1s_01_torsion.h

/* Copyright (C) 2004-2015 MBSim Development Team
 *
 * This library is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU Lesser General Public 
 * License as published by the Free Software Foundation; either 
 * version 2.1 of the License, or (at your option) any later version. 
 *  
 * This library 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 
 * Lesser General Public License for more details. 
 *  
 * You should have received a copy of the GNU Lesser General Public 
 * License along with this library; if not, write to the Free Software 
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 * Contact: thorsten.schindler@mytum.de
 *          rzander@users.berlios.de
 */
 
#ifndef BODY_FLEXIBLE_1S_01_TORSION_H_
#define BODY_FLEXIBLE_1S_01_TORSION_H_
 
#include "body_flexible.h"
 
namespace MBSim {
 
//  class Contour1sFlexible;
 
  class BodyFlexible1s01Torsion : public BodyFlexible1s {
    protected:
      int n;
      double E, rho, A, I , l;
      //    Vec JGeneralized(const double &s); // nur zur Kompatibilitaet
 
      Vec sTangent;
      Mat Wt;
      Vec Wn, CrOC, CvC;
 
      // KOS-Definition und Lage des ersten Knoten im Weltsystem
      //    Mat Jges;
      Vec Axis; /* Enspricht der neutralen Faser */
      Vec WrON00,WrON0;
 
      void init(InitStage stage, const MBSim::InitConfigSet &config);
      void initMatrizes();
 
      void updateStateDependentVariables(double t);
      void updatePorts(double t);
      //void sumUpForceElements(double t);
      //void updateW(double t);
 
      void updateh(double t);
 
 
    public:
 
      BodyFlexible1s01Torsion(const string &name);
      void setNumberShapeFunctions(int n_); 
      void setCrossSectionalArea(double A_){A     = A_;}
      void setMomentInertia(double I_){I     = I_;}
      void setEModul(double E_){E     = E_;}
      void setDensity(double rho_){rho   = rho_;}
      void setLength(double l_){l   = l_;}
      void setInitialRotationVelocity(double omega0)  {u0(1) = omega0;}
      void setInitialRotation(double omega0)  {setInitialRotationVelocity(omega0);}
 
      /*     void addPort(const string &name, const double &S); */
      /*     using BodyFlexible1s::addPort; */
 
      Mat computeJacobianMatrix(const ContourPointData &S_); // virtual of body_flexible
 
      Mat computeWt  (const ContourPointData &S_){return Axis; }
      Vec computeWn  (const ContourPointData &S_){return Vec(3); }
      Vec computeWrOC(const ContourPointData &S_){return WrON00 + S_.alpha(0) * Axis;}
      Vec computeWvC (const ContourPointData &S_){return Vec(3); }
 
 
      bool hasConstMass() const {return true;}
 
      void facLLM() {}
 
      /* Jacobi Matrix der Rotation */
      void setJR(const Vec &JR_) {assert(JR_.cols()==1); JR = JR_; Axis = JR_;};
 
      // Lage des Ursprungs des Wellensystems im WKOS 
      // Per Default liegt es im Ursprung des WKOS
      void setWrON00(const Vec &WrON00_) {WrON00 = WrON00_;}
 
      SymMat K;
 
  };
 
}
 
#endif