#include <genj.h>

Inheritance diagram for DistanceJointWithOffset:

Collaboration diagram for DistanceJointWithOffset:

Public Member Functions
	DistanceJointWithOffset (unsigned int uL, const DofOwner pDO, const StructNode pN1, const StructNode pN2, const Vec3 &f1Tmp, const Vec3 &f2Tmp, const DriveCaller pDC, flag fOut)

	~DistanceJointWithOffset (void)

virtual Joint::Type	GetJointType (void) const

virtual std::ostream &	Restart (std::ostream &out) const

virtual unsigned int	iGetNumDof (void) const

virtual DofOrder::Order	GetDofType (unsigned int i) const

virtual DofOrder::Order	GetEqType (unsigned int i) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

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

virtual unsigned int	iGetInitialNumDof (void) const

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

virtual void	SetInitialValue (VectorHandler &X)

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

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

virtual void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) const

Public Member Functions inherited from Elem
	Elem (unsigned int uL, flag fOut)

virtual	~Elem (void)

virtual std::ostream &	DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual std::ostream &	DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual void	AssMats (VariableSubMatrixHandler &WorkMatA, VariableSubMatrixHandler &WorkMatB, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual bool	bInverseDynamics (void) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

virtual int	GetNumConnectedNodes (void) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

virtual Hint *	ParseHint (DataManager pDM, const char s) const

virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

virtual void	AfterPredict (VectorHandler &X, VectorHandler &XP)

virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

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

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

virtual std::ostream &	OutputAppend (std::ostream &out) const

virtual void	ReadInitialState (MBDynParser &HP)

Public Member Functions inherited from ToBeOutput
	ToBeOutput (flag fOut=fDefaultOut)

virtual	~ToBeOutput (void)

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH, const VectorHandler &X, const VectorHandler &XP) const

virtual flag	fToBeOutput (void) const

virtual bool	bToBeOutput (void) const

virtual void	SetOutputFlag (flag f=flag(1))

Public Member Functions inherited from Joint
	Joint (unsigned int uL, const DofOwner *pD, flag fOut)

virtual	~Joint (void)

virtual Elem::Type	GetElemType (void) const

std::ostream &	Output (std::ostream &out, const char *sJointName, unsigned int uLabel, const Vec3 &FLocal, const Vec3 &MLocal, const Vec3 &FGlobal, const Vec3 &MGlobal) const

virtual void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

bool	bIsPrescribedMotion (void) const

bool	bIsTorque (void) const

Public Member Functions inherited from ElemGravityOwner
	ElemGravityOwner (unsigned int uL, flag fOut)

virtual	~ElemGravityOwner (void)

virtual doublereal	dGetM (void) const

Vec3	GetS (void) const

Mat3x3	GetJ (void) const

Vec3	GetB (void) const

Vec3	GetG (void) const

Public Member Functions inherited from GravityOwner
	GravityOwner (void)

virtual	~GravityOwner (void)

void	PutGravity (const Gravity *pG)

virtual bool	bGetGravity (const Vec3 &X, Vec3 &Acc) const

Public Member Functions inherited from ElemWithDofs
	ElemWithDofs (unsigned int uL, const DofOwner *pDO, flag fOut)

virtual	~ElemWithDofs (void)

Public Member Functions inherited from DofOwnerOwner
	DofOwnerOwner (const DofOwner *pDO)

virtual	~DofOwnerOwner ()

virtual const DofOwner *	pGetDofOwner (void) const

virtual integer	iGetFirstIndex (void) const

Public Member Functions inherited from InitialAssemblyElem
	InitialAssemblyElem (unsigned int uL, flag fOut)

virtual	~InitialAssemblyElem (void)

Public Member Functions inherited from SubjectToInitialAssembly
	SubjectToInitialAssembly (void)

virtual	~SubjectToInitialAssembly (void)

Public Member Functions inherited from DriveOwner
	DriveOwner (const DriveCaller *pDC=0)

	DriveOwner (const DriveOwner &drive)

virtual	~DriveOwner (void)

void	Set (const DriveCaller *pDC)

DriveCaller *	pGetDriveCaller (void) const

doublereal	dGet (const doublereal &dVar) const

doublereal	dGet (void) const

bool	bIsDifferentiable (void) const

doublereal	dGetP (const doublereal &dVar) const

doublereal	dGetP (void) const

Private Attributes
const StructNode *	pNode1

const StructNode *	pNode2

Vec3	f1

Vec3	f2

Vec3	v

doublereal	dAlpha

Additional Inherited Members
Public Types inherited from Elem
enum	Type { UNKNOWN = -1, AIRPROPERTIES = 0, INDUCEDVELOCITY, AUTOMATICSTRUCTURAL, GRAVITY, BODY, JOINT, JOINT_REGULARIZATION, BEAM, PLATE, FORCE, INERTIA, ELECTRICBULK, ELECTRIC, THERMAL, HYDRAULIC, BULK, LOADABLE, DRIVEN, EXTERNAL, AEROMODAL, AERODYNAMIC, GENEL, SOCKETSTREAM_OUTPUT, RTAI_OUTPUT = SOCKETSTREAM_OUTPUT, LASTELEMTYPE }

Public Types inherited from SimulationEntity
typedef std::vector< Hint * >	Hints

Public Types inherited from ToBeOutput
enum	{ OUTPUT = 0x1U, OUTPUT_MASK = 0xFU, OUTPUT_PRIVATE = 0x10U, OUTPUT_PRIVATE_MASK = ~OUTPUT_MASK }

Public Types inherited from Joint
enum	Type { UNKNOWN = -1, DISTANCE = 0, DISTANCEWITHOFFSET, CLAMP, SPHERICALHINGE, PIN, UNIVERSALHINGE, UNIVERSALROTATION, UNIVERSALPIN, PLANEHINGE, PLANEROTATION, PLANEPIN, AXIALROTATION, PLANEDISP, PLANEDISPPIN, INPLANE, INPLANECONTACT, J_INLINE, ROD, RODBEZIER, DEFORMABLEHINGE, DEFORMABLEDISPJOINT, DEFORMABLEJOINT, DEFORMABLEAXIALJOINT, VISCOUSBODY, LINEARVELOCITY, ANGULARVELOCITY, LINEARACCELERATION, ANGULARACCELERATION, PRISMATIC, DRIVEHINGE, DRIVEDISP, DRIVEDISPPIN, IMPOSEDORIENTATION, IMPOSEDDISP, IMPOSEDDISPPIN, IMPOSEDKINEMATICS, BEAMSLIDER, BRAKE, GIMBAL, POINT_SURFACE_CONTACT, TOTALJOINT, TOTALPINJOINT, TOTALEQUATION, TOTALREACTION, MODAL, SCREWJOINT, LASTJOINTTYPE }

Protected Member Functions inherited from Joint
virtual void	OutputPrepare_int (const std::string &type, OutputHandler &OH, std::string &name)

Protected Member Functions inherited from ElemGravityOwner
virtual Vec3	GetS_int (void) const

virtual Mat3x3	GetJ_int (void) const

virtual Vec3	GetB_int (void) const

virtual Vec3	GetG_int (void) const

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Protected Attributes inherited from DriveOwner
DriveCaller *	pDriveCaller

Detailed Description

Definition at line 139 of file genj.h.

Constructor & Destructor Documentation

DistanceJointWithOffset::DistanceJointWithOffset	(	unsigned int	uL,
		const DofOwner *	pDO,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Vec3 &	f1Tmp,
		const Vec3 &	f2Tmp,
		const DriveCaller *	pDC,
		flag	fOut
	)

Definition at line 608 of file genj.cc.

References ASSERT, StructDispNode::GetNodeType(), pNode1, pNode2, and Node::STRUCTURAL.

 : Elem(uL, fOut),
 Joint(uL, pDO, fOut),
 DriveOwner(pDC),
 pNode1(pN1), pNode2(pN2), f1(f1Tmp), f2(f2Tmp), v(Zero3), dAlpha(0.)
 {
    ASSERT(pDO != NULL);
    ASSERT(pDC != NULL);
    ASSERT(pNode1 != NULL);
    ASSERT(pNode1->GetNodeType() == Node::STRUCTURAL);
    ASSERT(pNode2 != NULL);
    ASSERT(pNode2->GetNodeType() == Node::STRUCTURAL);
 }

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DistanceJointWithOffset::~DistanceJointWithOffset ( void )

Definition at line 631 of file genj.cc.

References NO_OP.

 {
    NO_OP;
 }

Member Function Documentation

VariableSubMatrixHandler & DistanceJointWithOffset::AssJac	(	VariableSubMatrixHandler &	WorkMat,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 684 of file genj.cc.

References ASSERT, Vec3::Cross(), dAlpha, DEBUGCOUT, Vec3::dGet(), DriveCaller::dGet(), Vec3::Dot(), f1, f2, StructNode::GetRRef(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), MatCrossCross, DriveOwner::pGetDriveCaller(), pNode1, pNode2, SparseSubMatrixHandler::PutCross(), SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::PutMat3x3(), SparseSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetSparse(), grad::sqrt(), and v.

 {
    DEBUGCOUT("Entering DistanceJointWithOffset::AssJac()" << std::endl);
 
    SparseSubMatrixHandler& WM = WorkMat.SetSparse();
 
    /* Dimensiona e resetta la matrice di lavoro */
    doublereal dDistance = pGetDriveCaller()->dGet();
 
    integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
    integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
    integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
    integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
    integer iFirstReactionIndex = iGetFirstIndex();
 
    Vec3 f1Tmp(pNode1->GetRRef()*f1);
    Vec3 f2Tmp(pNode2->GetRRef()*f2);
 
    /* Distanza nulla */
       WM.ResizeReset(72, 0);
 
       for (int iCnt = 1; iCnt <= 3; iCnt++) {
 
          /* termini di Delta_x1 */
          WM.PutItem(iCnt, iFirstReactionIndex+iCnt,
                      iNode1FirstPosIndex+iCnt, -dCoef);
 
          /* termini di Delta_x2 */
          WM.PutItem(3+iCnt, iFirstReactionIndex+iCnt,
                      iNode2FirstPosIndex+iCnt, dCoef);
 
          /* termini di Delta_F sul nodo 1 */
          WM.PutItem(6+iCnt, iNode1FirstMomIndex+iCnt,
                      iFirstReactionIndex+iCnt, -dAlpha);
 
          /* termini di Delta_F sul nodo 2 */
          WM.PutItem(9+iCnt, iNode2FirstMomIndex+iCnt,
                      iFirstReactionIndex+iCnt, dAlpha);
 
          /* termini diagonali di Delta_v */
          WM.PutItem(12+iCnt, iFirstReactionIndex+iCnt,
                      iFirstReactionIndex+iCnt, -dDistance);
 
          doublereal d = v.dGet(iCnt);
 
          /* termini di Delta_alpha sul nodo 1 */
          WM.PutItem(15+iCnt, iNode1FirstMomIndex+iCnt,
                      iFirstReactionIndex+4, -d);
 
          /* termini di Delta_alpha sul nodo 2 */
          WM.PutItem(18+iCnt, iNode2FirstMomIndex+iCnt,
                      iFirstReactionIndex+4, d);
       }
 
 
       /* Termini di offset nell'equazione di vincolo */
       WM.PutCross(22, iFirstReactionIndex,
                    iNode1FirstPosIndex+3, f1Tmp*dCoef);
 
       WM.PutCross(28, iFirstReactionIndex,
                    iNode2FirstPosIndex+3, f2Tmp*(-dCoef));
 
 
       Vec3 Tmp(v*(dAlpha*dCoef));
 
       WM.PutMat3x3(34, iNode1FirstMomIndex+3,
                     iNode1FirstPosIndex+3, Mat3x3(MatCrossCross, Tmp, -f1Tmp));
       WM.PutMat3x3(43, iNode2FirstMomIndex+3,
                     iNode2FirstPosIndex+3, Mat3x3(MatCrossCross, Tmp, f2Tmp));
 
 
       WM.PutCross(52, iNode1FirstMomIndex+3,
                    iFirstReactionIndex, f1Tmp*(-dAlpha));
       WM.PutCross(58, iNode2FirstMomIndex+3,
                    iFirstReactionIndex, f2Tmp*dAlpha);
 
       Tmp = v.Cross(f1Tmp);
       for (int iCnt = 1; iCnt <= 3; iCnt++) {
          WM.PutItem(63+iCnt, iNode1FirstMomIndex+3+iCnt,
                      iFirstReactionIndex+4, Tmp.dGet(iCnt));
       }
 
       Tmp = f2Tmp.Cross(v);
       for (int iCnt = 1; iCnt <= 3; iCnt++) {
          WM.PutItem(66+iCnt, iNode2FirstMomIndex+3+iCnt,
                      iFirstReactionIndex+4, Tmp.dGet(iCnt));
       }
 
 
       doublereal d = v.Dot();
       ASSERT(d > std::numeric_limits<doublereal>::epsilon());
       if (d > std::numeric_limits<doublereal>::epsilon()) {
          d = std::sqrt(d);
       } else {
          d = 1.;
       }
 
       /* termini di Delta_v su alpha */
       for (int iCnt = 1; iCnt <= 3; iCnt++) {
          WM.PutItem(69+iCnt, iFirstReactionIndex+4,
                      iFirstReactionIndex+iCnt, v.dGet(iCnt)/d);
       }
 
    return WorkMat;
 }

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SubVectorHandler & DistanceJointWithOffset::AssRes	(	SubVectorHandler &	WorkVec,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 796 of file genj.cc.

References VectorHandler::Add(), ASSERT, dAlpha, DEBUGCOUT, DriveCaller::dGet(), f1, f2, grad::fabs(), WithLabel::GetLabel(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), MBDYN_EXCEPT_ARGS, DriveOwner::pGetDriveCaller(), pNode1, pNode2, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), grad::sqrt(), VectorHandler::Sub(), v, and WorkSpaceDim().

 {
    DEBUGCOUT("Entering DistanceJointWithOffset::AssRes()" << std::endl);
 
    /* Dimensiona e resetta la matrice di lavoro */
    integer iNumRows = 0;
    integer iNumCols = 0;
    WorkSpaceDim(&iNumRows, &iNumCols);
    WorkVec.ResizeReset(iNumRows);
 
    integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
    integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
    integer iFirstReactionIndex = iGetFirstIndex();
 
    for (int iCnt = 1; iCnt <= 6; iCnt++) {
       /* Indici del nodo 1 */
       WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex+iCnt);
       WorkVec.PutRowIndex(6+iCnt, iNode2FirstMomIndex+iCnt);
    }
 
    /* Indici del vincolo */
    for(int iCnt = 1; iCnt <= 4; iCnt++) {
       WorkVec.PutRowIndex(12+iCnt, iFirstReactionIndex+iCnt);
    }
 
    Vec3 x1(pNode1->GetXCurr());
    Vec3 x2(pNode2->GetXCurr());
    Vec3 f1Tmp(pNode1->GetRCurr()*f1);
    Vec3 f2Tmp(pNode2->GetRCurr()*f2);
 
    /* Aggiorna i dati propri */
    v = Vec3(XCurr, iFirstReactionIndex+1);
    dAlpha = XCurr(iFirstReactionIndex+4);
 
    doublereal dDistance = pGetDriveCaller()->dGet();
 
    /* Distanza nulla */
    if (fabs(dDistance) <= std::numeric_limits<doublereal>::epsilon()) {
       silent_cerr("DistanceJoint(" << GetLabel() << "): "
                       "near-zero distance" << std::endl);
       throw ErrGeneric(MBDYN_EXCEPT_ARGS);
    }
    Vec3 TmpVec(v*dAlpha);
    WorkVec.Add(1, TmpVec);
    WorkVec.Add(4, f1Tmp.Cross(TmpVec));
    WorkVec.Sub(7, TmpVec);
    WorkVec.Sub(10, f2Tmp.Cross(TmpVec));
 
    WorkVec.Add(13, x1+f1Tmp-x2-f2Tmp+v*dDistance);
 
    doublereal dTmp = v.Dot();
    ASSERT(dTmp >= 0.0);
    dTmp = std::sqrt(dTmp);
 
    WorkVec.PutCoef(16, 1.-dTmp);
 
    return WorkVec;
 }

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doublereal DistanceJointWithOffset::dGetPrivData ( unsigned int i ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 656 of file genj.cc.

References ASSERT, DriveOwner::dGet(), and MBDYN_EXCEPT_ARGS.

 {
         ASSERT(i == 1);
 
         if (i == 1) {
                 return dGet();
         }
 
         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
 }

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virtual void DistanceJointWithOffset::GetConnectedNodes ( std::vector< const Node * > & connectedNodes ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 227 of file genj.h.

References pNode1, and pNode2.

                                                                                  {
      connectedNodes.resize(2);
      connectedNodes[0] = pNode1;
      connectedNodes[1] = pNode2;
    };

virtual DofOrder::Order DistanceJointWithOffset::GetDofType ( unsigned int i ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 170 of file genj.h.

References DofOrder::ALGEBRAIC, and ASSERT.

    {
       ASSERT(i >= 0 && i < 4);
       return DofOrder::ALGEBRAIC;
    };

virtual DofOrder::Order DistanceJointWithOffset::GetEqType ( unsigned int i ) const

inlinevirtual

Reimplemented from SimulationEntity.

Definition at line 176 of file genj.h.

References DofOrder::DIFFERENTIAL.

    {
       return DofOrder::DIFFERENTIAL;
    };

virtual Joint::Type DistanceJointWithOffset::GetJointType ( void ) const

inlinevirtual

Implements Joint.

Definition at line 159 of file genj.h.

References Joint::DISTANCEWITHOFFSET.

                                               {
       return Joint::DISTANCEWITHOFFSET;
    };

virtual unsigned int DistanceJointWithOffset::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 200 of file genj.h.

200 { return 8; };

virtual unsigned int DistanceJointWithOffset::iGetNumDof ( void ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 166 of file genj.h.

                                                {
       return 4;
    };

unsigned int DistanceJointWithOffset::iGetNumPrivData ( void ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 638 of file genj.cc.

 {
         return 1;
 }

unsigned int DistanceJointWithOffset::iGetPrivDataIdx ( const char * s ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 644 of file genj.cc.

References ASSERT.

 {
         ASSERT(s != NULL);
 
         if (strcmp(s, "d") == 0) {
                 return 1;
         }
 
         return 0;
 }

VariableSubMatrixHandler & DistanceJointWithOffset::InitialAssJac	(	VariableSubMatrixHandler &	WorkMat,
		const VectorHandler &	XCurr
	)

virtual

Implements SubjectToInitialAssembly.

Definition at line 878 of file genj.cc.

References FullSubMatrixHandler::Add(), ASSERT, Vec3::Cross(), dAlpha, DEBUGCOUT, Vec3::dGet(), DriveCaller::dGet(), Vec3::Dot(), f1, f2, StructNode::GetRRef(), StructNode::GetWRef(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), MatCross, MatCrossCross, DriveOwner::pGetDriveCaller(), pNode1, pNode2, grad::pow(), FullSubMatrixHandler::PutCoef(), FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), grad::sqrt(), FullSubMatrixHandler::Sub(), and v.

 {
    DEBUGCOUT("Entering DistanceJointWithOffset::InitialAssJac()" << std::endl);
 
 
    FullSubMatrixHandler& WM = WorkMat.SetFull();
    WM.ResizeReset(32, 32);
 
    integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
    integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
    integer iFirstReactionIndex = iGetFirstIndex();
    integer iReactionPrimeIndex = iFirstReactionIndex+4;
 
    for (int iCnt = 1; iCnt <= 12; iCnt++) {
       WM.PutRowIndex(iCnt, iNode1FirstPosIndex+iCnt);
       WM.PutColIndex(iCnt, iNode1FirstPosIndex+iCnt);
       WM.PutRowIndex(12+iCnt, iNode2FirstPosIndex+iCnt);
       WM.PutColIndex(12+iCnt, iNode2FirstPosIndex+iCnt);
    }
 
    for (int iCnt = 1; iCnt <= 8; iCnt++) {
       WM.PutRowIndex(24+iCnt, iFirstReactionIndex+iCnt);
       WM.PutColIndex(24+iCnt, iFirstReactionIndex+iCnt);
    }
 
    doublereal dAlphaP = XCurr(iReactionPrimeIndex+4);
    Vec3 vP(XCurr, iReactionPrimeIndex+1);
 
    Vec3 f1Tmp(pNode1->GetRRef()*f1);
    Vec3 f2Tmp(pNode2->GetRRef()*f2);
    Vec3 Omega1(pNode1->GetWRef());
    Vec3 Omega2(pNode2->GetWRef());
 
    doublereal dDistance = pGetDriveCaller()->dGet();
 
       /* Equazioni di equilibrio */
       for (int iCnt = 1; iCnt <= 3; iCnt++) {
          WM.PutCoef(iCnt, 24+iCnt, -dAlpha);
          WM.PutCoef(12+iCnt, 24+iCnt, dAlpha);
 
          WM.PutCoef(6+iCnt, 28+iCnt, -dAlpha);
          WM.PutCoef(18+iCnt, 28+iCnt, dAlpha);
 
          WM.PutCoef(6+iCnt, 24+iCnt, -dAlphaP);
          WM.PutCoef(18+iCnt, 24+iCnt, dAlphaP);
 
          doublereal d = v.dGet(iCnt);
          WM.PutCoef(iCnt, 28, -d);
          WM.PutCoef(12+iCnt, 28, d);
 
          WM.PutCoef(6+iCnt, 32, -d);
          WM.PutCoef(18+iCnt, 32, d);
 
          d = vP.dGet(iCnt);
          WM.PutCoef(6+iCnt, 28, -d);
          WM.PutCoef(18+iCnt, 28, d);
 
       }
 
       Vec3 Tmp(v.Cross(f1Tmp));
       for (int iCnt = 1; iCnt <= 3; iCnt++) {
          doublereal d = Tmp.dGet(iCnt);
          WM.PutCoef(3+iCnt, 28, d);
          WM.PutCoef(9+iCnt, 32, d);
       }
 
       Tmp = f2Tmp.Cross(v);
       for (int iCnt = 1; iCnt <= 3; iCnt++) {
          doublereal d = Tmp.dGet(iCnt);
          WM.PutCoef(15+iCnt, 28, d);
          WM.PutCoef(21+iCnt, 32, d);
       }
 
       Tmp = v.Cross(Omega1.Cross(f1Tmp))+vP.Cross(f1Tmp);
       for (int iCnt = 1; iCnt <= 3; iCnt++) {
          doublereal d = Tmp.dGet(iCnt);
          WM.PutCoef(9+iCnt, 28, d);
       }
 
       Tmp = v.Cross(f2Tmp.Cross(Omega2))-vP.Cross(f2Tmp);
       for (int iCnt = 1; iCnt <= 3; iCnt++) {
          doublereal d = Tmp.dGet(iCnt);
          WM.PutCoef(21+iCnt, 28, d);
       }
 
 
       Tmp = f1Tmp*(-dAlpha);
 
       Mat3x3 MTmp(MatCrossCross, v, Tmp);
       WM.Add(4, 4, MTmp);
       WM.Add(10, 10, MTmp);
 
       MTmp = Mat3x3(MatCross, Tmp);
       WM.Add(4, 25, MTmp);
       WM.Add(10, 29, MTmp);
 
       Tmp = f2Tmp*dAlpha;
       MTmp = Mat3x3(MatCrossCross, v, Tmp);
       WM.Add(16, 16, MTmp);
       WM.Add(22, 22, MTmp);
 
       MTmp = Mat3x3(MatCross, Tmp);
       WM.Add(16, 25, MTmp);
       WM.Add(22, 29, MTmp);
 
       MTmp = (Mat3x3(MatCrossCross, v*dAlpha, Omega1) + Mat3x3(MatCross, vP*dAlpha + v*dAlphaP))*Mat3x3(MatCross, f1Tmp);
       WM.Sub(10, 4, MTmp);
       MTmp = Mat3x3(MatCross, f1Tmp.Cross(Omega1*dAlpha) - f1Tmp*dAlphaP);
       WM.Add(10, 25, MTmp);
 
       MTmp = (Mat3x3(MatCrossCross, v*dAlpha, Omega2) + Mat3x3(MatCross, vP*dAlpha + v*dAlphaP))*Mat3x3(MatCross, f2Tmp);
       WM.Add(22, 16, MTmp);
       MTmp = Mat3x3(MatCross, f2Tmp.Cross(Omega2*(-dAlpha)) + f2Tmp*dAlphaP);
       WM.Add(22, 25, MTmp);
 
       /* Equazioni di vincolo */
       for (int iCnt = 1; iCnt <= 3; iCnt++) {
          WM.PutCoef(24+iCnt, iCnt, -1.);
          WM.PutCoef(24+iCnt, 12+iCnt, 1.);
 
          WM.PutCoef(24+iCnt, 24+iCnt, -dDistance);
 
          WM.PutCoef(28+iCnt, 6+iCnt, -1.);
          WM.PutCoef(28+iCnt, 18+iCnt, 1.);
 
          WM.PutCoef(28+iCnt, 28+iCnt, -dDistance);
       }
 
       MTmp = Mat3x3(MatCross, f1Tmp);
       WM.Add(25, 4, MTmp);
       WM.Add(29, 10, MTmp);
 
       MTmp = Mat3x3(MatCross, f2Tmp);
       WM.Sub(25, 16, MTmp);
       WM.Sub(29, 22, MTmp);
 
       MTmp = Mat3x3(MatCrossCross, Omega1, f1Tmp);
       WM.Add(29, 4, MTmp);
 
       MTmp = Mat3x3(MatCrossCross, Omega2, f2Tmp);
       WM.Sub(29, 16, MTmp);
 
       doublereal d = v.Dot();
       ASSERT(d > std::numeric_limits<doublereal>::epsilon());
       if (d > std::numeric_limits<doublereal>::epsilon()) {
          d = std::sqrt(d);
 
          Tmp = v/d;
          for (int iCnt = 1; iCnt <= 3; iCnt++) {
             doublereal d = Tmp.dGet(iCnt);
             WM.PutCoef(28, 24+iCnt, d);
             WM.PutCoef(32, 28+iCnt, d);
          }
 
          Tmp = vP/d-v*((vP.Dot(v))/pow(d, 3));
          for (int iCnt = 1; iCnt <= 3; iCnt++) {
             doublereal d = Tmp.dGet(iCnt);
             WM.PutCoef(32, 24+iCnt, d);
          }
       }
 
    return WorkMat;
 }

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SubVectorHandler & DistanceJointWithOffset::InitialAssRes	(	SubVectorHandler &	WorkVec,
		const VectorHandler &	XCurr
	)

virtual

Implements SubjectToInitialAssembly.

Definition at line 1046 of file genj.cc.

References ASSERT, Vec3::Cross(), grad::Cross(), dAlpha, DEBUGCOUT, DriveCaller::dGet(), Vec3::Dot(), f1, f2, grad::fabs(), WithLabel::GetLabel(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), MBDYN_EXCEPT_ARGS, DriveOwner::pGetDriveCaller(), pNode1, pNode2, VectorHandler::Put(), VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), grad::sqrt(), and v.

 {
    DEBUGCOUT("Entering DistanceJointWithOffset::InitialAssRes()" << std::endl);
 
    /* Dimensiona e resetta la matrice di lavoro */
    WorkVec.ResizeReset(32);
 
    integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
    integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
    integer iFirstReactionIndex = iGetFirstIndex();
    integer iReactionPrimeIndex = iFirstReactionIndex+4;
 
    for (int iCnt = 1; iCnt <= 12; iCnt++) {
       WorkVec.PutRowIndex(iCnt, iNode1FirstPosIndex+iCnt);
       WorkVec.PutRowIndex(12+iCnt, iNode2FirstPosIndex+iCnt);
    }
 
    for (int iCnt = 1; iCnt <= 8; iCnt++) {
       WorkVec.PutRowIndex(24+iCnt, iFirstReactionIndex+iCnt);
    }
 
    v = Vec3(XCurr, iFirstReactionIndex+1);
    Vec3 vP(XCurr, iReactionPrimeIndex+1);
    dAlpha = XCurr(iFirstReactionIndex+4);
    doublereal dAlphaP = XCurr(iReactionPrimeIndex+4);
 
    Vec3 x1(pNode1->GetXCurr());
    Vec3 x2(pNode2->GetXCurr());
    Vec3 v1(pNode1->GetVCurr());
    Vec3 v2(pNode2->GetVCurr());
    Vec3 f1Tmp(pNode1->GetRCurr()*f1);
    Vec3 f2Tmp(pNode2->GetRCurr()*f2);
    Vec3 Omega1(pNode1->GetWCurr());
    Vec3 Omega2(pNode2->GetWCurr());
 
    doublereal dDistance = pGetDriveCaller()->dGet();
 
    if (fabs(dDistance) <= std::numeric_limits<doublereal>::epsilon()) {
       silent_cerr("DistanceJoint(" << GetLabel() << "): "
               "near-zero distance" << std::endl);
       throw ErrGeneric(MBDYN_EXCEPT_ARGS);
    }
    Vec3 Tmp(v*dAlpha);
    WorkVec.Put(1, Tmp);
    WorkVec.Put(4, f1Tmp.Cross(Tmp));
    WorkVec.Put(13, -Tmp);
    WorkVec.Put(16, Tmp.Cross(f2Tmp));
 
    Tmp = vP*dAlpha+v*dAlphaP;
    WorkVec.Put(7, Tmp);
    WorkVec.Put(10, (Omega1.Cross(f1Tmp)).Cross(v*dAlpha)+f1Tmp.Cross(Tmp));
    WorkVec.Put(19, -Tmp);
    WorkVec.Put(22, (f2Tmp.Cross(Omega2)).Cross(v*dAlpha)+Tmp.Cross(f2Tmp));
 
    WorkVec.Put(25, v*dDistance-x2-f2Tmp+x1+f1Tmp);
    WorkVec.Put(29, vP*dDistance
                   -v2-Omega2.Cross(f2Tmp)+v1+Omega1.Cross(f1Tmp));
 
    doublereal d = v.Dot();
 
    ASSERT(d > std::numeric_limits<doublereal>::epsilon());
    d = std::sqrt(d);
    WorkVec.PutCoef(28, 1.-d);
    WorkVec.PutCoef(32, -v.Dot(vP)/d);
 
    return WorkVec;
 }

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virtual void DistanceJointWithOffset::InitialWorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 201 of file genj.h.

203 { *piNumRows = 32; *piNumCols = 32; };

void DistanceJointWithOffset::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 859 of file genj.cc.

References ToBeOutput::bToBeOutput(), dAlpha, DriveOwner::dGet(), grad::fabs(), WithLabel::GetLabel(), OutputHandler::Joints(), Joint::Output(), v, and Zero3.

 {
    if (bToBeOutput()) {
       doublereal d = dGet();
       Vec3 vTmp;
       if (fabs(d) > std::numeric_limits<doublereal>::epsilon()) {
          vTmp = Vec3(dAlpha, 0., 0.);
       } else {
          vTmp = v;
       }
       Joint::Output(OH.Joints(), "DistanceWithOffs", GetLabel(),
                     vTmp, Zero3, v*dAlpha, Zero3)
         << " " << v << " " << d << std::endl;
    }
 }

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std::ostream & DistanceJointWithOffset::Restart ( std::ostream & out ) const

virtual

Implements Elem.

Definition at line 669 of file genj.cc.

References f1, f2, WithLabel::GetLabel(), DriveOwner::pGetDriveCaller(), pNode1, pNode2, Joint::Restart(), DriveCaller::Restart(), and Vec3::Write().

 {
    Joint::Restart(out) << ", distance with offset, "
      << pNode1->GetLabel()
      << ", reference, node, ",
      f1.Write(out, ", ") << ", "
      << pNode2->GetLabel()
      << ", reference, node, ",
      f2.Write(out, ", ") << ", ";
    return pGetDriveCaller()->Restart(out) << ';' << std::endl;
 }

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void DistanceJointWithOffset::SetInitialValue ( VectorHandler & X )

virtual

Initialize state vector used in initial assembly. May set internal states of the element. Do not rely on being always called, because initial assembly could be implicitly or explicitly skipped

Reimplemented from Joint.

Definition at line 1116 of file genj.cc.

References DriveCaller::dGet(), Vec3::Dot(), f1, f2, grad::fabs(), WithLabel::GetLabel(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), MBDYN_EXCEPT_ARGS, DriveOwner::pGetDriveCaller(), pNode1, pNode2, VectorHandler::Put(), grad::sqrt(), and v.

 {
    integer iFirstIndex = iGetFirstIndex();
 
    doublereal dDistance = pGetDriveCaller()->dGet();
    if (fabs(dDistance) <= std::numeric_limits<doublereal>::epsilon()) {
       silent_cerr("DistanceJoint(" << GetLabel() << "): "
               "near-zero distance" << std::endl);
       throw ErrGeneric(MBDYN_EXCEPT_ARGS);
    }
 
    Vec3 x1(pNode1->GetXCurr());
    Vec3 x2(pNode2->GetXCurr());
    Vec3 v1(pNode1->GetVCurr());
    Vec3 v2(pNode2->GetVCurr());
    Vec3 f1Tmp((pNode1->GetRCurr())*f1);
    Vec3 f2Tmp((pNode2->GetRCurr())*f2);
    Vec3 Omega1(pNode1->GetWCurr());
    Vec3 Omega2(pNode2->GetWCurr());
 
    v = x2+f2Tmp-x1-f1Tmp;
    doublereal d = v.Dot();
    if (d < std::numeric_limits<doublereal>::epsilon()) {
       silent_cerr("DistanceJoint(" << GetLabel() << "): "
               "initial length is null" << std::endl);
       throw ErrNullNorm(MBDYN_EXCEPT_ARGS);
    }
    v /= std::sqrt(d);
 
    X.Put(iFirstIndex+1, v);
    X.Put(iFirstIndex+5, (v2+Omega2.Cross(f2Tmp)-v1-Omega1.Cross(f1Tmp))/d);
 }

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

virtual

Reimplemented from Joint.

Definition at line 1151 of file genj.cc.

References DriveCaller::dGet(), Vec3::Dot(), f1, f2, grad::fabs(), WithLabel::GetLabel(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), MBDYN_EXCEPT_ARGS, DriveHint::pCreateDrive(), DriveOwner::pGetDriveCaller(), pNode1, pNode2, VectorHandler::Put(), DriveOwner::Set(), grad::sqrt(), WithLabel::uLabel, and v.

 {
         if (ph) {
                 for (unsigned i = 0; i < ph->size(); i++) {
                         pedantic_cout("DistanceJointWithOffset(" << uLabel << "): "
                                 "creating drive from hint..." << std::endl);
 
                         DriveHint *pdh = dynamic_cast<DriveHint *>((*ph)[i]);
 
                         if (pdh) {
                                 DriveCaller *pDC = pdh->pCreateDrive(pDM);
                                 if (pDC == 0) {
                                         silent_cerr("DistanceJointWithOffset(" << uLabel << "): "
                                                 "unable to create drive after hint "
                                                 "#" << i << std::endl);
                                         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                                 }
 
                                 DriveOwner::Set(pDC);
                                 continue;
                         }
                 }
         }
 
         doublereal dDistance = pGetDriveCaller()->dGet();
 
         /* Setta a 1 dAlpha, che e' indipendente dalle altre variabili
          * in caso di distanza nulla */
         if (fabs(dDistance) <= std::numeric_limits<doublereal>::epsilon()) {
                 silent_cerr("DistanceJoint(" << GetLabel() << "):"
                         "near-zero distance" << std::endl);
                 throw ErrGeneric(MBDYN_EXCEPT_ARGS);
         }
 
         v = pNode2->GetXCurr() + pNode2->GetRCurr()*f2 - pNode1->GetXCurr() - pNode1->GetRCurr()*f1;
         doublereal d = v.Dot();
         if (d <= std::numeric_limits<doublereal>::epsilon()) {
                 silent_cerr("DistanceJoint(" << GetLabel() << ") "
                         "linked to nodes " << pNode1->GetLabel()
                         << " and " << pNode2->GetLabel() << ": "
                         "nodes are coincident;" << std::endl
                         << "this is no longer supported" << std::endl);
                 throw ErrNullNorm(MBDYN_EXCEPT_ARGS);
         }
         v /= std::sqrt(d);
 
         /* Scrittura sul vettore soluzione */
         X.Put(iGetFirstIndex() + 1, v);
 }

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virtual void DistanceJointWithOffset::WorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

inlinevirtual

Implements Elem.

Definition at line 181 of file genj.h.

Referenced by AssRes().

                                                                            {
       *piNumRows = 16;
       *piNumCols = 16;
    };

Member Data Documentation

doublereal DistanceJointWithOffset::dAlpha

private

Definition at line 147 of file genj.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), and Output().

Vec3 DistanceJointWithOffset::f1

private

Definition at line 144 of file genj.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), Restart(), SetInitialValue(), and SetValue().

Vec3 DistanceJointWithOffset::f2

private

Definition at line 145 of file genj.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), Restart(), SetInitialValue(), and SetValue().

const StructNode* DistanceJointWithOffset::pNode1

private

Definition at line 142 of file genj.h.

Referenced by AssJac(), AssRes(), DistanceJointWithOffset(), GetConnectedNodes(), InitialAssJac(), InitialAssRes(), Restart(), SetInitialValue(), and SetValue().

const StructNode* DistanceJointWithOffset::pNode2

private

Definition at line 143 of file genj.h.

Referenced by AssJac(), AssRes(), DistanceJointWithOffset(), GetConnectedNodes(), InitialAssJac(), InitialAssRes(), Restart(), SetInitialValue(), and SetValue().

Vec3 DistanceJointWithOffset::v

mutableprivate

Definition at line 146 of file genj.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), Output(), SetInitialValue(), and SetValue().

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation