modal.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/modal.h,v 1.78 2017/01/12 14:46:43 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
 */

/* Elemento modale */

/* 
 * Copyright 1999-2017 Felice Felippone <ffelipp@tin.it>
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 */

/* 
 * Copyright 1999-2017 Pierangelo Masarati  <masarati@aero.polimi.it>
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 *
 * Modified by Pierangelo Masarati
 */

#ifndef MODAL_H
#define MODAL_H

#include <fstream>
#include <joint.h>

#if !defined(MODAL_USE_AUTODIFF)
#define MODAL_USE_AUTODIFF USE_AUTODIFF
#endif

#if USE_AUTODIFF && MODAL_USE_AUTODIFF
#include <gradient.h>
#include <matvec.h>
#include <matvecass.h>
#endif

#if 0
#define MODAL_USE_INV9
#endif

/* Modal - begin */

/* 
 * ATTENZIONE! 
 * per ora e' derivato da Joint; 
 * puo' darsi che venga creata una classe apposta
 */

class Modal : virtual public Elem, public Joint {
public:
        struct StrNodeData;

private:
#if USE_AUTODIFF && MODAL_USE_AUTODIFF
        inline void
        UpdateStrNodeData(StrNodeData& oNode,
                          const grad::Vector<doublereal, 3>& d1tot,
                          const grad::Matrix<doublereal, 3, 3>& R1tot,
                          const grad::Vector<doublereal, 3>& F,
                          const grad::Vector<doublereal, 3>& M,
                          const grad::Matrix<doublereal, 3, 3>& R2);
        inline void
        UpdateStrNodeData(StrNodeData& oNode,
                          const grad::Vector<grad::Gradient<0>, 3>& d1tot,
                          const grad::Matrix<grad::Gradient<0>, 3, 3>& R1tot,
                          const grad::Vector<grad::Gradient<0>, 3>& F,
                          const grad::Vector<grad::Gradient<0>, 3>& M,
                          const grad::Matrix<grad::Gradient<0>, 3, 3>& R2) {}

        inline void
        UpdateModalNode(const grad::Vector<doublereal, 3>& x,
                        const grad::Matrix<doublereal, 3, 3>& R);

        inline void
        UpdateModalNode(const grad::Vector<grad::Gradient<0>, 3>& x,
                        const grad::Matrix<grad::Gradient<0>, 3, 3>& R) {}

        inline void
        UpdateState(const grad::Vector<doublereal, grad::DYNAMIC_SIZE>& a,
                    const grad::Vector<doublereal, grad::DYNAMIC_SIZE>& aP,
                    const grad::Vector<doublereal, grad::DYNAMIC_SIZE>& b,
                    const grad::Vector<doublereal, grad::DYNAMIC_SIZE>& bP);

        inline void
        UpdateState(const grad::Vector<grad::Gradient<0>, grad::DYNAMIC_SIZE>&,
                    const grad::Vector<grad::Gradient<0>, grad::DYNAMIC_SIZE>&,
                    const grad::Vector<grad::Gradient<0>, grad::DYNAMIC_SIZE>&,
                    const grad::Vector<grad::Gradient<0>, grad::DYNAMIC_SIZE>&) { }

        inline void
        UpdateInvariants(const grad::Vector<doublereal, 3>& Inv3jaj,
                         const grad::Matrix<doublereal, 3, 3>& Inv8jaj,
                         const grad::Matrix<doublereal, 3, 3>& Inv9jkajak);

    inline void
        UpdateInvariants(const grad::Vector<grad::Gradient<0>, 3>& Inv3jaj,
                                         const grad::Matrix<grad::Gradient<0>, 3, 3>& Inv8jaj,
                                         const grad::Matrix<grad::Gradient<0>, 3, 3>& Inv9jkajak) {}

    grad::LocalDofMap dofMap;
#endif

protected:
        const ModalNode* const pModalNode;
        const unsigned iRigidOffset;            /* 0 iff pModalNode == 0; else 12 */

        /* configuration of reference point;
         * from ModalNode iff pModalNode == 0 */
        mutable Vec3    x;
        mutable Mat3x3  R;
        mutable Mat3x3  RT;

        const unsigned int NModes;
        const unsigned int NStrNodes;

        const unsigned int NFEMNodes; // number of FEM nodes, common
        const std::vector<std::string> IdFEMNodes; // ID of FEM nodes, common
        const Mat3xN *pXYZFEMNodes; // local position of FEM nodes, common
        const doublereal dMass; // mass, common
        const Vec3 Inv2; // undeformed static moment, common
        const Mat3x3 Inv7; // undeformed inertia moment, common

        const std::vector<unsigned int> uModeNumber;
        const MatNxN *pModalMass;
        const MatNxN *pModalStiff;
        const MatNxN *pModalDamp;

        const Mat3xN *pPHIt;
        const Mat3xN *pPHIr;
   
        const Mat3xN *pModeShapest;
        const Mat3xN *pModeShapesr;

        Mat3xN *pCurrXYZ;
        Mat3xN *pCurrXYZVel;

        const Mat3xN *pInv3;
        const Mat3xN *pInv4;
        const Mat3xN *pInv5;
        const Mat3xN *pInv8;
        const Mat3xN *pInv9;

        const Mat3xN *pInv10;
        const Mat3xN *pInv11;

        Vec3   Inv3jaj;

#if !(USE_AUTODIFF && MODAL_USE_AUTODIFF) || MODAL_DEBUG_AUTODIFF
        Vec3   Inv3jaPj;
#endif

        Mat3x3 Inv8jaj;

#if !(USE_AUTODIFF && MODAL_USE_AUTODIFF) || MODAL_DEBUG_AUTODIFF
        Mat3x3 Inv8jaPj;
        Mat3xN Inv5jaj;
        Mat3xN Inv5jaPj;
#endif
        Mat3x3 Inv9jkajak;

#if !(USE_AUTODIFF && MODAL_USE_AUTODIFF) || MODAL_DEBUG_AUTODIFF
        Mat3x3 Inv9jkajaPk;
#endif

        VecN a, a0;
        VecN aPrime, aPrime0;
        VecN b;
        VecN bPrime;

public:
        struct StrNodeData {
                // constant, defined once for all at input
                const StructNode *pNode;
                std::string FEMNode;
                Vec3 OffsetFEM;
                Vec3 OffsetMB;
                Mat3x3 RotMB;

                // variable, constructed during analysis
                Vec3 d1tot;
                Mat3x3 R1tot;
                Mat3x3 R2;

                // variable, constructed during analysis
                Vec3 F;
                Vec3 M;

                bool bOut;
        };

protected:
        std::vector<StrNodeData> SND;

        /* from gravity.h */
        /* momento statico */
        Vec3 GetS_int(void) const;

        /* momento d'inerzia */
        Mat3x3 GetJ_int(void) const;
 
        Vec3 GetB_int(void) const;
        Vec3 GetG_int(void) const;

public:
        /* Costruttore non banale */
        Modal(unsigned int uL,
                        const ModalNode* pModalNodeTmp, 
                        const Vec3& x0,
                        const Mat3x3& R0,
                        const DofOwner* pDO,
                        unsigned int N,
                        unsigned int NS,
                        unsigned int NFN,
                        doublereal dMass,
                        const Vec3& STmp,
                        const Mat3x3& JTmp,
                        const std::vector<unsigned int>& uModeNumber,
                        MatNxN *pGenMass,
                        MatNxN *pGenStiff,
                        MatNxN *pGenDamp,
                        const std::vector<std::string>& IdFEMNodes,
                        Mat3xN *pN,
                        const std::vector<Modal::StrNodeData>& snd,
                        Mat3xN *pPHIt,
                        Mat3xN *pPHIr,
                        Mat3xN *pModeShapest,
                        Mat3xN *pModeShapesr,
                        Mat3xN *pInv3,
                        Mat3xN *pInv4,
                        Mat3xN *pInv5,
                        Mat3xN *pInv8,
                        Mat3xN *pInv9,
                        Mat3xN *pInv10,
                        Mat3xN *pInv11,
                        VecN *a,
                        VecN *aP,
                        flag fOut);

        /* Distruttore */
        ~Modal(void);
   
        /* Tipo di Joint */
        virtual Joint::Type GetJointType(void) const;

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

        virtual unsigned int iGetNumDof(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;
        DofOrder::Order GetDofType(unsigned int i) const;
        DofOrder::Order GetEqType(unsigned int i) const;

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

        VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat, doublereal dCoef,
                        const VectorHandler& XCurr, 
                        const VectorHandler& XPrimeCurr);
        SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec, doublereal dCoef,
                        const VectorHandler& XCurr, 
                        const VectorHandler& XPrimeCurr);

#if USE_AUTODIFF && MODAL_USE_AUTODIFF
       template <typename T>
       void
       AssRes(grad::GradientAssVec<T>& WorkVec,
              doublereal dCoef,
              const grad::GradientVectorHandler<T>& XCurr,
              const grad::GradientVectorHandler<T>& XPrimeCurr,
              enum grad::FunctionCall func);
#endif        
        void Output(OutputHandler& OH) const;

        /* funzioni usate nell'assemblaggio iniziale */

        virtual unsigned int iGetInitialNumDof(void) const;
        virtual void
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const;

        /* Contributo allo jacobiano durante l'assemblaggio iniziale */
        VariableSubMatrixHandler&
        InitialAssJac(VariableSubMatrixHandler& WorkMat,
                        const VectorHandler& XCurr);   
        /* Contributo al residuo durante l'assemblaggio iniziale */   
        SubVectorHandler&
        InitialAssRes(SubVectorHandler& WorkVec, const VectorHandler& XCurr);
 
        /* Setta il valore iniziale delle proprie variabili */
        void SetInitialValue(VectorHandler& /* X */ );

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

#if 0
        /* Aggiorna dati durante l'iterazione fittizia iniziale */
        virtual void DerivativesUpdate(const VectorHandler& X,
                const VectorHandler& XP);
#endif

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

        /* Funzioni che restituiscono dati che possono servire ad
         * altri elementi (ad es. agli elementi aerodinamici modali)
         */

        const Mat3xN& pGetPHIt(void) const {
                return *pModeShapest;
        };

        const Mat3xN& pGetPHIr(void) const {
                return *pModeShapesr;
        };

        // NOTE: not 'const' because modify internal storage
        const Mat3xN& GetCurrFEMNodesPosition(void);
        const Mat3xN& GetCurrFEMNodesVelocity(void);

        integer uGetNModes(void) const {
                return NModes;
        };

        const std::vector<unsigned int>& GetModeList(void) const {
                return uModeNumber;
        };

        const VecN& GetA(void) const {
                return a;
        };

        const VecN& GetAP(void) const {
                return aPrime;
        };

        const VecN& GetB(void) const {
                return b;
        };

        const VecN& GetBP(void) const {
                return bPrime;
        };

        integer uGetNFEMNodes(void) {
                return NFEMNodes;
        };

        integer iGetModalIndex(void) const {
                return iGetFirstIndex();
        };

        const ModalNode* pGetModalNode(void) const {
                return pModalNode;
        };

        /* from gravity.h */
        /* massa totale */
        doublereal dGetM(void) 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(NStrNodes + (pModalNode ? 1 : 0));
                for (unsigned int j = 0; j < NStrNodes; j++) {
                        connectedNodes[j] = SND[j].pNode;
                }
                if (pModalNode) {
                        connectedNodes[NStrNodes] = pModalNode;
                }
        };
        /* ************************************************ */
};

/* Modal - end */

class DataManager;
class MBDynParser;

extern Joint *
ReadModal(DataManager* pDM, MBDynParser& HP, const DofOwner* pD0,
                unsigned int uLabel);

#endif /* MODAL_H */