vehj.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/vehj.h,v 1.62 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 VEHJ_H
#define VEHJ_H

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

extern const char* psConstLawNames[];

/* DeformableHingeJoint - begin */

class DeformableHingeJoint :
virtual public Elem, public Joint, public ConstitutiveLaw3DOwner {
protected:
        const StructNode* pNode1;
        const StructNode* pNode2;
        mutable Mat3x3 tilde_R1h;
        mutable Mat3x3 tilde_R2h;

        OrientationDescription od;

private:
#ifdef USE_NETCDF
        NcVar *Var_Phi;
        NcVar *Var_Omega;
#endif // USE_NETCDF

protected:
        bool bFirstRes;

        Vec3 M;

        Mat3x3 MDE;
        Mat3x3 MDEPrime;

        /* for invariant stuff */
        Mat3x3  hat_I;
        Mat3x3  hat_IT;

        /* Jacobian matrix helpers */
        virtual void
        AssMatM(FullSubMatrixHandler& WMA, doublereal dCoef);

        void
        AssMatMInv(FullSubMatrixHandler& WMA, doublereal dCoef);

        void
        AssMatMDE(FullSubMatrixHandler& WMA, doublereal dCoef);

        virtual void
        AssMatMDEPrime(FullSubMatrixHandler& WMA,
                FullSubMatrixHandler& WMB, doublereal dCoef);

        void
        AssMatMDEPrimeInv(FullSubMatrixHandler& WMA,
                FullSubMatrixHandler& WMB, doublereal dCoef);

        /* output helper */
        void OutputInv(OutputHandler& OH) const;

        /* priv data helper */
        doublereal
        dGetPrivDataInv(unsigned int i) const;
        virtual void AfterPredict(void) = 0;

public:
        /* Costruttore non banale */
        DeformableHingeJoint(unsigned int uL,
                const DofOwner* pDO,
                const ConstitutiveLaw3D* pCL,
                const StructNode* pN1,
                const StructNode* pN2,
                const Mat3x3& tilde_R1h,
                const Mat3x3& tilde_R2h,
                const OrientationDescription& od,
                flag fOut);

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

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

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

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

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

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

        virtual Hint *
        ParseHint(DataManager *pDM, const char *s) const;
                 
        /* Tipo di DeformableHinge */
        virtual ConstLawType::Type GetConstLawType(void) const = 0;

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

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

        /* inverse dynamics capable element */
        virtual bool bInverseDynamics(void) const;
 
        /* funzioni usate nell'assemblaggio iniziale */

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

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

/* DeformableHingeJoint - end */


/* ElasticHingeJoint - begin */

class ElasticHingeJoint : virtual public Elem, public DeformableHingeJoint {
protected:
        Vec3 ThetaRef;
        Vec3 ThetaCurr;

        virtual void AfterPredict(void);
        virtual void AssMat(FullSubMatrixHandler& WM, doublereal dCoef);
        virtual void AssVec(SubVectorHandler& WorkVec);

public:
        ElasticHingeJoint(unsigned int uL,
                        const DofOwner* pDO,
                        const ConstitutiveLaw3D* pCL,
                        const StructNode* pN1,
                        const StructNode* pN2,
                        const Mat3x3& tilde_R1h,
                        const Mat3x3& tilde_R2h,
                        const OrientationDescription& od,
                        flag fOut);

        virtual ~ElasticHingeJoint(void);

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

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

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

        virtual Hint *
        ParseHint(DataManager *pDM, const char *s) const
        {
                return DeformableHingeJoint::ParseHint(pDM, s);
        };
#endif /* MBDYN_X_WORKAROUND_GCC_3_2 */

        /* 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 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);

        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);

#if 0
        virtual unsigned int iGetNumPrivData(void) const {
                return DeformableHingeJoint::iGetNumPrivData();
        };

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

        virtual doublereal dGetPrivData(unsigned int i) const {
                return DeformableHingeJoint::dGetPrivData(i);
        };
#endif
};

/* ElasticHingeJoint - end */


/* ElasticHingeJointInv - begin */

class ElasticHingeJointInv : virtual public Elem, public ElasticHingeJoint {
protected:
        virtual void
        AssMatM(FullSubMatrixHandler& WMA, doublereal dCoef);

        /* AssMatMDE is OK as MDE is updated fine by AfterPredict();
         * AssMatMDEPrime is not needed */

        virtual void AfterPredict(void);
        virtual void AssVec(SubVectorHandler& WorkVec);

public:
        ElasticHingeJointInv(unsigned int uL,
                        const DofOwner* pDO,
                        const ConstitutiveLaw3D* pCL,
                        const StructNode* pN1,
                        const StructNode* pN2,
                        const Mat3x3& tilde_R1h,
                        const Mat3x3& tilde_R2h,
                        const OrientationDescription& od,
                        flag fOut);

        virtual ~ElasticHingeJointInv(void);

        virtual void Output(OutputHandler& OH) const;

        virtual doublereal dGetPrivData(unsigned int i) const;

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

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

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

        virtual unsigned int iGetPrivDataIdx(const char *s) const {
                return DeformableHingeJoint::iGetPrivDataIdx(s);
        };
#endif /* MBDYN_X_WORKAROUND_GCC_3_2 */
};

/* ElasticHingeJointInv - end */


/* ViscousHingeJoint - begin */

class ViscousHingeJoint : virtual public Elem, public DeformableHingeJoint {
protected:
        Vec3 Omega;

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

public:
        ViscousHingeJoint(unsigned int uL,
                        const DofOwner* pDO,
                        const ConstitutiveLaw3D* pCL,
                        const StructNode* pN1,
                        const StructNode* pN2,
                        const Mat3x3& tilde_R1h,
                        const Mat3x3& tilde_R2h,
                        const OrientationDescription& od,
                        flag fOut);

        virtual ~ViscousHingeJoint(void);

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

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

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

        virtual Hint *
        ParseHint(DataManager *pDM, const char *s) const
        {
                return DeformableHingeJoint::ParseHint(pDM, s);
        };
#endif /* MBDYN_X_WORKAROUND_GCC_3_2 */

        /* 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);

        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);

#if 0
        virtual unsigned int iGetNumPrivData(void) const {
                return DeformableHingeJoint::iGetNumPrivData();
        };

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

        virtual doublereal dGetPrivData(unsigned int i) const {
                return DeformableHingeJoint::dGetPrivData(i);
        };
#endif
};

/* ViscousHingeJoint - end */


/* ViscousHingeJointInv - begin */

class ViscousHingeJointInv : virtual public Elem, public ViscousHingeJoint {
protected:
        /* AssMatMDEPrime is not needed */
        virtual void
        AssMatM(FullSubMatrixHandler& WMA, doublereal dCoef);
        virtual void
        AssMatMDEPrime(FullSubMatrixHandler& WMA,
                FullSubMatrixHandler& WMB, doublereal dCoef);

        virtual void AfterPredict(void);
        virtual void AssVec(SubVectorHandler& WorkVec);

public:
        ViscousHingeJointInv(unsigned int uL,
                        const DofOwner* pDO,
                        const ConstitutiveLaw3D* pCL,
                        const StructNode* pN1,
                        const StructNode* pN2,
                        const Mat3x3& tilde_R1h,
                        const Mat3x3& tilde_R2h,
                        const OrientationDescription& od,
                        flag fOut);

        virtual ~ViscousHingeJointInv(void);

        virtual void Output(OutputHandler& OH) const;

        virtual doublereal dGetPrivData(unsigned int i) const;

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

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

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

        virtual unsigned int iGetPrivDataIdx(const char *s) const {
                return DeformableHingeJoint::iGetPrivDataIdx(s);
        };
#endif /* MBDYN_X_WORKAROUND_GCC_3_2 */
};

/* ViscousHingeJointInv - end */


/* ViscoElasticHingeJoint - begin */

class ViscoElasticHingeJoint
: virtual public Elem, public DeformableHingeJoint {
protected:
        Vec3 ThetaRef;
        Vec3 ThetaCurr;

        Vec3 Omega;

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

        virtual void AfterPredict(void);
        virtual void AssVec(SubVectorHandler& WorkVec);

public:
        ViscoElasticHingeJoint(unsigned int uL,
                        const DofOwner* pDO,
                        const ConstitutiveLaw3D* pCL,
                        const StructNode* pN1,
                        const StructNode* pN2,
                        const Mat3x3& tilde_R1h,
                        const Mat3x3& tilde_R2h,
                        const OrientationDescription& od,
                        flag fOut);

        ~ViscoElasticHingeJoint(void);

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

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

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

        virtual Hint *
        ParseHint(DataManager *pDM, const char *s) const
        {
                return DeformableHingeJoint::ParseHint(pDM, s);
        };
#endif /* MBDYN_X_WORKAROUND_GCC_3_2 */

        /* assemblaggio jacobiano */
        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);

        /* 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);

        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);

#if 0
        virtual unsigned int iGetNumPrivData(void) const {
                return DeformableHingeJoint::iGetNumPrivData();
        };

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

        virtual doublereal dGetPrivData(unsigned int i) const {
                return DeformableHingeJoint::dGetPrivData(i);
        };
#endif
};

/* ViscoElasticHingeJoint - end */

/* ViscoElasticHingeJointInv - begin */

class ViscoElasticHingeJointInv
: virtual public Elem, public ViscoElasticHingeJoint {
protected:
        /* AssMatMDEPrime is not needed */
        virtual void
        AssMatM(FullSubMatrixHandler& WMA, doublereal dCoef);
        virtual void
        AssMatMDEPrime(FullSubMatrixHandler& WMA,
                FullSubMatrixHandler& WMB, doublereal dCoef);

        virtual void AfterPredict(void);
        virtual void AssVec(SubVectorHandler& WorkVec);

public:
        ViscoElasticHingeJointInv(unsigned int uL,
                        const DofOwner* pDO,
                        const ConstitutiveLaw3D* pCL,
                        const StructNode* pN1,
                        const StructNode* pN2,
                        const Mat3x3& tilde_R1h,
                        const Mat3x3& tilde_R2h,
                        const OrientationDescription& od,
                        flag fOut);

        ~ViscoElasticHingeJointInv(void);

        virtual void Output(OutputHandler& OH) const;

        virtual doublereal dGetPrivData(unsigned int i) const;

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

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

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

        virtual unsigned int iGetPrivDataIdx(const char *s) const {
                return DeformableHingeJoint::iGetPrivDataIdx(s);
        };
#endif /* MBDYN_X_WORKAROUND_GCC_3_2 */
};

/* ViscoElasticHingeJointInv - end */


/* InvAngularCLR - begin */

struct InvAngularCLR : public ConstitutiveLawRead<Vec3, Mat3x3> {
        virtual ConstitutiveLaw<Vec3, Mat3x3> *
        Read(const DataManager* pDM, MBDynParser& HP, ConstLawType::Type& CLType);
};

/* InvAngularCLR - end */

#endif /* VEHJ_H */