superelement_linear_external.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 _SUPERELEMENT_LINEAR_EXTERNAL_H_
#define _SUPERELEMENT_LINEAR_EXTERNAL_H_
 
#include "fmatvec/fmatvec.h"
#include "mbsim/discretization_interface.h"
#include "mbsim/mbsim_event.h"
#include "mbsim/contour_pdata.h"
 
namespace MBSimFlexibleBody {
 
  class SuperElementLinearExternal : public DiscretizationInterface {
    public:
      SuperElementLinearExternal();
      void init(MBSim::Element::InitStage stage, const MBSim::InitConfigSet &config);
 
      void setM(const fmatvec::SymMat &M_);
      
      void setK(const fmatvec::SqrMat &K_);
      
      void setProportionalDamping(double alpha_,double beta_) { alpha=alpha_; beta=beta_; }
 
      const fmatvec::SymMat& getM() const { return M; }
      const fmatvec::Vec&    geth() const { return h; }
 
      const fmatvec::SqrMat& getdhdq() const { return Dhq; }    
      const fmatvec::SqrMat& getdhdu() const { return Dhqp; }
      int getqSize() const { return K.size(); }
      int getuSize() const { return M.size(); }
 
      void computeM(const fmatvec::Vec& qElement) {}
      void computeh(const fmatvec::Vec& qElement,const fmatvec::Vec& uElement) { h = - K * qElement - D * uElement; }
      void computedhdz(const fmatvec::Vec& qElement,const fmatvec::Vec& uElement) {}
      double computeKineticEnergy(const fmatvec::Vec& q,const fmatvec::Vec& u) { return 0.5*u.T()*M*u;}
      double computeGravitationalEnergy(const fmatvec::Vec& q) { return 0.0;}
      double computeElasticEnergy(const fmatvec::Vec& q) { return 0.5*q.T()*K*q;}
 
      fmatvec::Vec computeVelocity(const fmatvec::Vec&q,const fmatvec::Vec&u,const MBSim::ContourPointData& cp) { return computeJacobianOfMotion(q,cp).T()*u;}
      fmatvec::Vec computeAngularVelocity(const fmatvec::Vec&q,const fmatvec::Vec&u,const MBSim::ContourPointData& cp) { return computeJacobianOfMotion(q,cp).T()*u;}
      fmatvec::Vec computePosition(const fmatvec::Vec&q,const MBSim::ContourPointData& cp);
      fmatvec::SqrMat computeOrientation(const fmatvec::Vec&q,const MBSim::ContourPointData& cp) { throw MBSim::MBSimError("(SuperElementLinearExternal::computeOrientation): Not Implemented");}
      fmatvec::Mat computeJacobianOfMotion(const fmatvec::Vec&q,const MBSim::ContourPointData& cp);
 
      MBSim::ContourPointData addInterface(fmatvec::Mat J_, fmatvec::Vec KrP_);
    
    protected:
      fmatvec::SymMat M;
      fmatvec::Vec h;
      fmatvec::SqrMat K;
      fmatvec::SqrMat D; 
      double alpha;
      double beta;
      fmatvec::SqrMat Dhq, Dhqp;
      std::vector<fmatvec::Mat> J;
      std::vector<fmatvec::Vec> KrP;
  };
 
}
 
#endif /* _SUPERELEMENT_LINEAR_EXTERNAL_H_ */