rodbezj.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/rodbezj.h,v 1.3 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
 */
/*
 * Author: Andrea Zanoni <andrea.zanoni@polimi.it>
 */

/* Bezier Rod */

#ifndef RODBEZJ_H
#define RODBEZJ_H

#include "joint.h"
#include "constltp.h"
#include "gauss.h"

extern const char* psRodBezNames[];


/* Bezier Rod - begin */

class RodBezier :
virtual public Elem, public Joint, public ConstitutiveLaw1DOwner {
protected:
        const StructNode* pNode1;
        const StructNode* pNode2;
        const Vec3 fO;
        const Vec3 fA;
        const Vec3 fB;
        const Vec3 fI;
        doublereal dL0;

        Vec3 l1;
        Vec3 l2;
        doublereal dElle;
        doublereal dEpsilon;
        doublereal dEpsilonPrime;

        unsigned int iIntOrd;
        unsigned int iIntSeg;

        GaussDataIterator *gdi;

public:
        /* Costructor */
        RodBezier(unsigned int uL, const DofOwner* pDO,
                        const ConstitutiveLaw1D* pCL,
                        const StructNode* pN1, const StructNode* pN2,
                        const Vec3& fOTmp, const Vec3& fATmp, 
                        const Vec3& fBTmp, const Vec3& fITmp,
                        doublereal dLength, bool bFromNodes, 
                        const unsigned int iIntOrder, const unsigned int iIntSegments,
                        flag fOut);

        /* Destructor */
        virtual ~RodBezier(void);

        /* Joint type */
        virtual Joint::Type GetJointType(void) const {
                return Joint::RODBEZIER;
        };

        /* Restart file contribute */
        virtual std::ostream& Restart(std::ostream& out) const;

        virtual void
        AfterConvergence(const VectorHandler& X, const VectorHandler& XP);

        virtual unsigned int iGetNumDof(void) const { 
                return 0;
        };

        virtual void
        WorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 12;
                *piNumCols = 12;
        };
        
        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);

        void AssVec(SubVectorHandler& WorkVec);

        void Output(OutputHandler& OH) const;

        /* initial assembly functions */

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

        virtual void
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 12;
                *piNumCols = 24; 
        };

        /* jacobian contribute during initial assembly */
        virtual VariableSubMatrixHandler& 
        InitialAssJac(VariableSubMatrixHandler& WorkMat, 
                        const VectorHandler& XCurr);
   
        /* residual contribue during initial assembly */   
        virtual SubVectorHandler&
        InitialAssRes(SubVectorHandler& WorkVec, const VectorHandler& XCurr);   

        /* Inverse Dynamics */
        /* Inverse Dynamics capable element */
        virtual bool bInverseDynamics(void) const;

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

        /* Inverse Dynamics update */
        void Update(const VectorHandler& XCurr, 
                InverseDynamics::Order iOrder = InverseDynamics::INVERSE_DYNAMICS);

        /* Inverse Dynamics after convergence */
        void AfterConvergence(const VectorHandler& X, 
                const VectorHandler& XP, const VectorHandler& XPP);

        /* ******* PARALLEL SOLVER ******** */        
         /* Outputs the type and the label of the nodes that are connected to
          * the element. Useful for dof connection matrix assembly         */
        virtual void
        GetConnectedNodes(std::vector<const Node *>& connectedNodes) const {
                connectedNodes.resize(2);
                connectedNodes[0] = pNode1;
                connectedNodes[1] = pNode2;
        };
        /* ************************************************ */

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

private:
        inline doublereal Ap1(doublereal u) { return (-3*u*u + 6*u -3); };
        inline doublereal Ap2(doublereal u) { return (9*u*u - 12*u + 3); };
        inline doublereal Ap3(doublereal u) { return (-9*u*u + 6*u); };
        inline doublereal Ap4(doublereal u) { return (3*u*u); };

};

/* RodBezier - end */

#endif /* RODBEZJ_H */