inertia.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/inertia.h,v 1.12 2017/06/18 23:06:24 masarati 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
 */

/* inertia element */

#ifndef INERTIA_H
#define INERTIA_H

#include "elem.h"
#include "strnode.h"
#include "gravity.h"

/* CenterOfMass - begin */

class CenterOfMass {
protected:
        std::set<const ElemGravityOwner *> elements;

        mutable doublereal dMass;
        mutable Vec3 S;
        mutable Mat3x3 J;

        /* Center of mass kinematics and inertia */
        Vec3 X_cm;
        Vec3 V_cm;
        Vec3 Omega_cm;
        Mat3x3 J_cm;

        virtual void Collect_int(void);

        virtual std::ostream& Output_int(std::ostream& out) const;

public:
        /* Costruttore definitivo (da mettere a punto) */
        CenterOfMass(std::set<const ElemGravityOwner *>& elements);
        virtual ~CenterOfMass(void);
};

/* CenterOfMass - end */

/* Inertia - begin */

class Inertia :
virtual public Elem, public ElemGravityOwner, public InitialAssemblyElem, public CenterOfMass {
public:
        enum {
                OUTPUT_LOG = ToBeOutput::OUTPUT_PRIVATE,
                OUTPUT_OUT = (ToBeOutput::OUTPUT_PRIVATE << 1),
                OUTPUT_ALWAYS = (ToBeOutput::OUTPUT_PRIVATE << 2)
        };

protected:
        /* reference point */
        unsigned flags;
        Vec3 X0;
        Mat3x3 R0;
        Mat3x3 J0;

        Mat3x3 R_princ;
        Vec3 J_princ;

        /* momento statico */
        Vec3 GetS_int(void) const;

        /* momento d'inerzia */
        Mat3x3 GetJ_int(void) const;

        virtual void Collect_int(void);

        virtual std::ostream& Output_int(std::ostream& out) const;
        void OutputPrepare_int(OutputHandler &OH, std::string& name);
        void OutputPrepare(OutputHandler &OH);

#ifdef USE_NETCDF
private:
        NcVar *Var_dMass;
        NcVar *Var_X_cm;
        NcVar *Var_V_cm;
        NcVar *Var_Omega_cm;

        NcVar *Var_DX;
        NcVar *Var_dx;
        NcVar *Var_Jp;
        NcVar *Var_Phip;
#endif // USE_NETCDF

public:
        /* Costruttore definitivo (da mettere a punto) */
        Inertia(unsigned int uL, const std::string& sN, std::set<const ElemGravityOwner *>& elements,
                const Vec3& x0, const Mat3x3& r0, std::ostream& log, flag fOut);

        virtual ~Inertia(void);

        /* massa totale */
        doublereal dGetM(void) const;

        /* Tipo dell'elemento (usato solo per debug ecc.) */
        virtual Elem::Type GetElemType(void) const;

        /* Numero gdl durante l'assemblaggio iniziale */
        virtual unsigned int iGetInitialNumDof(void) const;

        /* Scrive il contributo dell'elemento al file di restart */
        virtual std::ostream& Restart(std::ostream& out) const;

        virtual void Output(OutputHandler& OH) const;   

        void WorkSpaceDim(integer* piNumRows, integer* piNumCols) const;

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

        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);
        
        /* inverse dynamics capable element */
        virtual bool bInverseDynamics(void) const;
        
        /* Inverse Dynamics Jacobian matrix assembly */
        virtual VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat,
                const VectorHandler& XCurr);

        /* Inverse Dynamics residual assembly */
        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                const VectorHandler& XCurr,
                const VectorHandler&  XPrimeCurr,
                const VectorHandler&  XPrimePrimeCurr,
                InverseDynamics::Order iOrder = InverseDynamics::INVERSE_DYNAMICS);

        /* Dimensione del workspace durante l'assemblaggio iniziale.
         * Occorre tener conto del numero di dof che l'elemento definisce
         * in questa fase e dei dof dei nodi che vengono utilizzati.
         * Sono considerati dof indipendenti la posizione e la velocita'
         * dei nodi */
        virtual void
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const;

        /* 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);

        /* Usata per inizializzare la quantita' di moto */
        virtual void SetValue(DataManager *pDM,
                VectorHandler& X, VectorHandler& XP,
                SimulationEntity::Hints *ph = 0);

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

/* Inertia - end */

#endif // INERTIA_H