shelleasans.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/shelleasans.h,v 1.12 2017/01/12 14:46:44 masarati Exp $ */
/*
 * MBDyn (C) is a multibody analysis code.
 * http://www.mbdyn.org
 *
 * Copyright (C) 2010-2017
 *
 * Marco Morandini      <morandini@aero.polimi.it>
 * Riccardo Vescovini   <vescovini@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
 */

/*
 * Inspired by
 * Wojciech Witkowski
 * "4-Node combined shell element with semi-EAS-ANS strain interpolations
 * in 6-parameter shell theories with drilling degrees of freedom"
 * Comput Mech (2009) 43:307­319 DOI 10.1007/s00466-008-0307-x
 */

#ifndef SHELLEASANS_H
#define SHELLEASANS_H

#include "myassert.h"
#include "except.h"

#include "strnode.h"
#include "elem.h"

#include "constltp.h"

/* da spostare in .cc */
#include "Rot.hh"
#include "joint.h"

extern const char* psShellNames[];

// Forward declaration
class DataManager;
class MBDynParser;

// Shell - begin


#include "shell.h"

// Shell - end

// Shell4EASANS - begin

class Shell4EASANS
: virtual public Elem,
public Shell
{
#if 0
protected:
        static const unsigned int iNumPrivData =
                +3              //  0 ( 1 ->  3) - strain
                +3              //  3 ( 4 ->  6) - curvature
                +3              //  6 ( 7 ->  9) - force
                +3              //  9 (10 -> 12) - moment
                +3              // 12 (13 -> 15) - position
                +3              // 15 (16 -> 18) - orientation vector
                +3              // 18 (19 -> 21) - angular velocity
                +3              // 21 (22 -> 24) - strain rate
                +3              // 24 (25 -> 27) - curvature rate
        ;

        static unsigned int iGetPrivDataIdx_int(const char *s,
                ConstLawType::Type type);
#endif
private:
public:
        // numbered according to
        //
        //         ^
        // 4 o-----+-----o 3
        //   | 1_2 | 2_2 |
        // --+-----+-----+->
        //   | 1_1 | 2_1 |
        // 1 o-----+-----o 2
        //
        enum IntegrationPoint {
                IP_1_1 = 0,
                IP_1_2 = 1,
                IP_1_3 = 2,
                IP_2_1 = 3,
                IP_2_2 = 4,
                IP_2_3 = 5,
                IP_3_1 = 6,
                IP_3_2 = 7,
                IP_3_3 = 8,

                NUMIP = 4
        };
        
        static doublereal xi_i[NUMIP][2];
        static doublereal w_i[NUMIP];

        // numbered according to the side they are defined on
        enum ShearStrainEvaluationPoint {
                SSEP_1 = 0,
                SSEP_2 = 1,
                SSEP_3 = 2,
                SSEP_4 = 3,

                NUMSSEP = 4
        };

        static doublereal xi_A[NUMSSEP][2];

        enum NodeName {
                NODE1 = 0,
                NODE2 = 1,
                NODE3 = 2,
                NODE4 = 3,

                NUMNODES = 4
        };

        static doublereal xi_n[NUMNODES][2];
        
        static doublereal xi_0[2];

        enum Deformations {
                STRAIN = 0,
                CURVAT = 1,

                NUMDEFORM = 2
        };

protected:
        // Pointers to nodes
        const StructNode* pNode[NUMNODES];

#if 0
        // Node offsets - TODO: offsets
        const Vec3 f[NUMNODES];
        Vec3 fRef[NUMNODES];
#endif

        // nodal positions (0: initial; otherwise current)
        Vec3 xa_0[NUMNODES];
        Vec3 xa[NUMNODES];
        // current nodal orientation
        Mat3x3 iTa[NUMNODES];
        Mat3x3 iTa_i[NUMIP];
        Mat3x3 iTa_A[NUMSSEP];
        // Euler vector of Ra
        Vec3 phi_tilde_n[NUMNODES];

        // Average orientation matrix
        Vec3 phi_tilde_i[NUMIP];
        Vec3 phi_tilde_A[NUMSSEP];
        Vec3 phi_tilde_0;
        // Average orientation matrix 
        //    .. in reference configuration
        Mat3x3 T0_overline;
        //    .. in current configuration
        Mat3x3 T_overline;
        
        // Orientation matrix 
        //    .. in reference configuration
        Mat3x3 T_0_0;
        Mat3x3 T_0_i[NUMIP];
        Mat3x3 T_0_A[NUMSSEP];
        //    .. in current configuration
        Mat3x3 T_0;
        Mat3x3 T_i[NUMIP];
        Mat3x3 T_A[NUMSSEP];

        Mat3x3 Phi_Delta_i[NUMIP][NUMNODES];
        Mat3x3 Phi_Delta_A[NUMIP][NUMNODES];
        Mat3x3 Kappa_delta_i_1[NUMIP][NUMNODES];
        Mat3x3 Kappa_delta_i_2[NUMIP][NUMNODES];

//      // Orientation matrix of the shear strain evaluation points
//      Mat3x3 R[NUMSSEP];
//      Mat3x3 RRef[NUMSSEP];
//      Mat3x3 RPrev[NUMSSEP];

        // rotation tensors
        Mat3x3 Q_i[NUMIP];
        Mat3x3 Q_A[NUMSSEP];

        // Orientation tensor derivative axial vector
        Vec3 k_1_i[NUMIP];
        Vec3 k_2_i[NUMIP];
//      Mat3x3 T_1_i[NUMIP];
//      Mat3x3 T_2_i[NUMIP];

        // linear deformation vectors
        //    .. in reference configuration
        Vec3 eps_tilde_1_0_i[NUMIP];
        Vec3 eps_tilde_2_0_i[NUMIP];
        Vec3 eps_tilde_1_0_A[NUMSSEP];
        Vec3 eps_tilde_2_0_A[NUMSSEP];
        //    .. in current configuration
        Vec3 eps_tilde_1_i[NUMIP];
        Vec3 eps_tilde_2_i[NUMIP];
        Vec3 eps_tilde_1_A[NUMSSEP];
        Vec3 eps_tilde_2_A[NUMSSEP];

        // angular deformation vectors
        //    .. in reference configuration
        Vec3 k_tilde_1_0_i[NUMIP];
        Vec3 k_tilde_2_0_i[NUMIP];
        //    .. in current configuration
        Vec3 k_tilde_1_i[NUMIP];
        Vec3 k_tilde_2_i[NUMIP];


#if 0
        // Angular velocity of the sections - TODO: viscoelastic
        Vec3 Omega[NUMSEZ];
        Vec3 OmegaRef[NUMSEZ];
#endif

        // Temporary data - TODO
#if 0
        Vec6 Az[NUMSEZ];
        Vec6 AzRef[NUMSEZ];
        Vec6 AzLoc[NUMSEZ];
        Vec6 DefLoc[NUMSEZ];
        Vec6 DefLocRef[NUMSEZ];
        Vec6 DefLocPrev[NUMSEZ];
#endif

protected:
        fmh S_alpha_beta_0;
        vfmh S_alpha_beta_i;
        vfmh S_alpha_beta_A;
        doublereal alpha_0;
        doublereal alpha_i[NUMIP];
        vfmh L_alpha_beta_i;
        vfmh L_alpha_beta_A;

        vfmh B_overline_i;
//      vfmh B_overline_m_i;
        vfmh D_overline_i;
        vfmh G_i;

        vfmh P_i;
        
        vfmh K_beta_beta_i;
        
        Vec3 y_i_1[NUMIP];
        Vec3 y_i_2[NUMIP];
        
        vh beta;
        vh epsilon_hat;
        vh epsilon;

#ifdef USE_CL_IN_SHELL
        // Constitutive law handlers at integration points
        ConstitutiveLawOwner<vh, fmh>* pD[NUMIP];
#else // ! USE_CL_IN_SHELL
        vvh FRef;
        bool bPreStress;
        vh PreStress;
#endif // ! USE_CL_IN_SHELL

        // Reference constitutive law tangent matrices
        vfmh DRef;

        //stress
        vvh stress_i;

        // Is first residual
        bool bFirstRes;

        // for derived elements that add external contributions
        // to internal forces
        virtual void
        AddInternalForces(Vec6& /* AzLoc */ , unsigned int /* iSez */ ) {
                NO_OP;
        };

private:
        void UpdateNodalAndAveragePosAndOrientation();
        void ComputeInitialNodeOrientation();
        void InterpolateOrientation();
//      void ComputeIPSEPRotations();
        void ComputeIPCurvature();

public:
        Shell4EASANS(unsigned int uL,
                const DofOwner* pDO,
                const StructNode* pN1, const StructNode* pN2,
                const StructNode* pN3, const StructNode* pN4,
#if 0   // TODO: offset
                const Vec3& f1, const Vec3& f2,
                const Vec3& f3, const Vec3& f4,
#endif
                const Mat3x3& R1, const Mat3x3& R2,
                const Mat3x3& R3, const Mat3x3& R4,
#ifdef USE_CL_IN_SHELL
                const ConstitutiveLaw<vh, fmh>** pDTmp, 
#else // ! USE_CL_IN_SHELL
                const fmh& pDTmp,
                const vh& PreStress,
#endif // ! USE_CL_IN_SHELL
                flag fOut);

        virtual ~Shell4EASANS(void);

        // Shell type
        virtual Shell::Type GetShellType(void) const {
                return Shell::ELASTIC;
        };

        // Element type
        virtual Elem::Type GetElemType(void) const {
                return Elem::PLATE;
        };

        virtual unsigned int iGetNumDof(void) const { 
//              return 8;
                return 7;
        };

        virtual DofOrder::Order GetDofType(unsigned int i) const {
                ASSERT(i >= 0 && i < iGetNumDof());
                return DofOrder::ALGEBRAIC;
        };

        virtual DofOrder::Order GetEqType(unsigned int i) const {
                ASSERT(i >= 0 && i < iGetNumDof());
                return DofOrder::ALGEBRAIC;
        };

        // Contribution to restart file
        virtual std::ostream& Restart(std::ostream& out) const;

#if 0
        virtual void
        AfterConvergence(const VectorHandler& X, const VectorHandler& XP);

        // Inverse dynamics
        virtual void
        AfterConvergence(const VectorHandler& X, const VectorHandler& XP,
                const VectorHandler& XPP);
#endif

        // Workspace size
        virtual void
        WorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 6*4 + iGetNumDof();
                *piNumCols = 6*4 + iGetNumDof();
        };

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

#if 0
        // Prepares reference parameters after prediction
        virtual void
        AfterPredict(VectorHandler& /* X */ , VectorHandler& /* XP */ );
#endif

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

#if 0
        // Inverse dynamics
        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                const VectorHandler&  XCurr ,
                const VectorHandler&  XPrimeCurr ,
                const VectorHandler&  XPrimePrimeCurr ,
                InverseDynamics::Order iOrder = InverseDynamics::INVERSE_DYNAMICS);
#endif

        // Jacobian matrix assembly
        virtual VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);

#if 0
        // Matrix assembly for eigenvalues
        void
        AssMats(VariableSubMatrixHandler& WorkMatA,
                VariableSubMatrixHandler& WorkMatB,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);
#endif

        virtual void Output(OutputHandler& OH) const;

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

        virtual void
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 6*4;
                *piNumCols = 6*4;
        };

        virtual void SetInitialValue(VectorHandler& /* X */ ) {
                NO_OP;
        };

        virtual VariableSubMatrixHandler&
        InitialAssJac(VariableSubMatrixHandler& WorkMat,
                const VectorHandler& XCurr);

        virtual SubVectorHandler&
        InitialAssRes(SubVectorHandler& WorkVec, const VectorHandler& XCurr);

#if 0
        // Access to private data
        virtual unsigned int iGetNumPrivData(void) const;
        virtual unsigned int iGetPrivDataIdx(const char *s) const;
        virtual doublereal dGetPrivData(unsigned int i) const;
#endif

        // Access to nodes
        virtual const StructNode* pGetNode(unsigned int i) 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(NUMNODES);
                for (int i = 0; i < NUMNODES; i++) {
                        connectedNodes[i] = pNode[i];
                }
        };
        /**************************************************/
};

// Shell4EASANS - end


#endif // SHELLEASANS_H