distance.h

Go to the documentation of this file.

/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/distance.h,v 1.30 2017/05/12 17:29:26 morandini Exp $ */
/*
 * MBDyn (C) is a multibody analysis code.
 * http://www.mbdyn.org
 *
 * Copyright (C) 1996-2017
 *
 * Pierangelo Masarati  <masarati@aero.polimi.it>
 * Paolo Mantegazza     <mantegazza@aero.polimi.it>
 *
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 * via La Masa, 34 - 20156 Milano, Italy
 * http://www.aero.polimi.it
 *
 * Changing this copyright notice is forbidden.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation (version 2 of the License).
 *
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

/* Vincoli generali */


#ifndef DISTANCE_H
#define DISTANCE_H

#ifdef MBDYN_X_DISTANCE_JOINT

#include <joint.h>
#include <drive.h>

/* DistanceJoint - begin */

class DistanceJoint : virtual public Elem, public Joint, public DriveOwner {
protected:
        const StructDispNode    *pNode1;
        const StructDispNode    *pNode2;
        Vec3                    Vec;
        doublereal              dAlpha;
        doublereal              dDistance;

        void Abort(void);

        /*
         * Assembla le due matrici
         *
         * A = dF/dx e B = dCoef * dF/dxp
         */
        virtual void
        AssMat(FullSubMatrixHandler& WorkMatA,
                        FullSubMatrixHandler& WorkMatB,
                        doublereal dCoef,
                        const VectorHandler& XCurr,
                        const VectorHandler& XPrimeCurr);

public:
        /* Costruttore non banale */
        DistanceJoint(unsigned int uL, const DofOwner* pDO,
                        const StructDispNode* pN1, const StructDispNode* pN2,
                        const DriveCaller* pDC, flag fOut);

        ~DistanceJoint(void);

        /* Tipo di Joint */
        virtual Joint::Type GetJointType(void) const {
                return Joint::DISTANCE;
        };

        /* Contributo al file di restart */
        virtual std::ostream& Restart(std::ostream& out) const;

        virtual unsigned int iGetNumDof(void) const {
                return 1;
        };

        virtual DofOrder::Order GetDofType(unsigned int i) const {
                ASSERT(i == 0);
                return DofOrder::ALGEBRAIC;
        };

        virtual DofOrder::Order GetEqType(unsigned int i) const {
                ASSERT(i == 0);
                return DofOrder::ALGEBRAIC;
        };

        virtual void
        WorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 7;
                *piNumCols = 7;
        };

        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 void Output(OutputHandler& OH) const;

        /* funzioni usate nell'assemblaggio iniziale */

        virtual unsigned int iGetInitialNumDof(void) const {
                return 2;
        };

        virtual void
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 14;
                *piNumCols = 14;
        };

        /* Contributo allo jacobiano durante l'assemblaggio iniziale */
        virtual VariableSubMatrixHandler&
        InitialAssJac(VariableSubMatrixHandler& WorkMat,
                        const VectorHandler& XCurr);

        /* Contributo al residuo durante l'assemblaggio iniziale */
        virtual SubVectorHandler&
        InitialAssRes(SubVectorHandler& WorkVec,
                        const VectorHandler& XCurr);

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

        /* Dati privati */
        virtual unsigned int iGetNumPrivData(void) const;
        virtual unsigned int iGetPrivDataIdx(const char *s) const;
        virtual doublereal dGetPrivData(unsigned int i) const;

        /* *******PER IL SOLUTORE PARALLELO******** */
        /* Fornisce il tipo e la label dei nodi che sono connessi all'elemento
         * utile per l'assemblaggio della matrice di connessione fra i dofs */
        virtual void
        GetConnectedNodes(std::vector<const Node *>& connectedNodes) const {
                connectedNodes.resize(2);
                connectedNodes[0] = pNode1;
                connectedNodes[1] = pNode2;
        };
        /* ************************************************ */

};

/* DistanceJoint - end */


/* DistanceJointWithOffset - begin */

class DistanceJointWithOffset :
virtual public Elem, public DistanceJoint {
private:
        Vec3 f1;
        Vec3 f2;

        /*
         * Assembla le due matrici
         *
         * A = dF/dx e B = dCoef * dF/dxp
         */
        virtual void
        AssMat(FullSubMatrixHandler& WorkMatA,
                        FullSubMatrixHandler& WorkMatB,
                        doublereal dCoef,
                        const VectorHandler& XCurr,
                        const VectorHandler& XPrimeCurr);

public:
        /* Costruttore non banale */
        DistanceJointWithOffset(unsigned int uL, const DofOwner* pDO,
                        const StructNode* pN1, const StructNode* pN2,
                        const Vec3& f1Tmp, const Vec3& f2Tmp,
                        const DriveCaller* pDC, flag fOut);

        ~DistanceJointWithOffset(void);

        /* Tipo di Joint */
        virtual Joint::Type GetJointType(void) const {
                return Joint::DISTANCEWITHOFFSET;
        };

        /* Contributo al file di restart */
        virtual std::ostream& Restart(std::ostream& out) const;

        virtual void
        WorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 13;
                *piNumCols = 13;
        };

        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);

        /* funzioni usate nell'assemblaggio iniziale */

        virtual void
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 26;
                *piNumCols = 26;
        };

        /* Contributo allo jacobiano durante l'assemblaggio iniziale */
        virtual VariableSubMatrixHandler&
        InitialAssJac(VariableSubMatrixHandler& WorkMat,
                        const VectorHandler& XCurr);

        /* Contributo al residuo durante l'assemblaggio iniziale */
        virtual SubVectorHandler&
        InitialAssRes(SubVectorHandler& WorkVec,
                        const VectorHandler& XCurr);

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

};

/* DistanceJointWithOffset - end */

#endif

#endif /* DISTANCE_H */