1 /* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/struct/vb.h,v 1.10 2017/01/12 14:46:44 masarati Exp $ */ 2 /* 3 * MBDyn (C) is a multibody analysis code. 4 * http://www.mbdyn.org 5 * 6 * Copyright (C) 1996-2017 7 * 8 * Pierangelo Masarati <masarati@aero.polimi.it> 9 * Paolo Mantegazza <mantegazza@aero.polimi.it> 10 * 11 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano 12 * via La Masa, 34 - 20156 Milano, Italy 13 * http://www.aero.polimi.it 14 * 15 * Changing this copyright notice is forbidden. 16 * 17 * This program is free software; you can redistribute it and/or modify 18 * it under the terms of the GNU General Public License as published by 19 * the Free Software Foundation (version 2 of the License). 20 * 21 * 22 * This program is distributed in the hope that it will be useful, 23 * but WITHOUT ANY WARRANTY; without even the implied warranty of 24 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 25 * GNU General Public License for more details. 26 * 27 * You should have received a copy of the GNU General Public License 28 * along with this program; if not, write to the Free Software 29 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 30 */ 31 32 /* Deformable hinges */ 33 34 #ifndef VB_H 35 #define VB_H 36 37 #include "joint.h" 38 #include "constltp.h" 39 40 41 /* ViscousBody - begin */ 42 43 class ViscousBody : 44 virtual public Elem, public Joint, public ConstitutiveLaw6DOwner { 45 protected: 46 const StructNode* pNode; 47 mutable Vec3 tilde_f; 48 mutable Mat3x3 tilde_Rh; 49 50 OrientationDescription od; 51 52 Vec6 tilde_kPrime; 53 54 bool bFirstRes; 55 56 Vec3 f; 57 Mat3x3 Rh; 58 59 Vec6 F; 60 Mat6x6 FDEPrime; 61 62 void AssMats(FullSubMatrixHandler& WMA, 63 FullSubMatrixHandler& WMB, 64 doublereal dCoef); 65 void AssVec(SubVectorHandler& WorkVec); 66 67 public: 68 /* Costruttore non banale */ 69 ViscousBody(unsigned int uL, 70 const DofOwner* pDO, 71 const ConstitutiveLaw6D* pCL, 72 const StructNode* pN, 73 const Vec3& tilde_f, 74 const Mat3x3& tilde_Rh, 75 const OrientationDescription& od, 76 flag fOut); 77 78 /* Distruttore */ 79 virtual ~ViscousBody(void); 80 81 /* Tipo di Joint */ GetJointType(void)82 virtual Joint::Type GetJointType(void) const { 83 return Joint::VISCOUSBODY; 84 }; 85 86 /* Contributo al file di restart */ 87 virtual std::ostream& Restart(std::ostream& out) const; 88 89 virtual void Output(OutputHandler& OH) const; 90 91 void SetValue(DataManager *pDM, 92 VectorHandler& X, VectorHandler& XP, 93 SimulationEntity::Hints *ph = 0); 94 95 virtual Hint * 96 ParseHint(DataManager *pDM, const char *s) const; 97 iGetNumDof(void)98 virtual unsigned int iGetNumDof(void) const { 99 return 0; 100 }; 101 GetDofType(unsigned int)102 virtual DofOrder::Order GetDofType(unsigned int /* i */ ) const { 103 return DofOrder::UNKNOWN; 104 }; 105 WorkSpaceDim(integer * piNumRows,integer * piNumCols)106 virtual void WorkSpaceDim(integer* piNumRows, integer* piNumCols) const { 107 *piNumRows = 6; 108 *piNumCols = 6; 109 }; 110 111 /* funzioni usate nell'assemblaggio iniziale */ 112 iGetInitialNumDof(void)113 virtual unsigned int iGetInitialNumDof(void) const { 114 return 0; 115 }; 116 117 virtual unsigned int iGetNumPrivData(void) const; 118 virtual unsigned int iGetPrivDataIdx(const char *s) const; 119 virtual doublereal dGetPrivData(unsigned int i) const; 120 121 /* *******PER IL SOLUTORE PARALLELO******** */ 122 /* Fornisce il tipo e la label dei nodi che sono connessi all'elemento 123 utile per l'assemblaggio della matrice di connessione fra i dofs */ GetConnectedNodes(std::vector<const Node * > & connectedNodes)124 virtual void GetConnectedNodes(std::vector<const Node *>& connectedNodes) const { 125 connectedNodes.resize(1); 126 connectedNodes[0] = pNode; 127 }; 128 /* ************************************************ */ 129 130 /* assemblaggio jacobiano */ 131 virtual VariableSubMatrixHandler& 132 AssJac(VariableSubMatrixHandler& WorkMat, 133 doublereal dCoef, 134 const VectorHandler& XCurr, 135 const VectorHandler& XPrimeCurr); 136 137 /* assemblaggio jacobiano */ 138 virtual void 139 AssMats(VariableSubMatrixHandler& WorkMatA, 140 VariableSubMatrixHandler& WorkMatB, 141 const VectorHandler& XCurr, 142 const VectorHandler& XPrimeCurr); 143 144 /* assemblaggio residuo */ 145 virtual SubVectorHandler& 146 AssRes(SubVectorHandler& WorkVec, 147 doublereal dCoef, 148 const VectorHandler& XCurr, 149 const VectorHandler& XPrimeCurr); 150 151 /* inverse dynamics capable element */ 152 virtual bool bInverseDynamics(void) const; 153 154 /* Inverse Dynamics residual assembly */ 155 SubVectorHandler& 156 AssRes(SubVectorHandler& WorkVec, 157 const VectorHandler& XCurr, 158 const VectorHandler& XPrimeCurr, 159 const VectorHandler& XPrimePrimeCurr, 160 InverseDynamics::Order iOrder = InverseDynamics::INVERSE_DYNAMICS); 161 162 /* Contributo al residuo durante l'assemblaggio iniziale */ 163 virtual SubVectorHandler& 164 InitialAssRes(SubVectorHandler& WorkVec, const VectorHandler& XCurr); 165 166 /* Tipo di DeformableDispHinge */ GetConstLawType(void)167 virtual ConstLawType::Type GetConstLawType(void) const { 168 return ConstLawType::VISCOUS; 169 }; 170 171 virtual void 172 AfterConvergence(const VectorHandler& X, const VectorHandler& XP); 173 174 /* Aggiorna le deformazioni ecc. */ 175 virtual void AfterPredict(VectorHandler& X, VectorHandler& XP); 176 177 /* Aggiorna le deformazioni ecc. */ 178 virtual void InitialWorkSpaceDim(integer * piNumRows,integer * piNumCols)179 InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const { 180 *piNumRows = 6; 181 *piNumCols = 6; 182 }; 183 184 /* Contributo allo jacobiano durante l'assemblaggio iniziale */ 185 virtual VariableSubMatrixHandler& 186 InitialAssJac(VariableSubMatrixHandler& WorkMat, 187 const VectorHandler& XCurr); 188 189 }; 190 191 /* ViscousBody - end */ 192 193 #endif // VB_H 194 195