1s_33_rcm.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
 */
 
#ifndef _FINITE_ELEMENT_1S_33_RCM_H_
#define _FINITE_ELEMENT_1S_33_RCM_H_
 
#include "mbsimFlexibleBody/discretization_interface.h"
#include "mbsimFlexibleBody/pointer.h"
#include "mbsimFlexibleBody/flexible_body/fe/1s_33_rcm/weight33RCM.h"
#include "fmatvec/fmatvec.h"
 
namespace MBSimFlexibleBody {
 
  class FiniteElement1s33RCM : public DiscretizationInterface {
    public:
      FiniteElement1s33RCM(double l0_, double rho_, double A_, double E_, double G_, double I1_, double I2_, double I0_, const fmatvec::Vec& g_, RevCardanPtr ag_);
 
      /* INHERITED INTERFACE OF DISCRETIZATIONINTERFACE */
       const fmatvec::SymMat& getM() const override;        
       const fmatvec::Vec& geth() const override;
       const fmatvec::SqrMat& getdhdq() const override;
       const fmatvec::SqrMat& getdhdu() const override;
       int getqSize() const override;
       int getuSize() const override;
 
       void computeM(const fmatvec::Vec& qG) override;
       void computeh(const fmatvec::Vec& qG, const fmatvec::Vec& qGt) override;
       void computedhdz(const fmatvec::Vec& qG, const fmatvec::Vec& qGt) override;
       double computeKineticEnergy(const fmatvec::Vec& qG, const fmatvec::Vec& qGt) override;
       double computeGravitationalEnergy(const fmatvec::Vec& qG) override;      
       double computeElasticEnergy(const fmatvec::Vec& qG) 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 computeJacobianOfMotion(const fmatvec::Vec& qG, double s) { return computeJXqG(qG,s); }
      /*****************************************************/ 
 
      /* GETTER / SETTER */
      void setGauss(int nGauss);
      void setCurlRadius(double R1, double R2);
      void setMaterialDamping(double epstD_, double k0D_);
      void setLehrDamping(double epstL, double k0L);
      double getl0() const;
      /*****************************************************/
 
      fmatvec::Vector<fmatvec::Fixed<6>, double> getPositions(const fmatvec::Vec& qElement, double s);
 
      fmatvec::Vector<fmatvec::Fixed<6>, double> getVelocities(const fmatvec::Vec& qElement, const fmatvec::Vec& qpElement, double s);
 
      fmatvec::Mat computeJXqG(const fmatvec::Vec& qG, double x);
 
      fmatvec::Vec computeData(const fmatvec::Vec& qG, const fmatvec::Vec& qGt);
 
      double computePhysicalStrain(const fmatvec::Vec& qG, const fmatvec::Vec& qGt);
 
    private:
      double l0;
 
      double rho;
 
      double A;
 
      double E;
 
      double G;
 
      double I1, I2, I0;
 
      fmatvec::Vec g;
 
      double k10, k20;
 
      double epstD, k0D;
 
      fmatvec::SymMat M;
      fmatvec::Vec h;
 
      fmatvec::SqrMat dhdq, dhdu;
 
      fmatvec::SymMat MI;
 
      fmatvec::SqrMat Damp;
 
      double l0h2, l0h3;
 
      double x_Old;
 
      fmatvec::Vec qG_Old, qGt_Old;
 
      double tol_comp;
 
      fmatvec::Mat drS, drSH;
      fmatvec::RowVec depstil, dk0;
 
      RevCardanPtr ag;
 
      Trafo33RCMPtr tf;
 
      Weight33RCMPtr wt;
 
      void computedrS();
 
      void computedepstil();
      
      void computedk0();    
  };
 
  inline void FiniteElement1s33RCM::setGauss(int nGauss) { wt->setGauss(nGauss); }
  inline double FiniteElement1s33RCM::getl0() const { return l0; }
  inline const fmatvec::SymMat& FiniteElement1s33RCM::getM() const { return M; }
  inline const fmatvec::Vec& FiniteElement1s33RCM::geth() const { return h; }
  inline const fmatvec::SqrMat& FiniteElement1s33RCM::getdhdq() const { return dhdq; }
  inline const fmatvec::SqrMat& FiniteElement1s33RCM::getdhdu() const { return dhdu; }
  inline int FiniteElement1s33RCM::getqSize() const { return 16; }
  inline int FiniteElement1s33RCM::getuSize() const { return 16; }
 
}
 
#endif /* _FINITE_ELEMENT_1S_33_RCM_H_ */