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MP_Joint3D.cpp Go to the documentation of this file. /* ****************************************************************** ** ** OpenSees - Open System for Earthquake Engineering Simulation ** ** Pacific Earthquake Engineering Research Center ** ** ** ** ** ** (C) Copyright 1999, The Regents of the University of California ** ** All Rights Reserved. ** ** ** ** Commercial use of this program without express permission of the ** ** University of California, Berkeley, is strictly prohibited. See ** ** file 'COPYRIGHT' in main directory for information on usage and ** ** redistribution, and for a DISCLAIMER OF ALL WARRANTIES. ** ** ** ** Developed by: ** ** Frank McKenna (fmckenna@ce.berkeley.edu) ** ** Gregory L. Fenves (fenves@ce.berkeley.edu) ** ** Filip C. Filippou (filippou@ce.berkeley.edu) ** ** ** ** ****************************************************************** */ // $Revision: 1.2 $ // $Date: 2004/09/01 04:01:27 $ // $Source: /usr/local/cvs/OpenSees/SRC/element/joint/MP_Joint3D.cpp,v $ // Written: Arash Altoontash, Gregory Deierlein // Created: 04/03 // Revision: Arash // Purpose: This file contains the implementation of class MP_Joint3D. #include <MP_Joint3D.h> #include <stdlib.h> #include <Matrix.h> #include <ID.h> #include <Channel.h> #include <FEM_ObjectBroker.h> // constructor for FEM_ObjectBroker MP_Joint3D::MP_Joint3D() :MP_Constraint( 0 , CNSTRNT_TAG_MP_Joint3D ), thisDomain(0), nodeRetained(0), nodeConstrained(0), nodeRotation(0), RotDOF(0), nodeDisplacement(0), DispDOF(0), LargeDisplacement(0), Length0(0.0), constraint(0), constrDOF(0), retainDOF(0), RotNormVect(0), DspNormVect(0), dbTag1(0), dbTag2(0), dbTag3(0), RetainedNode(0), ConstrainedNode(0), RotationNode(0), DisplacementNode(0) { } // general constructor for ModelBuilder MP_Joint3D::MP_Joint3D( Domain *theDomain, int tag, int nodeRetain, int nodeConstr, int nodeRot, int Rotdof, int nodeDisp, int Dispdof, int LrgDsp ) :MP_Constraint( tag , CNSTRNT_TAG_MP_Joint3D ), thisDomain(theDomain), nodeRetained(nodeRetain), nodeConstrained(nodeConstr), nodeRotation(nodeRot), RotDOF(Rotdof), nodeDisplacement(nodeDisp), DispDOF(Dispdof), LargeDisplacement(LrgDsp), Length0(0.0), constraint(0), constrDOF(0), retainDOF(0), RotNormVect(3), DspNormVect(3), dbTag1(0), dbTag2(0), dbTag3(0), RetainedNode(0), ConstrainedNode(0), RotationNode(0), DisplacementNode(0) { if( thisDomain == NULL ) { opserr << "WARNING MP_Joint3D(): Specified domain does not exist"; opserr << "Domain = 0\n"; return; } this->setTag(tag); // get node pointers of constrainted, retained, rotation and displacement nodes ConstrainedNode = theDomain->getNode(nodeConstrained); if (ConstrainedNode == NULL) { opserr << "MP_Joint3D::MP_Joint3D: nodeConstrained: "; opserr << nodeConstrained << "does not exist in model\n"; exit(0); } RetainedNode = theDomain->getNode(nodeRetained); if (RetainedNode == NULL) { opserr << "MP_Joint3D::MP_Joint3D: nodeRetained: "; opserr << nodeRetained << "does not exist in model\n"; exit(0); } RotationNode = theDomain->getNode(nodeRotation); if (RotationNode == NULL) { opserr << "MP_Joint3D::MP_Joint3D: nodeRotation: "; opserr << nodeRotation << "does not exist in model\n"; exit(0); } DisplacementNode = theDomain->getNode(nodeDisplacement); if (DisplacementNode == NULL) { opserr << "MP_Joint3D::MP_Joint3D: nodeDisplacement: "; opserr << nodeDisplacement << "does not exist in model\n"; exit(0); } // check for proper degrees of freedom int RnumDOF = RetainedNode->getNumberDOF(); int CnumDOF = ConstrainedNode->getNumberDOF(); if (RnumDOF != 9 || CnumDOF != 6 ){ opserr << "MP_Joint3D::MP_Joint3D - mismatch in numDOF\n DOF not supported by this type of constraint"; return; } // check the main degree of freedom. Assign auxilary DOF if ( RotDOF<6 || RotDOF>8 || DispDOF<6 || DispDOF>8 || RotDOF==DispDOF ) { opserr << "MP_Joint3D::MP_Joint3D - Wrong degrees of freedom" ; return; } // check for proper dimensions of coordinate space const Vector &crdRet = RetainedNode->getCrds(); int dimRet = crdRet.Size(); const Vector &crdCon = ConstrainedNode->getCrds(); int dimCon = crdCon.Size(); const Vector &crdRot = RotationNode->getCrds(); int dimRot = crdRot.Size(); const Vector &crdDsp = DisplacementNode->getCrds(); int dimDsp = crdDsp.Size(); if ( dimRet != 3 || dimCon != 3 || dimRot != 3 || dimDsp != 3 ){ opserr << "MP_Joint3D::MP_Joint3D - mismatch in dimnesion\n dimension not supported by this type of constraint"; return; } // calculate the initial length of the rigid link double deltaX = crdCon(0) - crdRet(0); double deltaY = crdCon(1) - crdRet(1); double deltaZ = crdCon(2) - crdRet(2); Length0 = sqrt( deltaX*deltaX + deltaY*deltaY + deltaY*deltaY ); if ( Length0 <= 1.0e-12 ) { opserr << "MP_Joint3D::MP_Joint3D - The constraint length is zero\n"; } // calculate the normal vectors for the rotation mode and displacement mode for (int i = 0 ; i<3 ; i++ ) { RotNormVect(i)= crdRot(i) - crdRet(i); DspNormVect(i)= crdDsp(i) - crdRet(i); } if ( RotNormVect.Norm() <= 1.0e-12 || DspNormVect.Norm() <= 1.0e-12 ) { opserr << "MP_Joint3D::MP_Joint3D - the normal vector for the rotation mode or the displacement mode is zero\n"; } RotNormVect = RotNormVect / RotNormVect.Norm(); DspNormVect = DspNormVect / DspNormVect.Norm(); // allocate and set up the constranted and retained id's // the end is released constrDOF = new ID(6); retainDOF = new ID(8); for (int j = 0 ; j<6 ; j++ ) { (*constrDOF)(j) = j; (*retainDOF)(j) = j; } (*retainDOF)(6) = RotDOF; (*retainDOF)(7) = DispDOF; if (constrDOF == NULL || retainDOF == NULL ) { opserr << "MP_Joint3D::MP_Joint3D - ran out of memory \ncan not generate ID for nodes\n"; exit(-1); } // allocate and set up the constraint matrix constraint = new Matrix( constrDOF->Size() , retainDOF->Size() ); (*constraint) (0,0) = 1.0 ; (*constraint) (1,1) = 1.0 ; (*constraint) (2,2) = 1.0 ; (*constraint) (1,3) = -deltaZ; (*constraint) (2,3) = deltaY; (*constraint) (3,3) = 1.0 ; (*constraint) (0,4) = deltaZ; (*constraint) (2,4) = -deltaX; (*constraint) (4,4) = 1.0 ; (*constraint) (0,5) = -deltaY; (*constraint) (1,5) = deltaX; (*constraint) (5,5) = 1.0 ; (*constraint) (3,6) = RotNormVect(0); (*constraint) (4,6) = RotNormVect(1); (*constraint) (5,6) = RotNormVect(2); (*constraint) (0,7) = deltaZ*DspNormVect(1) - deltaY*DspNormVect(2); (*constraint) (1,7) = deltaX*DspNormVect(2) - deltaZ*DspNormVect(0) ; (*constraint) (1,7) = deltaY*DspNormVect(0) - deltaX*DspNormVect(1) ; if (constraint == NULL ) { opserr << "MP_Joint3D::MP_Joint3D - ran out of memory \ncan not generate the constraint matrix"; exit(-1); } } MP_Joint3D::~MP_Joint3D() { // invoke the destructor on the matrix and the two ID objects if (constraint != NULL) delete constraint; if (constrDOF != NULL) delete constrDOF; if (retainDOF != NULL) delete retainDOF; } int MP_Joint3D::getNodeRetained(void) const { // return id of retained node return nodeRetained; } int MP_Joint3D::getNodeConstrained(void) const { // return id of constrained node return nodeConstrained; } const ID & MP_Joint3D::getConstrainedDOFs(void) const { if (constrDOF == NULL) { opserr << "MP_Joint3D::getConstrainedDOF - no ID was set, "; opserr << "was recvSelf() ever called? or subclass incorrect?\n"; exit(-1); } // return the ID corresponding to constrained DOF of Ccr return (*constrDOF); } const ID & MP_Joint3D::getRetainedDOFs(void) const { if (retainDOF == NULL) { opserr << "MP_Joint3D::getRetainedDOFs - no ID was set\n "; opserr << "was recvSelf() ever called? or subclass incorrect?\n"; exit(-1); } // return the ID corresponding to retained DOF of Ccr return (*retainDOF); } int MP_Joint3D::applyConstraint(double timeStamp) { if ( LargeDisplacement != 0 ) { // calculate the constraint at this moment // get the coordinates of the two nodes - check dimensions are the same FOR THE MOMENT const Vector &crdRet = RetainedNode->getCrds(); const Vector &crdCon = ConstrainedNode->getCrds(); const Vector &crdRot = RotationNode->getCrds(); const Vector &crdDsp = DisplacementNode->getCrds(); // get commited displacements of nodes to get updated coordinates const Vector &dispRet = RetainedNode->getDisp(); const Vector &dispCon = ConstrainedNode->getDisp(); const Vector &dispRot = RotationNode->getDisp(); const Vector &dispDsp = DisplacementNode->getDisp(); double deltaX = dispCon(0) + crdCon(0) - dispRet(0) - crdRet(0); double deltaY = dispCon(1) + crdCon(1) - dispRet(1) - crdRet(1); double deltaZ = dispCon(2) + crdCon(2) - dispRet(2) - crdRet(2); for ( int i = 0 ; i<3 ; i++ ) { RotNormVect(i)= dispRot(i) + crdRot(i) - dispRet(i) - crdRet(i); DspNormVect(i)= dispDsp(i) + crdDsp(i) - dispRet(i) - crdRet(i); } RotNormVect = RotNormVect / RotNormVect.Norm(); DspNormVect = DspNormVect / DspNormVect.Norm(); constraint->Zero(); (*constraint) (0,0) = 1.0 ; (*constraint) (1,1) = 1.0 ; (*constraint) (2,2) = 1.0 ; (*constraint) (1,3) = -deltaZ; (*constraint) (2,3) = deltaY; (*constraint) (3,3) = 1.0 ; (*constraint) (0,4) = deltaZ; (*constraint) (2,4) = -deltaX; (*constraint) (4,4) = 1.0 ; (*constraint) (0,5) = -deltaY; (*constraint) (1,5) = deltaX; (*constraint) (5,5) = 1.0 ; (*constraint) (3,6) = RotNormVect(0); (*constraint) (4,6) = RotNormVect(1); (*constraint) (5,6) = RotNormVect(2); (*constraint) (0,7) = deltaZ*DspNormVect(1) - deltaY*DspNormVect(2); (*constraint) (1,7) = deltaX*DspNormVect(2) - deltaZ*DspNormVect(0) ; (*constraint) (2,7) = deltaY*DspNormVect(0) - deltaX*DspNormVect(1) ; } return 0; } bool MP_Joint3D::isTimeVarying(void) const { if ( LargeDisplacement != 0 ) return true; return false; } int MP_Joint3D::sendSelf(int commitTag, Channel &theChannel) { return 0; } int MP_Joint3D::recvSelf(int commitTag, Channel &theChannel, FEM_ObjectBroker &theBroker) { return 0; } const Matrix &MP_Joint3D::getConstraint(void) { if (constraint == 0) { opserr << "MP_Joint3D::getConstraint - no Matrix was set\n"; exit(-1); } // Length correction // to correct the trial displacement if ( LargeDisplacement == 2 ) { // get the coordinates of the two nodes - check dimensions are the same FOR THE MOMENT const Vector &crdR = RetainedNode->getCrds(); const Vector &crdC = ConstrainedNode->getCrds(); // get commited displacements of nodes to get updated coordinates const Vector &dispR = RetainedNode->getTrialDisp(); const Vector &dispC = ConstrainedNode->getTrialDisp(); double deltaX = dispC(0) + crdC(0) - dispR(0) - crdR(0); double deltaY = dispC(1) + crdC(1) - dispR(1) - crdR(1); double deltaZ = dispC(2) + crdC(2) - dispR(2) - crdR(2); Vector Direction(3); Direction(0) = deltaX; Direction(1) = deltaY; Direction(2) = deltaZ; double NewLength = Direction.Norm(); if ( NewLength < 1e-12 ) opserr << "MP_Joint3D::applyConstraint : length of rigid link is too small or zero"; Direction = Direction * (Length0/NewLength); // correct the length // find new displacements of the constrainted node Vector NewLocation(6); NewLocation(0) = Direction(0) + dispR(0) + crdR(0) - crdC(0); NewLocation(1) = Direction(1) + dispR(1) + crdR(1) - crdC(1); NewLocation(2) = Direction(2) + dispR(2) + crdR(2) - crdC(2); NewLocation(3) = dispC(3); NewLocation(4) = dispC(4); NewLocation(5) = dispC(5); int dummy = ConstrainedNode->setTrialDisp( NewLocation ); } // end of length correction procedure // return the constraint matrix Ccr return (*constraint); } void MP_Joint3D::Print(OPS_Stream &s, int flag ) { s << "MP_Joint3D: " << this->getTag() << "\n"; s << "\tConstrained Node: " << nodeConstrained; s << " Retained Node: " << nodeRetained ; s << " Large Disp: " << LargeDisplacement; if (constrDOF != 0) s << " constrained dof: " << *constrDOF; if (retainDOF != 0) s << " retained dof: " << *retainDOF; if (constraint != 0) s << " constraint matrix: " << *constraint << "\n"; } void MP_Joint3D::setDomain(Domain *theDomain) { this->DomainComponent::setDomain(theDomain); thisDomain = theDomain; RetainedNode = thisDomain->getNode(nodeRetained); ConstrainedNode = thisDomain->getNode(nodeConstrained); RotationNode = thisDomain->getNode(nodeRotation); DisplacementNode = thisDomain->getNode(nodeDisplacement); } Generated on Mon Oct 23 15:05:08 2006 for OpenSees by  1.5.0

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