StructDispNode Class Reference

#include <strnode.h>

Inheritance diagram for StructDispNode:

Collaboration diagram for StructDispNode:

Classes
class	ErrGeneric

Public Types
enum	Type { UNKNOWN = -1, DYNAMIC = 0, STATIC, LASTSTRUCTDISPNODETYPE }
enum	Output { OUTPUT_ACCELERATIONS = (ToBeOutput::OUTPUT_PRIVATE << 0), OUTPUT_INERTIA = (ToBeOutput::OUTPUT_PRIVATE << 1) }
Public Types inherited from Node
enum	Type {   UNKNOWN = -1, ABSTRACT = 0, STRUCTURAL, ELECTRIC,   THERMAL, PARAMETER, HYDRAULIC, LASTNODETYPE }
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 Member Functions
	StructDispNode (unsigned int uL, const DofOwner *pDO, const Vec3 &X0, const Vec3 &V0, const StructNode *pRN, const RigidBodyKinematics *pRBK, doublereal dPosStiff, doublereal dVelStiff, OrientationDescription od, flag fOut)
virtual	~StructDispNode (void)
virtual Node::Type	GetNodeType (void) const
const RigidBodyKinematics *	pGetRBK (void) const
const Vec3 &	GetX (void) const
const Mat3x3 &	GetR (void) const
const Vec3 &	GetV (void) const
const Vec3 &	GetW (void) const
const Vec3 &	GetXPP (void) const
const Vec3 &	GetWP (void) const
virtual integer	iGetFirstPositionIndex (void) const
virtual integer	iGetFirstMomentumIndex (void) const =0
virtual StructDispNode::Type	GetStructDispNodeType (void) const =0
virtual std::ostream &	Restart (std::ostream &out) 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 const doublereal &	dGetDofValue (int iDof, int iOrder=0) const
virtual const doublereal &	dGetDofValuePrev (int iDof, int iOrder=0) const
virtual void	SetDofValue (const doublereal &dValue, unsigned int iDof, unsigned int iOrder=0)
virtual DofOrder::Order	GetDofType (unsigned int) const
virtual const Vec3 &	GetXPrev (void) const
virtual const Vec3 &	GetXCurr (void) const
virtual const Vec3 &	GetVPrev (void) const
virtual const Vec3 &	GetVCurr (void) const
virtual const Vec3 &	GetXPPPrev (void) const
virtual const Vec3 &	GetXPPCurr (void) const
virtual const doublereal &	dGetPositionStiffness (void) const
virtual const doublereal &	dGetVelocityStiffness (void) const
virtual bool	ComputeAccelerations (bool b)
virtual bool	bComputeAccelerations (void) const
virtual bool	bOutputAccelerations (void) const
virtual void	OutputAccelerations (bool bOut)
virtual void	OutputPrepare (OutputHandler &OH)
virtual void	Output (OutputHandler &OH) const
virtual void	Update (const VectorHandler &X, const VectorHandler &XP)
virtual void	DerivativesUpdate (const VectorHandler &X, const VectorHandler &XP)
virtual unsigned int	iGetInitialNumDof (void) const
virtual void	InitialUpdate (const VectorHandler &X)
void	Update (const VectorHandler &X, InverseDynamics::Order iOrder)
virtual void	SetInitialValue (VectorHandler &X)
virtual void	SetValue (DataManager *pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints *ph=0)
virtual void	BeforePredict (VectorHandler &X, VectorHandler &XP, VectorHandler &XPrev, VectorHandler &XPPrev) const
virtual void	AfterPredict (VectorHandler &X, 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
Public Member Functions inherited from Node
	Node (unsigned int uL, const DofOwner *pDO, flag fOut)
virtual	~Node (void)
const Node *	GetNode (void) const
virtual integer	iGetFirstRowIndex (void) const
virtual integer	iGetFirstColIndex (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 unsigned int	iGetNumDof (void) const =0
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	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)
virtual std::ostream &	OutputAppend (std::ostream &out) const
virtual void	ReadInitialState (MBDynParser &HP)
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 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 RigidBodyKinematics
virtual	~RigidBodyKinematics (void)
virtual void	Update (void)

Protected Attributes
Vec3	XPrev
Vec3	XCurr
Vec3	VPrev
Vec3	VCurr
Vec3	XPPCurr
Vec3	XPPPrev
const StructNode *	pRefNode
OrientationDescription	od
doublereal	dPositionStiffness
doublereal	dVelocityStiffness
const RigidBodyKinematics *	pRefRBK
bool	bOutputAccels
Protected Attributes inherited from WithLabel
unsigned int	uLabel
std::string	sName
Protected Attributes inherited from ToBeOutput
flag	fOutput

Detailed Description

Definition at line 67 of file strnode.h.

Member Enumeration Documentation

enum StructDispNode::Output

Enumerator
OUTPUT_ACCELERATIONS
OUTPUT_INERTIA

Definition at line 83 of file strnode.h.

                    {
                OUTPUT_ACCELERATIONS = (ToBeOutput::OUTPUT_PRIVATE << 0),
                OUTPUT_INERTIA = (ToBeOutput::OUTPUT_PRIVATE << 1)
        };

enum StructDispNode::Type

Enumerator
UNKNOWN
DYNAMIC
STATIC
LASTSTRUCTDISPNODETYPE

Definition at line 74 of file strnode.h.

                  {
                UNKNOWN = -1,

                DYNAMIC = 0,
                STATIC,

                LASTSTRUCTDISPNODETYPE
        };

Constructor & Destructor Documentation

StructDispNode::StructDispNode	(	unsigned int	uL,
		const DofOwner *	pDO,
		const Vec3 &	X0,
		const Vec3 &	V0,
		const StructNode *	pRN,
		const RigidBodyKinematics *	pRBK,
		doublereal	dPosStiff,
		doublereal	dVelStiff,
		OrientationDescription	od,
		flag	fOut
	)

Definition at line 102 of file strnode.cc.

References NO_OP.

: Node(uL, pDO, fOut),
XPrev(X0),
XCurr(X0),
VPrev(V0),
VCurr(V0),
XPPCurr(Zero3),
XPPPrev(Zero3),
pRefNode(pRN),
#ifdef USE_NETCDF
Var_X(0),
Var_Phi(0),
Var_XP(0),
Var_Omega(0),
Var_XPP(0),
Var_OmegaP(0),
#endif /* USE_NETCDF */
od(od),
dPositionStiffness(dPosStiff),
dVelocityStiffness(dVelStiff),
pRefRBK(pRBK),
bOutputAccels(false)
{
        NO_OP;
}

StructDispNode::~StructDispNode ( void  )

virtual

Definition at line 138 of file strnode.cc.

References NO_OP.

{
        NO_OP;
}

Member Function Documentation

void StructDispNode::AfterConvergence ( const VectorHandler &  X, const VectorHandler &  XP, const VectorHandler &  XPP  )

virtual

Reimplemented from SimulationEntity.

Reimplemented in StructNode.

Definition at line 789 of file strnode.cc.

References VCurr, VPrev, XCurr, XPPCurr, XPPPrev, and XPrev.

{
        XPrev = XCurr;
        VPrev = VCurr;
        XPPPrev = XPPCurr;
}

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

virtual

Reimplemented from SimulationEntity.

Reimplemented in DummyStructNode, and StructNode.

Definition at line 731 of file strnode.cc.

References Vec3::Cross(), WithLabel::GetLabel(), StructNode::GetRCurr(), StructNode::GetRPrev(), GetVCurr(), StructNode::GetWCurr(), GetXCurr(), DofOwnerOwner::iGetFirstIndex(), CGR_Rot::MatGm1, Mat3x3::MulMT(), CGR_Rot::Param, pRefNode, VectorHandler::Put(), VCurr, and XCurr.

{
        integer iFirstIndex = iGetFirstIndex();

        /* Spostamento e velocita' aggiornati */
        XCurr = Vec3(X, iFirstIndex + 1);
        VCurr = Vec3(XP, iFirstIndex + 1);

#ifdef MBDYN_X_RELATIVE_PREDICTION
        if (pRefNode) {
                // FIXME

                /*
                   x = x_0 + R_0 * x_r
                   R = R_0 * R_r
                   v = v_0 + omega_0 \times ( R_0 * x_r ) + R_0 * v_r
                   omega = omega_0 + R_0 * omega_r
                 */
                Vec3 X0 = pRefNode->GetXCurr();
                Mat3x3 R0 = pRefNode->GetRCurr();
                Vec3 V0 = pRefNode->GetVCurr();
                Vec3 W0 = pRefNode->GetWCurr();

                XCurr = R0*XCurr;       /* temporary */
                RCurr = R0*RCurr;
                VCurr = V0 + W0.Cross(XCurr) + R0*VCurr;
                WCurr = W0 + R0*WCurr;
                XCurr += X0;            /* plus reference */

                /* alcuni usano anche le predizioni dei parametri
                 * di rotazione e delle loro derivate come riferimento
                 * (approccio updated-updated); quindi calcolo
                 * i parametri di riferimento come i parametri
                 * che danno una predizione pari alla variazione
                 * di R0 piu' l'incremento relativo, e le derivate
                 * dei parametri corrispondenti */
                gRef = Vec3(CGR_Rot::Param, R0*RDelta.MulMT(pRefNode->GetRPrev()));
                gPRef = Mat3x3(CGR_Rot::MatGm1, gRef)*WCurr;

                /* to be safe, the correct values are put back
                 * in the state vectors */
                X.Put(iFirstIndex + 1, XCurr);
                XP.Put(iFirstIndex + 1, VCurr);

#if 0
                std::cout << "StructNode(" << GetLabel() << "): "
                        "AfterPredict: X=" << XCurr
                        << ", R=" << RCurr
                        << ", V=" << VCurr
                        << ", W=" << WCurr
                        << std::endl;
#endif
        }
#endif /* MBDYN_X_RELATIVE_PREDICTION */
}

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bool StructDispNode::bComputeAccelerations ( void  ) const

inlinevirtual

Reimplemented in PivotRelFrameDummyStructNode, RelFrameDummyStructNode, DummyStructNode, and DynamicStructDispNode.

Definition at line 433 of file strnode.h.

Referenced by DynamicStructNode::AddInertia(), DynamicStructNode::AfterConvergence(), DynamicStructNode::BeforePredict(), DynamicStructNode::dGetDofValue(), DynamicStructNode::dGetDofValuePrev(), dGetPrivData(), StructNode::dGetPrivData(), iGetNumPrivData(), StructNode::iGetNumPrivData(), ModuleIMU::ModuleIMU(), DynamicStructNode::SetDofValue(), DynamicStructNode::Update(), and OffsetDummyStructNode::Update_int().

{
        return false;
}

void StructDispNode::BeforePredict ( VectorHandler &  X, VectorHandler &  XP, VectorHandler &  XPrev, VectorHandler &  XPPrev  ) const

virtual

Reimplemented from SimulationEntity.

Reimplemented in DummyStructNode, DynamicStructNode, StructNode, and DynamicStructDispNode.

Definition at line 680 of file strnode.cc.

References Vec3::Cross(), WithLabel::GetLabel(), StructNode::GetRCurr(), GetVCurr(), StructNode::GetWCurr(), GetXCurr(), DofOwnerOwner::iGetFirstIndex(), Mat3x3::MulTM(), Mat3x3::MulTV(), pRefNode, VectorHandler::Put(), VCurr, VPrev, XCurr, and XPrev.

Referenced by DynamicStructDispNode::BeforePredict().

{
#ifdef MBDYN_X_RELATIVE_PREDICTION
        // FIXME
        integer iFirstPos = iGetFirstIndex();

        /* If pRefNode is defined, the prediction is made
         * on the data in the reference frame it provides */
        if (pRefNode) {

                /*
                   x_r = R_0^T * ( x - x_0 )
                   R_r = R_0^T * R
                   v_r = R_0^T * ( v - v_0 - omega_0 \times ( x - x_0 ) )
                   omega_r = R_0^T * ( omega - omega_0 )
                 */
                Vec3 Xtmp = XCurr - pRefNode->GetXCurr();
                const Mat3x3& R0 = pRefNode->GetRCurr();
                const Vec3& V0 = pRefNode->GetVCurr();
                const Vec3& W0 = pRefNode->GetWCurr();

                XCurr = R0.MulTV(Xtmp);
                RCurr = R0.MulTM(RCurr);
                VCurr = R0.MulTV(VCurr - V0 - W0.Cross(Xtmp));
                WCurr = R0.MulTV(WCurr - W0);

                /* update state vectors with relative position and velocity */
                X.Put(iFirstPos + 1, XCurr);
                XP.Put(iFirstPos + 1, VCurr);
                XPr.Put(iFirstPos + 1, XPrev);
                XPPr.Put(iFirstPos + 1, VPrev);

#if 0
                std::cout << "StructNode(" << GetLabel() << "): "
                        "BeforePredict: X=" << XCurr
                        << ", R=" << RCurr
                        << ", V=" << VCurr
                        << ", W=" << WCurr
                        << std::endl;
#endif
        }
#endif /* MBDYN_X_RELATIVE_PREDICTION */

        XPrev = XCurr;
        VPrev = VCurr;
}

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bool StructDispNode::bOutputAccelerations ( void  ) const

inlinevirtual

Definition at line 439 of file strnode.h.

References bOutputAccels.

Referenced by OffsetDummyStructNode::OffsetDummyStructNode(), PivotRelFrameDummyStructNode::PivotRelFrameDummyStructNode(), and RelFrameDummyStructNode::RelFrameDummyStructNode().

{
        return bOutputAccels;
}

bool StructDispNode::ComputeAccelerations ( bool  b )

virtual

Reimplemented in PivotRelFrameDummyStructNode, RelFrameDummyStructNode, DummyStructNode, and DynamicStructDispNode.

Definition at line 194 of file strnode.cc.

Referenced by DynamicStructNode::AfterConvergence(), DynamicStructNode::dGetDofValue(), GetDofOrder(), iGetPrivDataIdx(), StructNode::iGetPrivDataIdx(), ModalNode::ModalNode(), and DynamicStructNode::Update().

{
        return false;
}

void StructDispNode::DerivativesUpdate ( const VectorHandler &  X, const VectorHandler &  XP  )

virtual

Reimplemented from SimulationEntity.

Reimplemented in DummyStructNode, and StructNode.

Definition at line 582 of file strnode.cc.

References DofOwnerOwner::iGetFirstIndex(), VCurr, and XCurr.

{
        integer iFirstIndex = iGetFirstIndex();

        /* Forza configurazione e velocita' al valore iniziale */
        const_cast<VectorHandler &>(X).Put(iFirstIndex + 1, XCurr);
        const_cast<VectorHandler &>(XP).Put(iFirstIndex + 1, VCurr);
}

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

virtual

Reimplemented from Node.

Reimplemented in ModalNode, DynamicStructNode, StructNode, and DynamicStructDispNode.

Definition at line 200 of file strnode.cc.

References DofOwnerOwner::iGetFirstIndex().

Referenced by DynamicStructDispNode::DescribeDof(), and DataManager::InitialJointAssembly().

{
        integer iIndex = iGetFirstIndex();

        out
                << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                        "position [px,py,pz]" << std::endl;

        if (bInitial) {
                iIndex += 3;
                out
                        << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                                "linear velocity [vx,vy,vz]" << std::endl;
        }

        return out;
}

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

virtual

Reimplemented from Node.

Reimplemented in ModalNode, DynamicStructNode, StructNode, and DynamicStructDispNode.

Definition at line 219 of file strnode.cc.

References WithLabel::GetLabel(), MBDYN_EXCEPT_ARGS, sdn_initial_dof, and xyz.

{
        if (i == -1) {
                if (bInitial) {
                        desc.resize(6);

                } else {
                        desc.resize(3);
                }

        } else {
                desc.resize(1);
        }

        std::ostringstream os;
        os << "StructDispNode(" << GetLabel() << ")";

        // always uses initial_dof[] becuase dof[]
        // and initial_dof[] are the same up to 6
        int iend = bInitial ? 6 : 3;
        if (i == -1) {
                std::string name = os.str();

                for (i = 0; i < iend; i++) {
                        os.str(name);
                        os.seekp(0, std::ios_base::end);
                        os << ": " << sdn_initial_dof[i/3] << xyz[i%3];
                        desc[i] = os.str();
                }

        } else {
                if (i < 0 || i >= iend) {
                        throw DataManager::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
                os << ": " << sdn_initial_dof[i/3] << xyz[i%3];
                desc[0] = os.str();
        }
}

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

virtual

Reimplemented from Node.

Reimplemented in ModalNode, DynamicStructNode, StructNode, and DynamicStructDispNode.

Definition at line 259 of file strnode.cc.

References DofOwnerOwner::iGetFirstIndex().

Referenced by DynamicStructDispNode::DescribeEq(), and DataManager::InitialJointAssembly().

{
        integer iIndex = iGetFirstIndex();

        if (bInitial) {
                out
                        << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                                "position [Px,Py,Pz]" << std::endl
                        << prefix << iIndex + 7 << "->" << iIndex + 9 << ": "
                                "linear velocity [vx,vy,vz]" << std::endl;
        } else {
                if (dynamic_cast<const DynamicStructDispNode*>(this) != 0) {
                        iIndex += 3;
                }

                out
                        << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                                "force equilibrium [Fx,Fy,Fz]" << std::endl;
        }

        return out;
}

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

virtual

Reimplemented from Node.

Reimplemented in ModalNode, DynamicStructNode, StructNode, and DynamicStructDispNode.

Definition at line 283 of file strnode.cc.

References WithLabel::GetLabel(), MBDYN_EXCEPT_ARGS, sdn_eq, sdn_initial_eq, and xyz.

{
        if (i == -1) {
                if (bInitial) {
                        desc.resize(6);

                } else {
                        desc.resize(3);
                }

        } else {
                desc.resize(1);
        }

        std::ostringstream os;
        os << "StructDispNode(" << GetLabel() << ")";

        if (i == -1) {
                std::string name(os.str());

                if (bInitial) {
                        for (i = 0; i < 6; i++) {
                                os.str(name);
                                os.seekp(0, std::ios_base::end);
                                os << ": " << sdn_initial_eq[i/3] << xyz[i%3];
                                desc[i] = os.str();
                        }

                } else {
                        for (i = 0; i < 3; i++) {
                                os.str(name);
                                os.seekp(0, std::ios_base::end);
                                os << ": " << sdn_eq[1 + i/3] << xyz[i%3];
                                desc[i] = os.str();
                        }
                }

        } else {
                if (bInitial) {
                        if (i < 0 || i >= 6) {
                                throw DataManager::ErrGeneric(MBDYN_EXCEPT_ARGS);
                        }

                        os << ": " << sdn_initial_eq[i/3] << xyz[i%3];

                } else {
                        if (i < 0 || i >= 3) {
                                throw DataManager::ErrGeneric(MBDYN_EXCEPT_ARGS);
                        }

                        os << ": " << sdn_eq[1 + i/3] << xyz[i%3];
                }
                desc[0] = os.str();
        }
}

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const doublereal & StructDispNode::dGetDofValue ( int  iDof, int  iOrder = 0  ) const

virtual

Implements Node.

Reimplemented in DummyStructNode, DynamicStructNode, StructNode, and DynamicStructDispNode.

Definition at line 372 of file strnode.cc.

References ASSERT, WithLabel::GetLabel(), MBDYN_EXCEPT_ARGS, VCurr, and XCurr.

Referenced by DynamicStructDispNode::dGetDofValue().

{
        ASSERT(iDof >= 1 && iDof <= 3);
        ASSERT(iOrder == 0 || iOrder == 1);
        if (iDof >= 1 && iDof <= 3) {
                if (iOrder == 0) {
                        return XCurr(iDof);
                } else if (iOrder == 1) {
                        return VCurr(iDof);
                }
        } else {
                silent_cerr("StructDispNode(" << GetLabel() << "): "
                        "required dof " << iDof << " (order " << iOrder << ") "
                        "is not available." << std::endl);
                throw StructDispNode::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        /* dummy return value to workaround compiler complains */
        static doublereal dmy = 0.;
        return dmy;
}

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const doublereal & StructDispNode::dGetDofValuePrev ( int  iDof, int  iOrder = 0  ) const

virtual

Implements Node.

Reimplemented in DummyStructNode, DynamicStructNode, StructNode, and DynamicStructDispNode.

Definition at line 397 of file strnode.cc.

References ASSERT, WithLabel::GetLabel(), MBDYN_EXCEPT_ARGS, VPrev, and XPrev.

Referenced by DynamicStructDispNode::dGetDofValuePrev().

{
        ASSERT(iDof >= 1 && iDof <= 3);
        ASSERT(iOrder == 0 || iOrder == 1);
        if (iDof >= 1 && iDof <= 3) {
                if (iOrder == 0) {
                        return XPrev(iDof);
                } else if (iOrder == 1) {
                        return VPrev(iDof);
                }
        } else {
                silent_cerr("StructDispNode(" << GetLabel() << "): "
                        "required dof " << iDof << " (order " << iOrder << ") "
                        "is not available." << std::endl);
                throw StructDispNode::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        /* dummy return value to workaround compiler complains */
        static doublereal dmy = 0.;
        return dmy;
}

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const doublereal & StructDispNode::dGetPositionStiffness ( void  ) const

inlinevirtual

Definition at line 421 of file strnode.h.

References dPositionStiffness.

Referenced by DataManager::InitialJointAssembly().

{
        return dPositionStiffness;
}

doublereal StructDispNode::dGetPrivData ( unsigned int  i ) const

virtual

Reimplemented from Node.

Reimplemented in StructNode.

Definition at line 980 of file strnode.cc.

References ASSERT, bComputeAccelerations(), MBDYN_EXCEPT_ARGS, VCurr, XCurr, and XPPCurr.

{
        switch (i) {
        case 1:
        case 2:
        case 3:
                return XCurr(i);

        case 4:
        case 5:
        case 6:
                return XCurr(i - 3);

        case 7:
        case 8:
        case 9: {
                return 0.;
        }

        case 10:
        case 11:
        case 12:
                return VCurr(i - 9);

        case 13:
        case 14:
        case 15:
                return VCurr(i - 12);

        case 16:
        case 17:
        case 18:
                return 0.;

        case 19:
        case 20:
        case 21:
                return 0.;

        case 22:
        case 23:
        case 24:
                return 0.;

        case 25:
        case 26:
        case 27:
                return 0.;

        case 28:
        case 29:
        case 30:
                return 0.;

        case 31:
        case 32:
        case 33:
        case 34:
                return 0.;

        case 35:
        case 36:
        case 37:
                ASSERT(bComputeAccelerations() == true);
                return XPPCurr(i - 34);

        case 38:
        case 39:
        case 40:
                ASSERT(bComputeAccelerations() == true);
                return XPPCurr(i - 37);

        case 41:
        case 42:
        case 43:
                ASSERT(bComputeAccelerations() == true);
                return 0.;

        case 44:
        case 45:
        case 46:
                ASSERT(bComputeAccelerations() == true);
                return 0.;
        }

        throw DataManager::ErrGeneric(MBDYN_EXCEPT_ARGS);
}

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const doublereal & StructDispNode::dGetVelocityStiffness ( void  ) const

inlinevirtual

Definition at line 427 of file strnode.h.

References dVelocityStiffness.

Referenced by DataManager::InitialJointAssembly().

{
        return dVelocityStiffness;
}

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

virtual

Implements SimulationEntity.

Definition at line 362 of file strnode.cc.

References ASSERT, DofOrder::DIFFERENTIAL, and SimulationEntity::iGetNumDof().

{
        ASSERT(i >= 0 && i < iGetNumDof());
        return DofOrder::DIFFERENTIAL;
}

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Node::Type StructDispNode::GetNodeType ( void  ) const

virtual

Implements Node.

Definition at line 145 of file strnode.cc.

References Node::STRUCTURAL.

Referenced by Actuator::Actuator(), AerodynamicBody::AerodynamicBody(), AerodynamicModal::AerodynamicModal(), Beam::Beam(), Beam2::Beam2(), Body::Body(), ContactJoint::ContactJoint(), DeformableAxialJoint::DeformableAxialJoint(), DeformableDispJoint::DeformableDispJoint(), DeformableHingeJoint::DeformableHingeJoint(), DeformableJoint::DeformableJoint(), DispMeasure::DispMeasure(), DistanceJointWithOffset::DistanceJointWithOffset(), DriveDisplacementJoint::DriveDisplacementJoint(), DriveDisplacementPinJoint::DriveDisplacementPinJoint(), DriveHingeJoint::DriveHingeJoint(), Beam::DsDxi(), GimbalRotationJoint::GimbalRotationJoint(), HBeam::HBeam(), DataManager::InitialJointAssembly(), Mass::Mass(), Beam::Omega0(), PointSurfaceContact::PointSurfaceContact(), PrismaticJoint::PrismaticJoint(), Rod::Rod(), RodBezier::RodBezier(), RodWithOffset::RodWithOffset(), RotAccel::RotAccel(), StructuralForce::StructuralForce(), StructuralInternalForce::StructuralInternalForce(), TranslAccel::TranslAccel(), VariableBody::VariableBody(), and ViscousBody::ViscousBody().

{
        return Node::STRUCTURAL;
}

const Mat3x3 & StructDispNode::GetR ( void  ) const

virtual

Implements RigidBodyKinematics.

Reimplemented in StructNode.

Definition at line 164 of file strnode.cc.

References Eye3.

{
        return ::Eye3;
}

virtual StructDispNode::Type StructDispNode::GetStructDispNodeType ( void  ) const

pure virtual

Implemented in DummyStructNode, StaticStructDispNode, and DynamicStructDispNode.

Referenced by DataManager::DofOwnerInit(), OutputPrepare(), and Restart().

const Vec3 & StructDispNode::GetV ( void  ) const

virtual

Implements RigidBodyKinematics.

Definition at line 170 of file strnode.cc.

References GetVCurr().

{
        return GetVCurr();
}

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const Vec3 & StructDispNode::GetVCurr ( void  ) const

inlinevirtual

Definition at line 322 of file strnode.h.

References VCurr.

Referenced by ModuleNonsmoothNode::AfterPredict(), ViscousBody::AfterPredict(), AfterPredict(), ViscoElasticBeam2::AfterPredict(), ViscousDispJoint::AfterPredict(), ViscousJoint::AfterPredict(), ViscoElasticDispJoint::AfterPredict(), ViscoElasticJoint::AfterPredict(), ViscoElasticBeam::AfterPredict(), StructNode::AfterPredict(), DataManager::AssConstrRes(), HydrodynamicPlainBearing::AssJac(), Accelerometer::AssJac(), InlineFriction::AssJac(), ContactJoint::AssJac(), Actuator::AssJac(), TranslAccel::AssJac(), AerodynamicModal::AssJac(), TotalEquation::AssJac(), TotalJoint::AssJac(), ViscoElasticRod::AssJac(), AutomaticStructElem::AssJac(), AerodynamicBody::AssJac(), RodWithOffset::AssJac(), ModuleIMUConstraint::AssJac(), DeformableDispJoint::AssMatFDEPrime(), DynamicVariableBody::AssMats(), AutomaticStructElem::AssMats(), DynamicBody::AssMats(), VariableBody::AssMatsRBK_int(), Body::AssMatsRBK_int(), Accelerometer::AssRes(), LinearAccelerationJoint::AssRes(), InlineFriction::AssRes(), LinearVelocityJoint::AssRes(), Actuator::AssRes(), Wheel2::AssRes(), TranslAccel::AssRes(), ContactJoint::AssRes(), DynamicMass::AssRes(), DynamicVariableBody::AssRes(), AerodynamicModal::AssRes(), ModuleNonsmoothNode::AssRes(), TotalEquation::AssRes(), TotalJoint::AssRes(), ViscoElasticRod::AssRes(), AutomaticStructElem::AssRes(), Modal::AssRes(), Wheel4::AssRes(), DynamicBody::AssRes(), ModuleIMUConstraint::AssRes(), TotalPinJoint::AssRes(), ViscoElasticBeam2::AssStiffnessVec(), ViscoElasticBeam::AssStiffnessVec(), ViscousBody::AssVec(), Rod::AssVec(), GenericAerodynamicForce::AssVec(), RodBezier::AssVec(), AerodynamicModal::AssVec(), AerodynamicBody::AssVec(), RodWithOffset::AssVec(), ViscousDispJoint::AssVec(), ViscousJoint::AssVec(), ViscoElasticJoint::AssVec(), ViscoElasticDispJoint::AssVec(), VariableBody::AssVecRBK_int(), Body::AssVecRBK_int(), BeforePredict(), StructNode::BeforePredict(), AutomaticStructElem::ComputeAccelerations(), HydrodynamicPlainBearing::ComputeResidual(), NodeDistDriveCaller::dGetP(), InlineFriction::dGetPrivData(), Mass::dGetPrivData(), VariableBody::dGetPrivData(), ViscousBody::dGetPrivData(), DeformableDispJoint::dGetPrivData(), DeformableJoint::dGetPrivData(), AutomaticStructDispElem::dGetPrivData(), TotalEquation::dGetPrivData(), TotalJoint::dGetPrivData(), AutomaticStructElem::dGetPrivData(), Body::dGetPrivData(), Modal::dGetPrivData(), TotalReaction::dGetPrivData(), TotalPinJoint::dGetPrivData(), DynamicMass::GetB_int(), DynamicVariableBody::GetB_int(), Modal::GetB_int(), DynamicBody::GetB_int(), Modal::GetCurrFEMNodesVelocity(), DynamicVariableBody::GetG_int(), DynamicBody::GetG_int(), GetV(), PosRel::GetVelGlob(), getvnvt(), InlineFriction::InitialAssJac(), DistanceJoint::InitialAssJac(), InLineJoint::InitialAssJac(), InPlaneJoint::InitialAssJac(), InLineWithOffsetJoint::InitialAssJac(), TotalEquation::InitialAssJac(), InPlaneWithOffsetJoint::InitialAssJac(), TotalJoint::InitialAssJac(), ViscoElasticRod::InitialAssJac(), RodWithOffset::InitialAssJac(), TotalReaction::InitialAssJac(), TotalPinJoint::InitialAssJac(), TotalForce::InitialAssJac(), InlineFriction::InitialAssRes(), DistanceJoint::InitialAssRes(), LinearVelocityJoint::InitialAssRes(), InLineJoint::InitialAssRes(), UniversalHingeJoint::InitialAssRes(), InPlaneJoint::InitialAssRes(), SphericalHingeJoint::InitialAssRes(), DriveDisplacementJoint::InitialAssRes(), PlaneHingeJoint::InitialAssRes(), InLineWithOffsetJoint::InitialAssRes(), AerodynamicModal::InitialAssRes(), DistanceJointWithOffset::InitialAssRes(), PinJoint::InitialAssRes(), TotalEquation::InitialAssRes(), InPlaneWithOffsetJoint::InitialAssRes(), TotalJoint::InitialAssRes(), ViscoElasticRod::InitialAssRes(), DriveDisplacementPinJoint::InitialAssRes(), UniversalPinJoint::InitialAssRes(), Modal::InitialAssRes(), ClampJoint::InitialAssRes(), TotalReaction::InitialAssRes(), TotalPinJoint::InitialAssRes(), AxialRotationJoint::InitialAssRes(), TotalForce::InitialAssRes(), ViscoElasticDispJoint::InitialAssRes(), PlanePinJoint::InitialAssRes(), DataManager::InitialJointAssembly(), Rotor::InitParam(), ModuleNonsmoothNode::ModuleNonsmoothNode(), StructExtForce::Output(), TotalEquation::Output(), TotalJoint::Output(), TotalReaction::Output(), TotalPinJoint::Output(), ModalMappingExt::Send(), ModalExt::Send(), StructExtForce::SendToFileDes(), StructMappingExtForce::SendToFileDes(), StructMembraneMappingExtForce::SendToFileDes(), StructExtEDGEForce::SendToStream(), StructExtForce::SendToStream(), StructMappingExtForce::SendToStream(), StructMembraneMappingExtForce::SendToStream(), DistanceJointWithOffset::SetInitialValue(), Modal::SetInitialValue(), DispMeasure::SetValue(), Accelerometer::SetValue(), LinearAccelerationJoint::SetValue(), TranslAccel::SetValue(), DynamicMass::SetValue(), DynamicVariableBody::SetValue(), SetValue(), Modal::SetValue(), ModuleIMUConstraint::SetValue(), DynamicBody::SetValue(), StructNode::SetValue(), AircraftInstruments::Update(), OffsetDummyStructNode::Update_int(), RelFrameDummyStructNode::Update_int(), PivotRelFrameDummyStructNode::Update_int(), velocity(), and vrel().

{
        return VCurr;
}

const Vec3 & StructDispNode::GetVPrev ( void  ) const

inlinevirtual

Definition at line 316 of file strnode.h.

References VPrev.

Referenced by DataManager::AssConstrRes(), ModuleNonsmoothNode::AssRes(), DataManager::InitialJointAssembly(), velocity(), and vrel().

{
        return VPrev;
}

const Vec3 & StructDispNode::GetW ( void  ) const

virtual

Implements RigidBodyKinematics.

Reimplemented in StructNode.

Definition at line 176 of file strnode.cc.

References Zero3.

{
        return ::Zero3;
}

const Vec3 & StructDispNode::GetWP ( void  ) const

virtual

Implements RigidBodyKinematics.

Reimplemented in DynamicStructNode, and StructNode.

Definition at line 188 of file strnode.cc.

References Zero3.

{
        return ::Zero3;
}

const Vec3 & StructDispNode::GetX ( void  ) const

virtual

Implements RigidBodyKinematics.

Definition at line 158 of file strnode.cc.

References GetXCurr().

Referenced by DataManager::OutputEigGeometry().

{
        return GetXCurr();
}

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const Vec3 & StructDispNode::GetXCurr ( void  ) const

inlinevirtual

Definition at line 310 of file strnode.h.

References XCurr.

Referenced by CyclocopterUniform1D::AddForce(), CyclocopterUniform2D::AddForce(), CyclocopterPolimi::AddForce(), AerodynamicModal::AerodynamicModal(), AeroDynModule::AeroDynModule(), Wheel4::AfterConvergence(), ModuleNonsmoothNode::AfterPredict(), ElasticDispJoint::AfterPredict(), HBeam::AfterPredict(), Beam2::AfterPredict(), ElasticJoint::AfterPredict(), AfterPredict(), ElasticDispJointInv::AfterPredict(), Beam::AfterPredict(), ElasticJointInv::AfterPredict(), ViscoElasticBeam2::AfterPredict(), ViscousDispJoint::AfterPredict(), ViscousJoint::AfterPredict(), ViscoElasticDispJoint::AfterPredict(), ViscoElasticJoint::AfterPredict(), ViscoElasticBeam::AfterPredict(), StructNode::AfterPredict(), DataManager::AssConstrRes(), HydrodynamicPlainBearing::AssJac(), InlineFriction::AssJac(), InLineJoint::AssJac(), InPlaneJoint::AssJac(), ContactJoint::AssJac(), Actuator::AssJac(), RodBezier::AssJac(), DynamicMass::AssJac(), DynamicVariableBody::AssJac(), AerodynamicModal::AssJac(), InLineWithOffsetJoint::AssJac(), TotalEquation::AssJac(), TotalJoint::AssJac(), InPlaneWithOffsetJoint::AssJac(), AerodynamicBody::AssJac(), TotalReaction::AssJac(), DynamicBody::AssJac(), AerodynamicBeam::AssJac(), ModalBody::AssJac(), AerodynamicBeam2::AssJac(), TotalForce::AssJac(), DeformableJoint::AssMatCommon(), DynamicMass::AssMats(), DynamicVariableBody::AssMats(), ElasticDispJoint::AssMats(), StaticMass::AssMats(), StaticVariableBody::AssMats(), ElasticDispJointInv::AssMats(), DynamicBody::AssMats(), ViscousDispJoint::AssMats(), ModalBody::AssMats(), StaticBody::AssMats(), ViscoElasticDispJoint::AssMats(), VariableBody::AssMatsRBK_int(), Body::AssMatsRBK_int(), DispMeasure::AssRes(), InlineFriction::AssRes(), InLineJoint::AssRes(), DistanceJoint::AssRes(), UniversalHingeJoint::AssRes(), SphericalHingeJoint::AssRes(), InPlaneJoint::AssRes(), Actuator::AssRes(), Wheel2::AssRes(), StructExtForce::AssRes(), StructMappingExtForce::AssRes(), Brake::AssRes(), ContactJoint::AssRes(), PlaneHingeJoint::AssRes(), DynamicMass::AssRes(), DynamicVariableBody::AssRes(), BeamSliderJoint::AssRes(), AerodynamicModal::AssRes(), ModuleNonsmoothNode::AssRes(), InLineWithOffsetJoint::AssRes(), TotalEquation::AssRes(), TotalJoint::AssRes(), DistanceJointWithOffset::AssRes(), PinJoint::AssRes(), AeroDynModule::AssRes(), InPlaneWithOffsetJoint::AssRes(), StaticMass::AssRes(), ViscoElasticRod::AssRes(), StaticVariableBody::AssRes(), UniversalPinJoint::AssRes(), UniformRotor::AssRes(), Modal::AssRes(), ClampJoint::AssRes(), Wheel4::AssRes(), TotalReaction::AssRes(), DynamicBody::AssRes(), TotalPinJoint::AssRes(), ModalBody::AssRes(), AxialRotationJoint::AssRes(), ManglerRotor::AssRes(), StaticBody::AssRes(), TotalForce::AssRes(), PlanePinJoint::AssRes(), DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), Beam2::AssStiffnessMat(), HBeam::AssStiffnessMat(), Beam::AssStiffnessMat(), ViscoElasticBeam2::AssStiffnessMat(), ViscoElasticBeam::AssStiffnessMat(), Beam2::AssStiffnessVec(), HBeam::AssStiffnessVec(), Beam::AssStiffnessVec(), ViscoElasticBeam2::AssStiffnessVec(), ViscoElasticBeam::AssStiffnessVec(), DriveDisplacementJoint::AssVec(), PointSurfaceContact::AssVec(), Rod::AssVec(), GenericAerodynamicForce::AssVec(), RodBezier::AssVec(), AerodynamicModal::AssVec(), ElasticDispJoint::AssVec(), DriveDisplacementPinJoint::AssVec(), ElasticJoint::AssVec(), AerodynamicBody::AssVec(), ElasticDispJointInv::AssVec(), RodWithOffset::AssVec(), ElasticJointInv::AssVec(), AerodynamicBeam::AssVec(), ViscousDispJoint::AssVec(), ViscousJoint::AssVec(), AerodynamicBeam2::AssVec(), ViscoElasticJoint::AssVec(), ViscoElasticDispJoint::AssVec(), Mass::AssVecRBK_int(), VariableBody::AssVecRBK_int(), Body::AssVecRBK_int(), BeforePredict(), StructNode::BeforePredict(), Shell4EAS::ComputeInitialNodeAndIptOrientation(), Shell4EASANS::ComputeInitialNodeOrientation(), HydrodynamicPlainBearing::ComputeResidual(), ContactJoint::ContactJoint(), NodeDistDriveCaller::dGet(), NodeDistDriveCaller::dGetP(), InlineFriction::dGetPrivData(), Mass::dGetPrivData(), VariableBody::dGetPrivData(), DeformableDispJoint::dGetPrivData(), DeformableJoint::dGetPrivData(), TotalEquation::dGetPrivData(), TotalJoint::dGetPrivData(), Body::dGetPrivData(), Modal::dGetPrivData(), TotalReaction::dGetPrivData(), TotalPinJoint::dGetPrivData(), distance(), HBeam::DsDxi(), Beam2::DsDxi(), Beam::DsDxi(), Modal::GetCurrFEMNodesPosition(), RotorTrimGeneric::GetData(), getelemparams(), DynamicVariableBody::GetG_int(), DynamicBody::GetG_int(), CyclocopterPolimi::GetInducedVelocity(), Mass::GetJ_int(), VariableBody::GetJ_int(), Modal::GetJ_int(), Body::GetJ_int(), PosRel::GetPosGlob(), Mass::GetS_int(), VariableBody::GetS_int(), Modal::GetS_int(), Body::GetS_int(), MBDynParser::GetVecAbs(), MBDynParser::GetVecRel(), GetX(), Rotor::GetXCurr(), InducedVelocity::GetXCurr(), Beam::Init(), InlineFriction::InitialAssJac(), InLineJoint::InitialAssJac(), InPlaneJoint::InitialAssJac(), RodBezier::InitialAssJac(), InLineWithOffsetJoint::InitialAssJac(), TotalEquation::InitialAssJac(), InPlaneWithOffsetJoint::InitialAssJac(), TotalJoint::InitialAssJac(), TotalReaction::InitialAssJac(), TotalForce::InitialAssJac(), InlineFriction::InitialAssRes(), DistanceJoint::InitialAssRes(), InLineJoint::InitialAssRes(), UniversalHingeJoint::InitialAssRes(), InPlaneJoint::InitialAssRes(), SphericalHingeJoint::InitialAssRes(), DriveDisplacementJoint::InitialAssRes(), PlaneHingeJoint::InitialAssRes(), DynamicVariableBody::InitialAssRes(), InLineWithOffsetJoint::InitialAssRes(), DistanceJointWithOffset::InitialAssRes(), AerodynamicModal::InitialAssRes(), PinJoint::InitialAssRes(), TotalEquation::InitialAssRes(), InPlaneWithOffsetJoint::InitialAssRes(), TotalJoint::InitialAssRes(), ViscoElasticRod::InitialAssRes(), DriveDisplacementPinJoint::InitialAssRes(), UniversalPinJoint::InitialAssRes(), ClampJoint::InitialAssRes(), TotalReaction::InitialAssRes(), DynamicBody::InitialAssRes(), TotalPinJoint::InitialAssRes(), AxialRotationJoint::InitialAssRes(), TotalForce::InitialAssRes(), ViscoElasticDispJoint::InitialAssRes(), PlanePinJoint::InitialAssRes(), DataManager::InitialJointAssembly(), Rotor::InitParam(), ModalMappingExt::ModalMappingExt(), ModuleNonsmoothNode::ModuleNonsmoothNode(), AbsoluteDispForce::Output(), DriveDisplacementJoint::Output(), StructExtForce::Output(), AbsoluteInternalDispForce::Output(), TotalEquation::Output(), TotalJoint::Output(), DriveDisplacementPinJoint::Output(), AbsoluteForce::Output(), FollowerForce::Output(), TotalReaction::Output(), TotalPinJoint::Output(), AbsoluteInternalForce::Output(), FollowerInternalForce::Output(), NodeResForces::Pole(), position(), ReadBeam(), ReadBeam2(), ReadHBeam(), ReadJoint(), ReadModal(), ReadStructMappingExtForce(), ReadStructNode(), ModalMappingExt::Recv(), InducedVelocity::ResetForce(), Rod::Rod(), RodBezier::RodBezier(), RodWithOffset::RodWithOffset(), ModalMappingExt::Send(), ModalExt::Send(), StructExtForce::SendToFileDes(), StructMappingExtForce::SendToFileDes(), StructMembraneMappingExtForce::SendToFileDes(), StructExtEDGEForce::SendToStream(), StructExtForce::SendToStream(), StructMappingExtForce::SendToStream(), StructMembraneMappingExtForce::SendToStream(), DistanceJoint::SetInitialValue(), DistanceJointWithOffset::SetInitialValue(), DispMeasure::SetValue(), DriveDisplacementJoint::SetValue(), SphericalHingeJoint::SetValue(), DeformableDispJoint::SetValue(), DistanceJoint::SetValue(), DeformableJoint::SetValue(), PlaneHingeJoint::SetValue(), TotalEquation::SetValue(), TotalJoint::SetValue(), DistanceJointWithOffset::SetValue(), DriveDisplacementPinJoint::SetValue(), SetValue(), TotalReaction::SetValue(), TotalPinJoint::SetValue(), AxialRotationJoint::SetValue(), PlanePinJoint::SetValue(), StructNode::SetValue(), unitvec(), AircraftInstruments::Update(), OffsetDummyStructNode::Update_int(), RelFrameDummyStructNode::Update_int(), PivotRelFrameDummyStructNode::Update_int(), Membrane4EAS::UpdateNodalAndAveragePos(), Shell4EAS::UpdateNodalAndAveragePosAndOrientation(), Shell4EASANS::UpdateNodalAndAveragePosAndOrientation(), and Wheel4::Wheel4().

{
        return XCurr;
}

const Vec3 & StructDispNode::GetXPP ( void  ) const

virtual

Implements RigidBodyKinematics.

Reimplemented in DynamicStructDispNode.

Definition at line 182 of file strnode.cc.

References MBDYN_EXCEPT_ARGS.

{
        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
}

const Vec3 & StructDispNode::GetXPPCurr ( void  ) const

inlinevirtual

Definition at line 334 of file strnode.h.

References XPPCurr.

Referenced by ModuleIMU::AssRes(), AerodynamicModal::AssRes(), StaticMass::AssRes(), StaticVariableBody::AssRes(), Modal::AssRes(), StaticBody::AssRes(), Modal::dGetPrivData(), DynamicStructDispNode::GetXPP(), ModalExt::Send(), StructExtForce::SendToFileDes(), StructMappingExtForce::SendToFileDes(), StructMembraneMappingExtForce::SendToFileDes(), StructExtForce::SendToStream(), StructMappingExtForce::SendToStream(), StructMembraneMappingExtForce::SendToStream(), Modal::SetValue(), OffsetDummyStructNode::Update_int(), RelFrameDummyStructNode::Update_int(), and PivotRelFrameDummyStructNode::Update_int().

{
        return XPPCurr;
}

const Vec3 & StructDispNode::GetXPPPrev ( void  ) const

inlinevirtual

Definition at line 328 of file strnode.h.

References XPPPrev.

Referenced by DataManager::AssConstrRes().

{
        return XPPPrev;
}

const Vec3 & StructDispNode::GetXPrev ( void  ) const

inlinevirtual

Definition at line 304 of file strnode.h.

References XPrev.

Referenced by DataManager::AssConstrRes(), ModuleNonsmoothNode::AssRes(), distance(), DataManager::InitialJointAssembly(), position(), and unitvec().

{
        return XPrev;
}

virtual integer StructDispNode::iGetFirstMomentumIndex ( void  ) const

pure virtual

Implemented in DummyStructNode, StaticStructNode, DynamicStructNode, StaticStructDispNode, and DynamicStructDispNode.

Referenced by HydrodynamicPlainBearing::AssJac(), InLineJoint::AssJac(), InlineFriction::AssJac(), LinearVelocityJoint::AssJac(), DistanceJoint::AssJac(), UniversalHingeJoint::AssJac(), PrismaticJoint::AssJac(), SphericalHingeJoint::AssJac(), InPlaneJoint::AssJac(), ContactJoint::AssJac(), Actuator::AssJac(), asynchronous_machine::AssJac(), RodBezier::AssJac(), GimbalRotationJoint::AssJac(), PiezoActuatorBeam2::AssJac(), Rod::AssJac(), PiezoActuatorBeam::AssJac(), Motor::AssJac(), PointSurfaceContact::AssJac(), DriveDisplacementJoint::AssJac(), ViscousBody::AssJac(), Brake::AssJac(), DriveHingeJoint::AssJac(), DynamicMass::AssJac(), DeformableDispJoint::AssJac(), PlaneHingeJoint::AssJac(), DynamicVariableBody::AssJac(), BeamSliderJoint::AssJac(), ModuleNonsmoothNode::AssJac(), AngularVelocityJoint::AssJac(), InLineWithOffsetJoint::AssJac(), DeformableJoint::AssJac(), TotalJoint::AssJac(), DistanceJointWithOffset::AssJac(), UniversalRotationJoint::AssJac(), PinJoint::AssJac(), InPlaneWithOffsetJoint::AssJac(), ElasticAxialJoint::AssJac(), PiezoActuatorVEBeam2::AssJac(), StaticMass::AssJac(), ViscoElasticRod::AssJac(), ElasticHingeJoint::AssJac(), PiezoActuatorVEBeam::AssJac(), HBeam::AssJac(), AbsoluteForce::AssJac(), StaticVariableBody::AssJac(), Beam2::AssJac(), DriveDisplacementPinJoint::AssJac(), Membrane4EAS::AssJac(), UniversalPinJoint::AssJac(), PlaneRotationJoint::AssJac(), AerodynamicBody::AssJac(), ClampJoint::AssJac(), RodWithOffset::AssJac(), FollowerForce::AssJac(), ViscousAxialJoint::AssJac(), Wheel4::AssJac(), Beam::AssJac(), TotalReaction::AssJac(), Shell4EAS::AssJac(), DynamicBody::AssJac(), ModuleIMUConstraint::AssJac(), TotalPinJoint::AssJac(), AerodynamicBeam::AssJac(), Shell4EASANS::AssJac(), ViscousHingeJoint::AssJac(), FollowerCouple::AssJac(), ViscoElasticAxialJoint::AssJac(), AxialRotationJoint::AssJac(), StaticBody::AssJac(), AerodynamicBeam2::AssJac(), AbsoluteInternalForce::AssJac(), TotalForce::AssJac(), ViscoElasticHingeJoint::AssJac(), LoadIncForce::AssJac(), FollowerInternalForce::AssJac(), PlanePinJoint::AssJac(), FollowerInternalCouple::AssJac(), Rod::AssMats(), ViscousBody::AssMats(), DynamicMass::AssMats(), DeformableDispJoint::AssMats(), DynamicVariableBody::AssMats(), DeformableJoint::AssMats(), ElasticAxialJoint::AssMats(), ElasticDispJoint::AssMats(), StaticMass::AssMats(), ElasticHingeJoint::AssMats(), StaticVariableBody::AssMats(), ElasticJoint::AssMats(), ElasticDispJointInv::AssMats(), ViscousAxialJoint::AssMats(), ElasticJointInv::AssMats(), Beam::AssMats(), DynamicBody::AssMats(), ViscousHingeJoint::AssMats(), ViscoElasticAxialJoint::AssMats(), StaticBody::AssMats(), ViscoElasticHingeJoint::AssMats(), AbsoluteDispForce::AssRes(), ModalForce::AssRes(), InlineFriction::AssRes(), InLineJoint::AssRes(), LinearVelocityJoint::AssRes(), DistanceJoint::AssRes(), HydrodynamicPlainBearing::AssRes(), UniversalHingeJoint::AssRes(), PrismaticJoint::AssRes(), SphericalHingeJoint::AssRes(), InPlaneJoint::AssRes(), Actuator::AssRes(), asynchronous_machine::AssRes(), Wheel2::AssRes(), ModalMappingExt::AssRes(), RodBezier::AssRes(), GimbalRotationJoint::AssRes(), Motor::AssRes(), Rod::AssRes(), StructExtForce::AssRes(), PointSurfaceContact::AssRes(), StructMappingExtForce::AssRes(), GenericAerodynamicForce::AssRes(), AbsoluteInternalDispForce::AssRes(), Brake::AssRes(), DriveDisplacementJoint::AssRes(), DriveHingeJoint::AssRes(), ViscousBody::AssRes(), ContactJoint::AssRes(), PlaneHingeJoint::AssRes(), BeamSliderJoint::AssRes(), AerodynamicModal::AssRes(), AngularVelocityJoint::AssRes(), InLineWithOffsetJoint::AssRes(), ModuleNonsmoothNode::AssRes(), ModalExt::AssRes(), TotalJoint::AssRes(), DistanceJointWithOffset::AssRes(), DeformableJoint::AssRes(), UniversalRotationJoint::AssRes(), PinJoint::AssRes(), InPlaneWithOffsetJoint::AssRes(), ElasticAxialJoint::AssRes(), ElasticDispJoint::AssRes(), StaticMass::AssRes(), ViscoElasticRod::AssRes(), HBeam::AssRes(), ElasticHingeJoint::AssRes(), AbsoluteForce::AssRes(), Beam2::AssRes(), StaticVariableBody::AssRes(), Membrane4EAS::AssRes(), DriveDisplacementPinJoint::AssRes(), UniversalPinJoint::AssRes(), PlaneRotationJoint::AssRes(), AerodynamicBody::AssRes(), RodWithOffset::AssRes(), FollowerForce::AssRes(), ClampJoint::AssRes(), Wheel4::AssRes(), ElasticDispJointInv::AssRes(), Beam::AssRes(), ViscousAxialJoint::AssRes(), Shell4EAS::AssRes(), TotalReaction::AssRes(), AbsoluteCouple::AssRes(), Shell4EASANS::AssRes(), ModuleIMUConstraint::AssRes(), TotalPinJoint::AssRes(), AerodynamicBeam::AssRes(), FollowerCouple::AssRes(), ViscousHingeJoint::AssRes(), ViscousDispJoint::AssRes(), ViscoElasticAxialJoint::AssRes(), AxialRotationJoint::AssRes(), StaticBody::AssRes(), AerodynamicBeam2::AssRes(), AbsoluteInternalForce::AssRes(), TotalForce::AssRes(), ViscoElasticDispJoint::AssRes(), LoadIncForce::AssRes(), PlanePinJoint::AssRes(), ViscoElasticHingeJoint::AssRes(), FollowerInternalForce::AssRes(), AbsoluteInternalCouple::AssRes(), FollowerInternalCouple::AssRes(), DataManager::DofOwnerInit(), ModalNode::iGetFirstRowIndex(), PointSurfaceContact::InitialAssJac(), PointSurfaceContact::InitialAssRes(), DynamicMass::SetValue(), DynamicVariableBody::SetValue(), and DynamicBody::SetValue().

integer StructDispNode::iGetFirstPositionIndex ( void  ) const

inlinevirtual

Reimplemented in DummyStructNode.

Definition at line 452 of file strnode.h.

References DofOwnerOwner::iGetFirstIndex().

Referenced by HydrodynamicPlainBearing::AssJac(), Accelerometer::AssJac(), InLineJoint::AssJac(), InlineFriction::AssJac(), LinearVelocityJoint::AssJac(), DistanceJoint::AssJac(), UniversalHingeJoint::AssJac(), SphericalHingeJoint::AssJac(), PrismaticJoint::AssJac(), InPlaneJoint::AssJac(), ContactJoint::AssJac(), Actuator::AssJac(), asynchronous_machine::AssJac(), GimbalRotationJoint::AssJac(), RodBezier::AssJac(), PiezoActuatorBeam2::AssJac(), Rod::AssJac(), PiezoActuatorBeam::AssJac(), Motor::AssJac(), PointSurfaceContact::AssJac(), DriveDisplacementJoint::AssJac(), ViscousBody::AssJac(), Brake::AssJac(), DriveHingeJoint::AssJac(), AutomaticStructDispElem::AssJac(), DynamicMass::AssJac(), DeformableDispJoint::AssJac(), PlaneHingeJoint::AssJac(), DynamicVariableBody::AssJac(), BeamSliderJoint::AssJac(), InLineWithOffsetJoint::AssJac(), ModuleNonsmoothNode::AssJac(), AngularVelocityJoint::AssJac(), TotalEquation::AssJac(), DeformableJoint::AssJac(), TotalJoint::AssJac(), DistanceJointWithOffset::AssJac(), UniversalRotationJoint::AssJac(), PinJoint::AssJac(), InPlaneWithOffsetJoint::AssJac(), ElasticAxialJoint::AssJac(), PiezoActuatorVEBeam2::AssJac(), StaticMass::AssJac(), ViscoElasticRod::AssJac(), ElasticHingeJoint::AssJac(), PiezoActuatorVEBeam::AssJac(), HBeam::AssJac(), AbsoluteForce::AssJac(), StaticVariableBody::AssJac(), Beam2::AssJac(), AutomaticStructElem::AssJac(), DriveDisplacementPinJoint::AssJac(), Membrane4EAS::AssJac(), UniversalPinJoint::AssJac(), PlaneRotationJoint::AssJac(), AerodynamicBody::AssJac(), ClampJoint::AssJac(), RodWithOffset::AssJac(), FollowerForce::AssJac(), ViscousAxialJoint::AssJac(), Wheel4::AssJac(), Beam::AssJac(), TotalReaction::AssJac(), Shell4EAS::AssJac(), DynamicBody::AssJac(), ModuleIMUConstraint::AssJac(), TotalPinJoint::AssJac(), AerodynamicBeam::AssJac(), Shell4EASANS::AssJac(), ViscousHingeJoint::AssJac(), FollowerCouple::AssJac(), ViscoElasticAxialJoint::AssJac(), AxialRotationJoint::AssJac(), StaticBody::AssJac(), AerodynamicBeam2::AssJac(), AbsoluteInternalForce::AssJac(), TotalForce::AssJac(), ViscoElasticHingeJoint::AssJac(), LoadIncForce::AssJac(), FollowerInternalForce::AssJac(), PlanePinJoint::AssJac(), FollowerInternalCouple::AssJac(), Rod::AssMats(), ViscousBody::AssMats(), AutomaticStructDispElem::AssMats(), DynamicMass::AssMats(), DeformableDispJoint::AssMats(), DynamicVariableBody::AssMats(), DeformableJoint::AssMats(), ElasticAxialJoint::AssMats(), ElasticDispJoint::AssMats(), StaticMass::AssMats(), ElasticHingeJoint::AssMats(), StaticVariableBody::AssMats(), ElasticJoint::AssMats(), AutomaticStructElem::AssMats(), ElasticDispJointInv::AssMats(), ViscousAxialJoint::AssMats(), ElasticJointInv::AssMats(), Beam::AssMats(), DynamicBody::AssMats(), ViscousHingeJoint::AssMats(), ViscoElasticAxialJoint::AssMats(), StaticBody::AssMats(), ViscoElasticHingeJoint::AssMats(), AutomaticStructDispElem::AssRes(), ViscousBody::AssRes(), DynamicMass::AssRes(), DynamicVariableBody::AssRes(), DeformableJoint::AssRes(), ElasticAxialJoint::AssRes(), ElasticDispJoint::AssRes(), StaticMass::AssRes(), AbsoluteForce::AssRes(), ElasticHingeJoint::AssRes(), StaticVariableBody::AssRes(), AutomaticStructElem::AssRes(), FollowerForce::AssRes(), Beam::AssRes(), ElasticDispJointInv::AssRes(), ViscousAxialJoint::AssRes(), AbsoluteCouple::AssRes(), DynamicBody::AssRes(), FollowerCouple::AssRes(), ViscousHingeJoint::AssRes(), ViscousDispJoint::AssRes(), ViscoElasticAxialJoint::AssRes(), ModalBody::AssRes(), StaticBody::AssRes(), AbsoluteInternalForce::AssRes(), ViscoElasticDispJoint::AssRes(), TotalForce::AssRes(), FollowerInternalForce::AssRes(), ViscoElasticHingeJoint::AssRes(), AbsoluteInternalCouple::AssRes(), FollowerInternalCouple::AssRes(), DataManager::DofOwnerInit(), DistanceJoint::InitialAssJac(), LinearVelocityJoint::InitialAssJac(), InLineJoint::InitialAssJac(), UniversalHingeJoint::InitialAssJac(), InPlaneJoint::InitialAssJac(), PrismaticJoint::InitialAssJac(), SphericalHingeJoint::InitialAssJac(), RodBezier::InitialAssJac(), GimbalRotationJoint::InitialAssJac(), PointSurfaceContact::InitialAssJac(), Rod::InitialAssJac(), DriveDisplacementJoint::InitialAssJac(), DriveHingeJoint::InitialAssJac(), PlaneHingeJoint::InitialAssJac(), DynamicVariableBody::InitialAssJac(), ViscousBody::InitialAssJac(), AngularVelocityJoint::InitialAssJac(), InLineWithOffsetJoint::InitialAssJac(), DistanceJointWithOffset::InitialAssJac(), UniversalRotationJoint::InitialAssJac(), PinJoint::InitialAssJac(), TotalEquation::InitialAssJac(), InPlaneWithOffsetJoint::InitialAssJac(), TotalJoint::InitialAssJac(), ViscoElasticRod::InitialAssJac(), ElasticAxialJoint::InitialAssJac(), ElasticDispJoint::InitialAssJac(), AbsoluteForce::InitialAssJac(), ElasticHingeJoint::InitialAssJac(), ElasticJoint::InitialAssJac(), HBeam::InitialAssJac(), DriveDisplacementPinJoint::InitialAssJac(), UniversalPinJoint::InitialAssJac(), PlaneRotationJoint::InitialAssJac(), RodWithOffset::InitialAssJac(), Beam2::InitialAssJac(), FollowerForce::InitialAssJac(), ClampJoint::InitialAssJac(), ElasticDispJointInv::InitialAssJac(), ViscousAxialJoint::InitialAssJac(), ElasticJointInv::InitialAssJac(), TotalReaction::InitialAssJac(), DynamicBody::InitialAssJac(), Beam::InitialAssJac(), FollowerCouple::InitialAssJac(), TotalPinJoint::InitialAssJac(), ViscousHingeJoint::InitialAssJac(), ViscousJoint::InitialAssJac(), ViscousDispJoint::InitialAssJac(), ViscoElasticAxialJoint::InitialAssJac(), AxialRotationJoint::InitialAssJac(), ViscoElasticJoint::InitialAssJac(), AbsoluteInternalForce::InitialAssJac(), TotalForce::InitialAssJac(), ViscoElasticDispJoint::InitialAssJac(), PlanePinJoint::InitialAssJac(), FollowerInternalForce::InitialAssJac(), ViscoElasticHingeJoint::InitialAssJac(), FollowerInternalCouple::InitialAssJac(), AbsoluteDispForce::InitialAssRes(), DistanceJoint::InitialAssRes(), LinearVelocityJoint::InitialAssRes(), InLineJoint::InitialAssRes(), UniversalHingeJoint::InitialAssRes(), InPlaneJoint::InitialAssRes(), PrismaticJoint::InitialAssRes(), SphericalHingeJoint::InitialAssRes(), GimbalRotationJoint::InitialAssRes(), RodBezier::InitialAssRes(), Rod::InitialAssRes(), AbsoluteInternalDispForce::InitialAssRes(), ViscousBody::InitialAssRes(), DriveDisplacementJoint::InitialAssRes(), DriveHingeJoint::InitialAssRes(), PlaneHingeJoint::InitialAssRes(), DynamicVariableBody::InitialAssRes(), AngularVelocityJoint::InitialAssRes(), InLineWithOffsetJoint::InitialAssRes(), DeformableJoint::InitialAssRes(), DistanceJointWithOffset::InitialAssRes(), UniversalRotationJoint::InitialAssRes(), PinJoint::InitialAssRes(), TotalEquation::InitialAssRes(), InPlaneWithOffsetJoint::InitialAssRes(), TotalJoint::InitialAssRes(), ViscoElasticRod::InitialAssRes(), ElasticAxialJoint::InitialAssRes(), ElasticDispJoint::InitialAssRes(), AbsoluteForce::InitialAssRes(), ElasticHingeJoint::InitialAssRes(), HBeam::InitialAssRes(), DriveDisplacementPinJoint::InitialAssRes(), AerodynamicBody::InitialAssRes(), UniversalPinJoint::InitialAssRes(), PlaneRotationJoint::InitialAssRes(), RodWithOffset::InitialAssRes(), Beam2::InitialAssRes(), FollowerForce::InitialAssRes(), ClampJoint::InitialAssRes(), ElasticDispJointInv::InitialAssRes(), ViscousAxialJoint::InitialAssRes(), AbsoluteCouple::InitialAssRes(), TotalReaction::InitialAssRes(), DynamicBody::InitialAssRes(), AerodynamicBeam::InitialAssRes(), Beam::InitialAssRes(), TotalPinJoint::InitialAssRes(), FollowerCouple::InitialAssRes(), ViscousHingeJoint::InitialAssRes(), ViscousDispJoint::InitialAssRes(), ViscoElasticAxialJoint::InitialAssRes(), AxialRotationJoint::InitialAssRes(), AerodynamicBeam2::InitialAssRes(), AbsoluteInternalForce::InitialAssRes(), TotalForce::InitialAssRes(), ViscoElasticDispJoint::InitialAssRes(), PlanePinJoint::InitialAssRes(), FollowerInternalForce::InitialAssRes(), ViscoElasticHingeJoint::InitialAssRes(), AbsoluteInternalCouple::InitialAssRes(), FollowerInternalCouple::InitialAssRes(), and DataManager::InitialJointAssembly().

{
        return DofOwnerOwner::iGetFirstIndex();
}

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unsigned int StructDispNode::iGetInitialNumDof ( void  ) const

inlinevirtual

Reimplemented in DummyStructNode, and StructNode.

Definition at line 298 of file strnode.h.

Referenced by DataManager::InitialJointAssembly().

{
        return 6;
}

unsigned int StructDispNode::iGetNumPrivData ( void  ) const

virtual

Reimplemented from Node.

Reimplemented in StructNode.

Definition at line 804 of file strnode.cc.

References bComputeAccelerations().

{
        unsigned i =
                3       // X
                + 3     // x (R^T * X)
                + 3     // Phi
                + 3     // XP
                + 3     // xP (R^T * XP)
                + 3     // Omega
                + 3     // omega (R^T * Omega)
                + 3     // Euler angles (123)
                + 3     // Euler angles (313)
                + 3     // Euler angles (321)
                + 4;    // Euler parameters

        if (bComputeAccelerations()) {
                i +=
                        3       // XPP
                        + 3     // xPP (R^T * XPP)
                        + 3     // OmegaP
                        + 3;    // omegaP (R^T * OmegaP)
        }

        return i;
}

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

virtual

Reimplemented from Node.

Reimplemented in StructNode.

Definition at line 836 of file strnode.cc.

References ComputeAccelerations(), WithLabel::GetLabel(), and MBDYN_EXCEPT_ARGS.

{
        long    idx;
        char    *next;
        std::string sDataName(s);

        const char      *brk = std::strchr(s, '[' /*]*/ );
        if (brk == 0) {
                return 0;
        }

        size_t  len = brk - s;;
        brk++;

        errno = 0;
        idx = strtol(brk, &next, 10);
        int save_errno = errno;
        if (next == brk || strcmp(next, /*[*/ "]") != 0) {
                return 0;
        }

        if (save_errno == ERANGE) {
                silent_cerr("StructNode(" << GetLabel() << "): "
                        "warning, private data index "
                        << std::string(brk, next - brk)
                        << " overflows" << std::endl);
                return 0;
        }

        /*
                X                0 + idx        idx = {1,3}
                x                3 + idx        idx = {1,3}
                Phi              6 + idx        idx = {1,3}
                XP               9 + idx        idx = {1,3}
                x               12 + idx        idx = {1,3}
                Omega           15 + idx        idx = {1,3}
                omega           18 + idx        idx = {1,3}
                E | E123        21 + idx        idx = {1,3}
                E313            24 + idx        idx = {1,3}
                E321            27 + idx        idx = {1,3}
                PE              31 + idx        idx = {0,3}
                -------------------------------------------
                XPP             34 + idx        idx = {1,3}
                xPP             37 + idx        idx = {1,3}
                OmegaP          40 + idx        idx = {1,3}
                omegaP          43 + idx        idx = {1,3}
         */

        if (strncmp(s, "PE", len) == 0) {
                if (idx < 0 || idx > 3) {
                        return 0;
                }

                return 31 + idx;
        }

        if (idx < 1 || idx > 3) {
                return 0;
        }

        if (strncmp(s, "X", len) == 0) {
                return 0 + idx;
        }

        if (strncmp(s, "x", len) == 0) {
                return 3 + idx;
        }

        if (strncmp(s, "Phi", len) == 0) {
                return 6 + idx;
        }

        if (strncmp(s, "XP", len) == 0) {
                return 9 + idx;
        }

        if (strncmp(s, "xP", len) == 0) {
                return 12 + idx;
        }

        if (strncmp(s, "Omega", len) == 0) {
                return 15 + idx;
        }

        if (strncmp(s, "omega", len) == 0) {
                return 18 + idx;
        }

        if (strncmp(s, "E", len) == 0
                || strncmp(s, "E123", len) == 0)
        {
                return 21 + idx;
        }

        if (strncmp(s, "E313", len) == 0) {
                return 24 + idx;
        }

        if (strncmp(s, "E321", len) == 0) {
                return 27 + idx;
        }

        bool bca = false;
        unsigned i;
        if (strncmp(s, "XPP", len) == 0) {
                bca = true;
                i = 34 + idx;

        } else if (strncmp(s, "xPP", len) == 0) {
                bca = true;
                i = 37 + idx;

        } else if (strncmp(s, "OmegaP", len) == 0) {
                bca = true;
                i = 40 + idx;

        } else if (strncmp(s, "omegaP", len) == 0) {
                bca = true;
                i = 43 + idx;

        } else {
                // error
                return 0;
        }

        // NOTE: bComputeAccels is set only if iGetPrivDataIdx() is called
        // first; it is not when the (deprecated) idx is directly used.
        if (bca) {
                if (!const_cast<StructDispNode *>(this)->ComputeAccelerations(true)) {
                        silent_cerr("StructNode(" << GetLabel() << "): "
                                "request to compute accelerations failed, requested by private data \"" << sDataName << "\""
                                << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
        }

        return i;
}

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void StructDispNode::InitialUpdate ( const VectorHandler &  X )

virtual

Reimplemented in DummyStructNode, and StructNode.

Definition at line 594 of file strnode.cc.

References DofOwnerOwner::iGetFirstIndex(), VCurr, and XCurr.

{
        integer iFirstIndex = iGetFirstIndex();

        XCurr = Vec3(X, iFirstIndex + 1);
        VCurr = Vec3(X, iFirstIndex + 4);
}

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void StructDispNode::Output ( OutputHandler &  OH ) const

virtual

Reimplemented from ToBeOutput.

Reimplemented in StructNode.

Definition at line 504 of file strnode.cc.

References bOutputAccels, ToBeOutput::bToBeOutput(), EULER_123, EULER_313, EULER_321, Eye3, OutputHandler::GetCurrentStep(), WithLabel::GetLabel(), od, ORIENTATION_MATRIX, ORIENTATION_VECTOR, Mat3x3::pGetMat(), Vec3::pGetVec(), OutputHandler::STRNODES, OutputHandler::StrNodes(), OutputHandler::UseNetCDF(), OutputHandler::UseText(), VCurr, XCurr, XPPCurr, and Zero3.

{
        if (bToBeOutput()) {
#ifdef USE_NETCDF
                if (OH.UseNetCDF(OutputHandler::STRNODES)) {
                        Var_X->put_rec(XCurr.pGetVec(), OH.GetCurrentStep());
                        switch (od) {
                        case EULER_123:
                        case EULER_313:
                        case EULER_321:
                        case ORIENTATION_VECTOR:
                                Var_Phi->put_rec(::Zero3.pGetVec(), OH.GetCurrentStep());
                                break;

                        case ORIENTATION_MATRIX:
                                Var_Phi->put_rec(::Eye3.pGetMat(), OH.GetCurrentStep());
                                break;

                        default:
                                /* impossible */
                                break;
                        }
                        Var_XP->put_rec(VCurr.pGetVec(), OH.GetCurrentStep());
                        Var_Omega->put_rec(::Zero3.pGetVec(), OH.GetCurrentStep());

                        if (bOutputAccels) {
                                Var_XPP->put_rec(XPPCurr.pGetVec(), OH.GetCurrentStep());
                                Var_OmegaP->put_rec(::Zero3.pGetVec(), OH.GetCurrentStep());
                        }
                }
#endif /* USE_NETCDF */

                if (OH.UseText(OutputHandler::STRNODES)) {
                        std::ostream& out = OH.StrNodes();
                        out
                                << std::setw(8) << GetLabel()
                                << " " << XCurr << " ";
                        switch (od) {
                        case EULER_123:
                        case EULER_313:
                        case EULER_321:
                        case ORIENTATION_VECTOR:
                                OH.StrNodes() << ::Zero3;
                                break;

                        case ORIENTATION_MATRIX:
                                OH.StrNodes() << ::Eye3;
                                break;

                        default:
                                /* impossible */
                                break;
                        }
                        OH.StrNodes() << " " << VCurr << " " << ::Zero3;

                        if (bOutputAccels) {
                                out
                                        << " " << XPPCurr
                                        << " " << ::Zero3;
                        }
                        out << std::endl;
                }
        }
}

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void StructDispNode::OutputAccelerations ( bool  bOut )

inlinevirtual

Definition at line 445 of file strnode.h.

References bOutputAccels.

{
        bOutputAccels = bOut;
}

void StructDispNode::OutputPrepare ( OutputHandler &  OH )

virtual

Reimplemented from ToBeOutput.

Reimplemented in StructNode.

Definition at line 445 of file strnode.cc.

References ASSERT, bOutputAccels, ToBeOutput::bToBeOutput(), DYNAMIC, WithLabel::GetLabel(), GetStructDispNodeType(), OutputHandler::IsOpen(), OutputHandler::NETCDF, od, STATIC, OutputHandler::STRNODES, and OutputHandler::UseNetCDF().

{
        if (bToBeOutput()) {
#ifdef USE_NETCDF
                if (OH.UseNetCDF(OutputHandler::STRNODES)) {
                        ASSERT(OH.IsOpen(OutputHandler::NETCDF));

                        // node
                        const char *type;
                        switch (GetStructDispNodeType()) {
                        case STATIC:
                                type = "static";
                                break;

                        case DYNAMIC:
                                type = "dynamic";
                                break;

                        default:
                                pedantic_cerr("StructDispNode::OutputPrepare(" << GetLabel() << "): "
                                        "warning, unknown node type?" << std::endl);
                                type = "unknown";
                                break;
                        }

                        std::ostringstream os;
                        os << "node.struct." << GetLabel();
                        (void)OH.CreateVar(os.str(), type);

                        // node sub-data
                        os << '.';
                        std::string name = os.str();

                        Var_X = OH.CreateVar<Vec3>(name + "X", "m",
                                "global position vector (X, Y, Z)");

                        Var_Phi = OH.CreateRotationVar(name, "", od, "global");

                        Var_XP = OH.CreateVar<Vec3>(name + "XP", "m/s",
                                "global velocity vector (v_X, v_Y, v_Z)");

                        Var_Omega = OH.CreateVar<Vec3>(name + "Omega", "radian/s",
                                "global angular velocity vector (omega_X, omega_Y, omega_Z)");

                        // accelerations
                        if (bOutputAccels) {
                                Var_XPP = OH.CreateVar<Vec3>(name + "XPP", "m/s^2",
                                        "global acceleration vector (a_X, a_Y, a_Z)");

                                Var_OmegaP = OH.CreateVar<Vec3>(name + "OmegaP", "radian/s^2",
                                        "global angular acceleration vector (omegaP_X, omegaP_Y, omegaP_Z)");
                        }
                }
#endif // USE_NETCDF
        }
}

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const RigidBodyKinematics * StructDispNode::pGetRBK

(

void

)

const

Definition at line 152 of file strnode.cc.

References pRefRBK.

Referenced by AutomaticStructDispElem::AssJac(), DynamicMass::AssJac(), DynamicVariableBody::AssJac(), AutomaticStructElem::AssJac(), DynamicBody::AssJac(), DynamicMass::AssMats(), DynamicVariableBody::AssMats(), StaticMass::AssMats(), StaticVariableBody::AssMats(), DynamicBody::AssMats(), ModalBody::AssMats(), StaticBody::AssMats(), Mass::AssMatsRBK_int(), VariableBody::AssMatsRBK_int(), Body::AssMatsRBK_int(), AutomaticStructDispElem::AssRes(), DynamicMass::AssRes(), DynamicVariableBody::AssRes(), StaticMass::AssRes(), StaticVariableBody::AssRes(), AutomaticStructElem::AssRes(), DynamicBody::AssRes(), ModalBody::AssRes(), StaticBody::AssRes(), Mass::AssVecRBK_int(), VariableBody::AssVecRBK_int(), Body::AssVecRBK_int(), ReadBody(), and ReadModal().

{
        return pRefRBK;
}

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

virtual

Implements Node.

Reimplemented in StructNode.

Definition at line 341 of file strnode.cc.

References DofOwner::dGetScale(), dPositionStiffness, dVelocityStiffness, DYNAMIC, WithLabel::GetLabel(), GetStructDispNodeType(), DofOwnerOwner::pGetDofOwner(), STATIC, VCurr, Vec3::Write(), and XCurr.

{
        out << "  structural displacement: " << GetLabel() << ", ";
        if (GetStructDispNodeType() == StructDispNode::DYNAMIC) {
                out << "dynamic";
        } else if (GetStructDispNodeType() == StructDispNode::STATIC) {
                out << "static";
        }
        out << ", reference, global, ";
        XCurr.Write(out, ", ")
                << ", reference, global, ",
                VCurr.Write(out, ", ")
                << ", assembly, "
                << dPositionStiffness << ", "
                << dVelocityStiffness
                << ", scale, " << pGetDofOwner()->dGetScale() << ';' << std::endl;

        return out;
}

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void StructDispNode::SetDofValue ( const doublereal &  dValue, unsigned int  iDof, unsigned int  iOrder = 0  )

virtual

Implements Node.

Reimplemented in DummyStructNode, DynamicStructNode, StructNode, and DynamicStructDispNode.

Definition at line 422 of file strnode.cc.

References ASSERT, WithLabel::GetLabel(), MBDYN_EXCEPT_ARGS, VCurr, and XCurr.

Referenced by DynamicStructDispNode::SetDofValue().

{
        ASSERT(iDof >= 1 && iDof <= 6);
        ASSERT(iOrder == 0 || iOrder == 1);
        if (iDof >= 1 && iDof <= 3) {
                if (iOrder == 0) {
                        XCurr(iDof) = dValue;

                } else if (iOrder == 1) {
                        VCurr(iDof) = dValue;
                }

        } else {
                silent_cerr("StructDispNode(" << GetLabel() << "): "
                        "required dof " << iDof << " (order " << iOrder << ") "
                        "is not available." << std::endl);
                throw StructDispNode::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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void StructDispNode::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 DofOwnerOwner.

Reimplemented in DummyStructNode, and StructNode.

Definition at line 628 of file strnode.cc.

References DofOwnerOwner::iGetFirstIndex(), VectorHandler::Put(), VCurr, and XCurr.

{
        /* FIXME: why is this called? */
        integer iIndex = iGetFirstIndex();

        X.Put(iIndex + 1, XCurr);
        X.Put(iIndex + 4, VCurr);
}

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

virtual

Reimplemented from SimulationEntity.

Reimplemented in DummyStructNode, and StructNode.

Definition at line 639 of file strnode.cc.

References Vec3::Cross(), WithLabel::GetLabel(), StructNode::GetRCurr(), GetVCurr(), StructNode::GetWCurr(), GetXCurr(), DofOwnerOwner::iGetFirstIndex(), Mat3x3::MulTM(), Mat3x3::MulTV(), pRefNode, VectorHandler::Put(), VCurr, VPrev, XCurr, and XPrev.

{
#ifdef MBDYN_X_RELATIVE_PREDICTION
        // FIXME
        if (pRefNode) {
                Vec3 Xtmp = XPrev - pRefNode->GetXCurr();
                const Mat3x3& R0 = pRefNode->GetRCurr();
                const Vec3& V0 = pRefNode->GetVCurr();
                const Vec3& W0 = pRefNode->GetWCurr();

                XPrev = R0.MulTV(Xtmp);
                RPrev = R0.MulTM(RCurr);
                VPrev = R0.MulTV(VCurr - V0 - W0.Cross(Xtmp));
                WPrev = R0.MulTV(WCurr - W0);

#if 0
                std::cout << "StructNode(" << GetLabel() << "): "
                        "SetValue: X=" << XPrev
                        << ", R=" << RPrev
                        << ", V=" << VPrev
                        << ", W=" << WPrev
                        << std::endl;
#endif

        } else
#endif /* MBDYN_X_RELATIVE_PREDICTION */
        {
                /* FIXME: in any case, we start with Crank-Nicolson ... */
                XPrev = XCurr;
                VPrev = VCurr;
        }

        integer iFirstIndex = iGetFirstIndex();
        X.Put(iFirstIndex + 1, XPrev);
        XP.Put(iFirstIndex + 1, VPrev);
}

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void StructDispNode::Update ( const VectorHandler &  X, const VectorHandler &  XP  )

virtual

Reimplemented from SimulationEntity.

Reimplemented in PivotRelFrameDummyStructNode, RelFrameDummyStructNode, OffsetDummyStructNode, ModalNode, DynamicStructNode, StructNode, and DynamicStructDispNode.

Definition at line 571 of file strnode.cc.

References DofOwnerOwner::iGetFirstIndex(), VCurr, and XCurr.

{
        integer iFirstIndex = iGetFirstIndex();

        XCurr = Vec3(X, iFirstIndex + 1);
        VCurr = Vec3(XP, iFirstIndex + 1);
}

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void StructDispNode::Update ( const VectorHandler &  X, InverseDynamics::Order  iOrder  )

virtual

Reimplemented from SimulationEntity.

Reimplemented in StructNode.

Definition at line 604 of file strnode.cc.

References InverseDynamics::ACCELERATION, ASSERT, DofOwnerOwner::iGetFirstIndex(), MBDYN_EXCEPT_ARGS, InverseDynamics::POSITION, VCurr, InverseDynamics::VELOCITY, XCurr, and XPPCurr.

{
        integer iFirstIndex = iGetFirstIndex();
        switch (iOrder) {
        case InverseDynamics::POSITION:
                XCurr = Vec3(X, iFirstIndex + 1);
                break;
                
        case InverseDynamics::VELOCITY:
                VCurr = Vec3(X, iFirstIndex + 1);
                break;

        case InverseDynamics::ACCELERATION:
                XPPCurr = Vec3(X, iFirstIndex + 1);
                break;

        default:
                ASSERT(0);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
}

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Member Data Documentation

bool StructDispNode::bOutputAccels

protected

Definition at line 122 of file strnode.h.

Referenced by bOutputAccelerations(), DynamicStructDispNode::DynamicStructDispNode(), OffsetDummyStructNode::OffsetDummyStructNode(), Output(), StructNode::Output(), OutputAccelerations(), OutputPrepare(), StructNode::OutputPrepare(), PivotRelFrameDummyStructNode::PivotRelFrameDummyStructNode(), and RelFrameDummyStructNode::RelFrameDummyStructNode().

doublereal StructDispNode::dPositionStiffness

protected

Definition at line 114 of file strnode.h.

Referenced by dGetPositionStiffness(), Restart(), and StructNode::Restart().

doublereal StructDispNode::dVelocityStiffness

protected

Definition at line 115 of file strnode.h.

Referenced by dGetVelocityStiffness(), Restart(), and StructNode::Restart().

OrientationDescription StructDispNode::od

protected

Definition at line 111 of file strnode.h.

Referenced by Output(), StructNode::Output(), OutputPrepare(), StructNode::OutputPrepare(), and ReadBeam().

const StructNode* StructDispNode::pRefNode

protected

Definition at line 98 of file strnode.h.

Referenced by AfterPredict(), StructNode::AfterPredict(), BeforePredict(), StructNode::BeforePredict(), SetValue(), and StructNode::SetValue().

const RigidBodyKinematics* StructDispNode::pRefRBK

protected

Definition at line 118 of file strnode.h.

Referenced by pGetRBK().

Vec3 StructDispNode::VCurr

mutableprotected

Definition at line 93 of file strnode.h.

Referenced by AfterConvergence(), StructNode::AfterConvergence(), AfterPredict(), StructNode::AfterPredict(), BeforePredict(), StructNode::BeforePredict(), DerivativesUpdate(), StructNode::DerivativesUpdate(), dGetDofValue(), StructNode::dGetDofValue(), dGetPrivData(), StructNode::dGetPrivData(), GetVCurr(), InitialUpdate(), StructNode::InitialUpdate(), Output(), StructNode::Output(), Restart(), StructNode::Restart(), SetDofValue(), StructNode::SetDofValue(), SetInitialValue(), StructNode::SetInitialValue(), SetValue(), StructNode::SetValue(), Update(), StructNode::Update(), OffsetDummyStructNode::Update_int(), RelFrameDummyStructNode::Update_int(), and PivotRelFrameDummyStructNode::Update_int().

Vec3 StructDispNode::VPrev

mutableprotected

Definition at line 92 of file strnode.h.

Referenced by AfterConvergence(), StructNode::AfterConvergence(), BeforePredict(), StructNode::BeforePredict(), dGetDofValuePrev(), StructNode::dGetDofValuePrev(), GetVPrev(), SetValue(), and StructNode::SetValue().

Vec3 StructDispNode::XCurr

mutableprotected

Definition at line 90 of file strnode.h.

Referenced by AfterConvergence(), StructNode::AfterConvergence(), AfterPredict(), StructNode::AfterPredict(), BeforePredict(), StructNode::BeforePredict(), DerivativesUpdate(), StructNode::DerivativesUpdate(), dGetDofValue(), StructNode::dGetDofValue(), dGetPrivData(), StructNode::dGetPrivData(), GetXCurr(), InitialUpdate(), StructNode::InitialUpdate(), Output(), StructNode::Output(), Restart(), StructNode::Restart(), SetDofValue(), StructNode::SetDofValue(), SetInitialValue(), StructNode::SetInitialValue(), SetValue(), StructNode::SetValue(), Update(), StructNode::Update(), OffsetDummyStructNode::Update_int(), RelFrameDummyStructNode::Update_int(), and PivotRelFrameDummyStructNode::Update_int().

Vec3 StructDispNode::XPPCurr

mutableprotected

Definition at line 95 of file strnode.h.

Referenced by AfterConvergence(), DynamicStructDispNode::AfterConvergence(), StructNode::AfterConvergence(), DynamicStructNode::AfterConvergence(), DynamicStructDispNode::BeforePredict(), DynamicStructNode::BeforePredict(), DynamicStructDispNode::dGetDofValue(), DynamicStructNode::dGetDofValue(), dGetPrivData(), StructNode::dGetPrivData(), GetXPPCurr(), Output(), StructNode::Output(), DynamicStructDispNode::SetDofValue(), DynamicStructNode::SetDofValue(), Update(), DynamicStructDispNode::Update(), StructNode::Update(), DynamicStructNode::Update(), ModalNode::Update(), OffsetDummyStructNode::Update_int(), RelFrameDummyStructNode::Update_int(), and PivotRelFrameDummyStructNode::Update_int().

Vec3 StructDispNode::XPPPrev

mutableprotected

Definition at line 96 of file strnode.h.

Referenced by AfterConvergence(), StructNode::AfterConvergence(), DynamicStructDispNode::BeforePredict(), DynamicStructNode::BeforePredict(), DynamicStructDispNode::dGetDofValuePrev(), DynamicStructNode::dGetDofValuePrev(), and GetXPPPrev().

Vec3 StructDispNode::XPrev

mutableprotected

Definition at line 89 of file strnode.h.

Referenced by AfterConvergence(), StructNode::AfterConvergence(), BeforePredict(), StructNode::BeforePredict(), dGetDofValuePrev(), StructNode::dGetDofValuePrev(), GetXPrev(), SetValue(), and StructNode::SetValue().

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

• strnode.h
• strnode.cc