contactj.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/base/contactj.h,v 1.32 2017/01/12 14:46:09 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
 */

/* Vincolo di contatto con un piano */

#ifndef CONTACTJ_H
#define CONTACTJ_H

#include <limits>

#include "joint.h"

/* ContactJoint - begin */

class ContactJoint : virtual public Elem, public Joint {
 private:
   const StructNode* pNode1;
   const StructNode* pNode2;
   Vec3 n;
   doublereal dD;
   doublereal dF;
   
 public:
   /* Costruttore non banale */
   ContactJoint(unsigned int uL, const DofOwner* pDO,
                const StructNode* pN1, const StructNode* pN2, 
                const Vec3& n, flag fOut) 
     : Elem(uL, fOut), 
     Joint(uL, pDO, fOut),
     pNode1(pN1), pNode2(pN2),
     n(n), dD(0.), dF(0.) {
        ASSERT(pNode1 != NULL);
        ASSERT(pNode1->GetNodeType() == Node::STRUCTURAL);
        ASSERT(pNode2 != NULL);
        ASSERT(pNode2->GetNodeType() == Node::STRUCTURAL);
        ASSERT(n.Dot() > std::numeric_limits<doublereal>::epsilon());       

        Vec3 D(pNode2->GetXCurr()-pNode1->GetXCurr());
        Vec3 N(pNode1->GetRCurr()*n);
        dD = N.Dot(D);
     };
   
   ~ContactJoint(void) {
      NO_OP;
   };
   
   /* Tipo di Joint */
   virtual Joint::Type GetJointType(void) const { 
      return Joint::INPLANECONTACT;
   };
   
   /* Contributo al file di restart */
   virtual ostream& Restart(ostream& out) const {
      return out << "ContactJoint: not implemented yet" << endl;
   };

   virtual unsigned int iGetNumDof(void) const { 
      return 1;
   };
      
   virtual DofOrder::Order GetDofType(unsigned int i) const {
      ASSERT(i == 0);
      return DofOrder::ALGEBRAIC;
   };
   
   virtual void WorkSpaceDim(integer* piNumRows, integer* piNumCols) const { 
      *piNumRows = 7;
      *piNumCols = 10;
   };
   
   VariableSubMatrixHandler& AssJac(VariableSubMatrixHandler& WorkMat,
                                    doublereal dCoef,
                                    const VectorHandler& XCurr, 
                                    const VectorHandler& XPrimeCurr) {
      SparseSubMatrixHandler& WM = WorkMat.SetSparse();
      
      integer iIndex = iGetFirstIndex()+1;
      
      Vec3 D(pNode2->GetXCurr()-pNode1->GetXCurr());
      Vec3 V(pNode2->GetVCurr()-pNode1->GetVCurr());
      Vec3 N(pNode1->GetRCurr()*n);
      dD = N.Dot(D);
      doublereal dV = N.Dot(V);
      
      dF = XCurr(iIndex);
      
      if (dD > 0. 
          || (dD == 0. && dF >= 0.) 
          || (dD == 0. && dF == 0. && dV > 0.)) {
         /* non attivo */
         WM.Resize(1, 0);
         WM.PutItem(1, iIndex, iIndex, 1.);
      } else {
         /* attivo */
         WM.Resize(27, 0);
         
         integer iNode1RowIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode1ColIndex = pNode1->iGetFirstPositionIndex();
         integer iNode2RowIndex = pNode2->iGetFirstMomentumIndex();
         integer iNode2ColIndex = pNode2->iGetFirstPositionIndex();
                 
         Vec3 Tmp(N.Cross(D));   
         for (integer i = 1; i <= 3; i++) {
            WM.PutItem(i, iIndex, iNode1ColIndex+3+i, Tmp.dGet(i));
            doublereal d = N.dGet(i);
            WM.PutItem(9+i, iNode1RowIndex+i, iIndex, -d);
            WM.PutItem(12+i, iNode2RowIndex+i, iIndex, d);         
            WM.PutItem(3+i, iIndex, iNode1ColIndex+i, -d);          
            WM.PutItem(6+i, iIndex, iNode2ColIndex+i, d);
         }
         
         Tmp = N*(dF*dCoef);
         WM.PutCross(16, iNode1RowIndex+4, iNode1ColIndex+4, Tmp);
         WM.PutCross(22, iNode2RowIndex+4, iNode1ColIndex+4, -Tmp);
      }
      return WorkMat;
   };
   
   SubVectorHandler& AssRes(SubVectorHandler& WorkVec,
                            doublereal dCoef,
                            const VectorHandler& XCurr, 
                            const VectorHandler& XPrimeCurr) {
      integer iIndex = iGetFirstIndex()+1;
      
      Vec3 D(pNode2->GetXCurr()-pNode1->GetXCurr());
      Vec3 V(pNode2->GetVCurr()-pNode1->GetVCurr());
      Vec3 N(pNode1->GetRCurr()*n);
      dD = N.Dot(D);
      doublereal dV = N.Dot(V);
      
      dF = XCurr(iIndex);
      
      if (dD > 0. 
          || (dD == 0. && dF >= 0.) 
          || (dD == 0. && dF == 0. && dV > 0.)) {
         /* non attivo */
         WorkVec.Resize(1);
         WorkVec.PutItem(1, iIndex, -dF);
      } else {
         /* attivo */
         WorkVec.Resize(7);
         
         integer iNode1RowIndex = pNode1->iGetFirstMomentumIndex();       
         integer iNode2RowIndex = pNode2->iGetFirstMomentumIndex();
         
         Vec3 Tmp(N*dF);
         for (integer i = 1; i <= 3; i++) {
            doublereal d = Tmp.dGet(i);
            WorkVec.PutItem(i, iNode1RowIndex+i, d);
            WorkVec.PutItem(3+i, iNode2RowIndex+i, -d);
         }
         WorkVec.PutItem(7, iIndex, -dD/dCoef);
      }
      
      return WorkVec;
   };
   
   virtual void Output(OutputHandler& OH) const {
      Vec3 F(pNode1->GetRCurr()*(n*dF));
      Joint::Output(OH.Joints(), "Contact", GetLabel(),
                    Vec3(dF, 0., 0.), Zero3, F, Zero3)
        << " " << dD << endl;
   };

   
   /* funzioni usate nell'assemblaggio iniziale */
   
   virtual unsigned int iGetInitialNumDof(void) const { 
      return 2;
   };
   virtual void InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const { 
      *piNumRows = 14;
      *piNumCols = 20; 
   };
   
   /* Contributo allo jacobiano durante l'assemblaggio iniziale */
   VariableSubMatrixHandler& InitialAssJac(VariableSubMatrixHandler& WorkMat,
                                           const VectorHandler& XCurr) {
      WorkMat.SetNullMatrix();
      return WorkMat;
   };
   
   /* Contributo al residuo durante l'assemblaggio iniziale */   
   SubVectorHandler& InitialAssRes(SubVectorHandler& WorkVec,
                                   const VectorHandler& XCurr) {
      WorkVec.Resize(0);
      return WorkVec;
   };
   
   /* Setta il valore iniziale delle proprie variabili */
   virtual void SetInitialValue(VectorHandler& X) {
      NO_OP;
   };
   
   virtual void SetValue(DataManager *pDM,
                   VectorHandler& X, VectorHandler& XP,
                   SimulationEntity::Hints *ph = 0)
   {
      X.PutCoef(iGetFirstIndex() + 1, 0.);
   };

   /* *******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;
   };
   /* ************************************************ */
};

/* ContactJoint - end */

#endif /* CONTACTJ_H */