CorotCrdTransf3d.hGo to the documentation of this file.00001 /* ****************************************************************** ** 00002 ** OpenSees - Open System for Earthquake Engineering Simulation ** 00003 ** Pacific Earthquake Engineering Research Center ** 00004 ** ** 00005 ** ** 00006 ** (C) Copyright 1999, The Regents of the University of California ** 00007 ** All Rights Reserved. ** 00008 ** ** 00009 ** Commercial use of this program without express permission of the ** 00010 ** University of California, Berkeley, is strictly prohibited. See ** 00011 ** file 'COPYRIGHT' in main directory for information on usage and ** 00012 ** redistribution, and for a DISCLAIMER OF ALL WARRANTIES. ** 00013 ** ** 00014 ** Developed by: ** 00015 ** Frank McKenna (fmckenna@ce.berkeley.edu) ** 00016 ** Gregory L. Fenves (fenves@ce.berkeley.edu) ** 00017 ** Filip C. Filippou (filippou@ce.berkeley.edu) ** 00018 ** ** 00019 ** ****************************************************************** */ 00020 00021 // $Revision: 1.9 $ 00022 // $Date: 2006/01/13 01:07:48 $ 00023 // $Source: /usr/local/cvs/OpenSees/SRC/coordTransformation/CorotCrdTransf3d.h,v $ 00024 00025 00026 // Written: Remo Magalhaes de Souza (rmsouza@ce.berkeley.edu) 00027 // Created: 04/2000 00028 // Revision: A 00029 // 00030 // Description: This file contains the class definition for 00031 // CorotCrdTransf3d.h. CorotCrdTransf3d provides the 00032 // abstraction of a corotation transformation for a spatial frame element 00033 00034 // What: "@(#) CorotCrdTransf3d.h, revA" 00035 00036 #ifndef CorotCrdTransf3d_h 00037 #define CorotCrdTransf3d_h 00038 00039 #include <CrdTransf3d.h> 00040 #include <Vector.h> 00041 #include <Matrix.h> 00042 00043 class CorotCrdTransf3d: public CrdTransf3d 00044 { 00045 public: 00046 CorotCrdTransf3d(int tag, const Vector &vecInLocXZPlane, 00047 const Vector &rigJntOffsetI, const Vector &rigJntOffsetJ); 00048 00049 CorotCrdTransf3d(); 00050 ~CorotCrdTransf3d(); 00051 00052 int initialize(Node *nodeIPointer, Node *nodeJPointer); 00053 int update(void); 00054 double getInitialLength(void); 00055 double getDeformedLength(void); 00056 00057 int commitState(void); 00058 int revertToLastCommit(void); 00059 int revertToStart(void); 00060 00061 const Vector &getBasicTrialDisp(void); 00062 const Vector &getBasicIncrDisp(void); 00063 const Vector &getBasicIncrDeltaDisp(void); 00064 const Vector &getBasicTrialVel(void); 00065 const Vector &getBasicTrialAccel(void); 00066 00067 const Vector &getGlobalResistingForce(const Vector &basicForce, const Vector &uniformLoad); 00068 const Matrix &getGlobalStiffMatrix(const Matrix &basicStiff, const Vector &basicForce); 00069 const Matrix &getInitialGlobalStiffMatrix(const Matrix &basicStiff); 00070 00071 CrdTransf3d *getCopy(void); 00072 00073 int sendSelf(int cTag, Channel &theChannel); 00074 int recvSelf(int cTag, Channel &theChannel, FEM_ObjectBroker &theBroker); 00075 00076 void Print(OPS_Stream &s, int flag = 0); 00077 00078 // functions used in post-processing only 00079 const Vector &getPointGlobalCoordFromLocal(const Vector &localCoords); 00080 const Vector &getPointGlobalDisplFromBasic(double xi, const Vector &basicDisps); 00081 00082 int getLocalAxes(Vector &xAxis, Vector &yAxis, Vector &zAxis); 00083 00084 private: 00085 void compTransfMatrixBasicGlobal(void); 00086 void compTransfMatrixBasicGlobalNew(void); 00087 const Vector &getQuaternionFromRotMatrix(const Matrix &RotMatrix) const; 00088 const Vector &getQuaternionFromPseudoRotVector(const Vector &theta) const; 00089 const Vector &getTangScaledPseudoVectorFromQuaternion(const Vector &theta) const; 00090 const Vector &quaternionProduct(const Vector &q1, const Vector &q2) const; 00091 const Matrix &getRotationMatrixFromQuaternion(const Vector &q) const; 00092 const Matrix &getRotMatrixFromTangScaledPseudoVector(const Vector &w) const; 00093 const Matrix &getSkewSymMatrix(const Vector &theta) const; 00094 const Matrix &getLMatrix(const Vector &ri) const; 00095 const Matrix &getKs2Matrix(const Vector &ri, const Vector &z) const; 00096 00097 // internal data 00098 Node *nodeIPtr, *nodeJPtr; // pointers to the element two endnodes 00099 00100 Vector vAxis; // Vector that lies in local plane xz 00101 Vector nodeIOffset, nodeJOffset; // rigid joint offsets 00102 00103 Vector xAxis; // local x axis 00104 double L; // undeformed element length 00105 double Ln; // deformed element length 00106 00107 Matrix R0; // rotation matrix from local to global coordinates 00108 // (the columns of which are the element local axes) 00109 Vector alphaIq; // quaternion for node I 00110 Vector alphaJq; // quaternion for node I 00111 00112 Vector alphaIqcommit; // commited quaternion for node I 00113 Vector alphaJqcommit; // commited quaternion for node J 00114 Vector alphaI; // last trial rotations end i 00115 Vector alphaJ; // last trial rotatations end j 00116 00117 Vector ul; // local displacements 00118 Vector ulcommit; // commited local displacements 00119 Vector ulpr; // previous local displacements 00120 00121 static Matrix RI; // nodal triad for node 1 00122 static Matrix RJ; // nodal triad for node 2 00123 static Matrix Rbar; // mean nodal triad 00124 static Matrix e; // base vectors 00125 static Matrix Tp; // transformation matrix to renumber dofs 00126 static Matrix T; // transformation matrix from basic to global system 00127 static Matrix Lr2, Lr3, A; // auxiliary matrices 00128 00129 double *nodeIInitialDisp, *nodeJInitialDisp; 00130 bool initialDispChecked; 00131 }; 00132 #endif
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