#include <rodj.h>

Inheritance diagram for RodWithOffset:

Collaboration diagram for RodWithOffset:

Public Member Functions
	RodWithOffset (unsigned int uL, const DofOwner pDO, const ConstitutiveLaw1D pCL, const StructNode pN1, const StructNode pN2, const Vec3 &f1Tmp, const Vec3 &f2Tmp, doublereal dLength, flag fOut)

virtual	~RodWithOffset (void)

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

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

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)

void	AssVec (SubVectorHandler &WorkVec)

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

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

virtual	~Elem (void)

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

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

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

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

virtual DofOrder::Order	GetDofType (unsigned int) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

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	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 Rod
	Rod (unsigned int uL, const DofOwner pDO, const ConstitutiveLaw1D pCL, const StructDispNode pN1, const StructDispNode pN2, doublereal dLength, flag fOut, bool bHasOffsets=0)

virtual	~Rod (void)

virtual Joint::Type	GetJointType (void) const

virtual unsigned int	iGetNumDof (void) const

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

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH) const

virtual unsigned int	iGetInitialNumDof (void) const

virtual bool	bInverseDynamics (void) const

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

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

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

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

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

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

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

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 ConstitutiveLawOwner< T, Tder >
	ConstitutiveLawOwner (const ConstitutiveLaw< T, Tder > *pCL)

virtual	~ConstitutiveLawOwner (void)

ConstitutiveLaw< T, Tder > *	pGetConstLaw (void) const

void	Update (const T &Eps, const T &EpsPrime=mb_zero< T >())

void	AfterConvergence (const T &Eps, const T &EpsPrime=mb_zero< T >())

const T &	GetF (void) const

const Tder &	GetFDE (void) const

const Tder &	GetFDEPrime (void) const

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

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

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

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

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

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

Protected Attributes
Vec3	f1

Vec3	f2

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from Rod
const StructDispNode *	pNode1

const StructDispNode *	pNode2

doublereal	dL0

Vec3	v

doublereal	dElle

doublereal	dEpsilon

doublereal	dEpsilonPrime

Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Protected Attributes inherited from ConstitutiveLawOwner< T, Tder >
ConstitutiveLaw< T, Tder > *	pConstLaw

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

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

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

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

Protected Member Functions inherited from Rod
virtual doublereal	dCalcEpsilon (void)

void	AssMat (FullSubMatrixHandler &WorkMat, doublereal dCoef=1.)

void	AssVec (SubVectorHandler &WorkVec)

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

Detailed Description

Definition at line 268 of file rodj.h.

Constructor & Destructor Documentation

RodWithOffset::RodWithOffset	(	unsigned int	uL,
		const DofOwner *	pDO,
		const ConstitutiveLaw1D *	pCL,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Vec3 &	f1Tmp,
		const Vec3 &	f2Tmp,
		doublereal	dLength,
		flag	fOut
	)

Definition at line 827 of file rodj.cc.

References ASSERT, Rod::dElle, Vec3::Dot(), WithLabel::GetLabel(), StructDispNode::GetNodeType(), StructDispNode::GetXCurr(), MBDYN_EXCEPT_ARGS, Rod::pNode1, Rod::pNode2, grad::sqrt(), Node::STRUCTURAL, and Rod::v.

 : Elem(uL, fOut),
 Rod(uL, pDO, pCL, pN1, pN2, dLength, fOut, true),
 f1(f1Tmp),
 f2(f2Tmp)
 {
         /* Verifica di consistenza dei dati iniziali */
         ASSERT(pNode1 != 0);
         ASSERT(dynamic_cast<const StructNode *>(pNode1) != 0);
         ASSERT(pNode1->GetNodeType() == Node::STRUCTURAL);
         ASSERT(pNode2 != 0);
         ASSERT(dynamic_cast<const StructNode *>(pNode2) != 0);
         ASSERT(pNode2->GetNodeType() == Node::STRUCTURAL);
 
         v = pNode2->GetXCurr() + dynamic_cast<const StructNode *>(pNode2)->GetRCurr()*f2Tmp
                 - pNode1->GetXCurr() - dynamic_cast<const StructNode *>(pNode1)->GetRCurr()*f1Tmp;
 
         doublereal dDot = v.Dot();
         if (dDot <= std::numeric_limits<doublereal>::epsilon()) {
                 silent_cerr("RodWithOffset(" << GetLabel() << "): "
                         "inital length must be non-null" << std::endl);
                 throw ErrNullNorm(MBDYN_EXCEPT_ARGS);
         }
 
         dElle = sqrt(dDot);
 
         ASSERT(dLength > std::numeric_limits<doublereal>::epsilon());
 }

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RodWithOffset::~RodWithOffset ( void )

virtual

Definition at line 865 of file rodj.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

void RodWithOffset::AfterConvergence	(	const VectorHandler &	X,
		const VectorHandler &	XP
	)

virtual

Reimplemented from Rod.

Definition at line 884 of file rodj.cc.

References ConstitutiveLawOwner< T, Tder >::AfterConvergence(), Rod::dEpsilon, and Rod::dEpsilonPrime.

 {
         ConstitutiveLaw1DOwner::AfterConvergence(dEpsilon, dEpsilonPrime);
 }

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

virtual

Implements Elem.

Definition at line 891 of file rodj.cc.

References FullSubMatrixHandler::Add(), Vec3::Cross(), DEBUGCOUT, Rod::dElle, Rod::dEpsilonPrime, Rod::dL0, f1, f2, ConstitutiveLawOwner< T, Tder >::GetF(), ConstitutiveLawOwner< T, Tder >::GetFDE(), ConstitutiveLawOwner< T, Tder >::GetFDEPrime(), StructDispNode::GetVCurr(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), MatCross, MatCrossCross, Rod::pNode1, Rod::pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), FullSubMatrixHandler::Sub(), Vec3::Tens(), Rod::v, and WorkSpaceDim().

 {
         DEBUGCOUT("Entering RodWithOffset::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 iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(6 + iCnt, iNode2FirstMomIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         const Mat3x3& R1(dynamic_cast<const StructNode *>(pNode1)->GetRRef());
         const Mat3x3& R2(dynamic_cast<const StructNode *>(pNode2)->GetRRef());
         Vec3 f1Tmp(R1*f1);
         Vec3 f2Tmp(R2*f2);
 
         const Vec3& v1(pNode1->GetVCurr());
         const Vec3& v2(pNode2->GetVCurr());
         const Vec3& Omega1(dynamic_cast<const StructNode *>(pNode1)->GetWRef());
         const Vec3& Omega2(dynamic_cast<const StructNode *>(pNode2)->GetWRef());
 
         /* Velocita' di deformazione */
         Vec3 vPrime(v2 + Omega2.Cross(f2Tmp) - v1 - Omega1.Cross(f1Tmp));
 
         /* Forza e slopes */
         doublereal dF = GetF();
         doublereal dFDE = GetFDE();
         doublereal dFDEPrime = GetFDEPrime();
 
         /* Vettore forza */
         Vec3 F = v*(dF/dElle);
 
         Mat3x3 K(v.Tens(v*(dCoef*(dFDE/dL0 - (dEpsilonPrime*dFDEPrime + dF)/dElle)/(dElle*dElle))));
         if (dFDEPrime != 0.) {
                 K += v.Tens(vPrime*(dCoef*dFDEPrime/(dElle*dElle*dL0)));
         }
         doublereal d = dCoef*dF/dElle;
         for (unsigned iCnt = 1; iCnt <= 3; iCnt++) {
                 K(iCnt, iCnt) += d;
         }
 
         Mat3x3 KPrime;
         if (dFDEPrime != 0.) {
                 KPrime = v.Tens(v*((dFDEPrime)/(dL0*dElle*dElle)));
         }
 
         /* Termini di forza diagonali */
         Mat3x3 Tmp1(K);
         if (dFDEPrime != 0.) {
                 Tmp1 += KPrime;
         }
         WM.Add(1, 1, Tmp1);
         WM.Add(6 + 1, 6 + 1, Tmp1);
 
         /* Termini di coppia, nodo 1 */
         Mat3x3 Tmp2 = f1Tmp.Cross(Tmp1);
         WM.Add(3 + 1, 1, Tmp2);
         WM.Sub(3 + 1, 6 + 1, Tmp2);
 
         /* Termini di coppia, nodo 2 */
         Tmp2 = f2Tmp.Cross(Tmp1);
         WM.Add(9 + 1, 6 + 1, Tmp2);
         WM.Sub(9 + 1, 1, Tmp2);
 
         /* termini di forza extradiagonali */
         WM.Sub(1, 6 + 1, Tmp1);
         WM.Sub(6 + 1, 1, Tmp1);
 
         /* Termini di rotazione, Delta g1 */
         Mat3x3 Tmp3 = Tmp1*Mat3x3(MatCross, -f1Tmp);
         if (dFDEPrime != 0.) {
                 Tmp3 += KPrime*Mat3x3(MatCross, f1Tmp.Cross(Omega1*dCoef));
         }
         WM.Add(1, 3 + 1, Tmp3);
         WM.Sub(6 + 1, 3 + 1, Tmp3);
 
         /* Termini di coppia, Delta g1 */
         Tmp2 = f1Tmp.Cross(Tmp3) + Mat3x3(MatCrossCross, F, f1Tmp*dCoef);
         WM.Add(3 + 1, 3 + 1, Tmp2);
         Tmp2 = f2Tmp.Cross(Tmp3);
         WM.Sub(9 + 1, 3 + 1, Tmp2);
 
         /* Termini di rotazione, Delta g2 */
         Tmp3 = Tmp1*Mat3x3(MatCross, -f2Tmp);
         if (dFDEPrime != 0.) {
                 Tmp3 += KPrime*Mat3x3(MatCross, f2Tmp.Cross(Omega2*dCoef));
         }
         WM.Add(6 + 1, 9 + 1, Tmp3);
         WM.Sub(1, 9 + 1, Tmp3);
 
         /* Termini di coppia, Delta g2 */
         Tmp2 = f2Tmp.Cross(Tmp3) + Mat3x3(MatCrossCross, F, f2Tmp*dCoef);
         WM.Add(9 + 1, 9 + 1, Tmp2);
         Tmp2 = f1Tmp.Cross(Tmp3);
         WM.Sub(3 + 1, 9 + 1, Tmp2);
 
         return WorkMat;
 }

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

virtual

Implements Elem.

Definition at line 1009 of file rodj.cc.

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

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

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void RodWithOffset::AssVec ( SubVectorHandler & WorkVec )

Definition at line 1038 of file rodj.cc.

References VectorHandler::Add(), Vec3::Cross(), Rod::dCalcEpsilon(), DEBUGCOUT, Rod::dElle, Rod::dEpsilon, Rod::dEpsilonPrime, Rod::dL0, Vec3::Dot(), f1, f2, ConstitutiveLawOwner< T, Tder >::GetF(), WithLabel::GetLabel(), StructDispNode::GetVCurr(), StructDispNode::GetXCurr(), MBDYN_EXCEPT_ARGS, Rod::pNode1, Rod::pNode2, grad::sqrt(), VectorHandler::Sub(), ConstitutiveLawOwner< T, Tder >::Update(), and Rod::v.

Referenced by AssRes(), and InitialAssRes().

 {
         DEBUGCOUT("RodWithOffset::AssVec()" << std::endl);
 
         /* Dati */
         const Mat3x3& R1(dynamic_cast<const StructNode *>(pNode1)->GetRCurr());
         const Mat3x3& R2(dynamic_cast<const StructNode *>(pNode2)->GetRCurr());
         Vec3 f1Tmp(R1*f1);
         Vec3 f2Tmp(R2*f2);
         const Vec3& x1(pNode1->GetXCurr());
         const Vec3& x2(pNode2->GetXCurr());
 
         const Vec3& v1(pNode1->GetVCurr());
         const Vec3& v2(pNode2->GetVCurr());
         const Vec3& Omega1(dynamic_cast<const StructNode *>(pNode1)->GetWCurr());
         const Vec3& Omega2(dynamic_cast<const StructNode *>(pNode2)->GetWCurr());
 
         /* v = x2-x1 */
         v = x2 + f2Tmp - x1 - f1Tmp;
         doublereal dCross = v.Dot();
 
         /* Verifica che la distanza non sia nulla */
         if (dCross <= std::numeric_limits<doublereal>::epsilon()) {
                 silent_cerr("RodWithOffset(" << GetLabel() << "): "
                         "null distance between nodes " << pNode1->GetLabel()
                         << " and " << pNode2->GetLabel() << std::endl);
                 throw ErrNullNorm(MBDYN_EXCEPT_ARGS);
         }
 
         /* Lunghezza corrente */
         dElle = sqrt(dCross);
 
         /* Deformazione */
         dEpsilon = dCalcEpsilon();
 
         /* Velocita' di deformazione */
         Vec3 vPrime(v2 + Omega2.Cross(f2Tmp) - v1 - Omega1.Cross(f1Tmp));
         dEpsilonPrime  = (v.Dot(vPrime))/(dElle*dL0);
 
         /* Ampiezza della forza */
         bool ChangeJac(false);
         try {
                 ConstitutiveLaw1DOwner::Update(dEpsilon, dEpsilonPrime);
 
         } catch (Elem::ChangedEquationStructure) {
                 ChangeJac = true;
         }
 
         doublereal dF = GetF();
 
         /* Vettore forza */
         Vec3 F(v*(dF/dElle));
 
         WorkVec.Add(1, F);
         WorkVec.Add(3 + 1, f1Tmp.Cross(F));
         WorkVec.Sub(6 + 1, F);
         WorkVec.Sub(9 + 1, f2Tmp.Cross(F));
 
         if (ChangeJac) {
                 throw Elem::ChangedEquationStructure(MBDYN_EXCEPT_ARGS);
         }
 }

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

virtual

Reimplemented from Rod.

Definition at line 1103 of file rodj.cc.

References FullSubMatrixHandler::Add(), Vec3::Cross(), DEBUGCOUT, Rod::dElle, Rod::dEpsilonPrime, Rod::dL0, f1, f2, ConstitutiveLawOwner< T, Tder >::GetF(), ConstitutiveLawOwner< T, Tder >::GetFDE(), ConstitutiveLawOwner< T, Tder >::GetFDEPrime(), StructDispNode::GetVCurr(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), MatCross, MatCrossCross, Rod::pNode1, Rod::pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), FullSubMatrixHandler::Sub(), Vec3::Tens(), and Rod::v.

 {
         DEBUGCOUT("Entering RodWithOffset::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 iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode1FirstVelIndex = iNode1FirstPosIndex + 6;
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstVelIndex = iNode2FirstPosIndex + 6;
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iNode1FirstVelIndex + iCnt);
 
                 WM.PutRowIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutColIndex(12 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutColIndex(18 + iCnt, iNode2FirstVelIndex + iCnt);
         }
 
         const Mat3x3& R1(dynamic_cast<const StructNode *>(pNode1)->GetRRef());
         const Mat3x3& R2(dynamic_cast<const StructNode *>(pNode2)->GetRRef());
         Vec3 f1Tmp(R1*f1);
         Vec3 f2Tmp(R2*f2);
 
         const Vec3& v1(pNode1->GetVCurr());
         const Vec3& v2(pNode2->GetVCurr());
         const Vec3& Omega1(dynamic_cast<const StructNode *>(pNode1)->GetWRef());
         const Vec3& Omega2(dynamic_cast<const StructNode *>(pNode2)->GetWRef());
 
         /* Velocita' di deformazione */
         Vec3 vPrime(v2 + Omega2.Cross(f2Tmp) - v1 - Omega1.Cross(f1Tmp));
 
         /* Forza e slopes */
         doublereal dF = GetF();
         doublereal dFDE = GetFDE();
         doublereal dFDEPrime = GetFDEPrime();
 
         /* Vettore forza */
         Vec3 F = v*(dF/dElle);
 
         Mat3x3 K(v.Tens(v*((dFDE/dL0 - (dEpsilonPrime*dFDEPrime + dF)/dElle)/(dElle*dElle))));
         if (dFDEPrime != 0.) {
                 K += v.Tens(vPrime*(dFDEPrime/(dElle*dElle*dL0)));
         }
         doublereal d = dF/dElle;
         for (unsigned iCnt = 1; iCnt <= 3; iCnt++) {
                 K(iCnt, iCnt) += d;
         }
 
         Mat3x3 KPrime;
         if (dFDEPrime != 0.) {
                 KPrime = v.Tens(v*((dFDEPrime)/(dL0*dElle*dElle)));
         }
 
         /* Termini di forza diagonali */
         WM.Add(1, 1, K);
         WM.Add(6 + 1, 12 + 1, K);
 
         /* Termini di coppia, nodo 1 */
         Mat3x3 Tmp2 = f1Tmp.Cross(K);
         WM.Add(3 + 1, 1, Tmp2);
         WM.Sub(3 + 1, 12 + 1, Tmp2);
 
         /* Termini di coppia, nodo 2 */
         Tmp2 = f2Tmp.Cross(K);
         WM.Add(9 + 1, 12 + 1, Tmp2);
         WM.Sub(9 + 1, 1, Tmp2);
 
         /* termini di forza extradiagonali */
         WM.Sub(1, 12 + 1, K);
         WM.Sub(6 + 1, 1, K);
 
         if (dFDEPrime != 0.) {
                 /* Termini di forza diagonali */
                 WM.Add(1, 6 + 1, KPrime);
                 WM.Add(6 + 1, 18 + 1, KPrime);
 
                 /* Termini di coppia, nodo 1 */
                 Tmp2 = f1Tmp.Cross(KPrime);
                 WM.Add(3 + 1, 6 + 1, Tmp2);
                 WM.Sub(3 + 1, 18 + 1, Tmp2);
 
                 /* Termini di coppia, nodo 2 */
                 Tmp2 = f2Tmp.Cross(KPrime);
                 WM.Add(9 + 1, 18 + 1, Tmp2);
                 WM.Sub(9 + 1, 6 + 1, Tmp2);
 
                 /* termini di forza extradiagonali */
                 WM.Sub(1, 18 + 1, KPrime);
                 WM.Sub(6 + 1, 6 + 1, KPrime);
         }
 
         /* Termini di rotazione, Delta g1 */
         Mat3x3 Tmp3 = K*Mat3x3(MatCross, -f1Tmp);
         if (dFDEPrime != 0.) {
                 Tmp3 -= KPrime*Mat3x3(MatCrossCross, Omega1, f1Tmp);
         }
         WM.Add(1, 3 + 1, Tmp3);
         WM.Sub(6 + 1, 3 + 1, Tmp3);
 
         /* Termini di coppia, Delta g1 */
         Tmp2 = f1Tmp.Cross(Tmp3) + Mat3x3(MatCrossCross, F, f1Tmp);
         WM.Add(3 + 1, 3 + 1, Tmp2);
         Tmp2 = f2Tmp.Cross(Tmp3);
         WM.Sub(9 + 1, 3 + 1, Tmp2);
 
         /* Termini di rotazione, Delta g2 */
         Tmp3 = K*Mat3x3(MatCross, -f2Tmp);
         if (dFDEPrime != 0.) {
                 Tmp3 -= KPrime*Mat3x3(MatCrossCross, Omega2, f2Tmp);
         }
         WM.Add(6 + 1, 15 + 1, Tmp3);
         WM.Sub(1, 15 + 1, Tmp3);
 
         /* Termini di coppia, Delta g2 */
         Tmp2 = f2Tmp.Cross(Tmp3) + Mat3x3(MatCrossCross, F, f2Tmp);
         WM.Add(9 + 1, 15 + 1, Tmp2);
         Tmp2 = f1Tmp.Cross(Tmp3);
         WM.Sub(3 + 1, 15 + 1, Tmp2);
 
         if (dFDEPrime != 0.) {
                 /* Termini di rotazione, Delta w1 */
                 Tmp3 = KPrime*Mat3x3(MatCross, -f1Tmp);
                 WM.Add(1, 9 + 1, Tmp3);
                 WM.Sub(6 + 1, 9 + 1, Tmp3);
 
                 /* Termini di coppia, Delta w1 */
                 Tmp2 = f1Tmp.Cross(Tmp3);
                 WM.Add(3 + 1, 9 + 1, Tmp2);
                 Tmp2 = f2Tmp.Cross(Tmp3);
                 WM.Sub(9 + 1, 9 + 1, Tmp2);
 
                 /* Termini di rotazione, Delta w2 */
                 Tmp3 = KPrime*Mat3x3(MatCross, -f2Tmp);
                 WM.Add(6 + 1, 21 + 1, Tmp3);
                 WM.Sub(1, 21 + 1, Tmp3);
 
                 /* Termini di coppia, Delta w2 */
                 Tmp2 = f2Tmp.Cross(Tmp3);
                 WM.Add(9 + 1, 21 + 1, Tmp2);
                 Tmp2 = f1Tmp.Cross(Tmp3);
                 WM.Sub(3 + 1, 21 + 1, Tmp2);
         }
 
         return WorkMat;
 }

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

virtual

Reimplemented from Rod.

Definition at line 1263 of file rodj.cc.

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

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

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

inlinevirtual

Reimplemented from Rod.

Definition at line 318 of file rodj.h.

Referenced by InitialAssJac(), and InitialAssRes().

                                                                           {
                 *piNumRows = 12;
                 *piNumCols = 24;
         };

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

virtual

Implements Elem.

Definition at line 872 of file rodj.cc.

References Rod::dL0, f1, f2, WithLabel::GetLabel(), ConstitutiveLawOwner< T, Tder >::pGetConstLaw(), Rod::pNode1, Rod::pNode2, Joint::Restart(), and Vec3::Write().

 {
         Joint::Restart(out) << ", rod, "
                 << pNode1->GetLabel() << ", "
                 "position, reference, node, ", f1.Write(out, ", ") << ", "
                 << pNode2->GetLabel() << ", "
                 "position, reference, node, ", f2.Write(out, ", ") << ", "
                 << dL0;
         return pGetConstLaw()->Restart(out) << ';' << std::endl;
 }

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

inlinevirtual

Implements Elem.

Definition at line 293 of file rodj.h.

Referenced by AssJac(), and AssRes().

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

Member Data Documentation

Vec3 RodWithOffset::f1

protected

Definition at line 272 of file rodj.h.

Referenced by AssJac(), AssVec(), InitialAssJac(), and Restart().

Vec3 RodWithOffset::f2

protected

Definition at line 273 of file rodj.h.

Referenced by AssJac(), AssVec(), InitialAssJac(), and Restart().

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation