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| FiniteElement1s33CosseratTranslation (double l0_, double rho_, double A_, double E_, double G_, double I1_, double I2_, double I0_, const fmatvec::Vec &g_, CardanPtr ag_) |
| constructor More...
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virtual | ~FiniteElement1s33CosseratTranslation () |
| destructor
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virtual const fmatvec::SymMat & | getM () const |
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virtual const fmatvec::Vec & | geth () const |
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virtual const fmatvec::SqrMat & | getdhdq () const |
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virtual const fmatvec::SqrMat & | getdhdu () const |
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virtual int | getqSize () const |
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virtual int | getuSize () const |
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virtual void | computeM (const fmatvec::Vec &qG) |
| compute mass matrix More...
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virtual void | computeh (const fmatvec::Vec &qG, const fmatvec::Vec &qGt) |
| compute smooth right hand side More...
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virtual void | computedhdz (const fmatvec::Vec &qG, const fmatvec::Vec &qGt) |
| compute Jacobian for implicit integration More...
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virtual double | computeKineticEnergy (const fmatvec::Vec &qG, const fmatvec::Vec &qGt) |
| compute kinetic energy More...
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virtual double | computeGravitationalEnergy (const fmatvec::Vec &qG) |
| compute gravitational energy More...
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virtual double | computeElasticEnergy (const fmatvec::Vec &qG) |
| compute elastic energy More...
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virtual fmatvec::Vec3 | getPosition (const fmatvec::Vec &qElement, double s) |
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virtual fmatvec::SqrMat3 | getOrientation (const fmatvec::Vec &qElement, double s) |
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virtual fmatvec::Vec3 | getVelocity (const fmatvec::Vec &qElement, const fmatvec::Vec &qpElement, double s) |
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virtual fmatvec::Vec3 | getAngularVelocity (const fmatvec::Vec &qElement, const fmatvec::Vec &qpElement, double s) |
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virtual fmatvec::Mat | computeJacobianOfMotion (const fmatvec::Vec &qG, double s) |
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void | setMaterialDamping (double cEps0D_, double cEps1D_, double cEps2D_) |
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void | setShearCorrectionFactors (double sigma1_, double sigma2_) |
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double | getl0 () const |
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const fmatvec::Vec & | computeStateTranslation (const fmatvec::Vec &qG, const fmatvec::Vec &qGt, double s) |
| compute state of finite element More...
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fmatvec::Mat | computeJXqG (const fmatvec::Vec &qG, double x) |
| compute JACOBIAN of contact description in global coordinates More...
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void | initM () |
| initialize translational part of mass matrix
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Public Member Functions inherited from MBSimFlexibleBody::DiscretizationInterface |
| DiscretizationInterface () |
| constructor
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virtual | ~DiscretizationInterface () |
| destructor
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finite element for spatial beam using Cosserat model
- Author
- Thorsten Schindler
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Christian Käsbauer
-
Thomas Cebulla
- Date
- 2011-09-10 initial commit (Thorsten Schindler) 2011-10-08 basics derived and included (Thorsten Schindler)
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2011-10-13 strain rhs corrected and added, strain energy calculated (Thorsten Schindler)
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2011-10-13 gyroscopic terms added (Christian Kaesbauer, Thorsten Schindler)
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2011-10-15 strain dissipation in rhs (Christian Kaesbauer, Thorsten Schindler)
- Todo:
contact Jacobian TODO
computeState only in FlexibleBody TODO
implicit integration TODO
Cosserat model based on H. Lang, J. Linn, M. Arnold: Multi-body dynamics simulation of geometrically exact Cosserat rods but with
- Kirchhoff assumption (-> less stiff)
- Cardan parametrisation (-> less problems with condition and drift for quaternion dae system)
- piecewise constant Darboux vector with evaluation according to I. Romero: The interpolation of rotations and its application to finite element models of geometrically exact beams