mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

node_based_body.h
1 /* Copyright (C) 2004-2016 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: martin.o.foerg@googlemail.com
18 */
19
20 #ifndef _NODE_BASED_BODY_H_
21 #define _NODE_BASED_BODY_H_
22
23 #include "mbsim/objects/body.h"
24 #include "mbsimFlexibleBody/namespace.h"
25
26 namespace MBSimFlexibleBody {
27
28 class NodeBasedFrame;
29
30 class NodeBasedBody : public MBSim::Body {
31 public:
32 NodeBasedBody(const std::string &name) : Body(name) { }
33 void resetUpToDate() override;
34 virtual void updatePositions(int i);
35 virtual void updateVelocities(int i);
36 virtual void updateAccelerations(int i);
37 virtual void updateJacobians(int i, int j=0);
38 virtual void updateGyroscopicAccelerations(int i);
39 virtual void updateStresses(int i);
40 const fmatvec::Vec3& evalNodalPosition(int i) { if(updNodalPos[i]) updatePositions(i); return WrOP[i]; }
41 const fmatvec::Vec3& evalNodalVelocity(int i) { if(updNodalVel[i]) updateVelocities(i); return WvP[i]; }
42 const fmatvec::Vec3& evalNodalAcceleration(int i) { if(updNodalAcc[i]) updateAccelerations(i); return WaP[i]; }
43 const fmatvec::Mat3xV& evalNodalJacobianOfTranslation(int i, int j=0) { if(updNodalJac[j][i]) updateJacobians(i,j); return WJP[j][i]; }
44 const fmatvec::Vec3& evalNodalGyroscopicAccelerationOfTranslation(int i) { if(updNodalGA[i]) updateGyroscopicAccelerations(i); return WjP[i]; }
45 const fmatvec::Vec3& evalNodalDisplacement(int i) { if(updNodalPos[i]) updatePositions(i); return disp[i]; }
46 const fmatvec::Vector<fmatvec::Fixed<6>, double>& evalNodalStress(int i) { if(updNodalStress[i]) updateStresses(i); return sigma[i]; }
47 fmatvec::SqrMat3& getNodalOrientation(int i, bool check=true) { assert((not check) or (not updNodalPos[i])); return AWK[i]; }
48 fmatvec::Vec3& getNodalAngularVelocity(int i, bool check=true) { assert((not check) or (not updNodalVel[i])); return Wom[i]; }
49 fmatvec::Vec3& getNodalAngularAcceleration(int i, bool check=true) { assert((not check) or (not updNodalAcc[i])); return Wpsi[i]; }
50 fmatvec::Mat3xV& getNodalJacobianOfRotation(int i, int j=0, bool check=true) { assert((not check) or (not updNodalJac[j][i])); return WJR[j][i]; }
51 fmatvec::Vec3& getNodalGyroscopicAccelerationOfRotation(int i, bool check=true) { assert((not check) or (not updNodalGA[i])); return WjR[i]; }
52 using MBSim::Body::addFrame;
56 void addFrame(NodeBasedFrame *frame);
57
58 void init(InitStage stage, const MBSim::InitConfigSet &config) override;
59
60 int getNumberOfNodes() { if(updSize) calcSize(); return nn; }
61 int getNodeIndex(int nodeNumber) const { return nodeMap[nodeNumber]; }
62
63 protected:
64 std::vector<fmatvec::Vec3> WrOP, WvP, Wom, WaP, Wpsi, WjP, WjR, disp;
65 std::vector<fmatvec::SqrMat3> AWK;
66 std::vector<fmatvec:: Mat3xV> WJP[2], WJR[2];
67 std::vector<bool> updNodalPos, updNodalVel, updNodalAcc, updNodalGA, updNodalStress;
68 std::vector<bool> updNodalJac[2];
69 std::vector<fmatvec::Vector<fmatvec::Fixed<6>, double>> sigma;
70 int nn{0};
71 std::vector<int> nodeMap, nodeNumbers;
72 };
73
74 }
75
76 #endif
MBSimFlexibleBody::NodeBasedFrame
node based frame
Definition: node_based_frame.h:31
MBSim::Element::InitStage
InitStage
MBSimFlexibleBody::NodeBasedBody::addFrame
void addFrame(NodeBasedFrame *frame)
Definition: node_based_body.cc:70
MBSim::Element::name
std::string name
MBSim::Body::frame
std::vector< Frame * > frame
MBSim::Body::Body
Body(const std::string &name)
MBSimFlexibleBody::NodeBasedBody
Definition: node_based_body.h:30
MBSim::Body::addFrame
virtual void addFrame(Frame *frame)
MBSim::Body