#include <vehj.h>

Inheritance diagram for DeformableHingeJoint:

Collaboration diagram for DeformableHingeJoint:

Public Member Functions
	DeformableHingeJoint (unsigned int uL, const DofOwner pDO, const ConstitutiveLaw3D pCL, const StructNode pN1, const StructNode pN2, const Mat3x3 &tilde_R1h, const Mat3x3 &tilde_R2h, const OrientationDescription &od, flag fOut)

virtual	~DeformableHingeJoint (void)

virtual Joint::Type	GetJointType (void) const

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

void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH) const

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

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

virtual void	SetInitialValue (VectorHandler &)

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

virtual ConstLawType::Type	GetConstLawType (void) const =0

virtual unsigned int	iGetNumDof (void) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual bool	bInverseDynamics (void) const

virtual unsigned int	iGetInitialNumDof (void) const

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

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) 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 DofOrder::Order	GetDofType (unsigned int) const

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)=0

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)=0

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 DofOrder::Order	GetEqType (unsigned int i) const

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

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)

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

virtual void	ReadInitialState (MBDynParser &HP)

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

virtual	~ToBeOutput (void)

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	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)

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const =0

virtual VariableSubMatrixHandler &	InitialAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)=0

virtual SubVectorHandler &	InitialAssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr)=0

Public Member Functions inherited from ConstitutiveLawOwner< T, Tder >
	ConstitutiveLawOwner (const ConstitutiveLaw< T, Tder > *pCL)

virtual	~ConstitutiveLawOwner (void)

ConstitutiveLaw< T, Tder > *	pGetConstLaw (void) const

void	Update (const T &Eps, const T &EpsPrime=mb_zero< T >())

void	AfterConvergence (const T &Eps, const T &EpsPrime=mb_zero< T >())

const T &	GetF (void) const

const Tder &	GetFDE (void) const

const Tder &	GetFDEPrime (void) const

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 DofOrder::Order	GetDofType (unsigned int i) const

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

Protected Member Functions
virtual void	AssMatM (FullSubMatrixHandler &WMA, doublereal dCoef)

void	AssMatMInv (FullSubMatrixHandler &WMA, doublereal dCoef)

void	AssMatMDE (FullSubMatrixHandler &WMA, doublereal dCoef)

virtual void	AssMatMDEPrime (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef)

void	AssMatMDEPrimeInv (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef)

void	OutputInv (OutputHandler &OH) const

doublereal	dGetPrivDataInv (unsigned int i) const

virtual void	AfterPredict (void)=0

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
const StructNode *	pNode1

const StructNode *	pNode2

Mat3x3	tilde_R1h

Mat3x3	tilde_R2h

OrientationDescription	od

bool	bFirstRes

Vec3	M

Mat3x3	MDE

Mat3x3	MDEPrime

Mat3x3	hat_I

Mat3x3	hat_IT

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

Protected Attributes inherited from ConstitutiveLawOwner< T, Tder >
ConstitutiveLaw< T, Tder > *	pConstLaw

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 }

Detailed Description

Definition at line 45 of file vehj.h.

Constructor & Destructor Documentation

DeformableHingeJoint::DeformableHingeJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const ConstitutiveLaw3D *	pCL,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Mat3x3 &	tilde_R1h,
		const Mat3x3 &	tilde_R2h,
		const OrientationDescription &	od,
		flag	fOut
	)

Definition at line 45 of file vehj.cc.

References ASSERT, StructDispNode::GetNodeType(), pNode1, pNode2, and Node::STRUCTURAL.

 : Elem(uL, fOut),
 Joint(uL, pDO, fOut),
 ConstitutiveLaw3DOwner(pCL),
 pNode1(pN1),
 pNode2(pN2),
 tilde_R1h(tilde_R1h),
 tilde_R2h(tilde_R2h),
 od(od),
 #ifdef USE_NETCDF
 Var_Phi(0),
 Var_Omega(0),
 #endif // USE_NETCDF
 bFirstRes(false)
 {
         ASSERT(pNode1 != NULL);
         ASSERT(pNode2 != NULL);
         ASSERT(pNode1->GetNodeType() == Node::STRUCTURAL);
         ASSERT(pNode2->GetNodeType() == Node::STRUCTURAL);
 }

Here is the call graph for this function:

DeformableHingeJoint::~DeformableHingeJoint ( void )

virtual

Definition at line 75 of file vehj.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

virtual void DeformableHingeJoint::AfterPredict ( void )

protectedpure virtual

Implemented in ViscoElasticHingeJointInv, ViscoElasticHingeJoint, ViscousHingeJointInv, ViscousHingeJoint, ElasticHingeJointInv, and ElasticHingeJoint.

Referenced by AfterPredict(), and SetInitialValue().

void DeformableHingeJoint::AfterPredict	(	VectorHandler &	X,
		VectorHandler &	XP
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 335 of file vehj.cc.

References AfterPredict(), and bFirstRes.

 {
         bFirstRes = true;
 
         AfterPredict();
 }

Here is the call graph for this function:

void DeformableHingeJoint::AssMatM	(	FullSubMatrixHandler &	WMA,
		doublereal	dCoef
	)

protectedvirtual

Reimplemented in ViscoElasticHingeJointInv, ViscousHingeJointInv, and ElasticHingeJointInv.

Definition at line 83 of file vehj.cc.

References FullSubMatrixHandler::Add(), M, MatCross, and FullSubMatrixHandler::Sub().

Referenced by ElasticHingeJoint::AssMat(), ViscousHingeJoint::AssMats(), and ViscoElasticHingeJoint::AssMats().

 {
         /* M was updated by AssRes */
         Mat3x3 MTmp(MatCross, M*dCoef);
 
         WMA.Add(1, 1, MTmp);
         WMA.Sub(4, 1, MTmp);
 }

Here is the call graph for this function:

void DeformableHingeJoint::AssMatMDE	(	FullSubMatrixHandler &	WMA,
		doublereal	dCoef
	)

protected

Definition at line 113 of file vehj.cc.

References FullSubMatrixHandler::Add(), MDE, and FullSubMatrixHandler::Sub().

Referenced by ElasticHingeJoint::AssMat(), and ViscoElasticHingeJoint::AssMats().

 {
         Mat3x3 MTmp(MDE*dCoef);
 
         WMA.Add(1, 1, MTmp);
         WMA.Sub(1, 4, MTmp);
         WMA.Sub(4, 1, MTmp);
         WMA.Add(4, 4, MTmp);
 }

Here is the call graph for this function:

void DeformableHingeJoint::AssMatMDEPrime	(	FullSubMatrixHandler &	WMA,
		FullSubMatrixHandler &	WMB,
		doublereal	dCoef
	)

protectedvirtual

Reimplemented in ViscoElasticHingeJointInv, and ViscousHingeJointInv.

Definition at line 126 of file vehj.cc.

References FullSubMatrixHandler::Add(), StructNode::GetWCurr(), MatCross, MDEPrime, pNode2, and FullSubMatrixHandler::Sub().

Referenced by ViscousHingeJoint::AssMats(), and ViscoElasticHingeJoint::AssMats().

 {
         WMB.Add(1, 1, MDEPrime);
         WMB.Sub(1, 4, MDEPrime);
         WMB.Sub(4, 1, MDEPrime);
         WMB.Add(4, 4, MDEPrime);
 
         Mat3x3 MTmp(MDEPrime*Mat3x3(MatCross, pNode2->GetWCurr()*dCoef));
         WMA.Sub(1, 1, MTmp);
         WMA.Add(1, 4, MTmp);
         WMA.Add(4, 1, MTmp);
         WMA.Sub(4, 4, MTmp);
 }

Here is the call graph for this function:

void DeformableHingeJoint::AssMatMDEPrimeInv	(	FullSubMatrixHandler &	WMA,
		FullSubMatrixHandler &	WMB,
		doublereal	dCoef
	)

protected

Definition at line 143 of file vehj.cc.

References FullSubMatrixHandler::Add(), StructNode::GetWCurr(), hat_I, hat_IT, MDEPrime, pNode1, pNode2, and FullSubMatrixHandler::Sub().

Referenced by ViscousHingeJointInv::AssMatMDEPrime(), and ViscoElasticHingeJointInv::AssMatMDEPrime().

 {
         /* hat_I and hat_IT were updated by AfterPredict */
         WMB.Add(1, 1, MDEPrime);
         WMB.Sub(1, 4, MDEPrime);
         WMB.Sub(4, 1, MDEPrime);
         WMB.Add(4, 4, MDEPrime);
 
         Vec3 W1(pNode1->GetWCurr()*dCoef);
         Vec3 W2(pNode2->GetWCurr()*dCoef);
         Mat3x3 MTmp(MDEPrime*(W2.Cross(hat_IT) + W1.Cross(hat_I)));
         WMA.Sub(1, 1, MTmp);
         WMA.Add(1, 4, MTmp);
         WMA.Add(4, 1, MTmp);
         WMA.Sub(4, 4, MTmp);
 }

Here is the call graph for this function:

void DeformableHingeJoint::AssMatMInv	(	FullSubMatrixHandler &	WMA,
		doublereal	dCoef
	)

protected

Definition at line 95 of file vehj.cc.

References FullSubMatrixHandler::Add(), Vec3::Cross(), hat_I, hat_IT, M, and FullSubMatrixHandler::Sub().

Referenced by ElasticHingeJointInv::AssMatM(), ViscousHingeJointInv::AssMatM(), and ViscoElasticHingeJointInv::AssMatM().

 {
         /* M was updated by AssRes;
          * hat_I and hat_IT were updated by AfterPredict */
         Vec3 MCoef(M*dCoef);
         Mat3x3 MTmp(MCoef.Cross(hat_IT));
 
         WMA.Add(1, 1, MTmp);
         WMA.Sub(4, 1, MTmp);
 
         MTmp = MCoef.Cross(hat_I);
 
         WMA.Add(1, 4, MTmp);
         WMA.Sub(4, 4, MTmp);
 }

Here is the call graph for this function:

bool DeformableHingeJoint::bInverseDynamics ( void ) const

virtual

Reimplemented from Elem.

Definition at line 374 of file vehj.cc.

 {
         return true;
 }

doublereal DeformableHingeJoint::dGetPrivData ( unsigned int i ) const

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Reimplemented in ViscoElasticHingeJointInv, ViscousHingeJointInv, and ElasticHingeJointInv.

Definition at line 470 of file vehj.cc.

References ASSERT, ConstitutiveLawOwner< T, Tder >::dGetPrivData(), ConstitutiveLawOwner< T, Tder >::GetF(), StructNode::GetRCurr(), StructNode::GetWCurr(), iGetNumPrivData(), pNode1, pNode2, tilde_R1h, tilde_R2h, and RotManip::VecRot().

Referenced by dGetPrivDataInv().

 {
         ASSERT(i > 0);
 
         ASSERT(i <= iGetNumPrivData());
 
         switch (i) {
         case 1:
         case 2:
         case 3:
         {
                 /* NOTE: this is correct also in the invariant case */
                 Mat3x3 R1h(pNode1->GetRCurr()*tilde_R1h);
                 Mat3x3 R2h(pNode2->GetRCurr()*tilde_R2h);
 
                 Vec3 v(RotManip::VecRot(R1h.MulTM(R2h)));
 
                 return v(i);
         }
 
         case 4:
         case 5:
         case 6:
         {
                 Mat3x3 R1h(pNode1->GetRCurr()*tilde_R1h);
                 Vec3 w(R1h.MulTV(pNode2->GetWCurr() - pNode1->GetWCurr()));
 
                 return w(i - 3);
         }
 
         case 7:
         case 8:
         case 9:
                 return GetF()(i - 6);
 
         default:
                 return ConstitutiveLaw3DOwner::dGetPrivData(i - 9);
         }
 }

Here is the call graph for this function:

doublereal DeformableHingeJoint::dGetPrivDataInv ( unsigned int i ) const

protected

Definition at line 511 of file vehj.cc.

References ASSERT, dGetPrivData(), StructNode::GetRCurr(), StructNode::GetWCurr(), iGetNumPrivData(), pNode1, pNode2, RotManip::Rot(), tilde_R1h, tilde_R2h, and RotManip::VecRot().

Referenced by ElasticHingeJointInv::dGetPrivData(), ViscousHingeJointInv::dGetPrivData(), and ViscoElasticHingeJointInv::dGetPrivData().

 {
         ASSERT(i > 0);
 
         ASSERT(i <= iGetNumPrivData());
 
         switch (i) {
         case 4:
         case 5:
         case 6:
         {
                 Mat3x3 R1h(pNode1->GetRCurr()*tilde_R1h);
                 Mat3x3 R2h(pNode2->GetRCurr()*tilde_R2h);
                 Mat3x3 hat_R(R1h*RotManip::Rot(RotManip::VecRot(R1h.MulTM(R2h)/2.)));
                 Vec3 w(hat_R.MulTV(pNode2->GetWCurr() - pNode1->GetWCurr()));
 
                 return w(i - 3);
         }
 
         default:
                 /* fall back to regular one */
                 return DeformableHingeJoint::dGetPrivData(i);
         }
 }

Here is the call graph for this function:

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

inlinevirtual

Reimplemented from Elem.

Definition at line 161 of file vehj.h.

References pNode1, and pNode2.

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

virtual ConstLawType::Type DeformableHingeJoint::GetConstLawType ( void ) const

pure virtual

Implemented in ViscoElasticHingeJoint, ViscousHingeJoint, and ElasticHingeJoint.

Referenced by Output(), and OutputInv().

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

inlinevirtual

Implements Joint.

Definition at line 115 of file vehj.h.

References Joint::DEFORMABLEHINGE.

                                                    {
                 return Joint::DEFORMABLEHINGE;
         };

virtual unsigned int DeformableHingeJoint::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 154 of file vehj.h.

                                                            {
                 return 0;
         };

virtual unsigned int DeformableHingeJoint::iGetNumDof ( void ) const

inlinevirtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 139 of file vehj.h.

                                                     {
                 return 0;
         };

unsigned int DeformableHingeJoint::iGetNumPrivData ( void ) const

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 408 of file vehj.cc.

References ConstitutiveLawOwner< T, Tder >::iGetNumPrivData().

Referenced by dGetPrivData(), and dGetPrivDataInv().

 {
         return 9 + ConstitutiveLaw3DOwner::iGetNumPrivData();
 }

Here is the call graph for this function:

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

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 414 of file vehj.cc.

References ASSERT, ConstitutiveLawOwner< T, Tder >::iGetPrivDataIdx(), and STRLENOF.

 {
         ASSERT(s != NULL);
 
         unsigned idx = 0;
 
         switch (s[0]) {
         case 'r':
                 break;
 
         case 'w':
                 idx += 3;
                 break;
 
         case 'M':
                 idx += 6;
                 break;
 
         default:
         {
                 const size_t l = STRLENOF("constitutiveLaw.");
                 if (strncmp(s, "constitutiveLaw.", l) == 0) {
                         idx = ConstitutiveLaw3DOwner::iGetPrivDataIdx(&s[l]);
                         if (idx > 0) {
                                 return 9 + idx;
                         }
                 }
                 return 0;
         }
         }
 
         switch (s[1]) {
         case 'x':
                 idx += 1;
                 break;
 
         case 'y':
                 idx += 2;
                 break;
 
         case 'z':
                 idx += 3;
                 break;
 
         default:
                 return 0;
         }
 
         if (s[2] != '\0') {
                 return 0;
         }
 
         return idx;
 }

Here is the call graph for this function:

void DeformableHingeJoint::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Reimplemented in ViscoElasticHingeJointInv, ViscousHingeJointInv, and ElasticHingeJointInv.

Definition at line 195 of file vehj.cc.

References ToBeOutput::bToBeOutput(), dRaDegr, EULER_123, EULER_313, EULER_321, GetConstLawType(), OutputHandler::GetCurrentStep(), ConstitutiveLawOwner< T, Tder >::GetF(), WithLabel::GetLabel(), StructNode::GetRCurr(), StructNode::GetWCurr(), OutputHandler::JOINTS, OutputHandler::Joints(), MatR2EulerAngles123(), MatR2EulerAngles313(), MatR2EulerAngles321(), od, ORIENTATION_MATRIX, ORIENTATION_VECTOR, Joint::Output(), Mat3x3::pGetMat(), Vec3::pGetVec(), pNode1, pNode2, R, tilde_R1h, tilde_R2h, OutputHandler::UseNetCDF(), OutputHandler::UseText(), RotManip::VecRot(), ConstLawType::VISCOUS, and Zero3.

 {
         if (bToBeOutput()) {
                 Mat3x3 R1h(pNode1->GetRCurr()*tilde_R1h);
                 Mat3x3 R2h(pNode2->GetRCurr()*tilde_R2h);
                 Mat3x3 R(R1h.MulTM(R2h));
                 Vec3 OmegaTmp(R1h.MulTV(pNode2->GetWCurr() - pNode1->GetWCurr()));
                 Vec3 v(GetF());
                 Vec3 E;
                                 switch (od) {
                                 case EULER_123:
                                         E = MatR2EulerAngles123(R)*dRaDegr;
                                         break;
 
                                 case EULER_313:
                                         E = MatR2EulerAngles313(R)*dRaDegr;
                                         break;
 
                                 case EULER_321:
                                         E = MatR2EulerAngles321(R)*dRaDegr;
                                         break;
 
                                 case ORIENTATION_VECTOR:
                                         E = RotManip::VecRot(R);
                                         break;
 
                                 case ORIENTATION_MATRIX:
                                         break;
 
                                 default:
                                         /* impossible */
                                         break;
                                 }
 
 #ifdef USE_NETCDF
                 if (OH.UseNetCDF(OutputHandler::JOINTS)) {
                         Var_F_local->put_rec(Zero3.pGetVec(), OH.GetCurrentStep());
                         Var_M_local->put_rec(v.pGetVec(), OH.GetCurrentStep());
                         Var_F_global->put_rec(Zero3.pGetVec(), OH.GetCurrentStep());
                         Var_M_global->put_rec((R1h*v).pGetVec(), OH.GetCurrentStep());
                         Var_Omega->put_rec(OmegaTmp.pGetVec(), OH.GetCurrentStep());
 
                         switch (od) {
                         case EULER_123:
                         case EULER_313:
                         case EULER_321:
                         case ORIENTATION_VECTOR:
                                 Var_Phi->put_rec(E.pGetVec(), OH.GetCurrentStep());
                                 break;
 
                         case ORIENTATION_MATRIX:
                                 Var_Phi->put_rec(R.pGetMat(), OH.GetCurrentStep());
                                 break;
 
                         default:
                                 /* impossible */
                                 break;
                         }
 
 
                 }
 #endif // USE_NETCDF
                 if (OH.UseText(OutputHandler::JOINTS)) {
                         Joint::Output(OH.Joints(), "DeformableHinge", GetLabel(),
                                 Zero3, v, Zero3, R1h*v) << " ";
 
                         switch (od) {
                         case EULER_123:
                         case EULER_313:
                         case EULER_321:
                         case ORIENTATION_VECTOR:
                                 OH.Joints() << E;
                                 break;
 
                         case ORIENTATION_MATRIX:
                                 OH.Joints() << R;
                                 break;
 
                         default:
                                 /* impossible */
                                 break;
                         }
 
 
                         if (GetConstLawType() & ConstLawType::VISCOUS) {
                                 OH.Joints() << " " << OmegaTmp;
                         }
 
                         OH.Joints() << std::endl;
                 }
         }
 }

Here is the call graph for this function:

void DeformableHingeJoint::OutputInv ( OutputHandler & OH ) const

protected

Definition at line 289 of file vehj.cc.

References ToBeOutput::bToBeOutput(), dRaDegr, EULER_123, EULER_313, EULER_321, GetConstLawType(), ConstitutiveLawOwner< T, Tder >::GetF(), WithLabel::GetLabel(), StructNode::GetRCurr(), StructNode::GetWCurr(), OutputHandler::Joints(), MatR2EulerAngles123(), MatR2EulerAngles313(), MatR2EulerAngles321(), od, ORIENTATION_MATRIX, ORIENTATION_VECTOR, Joint::Output(), pNode1, pNode2, R, RotManip::Rot(), tilde_R1h, tilde_R2h, RotManip::VecRot(), ConstLawType::VISCOUS, and Zero3.

Referenced by ElasticHingeJointInv::Output(), ViscousHingeJointInv::Output(), and ViscoElasticHingeJointInv::Output().

 {
         if (bToBeOutput()) {
                 Mat3x3 R1h(pNode1->GetRCurr()*tilde_R1h);
                 Mat3x3 R2h(pNode2->GetRCurr()*tilde_R2h);
                 Mat3x3 R(R1h.MulTM(R2h));
                 Mat3x3 hat_R(R1h*RotManip::Rot(RotManip::VecRot(R)/2.));
 
                 Vec3 v(GetF());
                 Joint::Output(OH.Joints(), "DeformableHinge", GetLabel(),
                         Zero3, v, Zero3, hat_R*v) << " ";
 
                 switch (od) {
                 case EULER_123:
                         OH.Joints() << MatR2EulerAngles123(R)*dRaDegr;
                         break;
 
                 case EULER_313:
                         OH.Joints() << MatR2EulerAngles313(R)*dRaDegr;
                         break;
 
                 case EULER_321:
                         OH.Joints() << MatR2EulerAngles321(R)*dRaDegr;
                         break;
 
                 case ORIENTATION_VECTOR:
                         OH.Joints() << RotManip::VecRot(R);
                         break;
 
                 case ORIENTATION_MATRIX:
                         OH.Joints() << R;
                         break;
 
                 default:
                         /* impossible */
                         break;
                 }
 
                 if (GetConstLawType() & ConstLawType::VISCOUS) {
                         OH.Joints() << " " << hat_R.MulTV(pNode2->GetWCurr() - pNode1->GetWCurr());
                         }
                 OH.Joints() << std::endl;
         }
 }

Here is the call graph for this function:

void DeformableHingeJoint::OutputPrepare ( OutputHandler & OH )

virtual

Reimplemented from ToBeOutput.

Definition at line 177 of file vehj.cc.

References ToBeOutput::bToBeOutput(), OutputHandler::JOINTS, od, Joint::OutputPrepare_int(), and OutputHandler::UseNetCDF().

 {
         if (bToBeOutput()) {
 #ifdef USE_NETCDF
                 if (OH.UseNetCDF(OutputHandler::JOINTS)) {
                         std::string name;
                         OutputPrepare_int("deformable hinge", OH, name);
 
                         Var_Phi = OH.CreateRotationVar(name, "", od, "global");
 
                         Var_Omega = OH.CreateVar<Vec3>(name + "Omega", "radian/s",
                                 "local relative angular velocity (x, y, z)");
                 }
 #endif // USE_NETCDF
         }
 }

Here is the call graph for this function:

Hint * DeformableHingeJoint::ParseHint	(	DataManager *	pDM,
		const char *	s
	)		const

virtual

Reimplemented from SimulationEntity.

Definition at line 386 of file vehj.cc.

References SimulationEntity::ParseHint(), and STRLENOF.

 {
         if (strncasecmp(s, "hinge{" /*}*/, STRLENOF("hinge{" /*}*/)) == 0) {
                 s += STRLENOF("hinge{" /*}*/);
 
                 if (strcmp(&s[1], /*{*/ "}") != 0) {
                         return 0;
                 }
 
                 switch (s[0]) {
                 case '1':
                         return new Joint::HingeHint<1>;
 
                 case '2':
                         return new Joint::HingeHint<2>;
                 }
         }
 
         return ConstitutiveLaw3DOwner::ParseHint(pDM, s);
 }

Here is the call graph for this function:

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

virtual

Implements Elem.

Definition at line 163 of file vehj.cc.

References WithLabel::GetLabel(), Mat3x3::GetVec(), ConstitutiveLawOwner< T, Tder >::pGetConstLaw(), pNode1, pNode2, Joint::Restart(), tilde_R1h, tilde_R2h, and Write().

 {
         /* FIXME: does not work for invariant hinge */
         Joint::Restart(out) << ", deformable hinge, "
                 << pNode1->GetLabel() << ", hinge, reference, node, 1, ",
                 (tilde_R1h.GetVec(1)).Write(out, ", ")
                 << ", 2, ", (tilde_R1h.GetVec(2)).Write(out, ", ") << ", "
                 << pNode2->GetLabel() << ", hinge, reference, node, 1, ",
                 (tilde_R2h.GetVec(1)).Write(out, ", ")
                 << ", 2, ", (tilde_R2h.GetVec(2)).Write(out, ", ") << ", ";
         return pGetConstLaw()->Restart(out) << ';' << std::endl;
 }

Here is the call graph for this function:

void DeformableHingeJoint::SetInitialValue ( VectorHandler & X )

virtual

Initialize state vector used in initial assembly. May set internal states of the element. Do not rely on being always called, because initial assembly could be implicitly or explicitly skipped

Reimplemented from Joint.

Definition at line 380 of file vehj.cc.

References AfterPredict().

 {
         AfterPredict();
 }

Here is the call graph for this function:

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

virtual

Reimplemented from Joint.

Definition at line 344 of file vehj.cc.

References StructNode::GetRCurr(), pNode1, pNode2, SimulationEntity::SetValue(), tilde_R1h, tilde_R2h, and Mat3x3::Transpose().

 {
         if (ph) {
                 for (unsigned i = 0; i < ph->size(); i++) {
                         Joint::JointHint *pjh = dynamic_cast<Joint::JointHint *>((*ph)[i]);
 
                         if (pjh) {
                                 if (dynamic_cast<Joint::HingeHint<1> *>(pjh)) {
                                         tilde_R1h = pNode1->GetRCurr().Transpose()*pNode2->GetRCurr()*tilde_R2h;
 
                                 } else if (dynamic_cast<Joint::HingeHint<2> *>(pjh)) {
                                         tilde_R2h = pNode2->GetRCurr().Transpose()*pNode1->GetRCurr()*tilde_R1h;
 
                                 } else if (dynamic_cast<Joint::ReactionsHint *>(pjh)) {
                                         /* TODO */
                                 }
 
                                 continue;
                         }
 
                         /* else, pass to constitutive law */
                         ConstitutiveLaw3DOwner::SetValue(pDM, X, XP, ph);
                 }
         }
 }

Here is the call graph for this function:

virtual void DeformableHingeJoint::WorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

inlinevirtual

Implements Elem.

Definition at line 144 of file vehj.h.

                                                                    {
                 *piNumRows = 6;
                 *piNumCols = 6;
         };

Member Data Documentation

bool DeformableHingeJoint::bFirstRes

protected

Definition at line 62 of file vehj.h.

Referenced by AfterPredict(), ViscoElasticHingeJoint::AfterPredict(), ElasticHingeJoint::AssRes(), ViscousHingeJoint::AssRes(), ViscoElasticHingeJoint::AssRes(), ElasticHingeJoint::AssVec(), ElasticHingeJointInv::AssVec(), ViscousHingeJoint::AssVec(), ViscousHingeJointInv::AssVec(), ViscoElasticHingeJoint::AssVec(), ViscoElasticHingeJointInv::AssVec(), ViscousHingeJoint::InitialAssRes(), and ViscoElasticHingeJoint::InitialAssRes().

Mat3x3 DeformableHingeJoint::hat_I

protected

Definition at line 70 of file vehj.h.

Referenced by ElasticHingeJointInv::AfterPredict(), ViscousHingeJointInv::AfterPredict(), ViscoElasticHingeJointInv::AfterPredict(), AssMatMDEPrimeInv(), and AssMatMInv().

Mat3x3 DeformableHingeJoint::hat_IT

protected

Definition at line 71 of file vehj.h.

Referenced by ElasticHingeJointInv::AfterPredict(), ViscousHingeJointInv::AfterPredict(), ViscoElasticHingeJointInv::AfterPredict(), AssMatMDEPrimeInv(), and AssMatMInv().

Vec3 DeformableHingeJoint::M

protected

Definition at line 64 of file vehj.h.

Referenced by AssMatM(), AssMatMInv(), ElasticHingeJoint::AssVec(), ElasticHingeJointInv::AssVec(), ViscousHingeJoint::AssVec(), ViscousHingeJointInv::AssVec(), ViscoElasticHingeJoint::AssVec(), ViscoElasticHingeJointInv::AssVec(), ViscousHingeJoint::InitialAssRes(), and ViscoElasticHingeJoint::InitialAssRes().

Mat3x3 DeformableHingeJoint::MDE

protected

Definition at line 66 of file vehj.h.

Referenced by ElasticHingeJoint::AfterPredict(), ElasticHingeJointInv::AfterPredict(), ViscoElasticHingeJoint::AfterPredict(), ViscoElasticHingeJointInv::AfterPredict(), ElasticHingeJoint::AssMat(), AssMatMDE(), and ViscoElasticHingeJoint::InitialAssJac().

Mat3x3 DeformableHingeJoint::MDEPrime

protected

Definition at line 67 of file vehj.h.

Referenced by ViscousHingeJoint::AfterPredict(), ViscousHingeJointInv::AfterPredict(), ViscoElasticHingeJoint::AfterPredict(), ViscoElasticHingeJointInv::AfterPredict(), AssMatMDEPrime(), AssMatMDEPrimeInv(), ViscousHingeJoint::InitialAssJac(), and ViscoElasticHingeJoint::InitialAssJac().

OrientationDescription DeformableHingeJoint::od

protected

Definition at line 53 of file vehj.h.

Referenced by Output(), OutputInv(), and OutputPrepare().

const StructNode* DeformableHingeJoint::pNode1

protected

Definition at line 48 of file vehj.h.

Referenced by ElasticHingeJoint::AfterPredict(), ElasticHingeJointInv::AfterPredict(), ViscousHingeJoint::AfterPredict(), ViscousHingeJointInv::AfterPredict(), ViscoElasticHingeJoint::AfterPredict(), ViscoElasticHingeJointInv::AfterPredict(), ElasticHingeJoint::AssJac(), ViscousHingeJoint::AssJac(), ViscoElasticHingeJoint::AssJac(), AssMatMDEPrimeInv(), ElasticHingeJoint::AssMats(), ViscousHingeJoint::AssMats(), ViscoElasticHingeJoint::AssMats(), ElasticHingeJoint::AssRes(), ViscousHingeJoint::AssRes(), ViscoElasticHingeJoint::AssRes(), ElasticHingeJoint::AssVec(), ElasticHingeJointInv::AssVec(), ViscousHingeJoint::AssVec(), ViscousHingeJointInv::AssVec(), ViscoElasticHingeJoint::AssVec(), ViscoElasticHingeJointInv::AssVec(), DeformableHingeJoint(), dGetPrivData(), dGetPrivDataInv(), GetConnectedNodes(), ElasticHingeJoint::InitialAssJac(), ViscousHingeJoint::InitialAssJac(), ViscoElasticHingeJoint::InitialAssJac(), ElasticHingeJoint::InitialAssRes(), ViscousHingeJoint::InitialAssRes(), ViscoElasticHingeJoint::InitialAssRes(), Output(), OutputInv(), Restart(), and SetValue().

const StructNode* DeformableHingeJoint::pNode2

protected

Definition at line 49 of file vehj.h.

Mat3x3 DeformableHingeJoint::tilde_R2h

mutableprotected

Definition at line 51 of file vehj.h.

Referenced by ElasticHingeJoint::AfterPredict(), ElasticHingeJointInv::AfterPredict(), ViscousHingeJointInv::AfterPredict(), ViscoElasticHingeJoint::AfterPredict(), ViscoElasticHingeJointInv::AfterPredict(), ElasticHingeJoint::AssVec(), ElasticHingeJointInv::AssVec(), ViscousHingeJointInv::AssVec(), ViscoElasticHingeJoint::AssVec(), ViscoElasticHingeJointInv::AssVec(), dGetPrivData(), dGetPrivDataInv(), ViscoElasticHingeJoint::InitialAssRes(), Output(), OutputInv(), Restart(), and SetValue().

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation