#include <inplanej.h>

Inheritance diagram for InPlaneWithOffsetJoint:

Collaboration diagram for InPlaneWithOffsetJoint:

Public Member Functions
	InPlaneWithOffsetJoint (unsigned int uL, const DofOwner pDO, const StructNode pN1, const StructNode *pN2, const Vec3 &vT, const Vec3 &pT, const Vec3 &qT, flag fOut)

	~InPlaneWithOffsetJoint (void)

virtual Joint::Type	GetJointType (void) const

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

virtual unsigned int	iGetNumDof (void) const

virtual DofOrder::Order	GetDofType (unsigned int) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

virtual void	Output (OutputHandler &OH) const

virtual unsigned int	iGetInitialNumDof (void) const

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

virtual void	SetInitialValue (VectorHandler &X)

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

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

virtual	~Elem (void)

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

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

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

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

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

virtual bool	bInverseDynamics (void) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

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

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

virtual int	GetNumConnectedNodes (void) const

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

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

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

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

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

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

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

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

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

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

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

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

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

bool	bIsPrescribedMotion (void) const

bool	bIsTorque (void) const

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

virtual	~ElemGravityOwner (void)

virtual doublereal	dGetM (void) const

Vec3	GetS (void) const

Mat3x3	GetJ (void) const

Vec3	GetB (void) const

Vec3	GetG (void) const

Public Member Functions inherited from GravityOwner
	GravityOwner (void)

virtual	~GravityOwner (void)

void	PutGravity (const Gravity *pG)

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

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

virtual	~ElemWithDofs (void)

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

virtual	~DofOwnerOwner ()

virtual const DofOwner *	pGetDofOwner (void) const

virtual integer	iGetFirstIndex (void) const

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

virtual	~InitialAssemblyElem (void)

Public Member Functions inherited from SubjectToInitialAssembly
	SubjectToInitialAssembly (void)

virtual	~SubjectToInitialAssembly (void)

Private Attributes
const StructNode *	pNode1

const StructNode *	pNode2

const Vec3	v

const Vec3	p

const Vec3	q

doublereal	dF

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

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

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

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

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

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

virtual Mat3x3	GetJ_int (void) const

virtual Vec3	GetB_int (void) const

virtual Vec3	GetG_int (void) const

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Detailed Description

Definition at line 156 of file inplanej.h.

Constructor & Destructor Documentation

InPlaneWithOffsetJoint::InPlaneWithOffsetJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Vec3 &	vT,
		const Vec3 &	pT,
		const Vec3 &	qT,
		flag	fOut
	)

Definition at line 354 of file inplanej.cc.

References NO_OP.

 : Elem(uL, fOut), Joint(uL, pDO, fOut),
 pNode1(pN1), pNode2(pN2), v(vT), p(pT), q(qT), dF(0.)
 {
    NO_OP;
 };

InPlaneWithOffsetJoint::~InPlaneWithOffsetJoint ( void )

Definition at line 369 of file inplanej.cc.

References NO_OP.

 {
    NO_OP;
 }

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 389 of file inplanej.cc.

References DEBUGCOUT, dF, Vec3::dGet(), StructNode::GetRRef(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), MatCrossCross, pNode1, pNode2, SparseSubMatrixHandler::PutCross(), SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::PutMat3x3(), q, SparseSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetSparse(), and v.

 {
    DEBUGCOUT("Entering InPlaneWithOffsetJoint::AssJac()" << std::endl);
    SparseSubMatrixHandler& WM = WorkMat.SetSparse();
    WM.ResizeReset(84, 0);
    
    integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
    integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
    integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
    integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
    integer iFirstReactionIndex = iGetFirstIndex();
    
    Vec3 vTmp(pNode1->GetRRef()*v);
    Vec3 qTmp(pNode2->GetRRef()*q);
    Vec3 x2pqmx1(pNode2->GetXCurr()+qTmp-pNode1->GetXCurr());
    Vec3 F(vTmp*(dF*dCoef));
    
    
    Vec3 Tmp1(vTmp.Cross(x2pqmx1));
    Vec3 Tmp2(qTmp.Cross(vTmp));
    for(int iCnt = 1; iCnt <= 3; iCnt++) {
       doublereal d = vTmp.dGet(iCnt);
       WM.PutItem(iCnt, iNode1FirstMomIndex+iCnt,
                   iFirstReactionIndex+1, -d);
       WM.PutItem(3+iCnt, iNode2FirstMomIndex+iCnt,
                   iFirstReactionIndex+1, d);
       
       WM.PutItem(6+iCnt, iFirstReactionIndex+1,
                   iNode1FirstPosIndex+iCnt, -d);
       WM.PutItem(9+iCnt, iFirstReactionIndex+1,
                   iNode2FirstPosIndex+iCnt, d);
 
       d = Tmp1.dGet(iCnt);
       WM.PutItem(12+iCnt, iNode1FirstMomIndex+3+iCnt,
                   iFirstReactionIndex+1, d);
       
       WM.PutItem(15+iCnt, iFirstReactionIndex+1,
                   iNode1FirstPosIndex+3+iCnt, d);
 
       d = Tmp2.dGet(iCnt);
       WM.PutItem(18+iCnt, iNode2FirstMomIndex+3+iCnt,
                   iFirstReactionIndex+1, d);
       
       WM.PutItem(21+iCnt, iFirstReactionIndex+1,
                   iNode2FirstPosIndex+3+iCnt, d);
    }
    
    WM.PutCross(25, iNode1FirstMomIndex,
                 iNode1FirstPosIndex+3, F);
    WM.PutCross(31, iNode1FirstMomIndex+3,
                 iNode1FirstPosIndex, -F);
    WM.PutMat3x3(37, iNode1FirstMomIndex+3,              
                  iNode1FirstPosIndex+3, Mat3x3(MatCrossCross, x2pqmx1, F));
    WM.PutCross(46, iNode1FirstMomIndex+3,
                 iNode2FirstPosIndex, F);
    WM.PutCross(52, iNode2FirstMomIndex,
                 iNode2FirstPosIndex+3, -F);
    
    Mat3x3 MTmp(MatCrossCross, F, qTmp);
    WM.PutMat3x3(58, iNode1FirstMomIndex+3,              
                  iNode2FirstPosIndex+3, -MTmp);
    WM.PutMat3x3(67, iNode2FirstMomIndex+3,              
                  iNode2FirstPosIndex+3, -MTmp);
 
    WM.PutMat3x3(76, iNode2FirstMomIndex+3,              
                  iNode1FirstPosIndex+3, Mat3x3(MatCrossCross, -qTmp, F));
       
    return WorkMat;
 }

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

virtual

Implements Elem.

Definition at line 464 of file inplanej.cc.

References VectorHandler::Add(), Vec3::Cross(), DEBUGCOUT, dF, Vec3::Dot(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), p, pNode1, pNode2, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), q, VectorHandler::ResizeReset(), and v.

 {
    DEBUGCOUT("Entering InPlaneWithOffsetJoint::AssRes()" << std::endl);
    WorkVec.ResizeReset(13);
  
    // integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
    integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
    // integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
    integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
    integer iFirstReactionIndex = iGetFirstIndex();
 
    /* Indici equazioni */
    for(int iCnt = 1; iCnt <= 6; iCnt++) {
       WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex+iCnt);
       WorkVec.PutRowIndex(6+iCnt, iNode2FirstMomIndex+iCnt);
    }
    
    /* Indice equazione vincolo */
    WorkVec.PutRowIndex(13, iFirstReactionIndex+1);   
   
    Vec3 vTmp(pNode1->GetRCurr()*v);  
    Vec3 qTmp(pNode2->GetRCurr()*q);
    Vec3 x2pqmx1(pNode2->GetXCurr()+qTmp-pNode1->GetXCurr());
    
    /* Aggiorna i dati propri */
    dF = XCurr(iFirstReactionIndex+1);
    Vec3 F(vTmp*dF);
    
    WorkVec.Add(1, F);
    WorkVec.Add(4, x2pqmx1.Cross(F));
    WorkVec.Add(7, -F);
    WorkVec.Add(10, F.Cross(qTmp));
    if(dCoef != 0.) {
       WorkVec.PutCoef(13, (v.Dot(p)-vTmp.Dot(x2pqmx1))/dCoef);
    }
       
    return WorkVec;
 }

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

inlinevirtual

Reimplemented from Elem.

Definition at line 238 of file inplanej.h.

References pNode1, and pNode2.

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

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

inlinevirtual

Reimplemented from Elem.

Definition at line 191 of file inplanej.h.

References DofOrder::ALGEBRAIC, and ASSERT.

    {
       ASSERT(i >= 0 && i < 1);
       return DofOrder::ALGEBRAIC;
    };

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

inlinevirtual

Implements Joint.

Definition at line 177 of file inplanej.h.

References Joint::INPLANE.

                                               {
       return INPLANE;
    };

virtual unsigned int InPlaneWithOffsetJoint::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 215 of file inplanej.h.

215 { return 2; };

virtual unsigned int InPlaneWithOffsetJoint::iGetNumDof ( void ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 184 of file inplanej.h.

                                                { 
       return 1;
    };

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 519 of file inplanej.cc.

References FullSubMatrixHandler::Add(), Vec3::Cross(), grad::Cross(), DEBUGCOUT, dF, Vec3::dGet(), StructNode::GetRRef(), StructDispNode::GetVCurr(), StructNode::GetWRef(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), MatCross, MatCrossCross, pNode1, pNode2, FullSubMatrixHandler::PutCoef(), FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), q, FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), FullSubMatrixHandler::Sub(), Mat3x3::Transpose(), and v.

 {
    DEBUGCOUT("Entering InPlaneWithOffsetJoint::InitialAssJac()" << std::endl);
    FullSubMatrixHandler& WM = WorkMat.SetFull();
    WM.ResizeReset(26, 26);
    
    /* Indici gdl */
    integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
    integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
    integer iFirstReactionIndex = iGetFirstIndex();
    integer iReactionPrimeIndex = iFirstReactionIndex+1;
    
    /* Indici equazioni nodi */
    for(int iCnt = 1; iCnt <= 12; iCnt++) {
       WM.PutRowIndex(iCnt, iNode1FirstPosIndex+iCnt);
       WM.PutColIndex(iCnt, iNode1FirstPosIndex+iCnt);
       WM.PutRowIndex(12+iCnt, iNode2FirstPosIndex+iCnt);
       WM.PutColIndex(12+iCnt, iNode2FirstPosIndex+iCnt);
    }
    
    /* Indici vincoli */
    for(int iCnt = 1; iCnt <= 2; iCnt++) {
       WM.PutRowIndex(24+iCnt, iFirstReactionIndex+iCnt);
       WM.PutColIndex(24+iCnt, iFirstReactionIndex+iCnt);
    }
    
    /* Dati */
    Vec3 Omega1(pNode1->GetWRef());
    Vec3 Omega2(pNode2->GetWRef());
    Vec3 vTmp(pNode1->GetRRef()*v);
    Vec3 qTmp(pNode2->GetRRef()*q);
    Vec3 x2pqmx1(pNode2->GetXCurr()+qTmp-pNode1->GetXCurr());
    Vec3 xp2pqpmxp1(pNode2->GetVCurr()+Omega2.Cross(qTmp)-pNode1->GetVCurr());
    
    /* Aggiorna i dati propri */
    doublereal dFPrime = XCurr(iReactionPrimeIndex+1);
    Vec3 F(vTmp*dF);
    Vec3 FPrime(vTmp*dFPrime);
 
    Vec3 Tmp1(vTmp.Cross(x2pqmx1));
    Vec3 Tmp2(Omega1.Cross(vTmp));
    Vec3 Tmp3((Omega1.Cross(x2pqmx1) - xp2pqpmxp1).Cross(vTmp));
    Vec3 Tmp4(-(xp2pqpmxp1.Cross(vTmp) + x2pqmx1.Cross(Tmp2)));
    
    Vec3 Tmp5(qTmp.Cross(vTmp));
    Vec3 Tmp6(qTmp.Cross(vTmp.Cross(Omega2-Omega1)));
    Vec3 Tmp7(qTmp.Cross(Omega1.Cross(vTmp)) - vTmp.Cross(Omega2.Cross(qTmp)));
    for(int iCnt = 1; iCnt <= 3; iCnt++) {
       doublereal d = vTmp.dGet(iCnt);
       WM.PutCoef(iCnt, 25, -d);    
       WM.PutCoef(12+iCnt, 25, d);  
       
       WM.PutCoef(25, iCnt, -d);   
       WM.PutCoef(25, 12+iCnt, d);  
 
       WM.PutCoef(6+iCnt, 26, -d); 
       WM.PutCoef(18+iCnt, 26, d);  
 
       WM.PutCoef(26, 6+iCnt, -d);  
       WM.PutCoef(26, 18+iCnt, d);  
 
       d = Tmp1.dGet(iCnt);
       WM.PutCoef(3+iCnt, 25, d);   
       WM.PutCoef(25, 3+iCnt, d);   
 
       WM.PutCoef(26, 9+iCnt, d);   
       WM.PutCoef(9+iCnt, 26, d);   
         
       d = Tmp2.dGet(iCnt);
       WM.PutCoef(26, iCnt, -d);    
       WM.PutCoef(26, 12+iCnt, d);  
       
       WM.PutCoef(6+iCnt, 25, -d);  
       WM.PutCoef(18+iCnt, 25, d);  
       
       d = Tmp3.dGet(iCnt);
       WM.PutCoef(26, 3+iCnt, d);   
       
       d = Tmp4.dGet(iCnt);
       WM.PutCoef(9+iCnt, 25, d);   
 
       d = Tmp5.dGet(iCnt);
       WM.PutCoef(15+iCnt, 25, d);   
       WM.PutCoef(21+iCnt, 26, d);   
 
       WM.PutCoef(25, 15+iCnt, d);   
       WM.PutCoef(26, 21+iCnt, d);
       
       d = Tmp6.dGet(iCnt);
       WM.PutCoef(26, 15+iCnt, d);   
 
       d = Tmp7.dGet(iCnt);
       WM.PutCoef(21+iCnt, 25, d);   
    }   
 
    Mat3x3 MTmp(MatCross, F);
    WM.Add(1, 4, MTmp);             
    WM.Add(4, 13, MTmp);            
    
    WM.Add(7, 10, MTmp);            
    WM.Add(10, 19, MTmp);           
    
    WM.Sub(4, 1, MTmp);
    WM.Sub(13, 4, MTmp);
    
    WM.Sub(19, 10, MTmp);           
    WM.Sub(10, 7, MTmp);            
    
    MTmp = Mat3x3(MatCrossCross, x2pqmx1, F);
    WM.Add(4, 4, MTmp);             
 
    WM.Add(10, 10, MTmp);
  
    MTmp = Mat3x3(MatCrossCross, Omega1, F) + Mat3x3(MatCross, FPrime);
    WM.Add(7, 4, MTmp);   
    WM.Sub(19, 4, MTmp);
       
    MTmp = Mat3x3(MatCross, Omega1.Cross(F) + FPrime);
    WM.Sub(10, 1, MTmp);
    WM.Add(10, 13, MTmp);
    
    MTmp = (Mat3x3(MatCross, xp2pqpmxp1) + Mat3x3(MatCrossCross, x2pqmx1, Omega1))*Mat3x3(MatCross, F)
      + Mat3x3(MatCrossCross, x2pqmx1, FPrime);
    WM.Add(10, 4, MTmp);
    
    MTmp = Mat3x3(MatCrossCross, F, qTmp);
    WM.Add(16, 16, MTmp);
    WM.Add(22, 22, MTmp);
    
    WM.Sub(4, 16, MTmp);
    WM.Sub(10, 22, MTmp);
    
    MTmp = MTmp.Transpose();
    WM.Add(16, 4, MTmp);
    WM.Add(22, 10, MTmp);
    
    MTmp = (Mat3x3(MatCrossCross, F, Omega2) + Mat3x3(MatCross, Omega1.Cross(F) + FPrime))*Mat3x3(MatCross, qTmp);
    WM.Add(22, 16, MTmp);
    WM.Sub(10, 16, MTmp);
    
    MTmp = Mat3x3(MatCrossCross, qTmp.Cross(Omega2), F)
      - qTmp.Cross(Mat3x3(MatCrossCross, Omega1, F) + Mat3x3(MatCross, FPrime));
    WM.Add(22, 4, MTmp);
    
    return WorkMat;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 670 of file inplanej.cc.

References VectorHandler::Add(), Vec3::Cross(), DEBUGCOUT, dF, Vec3::Dot(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), p, pNode1, pNode2, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), q, VectorHandler::ResizeReset(), and v.

 {
    DEBUGCOUT("Entering InPlaneWithOffsetJoint::InitialAssRes()" << std::endl);
    WorkVec.ResizeReset(26);
    
    /* Indici gdl */
    integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
    integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
    integer iFirstReactionIndex = iGetFirstIndex();
    integer iReactionPrimeIndex = iFirstReactionIndex+1;
    
    /* Indici equazioni nodi */
    for(int iCnt = 1; iCnt <= 12; iCnt++) {
       WorkVec.PutRowIndex(iCnt, iNode1FirstPosIndex+iCnt);
       WorkVec.PutRowIndex(12+iCnt, iNode2FirstPosIndex+iCnt);
    }
    
    /* Indici equazioni vincoli */
    WorkVec.PutRowIndex(25, iFirstReactionIndex+1);
    WorkVec.PutRowIndex(26, iReactionPrimeIndex+1);
       
    /* Dati */   
    Vec3 Omega1(pNode1->GetWCurr());
    Vec3 Omega2(pNode2->GetWCurr());
    Vec3 vTmp(pNode1->GetRCurr()*v);
    Vec3 qTmp(pNode2->GetRCurr()*q);
 
    Vec3 x2pqmx1(pNode2->GetXCurr()+qTmp-pNode1->GetXCurr());
    Vec3 xp2pqpmxp1(pNode2->GetVCurr()+Omega2.Cross(qTmp)-pNode1->GetVCurr());
    
    /* Aggiorna i dati propri */
    dF = XCurr(iFirstReactionIndex+1);
    doublereal dFPrime = XCurr(iReactionPrimeIndex+1);
    Vec3 F(vTmp*dF);
    Vec3 FPrime(vTmp*dFPrime);
    Vec3 Tmp(Omega1.Cross(F)+FPrime);
    
    WorkVec.Add(1, F);
    WorkVec.Add(4, x2pqmx1.Cross(F));
    WorkVec.Add(7, Tmp);
    WorkVec.Add(10, xp2pqpmxp1.Cross(F)+x2pqmx1.Cross(Tmp));
    WorkVec.Add(13, -F);
    WorkVec.Add(16, F.Cross(qTmp));
    WorkVec.Add(19, -Tmp);
    WorkVec.Add(22, F.Cross(Omega2.Cross(qTmp))-qTmp.Cross(Tmp));   
    
    WorkVec.PutCoef(25, v.Dot(p)-vTmp.Dot(x2pqmx1));
    WorkVec.PutCoef(26, x2pqmx1.Dot(vTmp.Cross(Omega1))
                     -vTmp.Dot(xp2pqpmxp1));
       
    return WorkVec;
 }

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 216 of file inplanej.h.

218 { *piNumRows = 26; *piNumCols = 26; };

void InPlaneWithOffsetJoint::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 507 of file inplanej.cc.

References ToBeOutput::bToBeOutput(), dF, WithLabel::GetLabel(), StructNode::GetRCurr(), OutputHandler::Joints(), Joint::Output(), pNode1, v, and Zero3.

 {
    if(bToBeOutput()) {            
       Vec3 vTmp(pNode1->GetRCurr()*v);
       Joint::Output(OH.Joints(), "InPlaneWithOffs", GetLabel(),
                     Vec3(dF, 0., 0.), Zero3, vTmp*dF, Zero3) << std::endl;      
    }   
 }

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

virtual

Implements Elem.

Definition at line 375 of file inplanej.cc.

References WithLabel::GetLabel(), p, pNode1, pNode2, q, Joint::Restart(), v, and Vec3::Write().

 {
    Joint::Restart(out) << ", in plane, "
      << pNode1->GetLabel() 
      << ", reference, node, ",
      p.Write(out, ", ") 
      << ", reference, node, ",
      v.Write(out, ", ") << ", "
      << pNode2->GetLabel() << ", offset, reference, node, ";
    return q.Write(out, ", ") << ';' << std::endl;
 }

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void InPlaneWithOffsetJoint::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 726 of file inplanej.cc.

References NO_OP.

 { 
    NO_OP;
 }

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

inlinevirtual

Implements Elem.

Definition at line 198 of file inplanej.h.

199 { *piNumRows = 13; *piNumCols = 13; };

Member Data Documentation

doublereal InPlaneWithOffsetJoint::dF

private

Definition at line 165 of file inplanej.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), and Output().

const Vec3 InPlaneWithOffsetJoint::p

private

Definition at line 162 of file inplanej.h.

Referenced by AssRes(), InitialAssRes(), and Restart().

const StructNode* InPlaneWithOffsetJoint::pNode1

private

Definition at line 158 of file inplanej.h.

Referenced by AssJac(), AssRes(), GetConnectedNodes(), InitialAssJac(), InitialAssRes(), Output(), and Restart().

const StructNode* InPlaneWithOffsetJoint::pNode2

private

Definition at line 159 of file inplanej.h.

Referenced by AssJac(), AssRes(), GetConnectedNodes(), InitialAssJac(), InitialAssRes(), and Restart().

const Vec3 InPlaneWithOffsetJoint::q

private

Definition at line 163 of file inplanej.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), and Restart().

const Vec3 InPlaneWithOffsetJoint::v

private

Definition at line 161 of file inplanej.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), Output(), and Restart().

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation