#include <brake.h>

Inheritance diagram for Brake:

Collaboration diagram for Brake:

Public Member Functions
	Brake (unsigned int uL, const DofOwner pDO, const StructNode pN1, const StructNode pN2, const Vec3 &dTmp1, const Vec3 &dTmp2, const Mat3x3 &R1hTmp, const Mat3x3 &R2hTmp, flag fOut, const doublereal rr, const doublereal pref, BasicShapeCoefficient const sh, BasicFriction const f, DriveCaller pdc)

	~Brake (void)

virtual std::ostream &	Restart (std::ostream &out) const

virtual Joint::Type	GetJointType (void) const

virtual unsigned int	iGetNumDof (void) const

DofOrder::Order	GetDofType (unsigned int i) const

virtual void	SetValue (DataManager pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints ph=0)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)

void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

DofOrder::Order	GetEqType (unsigned int i) const

void	Output (OutputHandler &OH) const

virtual unsigned int	iGetInitialNumDof (void) const

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

VariableSubMatrixHandler &	InitialAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

SubVectorHandler &	InitialAssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr)

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

virtual void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) const

Public Member Functions inherited from Elem
	Elem (unsigned int uL, flag fOut)

virtual	~Elem (void)

virtual std::ostream &	DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual std::ostream &	DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual void	AssMats (VariableSubMatrixHandler &WorkMatA, VariableSubMatrixHandler &WorkMatB, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual bool	bInverseDynamics (void) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

virtual int	GetNumConnectedNodes (void) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

virtual Hint *	ParseHint (DataManager pDM, const char s) const

virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

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

virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)

virtual std::ostream &	OutputAppend (std::ostream &out) const

virtual void	ReadInitialState (MBDynParser &HP)

Public Member Functions inherited from ToBeOutput
	ToBeOutput (flag fOut=fDefaultOut)

virtual	~ToBeOutput (void)

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH, const VectorHandler &X, const VectorHandler &XP) const

virtual flag	fToBeOutput (void) const

virtual bool	bToBeOutput (void) const

virtual void	SetOutputFlag (flag f=flag(1))

Public Member Functions inherited from Joint
	Joint (unsigned int uL, const DofOwner *pD, flag fOut)

virtual	~Joint (void)

virtual Elem::Type	GetElemType (void) const

std::ostream &	Output (std::ostream &out, const char *sJointName, unsigned int uLabel, const Vec3 &FLocal, const Vec3 &MLocal, const Vec3 &FGlobal, const Vec3 &MGlobal) const

virtual void	SetInitialValue (VectorHandler &)

virtual void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

bool	bIsPrescribedMotion (void) const

bool	bIsTorque (void) const

Public Member Functions inherited from ElemGravityOwner
	ElemGravityOwner (unsigned int uL, flag fOut)

virtual	~ElemGravityOwner (void)

virtual doublereal	dGetM (void) const

Vec3	GetS (void) const

Mat3x3	GetJ (void) const

Vec3	GetB (void) const

Vec3	GetG (void) const

Public Member Functions inherited from GravityOwner
	GravityOwner (void)

virtual	~GravityOwner (void)

void	PutGravity (const Gravity *pG)

virtual bool	bGetGravity (const Vec3 &X, Vec3 &Acc) const

Public Member Functions inherited from ElemWithDofs
	ElemWithDofs (unsigned int uL, const DofOwner *pDO, flag fOut)

virtual	~ElemWithDofs (void)

Public Member Functions inherited from DofOwnerOwner
	DofOwnerOwner (const DofOwner *pDO)

virtual	~DofOwnerOwner ()

virtual const DofOwner *	pGetDofOwner (void) const

virtual integer	iGetFirstIndex (void) const

Public Member Functions inherited from InitialAssemblyElem
	InitialAssemblyElem (unsigned int uL, flag fOut)

virtual	~InitialAssemblyElem (void)

Public Member Functions inherited from SubjectToInitialAssembly
	SubjectToInitialAssembly (void)

virtual	~SubjectToInitialAssembly (void)

Private Attributes
const StructNode *	pNode1

const StructNode *	pNode2

Vec3	d1

Mat3x3	R1h

Vec3	d2

Mat3x3	R2h

Vec3	M

doublereal	dTheta

BasicShapeCoefficient *const	Sh_c

BasicFriction *const	fc

const doublereal	preF

const doublereal	r

DriveOwner	brakeForce

Static Private Attributes
static const unsigned int	NumSelfDof

static const unsigned int	NumDof

Additional Inherited Members
Public Types inherited from Elem
enum	Type { UNKNOWN = -1, AIRPROPERTIES = 0, INDUCEDVELOCITY, AUTOMATICSTRUCTURAL, GRAVITY, BODY, JOINT, JOINT_REGULARIZATION, BEAM, PLATE, FORCE, INERTIA, ELECTRICBULK, ELECTRIC, THERMAL, HYDRAULIC, BULK, LOADABLE, DRIVEN, EXTERNAL, AEROMODAL, AERODYNAMIC, GENEL, SOCKETSTREAM_OUTPUT, RTAI_OUTPUT = SOCKETSTREAM_OUTPUT, LASTELEMTYPE }

Public Types inherited from SimulationEntity
typedef std::vector< Hint * >	Hints

Public Types inherited from ToBeOutput
enum	{ OUTPUT = 0x1U, OUTPUT_MASK = 0xFU, OUTPUT_PRIVATE = 0x10U, OUTPUT_PRIVATE_MASK = ~OUTPUT_MASK }

Public Types inherited from Joint
enum	Type { UNKNOWN = -1, DISTANCE = 0, DISTANCEWITHOFFSET, CLAMP, SPHERICALHINGE, PIN, UNIVERSALHINGE, UNIVERSALROTATION, UNIVERSALPIN, PLANEHINGE, PLANEROTATION, PLANEPIN, AXIALROTATION, PLANEDISP, PLANEDISPPIN, INPLANE, INPLANECONTACT, J_INLINE, ROD, RODBEZIER, DEFORMABLEHINGE, DEFORMABLEDISPJOINT, DEFORMABLEJOINT, DEFORMABLEAXIALJOINT, VISCOUSBODY, LINEARVELOCITY, ANGULARVELOCITY, LINEARACCELERATION, ANGULARACCELERATION, PRISMATIC, DRIVEHINGE, DRIVEDISP, DRIVEDISPPIN, IMPOSEDORIENTATION, IMPOSEDDISP, IMPOSEDDISPPIN, IMPOSEDKINEMATICS, BEAMSLIDER, BRAKE, GIMBAL, POINT_SURFACE_CONTACT, TOTALJOINT, TOTALPINJOINT, TOTALEQUATION, TOTALREACTION, MODAL, SCREWJOINT, LASTJOINTTYPE }

Protected Member Functions inherited from Joint
virtual void	OutputPrepare_int (const std::string &type, OutputHandler &OH, std::string &name)

Protected Member Functions inherited from ElemGravityOwner
virtual Vec3	GetS_int (void) const

virtual Mat3x3	GetJ_int (void) const

virtual Vec3	GetB_int (void) const

virtual Vec3	GetG_int (void) const

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Detailed Description

Definition at line 42 of file brake.h.

Constructor & Destructor Documentation

Brake::Brake	(	unsigned int	uL,
		const DofOwner *	pDO,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Vec3 &	dTmp1,
		const Vec3 &	dTmp2,
		const Mat3x3 &	R1hTmp,
		const Mat3x3 &	R2hTmp,
		flag	fOut,
		const doublereal	rr,
		const doublereal	pref,
		BasicShapeCoefficient *const	sh,
		BasicFriction *const	f,
		DriveCaller *	pdc
	)

Definition at line 44 of file brake.cc.

References NO_OP.

 : Elem(uL, fOut), 
 Joint(uL, pDO, fOut), 
 pNode1(pN1), pNode2(pN2),
 d1(dTmp1), R1h(R1hTmp), d2(dTmp2), R2h(R2hTmp), /* F(Zero3), */ M(Zero3), dTheta(0.),
 Sh_c(sh), fc(f), preF(pref), r(rr), brakeForce(pdc) /* ,
 isForce(isforce), Dir(dir) */
 {
         NO_OP;
 }

Brake::~Brake ( void )

Definition at line 70 of file brake.cc.

References NO_OP.

 {
    NO_OP;
 };

Member Function Documentation

void Brake::AfterConvergence	(	const VectorHandler &	X,
		const VectorHandler &	XP
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 89 of file brake.cc.

References BasicFriction::AfterConvergence(), brakeForce, DriveOwner::dGet(), Vec3::dGet(), grad::Dot(), dTheta, fc, StructNode::GetRCurr(), StructNode::GetRPrev(), StructNode::GetWCurr(), DofOwnerOwner::iGetFirstIndex(), MatR2EulerAngles(), NumSelfDof, pNode1, pNode2, preF, r, R1h, R2h, Mat3x3::Transpose(), and grad::Transpose().

 {
 
         Mat3x3 RTmp(((pNode1->GetRCurr()*R1h).Transpose()
                         *pNode1->GetRPrev()*R1h).Transpose()
                         *((pNode2->GetRCurr()*R2h).Transpose()
                         *pNode2->GetRPrev()*R2h));
         Vec3 V(MatR2EulerAngles(RTmp.Transpose()));
 
         dTheta += V.dGet(3);
 
         Mat3x3 R1(pNode1->GetRCurr());
         Mat3x3 R1hTmp(R1*R1h);
         Vec3 e3a(R1hTmp.GetVec(3));
         Vec3 Omega1(pNode1->GetWCurr());
         Vec3 Omega2(pNode2->GetWCurr());
         //relative velocity
         doublereal v = (Omega1-Omega2).Dot(e3a)*r;
         //reaction norm
         doublereal modF = std::max(brakeForce.dGet(), preF);
         fc->AfterConvergence(modF, v, X, XP, iGetFirstIndex() + NumSelfDof);
 }

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VariableSubMatrixHandler & Brake::AssJac	(	VariableSubMatrixHandler &	WorkMat,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 133 of file brake.cc.

References ExpandableRowVector::Add(), BasicFriction::AssJac(), brakeForce, d1, d2, DEBUGCOUT, DriveOwner::dGet(), Vec3::dGet(), grad::Dot(), BasicShapeCoefficient::dSh_c(), BasicFriction::fc(), fc, StructNode::GetRRef(), Mat3x3::GetVec(), StructNode::GetWCurr(), StructNode::GetWRef(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), iGetNumDof(), ExpandableRowVector::Link(), M, MatCrossCross, NumSelfDof, pNode1, pNode2, preF, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), r, R1h, R2h, ExpandableRowVector::ReDim(), FullSubMatrixHandler::ResizeReset(), ExpandableRowVector::Set(), VariableSubMatrixHandler::SetFull(), Sh_c, BasicShapeCoefficient::Sh_c(), ExpandableRowVector::Sub(), and WorkSpaceDim().

 {
    DEBUGCOUT("Entering Brake::AssJac()" << std::endl);
    
    /* Setta la sottomatrice come piena (e' un po' dispersivo, ma lo jacobiano 
     * e' complicato */                                  
    FullSubMatrixHandler& WM = WorkMat.SetFull();
    
    /* Ridimensiona la sottomatrice in base alle esigenze */
    integer iNumRows = 0;
    integer iNumCols = 0;
    WorkSpaceDim(&iNumRows, &iNumCols);
    WM.ResizeReset(iNumRows, iNumCols);
    
    /* Recupera gli indici delle varie incognite */
    integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
    integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
    integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
    integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
    integer iFirstReactionIndex = iGetFirstIndex();
 
    /* Setta gli indici delle equazioni */
    for (unsigned int iCnt = 1; iCnt <= 6; iCnt++) {     
       WM.PutRowIndex(iCnt, iNode1FirstMomIndex+iCnt);
       WM.PutColIndex(iCnt, iNode1FirstPosIndex+iCnt);
       WM.PutRowIndex(6+iCnt, iNode2FirstMomIndex+iCnt);
       WM.PutColIndex(6+iCnt, iNode2FirstPosIndex+iCnt);
    }
    
    for (unsigned int iCnt = 1; iCnt <= iGetNumDof(); iCnt++) {  
       WM.PutRowIndex(12+iCnt, iFirstReactionIndex+iCnt);
       WM.PutColIndex(12+iCnt, iFirstReactionIndex+iCnt);
    }
    
    /* Recupera i dati che servono */
    Mat3x3 R1(pNode1->GetRRef());
    Mat3x3 R2(pNode2->GetRRef());   
    Vec3 d1Tmp(R1*d1);
    Vec3 d2Tmp(R2*d2);
    Mat3x3 R1hTmp(R1*R1h);
    Mat3x3 R2hTmp(R2*R2h);
    
    /* Suppongo che le reazioni F, M siano gia' state aggiornate da AssRes;
     * ricordo che la forza F e' nel sistema globale, mentre la coppia M
     * e' nel sistema locale ed il terzo termine, M(3), e' nullo in quanto
     * diretto come l'asse attorno al quale la rotazione e' consentita */
    
       
    /* 
     * La cerniera piana ha le prime 3 equazioni uguali alla cerniera sferica;
     * inoltre ha due equazioni che affermano la coincidenza dell'asse 3 del
     * riferimento solidale con la cerniera visto dai due nodi.
     * 
     *      (R1 * R1h * e1)^T * (R2 * R2h * e3) = 0
     *      (R1 * R1h * e2)^T * (R2 * R2h * e3) = 0
     * 
     * A queste equazioni corrisponde una reazione di coppia agente attorno 
     * agli assi 1 e 2 del riferimento della cerniera. La coppia attorno 
     * all'asse 3 e' nulla per definizione. Quindi la coppia nel sistema 
     * globale e':
     *      -R1 * R1h * M       per il nodo 1,
     *       R2 * R2h * M       per il nodo 2
     * 
     * 
     *       xa   ga                   xb   gb                     F     M 
     * Qa |  0    0                     0    0                     I     0  | | xa |   | -F           |
     * Ga |  0    c*(F/\da/\-(Sa*M)/\)  0    0                     da/\  Sa | | ga |   | -da/\F-Sa*M |
     * Qb |  0    0                     0    0                    -I     0  | | xb | = |  F           |
     * Gb |  0    0                     0   -c*(F/\db/\-(Sb*M)/\) -db/\ -Sb | | gb |   |  db/\F+Sb*M |
     * F  | -c*I  c*da/\                c*I -c*db/\                0     0  | | F  |   |  xa+da-xb-db |
     * M1 |  0    c*Tb1^T*Ta3/\         0    c*Ta3^T*Tb1/\         0     0  | | M  |   |  Sb^T*Ta3    |
     * M2 |  0    c*Tb2^T*Ta3/\         0    c*Ta3^T*Tb2/\         0     0  | 
     * 
     * con da = R1*d01, db = R2*d02, c = dCoef,
     * Sa = R1*R1h*[e1,e2], Sb = R2*R2h*[e1, e2],
     * Ta3 = R1*R1h*e3, Tb1 = R2*R2h*e1, Tb2 = R2*R2h*e2
     */
 
    
    /* Moltiplica la forza ed il momento per il coefficiente
     * del metodo */
    Vec3 MTmp = M*dCoef;
 
    Vec3 e3a(R1hTmp.GetVec(3));
    Vec3 e1b(R2hTmp.GetVec(1));
    Vec3 e2b(R2hTmp.GetVec(2));
    MTmp = e2b*MTmp.dGet(1)-e1b*MTmp.dGet(2);
    
    Mat3x3 MWedgee3aWedge(MatCrossCross, MTmp, e3a);
    Mat3x3 e3aWedgeMWedge(MatCrossCross, e3a, MTmp);
    
    
    /* Contributo del momento alle equazioni di equilibrio dei nodi */
    Vec3 Tmp1(e2b.Cross(e3a));
    Vec3 Tmp2(e3a.Cross(e1b));
    
    
    /* Modifica: divido le equazioni di vincolo per dCoef */
    
    /* Equazioni di vincolo degli spostamenti */
    
    /* Equazione di vincolo del momento
     * 
     * Attenzione: bisogna scrivere il vettore trasposto
     *   (Sb[1]^T*(Sa[3]/\))*dCoef
     * Questo pero' e' uguale a:
     *   (-Sa[3]/\*Sb[1])^T*dCoef,
     * che puo' essere ulteriormente semplificato:
     *   (Sa[3].Cross(Sb[1])*(-dCoef))^T;
     */
    
 
       //retrive
           //friction coef
       doublereal f = fc->fc();
           //shape function
       doublereal shc = Sh_c->Sh_c();
           //omega and omega rif
       Vec3 Omega1(pNode1->GetWCurr());
       Vec3 Omega2(pNode2->GetWCurr());
       Vec3 Omega1r(pNode1->GetWRef());
       Vec3 Omega2r(pNode2->GetWRef());   
       //compute 
           //relative velocity
       doublereal v = (Omega1-Omega2).Dot(e3a)*r;
           //reaction norm
       doublereal modF = std::max(brakeForce.dGet(), preF);
           //reaction moment
       //doublereal M3 = shc*modF*r;
       
       ExpandableRowVector dfc;
       ExpandableRowVector dF;
       ExpandableRowVector dv;
           //variation of reaction force
       dF.ReDim(0);
           //variation of relative velocity
       dv.ReDim(6);
       
 /* new (approximate: assume constant triads orientations) 
  * relative velocity linearization */
 
       /* FIXME: why *1. ???  */
       dv.Set((e3a(1)*1.)*r, 0 + 1, 3 + 1);
       dv.Set((e3a(2)*1.)*r, 0 + 2, 3 + 2);
       dv.Set((e3a(3)*1.)*r, 0 + 3, 3 + 3);
       
       dv.Set(-(e3a(1)*1.)*r, 3 + 1, 9 + 1);
       dv.Set(-(e3a(2)*1.)*r, 3 + 2, 9 + 2);
       dv.Set(-(e3a(3)*1.)*r, 3 + 3, 9 + 3);
 
 
       //assemble friction states
       fc->AssJac(WM,dfc, 12 + NumSelfDof,
                       iFirstReactionIndex + NumSelfDof, dCoef, modF, v,
                       XCurr, XPrimeCurr, dF, dv);
       ExpandableRowVector dM3;
       ExpandableRowVector dShc;
       //compute 
           //variation of shape function
       Sh_c->dSh_c(dShc,f,modF,v,dfc,dF,dv);
           //variation of moment component
       dM3.ReDim(2);
       dM3.Set(shc*r, 1); dM3.Link(1, &dF);
       dM3.Set(modF*r, 2); dM3.Link(2, &dShc);
       
       //assemble first node
       //variation of moment component
       dM3.Add(WM, 3 + 1, e3a(1));
       dM3.Add(WM, 3 + 2, e3a(2));
       dM3.Add(WM, 3 + 3, e3a(3));
       //assemble second node
       //variation of moment component
       dM3.Sub(WM, 9 + 1, e3a(1));
       dM3.Sub(WM, 9 + 2, e3a(2));
       dM3.Sub(WM, 9 + 3, e3a(3));
    
    return WorkMat;
 }

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SubVectorHandler & Brake::AssRes	(	SubVectorHandler &	WorkVec,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

!!!!!!!!!!!!!

Implements Elem.

Definition at line 317 of file brake.cc.

References VectorHandler::Add(), BasicFriction::AssRes(), brakeForce, d1, d2, DEBUGCOUT, DriveOwner::dGet(), Vec3::dGet(), grad::Dot(), BasicFriction::fc(), fc, StructNode::GetRCurr(), Mat3x3::GetVec(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), iGetNumDof(), M, MBDYN_EXCEPT_ARGS, NumSelfDof, pNode1, pNode2, preF, SubVectorHandler::PutRowIndex(), r, R1h, R2h, VectorHandler::ResizeReset(), Sh_c, BasicShapeCoefficient::Sh_c(), VectorHandler::Sub(), WorkSpaceDim(), and Zero3.

 {
    DEBUGCOUT("Entering Brake::AssRes()" << std::endl);
       
    /* Dimensiona e resetta la matrice di lavoro */
    integer iNumRows = 0;
    integer iNumCols = 0;
    WorkSpaceDim(&iNumRows, &iNumCols);
    WorkVec.ResizeReset(iNumRows);
  
    /* Indici */
    integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
    integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
    integer iFirstReactionIndex = iGetFirstIndex();
    
    /* Indici dei nodi */
    for (int iCnt = 1; iCnt <= 6; iCnt++) {      
       WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex+iCnt);
       WorkVec.PutRowIndex(6+iCnt, iNode2FirstMomIndex+iCnt);
    }
    
    /* Indici del vincolo */
    for (unsigned int iCnt = 1; iCnt <= iGetNumDof(); iCnt++) {
       WorkVec.PutRowIndex(12+iCnt, iFirstReactionIndex+iCnt);
    }
    
    /* Aggiorna i dati propri */
    //FIXME
    //F = Vec3(Zero3);
    M = Vec3(Zero3);
 
    /*
     * FIXME: provare a mettere "modificatori" di forza/momento sui gdl
     * residui: attrito, rigidezze e smorzamenti, ecc.
     */
    
    /* Recupera i dati */
    Vec3 x1(pNode1->GetXCurr());
    Vec3 x2(pNode2->GetXCurr());
    Mat3x3 R1(pNode1->GetRCurr());
    Mat3x3 R2(pNode2->GetRCurr());
    
    /* Costruisce i dati propri nella configurazione corrente */
    Vec3 dTmp1(R1*d1);
    Vec3 dTmp2(R2*d2);
    Mat3x3 R1hTmp(R1*R1h);
    Mat3x3 R2hTmp(R2*R2h);
    
    Vec3 e3a(R1hTmp.GetVec(3));
    Vec3 e1b(R2hTmp.GetVec(1));
    Vec3 e2b(R2hTmp.GetVec(2));
    
    Vec3 MTmp(e2b.Cross(e3a)*M.dGet(1)+e3a.Cross(e1b)*M.dGet(2));
    
    /* Equazioni di equilibrio, nodo 1 */
    
    /* Equazioni di equilibrio, nodo 2 */
 
    /* Modifica: divido le equazioni di vincolo per dCoef */
 
       bool ChangeJac(false);
       Vec3 Omega1(pNode1->GetWCurr());
       Vec3 Omega2(pNode2->GetWCurr());
       doublereal v = (Omega1-Omega2).Dot(e3a)*r;
       doublereal modF = std::max(brakeForce.dGet(), preF);
       try {
           fc->AssRes(WorkVec, 12 + NumSelfDof,
                         iFirstReactionIndex + NumSelfDof,
                         modF, v, XCurr, XPrimeCurr);
       }
       catch (Elem::ChangedEquationStructure) {
           ChangeJac = true;
       }
       doublereal f = fc->fc();
       doublereal shc = Sh_c->Sh_c(f, modF, v);
       M(3) = r*shc*modF;
       WorkVec.Sub(4, e3a*M(3));
       WorkVec.Add(10, e3a*M(3));
 //      M += e3a*M3;
       if (ChangeJac) {
           throw Elem::ChangedEquationStructure(MBDYN_EXCEPT_ARGS);
       }
    
    return WorkVec;
 }

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doublereal Brake::dGetPrivData ( unsigned int i ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 509 of file brake.cc.

References ASSERT, dTheta, WithLabel::GetLabel(), StructNode::GetRCurr(), StructNode::GetWCurr(), iGetNumPrivData(), MBDYN_EXCEPT_ARGS, pNode1, pNode2, R2h, and grad::Transpose().

 {
    ASSERT(i >= 1 && i <= iGetNumPrivData());
    
    switch (i) {
     case 1: {
         return dTheta;
     }
       
     case 2: {
        Mat3x3 R2TmpT((pNode2->GetRCurr()*R2h).Transpose());
        Vec3 v(R2TmpT*(pNode2->GetWCurr()-pNode1->GetWCurr()));
        
        return v.dGet(3);
     }
       
     default:
       silent_cerr("Brake(" << GetLabel() << "): "
               "illegal private data " << i << std::endl);
       throw ErrGeneric(MBDYN_EXCEPT_ARGS);
    }
 }

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virtual void Brake::GetConnectedNodes ( std::vector< const Node * > & connectedNodes ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 175 of file brake.h.

References pNode1, and pNode2.

                                                                                  {
      connectedNodes.resize(2);
      connectedNodes[0] = pNode1;
      connectedNodes[1] = pNode2;
    };

DofOrder::Order Brake::GetDofType ( unsigned int i ) const

virtual

Reimplemented from Elem.

Definition at line 417 of file brake.cc.

References DofOrder::ALGEBRAIC, ASSERT, fc, SimulationEntity::GetDofType(), iGetNumDof(), and NumSelfDof.

                                       {
    ASSERT(i >= 0 && i < iGetNumDof());
    if (i<NumSelfDof) {
        return DofOrder::ALGEBRAIC; 
    } else {
        return fc->GetDofType(i-NumSelfDof);
    }
 };

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DofOrder::Order Brake::GetEqType ( unsigned int i ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 427 of file brake.cc.

References DofOrder::ALGEBRAIC, ASSERTMSGBREAK, fc, SimulationEntity::GetEqType(), iGetNumDof(), and NumSelfDof.

 {
         ASSERTMSGBREAK(i < iGetNumDof(), 
                 "INDEX ERROR in Brake::GetEqType");
    if (i<NumSelfDof) {
        return DofOrder::ALGEBRAIC; 
    } else {
        return fc->GetEqType(i-NumSelfDof);
    }
 }

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virtual Joint::Type Brake::GetJointType ( void ) const

inlinevirtual

Implements Joint.

Definition at line 109 of file brake.h.

References Joint::BRAKE.

                                               { 
       return Joint::BRAKE;
    };

virtual unsigned int Brake::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 150 of file brake.h.

                                                       { 
       return 10;
    };

unsigned int Brake::iGetNumDof ( void ) const

virtual

Reimplemented from Elem.

Definition at line 407 of file brake.cc.

References fc, SimulationEntity::iGetNumDof(), and NumSelfDof.

Referenced by AssJac(), AssRes(), GetDofType(), and GetEqType().

                                          {
    unsigned int i = NumSelfDof;
    if (fc) {
        i+=fc->iGetNumDof();
    } 
    return i;
 };

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unsigned int Brake::iGetNumPrivData ( void ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 486 of file brake.cc.

Referenced by dGetPrivData().

 {
         /* FIXME: add access to friction priv data... */
         return 2;
 }

unsigned int Brake::iGetPrivDataIdx ( const char * s ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 493 of file brake.cc.

References ASSERT.

 {
         ASSERT(s != NULL);
 
         if (strcmp(s, "rz") == 0) {
                 return 1;
         }
 
         if (strcmp(s, "wz") == 0) {
                 return 2;
         }
 
 
         return 0;
 }

VariableSubMatrixHandler & Brake::InitialAssJac	(	VariableSubMatrixHandler &	WorkMat,
		const VectorHandler &	XCurr
	)

virtual

Implements SubjectToInitialAssembly.

Definition at line 460 of file brake.cc.

References VariableSubMatrixHandler::SetNullMatrix().

 {
    /* Per ora usa la matrice piena; eventualmente si puo' 
     * passare a quella sparsa quando si ottimizza */
    WorkMat.SetNullMatrix();
    
    return WorkMat;
 }

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SubVectorHandler & Brake::InitialAssRes	(	SubVectorHandler &	WorkVec,
		const VectorHandler &	XCurr
	)

virtual

Implements SubjectToInitialAssembly.

Definition at line 473 of file brake.cc.

References DEBUGCOUT, and VectorHandler::ResizeReset().

 {   
    DEBUGCOUT("Entering Brake::InitialAssRes()" << std::endl);
    
    /* Dimensiona e resetta la matrice di lavoro */
    WorkVec.ResizeReset(0);
 
    return WorkVec;
 }

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virtual void Brake::InitialWorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 153 of file brake.h.

                                                               {
       *piNumRows = 34; 
       *piNumCols = 34;
    };

void Brake::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 439 of file brake.cc.

References brakeForce, ToBeOutput::bToBeOutput(), DriveOwner::dGet(), dRaDegr, BasicFriction::fc(), fc, WithLabel::GetLabel(), StructNode::GetRCurr(), StructNode::GetWCurr(), OutputHandler::Joints(), M, MatR2EulerAngles(), Joint::Output(), pNode1, pNode2, R1h, R2h, grad::Transpose(), and Zero3.

 {
    if (bToBeOutput()) {
       Mat3x3 R2Tmp(pNode2->GetRCurr()*R2h);
       Mat3x3 RTmp((pNode1->GetRCurr()*R1h).Transpose()*R2Tmp);
       Mat3x3 R2TmpT(R2Tmp.Transpose());
       
       std::ostream &of = Joint::Output(OH.Joints(), "PlaneHinge", GetLabel(),
                     /* R2TmpT*F*/ Zero3, M, /* F */ Zero3, R2Tmp*M)
         << " " << MatR2EulerAngles(RTmp)*dRaDegr
           << " " << R2TmpT*(pNode2->GetWCurr()-pNode1->GetWCurr());
       if (fc) {
           of << " " << fc->fc() << " " << brakeForce.dGet();
       }
       of << std::endl;
    }
 }

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std::ostream & Brake::Restart ( std::ostream & out ) const

virtual

Implements Elem.

Definition at line 115 of file brake.cc.

References d1, d2, WithLabel::GetLabel(), Mat3x3::GetVec(), pNode1, pNode2, R1h, R2h, Joint::Restart(), Write(), and Vec3::Write().

 {
    Joint::Restart(out) << ", plane hinge, "
      << pNode1->GetLabel() << ", reference, node, ",
      d1.Write(out, ", ")
      << ", hinge, reference, node, 1, ", (R1h.GetVec(1)).Write(out, ", ")
      << ", 2, ", (R1h.GetVec(2)).Write(out, ", ") << ", "
      << pNode2->GetLabel() << ", reference, node, ",
      d2.Write(out, ", ")
      << ", hinge, reference, node, 1, ", (R2h.GetVec(1)).Write(out, ", ")
      << ", 2, ", (R2h.GetVec(2)).Write(out, ", ") << ';' << std::endl;
    
    return out;
 }

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void Brake::SetValue	(	DataManager *	pDM,
		VectorHandler &	X,
		VectorHandler &	XP,
		SimulationEntity::Hints *	ph = `0`
	)

virtual

Reimplemented from Joint.

Definition at line 76 of file brake.cc.

References Vec3::dGet(), dTheta, fc, StructNode::GetRCurr(), DofOwnerOwner::iGetFirstIndex(), MatR2EulerAngles(), NumSelfDof, pNode1, pNode2, R1h, R2h, BasicFriction::SetValue(), and grad::Transpose().

 {
         Mat3x3 RTmp((pNode1->GetRCurr()*R1h).Transpose()*(pNode2->GetRCurr()*R2h));
         Vec3 v(MatR2EulerAngles(RTmp));
 
         dTheta = v.dGet(3);
 
         fc->SetValue(pDM, X, XP, ph, iGetFirstIndex() + NumSelfDof);
 }

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void Brake::WorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

inlinevirtual

Implements Elem.

Definition at line 124 of file brake.h.

References fc, SimulationEntity::iGetNumDof(), and NumDof.

Referenced by AssJac(), and AssRes().

                                                                    { 
       *piNumRows = NumDof;
       *piNumCols = NumDof;
       if (fc) {
           *piNumRows += fc->iGetNumDof();
           *piNumCols += fc->iGetNumDof();
       } 
    };