20 #ifndef _FINITE_ELEMENT_1S_33_COSSERAT_TRANSLATION_H_
21 #define _FINITE_ELEMENT_1S_33_COSSERAT_TRANSLATION_H_
23 #include "mbsimFlexibleBody/discretization_interface.h"
24 #include "mbsimFlexibleBody/pointer.h"
25 #include "fmatvec/fmatvec.h"
27 namespace MBSimFlexibleBody {
90 virtual fmatvec::Vec3 getPosition(
const fmatvec::Vec& qElement,
double s);
91 virtual fmatvec::SqrMat3 getOrientation(
const fmatvec::Vec& qElement,
double s);
97 void setMaterialDamping(
double cEps0D_,
double cEps1D_,
double cEps2D_);
98 void setShearCorrectionFactors(
double sigma1_,
double sigma2_) {
sigma1 = sigma1_; sigma2 = sigma2_; }
99 double getl0()
const {
return l0; }
fmatvec::Mat computeJXqG(const fmatvec::Vec &qG, double x)
compute JACOBIAN of contact description in global coordinates
Definition: finite_element_1s_33_cosserat_translation.cc:251
fmatvec::Vec g
gravitation
Definition: finite_element_1s_33_cosserat_translation.h:155
virtual void computeM(const fmatvec::Vec &qG)
compute mass matrix
Definition: finite_element_1s_33_cosserat_translation.cc:42
virtual int getqSize() const
Definition: finite_element_1s_33_cosserat_translation.h:80
double rho
density
Definition: finite_element_1s_33_cosserat_translation.h:130
double G
shear modulus
Definition: finite_element_1s_33_cosserat_translation.h:145
CardanPtr ag
Cardan-object.
Definition: finite_element_1s_33_cosserat_translation.h:186
virtual ~FiniteElement1s33CosseratTranslation()
destructor
Definition: finite_element_1s_33_cosserat_translation.cc:34
finite element for spatial beam using Cosserat model
Definition: finite_element_1s_33_cosserat_translation.h:52
fmatvec::SqrMat dhdq
matrices for implicit integration
Definition: finite_element_1s_33_cosserat_translation.h:176
double cEps0D
strain damping
Definition: finite_element_1s_33_cosserat_translation.h:160
fmatvec::Vec X
state at Lagrangian coordinate
Definition: finite_element_1s_33_cosserat_translation.h:181
fmatvec::SymMat M
global system description
Definition: finite_element_1s_33_cosserat_translation.h:170
virtual void computedhdz(const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
compute Jacobian for implicit integration
Definition: finite_element_1s_33_cosserat_translation.cc:231
virtual const fmatvec::SqrMat & getdhdq() const
Definition: finite_element_1s_33_cosserat_translation.h:78
virtual const fmatvec::SymMat & getM() const
Definition: finite_element_1s_33_cosserat_translation.h:76
double E
Young's modulus.
Definition: finite_element_1s_33_cosserat_translation.h:140
virtual int getuSize() const
Definition: finite_element_1s_33_cosserat_translation.h:81
virtual void computeh(const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
compute smooth right hand side
Definition: finite_element_1s_33_cosserat_translation.cc:57
double sigma1
shear correction factors
Definition: finite_element_1s_33_cosserat_translation.h:165
virtual double computeKineticEnergy(const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
compute kinetic energy
Definition: finite_element_1s_33_cosserat_translation.cc:168
virtual const fmatvec::SqrMat & getdhdu() const
Definition: finite_element_1s_33_cosserat_translation.h:79
virtual const fmatvec::Vec & geth() const
Definition: finite_element_1s_33_cosserat_translation.h:77
void initM()
initialize translational part of mass matrix
Definition: finite_element_1s_33_cosserat_translation.cc:221
discretization interface for flexible systems
Definition: discretization_interface.h:36
const fmatvec::Vec & computeStateTranslation(const fmatvec::Vec &qG, const fmatvec::Vec &qGt, double s)
compute state of finite element
Definition: finite_element_1s_33_cosserat_translation.cc:211
double l0
length of finite element
Definition: finite_element_1s_33_cosserat_translation.h:125
double A
cross sectional area
Definition: finite_element_1s_33_cosserat_translation.h:135
virtual double computeGravitationalEnergy(const fmatvec::Vec &qG)
compute gravitational energy
Definition: finite_element_1s_33_cosserat_translation.cc:192
double I1
geometrical moment of inertia
Definition: finite_element_1s_33_cosserat_translation.h:150
virtual double computeElasticEnergy(const fmatvec::Vec &qG)
compute elastic energy
Definition: finite_element_1s_33_cosserat_translation.cc:196