beamslider.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/beamslider.h,v 1.33 2017/01/12 14:46:43 masarati Exp $ */
/* 
 * MBDyn (C) is a multibody analysis code. 
 * http://www.mbdyn.org
 *
 * Copyright (C) 1996-2017
 *
 * Pierangelo Masarati  <masarati@aero.polimi.it>
 * Paolo Mantegazza     <mantegazza@aero.polimi.it>
 *
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 * via La Masa, 34 - 20156 Milano, Italy
 * http://www.aero.polimi.it
 *
 * Changing this copyright notice is forbidden.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation (version 2 of the License).
 * 
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

/* Trave a volumi finiti, con predisposizione per forze di inerzia consistenti
 * e legame cositutivo piezoelettico */


#ifndef BEAMSLIDER_H
#define BEAMSLIDER_H

#include <myassert.h>
#include <except.h>

#include <strnode.h>
#include <elem.h>
#include <beam.h>
#include <joint.h>

/*
 * Beam connection: 
 * struttura che contiene i nodi e gli offset di una trave a tre nodi
 *
 * BeamConn - begin
 */
class BeamConn {
protected:
        const Beam *m_pBeam;
        Vec3 m_f[3];
        Mat3x3 m_R[3];
public:
        BeamConn(const Beam *pB, 
                        const Vec3& f1, const Vec3& f2, const Vec3& f3,
                        const Mat3x3& R1 = Eye3, 
                        const Mat3x3& R2 = Eye3, 
                        const Mat3x3& R3 = Eye3);

        virtual ~BeamConn(void);
        
        const Beam *
        pGetBeam(void) const { 
                return m_pBeam; 
        };
        
        const StructNode *
        pGetNode(unsigned int i) const { 
                return m_pBeam->pGetNode(i); 
        };

        const Vec3 &
        Getf(unsigned int i) const {
                ASSERT(i >= 1 && i <= 3);
                return m_f[--i];
        };

        const Mat3x3 &
        GetR(unsigned int i) const {
                ASSERT(i >= 1 && i <= 3);
                return m_R[--i];
        };
};

/* BeamConn - end */


/* BeamSliderJoint - begin */

class BeamSliderJoint: virtual public Elem, public Joint {
public:
        enum Type { SPHERICAL, CLASSIC, SPLINE };
private:
        unsigned int nRotConstr;
        unsigned int nBeams;
        unsigned int iCurrBeam;

        enum Type iType;

        const StructNode* pNode;
        const BeamConn *const *ppBeam;
        Vec3 f;
        Mat3x3 R;
        Vec3 F;
        Vec3 m;
        Vec3 M;
        doublereal sRef;
        doublereal s;
        int activeNode;
        doublereal dL;
        doublereal dW[2];

        Vec3 xNod[Beam::NUMNODES];
        Vec3 fTmp[Beam::NUMNODES];
        Vec3 xTmp[Beam::NUMNODES];
        doublereal dN[Beam::NUMNODES];
        doublereal dNp[Beam::NUMNODES];
        doublereal dNpp[Beam::NUMNODES];
        Vec3 x;
        Vec3 l;

        Vec3 fb;
        Vec3 xc;
        Mat3x3 Rb;
   
public:
        /* Costruttore non banale */
        BeamSliderJoint(unsigned int uL, const DofOwner* pDO,
                        const StructNode* pN, enum Type iT,
                        unsigned int nB, const BeamConn *const *pB,
                        unsigned int uIB, unsigned int uIN,
                        doublereal dl,
                        const Vec3& fTmp, const Mat3x3& RTmp, flag fOut);
   
        /* Distruttore */
        ~BeamSliderJoint(void);

        /* Contributo al file di restart */
        virtual std::ostream& Restart(std::ostream& out) const;

        /* Tipo di Joint */
        virtual Joint::Type GetJointType(void) const { 
                return Joint::BEAMSLIDER;
        };
   
        virtual unsigned int iGetNumDof(void) const { 
                return 4+nRotConstr;
        };
   
        DofOrder::Order GetDofType(unsigned int i) const {
                ASSERT(i >= 0 && i < iGetNumDof());
                return DofOrder::ALGEBRAIC;
        }

        void WorkSpaceDim(integer* piNumRows, integer* piNumCols) const { 
                *piNumRows = 6*(1+Beam::NUMNODES)+iGetNumDof();
                *piNumCols = *piNumRows;
        };
   
        VariableSubMatrixHandler& 
        AssJac(VariableSubMatrixHandler& WorkMat,
                        doublereal dCoef,
                        const VectorHandler& XCurr, 
                        const VectorHandler& XPrimeCurr);
        
        SubVectorHandler& 
        AssRes(SubVectorHandler& WorkVec,
                        doublereal dCoef,
                        const VectorHandler& XCurr, 
                        const VectorHandler& XPrimeCurr);
        
        void Output(OutputHandler& OH) const;
        
        /* funzioni usate nell'assemblaggio iniziale */
        virtual unsigned int iGetInitialNumDof(void) const { 
                // return 8+2*nRotConstr;
                return 0;
        };
        virtual void 
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 12*(1+Beam::NUMNODES)+iGetInitialNumDof(); 
                *piNumCols = *piNumRows;
        };

        /* Contributo allo jacobiano durante l'assemblaggio iniziale */
        VariableSubMatrixHandler& 
        InitialAssJac(VariableSubMatrixHandler& WorkMat,
                        const VectorHandler& XCurr);

        /* Contributo al residuo durante l'assemblaggio iniziale */
        SubVectorHandler&
        InitialAssRes(SubVectorHandler& WorkVec, const VectorHandler& XCurr);
 
#if 0
        /* Dati privati */
        virtual unsigned int iGetNumPrivData(void) const;
        virtual unsigned int iGetPrivDataIdx(const char *s) const;
        virtual doublereal dGetPrivData(unsigned int i = 0) const;
#endif
        
        /* *******PER IL SOLUTORE PARALLELO******** */        
        /*
         * Fornisce il tipo e la label dei nodi che sono connessi all'elemento
         * utile per l'assemblaggio della matrice di connessione fra i dofs
         */
        virtual void 
        GetConnectedNodes(std::vector<const Node *>& connectedNodes) const {
                connectedNodes.resize(1 + nBeams*Beam::NUMNODES);
                connectedNodes[0] = pNode;

                /* for each beam */
                for (unsigned int i = 0; i < nBeams; i++) {
                        /* for each node */
                        for (int j = 1; j <= Beam::NUMNODES; j++) {
                                connectedNodes[Beam::NUMNODES*i + j] = ppBeam[i]->pGetNode(j);
                        }
                }
        };
        /* ************************************************ */
};

#endif /* BEAMSLIDER_H */