body.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/body.h,v 1.48 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
 */

/* elementi di massa, tipo: Elem::Type BODY */

#ifndef BODY_H
#define BODY_H

/* include per derivazione della classe */

#include "elem.h"
#include "strnode.h"
#include "gravity.h"

/* Mass - begin */

class Mass : 
virtual public Elem, public ElemGravityOwner, public InitialAssemblyElem {   
protected:
        const StructDispNode *pNode;
        doublereal dMass;
 
        /* momento statico */
        Vec3 GetS_int(void) const;

        /* momento d'inerzia */
        Mat3x3 GetJ_int(void) const;

        /* Scrive il contributo dell'elemento al file di restart */
        virtual std::ostream& Restart(std::ostream& out) const;
 
        void
        AssVecRBK_int(SubVectorHandler& WorkVec);

        void
        AssMatsRBK_int(
                FullSubMatrixHandler& WMA,
                FullSubMatrixHandler& WMB,
                const doublereal& dCoef);

public:
        /* Costruttore definitivo (da mettere a punto) */
        Mass(unsigned int uL, const StructDispNode *pNode,
                doublereal dMassTmp, flag fOut);

        virtual ~Mass(void);
 
        /* massa totale */
        doublereal dGetM(void) const;
 
        /* momento statico */
        Vec3 GetS(void) const;

        /* momento d'inerzia */
        Mat3x3 GetJ(void) const;

        /* nodo */
        const StructDispNode *pGetNode(void) const;

        /* Tipo dell'elemento (usato solo per debug ecc.) */
        virtual Elem::Type GetElemType(void) const {
                return Elem::BODY; 
        };
 
        /* Numero gdl durante l'assemblaggio iniziale */
        virtual unsigned int iGetInitialNumDof(void) const { 
                return 0; 
        };

        /* Accesso ai dati privati */
        virtual unsigned int iGetNumPrivData(void) const;
        virtual unsigned int iGetPrivDataIdx(const char *s) const;
        virtual doublereal dGetPrivData(unsigned int i) const;

        /******** 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);
                connectedNodes[0] = pNode;
        };
        /**************************************************/
};

/* Mass - end */

/* DynamicMass - begin */

class DynamicMass : 
virtual public Elem, public Mass {
private:

        Vec3 GetB_int(void) const;

        /* Assembla le due matrici necessarie per il calcolo degli
         * autovalori e per lo jacobiano */  
        void AssMats(FullSubMatrixHandler& WorkMatA,
                FullSubMatrixHandler& WorkMatB,
                doublereal dCoef,
                bool bGravity,
                const Vec3& GravityAcceleration);

public:
        /* Costruttore definitivo (da mettere a punto) */
        DynamicMass(unsigned int uL, const DynamicStructDispNode* pNode, 
                doublereal dMassTmp, flag fOut);

        virtual ~DynamicMass(void);
 
        void WorkSpaceDim(integer* piNumRows, integer* piNumCols) const { 
                *piNumRows = 3; 
                *piNumCols = 3; 
        };
 
        virtual VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef,
                const VectorHandler& XCurr, 
                const VectorHandler& XPrimeCurr);

        void AssMats(VariableSubMatrixHandler& WorkMatA,
                VariableSubMatrixHandler& WorkMatB,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);
 
        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr, 
                const VectorHandler& XPrimeCurr);
 
        /* Dimensione del workspace durante l'assemblaggio iniziale.
         * Occorre tener conto del numero di dof che l'elemento definisce
         * in questa fase e dei dof dei nodi che vengono utilizzati.
         * Sono considerati dof indipendenti la posizione e la velocita'
         * dei nodi */
        virtual void 
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const { 
                *piNumRows = 3; 
                *piNumCols = 3; 
        };

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

        /* Contributo al residuo durante l'assemblaggio iniziale */   
        virtual SubVectorHandler& 
        InitialAssRes(SubVectorHandler& WorkVec, const VectorHandler& XCurr);

        /* Usata per inizializzare la quantita' di moto */
        virtual void SetValue(DataManager *pDM,
                VectorHandler& X, VectorHandler& XP,
                SimulationEntity::Hints *ph = 0);
};

/* DynamicMass - end */

/* StaticMass - begin */

class StaticMass : 
virtual public Elem, public Mass {   
private:
        /* Assembla le due matrici necessarie per il calcolo degli
         * autovalori e per lo jacobiano */  
        bool AssMats(FullSubMatrixHandler& WorkMatA,
                FullSubMatrixHandler& WorkMatB,
                doublereal dCoef);

public:
        /* Costruttore definitivo (da mettere a punto) */
        StaticMass(unsigned int uL, const StaticStructDispNode* pNode,
                doublereal dMass, flag fOut);

        virtual ~StaticMass(void);
 
        void WorkSpaceDim(integer* piNumRows, integer* piNumCols) const { 
                *piNumRows = 3; 
                *piNumCols = 3; 
        };
 
        virtual VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef,
                const VectorHandler& XCurr, 
                const VectorHandler& XPrimeCurr);

        void AssMats(VariableSubMatrixHandler& WorkMatA,
                VariableSubMatrixHandler& WorkMatB,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);
 
        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr, 
                const VectorHandler& XPrimeCurr);

        /* inverse dynamics capable element */
        virtual bool bInverseDynamics(void) const;
 
        /* Inverse Dynamics: */
        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                const VectorHandler& /* XCurr */ ,
                const VectorHandler& /* XPrimeCurr */ ,
                const VectorHandler& /* XPrimePrimeCurr */ ,
                InverseDynamics::Order iOrder = InverseDynamics::INVERSE_DYNAMICS);

        /* Dimensione del workspace durante l'assemblaggio iniziale.
         * Occorre tener conto del numero di dof che l'elemento definisce
         * in questa fase e dei dof dei nodi che vengono utilizzati.
         * Sono considerati dof indipendenti la posizione e la velocita'
         * dei nodi */
        virtual void 
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const { 
                *piNumRows = 3; 
                *piNumCols = 3; 
        };

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

        /* Contributo al residuo durante l'assemblaggio iniziale */   
        virtual SubVectorHandler& 
        InitialAssRes(SubVectorHandler& WorkVec, const VectorHandler& XCurr);

        /* Usata per inizializzare la quantita' di moto */
        virtual void SetValue(DataManager *pDM,
                VectorHandler& X, VectorHandler& XP,
                SimulationEntity::Hints *ph = 0);
};

/* StaticMass - end */

/* Body - begin */

class Body : 
virtual public Elem, public ElemGravityOwner, public InitialAssemblyElem {   
protected:
        const StructNode *pNode;
        doublereal dMass;
        Vec3 Xgc;
        Vec3 S0;
        Mat3x3 J0;
 
        mutable Vec3 STmp;
        mutable Mat3x3 JTmp;

        /* momento statico */
        Vec3 GetS_int(void) const;

        /* momento d'inerzia */
        Mat3x3 GetJ_int(void) const;

        void
        AssVecRBK_int(SubVectorHandler& WorkVec);

        void
        AssMatsRBK_int(
                FullSubMatrixHandler& WMA,
                FullSubMatrixHandler& WMB,
                const doublereal& dCoef,
                const Vec3& Sc);

public:
        /* Costruttore definitivo (da mettere a punto) */
        Body(unsigned int uL, const StructNode *pNode,
                doublereal dMassTmp, const Vec3& XgcTmp, const Mat3x3& JTmp, 
                flag fOut);

        virtual ~Body(void);
 
        /* Scrive il contributo dell'elemento al file di restart */
        virtual std::ostream& Restart(std::ostream& out) const;
 
        /* massa totale */
        doublereal dGetM(void) const;
 
        /* momento statico */
        Vec3 GetS(void) const;

        /* momento d'inerzia */
        Mat3x3 GetJ(void) const;

        /* nodo */
        const StructNode *pGetNode(void) const;

        /* Tipo dell'elemento (usato solo per debug ecc.) */
        virtual Elem::Type GetElemType(void) const {
                return Elem::BODY; 
        };
 
        /* Numero gdl durante l'assemblaggio iniziale */
        virtual unsigned int iGetInitialNumDof(void) const { 
                return 0; 
        };

        virtual void AfterPredict(VectorHandler& X, VectorHandler& XP);

        /* Accesso ai dati privati */
        virtual unsigned int iGetNumPrivData(void) const;
        virtual unsigned int iGetPrivDataIdx(const char *s) const;
        virtual doublereal dGetPrivData(unsigned int i) const;

        /******** 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);
                connectedNodes[0] = pNode;
        };
        /**************************************************/
};

/* Body - end */


/* DynamicBody - begin */

class DynamicBody : 
virtual public Elem, public Body {
private:

        Vec3 GetB_int(void) const;
        Vec3 GetG_int(void) const;

        /* Assembla le due matrici necessarie per il calcolo degli
         * autovalori e per lo jacobiano */  
        void AssMats(FullSubMatrixHandler& WorkMatA,
                FullSubMatrixHandler& WorkMatB,
                doublereal dCoef,
                bool bGravity,
                const Vec3& GravityAcceleration);

public:
        /* Costruttore definitivo (da mettere a punto) */
        DynamicBody(unsigned int uL, const DynamicStructNode* pNodeTmp, 
                doublereal dMassTmp, const Vec3& XgcTmp, const Mat3x3& JTmp, 
                flag fOut);

        virtual ~DynamicBody(void);
 
        virtual void WorkSpaceDim(integer* piNumRows, integer* piNumCols) const;
 
        virtual VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef,
                const VectorHandler& XCurr, 
                const VectorHandler& XPrimeCurr);

        virtual void
        AssMats(VariableSubMatrixHandler& WorkMatA,
                VariableSubMatrixHandler& WorkMatB,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);
 
        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr, 
                const VectorHandler& XPrimeCurr);
 
        /* Dimensione del workspace durante l'assemblaggio iniziale.
         * Occorre tener conto del numero di dof che l'elemento definisce
         * in questa fase e dei dof dei nodi che vengono utilizzati.
         * Sono considerati dof indipendenti la posizione e la velocita'
         * dei nodi */
        virtual void 
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const;

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

        /* Contributo al residuo durante l'assemblaggio iniziale */   
        virtual SubVectorHandler& 
        InitialAssRes(SubVectorHandler& WorkVec, const VectorHandler& XCurr);

        /* Usata per inizializzare la quantita' di moto */
        virtual void SetValue(DataManager *pDM,
                VectorHandler& X, VectorHandler& XP,
                SimulationEntity::Hints *ph = 0);
};

/* DynamicBody - end */


/* ModalBody - begin */

class ModalBody : 
virtual public Elem, public DynamicBody {
private:
        Vec3 XPP, WP;

        /* Assembla le due matrici necessarie per il calcolo degli
         * autovalori e per lo jacobiano */  
        void AssMats(FullSubMatrixHandler& WorkMatA,
                FullSubMatrixHandler& WorkMatB,
                doublereal dCoef,
                const VectorHandler& XCurr, 
                const VectorHandler& XPrimeCurr,
                bool bGravity,
                const Vec3& GravityAcceleration);

public:
        /* Costruttore definitivo (da mettere a punto) */
        ModalBody(unsigned int uL, const ModalNode* pNodeTmp, 
                doublereal dMassTmp, const Vec3& XgcTmp, const Mat3x3& JTmp, 
                flag fOut);

        virtual ~ModalBody(void);
 
        void WorkSpaceDim(integer* piNumRows, integer* piNumCols) const;
 
        virtual VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef,
                const VectorHandler& XCurr, 
                const VectorHandler& XPrimeCurr);

        void AssMats(VariableSubMatrixHandler& WorkMatA,
                VariableSubMatrixHandler& WorkMatB,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);
 
        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr, 
                const VectorHandler& XPrimeCurr);
};

/* ModalBody - end */


/* StaticBody - begin */

class StaticBody : 
virtual public Elem, public Body {   
private:
        /* Assembla le due matrici necessarie per il calcolo degli
         * autovalori e per lo jacobiano */  
        bool AssMats(FullSubMatrixHandler& WorkMatA,
                FullSubMatrixHandler& WorkMatB,
                doublereal dCoef);

public:
        /* Costruttore definitivo (da mettere a punto) */
        StaticBody(unsigned int uL, const StaticStructNode* pNode,
                doublereal dMass, const Vec3& Xgc, const Mat3x3& J, 
                flag fOut);

        virtual ~StaticBody(void);
 
        void WorkSpaceDim(integer* piNumRows, integer* piNumCols) const { 
                *piNumRows = 6; 
                *piNumCols = 6; 
        };
 
        virtual VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef,
                const VectorHandler& XCurr, 
                const VectorHandler& XPrimeCurr);

        void AssMats(VariableSubMatrixHandler& WorkMatA,
                VariableSubMatrixHandler& WorkMatB,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);
 
        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr, 
                const VectorHandler& XPrimeCurr);

        /* inverse dynamics capable element */
        virtual bool bInverseDynamics(void) const;
 
        /* Inverse Dynamics: */
        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                const VectorHandler& /* XCurr */ ,
                const VectorHandler& /* XPrimeCurr */ ,
                const VectorHandler& /* XPrimePrimeCurr */ ,
                InverseDynamics::Order iOrder = InverseDynamics::INVERSE_DYNAMICS);

        /* Dimensione del workspace durante l'assemblaggio iniziale.
         * Occorre tener conto del numero di dof che l'elemento definisce
         * in questa fase e dei dof dei nodi che vengono utilizzati.
         * Sono considerati dof indipendenti la posizione e la velocita'
         * dei nodi */
        virtual void 
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const { 
                *piNumRows = 6; 
                *piNumCols = 6; 
        };

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

        /* Contributo al residuo durante l'assemblaggio iniziale */   
        virtual SubVectorHandler& 
        InitialAssRes(SubVectorHandler& WorkVec, const VectorHandler& XCurr);

        /* Usata per inizializzare la quantita' di moto */
        virtual void SetValue(DataManager *pDM,
                VectorHandler& X, VectorHandler& XP,
                SimulationEntity::Hints *ph = 0);
};

/* StaticBody - end */

class DataManager;
class MBDynParser;

extern Elem* ReadBody(DataManager* pDM, MBDynParser& HP, unsigned int uLabel);

#endif /* BODY_H */