#include <drvdisp.h>

Inheritance diagram for DriveDisplacementPinJoint:

Collaboration diagram for DriveDisplacementPinJoint:

Public Member Functions
	DriveDisplacementPinJoint (unsigned int uL, const DofOwner pDO, const TplDriveCaller< Vec3 > pDC, const StructNode *pN, const Vec3 &f, const Vec3 &x, flag fOut)

virtual	~DriveDisplacementPinJoint (void)

virtual Joint::Type	GetJointType (void) const

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

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 unsigned int	iGetNumDof (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 void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

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

virtual unsigned int	iGetInitialNumDof (void) const

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

virtual unsigned int	iGetNumPrivData (void) const

unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i=0) 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 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 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 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)

Public Member Functions inherited from TplDriveOwner< Vec3 >
	TplDriveOwner (const TplDriveCaller< Vec3 > *pDC=0)

virtual	~TplDriveOwner (void)

void	Set (const TplDriveCaller< Vec3 > *pDC)

TplDriveCaller< Vec3 > *	pGetDriveCaller (void) const

Vec3	Get (const doublereal &dVar) const

Vec3	Get (void) const

virtual bool	bIsDifferentiable (void) const

virtual Vec3	GetP (void) const

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

void	AssVec (SubVectorHandler &WorkVec, doublereal dCoef)

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 *	pNode

Vec3	f

Vec3	x

Vec3	fRef

Vec3	dRef

Vec3	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 TplDriveOwner< Vec3 >
TplDriveCaller< Vec3 > *	pTplDriveCaller

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 189 of file drvdisp.h.

Constructor & Destructor Documentation

DriveDisplacementPinJoint::DriveDisplacementPinJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const TplDriveCaller< Vec3 > *	pDC,
		const StructNode *	pN,
		const Vec3 &	f,
		const Vec3 &	x,
		flag	fOut
	)

Definition at line 674 of file drvdisp.cc.

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

 : Elem(uL, fOut), 
 Joint(uL, pDO, fOut), 
 TplDriveOwner<Vec3>(pDC),
 pNode(pN), f(f), x(x),
 fRef(Zero3),
 dRef(Zero3),
 F(Zero3)
 {
         ASSERT(pNode != NULL);
         ASSERT(pNode->GetNodeType() == Node::STRUCTURAL);
 }

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DriveDisplacementPinJoint::~DriveDisplacementPinJoint ( void )

virtual

Definition at line 695 of file drvdisp.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

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

virtual

Reimplemented from SimulationEntity.

Definition at line 1006 of file drvdisp.cc.

References dRef, f, fRef, TplDriveOwner< Vec3 >::Get(), StructNode::GetRRef(), and pNode.

 {
         /* Recupera i dati */
         fRef = pNode->GetRRef()*f;
         dRef = Get();
 }

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

virtual

Implements Elem.

Definition at line 969 of file drvdisp.cc.

References AssMat(), DEBUGCOUT, DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), pNode, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and WorkSpaceDim().

 {
         DEBUGCOUT("Entering DriveDisplacementPinJoint::AssJac()" << std::endl);
 
         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 iNodeFirstPosIndex = pNode->iGetFirstPositionIndex();
         integer iNodeFirstMomIndex = pNode->iGetFirstMomentumIndex();
         integer iFirstReactionIndex = iGetFirstIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iNodeFirstMomIndex + iCnt);
                 WM.PutColIndex(iCnt, iNodeFirstPosIndex + iCnt);        
         }
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutRowIndex(6 + iCnt, iFirstReactionIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iFirstReactionIndex + iCnt);
         }
    
         AssMat(WM, dCoef);
 
         return WorkMat;
 }

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void DriveDisplacementPinJoint::AssMat	(	FullSubMatrixHandler &	WM,
		doublereal	dCoef
	)

protected

Definition at line 1016 of file drvdisp.cc.

References FullSubMatrixHandler::Add(), F, fRef, FullSubMatrixHandler::IncCoef(), MatCross, MatCrossCross, and FullSubMatrixHandler::Sub().

Referenced by AssJac().

 {
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 /* node force */
                 WM.IncCoef(iCnt, 6 + iCnt, 1.);
 
                 /* node constraint */
                 WM.IncCoef(6 + iCnt, iCnt, 1.);
         }
 
         Mat3x3 MTmp(MatCross, fRef);
 
         /* node moment */
         WM.Add(3 + 1, 6 + 1, MTmp);
 
         /* node constraint */
         WM.Sub(6 + 1, 3 + 1, MTmp);
 
         MTmp = Mat3x3(MatCrossCross, F, fRef*dCoef);
 
         /* node moment */
         WM.Add(3 + 1, 3 + 1, MTmp);
 }

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

virtual

Implements Elem.

Definition at line 1043 of file drvdisp.cc.

References AssVec(), DEBUGCOUT, F, DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), pNode, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and WorkSpaceDim().

 {
         DEBUGCOUT("Entering DriveDisplacementPinJoint::AssRes()" << std::endl);   
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNodeFirstMomIndex = pNode->iGetFirstMomentumIndex();
         integer iFirstReactionIndex = iGetFirstIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNodeFirstMomIndex + iCnt);
         }
 
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WorkVec.PutRowIndex(6 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         F = Vec3(XCurr, iFirstReactionIndex + 1);
 
         AssVec(WorkVec, dCoef);
 
         return WorkVec;
 }

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void DriveDisplacementPinJoint::AssVec	(	SubVectorHandler &	WorkVec,
		doublereal	dCoef
	)

protected

Definition at line 1078 of file drvdisp.cc.

References ASSERT, Vec3::Cross(), f, F, TplDriveOwner< Vec3 >::Get(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), pNode, VectorHandler::Sub(), and x.

Referenced by AssRes().

 {   
         Vec3 fTmp = pNode->GetRCurr()*f;
         Vec3 d = Get();
 
         WorkVec.Sub(1, F);
         WorkVec.Sub(3 + 1, fTmp.Cross(F));
         
         ASSERT(dCoef != 0.);
         WorkVec.Sub(6 + 1, (pNode->GetXCurr() + fTmp - x - d)/dCoef);
 }

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

virtual

Reimplemented from Elem.

Definition at line 797 of file drvdisp.cc.

References DofOwnerOwner::iGetFirstIndex().

 {
         integer iIndex = iGetFirstIndex();
 
         out
                 << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                         "reaction forces [fx,fy,fz]" << std::endl;
 
         if (bInitial) {
                 iIndex += 3;
                 out
                         << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                                 "reaction force derivatives [fPx,fPy,fPz]" << std::endl;
         }
 
         return out;
 }

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

virtual

Reimplemented from Elem.

Definition at line 817 of file drvdisp.cc.

References dof, WithLabel::GetLabel(), and xyz.

 {
         int iend = 1;
         if (i == -1) {
                 if (bInitial) {
                         iend = 6;
 
                 } else {
                         iend = 3;
                 }
         }
         desc.resize(iend);
 
         std::ostringstream os;
         os << "DriveDisplacementPinJoint(" << GetLabel() << ")";
 
         if (i == -1) {
                 std::string name = os.str();
                 for (i = 0; i < iend; i++) {
                         os.str(name);
                         os.seekp(0, std::ios_base::end);
                         os << ": " << dof[i/3] << xyz[i%3];
 
                         desc[i] = os.str();
                 }
 
         } else {
                 os << ": " << dof[i/3] << xyz[i%3];
                 desc[0] = os.str();
         }
 }

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

virtual

Reimplemented from Elem.

Definition at line 851 of file drvdisp.cc.

References DofOwnerOwner::iGetFirstIndex().

 {
         integer iIndex = iGetFirstIndex();
 
         out
                 << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                         "position constraints [px1=px2,py1=py2,pz1=pz2]" << std::endl;
 
         if (bInitial) {
                 iIndex += 3;
                 out
                         << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                                 "velocity constraints [vx1=vx2,vy1=vy2,vz1=vz2]" << std::endl;
         }
 
         return out;
 
 }

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

virtual

Reimplemented from Elem.

Definition at line 872 of file drvdisp.cc.

References eq, WithLabel::GetLabel(), and xyz.

 {
         int iend = 1;
         if (i == -1) {
                 if (bInitial) {
                         iend = 6;
 
                 } else {
                         iend = 3;
                 }
         }
         desc.resize(iend);
 
         std::ostringstream os;
         os << "DriveDisplacementPinJoint(" << GetLabel() << ")";
 
         if (i == -1) {
                 std::string name = os.str();
                 for (i = 0; i < iend; i++) {
                         os.str(name);
                         os.seekp(0, std::ios_base::end);
                         os << ": " << eq[i/3] << xyz[i%3];
 
                         desc[i] = os.str();
                 }
 
         } else {
                 os << ": " << eq[i/3] << xyz[i%3];
                 desc[0] = os.str();
         }
 }

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doublereal DriveDisplacementPinJoint::dGetPrivData ( unsigned int i = 0 ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 948 of file drvdisp.cc.

References ASSERT, Vec3::dGet(), F, TplDriveOwner< Vec3 >::Get(), and MBDYN_EXCEPT_ARGS.

 {
         ASSERT(i >= 1 && i <= 6);
 
         switch (i) {
         case 1:
         case 2:
         case 3:
                 return Get().dGet(i);
 
         case 4:
         case 5:
         case 6:
                 return F(i - 3);
         }
 
         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
 }

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

inlinevirtual

Reimplemented from Elem.

Definition at line 319 of file drvdisp.h.

References pNode.

                                                                                       {
                 connectedNodes.resize(1);
                 connectedNodes[0] = pNode;
         };

virtual DofOrder::Order DriveDisplacementPinJoint::GetDofType ( unsigned int i ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 260 of file drvdisp.h.

References DofOrder::ALGEBRAIC, and ASSERT.

                                                                {
                 ASSERT(i >= 0 && i <= 3);
                 return DofOrder::ALGEBRAIC;
         };

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

inlinevirtual

Implements Joint.

Definition at line 220 of file drvdisp.h.

References Joint::DRIVEDISPPIN.

                                                    {
                 return DRIVEDISPPIN;
         };

virtual unsigned int DriveDisplacementPinJoint::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 288 of file drvdisp.h.

                                                            { 
                 return 6;
         };

virtual unsigned int DriveDisplacementPinJoint::iGetNumDof ( void ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 236 of file drvdisp.h.

                                                     { 
                 return 3;
         };

unsigned int DriveDisplacementPinJoint::iGetNumPrivData ( void ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 907 of file drvdisp.cc.

 {
         return 6;
 };

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

virtual

Reimplemented from SimulationEntity.

Definition at line 913 of file drvdisp.cc.

References ASSERT.

 {
         ASSERT(s != NULL);
         ASSERT(s[0] != '\0');
 
         if (s[2] != '\0') {
                 return 0;
         }
 
         unsigned int idx = 0;
 
         switch (s[0]) {
         case 'f':
                 idx += 3;
                 /* fallthru */
         case 'd':
                 break;
 
         default:
                 return 0;
         }
 
         switch (s[1]) {
         case 'x':
                 return idx + 1;
         case 'y':
                 return idx + 2;
         case 'z':
                 return idx + 3;
         }
 
         return 0;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 1093 of file drvdisp.cc.

References FullSubMatrixHandler::Add(), DEBUGCOUT, F, fRef, StructNode::GetWRef(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), FullSubMatrixHandler::IncCoef(), InitialWorkSpaceDim(), MatCross, MatCrossCross, pNode, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and FullSubMatrixHandler::Sub().

 {
         DEBUGCOUT("Entering DriveDisplacementPinJoint::InitialAssJac()" << std::endl);
 
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNodeFirstPosIndex = pNode->iGetFirstPositionIndex();
         integer iFirstReactionIndex = iGetFirstIndex();
         integer iNodeFirstVelIndex = iNodeFirstPosIndex + 6;
         integer iReactionPrimeIndex = iFirstReactionIndex + 3;   
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iNodeFirstPosIndex + iCnt);
                 WM.PutColIndex(iCnt, iNodeFirstPosIndex + iCnt);
                 WM.PutRowIndex(6 + iCnt, iNodeFirstVelIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iNodeFirstVelIndex + iCnt);
                 WM.PutRowIndex(12 + iCnt, iFirstReactionIndex + iCnt);
                 WM.PutColIndex(12 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         Vec3 FPrime = Vec3(XCurr, iReactionPrimeIndex + 1);
 
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 /* node 2 force */
                 WM.IncCoef(iCnt, 12 + iCnt, 1.);
 
                 /* node 2 force derivative */
                 WM.IncCoef(6 + iCnt, 15 + iCnt, 1.);
 
                 /* node 2 constraint */
                 WM.IncCoef(12 + iCnt, iCnt, 1.);
 
                 /* node 2 constraint derivative */
                 WM.IncCoef(15 + iCnt, 6 + iCnt, 1.);
         }
 
         Mat3x3 MTmp(MatCross, fRef);
         /* node 2 moment */
         WM.Add(3 + 1, 12 + 1, MTmp);
         /* node 2 moment derivatives */
         WM.Add(9 + 1, 15 + 1, MTmp);
         /* node 2 constraint */
         WM.Sub(12 + 1, 3 + 1, MTmp);
         /* node 2 constraint derivative */
         WM.Sub(15 + 1, 9 + 1, MTmp);
 
         MTmp = Mat3x3(MatCrossCross, F, fRef);
         /* node 2 moment */
         WM.Add(3 + 1, 3 + 1, MTmp);
 
         MTmp = Mat3x3(MatCrossCross, FPrime, fRef);
         /* node 2 moment derivative */
         WM.Add(9 + 1, 9 + 1, MTmp);
 
         MTmp = Mat3x3(MatCrossCross, pNode->GetWRef(), fRef);
         /* node 2 constraint derivative */
         WM.Add(15 + 1, 3 + 1, MTmp);
 
         return WorkMat;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 1166 of file drvdisp.cc.

References VectorHandler::Add(), TplDriveOwner< Vec3 >::bIsDifferentiable(), Vec3::Cross(), DEBUGCOUT, dRef, f, F, fRef, TplDriveOwner< Vec3 >::Get(), TplDriveOwner< Vec3 >::GetP(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), pNode, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and VectorHandler::Sub().

 {
         DEBUGCOUT("Entering DriveDisplacementPinJoint::InitialAssRes()" << std::endl);   
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNodeFirstPosIndex = pNode->iGetFirstPositionIndex();
         integer iFirstReactionIndex = iGetFirstIndex();
         integer iNodeFirstVelIndex = iNodeFirstPosIndex + 6;
         integer iFirstReactionPrimeIndex = iFirstReactionIndex + 3;
 
         /* Setta gli indici del vettore */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNodeFirstPosIndex + iCnt);
                 WorkVec.PutRowIndex(6 + iCnt, iNodeFirstVelIndex + iCnt);
                 WorkVec.PutRowIndex(12 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         F = Vec3(XCurr, iFirstReactionIndex + 1);
         Vec3 FPrime = Vec3(XCurr, iFirstReactionPrimeIndex + 1);
 
         dRef = Get();
         fRef = pNode->GetRCurr()*f;
 
         WorkVec.Sub(1, F);
         WorkVec.Sub(3 + 1, fRef.Cross(F));
         WorkVec.Sub(6 + 1, FPrime);
         WorkVec.Sub(9 + 1, fRef.Cross(FPrime));
 
         WorkVec.Add(12 + 1, dRef - pNode->GetXCurr() - fRef);
 
         /* in case the drive is differentiable... */
         Vec3 PhiPrime = pNode->GetVCurr() + pNode->GetWCurr().Cross(fRef);
         if (bIsDifferentiable()) {
                 PhiPrime -= GetP();
         }
         WorkVec.Sub(15 + 1, PhiPrime);
 
         return WorkVec;
 }

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 292 of file drvdisp.h.

Referenced by InitialAssJac(), and InitialAssRes().

         { 
                 *piNumRows = 18; 
                 *piNumCols = 18;
         };

void DriveDisplacementPinJoint::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 715 of file drvdisp.cc.

References ToBeOutput::bToBeOutput(), f, F, WithLabel::GetLabel(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), OutputHandler::Joints(), Joint::Output(), pNode, x, and Zero3.

 {   
         if (bToBeOutput()) {
                 Vec3 d(pNode->GetXCurr() + pNode->GetRCurr()*f - x);
                 Joint::Output(OH.Joints(), "DriveDisplacementPinJoint", GetLabel(),
                                 F, Zero3, F, Zero3)
                         << " " << d << std::endl;
         }
 }

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

virtual

Reimplemented from SimulationEntity.

Definition at line 773 of file drvdisp.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 '0':
                         return new Joint::OffsetHint<0>;
                 }
         }
 
         /* take care of "drive" hint... */
         return SimulationEntity::ParseHint(pDM, s);
 }

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

virtual

Implements Elem.

Definition at line 703 of file drvdisp.cc.

References f, WithLabel::GetLabel(), TplDriveOwner< Vec3 >::pGetDriveCaller(), pNode, TplDriveCaller< T >::Restart(), Joint::Restart(), Vec3::Write(), and x.

 {
         Joint::Restart(out) << ", drive displacement pin, "
                 << pNode->GetLabel() << ", reference, node, ",
                 f.Write(out, ", ") << ", ",
                 x.Write(out, ", ") << ", ",
                 pGetDriveCaller()->Restart(out) << ';' << std::endl;
         return out;
 }

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

virtual

Reimplemented from Joint.

Definition at line 726 of file drvdisp.cc.

References f, TplDriveOwner< Vec3 >::Get(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), MBDYN_EXCEPT_ARGS, TplDriveHint< T >::pCreateDrive(), pNode, TplDriveOwner< T >::Set(), Mat3x3::Transpose(), WithLabel::uLabel, and x.

 {
         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 Rt(pNode->GetRCurr().Transpose());
    
                                         f = Rt*(x + Get() - pNode->GetXCurr());
 
                                 } else if (dynamic_cast<Joint::OffsetHint<0> *>(pjh)) {
                                         Vec3 fTmp(pNode->GetRCurr()*f);
    
                                         x = pNode->GetXCurr() + fTmp - Get();
 
                                 } else if (dynamic_cast<Joint::ReactionsHint *>(pjh)) {
                                         /* TODO */
                                 }
                                 continue;
                         }
 
                         TplDriveHint<Vec3> *pdh = dynamic_cast<TplDriveHint<Vec3> *>((*ph)[i]);
 
                         if (pdh) {
                                 pedantic_cout("DriveDisplacementPinJoint(" << uLabel << "): "
                                         "creating drive from hint[" << i << "]..." << std::endl);
 
                                 TplDriveCaller<Vec3> *pDC = pdh->pCreateDrive(pDM);
                                 if (pDC == 0) {
                                         silent_cerr("DriveDisplacementPinJoint(" << uLabel << "): "
                                                 "unable to create drive "
                                                 "after hint #" << i << std::endl);
                                         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                                 }
                                 
                                 TplDriveOwner<Vec3>::Set(pDC);
                                 continue;
                         }
                 }
         }
 }

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

inlinevirtual

Implements Elem.

Definition at line 265 of file drvdisp.h.

Referenced by AssJac(), and AssRes().

                                                   { 
                 *piNumRows = 9;
                 *piNumCols = 9; 
         };

Member Data Documentation

Vec3 DriveDisplacementPinJoint::dRef

protected

Definition at line 199 of file drvdisp.h.

Referenced by AfterPredict(), and InitialAssRes().

Vec3 DriveDisplacementPinJoint::f

mutableprotected

Definition at line 195 of file drvdisp.h.

Referenced by AfterPredict(), AssVec(), InitialAssRes(), Output(), Restart(), and SetValue().

Vec3 DriveDisplacementPinJoint::F

protected

Definition at line 201 of file drvdisp.h.

Referenced by AssMat(), AssRes(), AssVec(), dGetPrivData(), InitialAssJac(), InitialAssRes(), and Output().

Vec3 DriveDisplacementPinJoint::fRef

protected

Definition at line 198 of file drvdisp.h.

Referenced by AfterPredict(), AssMat(), InitialAssJac(), and InitialAssRes().

const StructNode* DriveDisplacementPinJoint::pNode

protected

Definition at line 194 of file drvdisp.h.

Referenced by AfterPredict(), AssJac(), AssRes(), AssVec(), DriveDisplacementPinJoint(), GetConnectedNodes(), InitialAssJac(), InitialAssRes(), Output(), Restart(), and SetValue().

Vec3 DriveDisplacementPinJoint::x

mutableprotected

Definition at line 196 of file drvdisp.h.

Referenced by AssVec(), Output(), 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