#include <body.h>

Inheritance diagram for Mass:

Collaboration diagram for Mass:

Public Member Functions
	Mass (unsigned int uL, const StructDispNode *pNode, doublereal dMassTmp, flag fOut)

virtual	~Mass (void)

doublereal	dGetM (void) const

Vec3	GetS (void) const

Mat3x3	GetJ (void) const

const StructDispNode *	pGetNode (void) const

virtual Elem::Type	GetElemType (void) 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

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

virtual	~Elem (void)

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) const

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

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

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)=0

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

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	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder)

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

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 ElemGravityOwner
	ElemGravityOwner (unsigned int uL, flag fOut)

virtual	~ElemGravityOwner (void)

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

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 InitialAssemblyElem
	InitialAssemblyElem (unsigned int uL, flag fOut)

virtual	~InitialAssemblyElem (void)

Public Member Functions inherited from SubjectToInitialAssembly
	SubjectToInitialAssembly (void)

virtual	~SubjectToInitialAssembly (void)

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

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

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

Protected Member Functions
Vec3	GetS_int (void) const

Mat3x3	GetJ_int (void) const

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

void	AssVecRBK_int (SubVectorHandler &WorkVec)

void	AssMatsRBK_int (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, const doublereal &dCoef)

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

virtual Vec3	GetG_int (void) const

Protected Attributes
const StructDispNode *	pNode

doublereal	dMass

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

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 }

Detailed Description

Definition at line 45 of file body.h.

Constructor & Destructor Documentation

Mass::Mass	(	unsigned int	uL,
		const StructDispNode *	pNode,
		doublereal	dMassTmp,
		flag	fOut
	)

Definition at line 44 of file body.cc.

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

 : Elem(uL, fOut),
 ElemGravityOwner(uL, fOut),
 InitialAssemblyElem(uL, fOut),
 pNode(pNode),
 dMass(dMass)
 {
         ASSERT(pNode != NULL);
         ASSERT(pNode->GetNodeType() == Node::STRUCTURAL);
         ASSERT(dMass > 0.);
 }

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Mass::~Mass ( void )

virtual

Definition at line 61 of file body.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

void Mass::AssMatsRBK_int	(	FullSubMatrixHandler &	WMA,
		FullSubMatrixHandler &	WMB,
		const doublereal &	dCoef
	)

protected

Definition at line 204 of file body.cc.

References FullSubMatrixHandler::Add(), dMass, RigidBodyKinematics::GetW(), RigidBodyKinematics::GetWP(), MatCross, MatCrossCross, StructDispNode::pGetRBK(), and pNode.

Referenced by DynamicMass::AssMats(), and StaticMass::AssMats().

 {
         const RigidBodyKinematics *pRBK = pNode->pGetRBK();
 
         integer iIdx = 0;
         if (dynamic_cast<DynamicMass *>(this)) {
                 iIdx = 3;
         }
 
         // f: delta x
         Mat3x3 MTmp(MatCross, pRBK->GetWP());
         MTmp += Mat3x3(MatCrossCross, pRBK->GetW(), pRBK->GetW());
 
         WMA.Add(iIdx + 1, 1, MTmp*(dMass*dCoef));
 }

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void Mass::AssVecRBK_int ( SubVectorHandler & WorkVec )

protected

Definition at line 183 of file body.cc.

References dMass, StructDispNode::GetXCurr(), RigidBodyKinematics::GetXPP(), StructDispNode::pGetRBK(), pNode, and VectorHandler::Sub().

Referenced by DynamicMass::AssRes(), and StaticMass::AssRes().

 {
         const RigidBodyKinematics *pRBK = pNode->pGetRBK();
 
         Vec3 s0;
 
         integer iIdx = 0;
         if (dynamic_cast<DynamicMass *>(this)) {
                 iIdx = 3;
         }
 
         s0 = pNode->GetXCurr()*dMass;
 
         // force
         Vec3 f;
         f = pRBK->GetXPP()*dMass;
 
         WorkVec.Sub(iIdx + 1, f);
 }

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doublereal Mass::dGetM ( void ) const

virtual

Reimplemented from ElemGravityOwner.

Definition at line 98 of file body.cc.

References dMass.

 {
         return dMass;
 }

doublereal Mass::dGetPrivData ( unsigned int i ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 153 of file body.cc.

References GravityOwner::bGetGravity(), dMass, Vec3::Dot(), StructDispNode::GetVCurr(), StructDispNode::GetXCurr(), and pNode.

 {
         switch (i) {
         case 1: {
                 // kinetic energy
                 const Vec3& Vn = pNode->GetVCurr();
 
                 return Vn.Dot()*dMass;
                 }
 
         case 2: {
                 // potential energy
                 const Vec3& Xn = pNode->GetXCurr();
 
                 Vec3 GravityAcceleration;
                 if (GravityOwner::bGetGravity(Xn, GravityAcceleration)) {
                         return -Xn.Dot(GravityAcceleration)*dMass;
                 }
                 break;
                 }
 
         case 3:
                 // mass
                 return dMass;
         }
 
         return 0.;
 }

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

inlinevirtual

Reimplemented from Elem.

Definition at line 107 of file body.h.

References pNode.

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

virtual Elem::Type Mass::GetElemType ( void ) const

inlinevirtual

Implements Elem.

Definition at line 89 of file body.h.

References Elem::BODY.

                                                  {
                 return Elem::BODY; 
         };

Mat3x3 Mass::GetJ ( void ) const

Definition at line 112 of file body.cc.

References GetJ_int().

 {
         return GetJ_int();
 }

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Mat3x3 Mass::GetJ_int ( void ) const

protectedvirtual

Reimplemented from ElemGravityOwner.

Definition at line 77 of file body.cc.

References dMass, StructDispNode::GetXCurr(), MatCrossCross, and pNode.

Referenced by GetJ().

 {
         const Vec3& x = pNode->GetXCurr();
 
         return Mat3x3(MatCrossCross, x, x*(-dMass));
 }

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Vec3 Mass::GetS ( void ) const

Definition at line 105 of file body.cc.

References GetS_int().

 {
         return GetS_int();
 }

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Vec3 Mass::GetS_int ( void ) const

protectedvirtual

Reimplemented from ElemGravityOwner.

Definition at line 69 of file body.cc.

References dMass, StructDispNode::GetXCurr(), and pNode.

Referenced by GetS().

 {
         return pNode->GetXCurr()*dMass;
 }

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virtual unsigned int Mass::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 94 of file body.h.

                                                            { 
                 return 0; 
         };

unsigned int Mass::iGetNumPrivData ( void ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 126 of file body.cc.

 {
         return 3;
 }

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

virtual

Reimplemented from SimulationEntity.

Definition at line 132 of file body.cc.

 {
         if (s[1] == '\0') {
                 switch (s[0]) {
                 case 'E':
                         // kinetic energy
                         return 1;
 
                 case 'V':
                         // potential energy
                         return 2;
 
                 case 'm':
                         return 3;
                 }
         }
 
         return 0;
 }

const StructDispNode * Mass::pGetNode ( void ) const

Definition at line 119 of file body.cc.

References pNode.

 {
         return pNode;
 }

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

protectedvirtual

Implements Elem.

Definition at line 87 of file body.cc.

References dMass, WithLabel::GetLabel(), and pNode.

 {
         out << "  body: " << GetLabel() << ", "
                 << pNode->GetLabel() << ", " << dMass << ';' << std::endl;
 
         return out;
 }