PrismaticJoint Class Reference

#include <prismj.h>

Inheritance diagram for PrismaticJoint:

Collaboration diagram for PrismaticJoint:

Public Member Functions
	PrismaticJoint (unsigned int uL, const DofOwner *pDO, const StructNode *pN1, const StructNode *pN2, const Mat3x3 &R1hTmp, const Mat3x3 &R2hTmp, flag fOut)
	~PrismaticJoint (void)
virtual std::ostream &	Restart (std::ostream &out) const
virtual Joint::Type	GetJointType (void) const
virtual unsigned int	iGetNumDof (void) const
DofOrder::Order	GetDofType (unsigned int i) const
DofOrder::Order	GetEqType (unsigned int i) const
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)
void	OutputPrepare (OutputHandler &OH)
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	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	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 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	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)

Private Attributes
const StructNode *	pNode1
const StructNode *	pNode2
Mat3x3	R1h
Mat3x3	R2h
Vec3	M

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 42 of file prismj.h.

Constructor & Destructor Documentation

PrismaticJoint::PrismaticJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Mat3x3 &	R1hTmp,
		const Mat3x3 &	R2hTmp,
		flag	fOut
	)

Definition at line 43 of file prismj.cc.

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

: Elem(uL, fOut), 
Joint(uL, pDO, fOut), 
pNode1(pN1), pNode2(pN2),
R1h(R1hTmp), R2h(R2hTmp), M(Zero3)
{
   ASSERT(pNode1 != NULL);
   ASSERT(pNode1->GetNodeType() == Node::STRUCTURAL);
   ASSERT(pNode2 != NULL);
   ASSERT(pNode2->GetNodeType() == Node::STRUCTURAL);
}

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PrismaticJoint::~PrismaticJoint

(

void

)

Definition at line 60 of file prismj.cc.

References NO_OP.

{
   NO_OP;
};

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 92 of file prismj.cc.

References FullSubMatrixHandler::Add(), DEBUGCOUT, StructNode::GetRRef(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), M, MatCrossCross, pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), R1h, R2h, FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), FullSubMatrixHandler::Sub(), and WorkSpaceDim().

{
   DEBUGCOUT("Entering PrismaticJoint::AssJac()" << std::endl);
   
   /* Setta la sottomatrice come piena (e' un po' dispersivo, ma lo jacobiano 
    * e' complicato */                                  
   FullSubMatrixHandler& WM = WorkMat.SetFull();
   
   /* Ridimensiona la sottomatrice in base alle esigenze */
   integer iNumRows = 0;
   integer iNumCols = 0;
   this->WorkSpaceDim(&iNumRows, &iNumCols);
   WM.ResizeReset(iNumRows, iNumCols);
   
   /* Recupera gli indici delle varie incognite */
   integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex()+3;
   integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex()+3;
   integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex()+3;
   integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex()+3;
   integer iFirstReactionIndex = iGetFirstIndex();
   
   /* Recupera i dati che servono */
   Mat3x3 R1hTmp(pNode1->GetRRef()*R1h);
   Mat3x3 R2hTmp(pNode2->GetRRef()*R2h);
   /* Suppongo che le reazioni M siano gia' state aggiornate da AssRes;
    * ricordo che la coppia M e' nel sistema locale */
   
      
   /* 
    * Il vincolo prismatico ha tre equazioni che affermano la coincidenza del
    * riferimento solidale con il vincolo visto dai due nodi.
    * 
    *      (R1 * R1h * e2)^T * (R2 * R2h * e3) = 0
    *      (R1 * R1h * e3)^T * (R2 * R2h * e1) = 0
    *      (R1 * R1h * e1)^T * (R2 * R2h * e2) = 0
    * 
    * A queste equazioni corrisponde una reazione di coppia agente attorno
    * agli assi dati dall'errore di allineamento:
    * 
    *       [ (R1 * R1h * e2) /\ (R2 * R2h *e3), ]
    *       [ (R1 * R1h * e3) /\ (R2 * R2h *e1), ]  M
    *       [ (R1 * R1h * e1) /\ (R2 * R2h *e2)  ]
    * 
    */

   /* Setta gli indici delle equazioni */
   for (int iCnt = 1; iCnt <= 3; iCnt++) {      
      WM.PutRowIndex(0+iCnt, iNode1FirstMomIndex+iCnt);
      WM.PutColIndex(0+iCnt, iNode1FirstPosIndex+iCnt);
      WM.PutRowIndex(3+iCnt, iNode2FirstMomIndex+iCnt);
      WM.PutColIndex(3+iCnt, iNode2FirstPosIndex+iCnt);
        
      WM.PutRowIndex(6+iCnt, iFirstReactionIndex+iCnt);
      WM.PutColIndex(6+iCnt, iFirstReactionIndex+iCnt);
   }
   
   Vec3 MTmp = M*dCoef; /* M e' stato aggiornato da AssRes */

   Vec3 e1a(R1hTmp.GetVec(1));
   Vec3 e2a(R1hTmp.GetVec(2));
   Vec3 e3a(R1hTmp.GetVec(3));
   Vec3 e1b(R2hTmp.GetVec(1));
   Vec3 e2b(R2hTmp.GetVec(2));
   Vec3 e3b(R2hTmp.GetVec(3));
   
   Mat3x3 MWedge(Mat3x3(MatCrossCross, e3b, e2a*MTmp(1))
                 +Mat3x3(MatCrossCross, e1b, e3a*MTmp(2))
                 +Mat3x3(MatCrossCross, e2b, e1a*MTmp(3)));
   Mat3x3 MWedgeT(MWedge.Transpose());
   
   WM.Add(1, 1, MWedge);
   WM.Sub(1, 4, MWedgeT);
 
   WM.Add(4, 1, MWedgeT); 
   WM.Sub(4, 4, MWedge);

   Vec3 v1(e2a.Cross(e3b));
   Vec3 v2(e3a.Cross(e1b));
   Vec3 v3(e1a.Cross(e2b));
   
   MWedge = Mat3x3(v1, v2, v3);
   
   WM.Add(1, 7, MWedge);
   WM.Sub(4, 7, MWedge);
      
   /* Modifica: divido le equazioni di vincolo per dCoef */
      
   /* Equazione di vincolo del momento
    * 
    * Attenzione: bisogna scrivere il vettore trasposto
    *   (Sb[1]^T*(Sa[3]/\))*dCoef
    * Questo pero' e' uguale a:
    *   (-Sa[3]/\*Sb[1])^T*dCoef,
    * che puo' essere ulteriormente semplificato:
    *   (Sa[3].Cross(Sb[1])*(-dCoef))^T;
    */

   MWedge = MWedge.Transpose();
   
   WM.Add(7, 1, MWedge);
   WM.Sub(7, 4, MWedge);
   
   return WorkMat;
}

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

virtual

Implements Elem.

Definition at line 202 of file prismj.cc.

References VectorHandler::Add(), ASSERT, DEBUGCOUT, StructNode::GetRCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), M, pNode1, pNode2, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), R1h, R2h, VectorHandler::ResizeReset(), VectorHandler::Sub(), and WorkSpaceDim().

{
   DEBUGCOUT("Entering PrismaticJoint::AssRes()" << std::endl);
   
   /* Dimensiona e resetta la matrice di lavoro */
   integer iNumRows = 0;
   integer iNumCols = 0;
   this->WorkSpaceDim(&iNumRows, &iNumCols);
   WorkVec.ResizeReset(iNumRows);
   
   /* Indici */
   integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex()+3;
   integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex()+3;
   integer iFirstReactionIndex = iGetFirstIndex();
   
   /* Indici dei nodi */
   for (int iCnt = 1; iCnt <= 3; iCnt++) {      
      WorkVec.PutRowIndex(0+iCnt, iNode1FirstMomIndex+iCnt);
      WorkVec.PutRowIndex(3+iCnt, iNode2FirstMomIndex+iCnt);
      
      WorkVec.PutRowIndex(6+iCnt, iFirstReactionIndex+iCnt);
   }   
   
   /* Aggiorna i dati propri */
   M = Vec3(XCurr, iFirstReactionIndex+1);

   /* Costruisce i dati propri nella configurazione corrente */
   Mat3x3 R1hTmp(pNode1->GetRCurr()*R1h);
   Mat3x3 R2hTmp(pNode2->GetRCurr()*R2h);
   
   Vec3 e1a(R1hTmp.GetVec(1));
   Vec3 e2a(R1hTmp.GetVec(2));
   Vec3 e3a(R1hTmp.GetVec(3));
   Vec3 e1b(R2hTmp.GetVec(1));
   Vec3 e2b(R2hTmp.GetVec(2));
   Vec3 e3b(R2hTmp.GetVec(3));
   
   Vec3 MTmp(Mat3x3(e2a.Cross(e3b), e3a.Cross(e1b), e1a.Cross(e2b))*M);
   
   /* Equazioni di equilibrio, nodo 1 */
   WorkVec.Sub(1, MTmp); 
   
   /* Equazioni di equilibrio, nodo 2 */
   WorkVec.Add(4, MTmp);

   /* Modifica: divido le equazioni di vincolo per dCoef */
   ASSERT(dCoef != 0.);

   /* Equazioni di vincolo di rotazione */
   WorkVec.PutCoef(7, -(e3b.Dot(e2a)/dCoef));
   WorkVec.PutCoef(8, -(e1b.Dot(e3a)/dCoef));
   WorkVec.PutCoef(9, -(e2b.Dot(e1a)/dCoef));

   return WorkVec;
}

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

inlinevirtual

Reimplemented from Elem.

Definition at line 139 of file prismj.h.

References pNode1, and pNode2.

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

DofOrder::Order PrismaticJoint::GetDofType ( unsigned int  i ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 78 of file prismj.h.

References DofOrder::ALGEBRAIC, and ASSERT.

                                                  {
      ASSERT(i >= 0 && i < 5);
      return DofOrder::ALGEBRAIC; 
   };

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

virtual

Reimplemented from SimulationEntity.

Definition at line 67 of file prismj.cc.

References DofOrder::ALGEBRAIC, ASSERTMSGBREAK, and iGetNumDof().

{
        ASSERTMSGBREAK(i < iGetNumDof(),
                "INDEX ERROR in PrismaticJoint::GetEqType");
        return DofOrder::ALGEBRAIC;
}

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

inlinevirtual

Implements Joint.

Definition at line 70 of file prismj.h.

References Joint::PRISMATIC.

                                              { 
      return Joint::PRISMATIC; 
   };

virtual unsigned int PrismaticJoint::iGetInitialNumDof ( void  ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 112 of file prismj.h.

                                                      { 
      return 6;
   };

virtual unsigned int PrismaticJoint::iGetNumDof ( void  ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 74 of file prismj.h.

Referenced by GetEqType().

                                               { 
      return 3;
   };

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 347 of file prismj.cc.

References FullSubMatrixHandler::Add(), DEBUGCOUT, WithLabel::GetLabel(), StructNode::GetRRef(), Mat3x3::GetVec(), StructNode::GetWRef(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), M, MatCross, MatCrossCross, MBDYN_EXCEPT_ARGS, pNode1, pNode2, FullSubMatrixHandler::PutCoef(), FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), R1h, R2h, FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and FullSubMatrixHandler::Sub().

{
   DEBUGCOUT("Entering PrismaticJoint::InitialAssJac()" << std::endl);
   
   /* Per ora usa la matrice piena; eventualmente si puo' 
    * passare a quella sparsa quando si ottimizza */
   FullSubMatrixHandler& WM = WorkMat.SetFull();
   
   /* Dimensiona e resetta la matrice di lavoro */
   integer iNumRows = 0;
   integer iNumCols = 0;
   this->InitialWorkSpaceDim(&iNumRows, &iNumCols);
   WM.ResizeReset(iNumRows, iNumCols);
        
    
   /* Indici */
   integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex()+3;
   integer iNode1FirstVelIndex = iNode1FirstPosIndex+6;
   integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex()+3;
   integer iNode2FirstVelIndex = iNode2FirstPosIndex+6;
   integer iFirstReactionIndex = iGetFirstIndex();
   integer iReactionPrimeIndex = iFirstReactionIndex+3;
   
   /* Nota: le reazioni vincolari sono: 
    * Momento,     3 incognite, riferimento locale
    */

   /* Setta gli indici dei nodi */
   for (int iCnt = 1; iCnt <= 3; iCnt++) {
      WM.PutRowIndex(0+iCnt, iNode1FirstPosIndex+iCnt);
      WM.PutColIndex(0+iCnt, iNode1FirstPosIndex+iCnt);
      WM.PutRowIndex(3+iCnt, iNode1FirstVelIndex+iCnt);
      WM.PutColIndex(3+iCnt, iNode1FirstVelIndex+iCnt);
      WM.PutRowIndex(6+iCnt, iNode2FirstPosIndex+iCnt);
      WM.PutColIndex(6+iCnt, iNode2FirstPosIndex+iCnt);
      WM.PutRowIndex(9+iCnt, iNode2FirstVelIndex+iCnt);
      WM.PutColIndex(9+iCnt, iNode2FirstVelIndex+iCnt);
   }
   
   /* Setta gli indici delle reazioni */
   for (int iCnt = 1; iCnt <= 6; iCnt++) {
      WM.PutRowIndex(12+iCnt, iFirstReactionIndex+iCnt);
      WM.PutColIndex(12+iCnt, iFirstReactionIndex+iCnt);        
   }   
   
   /* Recupera i dati */
   Mat3x3 R1(pNode1->GetRRef());
   Mat3x3 R2(pNode2->GetRRef());
   Vec3 Omega1(pNode1->GetWRef());
   Vec3 Omega2(pNode2->GetWRef());   
   /* M e' gia' stato aggiornato da InitialAssRes */
   Vec3 MPrime(XCurr, iReactionPrimeIndex+1);
   
   /* Distanze e matrici di rotazione dai nodi alla cerniera 
    * nel sistema globale */
   Mat3x3 R1hTmp(R1*R1h);
   Mat3x3 R2hTmp(R2*R2h);
   
   Vec3 e1a(R1hTmp.GetVec(1));
   Vec3 e2a(R1hTmp.GetVec(2));
   Vec3 e3a(R1hTmp.GetVec(3));
   Vec3 e1b(R2hTmp.GetVec(1));
   Vec3 e2b(R2hTmp.GetVec(2));
   Vec3 e3b(R2hTmp.GetVec(3));
   
   /* */
   Mat3x3 MWedge(Mat3x3(MatCrossCross, e3b, e2a*M(1))
         + Mat3x3(MatCrossCross, e1b, e3a*M(2))
         + Mat3x3(MatCrossCross, e2b, e1a*M(3)));
   Mat3x3 MWedgeT(MWedge.Transpose());
   
   /* Equilibrio */
   WM.Add(1, 1, MWedge);
   WM.Sub(1, 7, MWedgeT);
   
   WM.Add(7, 1, MWedgeT);   
   WM.Sub(7, 7, MWedge);

   /* Derivate dell'equilibrio */
   WM.Add(4, 4, MWedge);
   WM.Sub(4, 10, MWedgeT);
   
   WM.Add(10, 4, MWedgeT);   
   WM.Sub(10, 10, MWedge);
   
   
   MWedge = 
     ( (Mat3x3(MatCrossCross, e3b, Omega1) + Mat3x3(MatCross, Omega2.Cross(e3b*M(1))))
      + Mat3x3(MatCross, e3b*MPrime(1)) )*Mat3x3(MatCross, e2a)
     +( (Mat3x3(MatCrossCross, e1b, Omega1) + Mat3x3(MatCross, Omega2.Cross(e1b*M(2))))
       +Mat3x3(MatCross, e1b*MPrime(2)) )*Mat3x3(MatCross, e3a)
     +( (Mat3x3(MatCrossCross, e2b, Omega1) + Mat3x3(MatCross, Omega2.Cross(e2b*M(3))))
       +Mat3x3(MatCross, e2b*MPrime(3)) )*Mat3x3(MatCross, e1a);

   WM.Add(4, 1, MWedge);
   WM.Sub(10, 1, MWedge);
     
   MWedge =
     ( (Mat3x3(MatCrossCross, e2a, Omega2) + Mat3x3(MatCross, Omega1.Cross(e2a*M(1))))
      + Mat3x3(MatCross, e2a*MPrime(1)) )*Mat3x3(MatCross, e3b)
     +( (Mat3x3(MatCrossCross, e3a, Omega2) + Mat3x3(MatCross, Omega1.Cross(e3a*M(2))))
       + Mat3x3(MatCross, e3a*MPrime(2)) )*Mat3x3(MatCross, e1b)
     +( (Mat3x3(MatCrossCross, e1a, Omega2) + Mat3x3(MatCross, Omega1.Cross(e1a*M(3))))
       + Mat3x3(MatCross, e1a*MPrime(3)) )*Mat3x3(MatCross, e2b);
 
   WM.Sub(4, 7, MWedge);
   WM.Add(10, 7, MWedge);

   Vec3 v1(e2a.Cross(e3b)); 
   Vec3 v2(e3a.Cross(e1b)); 
   Vec3 v3(e1a.Cross(e2b));

   /* Error handling: il programma si ferma, pero' segnala dov'e' l'errore */
   if (v1.Dot() < std::numeric_limits<doublereal>::epsilon()
        || v2.Dot() < std::numeric_limits<doublereal>::epsilon()
        || v3.Dot() < std::numeric_limits<doublereal>::epsilon())
   {
      silent_cerr("PrismaticJoint(" << GetLabel() << "): "
              "first and second node hinge axes are (nearly) orthogonal"
              << std::endl);
      throw ErrNullNorm(MBDYN_EXCEPT_ARGS);
   }
   
   MWedge = Mat3x3(v1, v2, v3);
   
   /* Equilibrio */
   WM.Add(1, 13, MWedge);
   WM.Sub(7, 13, MWedge);

   /* Derivate dell'equilibrio */
   WM.Add(4, 16, MWedge);
   WM.Sub(10, 16, MWedge);
   

   MWedge = MWedge.Transpose();
   
   /* Equaz. di vincolo */
   WM.Add(13, 1, MWedge);
   WM.Sub(13, 7, MWedge);
      
   /* Devivate delle equaz. di vincolo */
   WM.Add(16, 4, MWedge);
   WM.Sub(16, 10, MWedge);
      
   v1 = e3b.Cross(e2a.Cross(Omega1)) + e2a.Cross(Omega2.Cross(e3b));
   v2 = e1b.Cross(e3a.Cross(Omega1)) + e3a.Cross(Omega2.Cross(e1b));
   v3 = e2b.Cross(e1a.Cross(Omega1)) + e1a.Cross(Omega2.Cross(e2b));
   
   MWedge = Mat3x3(v1, v2, v3);
   
   /* Derivate dell'equilibrio */
   WM.Add(4, 13, MWedge);
   WM.Sub(10, 13, MWedge);
   
   /* Devivate delle equaz. di vincolo */
   Omega1 = Omega1 - Omega2;
   
   v1 = e2a.Cross(e3b.Cross(Omega1));
   Vec3 v1p(e3b.Cross(Omega1.Cross(e2a)));
   v2 = e3a.Cross(e1b.Cross(Omega1));
   Vec3 v2p(e1b.Cross(Omega1.Cross(e3a)));
   v3 = e1a.Cross(e2b.Cross(Omega1));
   Vec3 v3p(e2b.Cross(Omega1.Cross(e1a)));
   
   for (int iCnt = 1; iCnt <= 3; iCnt++) {
      doublereal d = v1(iCnt);
      WM.PutCoef(16, 0+iCnt, d);
      d = v1p(iCnt);
      WM.PutCoef(16, 6+iCnt, d);

      d = v2(iCnt);
      WM.PutCoef(17, 0+iCnt, d);
      d = v2p(iCnt);
      WM.PutCoef(17, 6+iCnt, d);
      
      d = v3(iCnt);
      WM.PutCoef(18, 0+iCnt, d);
      d = v3p(iCnt);
      WM.PutCoef(18, 6+iCnt, d);
   }    
   
   return WorkMat;
}

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 535 of file prismj.cc.

References VectorHandler::Add(), Vec3::Cross(), DEBUGCOUT, grad::Dot(), StructNode::GetRCurr(), Mat3x3::GetVec(), StructNode::GetWCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), M, pNode1, pNode2, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), R1h, R2h, and VectorHandler::ResizeReset().

{   
   DEBUGCOUT("Entering PrismaticJoint::InitialAssRes()" << std::endl);
   
   /* Dimensiona e resetta la matrice di lavoro */
   integer iNumRows = 0;
   integer iNumCols = 0;
   this->InitialWorkSpaceDim(&iNumRows, &iNumCols);
   WorkVec.ResizeReset(iNumRows);

   /* Indici */
   integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex()+3;
   integer iNode1FirstVelIndex = iNode1FirstPosIndex+6;
   integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex()+3;
   integer iNode2FirstVelIndex = iNode2FirstPosIndex+6;
   integer iFirstReactionIndex = iGetFirstIndex();
   integer iReactionPrimeIndex = iFirstReactionIndex+3;
   
   /* Setta gli indici */
   for (int iCnt = 1; iCnt <= 3; iCnt++) {      
      WorkVec.PutRowIndex(0+iCnt, iNode1FirstPosIndex+iCnt);
      WorkVec.PutRowIndex(3+iCnt, iNode1FirstVelIndex+iCnt);
      WorkVec.PutRowIndex(6+iCnt, iNode2FirstPosIndex+iCnt);
      WorkVec.PutRowIndex(9+iCnt, iNode2FirstVelIndex+iCnt);
   }
   
   for (int iCnt = 1; iCnt <= 6; iCnt++) {      
      WorkVec.PutRowIndex(12+iCnt, iFirstReactionIndex+iCnt);
   }   

   /* Recupera i dati */
   Mat3x3 R1(pNode1->GetRCurr());
   Mat3x3 R2(pNode2->GetRCurr());
   Vec3 Omega1(pNode1->GetWCurr());
   Vec3 Omega2(pNode2->GetWCurr());
   
   /* Aggiorna M, che resta anche per InitialAssJac */
   M = Vec3(XCurr, iFirstReactionIndex+1);
   Vec3 MPrime(XCurr, iReactionPrimeIndex+1);   
   
   /* Vincolo nel sistema globale */
   Mat3x3 R1hTmp(R1*R1h);
   Mat3x3 R2hTmp(R2*R2h);

   Vec3 e1a(R1hTmp.GetVec(1));
   Vec3 e2a(R1hTmp.GetVec(2));
   Vec3 e3a(R1hTmp.GetVec(3));
   Vec3 e1b(R2hTmp.GetVec(1));
   Vec3 e2b(R2hTmp.GetVec(2));  
   Vec3 e3b(R2hTmp.GetVec(3));  
   
   Vec3 MTmp(e2a.Cross(e3b*M(1))
             +e3a.Cross(e1b*M(2))
             +e1a.Cross(e2b*M(3)));
   
   /* Equazioni di equilibrio, nodo 1 */
   WorkVec.Add(1, -MTmp);
   
   /* Equazioni di equilibrio, nodo 2 */
   WorkVec.Add(7, MTmp);
   
   MTmp = 
     (e2a.Cross(Omega2.Cross(e3b)) - e3b.Cross(Omega1.Cross(e2a)))*M(1)
     +(e3a.Cross(Omega2.Cross(e1b)) - e1b.Cross(Omega1.Cross(e3a)))*M(2)
     +(e1a.Cross(Omega2.Cross(e2b)) - e2b.Cross(Omega1.Cross(e1a)))*M(3)
     +e2a.Cross(e3b*MPrime(1))
     +e3a.Cross(e1b*MPrime(2))
     +e1a.Cross(e2b*MPrime(3));   

   /* Derivate delle equazioni di equilibrio, nodo 1 */
   WorkVec.Add(4, -MTmp);
   
   /* Derivate delle equazioni di equilibrio, nodo 2 */
   WorkVec.Add(10, MTmp);

   /* Equazioni di vincolo di rotazione */
   WorkVec.PutCoef(13, -(e3b.Dot(e2a)));
   WorkVec.PutCoef(14, -(e1b.Dot(e3a)));
   WorkVec.PutCoef(15, -(e2b.Dot(e1a)));
   
   /* Derivate delle equazioni di vincolo di rotazione */
   Omega2 = Omega2-Omega1;
   WorkVec.PutCoef(16, (e2a.Cross(e3b)).Dot(Omega2));
   WorkVec.PutCoef(17, (e3a.Cross(e1b)).Dot(Omega2));
   WorkVec.PutCoef(18, (e1a.Cross(e2b)).Dot(Omega2));
   
   return WorkVec;
}

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 115 of file prismj.h.

Referenced by InitialAssJac(), and InitialAssRes().

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

void PrismaticJoint::Output ( OutputHandler &  OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 275 of file prismj.cc.

References ToBeOutput::bToBeOutput(), OutputHandler::GetCurrentStep(), WithLabel::GetLabel(), StructNode::GetRCurr(), OutputHandler::JOINTS, OutputHandler::Joints(), M, Joint::Output(), Vec3::pGetVec(), pNode1, R1h, OutputHandler::UseNetCDF(), OutputHandler::UseText(), and Zero3.

{
   if (bToBeOutput()) {
      Mat3x3 R1Tmp(pNode1->GetRCurr()*R1h);

#ifdef USE_NETCDF
                if (OH.UseNetCDF(OutputHandler::JOINTS)) {
                        Var_F_local->put_rec(Zero3.pGetVec(), OH.GetCurrentStep());
                        Var_M_local->put_rec(M.pGetVec(), OH.GetCurrentStep());
                        Var_F_global->put_rec(Zero3.pGetVec(), OH.GetCurrentStep());
                        Var_M_global->put_rec((R1Tmp*M).pGetVec(), OH.GetCurrentStep());
                }
#endif // USE_NETCDF


                if (OH.UseText(OutputHandler::JOINTS)) {
                  Joint::Output(OH.Joints(), "PlaneHinge", GetLabel(),
                                Zero3, M, Zero3, R1Tmp*M) << std::endl;
                }
   }   
}

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void PrismaticJoint::OutputPrepare ( OutputHandler &  OH )

virtual

Reimplemented from ToBeOutput.

Definition at line 262 of file prismj.cc.

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

{
        if (bToBeOutput()) {
#ifdef USE_NETCDF
                if (OH.UseNetCDF(OutputHandler::JOINTS)) {
                        std::string name;
                        OutputPrepare_int("prismatic", OH, name);
                }
#endif // USE_NETCDF
        }
}

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

virtual

Reimplemented from SimulationEntity.

Definition at line 324 of file prismj.cc.

References STRLENOF.

{
        if (strncasecmp(s, "hinge{" /*}*/, STRLENOF("hinge{" /*}*/)) == 0) {
                s += STRLENOF("hinge{" /*}*/);

                if (strcmp(&s[1], /*{*/ "}") != 0) {
                        return 0;
                }

                switch (s[0]) {
                case '1':
                        return new Joint::HingeHint<1>;

                case '2':
                        return new Joint::HingeHint<2>;
                }
        }

        return 0;
}

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

virtual

Implements Elem.

Definition at line 76 of file prismj.cc.

References WithLabel::GetLabel(), Mat3x3::GetVec(), pNode1, pNode2, R1h, R2h, Joint::Restart(), and Write().

{
   Joint::Restart(out) << ", prismatic, "
     << pNode1->GetLabel() 
     << ", hinge, reference, node, 1, ", (R1h.GetVec(1)).Write(out, ", ")
     << ", 2, ", (R1h.GetVec(2)).Write(out, ", ") << ", "
     << pNode2->GetLabel() 
     << ", hinge, reference, node, 1, ", (R2h.GetVec(1)).Write(out, ", ")
     << ", 2, ", (R2h.GetVec(2)).Write(out, ", ") << ';' << std::endl;
   
   return out;
}

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

virtual

Reimplemented from Joint.

Definition at line 298 of file prismj.cc.

References StructNode::GetRCurr(), pNode1, pNode2, R1h, 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 == 0) {
                                continue;
                        }

                        if (dynamic_cast<Joint::HingeHint<1> *>(pjh)) {
                                R1h = pNode1->GetRCurr().Transpose()*pNode2->GetRCurr()*R2h;

                        } else if (dynamic_cast<Joint::HingeHint<2> *>(pjh)) {
                                R2h = pNode2->GetRCurr().Transpose()*pNode1->GetRCurr()*R1h;

                        } else if (dynamic_cast<Joint::ReactionsHint *>(pjh)) {
                                /* TODO */
                        }
                }
        }
}

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void PrismaticJoint::WorkSpaceDim ( integer *  piNumRows, integer *  piNumCols  ) const

inlinevirtual

Implements Elem.

Definition at line 85 of file prismj.h.

Referenced by AssJac(), and AssRes().

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

Member Data Documentation

Vec3 PrismaticJoint::M

private

Definition at line 55 of file prismj.h.

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

const StructNode* PrismaticJoint::pNode1

private

Definition at line 51 of file prismj.h.

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

const StructNode* PrismaticJoint::pNode2

private

Definition at line 52 of file prismj.h.

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

Mat3x3 PrismaticJoint::R1h

private

Definition at line 53 of file prismj.h.

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

Mat3x3 PrismaticJoint::R2h

private

Definition at line 54 of file prismj.h.

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

---

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

• prismj.h
• prismj.cc