make -f SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/build.make SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/DependInfo.cmake "--color=" -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKcommon/tests/CMakeFiles/TestScalar.dir/build.make SimTKcommon/tests/CMakeFiles/TestScalar.dir/depend -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestParallelWorkQueue.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestPlugin.dir/DependInfo.cmake "--color=" -make -f SimTKcommon/tests/CMakeFiles/TestSimulation.dir/build.make SimTKcommon/tests/CMakeFiles/TestSimulation.dir/depend -make -f SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/build.make SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/DependInfo.cmake "--color=" -make -f SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/build.make SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestScalar.dir/DependInfo.cmake "--color=" +make -f SimTKcommon/tests/CMakeFiles/TestSimulation.dir/build.make SimTKcommon/tests/CMakeFiles/TestSimulation.dir/depend +make -f SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/build.make SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/depend +make -f SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/build.make SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/depend make -f SimTKcommon/tests/CMakeFiles/TestXml.dir/build.make SimTKcommon/tests/CMakeFiles/TestXml.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestSimulation.dir/DependInfo.cmake "--color=" @@ -1511347,182 +1511383,182 @@ cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/CMakeFiles/TestXml.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKcommon/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/DependInfo.cmake "--color=" -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/sharedTarget /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/DependInfo.cmake "--color=" -make -f SimTKcommon/tests/CMakeFiles/SFMTTest.dir/build.make SimTKcommon/tests/CMakeFiles/SFMTTest.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/RandomTest.dir/build.make SimTKcommon/tests/CMakeFiles/RandomTest.dir/build -make -f SimTKcommon/tests/CMakeFiles/RotationTest.dir/build.make SimTKcommon/tests/CMakeFiles/RotationTest.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/StateTest.dir/build.make SimTKcommon/tests/CMakeFiles/StateTest.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/SFMTTest.dir/build'. +make -f SimTKcommon/tests/CMakeFiles/TestAtomic.dir/build.make SimTKcommon/tests/CMakeFiles/TestAtomic.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/BNTTest.dir/build.make SimTKcommon/tests/CMakeFiles/BNTTest.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/MatVecTest.dir/build.make SimTKcommon/tests/CMakeFiles/MatVecTest.dir/build -make -f SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/build.make SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/build -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/RandomTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/RotationTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/OrientationTest.dir/build.make SimTKcommon/tests/CMakeFiles/OrientationTest.dir/build -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/StateTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestIteratorRange.dir/build.make SimTKcommon/tests/CMakeFiles/TestIteratorRange.dir/build +make -f SimTKcommon/tests/CMakeFiles/BNTTest.dir/build.make SimTKcommon/tests/CMakeFiles/BNTTest.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/BNTTest.dir/build'. +make -f SimTKcommon/tests/CMakeFiles/StateTest.dir/build.make SimTKcommon/tests/CMakeFiles/StateTest.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/RotationTest.dir/build.make SimTKcommon/tests/CMakeFiles/RotationTest.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/build.make SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/MatVecTest.dir/build'. -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestAtomic.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestArray.dir/build.make SimTKcommon/tests/CMakeFiles/TestArray.dir/build make -f SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/build.make SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/build -make -f SimTKcommon/tests/CMakeFiles/TestAtomic.dir/build.make SimTKcommon/tests/CMakeFiles/TestAtomic.dir/build -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestFunction.dir/build.make SimTKcommon/tests/CMakeFiles/TestFunction.dir/build +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestIteratorRange.dir/build'. +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/StateTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/OrientationTest.dir/build'. +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/BNTTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/build.make SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestSimulation.dir/build.make SimTKcommon/tests/CMakeFiles/TestSimulation.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/build.make SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/build -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestArray.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestMassProperties.dir/build.make SimTKcommon/tests/CMakeFiles/TestMassProperties.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/build'. +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/RotationTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/MatVecTest.dir/build.make SimTKcommon/tests/CMakeFiles/MatVecTest.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestParallel2DExecutor.dir/build.make SimTKcommon/tests/CMakeFiles/TestParallel2DExecutor.dir/build -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/build'. +make -f SimTKcommon/tests/CMakeFiles/OrientationTest.dir/build.make SimTKcommon/tests/CMakeFiles/OrientationTest.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/build.make SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/RandomTest.dir/build.make SimTKcommon/tests/CMakeFiles/RandomTest.dir/build +make -f SimTKcommon/tests/CMakeFiles/SFMTTest.dir/build.make SimTKcommon/tests/CMakeFiles/SFMTTest.dir/build +make -f SimTKcommon/tests/CMakeFiles/TestArray.dir/build.make SimTKcommon/tests/CMakeFiles/TestArray.dir/build +make -f SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/build.make SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/build +make -f SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/build.make SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/build +make -f SimTKcommon/tests/CMakeFiles/TestFunction.dir/build.make SimTKcommon/tests/CMakeFiles/TestFunction.dir/build +make -f SimTKcommon/tests/CMakeFiles/TestIteratorRange.dir/build.make SimTKcommon/tests/CMakeFiles/TestIteratorRange.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/build'. +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/MatVecTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestAtomic.dir/build'. -make -f SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/build.make SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/SpatialAlgebraTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/TestMassProperties.dir/build.make SimTKcommon/tests/CMakeFiles/TestMassProperties.dir/build +make -f SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/build.make SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestFunction.dir/build'. +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/OrientationTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKcommon/tests/CMakeFiles/TestParallelWorkQueue.dir/build.make SimTKcommon/tests/CMakeFiles/TestParallelWorkQueue.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/build'. +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/SFMTTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/PolynomialTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/TestPlugin.dir/build.make SimTKcommon/tests/CMakeFiles/TestPlugin.dir/build +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/RandomTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/build.make SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/build.make SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestScalar.dir/build.make SimTKcommon/tests/CMakeFiles/TestScalar.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestSimulation.dir/build'. +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestArray.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestParallel2DExecutor.dir/build'. +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestBigMatrix.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestPlugin.dir/build.make SimTKcommon/tests/CMakeFiles/TestPlugin.dir/build -make -f SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/build.make SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/build +make -f SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/build.make SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/build +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestCloneOnWritePtr.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/TestScalar.dir/build.make SimTKcommon/tests/CMakeFiles/TestScalar.dir/build +make -f SimTKcommon/tests/CMakeFiles/TestSimulation.dir/build.make SimTKcommon/tests/CMakeFiles/TestSimulation.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestMassProperties.dir/build'. +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestFunction.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/build.make SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/build +make -f SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/build.make SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/build +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestMassProperties.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestParallelWorkQueue.dir/build'. +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestIteratorRange.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKcommon/tests/CMakeFiles/TestXml.dir/build.make SimTKcommon/tests/CMakeFiles/TestXml.dir/build +make -f SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/build.make SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/build'. -[ 6%] Built target RandomTest -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 6%] Built target RotationTest +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestParallelWorkQueue.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestParallelExecutor.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/build.make SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestScalar.dir/build'. +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestPlugin.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestPlugin.dir/build'. +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 6%] Built target SFMTTest make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/build'. +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestScalar.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/build'. +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestSimulation.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestSmallMatrix.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 6%] Built target StateTest make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 6%] Built target BNTTest -make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestPrivateImplementation.dir/build'. +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestPolygonalMesh.dir/build'. +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestVectorMath.dir/build'. +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestXml.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKcommon/tests/adhoc/CMakeFiles/BigMatrixTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 6%] Built target SpatialAlgebraTest +[ 6%] Built target RotationTest [ 6%] Built target OrientationTest [ 6%] Built target MatVecTest -[ 6%] Built target PolynomialTest +[ 6%] Built target SFMTTest +[ 6%] Built target BNTTest +[ 6%] Built target TestArray [ 6%] Built target TestIteratorRange -[ 6%] Built target TestBigMatrix -[ 6%] Built target TestAtomic -[ 6%] Built target SpatialAlgebraTest [ 6%] Built target TestMassProperties -[ 6%] Built target TestParallelExecutor -[ 6%] Built target TestArray -[ 7%] Built target TestParallel2DExecutor +[ 6%] Built target TestAtomic +[ 6%] Built target StateTest +[ 6%] Built target TestPlugin +[ 6%] Built target RandomTest +[ 6%] Built target TestBigMatrix +[ 6%] Built target TestCloneOnWritePtr +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/TestParallel2DExecutor.dir/build.make SimTKcommon/tests/CMakeFiles/TestParallel2DExecutor.dir/build +[ 7%] Built target TestSmallMatrix +[ 6%] Built target PolynomialTest +[ 7%] Built target TestXml [ 7%] Built target TestSimulation -[ 8%] Built target TestFunction -[ 8%] Built target TestPlugin -[ 8%] Built target TestCloneOnWritePtr -[ 8%] Built target TestNiceTypeName -[ 9%] Built target TestScalar -[ 9%] Built target TestPolygonalMesh -[ 9%] Built target TestParallelWorkQueue -[ 9%] Built target BigMatrixTest -[ 10%] Built target TestSmallMatrix +[ 7%] Built target BigMatrixTest +[ 10%] Built target TestPrivateImplementation +[ 7%] Built target TestPolygonalMesh +[ 7%] Built target TestParallelExecutor +[ 10%] Built target TestScalar [ 10%] Built target TestVectorMath -[ 11%] Built target TestPrivateImplementation -[ 11%] Built target TestXml +[ 7%] Built target TestParallelWorkQueue +[ 10%] Built target TestFunction +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/build.make SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/build +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestParallel2DExecutor.dir/build'. +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKcommon/tests/CMakeFiles/TestNiceTypeName.dir/build'. +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 11%] Built target TestParallel2DExecutor +[ 11%] Built target TestNiceTypeName make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/build.make SimTKmath/sharedTarget/CMakeFiles/SimTKmath.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' @@ -1511536,9 +1511572,9 @@ make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bnd.dir/DependInfo.cmake "--color=" make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dns.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dns.dir/depend -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bndL.dir/DependInfo.cmake "--color=" +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/depend make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dns.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dns.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_non.dir/DependInfo.cmake "--color=" @@ -1511548,29 +1511584,29 @@ make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsVanDPol_non.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsVanDPol_non.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dns.dir/DependInfo.cmake "--color=" -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/DependInfo.cmake "--color=" +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dns.dir/DependInfo.cmake "--color=" make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dnsL.dir/DependInfo.cmake "--color=" make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx_lap.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx_lap.dir/depend -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsVanDPol_non.dir/DependInfo.cmake "--color=" +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/DependInfo.cmake "--color=" make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx_lap.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx_lap.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx.dir/DependInfo.cmake "--color=" +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx_lap.dir/DependInfo.cmake "--color=" +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx.dir/DependInfo.cmake "--color=" -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/depend -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/depend make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx_lap.dir/DependInfo.cmake "--color=" @@ -1511582,13 +1511618,13 @@ cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/DependInfo.cmake "--color=" make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend_test.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend_test.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend.dir/DependInfo.cmake "--color=" make -f SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/CpsAdamsXCpp.dir/build.make SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/CpsAdamsXCpp.dir/depend -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendEs.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend.dir/DependInfo.cmake "--color=" +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendEs.dir/DependInfo.cmake "--color=" +make -f SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/build.make SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendLr.dir/DependInfo.cmake "--color=" -make -f SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/build.make SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/depend make -f SimTKmath/tests/CMakeFiles/BestAvailableTest.dir/build.make SimTKmath/tests/CMakeFiles/BestAvailableTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend_test.dir/DependInfo.cmake "--color=" @@ -1511597,17 +1511633,17 @@ cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/CpsAdamsXCpp.dir/DependInfo.cmake "--color=" make -f SimTKmath/tests/CMakeFiles/CPodesIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/CPodesIntegratorTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/BestAvailableTest.dir/DependInfo.cmake "--color=" +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/Integrators/src/CPodes/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/DependInfo.cmake "--color=" make -f SimTKmath/tests/CMakeFiles/DifferentiatorTest.dir/build.make SimTKmath/tests/CMakeFiles/DifferentiatorTest.dir/depend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/BestAvailableTest.dir/DependInfo.cmake "--color=" +make -f SimTKmath/tests/CMakeFiles/EigenTest.dir/build.make SimTKmath/tests/CMakeFiles/EigenTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/CMAESTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/EigenTest.dir/build.make SimTKmath/tests/CMakeFiles/EigenTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/CPodesIntegratorTest.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/DifferentiatorTest.dir/DependInfo.cmake "--color=" +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/CPodesIntegratorTest.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/EigenTest.dir/DependInfo.cmake "--color=" make -f SimTKmath/tests/CMakeFiles/ExplicitEulerIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/ExplicitEulerIntegratorTest.dir/depend @@ -1511623,12 +1511659,12 @@ make -f SimTKmath/tests/CMakeFiles/IpoptTest.dir/build.make SimTKmath/tests/CMakeFiles/IpoptTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/FactorQTZTest.dir/DependInfo.cmake "--color=" +make -f SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/FactorSVDTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/depend +make -f SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/IntegratorTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/IpoptDiffTest.dir/DependInfo.cmake "--color=" make -f SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/depend @@ -1511637,95 +1511673,101 @@ make -f SimTKmath/tests/CMakeFiles/LBFGSTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/DependInfo.cmake "--color=" +make -f SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/DependInfo.cmake "--color=" +make -f SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/depend +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/DependInfo.cmake "--color=" +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/LBFGSTest.dir/DependInfo.cmake "--color=" +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/DependInfo.cmake "--color=" +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/DependInfo.cmake "--color=" +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/depend make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/DependInfo.cmake "--color=" make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/LBFGSTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bnd.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bnd.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bnd.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bnd.dir/build make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bndL.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bndL.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_non.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_non.dir/build -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsNewtCrd_dns.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsNewtCrd_dns.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/DependInfo.cmake "--color=" +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsNewtCrd_dns.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsNewtCrd_dns.dir/build make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dns.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dns.dir/build -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dns.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dns.dir/build +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/build'. -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dnsL.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dnsL.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dns.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dns.dir/build +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bnd.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsVanDPol_non.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsVanDPol_non.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bndL.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsVanDPol_non.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsVanDPol_non.dir/build -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_non.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx_lap.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx_lap.dir/build -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/build +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dns.dir/build'. make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsNewtCrd_dns.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dnsL.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dnsL.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dns.dir/build'. +make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsPend_dnsL.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dns.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx_lap.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx_lap.dir/build +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dnsL.dir/build'. +make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsVanDPol_non.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendEs.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendEs.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsadamsx.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsAdvDiff_bnd.dir/build'. -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsVanDPol_non.dir/build'. -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendLr.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendLr.dir/build -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend_test.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend_test.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx.dir/build'. +make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsRoberts_dnsL.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend_test.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend_test.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx.dir/build'. +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsdenx_lap.dir/build'. -make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendEs.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx_lap.dir/build'. +make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendEs.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pendLr.dir/build'. @@ -1511733,19 +1511775,83 @@ make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend_test.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend.dir/build +[ 37%] Built target cpsNewtCrd_dns +[ 37%] Built target pend +[ 37%] Built target cpsPend_dns +[ 37%] Built target cpsAdvDiff_non +[ 38%] Built target cpsRoberts_dns +[ 38%] Built target cpsVanDPol_non +[ 38%] Built target cpsPend_dnsL +[ 39%] Built target cpsbanx +[ 39%] Built target cpsRoberts_dnsL +[ 39%] Built target cpsAdvDiff_bnd +[ 39%] Built target cpsAdvDiff_bndL +[ 39%] Built target cpsadamsx +make -f SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/depend +[ 40%] Built target cpsdenx +make -f SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/depend +[ 40%] Built target cpsdenx_lap +make -f SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/depend +[ 40%] Built target pendEs +[ 40%] Built target initroot1 +make -f SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/depend +make -f SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/build.make SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/initroot1.dir/build'. -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/DependInfo.cmake "--color=" +[ 40%] Built target pend_test make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/pend.dir/build'. +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/DependInfo.cmake "--color=" +make -f SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/build.make SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/depend +[ 41%] Built target pendLr +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/DependInfo.cmake "--color=" +make -f SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/build.make SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/depend +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/DependInfo.cmake "--color=" +make -f SimTKmath/tests/CMakeFiles/TestGeo.dir/build.make SimTKmath/tests/CMakeFiles/TestGeo.dir/depend +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/DependInfo.cmake "--color=" +make -f SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/build.make SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/depend +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/DependInfo.cmake "--color=" +make -f SimTKmath/tests/CMakeFiles/TestSpline.dir/build.make SimTKmath/tests/CMakeFiles/TestSpline.dir/depend +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/DependInfo.cmake "--color=" +make -f SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/build.make SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/depend +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestGeo.dir/DependInfo.cmake "--color=" +make -f SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/build.make SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/depend +make -f SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/depend +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/DependInfo.cmake "--color=" +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestSpline.dir/DependInfo.cmake "--color=" +make -f SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/build.make SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/depend +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/DependInfo.cmake "--color=" +make -f Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/build.make Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/depend +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/DependInfo.cmake "--color=" +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/DependInfo.cmake "--color=" +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/DependInfo.cmake "--color=" +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/sharedTarget /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/DependInfo.cmake "--color=" +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' @@ -1511753,239 +1511859,152 @@ make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/CpsAdamsXCpp.dir/build.make SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/CpsAdamsXCpp.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/build.make SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/build -make -f SimTKmath/tests/CMakeFiles/BestAvailableTest.dir/build.make SimTKmath/tests/CMakeFiles/BestAvailableTest.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/CpsAdamsXCpp.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 37%] Built target cpsAdvDiff_non -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/CMAESTest.dir/build.make SimTKmath/tests/CMakeFiles/CMAESTest.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 37%] Built target cpsPend_dnsL +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx_lap.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx_lap.dir/build +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/build.make SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/build +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/build.make SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/build +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/CpsAdamsXCpp.dir/build.make SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/CpsAdamsXCpp.dir/build +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/BestAvailableTest.dir/build.make SimTKmath/tests/CMakeFiles/BestAvailableTest.dir/build +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/cpsbanx_lap.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/CMAESTest.dir/build.make SimTKmath/tests/CMakeFiles/CMAESTest.dir/build make -f SimTKmath/tests/CMakeFiles/CPodesIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/CPodesIntegratorTest.dir/build -[ 37%] Built target cpsAdvDiff_bndL +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/sundials/tests/CMakeFiles/newton.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 37%] Built target cpsPend_dns make -f SimTKmath/tests/CMakeFiles/DifferentiatorTest.dir/build.make SimTKmath/tests/CMakeFiles/DifferentiatorTest.dir/build make -f SimTKmath/tests/CMakeFiles/EigenTest.dir/build.make SimTKmath/tests/CMakeFiles/EigenTest.dir/build -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/BestAvailableTest.dir/build'. -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 37%] Built target cpsAdvDiff_bnd make -f SimTKmath/tests/CMakeFiles/ExplicitEulerIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/ExplicitEulerIntegratorTest.dir/build -[ 37%] Built target cpsbanx make -f SimTKmath/tests/CMakeFiles/FactorLUTest.dir/build.make SimTKmath/tests/CMakeFiles/FactorLUTest.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/tests/CMakeFiles/FactorQTZTest.dir/build.make SimTKmath/tests/CMakeFiles/FactorQTZTest.dir/build -[ 38%] Built target cpsadamsx +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/PendLrCpp.dir/build'. +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/tests/CMakeFiles/FactorSVDTest.dir/build.make SimTKmath/tests/CMakeFiles/FactorSVDTest.dir/build +make -f SimTKmath/tests/CMakeFiles/IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/IntegratorTest.dir/build +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKmath/Integrators/src/CPodes/tests/CMakeFiles/CpsAdamsXCpp.dir/build'. +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/BestAvailableTest.dir/build'. make -f SimTKmath/tests/CMakeFiles/IpoptDiffTest.dir/build.make SimTKmath/tests/CMakeFiles/IpoptDiffTest.dir/build +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f SimTKmath/tests/CMakeFiles/IpoptTest.dir/build.make SimTKmath/tests/CMakeFiles/IpoptTest.dir/build -[ 38%] Built target cpsRoberts_dnsL -make -f SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/build -make -f SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/CMAESTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/CPodesIntegratorTest.dir/build'. +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/DifferentiatorTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 39%] Built target cpsRoberts_dns -make -f SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/build +make -f SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/EigenTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/build make -f SimTKmath/tests/CMakeFiles/LBFGSTest.dir/build.make SimTKmath/tests/CMakeFiles/LBFGSTest.dir/build -[ 39%] Built target cpsNewtCrd_dns -make -f SimTKmath/tests/CMakeFiles/IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/IntegratorTest.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/ExplicitEulerIntegratorTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/build +make -f SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/FactorLUTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 39%] Built target cpsbanx_lap -make -f SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/build +make -f SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/FactorQTZTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/IpoptDiffTest.dir/build'. +make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/FactorSVDTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/build +make -f SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/build +make -f SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/IpoptTest.dir/build'. +make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/IntegratorTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 39%] Built target cpsVanDPol_non +make -f SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/build.make SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/FactorSVDTest.dir/build'. +make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/IpoptDiffTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/build.make SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/build +make -f SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/build.make SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/LBFGSBDiffTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 40%] Built target cpsdenx -[ 40%] Built target pendEs +make -f SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/build.make SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/build +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/LBFGSBTest.dir/build'. +make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/IpoptTest.dir/build'. +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/TestSpline.dir/build.make SimTKmath/tests/CMakeFiles/TestSpline.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/LBFGSDiffTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/build.make SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/LBFGSTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 40%] Built target cpsdenx_lap -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/IntegratorTest.dir/build'. -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/build.make SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/RungeKutta2IntegratorTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 41%] Built target pendLr -make -f SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/depend -make -f SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/depend -make -f SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/depend -make -f SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/depend -make -f SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/depend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/build.make SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/depend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/build.make SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/depend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/build.make SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/depend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/TestGeo.dir/build.make SimTKmath/tests/CMakeFiles/TestGeo.dir/depend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/build.make SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/depend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/DependInfo.cmake "--color=" -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/TestSpline.dir/build.make SimTKmath/tests/CMakeFiles/TestSpline.dir/depend -make -f SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/build.make SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/depend -[ 41%] Built target pend_test -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/DependInfo.cmake "--color=" -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestGeo.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/build.make SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/depend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/DependInfo.cmake "--color=" -make -f SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/depend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestSpline.dir/DependInfo.cmake "--color=" -[ 41%] Built target BestAvailableTest -make -f SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/build.make SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/depend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/DependInfo.cmake "--color=" -make -f Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/build.make Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/depend -[ 43%] Built target initroot1 -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/DependInfo.cmake "--color=" -[ 43%] Built target PendLrCpp -[ 44%] Built target CpsAdamsXCpp -[ 44%] Built target CPodesIntegratorTest -[ 44%] Built target DifferentiatorTest -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/DependInfo.cmake "--color=" -[ 44%] Built target pend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 44%] Built target CMAESTest -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/SimTKmath/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/DependInfo.cmake "--color=" -[ 43%] Built target newton -[ 44%] Built target EigenTest -[ 44%] Built target FactorQTZTest -[ 44%] Built target FactorLUTest -[ 44%] Built target IpoptTest -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/sharedTarget /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/DependInfo.cmake "--color=" -[ 45%] Built target ExplicitEulerIntegratorTest -[ 45%] Built target LBFGSBTest -[ 45%] Built target LBFGSBDiffTest -[ 46%] Built target IpoptDiffTest -[ 46%] Built target FactorSVDTest -[ 46%] Built target LBFGSTest -[ 47%] Built target LBFGSDiffTest -[ 47%] Built target IntegratorTest -[ 48%] Built target RungeKutta2IntegratorTest -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/build -make -f SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/build -make -f SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/TestSpline.dir/build.make SimTKmath/tests/CMakeFiles/TestSpline.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/build.make SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/build.make SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/build -make -f SimTKmath/tests/CMakeFiles/TestGeo.dir/build.make SimTKmath/tests/CMakeFiles/TestGeo.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/build.make SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/build.make SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/RungeKutta3IntegratorTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/build.make SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/build +make -f SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/build.make SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/RungeKuttaFeldbergIntegratorTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/build.make SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/build -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/build.make Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/build'. make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/RungeKuttaMersonIntegratorTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/TestSpline.dir/build'. +make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/SemiExplicitEuler2IntegratorTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/SemiExplicitEulerIntegratorTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/build'. +make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/TestBicubicSurface.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/TestGeo.dir/build'. +make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/TestContactGeometry.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/build'. +make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/build'. +make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/TestSpline.dir/build'. +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/TimeStepperTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/TestTriangleMesh.dir/build'. @@ -1511993,36 +1512012,49 @@ make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/VerletIntegratorTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/build.make SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/build.make SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/SimpleDifferentiatorTest.dir/build'. +make[4]: Nothing to be done for 'SimTKmath/tests/adhoc/CMakeFiles/nlpqlp.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/TestMultibodyGraphMaker.dir/build'. +make[4]: Nothing to be done for 'Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 49%] Built target SemiExplicitEulerIntegratorTest -[ 49%] Built target RungeKuttaFeldbergIntegratorTest -[ 49%] Built target TestSpline -[ 49%] Built target RungeKutta3IntegratorTest -[ 50%] Built target RungeKuttaMersonIntegratorTest -[ 50%] Built target SemiExplicitEuler2IntegratorTest -[ 50%] Built target TestContactGeometry +[ 42%] Built target SimpleDifferentiatorTest +[ 42%] Built target VerletIntegratorTest +[ 42%] Built target RungeKuttaFeldbergIntegratorTest +[ 42%] Built target SemiExplicitEulerIntegratorTest +[ 42%] Built target FactorSVDTest +[ 42%] Built target CMAESTest +[ 53%] Built target TimeStepperTest +[ 42%] Built target IntegratorTest +[ 46%] Built target LBFGSDiffTest +[ 42%] Built target TestMultibodyGraphMaker +[ 42%] Built target BestAvailableTest +[ 42%] Built target DifferentiatorTest +[ 42%] Built target nlpqlp +[ 42%] Built target RungeKutta3IntegratorTest +[ 42%] Built target PendLrCpp +[ 42%] Built target TestContactGeometry +[ 42%] Built target FactorQTZTest +[ 42%] Built target TestTriangleMesh +[ 42%] Built target cpsbanx_lap +[ 42%] Built target LBFGSTest [ 51%] Built target TestBicubicSurface -[ 51%] Built target TestGeo -[ 52%] Built target TimeStepperTest -[ 52%] Built target TestTriangleMesh -[ 52%] Built target nlpqlp -[ 52%] Built target VerletIntegratorTest -[ 52%] Built target SimpleDifferentiatorTest -[ 52%] Built target TestMultibodyGraphMaker -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/build.make Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/build -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/sharedTarget/CMakeFiles/SimTKsimbody.dir/build'. +[ 42%] Built target FactorLUTest +[ 42%] Built target IpoptTest +[ 48%] Built target IpoptDiffTest +[ 53%] Built target CpsAdamsXCpp +[ 53%] Built target RungeKuttaMersonIntegratorTest +[ 42%] Built target LBFGSBDiffTest +[ 42%] Built target LBFGSBTest +[ 42%] Built target TestSpline +[ 53%] Built target ExplicitEulerIntegratorTest +[ 53%] Built target newton +[ 53%] Built target RungeKutta2IntegratorTest +[ 42%] Built target EigenTest make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f SimTKmath/tests/CMakeFiles/TestGeo.dir/build.make SimTKmath/tests/CMakeFiles/TestGeo.dir/build +[ 53%] Built target SemiExplicitEuler2IntegratorTest +[ 53%] Built target CPodesIntegratorTest [ 61%] Built target SimTKsimbody make -f Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/build.make Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/depend make -f Simbody/tests/CMakeFiles/GazeboBasicControllerResponse.dir/build.make Simbody/tests/CMakeFiles/GazeboBasicControllerResponse.dir/depend @@ -1512031,20 +1512063,23 @@ make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/Visualizer/simbody-visualizer /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/Visualizer/simbody-visualizer /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/DependInfo.cmake "--color=" make -f Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/depend -make -f Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/GazeboBasicControllerResponse.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/CMakeFiles/TestAngleConversions.dir/build.make Simbody/tests/CMakeFiles/TestAngleConversions.dir/depend +make -f Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/GazeboInelasticCollision.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/CMakeFiles/TestAngleConversions.dir/build.make Simbody/tests/CMakeFiles/TestAngleConversions.dir/depend +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'SimTKmath/tests/CMakeFiles/TestGeo.dir/build'. +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/GazeboReactionForce.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/build.make Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/depend -make -f Simbody/tests/CMakeFiles/TestConstraints.dir/build.make Simbody/tests/CMakeFiles/TestConstraints.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/build.make Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/depend cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/CMakeFiles/TestConstraints.dir/build.make Simbody/tests/CMakeFiles/TestConstraints.dir/depend make -f Simbody/tests/CMakeFiles/TestCustomConstraints.dir/build.make Simbody/tests/CMakeFiles/TestCustomConstraints.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestAngleConversions.dir/DependInfo.cmake "--color=" @@ -1512052,18 +1512087,18 @@ make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/DependInfo.cmake "--color=" make -f Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/build.make Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/depend +make -f Simbody/tests/CMakeFiles/TestForces.dir/build.make Simbody/tests/CMakeFiles/TestForces.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestConstraints.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/CMakeFiles/TestForces.dir/build.make Simbody/tests/CMakeFiles/TestForces.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestCustomConstraints.dir/DependInfo.cmake "--color=" make -f Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/build.make Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestCustomMobilizedBodies.dir/DependInfo.cmake "--color=" make -f Simbody/tests/CMakeFiles/TestGravity.dir/build.make Simbody/tests/CMakeFiles/TestGravity.dir/depend -make -f Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/build.make Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/depend +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestCustomMobilizedBodies.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/build.make Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestForces.dir/DependInfo.cmake "--color=" make -f Simbody/tests/CMakeFiles/TestLinearBushing.dir/build.make Simbody/tests/CMakeFiles/TestLinearBushing.dir/depend @@ -1512075,262 +1512110,263 @@ make -f Simbody/tests/CMakeFiles/TestMassMatrix.dir/build.make Simbody/tests/CMakeFiles/TestMassMatrix.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/CMakeFiles/TestMobilizedBody.dir/build.make Simbody/tests/CMakeFiles/TestMobilizedBody.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestLinearBushing.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/CMakeFiles/TestMobilizedBody.dir/build.make Simbody/tests/CMakeFiles/TestMobilizedBody.dir/depend make -f Simbody/tests/CMakeFiles/TestMobilizerReactionForces.dir/build.make Simbody/tests/CMakeFiles/TestMobilizerReactionForces.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestLoneParticle.dir/DependInfo.cmake "--color=" make -f Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/build.make Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestMassMatrix.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/build.make Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestMobilizedBody.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestMobilizerReactionForces.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/build.make Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/depend -make -f Simbody/tests/CMakeFiles/TestParallelForces.dir/build.make Simbody/tests/CMakeFiles/TestParallelForces.dir/depend +make -f Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/build.make Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/build.make Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/depend +make -f Simbody/tests/CMakeFiles/TestParallelForces.dir/build.make Simbody/tests/CMakeFiles/TestParallelForces.dir/depend make -f Simbody/tests/CMakeFiles/TestPimpl1.dir/build.make Simbody/tests/CMakeFiles/TestPimpl1.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/build.make Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/build.make Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/depend +make -f Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/build.make Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestParallelForces.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/build.make Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestPimpl1.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/DependInfo.cmake "--color=" +[ 61%] Built target TestGeo make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/build +make -f Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/build.make Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestCustomMobilizedBodies.dir/build.make Simbody/tests/CMakeFiles/TestCustomMobilizedBodies.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestAngleConversions.dir/build.make Simbody/tests/CMakeFiles/TestAngleConversions.dir/build -make -f Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/build.make Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/build +make -f Simbody/tests/CMakeFiles/TestParallelForces.dir/build.make Simbody/tests/CMakeFiles/TestParallelForces.dir/build +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/GazeboReactionForce.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForce.dir/build +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/build.make Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/build.make Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/GazeboInelasticCollision.dir/build.make Simbody/tests/CMakeFiles/GazeboInelasticCollision.dir/build make -f Simbody/tests/CMakeFiles/GazeboBasicControllerResponse.dir/build.make Simbody/tests/CMakeFiles/GazeboBasicControllerResponse.dir/build -make -f Simbody/tests/CMakeFiles/GazeboReactionForce.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForce.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/TestAngleConversions.dir/build.make Simbody/tests/CMakeFiles/TestAngleConversions.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/build +make -f Simbody/tests/CMakeFiles/TestCustomConstraints.dir/build.make Simbody/tests/CMakeFiles/TestCustomConstraints.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestConstraints.dir/build.make Simbody/tests/CMakeFiles/TestConstraints.dir/build -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestCustomMobilizedBodies.dir/build'. +make -f Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/build +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestAngleConversions.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/build.make Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/build +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/GazeboInelasticCollision.dir/build.make Simbody/tests/CMakeFiles/GazeboInelasticCollision.dir/build +make -f Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/build.make Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/build +make -f Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/build.make Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/build +make -f Simbody/tests/CMakeFiles/TestConstraints.dir/build.make Simbody/tests/CMakeFiles/TestConstraints.dir/build +make -f Simbody/tests/CMakeFiles/TestCustomMobilizedBodies.dir/build.make Simbody/tests/CMakeFiles/TestCustomMobilizedBodies.dir/build +make -f Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/build.make Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/build make -f Simbody/tests/CMakeFiles/TestForces.dir/build.make Simbody/tests/CMakeFiles/TestForces.dir/build make -f Simbody/tests/CMakeFiles/TestGravity.dir/build.make Simbody/tests/CMakeFiles/TestGravity.dir/build make -f Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/build.make Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/TestLinearBushing.dir/build.make Simbody/tests/CMakeFiles/TestLinearBushing.dir/build make -f Simbody/tests/CMakeFiles/TestLoneParticle.dir/build.make Simbody/tests/CMakeFiles/TestLoneParticle.dir/build -make -f Simbody/tests/CMakeFiles/TestCustomConstraints.dir/build.make Simbody/tests/CMakeFiles/TestCustomConstraints.dir/build -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/GazeboInelasticCollision.dir/build'. -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/CMakeFiles/TestMassMatrix.dir/build.make Simbody/tests/CMakeFiles/TestMassMatrix.dir/build -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/build'. -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/CMakeFiles/TestMobilizedBody.dir/build.make Simbody/tests/CMakeFiles/TestMobilizedBody.dir/build make -f Simbody/tests/CMakeFiles/TestMobilizerReactionForces.dir/build.make Simbody/tests/CMakeFiles/TestMobilizerReactionForces.dir/build +make -f Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/build.make Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/build +make -f Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/build.make Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/build +make -f Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/build.make Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/build +make -f Simbody/tests/CMakeFiles/TestPimpl1.dir/build.make Simbody/tests/CMakeFiles/TestPimpl1.dir/build +make -f Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/build.make Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/build +make -f Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/build.make Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestAngleConversions.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestConstraints.dir/build'. make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestCollisionDetectionAlgorithm.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/build.make Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/build.make Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/build.make Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/build -make -f Simbody/tests/CMakeFiles/TestMobilizedBody.dir/build.make Simbody/tests/CMakeFiles/TestMobilizedBody.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestForces.dir/build'. +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestFunctionBasedMobilizedBodies.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestCustomConstraints.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestParallelForces.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestGravity.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/GazeboBasicControllerResponse.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestCustomMobilizedBodies.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestConstraints.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestLoneParticle.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestLinearBushing.dir/build.make Simbody/tests/CMakeFiles/TestLinearBushing.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/build.make Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/build -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestHuntCrossleyForce.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/GazeboInelasticCollision.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestCustomConstraints.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestForces.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestLoneParticle.dir/build'. +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/build'. +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestMobilizerReactionForces.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestLinearBushing.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/build.make Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/build -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/GazeboReactionForce.dir/build'. +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestMobilizedBody.dir/build'. +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestGravity.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestPimpl1.dir/build.make Simbody/tests/CMakeFiles/TestPimpl1.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestMassMatrix.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestPimpl1.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestObservedPointFitter.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/build'. -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/build.make Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/build +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceCompliant.dir/build'. make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/build'. -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/GazeboBasicControllerResponse.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestMobilizedBody.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestMobilizerReactionForces.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/GazeboReactionForceWithAppliedForceRigid.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/CMakeFiles/TestParallelForces.dir/build.make Simbody/tests/CMakeFiles/TestParallelForces.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestNoseHooverThermostat.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestElasticFoundationForce.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestOrientedBoundingBox.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestPimpl1.dir/build'. -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestLinearBushing.dir/build'. -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestReverseMobilizers.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestSmoothSphereHalfSpaceForce.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 62%] Built target TestNoseHooverThermostat +[ 62%] Built target TestFunctionBasedMobilizedBodies +[ 62%] Built target TestForces +[ 62%] Built target TestLoneParticle +[ 62%] Built target GazeboReactionForceWithAppliedForceCompliant +[ 62%] Built target TestHuntCrossleyForce +[ 62%] Built target TestConstraints +[ 62%] Built target TestMassMatrix +[ 64%] Built target TestAngleConversions +[ 72%] Built target TestPimpl1 +[ 62%] Built target TestCustomConstraints +[ 62%] Built target TestMobilizerReactionForces +[ 72%] Built target TestLinearBushing +[ 72%] Built target GazeboInelasticCollision +[ 68%] Built target GazeboReactionForceWithAppliedForceRigid +[ 62%] Built target TestElasticFoundationForce +[ 62%] Built target GazeboBasicControllerResponse +[ 62%] Built target TestOrientedBoundingBox +[ 62%] Built target TestReverseMobilizers +[ 62%] Built target GazeboReactionForce +[ 62%] Built target TestParallelForces +[ 66%] Built target TestCollisionDetectionAlgorithm +[ 70%] Built target TestMobilizedBody +[ 72%] Built target TestSmoothSphereHalfSpaceForce +[ 72%] Built target TestObservedPointFitter +[ 72%] Built target TestGravity +[ 72%] Built target TestCustomMobilizedBodies make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/CMakeFiles/TestParallelForces.dir/build'. +make[4]: Nothing to be done for 'Simbody/Visualizer/simbody-visualizer/CMakeFiles/simbody-visualizer.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 62%] Built target TestAngleConversions -[ 63%] Built target GazeboReactionForceWithAppliedForceRigid -[ 64%] Built target TestCustomMobilizedBodies -[ 65%] Built target TestCollisionDetectionAlgorithm -[ 65%] Built target TestFunctionBasedMobilizedBodies -[ 65%] Built target TestConstraints -[ 65%] Built target GazeboReactionForce -[ 66%] Built target GazeboReactionForceWithAppliedForceCompliant -[ 66%] Built target simbody-visualizer -[ 67%] Built target TestGravity -[ 68%] Built target GazeboInelasticCollision -[ 68%] Built target TestCustomConstraints -[ 68%] Built target GazeboBasicControllerResponse +[ 73%] Built target simbody-visualizer make -f Simbody/tests/adhoc/CMakeFiles/BilateralContactConstraints.dir/build.make Simbody/tests/adhoc/CMakeFiles/BilateralContactConstraints.dir/depend -[ 68%] Built target TestMobilizerReactionForces make -f Simbody/tests/adhoc/CMakeFiles/CableOverBicubicSurfaces.dir/build.make Simbody/tests/adhoc/CMakeFiles/CableOverBicubicSurfaces.dir/depend -[ 69%] Built target TestObservedPointFitter -[ 69%] Built target TestForces make -f Simbody/tests/adhoc/CMakeFiles/CoarseRNA.dir/build.make Simbody/tests/adhoc/CMakeFiles/CoarseRNA.dir/depend +make -f Simbody/tests/adhoc/CMakeFiles/CompliantBlockImpact.dir/build.make Simbody/tests/adhoc/CMakeFiles/CompliantBlockImpact.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/BilateralContactConstraints.dir/DependInfo.cmake "--color=" -[ 69%] Built target TestHuntCrossleyForce -make -f Simbody/tests/adhoc/CMakeFiles/CompliantBlockImpact.dir/build.make Simbody/tests/adhoc/CMakeFiles/CompliantBlockImpact.dir/depend -[ 69%] Built target TestMassMatrix make -f Simbody/tests/adhoc/CMakeFiles/ContactBigMeshes.dir/build.make Simbody/tests/adhoc/CMakeFiles/ContactBigMeshes.dir/depend +make -f Simbody/tests/adhoc/CMakeFiles/ContactBrickTest.dir/build.make Simbody/tests/adhoc/CMakeFiles/ContactBrickTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/CableOverBicubicSurfaces.dir/DependInfo.cmake "--color=" -[ 70%] Built target TestMobilizedBody make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/CoarseRNA.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/adhoc/CMakeFiles/ContactBrickTest.dir/build.make Simbody/tests/adhoc/CMakeFiles/ContactBrickTest.dir/depend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/ContactBigMeshes.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/adhoc/CMakeFiles/ContactTest.dir/build.make Simbody/tests/adhoc/CMakeFiles/ContactTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/CompliantBlockImpact.dir/DependInfo.cmake "--color=" -[ 71%] Built target TestSmoothSphereHalfSpaceForce -[ 71%] Built target TestLoneParticle -make -f Simbody/tests/adhoc/CMakeFiles/ContactTest.dir/build.make Simbody/tests/adhoc/CMakeFiles/ContactTest.dir/depend make -f Simbody/tests/adhoc/CMakeFiles/ElasticFoundation.dir/build.make Simbody/tests/adhoc/CMakeFiles/ElasticFoundation.dir/depend -[ 71%] Built target TestNoseHooverThermostat +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/ContactBigMeshes.dir/DependInfo.cmake "--color=" make -f Simbody/tests/adhoc/CMakeFiles/FreeWater.dir/build.make Simbody/tests/adhoc/CMakeFiles/FreeWater.dir/depend +make -f Simbody/tests/adhoc/CMakeFiles/GeometryPlayground.dir/build.make Simbody/tests/adhoc/CMakeFiles/GeometryPlayground.dir/depend +make -f Simbody/tests/adhoc/CMakeFiles/JunkMain1.dir/build.make Simbody/tests/adhoc/CMakeFiles/JunkMain1.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/ContactBrickTest.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/adhoc/CMakeFiles/GeometryPlayground.dir/build.make Simbody/tests/adhoc/CMakeFiles/GeometryPlayground.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/ContactTest.dir/DependInfo.cmake "--color=" -[ 73%] Built target TestLinearBushing -[ 73%] Built target TestPimpl1 -make -f Simbody/tests/adhoc/CMakeFiles/JunkMain1.dir/build.make Simbody/tests/adhoc/CMakeFiles/JunkMain1.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/JunkMain2.dir/build.make Simbody/tests/adhoc/CMakeFiles/JunkMain2.dir/depend cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/ElasticFoundation.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/adhoc/CMakeFiles/JunkMain2.dir/build.make Simbody/tests/adhoc/CMakeFiles/JunkMain2.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/FreeWater.dir/DependInfo.cmake "--color=" make -f Simbody/tests/adhoc/CMakeFiles/LockUnlockConstraint.dir/build.make Simbody/tests/adhoc/CMakeFiles/LockUnlockConstraint.dir/depend -[ 73%] Built target TestOrientedBoundingBox make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/GeometryPlayground.dir/DependInfo.cmake "--color=" -[ 73%] Built target TestElasticFoundationForce -[ 73%] Built target TestReverseMobilizers +make -f Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/build.make Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/JunkMain1.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/build.make Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/depend -[ 73%] Built target TestParallelForces +make -f Simbody/tests/adhoc/CMakeFiles/MiscConstraints.dir/build.make Simbody/tests/adhoc/CMakeFiles/MiscConstraints.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/JunkMain2.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/adhoc/CMakeFiles/MiscConstraints.dir/build.make Simbody/tests/adhoc/CMakeFiles/MiscConstraints.dir/depend +make -f Simbody/tests/adhoc/CMakeFiles/MovingMusclePointMomentArm.dir/build.make Simbody/tests/adhoc/CMakeFiles/MovingMusclePointMomentArm.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/LockUnlockConstraint.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/adhoc/CMakeFiles/MovingMusclePointMomentArm.dir/build.make Simbody/tests/adhoc/CMakeFiles/MovingMusclePointMomentArm.dir/depend make -f Simbody/tests/adhoc/CMakeFiles/OpenSimPartyDemoCable.dir/build.make Simbody/tests/adhoc/CMakeFiles/OpenSimPartyDemoCable.dir/depend +make -f Simbody/tests/adhoc/CMakeFiles/ParallelIpoptTest.dir/build.make Simbody/tests/adhoc/CMakeFiles/ParallelIpoptTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/adhoc/CMakeFiles/ParallelIpoptTest.dir/build.make Simbody/tests/adhoc/CMakeFiles/ParallelIpoptTest.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/MiscConstraints.dir/DependInfo.cmake "--color=" make -f Simbody/tests/adhoc/CMakeFiles/PassThrough.dir/build.make Simbody/tests/adhoc/CMakeFiles/PassThrough.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/MovingMusclePointMomentArm.dir/DependInfo.cmake "--color=" make -f Simbody/tests/adhoc/CMakeFiles/PendulumExample.dir/build.make Simbody/tests/adhoc/CMakeFiles/PendulumExample.dir/depend -make -f Simbody/tests/adhoc/CMakeFiles/PrescribedMotionPlayground.dir/build.make Simbody/tests/adhoc/CMakeFiles/PrescribedMotionPlayground.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/OpenSimPartyDemoCable.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/adhoc/CMakeFiles/PrescribedMotionPlayground.dir/build.make Simbody/tests/adhoc/CMakeFiles/PrescribedMotionPlayground.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/ParallelIpoptTest.dir/DependInfo.cmake "--color=" make -f Simbody/tests/adhoc/CMakeFiles/RadusDrifter.dir/build.make Simbody/tests/adhoc/CMakeFiles/RadusDrifter.dir/depend @@ -1512340,8 +1512376,8 @@ make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/PendulumExample.dir/DependInfo.cmake "--color=" make -f Simbody/tests/adhoc/CMakeFiles/RigidContact1.dir/build.make Simbody/tests/adhoc/CMakeFiles/RigidContact1.dir/depend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/build.make Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/depend +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/PrescribedMotionPlayground.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/RadusDrifter.dir/DependInfo.cmake "--color=" @@ -1512349,679 +1512385,679 @@ make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/RattleBack_ReverseEllipsoid.dir/DependInfo.cmake "--color=" make -f Simbody/tests/adhoc/CMakeFiles/TestMultibodyPerformance.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestMultibodyPerformance.dir/depend -make -f Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/RigidContact1.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/SphericalCoordsMobilizerTest.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/TestMultibodyPerformance.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/depend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/depend make -f Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/depend +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/depend +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/DependInfo.cmake "--color=" make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/depend +make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/DependInfo.cmake "--color=" +make -f Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/build.make Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/depend +make -f Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/build.make Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/build.make Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/depend +make -f Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/build.make Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/build.make Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/depend cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/DependInfo.cmake "--color=" -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/adhoc/CMakeFiles/BilateralContactConstraints.dir/build.make Simbody/tests/adhoc/CMakeFiles/BilateralContactConstraints.dir/build -make -f Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/build.make Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/depend -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/adhoc/CMakeFiles/ContactBigMeshes.dir/build.make Simbody/tests/adhoc/CMakeFiles/ContactBigMeshes.dir/build make -f Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/build.make Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/depend -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/CableOverBicubicSurfaces.dir/build.make Simbody/tests/adhoc/CMakeFiles/CableOverBicubicSurfaces.dir/build make -f examples/CMakeFiles/ChainExample.dir/build.make examples/CMakeFiles/ChainExample.dir/depend make -f examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/build.make examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/DependInfo.cmake "--color=" -make -f examples/CMakeFiles/ConstrainedOptimization.dir/build.make examples/CMakeFiles/ConstrainedOptimization.dir/depend +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ChainExample.dir/DependInfo.cmake "--color=" +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/DependInfo.cmake "--color=" make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/ContactBrickTest.dir/build.make Simbody/tests/adhoc/CMakeFiles/ContactBrickTest.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu 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/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/DependInfo.cmake "--color=" -make -f Simbody/tests/adhoc/CMakeFiles/CompliantBlockImpact.dir/build.make Simbody/tests/adhoc/CMakeFiles/CompliantBlockImpact.dir/build -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples 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'/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/FreeWater.dir/build.make Simbody/tests/adhoc/CMakeFiles/FreeWater.dir/build +make -f Simbody/tests/adhoc/CMakeFiles/CableOverBicubicSurfaces.dir/build.make Simbody/tests/adhoc/CMakeFiles/CableOverBicubicSurfaces.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/GeometryPlayground.dir/build.make Simbody/tests/adhoc/CMakeFiles/GeometryPlayground.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/build.make Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/build -make -f Simbody/tests/adhoc/CMakeFiles/MiscConstraints.dir/build.make Simbody/tests/adhoc/CMakeFiles/MiscConstraints.dir/build -make -f Simbody/tests/adhoc/CMakeFiles/MovingMusclePointMomentArm.dir/build.make 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'/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/JunkMain1.dir/build'. -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/ContactTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/JunkMain2.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/ElasticFoundation.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/BilateralContactConstraints.dir/build.make Simbody/tests/adhoc/CMakeFiles/BilateralContactConstraints.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/LockUnlockConstraint.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/OpenSimPartyDemoCable.dir/build.make 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'/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/build.make Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/PendulumExample.dir/build.make Simbody/tests/adhoc/CMakeFiles/PendulumExample.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/PassThrough.dir/build.make Simbody/tests/adhoc/CMakeFiles/PassThrough.dir/build 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Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/build.make Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/build +make -f Simbody/tests/adhoc/CMakeFiles/MiscConstraints.dir/build.make Simbody/tests/adhoc/CMakeFiles/MiscConstraints.dir/build +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/BilateralContactConstraints.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/CoarseRNA.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/RattleBack_ReverseEllipsoid.dir/build.make Simbody/tests/adhoc/CMakeFiles/RattleBack_ReverseEllipsoid.dir/build -make -f Simbody/tests/adhoc/CMakeFiles/SphericalCoordsMobilizerTest.dir/build.make 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Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/build +make -f Simbody/tests/adhoc/CMakeFiles/ParallelIpoptTest.dir/build.make Simbody/tests/adhoc/CMakeFiles/ParallelIpoptTest.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/ContactBigMeshes.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/build +make -f Simbody/tests/adhoc/CMakeFiles/PassThrough.dir/build.make Simbody/tests/adhoc/CMakeFiles/PassThrough.dir/build +make -f Simbody/tests/adhoc/CMakeFiles/PendulumExample.dir/build.make Simbody/tests/adhoc/CMakeFiles/PendulumExample.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/PrescribedMotionPlayground.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/ContactBrickTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/PrescribedMotionPlayground.dir/build.make Simbody/tests/adhoc/CMakeFiles/PrescribedMotionPlayground.dir/build +make -f Simbody/tests/adhoc/CMakeFiles/RadusDrifter.dir/build.make Simbody/tests/adhoc/CMakeFiles/RadusDrifter.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/PendulumExample.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/ElasticFoundation.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/RattleBack_ReverseEllipsoid.dir/build.make Simbody/tests/adhoc/CMakeFiles/RattleBack_ReverseEllipsoid.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/RadusDrifter.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/FreeWater.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/RigidContact1.dir/build.make Simbody/tests/adhoc/CMakeFiles/RigidContact1.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/SphericalCoordsMobilizerTest.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/ContactTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/GeometryPlayground.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/build.make Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/build +make -f Simbody/tests/adhoc/CMakeFiles/SphericalCoordsMobilizerTest.dir/build.make Simbody/tests/adhoc/CMakeFiles/SphericalCoordsMobilizerTest.dir/build +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/JunkMain1.dir/build'. +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/JunkMain2.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/TestMultibodyPerformance.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestMultibodyPerformance.dir/build +make -f Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/build +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/LockUnlockConstraint.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/LookAtPolygonalMesh.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/RattleBack_ReverseEllipsoid.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/MiscConstraints.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/build +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/ParallelIpoptTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/OpenSimPartyDemoCable.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/build +make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/PassThrough.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/PendulumExample.dir/build'. +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TestMultibodyPerformance.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/PrescribedMotionPlayground.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/PassThrough.dir/build'. +make -f Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/build.make Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/build +make -f Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/build.make Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/build +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/RadusDrifter.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/RattleBack_ReverseEllipsoid.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/build.make Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/RigidContact1.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/build.make Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/build -make -f Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/build -[ 73%] Built target ContactBrickTest -make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/build -make -f Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/build.make Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/build +make -f Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/build.make Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/build +make -f examples/CMakeFiles/ChainExample.dir/build.make examples/CMakeFiles/ChainExample.dir/build +make -f examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/build.make examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/build +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/SphericalCoordsMobilizerTest.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 73%] Built target ContactTest -make -f Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/build.make Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/build -[ 74%] Built target BilateralContactConstraints -make -f Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/build.make Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/build -make -f Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/build.make Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/build -[ 74%] Built target CableOverBicubicSurfaces +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TestMultibodyPerformance.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TestPLUS_SingleBrick.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/build.make Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/build -[ 74%] Built target ElasticFoundation make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/SBPendulum1.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/ConstrainedOptimization.dir/build.make examples/CMakeFiles/ConstrainedOptimization.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TestRiboseMobilizer.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TestThermostat.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 75%] Built target ContactBigMeshes make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 76%] Built target CoarseRNA -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TimsBox.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TimsBoxBristle.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TimsBoxPGS.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/build.make examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/build +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TwoPendulums.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 76%] Built target CompliantBlockImpact -make -f examples/CMakeFiles/ChainExample.dir/build.make examples/CMakeFiles/ChainExample.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'examples/CMakeFiles/ConstrainedOptimization.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/UnilateralPointContact.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/TimsBoxHybrid.dir/build'. +make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/UnilateralPointContactWithFriction.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'Simbody/tests/adhoc/CMakeFiles/WristMomentArm.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 76%] Built target GeometryPlayground -[ 76%] Built target MiscConstraints -[ 77%] Built target LookAtPolygonalMesh make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'examples/CMakeFiles/ConstrainedNumericalDiffOptimization.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 78%] Built target JunkMain2 -[ 78%] Built target JunkMain1 make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'examples/CMakeFiles/ChainExample.dir/build'. -[ 78%] Built target LockUnlockConstraint make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +[ 75%] Built target BilateralContactConstraints +[ 75%] Built target CoarseRNA +[ 76%] Built target ContactTest +[ 76%] Built target MovingMusclePointMomentArm +[ 76%] Built target CableOverBicubicSurfaces +[ 76%] Built target ContactBrickTest +[ 77%] Built target JunkMain2 +[ 77%] Built target CompliantBlockImpact +[ 78%] Built target ContactBigMeshes +make -f examples/CMakeFiles/ConstrainedOptimization.dir/build.make examples/CMakeFiles/ConstrainedOptimization.dir/depend +[ 78%] Built target LockUnlockConstraint [ 79%] Built target FreeWater -[ 80%] Built target MovingMusclePointMomentArm -[ 81%] Built target PrescribedMotionPlayground -[ 81%] Built target ParallelIpoptTest -[ 82%] Built target PendulumExample -[ 82%] Built target SBPendulum1 -[ 82%] Built target OpenSimPartyDemoCable +[ 79%] Built target ElasticFoundation +[ 79%] Built target PassThrough +[ 79%] Built target JunkMain1 +[ 79%] Built target MiscConstraints +[ 79%] Built target ParallelIpoptTest +[ 79%] Built target OpenSimPartyDemoCable +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ConstrainedOptimization.dir/DependInfo.cmake "--color=" make -f examples/CMakeFiles/Differentiator.dir/build.make examples/CMakeFiles/Differentiator.dir/depend -[ 82%] Built target RadusDrifter +[ 80%] Built target UnilateralPointContact make -f examples/CMakeFiles/DzhanibekovEffect.dir/build.make examples/CMakeFiles/DzhanibekovEffect.dir/depend -[ 82%] Built target RattleBack_ReverseEllipsoid make -f examples/CMakeFiles/ExampleAmysIKProblem.dir/build.make examples/CMakeFiles/ExampleAmysIKProblem.dir/depend +make -f examples/CMakeFiles/ExampleAssemblerPlayground.dir/build.make examples/CMakeFiles/ExampleAssemblerPlayground.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/Differentiator.dir/DependInfo.cmake "--color=" -make -f examples/CMakeFiles/ExampleAssemblerPlayground.dir/build.make examples/CMakeFiles/ExampleAssemblerPlayground.dir/depend -[ 82%] Built target PassThrough make -f examples/CMakeFiles/ExampleCablePath.dir/build.make examples/CMakeFiles/ExampleCablePath.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/DzhanibekovEffect.dir/DependInfo.cmake "--color=" -[ 82%] Built target TestRiboseMobilizer -[ 83%] Built target TestMultibodyPerformance +make -f examples/CMakeFiles/ExampleClosedTopologyMechanism.dir/build.make examples/CMakeFiles/ExampleClosedTopologyMechanism.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleAmysIKProblem.dir/DependInfo.cmake "--color=" -make -f examples/CMakeFiles/ExampleClosedTopologyMechanism.dir/build.make examples/CMakeFiles/ExampleClosedTopologyMechanism.dir/depend make -f examples/CMakeFiles/ExampleContactPlayground.dir/build.make examples/CMakeFiles/ExampleContactPlayground.dir/depend -[ 83%] Built target TimsBoxPGS +make -f examples/CMakeFiles/ExampleCustomConstraint.dir/build.make examples/CMakeFiles/ExampleCustomConstraint.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleAssemblerPlayground.dir/DependInfo.cmake "--color=" -make -f examples/CMakeFiles/ExampleCustomConstraint.dir/build.make examples/CMakeFiles/ExampleCustomConstraint.dir/depend +make -f examples/CMakeFiles/ExampleEventHandler.dir/build.make examples/CMakeFiles/ExampleEventHandler.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleCablePath.dir/DependInfo.cmake "--color=" -make -f examples/CMakeFiles/ExampleEventHandler.dir/build.make examples/CMakeFiles/ExampleEventHandler.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/CMakeFiles/ExampleEventReporter.dir/build.make examples/CMakeFiles/ExampleEventReporter.dir/depend cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleClosedTopologyMechanism.dir/DependInfo.cmake "--color=" +make -f examples/CMakeFiles/ExampleGears.dir/build.make examples/CMakeFiles/ExampleGears.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleContactPlayground.dir/DependInfo.cmake "--color=" -[ 83%] Built target TestThermostat -make -f examples/CMakeFiles/ExampleEventReporter.dir/build.make examples/CMakeFiles/ExampleEventReporter.dir/depend -[ 83%] Built target TimsBox -make -f examples/CMakeFiles/ExampleGears.dir/build.make examples/CMakeFiles/ExampleGears.dir/depend +make -f examples/CMakeFiles/ExampleGeodesic.dir/build.make examples/CMakeFiles/ExampleGeodesic.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleCustomConstraint.dir/DependInfo.cmake "--color=" -make -f examples/CMakeFiles/ExampleGeodesic.dir/build.make examples/CMakeFiles/ExampleGeodesic.dir/depend -[ 83%] Built target RigidContact1 +make -f examples/CMakeFiles/ExampleIMUTracking.dir/build.make examples/CMakeFiles/ExampleIMUTracking.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleEventHandler.dir/DependInfo.cmake "--color=" -[ 83%] Built target TimsBoxBristle -make -f examples/CMakeFiles/ExampleIMUTracking.dir/build.make examples/CMakeFiles/ExampleIMUTracking.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleEventReporter.dir/DependInfo.cmake "--color=" make -f examples/CMakeFiles/ExampleKneeJoint.dir/build.make examples/CMakeFiles/ExampleKneeJoint.dir/depend -[ 83%] Built target TestPLUS_SingleBrick -make -f examples/CMakeFiles/ExampleLongPendulum.dir/build.make examples/CMakeFiles/ExampleLongPendulum.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleGears.dir/DependInfo.cmake "--color=" -[ 84%] Built target UnilateralPointContactWithFriction -[ 84%] Built target SphericalCoordsMobilizerTest -make -f examples/CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/build.make examples/CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/depend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleIMUTracking.dir/DependInfo.cmake "--color=" +make -f examples/CMakeFiles/ExampleLongPendulum.dir/build.make examples/CMakeFiles/ExampleLongPendulum.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleGeodesic.dir/DependInfo.cmake "--color=" +make -f examples/CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/build.make examples/CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/depend make -f examples/CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/build.make examples/CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/depend -[ 85%] Built target TimsBoxHybrid -make -f examples/CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/build.make examples/CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleKneeJoint.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleIMUTracking.dir/DependInfo.cmake "--color=" +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleLongPendulum.dir/DependInfo.cmake "--color=" -make -f examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/build.make examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/ExamplePendulum.dir/build.make examples/CMakeFiles/ExamplePendulum.dir/depend cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleMotor-TorqueLimited-Constraint.dir/DependInfo.cmake "--color=" -[ 85%] Built target TwoPendulums make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleMotor-TorqueLimited-Controller.dir/DependInfo.cmake "--color=" -make -f examples/CMakeFiles/ExampleSampleAndHold.dir/build.make examples/CMakeFiles/ExampleSampleAndHold.dir/depend +[ 80%] Built target TimsBox +[ 80%] Built target RadusDrifter +[ 80%] Built target TwoPendulums +[ 86%] Built target TestMultibodyPerformance +[ 80%] Built target TestThermostat +[ 80%] Built target TestRiboseMobilizer +[ 80%] Built target SBPendulum1 +[ 80%] Built target TestPLUS_SingleBrick +[ 80%] Built target UnilateralPointContactWithFriction +[ 83%] Built target PrescribedMotionPlayground +[ 80%] Built target TimsBoxBristle +[ 80%] Built target ConstrainedNumericalDiffOptimization +[ 80%] Built target TimsBoxPGS +[ 80%] Built target ChainExample +[ 80%] Built target GeometryPlayground +[ 86%] Built target SphericalCoordsMobilizerTest +[ 86%] Built target TimsBoxHybrid [ 86%] Built target WristMomentArm +make -f examples/CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/build.make examples/CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/depend +[ 86%] Built target LookAtPolygonalMesh +[ 80%] Built target RigidContact1 +[ 86%] Built target PendulumExample make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleMotor-TorqueLimited-Motion.dir/DependInfo.cmake "--color=" -make -f examples/CMakeFiles/ExampleScissorLift.dir/build.make examples/CMakeFiles/ExampleScissorLift.dir/depend +make -f examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/build.make examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/depend +make -f examples/CMakeFiles/ExamplePendulum.dir/build.make examples/CMakeFiles/ExamplePendulum.dir/depend +[ 80%] Built target RattleBack_ReverseEllipsoid +make -f examples/CMakeFiles/ExampleSampleAndHold.dir/build.make examples/CMakeFiles/ExampleSampleAndHold.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleMotorWithSpeedControl.dir/DependInfo.cmake "--color=" +make -f examples/CMakeFiles/ExampleScissorLift.dir/build.make examples/CMakeFiles/ExampleScissorLift.dir/depend +make -f examples/CMakeFiles/ExampleSimplePlanarMechanism.dir/build.make examples/CMakeFiles/ExampleSimplePlanarMechanism.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExamplePendulum.dir/DependInfo.cmake "--color=" -[ 86%] Built target UnilateralPointContact +make -f examples/CMakeFiles/ExampleTwoBoxCollide.dir/build.make examples/CMakeFiles/ExampleTwoBoxCollide.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleSampleAndHold.dir/DependInfo.cmake "--color=" +make -f examples/CMakeFiles/ExampleWrapping.dir/build.make examples/CMakeFiles/ExampleWrapping.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/ExampleSimplePlanarMechanism.dir/build.make examples/CMakeFiles/ExampleSimplePlanarMechanism.dir/depend cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleScissorLift.dir/DependInfo.cmake "--color=" -[ 86%] Built target ConstrainedNumericalDiffOptimization -[ 86%] Built target ConstrainedOptimization -make -f examples/CMakeFiles/ExampleTwoBoxCollide.dir/build.make examples/CMakeFiles/ExampleTwoBoxCollide.dir/depend -make -f examples/CMakeFiles/ExampleWrapping.dir/build.make examples/CMakeFiles/ExampleWrapping.dir/depend make -f examples/CMakeFiles/JaredsDude.dir/build.make examples/CMakeFiles/JaredsDude.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/ExampleSimplePlanarMechanism.dir/DependInfo.cmake "--color=" -make -f 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make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'examples/CMakeFiles/UnconstrainedNumericalDiffOptimization.dir/build'. +make[4]: Nothing to be done for 'examples/CMakeFiles/SimbodyInstallTestNoViz.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 89%] Built target ExampleCablePath -[ 89%] Built target ExampleEventHandler -[ 89%] Built target ExampleAssemblerPlayground -[ 89%] Built target ExampleGeodesic -[ 89%] Built target Differentiator -make -f examples/CMakeFiles/TheoJansenStrandbeest.dir/build.make examples/CMakeFiles/TheoJansenStrandbeest.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'examples/CMakeFiles/SimpleIntegrator.dir/build'. make[4]: Leaving directory 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examples/CMakeFiles/UserGuide.dir/build -[ 90%] Built target ExampleKneeJoint -[ 90%] Built target ExampleMotorWithSpeedControl -[ 90%] Built target ExampleClosedTopologyMechanism -[ 91%] Built target ExampleIMUTracking make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'examples/CMakeFiles/TheoJansenStrandbeest.dir/build'. +make[4]: Nothing to be done for 'examples/CMakeFiles/UserGuideLimits.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'examples/CMakeFiles/UserGuide.dir/build'. +make[4]: Nothing to be done for 'examples/BricardMechanism/CMakeFiles/BricardMechanism.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 91%] Built target ExampleCustomConstraint -[ 91%] Built target ExampleMotor-TorqueLimited-Motion -[ 91%] Built target ExampleScissorLift -[ 91%] Built target ExampleLongPendulum -[ 91%] Built target ExampleGears -[ 91%] Built target ExampleMotor-TorqueLimited-Controller -make -f examples/CMakeFiles/UserGuideLimits.dir/build.make examples/CMakeFiles/UserGuideLimits.dir/depend -[ 91%] Built target PendulumNoViz -make -f examples/BricardMechanism/CMakeFiles/BricardMechanism.dir/build.make examples/BricardMechanism/CMakeFiles/BricardMechanism.dir/depend -[ 92%] Built target ExampleMotor-TorqueLimited-Constraint +[ 86%] Built target ConstrainedOptimization +[ 86%] Built target ExampleClosedTopologyMechanism +[ 86%] Built target PendulumNoViz +[ 86%] Built target Differentiator +[ 86%] Built target ExampleEventHandler make -f examples/Gazebo2Simbody/CMakeFiles/Gazebo2Simbody.dir/build.make examples/Gazebo2Simbody/CMakeFiles/Gazebo2Simbody.dir/depend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/CMakeFiles/UserGuideLimits.dir/DependInfo.cmake "--color=" make -f examples/TaskSpaceControl-UR10/CMakeFiles/TaskSpaceControl-UR10.dir/build.make examples/TaskSpaceControl-UR10/CMakeFiles/TaskSpaceControl-UR10.dir/depend -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples/BricardMechanism /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/BricardMechanism /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/BricardMechanism/CMakeFiles/BricardMechanism.dir/DependInfo.cmake "--color=" +[ 88%] Built target SimbodyInstallTest make -f examples/TaskSpaceControl-Atlas/CMakeFiles/TaskSpaceControl-Atlas.dir/build.make examples/TaskSpaceControl-Atlas/CMakeFiles/TaskSpaceControl-Atlas.dir/depend make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples/Gazebo2Simbody /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/Gazebo2Simbody /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/Gazebo2Simbody/CMakeFiles/Gazebo2Simbody.dir/DependInfo.cmake "--color=" make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples/TaskSpaceControl-UR10 /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/TaskSpaceControl-UR10 /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/TaskSpaceControl-UR10/CMakeFiles/TaskSpaceControl-UR10.dir/DependInfo.cmake "--color=" -[ 93%] Built target ExampleSimplePlanarMechanism make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' cd /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/reproducible-path/simbody-3.7+dfsg /build/reproducible-path/simbody-3.7+dfsg/examples/TaskSpaceControl-Atlas /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/TaskSpaceControl-Atlas /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/examples/TaskSpaceControl-Atlas/CMakeFiles/TaskSpaceControl-Atlas.dir/DependInfo.cmake "--color=" -[ 94%] Built target ExamplePendulum -[ 94%] Built target ExampleTwoBoxCollide -[ 95%] Built target ParameterConstrainedOptimization -[ 95%] Built target SimbodyInstallTest -[ 95%] Built target ExampleWrapping -[ 95%] Built target ExampleSampleAndHold -[ 96%] Built target SimpleDifferentiator -[ 96%] Built target UnconstrainedNumericalDiffOptimization -[ 96%] Built target SimbodyInstallTestNoViz -[ 96%] Built target JaredsDude -[ 97%] Built target Rattleback -[ 97%] Built target SimpleIntegrator -[ 98%] Built target UnconstrainedOptimization -[ 98%] Built target TheoJansenStrandbeest -[ 99%] Built target UserGuide -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/CMakeFiles/UserGuideLimits.dir/build.make examples/CMakeFiles/UserGuideLimits.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/BricardMechanism/CMakeFiles/BricardMechanism.dir/build.make examples/BricardMechanism/CMakeFiles/BricardMechanism.dir/build make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make -f examples/Gazebo2Simbody/CMakeFiles/Gazebo2Simbody.dir/build.make examples/Gazebo2Simbody/CMakeFiles/Gazebo2Simbody.dir/build +make -f examples/CMakeFiles/UserGuide.dir/build.make examples/CMakeFiles/UserGuide.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'examples/CMakeFiles/UserGuideLimits.dir/build'. +make[4]: Nothing to be done for 'examples/CMakeFiles/UserGuide.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'examples/BricardMechanism/CMakeFiles/BricardMechanism.dir/build'. +[ 88%] Built target ExampleScissorLift +[ 88%] Built target JaredsDude +[ 88%] Built target SimpleIntegrator +[ 88%] Built target ExampleLongPendulum +[ 88%] Built target ExampleAssemblerPlayground +[ 95%] Built target ExampleSimplePlanarMechanism +[ 88%] Built target SimbodyInstallTestNoViz +[ 88%] Built target ExampleMotorWithSpeedControl +[ 88%] Built target ExampleKneeJoint +[ 93%] Built target ExampleMotor-TorqueLimited-Constraint +[ 88%] Built target ExampleTwoBoxCollide +[ 88%] Built target TheoJansenStrandbeest +[ 88%] Built target ExampleAmysIKProblem +[ 88%] Built target ExampleMotor-TorqueLimited-Controller +[ 88%] Built target ExampleMotor-TorqueLimited-Motion +[ 88%] Built target ExampleCablePath +[ 88%] Built target ExampleSampleAndHold +[ 88%] Built target ExampleGears +[ 88%] Built target ExampleGeodesic +[ 88%] Built target BricardMechanism +[ 88%] Built target ExampleWrapping +[ 88%] Built target UserGuideLimits +[ 88%] Built target UnconstrainedNumericalDiffOptimization +[ 91%] Built target DzhanibekovEffect +[ 88%] Built target ExampleCustomConstraint +[ 98%] Built target ExampleContactPlayground +[ 98%] Built target ExampleEventReporter +[ 98%] Built target ParameterConstrainedOptimization +[ 98%] Built target Rattleback +[ 99%] Built target UnconstrainedOptimization +[ 98%] Built target ExampleIMUTracking +[ 99%] Built target UserGuide +[ 99%] Built target SimpleDifferentiator +[ 98%] Built target ExamplePendulum make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -make[4]: Nothing to be done for 'examples/Gazebo2Simbody/CMakeFiles/Gazebo2Simbody.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make -f examples/TaskSpaceControl-UR10/CMakeFiles/TaskSpaceControl-UR10.dir/build.make examples/TaskSpaceControl-UR10/CMakeFiles/TaskSpaceControl-UR10.dir/build -make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make -f examples/Gazebo2Simbody/CMakeFiles/Gazebo2Simbody.dir/build.make examples/Gazebo2Simbody/CMakeFiles/Gazebo2Simbody.dir/build make -f examples/TaskSpaceControl-Atlas/CMakeFiles/TaskSpaceControl-Atlas.dir/build.make examples/TaskSpaceControl-Atlas/CMakeFiles/TaskSpaceControl-Atlas.dir/build make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Nothing to be done for 'examples/Gazebo2Simbody/CMakeFiles/Gazebo2Simbody.dir/build'. +make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' +make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'examples/TaskSpaceControl-UR10/CMakeFiles/TaskSpaceControl-UR10.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Entering directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' make[4]: Nothing to be done for 'examples/TaskSpaceControl-Atlas/CMakeFiles/TaskSpaceControl-Atlas.dir/build'. make[4]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' -[ 99%] Built target UserGuideLimits -[ 99%] Built target Gazebo2Simbody -[ 99%] Built target BricardMechanism [ 99%] Built target TaskSpaceControl-UR10 +[ 99%] Built target Gazebo2Simbody [100%] Built target TaskSpaceControl-Atlas make[3]: Leaving directory '/build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu' /usr/bin/cmake -E cmake_progress_start /build/reproducible-path/simbody-3.7+dfsg/obj-x86_64-linux-gnu/CMakeFiles 0 @@ -1513043,3511 +1513079,3511 @@ -- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/lib/x86_64-linux-gnu/cmake/simbody/SampleCMakeLists.txt -- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/lib/x86_64-linux-gnu/pkgconfig/simbody.pc -- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Simbody_2include_2simbody_2internal_2common_8h.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/MobilizedBody__Universal_8h.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1SplineFitter-members.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MobilizedBody_1_1Ball.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MobilizedBody_1_1FunctionBased-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1NewtonRaphsonFailure.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Differentiator_1_1ScalarFunction.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/navtreeindex41.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1Scale.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Geo_1_1BicubicBezierPatch__-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/simbody_license_page.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MultibodyGraphMaker_1_1Body-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactTracker_1_1HalfSpaceSphere.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Random_1_1Gaussian-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1TriggeredEventReporter.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1Result_1_1Implementation.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/GeneralContactSubsystem_8h_source.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1EventReporter.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MatrixCharacter.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1AbstractMeasure.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/namespacemembers_o.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/VectorView___8h.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Constraint_1_1NoSlip1D.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1LoopConstraintConstructionFailure-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Xml_1_1Node.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/group__UniqueIndexTypes.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Force__MobilityConstantForce_8h.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1AndOpType_3_01FalseType_00_01TrueType_01_4-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Stage.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/MatrixView___8h_source.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1Mat_1_1SubMat.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/related_3.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/typedefs_14.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_14.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/mag_sel.svg +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/groups_6.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_4.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_4.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_14.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enums_2.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/typedefs_12.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/groups_10.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/pages_0.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/groups_8.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/related_9.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/files_11.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_16.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_e.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_7.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_12.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_10.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/groups_3.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_13.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_c.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_11.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_e.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_11.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enums_a.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/related_b.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/files_12.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/mag.svg +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/pages_2.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_1a.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_d.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enums_e.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_f.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enums_4.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/groups_0.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_e.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_9.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_a.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_13.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/typedefs_11.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_c.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_12.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_10.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_11.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/typedefs_4.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_8.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_19.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_b.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_1.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/defines_0.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_14.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_f.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_5.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_4.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_3.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_3.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/files_2.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enums_8.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_9.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_9.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/related_2.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_f.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/groups_c.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_d.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/files_6.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_a.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_a.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_19.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_d.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/pages_6.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_8.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_6.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/files_a.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/files_b.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_b.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_a.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/files_1.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/typedefs_a.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_c.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_17.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/typedefs_b.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_7.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/typedefs_2.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_a.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enums_d.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/groups_f.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_0.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/pages_5.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_c.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_6.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/typedefs_6.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_15.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/files_4.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_2.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_c.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enums_5.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/files_10.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/close.svg +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/defines_3.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_12.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_1.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_10.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/groups_d.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_2.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_5.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/files_c.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_13.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/groups_1.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/related_6.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enums_b.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/typedefs_7.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_f.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/defines_1.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_b.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_7.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_17.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_5.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/files_d.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/typedefs_5.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_8.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/search.css +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_8.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_7.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/typedefs_0.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_b.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_3.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/typedefs_13.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/files_13.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/groups_5.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enums_9.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_17.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enums_6.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_13.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/typedefs_8.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/typedefs_3.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_1.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_0.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_b.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enums_0.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/defines_6.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_12.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/groups_b.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_11.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_10.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/mag_d.svg +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_18.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/defines_5.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_13.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_14.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/pages_4.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enums_1.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_2.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_0.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/typedefs_e.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/related_0.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_15.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/mag_seld.svg +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_e.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_1a.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_16.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_1b.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_9.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/files_7.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_15.js +-- Installing: 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/build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/dir_fa1e5f2ef279acf19d5ef326d4cc4a9d.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Matrix__.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1ImpulseSolver_1_1ConstraintLtdFrictionRT.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/navtreeindex64.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Force__MobilityLinearSpring_8h.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1RealizeCheckFailed.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/navtreeindex69.js +-- Installing: 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Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Constraint_1_1PrescribedMotion.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MultibodySystem.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Geo_1_1BicubicBezierPatch__.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MobilizedBody_1_1Ball.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1UnitInertia__.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/globals_defs_a.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/functions_z.html +-- Installing: 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/build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1GCVSPLUtil.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Function___1_1Step-members.html -- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Force__MobilityDiscreteForce_8h.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/dir_9a8c9a666d5f7b081cbe81e876243bc2.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1conjugate.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/ReinitOnCopy_8h.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1PolygonalMesh.html --- Installing: 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/build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/navtreeindex40.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1CNT_3_01conjugate_3_01R_01_4_01_4-members.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/group__SignBitGroup.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1InverseTransform__.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/MobilizedBody__FunctionBased_8h.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactGeometry_1_1HalfSpace.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/TextDataEventReporter_8h_source.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1PointContact.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1HardStopLower.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1OperationNotAllowedOnView.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Force_1_1ConstantForce-members.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/navtreeindex17.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1TextDataEventReporter_1_1UserFunction.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1DecorativeCone.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1DecorativeBrick-members.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MatrixCharacter_1_1LapackFull-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1UnilateralSpeedConstraint-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactTracker_1_1HalfSpaceEllipsoid.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1SmoothSphereHalfSpaceForce.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1Integrate-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/TimeStepper_8h.js +-- Installing: 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/build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/globals_defs_d.html -- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1RealizeTopologyMustBeCalledFirst-members.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Force_1_1TwoPointLinearDamper.png --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Geo__BicubicBezierPatch_8h.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/ResetOnCopy_8h.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/dir_9fd81f3aa8c1002b77ed843c18ba6862.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/VectorIterator_8h.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactForceGenerator_1_1ElasticFoundation.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MultibodyGraphMaker-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/navtreeindex0.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1CoordinateAxis_1_1ZCoordinateAxis-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1Narrowest_3_01complex_3_01R1_01_4_00_01R2_01_4-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Constraint_1_1Ball.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1Vec_1_1Result-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Force__Thermostat_8h.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/functions_vars_m.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/dir_10507ae63a320ca572be000232def78d.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/functions_type_w.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Xml_1_1Unknown.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MobilizedBody_1_1Pin.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure__.html +-- Installing: 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/build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/CoordinateAxis_8h.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Force_1_1GlobalDamper-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Constraint_1_1ConstantSpeed.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Motion_1_1Custom.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Constraint_1_1ConstantCoordinate.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1CollisionDetectionAlgorithm_1_1TriangleMeshTriangleMesh.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1ArrayIndexTraits_3_01unsigned_01long_01_4-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ParticleConSurfaceSystemGuts-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1VectorBase.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1CableSpring.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/System_8h_source.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/EventReporter_8h_source.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/navtreeindex18.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1AndOpType_3_01FalseType_00_01FalseType_01_4.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1PolynomialRootFinder-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Motion_8h.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/functions_vars_i.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1AbstractValue.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1Delay.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/dir_1a919a81247e1e5a08af6008a6e72c56.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/dir_4b6233070e50edabfa09c079bf2a0217.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1PolynomialRootFinder.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Visualizer_1_1InputListener.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/MobilizedBody__Weld_8h.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ParallelWorkQueue.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Constraint_1_1Rod.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1System.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1DefaultOptimizer.html +-- Installing: 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Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ProjectResults.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Constraint_1_1SpeedCoupler.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Body_1_1Massless.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/functions_func_b.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1Widest_3_01R1_00_01complex_3_01R2_01_4_01_4-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Random_1_1Gaussian.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1UnrecognizedParameter-members.html +-- Installing: 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Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1Implementation.png --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1Mat_1_1Substitute.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/MatrixBase_8h.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/namespacemembers_v.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/namespacemembers_b.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/group__readFromStream.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1IsVoidType_3_01void_01_4.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/functions_rela.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1UntrackedContact.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1Plus.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1PolynomialRootFinder.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1CollisionDetectionAlgorithm_1_1HalfSpaceTriangleMesh-members.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Constraint__LineOnLineContact_8h.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1RungeKuttaFeldbergIntegrator.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1NTraits_3_01conjugate_3_01R_01_4_01_4_1_1Substitute.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Geo_1_1AlignedBox__-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MobilizedBody_1_1Free.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1OBBNode-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1CNT_1_1Substitute-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/System_8h.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Visualizer_8h.js +-- Installing: 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+-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1SystemMultiplierIndex.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/dir_9fd81f3aa8c1002b77ed843c18ba6862.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1RealizeTopologyMustBeCalledFirst.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1Integrate_1_1Implementation.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Function___1_1Sinusoid.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/navtreeindex1.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Pathname_8h_source.html +-- Installing: 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/build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1Narrowest_3_01double_00_01float_01_4.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1Zero.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1VectorView__-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1PLUSImpulseSolver.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1CompliantContactSubsystem.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MatrixBase-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactForceGenerator_1_1BrickHalfSpacePenalty.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MatrixCommitment_1_1Triangular.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1UnrecognizedParameter.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1IsVoidType_3_01void_01_4.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/namespacemembers_func_w.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Spline__.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Optimizer_1_1OptimizerRep.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ForceSubsystem_1_1Guts.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1DecorativeLine-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1StateAndSystemTopologyVersionsMustMatch.png -- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Quaternion__-members.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Constraint__Rod_8h.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MobilizedBody_1_1SphericalCoords.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Geo_1_1AlignedBox__.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Exception_8h_source.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/namespacemembers_s.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1GeodesicIntegrator.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/navtreeindex41.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1SampleAndHold-members.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ZIndex.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1PathDecorator-members.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/functions_eval_i.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Constraint_1_1ConstantAngle.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1RealizeOptions.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/functions_func_t.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1OrOpType_3_01TrueType_00_01FalseType_01_4-members.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1Integrate.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Force__Custom_8h.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MobilizedBody_1_1FreeLine-members.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/navtreeindex51.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactTracker_1_1SphereTriangleMesh.png --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1PIMPLImplementation.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/dir_27feaa53887db83173cd82b586af5671.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1APIMethodFailed.png --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1SystemQErrIndex.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1Vec_1_1EltResult.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Geo__BicubicBezierPatch_8h_source.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Fortran_8h_source.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactTracker_1_1HalfSpaceBrick.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/hierarchy.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Serialize_8h.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/MobilizedBody__LineOrientation_8h_source.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Force_8h_source.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Value.png --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1MaxAbs.png --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1Implementation.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1DefaultSystemSubsystem.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MobilizedBody_1_1Cylinder-members.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1RowVectorView__-members.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1NotPositiveDefinite.png --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/pages.html --- Installing: 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Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1Zero.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MobilizedBody_1_1Slider.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1VectorIterator.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Xml_1_1Comment.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/namespacemembers_type_i.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Constraint__PointInPlane_8h.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactTracker.png -- Installing: 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/build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1Wider_3_01float_00_01float_01_4.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/namespaces_dup.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/AssemblyCondition__Markers_8h_source.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactTracker_1_1HalfSpaceEllipsoid.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Function___1_1Polynomial-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Subsystem_8h.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1Constant.png +-- Installing: 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/build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1Mat_1_1Substitute.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Body.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/SymMat_8h.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactGeometry_1_1TriangleMesh-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactGeometry.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1PointContact.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Constraint_1_1Custom_1_1Implementation.html +-- Installing: 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+-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/navtreeindex25.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1AssemblyCondition.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1OBBTree-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/functions_d.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Geo_1_1Triangle__.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1Time.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1SystemQIndex.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Spline_8h_source.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1CablePath.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Assembler_8h_source.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/namespacemembers_type_c.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1Extreme-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/PLUSImpulseSolver_8h.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1Zero.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/PrivateImplementation_8h_source.html +-- Installing: 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/build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1OrOpType_3_01TrueType_00_01TrueType_01_4.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1LocalEnergyMinimizer.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/functions_vars_c.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1UnimplementedVirtualMethod-members.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1VectorView__-members.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/globals_s.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1DefaultSystemSubsystem-members.html --- Installing: 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/build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Geodesic_8h_source.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/OBBTree_8h.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/PrivateImplementation__Defs_8h.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1PeriodicEventHandler.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1StageTooHigh.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1EventHandler.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/SpatialAlgebra_8h_source.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/navtree.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1SmoothSphereHalfSpaceForce-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MobilizedBody_1_1Ball.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactTracker_1_1HalfSpaceSphere.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Measure___1_1MaxAbs.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Constraint_1_1Weld-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactTracker_1_1GeneralImplicitPair.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1CNT_3_01conjugate_3_01R_01_4_01_4-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Geo__Triangle_8h_source.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Mat.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/functions_eval_r.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1NTraits_3_01complex_3_01R_01_4_01_4.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/MobilizerTerminology.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Exception_8h.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Constraint__SphereOnPlaneContact_8h.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1NewtonRaphsonFailure.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1IncorrectArrayLength.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/navtreeindex35.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1AbstractMeasure-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/SubsystemGuts_8h_source.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1CompliantContactSubsystem.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/doc.svg +-- Installing: 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/build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/HuntCrossleyForce_8h.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MatrixCommitment_1_1SkewHermitian.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1Is64BitHelper_3_01false_01_4.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Parallel2DExecutor_1_1Task.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1ImpulseSolver_1_1BoundedRT-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1UnimplementedVirtualMethod.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1ImpulseSolver_1_1UniContactRT.html +-- Installing: 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+-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactForceGenerator_1_1HertzCircular-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/UnitVec_8h.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Function_8h_source.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/SubsystemGuts_8h.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1SphereSphereContact-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/functions_func_l.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Event.js +-- Installing: 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/build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/dir_3dd4caf48a3858b1cfb8b41c9fd1fa28.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactGeometry_1_1Torus.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1CNT_3_01float_01_4.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/VectorBase_8h.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/group__UncommonMatVecTypedefs.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1SpherePlaneContact.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Differentiator_1_1JacobianFunction.js +-- Installing: 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+-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Xml_1_1Unknown.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MatrixCondition.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1CollisionDetectionAlgorithm_1_1SphereSphere.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1HuntCrossleyContact.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/dir_233458478d1ccc3c83a3b5828b3875d6.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/navtreeindex11.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Constraint_1_1Custom-members.html +-- Installing: 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/build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Geo_1_1CubicBezierCurve__-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MatrixStorage.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Visualizer_1_1BodyFollower.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Force__MobilityDiscreteForce_8h_source.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1CollisionDetectionAlgorithm_1_1SphereSphere.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/functions_func_i.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ForceSubsystem.png +-- Installing: 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/build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_9.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_d.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/related_5.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/files_7.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enums_5.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enums_6.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_2.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_7.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/all_12.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_c.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/variables_13.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/files_2.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/functions_c.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enums_0.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/classes_6.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/search/enumvalues_11.js --- Installing: 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+-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1TriggeredEventReporter.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/navtreeindex29.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Force.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/tab_ad.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactForceGenerator_1_1ThrowError-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactForceGenerator-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Exception_1_1Assert.html +-- Installing: 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+-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/SemiExplicitEulerIntegrator_8h.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MobilizedBody_1_1Planar.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MobilizedBody_1_1Free-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/String_8h.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Value.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/dir_29af226ae715bdf93069aa7a2ed0fbd5.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1CoordinateDirection_1_1NegXDirection.html +-- Installing: 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Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1Vec_1_1Substitute.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1SymMat-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/globals_d.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MultibodyGraphMaker_1_1Mobilizer.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Integrator-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1MatrixCondition_1_1Mask.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Constraint_1_1CoordinateCoupler.html +-- Installing: 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+-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1BrickHalfSpaceContact.png +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/BicubicSurface_8h_source.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1EdgeEdgeContact.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Constraint_1_1ConstantAngle-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactForce.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/structSimTK_1_1Mat_1_1EltResult.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Row_8h_source.html +-- Installing: 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Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Integrator_8h_source.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1HuntCrossleyContact.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1AbstractMeasure_1_1Implementation-members.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/namespacemembers_r.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1CollisionDetectionAlgorithm_1_1SphereSphere.js --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Matrix__.html --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/functions.html --- Installing: 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/build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1BrickHalfSpaceContact.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Function___1_1Polynomial.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Quaternion_8h.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ContactTracker_1_1ConvexImplicitPair.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/ConditionalConstraint_8h.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1ArticulatedInertia__.js +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Xml_1_1Element.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1MobilizedBody_1_1Screw-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1Optimizer_1_1OptimizerRep-members.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/Geo__CubicBezierCurve_8h_source.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classSimTK_1_1DecorativeFrame.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/classes.html +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/api/ParallelExecutor_8h_source.html -- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/SimbodyAPI.html -- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/include/simbody/SimTKcommon.h -- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/include/simbody/SimTKlapack.h @@ -1516820,10 +1516856,10 @@ -- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/examples/src/UserGuideLimits.cpp -- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/examples/src/shared -- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/examples/src/shared/TaskSpace.cpp +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/examples/src/shared/README.txt -- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/examples/src/shared/DRC_OSRF_TaskSpaceReport.pdf --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/examples/src/shared/TaskSpace.h -- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/examples/src/shared/SimbodyExampleHelper.h --- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/examples/src/shared/README.txt +-- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/examples/src/shared/TaskSpace.h -- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/examples/src/README.txt -- Installing: /build/reproducible-path/simbody-3.7+dfsg/debian/tmp/usr/share/doc/simbody/examples/src/CMakeLists.txt CMake Error: failed to create symbolic link '/usr/share/doc/simbody/examples/bin': No such file or directory @@ -1516940,8 +1516976,8 @@ dh_gencontrol -O--buildsystem=cmake dh_md5sums -O--buildsystem=cmake dh_builddeb -O--buildsystem=cmake -dpkg-deb: building package 'libsimbody3.7-dbgsym' in '../libsimbody3.7-dbgsym_3.7+dfsg-5_amd64.deb'. dpkg-deb: building package 'libsimbody3.7' in '../libsimbody3.7_3.7+dfsg-5_amd64.deb'. +dpkg-deb: building package 'libsimbody3.7-dbgsym' in '../libsimbody3.7-dbgsym_3.7+dfsg-5_amd64.deb'. dpkg-deb: building package 'libsimbody-dev' in '../libsimbody-dev_3.7+dfsg-5_amd64.deb'. dpkg-deb: building package 'simbody-doc' in '../simbody-doc_3.7+dfsg-5_all.deb'. dpkg-genbuildinfo --build=binary -O../simbody_3.7+dfsg-5_amd64.buildinfo @@ -1516951,12 +1516987,14 @@ dpkg-buildpackage: info: binary-only upload (no source included) dpkg-genchanges: info: not including original source code in upload I: copying local configuration +I: user script /srv/workspace/pbuilder/1214119/tmp/hooks/B01_cleanup starting +I: user script /srv/workspace/pbuilder/1214119/tmp/hooks/B01_cleanup finished I: unmounting dev/ptmx filesystem I: unmounting dev/pts filesystem I: unmounting dev/shm filesystem I: unmounting proc filesystem I: unmounting sys filesystem I: cleaning the build env -I: removing directory /srv/workspace/pbuilder/2931851 and its subdirectories -I: Current time: Wed Nov 11 06:35:28 -12 2026 -I: pbuilder-time-stamp: 1794422128 +I: removing directory /srv/workspace/pbuilder/1214119 and its subdirectories +I: Current time: Fri Oct 10 02:24:45 +14 2025 +I: pbuilder-time-stamp: 1760012685