1 // =============================================================================
2 // PROJECT CHRONO - http://projectchrono.org
3 //
4 // Copyright (c) 2014 projectchrono.org
5 // All rights reserved.
6 //
7 // Use of this source code is governed by a BSD-style license that can be found
8 // in the LICENSE file at the top level of the distribution and at
9 // http://projectchrono.org/license-chrono.txt.
10 //
11 // =============================================================================
12 // Authors: Andrea Favali, Alessandro Tasora, Radu Serban
13 // =============================================================================
14
15 #include "chrono/fea/ChNodeFEAxyzP.h"
16
17 namespace chrono {
18 namespace fea {
19
ChNodeFEAxyzP(ChVector<> initial_pos)20 ChNodeFEAxyzP::ChNodeFEAxyzP(ChVector<> initial_pos) : pos(initial_pos), P(0), P_dt(0), F(0) {
21 variables.GetMass()(0) = 0;
22 }
23
ChNodeFEAxyzP(const ChNodeFEAxyzP & other)24 ChNodeFEAxyzP::ChNodeFEAxyzP(const ChNodeFEAxyzP& other) : ChNodeFEAbase(other) {
25 pos = other.pos;
26 P = other.P;
27 P_dt = other.P_dt;
28 F = other.F;
29 variables = other.variables;
30 }
31
32 // -----------------------------------------------------------------------------
33
operator =(const ChNodeFEAxyzP & other)34 ChNodeFEAxyzP& ChNodeFEAxyzP::operator=(const ChNodeFEAxyzP& other) {
35 if (&other == this)
36 return *this;
37
38 ChNodeFEAbase::operator=(other);
39
40 pos = other.pos;
41 P = other.P;
42 P_dt = other.P_dt;
43 F = other.F;
44 variables = other.variables;
45 return *this;
46 }
47
48 // -----------------------------------------------------------------------------
49
Relax()50 void ChNodeFEAxyzP::Relax() {
51 // no special effect here, just resets scalar field.
52 P = 0;
53 P_dt = 0;
54 }
55
56 // -----------------------------------------------------------------------------
57
NodeIntStateGather(const unsigned int off_x,ChState & x,const unsigned int off_v,ChStateDelta & v,double & T)58 void ChNodeFEAxyzP::NodeIntStateGather(const unsigned int off_x,
59 ChState& x,
60 const unsigned int off_v,
61 ChStateDelta& v,
62 double& T) {
63 x(off_x) = P;
64 v(off_v) = P_dt;
65 }
66
NodeIntStateScatter(const unsigned int off_x,const ChState & x,const unsigned int off_v,const ChStateDelta & v,const double T)67 void ChNodeFEAxyzP::NodeIntStateScatter(const unsigned int off_x,
68 const ChState& x,
69 const unsigned int off_v,
70 const ChStateDelta& v,
71 const double T) {
72 P = x(off_x);
73 P_dt = v(off_v);
74 }
75
NodeIntStateGatherAcceleration(const unsigned int off_a,ChStateDelta & a)76 void ChNodeFEAxyzP::NodeIntStateGatherAcceleration(const unsigned int off_a, ChStateDelta& a) {
77 // a(off_a) = P_dtdt; // NOT NEEDED?
78 }
79
NodeIntStateScatterAcceleration(const unsigned int off_a,const ChStateDelta & a)80 void ChNodeFEAxyzP::NodeIntStateScatterAcceleration(const unsigned int off_a, const ChStateDelta& a) {
81 // P_dtdt = (a(off_a)); // NOT NEEDED?
82 }
83
NodeIntLoadResidual_F(const unsigned int off,ChVectorDynamic<> & R,const double c)84 void ChNodeFEAxyzP::NodeIntLoadResidual_F(const unsigned int off, ChVectorDynamic<>& R, const double c) {
85 R(off) += F * c;
86 }
87
NodeIntLoadResidual_Mv(const unsigned int off,ChVectorDynamic<> & R,const ChVectorDynamic<> & w,const double c)88 void ChNodeFEAxyzP::NodeIntLoadResidual_Mv(const unsigned int off,
89 ChVectorDynamic<>& R,
90 const ChVectorDynamic<>& w,
91 const double c) {
92 R(off) += c * GetMass() * w(off);
93 }
94
NodeIntToDescriptor(const unsigned int off_v,const ChStateDelta & v,const ChVectorDynamic<> & R)95 void ChNodeFEAxyzP::NodeIntToDescriptor(const unsigned int off_v, const ChStateDelta& v, const ChVectorDynamic<>& R) {
96 variables.Get_qb()(0) = v(off_v);
97 variables.Get_fb()(0) = R(off_v);
98 }
99
NodeIntFromDescriptor(const unsigned int off_v,ChStateDelta & v)100 void ChNodeFEAxyzP::NodeIntFromDescriptor(const unsigned int off_v, ChStateDelta& v) {
101 v(off_v) = variables.Get_qb()(0);
102 }
103
104 // -----------------------------------------------------------------------------
105
InjectVariables(ChSystemDescriptor & mdescriptor)106 void ChNodeFEAxyzP::InjectVariables(ChSystemDescriptor& mdescriptor) {
107 mdescriptor.InsertVariables(&variables);
108 }
109
VariablesFbReset()110 void ChNodeFEAxyzP::VariablesFbReset() {
111 variables.Get_fb()(0) = 0;
112 }
113
VariablesFbLoadForces(double factor)114 void ChNodeFEAxyzP::VariablesFbLoadForces(double factor) {
115 if (variables.IsDisabled())
116 return;
117 variables.Get_fb()(0) += F * factor;
118 }
119
VariablesQbLoadSpeed()120 void ChNodeFEAxyzP::VariablesQbLoadSpeed() {
121 if (variables.IsDisabled())
122 return;
123 // not really a 'speed', just the field derivative (may be used in incremental solver)
124 variables.Get_qb()(0) = P_dt;
125 }
126
VariablesQbSetSpeed(double step)127 void ChNodeFEAxyzP::VariablesQbSetSpeed(double step) {
128 if (variables.IsDisabled())
129 return;
130 // not really a 'speed', just the field derivative (may be used in incremental solver)
131 P_dt = variables.Get_qb()(0);
132 }
133
VariablesFbIncrementMq()134 void ChNodeFEAxyzP::VariablesFbIncrementMq() {
135 if (variables.IsDisabled())
136 return;
137 variables.Compute_inc_Mb_v(variables.Get_fb(), variables.Get_qb());
138 }
139
VariablesQbIncrementPosition(double step)140 void ChNodeFEAxyzP::VariablesQbIncrementPosition(double step) {
141 if (variables.IsDisabled())
142 return;
143
144 double pseudospeed = variables.Get_qb()(0);
145
146 // ADVANCE FIELD: pos' = pos + dt * vel
147 P = P + pseudospeed * step;
148 }
149
150 // -----------------------------------------------------------------------------
151
ArchiveOUT(ChArchiveOut & marchive)152 void ChNodeFEAxyzP::ArchiveOUT(ChArchiveOut& marchive) {
153 // version number
154 marchive.VersionWrite<ChNodeFEAxyzP>();
155 // serialize parent class
156 ChNodeFEAbase::ArchiveOUT(marchive);
157 // serialize all member data:
158 marchive << CHNVP(P);
159 marchive << CHNVP(P_dt);
160 marchive << CHNVP(F);
161 }
162
ArchiveIN(ChArchiveIn & marchive)163 void ChNodeFEAxyzP::ArchiveIN(ChArchiveIn& marchive) {
164 // version number
165 /*int version =*/ marchive.VersionRead<ChNodeFEAxyzP>();
166 // deserialize parent class
167 ChNodeFEAbase::ArchiveIN(marchive);
168 // stream in all member data:
169 marchive >> CHNVP(P);
170 marchive >> CHNVP(P_dt);
171 marchive >> CHNVP(F);
172 }
173
174 } // end namespace fea
175 } // end namespace chrono
176