rodj.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/rodj.h,v 1.47 2017/05/12 17:29:26 morandini 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
 */

/* Rods */

#ifndef RODJ_H
#define RODJ_H

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

extern const char* psRodNames[];


/* Rod - begin */

class Rod :
virtual public Elem, public Joint, public ConstitutiveLaw1DOwner {
protected:
        const StructDispNode* pNode1;
        const StructDispNode* pNode2;
        doublereal dL0;

        Vec3 v;
        doublereal dElle;

        doublereal dEpsilon;
        doublereal dEpsilonPrime;
        virtual doublereal dCalcEpsilon(void);

#ifdef USE_NETCDF
        NcVar *Var_v;
        NcVar *Var_dElle;
        NcVar *Var_dEllePrime;
#endif // USE_NETCDF

        /* Le funzioni di assemblaggio sono le stesse, cambiano gli indici
         * delle equazioni. Allora, dopo aver settato indici e matrici,
         * le routines normali chiamano queste due che eseguono i calcoli
         *
         * Purtroppo questa semplificazione vale solo per i Rod senza offset
         * e puramente elastici. Allora non dichiaro le funzioni come virtuali
         * in quanto non devono essere usate direttamente da classi derivate
         */
        void AssMat(FullSubMatrixHandler& WorkMat, doublereal dCoef = 1.);
        void AssVec(SubVectorHandler& WorkVec);

public:
        /* Costruttore non banale */
        Rod(unsigned int uL, const DofOwner* pDO,
                        const ConstitutiveLaw1D* pCL,
                        const StructDispNode* pN1, const StructDispNode* pN2,
                        doublereal dLength, flag fOut,
                        bool bHasOffsets = 0);

        /* Distruttore */
        virtual ~Rod(void);

        /* Tipo di Joint */
        virtual Joint::Type GetJointType(void) const {
                return Joint::ROD;
        };

        /* Contributo al file di restart */
        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 = 6;
                *piNumCols = 6;
        };

#ifdef MBDYN_X_WORKAROUND_GCC_3_2
        virtual void SetValue(DataManager *pDM,
                        VectorHandler& X, VectorHandler& XP,
                        SimulationEntity::Hints *ph = 0) {};
#endif /* MBDYN_X_WORKAROUND_GCC_3_2 */

        virtual VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat, doublereal dCoef,
                        const VectorHandler& XCurr,
                        const VectorHandler& XPrimeCurr);

        virtual void
        AssMats(VariableSubMatrixHandler& WorkMatA,
                        VariableSubMatrixHandler& WorkMatB,
                        const VectorHandler& XCurr,
                        const VectorHandler& XPrimeCurr);

        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec, doublereal dCoef,
                        const VectorHandler& XCurr,
                        const VectorHandler& XPrimeCurr);

        virtual void OutputPrepare(OutputHandler& OH);
        virtual void Output(OutputHandler& OH) const;

#if 0
        /* Output di un modello NASTRAN equivalente
         * nella configurazione corrente */
        virtual void Output_pch(std::ostream& out) const;
#endif

        /* funzioni usate nell'assemblaggio iniziale */
        virtual unsigned int iGetInitialNumDof(void) const {
                return 0;
        };
        virtual void
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 6;
                *piNumCols = 6;
        };

        /* Contributo allo jacobiano durante l'assemblaggio iniziale */
        virtual VariableSubMatrixHandler&
        InitialAssJac(VariableSubMatrixHandler& WorkMat,
                        const VectorHandler& XCurr);

        /* Contributo al residuo durante l'assemblaggio iniziale */
        virtual SubVectorHandler&
        InitialAssRes(SubVectorHandler& WorkVec, const VectorHandler& XCurr);

        /* Inverse Dynamics stuff */

        /* is this an 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);

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

        /* end of Inverse Dynamics stuff */

        /* *******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(2);
                connectedNodes[0] = pNode1;
                connectedNodes[1] = pNode2;
        };
        /* ************************************************ */


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

/* Rod - end */


/* ViscoElasticRod - begin */

class ViscoElasticRod : virtual public Elem, public Rod {
public:
        /* Costruttore non banale */
        ViscoElasticRod(unsigned int uL, const DofOwner* pDO,
                        const ConstitutiveLaw1D* pCL,
                        const StructDispNode* pN1, const StructDispNode* pN2,
                        doublereal dLength, flag fOut);

        /* Distruttore */
        virtual ~ViscoElasticRod(void);

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

        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);

        virtual void
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 6;
                *piNumCols = 12;
        };

        /* Contributo allo jacobiano durante l'assemblaggio iniziale */
        virtual VariableSubMatrixHandler&
        InitialAssJac(VariableSubMatrixHandler& WorkMat,
                        const VectorHandler& XCurr);

        /* Contributo al residuo durante l'assemblaggio iniziale */
        virtual SubVectorHandler&
        InitialAssRes(SubVectorHandler& WorkVec,
                        const VectorHandler& XCurr);

#ifdef MBDYN_X_WORKAROUND_GCC_3_2
        virtual void SetValue(DataManager *pDM,
                        VectorHandler& X, VectorHandler& XP,
                        SimulationEntity::Hints *ph = 0) {};
        virtual unsigned int iGetNumPrivData(void) const {
                return Rod::iGetNumPrivData();
        };
        virtual unsigned int iGetPrivDataIdx(const char *s) const {
                return Rod::iGetPrivDataIdx(s);
        };
        virtual doublereal dGetPrivData(unsigned int i) const {
                return Rod::dGetPrivData(i);
        };
#endif /* MBDYN_X_WORKAROUND_GCC_3_2 */
};

/* ViscoElasticRod - end */


/* RodWithOffset - begin */

class RodWithOffset : virtual public Elem, public Rod {
protected:
        // NOTE: should be "const"
        // made modifiable to let derived classes modify them
        Vec3 f1;
        Vec3 f2;

public:
        /* Costruttore non banale */
        RodWithOffset(unsigned int uL, const DofOwner* pDO,
                        const ConstitutiveLaw1D* pCL,
                        const StructNode* pN1, const StructNode* pN2,
                        const Vec3& f1Tmp, const Vec3& f2Tmp,
                        doublereal dLength, flag fOut);

        /* Distruttore */
        virtual ~RodWithOffset(void);

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

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

        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);

#if 0
        /* Output di un modello NASTRAN equivalente
         * nella configurazione corrente */
        virtual void Output_pch(std::ostream& out) const;
#endif

        /* funzioni usate nell'assemblaggio iniziale */

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

        /* Contributo allo jacobiano durante l'assemblaggio iniziale */
        virtual VariableSubMatrixHandler&
        InitialAssJac(VariableSubMatrixHandler& WorkMat,
                        const VectorHandler& XCurr);

        /* Contributo al residuo durante l'assemblaggio iniziale */
        virtual SubVectorHandler&
        InitialAssRes(SubVectorHandler& WorkVec, const VectorHandler& XCurr);

#ifdef MBDYN_X_WORKAROUND_GCC_3_2
        virtual void SetValue(DataManager *pDM,
                        VectorHandler& X, VectorHandler& XP,
                        SimulationEntity::Hints *ph = 0) {};
        virtual unsigned int iGetNumPrivData(void) const {
                return Rod::iGetNumPrivData();
        };
        virtual unsigned int iGetPrivDataIdx(const char *s) const {
                return Rod::iGetPrivDataIdx(s);
        };
        virtual doublereal dGetPrivData(unsigned int i) const {
                return Rod::dGetPrivData(i);
        };
#endif /* MBDYN_X_WORKAROUND_GCC_3_2 */
};

/* RodWithOffset - end */

#endif /* RODJ_H */