#include <vehj3.h>

Inheritance diagram for DeformableJoint:

Collaboration diagram for DeformableJoint:

Public Member Functions
	DeformableJoint (unsigned int uL, const DofOwner pDO, const ConstitutiveLaw6D pCL, const StructNode pN1, const StructNode pN2, const Vec3 &tilde_f1, const Vec3 &tilde_f2, const Mat3x3 &tilde_R1h, const Mat3x3 &tilde_R2h, const OrientationDescription &od, flag fOut)

virtual	~DeformableJoint (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

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

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

virtual bool	bInverseDynamics (void) const

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

virtual unsigned int	iGetNumDof (void) const

virtual DofOrder::Order	GetDofType (unsigned int) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual unsigned int	iGetInitialNumDof (void) const

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

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)

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

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

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

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 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	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)

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	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)

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

virtual VariableSubMatrixHandler &	InitialAssJac (VariableSubMatrixHandler &WorkMat, 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 std::ostream &	OutputAppend (std::ostream &out) const

Protected Member Functions
void	AssMatCommon (FullSubMatrixHandler &WM, doublereal dCoef)

void	AssMatElastic (FullSubMatrixHandler &WM, doublereal dCoef, const Mat6x6 &FDE)

void	AssMatViscous (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef, const Mat6x6 &FDEPrime)

virtual void	AssMats (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef)=0

virtual void	AssVec (SubVectorHandler &WorkVec)=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

Vec3	tilde_f1

Vec3	tilde_f2

Mat3x3	tilde_R1h

Mat3x3	tilde_R2h

OrientationDescription	od

Vec6	tilde_k

Vec6	tilde_kPrime

bool	bFirstRes

Vec3	d1

Vec3	d2

Vec3	d1Prime

Vec3	d2Prime

Mat3x3	R1h

Vec6	F

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 43 of file vehj3.h.

Constructor & Destructor Documentation

DeformableJoint::DeformableJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const ConstitutiveLaw6D *	pCL,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Vec3 &	tilde_f1,
		const Vec3 &	tilde_f2,
		const Mat3x3 &	tilde_R1h,
		const Mat3x3 &	tilde_R2h,
		const OrientationDescription &	od,
		flag	fOut
	)

Definition at line 57 of file vehj3.cc.

References ASSERT, StructDispNode::GetNodeType(), StructNode::GetRRef(), pNode1, pNode2, R1h, Node::STRUCTURAL, and tilde_R1h.

 : Elem(uL, fOut),
 Joint(uL, pDO, fOut),
 ConstitutiveLaw6DOwner(pCL),
 pNode1(pN1), pNode2(pN2),
 tilde_f1(tilde_f1), tilde_f2(tilde_f2),
 tilde_R1h(tilde_R1h), tilde_R2h(tilde_R2h),
 od(od),
 tilde_k(Zero6), tilde_kPrime(Zero6),
 #ifdef USE_NETCDF
 Var_tilde_d(0),
 Var_tilde_dPrime(0),
 Var_d(0),
 Var_dPrime(0),
 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);
 
         R1h = pNode1->GetRRef()*tilde_R1h;
 }

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DeformableJoint::~DeformableJoint ( void )

virtual

Definition at line 96 of file vehj3.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 648 of file vehj3.cc.

References AssMats(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and WorkSpaceDim().

Referenced by ElasticJoint::AssJac().

 {
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
 
         /* Setta gli indici della matrice */
         for (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);
         }
 
         AssMats(WM, WM, dCoef);
 
         return WorkMat;
 }

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void DeformableJoint::AssMatCommon	(	FullSubMatrixHandler &	WM,
		doublereal	dCoef
	)

protected

Definition at line 461 of file vehj3.cc.

References FullSubMatrixHandler::Add(), d1, d2, F, StructNode::GetRCurr(), Vec6::GetVec1(), Vec6::GetVec2(), StructDispNode::GetXCurr(), MatCross, MatCrossCross, pNode1, pNode2, FullSubMatrixHandler::Sub(), and tilde_f2.

Referenced by ElasticJoint::AssMats(), ElasticJointInv::AssMats(), ViscousJoint::AssMats(), and ViscoElasticJoint::AssMats().

 {
         d2 = pNode2->GetRCurr()*tilde_f2;
         d1 = pNode2->GetXCurr() + d2 - pNode1->GetXCurr();
 
         Vec3 FTmp(F.GetVec1()*dCoef);
         Mat3x3 FCross(MatCross, FTmp);
         Mat3x3 MCross(MatCross, F.GetVec2()*dCoef);
 
         WM.Add(1, 4, FCross);
         WM.Sub(4, 1, FCross);
         WM.Add(4, 6 + 1, FCross);
         WM.Sub(6 + 1, 4, FCross);
 
         Mat3x3 MTmp(MatCrossCross, FTmp, d2);
 
         WM.Add(6 + 4, 6 + 4, MTmp);
         WM.Sub(4, 6 + 4, MTmp);
 
         MTmp = Mat3x3(MatCrossCross, d2, FTmp) + MCross;
 
         WM.Sub(6 + 4, 4, MTmp);
 
         MTmp = Mat3x3(MatCrossCross, d1, FTmp) + MCross;
 
         WM.Add(4, 4, MTmp);
 }

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void DeformableJoint::AssMatElastic	(	FullSubMatrixHandler &	WM,
		doublereal	dCoef,
		const Mat6x6 &	FDE
	)

protected

Definition at line 490 of file vehj3.cc.

References FullSubMatrixHandler::Add(), Vec3::Cross(), d1, d2, Mat6x6::GetMat11(), Mat6x6::GetMat12(), Mat6x6::GetMat21(), Mat6x6::GetMat22(), MatCross, and FullSubMatrixHandler::Sub().

Referenced by ElasticJoint::AssMats(), ElasticJointInv::AssMats(), and ViscoElasticJoint::AssMats().

 {
         Mat3x3 F_d = FDE.GetMat11()*dCoef;
         Mat3x3 F_theta = FDE.GetMat12()*dCoef;
         Mat3x3 M_d = FDE.GetMat21()*dCoef;
         Mat3x3 M_theta = FDE.GetMat22()*dCoef;
 
         /* D11 */
         WM.Add(1, 1, F_d);
         WM.Sub(1, 6 + 1, F_d);
         WM.Sub(6 + 1, 1, F_d);
         WM.Add(6 + 1, 6 + 1, F_d);
 
         /* D11 * [d1 x] */
         Mat3x3 FTmp = F_d*Mat3x3(MatCross, d1) - F_theta;
 
         WM.Sub(1, 4, FTmp);
         WM.Add(6 + 1, 4, FTmp);
 
         /* */
         Mat3x3 MTmp(M_d*Mat3x3(MatCross, d1) - M_theta);
 
         WM.Sub(4, 4, d1.Cross(FTmp) + MTmp);
         WM.Add(6 + 4, 4, d2.Cross(FTmp) + MTmp);
 
         /* D11 * [d2 x] */
         FTmp = F_d*Mat3x3(MatCross, d2) - F_theta;
 
         WM.Add(1, 6 + 4, FTmp);
         WM.Sub(6 + 1, 6 + 4, FTmp);
 
         /* */
         MTmp = M_d*Mat3x3(MatCross, d2) - M_theta;
 
         WM.Add(4, 6 + 4, d1.Cross(FTmp) + MTmp);
         WM.Sub(6 + 4, 6 + 4, d2.Cross(FTmp) + MTmp);
 
         /* [d1 x] * D11 */
         FTmp = d1.Cross(F_d) + M_d;
 
         WM.Add(4, 1, FTmp);
         WM.Sub(4, 6 + 1, FTmp);
 
         /* [d2 x] * D11 */
         FTmp = d2.Cross(F_d) + M_d;
 
         WM.Sub(6 + 4, 1, FTmp);
         WM.Add(6 + 4, 6 + 1, FTmp);
 }

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virtual void DeformableJoint::AssMats	(	FullSubMatrixHandler &	WMA,
		FullSubMatrixHandler &	WMB,
		doublereal	dCoef
	)

protectedpure virtual

Implemented in ViscoElasticJoint, ViscousJoint, ElasticJointInv, and ElasticJoint.

Referenced by AssJac(), and AssMats().

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

virtual

Reimplemented from Elem.

Reimplemented in ElasticJointInv, and ElasticJoint.

Definition at line 682 of file vehj3.cc.

References AssMats(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and WorkSpaceDim().

 {
         FullSubMatrixHandler& WMA = WorkMatA.SetFull();
         FullSubMatrixHandler& WMB = WorkMatB.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WMA.ResizeReset(iNumRows, iNumCols);
         WMB.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WMA.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WMA.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WMA.PutRowIndex(6 + iCnt, iNode2FirstMomIndex + iCnt);
                 WMA.PutColIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
 
                 WMB.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WMB.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WMB.PutRowIndex(6 + iCnt, iNode2FirstMomIndex + iCnt);
                 WMB.PutColIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         AssMats(WMA, WMB, 1.);
 }

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void DeformableJoint::AssMatViscous	(	FullSubMatrixHandler &	WMA,
		FullSubMatrixHandler &	WMB,
		doublereal	dCoef,
		const Mat6x6 &	FDEPrime
	)

protected

Definition at line 543 of file vehj3.cc.

References FullSubMatrixHandler::Add(), Vec3::Cross(), d1, d1Prime, d2, d2Prime, Mat6x6::GetMat11(), Mat6x6::GetMat12(), Mat6x6::GetMat21(), Mat6x6::GetMat22(), StructNode::GetWCurr(), MatCross, MatCrossCross, pNode1, pNode2, and FullSubMatrixHandler::Sub().

Referenced by ViscousJoint::AssMats(), and ViscoElasticJoint::AssMats().

 {
         const Mat3x3& F_dPrime = FDEPrime.GetMat11();
         const Mat3x3& F_thetaPrime = FDEPrime.GetMat12();
         const Mat3x3& M_dPrime = FDEPrime.GetMat21();
         const Mat3x3& M_thetaPrime = FDEPrime.GetMat22();
 
         const Vec3& Omega1 = pNode1->GetWCurr();
         const Vec3& Omega2 = pNode2->GetWCurr();
 
         /* D11 */
         WMB.Add(1, 1, F_dPrime);
         WMB.Sub(1, 6 + 1, F_dPrime);
         WMB.Sub(6 + 1, 1, F_dPrime);
         WMB.Add(6 + 1, 6 + 1, F_dPrime);
 
         /* D11 * [d1 x] */
         Mat3x3 FTmp = F_dPrime*Mat3x3(MatCross, d1) - F_thetaPrime;
 
         WMB.Sub(1, 4, FTmp);
         WMB.Add(6 + 1, 4, FTmp);
 
         /* */
         Mat3x3 MTmp(M_dPrime*Mat3x3(MatCross, d1) - M_thetaPrime);
 
         WMB.Sub(4, 4, d1.Cross(FTmp) + MTmp);
         WMB.Add(6 + 4, 4, d2.Cross(FTmp) + MTmp);
 
         /* D11 * [d2 x] */
         FTmp = F_dPrime*Mat3x3(MatCross, d2) - F_thetaPrime;
 
         WMB.Add(1, 6 + 4, FTmp);
         WMB.Sub(6 + 1, 6 + 4, FTmp);
 
         /* */
         MTmp = M_dPrime*Mat3x3(MatCross, d2) - M_thetaPrime;
 
         WMB.Add(4, 6 + 4, d1.Cross(FTmp) + MTmp);
         WMB.Sub(6 + 4, 6 + 4, d2.Cross(FTmp) + MTmp);
 
         /* [d1 x] * D11 */
         FTmp = d1.Cross(F_dPrime) + M_dPrime;
 
         WMB.Add(4, 1, FTmp);
         WMB.Sub(4, 6 + 1, FTmp);
 
         /* [d2 x] * D11 */
         FTmp = d2.Cross(F_dPrime) + M_dPrime;
 
         WMB.Sub(6 + 4, 1, FTmp);
         WMB.Add(6 + 4, 6 + 1, FTmp);
 
         // ~~~ o ~~~ o ~~~ o ~~~
 
         MTmp = F_dPrime*Mat3x3(MatCross, Omega1*dCoef);
 
         WMA.Sub(1, 1, MTmp);
         WMA.Add(6 + 1, 1, MTmp);
         WMA.Add(1, 6 + 1, MTmp);
         WMA.Sub(6 + 1, 6 + 1, MTmp);
 
         Mat3x3 A1dP(d1.Cross(F_dPrime) + M_dPrime);
         Mat3x3 A2dP(d2.Cross(F_dPrime) + M_dPrime);
         
         Mat3x3 A1tPw((d1.Cross(F_thetaPrime) + M_thetaPrime)*Mat3x3(MatCross, Omega2*dCoef));
         Mat3x3 A2tPw((d2.Cross(F_thetaPrime) + M_thetaPrime)*Mat3x3(MatCross, Omega2*dCoef));
 
         Mat3x3 D1(Mat3x3(MatCross, d1Prime*dCoef) - Mat3x3(MatCrossCross, Omega1, d1*dCoef));
         Mat3x3 D2(Mat3x3(MatCross, d2Prime*dCoef) - Mat3x3(MatCrossCross, Omega1, d2*dCoef));
 
         MTmp = A1dP*Mat3x3(MatCross, Omega1*dCoef);
 
         WMA.Sub(4, 1, MTmp);
         WMA.Add(4, 6 + 1, MTmp);
 
         MTmp = A2dP*Mat3x3(MatCross, Omega1*dCoef);
 
         WMA.Add(6 + 4, 1, MTmp);
         WMA.Sub(6 + 4, 6 + 1, MTmp);
 
         FTmp = F_thetaPrime*Mat3x3(MatCross, Omega2*dCoef);
 
         MTmp = F_dPrime*D1 + FTmp;
 
         WMA.Sub(1, 4, MTmp);
         WMA.Add(6 + 1, 4, MTmp);
 
         MTmp = F_dPrime*D2 + FTmp;
 
         WMA.Add(1, 6 + 4, MTmp);
         WMA.Sub(6 + 1, 6 + 4, MTmp);
 
         WMA.Sub(4, 4, A1dP*D1 + A1tPw);
 
         WMA.Add(6 + 4, 4, A2dP*D1 + A2tPw);
 
         WMA.Add(4, 6 + 4, A1dP*D2 + A1tPw);
 
         WMA.Sub(6 + 4, 6 + 4, A2dP*D2 + A2tPw);
 }

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

virtual

Implements Elem.

Definition at line 721 of file vehj3.cc.

References AssVec(), StructDispNode::iGetFirstMomentumIndex(), pNode1, pNode2, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and WorkSpaceDim().

 {
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WorkVec.PutRowIndex(6 + iCnt, iNode2FirstMomIndex + iCnt);
         }
 
         AssVec(WorkVec);
 
         return WorkVec;
 }

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

virtual

Reimplemented from Elem.

Definition at line 749 of file vehj3.cc.

References ASSERT, AssVec(), bFirstRes, Elem::bIsErgonomy(), StructDispNode::iGetFirstPositionIndex(), InverseDynamics::INVERSE_DYNAMICS, pNode1, pNode2, InverseDynamics::POSITION, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and WorkSpaceDim().

 {       
         ASSERT(iOrder == InverseDynamics::INVERSE_DYNAMICS
                 || (iOrder == InverseDynamics::POSITION && bIsErgonomy()));
 
         bFirstRes = false;
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNode1FirstMomIndex = pNode1->iGetFirstPositionIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstPositionIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WorkVec.PutRowIndex(6 + iCnt, iNode2FirstMomIndex + iCnt);
         }
 
         AssVec(WorkVec);
 
         return WorkVec;
 }

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virtual void DeformableJoint::AssVec ( SubVectorHandler & WorkVec )

protectedpure virtual

Implemented in ViscoElasticJoint, ViscousJoint, ElasticJointInv, and ElasticJoint.

Referenced by AssRes(), and InitialAssRes().

bool DeformableJoint::bInverseDynamics ( void ) const

virtual

Reimplemented from Elem.

Definition at line 278 of file vehj3.cc.

 {
         return true;
 }

doublereal DeformableJoint::dGetPrivData ( unsigned int i ) const

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 393 of file vehj3.cc.

References ASSERT, grad::Cross(), ConstitutiveLawOwner< T, Tder >::dGetPrivData(), ConstitutiveLawOwner< T, Tder >::GetF(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), iGetNumPrivData(), pNode1, pNode2, tilde_f1, tilde_f2, tilde_R1h, tilde_R2h, Mat3x3::Transpose(), grad::Transpose(), and RotManip::VecRot().

 {
         ASSERT(i > 0);
 
         ASSERT(i <= iGetNumPrivData());
 
         switch (i) {
         case 1:
         case 2:
         case 3:
         {
                 Vec3 f1(pNode1->GetRCurr()*tilde_f1);
                 Vec3 f2(pNode2->GetRCurr()*tilde_f2);
                 Mat3x3 R1hT((pNode1->GetRCurr()*tilde_R1h).Transpose());
                 Vec3 tilde_d(R1hT*(pNode2->GetXCurr() + f2 - pNode1->GetXCurr() - f1));
 
                 return tilde_d(i);
         }
 
         case 4:
         case 5:
         case 6:
         {
                 Mat3x3 R1hT((pNode1->GetRCurr()*tilde_R1h).Transpose());
                 Mat3x3 R2h(pNode2->GetRCurr()*tilde_R2h);
 
                 Vec3 tilde_Theta(RotManip::VecRot(R1hT*R2h));
 
                 return tilde_Theta(i - 3);
         }
 
         case 7:
         case 8:
         case 9:
         {
                 Vec3 f2(pNode2->GetRCurr()*tilde_f2);
                 Mat3x3 R1hT(pNode1->GetRCurr().Transpose());
                 Vec3 tilde_dPrime(R1hT*(pNode2->GetVCurr() - pNode1->GetVCurr()
                                         + (pNode2->GetXCurr() - pNode1->GetXCurr()).Cross(pNode1->GetWCurr())
                                         - f2.Cross(pNode2->GetWCurr() - pNode1->GetWCurr())));
 
                 return tilde_dPrime(i - 6);
         }
 
         case 10:
         case 11:
         case 12:
         {
                 Mat3x3 R1hT((pNode1->GetRCurr()*tilde_R1h).Transpose());
                 Vec3 tilde_Omega = R1hT*(pNode2->GetWCurr() - pNode1->GetWCurr());
 
                 return tilde_Omega(i - 9);
         }
 
         case 13:
         case 14:
         case 15:
         case 16:
         case 17:
         case 18:
                 return GetF()(i - 12);
 
         default:
                 return ConstitutiveLaw6DOwner::dGetPrivData(i - 18);
         }
 }

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

inlinevirtual

Reimplemented from Elem.

Definition at line 169 of file vehj3.h.

References pNode1, and pNode2.

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

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

pure virtual

Implemented in ViscoElasticJoint, ViscousJoint, ElasticJointInv, and ElasticJoint.

Referenced by Output().

virtual DofOrder::Order DeformableJoint::GetDofType ( unsigned int ) const

inlinevirtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 147 of file vehj3.h.

References DofOrder::UNKNOWN.

                                                                 {
                 return DofOrder::UNKNOWN;
         };

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

inlinevirtual

Implements Joint.

Definition at line 120 of file vehj3.h.

References Joint::DEFORMABLEJOINT.

                                                    {
                 return Joint::DEFORMABLEJOINT;
         };

virtual unsigned int DeformableJoint::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 158 of file vehj3.h.

                                                            {
                 return 0;
         };

virtual unsigned int DeformableJoint::iGetNumDof ( void ) const

inlinevirtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 143 of file vehj3.h.

                                                     {
                 return 0;
         };

unsigned int DeformableJoint::iGetNumPrivData ( void ) const

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 322 of file vehj3.cc.

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

Referenced by dGetPrivData().

 {
         return 18 + ConstitutiveLaw6DOwner::iGetNumPrivData();
 }

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

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 328 of file vehj3.cc.

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

 {
         ASSERT(s != NULL);
 
         unsigned idx = 0;
 
         switch (s[0]) {
         case 'd':
                 break;
 
         case 'r':
                 idx += 3;
                 break;
 
         case 'v':
                 idx += 6;
                 break;
 
         case 'w':
                 idx += 9;
                 break;
 
         case 'F':
                 idx += 12;
                 break;
 
         case 'M':
                 idx += 15;
                 break;
 
         default:
         {
                 size_t l = STRLENOF("constitutiveLaw.");
                 if (strncmp(s, "constitutiveLaw.", l) == 0) {
                         idx = ConstitutiveLaw6DOwner::iGetPrivDataIdx(&s[l]);
                         if (idx > 0) {
                                 return 18 + 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;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 783 of file vehj3.cc.

References AssVec(), StructDispNode::iGetFirstPositionIndex(), SubjectToInitialAssembly::InitialWorkSpaceDim(), pNode1, pNode2, SubVectorHandler::PutRowIndex(), and VectorHandler::ResizeReset().

 {
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WorkVec.PutRowIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         AssVec(WorkVec);
 
         return WorkVec;
 }

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void DeformableJoint::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 143 of file vehj3.cc.

References ToBeOutput::bToBeOutput(), dRaDegr, EULER_123, EULER_313, EULER_321, F, GetConstLawType(), OutputHandler::GetCurrentStep(), ConstitutiveLawOwner< T, Tder >::GetF(), WithLabel::GetLabel(), StructNode::GetRCurr(), Vec6::GetVec1(), OutputHandler::JOINTS, OutputHandler::Joints(), MatR2EulerAngles123(), MatR2EulerAngles313(), MatR2EulerAngles321(), Mat3x3::MulTM(), od, ORIENTATION_MATRIX, ORIENTATION_VECTOR, Joint::Output(), Mat3x3::pGetMat(), Vec3::pGetVec(), pNode1, pNode2, R, R1h, tilde_k, tilde_kPrime, tilde_R1h, tilde_R2h, OutputHandler::UseNetCDF(), OutputHandler::UseText(), RotManip::VecRot(), and ConstLawType::VISCOUS.

 {
         if (bToBeOutput()) {
                 Mat3x3 R1h(pNode1->GetRCurr()*tilde_R1h);
                 Mat3x3 R2h(pNode2->GetRCurr()*tilde_R2h);
                 Mat3x3 R(R1h.MulTM(R2h));
                 Vec3 F(GetF().GetVec1());
                 Vec3 M(GetF().GetVec2());
                 Vec3 E;
 
                 // angular strain
                 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((R1h*F).pGetVec(), OH.GetCurrentStep());
                         Var_M_local->put_rec((R1h*M).pGetVec(), OH.GetCurrentStep());
                         Var_F_global->put_rec(F.pGetVec(), OH.GetCurrentStep());
                         Var_M_global->put_rec(M.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(), "DeformableJoint", GetLabel(),
                                 F, M, R1h*F, R1h*M);
 
                         // linear strain
                         OH.Joints() << " " << tilde_k.GetVec1() << " ";
                         
                         // Angular strain
                         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() << " " << tilde_kPrime;
                         }
 
                         OH.Joints() << std::endl;
                 }
         }
 }

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void DeformableJoint::OutputPrepare ( OutputHandler & OH )

virtual

Reimplemented from ToBeOutput.

Definition at line 119 of file vehj3.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 joint", OH, name);
                         Var_tilde_d = OH.CreateVar<Vec3>(name + "d", "m",
                                         "relative position in local frame (x, y, z)");
                         Var_tilde_dPrime = OH.CreateVar<Vec3>(name + "dPrime", "m/s",
                                         "relative linear velocity in local frame (x, y, z)");
                         Var_d = OH.CreateVar<Vec3>(name + "D", "m",
                                         "relative position in global frame (x, y, z)");
                         Var_dPrime = OH.CreateVar<Vec3>(name + "DPrime", "m/s",
                                         "relative linear velocity in global frame (x, y, z)");
                         Var_Phi = OH.CreateRotationVar(name, "", od, "global");
                         Var_Omega = OH.CreateVar<Vec3>(name + "Omega", "radian/s",
                                 "local relative angular velocity (x, y, z)");
                 }
 #endif
         }
 }

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

virtual

Reimplemented from SimulationEntity.

Definition at line 284 of file vehj3.cc.

References SimulationEntity::ParseHint(), and STRLENOF.

 {
         if (strncasecmp(s, "offset{" /*}*/ , STRLENOF("offset{" /*}*/ )) == 0)
         {
                 s += STRLENOF("offset{" /*}*/ );
 
                 if (strcmp(&s[1], /*{*/ "}") != 0) {
                         return 0;
                 }
 
                 switch (s[0]) {
                 case '1':
                         return new Joint::OffsetHint<1>;
 
                 case '2':
                         return new Joint::OffsetHint<2>;
                 }
 
         } else 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 ConstitutiveLaw6DOwner::ParseHint(pDM, s);
 }

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

virtual

Implements Elem.

Definition at line 104 of file vehj3.cc.

References WithLabel::GetLabel(), Mat3x3::GetVec(), ConstitutiveLawOwner< T, Tder >::pGetConstLaw(), pNode1, pNode2, Joint::Restart(), tilde_f1, tilde_f2, tilde_R1h, tilde_R2h, Write(), and Vec3::Write().

 {
         Joint::Restart(out) << ", deformable joint, "
                 << pNode1->GetLabel() << ", reference, node, ",
         tilde_f1.Write(out, ", ") << ", hinge, reference, node, 1, ",
         (tilde_R1h.GetVec(1)).Write(out, ", ")
                 << ", 2, ", (tilde_R1h.GetVec(2)).Write(out, ", ") << ", "
                 << pNode2->GetLabel() << ", reference, node, ",
         tilde_f2.Write(out, ", ") << ", hinge, reference, node, 1, ",
         (tilde_R2h.GetVec(1)).Write(out, ", ")
                 << ", 2, ", (tilde_R2h.GetVec(2)).Write(out, ", ") << ", ";
         return pGetConstLaw()->Restart(out) << ';' << std::endl;
 }

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

virtual

Reimplemented from Joint.

Definition at line 236 of file vehj3.cc.

References StructNode::GetRCurr(), StructDispNode::GetXCurr(), pNode1, pNode2, SimulationEntity::SetValue(), tilde_f1, tilde_f2, 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::OffsetHint<1> *>(pjh)) {
                                         Mat3x3 R1t(pNode1->GetRCurr().Transpose());
                                         Vec3 f2(pNode2->GetRCurr()*tilde_f2);
          
                                         tilde_f1 = R1t*(pNode2->GetXCurr() + f2 - pNode1->GetXCurr());
         
                                 } else if (dynamic_cast<Joint::OffsetHint<2> *>(pjh)) {
                                         Mat3x3 R2t(pNode2->GetRCurr().Transpose());
                                         Vec3 f1(pNode1->GetRCurr()*tilde_f1);
          
                                         tilde_f2 = R2t*(pNode1->GetXCurr() + f1 - pNode2->GetXCurr());
         
                                 } else 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 */
                         ConstitutiveLaw6DOwner::SetValue(pDM, X, XP, ph);
                 }
         }
 }

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

inlinevirtual

Implements Elem.

Definition at line 151 of file vehj3.h.

Referenced by AssJac(), AssMats(), and AssRes().

                                                                                 {
                 *piNumRows = 12;
                 *piNumCols = 12;
         };