MBDyn-1.7.3
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
ViscousAxialJoint Class Reference

#include <vehj4.h>

Inheritance diagram for ViscousAxialJoint:
Inheritance graph
[legend]
Collaboration diagram for ViscousAxialJoint:
Collaboration graph
[legend]

Public Member Functions

 ViscousAxialJoint (unsigned int uL, const DofOwner *pDO, const ConstitutiveLaw1D *pCL, const StructNode *pN1, const StructNode *pN2, const Mat3x3 &tilde_R1h, const Mat3x3 &tilde_R2h, flag fOut)
 
virtual ~ViscousAxialJoint (void)
 
virtual void AfterConvergence (const VectorHandler &X, const VectorHandler &XP)
 
virtual ConstLawType::Type GetConstLawType (void) const
 
virtual VariableSubMatrixHandler & AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
 
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)
 
SubVectorHandler & AssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)
 
virtual void InitialWorkSpaceDim (integer *piNumRows, integer *piNumCols) const
 
virtual VariableSubMatrixHandler & InitialAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)
 
virtual SubVectorHandler & InitialAssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr)
 
- Public Member Functions inherited from Elem
 Elem (unsigned int uL, flag fOut)
 
virtual ~Elem (void)
 
virtual std::ostream & DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const
 
virtual void DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const
 
virtual std::ostream & DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const
 
virtual void DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const
 
virtual DofOrder::Order GetDofType (unsigned int) const
 
void SetInverseDynamicsFlags (unsigned uIDF)
 
unsigned GetInverseDynamicsFlags (void) const
 
bool bIsErgonomy (void) const
 
bool bIsRightHandSide (void) const
 
virtual VariableSubMatrixHandler & AssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)
 
virtual int GetNumConnectedNodes (void) const
 
- Public Member Functions inherited from WithLabel
 WithLabel (unsigned int uL=0, const std::string &sN="")
 
virtual ~WithLabel (void)
 
void PutLabel (unsigned int uL)
 
void PutName (const std::string &sN)
 
unsigned int GetLabel (void) const
 
const std::string & GetName (void) const
 
- Public Member Functions inherited from SimulationEntity
 SimulationEntity (void)
 
virtual ~SimulationEntity (void)
 
virtual bool bIsValidIndex (unsigned int i) const
 
virtual DofOrder::Order GetEqType (unsigned int i) const
 
virtual 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 AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)
 
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 DeformableAxialJoint
 DeformableAxialJoint (unsigned int uL, const DofOwner *pDO, const ConstitutiveLaw1D *pCL, const StructNode *pN1, const StructNode *pN2, const Mat3x3 &tilde_R1h, const Mat3x3 &tilde_R2h, flag fOut)
 
virtual ~DeformableAxialJoint (void)
 
virtual Joint::Type GetJointType (void) const
 
virtual std::ostream & Restart (std::ostream &out) const
 
virtual void Output (OutputHandler &OH) const
 
virtual void AfterPredict (VectorHandler &X, VectorHandler &XP)
 
void SetValue (DataManager *pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints *ph=0)
 
virtual void SetInitialValue (VectorHandler &)
 
virtual bool bInverseDynamics (void) const
 
virtual Hint * ParseHint (DataManager *pDM, const char *s) const
 
virtual unsigned int iGetNumDof (void) const
 
virtual void WorkSpaceDim (integer *piNumRows, integer *piNumCols) const
 
virtual unsigned int iGetInitialNumDof (void) const
 
virtual void GetConnectedNodes (std::vector< const Node * > &connectedNodes) const
 
virtual unsigned int iGetNumPrivData (void) const
 
virtual unsigned int iGetPrivDataIdx (const char *s) const
 
virtual doublereal dGetPrivData (unsigned int i) const
 
- Public Member Functions inherited from Joint
 Joint (unsigned int uL, const DofOwner *pD, flag fOut)
 
virtual ~Joint (void)
 
virtual Elem::Type GetElemType (void) const
 
std::ostream & Output (std::ostream &out, const char *sJointName, unsigned int uLabel, const Vec3 &FLocal, const Vec3 &MLocal, const Vec3 &FGlobal, const Vec3 &MGlobal) const
 
virtual void 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)
 
- Public Member Functions inherited from ConstitutiveLawOwner< T, Tder >
 ConstitutiveLawOwner (const ConstitutiveLaw< T, Tder > *pCL)
 
virtual ~ConstitutiveLawOwner (void)
 
ConstitutiveLaw< T, Tder > * pGetConstLaw (void) const
 
void Update (const T &Eps, const T &EpsPrime=mb_zero< T >())
 
void AfterConvergence (const T &Eps, const T &EpsPrime=mb_zero< T >())
 
const T & GetF (void) const
 
const Tder & GetFDE (void) const
 
const Tder & GetFDEPrime (void) const
 
virtual std::ostream & DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const
 
virtual void DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const
 
virtual std::ostream & DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const
 
virtual void DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const
 
virtual DofOrder::Order GetDofType (unsigned int i) const
 
virtual std::ostream & OutputAppend (std::ostream &out) const
 

Protected Member Functions

virtual void AfterPredict (void)
 
virtual void AssMats (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef)
 
virtual void AssVec (SubVectorHandler &WorkVec)
 
- Protected Member Functions inherited from DeformableAxialJoint
virtual void AssMatM (FullSubMatrixHandler &WMA, doublereal dCoef)
 
void AssMatMDE (FullSubMatrixHandler &WMA, doublereal dCoef)
 
virtual void AssMatMDEPrime (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef)
 
- 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

doublereal dOmega
 
- Protected Attributes inherited from WithLabel
unsigned int uLabel
 
std::string sName
 
- Protected Attributes inherited from ToBeOutput
flag fOutput
 
- Protected Attributes inherited from DeformableAxialJoint
const StructNode * pNode1
 
const StructNode * pNode2
 
Mat3x3 tilde_R1h
 
Mat3x3 tilde_R2h
 
bool bFirstRes
 
doublereal dTol
 
doublereal dM
 
doublereal dMDE
 
doublereal dMDEPrime
 
Vec3 M
 
Mat3x3 MDE
 
Mat3x3 MDEPrime
 
- Protected Attributes inherited from GravityOwner
Gravity * pGravity
 
- Protected Attributes inherited from ConstitutiveLawOwner< T, Tder >
ConstitutiveLaw< T, Tder > * pConstLaw
 

Additional Inherited Members

- Public Types inherited from Elem
enum  Type {
  UNKNOWN = -1, AIRPROPERTIES = 0, INDUCEDVELOCITY, AUTOMATICSTRUCTURAL,
  GRAVITY, BODY, JOINT, JOINT_REGULARIZATION,
  BEAM, PLATE, FORCE, INERTIA,
  ELECTRICBULK, ELECTRIC, THERMAL, HYDRAULIC,
  BULK, LOADABLE, DRIVEN, EXTERNAL,
  AEROMODAL, AERODYNAMIC, GENEL, SOCKETSTREAM_OUTPUT,
  RTAI_OUTPUT = SOCKETSTREAM_OUTPUT, LASTELEMTYPE
}
 
- Public Types inherited from SimulationEntity
typedef std::vector< Hint * > Hints
 
- Public Types inherited from ToBeOutput
enum  { OUTPUT = 0x1U, OUTPUT_MASK = 0xFU, OUTPUT_PRIVATE = 0x10U, OUTPUT_PRIVATE_MASK = ~OUTPUT_MASK }
 
- Public Types inherited from Joint
enum  Type {
  UNKNOWN = -1, DISTANCE = 0, DISTANCEWITHOFFSET, CLAMP,
  SPHERICALHINGE, PIN, UNIVERSALHINGE, UNIVERSALROTATION,
  UNIVERSALPIN, PLANEHINGE, PLANEROTATION, PLANEPIN,
  AXIALROTATION, PLANEDISP, PLANEDISPPIN, INPLANE,
  INPLANECONTACT, J_INLINE, ROD, RODBEZIER,
  DEFORMABLEHINGE, DEFORMABLEDISPJOINT, DEFORMABLEJOINT, DEFORMABLEAXIALJOINT,
  VISCOUSBODY, LINEARVELOCITY, ANGULARVELOCITY, LINEARACCELERATION,
  ANGULARACCELERATION, PRISMATIC, DRIVEHINGE, DRIVEDISP,
  DRIVEDISPPIN, IMPOSEDORIENTATION, IMPOSEDDISP, IMPOSEDDISPPIN,
  IMPOSEDKINEMATICS, BEAMSLIDER, BRAKE, GIMBAL,
  POINT_SURFACE_CONTACT, TOTALJOINT, TOTALPINJOINT, TOTALEQUATION,
  TOTALREACTION, MODAL, SCREWJOINT, LASTJOINTTYPE
}
 

Detailed Description

Definition at line 279 of file vehj4.h.

Constructor & Destructor Documentation

ViscousAxialJoint::ViscousAxialJoint ( unsigned int  uL,
const DofOwner *  pDO,
const ConstitutiveLaw1D *  pCL,
const StructNode *  pN1,
const StructNode *  pN2,
const Mat3x3 &  tilde_R1h,
const Mat3x3 &  tilde_R2h,
flag  fOut 
)

Definition at line 628 of file vehj4.cc.

References AfterPredict().

636 : Elem(uL, fOut),
637 DeformableAxialJoint(uL, pDO, pCL, pN1, pN2, tilde_R1h, tilde_R2h, fOut)
638 {
639  // force update of MDE/MDEPrime as needed
640  AfterPredict();
641 }
ViscousAxialJoint::AfterPredict
virtual void AfterPredict(void)
Definition: vehj4.cc:656
DeformableAxialJoint::DeformableAxialJoint
DeformableAxialJoint(unsigned int uL, const DofOwner *pDO, const ConstitutiveLaw1D *pCL, const StructNode *pN1, const StructNode *pN2, const Mat3x3 &tilde_R1h, const Mat3x3 &tilde_R2h, flag fOut)
Definition: vehj4.cc:88
Elem::Elem
Elem(unsigned int uL, flag fOut)
Definition: elem.cc:41

Here is the call graph for this function:

ViscousAxialJoint::~ViscousAxialJoint ( void  )
virtual

Definition at line 643 of file vehj4.cc.

References NO_OP.

644 {
645  NO_OP;
646 }
NO_OP
#define NO_OP
Definition: myassert.h:74

Member Function Documentation

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

Reimplemented from SimulationEntity.

Definition at line 649 of file vehj4.cc.

References ConstitutiveLawOwner< T, Tder >::AfterConvergence(), and dOmega.

651 {
652  ConstitutiveLaw1DOwner::AfterConvergence(0, dOmega);
653 }
ViscousAxialJoint::dOmega
doublereal dOmega
Definition: vehj4.h:281
ConstitutiveLawOwner::AfterConvergence
void AfterConvergence(const T &Eps, const T &EpsPrime=mb_zero< T >())
Definition: constltp.h:288

Here is the call graph for this function:

void ViscousAxialJoint::AfterPredict ( void  )
protectedvirtual

Implements DeformableAxialJoint.

Definition at line 656 of file vehj4.cc.

References dOmega, ConstitutiveLawOwner< T, Tder >::GetFDEPrime(), StructNode::GetRRef(), Mat3x3::GetVec(), StructNode::GetWRef(), DeformableAxialJoint::MDEPrime, DeformableAxialJoint::pNode1, DeformableAxialJoint::pNode2, Mat3x3::Tens(), DeformableAxialJoint::tilde_R1h, and ConstitutiveLawOwner< T, Tder >::Update().

Referenced by ViscousAxialJoint().

657 {
658  /* Calcola le deformazioni, aggiorna il legame costitutivo
659  * e crea la MDE */
660 
661  /* Aggiorna il legame costitutivo */
662  Vec3 e1z(pNode1->GetRRef()*tilde_R1h.GetVec(3));
663  dOmega = e1z.Dot(pNode2->GetWRef() - pNode1->GetWRef());
664  ConstitutiveLaw1DOwner::Update(0., dOmega);
665 
666  /* Chiede la matrice tangente di riferimento e la porta
667  * nel sistema globale */
668  MDEPrime = e1z.Tens(e1z*GetFDEPrime());
669 }
StructNode::GetRRef
virtual const Mat3x3 & GetRRef(void) const
Definition: strnode.h:1006
Vec3
Definition: matvec3.h:98
DeformableAxialJoint::pNode1
const StructNode * pNode1
Definition: vehj4.h:48
Mat3x3::Tens
const Mat3x3 & Tens(const Vec3 &a, const Vec3 &b)
Definition: matvec3.h:799
StructNode::GetWRef
virtual const Vec3 & GetWRef(void) const
Definition: strnode.h:1024
Mat3x3::GetVec
Vec3 GetVec(unsigned short int i) const
Definition: matvec3.h:893
DeformableAxialJoint::pNode2
const StructNode * pNode2
Definition: vehj4.h:49
ViscousAxialJoint::dOmega
doublereal dOmega
Definition: vehj4.h:281
DeformableAxialJoint::tilde_R1h
Mat3x3 tilde_R1h
Definition: vehj4.h:50
DeformableAxialJoint::MDEPrime
Mat3x3 MDEPrime
Definition: vehj4.h:67
ConstitutiveLawOwner::GetFDEPrime
const Tder & GetFDEPrime(void) const
Definition: constltp.h:303
ConstitutiveLawOwner::Update
void Update(const T &Eps, const T &EpsPrime=mb_zero< T >())
Definition: constltp.h:283

Here is the call graph for this function:

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

Implements Elem.

Definition at line 673 of file vehj4.cc.

References AssMats(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), DeformableAxialJoint::pNode1, DeformableAxialJoint::pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and Elem::WorkSpaceDim().

677 {
678  FullSubMatrixHandler& WM = WorkMat.SetFull();
679 
680  /* Dimensiona e resetta la matrice di lavoro */
681  integer iNumRows = 0;
682  integer iNumCols = 0;
683  WorkSpaceDim(&iNumRows, &iNumCols);
684  WM.ResizeReset(iNumRows, iNumCols);
685 
686  /* Recupera gli indici */
687  integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex() + 3;
688  integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex() + 3;
689  integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex() + 3;
690  integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex() + 3;
691 
692  /* Setta gli indici della matrice */
693  for (int iCnt = 1; iCnt <= 3; iCnt++) {
694  WM.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
695  WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
696  WM.PutRowIndex(3 + iCnt, iNode2FirstMomIndex + iCnt);
697  WM.PutColIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
698  }
699 
700  AssMats(WM, WM, dCoef);
701 
702  return WorkMat;
703 }
ViscousAxialJoint::AssMats
virtual void AssMats(FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef)
Definition: vehj4.cc:746
FullSubMatrixHandler::PutColIndex
void PutColIndex(integer iSubCol, integer iCol)
Definition: submat.h:325
VariableSubMatrixHandler::SetFull
FullSubMatrixHandler & SetFull(void)
Definition: submat.h:1168
DeformableAxialJoint::pNode1
const StructNode * pNode1
Definition: vehj4.h:48
DeformableAxialJoint::pNode2
const StructNode * pNode2
Definition: vehj4.h:49
StructDispNode::iGetFirstMomentumIndex
virtual integer iGetFirstMomentumIndex(void) const =0
StructDispNode::iGetFirstPositionIndex
virtual integer iGetFirstPositionIndex(void) const
Definition: strnode.h:452
FullSubMatrixHandler::ResizeReset
virtual void ResizeReset(integer, integer)
Definition: submat.cc:182
FullSubMatrixHandler::PutRowIndex
void PutRowIndex(integer iSubRow, integer iRow)
Definition: submat.h:311
Elem::WorkSpaceDim
virtual void WorkSpaceDim(integer *piNumRows, integer *piNumCols) const =0
integer
long int integer
Definition: colamd.c:51

Here is the call graph for this function:

void ViscousAxialJoint::AssMats ( FullSubMatrixHandler &  WMA,
FullSubMatrixHandler &  WMB,
doublereal  dCoef 
)
protectedvirtual

Definition at line 746 of file vehj4.cc.

References DeformableAxialJoint::AssMatM(), and DeformableAxialJoint::AssMatMDEPrime().

Referenced by AssJac(), and AssMats().

749 {
750  AssMatM(WMA, dCoef);
751  AssMatMDEPrime(WMA, WMB, dCoef);
752 }
DeformableAxialJoint::AssMatMDEPrime
virtual void AssMatMDEPrime(FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef)
Definition: vehj4.cc:72
DeformableAxialJoint::AssMatM
virtual void AssMatM(FullSubMatrixHandler &WMA, doublereal dCoef)
Definition: vehj4.cc:47

Here is the call graph for this function:

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

Reimplemented from Elem.

Definition at line 707 of file vehj4.cc.

References AssMats(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), DeformableAxialJoint::pNode1, DeformableAxialJoint::pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and Elem::WorkSpaceDim().

711 {
712  FullSubMatrixHandler& WMA = WorkMatA.SetFull();
713  FullSubMatrixHandler& WMB = WorkMatB.SetFull();
714 
715  /* Dimensiona e resetta la matrice di lavoro */
716  integer iNumRows = 0;
717  integer iNumCols = 0;
718  WorkSpaceDim(&iNumRows, &iNumCols);
719  WMA.ResizeReset(iNumRows, iNumCols);
720  WMB.ResizeReset(iNumRows, iNumCols);
721 
722  /* Recupera gli indici */
723  integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex() + 3;
724  integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex() + 3;
725  integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex() + 3;
726  integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex() + 3;
727 
728  /* Setta gli indici della matrice */
729  for (int iCnt = 1; iCnt <= 3; iCnt++) {
730  WMA.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
731  WMA.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
732  WMA.PutRowIndex(3 + iCnt, iNode2FirstMomIndex + iCnt);
733  WMA.PutColIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
734 
735  WMB.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
736  WMB.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
737  WMB.PutRowIndex(3 + iCnt, iNode2FirstMomIndex + iCnt);
738  WMB.PutColIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
739  }
740 
741  AssMats(WMA, WMA, 1.);
742 }
ViscousAxialJoint::AssMats
virtual void AssMats(FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef)
Definition: vehj4.cc:746
FullSubMatrixHandler::PutColIndex
void PutColIndex(integer iSubCol, integer iCol)
Definition: submat.h:325
VariableSubMatrixHandler::SetFull
FullSubMatrixHandler & SetFull(void)
Definition: submat.h:1168
DeformableAxialJoint::pNode1
const StructNode * pNode1
Definition: vehj4.h:48
DeformableAxialJoint::pNode2
const StructNode * pNode2
Definition: vehj4.h:49
StructDispNode::iGetFirstMomentumIndex
virtual integer iGetFirstMomentumIndex(void) const =0
StructDispNode::iGetFirstPositionIndex
virtual integer iGetFirstPositionIndex(void) const
Definition: strnode.h:452
FullSubMatrixHandler::ResizeReset
virtual void ResizeReset(integer, integer)
Definition: submat.cc:182
FullSubMatrixHandler::PutRowIndex
void PutRowIndex(integer iSubRow, integer iRow)
Definition: submat.h:311
Elem::WorkSpaceDim
virtual void WorkSpaceDim(integer *piNumRows, integer *piNumCols) const =0
integer
long int integer
Definition: colamd.c:51

Here is the call graph for this function:

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

Implements Elem.

Definition at line 756 of file vehj4.cc.

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

760 {
761  /* Dimensiona e resetta la matrice di lavoro */
762  integer iNumRows = 0;
763  integer iNumCols = 0;
764  WorkSpaceDim(&iNumRows, &iNumCols);
765  WorkVec.ResizeReset(iNumRows);
766 
767  /* Recupera gli indici */
768  integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex() + 3;
769  integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex() + 3;
770 
771  /* Setta gli indici della matrice */
772  for (int iCnt = 1; iCnt <= 3; iCnt++) {
773  WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
774  WorkVec.PutRowIndex(3 + iCnt, iNode2FirstMomIndex + iCnt);
775  }
776 
777  AssVec(WorkVec);
778 
779  return WorkVec;
780 }
VectorHandler::ResizeReset
virtual void ResizeReset(integer)
Definition: vh.cc:55
ViscousAxialJoint::AssVec
virtual void AssVec(SubVectorHandler &WorkVec)
Definition: vehj4.cc:817
DeformableAxialJoint::pNode1
const StructNode * pNode1
Definition: vehj4.h:48
SubVectorHandler::PutRowIndex
virtual void PutRowIndex(integer iSubRow, integer iRow)=0
DeformableAxialJoint::pNode2
const StructNode * pNode2
Definition: vehj4.h:49
StructDispNode::iGetFirstMomentumIndex
virtual integer iGetFirstMomentumIndex(void) const =0
Elem::WorkSpaceDim
virtual void WorkSpaceDim(integer *piNumRows, integer *piNumCols) const =0
integer
long int integer
Definition: colamd.c:51

Here is the call graph for this function:

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

Reimplemented from Elem.

Definition at line 784 of file vehj4.cc.

References ASSERT, AssVec(), DeformableAxialJoint::bFirstRes, StructDispNode::iGetFirstPositionIndex(), InverseDynamics::INVERSE_DYNAMICS, DeformableAxialJoint::pNode1, DeformableAxialJoint::pNode2, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and Elem::WorkSpaceDim().

789 {
790  ASSERT(iOrder == InverseDynamics::INVERSE_DYNAMICS);
791 
792  bFirstRes = false;
793 
794  /* Dimensiona e resetta la matrice di lavoro */
795  integer iNumRows = 0;
796  integer iNumCols = 0;
797  WorkSpaceDim(&iNumRows, &iNumCols);
798  WorkVec.ResizeReset(iNumRows);
799 
800  /* Recupera gli indici */
801  integer iNode1FirstMomIndex = pNode1->iGetFirstPositionIndex() + 3;
802  integer iNode2FirstMomIndex = pNode2->iGetFirstPositionIndex() + 3;
803 
804  /* Setta gli indici della matrice */
805  for (int iCnt = 1; iCnt <= 3; iCnt++) {
806  WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
807  WorkVec.PutRowIndex(3 + iCnt, iNode2FirstMomIndex + iCnt);
808  }
809 
810  AssVec(WorkVec);
811 
812  return WorkVec;
813 }
VectorHandler::ResizeReset
virtual void ResizeReset(integer)
Definition: vh.cc:55
ViscousAxialJoint::AssVec
virtual void AssVec(SubVectorHandler &WorkVec)
Definition: vehj4.cc:817
DeformableAxialJoint::pNode1
const StructNode * pNode1
Definition: vehj4.h:48
SubVectorHandler::PutRowIndex
virtual void PutRowIndex(integer iSubRow, integer iRow)=0
DeformableAxialJoint::pNode2
const StructNode * pNode2
Definition: vehj4.h:49
StructDispNode::iGetFirstPositionIndex
virtual integer iGetFirstPositionIndex(void) const
Definition: strnode.h:452
ASSERT
#define ASSERT(expression)
Definition: colamd.c:977
Elem::WorkSpaceDim
virtual void WorkSpaceDim(integer *piNumRows, integer *piNumCols) const =0
integer
long int integer
Definition: colamd.c:51

Here is the call graph for this function:

void ViscousAxialJoint::AssVec ( SubVectorHandler &  WorkVec)
protectedvirtual

Definition at line 817 of file vehj4.cc.

References VectorHandler::Add(), DeformableAxialJoint::bFirstRes, dOmega, ConstitutiveLawOwner< T, Tder >::GetF(), StructNode::GetRCurr(), Mat3x3::GetVec(), StructNode::GetWCurr(), DeformableAxialJoint::M, DeformableAxialJoint::pNode1, DeformableAxialJoint::pNode2, VectorHandler::Sub(), DeformableAxialJoint::tilde_R1h, and ConstitutiveLawOwner< T, Tder >::Update().

Referenced by AssRes().

818 {
819  Vec3 e1z(pNode1->GetRCurr()*tilde_R1h.GetVec(3));
820 
821  if (bFirstRes) {
822  bFirstRes = false;
823 
824  } else {
825  dOmega = e1z.Dot(pNode2->GetWCurr() - pNode1->GetWCurr());
826 
827  ConstitutiveLaw1DOwner::Update(0., dOmega);
828  }
829 
830  M = e1z*ConstitutiveLaw1DOwner::GetF();
831 
832  WorkVec.Add(1, M);
833  WorkVec.Sub(4, M);
834 }
Vec3
Definition: matvec3.h:98
StructNode::GetRCurr
virtual const Mat3x3 & GetRCurr(void) const
Definition: strnode.h:1012
VectorHandler::Sub
virtual void Sub(integer iRow, const Vec3 &v)
Definition: vh.cc:78
DeformableAxialJoint::pNode1
const StructNode * pNode1
Definition: vehj4.h:48
Mat3x3::GetVec
Vec3 GetVec(unsigned short int i) const
Definition: matvec3.h:893
DeformableAxialJoint::pNode2
const StructNode * pNode2
Definition: vehj4.h:49
StructNode::GetWCurr
virtual const Vec3 & GetWCurr(void) const
Definition: strnode.h:1030
ViscousAxialJoint::dOmega
doublereal dOmega
Definition: vehj4.h:281
DeformableAxialJoint::tilde_R1h
Mat3x3 tilde_R1h
Definition: vehj4.h:50
VectorHandler::Add
virtual void Add(integer iRow, const Vec3 &v)
Definition: vh.cc:63
ConstitutiveLawOwner::GetF
const T & GetF(void) const
Definition: constltp.h:293
ConstitutiveLawOwner::Update
void Update(const T &Eps, const T &EpsPrime=mb_zero< T >())
Definition: constltp.h:283

Here is the call graph for this function:

virtual ConstLawType::Type ViscousAxialJoint::GetConstLawType ( void  ) const
inlinevirtual

Implements DeformableAxialJoint.

Definition at line 305 of file vehj4.h.

References ConstLawType::VISCOUS.

305  {
306  return ConstLawType::VISCOUS;
307  };
VariableSubMatrixHandler & ViscousAxialJoint::InitialAssJac ( VariableSubMatrixHandler &  WorkMat,
const VectorHandler &  XCurr 
)
virtual

Implements SubjectToInitialAssembly.

Definition at line 838 of file vehj4.cc.

References FullSubMatrixHandler::Add(), ConstitutiveLawOwner< T, Tder >::GetF(), ConstitutiveLawOwner< T, Tder >::GetFDEPrime(), StructNode::GetRCurr(), Mat3x3::GetVec(), StructNode::GetWCurr(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), MatCross, DeformableAxialJoint::MDEPrime, DeformableAxialJoint::pNode1, DeformableAxialJoint::pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), FullSubMatrixHandler::Sub(), Mat3x3::Tens(), and DeformableAxialJoint::tilde_R1h.

840 {
841  FullSubMatrixHandler& WM = WorkMat.SetFull();
842 
843  /* Dimensiona e resetta la matrice di lavoro */
844  integer iNumRows = 0;
845  integer iNumCols = 0;
846  InitialWorkSpaceDim(&iNumRows, &iNumCols);
847  WM.ResizeReset(iNumRows, iNumCols);
848 
849  /* Recupera gli indici */
850  integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex() + 3;
851  integer iNode1FirstVelIndex = iNode1FirstPosIndex + 6;
852  integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex() + 3;
853  integer iNode2FirstVelIndex = iNode2FirstPosIndex + 6;
854 
855  /* Setta gli indici della matrice */
856  for (int iCnt = 1; iCnt <= 3; iCnt++) {
857  WM.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
858  WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
859  WM.PutColIndex(3 + iCnt, iNode1FirstVelIndex + iCnt);
860 
861  WM.PutRowIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
862  WM.PutColIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
863  WM.PutColIndex(9 + iCnt, iNode2FirstVelIndex + iCnt);
864  }
865 
866  Vec3 e1z(pNode1->GetRCurr()*tilde_R1h.GetVec(3));
867 
868  const Vec3& W2(pNode2->GetWCurr());
869 
870  MDEPrime = e1z.Tens(e1z*ConstitutiveLaw1DOwner::GetFDEPrime());
871 
872  Mat3x3 Tmp(MDEPrime*Mat3x3(MatCross, W2));
873  WM.Add(4, 7, Tmp);
874  WM.Sub(1, 7, Tmp);
875 
876  Tmp += Mat3x3(MatCross, e1z*ConstitutiveLaw1DOwner::GetF());
877  WM.Add(1, 1, Tmp);
878  WM.Sub(4, 1, Tmp);
879 
880  WM.Add(1, 4, MDEPrime);
881  WM.Add(4, 10, MDEPrime);
882 
883  WM.Sub(1, 10, MDEPrime);
884  WM.Sub(4, 4, MDEPrime);
885 
886  return WorkMat;
887 }
FullSubMatrixHandler::PutColIndex
void PutColIndex(integer iSubCol, integer iCol)
Definition: submat.h:325
Vec3
Definition: matvec3.h:98
MatCross
const MatCross_Manip MatCross
Definition: matvec3.cc:639
VariableSubMatrixHandler::SetFull
FullSubMatrixHandler & SetFull(void)
Definition: submat.h:1168
StructNode::GetRCurr
virtual const Mat3x3 & GetRCurr(void) const
Definition: strnode.h:1012
FullSubMatrixHandler::Add
void Add(integer iRow, integer iCol, const Vec3 &v)
Definition: submat.cc:209
DeformableAxialJoint::pNode1
const StructNode * pNode1
Definition: vehj4.h:48
Mat3x3::Tens
const Mat3x3 & Tens(const Vec3 &a, const Vec3 &b)
Definition: matvec3.h:799
Mat3x3::GetVec
Vec3 GetVec(unsigned short int i) const
Definition: matvec3.h:893
DeformableAxialJoint::pNode2
const StructNode * pNode2
Definition: vehj4.h:49
StructDispNode::iGetFirstPositionIndex
virtual integer iGetFirstPositionIndex(void) const
Definition: strnode.h:452
StructNode::GetWCurr
virtual const Vec3 & GetWCurr(void) const
Definition: strnode.h:1030
DeformableAxialJoint::tilde_R1h
Mat3x3 tilde_R1h
Definition: vehj4.h:50
FullSubMatrixHandler::ResizeReset
virtual void ResizeReset(integer, integer)
Definition: submat.cc:182
DeformableAxialJoint::MDEPrime
Mat3x3 MDEPrime
Definition: vehj4.h:67
FullSubMatrixHandler::PutRowIndex
void PutRowIndex(integer iSubRow, integer iRow)
Definition: submat.h:311
ConstitutiveLawOwner::GetF
const T & GetF(void) const
Definition: constltp.h:293
FullSubMatrixHandler::Sub
void Sub(integer iRow, integer iCol, const Vec3 &v)
Definition: submat.cc:215
ConstitutiveLawOwner::GetFDEPrime
const Tder & GetFDEPrime(void) const
Definition: constltp.h:303
integer
long int integer
Definition: colamd.c:51
ViscousAxialJoint::InitialWorkSpaceDim
virtual void InitialWorkSpaceDim(integer *piNumRows, integer *piNumCols) const
Definition: vehj4.h:353

Here is the call graph for this function:

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

Implements SubjectToInitialAssembly.

Definition at line 891 of file vehj4.cc.

References VectorHandler::Add(), DeformableAxialJoint::bFirstRes, dOmega, ConstitutiveLawOwner< T, Tder >::GetF(), StructNode::GetRCurr(), Mat3x3::GetVec(), StructNode::GetWCurr(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), DeformableAxialJoint::M, DeformableAxialJoint::pNode1, DeformableAxialJoint::pNode2, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), VectorHandler::Sub(), DeformableAxialJoint::tilde_R1h, and ConstitutiveLawOwner< T, Tder >::Update().

893 {
894  /* Dimensiona e resetta la matrice di lavoro */
895  integer iNumRows = 0;
896  integer iNumCols = 0;
897  InitialWorkSpaceDim(&iNumRows, &iNumCols);
898  WorkVec.ResizeReset(iNumRows);
899 
900  /* Recupera gli indici */
901  integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex() + 3;
902  integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex() + 3;
903 
904  /* Setta gli indici della matrice */
905  for (int iCnt = 1; iCnt <= 3; iCnt++) {
906  WorkVec.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
907  WorkVec.PutRowIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
908  }
909 
910  Vec3 e1z(pNode1->GetRCurr()*tilde_R1h.GetVec(3));
911 
912  if (bFirstRes) {
913  bFirstRes = false;
914 
915  } else {
916  dOmega = e1z.Dot(pNode2->GetWCurr() - pNode1->GetWCurr());
917 
918  ConstitutiveLaw1DOwner::Update(0., dOmega);
919  }
920 
921  M = e1z*ConstitutiveLaw1DOwner::GetF();
922 
923  WorkVec.Add(1, M);
924  WorkVec.Sub(4, M);
925 
926  return WorkVec;
927 }
Vec3
Definition: matvec3.h:98
VectorHandler::ResizeReset
virtual void ResizeReset(integer)
Definition: vh.cc:55
StructNode::GetRCurr
virtual const Mat3x3 & GetRCurr(void) const
Definition: strnode.h:1012
VectorHandler::Sub
virtual void Sub(integer iRow, const Vec3 &v)
Definition: vh.cc:78
DeformableAxialJoint::pNode1
const StructNode * pNode1
Definition: vehj4.h:48
Mat3x3::GetVec
Vec3 GetVec(unsigned short int i) const
Definition: matvec3.h:893
SubVectorHandler::PutRowIndex
virtual void PutRowIndex(integer iSubRow, integer iRow)=0
DeformableAxialJoint::pNode2
const StructNode * pNode2
Definition: vehj4.h:49
StructDispNode::iGetFirstPositionIndex
virtual integer iGetFirstPositionIndex(void) const
Definition: strnode.h:452
StructNode::GetWCurr
virtual const Vec3 & GetWCurr(void) const
Definition: strnode.h:1030
ViscousAxialJoint::dOmega
doublereal dOmega
Definition: vehj4.h:281
DeformableAxialJoint::tilde_R1h
Mat3x3 tilde_R1h
Definition: vehj4.h:50
VectorHandler::Add
virtual void Add(integer iRow, const Vec3 &v)
Definition: vh.cc:63
ConstitutiveLawOwner::GetF
const T & GetF(void) const
Definition: constltp.h:293
integer
long int integer
Definition: colamd.c:51
ConstitutiveLawOwner::Update
void Update(const T &Eps, const T &EpsPrime=mb_zero< T >())
Definition: constltp.h:283
ViscousAxialJoint::InitialWorkSpaceDim
virtual void InitialWorkSpaceDim(integer *piNumRows, integer *piNumCols) const
Definition: vehj4.h:353

Here is the call graph for this function:

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

Implements SubjectToInitialAssembly.

Definition at line 353 of file vehj4.h.

Referenced by InitialAssJac(), and InitialAssRes().

354  {
355  *piNumRows = 6;
356  *piNumCols = 12;
357  };

Member Data Documentation

doublereal ViscousAxialJoint::dOmega
protected

Definition at line 281 of file vehj4.h.

Referenced by AfterConvergence(), AfterPredict(), AssVec(), and InitialAssRes().

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