vehj3.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/vehj3.h,v 1.34 2017/07/23 15:09:35 zanoni 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 VEHJ3_H
#define VEHJ3_H

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


/* DeformableJoint - begin */

class DeformableJoint :
virtual public Elem, public Joint, public ConstitutiveLaw6DOwner {
protected:
        const StructNode* pNode1;
        const StructNode* pNode2;
        mutable Vec3 tilde_f1;
        mutable Vec3 tilde_f2;
        mutable Mat3x3 tilde_R1h;
        mutable Mat3x3 tilde_R2h;

        OrientationDescription od;

        // tilde_d, tilde_ThetaCurr
        Vec6 tilde_k;

        // tilde_dPrime, tilde_Omega
        Vec6 tilde_kPrime;

#ifdef USE_NETCDF
        NcVar *Var_tilde_d;
        NcVar *Var_tilde_dPrime;
        NcVar *Var_d;
        NcVar *Var_dPrime;
        NcVar *Var_Phi;
        NcVar *Var_Omega;
#endif // USE_NETCDF

        bool bFirstRes;

        Vec3 d1, d2;
        Vec3 d1Prime, d2Prime;
        Mat3x3 R1h;

        Vec6 F;

        // uses F, d1, d2
        void
        AssMatCommon(FullSubMatrixHandler& WM,
                doublereal dCoef);

        // uses d1, d2
        void
        AssMatElastic(FullSubMatrixHandler& WM,
                doublereal dCoef, const Mat6x6& FDE);

        // uses d1, d2, d1Prime, d2Prime
        void
        AssMatViscous(FullSubMatrixHandler& WMA,
                FullSubMatrixHandler& WMB,
                doublereal dCoef, const Mat6x6& FDEPrime);

        virtual void
        AssMats(FullSubMatrixHandler& WMA,
                FullSubMatrixHandler& WMB,
                doublereal dCoef) = 0;

        virtual void
        AssVec(SubVectorHandler& WorkVec) = 0;

public:
        /* Costruttore non banale */
        DeformableJoint(unsigned int uL,
                const DofOwner* pDO,
                const ConstitutiveLaw6D* pCL,
                const StructNode* pN1,
                const StructNode* pN2,
                const Vec3& tilde_f1,
                const Vec3& tilde_f2,
                const Mat3x3& tilde_R1h,
                const Mat3x3& tilde_R2h,
                const OrientationDescription& od,
                flag fOut);

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

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

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

        void OutputPrepare(OutputHandler& OH);
        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;
                 
        /* inverse dynamics capable element */
        virtual bool bInverseDynamics(void) const;
 
        /* Tipo di DeformableJoint */
        virtual ConstLawType::Type GetConstLawType(void) const = 0;

        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 = 12;
                *piNumCols = 12;
        };

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

        /* 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 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);
};

/* DeformableJoint - end */


/* ElasticJoint - begin */

class ElasticJoint : virtual public Elem, public DeformableJoint {
protected:
        Vec3 ThetaRef;

        Mat6x6 FDE;

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

public:
        ElasticJoint(unsigned int uL,
                const DofOwner* pDO,
                const ConstitutiveLaw6D* pCL,
                const StructNode* pN1,
                const StructNode* pN2,
                const Vec3& tilde_f1,
                const Vec3& tilde_f2,
                const Mat3x3& tilde_R1h,
                const Mat3x3& tilde_R2h,
                const OrientationDescription& od,
                flag fOut);

        ~ElasticJoint(void);

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

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

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

        /* Inverse Dynamics Jacobian matrix assembly */
        VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat,
                const VectorHandler& XCurr);

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

        /* 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);

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

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

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

        virtual Hint *
        ParseHint(DataManager *pDM, const char *s) const
        {
                return DeformableJoint::ParseHint(pDM, s);
        };

        virtual unsigned int
        iGetNumPrivData(void) const {
                return DeformableJoint::iGetNumPrivData();
        };

        virtual unsigned int
        iGetPrivDataIdx(const char *s) const {
                return DeformableJoint::iGetPrivDataIdx(s);
        };

        virtual doublereal
        dGetPrivData(unsigned int i) const {
                return dGetPrivData(i);
        };
#endif /* MBDYN_X_WORKAROUND_GCC_3_2 */
};

/* ElasticJoint - end */

/* ElasticJointInv - begin */

class ElasticJointInv : virtual public Elem, public DeformableJoint {
protected:
        Vec3 ThetaRef;

        Mat6x6 FDE;

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

public:
        ElasticJointInv(unsigned int uL,
                const DofOwner* pDO,
                const ConstitutiveLaw6D* pCL,
                const StructNode* pN1,
                const StructNode* pN2,
                const Vec3& tilde_f1,
                const Vec3& tilde_f2,
                const Mat3x3& tilde_R1h,
                const Mat3x3& tilde_R2h,
                const OrientationDescription& od,
                flag fOut);

        ~ElasticJointInv(void);

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

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

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

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

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

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

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

        virtual Hint *
        ParseHint(DataManager *pDM, const char *s) const
        {
                return DeformableJoint::ParseHint(pDM, s);
        };

        virtual unsigned int
        iGetNumPrivData(void) const {
                return DeformableJoint::iGetNumPrivData();
        };

        virtual unsigned int
        iGetPrivDataIdx(const char *s) const {
                return DeformableJoint::iGetPrivDataIdx(s);
        };

        virtual doublereal
        dGetPrivData(unsigned int i) const {
                return dGetPrivData(i);
        };
#endif /* MBDYN_X_WORKAROUND_GCC_3_2 */
};

/* ElasticJoint - end */

/* ViscousJoint - begin */

class ViscousJoint : virtual public Elem, public DeformableJoint {
protected:
        Mat6x6 FDEPrime;

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

public:
        ViscousJoint(unsigned int uL,
                const DofOwner* pDO,
                const ConstitutiveLaw6D* pCL,
                const StructNode* pN1,
                const StructNode* pN2,
                const Vec3& tilde_f1,
                const Vec3& tilde_f2,
                const Mat3x3& tilde_R1,
                const Mat3x3& tilde_R2,
                const OrientationDescription& od,
                flag fOut);

        ~ViscousJoint(void);

        /* 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 = 12;
                *piNumCols = 12;
        };

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

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

        virtual Hint *
        ParseHint(DataManager *pDM, const char *s) const
        {
                return DeformableJoint::ParseHint(pDM, s);
        };

        virtual unsigned int
        iGetNumPrivData(void) const {
                return DeformableJoint::iGetNumPrivData();
        };

        virtual unsigned int
        iGetPrivDataIdx(const char *s) const {
                return DeformableJoint::iGetPrivDataIdx(s);
        };

        virtual doublereal
        dGetPrivData(unsigned int i) const {
                return dGetPrivData(i);
        };
#endif /* MBDYN_X_WORKAROUND_GCC_3_2 */
};

/* ViscousJoint - end */


/* ViscoElasticJoint - begin */

class ViscoElasticJoint
: virtual public Elem, public DeformableJoint {
protected:
        Vec3 ThetaRef;

        Mat6x6 FDE;
        Mat6x6 FDEPrime;

        void AssMats(FullSubMatrixHandler& WorkMatA,
                FullSubMatrixHandler& WorkMatB,
                doublereal dCoef);
        void AssVec(SubVectorHandler& WorkVec);

public:
        ViscoElasticJoint(unsigned int uL,
                const DofOwner* pDO,
                const ConstitutiveLaw6D* pCL,
                const StructNode* pN1,
                const StructNode* pN2,
                const Vec3& tilde_f1,
                const Vec3& tilde_f2,
                const Mat3x3& tilde_R1,
                const Mat3x3& tilde_R2,
                const OrientationDescription& od,
                flag fOut);

        ~ViscoElasticJoint(void);

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

        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 = 12;
                *piNumCols = 12;
        };

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

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

        virtual Hint *
        ParseHint(DataManager *pDM, const char *s) const
        {
                return DeformableJoint::ParseHint(pDM, s);
        };

        virtual unsigned int
        iGetNumPrivData(void) const {
                return DeformableJoint::iGetNumPrivData();
        };

        virtual unsigned int
        iGetPrivDataIdx(const char *s) const {
                return DeformableJoint::iGetPrivDataIdx(s);
        };

        virtual doublereal
        dGetPrivData(unsigned int i) const {
                return dGetPrivData(i);
        };
#endif /* MBDYN_X_WORKAROUND_GCC_3_2 */
};

/* ViscoElasticJoint - end */


#endif /* VEHJ3_H */