module-mds.cc

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/modules/module-mds/module-mds.cc,v 1.10 2017/01/12 14:54:57 masarati Exp $ */
/*
 * MBDyn (C) is a multibody analysis code.
 * http://www.mbdyn.org
 *
 * Copyright (C) 1996-2017
 *
 * Pierangelo Masarati  <masarati@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 <iostream>
#include <cfloat>

#include "dataman.h"
#include "userelem.h"

class ModuleMDS
: virtual public Elem, public UserDefinedElem {
private:
        // add private data
        doublereal dM, dD, dK;
        doublereal dX, dV, dVP;
        DriveOwner F;

public:
        ModuleMDS(unsigned uLabel, const DofOwner *pDO,
                DataManager* pDM, MBDynParser& HP);
        virtual ~ModuleMDS(void);

        virtual void Output(OutputHandler& OH) const;
        virtual 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);
        unsigned int iGetNumPrivData(void) const;
        int iGetNumConnectedNodes(void) const;
        void GetConnectedNodes(std::vector<const Node *>& connectedNodes) const;
        void SetValue(DataManager *pDM, VectorHandler& X, VectorHandler& XP,
                SimulationEntity::Hints *ph);
        virtual unsigned int iGetNumDof(void) const;
        virtual DofOrder::Order GetDofType(unsigned int i) const;
        virtual DofOrder::Order GetEqType(unsigned int i) const;
        std::ostream& Restart(std::ostream& out) const;
        virtual unsigned int iGetInitialNumDof(void) const;
        virtual void 
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const;
        VariableSubMatrixHandler&
        InitialAssJac(VariableSubMatrixHandler& WorkMat, 
                      const VectorHandler& XCurr);
        SubVectorHandler& 
        InitialAssRes(SubVectorHandler& WorkVec, const VectorHandler& XCurr);
};

ModuleMDS::ModuleMDS(
        unsigned uLabel, const DofOwner *pDO,
        DataManager* pDM, MBDynParser& HP)
: Elem(uLabel, flag(0)),
UserDefinedElem(uLabel, pDO)
{
        // help
        if (HP.IsKeyWord("help")) {
                silent_cout(
"                                                                       \n"
"Module:        msd                                                     \n"
"Author:        Pierangelo Masarati <masarati@aero.polimi.it>           \n"
"Organization:  Dipartimento di Ingegneria Aerospaziale                 \n"
"               Politecnico di Milano                                   \n"
"               http://www.aero.polimi.it/                              \n"
"                                                                       \n"
"       All rights reserved                                             \n"
                        << std::endl);

                if (!HP.IsArg()) {
                        /*
                         * Exit quietly if nothing else is provided
                         */
                        throw NoErr(MBDYN_EXCEPT_ARGS);
                }
        }

        dM = HP.GetReal();
        dD = HP.GetReal();
        dK = HP.GetReal();

        F.Set(HP.GetDriveCaller());

        SetOutputFlag(pDM->fReadOutput(HP, Elem::LOADABLE));
}

ModuleMDS::~ModuleMDS(void)
{
        // destroy private data
        NO_OP;
}

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

                out << std::setw(8) << GetLabel()       // 1:   label
                        << " " << dX                    // 
                        << " " << dV                    // 
                        << " " << dVP                   // 
                        << std::endl;
        }
}

void
ModuleMDS::WorkSpaceDim(integer* piNumRows, integer* piNumCols) const
{
        *piNumRows = 2;
        *piNumCols = 2;
}

VariableSubMatrixHandler& 
ModuleMDS::AssJac(VariableSubMatrixHandler& WorkMat,
        doublereal dCoef, 
        const VectorHandler& XCurr,
        const VectorHandler& XPrimeCurr)
{
        // should do something useful
        FullSubMatrixHandler& WM = WorkMat.SetFull();

        WM.Resize(2, 2);

        integer iFirstIndex = iGetFirstIndex();

        WM.PutRowIndex(1, iFirstIndex + 1);
        WM.PutColIndex(1, iFirstIndex + 1);
        WM.PutRowIndex(2, iFirstIndex + 2);
        WM.PutColIndex(2, iFirstIndex + 2);

        /*
         *              [ -m   0 ]
         *      r_/y' = [        ]
         *              [  0  -1 ]
         *
         *             [ -d  -k ]
         *      r_/y = [        ]
         *             [  1   0 ]
         *
         *                                  [ (m + dCoef*d) dCoef*k ]
         *      J = -(r_/y' + dCoef*r_/y) = [                       ]
         *                                  [    -dCoef        1.   ]
         */

#if 1
        // old style
        WM.PutCoef(1, 1, dM + dCoef*dD);
        WM.PutCoef(1, 2, dCoef*dK);
        WM.PutCoef(2, 1, -dCoef);
        WM.PutCoef(2, 2, 1.);
#endif

#if 0
        // cleaner (less efficient?)
        WM(1, 1) = dM + dCoef*dD;
        WM(1, 2) = dCoef*dK;
        WM(2, 1) = -dCoef;
        WM(2, 2) = 1.;
#endif

        return WorkMat;
}

SubVectorHandler& 
ModuleMDS::AssRes(SubVectorHandler& WorkVec,
        doublereal dCoef,
        const VectorHandler& XCurr, 
        const VectorHandler& XPrimeCurr)
{
        // should do something useful
        WorkVec.ResizeReset(2);

        integer iFirstIndex = iGetFirstIndex();

        WorkVec.PutRowIndex(1, iFirstIndex + 1);
        WorkVec.PutRowIndex(2, iFirstIndex + 2);

        dVP = XPrimeCurr(iFirstIndex + 1);
        doublereal dXP = XPrimeCurr(iFirstIndex + 2);
        dV = XCurr(iFirstIndex + 1);
        dX = XCurr(iFirstIndex + 2);

        /*
         *          { f(t) - m*v' - d*v - d*k }
         *      r = {                         }
         *          {         v - x'          }
         */

#if 0
        WorkVec.PutCoef(1, F.dGet() - dM*dVP - dD*dV - dK*dX);
        WorkVec.PutCoef(2, dV - dXP);
#endif

        WorkVec(1) = F.dGet() - dM*dVP - dD*dV - dK*dX;
        WorkVec(2) = dV - dXP;

        return WorkVec;
}

unsigned int
ModuleMDS::iGetNumPrivData(void) const
{
        return 0;
}

int
ModuleMDS::iGetNumConnectedNodes(void) const
{
        return 0;
}

void
ModuleMDS::GetConnectedNodes(std::vector<const Node *>& connectedNodes) const
{
        connectedNodes.resize(0);
}

void
ModuleMDS::SetValue(DataManager *pDM,
        VectorHandler& X, VectorHandler& XP,
        SimulationEntity::Hints *ph)
{
        NO_OP;
}

unsigned int
ModuleMDS::iGetNumDof(void) const
{
        return 2;
}

DofOrder::Order
ModuleMDS::GetDofType(unsigned int i) const
{
        return DofOrder::DIFFERENTIAL;
}

DofOrder::Order
ModuleMDS::GetEqType(unsigned int i) const
{
        return DofOrder::DIFFERENTIAL;
}

std::ostream&
ModuleMDS::Restart(std::ostream& out) const
{
        return out << "# ModuleMDS: not implemented" << std::endl;
}

unsigned int
ModuleMDS::iGetInitialNumDof(void) const
{
        return 0;
}

void 
ModuleMDS::InitialWorkSpaceDim(
        integer* piNumRows,
        integer* piNumCols) const
{
        *piNumRows = 0;
        *piNumCols = 0;
}

VariableSubMatrixHandler&
ModuleMDS::InitialAssJac(
        VariableSubMatrixHandler& WorkMat, 
        const VectorHandler& XCurr)
{
        // should not be called, since initial workspace is empty
        ASSERT(0);

        WorkMat.SetNullMatrix();

        return WorkMat;
}

SubVectorHandler& 
ModuleMDS::InitialAssRes(
        SubVectorHandler& WorkVec,
        const VectorHandler& XCurr)
{
        // should not be called, since initial workspace is empty
        ASSERT(0);

        WorkVec.ResizeReset(0);

        return WorkVec;
}

extern "C" int
module_init(const char *module_name, void *pdm, void *php)
{
        UserDefinedElemRead *rf = new UDERead<ModuleMDS>;

        if (!SetUDE("mds", rf)) {
                delete rf;

                silent_cerr("module-mds: "
                        "module_init(" << module_name << ") "
                        "failed" << std::endl);

                return -1;
        }

        return 0;
}