#include <vb.h>

Inheritance diagram for ViscousBody:

Collaboration diagram for ViscousBody:

Public Member Functions
	ViscousBody (unsigned int uL, const DofOwner pDO, const ConstitutiveLaw6D pCL, const StructNode *pN, const Vec3 &tilde_f, const Mat3x3 &tilde_Rh, const OrientationDescription &od, flag fOut)

virtual	~ViscousBody (void)

virtual Joint::Type	GetJointType (void) const

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

virtual void	Output (OutputHandler &OH) const

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

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

virtual unsigned int	iGetNumDof (void) const

virtual DofOrder::Order	GetDofType (unsigned int) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual unsigned int	iGetInitialNumDof (void) const

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

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)

virtual bool	bInverseDynamics (void) const

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

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

virtual ConstLawType::Type	GetConstLawType (void) const

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

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

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual VariableSubMatrixHandler &	InitialAssJac (VariableSubMatrixHandler &WorkMat, 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

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 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)

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

Protected Member Functions
void	AssMats (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef)

void	AssVec (SubVectorHandler &WorkVec)

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

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

virtual Mat3x3	GetJ_int (void) const

virtual Vec3	GetB_int (void) const

virtual Vec3	GetG_int (void) const

Protected Attributes
const StructNode *	pNode

Vec3	tilde_f

Mat3x3	tilde_Rh

OrientationDescription	od

Vec6	tilde_kPrime

bool	bFirstRes

Vec3	f

Mat3x3	Rh

Vec6	F

Mat6x6	FDEPrime

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

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 43 of file vb.h.

Constructor & Destructor Documentation

ViscousBody::ViscousBody	(	unsigned int	uL,
		const DofOwner *	pDO,
		const ConstitutiveLaw6D *	pCL,
		const StructNode *	pN,
		const Vec3 &	tilde_f,
		const Mat3x3 &	tilde_Rh,
		const OrientationDescription &	od,
		flag	fOut
	)

Definition at line 43 of file vb.cc.

References ASSERT, FDEPrime, ConstitutiveLawOwner< T, Tder >::GetFDEPrime(), StructDispNode::GetNodeType(), StructNode::GetRRef(), MultRMRt(), pNode, Rh, Node::STRUCTURAL, and tilde_Rh.

 : Elem(uL, fOut),
 Joint(uL, pDO, fOut),
 ConstitutiveLaw6DOwner(pCL),
 pNode(pN),
 tilde_f(tilde_f),
 tilde_Rh(tilde_Rh),
 od(od),
 tilde_kPrime(Zero6),
 bFirstRes(false)
 {
         ASSERT(pNode != NULL);
         ASSERT(pNode->GetNodeType() == Node::STRUCTURAL);
 
         Rh = pNode->GetRRef()*tilde_Rh;
 
         /*
          * Chiede la matrice tangente di riferimento
          * e la porta nel sistema globale
          */
         FDEPrime = MultRMRt(ConstitutiveLaw6DOwner::GetFDEPrime(), Rh);
 }

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ViscousBody::~ViscousBody ( void )

virtual

Definition at line 75 of file vb.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

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

virtual

Reimplemented from SimulationEntity.

Definition at line 472 of file vb.cc.

References ConstitutiveLawOwner< T, Tder >::AfterConvergence(), tilde_kPrime, and Zero6.

 {
         ConstitutiveLaw6DOwner::AfterConvergence(Zero6, tilde_kPrime);
 }

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

virtual

Reimplemented from SimulationEntity.

Definition at line 448 of file vb.cc.

References bFirstRes, Vec3::Cross(), f, FDEPrime, ConstitutiveLawOwner< T, Tder >::GetFDEPrime(), StructNode::GetRRef(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), MultRMRt(), Mat3x3::MulTV(), pNode, Rh, tilde_f, tilde_kPrime, tilde_Rh, ConstitutiveLawOwner< T, Tder >::Update(), and Zero6.

 {
         /* Calcola le deformazioni, aggiorna il legame costitutivo
          * e crea la FDE */
 
         /* Recupera i dati */
         Rh = pNode->GetRRef()*tilde_Rh;
         f = pNode->GetRRef()*tilde_f;
         Vec3 tilde_v = Rh.MulTV(pNode->GetVCurr() + pNode->GetWCurr().Cross(f));
         Vec3 tilde_omega = Rh.MulTV(pNode->GetWCurr());
 
         tilde_kPrime = Vec6(tilde_v, tilde_omega);
 
         ConstitutiveLaw6DOwner::Update(Zero6, tilde_kPrime);
 
         /* FIXME: we need to be able to regenerate FDE
          * if the constitutive law throws ChangedEquationStructure */
         FDEPrime = MultRMRt(ConstitutiveLaw6DOwner::GetFDEPrime(), Rh);
 
         bFirstRes = true;
 }

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

virtual

Implements Elem.

Definition at line 248 of file vb.cc.

References AssMats(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), pNode, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and WorkSpaceDim().

 {
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNodeFirstPosIndex = pNode->iGetFirstPositionIndex();
         integer iNodeFirstMomIndex = pNode->iGetFirstMomentumIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iNodeFirstMomIndex + iCnt);
                 WM.PutColIndex(iCnt, iNodeFirstPosIndex + iCnt);
         }
 
         AssMats(WM, WM, dCoef);
 
         return WorkMat;
 }

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

protected

Definition at line 398 of file vb.cc.

References FullSubMatrixHandler::Add(), Vec3::Cross(), f, F, FDEPrime, Mat6x6::GetMat11(), Mat6x6::GetMat12(), Mat6x6::GetMat21(), Mat6x6::GetMat22(), Vec6::GetVec1(), Vec6::GetVec2(), StructNode::GetWCurr(), MatCross, pNode, and FullSubMatrixHandler::Sub().

Referenced by AssJac(), AssMats(), and InitialAssJac().

 {
         // common
         WMA.Sub(1, 4, Mat3x3(MatCross, F.GetVec1()*dCoef));
         WMA.Sub(4, 4, Mat3x3(MatCross, F.GetVec2()*dCoef));
 
         // viscous
         const Mat3x3& F_dPrime = FDEPrime.GetMat11();
         const Mat3x3& F_thetaPrime = FDEPrime.GetMat12();
         const Mat3x3& M_dPrime = FDEPrime.GetMat21();
         const Mat3x3& M_thetaPrime = FDEPrime.GetMat22();
 
         WMB.Add(1, 1, F_dPrime);
         Mat3x3 MTmp2(M_dPrime + f.Cross(F_dPrime));
         WMB.Add(4, 1, MTmp2);
         Mat3x3 MTmp(F_thetaPrime - F_dPrime*Mat3x3(MatCross, f));
         WMB.Add(1, 4, MTmp);
         WMB.Add(4, 4, M_thetaPrime - M_dPrime*Mat3x3(MatCross, f) + f.Cross(MTmp));
 
         MTmp = Mat3x3(MatCross, f.Cross(pNode->GetWCurr()*dCoef));
         WMA.Add(1, 4, F_dPrime*MTmp);
         WMA.Add(4, 4, MTmp2*MTmp);
 }

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

virtual

Reimplemented from Elem.

Definition at line 278 of file vb.cc.

References AssMats(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), pNode, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and WorkSpaceDim().

 {
         FullSubMatrixHandler& WMA = WorkMatA.SetFull();
         FullSubMatrixHandler& WMB = WorkMatB.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WMA.ResizeReset(iNumRows, iNumCols);
         WMB.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNodeFirstPosIndex = pNode->iGetFirstPositionIndex();
         integer iNodeFirstMomIndex = pNode->iGetFirstMomentumIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WMA.PutRowIndex(iCnt, iNodeFirstMomIndex + iCnt);
                 WMA.PutColIndex(iCnt, iNodeFirstPosIndex + iCnt);
 
                 WMB.PutRowIndex(iCnt, iNodeFirstMomIndex + iCnt);
                 WMB.PutColIndex(iCnt, iNodeFirstPosIndex + iCnt);
         }
 
         AssMats(WMA, WMB, 1.);
 }

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

virtual

Implements Elem.

Definition at line 311 of file vb.cc.

References AssVec(), StructDispNode::iGetFirstMomentumIndex(), pNode, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and WorkSpaceDim().

 {
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNodeFirstMomIndex = pNode->iGetFirstMomentumIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNodeFirstMomIndex + iCnt);
         }
 
         AssVec(WorkVec);
 
         return WorkVec;
 }

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SubVectorHandler & ViscousBody::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 344 of file vb.cc.

References ASSERT, AssVec(), bFirstRes, StructDispNode::iGetFirstPositionIndex(), InverseDynamics::INVERSE_DYNAMICS, pNode, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and WorkSpaceDim().

 {       
         ASSERT(iOrder == InverseDynamics::INVERSE_DYNAMICS);
 
         bFirstRes = false;
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNodeFirstMomIndex = pNode->iGetFirstPositionIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNodeFirstMomIndex + iCnt);
         }
 
         AssVec(WorkVec);
 
         return WorkVec;
 }

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void ViscousBody::AssVec ( SubVectorHandler & WorkVec )

protected

Definition at line 424 of file vb.cc.

References bFirstRes, Vec3::Cross(), f, F, ConstitutiveLawOwner< T, Tder >::GetF(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), Vec6::GetVec1(), Vec6::GetVec2(), StructNode::GetWCurr(), MultRV(), Mat3x3::MulTV(), pNode, Rh, VectorHandler::Sub(), tilde_f, tilde_kPrime, tilde_Rh, ConstitutiveLawOwner< T, Tder >::Update(), and Zero6.

Referenced by AssRes(), and InitialAssRes().

 {
         if (bFirstRes) {
                 bFirstRes = false;
 
         } else {
                 Rh = pNode->GetRCurr()*tilde_Rh;
                 f = pNode->GetRCurr()*tilde_f;
 
                 Vec3 tilde_v = Rh.MulTV(pNode->GetVCurr() + pNode->GetWCurr().Cross(f));
                 Vec3 tilde_omega = Rh.MulTV(pNode->GetWCurr());
 
                 tilde_kPrime = Vec6(tilde_v, tilde_omega);
 
                 ConstitutiveLaw6DOwner::Update(Zero6, tilde_kPrime);
         }
 
         F = MultRV(ConstitutiveLaw6DOwner::GetF(), Rh);
 
         WorkVec.Sub(1, F.GetVec1());
         WorkVec.Sub(4, f.Cross(F.GetVec1()) + F.GetVec2());
 }

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bool ViscousBody::bInverseDynamics ( void ) const

virtual

Reimplemented from Elem.

Definition at line 337 of file vb.cc.

 {
         return true;
 }

doublereal ViscousBody::dGetPrivData ( unsigned int i ) const

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 194 of file vb.cc.

References ASSERT, Vec3::Cross(), ConstitutiveLawOwner< T, Tder >::dGetPrivData(), f, ConstitutiveLawOwner< T, Tder >::GetF(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), iGetNumPrivData(), pNode, tilde_f, tilde_Rh, Mat3x3::Transpose(), grad::Transpose(), and RotManip::VecRot().

 {
         ASSERT(i > 0);
 
         ASSERT(i <= iGetNumPrivData());
 
         switch (i) {
         case 1:
         case 2:
         case 3:
         {
                 Mat3x3 RhT((pNode->GetRCurr()*tilde_Rh).Transpose());
 
                 Vec3 tilde_Theta(RotManip::VecRot(RhT));
 
                 return tilde_Theta(i);
         }
 
         case 4:
         case 5:
         case 6:
         {
                 Vec3 f(pNode->GetRCurr()*tilde_f);
                 Mat3x3 RhT(pNode->GetRCurr().Transpose());
                 Vec3 tilde_dPrime(RhT*(pNode->GetVCurr() - f.Cross(pNode->GetWCurr())));
 
                 return tilde_dPrime(i - 3);
         }
 
         case 7:
         case 8:
         case 9:
         {
                 Mat3x3 RhT((pNode->GetRCurr()*tilde_Rh).Transpose());
                 Vec3 tilde_Omega = RhT*(pNode->GetWCurr());
 
                 return tilde_Omega(i - 6);
         }
 
         case 10:
         case 11:
         case 12:
         case 13:
         case 14:
         case 15:
                 return GetF()(i - 9);
 
         default:
                 return ConstitutiveLaw6DOwner::dGetPrivData(i - 15);
         }
 }

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

inlinevirtual

Reimplemented from Elem.

Definition at line 124 of file vb.h.

References pNode.

                                                                                       {
                 connectedNodes.resize(1);
                 connectedNodes[0] = pNode;
         };

virtual ConstLawType::Type ViscousBody::GetConstLawType ( void ) const

inlinevirtual

Definition at line 167 of file vb.h.

References ConstLawType::VISCOUS.

                                                              {
                 return ConstLawType::VISCOUS;
         };

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

inlinevirtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 102 of file vb.h.

References DofOrder::UNKNOWN.

                                                                 {
                 return DofOrder::UNKNOWN;
         };

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

inlinevirtual

Implements Joint.

Definition at line 82 of file vb.h.

References Joint::VISCOUSBODY.

                                                    {
                 return Joint::VISCOUSBODY;
         };

virtual unsigned int ViscousBody::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 113 of file vb.h.

                                                            {
                 return 0;
         };

virtual unsigned int ViscousBody::iGetNumDof ( void ) const

inlinevirtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 98 of file vb.h.

                                                     {
                 return 0;
         };

unsigned int ViscousBody::iGetNumPrivData ( void ) const

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 127 of file vb.cc.

References ConstitutiveLawOwner< T, Tder >::iGetNumPrivData().

Referenced by dGetPrivData().

 {
         return 15 + ConstitutiveLaw6DOwner::iGetNumPrivData();
 }

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

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 133 of file vb.cc.

References ASSERT, ConstitutiveLawOwner< T, Tder >::iGetPrivDataIdx(), and STRLENOF.

 {
         ASSERT(s != NULL);
 
         unsigned idx = 0;
 
         switch (s[0]) {
         case 'r':
                 break;
 
         case 'v':
                 idx += 3;
                 break;
 
         case 'w':
                 idx += 6;
                 break;
 
         case 'F':
                 idx += 9;
                 break;
 
         case 'M':
                 idx += 12;
                 break;
 
         default:
         {
                 size_t l = STRLENOF("constitutiveLaw.");
                 if (strncmp(s, "constitutiveLaw.", l) == 0) {
                         idx = ConstitutiveLaw6DOwner::iGetPrivDataIdx(&s[l]);
                         if (idx > 0) {
                                 return 15 + idx;
                         }
                 }
                 return 0;
         }
         }
 
         switch (s[1]) {
         case 'x':
                 idx += 1;
                 break;
         case 'y':
                 idx += 2;
                 break;
         case 'z':
                 idx += 3;
                 break;
         default:
                 return 0;
         }
 
         if (s[2] != '\0') {
                 return 0;
         }
 
         return idx;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 480 of file vb.cc.

References AssMats(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), pNode, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetFull().

 {
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNodeFirstPosIndex = pNode->iGetFirstPositionIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iNodeFirstPosIndex + iCnt);
                 WM.PutColIndex(iCnt, iNodeFirstPosIndex + iCnt);
         }
 
         // FIXME: wrong
         AssMats(WM, WM, 1.);
 
         return WorkMat;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 375 of file vb.cc.

References AssVec(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), pNode, SubVectorHandler::PutRowIndex(), and VectorHandler::ResizeReset().

 {
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNodeFirstPosIndex = pNode->iGetFirstPositionIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNodeFirstPosIndex + iCnt);
         }
 
         AssVec(WorkVec);
 
         return WorkVec;
 }

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 179 of file vb.h.

Referenced by InitialAssJac(), and InitialAssRes().

                                                                           {
                 *piNumRows = 6;
                 *piNumCols = 6;
         };

void ViscousBody::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 95 of file vb.cc.

References ToBeOutput::bToBeOutput(), F, ConstitutiveLawOwner< T, Tder >::GetF(), WithLabel::GetLabel(), StructNode::GetRCurr(), OutputHandler::Joints(), Joint::Output(), pNode, Rh, tilde_kPrime, and tilde_Rh.

 {
         if (bToBeOutput()) {
                 Mat3x3 Rh(pNode->GetRCurr()*tilde_Rh);
                 Vec3 F(GetF().GetVec1());
                 Vec3 M(GetF().GetVec2());
 
                 Joint::Output(OH.Joints(), "ViscousBody", GetLabel(),
                                 F, M, Rh*F, Rh*M);
 
                 OH.Joints() << " " << tilde_kPrime << " " << std::endl;
         }
 }

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

virtual

Reimplemented from SimulationEntity.

Definition at line 121 of file vb.cc.

References SimulationEntity::ParseHint().

 {
         return ConstitutiveLaw6DOwner::ParseHint(pDM, s);
 }

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

virtual

Implements Elem.

Definition at line 83 of file vb.cc.

References WithLabel::GetLabel(), Mat3x3::GetVec(), ConstitutiveLawOwner< T, Tder >::pGetConstLaw(), pNode, Joint::Restart(), tilde_f, tilde_Rh, Write(), and Vec3::Write().

 {
         Joint::Restart(out) << ", viscous body, "
                 << pNode->GetLabel() << ", position, reference, node, ",
         tilde_f.Write(out, ", ") << ", orientation, reference, node, 1, ",
         (tilde_Rh.GetVec(1)).Write(out, ", ")
                 << ", 2, ", (tilde_Rh.GetVec(2)).Write(out, ", ") << ", ";
         return pGetConstLaw()->Restart(out) << ';' << std::endl;
 }

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

virtual

Reimplemented from Joint.

Definition at line 110 of file vb.cc.

References SimulationEntity::SetValue().

 {
         if (ph) {
                 /* pass to constitutive law */
                 ConstitutiveLaw6DOwner::SetValue(pDM, X, XP, ph);
         }
 }

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

inlinevirtual

Implements Elem.

Definition at line 106 of file vb.h.

Referenced by AssJac(), AssMats(), and AssRes().

                                                                                 {
                 *piNumRows = 6;
                 *piNumCols = 6;
         };