#include <totalequation.h>

Inheritance diagram for TotalReaction:

Collaboration diagram for TotalReaction:

Public Member Functions
	TotalReaction (unsigned int uL, const DofOwner pDO, bool bPos[3], bool bRot[3], const StructNode pN1, const Vec3 &f1Tmp, const Mat3x3 &R1hTmp, const Mat3x3 &R1hrTmp, const StructNode pN2, const Vec3 &f2Tmp, const Mat3x3 &R2hTmp, const Mat3x3 &R2hrTmp, TotalEquation t_elm, flag fOut)

	~TotalReaction (void)

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

virtual Joint::Type	GetJointType (void) const

virtual unsigned int	iGetNumDof (void) const

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

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

DofOrder::Order	GetDofType (unsigned int i) const

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

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

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

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

void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

DofOrder::Order	GetEqType (unsigned int i) const

void	Output (OutputHandler &OH) const

virtual unsigned int	iGetInitialNumDof (void) const

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

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

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

virtual	~Elem (void)

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

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

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

virtual bool	bInverseDynamics (void) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

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

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

virtual int	GetNumConnectedNodes (void) const

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

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

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

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

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

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

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

virtual void	ReadInitialState (MBDynParser &HP)

Public Member Functions inherited from ToBeOutput
	ToBeOutput (flag fOut=fDefaultOut)

virtual	~ToBeOutput (void)

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH, const VectorHandler &X, const VectorHandler &XP) const

virtual flag	fToBeOutput (void) const

virtual bool	bToBeOutput (void) const

virtual void	SetOutputFlag (flag f=flag(1))

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

virtual	~Joint (void)

virtual Elem::Type	GetElemType (void) const

std::ostream &	Output (std::ostream &out, const char *sJointName, unsigned int uLabel, const Vec3 &FLocal, const Vec3 &MLocal, const Vec3 &FGlobal, const Vec3 &MGlobal) const

virtual void	SetInitialValue (VectorHandler &)

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

bool	bIsPrescribedMotion (void) const

bool	bIsTorque (void) const

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

virtual	~ElemGravityOwner (void)

virtual doublereal	dGetM (void) const

Vec3	GetS (void) const

Mat3x3	GetJ (void) const

Vec3	GetB (void) const

Vec3	GetG (void) const

Public Member Functions inherited from GravityOwner
	GravityOwner (void)

virtual	~GravityOwner (void)

void	PutGravity (const Gravity *pG)

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

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

virtual	~ElemWithDofs (void)

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

virtual	~DofOwnerOwner ()

virtual const DofOwner *	pGetDofOwner (void) const

virtual integer	iGetFirstIndex (void) const

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

virtual	~InitialAssemblyElem (void)

Public Member Functions inherited from SubjectToInitialAssembly
	SubjectToInitialAssembly (void)

virtual	~SubjectToInitialAssembly (void)

Private Attributes
const StructNode *	pNode1

const StructNode *	pNode2

Vec3	f1

Mat3x3	R1h

Mat3x3	R1hr

Vec3	f2

Mat3x3	R2h

Mat3x3	R2hr

bool	bPosActive [3]

bool	bRotActive [3]

unsigned int	nConstraints

unsigned int	nPosConstraints

unsigned int	nRotConstraints

unsigned int	iPosIncid [3]

unsigned int	iRotIncid [3]

Vec3	tilde_f1

Vec3	M

Vec3	F

Vec3	ThetaDelta

Vec3	ThetaDeltaPrev

TotalEquation *	total_equation_element

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

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

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

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

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

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

virtual Mat3x3	GetJ_int (void) const

virtual Vec3	GetB_int (void) const

virtual Vec3	GetG_int (void) const

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Detailed Description

Definition at line 249 of file totalequation.h.

Constructor & Destructor Documentation

TotalReaction::TotalReaction	(	unsigned int	uL,
		const DofOwner *	pDO,
		bool	bPos[3],
		bool	bRot[3],
		const StructNode *	pN1,
		const Vec3 &	f1Tmp,
		const Mat3x3 &	R1hTmp,
		const Mat3x3 &	R1hrTmp,
		const StructNode *	pN2,
		const Vec3 &	f2Tmp,
		const Mat3x3 &	R2hTmp,
		const Mat3x3 &	R2hrTmp,
		TotalEquation *	t_elm,
		flag	fOut
	)

Definition at line 1232 of file totalequation.cc.

References bPosActive, bRotActive, WithLabel::GetLabel(), iPosIncid, iRotIncid, MBDYN_EXCEPT_ARGS, TotalEquation::nConstraints, nConstraints, nPosConstraints, nRotConstraints, and total_equation_element.

 : Elem(uL, fOut),
 Joint(uL, pDO, fOut),
 pNode1(pN1), pNode2(pN2),
 f1(f1Tmp), R1h(R1hTmp), R1hr(R1hrTmp),
 f2(f2Tmp), R2h(R2hTmp), R2hr(R2hrTmp),
 nConstraints(0), nPosConstraints(0), nRotConstraints(0),
 tilde_f1(R1h.MulTV(f1)),
 M(Zero3), F(Zero3), ThetaDelta(Zero3), ThetaDeltaPrev(Zero3),
 total_equation_element(t_elm)
 {
         /* Equations 1->3: Positions
          * Equations 4->6: Rotations */
 
         for (unsigned int i = 0; i < 3; i++) {
                 bPosActive[i] = bPos[i];
                 bRotActive[i] = bRot[i];
                 if (bPosActive[i]) {
                         iPosIncid[nPosConstraints] = i + 1;
                         nPosConstraints++;
                 }
                 if (bRotActive[i]) {
                         iRotIncid[nRotConstraints] = i + 1;
                         nRotConstraints++;
                 }
         }
         nConstraints = nPosConstraints + nRotConstraints;
         if (nConstraints != total_equation_element->nConstraints) {
                 silent_cerr("Error: TotalReaction element " <<
                         GetLabel() << " has " << nConstraints <<
                         " reactions, while the corresponding TotalEquation joint "
                         << total_equation_element->GetLabel() <<
                         " defines only " << total_equation_element->nConstraints <<
                         " contraints" << std::endl);
                 throw ErrGeneric(MBDYN_EXCEPT_ARGS);
         }
 }

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TotalReaction::~TotalReaction ( void )

Definition at line 1278 of file totalequation.cc.

References NO_OP.

 {
         NO_OP;
 };

Member Function Documentation

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

virtual

Reimplemented from SimulationEntity.

Definition at line 1553 of file totalequation.cc.

References ThetaDelta, ThetaDeltaPrev, and Unwrap().

 {
         ThetaDeltaPrev = Unwrap(ThetaDeltaPrev, ThetaDelta);
 }

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

virtual

Reimplemented from SimulationEntity.

Definition at line 1560 of file totalequation.cc.

References ThetaDelta, ThetaDeltaPrev, and Unwrap().

 {
         ThetaDeltaPrev = Unwrap(ThetaDeltaPrev, ThetaDelta);
 }

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

virtual

Implements Elem.

Definition at line 1625 of file totalequation.cc.

References FullSubMatrixHandler::Add(), DEBUGCOUT, F, f2, StructNode::GetRCurr(), StructNode::GetRRef(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), iPosIncid, iRotIncid, M, MatCross, MatCrossCross, nConstraints, nPosConstraints, nRotConstraints, pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), R1h, R1hr, FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), FullSubMatrixHandler::Sub(), total_equation_element, and WorkSpaceDim().

 {
         /*
          * Constraint Equations:
          * Position:    R1^T(x2 + R2*f2 -x1 - R1*f1) - d = x^delta
          *              ==> d(Vec3) = imposed displacement in node 1 local R.F.
          *              ==> x^delta is used to activate/deactivate the constraint
          *                      equation along the corresponding direction. If each
          *                      component is set to 0, all relative displacement
          *                      are forbidden (or imposed by the drive). If a component
          *                      of x^delta is left free, the corrsponding equation is
          *                      dropped
          *
          * Orientation: Theta - Theta0 = ax(exp^-1(R1^T * R2 * R0^T)) = Theta^delta
          *              ==> Theta = ax(exp^-1(R1^T * R2)) = Relative orientation in node1 R.F.
          *              ==> Theta0 = Imposed relative orientation = ax(exp^-1(R0))
          *              ==> Theta^delta is used to activate/deactivate the constraint
          *                      equation along the corresponding direction. If each
          *                      component is set to 0, all relative rotation
          *                      are forbidden (or imposed by the drive). If a component
          *                      of Theta^delta is left free, the corrsponding equation is
          *                      dropped
          *Jacobian Matrix:
          *       x1          g1            x2           g2               F            M
          * Q1 |  0           F1X           0            0              -R1            0  | | x1 |
          * G1 |-(F1)X  (b1)X(F1)X+(M1)X  (F1)X     -(F1)X(b2)X       (b1)X(R1)      -R1r | | g1 |
          * Q2 |  0          -F1X           0            0                R1           0  | | x2 |
          * G2 |  0    -(b2)X(F1)X-(M1)X    0        (F1)X(b2)X       (b2)X(R1)       R1r | | g2 |
          * F  |-c*R1^T  c*R1^T*[(b1)X]   c*R1^T   -c*R1^T*[(b2)X]        0            0  | | F  |if(bPos)
          * M  |  0        -c*R1r^T         0         c* R1r^T            0            0  | | M  |if(bRot)
          *                                                             if(bPos)    if(bRot)
          *with: _ b1 = (x2 + R2*f2 - x1)
          *      _ b2 = (R2*f2)
          *      _ R1 = R1*R1h
          *      _ R2 = R2*R2h
          *      _ R1r = R1*R1hr
          *      _ F1 = R1*F
          *      _ M1 = R1*M
          *      _ X = "Cross" operator
          *
          *     */
 
         DEBUGCOUT("Entering TotalReaction::AssJac()" << std::endl);
 
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Ridimensiona la sottomatrice in base alle esigenze */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici delle varie incognite */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
         integer iFirstReactionIndex = total_equation_element->iGetFirstIndex();
 
         /* Setta gli indici delle equazioni */
         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);
         }
 
         for (unsigned int iCnt = 1; iCnt <= nConstraints; iCnt++) {
                 WM.PutColIndex(12 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         /* Recupera i dati che servono */
         Mat3x3 R1(pNode1->GetRRef()*R1h);
         Mat3x3 R1r(pNode1->GetRRef()*R1hr);
         Vec3 b2(pNode2->GetRCurr()*f2);
         Vec3 b1(pNode2->GetXCurr() + b2 - pNode1->GetXCurr());
 
         /* Moltiplica il momento e la forza per il coefficiente del metodo */
         Vec3 FTmp(R1*(F*dCoef));
         Vec3 MTmp(R1r*(M*dCoef));
  
         /* Equilibrium: ((Phi/q)^T*Lambda)/q */
  
         Mat3x3 Tmp;
  
         /* [ F x ] */
         Tmp = Mat3x3(MatCross, FTmp);
  
         /* Lines 1->3: */
         WM.Add(1, 3 + 1, Tmp);
  
         /* Lines 4->6: */
         WM.Sub(3 + 1, 1, Tmp);
  
         WM.Add(3 + 1, 6 + 1, Tmp);
  
         /* Lines 7->9: */
         WM.Sub(6 + 1, 3 + 1, Tmp);
  
         /* [ F x ] [ b2 x ] */
         Tmp = Mat3x3(MatCrossCross, FTmp, b2);
  
         /* Lines 4->6: */
         WM.Sub(3 + 1, 9 + 1, Tmp);
  
         /* Lines 10->12: */
         WM.Add(9 + 1, 9 + 1, Tmp);
  
         /* [ b1 x ] [ F x ] + [ M x ] */
  
         /* Lines 4->6: */
         WM.Add(3 + 1, 3 + 1, Mat3x3(MatCrossCross, b1, FTmp) + Mat3x3(MatCross, MTmp));
  
         /* [ b2 x ] [ F x ] + [ M x ] */
  
         /* Lines 10->12: */
         WM.Sub(9 + 1, 3 + 1, Mat3x3(MatCrossCross, b2, FTmp) + Mat3x3(MatCross, MTmp));
 
 /* Phi/q and (Phi/q)^T */
 
         Mat3x3 b1Cross_R1(b1.Cross(R1)); // = [ b1 x ] * R1
         Mat3x3 b2Cross_R1(b2.Cross(R1)); // = [ b2 x ] * R1
 
         for (unsigned iCnt = 0 ; iCnt < nPosConstraints; iCnt++) {
                 Vec3 vR1(R1.GetVec(iPosIncid[iCnt]));
                 Vec3 vb1Cross_R1(b1Cross_R1.GetVec(iPosIncid[iCnt]));
                 Vec3 vb2Cross_R1(b2Cross_R1.GetVec(iPosIncid[iCnt]));
 
                 /* Equilibrium, node 1 */
                 WM.Sub(1, 12 + 1 + iCnt, vR1);
                 WM.Sub(3 + 1, 12 + 1 + iCnt, vb1Cross_R1);
 
                 /* Equilibrium, node 2 */
                 WM.Add(6 + 1, 12 + 1 + iCnt, vR1);
                 WM.Add(9 + 1, 12 + 1 + iCnt, vb2Cross_R1);
         }
 
         for (unsigned iCnt = 0 ; iCnt < nRotConstraints; iCnt++) {
                 Vec3 vR1(R1r.GetVec(iRotIncid[iCnt]));
 
                 /* Equilibrium, node 1 */
                 WM.Sub(3 + 1, 12 + 1 + nPosConstraints +  iCnt, vR1);
 
                 /* Equilibrium, node 2 */
                 WM.Add(9 + 1, 12 + 1 + nPosConstraints + iCnt, vR1);
         }
 
         return WorkMat;
 }

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

virtual

Implements Elem.

Definition at line 1780 of file totalequation.cc.

References VectorHandler::Add(), Vec3::Cross(), DEBUGCOUT, F, f2, StructNode::GetRCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), iPosIncid, iRotIncid, M, nPosConstraints, nRotConstraints, pNode1, pNode2, SubVectorHandler::PutRowIndex(), R1h, R1hr, R2hr, VectorHandler::ResizeReset(), VectorHandler::Sub(), total_equation_element, and WorkSpaceDim().

 {
         DEBUGCOUT("Entering TotalReaction::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();
         integer iFirstReactionIndex = total_equation_element->iGetFirstIndex();
 
         /* Indici dei nodi */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WorkVec.PutRowIndex(6+iCnt, iNode2FirstMomIndex + iCnt);
         }
 
         /* Get constraint reactions */
 
         for (unsigned iCnt = 0; iCnt < nPosConstraints; iCnt++) {
                 F(iPosIncid[iCnt]) = XCurr(iFirstReactionIndex + 1 + iCnt);
         }
 
         for (unsigned iCnt = 0; iCnt < nRotConstraints; iCnt++) {
                 M(iRotIncid[iCnt]) = XCurr(iFirstReactionIndex + 1 + nPosConstraints + iCnt);
         }
 
 
         Vec3 b2(pNode2->GetRCurr()*f2);
         Vec3 b1(pNode2->GetXCurr() + b2 - pNode1->GetXCurr());
 
         Mat3x3 R1 = pNode1->GetRCurr()*R1h;
         Mat3x3 R1r = pNode1->GetRCurr()*R1hr;
         Mat3x3 R2r = pNode2->GetRCurr()*R2hr;
 
         Vec3 FTmp(R1*F);
         Vec3 MTmp(R1r*M);
 
         /* Equilibrium, node 1 */
         WorkVec.Add(1, FTmp);
         WorkVec.Add(3 + 1, MTmp + b1.Cross(FTmp));
 
         /* Equilibrium, node 2 */
         WorkVec.Sub(6 + 1, FTmp);
         WorkVec.Sub(9 + 1, MTmp + b2.Cross(FTmp));
 
         return WorkVec;
 }

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

virtual

Reimplemented from Elem.

Definition at line 1284 of file totalequation.cc.

References bPosActive, bRotActive, idx2xyz, DofOwnerOwner::iGetFirstIndex(), nConstraints, nPosConstraints, nRotConstraints, and total_equation_element.

 {
         integer iIndex = total_equation_element->iGetFirstIndex();
 
         if (nPosConstraints > 0) {
                 out << prefix << iIndex + 1;
                 if (nPosConstraints > 1) {
                         out << "->" << iIndex + nPosConstraints;
                 }
                 out << ": ";
                 out << "reaction force(s) [";
 
                 for (unsigned int i = 0, cnt = 0; i < 3; i++) {
                         if (bPosActive[i]) {
                                 cnt++;
                                 if (cnt > 1) {
                                         out << ",";
                                 }
                                 out << "F" << idx2xyz[i];
                         }
                 }
                 out << "]" << std::endl;
         }
 
         if (nRotConstraints > 0) {
                 out << prefix << iIndex + nPosConstraints + 1;
                 if (nRotConstraints > 1) {
                         out << "->" << iIndex + nConstraints ;
                 }
                 out << ": ";
                 out << "reaction couple(s) [";
 
                 for (unsigned int i = 0, cnt = 0; i < 3; i++) {
                         if (bRotActive[i]) {
                                 cnt++;
                                 if (cnt > 1) {
                                         out << ",";
                                 }
                                 out << "m" << idx2xyz[i];
                         }
                 }
                 out << "]" << std::endl;
         }
 
         if (bInitial) {
                 iIndex += nConstraints;
 
                 if (nPosConstraints > 0) {
                         out << prefix << iIndex + 1;
                         if (nPosConstraints > 1) {
                                 out << "->" << iIndex + nPosConstraints;
                         }
                         out << ": ";
                         out << "reaction force(s) derivative(s) [";
 
                         for (unsigned int i = 0, cnt = 0; i < 3; i++) {
                                 if (bPosActive[i]) {
                                         cnt++;
                                         if (cnt > 1) {
                                                 out << ",";
                                         }
                                         out << "FP" << idx2xyz[i];
                                 }
                         }
                         out << "]" << std::endl;
                 }
 
                 if (nRotConstraints > 0) {
                         out << prefix << iIndex + nPosConstraints + 1;
                         if (nRotConstraints > 1) {
                                 out << "->" << iIndex + nConstraints;
                         }
                         out << ": ";
                         out << "reaction couple(s) derivative(s) [";
 
                         for (unsigned int i = 0, cnt = 0; i < 3; i++) {
                                 if (bRotActive[i]) {
                                         cnt++;
                                         if (cnt > 1) {
                                                 out << ",";
                                         }
                                         out << "mP" << idx2xyz[i];
                                 }
                         }
                         out << "]" << std::endl;
                 }
         }
         return out;
 }

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

virtual

Reimplemented from Elem.

Definition at line 1376 of file totalequation.cc.

 {
         desc.resize(0);
 }

doublereal TotalReaction::dGetPrivData ( unsigned int i ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 2267 of file totalequation.cc.

References ASSERT, bPosActive, bRotActive, Vec3::Cross(), F, f1, f2, StructNode::GetRCurr(), StructDispNode::GetVCurr(), Mat3x3::GetVec(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), M, Mat3x3::MulTV(), pNode1, pNode2, R1h, ThetaDelta, ThetaDeltaPrev, and Unwrap().

 {
         switch (i) {
         case 1:
         case 2:
         case 3: {
                 Vec3 x(pNode1->GetRCurr().MulTV(pNode2->GetXCurr() + pNode2->GetRCurr()*f2 - pNode1->GetXCurr()) - f1);
                         return R1h.GetVec(i)*x;
                 }
 
         case 4:
         case 5:
         case 6: {
 #if 0
                 Vec3 Theta(Unwrap(ThetaDeltaPrev, ThetaDelta) + ThetaDrv.Get());
                 return Theta(i - 3);
 #endif
                 return 0.;
                 }
 
         case 7:
         case 8:
         case 9:
                 return F(i - 6);
 
         case 10:
         case 11:
         case 12:
                 return M(i - 9);
 
         case 13:
         case 14:
         case 15:
                 if (!bPosActive[i - 13]) {
                         return 0.;
                 }
 //              return XDrv.Get()(i - 12);
                 return 0.;
 
         case 16:
         case 17:
         case 18:
                 if (!bRotActive[i - 16]) {
                         return 0.;
                 }
 //              return ThetaDrv.Get()(i - 15);
                 return 0.;
         case 19:
         case 20:
         case 21:
                 {
                 // FIXME: blind fix
                 Vec3 v(pNode1->GetRCurr().MulTV(
                         (pNode2->GetVCurr() + pNode2->GetWCurr().Cross(pNode2->GetRCurr()*f2)
                                 - pNode1->GetVCurr()) -
                         pNode1->GetWCurr().Cross( pNode2->GetXCurr() + 
                                 pNode2->GetRCurr()*f2
                                 - pNode1->GetXCurr() -f1) 
                         )
                 );
                 
                         return R1h.GetVec(i-18)*v;
                 }
 
 
         default:
                 ASSERT(0);
         }
 
         return 0.;
 }

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

inlinevirtual

Reimplemented from Elem.

Definition at line 405 of file totalequation.h.

References pNode1, and pNode2.

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

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

inlinevirtual

Reimplemented from Elem.

Definition at line 331 of file totalequation.h.

References DofOrder::ALGEBRAIC, ASSERT, and nConstraints.

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

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

virtual

Reimplemented from SimulationEntity.

Definition at line 1837 of file totalequation.cc.

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

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

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

inlinevirtual

Implements Joint.

Definition at line 299 of file totalequation.h.

References Joint::TOTALREACTION.

                                  {
                 return Joint::TOTALREACTION;
         };

virtual unsigned int TotalReaction::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 377 of file totalequation.h.

References nConstraints.

                                       {
                 return  2*nConstraints;
         };

virtual unsigned int TotalReaction::iGetNumDof ( void ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 304 of file totalequation.h.

Referenced by GetEqType().

                                {
                 return 0;
         };

unsigned int TotalReaction::iGetNumPrivData ( void ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 2201 of file totalequation.cc.

 {
         return 21;
 }

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

virtual

Reimplemented from SimulationEntity.

Definition at line 2207 of file totalequation.cc.

References ASSERT.

 {
         ASSERT(s != NULL);
 
         unsigned int off = 0;
 
         switch (s[0]) {
         case 'p':
                 /* relative position */
                 break;
 
         case 'r':
                 /* relative orientation */
                 off += 3;
                 break;
 
         case 'F':
                 /* force */
                 off += 6;
                 break;
 
         case 'M':
                 /* moment */
                 off += 9;
                 break;
 
         case 'd':
                 /* imposed relative position */
                 off += 12;
                 break;
 
         case 't':
                 /* imposed relative orientation */
                 off += 15;
                 break;
         
         case 'v':
                 /* relative linear velocity */
                 off += 18;
                 break;
 
         default:
                 return 0;
         }
 
         switch (s[1]) {
         case 'x':
                 return off + 1;
 
         case 'y':
                 return off + 2;
 
         case 'z':
                 return off + 3;
         }
 
         return 0;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 1880 of file totalequation.cc.

References FullSubMatrixHandler::Add(), FullSubMatrixHandler::AddT(), Vec3::Cross(), F, f2, StructNode::GetRCurr(), StructNode::GetRRef(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), iPosIncid, iRotIncid, M, MatCross, MatCrossCross, nConstraints, nPosConstraints, nRotConstraints, pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), R1h, R1hr, FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), FullSubMatrixHandler::Sub(), FullSubMatrixHandler::SubT(), total_equation_element, and Zero3.

 {
 
         /* Per ora usa la matrice piena; eventualmente si puo'
          * passare a quella sparsa quando si ottimizza */
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Equazioni: vedi joints.dvi */
 
         /*       equazioni ed incognite
          * F1                                     Delta_x1      1          
          * M1                                     Delta_g1      3 + 1 
          * FP1                                    Delta_xP1     6 + 1
          * MP1                                    Delta_w1      9 + 1 
          * F2                                     Delta_x2      12 + 1
          * M2                                     Delta_g2      15 + 1
          * FP2                                    Delta_xP2     18 + 1  
          * MP2                                    Delta_w2      21 + 1 
          * vincolo spostamento                    Delta_F       24 + 1 
          * vincolo rotazione                      Delta_M       24 + nPosConstraints  
          * derivata vincolo spostamento           Delta_FP      24 + nConstraints  
          * derivata vincolo rotazione             Delta_MP      24 + nConstraints + nPosConstraints  
          */
         
         
         /* Indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode1FirstVelIndex = iNode1FirstPosIndex + 6;
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstVelIndex = iNode2FirstPosIndex + 6;
         integer iFirstReactionIndex = total_equation_element->iGetFirstIndex();
         integer iReactionPrimeIndex = iFirstReactionIndex + nConstraints;
 
 
         /* Setta gli indici dei nodi */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(6 + iCnt, iNode1FirstVelIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iNode1FirstVelIndex + iCnt);
                 WM.PutRowIndex(12 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutColIndex(12 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutRowIndex(18 + iCnt, iNode2FirstVelIndex + iCnt);
                 WM.PutColIndex(18 + iCnt, iNode2FirstVelIndex + iCnt);
         }
 
         /* Setta gli indici delle reazioni */
         for (unsigned int iCnt = 1; iCnt <=  nConstraints; iCnt++) {
                 WM.PutRowIndex(24 + iCnt, iFirstReactionIndex + iCnt);
                 WM.PutColIndex(24 + iCnt, iFirstReactionIndex + iCnt);
                 WM.PutRowIndex(24 + nConstraints + iCnt, iReactionPrimeIndex + iCnt);
                 WM.PutColIndex(24 + nConstraints + iCnt, iReactionPrimeIndex + iCnt);
         }
         
         /* Recupera i dati che servono */
         Mat3x3 R1(pNode1->GetRRef()*R1h);
         Mat3x3 R1r(pNode1->GetRRef()*R1hr);
         
         Vec3 b2(pNode2->GetRCurr()*f2);
         Vec3 b1(pNode2->GetXCurr() + b2 - pNode1->GetXCurr());
         
         Vec3 Omega1(pNode1->GetWCurr());
         Vec3 Omega2(pNode2->GetWCurr());
         
         Vec3 b1Prime(pNode2->GetVCurr() + Omega2.Cross(b2) - pNode1->GetVCurr());
         
         /* F ed M sono gia' state aggiornate da InitialAssRes;
          * Recupero FPrime e MPrime*/
         Vec3 MPrime(Zero3);
         Vec3 FPrime(Zero3);
 
         for (unsigned iCnt = 0; iCnt < nPosConstraints; iCnt++) {
                 FPrime(iPosIncid[iCnt]) = XCurr(iReactionPrimeIndex + 1 + iCnt);
         }
         
         for (unsigned iCnt = 0; iCnt < nRotConstraints; iCnt++) {
                 MPrime(iRotIncid[iCnt]) = XCurr(iReactionPrimeIndex + 1 + nPosConstraints + iCnt);
         }
 
         Vec3 FTmp(R1 * F);
         Vec3 MTmp(R1r * M);
         Vec3 FPrimeTmp(R1 * FPrime);
         Vec3 MPrimeTmp(R1r * MPrime);
 
         Mat3x3 Tmp;
 
         /* [ F x ] */
         Tmp = Mat3x3(MatCross, FTmp);
 
         /* Force, Node 1, Lines 1->3: */
         WM.Add(1, 3 + 1, Tmp);  // * Delta_g1
 
         /* Moment, Node 1, Lines 4->6: */
         WM.Sub(3 + 1, 1, Tmp);  // * Delta_x1
 
         WM.Add(3 + 1, 12 + 1, Tmp);     // * Delta_x2
 
         /* Force, Node 2, Lines 13->15: */
         WM.Sub(12 + 1, 3 + 1, Tmp);     // * Delta_g1
         
         /* [ FP x ] */
         Tmp = Mat3x3(MatCross, FPrimeTmp);
 
         /* d/dt(Force), Node 1, Lines 7->9: */
         WM.Add(6 + 1, 9 + 1, Tmp);      // * Delta_W1
 
         /* d/dt(Moment), Node 1, Lines 10->12: */
         WM.Sub(9 + 1, 6 + 1, Tmp);      // * Delta_x1P
 
         WM.Add(9 + 1, 18 + 1, Tmp);     // * Delta_x2P
 
         /* d/dt(Force), Node 2, Lines 19->21: */
         WM.Sub(18 + 1 , 9 + 1, Tmp);    // * Delta_W1
         
         /* [ F x ] [ b2 x ] */
         Tmp = Mat3x3(MatCrossCross, FTmp, b2);
 
         /* Moment, Node1, Lines 4->6: */
         WM.Sub(3 + 1, 15 + 1, Tmp);     // * Delta_g2
 
         /* Moment, Node2, Lines 16->18: */
         WM.Add(15 + 1, 15 + 1, Tmp);    // * Delta_g2
         
         /* [ FP x ] [ b2 x ] */
         Tmp = Mat3x3(MatCrossCross, FPrimeTmp, b2);
 
         /* d/dt(Moment), Node1, Lines 10->12: */
         WM.Sub(9 + 1, 21 + 1, Tmp);     // * Delta_W2
 
         /* d/dt(Moment), Node2, Lines 22->24: */
         WM.Add(21 + 1, 21 + 1, Tmp);    // * Delta_W2
 
         /* [ b1 x ] [ F x ] + [ M x ] */
 
         /* Moment, Node1, Lines 4->6: */
         WM.Add(3 + 1, 3 + 1, Mat3x3(MatCrossCross, b1, FTmp) + Mat3x3(MatCross, MTmp)); // *Delta_g1
 
         /* d/dt(Moment), Node1, Lines 10->12: */
         WM.Add(9 + 1, 9 + 1, Mat3x3(MatCrossCross, b1, FPrimeTmp) + Mat3x3(MatCross, MPrimeTmp));// *Delta_W1
         
         /* [ b2 x ] [ F x ] + [ M x ] */
 
         /* Moment, Node2, Lines 16->18: */
         WM.Sub(15 + 1, 3 + 1, Mat3x3(MatCrossCross, b2, FTmp) + Mat3x3(MatCross, MTmp));        // * Delta_g1
         
         /* d/dt(Moment), Node2, Lines 22->24: */
         WM.Sub(21 + 1, 9 + 1, Mat3x3(MatCrossCross, b2, FTmp) + Mat3x3(MatCross, MTmp));        // * Delta_W1
         
         /* Constraints: Add only active rows/columns*/  
         
         /* Positions contribution:*/
 
         Mat3x3 b1Cross_R1(b1.Cross(R1)); // = [ b1 x ] * R1
         Mat3x3 b2Cross_R1(b2.Cross(R1)); // = [ b2 x ] * R1
 
         for (unsigned iCnt = 0 ; iCnt < nPosConstraints; iCnt++) {
                 Vec3 vR1(R1.GetVec(iPosIncid[iCnt]));
                 Vec3 vb1Cross_R1(b1Cross_R1.GetVec(iPosIncid[iCnt]));
                 Vec3 vb2Cross_R1(b2Cross_R1.GetVec(iPosIncid[iCnt]));
 
                 /* Equilibrium, node 1 */
                 WM.Sub(1, 24 + 1 + iCnt, vR1);  // * Delta_F
                 WM.Sub(3 + 1, 24 + 1 + iCnt, vb1Cross_R1);      // * Delta_F
 
                 /* Constraint, node 1 */
                 WM.SubT(24 + 1 + iCnt, 1, vR1); // * Delta_x1
                 WM.SubT(24 + 1 + iCnt, 3 + 1, vb1Cross_R1);     // * Delta_g1
 
                 /* d/dt(Equilibrium), node 1 */
                 WM.Sub(6 + 1, 24 + 1 + nConstraints + iCnt, vR1);       // * Delta_FP
                 WM.Sub(9 + 1, 24 + 1 + nConstraints + iCnt, vb1Cross_R1);       // * Delta_FP
 
                 /* d/dt(Constraint), node 1 */
                 WM.SubT(24 + 1 + nConstraints + iCnt, 6 + 1, vR1);      // * Delta_xP1
                 WM.SubT(24 + 1 + nConstraints + iCnt, 9 + 1, vb1Cross_R1);      // * Delta_W1
                 
                 /* Equilibrium, node 2 */
                 WM.Add(12 + 1, 24 + 1 + iCnt, vR1);     // * Delta_F
                 WM.Add(15 + 1, 24 + 1 + iCnt, vb2Cross_R1);     // * Delta_F
 
                 /* Constraint, node 2 */
                 WM.AddT(24 + 1 + iCnt, 12 + 1, vR1);    // * Delta_x2
                 WM.AddT(24 + 1 + iCnt, 15 + 1, vb2Cross_R1);    // * Delta_g2
         
                 /* d/dt(Equilibrium), node 2 */
                 WM.Add(18 + 1, 24 + 1 + nConstraints + iCnt, vR1);      // * Delta_FP
                 WM.Add(21 + 1, 24 + 1 + nConstraints + iCnt, vb2Cross_R1);      // * Delta_FP
 
                 /* d/dt(Constraint), node 2 */
                 WM.AddT(24 + 1 + nConstraints +  iCnt, 18 + 1, vR1);    // * Delta_xP2
                 WM.AddT(24 + 1 + nConstraints +  iCnt, 21 + 1, vb2Cross_R1);    // * Delta_W2
         }
 
         for (unsigned iCnt = 0 ; iCnt < nRotConstraints; iCnt++) {
                 Vec3 vR1(R1r.GetVec(iRotIncid[iCnt]));
 
                 /* Equilibrium, node 1 */
                 WM.Sub(3 + 1, 24 + 1 + nPosConstraints +  iCnt, vR1);   // * Delta_M
 
                 /* Constraint, node 1 */
                 WM.SubT(24 + 1 + nPosConstraints + iCnt, 3 + 1, vR1);   // * Delta_g1
 
                 /* d/dt(Equilibrium), node 1 */
                 WM.Sub(9 + 1, 24 + 1 + nConstraints + nPosConstraints +  iCnt, vR1);    // * Delta_MP
 
                 /* d/dt(Constraint), node 1 */
                 WM.SubT(24 + 1 + nConstraints + nPosConstraints + iCnt, 9 + 1, vR1);    // * Delta_W1
 
                 /* Equilibrium, node 2 */
                 WM.Add(15 + 1, 24 + 1 + nPosConstraints + iCnt, vR1);   // * Delta_M
 
                 /* Constraint, node 2 */
                 WM.AddT(24 + 1 + nPosConstraints +  iCnt, 15 + 1, vR1); // * Delta_g2
 
                 /* d/dt(Equilibrium), node 2 */
                 WM.Add(21 + 1, 24 + 1 + nConstraints + nPosConstraints + iCnt, vR1);    // * Delta_MP
 
                 /* d/dt(Constraint), node 2 */
                 WM.AddT(24 + 1 + nConstraints + nPosConstraints + iCnt, 21 + 1, vR1);   // * Delta_W2
         }
 
         return WorkMat;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 2114 of file totalequation.cc.

References VectorHandler::Add(), Vec3::Cross(), DEBUGCOUT, F, f2, StructNode::GetRCurr(), StructNode::GetRRef(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), iPosIncid, iRotIncid, M, nConstraints, nPosConstraints, nRotConstraints, pNode1, pNode2, SubVectorHandler::PutRowIndex(), R1h, R1hr, R2hr, VectorHandler::ResizeReset(), VectorHandler::Sub(), total_equation_element, and Zero3.

 {
 
         DEBUGCOUT("Entering TotalReaction::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 iNode1FirstVelIndex = iNode1FirstPosIndex + 6;
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstVelIndex = iNode2FirstPosIndex + 6;
         integer iFirstReactionIndex = total_equation_element->iGetFirstIndex();
         integer iReactionPrimeIndex = iFirstReactionIndex + nConstraints;
 
         /* Setta gli indici */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstPosIndex+iCnt);
                 WorkVec.PutRowIndex(6 + iCnt, iNode1FirstVelIndex + iCnt);
                 WorkVec.PutRowIndex(12 + iCnt, iNode2FirstPosIndex + iCnt);
                 WorkVec.PutRowIndex(18 + iCnt, iNode2FirstVelIndex + iCnt);
         }
 
         for (unsigned int iCnt = 1; iCnt <= nConstraints; iCnt++)       {
                 WorkVec.PutRowIndex(24 + iCnt, iFirstReactionIndex + iCnt);
                 WorkVec.PutRowIndex(24 + nConstraints + iCnt, iReactionPrimeIndex + iCnt);
         }
 
         /* Recupera i dati */
         /* Recupera i dati che servono */
         Mat3x3 R1(pNode1->GetRRef()*R1h);
         Mat3x3 R1r(pNode1->GetRRef()*R1hr);
         Mat3x3 R2r(pNode2->GetRCurr()*R2hr);
         
         Vec3 b2(pNode2->GetRCurr()*f2);
         Vec3 b1(pNode2->GetXCurr() + b2 - pNode1->GetXCurr());
         
         Vec3 Omega1(pNode1->GetWCurr());
         Vec3 Omega2(pNode2->GetWCurr());
         
         Vec3 b1Prime(pNode2->GetVCurr() + Omega2.Cross(b2) - pNode1->GetVCurr());
         
         Vec3 FPrime(Zero3);
         Vec3 MPrime(Zero3);
 
         /* Aggiorna F ed M, che restano anche per InitialAssJac */
         for (unsigned iCnt = 0; iCnt < nPosConstraints; iCnt++) {
                 F(iPosIncid[iCnt]) = XCurr(iFirstReactionIndex + 1 + iCnt);
                 FPrime(iPosIncid[iCnt]) = XCurr(iReactionPrimeIndex + 1 + iCnt);
         }
 
         for (unsigned iCnt = 0; iCnt < nRotConstraints; iCnt++) {
                 M(iRotIncid[iCnt]) = XCurr(iFirstReactionIndex + 1 + nPosConstraints + iCnt);
                 MPrime(iRotIncid[iCnt]) = XCurr(iReactionPrimeIndex + 1 + nPosConstraints + iCnt);
         }
 
         Vec3 FTmp(R1 * F);
         Vec3 MTmp(R1r * M);
         Vec3 FPrimeTmp(R1 * FPrime);
         Vec3 MPrimeTmp(R1r * MPrime);
 
         /* Equilibrium, node 1 */
         WorkVec.Add(1, FTmp);
         WorkVec.Add(3 + 1, b1.Cross(FTmp) + MTmp);
 
         /* d/dt(Equilibrium), node 1 */
         WorkVec.Add(6 + 1, FPrimeTmp);
         WorkVec.Add(9 + 1, b1.Cross(FPrimeTmp) + MPrimeTmp);
 
         /* Equilibrium, node 2 */
         WorkVec.Sub(12 + 1, FTmp);
         WorkVec.Sub(15 + 1, b2.Cross(FTmp) + MTmp);
 
         /* d/dt( Equilibrium ) , node 2 */
         WorkVec.Sub(18 + 1, FPrimeTmp);
         WorkVec.Sub(21 + 1, b2.Cross(FPrimeTmp) + MPrimeTmp);
 
         return WorkVec;
 }

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 381 of file totalequation.h.

References nConstraints.

Referenced by InitialAssJac(), and InitialAssRes().

                                                                           {
                 *piNumRows = 24;
                 *piNumCols = *piNumRows = 24 + 2*nConstraints;
         };

void TotalReaction::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 1847 of file totalequation.cc.

References ToBeOutput::bToBeOutput(), F, f2, WithLabel::GetLabel(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), OutputHandler::Joints(), M, Mat3x3::MulTM(), Mat3x3::MulTV(), Joint::Output(), pNode1, pNode2, R1h, R1hr, R2hr, tilde_f1, V1, V2, and RotManip::VecRot().

 {
         if (bToBeOutput()) {
                 const Vec3& X1(pNode1->GetXCurr());
                 const Vec3& X2(pNode2->GetXCurr());
                 const Mat3x3& R1(pNode1->GetRCurr());
                 const Mat3x3& R2(pNode2->GetRCurr());
                 const Vec3& V1(pNode1->GetVCurr());
                 const Vec3& V2(pNode2->GetVCurr());
                 const Vec3& Omega1(pNode1->GetWCurr());
                 const Vec3& Omega2(pNode2->GetWCurr());
 
                 Mat3x3 R1Tmp(R1*R1h);
                 Mat3x3 R1rTmp(R1*R1hr);
                 Mat3x3 R2rTmp(R2*R2hr);
                 Mat3x3 RTmp(R1rTmp.MulTM(R2rTmp));
                 Vec3 b2(R2*f2);
                 Vec3 b1(X2 + b2 - X1);
                 Vec3 X(R1Tmp.MulTV(b1) - tilde_f1);
 
                 Joint::Output(OH.Joints(), "TotalReaction", GetLabel(),
                         F, M, R1Tmp*F, R1rTmp*M)
                         << " " << X
                         << " " << RotManip::VecRot(RTmp)
                         << " " << R1Tmp.MulTV(V2 + Omega2.Cross(b2) - V1 - Omega1.Cross(b1))
                         << " " << R1rTmp.MulTV(Omega2 - Omega1)
                         << std::endl;
                         // accelerations?
         }
 }

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

virtual

Reimplemented from SimulationEntity.

Definition at line 1476 of file totalequation.cc.

References STRLENOF.

 {
         if (strncasecmp(s, "offset{" /*}*/ , STRLENOF("offset{" /*}*/ )) == 0)
         {
                 s += STRLENOF("offset{" /*}*/ );
 
                 if (strcmp(&s[1], /*{*/ "}") != 0) {
                         return 0;
                 }
 
                 switch (s[0]) {
                 case '1':
                         return new Joint::OffsetHint<1>;
 
                 case '2':
                         return new Joint::OffsetHint<2>;
                 }
 
         } else if (strncasecmp(s, "position-hinge{" /*}*/, STRLENOF("position-hinge{" /*}*/)) == 0) {
                 s += STRLENOF("position-hinge{" /*}*/);
 
                 if (strcmp(&s[1], /*{*/ "}") != 0) {
                         return 0;
                 }
 
                 switch (s[0]) {
                 case '1':
                         return new Joint::HingeHint<1>;
 
                 case '2':
                         return new Joint::HingeHint<2>;
                 }
 
         } else if (strncasecmp(s, "position-drive3{" /*}*/, STRLENOF("position-drive3{" /*}*/)) == 0) {
                 s += STRLENOF("position-");
 
                 Hint *pH = ::ParseHint(pDM, s);
                 if (pH) {
                         TplDriveHint<Vec3> *pTDH = dynamic_cast<TplDriveHint<Vec3> *>(pH);
                         if (pTDH) {
                                 return new PositionDriveHint<Vec3>(pTDH);
                         }
                 }
                 return 0;
 
         } else if (strncasecmp(s, "orientation-hinge{" /*}*/, STRLENOF("orientation-hinge{" /*}*/)) == 0) {
                 s += STRLENOF("orientation-hinge{" /*}*/);
 
                 if (strcmp(&s[1], /*{*/ "}") != 0) {
                         return 0;
                 }
 
                 switch (s[0]) {
                 case '1':
                         return new Joint::HingeHint<1>;
 
                 case '2':
                         return new Joint::HingeHint<2>;
                 }
 
         } else if (strncasecmp(s, "orientation-drive3{" /*}*/, STRLENOF("orientation-drive3{" /*}*/)) == 0) {
                 s += STRLENOF("orientation-");
 
                 Hint *pH = ::ParseHint(pDM, s);
                 if (pH) {
                         TplDriveHint<Vec3> *pTDH = dynamic_cast<TplDriveHint<Vec3> *>(pH);
                         if (pTDH) {
                                 return new OrientationDriveHint<Vec3>(pTDH);
                         }
                 }
                 return 0;
         }
 
         return 0;
 }

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

virtual

Implements Elem.

Definition at line 1568 of file totalequation.cc.

References bPosActive, bRotActive, f1, f2, WithLabel::GetLabel(), Mat3x3::GetVec(), pNode1, pNode2, R1h, R1hr, R2h, R2hr, Joint::Restart(), and Vec3::Write().

 {
         Joint::Restart(out) << ", total equation, "
                 << pNode1->GetLabel() << ", "
                         << "position, ";
                         f1.Write(out, ", ") << ", "
                         << "position orientation, "
                                 "1 , ";
                                 R1h.GetVec(1).Write(out, ", ") << ", "
                                 "2 , ";
                                 R1h.GetVec(2).Write(out, ", ") << ", "
                         << "rotation orientation, "
                                 "1 , ";
                                 R1hr.GetVec(1).Write(out, ", ") << ", "
                                 "2 , ";
                                 R1hr.GetVec(2).Write(out, ", ") << ", "
                 << pNode2->GetLabel() << ", "
                         << "position, ";
                         f2.Write(out, ", ") << ", "
                         << "position orientation, "
                                 "1 , ";
                                 R2h.GetVec(1).Write(out, ", ") << ", "
                                 "2 , ";
                                 R2h.GetVec(2).Write(out, ", ") << ", "
                         << "rotation orientation, "
                                 "1 , ";
                                 R2hr.GetVec(1).Write(out, ", ") << ", "
                                 "2 , ";
                                 R2hr.GetVec(2).Write(out, ", ");
 
         if (bPosActive[0] || bPosActive[1] || bPosActive[2]) {
                 out << ", position constraint";
                 for (unsigned i = 0; i < 3; i++) {
                         if (bPosActive[i]) {
                                 out << ", active";
                         } else {
                                 out << ", inactive";
                         }
                 }
         }
 
         if (bRotActive[0] || bRotActive[1] || bRotActive[2]) {
                 out << ", orientation constraint";
                 for (unsigned i = 0; i < 3; i++) {
                         if (bRotActive[i]) {
                                 out << ", active";
                         } else {
                                 out << ", inactive";
                         }
                 }
         }
 
         return out << std::endl;
 }

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

virtual

Reimplemented from Joint.

Definition at line 1383 of file totalequation.cc.

References f1, f2, StructNode::GetRCurr(), StructDispNode::GetXCurr(), MBDYN_EXCEPT_ARGS, Mat3x3::MulTM(), Mat3x3::MulTV(), pNode1, pNode2, Joint::JointDriveHint< T >::pTDH, R1h, R1hr, R2h, R2hr, tilde_f1, and WithLabel::uLabel.

 {
         if (ph) {
                 for (unsigned int i = 0; i < ph->size(); i++) {
                         Joint::JointHint *pjh = dynamic_cast<Joint::JointHint *>((*ph)[i]);
 
                         if (pjh) {
 
                                 if (dynamic_cast<Joint::OffsetHint<1> *>(pjh)) {
                                         const Mat3x3& R1(pNode1->GetRCurr());
                                         Vec3 fTmp2(pNode2->GetRCurr()*f2);
 
                                         f1 = R1.MulTV(pNode2->GetXCurr() + fTmp2 - pNode1->GetXCurr());
                                         tilde_f1 = R1h.MulTV(f1);
                                         
 
                                 } else if (dynamic_cast<Joint::OffsetHint<2> *>(pjh)) {
                                         const Mat3x3& R2(pNode2->GetRCurr());
                                         Vec3 fTmp1(pNode1->GetRCurr()*f1);
 
                                         f2 = R2.MulTV(pNode1->GetXCurr() + fTmp1 - pNode2->GetXCurr());
 
                                 } else if (dynamic_cast<Joint::HingeHint<1> *>(pjh)) {
                                         if (dynamic_cast<Joint::PositionHingeHint<1> *>(pjh)) {
                                                 const Mat3x3& R1(pNode1->GetRCurr());
                                                 R1h = R1.MulTM(pNode2->GetRCurr()*R2h);
 
                                         } else if (dynamic_cast<Joint::OrientationHingeHint<1> *>(pjh)) {
                                                 const Mat3x3& R1(pNode1->GetRCurr());
                                                 R1hr = R1.MulTM(pNode2->GetRCurr()*R2hr);
                                         }
 
                                 } else if (dynamic_cast<Joint::HingeHint<2> *>(pjh)) {
                                         if (dynamic_cast<Joint::PositionHingeHint<2> *>(pjh)) {
                                                 const Mat3x3& R2(pNode2->GetRCurr());
                                                 R2h = R2.MulTM(pNode1->GetRCurr()*R1h);
 
                                         } else if (dynamic_cast<Joint::OrientationHingeHint<2> *>(pjh)) {
                                                 const Mat3x3& R2(pNode2->GetRCurr());
                                                 R2hr = R2.MulTM(pNode1->GetRCurr()*R1hr);
                                         }
 
 #if 0
                                 } else if (dynamic_cast<Joint::JointDriveHint<Vec3> *>(pjh)) {
                                         Joint::JointDriveHint<Vec3> *pjdh
                                                 = dynamic_cast<Joint::JointDriveHint<Vec3> *>(pjh);
                                         pedantic_cout("TotalReaction(" << uLabel << "): "
                                                 "creating drive from hint[" << i << "]..." << std::endl);
  
                                         TplDriveCaller<Vec3> *pDC = pjdh->pTDH->pCreateDrive(pDM);
                                         if (pDC == 0) {
                                                 silent_cerr("TotalReaction(" << uLabel << "): "
                                                         "unable to create drive "
                                                         "after hint #" << i << std::endl);
                                                 throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                                         }
  
                                         if (dynamic_cast<Joint::PositionDriveHint<Vec3> *>(pjdh)) {
                                                 XDrv.Set(pDC);
  
                                         } else if (dynamic_cast<Joint::VelocityDriveHint<Vec3> *>(pjdh)) {
                                                 XPDrv.Set(pDC);
  
                                         } else if (dynamic_cast<Joint::AccelerationDriveHint<Vec3> *>(pjdh)) {
                                                 XPPDrv.Set(pDC);
  
                                         } else if (dynamic_cast<Joint::OrientationDriveHint<Vec3> *>(pjdh)) {
                                                 ThetaDrv.Set(pDC);
  
                                         } else if (dynamic_cast<Joint::AngularVelocityDriveHint<Vec3> *>(pjdh)) {
                                                 OmegaDrv.Set(pDC);
  
                                         } else if (dynamic_cast<Joint::AngularAccelerationDriveHint<Vec3> *>(pjdh)) {
                                                 OmegaPDrv.Set(pDC);
  
                                         } else {
                                                 delete pDC;
                                         }
 #endif
  
                                 } else if (dynamic_cast<Joint::ReactionsHint *>(pjh)) {
                                         /* TODO */
                                 }
 
                                 continue;
                         }
                 }
         }
 }

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

inlinevirtual

Implements Elem.

Definition at line 353 of file totalequation.h.

References nConstraints.

Referenced by AssJac(), and AssRes().

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