#include <body_vm.h>

Inheritance diagram for VariableBody:

Collaboration diagram for VariableBody:

Public Member Functions
	VariableBody (unsigned int uL, const StructNode pNode, const DriveCaller pDCMass, const TplDriveCaller< Vec3 > pDCXgc, const TplDriveCaller< Mat3x3 > pDCJgc_vm, const TplDriveCaller< Mat3x3 > *pDCJgc_vg, flag fOut)

virtual	~VariableBody (void)

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

doublereal	dGetM (void) const

Vec3	GetS (void) const

Mat3x3	GetJ (void) const

const StructNode *	pGetNode (void) const

virtual Elem::Type	GetElemType (void) const

virtual unsigned int	iGetInitialNumDof (void) const

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

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 Elem
	Elem (unsigned int uL, flag fOut)

virtual	~Elem (void)

virtual unsigned int	iGetNumDof (void) const

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

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

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

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

virtual DofOrder::Order	GetDofType (unsigned int) const

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

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

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

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

virtual bool	bInverseDynamics (void) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

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

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

virtual int	GetNumConnectedNodes (void) const

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

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

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

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

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

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

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

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

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

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

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

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

virtual void	ReadInitialState (MBDynParser &HP)

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

virtual	~ToBeOutput (void)

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH) const

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

virtual flag	fToBeOutput (void) const

virtual bool	bToBeOutput (void) const

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

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

virtual	~ElemGravityOwner (void)

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

Vec3	GetS (void) const

Mat3x3	GetJ (void) const

Vec3	GetB (void) const

Vec3	GetG (void) const

Public Member Functions inherited from GravityOwner
	GravityOwner (void)

virtual	~GravityOwner (void)

void	PutGravity (const Gravity *pG)

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

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

virtual	~InitialAssemblyElem (void)

Public Member Functions inherited from SubjectToInitialAssembly
	SubjectToInitialAssembly (void)

virtual	~SubjectToInitialAssembly (void)

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

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

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

Protected Member Functions
Vec3	GetS_int (void) const

Mat3x3	GetJ_int (void) const

void	AssVecRBK_int (SubVectorHandler &WorkVec)

void	AssMatsRBK_int (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, const doublereal &dCoef, const Vec3 &Sc)

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

virtual Vec3	GetG_int (void) const

Protected Attributes
const StructNode *	pNode

DriveOwner	m_Mass

TplDriveOwner< Vec3 >	m_Xgc

TplDriveOwner< Mat3x3 >	m_Jgc_vm

TplDriveOwner< Mat3x3 >	m_Jgc_vg

doublereal	dMTmp

Vec3	STmp

Mat3x3	JTmp

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from GravityOwner
Gravity *	pGravity

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

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

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

Detailed Description

Definition at line 45 of file body_vm.h.

Constructor & Destructor Documentation

VariableBody::VariableBody	(	unsigned int	uL,
		const StructNode *	pNode,
		const DriveCaller *	pDCMass,
		const TplDriveCaller< Vec3 > *	pDCXgc,
		const TplDriveCaller< Mat3x3 > *	pDCJgc_vm,
		const TplDriveCaller< Mat3x3 > *	pDCJgc_vg,
		flag	fOut
	)

Definition at line 43 of file body_vm.cc.

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

 : Elem(uL, fOut),
 ElemGravityOwner(uL, fOut),
 InitialAssemblyElem(uL, fOut),
 pNode(pNode),
 m_Mass(pDCMass),
 m_Xgc(pDCXgc),
 m_Jgc_vm(pDCJgc_vm),
 m_Jgc_vg(pDCJgc_vg)
 {
         ASSERT(pNode != 0);
         ASSERT(pNode->GetNodeType() == Node::STRUCTURAL);
 }

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VariableBody::~VariableBody ( void )

virtual

Definition at line 65 of file body_vm.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

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

virtual

Reimplemented from SimulationEntity.

Definition at line 105 of file body_vm.cc.

References DriveOwner::dGet(), dMTmp, TplDriveOwner< T >::Get(), StructNode::GetRRef(), JTmp, m_Jgc_vg, m_Jgc_vm, m_Mass, m_Xgc, MatCrossCross, pNode, R, and STmp.

 {
         const Mat3x3& R = pNode->GetRRef();
 
         dMTmp = m_Mass.dGet();
         Vec3 x(m_Xgc.Get());
         STmp = (R*x)*dMTmp;
         JTmp = R*(m_Jgc_vm.Get() + m_Jgc_vg.Get() + Mat3x3(MatCrossCross, x, x*dMTmp)).MulMT(R);
 }

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void VariableBody::AssMatsRBK_int	(	FullSubMatrixHandler &	WMA,
		FullSubMatrixHandler &	WMB,
		const doublereal &	dCoef,
		const Vec3 &	Sc
	)

protected

Definition at line 239 of file body_vm.cc.

References FullSubMatrixHandler::Add(), Vec3::Cross(), dMTmp, StructDispNode::GetVCurr(), RigidBodyKinematics::GetW(), StructNode::GetWCurr(), RigidBodyKinematics::GetWP(), StructDispNode::GetXCurr(), RigidBodyKinematics::GetXPP(), JTmp, MatCross, MatCrossCross, StructDispNode::pGetRBK(), pNode, STmp, and FullSubMatrixHandler::Sub().

Referenced by DynamicVariableBody::AssMats(), and StaticVariableBody::AssMats().

 {
         const RigidBodyKinematics *pRBK = pNode->pGetRBK();
 
         Mat3x3 MTmp;
         Vec3 VTmp;
 
         integer iIdx = 0;
         if (dynamic_cast<DynamicVariableBody *>(this)) {
                 iIdx = 6;
         }
 
         // f: delta x
         MTmp = Mat3x3(MatCross, pRBK->GetWP());
         MTmp += Mat3x3(MatCrossCross, pRBK->GetW(), pRBK->GetW());
 
         WMA.Add(iIdx + 1, 1, MTmp*(dMTmp*dCoef));
 
 
         // f: theta delta
 
         WMA.Sub(iIdx + 1, 3 + 1, MTmp*Mat3x3(MatCross, Sc));
 
 
         // m: delta x
         MTmp = Mat3x3(MatCrossCross, Sc, pRBK->GetWP());
         MTmp += Sc.Cross(Mat3x3(MatCrossCross, pRBK->GetW(), pRBK->GetW()));
 
         WMA.Add(iIdx + 3 + 1, 1, MTmp);
 
 
         // m: theta delta
 
         VTmp = pRBK->GetXPP();
         VTmp += pRBK->GetWP().Cross(pNode->GetXCurr());
         VTmp += pRBK->GetW().Cross(pRBK->GetW().Cross(pNode->GetXCurr()));
         VTmp += pRBK->GetW().Cross(pNode->GetVCurr());
 
         MTmp = Mat3x3(MatCrossCross, VTmp, Sc);
 
         VTmp = (pRBK->GetW() + pNode->GetWCurr())*dCoef;
 
         Mat3x3 MTmp2(JTmp*Mat3x3(MatCross, pRBK->GetW()) - Mat3x3(MatCross, JTmp*pRBK->GetW()));
         MTmp += VTmp.Cross(MTmp2);
 
         VTmp = (pRBK->GetWP() + pRBK->GetW().Cross(pNode->GetWCurr()))*dCoef;
 
         MTmp += JTmp*Mat3x3(MatCross, VTmp);
         MTmp -= Mat3x3(MatCross, JTmp*VTmp);
 
         MTmp -= pNode->GetVCurr().Cross(Mat3x3(MatCrossCross, pRBK->GetW(), Sc));
 
         WMA.Add(iIdx + 3 + 1, 3 + 1, MTmp);
 
 
         // m: delta dot x
         MTmp = Mat3x3(MatCrossCross, STmp, pRBK->GetW());
         MTmp -= Mat3x3(MatCross, pRBK->GetW().Cross(STmp));
 
         WMB.Add(iIdx + 3 + 1, 1, MTmp);
 
         // m: delta omega
         WMB.Add(iIdx + 3 + 1, 3 + 1, MTmp2);
 }

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void VariableBody::AssVecRBK_int ( SubVectorHandler & WorkVec )

protected

Definition at line 197 of file body_vm.cc.

References a, Vec3::Cross(), DriveOwner::dGet(), dMTmp, StructDispNode::GetVCurr(), RigidBodyKinematics::GetW(), StructNode::GetWCurr(), RigidBodyKinematics::GetWP(), StructDispNode::GetXCurr(), RigidBodyKinematics::GetXPP(), JTmp, m_Mass, StructDispNode::pGetRBK(), pNode, STmp, and VectorHandler::Sub().

Referenced by DynamicVariableBody::AssRes(), and StaticVariableBody::AssRes().

 {
         const RigidBodyKinematics *pRBK = pNode->pGetRBK();
 
         // NOTE: dMTmp, STmp, JTmp updated earlier
 
         Vec3 s0;
 
         integer iIdx = 0;
         if (dynamic_cast<DynamicVariableBody *>(this)) {
                 iIdx = 6;
         }
 
         s0 = pNode->GetXCurr()*m_Mass.dGet() + STmp;
 
         // force
         Vec3 f;
         f = pRBK->GetXPP()*dMTmp;
         f += pRBK->GetWP().Cross(s0);
         f += pRBK->GetW().Cross(pRBK->GetW().Cross(s0));
 
         WorkVec.Sub(iIdx + 1, f);
 
         // moment
         Vec3 a;
         a = pRBK->GetXPP();
         a += pRBK->GetWP().Cross(pNode->GetXCurr());
         a += pRBK->GetW().Cross(pRBK->GetW().Cross(pNode->GetXCurr()));
         a += pRBK->GetW().Cross(pNode->GetVCurr());
 
         Vec3 m;
         m = STmp.Cross(a);
         m += pRBK->GetW().Cross(JTmp*pRBK->GetW());
         m += JTmp*pRBK->GetWP();
         m += pNode->GetWCurr().Cross(JTmp*pRBK->GetW());
         m -= JTmp*(pNode->GetWCurr().Cross(pRBK->GetW()));
         m += pNode->GetVCurr().Cross(pRBK->GetW().Cross(STmp));
 
         WorkVec.Sub(iIdx + 3 + 1, m);
 }

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doublereal VariableBody::dGetM ( void ) const

virtual

Reimplemented from ElemGravityOwner.

Definition at line 117 of file body_vm.cc.

References DriveOwner::dGet(), and m_Mass.

 {
         return m_Mass.dGet();
 }

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doublereal VariableBody::dGetPrivData ( unsigned int i ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 167 of file body_vm.cc.

References GravityOwner::bGetGravity(), Vec3::Cross(), DriveOwner::dGet(), Vec3::Dot(), TplDriveOwner< T >::Get(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), m_Jgc_vg, m_Jgc_vm, m_Mass, m_Xgc, and pNode.

 {
         if (i == 1) {
                 // kinetic energy
                 const Mat3x3& Rn = pNode->GetRCurr();
                 const Vec3& Vn = pNode->GetVCurr();
                 const Vec3& Wn = pNode->GetWCurr();
 
                 Vec3 DXgc = Rn*m_Xgc.Get();
                 Vec3 V = Vn + Wn.Cross(DXgc);
                 Vec3 W = Rn*Wn;
 
                 return ((V*V)*m_Mass.dGet() + W*((m_Jgc_vm.Get() + m_Jgc_vg.Get())*W))/2.;
         }
 
         if (i == 2) {
                 // potential energy
                 // NOTE: it is only valid for uniform gravity field
                 Vec3 Xgc = pNode->GetXCurr() + pNode->GetRCurr()*m_Xgc.Get();
 
                 Vec3 GravityAcceleration;
                 if (GravityOwner::bGetGravity(Xgc, GravityAcceleration)) {
                         return -Xgc.Dot(GravityAcceleration)*m_Mass.dGet();
                 }
         }
 
         return 0.;
 }

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

inlinevirtual

Implements Elem.

Definition at line 102 of file body_vm.h.

References Elem::BODY.

                                                  {
                 return Elem::BODY; 
         };

Mat3x3 VariableBody::GetJ ( void ) const

Definition at line 131 of file body_vm.cc.

References GetJ_int().

 {
         return GetJ_int();
 }

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Mat3x3 VariableBody::GetJ_int ( void ) const

protectedvirtual

Reimplemented from ElemGravityOwner.

Definition at line 81 of file body_vm.cc.

References DriveOwner::dGet(), TplDriveOwner< T >::Get(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), m_Jgc_vg, m_Jgc_vm, m_Mass, m_Xgc, MatCrossCross, and pNode.

Referenced by GetJ().

 {
         Vec3 x = pNode->GetXCurr() + pNode->GetRCurr()*m_Xgc.Get();
 
         return pNode->GetRCurr()*(m_Jgc_vm.Get() + m_Jgc_vg.Get()).MulMT(pNode->GetRCurr())
                 - Mat3x3(MatCrossCross, x, x*m_Mass.dGet());
 }

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Vec3 VariableBody::GetS ( void ) const

Definition at line 124 of file body_vm.cc.

References GetS_int().

 {
         return GetS_int();
 }

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Vec3 VariableBody::GetS_int ( void ) const

protectedvirtual

Reimplemented from ElemGravityOwner.

Definition at line 73 of file body_vm.cc.

References DriveOwner::dGet(), TplDriveOwner< T >::Get(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), m_Mass, m_Xgc, and pNode.

Referenced by GetS().

 {
         return (pNode->GetXCurr() + pNode->GetRCurr()*m_Xgc.Get())*m_Mass.dGet();
 }

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virtual unsigned int VariableBody::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 107 of file body_vm.h.

                                                            { 
                 return 0; 
         };

unsigned int VariableBody::iGetNumPrivData ( void ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 145 of file body_vm.cc.

 {
         return 1;
 }

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

virtual

Reimplemented from SimulationEntity.

Definition at line 151 of file body_vm.cc.

 {
         if (strcmp(s, "E") == 0) {
                 // kinetic energy
                 return 1;
         }
 
         if (strcmp(s, "V") == 0) {
                 // potential energy
                 return 2;
         }
 
         return 0;
 }

const StructNode * VariableBody::pGetNode ( void ) const

Definition at line 138 of file body_vm.cc.

References pNode.

 {
         return pNode;
 }

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

virtual

Implements Elem.

Definition at line 92 of file body_vm.cc.

References WithLabel::GetLabel(), m_Jgc_vg, m_Jgc_vm, m_Mass, m_Xgc, TplDriveOwner< T >::pGetDriveCaller(), DriveOwner::pGetDriveCaller(), pNode, TplDriveCaller< T >::Restart(), and DriveCaller::Restart().

 {
         out << "  body: " << GetLabel() << ", "
                 << pNode->GetLabel() << ", variable mass, ", m_Mass.pGetDriveCaller()->Restart(out) << ", "
                 << "reference, node, ", m_Xgc.pGetDriveCaller()->Restart(out) << ", "
                 << "reference, node, ", m_Jgc_vm.pGetDriveCaller()->Restart(out) << ", "
                 << "reference, node, ", m_Jgc_vg.pGetDriveCaller()->Restart(out) << ";" << std::endl;
 
         return out;
 }