#include <univj.h>

Inheritance diagram for UniversalHingeJoint:

Collaboration diagram for UniversalHingeJoint:

Public Member Functions
	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)

	~UniversalHingeJoint (void)

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

virtual Joint::Type	GetJointType (void) const

virtual unsigned int	iGetNumDof (void) const

DofOrder::Order	GetDofType (unsigned int i) const

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)

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	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 DofOrder::Order	GetEqType (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 unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

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	SetInitialValue (VectorHandler &)

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

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)

Private Attributes
const StructNode *	pNode1

const StructNode *	pNode2

Vec3	d1

Mat3x3	R1h

Vec3	d2

Mat3x3	R2h

Vec3	F

doublereal	dM

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

Detailed Description

Definition at line 43 of file univj.h.

Constructor & Destructor Documentation

UniversalHingeJoint::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
	)

Definition at line 44 of file univj.cc.

References NO_OP.

 : Elem(uL, fOut),
 Joint(uL, pDO, fOut),
 pNode1(pN1), pNode2(pN2),
 d1(dTmp1), R1h(R1hTmp), d2(dTmp2), R2h(R2hTmp), F(Zero3), dM(0.)
 {
         NO_OP;
 }

UniversalHingeJoint::~UniversalHingeJoint ( void )

Definition at line 63 of file univj.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 92 of file univj.cc.

References FullSubMatrixHandler::Add(), d1, d2, DEBUGCOUT, dM, F, StructNode::GetRRef(), Mat3x3::GetVec(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), MatCross, MatCrossCross, pNode1, pNode2, FullSubMatrixHandler::PutCoef(), FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), R1h, R2h, FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), FullSubMatrixHandler::Sub(), and WorkSpaceDim().

 {
         DEBUGCOUT("Entering UniversalHingeJoint::AssJac()" << std::endl);
 
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Ridimensiona la sottomatrice in base alle esigenze */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici delle varie incognite */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
         integer iFirstReactionIndex = iGetFirstIndex();
 
         /* Recupera i dati che servono */
         const Mat3x3& R1(pNode1->GetRRef());
         const Mat3x3& R2(pNode2->GetRRef());
         Vec3 d1Tmp(R1*d1);
         Vec3 d2Tmp(R2*d2);
 
         /* Suppongo che le reazioni F, M siano gia' state aggiornate da AssRes;
          * ricordo che la forza F e' nel sistema globale, mentre la coppia M
          * e' nel sistema locale ed il terzo termine, M(3), e' nullo in quanto
          * diretto come l'asse attorno al quale la rotazione e' consentita */
 
         /* Setta gli indici delle equazioni */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(6 + iCnt, iNode2FirstMomIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         for (int iCnt = 1; iCnt <= 4; iCnt++) {
                 WM.PutRowIndex(12 + iCnt, iFirstReactionIndex + iCnt);
                 WM.PutColIndex(12 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         /* Contributo della forza alle equazioni di equilibrio dei due nodi */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutCoef(iCnt, 12 + iCnt, 1.);
                 WM.PutCoef(6 + iCnt, 12 + iCnt, -1.);
         }
 
         WM.Add(4, 13, Mat3x3(MatCross, d1Tmp));
         WM.Sub(10, 13, Mat3x3(MatCross, d2Tmp));
 
         /* Moltiplica la forza ed il momento per il coefficiente del metodo */
         Vec3 FTmp(F*dCoef);
 
         Vec3 e3a(R1*R1h.GetVec(3));
         Vec3 e2b(R2*R2h.GetVec(2));
         Vec3 MTmp = e2b*(dM*dCoef);
 
         Mat3x3 MWedgee3aWedge(MatCrossCross, MTmp, e3a);
         Mat3x3 e3aWedgeMWedge(MatCrossCross, e3a, MTmp);
 
         WM.Add(4, 4, Mat3x3(MatCrossCross, FTmp, d1Tmp) - MWedgee3aWedge);
         WM.Add(4, 10, e3aWedgeMWedge);
 
         WM.Add(10, 4, MWedgee3aWedge);
         WM.Sub(10, 10, Mat3x3(MatCrossCross, FTmp, d2Tmp) + e3aWedgeMWedge);
 
         /* Contributo del momento alle equazioni di equilibrio dei nodi */
         Vec3 Tmp(e2b.Cross(e3a));
 
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 doublereal d = Tmp(iCnt);
                 WM.PutCoef(3 + iCnt, 16, d);
                 WM.PutCoef(9 + iCnt, 16, -d);
         }
 
         /* Modifica: divido le equazioni di vincolo per dCoef */
 
         /* Equazioni di vincolo degli spostamenti */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutCoef(12 + iCnt, iCnt, 1.);
                 WM.PutCoef(12 + iCnt, 6 + iCnt, -1.);
         }
 
         WM.Sub(13, 4, Mat3x3(MatCross, d1Tmp));
         WM.Add(13, 10, Mat3x3(MatCross, d2Tmp));
 
         /* Equazione di vincolo del momento
          *
          * Attenzione: bisogna scrivere il vettore trasposto
          *   (Sb[1]^T*(Sa[3]/\))*dCoef
          * Questo pero' e' uguale a:
          *   (-Sa[3]/\*Sb[1])^T*dCoef,
          * che puo' essere ulteriormente semplificato:
          *   (Sa[3].Cross(Sb[1])*(-dCoef))^T;
          */
 
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 doublereal d = Tmp(iCnt);
                 WM.PutCoef(16, 3 + iCnt, d);
                 WM.PutCoef(16, 9 + iCnt, -d);
         }
 
         return WorkMat;
 }

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

virtual

Implements Elem.

Definition at line 205 of file univj.cc.

References VectorHandler::Add(), ASSERT, Vec3::Cross(), d1, d2, DEBUGCOUT, dM, F, StructNode::GetRCurr(), Mat3x3::GetVec(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), pNode1, pNode2, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), R1h, R2h, VectorHandler::ResizeReset(), VectorHandler::Sub(), and WorkSpaceDim().

 {
         DEBUGCOUT("Entering UniversalHingeJoint::AssRes()" << std::endl);
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Indici */
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
         integer iFirstReactionIndex = iGetFirstIndex();
 
         /* Indici dei nodi */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 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);
         }
 
         /* Aggiorna i dati propri */
         F = Vec3(XCurr, iFirstReactionIndex + 1);
         dM = XCurr(iFirstReactionIndex + 4);
 
         /* Recupera i dati */
         const Vec3& x1(pNode1->GetXCurr());
         const Vec3& x2(pNode2->GetXCurr());
         const Mat3x3& R1(pNode1->GetRCurr());
         const Mat3x3& R2(pNode2->GetRCurr());
 
         /* Costruisce i dati propri nella configurazione corrente */
         Vec3 dTmp1(R1*d1);
         Vec3 dTmp2(R2*d2);
 
         Vec3 e3a(R1*R1h.GetVec(3));
         Vec3 e2b(R2*R2h.GetVec(2));
 
         Vec3 MTmp(e2b.Cross(e3a)*dM);
 
         /* Equazioni di equilibrio, nodo 1 */
         WorkVec.Sub(1, F);
         WorkVec.Sub(4, dTmp1.Cross(F) + MTmp);
 
         /* Equazioni di equilibrio, nodo 2 */
         WorkVec.Add(7, F);
         WorkVec.Add(10, dTmp2.Cross(F) + MTmp);
 
         /* Modifica: divido le equazioni di vincolo per dCoef */
         ASSERT(dCoef != 0.);
 
         /* Equazione di vincolo di posizione */
         WorkVec.Add(13, (x2 + dTmp2 - x1 - dTmp1)/dCoef);
 
         /* Equazione di vincolo di rotazione */
         WorkVec.PutCoef(16, (e3a*e2b)/dCoef);
 
         return WorkVec;
 }

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

inlinevirtual

Reimplemented from Elem.

Definition at line 125 of file univj.h.

References pNode1, and pNode2.

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

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

inlinevirtual

Reimplemented from Elem.

Definition at line 79 of file univj.h.

References DofOrder::ALGEBRAIC, and ASSERT.

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

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

inlinevirtual

Implements Joint.

Definition at line 71 of file univj.h.

References Joint::UNIVERSALHINGE.

                                                    {
                 return Joint::UNIVERSALHINGE;
         };

virtual unsigned int UniversalHingeJoint::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 102 of file univj.h.

                                                            {
                 return 8;
         };

virtual unsigned int UniversalHingeJoint::iGetNumDof ( void ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 75 of file univj.h.

                                                     {
                 return 4;
         };

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 293 of file univj.cc.

 {
         DEBUGCOUT("Entering UniversalHingeJoint::InitialAssJac()" << std::endl);
 
         /* Per ora usa la matrice piena; eventualmente si puo'
          * passare a quella sparsa quando si ottimizza */
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Equazioni: vedi joints.dvi */
 
         /* Indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode1FirstVelIndex = iNode1FirstPosIndex + 6;
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstVelIndex = iNode2FirstPosIndex + 6;
         integer iFirstReactionIndex = iGetFirstIndex();
         integer iReactionPrimeIndex = iFirstReactionIndex + 4;
 
         /* Nota: le reazioni vincolari sono:
          * Forza,       3 incognite, riferimento globale,
          * Momento,     1 incognita, riferimento locale
          */
 
         /* Setta gli indici dei nodi */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(6 + iCnt, iNode1FirstVelIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iNode1FirstVelIndex + iCnt);
                 WM.PutRowIndex(12 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutColIndex(12 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutRowIndex(18 + iCnt, iNode2FirstVelIndex + iCnt);
                 WM.PutColIndex(18 + iCnt, iNode2FirstVelIndex + iCnt);
         }
 
         /* Setta gli indici delle reazioni */
         for (int iCnt = 1; iCnt <= 8; iCnt++) {
                 WM.PutRowIndex(24 + iCnt, iFirstReactionIndex + iCnt);
                 WM.PutColIndex(24 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         /* Matrici identita' */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 /* Contributo di forza all'equazione della forza, nodo 1 */
                 WM.IncCoef(iCnt, 24 + iCnt, 1.);
 
                 /* Contrib. di der. di forza all'eq. della der. della forza, nodo 1 */
                 WM.IncCoef(6 + iCnt, 28 + iCnt, 1.);
 
                 /* Contributo di forza all'equazione della forza, nodo 2 */
                 WM.DecCoef(12 + iCnt, 24 + iCnt, 1.);
 
                 /* Contrib. di der. di forza all'eq. della der. della forza, nodo 2 */
                 WM.DecCoef(18 + iCnt, 28 + iCnt, 1.);
 
                 /* Equazione di vincolo, nodo 1 */
                 WM.DecCoef(24 + iCnt, iCnt, 1.);
 
                 /* Derivata dell'equazione di vincolo, nodo 1 */
                 WM.DecCoef(28 + iCnt, 6 + iCnt, 1.);
 
                 /* Equazione di vincolo, nodo 2 */
                 WM.IncCoef(24 + iCnt, 12 + iCnt, 1.);
 
                 /* Derivata dell'equazione di vincolo, nodo 2 */
                 WM.IncCoef(28 + iCnt, 18 + iCnt, 1.);
         }
 
         /* Recupera i dati */
         const Mat3x3& R1(pNode1->GetRRef());
         const Mat3x3& R2(pNode2->GetRRef());
         const Vec3& Omega1(pNode1->GetWRef());
         const Vec3& Omega2(pNode2->GetWRef());
         /* F ed M sono gia' state aggiornate da InitialAssRes */
         Vec3 FPrime(XCurr, iReactionPrimeIndex+1);
         doublereal dMPrime(XCurr(iReactionPrimeIndex+4));
 
         /* Distanze e matrici di rotazione dai nodi alla cerniera
          * nel sistema globale */
         Vec3 d1Tmp(R1*d1);
         Vec3 d2Tmp(R2*d2);
 
         Vec3 e3a(R1*R1h.GetVec(3));
         Vec3 e2b(R2*R2h.GetVec(2));
 
         /* Ruota il momento e la sua derivata con le matrici della cerniera
          * rispetto ai nodi */
         Vec3 MTmp(e2b*dM);
         Vec3 MPrimeTmp(e2b*dMPrime);
 
         /* Matrici F/\d1/\, -F/\d2/\ */
         Mat3x3 FWedged1Wedge(MatCrossCross, F, d1Tmp);
         Mat3x3 FWedged2Wedge(MatCrossCross, F, -d2Tmp);
 
         /* Matrici (omega1/\d1)/\, -(omega2/\d2)/\ */
         Mat3x3 O1Wedged1Wedge(MatCross, Omega1.Cross(d1Tmp));
         Mat3x3 O2Wedged2Wedge(MatCross, d2Tmp.Cross(Omega2));
 
         Mat3x3 MDeltag1((Mat3x3(MatCross, Omega2.Cross(MTmp) + MPrimeTmp)
                 + Mat3x3(MatCrossCross, MTmp, Omega1))*Mat3x3(MatCross, e3a));
         Mat3x3 MDeltag2(Mat3x3(MatCrossCross, Omega1.Cross(e3a), MTmp)
                 + Mat3x3(MatCrossCross, e3a, MPrimeTmp)
                 + e3a.Cross(Mat3x3(MatCrossCross, Omega2, MTmp)));
 
         /* Vettori temporanei */
         Vec3 Tmp(e2b.Cross(e3a));
 
         /* Prodotto vettore tra il versore 3 della cerniera secondo il nodo 1
          * ed il versore 1 della cerniera secondo il nodo 2. A convergenza
          * devono essere ortogonali, quindi il loro prodotto vettore deve essere
          * unitario */
 
         /* Error handling: il programma si ferma, pero' segnala dov'e' l'errore */
         if (Tmp.Dot() < std::numeric_limits<doublereal>::epsilon()) {
                 silent_cerr("CardanoHingeJoint(" << GetLabel() << "): "
                         "first and second node hinge axes are (nearly) orthogonal"
                         << std::endl);
                 throw ErrNullNorm(MBDYN_EXCEPT_ARGS);
         }
 
         Vec3 TmpPrime(e2b.Cross(Omega1.Cross(e3a)) - e3a.Cross(Omega2.Cross(e2b)));
 
         /* Equazione di momento, nodo 1 */
         WM.Add(4, 4, FWedged1Wedge - Mat3x3(MatCrossCross, MTmp, e3a));
         WM.Add(4, 16, Mat3x3(MatCrossCross, e3a, MTmp));
         WM.Add(4, 25, Mat3x3(MatCross, d1Tmp));
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutCoef(3 + iCnt, 28, Tmp(iCnt));
         }
 
         /* Equazione di momento, nodo 2 */
         WM.Add(16, 4, Mat3x3(MatCrossCross, MTmp, e3a));
         WM.Add(16, 16, FWedged2Wedge - Mat3x3(MatCrossCross, e3a, MTmp));
         WM.Sub(16, 25, Mat3x3(MatCross, d2Tmp));
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.DecCoef(15 + iCnt, 28, Tmp(iCnt));
         }
 
         /* Derivata dell'equazione di momento, nodo 1 */
         WM.Add(10, 4, (Mat3x3(MatCross, FPrime) + Mat3x3(MatCrossCross, F, Omega1))*Mat3x3(MatCross, d1Tmp) - MDeltag1);
         WM.Add(10, 10, FWedged1Wedge - Mat3x3(MatCrossCross, MTmp, e3a));
         WM.Add(10, 16, MDeltag2);
         WM.Add(10, 22, Mat3x3(MatCrossCross, e3a, MTmp));
         WM.Add(10, 25, O1Wedged1Wedge);
         WM.Add(10, 29, Mat3x3(MatCross, d1Tmp));
 
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutCoef(9 + iCnt, 28, TmpPrime(iCnt));
                 WM.PutCoef(9 + iCnt, 32, Tmp(iCnt));
         }
 
         /* Derivata dell'equazione di momento, nodo 2 */
         WM.Add(22, 4, MDeltag1);
         WM.Add(22, 10, Mat3x3(MatCrossCross, MTmp, e3a));
         WM.Sub(22, 16, (Mat3x3(MatCross, FPrime) + Mat3x3(MatCrossCross, F, Omega2))*Mat3x3(MatCross, d2Tmp) + MDeltag2);
         WM.Add(22, 22, FWedged2Wedge - Mat3x3(MatCrossCross, e3a, MTmp));
         WM.Add(22, 25, O2Wedged2Wedge);
         WM.Sub(22, 29, Mat3x3(MatCross, d2Tmp));
 
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.DecCoef(21 + iCnt, 28, TmpPrime(iCnt));
                 WM.DecCoef(21 + iCnt, 32, Tmp(iCnt));
         }
 
         /* Equazione di vincolo di posizione */
         WM.Add(25, 4, Mat3x3(MatCross, d1Tmp));
         WM.Sub(25, 16, Mat3x3(MatCross, d2Tmp));
 
         /* Derivata dell'equazione di vincolo di posizione */
         WM.Add(29, 4, O1Wedged1Wedge);
         WM.Add(29, 10, Mat3x3(MatCross, d1Tmp));
         WM.Add(29, 16, O2Wedged2Wedge);
         WM.Sub(29, 22, Mat3x3(MatCross, d2Tmp));
 
         /* Equazioni di vincolo di rotazione: e2b~e3a */
 
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 doublereal d = Tmp(iCnt);
                 WM.IncCoef(28, 3 + iCnt, d);
                 WM.DecCoef(28, 15 + iCnt, d);
 
                 /* Queste sono per la derivata dell'equazione, sono qui solo per
                  * ottimizzazione */
                 WM.IncCoef(32, 9 + iCnt, d);
                 WM.DecCoef(32, 21 + iCnt, d);
         }
 
         /* Derivate delle equazioni di vincolo di rotazione: e2b~e3a */
         Vec3 O1mO2(Omega1 - Omega2);
         TmpPrime = e3a.Cross(O1mO2.Cross(e2b));
         Vec3 TmpPrime2 = e2b.Cross(e3a.Cross(O1mO2));
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutCoef(32, 3 + iCnt, TmpPrime(iCnt));
                 WM.PutCoef(32, 15 + iCnt, TmpPrime2(iCnt));
         }
 
         return WorkMat;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 502 of file univj.cc.

References VectorHandler::Add(), Vec3::Cross(), grad::Cross(), d1, d2, DEBUGCOUT, dM, F, StructNode::GetRCurr(), StructDispNode::GetVCurr(), Mat3x3::GetVec(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), pNode1, pNode2, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), R1h, R2h, VectorHandler::ResizeReset(), and VectorHandler::Sub().

 {
         DEBUGCOUT("Entering UniversalHingeJoint::InitialAssRes()" << std::endl);
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode1FirstVelIndex = iNode1FirstPosIndex + 6;
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstVelIndex = iNode2FirstPosIndex + 6;
         integer iFirstReactionIndex = iGetFirstIndex();
         integer iReactionPrimeIndex = iFirstReactionIndex + 4;
 
         /* Setta gli indici */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WorkVec.PutRowIndex(6 + iCnt, iNode1FirstVelIndex + iCnt);
                 WorkVec.PutRowIndex(12 + iCnt, iNode2FirstPosIndex + iCnt);
                 WorkVec.PutRowIndex(18 + iCnt, iNode2FirstVelIndex + iCnt);
         }
 
         for (int iCnt = 1; iCnt <= 8; iCnt++) {
                 WorkVec.PutRowIndex(24 + iCnt, iFirstReactionIndex+iCnt);
         }
 
         /* Recupera i dati */
         const Vec3& x1(pNode1->GetXCurr());
         const Vec3& x2(pNode2->GetXCurr());
         const Vec3& v1(pNode1->GetVCurr());
         const Vec3& v2(pNode2->GetVCurr());
         const Mat3x3& R1(pNode1->GetRCurr());
         const Mat3x3& R2(pNode2->GetRCurr());
         const Vec3& Omega1(pNode1->GetWCurr());
         const Vec3& Omega2(pNode2->GetWCurr());
 
         /* Aggiorna F ed M, che restano anche per InitialAssJac */
         F = Vec3(XCurr, iFirstReactionIndex + 1);
         dM = XCurr(iFirstReactionIndex + 4);
         Vec3 FPrime(XCurr, iReactionPrimeIndex + 1);
         doublereal dMPrime(XCurr(iReactionPrimeIndex + 4));
 
         /* Distanza nel sistema globale */
         Vec3 d1Tmp(R1*d1);
         Vec3 d2Tmp(R2*d2);
 
         /* Vettori omega1/\d1, -omega2/\d2 */
         Vec3 O1Wedged1(Omega1.Cross(d1Tmp));
         Vec3 O2Wedged2(Omega2.Cross(d2Tmp));
 
         Vec3 e3a(R1*R1h.GetVec(3));
         Vec3 e2b(R2*R2h.GetVec(2));
 
         /* Ruota il momento e la sua derivata con le matrici della cerniera
          * rispetto ai nodi */
         Vec3 MTmp(e2b*dM);
         Vec3 MPrimeTmp(e3a.Cross(MTmp.Cross(Omega2)) + e2b.Cross(e3a)*dMPrime);
 
         /* Equazioni di equilibrio, nodo 1 */
         WorkVec.Sub(1, F);
         WorkVec.Sub(4, d1Tmp.Cross(F) + MTmp.Cross(e3a));
 
         /* Derivate delle equazioni di equilibrio, nodo 1 */
         WorkVec.Sub(7, FPrime);
         WorkVec.Sub(10, d1Tmp.Cross(FPrime) - O1Wedged1.Cross(F) - MPrimeTmp);
 
         /* Equazioni di equilibrio, nodo 2 */
         WorkVec.Add(13, F);
         WorkVec.Add(16, d2Tmp.Cross(F) + MTmp.Cross(e3a));
 
         /* Derivate delle equazioni di equilibrio, nodo 2 */
         WorkVec.Add(19, FPrime);
         WorkVec.Add(22, d2Tmp.Cross(FPrime) + O2Wedged2.Cross(F) + MPrimeTmp);
 
         /* Equazione di vincolo di posizione */
         WorkVec.Add(25, x1 + d1Tmp - x2 - d2Tmp);
 
         /* Derivata dell'equazione di vincolo di posizione */
         WorkVec.Add(29, v1 + O1Wedged1 - v2 - O2Wedged2);
 
         /* Equazioni di vincolo di rotazione */
         WorkVec.PutCoef(28, e2b*e3a);
 
         /* Derivate delle equazioni di vincolo di rotazione: e2b~e3a */
         Vec3 Tmp((Omega1 - Omega2).Cross(e3a));
         WorkVec.PutCoef(32, e2b*Tmp);
 
         return WorkVec;
 }

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 106 of file univj.h.

Referenced by InitialAssJac(), and InitialAssRes().

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

void UniversalHingeJoint::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 275 of file univj.cc.

References ToBeOutput::bToBeOutput(), dM, dRaDegr, F, WithLabel::GetLabel(), StructNode::GetRCurr(), OutputHandler::Joints(), MatR2EulerAngles(), Joint::Output(), pNode1, pNode2, R1h, and R2h.

 {
         if (bToBeOutput()) {
                 Mat3x3 R1Tmp(pNode1->GetRCurr()*R1h);
                 Mat3x3 R2Tmp(pNode2->GetRCurr()*R2h);
 
                 Vec3 vTmp(R2Tmp.GetVec(2).Cross(R1Tmp.GetVec(3)));
 
                 Joint::Output(OH.Joints(), "CardanoHinge", GetLabel(),
                         R1Tmp.Transpose()*F, Vec3(dM, 0., 0.), F, vTmp*dM)
                         << " " << MatR2EulerAngles(R2Tmp.MulTM(R1Tmp))*dRaDegr
                         << std::endl;
         }
 }

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

virtual

Implements Elem.

Definition at line 71 of file univj.cc.

References d1, d2, WithLabel::GetLabel(), Mat3x3::GetVec(), pNode1, pNode2, R1h, R2h, Joint::Restart(), Write(), and Vec3::Write().

 {
         Joint::Restart(out) << ", universal hinge, "
                 << pNode1->GetLabel() << ", "
                 "reference, node, ", d1.Write(out, ", ") << ", "
                 "hinge, reference, node, "
                         "1, ", (R1h.GetVec(1)).Write(out, ", ") << ", "
                         "2, ", (R1h.GetVec(2)).Write(out, ", ") << ", "
                 << pNode2->GetLabel() << ", "
                 "reference, node, ", d2.Write(out, ", ") << ", "
                 "hinge, reference, node, "
                         "1, ", (R2h.GetVec(1)).Write(out, ", ") << ", "
                         "2, ", (R2h.GetVec(2)).Write(out, ", ") << ";"
                 << std::endl;
 
         return out;
 }

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void UniversalHingeJoint::WorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

inlinevirtual

Implements Elem.

Definition at line 84 of file univj.h.

Referenced by AssJac(), and AssRes().

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