driven.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/base/driven.h,v 1.44 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
 */

/* Driven elements:
 * elements that are used depending on the (boolean) value
 * of a driver. Example: a driven joint is assembled only
 * if the driver is true, otherwise there is no joint and
 * the reaction unknowns are set to zero
 */

#ifndef DRIVEN_H
#define DRIVEN_H

#include "nestedelem.h"
#include "drive.h"

#include "except.h"

class DrivenElem : virtual public Elem,
        public NestedElem, protected DriveOwner {
protected:
        DataManager *pDM;
        SimulationEntity::Hints *pHints;
        bool bActive;

public:
        DrivenElem(DataManager *pDM, const DriveCaller* pDC,
                        const Elem* pE, SimulationEntity::Hints *ph = 0);
        ~DrivenElem(void);

        virtual bool bIsActive(void) const;

        virtual void Output(OutputHandler& OH) const;

        virtual void SetValue(DataManager *pdm,
                        VectorHandler& X, VectorHandler& XP,
                        SimulationEntity::Hints *ph = 0);

        /* Scrive il contributo dell'elemento al file di restart */
        virtual std::ostream& Restart(std::ostream& out) const;

        /* funzioni proprie */

        /*
         * Elaborazione vettori e dati prima e dopo la predizione
         * per MultiStepIntegrator */
        virtual void BeforePredict(VectorHandler& X,
                        VectorHandler& XP,
                        VectorHandler& XPrev,
                        VectorHandler& XPPrev) const;

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

        /* Aggiorna dati in base alla soluzione */
        virtual void Update(const VectorHandler& XCurr,
                        const VectorHandler& XPrimeCurr);

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

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

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

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

        /*
         * Returns the current value of a private data
         * with 0 < i <= iGetNumPrivData()
         */
        virtual doublereal dGetPrivData(unsigned int i) const;

        /* Inverse Dynamics: */
        virtual void Update(const VectorHandler& XCurr,
                        InverseDynamics::Order iOrder);

        /* inverse dynamics Jacobian matrix assembly */
        virtual VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat,
                const VectorHandler& XCurr);

        /* inverse dynamics residual assembly */
        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr,
                const VectorHandler& XPrimePrimeCurr,
                InverseDynamics::Order iOrder = InverseDynamics::INVERSE_DYNAMICS);

        /* Inverse Dynamics: */
        virtual void AfterConvergence(const VectorHandler& X,
                const VectorHandler& XP, const VectorHandler& XPP);

        /* InitialAssemblyElem */
public:
        virtual unsigned int iGetInitialNumDof(void) const;

        /* Dimensione del workspace durante l'assemblaggio iniziale. Occorre tener
         * conto del numero di dof che l'elemento definisce in questa fase e dei
         * dof dei nodi che vengono utilizzati. Sono considerati dof indipendenti
         * la posizione e la velocita' dei nodi */
        virtual void InitialWorkSpaceDim(integer* piNumRows,
                integer* piNumCols) const;

        /* 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);

        /* ElemGravityOwner */
protected:
        virtual Vec3 GetS_int(void) const;
        virtual Mat3x3 GetJ_int(void) const;

        virtual Vec3 GetB_int(void) const;

        // NOTE: gravity owners must provide the momenta moment
        // with respect to the origin of the global reference frame!
        virtual Vec3 GetG_int(void) const;

public:
        virtual doublereal dGetM(void) const;
        Vec3 GetS(void) const;
        Mat3x3 GetJ(void) const;

        /* ElemDofOwner */
public:
        virtual void SetInitialValue(VectorHandler& X);
};

#endif /* DRIVEN_H */