vb.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/vb.h,v 1.10 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
 */

/* Deformable hinges */

#ifndef VB_H
#define VB_H

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


/* ViscousBody - begin */

class ViscousBody :
virtual public Elem, public Joint, public ConstitutiveLaw6DOwner {
protected:
        const StructNode* pNode;
        mutable Vec3 tilde_f;
        mutable Mat3x3 tilde_Rh;

        OrientationDescription od;

        Vec6 tilde_kPrime;

        bool bFirstRes;

        Vec3 f;
        Mat3x3 Rh;

        Vec6 F;
        Mat6x6 FDEPrime;

        void AssMats(FullSubMatrixHandler& WMA,
                FullSubMatrixHandler& WMB,
                doublereal dCoef);
        void AssVec(SubVectorHandler& WorkVec);

public:
        /* Costruttore non banale */
        ViscousBody(unsigned int uL,
                const DofOwner* pDO,
                const ConstitutiveLaw6D* pCL,
                const StructNode* pN,
                const Vec3& tilde_f,
                const Mat3x3& tilde_Rh,
                const OrientationDescription& od,
                flag fOut);

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

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

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

        virtual void Output(OutputHandler& OH) const;

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

        virtual Hint *
        ParseHint(DataManager *pDM, const char *s) const;
                 
        virtual unsigned int iGetNumDof(void) const {
                return 0;
        };

        virtual DofOrder::Order GetDofType(unsigned int /* i */ ) const {
                return DofOrder::UNKNOWN;
        };

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

        /* funzioni usate nell'assemblaggio iniziale */

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

        virtual unsigned int iGetNumPrivData(void) const;
        virtual unsigned int iGetPrivDataIdx(const char *s) const;
        virtual doublereal dGetPrivData(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(1);
                connectedNodes[0] = pNode;
        };
        /* ************************************************ */

        /* assemblaggio jacobiano */
        virtual VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);

        /* assemblaggio jacobiano */
        virtual void
        AssMats(VariableSubMatrixHandler& WorkMatA,
                VariableSubMatrixHandler& WorkMatB,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);

        /* assemblaggio residuo */
        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);

        /* inverse dynamics capable element */
        virtual bool bInverseDynamics(void) const;
 
        /* Inverse Dynamics residual assembly */
        SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                const VectorHandler& XCurr,
                const VectorHandler&  XPrimeCurr,
                const VectorHandler&  XPrimePrimeCurr,
                InverseDynamics::Order iOrder = InverseDynamics::INVERSE_DYNAMICS);

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

        /* Tipo di DeformableDispHinge */
        virtual ConstLawType::Type GetConstLawType(void) const {
                return ConstLawType::VISCOUS;
        };

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

        /* Aggiorna le deformazioni ecc. */
        virtual void AfterPredict(VectorHandler& X, VectorHandler& XP);

        /* Aggiorna le deformazioni ecc. */
        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);

};

/* ViscousBody - end */

#endif // VB_H