univj.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/univj.h,v 1.27 2017/01/12 14:46:44 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
 */

/* Giunti universali */


#ifndef UNIVJ_H
#define UNIVJ_H

#include "joint.h"


/* UniversalHingeJoint - begin */

class UniversalHingeJoint : virtual public Elem, public Joint {
private:
        /* Giunto universale: l'asse 3 del primo nodo e l'asse 2 del secondo nodo
         * rimangono ortogonali (giunto cardanico)
         * I vettori F, M esprimono le reazioni vincolari di forza e coppia. */
        const StructNode* pNode1;
        const StructNode* pNode2;
        Vec3 d1;
        Mat3x3 R1h;
        Vec3 d2;
        Mat3x3 R2h;
        Vec3 F;
        doublereal dM;

public:
        /* Costruttore non banale */
        UniversalHingeJoint(unsigned int uL, const DofOwner* pDO,
                const StructNode* pN1, const StructNode* pN2,
                const Vec3& dTmp1, const Vec3& dTmp2,
                const Mat3x3& R1hTmp, const Mat3x3& R2hTmp, flag fOut);

        /* Distruttore */
        ~UniversalHingeJoint(void);

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

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

        virtual unsigned int iGetNumDof(void) const {
                return 4;
        };

        DofOrder::Order GetDofType(unsigned int i) const {
                ASSERT(i >= 0 && i < 4);
                return DofOrder::ALGEBRAIC;
        };

        void WorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 16;
                *piNumCols = 16;
        };

        VariableSubMatrixHandler& AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);
        SubVectorHandler& AssRes(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);

        void Output(OutputHandler& OH) const;

        /* funzioni usate nell'assemblaggio iniziale */

        virtual unsigned int iGetInitialNumDof(void) const {
                return 8;
        };
        virtual void
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 32;
                *piNumCols = 32;
        };

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

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

        /* *******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;
        };
        /* ************************************************ */
};

/* UniversalHingeJoint - end */


/* UniversalRotationJoint - begin */

class UniversalRotationJoint : virtual public Elem, public Joint {
private:
        /* Giunto universale: l'asse 3 del primo nodo e l'asse 2 del secondo nodo
         * rimangono ortogonali (giunto cardanico)
         * I vettori F, M esprimono le reazioni vincolari di forza e coppia. */
        const StructNode* pNode1;
        const StructNode* pNode2;
#ifdef USE_NETCDF
        NcVar *Var_Phi;
#endif // USE_NETCDF
        Mat3x3 R1h;
        Mat3x3 R2h;
        doublereal dM;

protected:
        OrientationDescription od;

public:
        /* Costruttore non banale */
        UniversalRotationJoint(unsigned int uL, const DofOwner* pDO,
                const StructNode* pN1, const StructNode* pN2,
                const Mat3x3& R1hTmp, const Mat3x3& R2hTmp,
                const OrientationDescription& od,
                flag fOut);

        /* Distruttore */
        ~UniversalRotationJoint(void);

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

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

        virtual unsigned int iGetNumDof(void) const {
                return 1;
        };

        DofOrder::Order GetDofType(unsigned int i) const {
                ASSERT(i >= 0 && i < 1);
                return DofOrder::ALGEBRAIC;
        };

        void WorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 7;
                *piNumCols = 7;
        };

        VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);
        SubVectorHandler& AssRes(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);

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


        /* funzioni usate nell'assemblaggio iniziale */

        virtual unsigned int iGetInitialNumDof(void) const {
                return 2;
        };
        virtual void
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 14;
                *piNumCols = 14;
        };

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

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

        /* *******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;
        };
        /* ************************************************ */
};

/* UniversalRotationJoint - end */


/* UniversalPinJoint - begin */

/* Incastro con liberta' di rotazione su un asse */

class UniversalPinJoint : virtual public Elem, public Joint {
private:
        const StructNode* pNode;
        Vec3 X0;
        Mat3x3 R0;
        Vec3 d;
        Mat3x3 Rh;
        Vec3 F;
        doublereal dM;

public:
        /* Costruttore non banale */
        UniversalPinJoint(unsigned int uL, const DofOwner* pDO,
                const StructNode* pN,
                const Vec3& X0Tmp, const Mat3x3& R0Tmp,
                const Vec3& dTmp, const Mat3x3& RhTmp, flag fOut);

        ~UniversalPinJoint(void);

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

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

        virtual unsigned int iGetNumDof(void) const {
                return 4;
        };

        virtual DofOrder::Order
        GetDofType(unsigned int i) const {
                ASSERT(i >= 0 && i < 4);
                return DofOrder::ALGEBRAIC;
        };

        virtual void
        WorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 10;
                *piNumCols = 10;
        };

        VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);
        SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);

        virtual void Output(OutputHandler& OH) const;

        /* funzioni usate nell'assemblaggio iniziale */

        virtual unsigned int iGetInitialNumDof(void) const {
                return 8;
        };
        virtual void
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const {
                *piNumRows = 20;
                *piNumCols = 20;
        };

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

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

        /* *******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(1);
                connectedNodes[0] = pNode;
        };
        /* ************************************************ */
};

/* UniversalPinJoint - end */

#endif /* UNIVJ_H */