modalforce.cc

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/modalforce.cc,v 1.24 2017/01/12 14:46:43 masarati Exp $ */
/* 
 * MBDyn (C) is a multibody analysis code. 
 * http://www.mbdyn.org
 *
 * Copyright (C) 2007-2017
 *
 * 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
 */

#include "mbconfig.h"           /* This goes first in every *.c,*.cc file */

#include <fstream>
#include <algorithm>

#include "dataman.h"
#include "modalforce.h"

/* ModalForce - begin */

/* Costruttore */
ModalForce::ModalForce(unsigned int uL,
        const Modal *pmodal,
        const std::vector<unsigned int>& modeList,
        std::vector<DriveCaller *>& f,
        const Mat3xN *mt,
        const Mat3xN *mr,
        flag fOut)
: Elem(uL, fOut), 
Force(uL, fOut), 
pModal(pmodal),
modeList(modeList),
f(f),
Mt(mt),
Mr(mr),
F(Zero3),
M(Zero3)
{
        ASSERT(pModal != 0);
}

ModalForce::~ModalForce(void)
{
        if (!f.empty()) {
                for (unsigned i = 0; i < f.size(); i++) {
                        delete f[i];
                }
        }

        if (Mt) {
                delete Mt;
        }

        if (Mr) {
                delete Mr;
        }
}

SubVectorHandler&
ModalForce::AssRes(SubVectorHandler& WorkVec,
        doublereal dCoef,
        const VectorHandler& XCurr, 
        const VectorHandler& XPrimeCurr)
{
        integer iR, iC;
        WorkSpaceDim(&iR, &iC);
        WorkVec.ResizeReset(iR);

        integer iIdx = 1;
        const StructNode *pNode = pModal->pGetModalNode();
        integer iFirstIndex = 0;
        if (pNode) {
                iFirstIndex = pNode->iGetFirstMomentumIndex();

                for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                        WorkVec.PutRowIndex(iCnt, iFirstIndex + iCnt);
                }

                F = Zero3;
                M = Zero3;

                iIdx += 6;

        }

        integer iModalIndex = pModal->iGetModalIndex() + pModal->uGetNModes();
        for (unsigned iMode = 0; iMode < modeList.size(); iMode++) {
                doublereal d = f[iMode]->dGet();
                WorkVec.PutItem(iIdx + iMode, iModalIndex + modeList[iMode], d);
                if (pNode) {
                        F += Mt->GetVec(iMode + 1)*d;
                        M += Mr->GetVec(iMode + 1)*d;
                }
        }

        if (pNode) {
                WorkVec.Put(1, pNode->GetRCurr()*F);
                WorkVec.Put(4, pNode->GetRCurr()*M);
        }

        return WorkVec;
}

void
ModalForce::Output(OutputHandler& OH) const
{
        if (bToBeOutput()) {
                std::ostream& out = OH.Forces();

                out << GetLabel();

                if (pModal->pGetModalNode()) {
                        out << " " << F << " " << M;
                }

                for (std::vector<DriveCaller *>::const_iterator i = f.begin(); i != f.end(); ++i) {
                        out << " " << (*i)->dGet();
                }
                out << std::endl;
        }
}
   
Elem*
ReadModalForce(DataManager* pDM, 
        MBDynParser& HP, 
        unsigned int uLabel)
{
        const Modal *pModal = pDM->ReadElem<const Modal, const Joint, Elem::JOINT>(HP);

        std::vector<unsigned int> modeList;
        if (HP.IsKeyWord("list")) {
                const std::vector<unsigned int>& uModeList = pModal->GetModeList();
                std::vector<bool> gotIt(pModal->uGetNModes());
                for (integer i = 0; i < pModal->uGetNModes(); i++) {
                        gotIt[i] = false;
                }

                int iNumModes = HP.GetInt();
                if (iNumModes <= 0 || iNumModes > pModal->uGetNModes()) {
                        silent_cerr("ModalForce(" << uLabel << "): "
                                "illegal mode number " << iNumModes
                                << " at line " << HP.GetLineData() << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
                modeList.resize(iNumModes);

                for (int i = 0; i < iNumModes; i++) {
                        int iM = HP.GetInt();
                        if (iM <= 0) {
                                silent_cerr("ModalForce(" << uLabel << "): "
                                        "illegal mode " << iM
                                        << " at line " << HP.GetLineData()
                                        << std::endl);
                                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                        }

                        std::vector<unsigned int>::const_iterator
                                iv = std::find(uModeList.begin(), uModeList.end(), (unsigned int)iM);
                        if (iv == uModeList.end()) {
                                silent_cerr("ModalForce(" << uLabel << "): "
                                        "mode " << iM << " not active "
                                        "in Modal(" << pModal->GetLabel() << ")"
                                        "at line " << HP.GetLineData() << std::endl);
                                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                        }
                        int iModeIdx = iv - uModeList.begin();

                        if (gotIt[iModeIdx]) {
                                silent_cerr("ModalForce(" << uLabel << "): "
                                        "mode " << iModeIdx << " already set "
                                        "at line " << HP.GetLineData() << std::endl);
                                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                        }

                        modeList[i] = iModeIdx + 1;
                        gotIt[iModeIdx] = true;
                }

        } else {
                modeList.resize(pModal->uGetNModes());
                for (integer i = 0; i < pModal->uGetNModes(); i++) {
                        modeList[i] = i + 1;
                }
        }

        std::vector<DriveCaller *> f(modeList.size());
        Mat3xN *Mt = 0;
        Mat3xN *Mr = 0;
        const StructNode *pNode = pModal->pGetModalNode();
        if (pNode) {
                Mt = new Mat3xN(modeList.size(), 0.);
                Mr = new Mat3xN(modeList.size(), 0.);
        }
        for (unsigned i = 0; i < f.size(); i++) {
                f[i] = HP.GetDriveCaller(false);
                if (f[i] == 0) {
                        silent_cerr("ModalForce(" << uLabel << "): "
                                "unable to read DriveCaller for mode #" << i + 1
                                << " (mode number " << modeList[i] << ") "
                                "at line " << HP.GetLineData() << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

                if (pNode && HP.IsKeyWord("resultant")) {
                        for (unsigned r = 1; r <= 3; r++) {
                                (*Mt)(r, i + 1) = HP.GetReal();
                        }

                        for (unsigned r = 1; r <= 3; r++) {
                                (*Mr)(r, i + 1) = HP.GetReal();
                        }
                }
        }

        flag fOut = pDM->fReadOutput(HP, Elem::FORCE);
        Elem *pEl = 0;
        SAFENEWWITHCONSTRUCTOR(pEl, ModalForce,
                ModalForce(uLabel, pModal, modeList, f, Mt, Mr, fOut));

        return pEl;
}