#include <vehj2.h>

Inheritance diagram for ElasticDispJoint:

Collaboration diagram for ElasticDispJoint:

Public Member Functions
	ElasticDispJoint (unsigned int uL, const DofOwner pDO, const ConstitutiveLaw3D pCL, const StructNode pN1, const StructNode pN2, const Vec3 &tilde_f1, const Vec3 &tilde_f2, const Mat3x3 &tilde_R1, const Mat3x3 &tilde_R2, flag fOut)

	~ElasticDispJoint (void)

virtual ConstLawType::Type	GetConstLawType (void) const

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

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

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

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

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

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

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

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

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

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

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

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

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

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

virtual void	ReadInitialState (MBDynParser &HP)

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

virtual	~ToBeOutput (void)

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 DeformableDispJoint
	DeformableDispJoint (unsigned int uL, const DofOwner pDO, const ConstitutiveLaw3D pCL, const StructNode pN1, const StructNode pN2, const Vec3 &tilde_f1, const Vec3 &tilde_f2, const Mat3x3 &tilde_R1, const Mat3x3 &tilde_R2, flag fOut)

virtual	~DeformableDispJoint (void)

virtual Joint::Type	GetJointType (void) const

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

void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH) const

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

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

virtual unsigned int	iGetNumDof (void) const

virtual DofOrder::Order	GetDofType (unsigned int) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual bool	bInverseDynamics (void) const

virtual unsigned int	iGetInitialNumDof (void) const

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

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 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 &)

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 ConstitutiveLawOwner< T, Tder >
	ConstitutiveLawOwner (const ConstitutiveLaw< T, Tder > *pCL)

virtual	~ConstitutiveLawOwner (void)

ConstitutiveLaw< T, Tder > *	pGetConstLaw (void) const

void	Update (const T &Eps, const T &EpsPrime=mb_zero< T >())

void	AfterConvergence (const T &Eps, const T &EpsPrime=mb_zero< T >())

const T &	GetF (void) const

const Tder &	GetFDE (void) const

const Tder &	GetFDEPrime (void) const

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

Protected Member Functions
void	AssMats (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef)

void	AssVec (SubVectorHandler &WorkVec)

Protected Member Functions inherited from DeformableDispJoint
void	AssMatF (FullSubMatrixHandler &WMA, const Vec3 &d1, const Vec3 &d2, doublereal dCoef)

void	AssMatFDE (FullSubMatrixHandler &WMA, const Vec3 &d1, const Vec3 &d2, doublereal dCoef)

void	AssMatFDEPrime (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, const Vec3 &d1, const Vec3 &d2, doublereal dCoef)

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

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 Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from DeformableDispJoint
const StructNode *	pNode1

const StructNode *	pNode2

Vec3	tilde_f1

Vec3	tilde_f2

Mat3x3	tilde_R1h

Mat3x3	tilde_R2h

Vec3	tilde_R1hT_tilde_f1

Vec3	tilde_d

Vec3	tilde_dPrime

bool	bFirstRes

Vec3	F

Mat3x3	FDE

Mat3x3	FDEPrime

Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Protected Attributes inherited from ConstitutiveLawOwner< T, Tder >
ConstitutiveLaw< T, Tder > *	pConstLaw

Detailed Description

Definition at line 180 of file vehj2.h.

Constructor & Destructor Documentation

ElasticDispJoint::ElasticDispJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const ConstitutiveLaw3D *	pCL,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Vec3 &	tilde_f1,
		const Vec3 &	tilde_f2,
		const Mat3x3 &	tilde_R1,
		const Mat3x3 &	tilde_R2,
		flag	fOut
	)

Definition at line 590 of file vehj2.cc.

References DeformableDispJoint::FDE, ConstitutiveLawOwner< T, Tder >::GetFDE(), StructNode::GetRRef(), DeformableDispJoint::pNode1, and DeformableDispJoint::tilde_R1h.

 : Elem(uL, fOut),
 DeformableDispJoint(uL, pDO, pCL, pN1, pN2, tilde_f1, tilde_f2, tilde_R1h, tilde_R2h, fOut)
 {
         /*
          * Chiede la matrice tangente di riferimento
          * e la porta nel sistema globale
          */
         Mat3x3 R1h(pNode1->GetRRef()*tilde_R1h);
         FDE = R1h*GetFDE().MulMT(R1h);
 }

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ElasticDispJoint::~ElasticDispJoint ( void )

Definition at line 611 of file vehj2.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

void ElasticDispJoint::AfterConvergence	(	const VectorHandler &	X,
		const VectorHandler &	XP
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 617 of file vehj2.cc.

References ConstitutiveLawOwner< T, Tder >::AfterConvergence(), and DeformableDispJoint::tilde_d.

 {
         ConstitutiveLaw3DOwner::AfterConvergence(tilde_d);
 }

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void ElasticDispJoint::AfterConvergence	(	const VectorHandler &	X,
		const VectorHandler &	XP,
		const VectorHandler &	XPP
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 754 of file vehj2.cc.

References ConstitutiveLawOwner< T, Tder >::AfterConvergence(), and DeformableDispJoint::tilde_d.

 {
         ConstitutiveLaw3DOwner::AfterConvergence(tilde_d);
 }

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void ElasticDispJoint::AfterPredict	(	VectorHandler &	X,
		VectorHandler &	XP
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 785 of file vehj2.cc.

References DeformableDispJoint::bFirstRes, DeformableDispJoint::FDE, ConstitutiveLawOwner< T, Tder >::GetFDE(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), DeformableDispJoint::pNode1, DeformableDispJoint::pNode2, DeformableDispJoint::tilde_d, DeformableDispJoint::tilde_f2, DeformableDispJoint::tilde_R1h, DeformableDispJoint::tilde_R1hT_tilde_f1, and ConstitutiveLawOwner< T, Tder >::Update().

Referenced by AssJac().

 {
         Mat3x3 R1h(pNode1->GetRCurr()*tilde_R1h);
         Vec3 d2(pNode2->GetRCurr()*tilde_f2);
 
         tilde_d = R1h.MulTV(pNode2->GetXCurr() + d2 - pNode1->GetXCurr())
                 - tilde_R1hT_tilde_f1;
 
         ConstitutiveLaw3DOwner::Update(tilde_d);
 
         /* FIXME: we need to be able to regenerate FDE
          * if the constitutive law throws ChangedEquationStructure */
         FDE = R1h*GetFDE().MulMT(R1h);
 
         bFirstRes = true;
 }

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VariableSubMatrixHandler & ElasticDispJoint::AssJac	(	VariableSubMatrixHandler &	WorkMat,
		const VectorHandler &	XCurr
	)

virtual

Reimplemented from Elem.

Definition at line 699 of file vehj2.cc.

References AfterPredict(), ASSERT, DeformableDispJoint::AssJac(), and Elem::bIsErgonomy().

 {
         ASSERT(bIsErgonomy());
 
         // HACK?  Need to call AfterPredict() here to update MDE and so
         // const_cast because AfterPredict() does not modify X, XP
         AfterPredict(const_cast<VectorHandler&>(XCurr), const_cast<VectorHandler&>(XCurr));
 
         return DeformableDispJoint::AssJac(WorkMat, 1., XCurr, XCurr);
 }

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void ElasticDispJoint::AssMats	(	FullSubMatrixHandler &	WMA,
		FullSubMatrixHandler &	WMB,
		doublereal	dCoef
	)

protectedvirtual

Implements DeformableDispJoint.

Definition at line 658 of file vehj2.cc.

References DeformableDispJoint::AssMatF(), DeformableDispJoint::AssMatFDE(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), DeformableDispJoint::pNode1, DeformableDispJoint::pNode2, and DeformableDispJoint::tilde_f2.

Referenced by AssMats(), and InitialAssJac().

 {
         Vec3 d2(pNode2->GetRCurr()*tilde_f2);
         Vec3 d1(pNode2->GetXCurr() + d2 - pNode1->GetXCurr());
 
         AssMatF(WMA, d1, d2, dCoef);
         AssMatFDE(WMA, d1, d2, dCoef);
 }

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

virtual

Reimplemented from Elem.

Definition at line 625 of file vehj2.cc.

References AssMats(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), DeformableDispJoint::pNode1, DeformableDispJoint::pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), VariableSubMatrixHandler::SetNullMatrix(), and Elem::WorkSpaceDim().

 {
         FullSubMatrixHandler& WMA = WorkMatA.SetFull();
         WorkMatB.SetNullMatrix();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WMA.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WMA.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WMA.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WMA.PutRowIndex(6 + iCnt, iNode2FirstMomIndex + iCnt);
                 WMA.PutColIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         // NOTE: the second instance of WMA is ignored (see below)
         AssMats(WMA, WMA, 1.);
 }

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

virtual

Implements Elem.

Definition at line 671 of file vehj2.cc.

References AssVec(), StructDispNode::iGetFirstMomentumIndex(), DeformableDispJoint::pNode1, DeformableDispJoint::pNode2, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and Elem::WorkSpaceDim().

 {
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WorkVec.PutRowIndex(6 + iCnt, iNode2FirstMomIndex + iCnt);
         }
 
         AssVec(WorkVec);
 
         return WorkVec;
 }

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

virtual

Reimplemented from Elem.

Definition at line 713 of file vehj2.cc.

References ASSERT, AssVec(), DeformableDispJoint::bFirstRes, Elem::bIsErgonomy(), StructDispNode::iGetFirstPositionIndex(), InverseDynamics::INVERSE_DYNAMICS, DeformableDispJoint::pNode1, DeformableDispJoint::pNode2, InverseDynamics::POSITION, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and Elem::WorkSpaceDim().

 {       
         ASSERT(iOrder == InverseDynamics::INVERSE_DYNAMICS
                 || (iOrder == InverseDynamics::POSITION && bIsErgonomy()));
 
         bFirstRes = false;
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNode1FirstMomIndex = pNode1->iGetFirstPositionIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstPositionIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WorkVec.PutRowIndex(6 + iCnt, iNode2FirstMomIndex + iCnt);
         }
 
         AssVec(WorkVec);
 
         return WorkVec;
 }

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void ElasticDispJoint::AssVec ( SubVectorHandler & WorkVec )

protected

Definition at line 761 of file vehj2.cc.

References VectorHandler::Add(), DeformableDispJoint::bFirstRes, DeformableDispJoint::F, ConstitutiveLawOwner< T, Tder >::GetF(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), DeformableDispJoint::pNode1, DeformableDispJoint::pNode2, VectorHandler::Sub(), DeformableDispJoint::tilde_d, DeformableDispJoint::tilde_f2, DeformableDispJoint::tilde_R1h, DeformableDispJoint::tilde_R1hT_tilde_f1, and ConstitutiveLawOwner< T, Tder >::Update().

Referenced by AssRes(), and InitialAssRes().

 {
         Mat3x3 R1h(pNode1->GetRCurr()*tilde_R1h);
         Vec3 d2(pNode2->GetRCurr()*tilde_f2);
         Vec3 d1(pNode2->GetXCurr() + d2 - pNode1->GetXCurr());
 
         if (bFirstRes) {
                 bFirstRes = false;
 
         } else {
                 tilde_d = R1h.MulTV(d1) - tilde_R1hT_tilde_f1;
 
                 ConstitutiveLaw3DOwner::Update(tilde_d);
         }
 
         F = R1h*GetF();
 
         WorkVec.Add(1, F);
         WorkVec.Add(4, d1.Cross(F));
         WorkVec.Sub(6 + 1, F);
         WorkVec.Sub(6 + 4, d2.Cross(F));
 }

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virtual ConstLawType::Type ElasticDispJoint::GetConstLawType ( void ) const

inlinevirtual

Implements DeformableDispJoint.

Definition at line 202 of file vehj2.h.

References ConstLawType::ELASTIC.

                                                              {
                 return ConstLawType::ELASTIC;
         };

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 804 of file vehj2.cc.

References AssMats(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), DeformableDispJoint::pNode1, DeformableDispJoint::pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetFull().

 {
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         AssMats(WM, WM, 1.);
 
         return WorkMat;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 834 of file vehj2.cc.

References AssVec(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), DeformableDispJoint::pNode1, DeformableDispJoint::pNode2, SubVectorHandler::PutRowIndex(), and VectorHandler::ResizeReset().

 {
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WorkVec.PutRowIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         AssVec(WorkVec);
 
         return WorkVec;
 }

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 248 of file vehj2.h.

Referenced by InitialAssJac(), and InitialAssRes().

                                                                           {
                 *piNumRows = 12;
                 *piNumCols = 12;
         };

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

virtual

Reimplemented from SimulationEntity.

Definition at line 747 of file vehj2.cc.

References NO_OP.

 {
         NO_OP;
 }

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation