Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries --ompython_omhome=/usr ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_laminar.conf.json loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo", uses=false) loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo", uses=false) Using package ModelicaTest with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo) Using package Modelica with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo) Using package Complex with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo) Using package ModelicaServices with version 4.0.0 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo) Running command: "" <> buildModelFMU(ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_laminar,fileNamePrefix="ModelicaTest_4_0_0_ModelicaTest_Fluid_Dissipation_Verifications_HeatTransfer_Plate_kc_laminar",fmuType="me",version="2.0",platforms={"static"}) "" <> buildModelFMU(ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_laminar,fileNamePrefix="ModelicaTest_4_0_0_ModelicaTest_Fluid_Dissipation_Verifications_HeatTransfer_Plate_kc_laminar",fmuType="me",version="2.0",platforms={"static"}) Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 4.0.0+maint.om/package.mo): time 0.001159/0.001159, allocations: 108.3 kB / 17.21 MB, free: 6.285 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 4.0.0+maint.om/package.mo): time 0.001021/0.001021, allocations: 190 kB / 18.12 MB, free: 5.391 MB / 14.72 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 4.0.0+maint.om/package.mo): time 1.329/1.329, allocations: 222.9 MB / 241.8 MB, free: 15.42 MB / 206.1 MB Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaTest 4.0.0+maint.om/package.mo): time 0.1718/0.1718, allocations: 44.18 MB / 336.1 MB, free: 3.02 MB / 270.1 MB Notification: Performance of FrontEnd - loaded program: time 0.001417/0.001417, allocations: 59.42 kB / 407.8 MB, free: 27.61 MB / 302.1 MB Notification: Performance of FrontEnd - Absyn->SCode: time 0.09201/0.09344, allocations: 60.83 MB / 468.6 MB, free: 14.75 MB / 350.1 MB Notification: Performance of NFInst.instantiate(ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_laminar): time 0.002968/0.09645, allocations: 1.875 MB / 470.5 MB, free: 12.86 MB / 350.1 MB Notification: Performance of NFInst.instExpressions: time 0.001417/0.09789, allocations: 0.9543 MB / 471.5 MB, free: 11.9 MB / 350.1 MB Notification: Performance of NFInst.updateImplicitVariability: time 7.89e-05/0.09799, allocations: 11.94 kB / 471.5 MB, free: 11.89 MB / 350.1 MB Notification: Performance of NFTyping.typeComponents: time 0.0002275/0.09823, allocations: 27.89 kB / 471.5 MB, free: 11.86 MB / 350.1 MB Notification: Performance of NFTyping.typeBindings: time 0.0002208/0.09847, allocations: 59.67 kB / 471.6 MB, free: 11.8 MB / 350.1 MB Notification: Performance of NFTyping.typeClassSections: time 0.0003124/0.09879, allocations: 99.7 kB / 471.7 MB, free: 11.71 MB / 350.1 MB Notification: Performance of NFFlatten.flatten: time 0.0002856/0.09909, allocations: 299 kB / 472 MB, free: 11.41 MB / 350.1 MB Notification: Performance of NFFlatten.resolveConnections: time 4.667e-05/0.09914, allocations: 17.56 kB / 472 MB, free: 11.39 MB / 350.1 MB Notification: Performance of NFEvalConstants.evaluate: time 0.0001451/0.09929, allocations: 75.69 kB / 472.1 MB, free: 11.32 MB / 350.1 MB Notification: Performance of NFSimplifyModel.simplify: time 0.0001574/0.09946, allocations: 107.6 kB / 472.2 MB, free: 11.21 MB / 350.1 MB Notification: Performance of NFPackage.collectConstants: time 2.662e-05/0.09949, allocations: 4 kB / 472.2 MB, free: 11.21 MB / 350.1 MB Notification: Performance of NFFlatten.collectFunctions: time 0.0002181/0.09972, allocations: 111.8 kB / 472.3 MB, free: 11.1 MB / 350.1 MB Notification: Performance of NFScalarize.scalarize: time 7.825e-05/0.0998, allocations: 59.73 kB / 472.3 MB, free: 11.04 MB / 350.1 MB Notification: Performance of NFVerifyModel.verify: time 8.023e-05/0.09989, allocations: 71.53 kB / 472.4 MB, free: 10.97 MB / 350.1 MB Notification: Performance of NFConvertDAE.convert: time 0.0002999/0.1002, allocations: 239.5 kB / 472.6 MB, free: 10.74 MB / 350.1 MB Notification: Performance of FrontEnd - DAE generated: time 2.936e-06/0.1002, allocations: 0 / 472.6 MB, free: 10.74 MB / 350.1 MB Notification: Performance of FrontEnd: time 8.22e-07/0.1002, allocations: 0 / 472.6 MB, free: 10.74 MB / 350.1 MB Notification: Performance of Transformations before backend: time 4.989e-06/0.1002, allocations: 0 / 472.6 MB, free: 10.74 MB / 350.1 MB Notification: Model statistics after passing the front-end and creating the data structures used by the back-end: * Number of equations: 34 * Number of variables: 34 Notification: Performance of Generate backend data structure: time 0.0009003/0.1011, allocations: 0.5184 MB / 473.2 MB, free: 10.17 MB / 350.1 MB Notification: Performance of prepare preOptimizeDAE: time 3.461e-05/0.1012, allocations: 12.03 kB / 473.2 MB, free: 10.16 MB / 350.1 MB Notification: Performance of preOpt introduceOutputAliases (simulation): time 5.043e-05/0.1012, allocations: 54.67 kB / 473.2 MB, free: 10.09 MB / 350.1 MB Notification: Performance of preOpt normalInlineFunction (simulation): time 4.63e-05/0.1013, allocations: 16.75 kB / 473.2 MB, free: 10.08 MB / 350.1 MB Notification: Performance of preOpt evaluateParameters (simulation): time 0.0001951/0.1015, allocations: 224.4 kB / 473.5 MB, free: 9.82 MB / 350.1 MB Notification: Performance of preOpt simplifyIfEquations (simulation): time 1.444e-05/0.1015, allocations: 12.53 kB / 473.5 MB, free: 9.809 MB / 350.1 MB Notification: Performance of preOpt expandDerOperator (simulation): time 2.388e-05/0.1015, allocations: 16.31 kB / 473.5 MB, free: 9.793 MB / 350.1 MB Notification: Performance of preOpt clockPartitioning (simulation): time 0.0004735/0.102, allocations: 266.8 kB / 473.7 MB, free: 9.512 MB / 350.1 MB Notification: Performance of preOpt findStateOrder (simulation): time 7.755e-06/0.102, allocations: 3.938 kB / 473.7 MB, free: 9.508 MB / 350.1 MB Notification: Performance of preOpt replaceEdgeChange (simulation): time 1.873e-05/0.1021, allocations: 4 kB / 473.7 MB, free: 9.504 MB / 350.1 MB Notification: Performance of preOpt inlineArrayEqn (simulation): time 2.627e-05/0.1021, allocations: 16.22 kB / 473.8 MB, free: 9.488 MB / 350.1 MB Notification: Performance of preOpt removeEqualRHS (simulation): time 0.0005228/0.1026, allocations: 220.4 kB / 474 MB, free: 9.273 MB / 350.1 MB Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.0009361/0.1036, allocations: 0.8101 MB / 474.8 MB, free: 8.402 MB / 350.1 MB Notification: Performance of preOpt comSubExp (simulation): time 0.0003566/0.1039, allocations: 195.6 kB / 475 MB, free: 8.184 MB / 350.1 MB Notification: Performance of preOpt resolveLoops (simulation): time 0.0002402/0.1042, allocations: 98.48 kB / 475.1 MB, free: 8.078 MB / 350.1 MB Notification: Performance of preOpt evalFunc (simulation): time 3.234e-05/0.1042, allocations: 11.98 kB / 475.1 MB, free: 8.066 MB / 350.1 MB Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 2.329e-05/0.1042, allocations: 34.69 kB / 475.1 MB, free: 8.023 MB / 350.1 MB Notification: Performance of pre-optimization done (n=11): time 1.402e-06/0.1043, allocations: 0 / 475.1 MB, free: 8.023 MB / 350.1 MB Notification: Performance of matching and sorting (n=11): time 0.0008685/0.1051, allocations: 325.2 kB / 475.4 MB, free: 7.699 MB / 350.1 MB Notification: Performance of inlineWhenForInitialization (initialization): time 4.182e-05/0.1052, allocations: 106.8 kB / 475.5 MB, free: 7.57 MB / 350.1 MB Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0002164/0.1054, allocations: 257 kB / 475.8 MB, free: 7.309 MB / 350.1 MB Notification: Performance of collectPreVariables (initialization): time 1.795e-05/0.1054, allocations: 25.7 kB / 475.8 MB, free: 7.277 MB / 350.1 MB Notification: Performance of collectInitialEqns (initialization): time 7.066e-05/0.1055, allocations: 131.9 kB / 475.9 MB, free: 7.145 MB / 350.1 MB Notification: Performance of collectInitialBindings (initialization): time 3.54e-05/0.1055, allocations: 39.45 kB / 476 MB, free: 7.105 MB / 350.1 MB Notification: Performance of simplifyInitialFunctions (initialization): time 6.929e-05/0.1056, allocations: 33.7 kB / 476 MB, free: 7.066 MB / 350.1 MB Notification: Performance of setup shared object (initialization): time 8.853e-05/0.1057, allocations: 342.8 kB / 476.4 MB, free: 6.723 MB / 350.1 MB Notification: Performance of preBalanceInitialSystem (initialization): time 0.00025/0.106, allocations: 91.89 kB / 476.4 MB, free: 6.633 MB / 350.1 MB Notification: Performance of partitionIndependentBlocks (initialization): time 0.0002558/0.1062, allocations: 125 kB / 476.6 MB, free: 6.492 MB / 350.1 MB Notification: Performance of analyzeInitialSystem (initialization): time 0.0004838/0.1067, allocations: 237.2 kB / 476.8 MB, free: 6.242 MB / 350.1 MB Notification: Performance of solveInitialSystemEqSystem (initialization): time 2.235e-06/0.1067, allocations: 0 / 476.8 MB, free: 6.242 MB / 350.1 MB Notification: Performance of matching and sorting (n=15) (initialization): time 0.0005951/0.1073, allocations: 277.1 kB / 477.1 MB, free: 5.965 MB / 350.1 MB Notification: Performance of prepare postOptimizeDAE: time 1.303e-05/0.1074, allocations: 4.156 kB / 477.1 MB, free: 5.961 MB / 350.1 MB Notification: Performance of postOpt simplifyComplexFunction (initialization): time 2.202e-05/0.1074, allocations: 12 kB / 477.1 MB, free: 5.949 MB / 350.1 MB Notification: Performance of postOpt tearingSystem (initialization): time 1.16e-05/0.1074, allocations: 0 / 477.1 MB, free: 5.949 MB / 350.1 MB Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.0002201/0.1076, allocations: 47.89 kB / 477.1 MB, free: 5.902 MB / 350.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 5.25e-06/0.1076, allocations: 0 / 477.1 MB, free: 5.902 MB / 350.1 MB Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.0001929/0.1078, allocations: 39.66 kB / 477.2 MB, free: 5.863 MB / 350.1 MB Notification: Performance of postOpt collapseArrayExpressions (initialization): time 1.919e-05/0.1079, allocations: 7.938 kB / 477.2 MB, free: 5.855 MB / 350.1 MB Notification: Model statistics after passing the back-end for initialization: * Number of independent subsystems: 6 * Number of states: 0 () * Number of discrete variables: 0 () * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for initialization (15): * Single equations (assignments): 12 * Array equations: 0 * Algorithm blocks: 0 * Record equations: 3 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 0 * Torn equation systems: 0 * Mixed (continuous/discrete) equation systems: 0 Notification: Performance of prepare postOptimizeDAE: time 0.0001113/0.108, allocations: 146.3 kB / 477.3 MB, free: 5.703 MB / 350.1 MB Notification: Performance of postOpt lateInlineFunction (simulation): time 7.47e-05/0.1081, allocations: 23.75 kB / 477.3 MB, free: 5.68 MB / 350.1 MB Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.0004264/0.1085, allocations: 219.2 kB / 477.6 MB, free: 5.461 MB / 350.1 MB Notification: Performance of postOpt inlineArrayEqn (simulation): time 6.322e-06/0.1085, allocations: 4 kB / 477.6 MB, free: 5.457 MB / 350.1 MB Notification: Performance of postOpt constantLinearSystem (simulation): time 4.899e-06/0.1085, allocations: 4 kB / 477.6 MB, free: 5.453 MB / 350.1 MB Notification: Performance of postOpt simplifysemiLinear (simulation): time 2.805e-06/0.1085, allocations: 0 / 477.6 MB, free: 5.453 MB / 350.1 MB Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.0003388/0.1089, allocations: 265.4 kB / 477.8 MB, free: 5.145 MB / 350.1 MB Notification: Performance of postOpt simplifyComplexFunction (simulation): time 1.509e-05/0.1089, allocations: 4 kB / 477.8 MB, free: 5.141 MB / 350.1 MB Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.0001852/0.1091, allocations: 31.97 kB / 477.9 MB, free: 5.109 MB / 350.1 MB Notification: Performance of postOpt tearingSystem (simulation): time 2.324e-06/0.1091, allocations: 0 / 477.9 MB, free: 5.109 MB / 350.1 MB Notification: Performance of postOpt inputDerivativesUsed (simulation): time 1.809e-05/0.1091, allocations: 11.98 kB / 477.9 MB, free: 5.098 MB / 350.1 MB Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 3.817e-06/0.1091, allocations: 4 kB / 477.9 MB, free: 5.094 MB / 350.1 MB Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.012e-06/0.1091, allocations: 0 / 477.9 MB, free: 5.094 MB / 350.1 MB Notification: Performance of postOpt symbolicJacobian (simulation): time 0.0005841/0.1097, allocations: 481.6 kB / 478.3 MB, free: 4.605 MB / 350.1 MB Notification: Performance of postOpt removeConstants (simulation): time 5.866e-05/0.1098, allocations: 96.86 kB / 478.4 MB, free: 4.492 MB / 350.1 MB Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 3.578e-05/0.1098, allocations: 7.938 kB / 478.4 MB, free: 4.484 MB / 350.1 MB Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.000245/0.1101, allocations: 19.97 kB / 478.5 MB, free: 4.465 MB / 350.1 MB Notification: Performance of postOpt findZeroCrossings (simulation): time 5.663e-05/0.1101, allocations: 15.92 kB / 478.5 MB, free: 4.449 MB / 350.1 MB Notification: Performance of postOpt collapseArrayExpressions (simulation): time 1.594e-05/0.1102, allocations: 7.984 kB / 478.5 MB, free: 4.441 MB / 350.1 MB Notification: Performance of sorting global known variables: time 0.0001575/0.1103, allocations: 192.5 kB / 478.7 MB, free: 4.258 MB / 350.1 MB Notification: Performance of sort global known variables: time 1.2e-07/0.1103, allocations: 0 / 478.7 MB, free: 4.258 MB / 350.1 MB Notification: Performance of remove unused functions: time 0.0003815/0.1107, allocations: 72.17 kB / 478.8 MB, free: 4.188 MB / 350.1 MB Notification: Model statistics after passing the back-end for simulation: * Number of independent subsystems: 3 * Number of states: 0 () * Number of discrete variables: 0 () * Number of discrete states: 0 () * Number of clocked states: 0 () * Top-level inputs: 0 Notification: Strong component statistics for simulation (11): * Single equations (assignments): 8 * Array equations: 0 * Algorithm blocks: 0 * Record equations: 3 * When equations: 0 * If-equations: 0 * Equation systems (not torn): 0 * Torn equation systems: 0 * Mixed (continuous/discrete) equation systems: 0 Notification: Performance of Backend phase and start with SimCode phase: time 0.0009432/0.1117, allocations: 1.062 MB / 479.8 MB, free: 3.098 MB / 350.1 MB Notification: Performance of simCode: created initialization part: time 0.0005724/0.1123, allocations: 284.8 kB / 480.1 MB, free: 2.801 MB / 350.1 MB Notification: Performance of simCode: created event and clocks part: time 3.307e-06/0.1123, allocations: 0 / 480.1 MB, free: 2.801 MB / 350.1 MB Notification: Performance of simCode: created simulation system equations: time 0.0002865/0.1126, allocations: 185.2 kB / 480.3 MB, free: 2.602 MB / 350.1 MB Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.0004961/0.1131, allocations: 40.34 kB / 480.3 MB, free: 2.562 MB / 350.1 MB Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.003437/0.1165, allocations: 2.873 MB / 483.2 MB, free: 15.57 MB / 366.1 MB Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0002589/0.1168, allocations: 0.7482 MB / 483.9 MB, free: 14.8 MB / 366.1 MB Notification: Performance of simCode: alias equations: time 0.0001165/0.1169, allocations: 37.52 kB / 484 MB, free: 14.76 MB / 366.1 MB Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0001011/0.117, allocations: 51.41 kB / 484 MB, free: 14.71 MB / 366.1 MB Notification: Performance of SimCode: time 2.41e-07/0.117, allocations: 0 / 484 MB, free: 14.71 MB / 366.1 MB Notification: Performance of buildModelFMU: Generate the FMI files: time 2.178/2.295, allocations: 5.408 MB / 489.4 MB, free: 9.48 MB / 366.1 MB Notification: Performance of buildModelFMU: configured platform static using cached values: time 0.0002849/2.295, allocations: 245.9 kB / 489.7 MB, free: 9.215 MB / 366.1 MB Notification: Performance of buildModelFMU: Generate platform static: time 1.769/4.064, allocations: 0 / 489.7 MB, free: 9.215 MB / 366.1 MB (rm -f ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_laminar.pipe ; mkfifo ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_laminar.pipe ; head -c 1048576 < ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_laminar.pipe >> ../files/ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_laminar.sim & /home/hudson/saved_omc/OMSimulator/install/bin/OMSimulator -r=ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_laminar_res.mat --tempDir=temp_ModelicaTest_4_0_0_ModelicaTest_Fluid_Dissipation_Verifications_HeatTransfer_Plate_kc_laminar_fmu --startTime=0 --stopTime=1.01 --timeout=50 --tolerance=1e-07 ModelicaTest_4_0_0_ModelicaTest_Fluid_Dissipation_Verifications_HeatTransfer_Plate_kc_laminar.fmu > ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_laminar.pipe 2>&1) diffSimulationResults("ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_laminar_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/ModelicaTest/Fluid/Dissipation/Verifications/HeatTransfer/Plate/kc_laminar/kc_laminar.csv","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/OpenModelicaLibraryTesting/files/ModelicaTest_4.0.0_ModelicaTest.Fluid.Dissipation.Verifications.HeatTransfer.Plate.kc_laminar.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001) "" Variables in the reference:time,cp[1],cp[2],cp[3],eta[1],eta[2],eta[3],lambda[1],lambda[2],lambda[3],rho[1],rho[2],rho[3],velocity[1],velocity[2],velocity[3],Nu[1],Nu[2],Nu[3],Pr[1],Pr[2],Pr[3],Re[1],Re[2],Re[3],input_v_0.y,input_v_1.y,input_v_2.y Variables in the result:IN_con[1].L,IN_con[2].L,IN_con[3].L,IN_var[1].cp,IN_var[1].eta,IN_var[1].lambda,IN_var[1].rho,IN_var[1].velocity,IN_var[2].cp,IN_var[2].eta,IN_var[2].lambda,IN_var[2].rho,IN_var[2].velocity,IN_var[3].cp,IN_var[3].eta,IN_var[3].lambda,IN_var[3].rho,IN_var[3].velocity,L,Nu[1],Nu[2],Nu[3],Pr[1],Pr[2],Pr[3],Re[1],Re[2],Re[3],cp[1],cp[2],cp[3],eta[1],eta[2],eta[3],input_v_0.duration,input_v_0.height,input_v_0.offset,input_v_0.startTime,input_v_0.y,input_v_1.amplitude,input_v_1.f,input_v_1.offset,input_v_1.phase,input_v_1.startTime,input_v_1.y,input_v_2.fallTimeConst,input_v_2.offset,input_v_2.outMax,input_v_2.riseTime,input_v_2.riseTimeConst,input_v_2.startTime,input_v_2.y,lambda[1],lambda[2],lambda[3],n,rho[1],rho[2],rho[3],time,velocity[1],velocity[2],velocity[3]