1s_21_ancf.h

/* Copyright (C) 2004-2014 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
 */
 
#ifndef _FINITE_ELEMENT_1S_21_ANCF_H_
#define _FINITE_ELEMENT_1S_21_ANCF_H_
 
#include "mbsimFlexibleBody/discretization_interface.h"
#include "fmatvec/fmatvec.h"
 
namespace MBSimFlexibleBody {
 
  fmatvec::SqrMat differentiate_normalized_vector_respective_vector(const fmatvec::Vec &vector);
 
  class FiniteElement1s21ANCF : public DiscretizationInterface
  {
    public:
      explicit FiniteElement1s21ANCF(double sl0, double sArho, double sEA, double sEI, const fmatvec::Vec &sg, bool sEuler=false, double sv0=0.);
 
       ~FiniteElement1s21ANCF() override;
 
      /* INHERITED INTERFACE */
       const fmatvec::SymMat& getM() const override { return M; }
       const fmatvec::Vec& geth() const override { return h; }
       const fmatvec::SqrMat& getdhdq() const override { return Dhq; }
       const fmatvec::SqrMat& getdhdu() const override { return Dhqp; }
       int getqSize() const override { return 8; }
       int getuSize() const override { return 8; }
       void computeM(const fmatvec::Vec& qElement) override;
       void computeh(const fmatvec::Vec& qElement, const fmatvec::Vec& qpElement) override;
       void computedhdz(const fmatvec::Vec& qElement, const fmatvec::Vec& qpElement) override;
       double computeKineticEnergy(const fmatvec::Vec& qElement, const fmatvec::Vec& qpElement) override;
       double computeGravitationalEnergy(const fmatvec::Vec& qElement) override;
       double computeElasticEnergy(const fmatvec::Vec& qElement) override;
      virtual fmatvec::Vec3 getPosition(const fmatvec::Vec& qElement, double s);
      virtual fmatvec::SqrMat3 getOrientation(const fmatvec::Vec& qElement, double s);
      virtual fmatvec::Vec3 getVelocity(const fmatvec::Vec& qElement, const fmatvec::Vec& qpElement, double s);
      virtual fmatvec::Vec3 getAngularVelocity(const fmatvec::Vec& qElement, const fmatvec::Vec& qpElement, double s);
      virtual fmatvec::Mat getJacobianOfMotion(const fmatvec::Vec& qElement, double s) { return JGeneralized(qElement,s); }
      /***************************************************/
      
//      /**
//       * compute additional informations for element
//       */
//      fmatvec::Vec computeAdditionalElementData(fmatvec::Vec &qElement, fmatvec::Vec &qpElement);
 
      /* GETTER / SETTER */
      void setCurlRadius(double R);
      void setMaterialDamping(double depsilon_, double dkappa_);
      /***************************************************/
 
      void initM();
 
      fmatvec::Vec LocateBalken(const fmatvec::Vec& qElement, double s);
 
      fmatvec::Vec StateBalken(const fmatvec::Vec& qElement, const fmatvec::Vec& qpElement, double s);
 
      fmatvec::Mat JGeneralized(const fmatvec::Vec& qElement, double s);
 
      fmatvec::Mat GlobalShapeFunctions(double s);
 
      fmatvec::Mat GlobalShapeFunctions_1stDerivative(double s);
 
      fmatvec::Vec3 getTangent(const fmatvec::Vec& qElement, double s);
 
    private:
      double l0;
 
      double Arho;
 
      double EA;
 
      double EI;
 
      bool Euler;
 
      double v0;
 
      double wss0;
 
      double depsilon;
 
      double dkappa;
 
      fmatvec::Vec g;
 
      fmatvec::SymMat M;
 
      fmatvec::Vec h;
 
      fmatvec::SqrMat Dhq;
 
      fmatvec::SqrMat Dhqp;
  };
 
}
 
#endif /* _FINITE_ELEMENT_1S_21_ANCF_H_ */