gimbal.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/gimbal.h,v 1.21 2017/01/12 14:46:43 masarati Exp $ */
/* 
 * MBDyn (C) is a multibody analysis code. 
 * http://www.mbdyn.org
 *
 * Copyright (C) 1996-2017
 *
 * Pierangelo Masarati  <masarati@aero.polimi.it>
 * Paolo Mantegazza     <mantegazza@aero.polimi.it>
 *
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 * via La Masa, 34 - 20156 Milano, Italy
 * http://www.aero.polimi.it
 *
 * Changing this copyright notice is forbidden.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation (version 2 of the License).
 * 
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

/* Deformable hinges */


#ifndef GIMBAL_H
#define GIMBAL_H

#include "joint.h"


/* GimbalRotationJoint - begin */

class GimbalRotationJoint : 
virtual public Elem, public Joint {
private:      
protected:
        const StructNode* pNode1;
        const StructNode* pNode2;
        const Mat3x3 R1h;
        const Mat3x3 R2h;

        Vec3 M;
        doublereal dTheta, dPhi;

        OrientationDescription od;

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

public:
                /* Costruttore non banale */
        GimbalRotationJoint(unsigned int uL,           
                const DofOwner* pDO,
                const StructNode* pN1, 
                const StructNode* pN2,
                const Mat3x3& R1,
                const Mat3x3& R2, 
                const OrientationDescription& od,
                flag fOut);

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

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

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

        virtual void Output(OutputHandler& OH) const;

        virtual unsigned int iGetNumDof(void) const { 
                return 5;
        };

        virtual DofOrder::Order GetDofType(unsigned int i) const {
                ASSERT(i >= 0 && i < iGetNumDof());
                return DofOrder::ALGEBRAIC;
        };

        virtual DofOrder::Order GetEqType(unsigned int i) const {
                ASSERT(i >= 0 && i < iGetNumDof());
                return DofOrder::ALGEBRAIC;
        };

        virtual void WorkSpaceDim(integer* piNumRows,
                        integer* piNumCols) const { 
                *piNumRows = 11;
                *piNumCols = 11; 
        };

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

        /* Aggiorna le deformazioni ecc. */
        virtual void AfterPredict(VectorHandler& X, VectorHandler& XP);           
        /* funzioni usate nell'assemblaggio iniziale */
        virtual unsigned int iGetInitialNumDof(void) const { 
                return 5;
        };

        virtual void InitialWorkSpaceDim(integer* piNumRows,
                        integer* piNumCols) const { 
                *piNumRows = 11; 
                *piNumCols = 11;
        };

        /* 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);
   
        /* Dati privati (aggiungere magari le reazioni vincolari) */
        virtual unsigned int iGetNumPrivData(void) const;
        virtual unsigned int iGetPrivDataIdx(const char *s) const;
        virtual doublereal dGetPrivData(unsigned int i = 0) const;

        /* *******PER IL SOLUTORE PARALLELO******** */        
        /* Fornisce il tipo e la label dei nodi che sono connessi all'elemento
           utile per l'assemblaggio della matrice di connessione fra i dofs */
        virtual void GetConnectedNodes(std::vector<const Node *>& connectedNodes) const {
                connectedNodes.resize(2);
                connectedNodes[0] = pNode1;
                connectedNodes[1] = pNode2;
        };
        /* ************************************************ */
};

/* GimbalRotationJoint - end */

#endif /* GIMBAL_H */