20 #ifndef _FINITE_ELEMENT_1S_33_ANCF_H_
21 #define _FINITE_ELEMENT_1S_33_ANCF_H_
23 #include "mbsimFlexibleBody/discretization_interface.h"
24 #include "fmatvec/fmatvec.h"
26 namespace MBSimFlexibleBody {
70 virtual fmatvec::Vec3 getPosition(
const fmatvec::Vec& qElement,
double s);
71 virtual fmatvec::SqrMat3 getOrientation(
const fmatvec::Vec& qElement,
double s);
78 void setCurlRadius(
double R1,
double R2);
79 void setMaterialDamping(
double depsilons);
double I0
polar moment of inertia
Definition: finite_element_1s_33_ancf.h:172
double rho
density
Definition: finite_element_1s_33_ancf.h:152
fmatvec::Vec StateBalken(const fmatvec::Vec &qElement, const fmatvec::Vec &qpElement, double s)
return the state including Cardan angles at a contour point
Definition: finite_element_1s_33_ancf.cc:260
virtual const fmatvec::SqrMat & getdhdu() const
Definition: finite_element_1s_33_ancf.h:61
double wss01
predefined bending curvature
Definition: finite_element_1s_33_ancf.h:187
FiniteElement1s33ANCF(double sl0, double srho, double sE, double sG, double sA, double sI0, double sI1, double sI2, fmatvec::Vec sg)
constructor
Definition: finite_element_1s_33_ancf.cc:33
virtual double computeKineticEnergy(const fmatvec::Vec &qElement, const fmatvec::Vec &qpElement)
compute kinetic energy
Definition: finite_element_1s_33_ancf.cc:391
fmatvec::Vec g
gravitation
Definition: finite_element_1s_33_ancf.h:202
virtual void computeh(const fmatvec::Vec &qElement, const fmatvec::Vec &qpElement)
compute smooth right hand side
Definition: finite_element_1s_33_ancf.cc:83
fmatvec::Vec3 getNormal(const fmatvec::Vec &qElement, double s)
returns the normal
Definition: finite_element_1s_33_ancf.cc:357
double I2
area moment of inertia
Definition: finite_element_1s_33_ancf.h:182
virtual double computeGravitationalEnergy(const fmatvec::Vec &qElement)
compute gravitational energy
Definition: finite_element_1s_33_ancf.cc:395
fmatvec::Vec3 getTangent(const fmatvec::Vec &qElement, double s)
returns the tangent
Definition: finite_element_1s_33_ancf.cc:342
fmatvec::Mat GlobalShapeFunctions(double s)
return the matrix of global shape functions
Definition: finite_element_1s_33_ancf.cc:323
double E
Young's modulus.
Definition: finite_element_1s_33_ancf.h:157
virtual const fmatvec::SqrMat & getdhdq() const
Definition: finite_element_1s_33_ancf.h:60
virtual int getqSize() const
Definition: finite_element_1s_33_ancf.h:62
double A
cross-secion area
Definition: finite_element_1s_33_ancf.h:167
virtual void computedhdz(const fmatvec::Vec &qElement, const fmatvec::Vec &qpElement)
compute Jacobian for implicit integration
Definition: finite_element_1s_33_ancf.cc:387
fmatvec::SymMat M
mass matrix
Definition: finite_element_1s_33_ancf.h:207
fmatvec::Mat JGeneralized(const fmatvec::Vec &qElement, double s)
return the JACOBIAN of translation and rotation with respect to generalised coordinates ...
Definition: finite_element_1s_33_ancf.cc:271
virtual const fmatvec::SymMat & getM() const
Definition: finite_element_1s_33_ancf.h:58
fmatvec::Vec h
right hand side
Definition: finite_element_1s_33_ancf.h:212
fmatvec::SqrMat Dhq
derivative of right hand side with respect to positions
Definition: finite_element_1s_33_ancf.h:222
double I1
area moment of inertia
Definition: finite_element_1s_33_ancf.h:177
virtual const fmatvec::Vec & geth() const
Definition: finite_element_1s_33_ancf.h:59
virtual int getuSize() const
Definition: finite_element_1s_33_ancf.h:63
virtual void computeM(const fmatvec::Vec &qElement)
compute mass matrix
double wss02
predefined bending curvature
Definition: finite_element_1s_33_ancf.h:192
double l0
beam element length
Definition: finite_element_1s_33_ancf.h:147
finite element for spatial beam using Absolute Nodal Coordinate Formulation (ANCF) ...
Definition: finite_element_1s_33_ancf.h:40
fmatvec::SqrMat Damp
damping matrix
Definition: finite_element_1s_33_ancf.h:217
fmatvec::SqrMat Dhqp
derivative of right hand side with respect to velocities
Definition: finite_element_1s_33_ancf.h:227
fmatvec::Vec LocateBalken(const fmatvec::Vec &qElement, double s)
return the position and Cardan angles at a contour point
Definition: finite_element_1s_33_ancf.cc:252
discretization interface for flexible systems
Definition: discretization_interface.h:36
virtual double computeElasticEnergy(const fmatvec::Vec &qElement)
compute elastic energy
Definition: finite_element_1s_33_ancf.cc:399
fmatvec::Vec3 getBinormal(const fmatvec::Vec &qElement, double s)
returns the binormal
Definition: finite_element_1s_33_ancf.cc:372
FiniteElement1s33ANCF & operator=(const FiniteElement1s33ANCF &)
assignment operator is declared private
double G
shear modulus
Definition: finite_element_1s_33_ancf.h:162
double depsilon
longitudinal damping
Definition: finite_element_1s_33_ancf.h:197
void initM()
calculate constant mass matrix
Definition: finite_element_1s_33_ancf.cc:50