matvec3.h File Reference

#include <iostream>
#include <limits>
#include "ac/f2c.h"
#include "myassert.h"
#include "except.h"
#include "solman.h"
#include "tpls.h"

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Go to the source code of this file.

Classes
class	Vec3_Manip
class	Vec3
class	Mat3x3_Manip
class	Mat3x3
class	Mat3x3Zero_Manip
class	Mat3x3DEye_Manip
class	Mat3x3Diag_Manip
class	MatCross_Manip
class	MatCrossCross_Manip
class	CGR_Rot::Param_Manip
class	CGR_Rot::MatR_Manip
class	CGR_Rot::MatG_Manip
class	CGR_Rot::MatGm1_Manip

Namespaces
	CGR_Rot

Enumerations
enum	{ V1 = 0, V2 = 1, V3 = 2 }
enum	{   M11 = 0, M12 = 3, M13 = 6, M21 = 1,   M22 = 4, M23 = 7, M31 = 2, M32 = 5,   M33 = 8 }
enum	OrientationDescription {   UNKNOWN_ORIENTATION_DESCRIPTION = -1, EULER_123 = 0, EULER_313, EULER_321,   ORIENTATION_VECTOR, ORIENTATION_MATRIX, LAST_ORIENTATION_DESCRIPTION }

Functions
Vec3	operator- (const Vec3 &v)
Mat3x3	operator- (const Mat3x3 &v)
std::ostream &	operator<< (std::ostream &out, const Vec3 &v)
std::ostream &	operator<< (std::ostream &out, const Mat3x3 &m)
std::ostream &	Write (std::ostream &out, const doublereal &d, const char *)
std::ostream &	Write (std::ostream &out, const Vec3 &v, const char *s=" ")
std::ostream &	Write (std::ostream &out, const Mat3x3 &m, const char *s=" ", const char *s2=NULL)
template<>
const doublereal &	mb_zero< doublereal > (void)
template<>
const Vec3 &	mb_zero< Vec3 > (void)
template<>
const Mat3x3 &	mb_zero< Mat3x3 > (void)
template<>
doublereal	mb_deye< doublereal > (const doublereal d)
template<>
doublereal &	mb_deye< doublereal > (doublereal &out, const doublereal d)
template<>
Mat3x3	mb_deye< Mat3x3 > (const doublereal d)
template<>
Mat3x3 &	mb_deye< Mat3x3 > (Mat3x3 &out, const doublereal d)
Vec3	MatR2gparam (const Mat3x3 &R)
Vec3	MatR2LinParam (const Mat3x3 &R)
Mat3x3	MatR2vec (unsigned short int ia, const Vec3 &va, unsigned short int ib, const Vec3 &vb)
Vec3	MatR2EulerAngles (const Mat3x3 &R)
Vec3	MatR2EulerAngles123 (const Mat3x3 &R)
Vec3	MatR2EulerAngles313 (const Mat3x3 &R)
Vec3	MatR2EulerAngles321 (const Mat3x3 &R)
void	MatR2EulerParams (const Mat3x3 &R, doublereal &e0, Vec3 &e)
Vec3	Unwrap (const Vec3 &vPrev, const Vec3 &v)
Mat3x3	EulerAngles2MatR (const Vec3 &v)
Mat3x3	EulerAngles123_2MatR (const Vec3 &v)
Mat3x3	EulerAngles313_2MatR (const Vec3 &v)
Mat3x3	EulerAngles321_2MatR (const Vec3 &v)
template<class T >
bool	IsNull (const T &t)
template<class T >
bool	IsExactlySame (const T &t1, const T &t2)
template<class T >
bool	IsSame (const T &t1, const T &t2, const doublereal &dTol)
template<>
bool	IsNull (const doublereal &d)
template<>
bool	IsExactlySame (const doublereal &d1, const doublereal &d2)
template<>
bool	IsSame (const doublereal &d1, const doublereal &d2, const doublereal &dTol)
Vec3	MultRV (const Vec3 &v, const Mat3x3 &R)
Mat3x3	MultRM (const Mat3x3 &m, const Mat3x3 &R)
Mat3x3	MultMRt (const Mat3x3 &m, const Mat3x3 &R)
Mat3x3	MultRMRt (const Mat3x3 &m, const Mat3x3 &R)

Variables
const Mat3x3Zero_Manip	Mat3x3Zero
const Mat3x3DEye_Manip	Mat3x3DEye
const Mat3x3Diag_Manip	Mat3x3Diag
const MatCross_Manip	MatCross
const MatCrossCross_Manip	MatCrossCross
const doublereal	Zero1
const Vec3	Zero3
const Mat3x3	Zero3x3
const Mat3x3	Eye3
const doublereal	dRaDegr

Enumeration Type Documentation

anonymous enum

Enumerator
V1
V2
V3

Definition at line 48 of file matvec3.h.

     {
   V1 = 0,
   V2 = 1,
   V3 = 2
};

anonymous enum

Enumerator
M11
M12
M13
M21
M22
M23
M31
M32
M33

Definition at line 54 of file matvec3.h.

     {
   M11 = 0,
   M12 = 3,
   M13 = 6,
   M21 = 1,
   M22 = 4,
   M23 = 7,
   M31 = 2,
   M32 = 5,
   M33 = 8
};

enum OrientationDescription

Enumerator
UNKNOWN_ORIENTATION_DESCRIPTION
EULER_123
EULER_313
EULER_321
ORIENTATION_VECTOR
ORIENTATION_MATRIX
LAST_ORIENTATION_DESCRIPTION

Definition at line 1597 of file matvec3.h.

                            {
        UNKNOWN_ORIENTATION_DESCRIPTION = -1,
        EULER_123                       = 0,
        EULER_313,
        EULER_321,
        ORIENTATION_VECTOR,
        ORIENTATION_MATRIX,

        LAST_ORIENTATION_DESCRIPTION
};

Function Documentation

Mat3x3 EulerAngles123_2MatR

(

const Vec3 &

v

)

Definition at line 1014 of file matvec3.cc.

References grad::cos(), and grad::sin().

Referenced by EulerAngles2MatR(), Eu2PhiWrap::Get(), and MBDynParser::GetMatR2vec().

{
        doublereal d = v(1);
        doublereal dCosAlpha(cos(d));
        doublereal dSinAlpha(sin(d));
        d = v(2);
        doublereal dCosBeta(cos(d));
        doublereal dSinBeta(sin(d));
        d = v(3);
        doublereal dCosGamma(cos(d));
        doublereal dSinGamma(sin(d));
   
        return Mat3x3(
                dCosBeta*dCosGamma,
                dCosAlpha*dSinGamma + dSinAlpha*dSinBeta*dCosGamma,
                dSinAlpha*dSinGamma - dCosAlpha*dSinBeta*dCosGamma,
                -dCosBeta*dSinGamma,
                dCosAlpha*dCosGamma - dSinAlpha*dSinBeta*dSinGamma,
                dSinAlpha*dCosGamma + dCosAlpha*dSinBeta*dSinGamma,
                dSinBeta,
                -dSinAlpha*dCosBeta,
                dCosAlpha*dCosBeta);
};

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Mat3x3 EulerAngles2MatR

(

const Vec3 &

v

)

Definition at line 1008 of file matvec3.cc.

References EulerAngles123_2MatR().

Referenced by main().

{
        return EulerAngles123_2MatR(v);
}

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Mat3x3 EulerAngles313_2MatR

(

const Vec3 &

v

)

Definition at line 1039 of file matvec3.cc.

References grad::cos(), and grad::sin().

Referenced by Eu2PhiWrap::Get(), and MBDynParser::GetMatR2vec().

{
        doublereal d = v(1);
        doublereal dCosAlpha(cos(d));
        doublereal dSinAlpha(sin(d));
        d = v(2);
        doublereal dCosBeta(cos(d));
        doublereal dSinBeta(sin(d));
        d = v(3);
        doublereal dCosGamma(cos(d));
        doublereal dSinGamma(sin(d));
   
        return Mat3x3(
                dCosAlpha*dCosGamma - dSinAlpha*dCosBeta*dSinGamma,
                dSinAlpha*dCosGamma + dCosAlpha*dCosBeta*dSinGamma,
                dSinBeta*dSinGamma,
                -dCosAlpha*dSinGamma - dSinAlpha*dCosBeta*dCosGamma,
                -dSinAlpha*dSinGamma + dCosAlpha*dCosBeta*dCosGamma,
                dSinBeta*dCosGamma,
                dSinAlpha*dSinBeta,
                -dCosAlpha*dSinBeta,
                dCosBeta);
}

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Mat3x3 EulerAngles321_2MatR

(

const Vec3 &

v

)

Definition at line 1064 of file matvec3.cc.

References grad::cos(), and grad::sin().

Referenced by Eu2PhiWrap::Get(), and MBDynParser::GetMatR2vec().

{
        doublereal d = v(1);
        doublereal dCosAlpha(cos(d));
        doublereal dSinAlpha(sin(d));
        d = v(2);
        doublereal dCosBeta(cos(d));
        doublereal dSinBeta(sin(d));
        d = v(3);
        doublereal dCosGamma(cos(d));
        doublereal dSinGamma(sin(d));
   
        return Mat3x3(
                dCosAlpha*dCosBeta,
                dSinAlpha*dCosBeta,
                -dSinBeta,
                -dSinAlpha*dCosGamma + dCosAlpha*dSinBeta*dSinGamma,
                dCosAlpha*dCosGamma + dSinAlpha*dSinBeta*dSinGamma,
                dCosBeta*dSinGamma,
                dSinAlpha*dSinGamma + dCosAlpha*dSinBeta*dCosGamma,
                -dCosAlpha*dSinGamma + dSinAlpha*dSinBeta*dCosGamma,
                dCosBeta*dCosGamma);
}

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template<class T >

bool IsExactlySame	(	const T &	t1,
		const T &	t2
	)

Definition at line 1777 of file matvec3.h.

{
        return t1.IsExactlySame(t2);
}

template<>

bool IsExactlySame	(	const doublereal &	d1,
		const doublereal &	d2
	)

Definition at line 1131 of file matvec3.cc.

Referenced by ReadStructExtForce().

{
        return d1 == d2;
}

template<class T >

bool IsNull

(

const T &

t

)

Definition at line 1770 of file matvec3.h.

{
        return t.IsNull();
}

template<>

bool IsNull

(

const doublereal &

d

)

Definition at line 1124 of file matvec3.cc.

Referenced by LinearViscoElasticGenericCLR< T, Tder >::Read(), and LTVViscoElasticGenericCLR< T, Tder >::Read().

{
        return d == 0.;
}

template<class T >

bool IsSame	(	const T &	t1,
		const T &	t2,
		const doublereal &	dTol
	)

Definition at line 1784 of file matvec3.h.

{
        return t1.IsSame(t2, dTol);
}

template<>

bool IsSame	(	const doublereal &	d1,
		const doublereal &	d2,
		const doublereal &	dTol
	)

Definition at line 1138 of file matvec3.cc.

References grad::fabs().

Referenced by ReferenceFrame::ReferenceFrame().

{
        return fabs(d1 - d2) <= dTol;
}

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Vec3 MatR2EulerAngles

(

const Mat3x3 &

R

)

Definition at line 887 of file matvec3.cc.

References MatR2EulerAngles123().

Referenced by Brake::AfterConvergence(), main(), DriveHingeJoint::Output(), UniversalHingeJoint::Output(), Brake::Output(), PinJoint::Output(), UniversalPinJoint::Output(), PlanePinJoint::Output(), Brake::SetValue(), and AxialRotationJoint::SetValue().

{
        return MatR2EulerAngles123(R);
}

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Vec3 MatR2EulerAngles123

(

const Mat3x3 &

R

)

Definition at line 893 of file matvec3.cc.

References grad::atan2(), grad::cos(), R, and grad::sin().

Referenced by StructNode::dGetPrivData(), MatR2EulerAngles(), ReferenceFrame::Output(), GimbalRotationJoint::Output(), SphericalHingeJoint::Output(), DeformableHingeJoint::Output(), DeformableJoint::Output(), StructExtForce::Output(), PlaneHingeJoint::Output(), UniversalRotationJoint::Output(), Beam2::Output(), PlaneRotationJoint::Output(), Beam::Output(), AxialRotationJoint::Output(), StructNode::Output(), Aerodynamic2DElem< iNN >::Output_int(), DeformableHingeJoint::OutputInv(), ReadStructExtForce(), ReadStructMappingExtForce(), ReadStructNode(), StructExtForce::SendToFileDes(), StructMappingExtForce::SendToFileDes(), StructMembraneMappingExtForce::SendToFileDes(), StructExtForce::SendToStream(), StructMappingExtForce::SendToStream(), and StructMembraneMappingExtForce::SendToStream().

{  
        doublereal dAlpha = atan2(-R(2, 3), R(3, 3));
        doublereal dCosAlpha = cos(dAlpha);
        doublereal dSinAlpha = sin(dAlpha);
      
        return Vec3(dAlpha,
               atan2(R(1, 3), 
                        dCosAlpha*R(3, 3) - dSinAlpha*R(2, 3)),
               atan2(dCosAlpha*R(2, 1) + dSinAlpha*R(3, 1),
                        dCosAlpha*R(2, 2) + dSinAlpha*R(3, 2)));   
}

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Vec3 MatR2EulerAngles313

(

const Mat3x3 &

R

)

Definition at line 927 of file matvec3.cc.

References grad::atan2(), grad::cos(), R, and grad::sin().

Referenced by StructNode::dGetPrivData(), ReferenceFrame::Output(), GimbalRotationJoint::Output(), SphericalHingeJoint::Output(), DeformableHingeJoint::Output(), DeformableJoint::Output(), PlaneHingeJoint::Output(), UniversalRotationJoint::Output(), Beam2::Output(), PlaneRotationJoint::Output(), Beam::Output(), AxialRotationJoint::Output(), StructNode::Output(), Aerodynamic2DElem< iNN >::Output_int(), DeformableHingeJoint::OutputInv(), and ReadStructNode().

{
        doublereal dAlpha = atan2(R(1, 3), -R(2, 3));
        doublereal dCosAlpha = cos(dAlpha);
        doublereal dSinAlpha = sin(dAlpha);
      
        return Vec3(dAlpha,
               atan2(dSinAlpha*R(1, 3) - dCosAlpha*R(2, 3),
                        R(3, 3)),
               atan2(-dCosAlpha*R(1, 2) - dSinAlpha*R(2, 2),
                        dCosAlpha*R(1, 1) + dSinAlpha*R(2, 1)));
}

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Vec3 MatR2EulerAngles321

(

const Mat3x3 &

R

)

Definition at line 941 of file matvec3.cc.

References grad::atan2(), grad::cos(), R, and grad::sin().

Referenced by StructNode::dGetPrivData(), ReferenceFrame::Output(), GimbalRotationJoint::Output(), SphericalHingeJoint::Output(), DeformableHingeJoint::Output(), DeformableJoint::Output(), PlaneHingeJoint::Output(), UniversalRotationJoint::Output(), Beam2::Output(), PlaneRotationJoint::Output(), Beam::Output(), AxialRotationJoint::Output(), StructNode::Output(), Aerodynamic2DElem< iNN >::Output_int(), DeformableHingeJoint::OutputInv(), and ReadStructNode().

{  
        doublereal dAlpha = atan2(R(2, 1), R(1, 1));
        doublereal dCosAlpha = cos(dAlpha);
        doublereal dSinAlpha = sin(dAlpha);
      
        return Vec3(dAlpha,
               atan2(-R(3, 1),
                        dCosAlpha*R(1, 1) + dSinAlpha*R(2, 1)),
               atan2(dSinAlpha*R(1, 3) - dCosAlpha*R(2, 3),
                        -dSinAlpha*R(1, 2) + dCosAlpha*R(2, 2)));
}

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void MatR2EulerParams	(	const Mat3x3 &	R,
		doublereal &	e0,
		Vec3 &	e
	)

Definition at line 954 of file matvec3.cc.

References Mat3x3::dGet(), grad::fabs(), grad::sqrt(), and Mat3x3::Tr().

Referenced by StructNode::dGetPrivData(), and main().

{
   doublereal t = R.Tr();
   doublereal T[4];
   T[0] = 1. + t;
   T[1] = 1. - t + 2.*R.dGet(1, 1);
   T[2] = 1. - t + 2.*R.dGet(2, 2);
   T[3] = 1. - t + 2.*R.dGet(3, 3);
   
   int k = 0;
   for (int i = 1; i <= 3; i++) {
      if (fabs(T[i]) >= fabs(T[k])) {
         k = i;       
      }
   }
   
   switch (k) {
    case 0:   
      e0 = .5*sqrt(T[0]);
      e = Vec3(R.dGet(3, 2)-R.dGet(2, 3),
               R.dGet(1, 3)-R.dGet(3, 1),
               R.dGet(2, 1)-R.dGet(1, 2))/(4.*e0);
      break;
      
    case 1: {
       doublereal e1 = .5*sqrt(T[1]);       
       e0 = (R.dGet(3, 2) - R.dGet(2, 3))/(4.*e1);
       e = Vec3(T[1],
                R.dGet(2, 1)+R.dGet(1, 2),
                R.dGet(3, 1)+R.dGet(1, 3))/(4.*e1);
       break;
    }
      
    case 2: {
       doublereal e2 = .5*sqrt(T[2]);
       e0 = (R.dGet(1, 3) - R.dGet(3, 1))/(4.*e2);
       e = Vec3(R.dGet(1, 2)+R.dGet(2, 1),
                T[2],
                R.dGet(3, 2)+R.dGet(2, 3))/(4.*e2);
       break;
    }
      
    case 3: {
       doublereal e3 = .5*sqrt(T[3]);
       e0 = (R.dGet(2, 1) - R.dGet(1, 2))/(4.*e3);
       e = Vec3(R.dGet(1, 3)+R.dGet(3, 1),
                R.dGet(2, 3)+R.dGet(3, 2),
                T[3])/(4.*e3);
       break;
    }
   }
}

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Vec3 MatR2gparam

(

const Mat3x3 &

R

)

Definition at line 756 of file matvec3.cc.

References Mat3x3::Ax(), grad::fabs(), MBDYN_EXCEPT_ARGS, and Mat3x3::Trace().

Referenced by HBeam::Omega0().

{
        /* test di singolarita' */
        doublereal d = 1. + m.Trace();
   
        if (fabs(d) < std::numeric_limits<doublereal>::epsilon()) {
                silent_cerr("MatR2gparam(): divide by zero, "
                "probably due to singularity in rotation parameters" << std::endl);
                throw ErrDivideByZero(MBDYN_EXCEPT_ARGS);
        }
   
        return m.Ax()*(4./d);
}

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Vec3 MatR2LinParam

(

const Mat3x3 &

R

)

Definition at line 772 of file matvec3.cc.

References Mat3x3::Ax().

Referenced by ModalMappingExt::Send().

{
        return m.Ax();
}

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Mat3x3 MatR2vec	(	unsigned short int	ia,
		const Vec3 &	va,
		unsigned short int	ib,
		const Vec3 &	vb
	)

Definition at line 779 of file matvec3.cc.

References ASSERT, Vec3::Cross(), DEBUGCOUT, Vec3::Dot(), MBDYN_EXCEPT_ARGS, Vec3::Norm(), grad::sqrt(), and Zero3x3.

Referenced by MBDynParser::GetMatR2vec(), and main().

{
   ASSERT(ia >= 1 && ia <= 3); 
   ASSERT(ib >= 1 && ib <= 3); 
   
   Vec3 r[3];

   DEBUGCOUT("MatR2vec: ia = " << ia << " (" << va << "),"
             << " ib = " << ib << " (" << vb << ")" << std::endl);
   
   if (ia < 1 || ia > 3) {
      silent_cerr("MatR2vec: first index is illegal" 
              << std::endl);
      throw ErrGeneric(MBDYN_EXCEPT_ARGS);
   }
   
   int i1 = ia-1;
   int i2 = ia%3;
   int i3 = (ia+1)%3;
   
   if (ib == (ia%3)+1) {
      doublereal d = va.Norm();
      if (d <= std::numeric_limits<doublereal>::epsilon()) {
         silent_cerr("MatR2vec: first vector must be non-null" << std::endl );
         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
      }
      r[i1] = va/d;
      d = vb.Norm();
      if (d <= std::numeric_limits<doublereal>::epsilon()) {
         silent_cerr("MatR2vec: second vector must be non-null" << std::endl );
         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
      }
      r[i3] = r[i1].Cross(vb);
      d = r[i3].Dot();
      if (d <= std::numeric_limits<doublereal>::epsilon()) {
         silent_cerr("MatR2vec: vectors must be distinct" 
                 << std::endl);
         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
      } 
      d = sqrt(d);
      r[i3] /= d;
      r[i2] = r[i3].Cross(r[i1]);
      
      DEBUGCOUT("R = " << Mat3x3(r[0], r[1], r[2]) << std::endl);
      
      return Mat3x3(r[0], r[1], r[2]);
   } else if (ib == ((ia+1)%3+1)) {
      doublereal d = va.Norm();
      if (d <= std::numeric_limits<doublereal>::epsilon()) {
         silent_cerr("MatR2vec: first vector must be non-null" << std::endl );
         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
      }
      r[i1] = va/d;
      d = vb.Norm();
      if (d <= std::numeric_limits<doublereal>::epsilon()) {
         silent_cerr("MatR2vec: second vector must be non-null" << std::endl );
         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
      }
      r[i2] = vb.Cross(r[i1]);
      d = r[i2].Dot();
      if (d <= std::numeric_limits<doublereal>::epsilon()) {
         silent_cerr("MatR2vec: vectors must be distinct" 
                 << std::endl);
         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
      } 
      d = sqrt(d);
      r[i2] /= d;
      r[i3] = r[i1].Cross(r[i2]);  
      
      DEBUGCOUT("R = " << Mat3x3(r[0], r[1], r[2]) << std::endl);
      
      return Mat3x3(r[0], r[1], r[2]);
   } else {
      silent_cerr("MatR2vec: second index is illegal" << std::endl);
      throw ErrGeneric(MBDYN_EXCEPT_ARGS);
   }
   
   return ::Zero3x3; // phony call, not reachable
}

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template<>

doublereal mb_deye< doublereal > ( const doublereal  d )

inline

Definition at line 1572 of file matvec3.h.

{
        return d;
}

template<>

doublereal& mb_deye< doublereal > ( doublereal &  out, const doublereal  d  )

inline

Definition at line 1578 of file matvec3.h.

{
        return out = d;
}

template<>

Mat3x3 mb_deye< Mat3x3 > ( const doublereal  d )

inline

Definition at line 1584 of file matvec3.h.

Referenced by Shell4EASANS::AssRes(), Beam2::AssStiffnessMat(), Beam::AssStiffnessMat(), ViscoElasticBeam2::AssStiffnessMat(), ViscoElasticBeam::AssStiffnessMat(), and mb_deye< Mat6x6 >().

{
        return Mat3x3(Mat3x3DEye, d);
}

template<>

Mat3x3& mb_deye< Mat3x3 > ( Mat3x3 &  out, const doublereal  d  )

inline

Definition at line 1590 of file matvec3.h.

References Mat3x3DEye_Manip::Manipulate().

{
        Mat3x3DEye.Manipulate(out, d);
        return out;
}

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template<>

const doublereal& mb_zero< doublereal > ( void  )

inline

Definition at line 1554 of file matvec3.h.

References Zero1.

Referenced by InverseSquareElasticCLR::Read().

{
        return ::Zero1;
}

template<>

const Mat3x3& mb_zero< Mat3x3 > ( void  )

inline

Definition at line 1566 of file matvec3.h.

References Zero3x3.

{
        return ::Zero3x3;
}

template<>

const Vec3& mb_zero< Vec3 > ( void  )

inline

Definition at line 1560 of file matvec3.h.

References Zero3.

Referenced by DataManager::OutputEigGeometry().

{
        return ::Zero3;
}

Mat3x3 MultMRt	(	const Mat3x3 &	m,
		const Mat3x3 &	R
	)

Definition at line 1156 of file matvec3.cc.

References Mat3x3::MulMT().

{
        return m.MulMT(R);
}

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Mat3x3 MultRM	(	const Mat3x3 &	m,
		const Mat3x3 &	R
	)

Definition at line 1150 of file matvec3.cc.

{
        return R*m;
}

Mat3x3 MultRMRt	(	const Mat3x3 &	m,
		const Mat3x3 &	R
	)

Definition at line 1162 of file matvec3.cc.

References Mat3x3::MulMT().

Referenced by ViscousBody::AfterPredict(), HBeam::AfterPredict(), Beam2::AfterPredict(), Beam::AfterPredict(), ViscoElasticBeam2::AfterPredict(), ViscousJoint::AfterPredict(), ViscoElasticJoint::AfterPredict(), ViscoElasticBeam::AfterPredict(), AerodynamicBody::AssJac(), AerodynamicBeam::AssJac(), AerodynamicBeam2::AssJac(), HBeam::AssStiffnessMat(), Beam2::DsDxi(), Beam::DsDxi(), ElasticJoint::ElasticJoint(), ElasticJointInv::ElasticJointInv(), ViscoElasticBeam::Init(), HBeam::SetValue(), Beam2::SetValue(), Beam::SetValue(), ViscoElasticBeam2::SetValue(), ViscoElasticBeam::SetValue(), ViscoElasticBeam2::ViscoElasticBeam2(), ViscoElasticJoint::ViscoElasticJoint(), ViscousBody::ViscousBody(), and ViscousJoint::ViscousJoint().

{
        return R*m.MulMT(R);
}

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Vec3 MultRV	(	const Vec3 &	v,
		const Mat3x3 &	R
	)

Definition at line 1144 of file matvec3.cc.

Referenced by HBeam::AfterPredict(), Beam2::AfterPredict(), Beam::AfterPredict(), ViscoElasticBeam2::AfterPredict(), ViscoElasticBeam::AfterPredict(), Beam2::AssStiffnessVec(), HBeam::AssStiffnessVec(), Beam::AssStiffnessVec(), ViscoElasticBeam2::AssStiffnessVec(), ViscoElasticBeam::AssStiffnessVec(), ViscousBody::AssVec(), ElasticJoint::AssVec(), ElasticJointInv::AssVec(), ViscousJoint::AssVec(), and ViscoElasticJoint::AssVec().

{
        return R*v;
}

Vec3 operator-

(

const Vec3 &

v

)

Definition at line 651 of file matvec3.cc.

References Vec3::pdVec, V1, V2, and V3.

{
   return Vec3(-v.pdVec[V1],
               -v.pdVec[V2],
               -v.pdVec[V3]);
}

Mat3x3 operator-

(

const Mat3x3 &

v

)

Definition at line 659 of file matvec3.cc.

References M11, M12, M13, M21, M22, M23, M31, M32, M33, and Mat3x3::pGetMat().

{
   const doublereal* pdMat = m.pGetMat();
   return Mat3x3(-pdMat[M11],
                 -pdMat[M21],
                 -pdMat[M31],
                 -pdMat[M12],
                 -pdMat[M22],
                 -pdMat[M32],
                 -pdMat[M13],
                 -pdMat[M23],
                 -pdMat[M33]);
}

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std::ostream& operator<<	(	std::ostream &	out,
		const Vec3 &	v
	)

Definition at line 703 of file matvec3.cc.

References Vec3::pGetVec().

{
   const doublereal* pd = v.pGetVec();
   
   out << pd[0] << sDefFill << pd[1] << sDefFill << pd[2];
   
   return out;
}

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std::ostream& operator<<	(	std::ostream &	out,
		const Mat3x3 &	m
	)

Definition at line 680 of file matvec3.cc.

References M11, M12, M13, M21, M22, M23, M31, M32, M33, and Mat3x3::pGetMat().

{
   const doublereal* pd = m.pGetMat();

   out
     << pd[M11] << sDefFill << pd[M12] << sDefFill << pd[M13] << sDefFill
     << pd[M21] << sDefFill << pd[M22] << sDefFill << pd[M23] << sDefFill
     << pd[M31] << sDefFill << pd[M32] << sDefFill << pd[M33];
   
   return out;
}

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Vec3 Unwrap	(	const Vec3 &	vPrev,
		const Vec3 &	v
	)

Definition at line 1089 of file matvec3.cc.

References M_PI, and Vec3::Norm().

Referenced by TotalEquation::AfterConvergence(), TotalJoint::AfterConvergence(), TotalReaction::AfterConvergence(), TotalPinJoint::AfterConvergence(), TotalEquation::dGetPrivData(), TotalJoint::dGetPrivData(), TotalReaction::dGetPrivData(), and TotalPinJoint::dGetPrivData().

{
        doublereal dTheta = v.Norm();
        if (dTheta > 0.) {
                doublereal dThetaPrev = vPrev.Norm();
                if (dThetaPrev > std::numeric_limits<doublereal>::epsilon()) {
                        bool b(false);

                        if (vPrev*v < 0) {
                                dTheta = -dTheta;
                        }

                        doublereal dThetaOld = dTheta;

                        while (dTheta - dThetaPrev > M_PI) {
                                dTheta -= 2.*M_PI;
                                b = true;
                        }

                        while (dThetaPrev - dTheta > M_PI) {
                                dTheta += 2.*M_PI;
                                b = true;
                        }

                        if (b) {
                                return v*(dTheta/dThetaOld);
                        }
                }
        }

        return v;
}

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std::ostream& Write	(	std::ostream &	out,
		const doublereal &	d,
		const char *
	)

Definition at line 747 of file matvec3.cc.

{
   return out << d;
}

std::ostream& Write	(	std::ostream &	out,
		const Vec3 &	v,
		const char *	s = " "
	)

Definition at line 714 of file matvec3.cc.

References Vec3::Write().

{
   return v.Write(out, s);
}

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std::ostream& Write	(	std::ostream &	out,
		const Mat3x3 &	m,
		const char *	s = " ",
		const char *	s2 = NULL
	)

Definition at line 694 of file matvec3.cc.

References Mat3x3::Write().

{
   return m.Write(out, s, s2);
}

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Variable Documentation

const doublereal dRaDegr

Definition at line 884 of file matvec3.cc.

Referenced by main(), ReferenceFrame::Output(), GimbalRotationJoint::Output(), DriveHingeJoint::Output(), UniversalHingeJoint::Output(), SphericalHingeJoint::Output(), DeformableHingeJoint::Output(), DeformableJoint::Output(), StructExtForce::Output(), Brake::Output(), PlaneHingeJoint::Output(), UniversalRotationJoint::Output(), PinJoint::Output(), Beam2::Output(), UniversalPinJoint::Output(), PlaneRotationJoint::Output(), Beam::Output(), AxialRotationJoint::Output(), PlanePinJoint::Output(), StructNode::Output(), Aerodynamic2DElem< iNN >::Output_int(), DeformableHingeJoint::OutputInv(), ReadStructExtForce(), ReadStructMappingExtForce(), ReadStructNode(), StructExtForce::SendToFileDes(), StructMappingExtForce::SendToFileDes(), StructMembraneMappingExtForce::SendToFileDes(), StructExtForce::SendToStream(), StructMappingExtForce::SendToStream(), and StructMembraneMappingExtForce::SendToStream().

const Mat3x3 Eye3

Referenced by AeroDynModule::AeroDynModule(), ElasticHingeJointInv::AfterPredict(), ViscousHingeJointInv::AfterPredict(), ViscoElasticHingeJointInv::AfterPredict(), HydrodynamicPlainBearing::AssJac(), AerodynamicBeam::AssJac(), ElasticDispJointInv::AssVec(), ElasticJointInv::AssVec(), Inertia::Collect_int(), ComputeFullInterpolation(), Shell4EAS::ComputeInitialNodeAndIptOrientation(), Shell4EASANS::ComputeInitialNodeOrientation(), Mat3x3::EigSym(), MBDynParser::GetMat3x3(), MBDynParser::GetMat3x3Sym(), MBDynParser::GetMatR2vec(), StructDispNode::GetR(), Inertia::Inertia(), MatManip_test(), ModuleNonsmoothNode::mbs_get_force(), ModuleNonsmoothNode::mbs_get_force_frictional(), StructDispNode::Output(), ScalarFuncGR::Read(), PowerLawGR::Read(), LogarithmicGR::Read(), ReadAircraftInstruments(), ReadBeam(), ReadBeam2(), DataManager::ReadControl(), ReadElectric(), ReadForce(), ReadGenericAerodynamicForce(), ReadModal(), DataManager::ReadOneElem(), ReadRotor(), ReadRotorData(), ReadShell4EAS(), ReadShell4EASANS(), ReadStructMappingExtForce(), ReadStructNode(), ReferenceFrame::ReferenceFrame(), ModalMappingExt::Send(), and ModalExt::Send().

const Mat3x3DEye_Manip Mat3x3DEye

Definition at line 637 of file matvec3.cc.

Referenced by ModalBody::AssMats(), DoubleLinearElasticConstitutiveLaw< Vec3, Mat3x3 >::DoubleLinearElasticConstitutiveLaw(), and DoubleLinearViscoElasticConstitutiveLaw< Vec3, Mat3x3 >::DoubleLinearViscoElasticConstitutiveLaw().

const Mat3x3Diag_Manip Mat3x3Diag

Definition at line 638 of file matvec3.cc.

const Mat3x3Zero_Manip Mat3x3Zero

Definition at line 636 of file matvec3.cc.

const MatCross_Manip MatCross

Definition at line 639 of file matvec3.cc.

Referenced by HydrodynamicPlainBearing::AssJac(), InlineFriction::AssJac(), UniversalHingeJoint::AssJac(), Actuator::AssJac(), asynchronous_machine::AssJac(), RodBezier::AssJac(), Motor::AssJac(), PlaneHingeJoint::AssJac(), BeamSliderJoint::AssJac(), TotalEquation::AssJac(), TotalJoint::AssJac(), UniversalPinJoint::AssJac(), AerodynamicBody::AssJac(), Modal::AssJac(), RodWithOffset::AssJac(), FollowerForce::AssJac(), TotalReaction::AssJac(), Shell4EAS::AssJac(), ModuleIMUConstraint::AssJac(), AerodynamicBeam::AssJac(), FollowerCouple::AssJac(), AxialRotationJoint::AssJac(), AerodynamicBeam2::AssJac(), TotalForce::AssJac(), LoadIncForce::AssJac(), FollowerInternalForce::AssJac(), FollowerInternalCouple::AssJac(), GimbalRotationJoint::AssMat(), DriveDisplacementJoint::AssMat(), DriveHingeJoint::AssMat(), DriveDisplacementPinJoint::AssMat(), DeformableJoint::AssMatCommon(), DeformableJoint::AssMatElastic(), DeformableDispJoint::AssMatF(), DeformableDispJoint::AssMatFDE(), DeformableDispJoint::AssMatFDEPrime(), DeformableAxialJoint::AssMatM(), DeformableHingeJoint::AssMatM(), DeformableAxialJoint::AssMatMDEPrime(), DeformableHingeJoint::AssMatMDEPrime(), ViscousBody::AssMats(), DynamicVariableBody::AssMats(), DynamicBody::AssMats(), ModalBody::AssMats(), Mass::AssMatsRBK_int(), VariableBody::AssMatsRBK_int(), Body::AssMatsRBK_int(), DeformableJoint::AssMatViscous(), Shell4EAS::AssRes(), Shell4EASANS::AssRes(), PiezoActuatorBeam::AssStiffnessMat(), PiezoActuatorBeam2::AssStiffnessMat(), Beam2::AssStiffnessMat(), HBeam::AssStiffnessMat(), PiezoActuatorVEBeam2::AssStiffnessMat(), PiezoActuatorVEBeam::AssStiffnessMat(), Beam::AssStiffnessMat(), ViscoElasticBeam2::AssStiffnessMat(), ViscoElasticBeam::AssStiffnessMat(), ComputeFullInterpolation(), VecExp::Cross(), RotManip::Elle(), Modal::GetCurrFEMNodesVelocity(), InlineFriction::InitialAssJac(), InLineJoint::InitialAssJac(), UniversalHingeJoint::InitialAssJac(), InPlaneJoint::InitialAssJac(), PrismaticJoint::InitialAssJac(), SphericalHingeJoint::InitialAssJac(), RodBezier::InitialAssJac(), DriveDisplacementJoint::InitialAssJac(), DriveHingeJoint::InitialAssJac(), PlaneHingeJoint::InitialAssJac(), DynamicVariableBody::InitialAssJac(), InLineWithOffsetJoint::InitialAssJac(), DistanceJointWithOffset::InitialAssJac(), UniversalRotationJoint::InitialAssJac(), PinJoint::InitialAssJac(), InPlaneWithOffsetJoint::InitialAssJac(), TotalJoint::InitialAssJac(), AbsoluteForce::InitialAssJac(), DriveDisplacementPinJoint::InitialAssJac(), UniversalPinJoint::InitialAssJac(), PlaneRotationJoint::InitialAssJac(), Modal::InitialAssJac(), RodWithOffset::InitialAssJac(), FollowerForce::InitialAssJac(), ViscousAxialJoint::InitialAssJac(), TotalReaction::InitialAssJac(), DynamicBody::InitialAssJac(), FollowerCouple::InitialAssJac(), ViscousHingeJoint::InitialAssJac(), ViscousDispJoint::InitialAssJac(), ViscoElasticAxialJoint::InitialAssJac(), AxialRotationJoint::InitialAssJac(), AbsoluteInternalForce::InitialAssJac(), TotalForce::InitialAssJac(), ViscoElasticDispJoint::InitialAssJac(), PlanePinJoint::InitialAssJac(), FollowerInternalForce::InitialAssJac(), ViscoElasticHingeJoint::InitialAssJac(), FollowerInternalCouple::InitialAssJac(), Modal::InitialAssRes(), MatExp::MatExp(), MultMatVCross(), MultMatVCrossT(), ReadModal(), Mat3x3::Skew(), testMatVec3(), and InvAngularConstitutiveLaw::Update().

const MatCrossCross_Manip MatCrossCross

Definition at line 640 of file matvec3.cc.

Referenced by VariableBody::AfterPredict(), InLineJoint::AssJac(), InlineFriction::AssJac(), UniversalHingeJoint::AssJac(), PrismaticJoint::AssJac(), SphericalHingeJoint::AssJac(), InPlaneJoint::AssJac(), RodBezier::AssJac(), Brake::AssJac(), PlaneHingeJoint::AssJac(), BeamSliderJoint::AssJac(), InLineWithOffsetJoint::AssJac(), TotalEquation::AssJac(), TotalJoint::AssJac(), DistanceJointWithOffset::AssJac(), UniversalRotationJoint::AssJac(), PinJoint::AssJac(), InPlaneWithOffsetJoint::AssJac(), ViscoElasticRod::AssJac(), AbsoluteForce::AssJac(), UniversalPinJoint::AssJac(), PlaneRotationJoint::AssJac(), Modal::AssJac(), RodWithOffset::AssJac(), TotalReaction::AssJac(), TotalPinJoint::AssJac(), AerodynamicBeam::AssJac(), AxialRotationJoint::AssJac(), AerodynamicBeam2::AssJac(), AbsoluteInternalForce::AssJac(), TotalForce::AssJac(), LoadIncForce::AssJac(), FollowerInternalForce::AssJac(), PlanePinJoint::AssJac(), DriveDisplacementJoint::AssMat(), Rod::AssMat(), DriveDisplacementPinJoint::AssMat(), DeformableJoint::AssMatCommon(), DeformableDispJoint::AssMatF(), DeformableDispJoint::AssMatFDEPrime(), DynamicVariableBody::AssMats(), StaticVariableBody::AssMats(), DynamicBody::AssMats(), ModalBody::AssMats(), StaticBody::AssMats(), Mass::AssMatsRBK_int(), VariableBody::AssMatsRBK_int(), Body::AssMatsRBK_int(), DeformableJoint::AssMatViscous(), DynamicVariableBody::AssRes(), StaticVariableBody::AssRes(), Beam2::AssStiffnessMat(), Beam::AssStiffnessMat(), ViscoElasticBeam2::AssStiffnessMat(), ViscoElasticBeam::AssStiffnessMat(), CenterOfMass::Collect_int(), Inertia::Collect_int(), AutomaticStructElem::ComputeAccelerations(), Body::dGetPrivData(), RotManip::DRot(), RotManip::DRot_I(), RotManip::DRot_IT(), RotManip::Elle(), Mass::GetJ_int(), VariableBody::GetJ_int(), Modal::GetJ_int(), Body::GetJ_int(), InlineFriction::InitialAssJac(), InLineJoint::InitialAssJac(), UniversalHingeJoint::InitialAssJac(), InPlaneJoint::InitialAssJac(), PrismaticJoint::InitialAssJac(), SphericalHingeJoint::InitialAssJac(), RodBezier::InitialAssJac(), DriveDisplacementJoint::InitialAssJac(), PlaneHingeJoint::InitialAssJac(), DynamicVariableBody::InitialAssJac(), InLineWithOffsetJoint::InitialAssJac(), DistanceJointWithOffset::InitialAssJac(), UniversalRotationJoint::InitialAssJac(), PinJoint::InitialAssJac(), InPlaneWithOffsetJoint::InitialAssJac(), TotalJoint::InitialAssJac(), ViscoElasticRod::InitialAssJac(), AbsoluteForce::InitialAssJac(), DriveDisplacementPinJoint::InitialAssJac(), UniversalPinJoint::InitialAssJac(), PlaneRotationJoint::InitialAssJac(), Modal::InitialAssJac(), RodWithOffset::InitialAssJac(), FollowerForce::InitialAssJac(), TotalReaction::InitialAssJac(), DynamicBody::InitialAssJac(), TotalPinJoint::InitialAssJac(), FollowerCouple::InitialAssJac(), AxialRotationJoint::InitialAssJac(), AbsoluteInternalForce::InitialAssJac(), TotalForce::InitialAssJac(), PlanePinJoint::InitialAssJac(), FollowerInternalForce::InitialAssJac(), FollowerInternalCouple::InitialAssJac(), DynamicVariableBody::InitialAssRes(), MatExp::MatExp(), Inertia::Output_int(), ReadBody(), ReadModal(), Body::Restart(), RotManip::Rot(), RotManip::RotAndDRot(), RotManip::RotAndDRot_IT(), DynamicVariableBody::SetValue(), and testMatVec3().

const doublereal Zero1

Referenced by SchurMatrixHandler::dGetCoef(), SpMapMatrixHandler::dGetCoef(), SchurVectorHandler::dGetCoef(), SchurMatrixHandlerUm::dGetCoef(), NonlinearSolverTestRange::dScaleCoef(), mb_zero< doublereal >(), DirCColMatrixHandler< off >::operator()(), CColMatrixHandler< off >::operator()(), SchurMatrixHandler::operator()(), NaiveMatrixHandler::operator()(), SpMapMatrixHandler::operator()(), and SchurVectorHandler::operator()().

const Vec3 Zero3

Referenced by AeroDynModule::AeroDynModule(), ModuleNonsmoothNode::AfterConvergence(), ViscousHingeJoint::AfterConvergence(), ViscousDispJoint::AfterConvergence(), CyclocopterUniform1D::AfterConvergence(), CyclocopterUniform2D::AfterConvergence(), StructNode::AfterConvergence(), CyclocopterPolimi::AfterConvergence(), ViscousHingeJoint::AfterPredict(), ViscousDispJoint::AfterPredict(), ViscousHingeJointInv::AfterPredict(), StructNode::AfterPredict(), HydrodynamicPlainBearing::AssJac(), RodBezier::AssJac(), PlaneHingeJoint::AssJac(), BeamSliderJoint::AssJac(), AerodynamicModal::AssJac(), AerodynamicBody::AssJac(), Modal::AssJac(), AerodynamicBeam::AssJac(), AerodynamicBeam2::AssJac(), StaticMass::AssMats(), StaticVariableBody::AssMats(), StaticBody::AssMats(), ModalForce::AssRes(), Wheel2::AssRes(), StructExtForce::AssRes(), StructMappingExtForce::AssRes(), Brake::AssRes(), BeamSliderJoint::AssRes(), AeroDynModule::AssRes(), StaticMass::AssRes(), StaticVariableBody::AssRes(), AutomaticStructElem::AssRes(), Modal::AssRes(), Shell4EAS::AssRes(), Shell4EASANS::AssRes(), StaticBody::AssRes(), CyclocopterUniform2D::AssRes(), CyclocopterPolimi::AssRes(), GenericAerodynamicForce::AssVec(), AerodynamicModal::AssVec(), AerodynamicBody::AssVec(), ViscousHingeJoint::AssVec(), AerodynamicBeam::AssVec(), ViscousDispJoint::AssVec(), AerodynamicBeam2::AssVec(), ViscousHingeJointInv::AssVec(), Beam2::Beam2(), StructNode::BeforePredict(), CenterOfMass::Collect_int(), Inertia::Collect_int(), AutomaticStructDispElem::ComputeAccelerations(), AutomaticStructElem::ComputeAccelerations(), Shell4EAS::ComputeIPCurvature(), Shell4EASANS::ComputeIPCurvature(), ContactConstitutiveLaw< Vec3, Mat3x3 >::ContactConstitutiveLaw(), Modal::dGetPrivData(), DrivenElem::GetB_int(), Modal::GetB_int(), NestedElem::GetB_int(), ElemGravityOwner::GetB_int(), Modal::GetCurrFEMNodesVelocity(), RotorTrimGeneric::GetData(), DrivenElem::GetG_int(), Modal::GetG_int(), NestedElem::GetG_int(), ElemGravityOwner::GetG_int(), AutomaticStructDispElem::GetGCurr(), NoRotor::GetInducedVelocity(), CyclocopterNoInflow::GetInducedVelocity(), GlauertRotor::GetInducedVelocity(), ManglerRotor::GetInducedVelocity(), MBDynParser::GetMatR2vec(), AutomaticStructDispElem::GetS(), DrivenElem::GetS(), NestedElem::GetS(), DrivenElem::GetS_int(), ElemGravityOwner::GetS_int(), NestedElem::GetS_int(), MBDynParser::GetVec3(), Gust::GetVelocity(), StructDispNode::GetW(), StructDispNode::GetWP(), HBeam::HBeam(), Beam::Init(), ViscoElasticBeam::Init(), RodBezier::InitialAssJac(), TotalJoint::InitialAssJac(), Modal::InitialAssJac(), TotalReaction::InitialAssJac(), TotalPinJoint::InitialAssJac(), AerodynamicModal::InitialAssRes(), TotalJoint::InitialAssRes(), Modal::InitialAssRes(), TotalReaction::InitialAssRes(), TotalPinJoint::InitialAssRes(), ViscousHingeJoint::InitialAssRes(), Rotor::InitParam(), LoadIncForce::LoadIncForce(), mb_zero< Vec3 >(), ModuleNonsmoothNode::mbs_get_force(), ModuleNonsmoothNode::mbs_get_force_frictional(), ModalMappingExt::ModalMappingExt(), ModuleIMUConstraint::ModuleIMUConstraint(), ModuleNonsmoothNode::ModuleNonsmoothNode(), GimbalRotationJoint::Output(), LinearAccelerationJoint::Output(), DriveDisplacementJoint::Output(), DriveHingeJoint::Output(), LinearVelocityJoint::Output(), InLineJoint::Output(), DistanceJoint::Output(), PrismaticJoint::Output(), SphericalHingeJoint::Output(), DeformableAxialJoint::Output(), InPlaneJoint::Output(), DeformableDispJoint::Output(), RodBezier::Output(), DeformableHingeJoint::Output(), Rod::Output(), Brake::Output(), AutomaticStructDispElem::Output(), AngularAccelerationJoint::Output(), AirProperties::Output(), AngularVelocityJoint::Output(), InLineWithOffsetJoint::Output(), ContactJoint::Output(), DistanceJointWithOffset::Output(), UniversalRotationJoint::Output(), PinJoint::Output(), TotalEquation::Output(), InPlaneWithOffsetJoint::Output(), DriveDisplacementPinJoint::Output(), StructDispNode::Output(), PlaneRotationJoint::Output(), DeformableHingeJoint::OutputInv(), ScalarFuncGR::Read(), NodeDistDCR::Read(), PowerLawGR::Read(), LogarithmicGR::Read(), ReadBeam(), ReadBody(), DataManager::ReadControl(), ReadElectric(), ReadForce(), ReadGenericAerodynamicForce(), ReadGravity(), ReadJoint(), ReadModal(), DataManager::ReadOneElem(), ReadStructExtForce(), ReadStructMappingExtForce(), ReadStructNode(), ReadStructuralForce(), ModalMappingExt::Recv(), StructMappingExtForce::RecvFromFileDes(), StructMembraneMappingExtForce::RecvFromFileDes(), MBDynParser::Reference_int(), ResForces::Reset(), ModalMappingExt::Send(), ModalExt::Send(), StructNode::SetInitialValue(), StructNode::SetValue(), StructExtForce::StructExtForce(), StructMappingExtForce::StructMappingExtForce(), AircraftInstruments::Update(), ContContact3DCL::Update(), and ViscoElasticBeam2::ViscoElasticBeam2().

const Mat3x3 Zero3x3

Referenced by Modal::AssJac(), AutomaticStructElem::AssRes(), Modal::AssRes(), Beam2::AssStiffnessMat(), HBeam::AssStiffnessMat(), Beam::AssStiffnessMat(), ViscoElasticBeam2::AssStiffnessMat(), ViscoElasticBeam::AssStiffnessMat(), CenterOfMass::Collect_int(), ContactConstitutiveLaw< Vec3, Mat3x3 >::ContactConstitutiveLaw(), AutomaticStructDispElem::GetJ(), DrivenElem::GetJ(), NestedElem::GetJ(), DrivenElem::GetJ_int(), ElemGravityOwner::GetJ_int(), NestedElem::GetJ_int(), MBDynParser::GetMat3x3(), MBDynParser::GetMat3x3Sym(), CyclocopterNoInflow::GetRRotor(), CyclocopterUniform1D::GetRRotor(), CyclocopterUniform2D::GetRRotor(), CyclocopterPolimi::GetRRotor(), MatR2vec(), mb_deye< Mat6x6 >(), mb_zero< Mat3x3 >(), ReadBody(), ReadElectric(), ReadModal(), MBDynParser::Reference_int(), ContContact3DCL::Update(), Shell4EAS::UpdateNodalAndAveragePosAndOrientation(), and Shell4EASANS::UpdateNodalAndAveragePosAndOrientation().